+ python -m lidar_slam --no-model /working/d3ca9c34-2c63-4530-a2ce-b0ce0ec3ebd6 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/d3ca9c34-2c63-4530-a2ce-b0ce0ec3ebd6 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 0.021193817 Adjusted end_distance from 9.223372036854776e+18 to 281.751193817 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.021193817 meters Centerline goodness [0,1] 0.6869398207426376 Centerline is valid? [0, False] SLAMing on 0.051193817 meters Centerline goodness [0,1] 0.6292553410447455 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 0.99992009 -0.0119459 -0.00413519 0.01230575] [ 0.01193836 0.99992704 -0.00184314 -0.0101061 ] [ 0.00415691 0.00179362 0.99998975 -0.0012164 ] [ 0. 0. 0. 1. ]] SLAMing on 0.081193817 meters Centerline goodness [0,1] 0.6297946972041679 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 0.99987015 -0.01554943 -0.00423018 0.01473372] [ 0.01553301 0.9998718 -0.00388673 -0.01470526] [ 0.00429008 0.00382052 0.9999835 -0.00295468] [ 0. 0. 0. 1. ]] SLAMing on 0.11119381700000001 meters Centerline goodness [0,1] 0.5690260733027561 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.01 [[ 0.99981298 -0.01879035 -0.00457557 0.01825664] [ 0.01876447 0.99980806 -0.00563388 -0.01835636] [ 0.00468055 0.00554697 0.99997366 -0.00532926] [ 0. 0. 0. 1. ]] SLAMing on 0.141193817 meters Centerline goodness [0,1] 0.5718145444045704 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.01 [[ 0.99978877 -0.01985612 -0.00530472 0.02362398] [ 0.01982995 0.99979116 -0.00494136 -0.02234662] [ 0.00540172 0.00483512 0.99997372 -0.00899746] [ 0. 0. 0. 1. ]] SLAMing on 0.17119381700000003 meters Centerline goodness [0,1] 0.5228080994963511 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.02 [[ 0.99973611 -0.02216231 -0.00604454 0.03402091] [ 0.02213232 0.99974263 -0.0049829 -0.02757635] [ 0.00615342 0.0048478 0.99996932 -0.01630302] [ 0. 0. 0. 1. ]] SLAMing on 0.20119381700000002 meters Centerline goodness [0,1] 0.5444246909496837 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.02 [[ 0.99972318 -0.02264352 -0.00639022 0.03835563] [ 0.02261669 0.99973522 -0.00424052 -0.03093866] [ 0.00648455 0.00409482 0.99997059 -0.01942383] [ 0. 0. 0. 1. ]] SLAMing on 0.23119381700000002 meters Centerline goodness [0,1] 0.539801972011493 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.02 [[ 0.99969667 -0.02363978 -0.00690919 0.04301142] [ 0.02361477 0.99971437 -0.00367809 -0.03439944] [ 0.00699416 0.00351381 0.99996937 -0.0223346 ] [ 0. 0. 0. 1. ]] SLAMing on 0.261193817 meters Centerline goodness [0,1] 0.5389764184944907 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.02 [[ 0.99966062 -0.02494942 -0.00749521 0.04760216] [ 0.02492604 0.99968419 -0.00319694 -0.03786672] [ 0.00757261 0.00300903 0.9999668 -0.02492839] [ 0. 0. 0. 1. ]] SLAMing on 0.291193817 meters Centerline goodness [0,1] 0.49107549592081834 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.04, Z:-0.03 [[ 9.99536168e-01 -3.02442719e-02 -3.56840298e-03 6.87128041e-02] [ 3.02456249e-02 9.99542443e-01 3.25783260e-04 -4.44105804e-02] [ 3.55691716e-03 -4.33560730e-04 9.99993580e-01 -3.09766032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32119381700000005 meters Centerline goodness [0,1] 0.4706015844198712 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.05, Z:-0.03 [[ 9.99468390e-01 -3.22750046e-02 -4.61111903e-03 7.47978482e-02] [ 3.22765899e-02 9.99478939e-01 2.69779091e-04 -4.79086986e-02] [ 4.60000923e-03 -4.18466871e-04 9.99989332e-01 -3.41998262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.351193817 meters Centerline goodness [0,1] 0.44379002862497163 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.05, Z:-0.04 [[ 0.99935302 -0.03557702 -0.00527343 0.08033447] [ 0.0355677 0.99936556 -0.00184925 -0.05103066] [ 0.00533587 0.00166049 0.99998439 -0.03775591] [ 0. 0. 0. 1. ]] SLAMing on 0.38119381700000005 meters Centerline goodness [0,1] 0.4561914801264959 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.05, Z:-0.04 [[ 0.99923452 -0.03869341 -0.00576066 0.08553881] [ 0.03867126 0.99924435 -0.00390729 -0.05472244] [ 0.00590749 0.00368153 0.99997577 -0.04125913] [ 0. 0. 0. 1. ]] SLAMing on 0.411193817 meters Centerline goodness [0,1] 0.40801393005949294 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.06, Z:-0.05 [[ 0.99909082 -0.04242304 -0.00422086 0.11222763] [ 0.04240427 0.99909066 -0.00444131 -0.06331619] [ 0.00440543 0.00425829 0.99998123 -0.04684636] [ 0. 0. 0. 1. ]] SLAMing on 0.44119381700000004 meters Centerline goodness [0,1] 0.4558180952183727 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:-0.05 [[ 0.99901634 -0.04408481 -0.00478386 0.11757564] [ 0.04406231 0.99901768 -0.00471044 -0.06665473] [ 0.00498682 0.00449502 0.99997746 -0.05021793] [ 0. 0. 0. 1. ]] SLAMing on 0.471193817 meters Centerline goodness [0,1] 0.4218220863962997 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.08, Z:-0.05 [[ 0.99916181 -0.04085228 -0.00260189 0.15357804] [ 0.04084303 0.99915939 -0.00351528 -0.07714488] [ 0.00274331 0.00340607 0.99999044 -0.05260834] [ 0. 0. 0. 1. ]] SLAMing on 0.501193817 meters Centerline goodness [0,1] 0.42047309162276625 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.08, Z:-0.05 [[ 0.99920381 -0.03926452 -0.00707388 0.16818247] [ 0.03923147 0.99921885 -0.0047523 -0.08257702] [ 0.00725495 0.004471 0.99996369 -0.05196385] [ 0. 0. 0. 1. ]] SLAMing on 0.531193817 meters Centerline goodness [0,1] 0.41036063126023936 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.09, Z:-0.05 [[ 0.99912106 -0.0411766 -0.00784828 0.17401141] [ 0.04114048 0.99914227 -0.00470941 -0.08692365] [ 0.00803547 0.00438239 0.99995811 -0.05479467] [ 0. 0. 0. 1. ]] SLAMing on 0.561193817 meters Centerline goodness [0,1] 0.4014701024116287 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.09, Z:-0.05 [[ 0.99911 -0.04039336 -0.01214868 0.19391323] [ 0.04033814 0.99917477 -0.00475642 -0.0942304 ] [ 0.01233079 0.00426213 0.99991489 -0.05375552] [ 0. 0. 0. 1. ]] SLAMing on 0.5911938170000001 meters Centerline goodness [0,1] 0.3401135776974703 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.10, Z:-0.06 [[ 0.99897131 -0.0434911 -0.01283946 0.19985036] [ 0.04341081 0.99903637 -0.0064673 -0.09949204] [ 0.01310836 0.00590327 0.99989666 -0.05731257] [ 0. 0. 0. 1. ]] SLAMing on 0.6211938170000001 meters Centerline goodness [0,1] 0.3736589819675873 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.11, Z:-0.06 [[ 0.9988161 -0.04687601 -0.01300183 0.22888877] [ 0.0468193 0.99889263 -0.00463256 -0.11352625] [ 0.01320459 0.00401834 0.99990474 -0.06330701] [ 0. 0. 0. 1. ]] SLAMing on 0.651193817 meters Centerline goodness [0,1] 0.3776684109975912 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.12, Z:-0.06 [[ 0.99875756 -0.04639459 -0.01819004 0.2445585 ] [ 0.04630872 0.99891408 -0.00511407 -0.12158144] [ 0.01840755 0.00426536 0.99982147 -0.06339687] [ 0. 0. 0. 1. ]] SLAMing on 0.681193817 meters Centerline goodness [0,1] 0.37745505992010653 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.13, Z:-0.06 [[ 9.98682413e-01 -4.61027258e-02 -2.25383571e-02 2.67919601e-01] [ 4.60693999e-02 9.98936248e-01 -1.99590832e-03 -1.30892375e-01] [ 2.26063987e-02 9.54949950e-04 9.99743987e-01 -6.24291228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7111938170000001 meters Centerline goodness [0,1] 0.3729454545454546 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.14, Z:-0.07 [[ 0.99870766 -0.04738876 -0.018366 0.28597098] [ 0.04747383 0.99886355 0.00422385 -0.14073912] [ 0.01814496 -0.0050903 0.99982241 -0.06657027] [ 0. 0. 0. 1. ]] SLAMing on 0.7411938170000001 meters Centerline goodness [0,1] 0.4389573044945927 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.16, Z:-0.07 [[ 0.99851709 -0.05046085 -0.02042856 0.33199546] [ 0.05064297 0.99868067 0.00849766 -0.1574406 ] [ 0.01997281 -0.00951962 0.9997552 -0.06589557] [ 0. 0. 0. 1. ]] SLAMing on 0.7711938170000001 meters Centerline goodness [0,1] 0.4981417270518863 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.17, Z:-0.07 [[ 0.99851338 -0.05154399 -0.01772714 0.35245757] [ 0.0517544 0.99859221 0.01162206 -0.16686678] [ 0.01710314 -0.01252224 0.99977531 -0.06709316] [ 0. 0. 0. 1. ]] SLAMing on 0.801193817 meters Centerline goodness [0,1] 0.5851742247415805 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.18, Z:-0.07 [[ 0.9983727 -0.05238579 -0.02253166 0.37206829] [ 0.05259788 0.99857589 0.00892538 -0.17533612] [ 0.02203201 -0.01009597 0.99970629 -0.06558669] [ 0. 0. 0. 1. ]] SLAMing on 0.8311938170000001 meters Centerline goodness [0,1] 0.6582481751824818 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.18, Z:-0.07 [[ 0.99834497 -0.05414461 -0.01938269 0.3917264 ] [ 0.0543392 0.99847583 0.00965746 -0.18441617] [ 0.01883025 -0.01069472 0.99976549 -0.06654331] [ 0. 0. 0. 1. ]] SLAMing on 0.8611938170000001 meters Centerline goodness [0,1] 0.6502068736095806 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.19, Z:-0.07 [[ 0.99822171 -0.05551938 -0.02170307 0.41350227] [ 0.05570809 0.99841352 0.00818855 -0.19268273] [ 0.02121401 -0.00938302 0.99973093 -0.06639784] [ 0. 0. 0. 1. ]] SLAMing on 0.8911938170000001 meters Centerline goodness [0,1] 0.6303318524080679 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.21, Z:-0.07 [[ 0.99775759 -0.06387815 -0.01998458 0.44791438] [ 0.06408715 0.99789422 0.0099979 -0.20555756] [ 0.01930385 -0.01125624 0.9997503 -0.06949294] [ 0. 0. 0. 1. ]] SLAMing on 0.921193817 meters Centerline goodness [0,1] 0.6260233553588497 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.21, Z:-0.07 [[ 0.99773714 -0.06506571 -0.01694282 0.4691902 ] [ 0.06528116 0.99778875 0.01248941 -0.21192173] [ 0.01609272 -0.01356719 0.99977845 -0.07111982] [ 0. 0. 0. 1. ]] SLAMing on 0.951193817 meters Centerline goodness [0,1] 0.6086974649766511 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.22, Z:-0.07 [[ 0.99767028 -0.06685353 -0.01358714 0.48938147] [ 0.06703818 0.99765742 0.0136218 -0.21756117] [ 0.01264464 -0.01450093 0.9998149 -0.07238452] [ 0. 0. 0. 1. ]] SLAMing on 0.9811938170000001 meters Centerline goodness [0,1] 0.5498121276286563 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.23, Z:-0.07 [[ 0.99686252 -0.07812128 -0.01273517 0.5273422 ] [ 0.07831724 0.99680497 0.01569255 -0.22569541] [ 0.01146856 -0.01664069 0.99979576 -0.07316973] [ 0. 0. 0. 1. ]] SLAMing on 1.011193817 meters Centerline goodness [0,1] 0.5468844399075019 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.23, Z:-0.07 [[ 0.99662725 -0.08020152 -0.01737328 0.54914365] [ 0.0804026 0.99669953 0.01120126 -0.23005584] [ 0.01641758 -0.01256034 0.99978633 -0.07313277] [ 0. 0. 0. 1. ]] SLAMing on 1.041193817 meters Centerline goodness [0,1] 0.5468844399075019 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.23, Z:-0.07 [[ 0.99662725 -0.08020152 -0.01737328 0.54914365] [ 0.0804026 0.99669953 0.01120126 -0.23005584] [ 0.01641758 -0.01256034 0.99978633 -0.07313277] [ 0. 0. 0. 1. ]] SLAMing on 1.071193817 meters Centerline goodness [0,1] 0.5299630549583585 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.23, Z:-0.07 [[ 0.99642057 -0.08148442 -0.02250192 0.57106437] [ 0.08166494 0.99663368 0.00722189 -0.2338358 ] [ 0.0218377 -0.00903366 0.99972072 -0.07324099] [ 0. 0. 0. 1. ]] SLAMing on 1.101193817 meters Centerline goodness [0,1] 0.5203211343968304 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.24, Z:-0.07 [[ 0.99630623 -0.08148405 -0.02709701 0.59332483] [ 0.08161621 0.99665657 0.00380573 -0.23616795] [ 0.02669631 -0.00600323 0.99962556 -0.07346765] [ 0. 0. 0. 1. ]] SLAMing on 1.131193817 meters Centerline goodness [0,1] 0.5078041969700127 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.08 [[ 0.99610542 -0.08412561 -0.02639845 0.62522444] [ 0.08429741 0.99642567 0.00546181 -0.23654491] [ 0.02584461 -0.00766586 0.99963658 -0.07611261] [ 0. 0. 0. 1. ]] SLAMing on 1.161193817 meters Centerline goodness [0,1] 0.5095092405010957 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.08 [[ 0.99639811 -0.0815394 -0.02328355 0.64398343] [ 0.08170219 0.99663796 0.00612639 -0.23744129] [ 0.02270573 -0.00800664 0.99971013 -0.07690635] [ 0. 0. 0. 1. ]] SLAMing on 1.191193817 meters Centerline goodness [0,1] 0.5030528326964612 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.24, Z:-0.08 [[ 0.99677999 -0.07642054 -0.02428073 0.65943621] [ 0.07649488 0.99706766 0.00214664 -0.2374343 ] [ 0.02404548 -0.00399708 0.99970287 -0.07917028] [ 0. 0. 0. 1. ]] SLAMing on 1.221193817 meters Centerline goodness [0,1] 0.5182053530418806 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.24, Z:-0.08 [[ 9.97183897e-01 -7.27854570e-02 -1.80707872e-02 6.73360064e-01] [ 7.27943179e-02 9.97346960e-01 -1.67819951e-04 -2.36626993e-01] [ 1.80350595e-02 -1.14810328e-03 9.99836696e-01 -8.20893722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.251193817 meters Centerline goodness [0,1] 0.507641444700892 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.09 [[ 0.99735304 -0.07075933 -0.01673438 0.70410937] [ 0.07084513 0.99747676 0.00459037 -0.23367656] [ 0.01636734 -0.00576377 0.99984943 -0.08523196] [ 0. 0. 0. 1. ]] SLAMing on 1.281193817 meters Centerline goodness [0,1] 0.5101095110446148 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.23, Z:-0.09 [[ 0.99748182 -0.06771682 -0.02108205 0.7253876 ] [ 0.06777883 0.99769786 0.00223985 -0.23322846] [ 0.02088185 -0.00366313 0.99977524 -0.08566879] [ 0. 0. 0. 1. ]] SLAMing on 1.311193817 meters Centerline goodness [0,1] 0.5120068610634648 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.23, Z:-0.09 [[ 9.97585851e-01 -6.74265885e-02 -1.66169883e-02 7.43407797e-01] [ 6.74255000e-02 9.97724115e-01 -6.26377103e-04 -2.33131044e-01] [ 1.66214045e-02 -4.95543813e-04 9.99861732e-01 -8.68857823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.341193817 meters Centerline goodness [0,1] 0.5124124228798494 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.23, Z:-0.09 [[ 0.99767952 -0.06706041 -0.01176747 0.76170518] [ 0.06703895 0.99774791 -0.00220917 -0.23337249] [ 0.01188912 0.00141516 0.99992832 -0.08804287] [ 0. 0. 0. 1. ]] SLAMing on 1.371193817 meters Centerline goodness [0,1] 0.5176428854620955 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.23, Z:-0.09 [[ 0.99767982 -0.06772258 -0.00697337 0.7819059 ] [ 0.06770091 0.99770021 -0.0032981 -0.23250519] [ 0.00718069 0.00281835 0.99997025 -0.08927867] [ 0. 0. 0. 1. ]] SLAMing on 1.401193817 meters Centerline goodness [0,1] 0.5646420371529952 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.23, Z:-0.09 [[ 9.97012795e-01 -7.72286903e-02 -1.10275110e-03 8.27736653e-01] [ 7.72308934e-02 9.97010983e-01 2.11872554e-03 -2.27256499e-01] [ 9.35828561e-04 -2.19756293e-03 9.99997147e-01 -9.01724217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.431193817 meters Centerline goodness [0,1] 0.5761552218941064 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.22, Z:-0.09 [[ 9.96822722e-01 -7.96510451e-02 4.15607532e-04 8.54684154e-01] [ 7.96486099e-02 9.96814157e-01 4.19934401e-03 -2.24183686e-01] [-7.48765611e-04 -4.15289897e-03 9.99991096e-01 -8.98115581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.461193817 meters Centerline goodness [0,1] 0.6019541117768639 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.22, Z:-0.09 [[ 0.99649065 -0.08362735 0.00358431 0.87998639] [ 0.08361426 0.99649148 0.00365748 -0.21963789] [-0.0038776 -0.00334495 0.99998689 -0.08945799] [ 0. 0. 0. 1. ]] SLAMing on 1.491193817 meters Centerline goodness [0,1] 0.611255013368984 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.21, Z:-0.09 [[ 0.99541966 -0.09497846 0.01089967 0.92207016] [ 0.0949221 0.99546908 0.00557788 -0.20922191] [-0.01138006 -0.00451771 0.99992504 -0.09003176] [ 0. 0. 0. 1. ]] SLAMing on 1.5211938170000001 meters Centerline goodness [0,1] 0.6158042686100988 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.20, Z:-0.09 [[ 9.95146291e-01 -9.69828669e-02 1.66788439e-02 9.39011595e-01] [ 9.69935948e-02 9.95284992e-01 1.66426529e-04 -2.03355981e-01] [-1.66163435e-02 1.45212228e-03 9.99860885e-01 -9.17828277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.551193817 meters Centerline goodness [0,1] 0.6405254777070064 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.20, Z:-0.09 [[ 0.99537606 -0.09501673 0.01408281 0.96128372] [ 0.09506742 0.99546639 -0.00297379 -0.19713124] [-0.01373641 0.00429886 0.99989641 -0.0935515 ] [ 0. 0. 0. 1. ]] SLAMing on 1.581193817 meters Centerline goodness [0,1] 0.6281287246722289 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.19, Z:-0.10 [[ 0.99571641 -0.0918098 0.01094506 0.984109 ] [ 0.09186868 0.99575856 -0.00500282 -0.19008803] [-0.01043933 0.0059869 0.99992759 -0.09599238] [ 0. 0. 0. 1. ]] SLAMing on 1.611193817 meters Centerline goodness [0,1] 0.6536176089048835 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.17, Z:-0.10 [[ 0.99588526 -0.09045846 0.00546074 1.0158226 ] [ 0.09048871 0.99588189 -0.00557224 -0.17270757] [-0.00493419 0.00604344 0.99996956 -0.09951802] [ 0. 0. 0. 1. ]] SLAMing on 1.641193817 meters Centerline goodness [0,1] 0.6365435081434582 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.17, Z:-0.10 [[ 0.99631469 -0.08575448 0.00178879 1.03784947] [ 0.08576389 0.99629681 -0.00610168 -0.16547228] [-0.00125892 0.00623261 0.99997978 -0.10088412] [ 0. 0. 0. 1. ]] SLAMing on 1.671193817 meters Centerline goodness [0,1] 0.6508255804207527 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.16, Z:-0.10 [[ 9.96571188e-01 -8.27394135e-02 2.38385190e-04 1.04315520e+00] [ 8.27397250e-02 9.96564138e-01 -3.74920827e-03 -1.57959065e-01] [ 7.26411621e-05 3.75607686e-03 9.99992943e-01 -1.04599618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.701193817 meters Centerline goodness [0,1] 0.6390682945122713 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.15, Z:-0.11 [[ 0.99706269 -0.07652046 -0.00325804 1.06561776] [ 0.0765122 0.99706528 -0.0025888 -0.14992996] [ 0.00344657 0.00233192 0.99999134 -0.10650949] [ 0. 0. 0. 1. ]] SLAMing on 1.731193817 meters Centerline goodness [0,1] 0.6541940875378669 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.13, Z:-0.11 [[ 0.9975282 -0.07003702 -0.00568446 1.09111239] [ 0.07002385 0.99754222 -0.00248416 -0.13104381] [ 0.00584448 0.00207997 0.99998076 -0.11090598] [ 0. 0. 0. 1. ]] SLAMing on 1.761193817 meters Centerline goodness [0,1] 0.645427581772551 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.12, Z:-0.11 [[ 9.97923605e-01 -6.37796887e-02 -8.97938930e-03 1.11292080e+00] [ 6.37706412e-02 9.97963747e-01 -1.29060899e-03 -1.24163843e-01] [ 9.04341962e-03 7.15307766e-04 9.99958852e-01 -1.12128573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7911938170000001 meters Centerline goodness [0,1] 0.6556879966541196 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.12, Z:-0.11 [[ 0.99817622 -0.05945266 -0.01047017 1.11721485] [ 0.05947582 0.99822791 0.00191441 -0.11793717] [ 0.0103378 -0.00253364 0.99994335 -0.11473698] [ 0. 0. 0. 1. ]] SLAMing on 1.821193817 meters Centerline goodness [0,1] 0.65425 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.11, Z:-0.12 [[ 0.99851163 -0.05430421 -0.00505764 1.12984737] [ 0.05429232 0.99852206 -0.00245914 -0.10985657] [ 0.00518371 0.00218089 0.99998419 -0.11833096] [ 0. 0. 0. 1. ]] SLAMing on 1.851193817 meters Centerline goodness [0,1] 0.6678271812080536 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:-0.12 [[ 0.99895758 -0.04421739 -0.01133917 1.14155313] [ 0.0441878 0.99901919 -0.00284712 -0.09620999] [ 0.01145395 0.0023431 0.99993166 -0.11624816] [ 0. 0. 0. 1. ]] SLAMing on 1.881193817 meters Centerline goodness [0,1] 0.6548943212048849 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.09, Z:-0.12 [[ 0.99915717 -0.03897952 -0.01286687 1.14607172] [ 0.03900115 0.99923814 0.00143441 -0.09047584] [ 0.01280115 -0.00193503 0.99991619 -0.11880721] [ 0. 0. 0. 1. ]] SLAMing on 1.911193817 meters Centerline goodness [0,1] 0.6816856226305046 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.08, Z:-0.12 [[ 9.99450297e-01 -3.18730374e-02 -9.12214520e-03 1.16079410e+00] [ 3.18648793e-02 9.99491646e-01 -1.03830409e-03 -8.40927470e-02] [ 9.15060183e-03 7.47057273e-04 9.99957853e-01 -1.22960156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.941193817 meters Centerline goodness [0,1] 0.687749514035491 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.07, Z:-0.13 [[ 9.99698957e-01 -2.44056697e-02 -2.52157744e-03 1.17423656e+00] [ 2.44034447e-02 9.99701778e-01 -9.09417978e-04 -7.25614482e-02] [ 2.54302040e-03 8.47609029e-04 9.99996407e-01 -1.26066275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.971193817 meters Centerline goodness [0,1] 0.6847558687403578 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.07, Z:-0.13 [[ 0.99975918 -0.0216318 -0.003695 1.17705197] [ 0.02163646 0.99976515 0.00122788 -0.06907544] [ 0.00366757 -0.00130754 0.99999242 -0.12687123] [ 0. 0. 0. 1. ]] SLAMing on 2.0011938170000003 meters Centerline goodness [0,1] 0.7048148842635997 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.07, Z:-0.13 [[ 0.99979803 -0.01951209 -0.00481368 1.18051012] [ 0.01952696 0.99980464 0.00306176 -0.06688156] [ 0.004753 -0.00315514 0.99998373 -0.1284028 ] [ 0. 0. 0. 1. ]] SLAMing on 2.031193817 meters Centerline goodness [0,1] 0.7160774656705204 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.07, Z:-0.13 [[ 0.99982396 -0.01783676 -0.0058218 1.18373473] [ 0.01786353 0.99982995 0.00457969 -0.06505594] [ 0.00573912 -0.00468288 0.99997257 -0.12982106] [ 0. 0. 0. 1. ]] SLAMing on 2.061193817 meters Centerline goodness [0,1] 0.7447256065812766 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.06, Z:-0.13 [[ 0.99983274 -0.01709879 -0.00649097 1.18740823] [ 0.01713481 0.99983787 0.00553509 -0.06144452] [ 0.00639528 -0.00564539 0.99996361 -0.13110502] [ 0. 0. 0. 1. ]] SLAMing on 2.091193817 meters Centerline goodness [0,1] 0.7167732027228956 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.06, Z:-0.13 [[ 0.9998058 -0.01820423 -0.0075471 1.19031339] [ 0.01823621 0.99982493 0.00418957 -0.0594854 ] [ 0.00746951 -0.00432638 0.99996274 -0.13208927] [ 0. 0. 0. 1. ]] SLAMing on 2.121193817 meters Centerline goodness [0,1] 0.7142206582488098 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.06, Z:-0.14 [[ 0.99979212 -0.01837876 -0.00882836 1.19540372] [ 0.0184141 0.99982268 0.00393957 -0.05942961] [ 0.00875439 -0.00410132 0.99995327 -0.13520001] [ 0. 0. 0. 1. ]] SLAMing on 2.1511938170000002 meters Centerline goodness [0,1] 0.716676319708754 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.06, Z:-0.14 [[ 0.99977934 -0.01846072 -0.01002378 1.20064597] [ 0.01849984 0.99982155 0.00382497 -0.05963631] [ 0.00995138 -0.00400957 0.99994245 -0.13862833] [ 0. 0. 0. 1. ]] SLAMing on 2.181193817 meters Centerline goodness [0,1] 0.7458212058212058 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.06, Z:-0.14 [[ 0.99977041 -0.01862034 -0.01060203 1.20260538] [ 0.01865891 0.9998196 0.00355054 -0.05906602] [ 0.010534 -0.00374755 0.99993749 -0.13983801] [ 0. 0. 0. 1. ]] SLAMing on 2.2111938170000003 meters Centerline goodness [0,1] 0.7654849858239688 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.06, Z:-0.14 [[ 9.99827949e-01 -1.36014689e-02 -1.26123731e-02 1.21924177e+00] [ 1.36009206e-02 9.99907495e-01 -1.29255777e-04 -5.97432618e-02] [ 1.26129645e-02 -4.23063468e-05 9.99920453e-01 -1.43689678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.241193817 meters Centerline goodness [0,1] 0.7490942966566607 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.06, Z:-0.14 [[ 9.99824435e-01 -1.32749481e-02 -1.32240375e-02 1.22024791e+00] [ 1.32801042e-02 9.99911770e-01 3.02164056e-04 -6.06928852e-02] [ 1.32188595e-02 -4.77727602e-04 9.99912513e-01 -1.43406673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.271193817 meters Centerline goodness [0,1] 0.7774208923057795 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.06, Z:-0.14 [[ 9.99821327e-01 -1.29151187e-02 -1.38026545e-02 1.22097051e+00] [ 1.29287110e-02 9.99916019e-01 8.95977995e-04 -6.21718604e-02] [ 1.37899237e-02 -1.07426844e-03 9.99904337e-01 -1.42845078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.301193817 meters Centerline goodness [0,1] 0.7176249328318108 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.06, Z:-0.15 [[ 9.99911849e-01 -1.32585645e-02 -7.10502370e-04 1.22396351e+00] [ 1.32583319e-02 9.99912050e-01 -3.31028749e-04 -6.38051577e-02] [ 7.14828847e-04 3.21579492e-04 9.99999693e-01 -1.48000975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.331193817 meters Centerline goodness [0,1] 0.7765558662110386 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.07, Z:-0.15 [[ 9.99918392e-01 -1.27063092e-02 -1.32626096e-03 1.22490210e+00] [ 1.27072106e-02 9.99919033e-01 6.73449213e-04 -6.66013320e-02] [ 1.31759652e-03 -6.90247332e-04 9.99998894e-01 -1.47628819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.361193817 meters Centerline goodness [0,1] 0.7700838461856181 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.07, Z:-0.14 [[ 0.99995727 -0.00656193 -0.00651197 1.23374096] [ 0.00657389 0.99997674 0.0018174 -0.07439047] [ 0.00649989 -0.00186013 0.99997715 -0.1438531 ] [ 0. 0. 0. 1. ]] SLAMing on 2.391193817 meters Centerline goodness [0,1] 0.7711065149948294 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.08, Z:-0.14 [[ 0.99995956 -0.00573501 -0.0069267 1.23434038] [ 0.00575637 0.99997873 0.00306777 -0.07718121] [ 0.00690896 -0.00310752 0.9999713 -0.1435357 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4211938170000002 meters Centerline goodness [0,1] 0.7580445799513823 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.09, Z:-0.15 [[ 0.99995988 -0.00404947 -0.00798959 1.23856605] [ 0.00409647 0.99997435 0.00587537 -0.08509973] [ 0.0079656 -0.00590786 0.99995082 -0.14555652] [ 0. 0. 0. 1. ]] SLAMing on 2.451193817 meters Centerline goodness [0,1] 0.7694150199260774 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.09, Z:-0.15 [[ 0.99994411 -0.00646063 -0.00836906 1.23912509] [ 0.00649243 0.99997179 0.00377799 -0.08845653] [ 0.00834442 -0.00383212 0.99995784 -0.14531468] [ 0. 0. 0. 1. ]] SLAMing on 2.4811938170000003 meters Centerline goodness [0,1] 0.7727085478887745 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.09, Z:-0.15 [[ 0.99993376 -0.00691033 -0.00920499 1.24206165] [ 0.00694968 0.99996682 0.00424986 -0.09359186] [ 0.00917532 -0.00431355 0.9999486 -0.14658322] [ 0. 0. 0. 1. ]] SLAMing on 2.511193817 meters Centerline goodness [0,1] 0.7799814833864829 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.10, Z:-0.15 [[ 0.99990587 -0.00983902 -0.00956238 1.24263146] [ 0.00986176 0.99994865 0.00233386 -0.09908504] [ 0.00953893 -0.00242795 0.99995156 -0.14605355] [ 0. 0. 0. 1. ]] SLAMing on 2.541193817 meters Centerline goodness [0,1] 0.8324389892884311 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.12, Z:-0.14 [[ 0.99981485 -0.017014 -0.00898844 1.24299079] [ 0.01704126 0.99985039 0.00296477 -0.11552143] [ 0.00893665 -0.0031174 0.99995521 -0.14082061] [ 0. 0. 0. 1. ]] SLAMing on 2.571193817 meters Centerline goodness [0,1] 0.8521642755987932 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.12, Z:-0.14 [[ 9.99738862e-01 -2.08681867e-02 -9.31273637e-03 1.24405302e+00] [ 2.08760266e-02 9.99781794e-01 7.45427283e-04 -1.22207051e-01] [ 9.29514856e-03 -9.39645556e-04 9.99956358e-01 -1.40650526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.601193817 meters Centerline goodness [0,1] 0.8700419684002634 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.13, Z:-0.14 [[ 0.99964621 -0.02478315 -0.00965683 1.24533342] [ 0.0247678 0.99969178 -0.00170581 -0.12762694] [ 0.00969612 0.00146603 0.99995192 -0.1408944 ] [ 0. 0. 0. 1. ]] SLAMing on 2.631193817 meters Centerline goodness [0,1] 0.8804403851308167 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.13, Z:-0.14 [[ 0.99953568 -0.02877044 -0.01003442 1.24688962] [ 0.02872694 0.99957738 -0.00445263 -0.13224247] [ 0.01015828 0.00416231 0.99993974 -0.14151332] [ 0. 0. 0. 1. ]] SLAMing on 2.661193817 meters Centerline goodness [0,1] 0.8809699806989446 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.14, Z:-0.14 [[ 0.99927641 -0.03649193 -0.01072319 1.25137416] [ 0.03638506 0.99928783 -0.00999803 -0.14119092] [ 0.0110804 0.00960064 0.99989252 -0.14419032] [ 0. 0. 0. 1. ]] SLAMing on 2.6911938170000003 meters Centerline goodness [0,1] 0.8830294069328076 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.14, Z:-0.14 [[ 0.99913207 -0.04020151 -0.01090659 1.25252773] [ 0.0400575 0.9991113 -0.01311546 -0.14426431] [ 0.01142416 0.01266719 0.9998545 -0.14478214] [ 0. 0. 0. 1. ]] SLAMing on 2.721193817 meters Centerline goodness [0,1] 0.8854534988898939 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.15, Z:-0.14 [[ 0.999126 -0.04024346 -0.01130042 1.25364079] [ 0.04010561 0.99912132 -0.01217074 -0.14822195] [ 0.01178028 0.01170689 0.99986208 -0.14496742] [ 0. 0. 0. 1. ]] SLAMing on 2.7511938170000003 meters Centerline goodness [0,1] 0.8798228065161475 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.15, Z:-0.14 [[ 0.99914375 -0.03915772 -0.01335789 1.27439067] [ 0.03898613 0.99915683 -0.01287306 -0.15139174] [ 0.01385071 0.01234127 0.99982791 -0.14465919] [ 0. 0. 0. 1. ]] SLAMing on 2.781193817 meters Centerline goodness [0,1] 0.8716771732256157 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.16, Z:-0.15 [[ 0.99904338 -0.04140403 -0.01407223 1.278368 ] [ 0.04120147 0.99904721 -0.01439129 -0.15539431] [ 0.01465468 0.01379773 0.99979741 -0.14729554] [ 0. 0. 0. 1. ]] SLAMing on 2.811193817 meters Centerline goodness [0,1] 0.8748122698376777 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.16, Z:-0.15 [[ 0.99902859 -0.04159794 -0.01454236 1.28031864] [ 0.04139219 0.99904243 -0.0141741 -0.15712239] [ 0.01511805 0.0135584 0.99979379 -0.14853278] [ 0. 0. 0. 1. ]] SLAMing on 2.841193817 meters Centerline goodness [0,1] 0.8697404217890237 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.16, Z:-0.15 [[ 0.99899002 -0.04236782 -0.01496369 1.28309956] [ 0.04214853 0.99900353 -0.01467849 -0.15803342] [ 0.01557068 0.01403297 0.99978029 -0.15077887] [ 0. 0. 0. 1. ]] SLAMing on 2.871193817 meters Centerline goodness [0,1] 0.8688561489666462 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.16, Z:-0.15 [[ 0.99898634 -0.04234703 -0.0152651 1.28424694] [ 0.04212719 0.99900781 -0.01444625 -0.15905661] [ 0.01586171 0.01378853 0.99977912 -0.15144213] [ 0. 0. 0. 1. ]] SLAMing on 2.9011938170000002 meters Centerline goodness [0,1] 0.871118970267714 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.16, Z:-0.15 [[ 0.99913114 -0.0386585 -0.01557221 1.28479546] [ 0.03850693 0.99920911 -0.00991855 -0.1621874 ] [ 0.01594333 0.0093103 0.99982955 -0.15138173] [ 0. 0. 0. 1. ]] SLAMing on 2.931193817 meters Centerline goodness [0,1] 0.871118970267714 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.16, Z:-0.15 [[ 0.99913114 -0.0386585 -0.01557221 1.28479546] [ 0.03850693 0.99920911 -0.00991855 -0.1621874 ] [ 0.01594333 0.0093103 0.99982955 -0.15138173] [ 0. 0. 0. 1. ]] SLAMing on 2.9611938170000003 meters Centerline goodness [0,1] 0.8720266902815248 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.17, Z:-0.15 [[ 0.99931754 -0.03354767 -0.01545982 1.28330472] [ 0.03348572 0.99943016 -0.00424887 -0.16598059] [ 0.01559355 0.00372828 0.99987146 -0.14955099] [ 0. 0. 0. 1. ]] SLAMing on 2.991193817 meters Centerline goodness [0,1] 0.8710768342475358 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.17, Z:-0.15 [[ 9.99442606e-01 -2.93974627e-02 -1.58198293e-02 1.28356933e+00] [ 2.94051243e-02 9.99567544e-01 2.51865965e-04 -1.67577712e-01] [ 1.58055837e-02 -7.16909623e-04 9.99874827e-01 -1.49059041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0211938170000003 meters Centerline goodness [0,1] 0.8695176570143031 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.17, Z:-0.15 [[ 9.99461685e-01 -2.86389812e-02 -1.60046741e-02 1.28343176e+00] [ 2.86518011e-02 9.99589289e-01 5.72245799e-04 -1.67186622e-01] [ 1.59817122e-02 -1.03050049e-03 9.99871753e-01 -1.48522337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.051193817 meters Centerline goodness [0,1] 0.8685767288467484 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.17, Z:-0.15 [[ 9.99480845e-01 -2.78660800e-02 -1.61716155e-02 1.28328426e+00] [ 2.78861769e-02 9.99610586e-01 1.01851978e-03 -1.67376643e-01] [ 1.61369358e-02 -1.46895554e-03 9.99868712e-01 -1.47988253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.081193817 meters Centerline goodness [0,1] 0.8651657595249876 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.17, Z:-0.14 [[ 9.99533425e-01 -2.21772257e-02 -2.10024403e-02 1.29049675e+00] [ 2.21668281e-02 9.99754021e-01 -7.27770488e-04 -1.70702959e-01] [ 2.10134141e-02 2.61873444e-04 9.99779160e-01 -1.43592163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.111193817 meters Centerline goodness [0,1] 0.8644921280881326 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.17, Z:-0.15 [[ 9.99718489e-01 -2.19751150e-02 -8.94635375e-03 1.29429990e+00] [ 2.19847703e-02 9.99757823e-01 9.82324704e-04 -1.71764764e-01] [ 8.92260045e-03 -1.17873170e-03 9.99959498e-01 -1.49743515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.141193817 meters Centerline goodness [0,1] 0.8665139224306975 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.17, Z:-0.15 [[ 0.99972341 -0.02171943 -0.00902073 1.2943098 ] [ 0.02173363 0.9997627 0.00147861 -0.17244007] [ 0.00898647 -0.00167426 0.99995822 -0.14955211] [ 0. 0. 0. 1. ]] SLAMing on 3.1711938170000002 meters Centerline goodness [0,1] 0.8658863289782797 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.17, Z:-0.15 [[ 0.99972505 -0.0215534 -0.00923484 1.29494908] [ 0.02157289 0.99976524 0.00201637 -0.17391719] [ 0.00918921 -0.00221503 0.99995532 -0.14980073] [ 0. 0. 0. 1. ]] SLAMing on 3.201193817 meters Centerline goodness [0,1] 0.8672128773301885 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.18, Z:-0.15 [[ 9.99663973e-01 -2.41472071e-02 -9.42625708e-03 1.29663750e+00] [ 2.41505250e-02 9.99708305e-01 2.38295158e-04 -1.78739871e-01] [ 9.41775333e-03 -4.65864142e-04 9.99955543e-01 -1.50953835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2311938170000003 meters Centerline goodness [0,1] 0.8687630420859074 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.18, Z:-0.15 [[ 9.99657182e-01 -2.42538200e-02 -9.86256387e-03 1.29773274e+00] [ 2.42649458e-02 9.99705053e-01 1.00997466e-03 -1.82077547e-01] [ 9.83515919e-03 -1.24894300e-03 9.99950854e-01 -1.51074054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.261193817 meters Centerline goodness [0,1] 0.8680215626742673 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.19, Z:-0.15 [[ 0.99965013 -0.02440477 -0.01019918 1.29855386] [ 0.02442336 0.99970026 0.00170223 -0.18508568] [ 0.01015458 -0.00195073 0.99994654 -0.15106837] [ 0. 0. 0. 1. ]] SLAMing on 3.2911938170000004 meters Centerline goodness [0,1] 0.8692477011376026 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.19, Z:-0.15 [[ 9.99591547e-01 -2.65740786e-02 -1.05146653e-02 1.30105078e+00] [ 2.65795562e-02 9.99646628e-01 3.81528687e-04 -1.88549546e-01] [ 1.05008109e-02 -6.60847988e-04 9.99944647e-01 -1.52866995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.321193817 meters Centerline goodness [0,1] 0.8694955306688585 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.19, Z:-0.15 [[ 9.99589386e-01 -2.65478170e-02 -1.07829522e-02 1.30189804e+00] [ 2.65552044e-02 9.99647201e-01 5.42475597e-04 -1.89196677e-01] [ 1.07647465e-02 -8.28596349e-04 9.99941715e-01 -1.53261427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.351193817 meters Centerline goodness [0,1] 0.8689682147562583 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.19, Z:-0.15 [[ 0.99966647 -0.02334587 -0.01104171 1.30290037] [ 0.02339553 0.99971665 0.00438929 -0.19083992] [ 0.01093611 -0.00464615 0.9999294 -0.15376223] [ 0. 0. 0. 1. ]] SLAMing on 3.381193817 meters Centerline goodness [0,1] 0.8730743746894153 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.19, Z:-0.15 [[ 0.99967244 -0.02305717 -0.01110735 1.30268385] [ 0.02310912 0.9997225 0.00457122 -0.19070561] [ 0.01099887 -0.0048264 0.99992786 -0.15336398] [ 0. 0. 0. 1. ]] SLAMing on 3.411193817 meters Centerline goodness [0,1] 0.8697329866699682 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.19, Z:-0.15 [[ 0.99967147 -0.0230009 -0.01130969 1.30281437] [ 0.02305259 0.9997243 0.00446138 -0.19043386] [ 0.01120396 -0.00472063 0.99992609 -0.15303318] [ 0. 0. 0. 1. ]] SLAMing on 3.4411938170000003 meters Centerline goodness [0,1] 0.8715028878056773 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.19, Z:-0.16 [[ 0.99977284 -0.02031336 -0.00645318 1.31282239] [ 0.02028907 0.99978691 -0.00380746 -0.18966841] [ 0.00652915 0.00367567 0.99997193 -0.15556081] [ 0. 0. 0. 1. ]] SLAMing on 3.471193817 meters Centerline goodness [0,1] 0.8761406195038176 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.19, Z:-0.16 [[ 0.99977532 -0.02016716 -0.00652719 1.31290273] [ 0.02014312 0.99979016 -0.00372732 -0.18981836] [ 0.00660099 0.003595 0.99997175 -0.15547813] [ 0. 0. 0. 1. ]] SLAMing on 3.5011938170000003 meters Centerline goodness [0,1] 0.8752587134696581 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.19, Z:-0.16 [[ 9.99836941e-01 -1.67033802e-02 -6.86215239e-03 1.31353848e+00] [ 1.67067928e-02 9.99860335e-01 4.40276646e-04 -1.91605307e-01] [ 6.85383988e-03 -5.54849412e-04 9.99976358e-01 -1.55359167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.531193817 meters Centerline goodness [0,1] 0.8738900962434026 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.19, Z:-0.15 [[ 9.99839825e-01 -1.65208392e-02 -6.88375540e-03 1.31321533e+00] [ 1.65253336e-02 9.99863269e-01 5.96524412e-04 -1.91437185e-01] [ 6.87295910e-03 -7.10185218e-04 9.99976129e-01 -1.54894143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5611938170000004 meters Centerline goodness [0,1] 0.873403595784253 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.19, Z:-0.15 [[ 9.99843794e-01 -1.62426122e-02 -6.96893906e-03 1.31323880e+00] [ 1.62503219e-02 9.99867402e-01 1.05109661e-03 -1.92203479e-01] [ 6.95094244e-03 -1.16417992e-03 9.99975164e-01 -1.54622380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.591193817 meters Centerline goodness [0,1] 0.8728408902175718 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.19, Z:-0.15 [[ 0.99984888 -0.01588766 -0.00705753 1.31330076] [ 0.01589956 0.99987226 0.00163344 -0.19359904] [ 0.00703068 -0.00174541 0.99997376 -0.15445798] [ 0. 0. 0. 1. ]] SLAMing on 3.621193817 meters Centerline goodness [0,1] 0.8732908494710141 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.19, Z:-0.15 [[ 0.99984656 -0.01597051 -0.00719674 1.31402689] [ 0.01598399 0.99987059 0.00181857 -0.19492523] [ 0.00716677 -0.00193332 0.99997245 -0.15496521] [ 0. 0. 0. 1. ]] SLAMing on 3.6511938170000002 meters Centerline goodness [0,1] 0.8702511335169044 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.20, Z:-0.15 [[ 0.99984809 -0.01585987 -0.00722986 1.31402238] [ 0.0158776 0.99987106 0.00240195 -0.19650321] [ 0.00719083 -0.00251638 0.99997098 -0.15480875] [ 0. 0. 0. 1. ]] SLAMing on 3.681193817 meters Centerline goodness [0,1] 0.8689527840013277 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.20, Z:-0.15 [[ 0.99984026 -0.01642409 -0.00705017 1.31418235] [ 0.01644707 0.99985958 0.00321308 -0.19983964] [ 0.0069964 -0.00332852 0.99996999 -0.15485242] [ 0. 0. 0. 1. ]] SLAMing on 3.7111938170000003 meters Centerline goodness [0,1] 0.8672524291916477 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.20, Z:-0.16 [[ 0.9998186 -0.01750139 -0.00751492 1.31617758] [ 0.01752208 0.99984284 0.00269605 -0.20109852] [ 0.00746655 -0.00282724 0.99996813 -0.15606619] [ 0. 0. 0. 1. ]] SLAMing on 3.741193817 meters Centerline goodness [0,1] 0.8658526455685688 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.20, Z:-0.16 [[ 0.99981141 -0.01786017 -0.00762651 1.31668962] [ 0.01788332 0.99983565 0.00297748 -0.20259633] [ 0.00757208 -0.00311331 0.99996648 -0.15628117] [ 0. 0. 0. 1. ]] SLAMing on 3.7711938170000003 meters Centerline goodness [0,1] 0.8646153846153846 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.20, Z:-0.16 [[ 0.9998058 -0.01811916 -0.00775022 1.31700264] [ 0.01814497 0.99983001 0.0032727 -0.20393065] [ 0.0076896 -0.00341269 0.99996461 -0.15623829] [ 0. 0. 0. 1. ]] SLAMing on 3.801193817 meters Centerline goodness [0,1] 0.8573063398597616 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.20, Z:-0.16 [[ 9.99711059e-01 -2.27105184e-02 -7.87602274e-03 1.31825023e+00] [ 2.27024829e-02 9.99741651e-01 -1.10817581e-03 -2.04330796e-01] [ 7.89915523e-03 9.29050340e-04 9.99968370e-01 -1.57279407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8311938170000004 meters Centerline goodness [0,1] 0.8538981992297283 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.21, Z:-0.16 [[ 9.99701377e-01 -2.30480844e-02 -8.12051939e-03 1.31918082e+00] [ 2.30397533e-02 9.99733925e-01 -1.11800767e-03 -2.05131036e-01] [ 8.14412665e-03 9.30579040e-04 9.99966403e-01 -1.57823602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.861193817 meters Centerline goodness [0,1] 0.8518264270261275 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.20, Z:-0.16 [[ 9.99690750e-01 -2.34718419e-02 -8.21438521e-03 1.31996548e+00] [ 2.34609196e-02 9.99723741e-01 -1.42350959e-03 -2.04845783e-01] [ 8.24552831e-03 1.23035234e-03 9.99965248e-01 -1.58583398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.891193817 meters Centerline goodness [0,1] 0.8366665971512586 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.20, Z:-0.16 [[ 9.99729840e-01 -2.16867320e-02 -8.36260986e-03 1.32181286e+00] [ 2.16938290e-02 9.99764373e-01 7.58866155e-04 -2.02323276e-01] [ 8.34418208e-03 -9.40078168e-04 9.99964745e-01 -1.60334014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9211938170000002 meters Centerline goodness [0,1] 0.8307605774639085 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.20, Z:-0.16 [[ 0.99977015 -0.01948096 -0.00895209 1.32417803] [ 0.01951019 0.99980457 0.00318962 -0.20140296] [ 0.0088882 -0.00336354 0.99995484 -0.16186641] [ 0. 0. 0. 1. ]] SLAMing on 3.951193817 meters Centerline goodness [0,1] 0.826695304028693 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.20, Z:-0.16 [[ 0.99976308 -0.01978907 -0.00906494 1.32438894] [ 0.0198119 0.99980076 0.00243556 -0.19924184] [ 0.00901494 -0.00261458 0.99995595 -0.1619135 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9811938170000003 meters Centerline goodness [0,1] 0.8527118856047026 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.20, Z:-0.16 [[ 0.99984397 -0.01500693 -0.00931777 1.33041608] [ 0.01495858 0.9998744 -0.00523708 -0.19647985] [ 0.00939519 0.00509688 0.99994287 -0.15855087] [ 0. 0. 0. 1. ]] SLAMing on 4.0111938170000005 meters Centerline goodness [0,1] 0.8444842526245626 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.20, Z:-0.16 [[ 9.99892154e-01 -1.12099095e-02 -9.48783899e-03 1.33040163e+00] [ 1.11977988e-02 9.99936420e-01 -1.32860823e-03 -1.96571180e-01] [ 9.50212933e-03 1.22222203e-03 9.99954107e-01 -1.58088968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.041193817000001 meters Centerline goodness [0,1] 0.8484234047835802 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.19, Z:-0.16 [[ 0.99996362 -0.00640194 -0.0056369 1.34218768] [ 0.00636084 0.99995327 -0.00727932 -0.19430954] [ 0.00568324 0.0072432 0.99995762 -0.16174586] [ 0. 0. 0. 1. ]] SLAMing on 4.071193817000001 meters Centerline goodness [0,1] 0.8530840966894812 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.19, Z:-0.16 [[ 0.99998086 -0.00245895 -0.00567686 1.34245993] [ 0.00243886 0.99999075 -0.00354321 -0.19306681] [ 0.00568552 0.0035293 0.99997761 -0.16199455] [ 0. 0. 0. 1. ]] SLAMing on 4.101193817 meters Centerline goodness [0,1] 0.8491254404069464 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.19, Z:-0.16 [[ 9.99982793e-01 1.40808477e-03 -5.69478596e-03 1.34266708e+00] [-1.40798061e-03 9.99999009e-01 2.23000958e-05 -1.91684859e-01] [ 5.69481172e-03 -1.42815639e-05 9.99983784e-01 -1.62224999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.131193817000001 meters Centerline goodness [0,1] 0.8466519988376437 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.19, Z:-0.16 [[ 0.99996679 0.0059521 -0.00556744 1.34240256] [-0.00593432 0.99997725 0.00320538 -0.18778462] [ 0.0055864 -0.00317223 0.99997936 -0.16219895] [ 0. 0. 0. 1. ]] SLAMing on 4.161193817000001 meters Centerline goodness [0,1] 0.8465410107705054 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.18, Z:-0.16 [[ 0.99996464 0.00620825 -0.00567196 1.34258004] [-0.00619437 0.99997779 0.00246108 -0.1847878 ] [ 0.00568711 -0.00242586 0.99998089 -0.1623708 ] [ 0. 0. 0. 1. ]] SLAMing on 4.191193817 meters Centerline goodness [0,1] 0.8436799734417794 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.18, Z:-0.16 [[ 0.99995995 0.00686995 -0.00573531 1.34263444] [-0.00686024 0.999975 0.00171196 -0.18056212] [ 0.00574693 -0.00167255 0.99998209 -0.1626119 ] [ 0. 0. 0. 1. ]] SLAMing on 4.2211938170000005 meters Centerline goodness [0,1] 0.8414766106209423 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.18, Z:-0.16 [[ 9.99960640e-01 6.77270327e-03 -5.73135652e-03 1.34296179e+00] [-6.76615794e-03 9.99976436e-01 1.16064057e-03 -1.79014473e-01] [ 5.73908214e-03 -1.12181562e-03 9.99982902e-01 -1.63135106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.251193817000001 meters Centerline goodness [0,1] 0.849503642705302 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.18, Z:-0.17 [[ 0.99994449 0.00850562 -0.00621885 1.34575885] [-0.00848775 0.99995979 0.00289378 -0.17861861] [ 0.00624321 -0.00284084 0.99997648 -0.1652905 ] [ 0. 0. 0. 1. ]] SLAMing on 4.281193817000001 meters Centerline goodness [0,1] 0.840758234669885 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.18, Z:-0.17 [[ 0.99994503 0.00847012 -0.00618014 1.34592228] [-0.00845465 0.99996107 0.00252465 -0.17704354] [ 0.00620128 -0.00247226 0.99997772 -0.16565888] [ 0. 0. 0. 1. ]] SLAMing on 4.311193817 meters Centerline goodness [0,1] 0.8387330954948975 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.18, Z:-0.17 [[ 0.9999454 0.00831018 -0.00633477 1.34655899] [-0.00829688 0.99996333 0.00212328 -0.17592291] [ 0.00635218 -0.00207061 0.99997768 -0.16616302] [ 0. 0. 0. 1. ]] SLAMing on 4.341193817000001 meters Centerline goodness [0,1] 0.8389122639749622 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.18, Z:-0.17 [[ 9.99950080e-01 7.33860533e-03 -6.78102957e-03 1.34905981e+00] [-7.33184819e-03 9.99972601e-01 1.02079837e-03 -1.75320259e-01] [ 6.78833501e-03 -9.71029929e-04 9.99976488e-01 -1.68296952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.371193817000001 meters Centerline goodness [0,1] 0.8386861769664675 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.18, Z:-0.17 [[ 9.99950713e-01 7.14415309e-03 -6.89445698e-03 1.34963292e+00] [-7.13753930e-03 9.99974044e-01 9.83420633e-04 -1.75756188e-01] [ 6.90130373e-03 -9.34162705e-04 9.99975749e-01 -1.68775105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.401193817000001 meters Centerline goodness [0,1] 0.8392463043930877 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.18, Z:-0.17 [[ 9.99951528e-01 6.82906512e-03 -7.09270240e-03 1.35028667e+00] [-6.82221260e-03 9.99976238e-01 9.89882059e-04 -1.76704917e-01] [ 7.09929384e-03 -9.41446154e-04 9.99974357e-01 -1.69136047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4311938170000005 meters Centerline goodness [0,1] 0.8382411170157341 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.18, Z:-0.17 [[ 0.99996932 0.00403237 -0.00671494 1.34813658] [-0.00404447 0.99999022 -0.00178907 -0.17658768] [ 0.00670766 0.00181618 0.99997585 -0.16744209] [ 0. 0. 0. 1. ]] SLAMing on 4.461193817000001 meters Centerline goodness [0,1] 0.8352679314361791 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.18, Z:-0.17 [[ 0.99997118 0.00359512 -0.00668679 1.34773307] [-0.0036056 0.99999229 -0.00155468 -0.17833038] [ 0.00668115 0.00157874 0.99997643 -0.16667452] [ 0. 0. 0. 1. ]] SLAMing on 4.491193817000001 meters Centerline goodness [0,1] 0.8331843598644688 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.18, Z:-0.16 [[ 9.99979301e-01 -5.60734834e-05 -6.43382787e-03 1.34577665e+00] [ 2.47217169e-05 9.99988127e-01 -4.87293305e-03 -1.78638431e-01] [ 6.43402473e-03 4.87267313e-03 9.99967430e-01 -1.64676034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.521193817 meters Centerline goodness [0,1] 0.8332537226641191 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.18, Z:-0.16 [[ 9.99978265e-01 -4.44992617e-04 -6.57816783e-03 1.34627329e+00] [ 4.11373251e-04 9.99986853e-01 -5.11121909e-03 -1.78276407e-01] [ 6.58035580e-03 5.10840191e-03 9.99965301e-01 -1.64886503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.551193817000001 meters Centerline goodness [0,1] 0.8318550983528239 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.18, Z:-0.17 [[ 9.99977469e-01 -6.99298659e-04 -6.67623622e-03 1.34661538e+00] [ 6.63295707e-04 9.99985236e-01 -5.39339395e-03 -1.77655069e-01] [ 6.67990924e-03 5.38884411e-03 9.99963169e-01 -1.65054314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.581193817000001 meters Centerline goodness [0,1] 0.8320437622197263 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.18, Z:-0.17 [[ 9.99976060e-01 -9.45074443e-04 -6.85460507e-03 1.34709053e+00] [ 9.05294689e-04 9.99982746e-01 -5.80414475e-03 -1.76715141e-01] [ 6.85997215e-03 5.79780037e-03 9.99959662e-01 -1.65232923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.611193817000001 meters Centerline goodness [0,1] 0.8322258450617029 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:-0.17 [[ 0.99997283 -0.0016694 -0.00717979 1.34839979] [ 0.00161866 0.99997372 -0.0070667 -0.17415164] [ 0.0071914 0.00705489 0.99994925 -0.16605567] [ 0. 0. 0. 1. ]] SLAMing on 4.641193817 meters Centerline goodness [0,1] 0.827028258887876 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:-0.17 [[ 0.99997174 -0.00188451 -0.00727755 1.34867521] [ 0.00182993 0.9999702 -0.00749938 -0.17288545] [ 0.00729146 0.00748585 0.9999454 -0.16615472] [ 0. 0. 0. 1. ]] SLAMing on 4.671193817000001 meters Centerline goodness [0,1] 0.8288526213712423 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:-0.17 [[ 0.99996964 -0.00232608 -0.0074364 1.34935497] [ 0.00226637 0.99996521 -0.00802786 -0.1717561 ] [ 0.00745482 0.00801076 0.99994012 -0.16660751] [ 0. 0. 0. 1. ]] SLAMing on 4.701193817000001 meters Centerline goodness [0,1] 0.8265139116202946 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:-0.17 [[ 0.99996524 -0.00333066 -0.00764423 1.35002358] [ 0.00326399 0.99995668 -0.00871734 -0.17083769] [ 0.00767294 0.00869209 0.99993278 -0.1667337 ] [ 0. 0. 0. 1. ]] SLAMing on 4.731193817 meters Centerline goodness [0,1] 0.8250930024731384 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:-0.17 [[ 0.99996243 -0.00365649 -0.00785904 1.35050539] [ 0.00358682 0.99995431 -0.00886062 -0.17072983] [ 0.00789108 0.0088321 0.99992986 -0.16675528] [ 0. 0. 0. 1. ]] SLAMing on 4.7611938170000005 meters Centerline goodness [0,1] 0.8270210914515393 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:-0.17 [[ 0.99995954 -0.00409594 -0.00800925 1.35131177] [ 0.00402261 0.99995004 -0.00915024 -0.17040008] [ 0.00804633 0.00911765 0.99992606 -0.16735477] [ 0. 0. 0. 1. ]] SLAMing on 4.791193817000001 meters Centerline goodness [0,1] 0.8270446749597058 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:-0.17 [[ 0.99995598 -0.00453431 -0.00821444 1.35234301] [ 0.00445715 0.999946 -0.00938808 -0.17015399] [ 0.00825657 0.00935105 0.99992219 -0.1681102 ] [ 0. 0. 0. 1. ]] SLAMing on 4.821193817000001 meters Centerline goodness [0,1] 0.8277973842640648 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.17, Z:-0.17 [[ 0.99994352 -0.00619367 -0.00863675 1.35526348] [ 0.00609855 0.99992093 -0.01099696 -0.16781956] [ 0.00870417 0.01094367 0.99990223 -0.17059881] [ 0. 0. 0. 1. ]] SLAMing on 4.851193817 meters Centerline goodness [0,1] 0.8277973842640648 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.17, Z:-0.17 [[ 0.99994352 -0.00619367 -0.00863675 1.35526348] [ 0.00609855 0.99992093 -0.01099696 -0.16781956] [ 0.00870417 0.01094367 0.99990223 -0.17059881] [ 0. 0. 0. 1. ]] SLAMing on 4.881193817000001 meters Centerline goodness [0,1] 0.827572556618122 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.17, Z:-0.17 [[ 0.99994984 -0.00424859 -0.00907009 1.35779063] [ 0.0041712 0.99995488 -0.00853447 -0.16769994] [ 0.00910594 0.00849621 0.99992245 -0.17247636] [ 0. 0. 0. 1. ]] SLAMing on 4.911193817000001 meters Centerline goodness [0,1] 0.8275096945440972 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.17, Z:-0.17 [[ 0.99995157 -0.00238349 -0.00954841 1.3603914 ] [ 0.00232414 0.99997794 -0.00622261 -0.1676152 ] [ 0.00956303 0.00620012 0.99993505 -0.17425546] [ 0. 0. 0. 1. ]] SLAMing on 4.941193817000001 meters Centerline goodness [0,1] 0.8268265767172632 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.17, Z:-0.17 [[ 9.99951524e-01 1.13521594e-03 -9.78067763e-03 1.36103144e+00] [-1.16300043e-03 9.99995304e-01 -2.83553443e-03 -1.66871251e-01] [ 9.77741275e-03 2.84677190e-03 9.99948148e-01 -1.74265386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9711938170000005 meters Centerline goodness [0,1] 0.8284503179154719 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.16, Z:-0.17 [[ 9.99951486e-01 1.35049574e-03 -9.75717726e-03 1.36091706e+00] [-1.38321161e-03 9.99993442e-01 -3.34703624e-03 -1.64261604e-01] [ 9.75259312e-03 3.36037010e-03 9.99946796e-01 -1.74171279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.001193817000001 meters Centerline goodness [0,1] 0.8280281279906795 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.16, Z:-0.17 [[ 0.99995226 0.00262359 -0.00941287 1.35922291] [-0.00264787 0.9999932 -0.00256815 -0.16130094] [ 0.00940606 0.00259295 0.9999524 -0.17285141] [ 0. 0. 0. 1. ]] SLAMing on 5.031193817000001 meters Centerline goodness [0,1] 0.8286862545030507 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.16, Z:-0.17 [[ 0.99995097 0.00381188 -0.00913952 1.35740974] [-0.00382987 0.99999076 -0.00195174 -0.15805566] [ 0.00913199 0.00198665 0.99995633 -0.17118567] [ 0. 0. 0. 1. ]] SLAMing on 5.061193817 meters Centerline goodness [0,1] 0.8305823730924946 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.15, Z:-0.17 [[ 9.99932324e-01 7.80649771e-03 -8.62594886e-03 1.35447271e+00] [-7.79946214e-03 9.99969223e-01 8.48967333e-04 -1.52847283e-01] [ 8.63231084e-03 -7.81632116e-04 9.99962435e-01 -1.68420599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.091193817000001 meters Centerline goodness [0,1] 0.8287458609271523 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.15, Z:-0.17 [[ 9.99930459e-01 8.08705828e-03 -8.58355255e-03 1.35398524e+00] [-8.08733445e-03 9.99967297e-01 2.53488317e-06 -1.49131740e-01] [ 8.58329234e-03 6.68833534e-05 9.99963161e-01 -1.67896261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.121193817000001 meters Centerline goodness [0,1] 0.8313245488040967 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.15, Z:-0.17 [[ 9.99921980e-01 9.41402437e-03 -8.21033397e-03 1.35173698e+00] [-9.41008303e-03 9.99955590e-01 5.18545226e-04 -1.46280434e-01] [ 8.21485095e-03 -4.41244845e-04 9.99966160e-01 -1.65977264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.151193817000001 meters Centerline goodness [0,1] 0.8343427220309454 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.14, Z:-0.17 [[ 9.99921279e-01 9.51627446e-03 -8.17778093e-03 1.35155247e+00] [-9.51907263e-03 9.99954647e-01 -3.03311747e-04 -1.43138015e-01] [ 8.17452364e-03 3.81132761e-04 9.99966515e-01 -1.65789744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1811938170000005 meters Centerline goodness [0,1] 0.8405334879675268 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.14, Z:-0.17 [[ 0.99987854 0.01337737 -0.00799682 1.35103287] [-0.01335493 0.99990675 0.00285293 -0.14042109] [ 0.00803424 -0.00274579 0.99996396 -0.16520376] [ 0. 0. 0. 1. ]] SLAMing on 5.211193817000001 meters Centerline goodness [0,1] 0.8459855069471685 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.14, Z:-0.17 [[ 0.99987546 0.01351883 -0.00814242 1.3518506 ] [-0.01350204 0.99990661 0.00211396 -0.13785223] [ 0.00817024 -0.00200375 0.99996462 -0.16597609] [ 0. 0. 0. 1. ]] SLAMing on 5.241193817000001 meters Centerline goodness [0,1] 0.8453354817385557 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.14, Z:-0.17 [[ 9.99871056e-01 1.37617205e-02 -8.27561021e-03 1.35289588e+00] [-1.37504068e-02 9.99904447e-01 1.42246790e-03 -1.35315702e-01] [ 8.29439505e-03 -1.30849148e-03 9.99964745e-01 -1.67107022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.271193817 meters Centerline goodness [0,1] 0.849583669084072 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.13, Z:-0.17 [[ 9.99865366e-01 1.40888080e-02 -8.41167736e-03 1.35391046e+00] [-1.40819121e-02 9.99900459e-01 8.78468198e-04 -1.33129749e-01] [ 8.42321662e-03 -7.59897424e-04 9.99964235e-01 -1.68200948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.301193817000001 meters Centerline goodness [0,1] 0.8531040633880235 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.13, Z:-0.17 [[ 9.99843146e-01 1.54597567e-02 -8.64169992e-03 1.35494832e+00] [-1.54487929e-02 9.99879770e-01 1.33402706e-03 -1.32646503e-01] [ 8.66128467e-03 -1.20031398e-03 9.99961770e-01 -1.69179238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.331193817000001 meters Centerline goodness [0,1] 0.8547394930228718 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.13, Z:-0.17 [[ 0.99983579 0.0158108 -0.00885503 1.35577008] [-0.01579559 0.99987365 0.0017853 -0.1342589 ] [ 0.00888214 -0.00164514 0.9999592 -0.16969001] [ 0. 0. 0. 1. ]] SLAMing on 5.361193817000001 meters Centerline goodness [0,1] 0.8588776525198939 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.13, Z:-0.17 [[ 9.99869312e-01 1.35180023e-02 -8.86695226e-03 1.35572748e+00] [-1.35274750e-02 9.99907990e-01 -1.00920906e-03 -1.34867370e-01] [ 8.85249392e-03 1.12902465e-03 9.99960179e-01 -1.69877922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.391193817 meters Centerline goodness [0,1] 0.8618888338288735 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.14, Z:-0.17 [[ 9.99861926e-01 1.39979512e-02 -8.95465495e-03 1.35639932e+00] [-1.40011280e-02 9.99901937e-01 -2.92170764e-04 -1.36705132e-01] [ 8.94968704e-03 4.17505694e-04 9.99959864e-01 -1.70504417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.421193817000001 meters Centerline goodness [0,1] 0.8614181720140199 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.14, Z:-0.17 [[ 0.99983716 0.0157706 -0.00877209 1.35629847] [-0.01575525 0.99987423 0.00181519 -0.14057387] [ 0.00879962 -0.00167669 0.99995988 -0.17080124] [ 0. 0. 0. 1. ]] SLAMing on 5.451193817000001 meters Centerline goodness [0,1] 0.8587584664139688 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.14, Z:-0.17 [[ 0.99982275 0.0166644 -0.00876137 1.3563929 ] [-0.0166379 0.99985681 0.00308826 -0.14399616] [ 0.00881158 -0.00294194 0.99995685 -0.17087403] [ 0. 0. 0. 1. ]] SLAMing on 5.481193817000001 meters Centerline goodness [0,1] 0.854867769793112 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.15, Z:-0.17 [[ 9.99859255e-01 1.43950628e-02 -8.61701060e-03 1.35550803e+00] [-1.43886484e-02 9.99896153e-01 8.05915869e-04 -1.47639498e-01] [ 8.62771696e-03 -6.81815304e-04 9.99962548e-01 -1.70351029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5111938170000005 meters Centerline goodness [0,1] 0.8527510089778436 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.15, Z:-0.17 [[ 9.99856730e-01 1.42501096e-02 -9.13530400e-03 1.35667078e+00] [-1.42399528e-02 9.99897915e-01 1.17590369e-03 -1.54253549e-01] [ 9.15112819e-03 -1.04564892e-03 9.99957581e-01 -1.70639501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.541193817000001 meters Centerline goodness [0,1] 0.8553085709589942 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.16, Z:-0.17 [[ 9.99892540e-01 1.15507451e-02 -9.02707620e-03 1.35614714e+00] [-1.15580847e-02 9.99932913e-01 -7.61313918e-04 -1.59521443e-01] [ 9.01767686e-03 8.65567819e-04 9.99958965e-01 -1.70307190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.571193817000001 meters Centerline goodness [0,1] 0.8685912048742073 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.17, Z:-0.17 [[ 0.9999271 0.00785821 -0.00916732 1.35764612] [-0.00787152 0.99996802 -0.00141659 -0.17178852] [ 0.0091559 0.00148865 0.99995698 -0.17123992] [ 0. 0. 0. 1. ]] SLAMing on 5.601193817 meters Centerline goodness [0,1] 0.8743002861052369 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.18, Z:-0.17 [[ 0.9999461 0.00473414 -0.00923988 1.35837755] [-0.00476331 0.99998373 -0.003138 -0.17799692] [ 0.00922488 0.00318185 0.99995239 -0.17183759] [ 0. 0. 0. 1. ]] SLAMing on 5.631193817000001 meters Centerline goodness [0,1] 0.8790810407689758 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.19, Z:-0.17 [[ 0.99995106 -0.00264176 -0.00953458 1.36042735] [ 0.00256998 0.99996833 -0.00753282 -0.19037197] [ 0.00955418 0.00750795 0.99992617 -0.17310489] [ 0. 0. 0. 1. ]] SLAMing on 5.661193817000001 meters Centerline goodness [0,1] 0.8789744227500725 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.20, Z:-0.17 [[ 0.99993672 -0.00590742 -0.00957344 1.36007863] [ 0.00581759 0.99993905 -0.00938341 -0.19689534] [ 0.00962828 0.00932713 0.99991015 -0.17228284] [ 0. 0. 0. 1. ]] SLAMing on 5.691193817000001 meters Centerline goodness [0,1] 0.8859759493409789 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.20, Z:-0.17 [[ 0.99990961 -0.00929325 -0.00971614 1.35990552] [ 0.00918111 0.99989146 -0.01152278 -0.20269839] [ 0.00982217 0.01143254 0.9998864 -0.17141192] [ 0. 0. 0. 1. ]] SLAMing on 5.7211938170000005 meters Centerline goodness [0,1] 0.8902262480870249 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.21, Z:-0.17 [[ 0.99987273 -0.01270733 -0.00964612 1.35946622] [ 0.01257171 0.99982307 -0.01399215 -0.20711601] [ 0.00982222 0.01386911 0.99985558 -0.17078155] [ 0. 0. 0. 1. ]] SLAMing on 5.751193817000001 meters Centerline goodness [0,1] 0.893359455557847 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.21, Z:-0.17 [[ 0.99986538 -0.01321927 -0.00972014 1.36014407] [ 0.01309049 0.99982725 -0.01319504 -0.21182208] [ 0.00989289 0.01306602 0.9998657 -0.17101743] [ 0. 0. 0. 1. ]] SLAMing on 5.781193817000001 meters Centerline goodness [0,1] 0.8954959409898215 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.22, Z:-0.17 [[ 0.99978488 -0.01816862 -0.01000509 1.36251519] [ 0.01799873 0.99969657 -0.01681708 -0.21660923] [ 0.0103076 0.01663338 0.99980852 -0.17273994] [ 0. 0. 0. 1. ]] SLAMing on 5.811193817 meters Centerline goodness [0,1] 0.9019165960262162 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.22, Z:-0.17 [[ 0.9997797 -0.01829202 -0.01029367 1.36354104] [ 0.01812547 0.99970694 -0.016047 -0.21992674] [ 0.01058418 0.01585689 0.99981825 -0.17315132] [ 0. 0. 0. 1. ]] SLAMing on 5.841193817000001 meters Centerline goodness [0,1] 0.9018925430919088 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.22, Z:-0.17 [[ 0.99977393 -0.01846198 -0.01054745 1.3646408 ] [ 0.01829685 0.99971176 -0.01554436 -0.22228702] [ 0.01083139 0.01534786 0.99982355 -0.17375329] [ 0. 0. 0. 1. ]] SLAMing on 5.871193817000001 meters Centerline goodness [0,1] 0.9034658596243936 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.22, Z:-0.17 [[ 0.99976845 -0.01867094 -0.0106976 1.36516865] [ 0.01850716 0.99971303 -0.01521008 -0.22372954] [ 0.01097852 0.01500857 0.99982709 -0.17394026] [ 0. 0. 0. 1. ]] SLAMing on 5.901193817000001 meters Centerline goodness [0,1] 0.9028631544205619 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.23, Z:-0.17 [[ 0.99975906 -0.01899936 -0.01099272 1.36599521] [ 0.01883418 0.999711 -0.01493941 -0.22531864] [ 0.01127338 0.01472877 0.99982797 -0.17405712] [ 0. 0. 0. 1. ]] SLAMing on 5.9311938170000005 meters Centerline goodness [0,1] 0.9036302123331742 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.23, Z:-0.17 [[ 0.99975343 -0.01928947 -0.01099979 1.36533397] [ 0.01913457 0.99971864 -0.01401813 -0.23011006] [ 0.01126709 0.01380419 0.99984124 -0.17248099] [ 0. 0. 0. 1. ]] SLAMing on 5.961193817000001 meters Centerline goodness [0,1] 0.9006842943085733 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.23, Z:-0.17 [[ 0.99975149 -0.01927439 -0.01120052 1.3656755 ] [ 0.01912176 0.99972495 -0.01357846 -0.23186695] [ 0.01145915 0.01336091 0.99984507 -0.17222629] [ 0. 0. 0. 1. ]] SLAMing on 5.991193817000001 meters Centerline goodness [0,1] 0.8990001659475606 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.23, Z:-0.17 [[ 0.99974837 -0.01937704 -0.01130183 1.36607841] [ 0.01922588 0.99972626 -0.01333337 -0.23250939] [ 0.01155709 0.01311273 0.99984723 -0.1723016 ] [ 0. 0. 0. 1. ]] SLAMing on 6.021193817000001 meters Centerline goodness [0,1] 0.8965861159016768 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.23, Z:-0.17 [[ 0.99974158 -0.01964226 -0.01144371 1.36688793] [ 0.01949066 0.99972275 -0.01321137 -0.23293919] [ 0.01170004 0.01298491 0.99984724 -0.17279008] [ 0. 0. 0. 1. ]] SLAMing on 6.051193817000001 meters Centerline goodness [0,1] 0.8843274321641297 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.23, Z:-0.17 [[ 0.99969205 -0.02193821 -0.01159794 1.36952382] [ 0.0217717 0.99966079 -0.01429346 -0.23335276] [ 0.01190758 0.01403655 0.99983058 -0.17480217] [ 0. 0. 0. 1. ]] SLAMing on 6.081193817000001 meters Centerline goodness [0,1] 0.8731859233883525 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.23, Z:-0.18 [[ 0.99967578 -0.02261093 -0.01170837 1.37019786] [ 0.02244174 0.99964465 -0.01438516 -0.23370824] [ 0.01202947 0.01411774 0.99982798 -0.17508104] [ 0. 0. 0. 1. ]] SLAMing on 6.111193817000001 meters Centerline goodness [0,1] 0.866291036863006 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.23, Z:-0.18 [[ 0.9996575 -0.02334157 -0.01183424 1.37079278] [ 0.02316651 0.99962325 -0.01471989 -0.233306 ] [ 0.01217337 0.01444069 0.99982162 -0.17524026] [ 0. 0. 0. 1. ]] SLAMing on 6.141193817 meters Centerline goodness [0,1] 0.8443916546168146 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.23, Z:-0.18 [[ 0.9996041 -0.0253328 -0.01224317 1.37272154] [ 0.02512567 0.99954336 -0.01678596 -0.22962301] [ 0.01266281 0.0164717 0.99978414 -0.17601809] [ 0. 0. 0. 1. ]] SLAMing on 6.171193817000001 meters Centerline goodness [0,1] 0.8391416451800715 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.23, Z:-0.18 [[ 0.99966649 -0.02262091 -0.01245805 1.37318332] [ 0.02244929 0.99965345 -0.01374816 -0.22852954] [ 0.01276473 0.0134639 0.99982788 -0.17576179] [ 0. 0. 0. 1. ]] SLAMing on 6.201193817000001 meters Centerline goodness [0,1] 0.8420068557182923 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.23, Z:-0.18 [[ 0.99972264 -0.01986072 -0.01265645 1.37385589] [ 0.01972431 0.99974699 -0.01081267 -0.22661302] [ 0.012868 0.01056004 0.99986144 -0.17587942] [ 0. 0. 0. 1. ]] SLAMing on 6.231193817000001 meters Centerline goodness [0,1] 0.8197909119138805 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.22, Z:-0.18 [[ 0.99975451 -0.0179026 -0.01305433 1.37562437] [ 0.01778813 0.99980276 -0.00883343 -0.2230162 ] [ 0.0132099 0.00859905 0.99987577 -0.17677461] [ 0. 0. 0. 1. ]] SLAMing on 6.2611938170000005 meters Centerline goodness [0,1] 0.8179359697114684 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.21, Z:-0.18 [[ 0.99975258 -0.0175131 -0.01371422 1.37878613] [ 0.01739077 0.99980836 -0.00898905 -0.21196006] [ 0.01386902 0.00874832 0.99986555 -0.17848267] [ 0. 0. 0. 1. ]] SLAMing on 6.291193817000001 meters Centerline goodness [0,1] 0.80996466285053 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.21, Z:-0.18 [[ 0.99977125 -0.01587008 -0.01433808 1.38187728] [ 0.01575468 0.99984286 -0.00812636 -0.20569433] [ 0.0144648 0.0078986 0.99986418 -0.18072045] [ 0. 0. 0. 1. ]] SLAMing on 6.321193817000001 meters Centerline goodness [0,1] 0.8063754427390791 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.20, Z:-0.18 [[ 0.99979974 -0.01354212 -0.01473416 1.38383012] [ 0.01344613 0.99988785 -0.00659446 -0.19953425] [ 0.01482181 0.00639502 0.9998697 -0.18217525] [ 0. 0. 0. 1. ]] SLAMing on 6.351193817 meters Centerline goodness [0,1] 0.7987603905391679 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.19, Z:-0.18 [[ 0.99980004 -0.01289546 -0.01528339 1.38712004] [ 0.01279773 0.99989714 -0.00647507 -0.18573876] [ 0.01536532 0.00627818 0.99986224 -0.18391794] [ 0. 0. 0. 1. ]] SLAMing on 6.381193817000001 meters Centerline goodness [0,1] 0.7808771530778933 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.18, Z:-0.19 [[ 0.9998071 -0.01166475 -0.01580177 1.38953956] [ 0.0115794 0.99991793 -0.00548178 -0.18030808] [ 0.01586441 0.00529774 0.99986012 -0.18536479] [ 0. 0. 0. 1. ]] SLAMing on 6.411193817000001 meters Centerline goodness [0,1] 0.7619364083819651 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.17, Z:-0.19 [[ 0.99978695 -0.01312358 -0.01593174 1.39003437] [ 0.01300148 0.9998855 -0.00774318 -0.17350789] [ 0.01603153 0.0075344 0.9998431 -0.18555462] [ 0. 0. 0. 1. ]] SLAMing on 6.441193817000001 meters Centerline goodness [0,1] 0.7434312851247382 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.17, Z:-0.19 [[ 0.99980067 -0.01181909 -0.01609144 1.39122911] [ 0.01171646 0.99991051 -0.00645759 -0.16855899] [ 0.01616632 0.00626777 0.99984967 -0.18625412] [ 0. 0. 0. 1. ]] SLAMing on 6.4711938170000005 meters Centerline goodness [0,1] 0.7175426960703034 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.16, Z:-0.19 [[ 0.9997773 -0.01237671 -0.01709313 1.39512426] [ 0.01224611 0.99989518 -0.00772368 -0.15588688] [ 0.01718693 0.00751263 0.99982407 -0.18796747] [ 0. 0. 0. 1. ]] SLAMing on 6.501193817000001 meters Centerline goodness [0,1] 0.7161928923454428 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.15, Z:-0.19 [[ 0.99979607 -0.01025727 -0.01739585 1.39671812] [ 0.01015169 0.99992958 -0.00614655 -0.15089551] [ 0.01745767 0.0059687 0.99982979 -0.18906589] [ 0. 0. 0. 1. ]] SLAMing on 6.531193817000001 meters Centerline goodness [0,1] 0.7174525565592111 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.15, Z:-0.19 [[ 0.99980399 -0.00841052 -0.01792305 1.39901316] [ 0.00832013 0.99995232 -0.00511151 -0.14507124] [ 0.01796518 0.00496138 0.9998263 -0.19045474] [ 0. 0. 0. 1. ]] SLAMing on 6.561193817000001 meters Centerline goodness [0,1] 0.7196615499193182 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.14, Z:-0.19 [[ 0.99981725 -0.00587341 -0.01819235 1.40031002] [ 0.00581063 0.99997699 -0.00350172 -0.13912694] [ 0.01821249 0.00339537 0.99982837 -0.19126806] [ 0. 0. 0. 1. ]] SLAMing on 6.591193817000001 meters Centerline goodness [0,1] 0.7200529177088286 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.13, Z:-0.19 [[ 0.99982465 -0.00327974 -0.01843691 1.40121756] [ 0.0032402 0.99999239 -0.00217383 -0.13194582] [ 0.0184439 0.00211371 0.99982766 -0.19168357] [ 0. 0. 0. 1. ]] SLAMing on 6.621193817000001 meters Centerline goodness [0,1] 0.7675945159950146 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.11, Z:-0.19 [[ 0.99983178 0.00366251 -0.01797199 1.39990172] [-0.00359881 0.99998713 0.00357532 -0.11444884] [ 0.01798486 -0.00351005 0.9998321 -0.19057313] [ 0. 0. 0. 1. ]] SLAMing on 6.651193817000001 meters Centerline goodness [0,1] 0.7467297869689797 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.11, Z:-0.19 [[ 0.9998173 0.00608548 -0.01811998 1.40055367] [-0.00600747 0.99997247 0.00435631 -0.10578443] [ 0.018146 -0.00424665 0.99982633 -0.19088124] [ 0. 0. 0. 1. ]] SLAMing on 6.6811938170000005 meters Centerline goodness [0,1] 0.7758570838496489 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.10, Z:-0.19 [[ 0.99988437 0.00872309 -0.01245626 1.41150132] [-0.00876747 0.99995539 -0.00351286 -0.09688078] [ 0.01242506 0.00362166 0.99991625 -0.19419516] [ 0. 0. 0. 1. ]] SLAMing on 6.711193817000001 meters Centerline goodness [0,1] 0.7974906312760098 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.09, Z:-0.19 [[ 0.9998592 0.01112077 -0.01256592 1.41161301] [-0.01115292 0.9999347 -0.00249185 -0.08977728] [ 0.01253739 0.00263165 0.99991794 -0.19386194] [ 0. 0. 0. 1. ]] SLAMing on 6.741193817000001 meters Centerline goodness [0,1] 0.8093366703208058 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.07, Z:-0.19 [[ 0.99981845 0.01451512 -0.0123442 1.41140867] [-0.01453897 0.9998926 -0.00184462 -0.07416072] [ 0.0123161 0.00202376 0.99992211 -0.19345531] [ 0. 0. 0. 1. ]] SLAMing on 6.771193817000001 meters Centerline goodness [0,1] 0.8093366703208058 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.07, Z:-0.19 [[ 0.99981845 0.01451512 -0.0123442 1.41140867] [-0.01453897 0.9998926 -0.00184462 -0.07416072] [ 0.0123161 0.00202376 0.99992211 -0.19345531] [ 0. 0. 0. 1. ]] SLAMing on 6.801193817000001 meters Centerline goodness [0,1] 0.8126073194447317 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.07, Z:-0.19 [[ 9.99791177e-01 1.62772053e-02 -1.23553869e-02 1.41161459e+00] [-1.62934767e-02 9.99866511e-01 -1.21742353e-03 -6.64196979e-02] [ 1.23339213e-02 1.41848152e-03 9.99922928e-01 -1.93389541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.831193817000001 meters Centerline goodness [0,1] 0.8160379311772744 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.06, Z:-0.19 [[ 9.99763826e-01 1.78831162e-02 -1.23485276e-02 1.41170203e+00] [-1.78931619e-02 9.99839657e-01 -7.03504360e-04 -5.86121555e-02] [ 1.23339667e-02 9.24292414e-04 9.99923507e-01 -1.93207597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.861193817000001 meters Centerline goodness [0,1] 0.8124896540307895 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.04, Z:-0.19 [[ 9.99743284e-01 1.89524819e-02 -1.24165388e-02 1.41241981e+00] [-1.89631866e-02 9.99819905e-01 -7.44951165e-04 -4.18013541e-02] [ 1.24001840e-02 9.80217066e-04 9.99922634e-01 -1.93033852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.891193817 meters Centerline goodness [0,1] 0.8007821390883321 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.03, Z:-0.19 [[ 9.99709999e-01 2.04784133e-02 -1.26709477e-02 1.41370770e+00] [-2.04837864e-02 9.99790142e-01 -2.94404927e-04 -3.39805307e-02] [ 1.26622597e-02 5.53868536e-04 9.99919677e-01 -1.93679105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.921193817000001 meters Centerline goodness [0,1] 0.78579823096431 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.03, Z:-0.19 [[ 9.99669312e-01 2.22120343e-02 -1.29573595e-02 1.41504097e+00] [-2.22114470e-02 9.99753277e-01 1.89244284e-04 -2.61001898e-02] [ 1.29583661e-02 9.86199994e-05 9.99916032e-01 -1.94273023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.951193817000001 meters Centerline goodness [0,1] 0.8118457528238653 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.02, Z:-0.19 [[ 9.99619121e-01 2.42883593e-02 -1.31030056e-02 1.41572278e+00] [-2.42776200e-02 9.99704777e-01 9.78071497e-04 -1.88405926e-02] [ 1.31228930e-02 -6.59589181e-04 9.99913674e-01 -1.94441655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.981193817000001 meters Centerline goodness [0,1] 0.824470820562401 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.00, Z:-0.20 [[ 0.99951566 0.02708159 -0.01533101 1.4202924 ] [-0.0271478 0.99962291 -0.00412765 -0.00185712] [ 0.01521344 0.00454185 0.99987395 -0.19670842] [ 0. 0. 0. 1. ]] SLAMing on 7.0111938170000005 meters Centerline goodness [0,1] 0.8323340956383789 Centerline is valid? [False, False] Translation: X:1.42, Y:0.00, Z:-0.20 [[ 0.99944383 0.02951869 -0.01551373 1.42200288] [-0.02957006 0.99955793 -0.00309199 0.00495728] [ 0.0154156 0.00354901 0.99987487 -0.19797371] [ 0. 0. 0. 1. ]] SLAMing on 7.041193817000001 meters Centerline goodness [0,1] 0.8354018606385845 Centerline is valid? [False, False] Translation: X:1.42, Y:0.01, Z:-0.20 [[ 0.99936586 0.031962 -0.01569402 1.42341457] [-0.03199653 0.99948607 -0.00195397 0.01197338] [ 0.01562351 0.00245489 0.99987493 -0.19884608] [ 0. 0. 0. 1. ]] SLAMing on 7.071193817000001 meters Centerline goodness [0,1] 0.8430271121797529 Centerline is valid? [False, False] Translation: X:1.42, Y:0.02, Z:-0.20 [[ 9.99281037e-01 3.44722347e-02 -1.57820635e-02 1.42474293e+00] [-3.44884752e-02 9.99404808e-01 -7.57959499e-04 1.92823631e-02] [ 1.57465416e-02 1.30171386e-03 9.99875168e-01 -1.99762690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.101193817000001 meters Centerline goodness [0,1] 0.8576106781628254 Centerline is valid? [False, False] Translation: X:1.43, Y:0.03, Z:-0.20 [[ 0.9990351 0.04095446 -0.01586176 1.42555195] [-0.04091272 0.99915838 0.00294718 0.03117617] [ 0.01596911 -0.00229539 0.99986985 -0.19936279] [ 0. 0. 0. 1. ]] SLAMing on 7.131193817000001 meters Centerline goodness [0,1] 0.8667399054804743 Centerline is valid? [False, False] Translation: X:1.43, Y:0.03, Z:-0.20 [[ 0.99887248 0.04470192 -0.01598471 1.42622907] [-0.04461623 0.99898807 0.00567779 0.03477593] [ 0.01622234 -0.00495821 0.99985612 -0.19939407] [ 0. 0. 0. 1. ]] SLAMing on 7.161193817000001 meters Centerline goodness [0,1] 0.8819379988862075 Centerline is valid? [False, False] Translation: X:1.44, Y:0.04, Z:-0.20 [[ 9.98721479e-01 4.92671914e-02 -1.13203930e-02 1.43513300e+00] [-4.92816192e-02 9.98784423e-01 -9.98928628e-04 3.97982418e-02] [ 1.12574178e-02 1.55553878e-03 9.99935423e-01 -2.00800081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.191193817000001 meters Centerline goodness [0,1] 0.8841937618929429 Centerline is valid? [False, False] Translation: X:1.44, Y:0.04, Z:-0.20 [[ 9.98514298e-01 5.33435057e-02 -1.11205767e-02 1.43509035e+00] [-5.33262827e-02 9.98575447e-01 1.83976446e-03 4.42035268e-02] [ 1.12028743e-02 -1.24401211e-03 9.99936472e-01 -2.00487411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2211938170000005 meters Centerline goodness [0,1] 0.8818251201551187 Centerline is valid? [False, False] Translation: X:1.44, Y:0.05, Z:-0.20 [[ 0.99802843 0.06186125 -0.01060405 1.43507379] [-0.06176972 0.99805205 0.00875235 0.04898689] [ 0.01112483 -0.00808008 0.99990547 -0.20020436] [ 0. 0. 0. 1. ]] SLAMing on 7.251193817000001 meters Centerline goodness [0,1] 0.8783315455070551 Centerline is valid? [False, False] Translation: X:1.44, Y:0.05, Z:-0.20 [[ 0.99794655 0.06313391 -0.01080691 1.43636069] [-0.0630387 0.99797108 0.00893561 0.05084236] [ 0.01134912 -0.00823601 0.99990168 -0.20116667] [ 0. 0. 0. 1. ]] SLAMing on 7.281193817000001 meters Centerline goodness [0,1] 0.8736903134965006 Centerline is valid? [False, False] Translation: X:1.44, Y:0.05, Z:-0.20 [[ 0.9978841 0.06410475 -0.01085829 1.43733279] [-0.064008 0.99790849 0.00903498 0.05207099] [ 0.01141477 -0.00832085 0.99990023 -0.20217766] [ 0. 0. 0. 1. ]] SLAMing on 7.311193817000001 meters Centerline goodness [0,1] 0.8712681570001031 Centerline is valid? [False, False] Translation: X:1.44, Y:0.05, Z:-0.20 [[ 0.99783059 0.06490158 -0.01104063 1.43841055] [-0.06479981 0.99785458 0.00933893 0.05232485] [ 0.01162306 -0.00860324 0.99989544 -0.20305296] [ 0. 0. 0. 1. ]] SLAMing on 7.341193817000001 meters Centerline goodness [0,1] 0.8696848682985371 Centerline is valid? [False, False] Translation: X:1.44, Y:0.05, Z:-0.20 [[ 0.99778515 0.06557939 -0.01114161 1.43926836] [-0.06547047 0.99780564 0.00987529 0.0514413 ] [ 0.01176477 -0.00912397 0.99988917 -0.2039136 ] [ 0. 0. 0. 1. ]] SLAMing on 7.371193817000001 meters Centerline goodness [0,1] 0.865116757535233 Centerline is valid? [False, False] Translation: X:1.44, Y:0.05, Z:-0.21 [[ 0.99765376 0.06755095 -0.01112824 1.44055693] [-0.06741259 0.99764847 0.01237232 0.04577338] [ 0.01193783 -0.01159311 0.99986153 -0.20544104] [ 0. 0. 0. 1. ]] SLAMing on 7.401193817000001 meters Centerline goodness [0,1] 0.8637626288606761 Centerline is valid? [False, False] Translation: X:1.44, Y:0.04, Z:-0.21 [[ 0.99784049 0.06467699 -0.01145647 1.44091557] [-0.06457148 0.99786926 0.00935182 0.04377425] [ 0.01203691 -0.00859186 0.99989064 -0.20567135] [ 0. 0. 0. 1. ]] SLAMing on 7.4311938170000005 meters Centerline goodness [0,1] 0.8625061850569025 Centerline is valid? [False, False] Translation: X:1.44, Y:0.04, Z:-0.21 [[ 0.99802862 0.06165074 -0.01174992 1.44121282] [-0.06157758 0.9980812 0.00648959 0.04107244] [ 0.01212746 -0.00575327 0.99990991 -0.2059173 ] [ 0. 0. 0. 1. ]] SLAMing on 7.461193817000001 meters Centerline goodness [0,1] 0.8620625426850721 Centerline is valid? [False, False] Translation: X:1.44, Y:0.04, Z:-0.21 [[ 0.99821082 0.05860199 -0.01187266 1.44093431] [-0.05855956 0.99827634 0.00389005 0.0373677 ] [ 0.01208016 -0.00318783 0.99992195 -0.20584716] [ 0. 0. 0. 1. ]] SLAMing on 7.491193817000001 meters Centerline goodness [0,1] 0.8618160843770599 Centerline is valid? [False, False] Translation: X:1.45, Y:0.02, Z:-0.21 [[ 0.99847629 0.05503557 -0.00402238 1.4488157 ] [-0.05500299 0.99845569 0.00780435 0.02400401] [ 0.00444568 -0.00757121 0.99996146 -0.2076205 ] [ 0. 0. 0. 1. ]] SLAMing on 7.521193817000001 meters Centerline goodness [0,1] 0.8620212941564873 Centerline is valid? [False, False] Translation: X:1.45, Y:0.02, Z:-0.21 [[ 0.99865149 0.05175783 -0.00404109 1.44829448] [-0.05173576 0.99864627 0.0053889 0.01945955] [ 0.00431453 -0.00517256 0.99997731 -0.20744186] [ 0. 0. 0. 1. ]] SLAMing on 7.551193817000001 meters Centerline goodness [0,1] 0.860876026916567 Centerline is valid? [False, False] Translation: X:1.45, Y:0.01, Z:-0.21 [[ 0.99881941 0.04840404 -0.00410403 1.44800657] [-0.04839211 0.99882404 0.00295697 0.01494861] [ 0.00424233 -0.00275487 0.99998721 -0.20742908] [ 0. 0. 0. 1. ]] SLAMing on 7.581193817000001 meters Centerline goodness [0,1] 0.8606508326282991 Centerline is valid? [False, False] Translation: X:1.45, Y:0.01, Z:-0.21 [[ 9.99066464e-01 4.29761537e-02 -4.38760289e-03 1.44867828e+00] [-4.29805463e-02 9.99075493e-01 -9.11750848e-04 5.93805685e-03] [ 4.34436298e-03 1.09948126e-03 9.99989959e-01 -2.08272746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.611193817000001 meters Centerline goodness [0,1] 0.8591258791741435 Centerline is valid? [False, False] Translation: X:1.45, Y:0.00, Z:-0.21 [[ 9.99193266e-01 3.98969399e-02 -4.58809141e-03 1.44913236e+00] [-3.99125754e-02 9.99197499e-01 -3.36827989e-03 1.29577085e-03] [ 4.45002540e-03 3.54868513e-03 9.99983802e-01 -2.08782199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.641193817000001 meters Centerline goodness [0,1] 0.857542130760631 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.00, Z:-0.21 [[ 0.99930224 0.03705528 -0.0046838 1.44916112] [-0.0370811 0.99929684 -0.0055518 -0.00418055] [ 0.00447478 0.0057216 0.99997362 -0.20900905] [ 0. 0. 0. 1. ]] SLAMing on 7.671193817000001 meters Centerline goodness [0,1] 0.8584975521454725 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.01, Z:-0.21 [[ 0.99938702 0.03466871 -0.0048655 1.44992352] [-0.03470322 0.99937175 -0.0071968 -0.01002881] [ 0.00461294 0.00736124 0.99996227 -0.20978927] [ 0. 0. 0. 1. ]] SLAMing on 7.701193817000001 meters Centerline goodness [0,1] 0.8598294111602096 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.02, Z:-0.21 [[ 0.99943818 0.03318508 -0.00469892 1.44968188] [-0.03321616 0.99942574 -0.00669841 -0.0214891 ] [ 0.00447394 0.00685073 0.99996653 -0.21012287] [ 0. 0. 0. 1. ]] SLAMing on 7.731193817000001 meters Centerline goodness [0,1] 0.8578385851957324 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.03, Z:-0.21 [[ 0.9994319 0.03337316 -0.00470255 1.44990816] [-0.0333976 0.99942851 -0.00521991 -0.02683574] [ 0.00452565 0.005374 0.99997532 -0.21043013] [ 0. 0. 0. 1. ]] SLAMing on 7.7611938170000005 meters Centerline goodness [0,1] 0.8598895437497425 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.03, Z:-0.21 [[ 0.999485 0.0316826 -0.005093 1.45163198] [-0.03171333 0.99947857 -0.00607075 -0.0319822 ] [ 0.00489801 0.00622914 0.9999686 -0.2118075 ] [ 0. 0. 0. 1. ]] SLAMing on 7.791193817000001 meters Centerline goodness [0,1] 0.8603682550155674 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.05, Z:-0.21 [[ 0.99962418 0.02689828 -0.00528975 1.45176344] [-0.02694315 0.99959995 -0.00860219 -0.04516108] [ 0.00505625 0.00874148 0.99994901 -0.21196173] [ 0. 0. 0. 1. ]] SLAMing on 7.821193817000001 meters Centerline goodness [0,1] 0.8643663015729227 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.05, Z:-0.21 [[ 0.99970098 0.02382981 -0.00548601 1.4524327 ] [-0.02388415 0.99966409 -0.010063 -0.05301161] [ 0.00524437 0.01019101 0.99993432 -0.21264981] [ 0. 0. 0. 1. ]] SLAMing on 7.851193817000001 meters Centerline goodness [0,1] 0.8649178973458639 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.06, Z:-0.21 [[ 0.99978007 0.02027848 -0.00534772 1.45219215] [-0.02034063 0.99972304 -0.01183637 -0.06073554] [ 0.00510622 0.01194254 0.99991565 -0.21285992] [ 0. 0. 0. 1. ]] SLAMing on 7.881193817000001 meters Centerline goodness [0,1] 0.8646631996546692 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.07, Z:-0.21 [[ 0.99984678 0.01659769 -0.00556249 1.45247155] [-0.01667301 0.99976604 -0.01377925 -0.06796427] [ 0.00533249 0.01386989 0.99988959 -0.21287133] [ 0. 0. 0. 1. ]] SLAMing on 7.911193817000001 meters Centerline goodness [0,1] 0.8630958514518888 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.07, Z:-0.21 [[ 0.99989915 0.01312001 -0.00543652 1.45173231] [-0.01320425 0.99978862 -0.01575957 -0.07396235] [ 0.00522861 0.01582976 0.99986103 -0.21237297] [ 0. 0. 0. 1. ]] SLAMing on 7.941193817000001 meters Centerline goodness [0,1] 0.8576694950160639 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.09, Z:-0.21 [[ 0.99998273 0.00527157 -0.00259964 1.44945739] [-0.00528765 0.99996671 -0.006215 -0.08546355] [ 0.00256679 0.00622864 0.99997731 -0.21168965] [ 0. 0. 0. 1. ]] SLAMing on 7.971193817000001 meters Centerline goodness [0,1] 0.8534441951882114 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.09, Z:-0.21 [[ 0.9999824 0.00524573 -0.00277164 1.45024072] [-0.00525976 0.99997327 -0.00507837 -0.08952288] [ 0.00274492 0.00509286 0.99998326 -0.21220746] [ 0. 0. 0. 1. ]] SLAMing on 8.001193817 meters Centerline goodness [0,1] 0.8384228118681137 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.09, Z:-0.21 [[ 0.99998117 0.00543578 -0.00284792 1.45080344] [-0.00544772 0.99997633 -0.00420295 -0.09251567] [ 0.002825 0.00421839 0.99998711 -0.21271604] [ 0. 0. 0. 1. ]] SLAMing on 8.031193817 meters Centerline goodness [0,1] 0.8509241345243486 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.09, Z:-0.21 [[ 0.99997965 0.00561267 -0.0030325 1.45169456] [-0.00562386 0.99997737 -0.0036931 -0.09453499] [ 0.0030117 0.00371008 0.99998858 -0.21339738] [ 0. 0. 0. 1. ]] SLAMing on 8.061193817000001 meters Centerline goodness [0,1] 0.8611740473738414 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.09, Z:-0.21 [[ 0.99997674 0.00616761 -0.00291253 1.45191859] [-0.00617794 0.99997461 -0.00355278 -0.09417701] [ 0.00289054 0.00357069 0.99998945 -0.21399126] [ 0. 0. 0. 1. ]] SLAMing on 8.091193817 meters Centerline goodness [0,1] 0.8607242913645352 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.09, Z:-0.21 [[ 0.99997654 0.00624935 -0.00280595 1.45204728] [-0.00626092 0.99997186 -0.0041329 -0.09190254] [ 0.00278004 0.00415037 0.99998752 -0.21438897] [ 0. 0. 0. 1. ]] SLAMing on 8.121193817000002 meters Centerline goodness [0,1] 0.8624858174316659 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.09, Z:-0.21 [[ 0.99997438 0.00662148 -0.00271763 1.45197158] [-0.00663409 0.99996714 -0.00465965 -0.0894178 ] [ 0.00268668 0.00467756 0.99998545 -0.21450134] [ 0. 0. 0. 1. ]] SLAMing on 8.151193817000001 meters Centerline goodness [0,1] 0.8611653478573631 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.09, Z:-0.22 [[ 0.99994941 0.00957043 -0.00309529 1.45404412] [-0.00957696 0.99995194 -0.00209987 -0.0882479 ] [ 0.00307505 0.00212941 0.999993 -0.215953 ] [ 0. 0. 0. 1. ]] SLAMing on 8.181193817 meters Centerline goodness [0,1] 0.8629257283545343 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.08, Z:-0.22 [[ 9.99906415e-01 1.32311881e-02 -3.47799140e-03 1.45611695e+00] [-1.32301851e-02 9.99912429e-01 3.11247541e-04 -8.47149152e-02] [ 3.48180500e-03 -2.65203943e-04 9.99993903e-01 -2.17643209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.211193817000002 meters Centerline goodness [0,1] 0.8640191052642414 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.08, Z:-0.22 [[ 9.99907844e-01 1.30837396e-02 -3.62217215e-03 1.45699387e+00] [-1.30856444e-02 9.99914253e-01 -5.02674041e-04 -8.23596280e-02] [ 3.61528471e-03 5.50026174e-04 9.99993314e-01 -2.18470242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.241193817000001 meters Centerline goodness [0,1] 0.8674432534027304 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.08, Z:-0.22 [[ 9.99911124e-01 1.27978836e-02 -3.73594432e-03 1.45780387e+00] [-1.28024391e-02 9.99917328e-01 -1.19799678e-03 -8.04296862e-02] [ 3.72030364e-03 1.24571950e-03 9.99992304e-01 -2.19262725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.271193817 meters Centerline goodness [0,1] 0.8658340214698597 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.08, Z:-0.22 [[ 0.99991863 0.01209144 -0.00406652 1.46009178] [-0.01210221 0.99992329 -0.00263639 -0.07642298] [ 0.00403433 0.00268539 0.99998826 -0.22142521] [ 0. 0. 0. 1. ]] SLAMing on 8.301193817000001 meters Centerline goodness [0,1] 0.8671846096929338 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.08, Z:-0.22 [[ 0.99991967 0.01193712 -0.00426024 1.46088841] [-0.01194996 0.9999241 -0.00300017 -0.0754187 ] [ 0.0042241 0.00305084 0.99998642 -0.22194255] [ 0. 0. 0. 1. ]] SLAMing on 8.331193817 meters Centerline goodness [0,1] 0.8691538809592365 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.08, Z:-0.22 [[ 0.99991968 0.01188258 -0.00440853 1.4614288 ] [-0.01189649 0.9999243 -0.00314208 -0.07525346] [ 0.00437086 0.00319427 0.99998535 -0.22222956] [ 0. 0. 0. 1. ]] SLAMing on 8.361193817 meters Centerline goodness [0,1] 0.8721033225534018 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.08, Z:-0.22 [[ 0.99991764 0.01196504 -0.00464128 1.46201256] [-0.01197898 0.99992379 -0.00298684 -0.07615735] [ 0.00460519 0.00304219 0.99998477 -0.22240017] [ 0. 0. 0. 1. ]] SLAMing on 8.391193817000001 meters Centerline goodness [0,1] 0.8774495647510211 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.08, Z:-0.22 [[ 0.99990951 0.01250208 -0.00496725 1.46327103] [-0.01251383 0.99991896 -0.00234107 -0.07877948] [ 0.00493758 0.00240302 0.99998492 -0.22317521] [ 0. 0. 0. 1. ]] SLAMing on 8.421193817 meters Centerline goodness [0,1] 0.879352060693049 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.08, Z:-0.22 [[ 0.9998997 0.0131511 -0.00525727 1.46402998] [-0.01316113 0.99991163 -0.00187732 -0.07929326] [ 0.00523211 0.00194633 0.99998442 -0.22339882] [ 0. 0. 0. 1. ]] SLAMing on 8.451193817000002 meters Centerline goodness [0,1] 0.879254490281309 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.08, Z:-0.22 [[ 0.99989054 0.01379296 -0.00535451 1.46423565] [-0.01380216 0.99990333 -0.0016849 -0.07878539] [ 0.00533075 0.00175862 0.99998425 -0.22340777] [ 0. 0. 0. 1. ]] SLAMing on 8.481193817000001 meters Centerline goodness [0,1] 0.8790878593920435 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.08, Z:-0.22 [[ 9.99877600e-01 1.47296821e-02 -5.27463843e-03 1.46398929e+00] [-1.47372375e-02 9.99890426e-01 -1.39641475e-03 -7.78596895e-02] [ 5.25349173e-03 1.47397743e-03 9.99985114e-01 -2.23293462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.511193817 meters Centerline goodness [0,1] 0.8773778228560783 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.08, Z:-0.22 [[ 0.99979046 0.01979921 -0.00519945 1.46375755] [-0.01978178 0.99979859 0.00338419 -0.07803648] [ 0.00526541 -0.00328062 0.99998076 -0.2229827 ] [ 0. 0. 0. 1. ]] SLAMing on 8.541193817000002 meters Centerline goodness [0,1] 0.8742247581245348 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.08, Z:-0.22 [[ 0.99977955 0.02029842 -0.00536845 1.46416448] [-0.02027801 0.99978705 0.00382782 -0.07902931] [ 0.00544501 -0.00371811 0.99997826 -0.22306517] [ 0. 0. 0. 1. ]] SLAMing on 8.571193817000001 meters Centerline goodness [0,1] 0.8751332950537282 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.08, Z:-0.22 [[ 0.99978527 0.01985037 -0.00594718 1.46599431] [-0.01983052 0.99979765 0.00337801 -0.083934 ] [ 0.00601303 -0.00325934 0.99997661 -0.22396105] [ 0. 0. 0. 1. ]] SLAMing on 8.601193817 meters Centerline goodness [0,1] 0.8760802755605057 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.09, Z:-0.22 [[ 9.99830120e-01 1.75541949e-02 -5.61964472e-03 1.46385686e+00] [-1.75488147e-02 9.99845502e-01 1.00527740e-03 -8.56086579e-02] [ 5.63642333e-03 -9.06488516e-04 9.99983704e-01 -2.22274129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.631193817000002 meters Centerline goodness [0,1] 0.8746990926486019 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.09, Z:-0.22 [[ 0.9998778 0.01454093 -0.00574054 1.46371323] [-0.01455381 0.99989165 -0.00220918 -0.08631558] [ 0.0057078 0.00229246 0.99998108 -0.22196752] [ 0. 0. 0. 1. ]] SLAMing on 8.661193817000001 meters Centerline goodness [0,1] 0.8746990926486019 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.09, Z:-0.22 [[ 0.9998778 0.01454093 -0.00574054 1.46371323] [-0.01455381 0.99989165 -0.00220918 -0.08631558] [ 0.0057078 0.00229246 0.99998108 -0.22196752] [ 0. 0. 0. 1. ]] SLAMing on 8.691193817 meters Centerline goodness [0,1] 0.87433138514281 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.09, Z:-0.22 [[ 0.99989641 0.01333544 -0.00541579 1.46133195] [-0.01335303 0.99990565 -0.00322445 -0.08783203] [ 0.00537228 0.00329644 0.99998014 -0.2199026 ] [ 0. 0. 0. 1. ]] SLAMing on 8.721193817000001 meters Centerline goodness [0,1] 0.8744804312934689 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.09, Z:-0.22 [[ 0.99988996 0.01373871 -0.00559632 1.46151889] [-0.01375172 0.99990281 -0.00229348 -0.09073846] [ 0.00556426 0.00237019 0.99998171 -0.21963042] [ 0. 0. 0. 1. ]] SLAMing on 8.751193817 meters Centerline goodness [0,1] 0.8779253506289633 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.10, Z:-0.22 [[ 9.99864549e-01 1.54280178e-02 -5.73240216e-03 1.46169431e+00] [-1.54280935e-02 9.99880979e-01 3.10110228e-05 -9.69163151e-02] [ 5.73219833e-03 5.74332143e-05 9.99983569e-01 -2.19494588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.781193817000002 meters Centerline goodness [0,1] 0.8739042758961274 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.10, Z:-0.22 [[ 9.99850934e-01 1.62293017e-02 -5.89229401e-03 1.46240076e+00] [-1.62233367e-02 9.99867832e-01 1.05873163e-03 -9.97198203e-02] [ 5.90869772e-03 -9.62981140e-04 9.99982080e-01 -2.20023970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.811193817000001 meters Centerline goodness [0,1] 0.8670534552887494 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.10, Z:-0.22 [[ 0.99983538 0.01714836 -0.00592851 1.46278432] [-0.01713483 0.99985048 0.00232596 -0.10327612] [ 0.00596751 -0.002224 0.99997972 -0.22041878] [ 0. 0. 0. 1. ]] SLAMing on 8.841193817 meters Centerline goodness [0,1] 0.8577775940812995 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.11, Z:-0.22 [[ 9.99871150e-01 1.49110698e-02 -5.94503910e-03 1.46268812e+00] [-1.49124149e-02 9.99888787e-01 -1.81988306e-04 -1.05803436e-01] [ 5.94166429e-03 2.70619746e-04 9.99982312e-01 -2.20494316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.871193817000002 meters Centerline goodness [0,1] 0.8525618610774008 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.11, Z:-0.22 [[ 9.99856436e-01 1.58120709e-02 -6.08987466e-03 1.46300421e+00] [-1.58036317e-02 9.99874090e-01 1.43140767e-03 -1.11361611e-01] [ 6.11174141e-03 -1.33496004e-03 9.99980432e-01 -2.20469655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.901193817000001 meters Centerline goodness [0,1] 0.8361228200677742 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.12, Z:-0.22 [[ 9.99877839e-01 1.44527498e-02 -5.95190764e-03 1.46343930e+00] [-1.44454738e-02 9.99894860e-01 1.26363826e-03 -1.22994929e-01] [ 5.96954491e-03 -1.17750576e-03 9.99981489e-01 -2.21486166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.931193817 meters Centerline goodness [0,1] 0.8671891111569396 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.13, Z:-0.22 [[ 9.99911893e-01 1.16999939e-02 -6.27032670e-03 1.46562377e+00] [-1.17035173e-02 9.99931373e-01 -5.25518220e-04 -1.28625512e-01] [ 6.26374782e-03 5.98856794e-04 9.99980203e-01 -2.23369313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.961193817000002 meters Centerline goodness [0,1] 0.8590199157094455 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.14, Z:-0.22 [[ 0.9999444 0.00834062 -0.00645202 1.46704476] [-0.00835628 0.9999622 -0.0024037 -0.13536969] [ 0.00643173 0.00245748 0.9999763 -0.22463091] [ 0. 0. 0. 1. ]] SLAMing on 8.991193817000001 meters Centerline goodness [0,1] 0.8727872230808862 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.14, Z:-0.23 [[ 0.99997318 0.00252599 -0.00687472 1.46935047] [-0.00257262 0.99997369 -0.00678257 -0.14292165] [ 0.0068574 0.00680007 0.99995337 -0.22637885] [ 0. 0. 0. 1. ]] SLAMing on 9.021193817 meters Centerline goodness [0,1] 0.8745420297654778 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.16, Z:-0.23 [[ 0.99990217 -0.00911189 -0.01061237 1.47603882] [ 0.00901501 0.99991758 -0.00914124 -0.16244198] [ 0.01069479 0.00904468 0.9999019 -0.22668903] [ 0. 0. 0. 1. ]] SLAMing on 9.051193817000001 meters Centerline goodness [0,1] 0.8799676931679334 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.17, Z:-0.23 [[ 0.999827 -0.01509891 -0.01086262 1.47775326] [ 0.01494849 0.99979306 -0.01379796 -0.1696294 ] [ 0.01106871 0.01363319 0.9998458 -0.22782711] [ 0. 0. 0. 1. ]] SLAMing on 9.081193817 meters Centerline goodness [0,1] 0.876557519559548 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.18, Z:-0.23 [[ 0.99976757 -0.01850522 -0.011062 1.47878712] [ 0.01833121 0.99970979 -0.01563002 -0.17623703] [ 0.01134803 0.01542361 0.99981665 -0.22825097] [ 0. 0. 0. 1. ]] SLAMing on 9.111193817 meters Centerline goodness [0,1] 0.8815371279976886 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.18, Z:-0.23 [[ 0.99969428 -0.02202021 -0.01124536 1.47989543] [ 0.02181634 0.999601 -0.01794111 -0.18125719] [ 0.01163594 0.01769029 0.9997758 -0.2288485 ] [ 0. 0. 0. 1. ]] SLAMing on 9.141193817000001 meters Centerline goodness [0,1] 0.8789761585302921 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.19, Z:-0.23 [[ 0.99951962 -0.02892259 -0.0111365 1.48064241] [ 0.02866296 0.99932892 -0.02280674 -0.18953713] [ 0.01178866 0.02247658 0.99967786 -0.22910662] [ 0. 0. 0. 1. ]] SLAMing on 9.171193817 meters Centerline goodness [0,1] 0.8799425464245408 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.19, Z:-0.23 [[ 0.99940305 -0.03270564 -0.01113032 1.48070436] [ 0.03240845 0.99913885 -0.02590844 -0.19239244] [ 0.01196809 0.02553226 0.99960236 -0.2287638 ] [ 0. 0. 0. 1. ]] SLAMing on 9.201193817000002 meters Centerline goodness [0,1] 0.880087239208263 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.20, Z:-0.23 [[ 0.99937784 -0.03349828 -0.0110365 1.480461 ] [ 0.03320922 0.99912539 -0.02540882 -0.19663913] [ 0.011878 0.0250265 0.99961622 -0.22809487] [ 0. 0. 0. 1. ]] SLAMing on 9.231193817000001 meters Centerline goodness [0,1] 0.8775607235142119 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.20, Z:-0.23 [[ 0.99922748 -0.03778605 -0.01080065 1.47949746] [ 0.03746177 0.99888308 -0.028796 -0.1997905 ] [ 0.01187667 0.02836915 0.99952696 -0.22667253] [ 0. 0. 0. 1. ]] SLAMing on 9.261193817 meters Centerline goodness [0,1] 0.8753314550878356 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.20, Z:-0.23 [[ 0.99921295 -0.03814099 -0.01089711 1.47964794] [ 0.03781191 0.9988652 -0.02895816 -0.19985481] [ 0.01198924 0.02852333 0.99952122 -0.22646906] [ 0. 0. 0. 1. ]] SLAMing on 9.291193817000002 meters Centerline goodness [0,1] 0.8722241768248515 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.20, Z:-0.23 [[ 0.99931564 -0.03533367 -0.01094473 1.48007923] [ 0.03504589 0.99906148 -0.02545469 -0.20011275] [ 0.01183387 0.02505371 0.99961606 -0.22672735] [ 0. 0. 0. 1. ]] SLAMing on 9.321193817000001 meters Centerline goodness [0,1] 0.8736731237867086 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.20, Z:-0.23 [[ 0.99942079 -0.03214387 -0.01117432 1.48061563] [ 0.03189159 0.99924773 -0.02206603 -0.19891627] [ 0.0118752 0.02169688 0.99969407 -0.226886 ] [ 0. 0. 0. 1. ]] SLAMing on 9.351193817 meters Centerline goodness [0,1] 0.8733049365187151 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.19, Z:-0.23 [[ 0.99961591 -0.02521432 -0.01150068 1.48140442] [ 0.02503064 0.99956111 -0.0158444 -0.19378036] [ 0.01189513 0.01555045 0.99980833 -0.22725258] [ 0. 0. 0. 1. ]] SLAMing on 9.381193817000002 meters Centerline goodness [0,1] 0.8745801368442878 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.19, Z:-0.23 [[ 0.99969851 -0.02150063 -0.01185827 1.48238968] [ 0.02134875 0.99969029 -0.01278909 -0.1910453 ] [ 0.01212957 0.01253208 0.9998479 -0.2278095 ] [ 0. 0. 0. 1. ]] SLAMing on 9.411193817000001 meters Centerline goodness [0,1] 0.8782809821778906 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.19, Z:-0.23 [[ 0.9997624 -0.01803683 -0.01223994 1.48401359] [ 0.01791322 0.99978818 -0.01013453 -0.18790329] [ 0.01242014 0.00991287 0.99987373 -0.22907197] [ 0. 0. 0. 1. ]] SLAMing on 9.441193817 meters Centerline goodness [0,1] 0.8768733287730862 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.19, Z:-0.23 [[ 0.99986713 -0.01063531 -0.01235342 1.48458413] [ 0.0106021 0.99994001 -0.00275124 -0.18688778] [ 0.01238194 0.0026199 0.99991991 -0.22951696] [ 0. 0. 0. 1. ]] SLAMing on 9.471193817000001 meters Centerline goodness [0,1] 0.8767950527102183 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.18, Z:-0.23 [[ 0.99991707 -0.00323487 -0.01246519 1.48550073] [ 0.00327659 0.99998909 0.0033281 -0.18114218] [ 0.01245429 -0.00336867 0.99991677 -0.23050488] [ 0. 0. 0. 1. ]] SLAMing on 9.501193817 meters Centerline goodness [0,1] 0.8760194074532879 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.18, Z:-0.23 [[ 9.99971324e-01 7.17674048e-04 -7.53897349e-03 1.49660767e+00] [-7.45484435e-04 9.99992926e-01 -3.68672034e-03 -1.77695097e-01] [ 7.53627430e-03 3.69223481e-03 9.99964785e-01 -2.34426348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.531193817000002 meters Centerline goodness [0,1] 0.8768537754283481 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.18, Z:-0.24 [[ 0.99996727 0.00189422 -0.00786585 1.49950841] [-0.00191418 0.99999497 -0.00253083 -0.17609117] [ 0.00786102 0.0025458 0.99996586 -0.23678345] [ 0. 0. 0. 1. ]] SLAMing on 9.561193817000001 meters Centerline goodness [0,1] 0.8771897091444327 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.18, Z:-0.24 [[ 0.99996699 0.00165102 -0.00795576 1.49986519] [-0.00167228 0.99999504 -0.00266712 -0.17627438] [ 0.00795131 0.00268034 0.9999648 -0.23696685] [ 0. 0. 0. 1. ]] SLAMing on 9.591193817 meters Centerline goodness [0,1] 0.8770848892208115 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.18, Z:-0.24 [[ 9.99966055e-01 1.45753340e-03 -8.10958610e-03 1.50015998e+00] [-1.47959959e-03 9.99995218e-01 -2.71566701e-03 -1.76556524e-01] [ 8.10558914e-03 2.72757377e-03 9.99963429e-01 -2.36807419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.621193817000002 meters Centerline goodness [0,1] 0.8774132270653094 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.18, Z:-0.24 [[ 9.99964875e-01 9.34892446e-04 -8.32916503e-03 1.50104365e+00] [-9.61888061e-04 9.99994296e-01 -3.23767883e-03 -1.75800551e-01] [ 8.32609064e-03 3.24557683e-03 9.99960070e-01 -2.37292306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.651193817000001 meters Centerline goodness [0,1] 0.8771453444987978 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.17, Z:-0.24 [[ 9.99964929e-01 1.55646976e-04 -8.37356096e-03 1.50176629e+00] [-1.90847859e-04 9.99991148e-01 -4.20317803e-03 -1.72022215e-01] [ 8.37283263e-03 4.20462869e-03 9.99956107e-01 -2.37936536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.681193817 meters Centerline goodness [0,1] 0.8767694275927531 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.17, Z:-0.24 [[ 9.99963665e-01 -3.09063648e-04 -8.51893645e-03 1.50253853e+00] [ 2.67460312e-04 9.99988036e-01 -4.88433709e-03 -1.69873398e-01] [ 8.52034410e-03 4.88188114e-03 9.99951784e-01 -2.38482432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.711193817000002 meters Centerline goodness [0,1] 0.8751939427791224 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.17, Z:-0.24 [[ 9.99962443e-01 -6.13371041e-04 -8.64503026e-03 1.50279295e+00] [ 5.67929106e-04 9.99986016e-01 -5.25789805e-03 -1.68747807e-01] [ 8.64813441e-03 5.25279081e-03 9.99948808e-01 -2.38427613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.741193817000001 meters Centerline goodness [0,1] 0.876152180637179 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.17, Z:-0.24 [[ 9.99960868e-01 -9.44990583e-04 -8.79604286e-03 1.50318521e+00] [ 8.96036810e-04 9.99984099e-01 -5.56770940e-03 -1.68345248e-01] [ 8.80116442e-03 5.55960994e-03 9.99945814e-01 -2.38386574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.771193817 meters Centerline goodness [0,1] 0.877011660901804 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.17, Z:-0.24 [[ 9.99959595e-01 -1.21018550e-03 -8.90750452e-03 1.50311289e+00] [ 1.15812684e-03 9.99982234e-01 -5.84719956e-03 -1.68171132e-01] [ 8.91442247e-03 5.83664729e-03 9.99943232e-01 -2.37880652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.801193817000001 meters Centerline goodness [0,1] 0.8776905388328395 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.16, Z:-0.24 [[ 9.99963818e-01 -1.27188975e-03 -8.41095882e-03 1.50109495e+00] [ 1.21785182e-03 9.99978607e-01 -6.42670812e-03 -1.64083074e-01] [ 8.41895295e-03 6.41623229e-03 9.99943975e-01 -2.36264516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.831193817 meters Centerline goodness [0,1] 0.8776313608486657 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.16, Z:-0.24 [[ 9.99968208e-01 8.38789282e-04 -7.92968406e-03 1.49960189e+00] [-8.72867295e-04 9.99990395e-01 -4.29504119e-03 -1.61126794e-01] [ 7.92600527e-03 4.30182620e-03 9.99959336e-01 -2.35203392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.861193817000002 meters Centerline goodness [0,1] 0.877612556794713 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.16, Z:-0.24 [[ 0.99995972 0.00388943 -0.00808855 1.50019638] [-0.00390241 0.99999112 -0.00158967 -0.15813533] [ 0.00808229 0.00162117 0.99996602 -0.23532924] [ 0. 0. 0. 1. ]] SLAMing on 9.891193817000001 meters Centerline goodness [0,1] 0.8765794826488053 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.16, Z:-0.24 [[ 9.99940440e-01 7.14323362e-03 -8.25172334e-03 1.50110632e+00] [-7.13380625e-03 9.99973868e-01 1.17134279e-03 -1.55379922e-01] [ 8.25987488e-03 -1.11240683e-03 9.99965268e-01 -2.35835913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.921193817 meters Centerline goodness [0,1] 0.8788770658818202 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.15, Z:-0.24 [[ 0.99990941 0.01054321 -0.00836714 1.50217139] [-0.01051874 0.99994028 0.00296383 -0.14913019] [ 0.00839789 -0.00287555 0.9999606 -0.23686112] [ 0. 0. 0. 1. ]] SLAMing on 9.951193817000002 meters Centerline goodness [0,1] 0.8783173932844781 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.15, Z:-0.24 [[ 0.99990976 0.01047364 -0.00841255 1.50266516] [-0.01045769 0.99994344 0.00193768 -0.14560991] [ 0.00843237 -0.00184953 0.99996274 -0.23746354] [ 0. 0. 0. 1. ]] SLAMing on 9.981193817000001 meters Centerline goodness [0,1] 0.87591694641303 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.14, Z:-0.24 [[ 9.99911435e-01 1.00917728e-02 -8.67633891e-03 1.50389768e+00] [-1.00855541e-02 9.99948851e-01 7.60189684e-04 -1.42481546e-01] [ 8.68356678e-03 -6.72616672e-04 9.99962071e-01 -2.38433242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.011193817 meters Centerline goodness [0,1] 0.8781007551463742 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.14, Z:-0.24 [[ 9.99914401e-01 9.48226491e-03 -9.01539692e-03 1.50552259e+00] [-9.48699029e-03 9.99954882e-01 -4.81524057e-04 -1.39767576e-01] [ 9.01042422e-03 5.67011822e-04 9.99959245e-01 -2.39649635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.041193817000002 meters Centerline goodness [0,1] 0.8808578073226451 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.14, Z:-0.24 [[ 9.99893142e-01 1.10481877e-02 -9.57303058e-03 1.50895103e+00] [-1.10401862e-02 9.99938661e-01 8.88282243e-04 -1.36732271e-01] [ 9.58225728e-03 -7.82499282e-04 9.99953783e-01 -2.42242205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.071193817000001 meters Centerline goodness [0,1] 0.8771482999958586 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.13, Z:-0.24 [[ 9.99896589e-01 1.07041968e-02 -9.60374622e-03 1.50932811e+00] [-1.07022483e-02 9.99942697e-01 2.54260135e-04 -1.34673885e-01] [ 9.60591755e-03 -1.51452165e-04 9.99953851e-01 -2.42618215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.101193817 meters Centerline goodness [0,1] 0.8778847340491176 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.13, Z:-0.24 [[ 9.99898134e-01 1.04287300e-02 -9.74491924e-03 1.50972868e+00] [-1.04303018e-02 9.99945597e-01 -1.10476673e-04 -1.33345801e-01] [ 9.74323695e-03 2.12107868e-04 9.99952511e-01 -2.42613927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.131193817000002 meters Centerline goodness [0,1] 0.8739441868168267 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.13, Z:-0.24 [[ 9.99899635e-01 1.02512949e-02 -9.77910840e-03 1.50955753e+00] [-1.02548654e-02 9.99947368e-01 -3.15040240e-04 -1.32881682e-01] [ 9.77536413e-03 4.15292061e-04 9.99952134e-01 -2.42239496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.161193817000001 meters Centerline goodness [0,1] 0.8753483187813487 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.13, Z:-0.24 [[ 9.99901588e-01 9.95576307e-03 -9.88417233e-03 1.50978847e+00] [-9.96561497e-03 9.99949893e-01 -9.47982814e-04 -1.31635578e-01] [ 9.87423917e-03 1.04639138e-03 9.99950701e-01 -2.42091575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.191193817 meters Centerline goodness [0,1] 0.8725709550445411 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.13, Z:-0.24 [[ 9.99899447e-01 9.97898153e-03 -1.00755520e-02 1.51039485e+00] [-9.99376419e-03 9.99949056e-01 -1.41789986e-03 -1.29797047e-01] [ 1.00608895e-02 1.51844998e-03 9.99948235e-01 -2.42424767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.221193817000001 meters Centerline goodness [0,1] 0.8722938357296315 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.13, Z:-0.24 [[ 0.99989955 0.00952384 -0.01049671 1.51232947] [-0.0095507 0.99995124 -0.00251129 -0.12695272] [ 0.01047228 0.00261129 0.99994175 -0.24386306] [ 0. 0. 0. 1. ]] SLAMing on 10.251193817 meters Centerline goodness [0,1] 0.8729709051055646 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.12, Z:-0.24 [[ 0.99989813 0.00938785 -0.01075208 1.51371687] [-0.00942293 0.99995043 -0.00321659 -0.12448793] [ 0.01072135 0.00331758 0.99993702 -0.24498609] [ 0. 0. 0. 1. ]] SLAMing on 10.281193817000002 meters Centerline goodness [0,1] 0.8720331950207469 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.12, Z:-0.25 [[ 0.99989853 0.00890285 -0.01112086 1.51658501] [-0.00895172 0.99995046 -0.00435205 -0.12120399] [ 0.01108156 0.00445116 0.99992869 -0.24764074] [ 0. 0. 0. 1. ]] SLAMing on 10.311193817000001 meters Centerline goodness [0,1] 0.8736315100650227 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.12, Z:-0.25 [[ 0.99990056 0.00839335 -0.01133251 1.51752595] [-0.00844803 0.99995286 -0.0047867 -0.12103296] [ 0.01129179 0.00488196 0.99992433 -0.24827008] [ 0. 0. 0. 1. ]] SLAMing on 10.341193817 meters Centerline goodness [0,1] 0.8716266556291391 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.12, Z:-0.25 [[ 0.99991166 0.00621511 -0.01174901 1.51976664] [-0.00629561 0.99995687 -0.00682775 -0.11912287] [ 0.01170607 0.00690111 0.99990767 -0.24982505] [ 0. 0. 0. 1. ]] SLAMing on 10.371193817000002 meters Centerline goodness [0,1] 0.8731785063752276 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.12, Z:-0.25 [[ 0.99991429 0.00583724 -0.01171949 1.51968051] [-0.00592331 0.99995564 -0.00732329 -0.11760761] [ 0.01167622 0.00739208 0.99990451 -0.24969963] [ 0. 0. 0. 1. ]] SLAMing on 10.401193817000001 meters Centerline goodness [0,1] 0.8718612745504268 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.12, Z:-0.25 [[ 0.99991442 0.00558621 -0.01183014 1.51941483] [-0.00567756 0.99995422 -0.00770264 -0.11641111] [ 0.01178657 0.00776914 0.99990035 -0.24898893] [ 0. 0. 0. 1. ]] SLAMing on 10.431193817 meters Centerline goodness [0,1] 0.8723628474015911 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.12, Z:-0.25 [[ 0.99991207 0.00547093 -0.01208019 1.51963505] [-0.00556728 0.99995285 -0.00795634 -0.11574848] [ 0.0120361 0.00802289 0.99989538 -0.24852366] [ 0. 0. 0. 1. ]] SLAMing on 10.461193817000002 meters Centerline goodness [0,1] 0.8709207040315459 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.11, Z:-0.25 [[ 9.99970428e-01 3.41860988e-03 -6.88881533e-03 1.52628894e+00] [-3.42664693e-03 9.99993462e-01 -1.15521608e-03 -1.14572119e-01] [ 6.88482105e-03 1.17878745e-03 9.99975605e-01 -2.48395952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.491193817000001 meters Centerline goodness [0,1] 0.8702672490529323 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.11, Z:-0.25 [[ 9.99971222e-01 3.25648929e-03 -6.85210780e-03 1.52612884e+00] [-3.26659901e-03 9.99993592e-01 -1.46474347e-03 -1.13445474e-01] [ 6.84729397e-03 1.48708441e-03 9.99975451e-01 -2.48226458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.521193817 meters Centerline goodness [0,1] 0.8698743386243386 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.11, Z:-0.25 [[ 0.99997178 0.00298847 -0.00689297 1.52659685] [-0.00300271 0.99999338 -0.0020562 -0.11176531] [ 0.00688678 0.00207684 0.99997413 -0.24868259] [ 0. 0. 0. 1. ]] SLAMing on 10.551193817000001 meters Centerline goodness [0,1] 0.8701589848008062 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.11, Z:-0.25 [[ 9.99966601e-01 3.89642262e-03 -7.18439131e-03 1.52896057e+00] [-3.90519915e-03 9.99991645e-01 -1.20798720e-03 -1.10966181e-01] [ 7.17962446e-03 1.23600333e-03 9.99973462e-01 -2.50678921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.581193817 meters Centerline goodness [0,1] 0.8701589848008062 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.11, Z:-0.25 [[ 9.99966601e-01 3.89642262e-03 -7.18439131e-03 1.52896057e+00] [-3.90519915e-03 9.99991645e-01 -1.20798720e-03 -1.10966181e-01] [ 7.17962446e-03 1.23600333e-03 9.99973462e-01 -2.50678921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.611193817000002 meters Centerline goodness [0,1] 0.8709550363813512 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.11, Z:-0.25 [[ 0.99996684 0.00384103 -0.00718126 1.52923908] [-0.00385273 0.99999127 -0.0016163 -0.10953284] [ 0.00717498 0.00164392 0.99997291 -0.25103078] [ 0. 0. 0. 1. ]] SLAMing on 10.641193817000001 meters Centerline goodness [0,1] 0.8740157480314961 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.11, Z:-0.25 [[ 0.99996606 0.00370525 -0.00735853 1.53004443] [-0.00371859 0.99999147 -0.00179944 -0.10947328] [ 0.0073518 0.00182674 0.99997131 -0.25161127] [ 0. 0. 0. 1. ]] SLAMing on 10.671193817 meters Centerline goodness [0,1] 0.8742264213218912 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.11, Z:-0.25 [[ 0.99996613 0.00352845 -0.00743585 1.53075695] [-0.00354337 0.99999173 -0.0019949 -0.10923048] [ 0.00742875 0.00202118 0.99997036 -0.25228265] [ 0. 0. 0. 1. ]] SLAMing on 10.701193817000002 meters Centerline goodness [0,1] 0.868009365740453 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.11, Z:-0.25 [[ 0.99996787 0.0031603 -0.00736644 1.53095083] [-0.00317644 0.99999258 -0.0021793 -0.10855012] [ 0.0073595 0.00220262 0.99997049 -0.25256714] [ 0. 0. 0. 1. ]] SLAMing on 10.731193817000001 meters Centerline goodness [0,1] 0.8689662294743364 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.11, Z:-0.25 [[ 0.99996741 0.00280242 -0.00757087 1.53167663] [-0.00281942 0.99999353 -0.00223541 -0.10912648] [ 0.00756455 0.00225669 0.99996884 -0.25289627] [ 0. 0. 0. 1. ]] SLAMing on 10.761193817 meters Centerline goodness [0,1] 0.8671046087533156 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.11, Z:-0.25 [[ 0.9999676 0.00230035 -0.00771446 1.53200969] [-0.00231738 0.9999949 -0.00219943 -0.11040516] [ 0.00770936 0.00221723 0.99996782 -0.25289266] [ 0. 0. 0. 1. ]] SLAMing on 10.791193817000002 meters Centerline goodness [0,1] 0.8621846650925811 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.11, Z:-0.25 [[ 0.9999688 0.00170815 -0.00771304 1.53220412] [-0.00172445 0.99999629 -0.00210735 -0.11186665] [ 0.00770941 0.00212058 0.99996803 -0.25293553] [ 0. 0. 0. 1. ]] SLAMing on 10.821193817000001 meters Centerline goodness [0,1] 0.8515045342126958 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.11, Z:-0.25 [[ 9.99967544e-01 2.41600953e-04 -8.05305337e-03 1.53422176e+00] [-2.67216168e-04 9.99994908e-01 -3.17988362e-03 -1.11602380e-01] [ 8.05224410e-03 3.18193232e-03 9.99962518e-01 -2.54511306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.851193817 meters Centerline goodness [0,1] 0.8484347556565761 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.11, Z:-0.26 [[ 0.99996439 -0.0021545 -0.00815923 1.5360383 ] [ 0.00211153 0.99998388 -0.00527101 -0.10801654] [ 0.00817046 0.00525359 0.99995282 -0.25619887] [ 0. 0. 0. 1. ]] SLAMing on 10.881193817000002 meters Centerline goodness [0,1] 0.8425164303724217 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.11, Z:-0.26 [[ 0.99996217 -0.00277656 -0.00824261 1.53613507] [ 0.00272701 0.99997818 -0.00601717 -0.10633738] [ 0.00825914 0.00599447 0.99994793 -0.25602616] [ 0. 0. 0. 1. ]] SLAMing on 10.911193817000001 meters Centerline goodness [0,1] 0.8422263204790816 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.10, Z:-0.26 [[ 0.99995972 -0.00336388 -0.008321 1.53591307] [ 0.0033076 0.99997163 -0.00676788 -0.10473326] [ 0.00834353 0.00674008 0.99994248 -0.25540917] [ 0. 0. 0. 1. ]] SLAMing on 10.941193817000002 meters Centerline goodness [0,1] 0.8384436894008453 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.10, Z:-0.25 [[ 0.99995227 -0.00554546 -0.00804374 1.53473984] [ 0.00546594 0.9999363 -0.00987488 -0.09738955] [ 0.00809799 0.00983045 0.99991889 -0.25428824] [ 0. 0. 0. 1. ]] SLAMing on 10.971193817000001 meters Centerline goodness [0,1] 0.8122016244032488 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.09, Z:-0.25 [[ 0.99996174 -0.00334107 -0.00808439 1.53547495] [ 0.00327917 0.99996531 -0.00765705 -0.09380505] [ 0.00810969 0.00763024 0.999938 -0.25488075] [ 0. 0. 0. 1. ]] SLAMing on 11.001193817 meters Centerline goodness [0,1] 0.825403401205543 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.09, Z:-0.26 [[ 9.99965123e-01 -1.44237106e-03 -8.22633349e-03 1.53685740e+00] [ 1.39268936e-03 9.99980778e-01 -6.04188382e-03 -8.88391200e-02] [ 8.23489000e-03 6.03021637e-03 9.99947910e-01 -2.56106041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.031193817000002 meters Centerline goodness [0,1] 0.8158804643121759 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.08, Z:-0.26 [[ 9.99961082e-01 -3.68637229e-04 -8.81464868e-03 1.53999046e+00] [ 3.20240745e-04 9.99984872e-01 -5.49124209e-03 -8.29433457e-02] [ 8.81653960e-03 5.48820557e-03 9.99946073e-01 -2.58388321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.061193817000001 meters Centerline goodness [0,1] 0.8114796606301989 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.08, Z:-0.26 [[ 9.99964462e-01 1.89575614e-04 -8.42845967e-03 1.53939071e+00] [-2.35539381e-04 9.99985106e-01 -5.45274246e-03 -7.67027364e-02] [ 8.42730043e-03 5.45453392e-03 9.99949613e-01 -2.58328227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.091193817 meters Centerline goodness [0,1] 0.7810598219830263 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.06, Z:-0.26 [[ 9.99963997e-01 -5.10973322e-04 -8.47010565e-03 1.54010288e+00] [ 4.49393085e-04 9.99973468e-01 -7.27061287e-03 -6.45359424e-02] [ 8.47359600e-03 7.26654470e-03 9.99937696e-01 -2.58618814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.121193817000002 meters Centerline goodness [0,1] 0.7799842949247809 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.06, Z:-0.26 [[ 0.99996141 -0.00204794 -0.00854263 1.54030029] [ 0.00196425 0.99995011 -0.00979376 -0.05795001] [ 0.00856226 0.0097766 0.99991555 -0.25854514] [ 0. 0. 0. 1. ]] SLAMing on 11.151193817000001 meters Centerline goodness [0,1] 0.7491075665971978 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.05, Z:-0.26 [[ 9.99963435e-01 -5.97525962e-04 -8.53060687e-03 1.54105208e+00] [ 5.23245704e-04 9.99961956e-01 -8.70707783e-03 -5.22925829e-02] [ 8.53548504e-03 8.70229586e-03 9.99925705e-01 -2.59246841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.181193817 meters Centerline goodness [0,1] 0.732266489780689 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.05, Z:-0.26 [[ 9.99964381e-01 1.86363130e-04 -8.43808166e-03 1.54171054e+00] [-2.58319109e-04 9.99963609e-01 -8.52724140e-03 -4.51787878e-02] [ 8.43618542e-03 8.52911739e-03 9.99928040e-01 -2.60018333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.211193817000002 meters Centerline goodness [0,1] 0.7202372341964415 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.03, Z:-0.26 [[ 9.99948450e-01 -2.93703416e-04 -1.01494262e-02 1.54837529e+00] [ 2.19414040e-04 9.99973185e-01 -7.31990270e-03 -2.75619690e-02] [ 1.01513039e-02 7.31729843e-03 9.99921701e-01 -2.61733520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.241193817000001 meters Centerline goodness [0,1] 0.7148672383510692 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.02, Z:-0.26 [[ 0.99994754 0.00160821 -0.01011574 1.54938345] [-0.00167399 0.99997749 -0.00649788 -0.0191299 ] [ 0.01010506 0.00651447 0.99992772 -0.26278252] [ 0. 0. 0. 1. ]] SLAMing on 11.271193817 meters Centerline goodness [0,1] 0.7108119304059652 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.01, Z:-0.26 [[ 0.9999432 0.0035249 -0.01005877 1.54974058] [-0.00358363 0.9999766 -0.0058266 -0.01087276] [ 0.010038 0.00586232 0.99993243 -0.26316239] [ 0. 0. 0. 1. ]] SLAMing on 11.301193817000001 meters Centerline goodness [0,1] 0.7256194589679472 Centerline is valid? [False, False] Translation: X:1.55, Y:0.01, Z:-0.26 [[ 0.99992085 0.00710999 -0.01037946 1.55152359] [-0.00716934 0.9999581 -0.00569217 0.00671285] [ 0.01033856 0.00576614 0.99992993 -0.26433613] [ 0. 0. 0. 1. ]] SLAMing on 11.331193817 meters Centerline goodness [0,1] 0.7398244379114736 Centerline is valid? [False, False] Translation: X:1.55, Y:0.02, Z:-0.27 [[ 0.99990053 0.00954769 -0.01038169 1.55247358] [-0.00960098 0.99994093 -0.00509577 0.01659497] [ 0.01033242 0.00519493 0.99993312 -0.26512523] [ 0. 0. 0. 1. ]] SLAMing on 11.361193817000002 meters Centerline goodness [0,1] 0.7633926727520548 Centerline is valid? [False, False] Translation: X:1.55, Y:0.03, Z:-0.27 [[ 9.99829869e-01 1.51665995e-02 -1.04979759e-02 1.55390260e+00] [-1.51775705e-02 9.99884347e-01 -9.66175802e-04 2.61693065e-02] [ 1.04821082e-02 1.12534520e-03 9.99944428e-01 -2.66119711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.391193817000001 meters Centerline goodness [0,1] 0.7513600728130236 Centerline is valid? [False, False] Translation: X:1.55, Y:0.04, Z:-0.27 [[ 0.9997275 0.02084899 -0.01049998 1.55450372] [-0.02081828 0.9997787 0.00302481 0.03628409] [ 0.01056072 -0.0028054 0.9999403 -0.26633 ] [ 0. 0. 0. 1. ]] SLAMing on 11.421193817 meters Centerline goodness [0,1] 0.8307418741212472 Centerline is valid? [False, False] Translation: X:1.56, Y:0.06, Z:-0.27 [[ 0.99949072 0.02952081 -0.01211735 1.55787129] [-0.0295429 0.99956215 -0.00164784 0.05919782] [ 0.0120634 0.00200498 0.99992522 -0.26616459] [ 0. 0. 0. 1. ]] SLAMing on 11.451193817000002 meters Centerline goodness [0,1] 0.8560881017068669 Centerline is valid? [False, False] Translation: X:1.56, Y:0.07, Z:-0.27 [[ 9.99391512e-01 3.26553971e-02 -1.22568618e-02 1.55870112e+00] [-3.26650025e-02 9.99466186e-01 -5.84248649e-04 6.75794661e-02] [ 1.22312400e-02 9.84263561e-04 9.99924711e-01 -2.66272408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.481193817000001 meters Centerline goodness [0,1] 0.8591016255118501 Centerline is valid? [False, False] Translation: X:1.56, Y:0.07, Z:-0.27 [[ 9.99286229e-01 3.56841138e-02 -1.23966215e-02 1.55975597e+00] [-3.56770995e-02 9.99363060e-01 7.86575786e-04 7.43096713e-02] [ 1.24167939e-02 -3.43738852e-04 9.99922850e-01 -2.66678758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.511193817 meters Centerline goodness [0,1] 0.8622815182542145 Centerline is valid? [False, False] Translation: X:1.56, Y:0.08, Z:-0.27 [[ 0.99916358 0.03893771 -0.01248952 1.56054137] [-0.03890812 0.9992394 0.00260345 0.08027278] [ 0.01258139 -0.00211533 0.99991861 -0.26687013] [ 0. 0. 0. 1. ]] SLAMing on 11.541193817000002 meters Centerline goodness [0,1] 0.8697543975419133 Centerline is valid? [False, False] Translation: X:1.56, Y:0.09, Z:-0.27 [[ 0.99873592 0.04873747 -0.01229758 1.56091286] [-0.04861439 0.99876639 0.01011627 0.09134852] [ 0.01277545 -0.00950564 0.99987321 -0.26616561] [ 0. 0. 0. 1. ]] SLAMing on 11.571193817000001 meters Centerline goodness [0,1] 0.8715609555189456 Centerline is valid? [False, False] Translation: X:1.56, Y:0.10, Z:-0.27 [[ 0.99855838 0.05223726 -0.01234614 1.56120323] [-0.05208717 0.99856825 0.01218127 0.09774619] [ 0.01296477 -0.01152063 0.99984958 -0.26565189] [ 0. 0. 0. 1. ]] SLAMing on 11.601193817 meters Centerline goodness [0,1] 0.8729344611502906 Centerline is valid? [False, False] Translation: X:1.56, Y:0.10, Z:-0.27 [[ 0.99836869 0.05573684 -0.01238423 1.56139136] [-0.05555614 0.99835049 0.01448499 0.10303945] [ 0.01317115 -0.01377334 0.99981839 -0.2650837 ] [ 0. 0. 0. 1. ]] SLAMing on 11.631193817000002 meters Centerline goodness [0,1] 0.8726205485397763 Centerline is valid? [False, False] Translation: X:1.56, Y:0.11, Z:-0.26 [[ 0.99811402 0.06012575 -0.01238099 1.56162205] [-0.05991519 0.99806329 0.01672814 0.10925798] [ 0.0133628 -0.01595478 0.99978342 -0.26428243] [ 0. 0. 0. 1. ]] SLAMing on 11.661193817000001 meters Centerline goodness [0,1] 0.8726058181968126 Centerline is valid? [False, False] Translation: X:1.56, Y:0.11, Z:-0.26 [[ 0.99810086 0.06030555 -0.0125667 1.56188574] [-0.06010028 0.99806221 0.01611797 0.11123979] [ 0.01351435 -0.0153321 0.99979112 -0.26405905] [ 0. 0. 0. 1. ]] SLAMing on 11.691193817000002 meters Centerline goodness [0,1] 0.8731999174747267 Centerline is valid? [False, False] Translation: X:1.56, Y:0.11, Z:-0.26 [[ 0.99810354 0.06026184 -0.01256302 1.5617682 ] [-0.06006419 0.99807327 0.01555777 0.11272465] [ 0.01347636 -0.01477368 0.99980004 -0.26388473] [ 0. 0. 0. 1. ]] SLAMing on 11.721193817000001 meters Centerline goodness [0,1] 0.8745536727828115 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.26 [[ 0.99828899 0.05704914 -0.0128256 1.5620538 ] [-0.05690469 0.998315 0.01135884 0.11537991] [ 0.013452 -0.01060957 0.99985323 -0.26392206] [ 0. 0. 0. 1. ]] SLAMing on 11.751193817 meters Centerline goodness [0,1] 0.8763532881034376 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.26 [[ 0.99851237 0.05287925 -0.01329757 1.56265384] [-0.05278912 0.99858086 0.0070403 0.11659617] [ 0.01365098 -0.00632786 0.9998868 -0.26401859] [ 0. 0. 0. 1. ]] SLAMing on 11.781193817000002 meters Centerline goodness [0,1] 0.8745836588675522 Centerline is valid? [False, False] Translation: X:1.56, Y:0.12, Z:-0.26 [[ 0.99870783 0.04892488 -0.01374878 1.56356054] [-0.04888466 0.99879915 0.00324704 0.11564874] [ 0.01389113 -0.00257074 0.99990021 -0.26455952] [ 0. 0. 0. 1. ]] SLAMing on 11.811193817000001 meters Centerline goodness [0,1] 0.879473662534492 Centerline is valid? [False, False] Translation: X:1.56, Y:0.11, Z:-0.27 [[ 9.98888730e-01 4.49694943e-02 -1.41084882e-02 1.56450567e+00] [-4.49771261e-02 9.98987992e-01 -2.23953173e-04 1.13225129e-01] [ 1.40841392e-02 8.58263554e-04 9.99900445e-01 -2.65435972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.841193817 meters Centerline goodness [0,1] 0.8768549051937345 Centerline is valid? [False, False] Translation: X:1.57, Y:0.11, Z:-0.27 [[ 0.99905465 0.04099848 -0.01445432 1.56554862] [-0.04105422 0.9991505 -0.00358094 0.1106522 ] [ 0.01429523 0.00417096 0.99988912 -0.26645102] [ 0. 0. 0. 1. ]] SLAMing on 11.871193817000002 meters Centerline goodness [0,1] 0.8764153463617121 Centerline is valid? [False, False] Translation: X:1.57, Y:0.11, Z:-0.27 [[ 0.99922473 0.03642441 -0.01494014 1.5669952 ] [-0.03652921 0.99930943 -0.00680281 0.10708592] [ 0.01468204 0.00734329 0.99986525 -0.26777746] [ 0. 0. 0. 1. ]] SLAMing on 11.901193817000001 meters Centerline goodness [0,1] 0.8804775136358959 Centerline is valid? [False, False] Translation: X:1.57, Y:0.11, Z:-0.27 [[ 0.99923148 0.0361483 -0.01515764 1.56786654] [-0.03624977 0.99932179 -0.00647372 0.10570331] [ 0.01491334 0.00701821 0.99986416 -0.26843888] [ 0. 0. 0. 1. ]] SLAMing on 11.931193817 meters Centerline goodness [0,1] 0.8829907852151148 Centerline is valid? [False, False] Translation: X:1.57, Y:0.10, Z:-0.27 [[ 0.99930191 0.03396381 -0.01556154 1.56989626] [-0.03409633 0.99938382 -0.0083317 0.10297363] [ 0.01526898 0.00885647 0.9998442 -0.27013942] [ 0. 0. 0. 1. ]] SLAMing on 11.961193817000002 meters Centerline goodness [0,1] 0.884389598577866 Centerline is valid? [False, False] Translation: X:1.57, Y:0.10, Z:-0.27 [[ 0.99929208 0.03424567 -0.01557503 1.56997848] [-0.0343693 0.99937922 -0.00774064 0.10063916] [ 0.01530028 0.00827047 0.99984874 -0.27026199] [ 0. 0. 0. 1. ]] SLAMing on 11.991193817000001 meters Centerline goodness [0,1] 0.8870246543873324 Centerline is valid? [False, False] Translation: X:1.57, Y:0.10, Z:-0.27 [[ 0.99926471 0.03489835 -0.01587928 1.5709048 ] [-0.0350132 0.99936224 -0.00701337 0.09882849] [ 0.0156244 0.0075642 0.99984932 -0.27066457] [ 0. 0. 0. 1. ]] SLAMing on 12.021193817000002 meters Centerline goodness [0,1] 0.8909090909090909 Centerline is valid? [False, False] Translation: X:1.57, Y:0.10, Z:-0.27 [[ 0.99923752 0.03560921 -0.01601115 1.57142629] [-0.03571673 0.99934094 -0.00648008 0.09775283] [ 0.01576985 0.007047 0.99985081 -0.27095932] [ 0. 0. 0. 1. ]] SLAMing on 12.051193817000001 meters Centerline goodness [0,1] 0.8929007175796679 Centerline is valid? [False, False] Translation: X:1.57, Y:0.10, Z:-0.27 [[ 0.99919641 0.03659094 -0.01635967 1.57278725] [-0.03669281 0.99930875 -0.00597116 0.09755185] [ 0.01612988 0.00656665 0.99984834 -0.27178869] [ 0. 0. 0. 1. ]] SLAMing on 12.081193817 meters Centerline goodness [0,1] 0.8973132969034608 Centerline is valid? [False, False] Translation: X:1.58, Y:0.10, Z:-0.27 [[ 9.98889932e-01 4.41285812e-02 -1.64794588e-02 1.57569824e+00] [-4.41151041e-02 9.99025757e-01 1.18061929e-03 9.58159989e-02] [ 1.65155028e-02 -4.52315686e-04 9.99863507e-01 -2.74357214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.111193817000002 meters Centerline goodness [0,1] 0.8966608738828202 Centerline is valid? [False, False] Translation: X:1.58, Y:0.10, Z:-0.27 [[ 9.98856074e-01 4.48312351e-02 -1.66343988e-02 1.57612972e+00] [-4.48108499e-02 9.98994214e-01 1.59638227e-03 9.57266076e-02] [ 1.66892359e-02 -8.49154581e-04 9.99860364e-01 -2.74448511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.141193817000001 meters Centerline goodness [0,1] 0.8973058767752974 Centerline is valid? [False, False] Translation: X:1.58, Y:0.09, Z:-0.27 [[ 0.99882602 0.04541958 -0.01684146 1.57654295] [-0.04538526 0.99896664 0.00241481 0.09373407] [ 0.01693374 -0.00164762 0.99985526 -0.27445453] [ 0. 0. 0. 1. ]] SLAMing on 12.171193817 meters Centerline goodness [0,1] 0.8961495512634932 Centerline is valid? [False, False] Translation: X:1.58, Y:0.09, Z:-0.27 [[ 9.98949751e-01 4.25173031e-02 -1.70784425e-02 1.57653962e+00] [-4.25351680e-02 9.99094736e-01 -6.84007508e-04 9.23001016e-02] [ 1.70338998e-02 1.40972355e-03 9.99853919e-01 -2.74185289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.201193817000002 meters Centerline goodness [0,1] 0.896795163761335 Centerline is valid? [False, False] Translation: X:1.58, Y:0.08, Z:-0.27 [[ 0.99905442 0.03990474 -0.01725941 1.57690069] [-0.03995097 0.9991989 -0.00234193 0.08437598] [ 0.01715213 0.00302925 0.9998483 -0.27476311] [ 0. 0. 0. 1. ]] SLAMing on 12.231193817000001 meters Centerline goodness [0,1] 0.8974210373804694 Centerline is valid? [False, False] Translation: X:1.58, Y:0.08, Z:-0.28 [[ 0.999152 0.03723444 -0.01757473 1.57834683] [-0.03732096 0.99929265 -0.00462098 0.08117139] [ 0.01739024 0.00527297 0.99983487 -0.27609031] [ 0. 0. 0. 1. ]] SLAMing on 12.261193817 meters Centerline goodness [0,1] 0.8948436949721364 Centerline is valid? [False, False] Translation: X:1.58, Y:0.07, Z:-0.28 [[ 0.99920055 0.035785 -0.01782418 1.58005838] [-0.03588232 0.99934265 -0.00517037 0.07473257] [ 0.01762744 0.00580581 0.99982777 -0.27787808] [ 0. 0. 0. 1. ]] SLAMing on 12.291193817000002 meters Centerline goodness [0,1] 0.8961608472612941 Centerline is valid? [False, False] Translation: X:1.58, Y:0.07, Z:-0.28 [[ 0.99917256 0.03649321 -0.01795638 1.58003789] [-0.03657026 0.99932315 -0.00398153 0.07203029] [ 0.01779893 0.00463491 0.99983084 -0.27756929] [ 0. 0. 0. 1. ]] SLAMing on 12.321193817000001 meters Centerline goodness [0,1] 0.891551567281449 Centerline is valid? [False, False] Translation: X:1.58, Y:0.07, Z:-0.28 [[ 0.99914372 0.03720716 -0.01809573 1.57985221] [-0.03726395 0.9993015 -0.00281105 0.06906012] [ 0.0179785 0.00348296 0.99983231 -0.27701116] [ 0. 0. 0. 1. ]] SLAMing on 12.351193817000002 meters Centerline goodness [0,1] 0.8934092084842215 Centerline is valid? [False, False] Translation: X:1.58, Y:0.07, Z:-0.28 [[ 0.99920577 0.03561771 -0.01786666 1.57804751] [-0.03570045 0.99935314 -0.00433315 0.0658396 ] [ 0.01770076 0.00496756 0.99983099 -0.27554862] [ 0. 0. 0. 1. ]] SLAMing on 12.381193817000002 meters Centerline goodness [0,1] 0.8894071994715984 Centerline is valid? [False, False] Translation: X:1.58, Y:0.06, Z:-0.27 [[ 0.99925173 0.03419501 -0.01807461 1.57704022] [-0.03428015 0.99940248 -0.00442165 0.05576744] [ 0.01791261 0.00503794 0.99982686 -0.27425152] [ 0. 0. 0. 1. ]] SLAMing on 12.411193817000001 meters Centerline goodness [0,1] 0.88997852836733 Centerline is valid? [False, False] Translation: X:1.58, Y:0.05, Z:-0.27 [[ 0.99933962 0.03138659 -0.0183086 1.57733595] [-0.03151255 0.99948135 -0.00663234 0.05157173] [ 0.01809094 0.00720491 0.99981039 -0.27438047] [ 0. 0. 0. 1. ]] SLAMing on 12.441193817000002 meters Centerline goodness [0,1] 0.8884907641934886 Centerline is valid? [False, False] Translation: X:1.58, Y:0.05, Z:-0.28 [[ 0.99939144 0.02942429 -0.01873414 1.57929933] [-0.02957654 0.99953128 -0.00790218 0.04659087] [ 0.01849284 0.00845146 0.99979327 -0.27599344] [ 0. 0. 0. 1. ]] SLAMing on 12.471193817000001 meters Centerline goodness [0,1] 0.8884907641934886 Centerline is valid? [False, False] Translation: X:1.58, Y:0.05, Z:-0.28 [[ 0.99939144 0.02942429 -0.01873414 1.57929933] [-0.02957654 0.99953128 -0.00790218 0.04659087] [ 0.01849284 0.00845146 0.99979327 -0.27599344] [ 0. 0. 0. 1. ]] SLAMing on 12.501193817 meters Centerline goodness [0,1] 0.8906079171565897 Centerline is valid? [False, False] Translation: X:1.58, Y:0.04, Z:-0.28 [[ 0.99939781 0.02913313 -0.01884876 1.58044804] [-0.02927607 0.99954432 -0.00735223 0.04114179] [ 0.01862598 0.00789963 0.99979531 -0.2772552 ] [ 0. 0. 0. 1. ]] SLAMing on 12.531193817000002 meters Centerline goodness [0,1] 0.8909549192182141 Centerline is valid? [False, False] Translation: X:1.58, Y:0.04, Z:-0.28 [[ 0.99938615 0.02952198 -0.01886211 1.58117763] [-0.029638 0.99954328 -0.00590084 0.03568595] [ 0.01867929 0.00645625 0.99980468 -0.27822429] [ 0. 0. 0. 1. ]] SLAMing on 12.561193817000001 meters Centerline goodness [0,1] 0.8915939271087577 Centerline is valid? [False, False] Translation: X:1.58, Y:0.03, Z:-0.28 [[ 0.99940713 0.02884605 -0.0187962 1.5813158 ] [-0.02895402 0.99956563 -0.00549735 0.02677905] [ 0.01862946 0.00603831 0.99980822 -0.27879346] [ 0. 0. 0. 1. ]] SLAMing on 12.591193817 meters Centerline goodness [0,1] 0.8903815153143472 Centerline is valid? [False, False] Translation: X:1.58, Y:0.02, Z:-0.28 [[ 0.99938238 0.0295738 -0.01898002 1.58180049] [-0.02965264 0.99955271 -0.0038859 0.02148519] [ 0.01885661 0.0044463 0.99981231 -0.27900926] [ 0. 0. 0. 1. ]] SLAMing on 12.621193817000002 meters Centerline goodness [0,1] 0.891287730099374 Centerline is valid? [False, False] Translation: X:1.58, Y:0.02, Z:-0.28 [[ 0.99941593 0.02812765 -0.01940692 1.58351284] [-0.0282292 0.99958908 -0.00497905 0.0169903 ] [ 0.01925889 0.00552398 0.99979927 -0.28022847] [ 0. 0. 0. 1. ]] SLAMing on 12.651193817000001 meters Centerline goodness [0,1] 0.8913908650376328 Centerline is valid? [False, False] Translation: X:1.58, Y:0.01, Z:-0.28 [[ 0.9993995 0.02859242 -0.0195732 1.58442835] [-0.02866851 0.99958243 -0.00361772 0.01178329] [ 0.01946158 0.00417668 0.99980188 -0.28096805] [ 0. 0. 0. 1. ]] SLAMing on 12.681193817 meters Centerline goodness [0,1] 0.8934427924481483 Centerline is valid? [False, False] Translation: X:1.58, Y:0.01, Z:-0.28 [[ 0.99947684 0.02568298 -0.01965789 1.58470118] [-0.02580765 0.99964823 -0.00611456 0.00839677] [ 0.01949393 0.00661869 0.99978807 -0.28134658] [ 0. 0. 0. 1. ]] SLAMing on 12.711193817000002 meters Centerline goodness [0,1] 0.8975189225978097 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.00, Z:-0.28 [[ 0.99960779 0.01950985 -0.02009045 1.58597512] [-0.01971523 0.99975486 -0.01007616 -0.00233106] [ 0.01988894 0.0104683 0.99974739 -0.28240474] [ 0. 0. 0. 1. ]] SLAMing on 12.741193817000001 meters Centerline goodness [0,1] 0.8987645634583945 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.01, Z:-0.28 [[ 0.99967812 0.0154914 -0.02009145 1.58609568] [-0.01574506 0.99979754 -0.01252922 -0.00827526] [ 0.01989329 0.01284153 0.99971964 -0.28273581] [ 0. 0. 0. 1. ]] SLAMing on 12.771193817000002 meters Centerline goodness [0,1] 0.903314121037464 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.01, Z:-0.28 [[ 0.99982138 0.00887242 -0.01668795 1.59494243] [-0.00899646 0.99993235 -0.0073723 -0.01465323] [ 0.01662141 0.00752112 0.99983357 -0.28339627] [ 0. 0. 0. 1. ]] SLAMing on 12.801193817000001 meters Centerline goodness [0,1] 0.9029658484305118 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.02, Z:-0.29 [[ 0.99991121 -0.00380051 -0.01277237 1.5879149 ] [ 0.00367833 0.99994739 -0.00957584 -0.02254037] [ 0.0128081 0.00952801 0.99987258 -0.28739746] [ 0. 0. 0. 1. ]] SLAMing on 12.831193817 meters Centerline goodness [0,1] 0.8961782517930592 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.03, Z:-0.29 [[ 0.99988615 -0.00793978 -0.01283109 1.58808704] [ 0.00777681 0.99988909 -0.01270174 -0.02566051] [ 0.01293052 0.01260051 0.999837 -0.28736615] [ 0. 0. 0. 1. ]] SLAMing on 12.861193817000002 meters Centerline goodness [0,1] 0.8772396445434115 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.03, Z:-0.29 [[ 0.9998751 -0.01261298 -0.0095237 1.59600856] [ 0.01255685 0.99990357 -0.00593057 -0.03008209] [ 0.00959759 0.00581024 0.99993706 -0.28703274] [ 0. 0. 0. 1. ]] SLAMing on 12.891193817000001 meters Centerline goodness [0,1] 0.8548934409269605 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.03, Z:-0.29 [[ 0.99981523 -0.01668729 -0.0095413 1.59592134] [ 0.01659713 0.99981758 -0.00945206 -0.03197816] [ 0.00969729 0.00929195 0.99990981 -0.28666877] [ 0. 0. 0. 1. ]] SLAMing on 12.921193817 meters Centerline goodness [0,1] 0.8492324221574826 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.03, Z:-0.29 [[ 0.99981193 -0.01678442 -0.00971563 1.59665587] [ 0.01669188 0.99981527 -0.00952914 -0.03176827] [ 0.00987377 0.00936518 0.9999074 -0.28707945] [ 0. 0. 0. 1. ]] SLAMing on 12.951193817000002 meters Centerline goodness [0,1] 0.8516710787557908 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.03, Z:-0.29 [[ 0.99985944 -0.0135381 -0.00989065 1.5973009 ] [ 0.01348203 0.99989279 -0.005714 -0.03276457] [ 0.00996694 0.00557985 0.99993476 -0.28746444] [ 0. 0. 0. 1. ]] SLAMing on 12.981193817000001 meters Centerline goodness [0,1] 0.8646711287390514 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.03, Z:-0.29 [[ 0.99989738 -0.01022035 -0.01003882 1.59784604] [ 0.01020252 0.99994629 -0.00182534 -0.0338484 ] [ 0.01005694 0.00172273 0.99994794 -0.28776242] [ 0. 0. 0. 1. ]] SLAMing on 13.011193817 meters Centerline goodness [0,1] 0.8726072470666142 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.03, Z:-0.29 [[ 9.99923472e-01 -7.52774727e-03 -9.81748769e-03 1.59726944e+00] [ 7.53811204e-03 9.99971069e-01 1.01916930e-03 -3.31097085e-02] [ 9.80953161e-03 -1.09309663e-03 9.99951288e-01 -2.87463541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.041193817000002 meters Centerline goodness [0,1] 0.8612148857561559 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.03, Z:-0.29 [[ 9.99920152e-01 -7.77983487e-03 -9.95811238e-03 1.59775914e+00] [ 7.78584657e-03 9.99969530e-01 5.65074214e-04 -3.17754233e-02] [ 9.95341278e-03 -6.42561429e-04 9.99950257e-01 -2.87617714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.071193817000001 meters Centerline goodness [0,1] 0.8544136478169275 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.03, Z:-0.29 [[ 9.99916945e-01 -8.00372949e-03 -1.01016568e-02 1.59775102e+00] [ 8.00533919e-03 9.99967950e-01 1.18925228e-04 -3.01639932e-02] [ 1.01003812e-02 -1.99782540e-04 9.99948970e-01 -2.87212850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.101193817000002 meters Centerline goodness [0,1] 0.8360554190497822 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.03, Z:-0.29 [[ 9.99914768e-01 -8.25202763e-03 -1.01173191e-02 1.59760815e+00] [ 8.24904593e-03 9.99965919e-01 -3.36407409e-04 -2.83607277e-02] [ 1.01197503e-02 2.52920506e-04 9.99948762e-01 -2.86897938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.131193817000002 meters Centerline goodness [0,1] 0.8149608737844032 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.03, Z:-0.28 [[ 9.99917851e-01 -8.00494137e-03 -1.00106139e-02 1.59517191e+00] [ 8.00386849e-03 9.99967958e-01 -1.47232330e-04 -2.58094165e-02] [ 1.00114718e-02 6.70965971e-05 9.99949882e-01 -2.84097172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.161193817000001 meters Centerline goodness [0,1] 0.8070540273431066 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.02, Z:-0.28 [[ 9.99914678e-01 -8.39834219e-03 -1.00052523e-02 1.59482162e+00] [ 8.39119284e-03 9.99964507e-01 -7.56325090e-04 -2.35275274e-02] [ 1.00112491e-02 6.72304557e-04 9.99949660e-01 -2.83472940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.191193817000002 meters Centerline goodness [0,1] 0.7682390195755882 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.02, Z:-0.28 [[ 9.99912312e-01 -8.67548712e-03 -1.00052549e-02 1.59487739e+00] [ 8.66260317e-03 9.99961594e-01 -1.33033721e-03 -2.12009842e-02] [ 1.00164119e-02 1.24354900e-03 9.99949061e-01 -2.83418564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.221193817000001 meters Centerline goodness [0,1] 0.7980894485453756 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.02, Z:-0.28 [[ 9.99927645e-01 -6.61539118e-03 -1.00469410e-02 1.59596091e+00] [ 6.62116007e-03 9.99977934e-01 5.41039462e-04 -1.75632000e-02] [ 1.00431401e-02 -6.07522720e-04 9.99949382e-01 -2.84516540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.251193817 meters Centerline goodness [0,1] 0.8069265138880309 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.02, Z:-0.29 [[ 9.99929467e-01 -5.62405862e-03 -1.04609220e-02 1.59879874e+00] [ 5.63739795e-03 9.99983333e-01 1.24610868e-03 -1.57062241e-02] [ 1.04537395e-02 -1.30499317e-03 9.99944507e-01 -2.86756140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.281193817000002 meters Centerline goodness [0,1] 0.8103904698874917 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.01, Z:-0.29 [[ 9.99926935e-01 -5.87556844e-03 -1.05642364e-02 1.59948546e+00] [ 5.87769395e-03 9.99982712e-01 1.70161709e-04 -1.18469875e-02] [ 1.05630539e-02 -2.32242624e-04 9.99944182e-01 -2.87299767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.311193817000001 meters Centerline goodness [0,1] 0.8220857627258819 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.01, Z:-0.29 [[ 0.99993561 -0.00356345 -0.01077365 1.60126553] [ 0.00358467 0.99999167 0.00195027 -0.00781962] [ 0.01076661 -0.00198876 0.99994006 -0.28881798] [ 0. 0. 0. 1. ]] SLAMing on 13.341193817 meters Centerline goodness [0,1] 0.8079336250309584 Centerline is valid? [False, False] Translation: X:1.60, Y:0.00, Z:-0.29 [[ 0.99993848 0.00170938 -0.01095932 1.60204229] [-0.00164685 0.99998233 0.00571254 0.00337692] [ 0.0109689 -0.00569414 0.99992363 -0.28912685] [ 0. 0. 0. 1. ]] SLAMing on 13.371193817000002 meters Centerline goodness [0,1] 0.8682933878326211 Centerline is valid? [False, False] Translation: X:1.60, Y:0.01, Z:-0.29 [[ 0.99992675 0.00469795 -0.01115415 1.60261385] [-0.00461255 0.99995995 0.00766966 0.00892544] [ 0.01118973 -0.00761765 0.99990838 -0.28919757] [ 0. 0. 0. 1. ]] SLAMing on 13.401193817000001 meters Centerline goodness [0,1] 0.8684785296299349 Centerline is valid? [False, False] Translation: X:1.60, Y:0.01, Z:-0.29 [[ 0.9999082 0.00733574 -0.0113918 1.60423499] [-0.00722978 0.99993047 0.00931553 0.01396344] [ 0.01145935 -0.00923231 0.99989172 -0.29039253] [ 0. 0. 0. 1. ]] SLAMing on 13.431193817000002 meters Centerline goodness [0,1] 0.8882443690219068 Centerline is valid? [False, False] Translation: X:1.61, Y:0.02, Z:-0.29 [[ 0.99990486 0.00731219 -0.01169662 1.60585869] [-0.00722025 0.99994286 0.00788288 0.01982233] [ 0.0117536 -0.00779768 0.99990052 -0.29153708] [ 0. 0. 0. 1. ]] SLAMing on 13.461193817000002 meters Centerline goodness [0,1] 0.905800234727284 Centerline is valid? [False, False] Translation: X:1.61, Y:0.03, Z:-0.29 [[ 0.99984156 0.01331447 -0.01181478 1.60804802] [-0.01317658 0.99984505 0.01167307 0.03050053] [ 0.01196837 -0.01151555 0.99986207 -0.29359711] [ 0. 0. 0. 1. ]] SLAMing on 13.491193817000001 meters Centerline goodness [0,1] 0.9096040525173162 Centerline is valid? [False, False] Translation: X:1.61, Y:0.04, Z:-0.29 [[ 0.99978528 0.01701978 -0.01182037 1.60842207] [-0.01685639 0.99976285 0.01378793 0.03727627] [ 0.01205224 -0.01358572 0.99983507 -0.29372162] [ 0. 0. 0. 1. ]] SLAMing on 13.521193817000002 meters Centerline goodness [0,1] 0.9121507632802535 Centerline is valid? [False, False] Translation: X:1.62, Y:0.05, Z:-0.30 [[ 0.9997304 0.02223974 -0.00667234 1.61904017] [-0.02218714 0.99972297 0.0078557 0.04511192] [ 0.0068452 -0.00770555 0.99994688 -0.29628241] [ 0. 0. 0. 1. ]] SLAMing on 13.551193817000001 meters Centerline goodness [0,1] 0.9001216269145932 Centerline is valid? [False, False] Translation: X:1.62, Y:0.06, Z:-0.30 [[ 0.99938039 0.03456065 -0.00666388 1.62009219] [-0.03454201 0.99939906 0.00289159 0.05922722] [ 0.00675981 -0.00265962 0.99997362 -0.29647962] [ 0. 0. 0. 1. ]] SLAMing on 13.581193817 meters Centerline goodness [0,1] 0.8946825626005528 Centerline is valid? [False, False] Translation: X:1.62, Y:0.06, Z:-0.30 [[ 0.99923271 0.03856837 -0.00681754 1.62117158] [-0.03852971 0.99924112 0.0057133 0.06347712] [ 0.00703272 -0.00544624 0.99996044 -0.2968945 ] [ 0. 0. 0. 1. ]] SLAMing on 13.611193817000002 meters Centerline goodness [0,1] 0.8950475565759265 Centerline is valid? [False, False] Translation: X:1.62, Y:0.07, Z:-0.30 [[ 0.99907475 0.04245145 -0.00689299 1.62230318] [-0.04238902 0.99906098 0.0089627 0.06594083] [ 0.00726699 -0.00866222 0.99993608 -0.297584 ] [ 0. 0. 0. 1. ]] SLAMing on 13.641193817000001 meters Centerline goodness [0,1] 0.8979263717689739 Centerline is valid? [False, False] Translation: X:1.62, Y:0.07, Z:-0.30 [[ 0.99905205 0.04295655 -0.0070528 1.62304291] [-0.04289666 0.99904391 0.00843401 0.06868147] [ 0.00740836 -0.00812348 0.99993956 -0.29793624] [ 0. 0. 0. 1. ]] SLAMing on 13.671193817 meters Centerline goodness [0,1] 0.9016203224068625 Centerline is valid? [False, False] Translation: X:1.62, Y:0.07, Z:-0.30 [[ 0.99899384 0.04430671 -0.00694483 1.62319141] [-0.0442457 0.99898275 0.00870581 0.06989087] [ 0.00732349 -0.00838977 0.99993799 -0.29814519] [ 0. 0. 0. 1. ]] SLAMing on 13.701193817000002 meters Centerline goodness [0,1] 0.9030048425147965 Centerline is valid? [False, False] Translation: X:1.62, Y:0.07, Z:-0.30 [[ 0.99897859 0.04463624 -0.00702667 1.62352835] [-0.04457276 0.99896609 0.00894554 0.06926411] [ 0.0074187 -0.0086232 0.9999353 -0.29829314] [ 0. 0. 0. 1. ]] SLAMing on 13.731193817000001 meters Centerline goodness [0,1] 0.902471305966291 Centerline is valid? [False, False] Translation: X:1.62, Y:0.07, Z:-0.30 [[ 0.99909229 0.04197021 -0.0072862 1.62399113] [-0.04192931 0.99910445 0.00567775 0.06930101] [ 0.00751797 -0.00536709 0.99995734 -0.29842541] [ 0. 0. 0. 1. ]] SLAMing on 13.761193817 meters Centerline goodness [0,1] 0.9038247995064774 Centerline is valid? [False, False] Translation: X:1.63, Y:0.07, Z:-0.30 [[ 0.99916152 0.04019168 -0.00780345 1.62604485] [-0.04016328 0.99918604 0.00376365 0.06756458] [ 0.00794836 -0.00344708 0.99996247 -0.29979904] [ 0. 0. 0. 1. ]] SLAMing on 13.791193817000002 meters Centerline goodness [0,1] 0.9044750786554066 Centerline is valid? [False, False] Translation: X:1.63, Y:0.06, Z:-0.30 [[ 0.99924714 0.03796774 -0.00797571 1.62642794] [-0.03795002 0.99927685 0.00236184 0.06106029] [ 0.00805962 -0.00205738 0.9999654 -0.30017444] [ 0. 0. 0. 1. ]] SLAMing on 13.821193817000001 meters Centerline goodness [0,1] 0.9037179646420734 Centerline is valid? [False, False] Translation: X:1.63, Y:0.06, Z:-0.30 [[ 9.99361373e-01 3.48096807e-02 -8.07048255e-03 1.62646413e+00] [-3.48153708e-02 9.99393601e-01 -5.65588470e-04 5.82519350e-02] [ 8.04590067e-03 8.46204113e-04 9.99967273e-01 -3.00265677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.851193817000002 meters Centerline goodness [0,1] 0.9054893194237457 Centerline is valid? [False, False] Translation: X:1.63, Y:0.05, Z:-0.30 [[ 0.99946535 0.03165886 -0.00816855 1.62642761] [-0.03168612 0.99949265 -0.00322989 0.0546488 ] [ 0.00806215 0.00348699 0.99996142 -0.30021244] [ 0. 0. 0. 1. ]] SLAMing on 13.881193817000002 meters Centerline goodness [0,1] 0.9057368573437564 Centerline is valid? [False, False] Translation: X:1.63, Y:0.05, Z:-0.30 [[ 0.99954187 0.02905553 -0.00847555 1.62718171] [-0.02909301 0.99956732 -0.00433198 0.04661008] [ 0.00834601 0.00457657 0.9999547 -0.30072111] [ 0. 0. 0. 1. ]] SLAMing on 13.911193817000001 meters Centerline goodness [0,1] 0.9044120681827562 Centerline is valid? [False, False] Translation: X:1.63, Y:0.04, Z:-0.30 [[ 0.99960281 0.02672239 -0.00895228 1.62930165] [-0.02677799 0.99962249 -0.00614915 0.04307872] [ 0.00878458 0.00638643 0.99994102 -0.30231923] [ 0. 0. 0. 1. ]] SLAMing on 13.941193817000002 meters Centerline goodness [0,1] 0.9004523017823581 Centerline is valid? [False, False] Translation: X:1.63, Y:0.04, Z:-0.30 [[ 0.99967644 0.02367615 -0.00929828 1.6304689 ] [-0.02375525 0.99968175 -0.00849068 0.03897012] [ 0.00909429 0.00870881 0.99992072 -0.30312824] [ 0. 0. 0. 1. ]] SLAMing on 13.971193817000001 meters Centerline goodness [0,1] 0.8943239215036847 Centerline is valid? [False, False] Translation: X:1.63, Y:0.03, Z:-0.30 [[ 0.99975358 0.02003812 -0.00955259 1.63108268] [-0.0201446 0.99973452 -0.01118413 0.03454187] [ 0.00932595 0.01137381 0.99989183 -0.30353257] [ 0. 0. 0. 1. ]] SLAMing on 14.001193817 meters Centerline goodness [0,1] 0.8977176143784075 Centerline is valid? [False, False] Translation: X:1.63, Y:0.02, Z:-0.30 [[ 0.99994673 0.00664097 -0.00790204 1.62963823] [-0.0066781 0.99996674 -0.00468173 0.02394492] [ 0.00787069 0.00473425 0.99995782 -0.30310356] [ 0. 0. 0. 1. ]] SLAMing on 14.031193817000002 meters Centerline goodness [0,1] 0.9027940782836082 Centerline is valid? [False, False] Translation: X:1.64, Y:0.02, Z:-0.30 [[ 9.99992657e-01 -1.03383081e-03 -3.69015367e-03 1.63882293e+00] [ 1.03196771e-03 9.99999339e-01 -5.06752082e-04 1.79304438e-02] [ 3.69067513e-03 5.02940242e-04 9.99993063e-01 -3.04588117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.061193817000001 meters Centerline goodness [0,1] 0.909141802649858 Centerline is valid? [False, False] Translation: X:1.64, Y:0.01, Z:-0.30 [[ 0.99997503 -0.00605137 -0.00364912 1.6390521 ] [ 0.00603733 0.99997438 -0.00384478 0.01306412] [ 0.00367229 0.00382265 0.99998595 -0.30482879] [ 0. 0. 0. 1. ]] SLAMing on 14.091193817 meters Centerline goodness [0,1] 0.9098301446762842 Centerline is valid? [False, False] Translation: X:1.64, Y:0.01, Z:-0.31 [[ 0.99993665 -0.01063442 -0.00368805 1.64001252] [ 0.01060809 0.99991861 -0.00708767 0.00941266] [ 0.00376312 0.0070481 0.99996808 -0.30577567] [ 0. 0. 0. 1. ]] SLAMing on 14.121193817000002 meters Centerline goodness [0,1] 0.88985309613835 Centerline is valid? [False, False] Translation: X:1.64, Y:0.01, Z:-0.31 [[ 0.99988064 -0.01498246 -0.00377142 1.64094316] [ 0.01494143 0.99983131 -0.01068242 0.00768202] [ 0.00393084 0.0106248 0.99993583 -0.30660126] [ 0. 0. 0. 1. ]] SLAMing on 14.151193817000001 meters Centerline goodness [0,1] 0.8155337794443639 Centerline is valid? [False, False] Translation: X:1.64, Y:0.01, Z:-0.31 [[ 0.9997483 -0.02210168 -0.00385421 1.64339603] [ 0.02203326 0.99961318 -0.01697139 0.0055814 ] [ 0.00422782 0.0168822 0.99984855 -0.30899502] [ 0. 0. 0. 1. ]] SLAMing on 14.181193817000002 meters Centerline goodness [0,1] 0.8112965605675166 Centerline is valid? [False, False] Translation: X:1.64, Y:0.00, Z:-0.31 [[ 0.99974814 -0.02207027 -0.00407006 1.64438289] [ 0.02200003 0.99962073 -0.01656467 0.00392545] [ 0.00443411 0.01647096 0.99985451 -0.30966379] [ 0. 0. 0. 1. ]] SLAMing on 14.211193817000002 meters Centerline goodness [0,1] 0.776089555931225 Centerline is valid? [False, False] Translation: X:1.65, Y:0.00, Z:-0.31 [[ 0.99981433 -0.01879692 -0.00424098 1.64514402] [ 0.01874195 0.99974436 -0.01264764 0.00164745] [ 0.00447763 0.01256581 0.99991102 -0.31028323] [ 0. 0. 0. 1. ]] SLAMing on 14.241193817000001 meters Centerline goodness [0,1] 0.8305367744063324 Centerline is valid? [False, False] Translation: X:1.65, Y:0.00, Z:-0.31 [[ 0.99988487 -0.01452216 -0.00439973 1.64507546] [ 0.01448333 0.99985698 -0.00873244 0.00236184] [ 0.00452592 0.00866771 0.99995219 -0.30984626] [ 0. 0. 0. 1. ]] SLAMing on 14.271193817000002 meters Centerline goodness [0,1] 0.8795674021381749 Centerline is valid? [False, False] Translation: X:1.65, Y:0.00, Z:-0.31 [[ 0.99993406 -0.01055781 -0.00451785 1.64507267] [ 0.01053649 0.99993336 -0.00471786 0.00237609] [ 0.00456736 0.00466995 0.99997867 -0.30960176] [ 0. 0. 0. 1. ]] SLAMing on 14.301193817000001 meters Centerline goodness [0,1] 0.8925119775318024 Centerline is valid? [False, False] Translation: X:1.65, Y:0.00, Z:-0.31 [[ 9.99967315e-01 -6.64988317e-03 -4.59864811e-03 1.64539220e+00] [ 6.64663935e-03 9.99977651e-01 -7.20308355e-04 2.53866090e-03] [ 4.60333530e-03 6.89719256e-04 9.99989167e-01 -3.09812970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.331193817 meters Centerline goodness [0,1] 0.8986782321354811 Centerline is valid? [False, False] Translation: X:1.65, Y:0.00, Z:-0.31 [[ 0.99998453 -0.00311042 -0.00461215 1.64561482] [ 0.00312342 0.99999117 0.00281317 0.00329563] [ 0.00460336 -0.00282753 0.99998541 -0.31005196] [ 0. 0. 0. 1. ]] SLAMing on 14.361193817000002 meters Centerline goodness [0,1] 0.901663021499608 Centerline is valid? [False, False] Translation: X:1.65, Y:0.01, Z:-0.31 [[ 9.99989217e-01 4.95429762e-04 -4.61741690e-03 1.64579670e+00] [-4.68486984e-04 9.99982871e-01 5.83428880e-03 7.14421705e-03] [ 4.62022829e-03 -5.83206269e-03 9.99972320e-01 -3.10237328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.391193817000001 meters Centerline goodness [0,1] 0.901663021499608 Centerline is valid? [False, False] Translation: X:1.65, Y:0.01, Z:-0.31 [[ 9.99989217e-01 4.95429762e-04 -4.61741690e-03 1.64579670e+00] [-4.68486984e-04 9.99982871e-01 5.83428880e-03 7.14421705e-03] [ 4.62022829e-03 -5.83206269e-03 9.99972320e-01 -3.10237328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.421193817 meters Centerline goodness [0,1] 0.9070205585805677 Centerline is valid? [False, False] Translation: X:1.65, Y:0.01, Z:-0.31 [[ 9.99989180e-01 4.43369425e-04 -4.63078704e-03 1.64556791e+00] [-4.19727900e-04 9.99986881e-01 5.10501780e-03 9.97107362e-03] [ 4.63298970e-03 -5.10301889e-03 9.99976247e-01 -3.09845197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.451193817000002 meters Centerline goodness [0,1] 0.9074074074074074 Centerline is valid? [False, False] Translation: X:1.65, Y:0.01, Z:-0.31 [[ 9.99988997e-01 3.62907398e-04 -4.67692415e-03 1.64543191e+00] [-3.43027308e-04 9.99990907e-01 4.25077747e-03 1.32135389e-02] [ 4.67842426e-03 -4.24912639e-03 9.99980028e-01 -3.09386210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.481193817000001 meters Centerline goodness [0,1] 0.9088122605363984 Centerline is valid? [False, False] Translation: X:1.64, Y:0.02, Z:-0.31 [[ 0.99998637 0.0027431 -0.00444274 1.6434488 ] [-0.00271567 0.99997729 0.00616799 0.01617798] [ 0.00445956 -0.00615584 0.99997111 -0.30741893] [ 0. 0. 0. 1. ]] SLAMing on 14.511193817000002 meters Centerline goodness [0,1] 0.8952074688796681 Centerline is valid? [False, False] Translation: X:1.64, Y:0.02, Z:-0.31 [[ 0.9999637 0.0073205 -0.00435964 1.64287981] [-0.00728241 0.99993571 0.0086916 0.02285851] [ 0.00442298 -0.00865954 0.99995272 -0.3065961 ] [ 0. 0. 0. 1. ]] SLAMing on 14.541193817000002 meters Centerline goodness [0,1] 0.891268941346253 Centerline is valid? [False, False] Translation: X:1.65, Y:0.03, Z:-0.31 [[ 9.99947748e-01 1.02219248e-02 1.19009901e-04 1.65281293e+00] [-1.02219465e-02 9.99947738e-01 1.83368521e-04 2.71723399e-02] [-1.17129302e-04 -1.84575453e-04 9.99999976e-01 -3.08788065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.571193817000001 meters Centerline goodness [0,1] 0.8883245574028774 Centerline is valid? [False, False] Translation: X:1.65, Y:0.03, Z:-0.31 [[ 9.99942607e-01 1.07133038e-02 9.14324167e-05 1.65319632e+00] [-1.07132533e-02 9.99942468e-01 -5.36055601e-04 3.02148723e-02] [-9.71700829e-05 5.35045297e-04 9.99999852e-01 -3.09174866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.601193817000002 meters Centerline goodness [0,1] 0.890629532927183 Centerline is valid? [False, False] Translation: X:1.66, Y:0.04, Z:-0.31 [[ 9.99911446e-01 1.33037301e-02 -3.33034724e-04 1.65668937e+00] [-1.33033949e-02 9.99911016e-01 9.89436669e-04 3.61609695e-02] [ 3.46168288e-04 -9.84918558e-04 9.99999455e-01 -3.12536085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.631193817000002 meters Centerline goodness [0,1] 0.8905117028528932 Centerline is valid? [False, False] Translation: X:1.66, Y:0.04, Z:-0.31 [[ 9.99922677e-01 1.24189305e-02 -6.41221143e-04 1.65882551e+00] [-1.24191625e-02 9.99922815e-01 -3.59082418e-04 3.95232156e-02] [ 6.36712231e-04 3.67018082e-04 9.99999730e-01 -3.14401922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.661193817000001 meters Centerline goodness [0,1] 0.8882100772464638 Centerline is valid? [False, False] Translation: X:1.66, Y:0.04, Z:-0.32 [[ 9.99928558e-01 1.19300807e-02 -7.43375729e-04 1.65986665e+00] [-1.19307525e-02 9.99928416e-01 -9.05918748e-04 4.07750199e-02] [ 7.32514831e-04 9.14723059e-04 9.99999313e-01 -3.15487579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.691193817000002 meters Centerline goodness [0,1] 0.8906923714759536 Centerline is valid? [False, False] Translation: X:1.66, Y:0.04, Z:-0.32 [[ 9.99944430e-01 1.04766901e-02 -1.17294445e-03 1.66232460e+00] [-1.04795427e-02 9.99942080e-01 -2.45289325e-03 4.16842757e-02] [ 1.14717831e-03 2.46504887e-03 9.99996304e-01 -3.17512498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.721193817000001 meters Centerline goodness [0,1] 0.8878196486716303 Centerline is valid? [False, False] Translation: X:1.66, Y:0.04, Z:-0.32 [[ 9.99948738e-01 9.99990234e-03 -1.58842705e-03 1.66471457e+00] [-1.00053227e-02 9.99944022e-01 -3.44193601e-03 4.24872938e-02] [ 1.55391911e-03 3.45765229e-03 9.99992815e-01 -3.19497273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.751193817 meters Centerline goodness [0,1] 0.8865433713182639 Centerline is valid? [False, False] Translation: X:1.67, Y:0.04, Z:-0.32 [[ 0.99994466 0.0103516 -0.00187416 1.66588407] [-0.01035843 0.9999396 -0.00367393 0.04374614] [ 0.00183602 0.00369314 0.99999149 -0.32025484] [ 0. 0. 0. 1. ]] SLAMing on 14.781193817000002 meters Centerline goodness [0,1] 0.8871650211565585 Centerline is valid? [False, False] Translation: X:1.67, Y:0.05, Z:-0.32 [[ 0.99993867 0.01084644 -0.00223634 1.66692257] [-0.01085518 0.99993335 -0.0039325 0.04548948] [ 0.00219353 0.00395654 0.99998977 -0.32068202] [ 0. 0. 0. 1. ]] SLAMing on 14.811193817000001 meters Centerline goodness [0,1] 0.887159048449371 Centerline is valid? [False, False] Translation: X:1.67, Y:0.05, Z:-0.32 [[ 0.99993337 0.01130334 -0.0023443 1.6670232 ] [-0.01131292 0.99992754 -0.00411472 0.04690884] [ 0.00229762 0.00414096 0.99998879 -0.32045577] [ 0. 0. 0. 1. ]] SLAMing on 14.841193817 meters Centerline goodness [0,1] 0.8847995026422133 Centerline is valid? [False, False] Translation: X:1.67, Y:0.05, Z:-0.32 [[ 0.99992893 0.01166953 -0.00243891 1.66557908] [-0.01167871 0.99992464 -0.00378549 0.04636927] [ 0.00239455 0.00381371 0.99998986 -0.31816228] [ 0. 0. 0. 1. ]] SLAMing on 14.871193817000002 meters Centerline goodness [0,1] 0.8831855106100795 Centerline is valid? [False, False] Translation: X:1.66, Y:0.05, Z:-0.32 [[ 0.99995088 0.00961315 -0.00241225 1.66360535] [-0.00962648 0.99993812 -0.0055754 0.04511078] [ 0.00235851 0.00559835 0.99998155 -0.31584202] [ 0. 0. 0. 1. ]] SLAMing on 14.901193817000001 meters Centerline goodness [0,1] 0.8799130704750078 Centerline is valid? [False, False] Translation: X:1.66, Y:0.04, Z:-0.32 [[ 0.99995909 0.00862392 -0.00272839 1.66369158] [-0.00863886 0.9999475 -0.00551149 0.04232208] [ 0.00268072 0.00553483 0.99998109 -0.31521819] [ 0. 0. 0. 1. ]] SLAMing on 14.931193817000002 meters Centerline goodness [0,1] 0.8825980595405921 Centerline is valid? [False, False] Translation: X:1.66, Y:0.04, Z:-0.31 [[ 0.99998544 0.00460269 -0.00281798 1.66353043] [-0.00462839 0.99994711 -0.00918467 0.0412647 ] [ 0.00277556 0.00919758 0.99995385 -0.31484032] [ 0. 0. 0. 1. ]] SLAMing on 14.961193817000002 meters Centerline goodness [0,1] 0.8884162032041172 Centerline is valid? [False, False] Translation: X:1.66, Y:0.04, Z:-0.32 [[ 9.99995280e-01 -8.94328139e-04 -2.93931461e-03 1.66456181e+00] [ 8.55690304e-04 9.99913560e-01 -1.31202586e-02 3.80311503e-02] [ 2.95079435e-03 1.31176815e-02 9.99909606e-01 -3.15997683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.991193817000001 meters Centerline goodness [0,1] 0.8876837093769406 Centerline is valid? [False, False] Translation: X:1.67, Y:0.04, Z:-0.32 [[ 0.99998648 -0.00404382 -0.0032703 1.6669106 ] [ 0.00399151 0.99986645 -0.01584773 0.0364822 ] [ 0.00333395 0.01583446 0.99986907 -0.31806508] [ 0. 0. 0. 1. ]] SLAMing on 15.021193817000002 meters Centerline goodness [0,1] 0.8881007527504343 Centerline is valid? [False, False] Translation: X:1.67, Y:0.03, Z:-0.32 [[ 0.99998185 -0.00494727 -0.00343883 1.66793136] [ 0.00489267 0.99986466 -0.01570745 0.03426835] [ 0.00351608 0.01569034 0.99987072 -0.31901117] [ 0. 0. 0. 1. ]] SLAMing on 15.051193817000001 meters Centerline goodness [0,1] 0.8841820827270838 Centerline is valid? [False, False] Translation: X:1.67, Y:0.04, Z:-0.32 [[ 0.99994482 -0.00986171 -0.0036205 1.66867629] [ 0.00978602 0.99974485 -0.02035866 0.03522453] [ 0.00382035 0.0203221 0.99978619 -0.31946139] [ 0. 0. 0. 1. ]] SLAMing on 15.081193817 meters Centerline goodness [0,1] 0.8656725665544518 Centerline is valid? [False, False] Translation: X:1.68, Y:0.03, Z:-0.32 [[ 9.99938321e-01 -1.11064692e-02 -3.70029276e-05 1.67815324e+00] [ 1.11054594e-02 9.99882588e-01 -1.05583174e-02 3.40573406e-02] [ 1.54264210e-04 1.05572553e-02 9.99944259e-01 -3.21128441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.111193817000002 meters Centerline goodness [0,1] 0.8781513475441758 Centerline is valid? [False, False] Translation: X:1.68, Y:0.03, Z:-0.32 [[ 9.99970333e-01 -7.69959453e-03 -2.23610454e-04 1.67838112e+00] [ 7.69794582e-03 9.99948459e-01 -6.61970799e-03 3.30603661e-02] [ 2.74567996e-04 6.61779026e-03 9.99978064e-01 -3.21015650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.141193817000001 meters Centerline goodness [0,1] 0.8896268641323405 Centerline is valid? [False, False] Translation: X:1.68, Y:0.03, Z:-0.32 [[ 9.99992365e-01 -3.87737396e-03 -4.85514478e-04 1.67911241e+00] [ 3.87578834e-03 9.99987288e-01 -3.22528164e-03 3.45791750e-02] [ 4.98013929e-04 3.22337526e-03 9.99994681e-01 -3.21323813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.171193817 meters Centerline goodness [0,1] 0.8906785113846282 Centerline is valid? [False, False] Translation: X:1.68, Y:0.04, Z:-0.32 [[ 9.99999815e-01 -2.88973548e-04 -5.34768359e-04 1.67911561e+00] [ 2.89046307e-04 9.99999949e-01 1.35984964e-04 3.61209749e-02] [ 5.34729036e-04 -1.36139512e-04 9.99999848e-01 -3.21201270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.201193817000002 meters Centerline goodness [0,1] 0.8940656879820851 Centerline is valid? [False, False] Translation: X:1.68, Y:0.04, Z:-0.32 [[ 9.99999769e-01 2.61839491e-04 -6.27536543e-04 1.67950707e+00] [-2.62162311e-04 9.99999833e-01 -5.14398053e-04 4.02597022e-02] [ 6.27401749e-04 5.14562451e-04 9.99999671e-01 -3.21369546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.231193817000001 meters Centerline goodness [0,1] 0.8863480874883384 Centerline is valid? [False, False] Translation: X:1.68, Y:0.04, Z:-0.32 [[ 9.99999201e-01 1.01804078e-03 -7.48851033e-04 1.67978538e+00] [-1.01884810e-03 9.99998899e-01 -1.07849000e-03 4.46570922e-02] [ 7.47752262e-04 1.07925211e-03 9.99999138e-01 -3.21312437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.261193817000002 meters Centerline goodness [0,1] 0.8843481308892966 Centerline is valid? [False, False] Translation: X:1.68, Y:0.05, Z:-0.32 [[ 9.99983112e-01 5.70873936e-03 -1.08892083e-03 1.68046967e+00] [-5.70653516e-03 9.99981684e-01 2.01668616e-03 4.93423512e-02] [ 1.10041362e-03 -2.01043814e-03 9.99997374e-01 -3.21210629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.291193817000002 meters Centerline goodness [0,1] 0.8858835224919228 Centerline is valid? [False, False] Translation: X:1.68, Y:0.05, Z:-0.32 [[ 9.99982201e-01 5.82694468e-03 -1.28197949e-03 1.68094140e+00] [-5.82491358e-03 9.99981783e-01 1.58241160e-03 5.07645078e-02] [ 1.29117676e-03 -1.57491602e-03 9.99997926e-01 -3.21318912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.321193817000001 meters Centerline goodness [0,1] 0.8836383163286381 Centerline is valid? [False, False] Translation: X:1.68, Y:0.05, Z:-0.32 [[ 9.99981874e-01 5.83656393e-03 -1.47887045e-03 1.68185159e+00] [-5.83464475e-03 9.99982135e-01 1.29874598e-03 5.15545539e-02] [ 1.48642425e-03 -1.29009375e-03 9.99998063e-01 -3.22049234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.351193817000002 meters Centerline goodness [0,1] 0.8835899983440967 Centerline is valid? [False, False] Translation: X:1.68, Y:0.05, Z:-0.32 [[ 9.99981767e-01 5.79847535e-03 -1.68640590e-03 1.68265405e+00] [-5.79661275e-03 9.99982586e-01 1.10727972e-03 5.20202596e-02] [ 1.69279707e-03 -1.09748408e-03 9.99997965e-01 -3.22610495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.381193817000002 meters Centerline goodness [0,1] 0.88513429623805 Centerline is valid? [False, False] Translation: X:1.68, Y:0.05, Z:-0.32 [[ 9.99978451e-01 6.22709789e-03 -2.07888680e-03 1.68450527e+00] [-6.22457901e-03 9.99979888e-01 1.21592698e-03 5.22981783e-02] [ 2.08641669e-03 -1.20296058e-03 9.99997100e-01 -3.24035162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.411193817000001 meters Centerline goodness [0,1] 0.8872828180330924 Centerline is valid? [False, False] Translation: X:1.69, Y:0.05, Z:-0.32 [[ 9.99976274e-01 6.50525736e-03 -2.26556467e-03 1.68535553e+00] [-6.50233136e-03 9.99978019e-01 1.29649385e-03 5.22738324e-02] [ 2.27394890e-03 -1.28173164e-03 9.99996593e-01 -3.24645568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.441193817000002 meters Centerline goodness [0,1] 0.8862928670117336 Centerline is valid? [False, False] Translation: X:1.69, Y:0.05, Z:-0.33 [[ 9.99971893e-01 7.03617190e-03 -2.58947914e-03 1.68627711e+00] [-7.03226621e-03 9.99974127e-01 1.51431890e-03 5.25132988e-02] [ 2.60006715e-03 -1.49606643e-03 9.99995501e-01 -3.25014358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.471193817000001 meters Centerline goodness [0,1] 0.8843456015844199 Centerline is valid? [False, False] Translation: X:1.69, Y:0.05, Z:-0.33 [[ 0.99995936 0.008544 -0.00287774 1.68696812] [-0.00853623 0.99995992 0.00270067 0.05061871] [ 0.0029007 -0.002676 0.99999221 -0.32516605] [ 0. 0. 0. 1. ]] SLAMing on 15.501193817 meters Centerline goodness [0,1] 0.8845293800985548 Centerline is valid? [False, False] Translation: X:1.69, Y:0.05, Z:-0.32 [[ 0.99995594 0.00890317 -0.00297565 1.68685602] [-0.00889304 0.99995467 0.0034008 0.04801633] [ 0.00300579 -0.00337419 0.99998979 -0.32478323] [ 0. 0. 0. 1. ]] SLAMing on 15.531193817000002 meters Centerline goodness [0,1] 0.8827862256793282 Centerline is valid? [False, False] Translation: X:1.69, Y:0.05, Z:-0.32 [[ 9.99977368e-01 5.91604548e-03 -3.20386656e-03 1.68670593e+00] [-5.91543617e-03 9.99982484e-01 1.99622561e-04 4.66329473e-02] [ 3.20499142e-03 -1.80665775e-04 9.99994848e-01 -3.23984570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.561193817000001 meters Centerline goodness [0,1] 0.8809059762427426 Centerline is valid? [False, False] Translation: X:1.69, Y:0.04, Z:-0.32 [[ 9.99975526e-01 6.14533149e-03 -3.34413541e-03 1.68610371e+00] [-6.14121515e-03 9.99980374e-01 1.23979050e-03 4.26392739e-02] [ 3.35168870e-03 -1.21922310e-03 9.99993640e-01 -3.22757878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.591193817000002 meters Centerline goodness [0,1] 0.8786603107781836 Centerline is valid? [False, False] Translation: X:1.68, Y:0.04, Z:-0.32 [[ 9.99984428e-01 4.70505005e-03 -3.00106577e-03 1.68336665e+00] [-4.70464077e-03 9.99988923e-01 1.43423354e-04 4.00895843e-02] [ 3.00170734e-03 -1.29302185e-04 9.99995487e-01 -3.20225737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.621193817000002 meters Centerline goodness [0,1] 0.8766115702479339 Centerline is valid? [False, False] Translation: X:1.68, Y:0.03, Z:-0.32 [[ 9.99993141e-01 2.35938991e-03 -2.85495379e-03 1.68192299e+00] [-2.36234107e-03 9.99996678e-01 -1.03076632e-03 3.45436595e-02] [ 2.85251233e-03 1.03750362e-03 9.99995393e-01 -3.18817104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.651193817000001 meters Centerline goodness [0,1] 0.8790132639147142 Centerline is valid? [False, False] Translation: X:1.68, Y:0.03, Z:-0.32 [[ 9.99994074e-01 1.81963328e-03 -2.92251595e-03 1.68251539e+00] [-1.82069992e-03 9.99998277e-01 -3.62352807e-04 3.01533327e-02] [ 2.92185156e-03 3.67671684e-04 9.99995664e-01 -3.19332948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.681193817000002 meters Centerline goodness [0,1] 0.875291015101881 Centerline is valid? [False, False] Translation: X:1.68, Y:0.03, Z:-0.32 [[ 9.99994083e-01 -1.35801439e-03 -3.16056258e-03 1.68351545e+00] [ 1.34923276e-03 9.99995228e-01 -2.77897881e-03 2.59105344e-02] [ 3.16432140e-03 2.77469803e-03 9.99991144e-01 -3.19979742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.711193817000002 meters Centerline goodness [0,1] 0.8820402506877366 Centerline is valid? [False, False] Translation: X:1.68, Y:0.02, Z:-0.32 [[ 0.99998505 -0.00429188 -0.00338797 1.68484644] [ 0.00427522 0.99997881 -0.00490895 0.02127568] [ 0.00340896 0.00489439 0.99998221 -0.32102955] [ 0. 0. 0. 1. ]] SLAMing on 15.741193817000001 meters Centerline goodness [0,1] 0.8916827052420273 Centerline is valid? [False, False] Translation: X:1.69, Y:0.01, Z:-0.32 [[ 0.99995007 -0.00908706 -0.0041567 1.68919486] [ 0.00905201 0.99992396 -0.00837492 0.0132313 ] [ 0.00423248 0.00833688 0.99995629 -0.32462153] [ 0. 0. 0. 1. ]] SLAMing on 15.771193817000002 meters Centerline goodness [0,1] 0.8951341933878126 Centerline is valid? [False, False] Translation: X:1.69, Y:0.01, Z:-0.33 [[ 0.99995494 -0.00835415 -0.0045093 1.69102674] [ 0.00832343 0.99994232 -0.00678861 0.00924566] [ 0.00456576 0.00675077 0.99996679 -0.32606855] [ 0. 0. 0. 1. ]] SLAMing on 15.801193817000001 meters Centerline goodness [0,1] 0.8939541636420201 Centerline is valid? [False, False] Translation: X:1.69, Y:0.01, Z:-0.33 [[ 0.99996168 -0.00729487 -0.00484043 1.69295117] [ 0.00726988 0.99996026 -0.00515998 0.00631099] [ 0.00487788 0.00512459 0.99997497 -0.32762663] [ 0. 0. 0. 1. ]] SLAMing on 15.831193817 meters Centerline goodness [0,1] 0.8964575401423606 Centerline is valid? [False, False] Translation: X:1.70, Y:0.00, Z:-0.33 [[ 0.99997001 -0.00554586 -0.00540511 1.6950948 ] [ 0.00553153 0.99998115 -0.00266373 0.00205479] [ 0.00541978 0.00263375 0.99998184 -0.32888226] [ 0. 0. 0. 1. ]] SLAMing on 15.861193817000002 meters Centerline goodness [0,1] 0.8955675855059839 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.00, Z:-0.33 [[ 9.99973090e-01 -4.94479005e-03 -5.41919526e-03 1.69462562e+00] [ 4.93735198e-03 9.99986852e-01 -1.38506154e-03 -1.35286775e-03] [ 5.42597285e-03 1.35826779e-03 9.99984357e-01 -3.28187830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.891193817000001 meters Centerline goodness [0,1] 0.8969686896179178 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.01, Z:-0.33 [[ 9.99975344e-01 -4.32144699e-03 -5.53506631e-03 1.69441721e+00] [ 4.32147946e-03 9.99990662e-01 -6.09377589e-06 -5.55983010e-03] [ 5.53504096e-03 -1.78260497e-05 9.99984681e-01 -3.27591495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.921193817000002 meters Centerline goodness [0,1] 0.8962961425071627 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.01, Z:-0.33 [[ 9.99976684e-01 -3.83314348e-03 -5.65139858e-03 1.69461019e+00] [ 3.84062819e-03 9.99991761e-01 1.31414296e-03 -9.87360602e-03] [ 5.64631472e-03 -1.33581724e-03 9.99983167e-01 -3.27480065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.951193817000002 meters Centerline goodness [0,1] 0.8956418680084834 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.02, Z:-0.33 [[ 0.99997989 -0.0028925 -0.00564308 1.69426097] [ 0.00291058 0.99999065 0.00319674 -0.01704183] [ 0.00563379 -0.0032131 0.99997897 -0.32698144] [ 0. 0. 0. 1. ]] SLAMing on 15.981193817000001 meters Centerline goodness [0,1] 0.8973849718636213 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.02, Z:-0.33 [[ 0.99998024 -0.00247935 -0.00577729 1.69450677] [ 0.00250249 0.99998886 0.00400225 -0.01964429] [ 0.0057673 -0.00401663 0.9999753 -0.32689968] [ 0. 0. 0. 1. ]] SLAMing on 16.011193817000002 meters Centerline goodness [0,1] 0.8968851141025377 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.02, Z:-0.33 [[ 0.9999807 -0.00208859 -0.00585106 1.69462982] [ 0.00211566 0.99998708 0.00462288 -0.02118612] [ 0.00584133 -0.00463517 0.9999722 -0.32682842] [ 0. 0. 0. 1. ]] SLAMing on 16.041193817 meters Centerline goodness [0,1] 0.8941034897713598 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.02, Z:-0.33 [[ 0.99998093 -0.00171385 -0.00593374 1.69452868] [ 0.00174499 0.99998471 0.00524644 -0.02229856] [ 0.00592466 -0.0052567 0.99996863 -0.32651418] [ 0. 0. 0. 1. ]] SLAMing on 16.071193817 meters Centerline goodness [0,1] 0.898981762604044 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.03, Z:-0.33 [[ 0.99997597 -0.00248682 -0.00647131 1.69675859] [ 0.00251958 0.99998403 0.00505932 -0.02516003] [ 0.00645863 -0.0050755 0.99996626 -0.3278892 ] [ 0. 0. 0. 1. ]] SLAMing on 16.101193817000002 meters Centerline goodness [0,1] 0.8977633792287085 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.03, Z:-0.33 [[ 0.99996108 -0.00592138 -0.00654033 1.69672648] [ 0.0059337 0.99998065 0.00186633 -0.02704242] [ 0.00652915 -0.00190507 0.99997687 -0.32767254] [ 0. 0. 0. 1. ]] SLAMing on 16.131193817000003 meters Centerline goodness [0,1] 0.9002547480479672 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.03, Z:-0.33 [[ 0.99989112 -0.01327239 -0.00644955 1.69621057] [ 0.01324609 0.99990385 -0.00410223 -0.03363364] [ 0.00650338 0.00401635 0.99997079 -0.32698496] [ 0. 0. 0. 1. ]] SLAMing on 16.161193817 meters Centerline goodness [0,1] 0.8984690600981956 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.04, Z:-0.33 [[ 0.99983146 -0.01718318 -0.00646502 1.6964252 ] [ 0.01713615 0.9998268 -0.0072605 -0.03657658] [ 0.00658866 0.00714849 0.99995274 -0.32705921] [ 0. 0. 0. 1. ]] SLAMing on 16.191193817000002 meters Centerline goodness [0,1] 0.8879321051542124 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.04, Z:-0.33 [[ 0.99981742 -0.0179489 -0.00655539 1.69681723] [ 0.01790586 0.99981812 -0.00656592 -0.04035588] [ 0.00667205 0.00644734 0.99995696 -0.32717338] [ 0. 0. 0. 1. ]] SLAMing on 16.221193817000003 meters Centerline goodness [0,1] 0.8734843946873774 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.04, Z:-0.33 [[ 0.99980703 -0.01845435 -0.00673288 1.69736931] [ 0.01841476 0.99981305 -0.0058956 -0.04326248] [ 0.00684043 0.00577048 0.99995995 -0.32730733] [ 0. 0. 0. 1. ]] SLAMing on 16.251193817 meters Centerline goodness [0,1] 0.8734843946873774 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.04, Z:-0.33 [[ 0.99980703 -0.01845435 -0.00673288 1.69736931] [ 0.01841476 0.99981305 -0.0058956 -0.04326248] [ 0.00684043 0.00577048 0.99995995 -0.32730733] [ 0. 0. 0. 1. ]] SLAMing on 16.281193817000002 meters Centerline goodness [0,1] 0.8665236759610625 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.05, Z:-0.33 [[ 0.99979961 -0.0187606 -0.00698465 1.69811181] [ 0.01872247 0.99980968 -0.00548461 -0.04515519] [ 0.00708622 0.00535274 0.99996057 -0.32751379] [ 0. 0. 0. 1. ]] SLAMing on 16.311193817000003 meters Centerline goodness [0,1] 0.8444334406206156 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.05, Z:-0.33 [[ 0.99979723 -0.01876706 -0.00730073 1.6992274 ] [ 0.01873108 0.99981223 -0.00496558 -0.04728361] [ 0.00739254 0.00482783 0.99996102 -0.32806818] [ 0. 0. 0. 1. ]] SLAMing on 16.341193817 meters Centerline goodness [0,1] 0.866477860007442 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.05, Z:-0.33 [[ 9.99858302e-01 -1.51137951e-02 -7.41278162e-03 1.69921878e+00] [ 1.51090617e-02 9.99885611e-01 -6.94132313e-04 -4.89884852e-02] [ 7.42242465e-03 5.82033781e-04 9.99972284e-01 -3.27786458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.371193817 meters Centerline goodness [0,1] 0.8656389032591826 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.05, Z:-0.33 [[ 0.99990619 -0.01150642 -0.00743011 1.69893937] [ 0.01153131 0.99992801 0.00331599 -0.04985965] [ 0.00739142 -0.00340136 0.9999669 -0.32737568] [ 0. 0. 0. 1. ]] SLAMing on 16.401193817000003 meters Centerline goodness [0,1] 0.8676853728133659 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.05, Z:-0.33 [[ 0.99990726 -0.01127302 -0.00764165 1.69917878] [ 0.01129558 0.99993196 0.00291453 -0.04779541] [ 0.00760828 -0.00300057 0.99996655 -0.32718082] [ 0. 0. 0. 1. ]] SLAMing on 16.431193817 meters Centerline goodness [0,1] 0.8762926949857855 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.05, Z:-0.33 [[ 0.99991792 -0.00978785 -0.00826733 1.70209504] [ 0.00982175 0.99994348 0.00406969 -0.0470593 ] [ 0.00822703 -0.00415056 0.99995754 -0.32930781] [ 0. 0. 0. 1. ]] SLAMing on 16.461193817 meters Centerline goodness [0,1] 0.888653212520593 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.05, Z:-0.33 [[ 0.99993643 -0.00702394 -0.00882057 1.70487647] [ 0.00708206 0.9999533 0.00657528 -0.04586434] [ 0.00877397 -0.00663733 0.99993948 -0.3313593 ] [ 0. 0. 0. 1. ]] SLAMing on 16.491193817000003 meters Centerline goodness [0,1] 0.893251102050953 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.04, Z:-0.34 [[ 9.99967136e-01 8.86839219e-04 -8.05858686e-03 1.70208971e+00] [-8.44562701e-04 9.99985872e-01 5.24803480e-03 -4.14661157e-02] [ 8.06312717e-03 -5.24105635e-03 9.99953758e-01 -3.38060471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.521193817 meters Centerline goodness [0,1] 0.8900008270614507 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.04, Z:-0.34 [[ 0.9999638 0.00199077 -0.00827283 1.70242081] [-0.00194765 0.99998449 0.00521698 -0.03931183] [ 0.00828309 -0.00520068 0.99995217 -0.33795698] [ 0. 0. 0. 1. ]] SLAMing on 16.551193817 meters Centerline goodness [0,1] 0.8884069400630915 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.04, Z:-0.34 [[ 0.99994508 0.00623492 -0.00842377 1.70199595] [-0.00615612 0.99993735 0.00934834 -0.0396249 ] [ 0.00848153 -0.00929597 0.99992082 -0.33695273] [ 0. 0. 0. 1. ]] SLAMing on 16.581193817000003 meters Centerline goodness [0,1] 0.8876861183692091 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.04, Z:-0.34 [[ 0.99993878 0.00704759 -0.00853008 1.70162844] [-0.00696838 0.99993265 0.00928107 -0.03772027] [ 0.00859492 -0.00922106 0.99992055 -0.3361737 ] [ 0. 0. 0. 1. ]] SLAMing on 16.611193817 meters Centerline goodness [0,1] 0.8867560388478459 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.04, Z:-0.33 [[ 0.99989383 0.01171139 -0.00866977 1.70103075] [-0.01159544 0.99984424 0.01330557 -0.03553021] [ 0.00882424 -0.01320363 0.99987389 -0.33487473] [ 0. 0. 0. 1. ]] SLAMing on 16.641193817 meters Centerline goodness [0,1] 0.8857705461705876 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.03, Z:-0.33 [[ 0.99988935 0.01198448 -0.00881203 1.70103681] [-0.01186766 0.99984256 0.01319175 -0.03445155] [ 0.00896873 -0.01308572 0.99987415 -0.334497 ] [ 0. 0. 0. 1. ]] SLAMing on 16.671193817000002 meters Centerline goodness [0,1] 0.8858510902910206 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.03, Z:-0.33 [[ 0.99991885 0.00914864 -0.00886539 1.7009926 ] [-0.00906405 0.99991346 0.00953484 -0.03347375] [ 0.00895186 -0.00945371 0.99991524 -0.3343895 ] [ 0. 0. 0. 1. ]] SLAMing on 16.701193817 meters Centerline goodness [0,1] 0.8854782807214163 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.03, Z:-0.33 [[ 0.99994225 0.00607385 -0.00886568 1.70071652] [-0.00602069 0.99996381 0.00601093 -0.03386706] [ 0.00890186 -0.00595721 0.99994263 -0.33409354] [ 0. 0. 0. 1. ]] SLAMing on 16.731193817 meters Centerline goodness [0,1] 0.8824561041533414 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.04, Z:-0.34 [[ 0.99994624 0.00443712 -0.00937186 1.70278303] [-0.0043964 0.99998082 0.00436176 -0.03598324] [ 0.00939103 -0.00432033 0.99994657 -0.33535846] [ 0. 0. 0. 1. ]] SLAMing on 16.761193817000002 meters Centerline goodness [0,1] 0.8783588558220168 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.04, Z:-0.33 [[ 0.99995923 0.00199798 -0.00880601 1.70032107] [-0.00197984 0.9999959 0.0020686 -0.03775279] [ 0.00881011 -0.00205108 0.99995909 -0.33363312] [ 0. 0. 0. 1. ]] SLAMing on 16.791193817 meters Centerline goodness [0,1] 0.8810335917312662 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.04, Z:-0.33 [[ 0.99995892 0.00199065 -0.00884287 1.70021483] [-0.00196973 0.99999524 0.00237329 -0.03866636] [ 0.00884755 -0.00235577 0.99995808 -0.33338271] [ 0. 0. 0. 1. ]] SLAMing on 16.821193817 meters Centerline goodness [0,1] 0.8768555516448935 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.04, Z:-0.33 [[ 0.9999585 0.00187315 -0.00891575 1.70032401] [-0.00184916 0.99999465 0.00269747 -0.04019355] [ 0.00892075 -0.00268087 0.99995662 -0.33329063] [ 0. 0. 0. 1. ]] SLAMing on 16.851193817000002 meters Centerline goodness [0,1] 0.8807331857583218 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.04, Z:-0.33 [[ 9.99956280e-01 1.63032311e-03 -9.20766411e-03 1.70108767e+00] [-1.60272496e-03 9.99994204e-01 3.00388613e-03 -4.23428718e-02] [ 9.21250805e-03 -2.98899744e-03 9.99953097e-01 -3.33447969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.881193817000003 meters Centerline goodness [0,1] 0.8818585441404233 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.04, Z:-0.33 [[ 9.99954750e-01 -1.75934757e-03 -9.34891863e-03 1.70137100e+00] [ 1.75534436e-03 9.99998364e-01 -4.36388450e-04 -4.33307810e-02] [ 9.34967110e-03 4.19958132e-04 9.99956203e-01 -3.33439763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.911193817 meters Centerline goodness [0,1] 0.8834271705482725 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.05, Z:-0.33 [[ 0.99994196 -0.00533142 -0.00936204 1.70080943] [ 0.00529854 0.99997972 -0.00353348 -0.04600084] [ 0.00938069 0.00348367 0.99994993 -0.33258433] [ 0. 0. 0. 1. ]] SLAMing on 16.941193817000002 meters Centerline goodness [0,1] 0.8789016322044092 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.05, Z:-0.33 [[ 0.99994012 -0.00539619 -0.00952042 1.70100697] [ 0.00536652 0.99998067 -0.00313893 -0.04731545] [ 0.00953718 0.00308766 0.99994975 -0.33236213] [ 0. 0. 0. 1. ]] SLAMing on 16.971193817000003 meters Centerline goodness [0,1] 0.8789123265509302 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.05, Z:-0.33 [[ 0.99993807 -0.00541742 -0.00972157 1.70126741] [ 0.00539057 0.99998159 -0.00278578 -0.04835344] [ 0.00973648 0.0027332 0.99994886 -0.33212875] [ 0. 0. 0. 1. ]] SLAMing on 17.001193817 meters Centerline goodness [0,1] 0.8818078394870204 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.05, Z:-0.33 [[ 0.99993338 -0.00593457 -0.0099007 1.70139062] [ 0.00590999 0.99997939 -0.00250989 -0.05037897] [ 0.00991539 0.00245121 0.99994784 -0.3316669 ] [ 0. 0. 0. 1. ]] SLAMing on 17.031193817000002 meters Centerline goodness [0,1] 0.880739848874865 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.05, Z:-0.33 [[ 0.99993188 -0.00598421 -0.01002078 1.70137067] [ 0.00596324 0.99997997 -0.00212102 -0.05209661] [ 0.01003327 0.00206112 0.99994754 -0.33127842] [ 0. 0. 0. 1. ]] SLAMing on 17.061193817000003 meters Centerline goodness [0,1] 0.8837701111295405 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.05, Z:-0.33 [[ 9.99928784e-01 -6.07441964e-03 -1.02726633e-02 1.70207746e+00] [ 6.05753263e-03 9.99980251e-01 -1.67419568e-03 -5.43616064e-02] [ 1.02826302e-02 1.61184945e-03 9.99945833e-01 -3.31516442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.091193817 meters Centerline goodness [0,1] 0.8889050246877723 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.06, Z:-0.33 [[ 0.99989662 -0.00958037 -0.0107225 1.70469977] [ 0.00953484 0.99994534 -0.00428929 -0.0588019 ] [ 0.01076301 0.00418661 0.99993331 -0.33355349] [ 0. 0. 0. 1. ]] SLAMing on 17.121193817 meters Centerline goodness [0,1] 0.8884303519213621 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.06, Z:-0.33 [[ 0.99988955 -0.00997538 -0.01101697 1.70607715] [ 0.00993307 0.9999431 -0.00388911 -0.0609878 ] [ 0.01105514 0.00377925 0.99993175 -0.33457496] [ 0. 0. 0. 1. ]] SLAMing on 17.151193817000003 meters Centerline goodness [0,1] 0.8861850810453192 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.06, Z:-0.34 [[ 0.99988106 -0.01042069 -0.01136967 1.70775421] [ 0.01037927 0.9999393 -0.00369592 -0.06225792] [ 0.01140749 0.00357747 0.99992853 -0.33580318] [ 0. 0. 0. 1. ]] SLAMing on 17.181193817 meters Centerline goodness [0,1] 0.8837478789885362 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.06, Z:-0.34 [[ 0.99987704 -0.01056544 -0.01158807 1.70891118] [ 0.01052642 0.99993874 -0.00342293 -0.06295064] [ 0.01162352 0.00330053 0.999927 -0.33666004] [ 0. 0. 0. 1. ]] SLAMing on 17.211193817 meters Centerline goodness [0,1] 0.8680153542898641 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.06, Z:-0.34 [[ 9.99880386e-01 -9.58409029e-03 -1.21391299e-02 1.71185371e+00] [ 9.56289668e-03 9.99952649e-01 -1.80273635e-03 -6.46553379e-02] [ 1.21558327e-02 1.68643548e-03 9.99924693e-01 -3.38830189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.241193817000003 meters Centerline goodness [0,1] 0.8768004649039061 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.07, Z:-0.34 [[ 9.99879876e-01 -9.21257554e-03 -1.24644653e-02 1.71244320e+00] [ 9.19789455e-03 9.99956936e-01 -1.23464203e-03 -6.59539097e-02] [ 1.24753027e-02 1.11984689e-03 9.99921553e-01 -3.38722583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.271193817 meters Centerline goodness [0,1] 0.8807583017028602 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.07, Z:-0.34 [[ 9.99882753e-01 -8.66674717e-03 -1.26240749e-02 1.71246818e+00] [ 8.65822614e-03 9.99962251e-01 -7.29480780e-04 -6.69708548e-02] [ 1.26299206e-02 6.20093155e-04 9.99920047e-01 -3.38297578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.301193817 meters Centerline goodness [0,1] 0.88932502596054 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.07, Z:-0.34 [[ 9.99897629e-01 -7.02783116e-03 -1.24636252e-02 1.71040022e+00] [ 7.03602124e-03 9.99975059e-01 6.13391089e-04 -6.76370882e-02] [ 1.24590036e-02 -7.01022627e-04 9.99922138e-01 -3.36086841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.331193817000003 meters Centerline goodness [0,1] 0.892278360343184 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.06, Z:-0.33 [[ 9.99976578e-01 -8.06841277e-05 -6.84377553e-03 1.71523110e+00] [ 5.18611753e-05 9.99991130e-01 -4.21163017e-03 -6.45711452e-02] [ 6.84405463e-03 4.21117660e-03 9.99967712e-01 -3.34782845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.361193817 meters Centerline goodness [0,1] 0.8926304909560724 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.06, Z:-0.33 [[ 9.99968560e-01 3.78072215e-03 -6.97033431e-03 1.71509117e+00] [-3.78497852e-03 9.99992658e-01 -5.97549817e-04 -6.30537852e-02] [ 6.96802396e-03 6.23913595e-04 9.99975528e-01 -3.34147055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.391193817 meters Centerline goodness [0,1] 0.8923255044657625 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.06, Z:-0.33 [[ 9.99965835e-01 4.29613568e-03 -7.06202849e-03 1.71513435e+00] [-4.30372525e-03 9.99990177e-01 -1.05985620e-03 -5.94133051e-02] [ 7.05740583e-03 1.09021302e-03 9.99974502e-01 -3.33987920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.421193817000002 meters Centerline goodness [0,1] 0.8931531196395726 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.06, Z:-0.33 [[ 9.99965152e-01 4.44417357e-03 -7.06714500e-03 1.71496272e+00] [-4.45489337e-03 9.99988949e-01 -1.50183182e-03 -5.69602876e-02] [ 7.06039250e-03 1.53326286e-03 9.99973900e-01 -3.33726867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.451193817 meters Centerline goodness [0,1] 0.8913688315459769 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.06, Z:-0.33 [[ 0.99997028 0.00347816 -0.00688078 1.71293027] [-0.00349547 0.99999075 -0.00250514 -0.05682735] [ 0.006872 0.00252912 0.99997319 -0.33170186] [ 0. 0. 0. 1. ]] SLAMing on 17.481193817 meters Centerline goodness [0,1] 0.8933940774487472 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.06, Z:-0.33 [[ 0.99996994 0.00321363 -0.00705566 1.71346251] [-0.00323046 0.99999196 -0.00237513 -0.0587456 ] [ 0.00704797 0.00239785 0.99997229 -0.33183597] [ 0. 0. 0. 1. ]] SLAMing on 17.511193817000002 meters Centerline goodness [0,1] 0.8937388859021546 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.06, Z:-0.33 [[ 0.99997126 0.00297712 -0.00697253 1.71348179] [-0.0029927 0.99999304 -0.00222606 -0.06028491] [ 0.00696586 0.00224686 0.99997321 -0.33193552] [ 0. 0. 0. 1. ]] SLAMing on 17.541193817000003 meters Centerline goodness [0,1] 0.8964895557029178 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.06, Z:-0.33 [[ 0.99997233 0.00265553 -0.00694909 1.71334103] [-0.0026715 0.99999381 -0.00228989 -0.06077993] [ 0.00694296 0.00230839 0.99997323 -0.33172794] [ 0. 0. 0. 1. ]] SLAMing on 17.571193817 meters Centerline goodness [0,1] 0.8948259137721091 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.06, Z:-0.33 [[ 0.99997428 0.00179941 -0.00694216 1.7134808 ] [-0.00181936 0.99999423 -0.0028684 -0.05956162] [ 0.00693696 0.00288095 0.99997179 -0.33173447] [ 0. 0. 0. 1. ]] SLAMing on 17.601193817000002 meters Centerline goodness [0,1] 0.8953014019175416 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.06, Z:-0.33 [[ 0.99997349 0.00172319 -0.00707423 1.71402295] [-0.00174356 0.99999435 -0.00287347 -0.05923592] [ 0.00706924 0.00288573 0.99997085 -0.33205533] [ 0. 0. 0. 1. ]] SLAMing on 17.631193817000003 meters Centerline goodness [0,1] 0.8934903905765654 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.06, Z:-0.33 [[ 0.99997196 0.00172699 -0.00728672 1.71510684] [-0.00174678 0.9999948 -0.00270969 -0.05987482] [ 0.00728201 0.00272234 0.99996978 -0.3328224 ] [ 0. 0. 0. 1. ]] SLAMing on 17.661193817 meters Centerline goodness [0,1] 0.8944219820117172 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.06, Z:-0.33 [[ 9.99970482e-01 1.71064709e-03 -7.49053469e-03 1.71621130e+00] [-1.73001653e-03 9.99995175e-01 -2.58014012e-03 -6.08028401e-02] [ 7.48608483e-03 2.59302271e-03 9.99968617e-01 -3.33651184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.691193817000002 meters Centerline goodness [0,1] 0.8907146690888073 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.06, Z:-0.33 [[ 9.99971070e-01 1.45040413e-03 -7.46692197e-03 1.71688285e+00] [-1.46808512e-03 9.99996131e-01 -2.36297194e-03 -6.24234846e-02] [ 7.46346581e-03 2.37386566e-03 9.99969330e-01 -3.34488646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.721193817000003 meters Centerline goodness [0,1] 0.8931936740963731 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.06, Z:-0.33 [[ 9.99971033e-01 1.26715086e-03 -7.50519755e-03 1.71738420e+00] [-1.28387380e-03 9.99996703e-01 -2.22378322e-03 -6.28741316e-02] [ 7.50235493e-03 2.23335452e-03 9.99969363e-01 -3.34897920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.751193817 meters Centerline goodness [0,1] 0.8865614854945101 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.06, Z:-0.34 [[ 9.99970966e-01 8.52082565e-04 -7.57238050e-03 1.71775539e+00] [-8.68907902e-04 9.99997161e-01 -2.21892290e-03 -6.34634873e-02] [ 7.57046829e-03 2.22543817e-03 9.99968867e-01 -3.35151614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.781193817000002 meters Centerline goodness [0,1] 0.8715714344993568 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.06, Z:-0.34 [[ 9.99970684e-01 2.73206005e-04 -7.65222502e-03 1.71830858e+00] [-2.90689533e-04 9.99997350e-01 -2.28374489e-03 -6.44300134e-02] [ 7.65158081e-03 2.28590236e-03 9.99968113e-01 -3.35584382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.811193817000003 meters Centerline goodness [0,1] 0.869190692654171 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.07, Z:-0.34 [[ 0.99996207 -0.00341754 -0.00801064 1.72139565] [ 0.00337479 0.99998002 -0.00534424 -0.06506411] [ 0.00802874 0.005317 0.99995363 -0.33839799] [ 0. 0. 0. 1. ]] SLAMing on 17.841193817 meters Centerline goodness [0,1] 0.8166791106686577 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.06, Z:-0.34 [[ 0.99995487 -0.00457714 -0.00832487 1.72310095] [ 0.00452782 0.99997215 -0.00593319 -0.06487384] [ 0.0083518 0.00589523 0.99994775 -0.33973359] [ 0. 0. 0. 1. ]] SLAMing on 17.871193817 meters Centerline goodness [0,1] 0.7854344175632813 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.06, Z:-0.34 [[ 0.99994727 -0.0057492 -0.00850895 1.72453072] [ 0.00569294 0.99996187 -0.00662112 -0.06413265] [ 0.00854669 0.00657233 0.99994188 -0.34095211] [ 0. 0. 0. 1. ]] SLAMing on 17.901193817000003 meters Centerline goodness [0,1] 0.7813283597554658 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.06, Z:-0.34 [[ 0.99991837 -0.00918837 -0.00887883 1.72694714] [ 0.00910292 0.99991232 -0.00961712 -0.06092293] [ 0.00896642 0.00953551 0.99991434 -0.34271246] [ 0. 0. 0. 1. ]] SLAMing on 17.931193817 meters Centerline goodness [0,1] 0.7696247149077338 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.06, Z:-0.34 [[ 0.99991005 -0.00992518 -0.00902094 1.72723226] [ 0.00983064 0.99989692 -0.01046498 -0.05870145] [ 0.00912388 0.01037536 0.99990455 -0.34262284] [ 0. 0. 0. 1. ]] SLAMing on 17.961193817 meters Centerline goodness [0,1] 0.7462810777072715 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.06, Z:-0.34 [[ 0.99993184 -0.00755743 -0.00889898 1.72675112] [ 0.00749013 0.99994328 -0.00757184 -0.0577909 ] [ 0.0089557 0.00750467 0.99993174 -0.34213289] [ 0. 0. 0. 1. ]] SLAMing on 17.991193817000003 meters Centerline goodness [0,1] 0.7362144192811136 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.06, Z:-0.34 [[ 0.99994824 -0.00490506 -0.00891356 1.72658156] [ 0.00486341 0.99997719 -0.00468784 -0.056027 ] [ 0.00893635 0.00464425 0.99994929 -0.34165581] [ 0. 0. 0. 1. ]] SLAMing on 18.021193817 meters Centerline goodness [0,1] 0.7537810418870978 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.05, Z:-0.34 [[ 0.99995678 -0.00287359 -0.00884222 1.72531673] [ 0.00283869 0.99998814 -0.00395732 -0.04704087] [ 0.00885348 0.00393204 0.99995308 -0.33998337] [ 0. 0. 0. 1. ]] SLAMing on 18.051193817 meters Centerline goodness [0,1] 0.7606965174129353 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.04, Z:-0.34 [[ 9.99961452e-01 -1.22480767e-04 -8.77949527e-03 1.72504374e+00] [ 1.06291309e-04 9.99998293e-01 -1.84445078e-03 -4.24921228e-02] [ 8.77970619e-03 1.84344650e-03 9.99959758e-01 -3.39592287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.081193817000003 meters Centerline goodness [0,1] 0.7692004971002485 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.04, Z:-0.34 [[ 9.99960667e-01 2.00072315e-03 -8.64074154e-03 1.72379914e+00] [-2.00474263e-03 9.99997886e-01 -4.56541037e-04 -3.73723767e-02] [ 8.63980986e-03 4.73845543e-04 9.99962564e-01 -3.38247527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.111193817 meters Centerline goodness [0,1] 0.7804319101494757 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.03, Z:-0.34 [[ 9.99961348e-01 1.54670206e-03 -8.65505601e-03 1.72368937e+00] [-1.56486470e-03 9.99996587e-01 -2.09212198e-03 -3.13758185e-02] [ 8.65179058e-03 2.10558511e-03 9.99960356e-01 -3.37890209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.141193817 meters Centerline goodness [0,1] 0.7792836599143371 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.02, Z:-0.34 [[ 0.99996199 0.00284897 -0.00824015 1.72107186] [-0.00287012 0.99999261 -0.00255603 -0.02013205] [ 0.00823281 0.00257959 0.99996278 -0.33521015] [ 0. 0. 0. 1. ]] SLAMing on 18.171193817000002 meters Centerline goodness [0,1] 0.7779157354523633 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.01, Z:-0.34 [[ 0.99996201 0.00288089 -0.00822642 1.72117793] [-0.00290841 0.99999021 -0.00333543 -0.01405002] [ 0.00821673 0.00335923 0.9999606 -0.33511647] [ 0. 0. 0. 1. ]] SLAMing on 18.201193817 meters Centerline goodness [0,1] 0.7779157354523633 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.01, Z:-0.34 [[ 0.99996201 0.00288089 -0.00822642 1.72117793] [-0.00290841 0.99999021 -0.00333543 -0.01405002] [ 0.00821673 0.00335923 0.9999606 -0.33511647] [ 0. 0. 0. 1. ]] SLAMing on 18.231193817 meters Centerline goodness [0,1] 0.8060985468792106 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.01, Z:-0.34 [[ 0.99996175 0.00294452 -0.00823629 1.72193447] [-0.00297694 0.99998786 -0.00392704 -0.00846261] [ 0.00822462 0.00395141 0.99995837 -0.3358591 ] [ 0. 0. 0. 1. ]] SLAMing on 18.261193817000002 meters Centerline goodness [0,1] 0.7869418650342275 Centerline is valid? [False, False] Translation: X:1.73, Y:0.00, Z:-0.34 [[ 0.99995598 0.00374984 -0.00860122 1.72597073] [-0.00378843 0.99998281 -0.00447519 0.00235172] [ 0.0085843 0.00450758 0.99995299 -0.33959057] [ 0. 0. 0. 1. ]] SLAMing on 18.291193817000003 meters Centerline goodness [0,1] 0.7872050254163739 Centerline is valid? [False, False] Translation: X:1.73, Y:0.01, Z:-0.34 [[ 0.9999449 0.00545062 -0.00897144 1.72846232] [-0.00548207 0.9999789 -0.00348414 0.00758003] [ 0.00895226 0.00353313 0.99995369 -0.34159031] [ 0. 0. 0. 1. ]] SLAMing on 18.321193817 meters Centerline goodness [0,1] 0.7774724139356118 Centerline is valid? [False, False] Translation: X:1.73, Y:0.01, Z:-0.34 [[ 0.99992951 0.00772429 -0.00901676 1.72956724] [-0.00774322 0.99996789 -0.00206619 0.01294383] [ 0.00900051 0.00213586 0.99995721 -0.34260284] [ 0. 0. 0. 1. ]] SLAMing on 18.351193817000002 meters Centerline goodness [0,1] 0.8067095970087246 Centerline is valid? [False, False] Translation: X:1.73, Y:0.02, Z:-0.34 [[ 9.99905744e-01 1.03254627e-02 -9.04914064e-03 1.72937419e+00] [-1.03291081e-02 9.99946590e-01 -3.56198973e-04 1.81706208e-02] [ 9.04497940e-03 4.49634951e-04 9.99958992e-01 -3.42108927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.381193817000003 meters Centerline goodness [0,1] 0.8119241304889184 Centerline is valid? [False, False] Translation: X:1.73, Y:0.03, Z:-0.34 [[ 9.99855592e-01 1.47033049e-02 -8.52099641e-03 1.72683029e+00] [-1.46904753e-02 9.99890862e-01 1.56628773e-03 3.05023674e-02] [ 8.54309605e-03 -1.44088405e-03 9.99962469e-01 -3.39300530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.411193817 meters Centerline goodness [0,1] 0.8493687418371789 Centerline is valid? [False, False] Translation: X:1.73, Y:0.04, Z:-0.34 [[ 0.99981501 0.01727401 -0.0084592 1.72664797] [-0.01724965 0.99984688 0.00294417 0.03731645] [ 0.00850876 -0.00279771 0.99995989 -0.33892684] [ 0. 0. 0. 1. ]] SLAMing on 18.441193817000002 meters Centerline goodness [0,1] 0.8418599834299917 Centerline is valid? [False, False] Translation: X:1.73, Y:0.04, Z:-0.34 [[ 0.99976603 0.01990429 -0.00846838 1.72669962] [-0.01986755 0.99979293 0.00440112 0.04413128] [ 0.00855422 -0.00423185 0.99995446 -0.33861506] [ 0. 0. 0. 1. ]] SLAMing on 18.471193817000003 meters Centerline goodness [0,1] 0.8605927095889272 Centerline is valid? [False, False] Translation: X:1.73, Y:0.05, Z:-0.34 [[ 0.99970299 0.02285221 -0.00846815 1.72679745] [-0.02280081 0.99972131 0.00611736 0.05077343] [ 0.00860558 -0.00592246 0.99994543 -0.33842046] [ 0. 0. 0. 1. ]] SLAMing on 18.501193817 meters Centerline goodness [0,1] 0.8964161657341349 Centerline is valid? [False, False] Translation: X:1.73, Y:0.06, Z:-0.34 [[ 0.99953353 0.02931283 -0.00857191 1.72819835] [-0.02922391 0.9995196 0.01032109 0.06094851] [ 0.00887034 -0.01006577 0.99990999 -0.33920056] [ 0. 0. 0. 1. ]] SLAMing on 18.531193817000002 meters Centerline goodness [0,1] 0.8989545587071515 Centerline is valid? [False, False] Translation: X:1.73, Y:0.07, Z:-0.34 [[ 0.99943927 0.03232149 -0.00874499 1.72975638] [-0.03221116 0.99940321 0.01247626 0.06512752] [ 0.00914303 -0.01218758 0.99988393 -0.34033336] [ 0. 0. 0. 1. ]] SLAMing on 18.561193817000003 meters Centerline goodness [0,1] 0.8993681935322969 Centerline is valid? [False, False] Translation: X:1.73, Y:0.07, Z:-0.34 [[ 0.9993444 0.03505859 -0.00903673 1.73196244] [-0.03492648 0.99928637 0.01438406 0.06946028] [ 0.00953457 -0.01405901 0.99985571 -0.34196884] [ 0. 0. 0. 1. ]] SLAMing on 18.591193817 meters Centerline goodness [0,1] 0.9012867493961856 Centerline is valid? [False, False] Translation: X:1.74, Y:0.08, Z:-0.34 [[ 0.99910718 0.04118893 -0.00939748 1.73510905] [-0.04100275 0.99897431 0.01921199 0.07563469] [ 0.01017916 -0.01880951 0.99977127 -0.34434524] [ 0. 0. 0. 1. ]] SLAMing on 18.621193817 meters Centerline goodness [0,1] 0.9011219178366272 Centerline is valid? [False, False] Translation: X:1.74, Y:0.08, Z:-0.34 [[ 0.99909422 0.04145079 -0.00962166 1.73582584] [-0.04127041 0.99898143 0.01824423 0.07954493] [ 0.01036809 -0.01783062 0.99978726 -0.344499 ] [ 0. 0. 0. 1. ]] SLAMing on 18.651193817000003 meters Centerline goodness [0,1] 0.9041056083689651 Centerline is valid? [False, False] Translation: X:1.74, Y:0.08, Z:-0.34 [[ 0.99909093 0.04149334 -0.00977802 1.7359029 ] [-0.04132107 0.99899775 0.01720632 0.08322083] [ 0.01048217 -0.01678664 0.99980415 -0.34406082] [ 0. 0. 0. 1. ]] SLAMing on 18.681193817 meters Centerline goodness [0,1] 0.9058666999293169 Centerline is valid? [False, False] Translation: X:1.74, Y:0.09, Z:-0.34 [[ 0.99907737 0.04180613 -0.00983121 1.73551812] [-0.04164275 0.99900002 0.01627389 0.08884573] [ 0.01050172 -0.01584948 0.99981924 -0.34308985] [ 0. 0. 0. 1. ]] SLAMing on 18.711193817 meters Centerline goodness [0,1] 0.9047975233227368 Centerline is valid? [False, False] Translation: X:1.74, Y:0.09, Z:-0.34 [[ 0.99908983 0.04148263 -0.0099346 1.73558734] [-0.04132462 0.99902375 0.01561452 0.09043933] [ 0.01057263 -0.01518976 0.99982873 -0.34288334] [ 0. 0. 0. 1. ]] SLAMing on 18.741193817000003 meters Centerline goodness [0,1] 0.9056991591404547 Centerline is valid? [False, False] Translation: X:1.74, Y:0.09, Z:-0.34 [[ 0.99923689 0.03772152 -0.01013529 1.73549191] [-0.0376093 0.99923149 0.01104427 0.09291684] [ 0.01054411 -0.01065466 0.99988764 -0.34240996] [ 0. 0. 0. 1. ]] SLAMing on 18.771193817 meters Centerline goodness [0,1] 0.9047619047619048 Centerline is valid? [False, False] Translation: X:1.74, Y:0.10, Z:-0.34 [[ 0.99937242 0.03385829 -0.01041075 1.73565071] [-0.03379155 0.99940763 0.00652112 0.09509789] [ 0.01062538 -0.00616523 0.99992454 -0.34209535] [ 0. 0. 0. 1. ]] SLAMing on 18.801193817 meters Centerline goodness [0,1] 0.9038043815552659 Centerline is valid? [False, False] Translation: X:1.74, Y:0.10, Z:-0.34 [[ 9.99498729e-01 2.98027211e-02 -1.06812001e-02 1.73593976e+00] [-2.97834220e-02 9.99554451e-01 1.96140167e-03 9.70966675e-02] [ 1.07348962e-02 -1.64229578e-03 9.99941031e-01 -3.41967590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.831193817000003 meters Centerline goodness [0,1] 0.9036917473719063 Centerline is valid? [False, False] Translation: X:1.74, Y:0.10, Z:-0.34 [[ 0.99960577 0.02575399 -0.0111817 1.73691807] [-0.02577979 0.99966529 -0.00216976 0.09699226] [ 0.01112208 0.00245717 0.99993513 -0.342197 ] [ 0. 0. 0. 1. ]] SLAMing on 18.861193817 meters Centerline goodness [0,1] 0.9021790865633342 Centerline is valid? [False, False] Translation: X:1.74, Y:0.10, Z:-0.34 [[ 0.9996768 0.0226784 -0.01148863 1.73785829] [-0.02274565 0.99972471 -0.00575727 0.09768774] [ 0.0113549 0.00601672 0.99991743 -0.34266049] [ 0. 0. 0. 1. ]] SLAMing on 18.891193817 meters Centerline goodness [0,1] 0.9008295235928094 Centerline is valid? [False, False] Translation: X:1.74, Y:0.10, Z:-0.34 [[ 0.99967583 0.02262079 -0.01168446 1.73872313] [-0.02268755 0.99972685 -0.00561277 0.09688398] [ 0.01155431 0.00587605 0.99991598 -0.34329539] [ 0. 0. 0. 1. ]] SLAMing on 18.921193817000002 meters Centerline goodness [0,1] 0.900215928909559 Centerline is valid? [False, False] Translation: X:1.74, Y:0.10, Z:-0.34 [[ 0.99967944 0.02243475 -0.01173414 1.73905537] [-0.02250301 0.99973042 -0.00571808 0.09699001] [ 0.01160269 0.0059803 0.9999148 -0.34357052] [ 0. 0. 0. 1. ]] SLAMing on 18.951193817 meters Centerline goodness [0,1] 0.8982014835688533 Centerline is valid? [False, False] Translation: X:1.74, Y:0.10, Z:-0.34 [[ 0.99968817 0.0219568 -0.01189337 1.73910705] [-0.02202772 0.99974016 -0.00586509 0.09720882] [ 0.0117615 0.00612524 0.99991207 -0.34316496] [ 0. 0. 0. 1. ]] SLAMing on 18.981193817 meters Centerline goodness [0,1] 0.8957681711788222 Centerline is valid? [False, False] Translation: X:1.74, Y:0.10, Z:-0.34 [[ 0.9996909 0.02174133 -0.01205919 1.73926032] [-0.02181316 0.9997449 -0.00585769 0.09660899] [ 0.01192876 0.00611893 0.99991013 -0.34296544] [ 0. 0. 0. 1. ]] SLAMing on 19.011193817000002 meters Centerline goodness [0,1] 0.8962248530507493 Centerline is valid? [False, False] Translation: X:1.74, Y:0.10, Z:-0.34 [[ 0.99969398 0.02152046 -0.01219925 1.73953106] [-0.02159396 0.99974926 -0.00592541 0.09612742] [ 0.01206867 0.00618703 0.99990803 -0.34298858] [ 0. 0. 0. 1. ]] SLAMing on 19.041193817000003 meters Centerline goodness [0,1] 0.8943355571209547 Centerline is valid? [False, False] Translation: X:1.74, Y:0.10, Z:-0.34 [[ 0.99970117 0.02110002 -0.01234347 1.73985505] [-0.02117505 0.9997579 -0.00597948 0.09521114] [ 0.01221432 0.00623907 0.99990594 -0.3430909 ] [ 0. 0. 0. 1. ]] SLAMing on 19.071193817 meters Centerline goodness [0,1] 0.893780616357661 Centerline is valid? [False, False] Translation: X:1.74, Y:0.09, Z:-0.34 [[ 0.99971175 0.02045328 -0.01257314 1.74029525] [-0.0205313 0.99977055 -0.00610772 0.0937833 ] [ 0.01244533 0.0063641 0.9999023 -0.34314974] [ 0. 0. 0. 1. ]] SLAMing on 19.101193817000002 meters Centerline goodness [0,1] 0.8834561563302145 Centerline is valid? [False, False] Translation: X:1.74, Y:0.09, Z:-0.34 [[ 0.99980348 0.01513238 -0.0128065 1.74078864] [-0.01526952 0.99982638 -0.01067935 0.09280098] [ 0.01264268 0.0108728 0.99986096 -0.34347118] [ 0. 0. 0. 1. ]] SLAMing on 19.131193817000003 meters Centerline goodness [0,1] 0.8607083678541839 Centerline is valid? [False, False] Translation: X:1.74, Y:0.09, Z:-0.35 [[ 0.99983286 0.01254374 -0.0133003 1.74304277] [-0.01271251 0.99983877 -0.01268137 0.09334989] [ 0.01313909 0.01284833 0.99983113 -0.34505951] [ 0. 0. 0. 1. ]] SLAMing on 19.161193817 meters Centerline goodness [0,1] 0.8104368329610325 Centerline is valid? [False, False] Translation: X:1.75, Y:0.09, Z:-0.35 [[ 0.99986106 0.00944978 -0.01373179 1.74540112] [-0.00966047 0.99983538 -0.0153588 0.09402438] [ 0.01358439 0.01548932 0.99978775 -0.34681003] [ 0. 0. 0. 1. ]] SLAMing on 19.191193817000002 meters Centerline goodness [0,1] 0.7530899861750201 Centerline is valid? [False, False] Translation: X:1.75, Y:0.09, Z:-0.34 [[ 9.99828284e-01 3.44385454e-04 -1.85279208e-02 1.75457156e+00] [-6.84490553e-04 9.99831333e-01 -1.83531467e-02 9.44030155e-02] [ 1.85184752e-02 1.83626773e-02 9.99659881e-01 -3.44894244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.221193817000003 meters Centerline goodness [0,1] 0.7377707824214058 Centerline is valid? [False, False] Translation: X:1.75, Y:0.09, Z:-0.35 [[ 9.99829146e-01 7.34157907e-05 -1.84844239e-02 1.75460498e+00] [-4.10050641e-04 9.99834124e-01 -1.82086806e-02 9.31047179e-02] [ 1.84800209e-02 1.82131491e-02 9.99663328e-01 -3.45067775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.251193817 meters Centerline goodness [0,1] 0.7445435684647304 Centerline is valid? [False, False] Translation: X:1.75, Y:0.09, Z:-0.34 [[ 9.99826661e-01 2.00788330e-05 -1.86184718e-02 1.75479736e+00] [-3.60652109e-04 9.99832676e-01 -1.82890478e-02 9.30753221e-02] [ 1.86149892e-02 1.82925924e-02 9.99659374e-01 -3.44988006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.281193817000002 meters Centerline goodness [0,1] 0.8011456459250987 Centerline is valid? [False, False] Translation: X:1.76, Y:0.10, Z:-0.35 [[ 0.99979971 0.00640335 -0.01896146 1.75676381] [-0.00664076 0.99990002 -0.01248405 0.09507363] [ 0.01887963 0.01260747 0.99974227 -0.34616375] [ 0. 0. 0. 1. ]] SLAMing on 19.311193817000003 meters Centerline goodness [0,1] 0.8439753045495981 Centerline is valid? [False, False] Translation: X:1.76, Y:0.10, Z:-0.35 [[ 0.99975682 0.01119482 -0.01899923 1.75703128] [-0.0113646 0.99989624 -0.00885202 0.09843502] [ 0.01889816 0.00906579 0.99978031 -0.3460656 ] [ 0. 0. 0. 1. ]] SLAMing on 19.341193817 meters Centerline goodness [0,1] 0.8754127640132084 Centerline is valid? [False, False] Translation: X:1.76, Y:0.10, Z:-0.35 [[ 0.9996911 0.01610195 -0.01893238 1.75705503] [-0.01620973 0.99985319 -0.00555317 0.10278322] [ 0.01884018 0.00585835 0.99980534 -0.34566338] [ 0. 0. 0. 1. ]] SLAMing on 19.371193817 meters Centerline goodness [0,1] 0.8871815023163467 Centerline is valid? [False, False] Translation: X:1.77, Y:0.11, Z:-0.35 [[ 0.99961555 0.02395614 -0.01395886 1.76600052] [-0.02407341 0.99967578 -0.00829442 0.10645722] [ 0.01375563 0.00862727 0.99986817 -0.3471133 ] [ 0. 0. 0. 1. ]] SLAMing on 19.401193817000003 meters Centerline goodness [0,1] 0.8928460631631197 Centerline is valid? [False, False] Translation: X:1.77, Y:0.11, Z:-0.35 [[ 0.99949752 0.02849382 -0.01388588 1.76590814] [-0.02856352 0.99958023 -0.00484704 0.10935117] [ 0.01374194 0.00524123 0.99989184 -0.34661819] [ 0. 0. 0. 1. ]] SLAMing on 19.431193817 meters Centerline goodness [0,1] 0.8952524959608932 Centerline is valid? [False, False] Translation: X:1.77, Y:0.11, Z:-0.35 [[ 0.99920523 0.03754425 -0.01339179 1.76520582] [-0.03750789 0.99929196 0.00295626 0.11220475] [ 0.0134933 -0.00245161 0.99990596 -0.34584995] [ 0. 0. 0. 1. ]] SLAMing on 19.461193817 meters Centerline goodness [0,1] 0.8971105683652771 Centerline is valid? [False, False] Translation: X:1.77, Y:0.11, Z:-0.35 [[ 0.99916868 0.03844207 -0.01357037 1.76602173] [-0.0384043 0.99925768 0.0030332 0.11364275] [ 0.0136769 -0.00250952 0.99990332 -0.34621004] [ 0. 0. 0. 1. ]] SLAMing on 19.491193817000003 meters Centerline goodness [0,1] 0.8984954615161438 Centerline is valid? [False, False] Translation: X:1.77, Y:0.11, Z:-0.35 [[ 0.999044 0.04147706 -0.01381058 1.76857789] [-0.04140567 0.99912774 0.00541647 0.11150945] [ 0.01402319 -0.00483945 0.99988996 -0.34843604] [ 0. 0. 0. 1. ]] SLAMing on 19.521193817 meters Centerline goodness [0,1] 0.9004302142798047 Centerline is valid? [False, False] Translation: X:1.77, Y:0.11, Z:-0.35 [[ 0.99901294 0.04218581 -0.01391044 1.76934838] [-0.04210532 0.99909499 0.00602915 0.11030659] [ 0.0141522 -0.0054375 0.99988507 -0.34909235] [ 0. 0. 0. 1. ]] SLAMing on 19.551193817 meters Centerline goodness [0,1] 0.901379039427709 Centerline is valid? [False, False] Translation: X:1.77, Y:0.11, Z:-0.35 [[ 0.9989936 0.04261656 -0.01398605 1.76987633] [-0.04252741 0.99907343 0.00661055 0.10899608] [ 0.01425481 -0.00600911 0.99988034 -0.34954571] [ 0. 0. 0. 1. ]] SLAMing on 19.581193817000003 meters Centerline goodness [0,1] 0.9008262755629002 Centerline is valid? [False, False] Translation: X:1.77, Y:0.11, Z:-0.35 [[ 0.99911349 0.03959672 -0.01429477 1.77059516] [-0.03955321 0.99921197 0.00331389 0.10867987] [ 0.01441472 -0.00274554 0.99989233 -0.34990134] [ 0. 0. 0. 1. ]] SLAMing on 19.611193817 meters Centerline goodness [0,1] 0.8999917552972215 Centerline is valid? [False, False] Translation: X:1.77, Y:0.10, Z:-0.35 [[ 0.99920179 0.03721554 -0.01451847 1.77121527] [-0.03718503 0.9993056 0.00236609 0.10002525] [ 0.01459644 -0.00182433 0.9998918 -0.3504701 ] [ 0. 0. 0. 1. ]] SLAMing on 19.641193817 meters Centerline goodness [0,1] 0.8964959903852131 Centerline is valid? [False, False] Translation: X:1.77, Y:0.10, Z:-0.35 [[ 9.99313992e-01 3.39984488e-02 -1.46850880e-02 1.77128437e+00] [-3.40051355e-02 9.99421637e-01 -2.05811999e-04 9.57601246e-02] [ 1.46695974e-02 7.05039216e-04 9.99892147e-01 -3.50548730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.671193817000002 meters Centerline goodness [0,1] 0.897841012490694 Centerline is valid? [False, False] Translation: X:1.77, Y:0.09, Z:-0.35 [[ 0.99938824 0.03152111 -0.01515172 1.77320657] [-0.03155558 0.99949991 -0.00204123 0.09138989] [ 0.0150798 0.0025181 0.99988312 -0.35202574] [ 0. 0. 0. 1. ]] SLAMing on 19.701193817000004 meters Centerline goodness [0,1] 0.8985172506238271 Centerline is valid? [False, False] Translation: X:1.78, Y:0.09, Z:-0.35 [[ 0.99942843 0.02997037 -0.01563953 1.77575596] [-0.03002126 0.99954467 -0.00302938 0.08758117] [ 0.01554161 0.00349716 0.99987311 -0.35411508] [ 0. 0. 0. 1. ]] SLAMing on 19.731193817 meters Centerline goodness [0,1] 0.893712143063167 Centerline is valid? [False, False] Translation: X:1.78, Y:0.08, Z:-0.35 [[ 0.99947959 0.02808548 -0.01586676 1.77624184] [-0.02814609 0.9995973 -0.00360922 0.08009544] [ 0.015759 0.00405393 0.9998676 -0.35438054] [ 0. 0. 0. 1. ]] SLAMing on 19.761193817000002 meters Centerline goodness [0,1] 0.8932283594734776 Centerline is valid? [False, False] Translation: X:1.78, Y:0.08, Z:-0.35 [[ 0.99955492 0.02516765 -0.01601734 1.77580189] [-0.02526553 0.99966314 -0.00593789 0.07554928] [ 0.0158625 0.00633993 0.99985408 -0.35378064] [ 0. 0. 0. 1. ]] SLAMing on 19.791193817000003 meters Centerline goodness [0,1] 0.8924945086824982 Centerline is valid? [False, False] Translation: X:1.78, Y:0.07, Z:-0.35 [[ 0.99962573 0.0220245 -0.01622729 1.77591141] [-0.02216218 0.99971948 -0.00835462 0.07073333] [ 0.01603873 0.00871113 0.99983342 -0.35369818] [ 0. 0. 0. 1. ]] SLAMing on 19.821193817 meters Centerline goodness [0,1] 0.8944333463764236 Centerline is valid? [False, False] Translation: X:1.79, Y:0.06, Z:-0.36 [[ 0.99979366 0.01551746 -0.01310938 1.78606041] [-0.01556143 0.9998736 -0.00325895 0.06046512] [ 0.01305715 0.00346227 0.99990876 -0.35594744] [ 0. 0. 0. 1. ]] SLAMing on 19.851193817000002 meters Centerline goodness [0,1] 0.8938282350990633 Centerline is valid? [False, False] Translation: X:1.79, Y:0.06, Z:-0.36 [[ 0.99981902 0.01336917 -0.01353468 1.7883362 ] [-0.01343524 0.99989821 -0.00480247 0.05676168] [ 0.0134691 0.00498345 0.99989687 -0.35779689] [ 0. 0. 0. 1. ]] SLAMing on 19.881193817000003 meters Centerline goodness [0,1] 0.8932436627004656 Centerline is valid? [False, False] Translation: X:1.79, Y:0.05, Z:-0.36 [[ 0.99981914 0.01271388 -0.01414405 1.79211268] [-0.01277869 0.99990822 -0.00450146 0.05255587] [ 0.01408553 0.00468139 0.99988984 -0.36092188] [ 0. 0. 0. 1. ]] SLAMing on 19.911193817 meters Centerline goodness [0,1] 0.8900987434533297 Centerline is valid? [False, False] Translation: X:1.79, Y:0.05, Z:-0.36 [[ 0.99983362 0.01088283 -0.0146391 1.79491977] [-0.01096701 0.99992371 -0.00568256 0.04874804] [ 0.01457614 0.00584216 0.9998767 -0.36321279] [ 0. 0. 0. 1. ]] SLAMing on 19.941193817000002 meters Centerline goodness [0,1] 0.8898308597960368 Centerline is valid? [False, False] Translation: X:1.80, Y:0.04, Z:-0.36 [[ 0.99986007 0.00803722 -0.01467102 1.79538843] [-0.00813718 0.999944 -0.00676618 0.04053614] [ 0.01461582 0.00688462 0.99986948 -0.36382338] [ 0. 0. 0. 1. ]] SLAMing on 19.971193817000003 meters Centerline goodness [0,1] 0.8893971066084401 Centerline is valid? [False, False] Translation: X:1.80, Y:0.04, Z:-0.36 [[ 9.99937342e-01 4.15943849e-03 -1.03927942e-02 1.80238329e+00] [-4.14964516e-03 9.99990926e-01 9.63704987e-04 3.50758377e-02] [ 1.03967084e-02 -9.20518195e-04 9.99945529e-01 -3.63760520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.001193817 meters Centerline goodness [0,1] 0.8917251692767831 Centerline is valid? [False, False] Translation: X:1.80, Y:0.03, Z:-0.36 [[ 9.99945018e-01 8.95246810e-04 -1.04479622e-02 1.80224724e+00] [-9.14500994e-04 9.99997892e-01 -1.83823308e-03 3.20423213e-02] [ 1.04462945e-02 1.84768668e-03 9.99943729e-01 -3.63377545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.031193817000002 meters Centerline goodness [0,1] 0.8911129069020534 Centerline is valid? [False, False] Translation: X:1.80, Y:0.03, Z:-0.36 [[ 9.99943880e-01 7.90855203e-04 -1.05646148e-02 1.80271098e+00] [-8.01075330e-04 9.99999215e-01 -9.63195623e-04 2.77728623e-02] [ 1.05638447e-02 9.71604621e-04 9.99943729e-01 -3.63532625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.061193817000003 meters Centerline goodness [0,1] 0.8931142928080775 Centerline is valid? [False, False] Translation: X:1.80, Y:0.02, Z:-0.36 [[ 9.99947241e-01 -1.45111478e-03 -1.01690066e-02 1.80042113e+00] [ 1.42769466e-03 9.99996313e-01 -2.30996846e-03 2.18675943e-02] [ 1.01723211e-02 2.29532835e-03 9.99945626e-01 -3.61326846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.091193817 meters Centerline goodness [0,1] 0.8931142928080775 Centerline is valid? [False, False] Translation: X:1.80, Y:0.02, Z:-0.36 [[ 9.99947241e-01 -1.45111478e-03 -1.01690066e-02 1.80042113e+00] [ 1.42769466e-03 9.99996313e-01 -2.30996846e-03 2.18675943e-02] [ 1.01723211e-02 2.29532835e-03 9.99945626e-01 -3.61326846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.121193817 meters Centerline goodness [0,1] 0.8941105744314766 Centerline is valid? [False, False] Translation: X:1.80, Y:0.02, Z:-0.36 [[ 9.99948937e-01 -1.14401887e-03 -1.00405994e-02 1.80003075e+00] [ 1.12826545e-03 9.99998124e-01 -1.57449629e-03 1.96385990e-02] [ 1.00423819e-02 1.56308743e-03 9.99948352e-01 -3.61026450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.151193817000003 meters Centerline goodness [0,1] 0.8930796847274378 Centerline is valid? [False, False] Translation: X:1.80, Y:0.02, Z:-0.36 [[ 9.99948571e-01 -8.83742741e-04 -1.01031444e-02 1.80038962e+00] [ 8.73342966e-04 9.99999084e-01 -1.03372575e-03 1.80792204e-02] [ 1.01040487e-02 1.02484908e-03 9.99948428e-01 -3.61211490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.181193817 meters Centerline goodness [0,1] 0.8963982612295591 Centerline is valid? [False, False] Translation: X:1.80, Y:0.02, Z:-0.36 [[ 9.99951515e-01 -5.16887850e-04 -9.83361086e-03 1.79963431e+00] [ 5.10079670e-04 9.99999629e-01 -6.94833103e-04 1.82795065e-02] [ 9.83396636e-03 6.89783489e-04 9.99951407e-01 -3.60769386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.211193817 meters Centerline goodness [0,1] 0.8964122877596914 Centerline is valid? [False, False] Translation: X:1.80, Y:0.02, Z:-0.36 [[ 9.99951272e-01 -3.18365786e-04 -9.86667695e-03 1.79978619e+00] [ 3.09107741e-04 9.99999511e-01 -9.39825092e-04 2.04673365e-02] [ 9.86697133e-03 9.36729431e-04 9.99950882e-01 -3.60717361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.241193817000003 meters Centerline goodness [0,1] 0.8966747803127192 Centerline is valid? [False, False] Translation: X:1.80, Y:0.02, Z:-0.36 [[ 9.99951790e-01 -1.31194455e-04 -9.81840816e-03 1.79948232e+00] [ 1.18112004e-04 9.99999105e-01 -1.33300914e-03 2.27007931e-02] [ 9.81857425e-03 1.33178521e-03 9.99950910e-01 -3.60345834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.271193817 meters Centerline goodness [0,1] 0.8958501000846076 Centerline is valid? [False, False] Translation: X:1.80, Y:0.02, Z:-0.36 [[ 9.99952068e-01 1.27902853e-04 -9.79009289e-03 1.79966500e+00] [-1.44048893e-04 9.99998631e-01 -1.64853499e-03 2.43809301e-02] [ 9.78986864e-03 1.64986623e-03 9.99950717e-01 -3.60563793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.301193817 meters Centerline goodness [0,1] 0.8940038844580355 Centerline is valid? [False, False] Translation: X:1.80, Y:0.03, Z:-0.36 [[ 9.99952583e-01 4.03951943e-04 -9.72973547e-03 1.79979095e+00] [-4.22557765e-04 9.99998086e-01 -1.91028407e-03 2.57528114e-02] [ 9.72894518e-03 1.91430487e-03 9.99950840e-01 -3.60833989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.331193817000003 meters Centerline goodness [0,1] 0.8963443615548345 Centerline is valid? [False, False] Translation: X:1.80, Y:0.03, Z:-0.36 [[ 9.99955491e-01 5.90079361e-04 -9.41638464e-03 1.80002997e+00] [-6.14013923e-04 9.99996588e-01 -2.53911109e-03 2.84473134e-02] [ 9.41485424e-03 2.54477987e-03 9.99952441e-01 -3.61805254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.361193817 meters Centerline goodness [0,1] 0.8967078870093883 Centerline is valid? [False, False] Translation: X:1.80, Y:0.03, Z:-0.36 [[ 9.99955272e-01 4.81856713e-04 -9.44570809e-03 1.80044825e+00] [-5.10845807e-04 9.99995167e-01 -3.06685043e-03 3.06690079e-02] [ 9.44418466e-03 3.07153856e-03 9.99950685e-01 -3.62220082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.391193817 meters Centerline goodness [0,1] 0.89626384526368 Centerline is valid? [False, False] Translation: X:1.80, Y:0.03, Z:-0.36 [[ 9.99954490e-01 6.29767379e-04 -9.51951626e-03 1.80121034e+00] [-6.63739374e-04 9.99993422e-01 -3.56593027e-03 3.34793598e-02] [ 9.51720793e-03 3.57208646e-03 9.99948330e-01 -3.62943163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.421193817000002 meters Centerline goodness [0,1] 0.8966902779503749 Centerline is valid? [False, False] Translation: X:1.80, Y:0.04, Z:-0.36 [[ 9.99953245e-01 1.10384556e-03 -9.60676420e-03 1.80193499e+00] [-1.14065894e-03 9.99992025e-01 -3.82739226e-03 3.64136072e-02] [ 9.60246273e-03 3.83817135e-03 9.99946529e-01 -3.63615093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.451193817000004 meters Centerline goodness [0,1] 0.8981483388601676 Centerline is valid? [False, False] Translation: X:1.80, Y:0.04, Z:-0.37 [[ 9.99931398e-01 6.36262870e-03 -9.83441189e-03 1.80459982e+00] [-6.35631918e-03 9.99979572e-01 6.72698919e-04 3.92624423e-02] [ 9.83849113e-03 -6.10142110e-04 9.99951415e-01 -3.66097436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.481193817 meters Centerline goodness [0,1] 0.8956670938934138 Centerline is valid? [False, False] Translation: X:1.81, Y:0.04, Z:-0.37 [[ 9.99929401e-01 6.63034159e-03 -9.86064059e-03 1.80501378e+00] [-6.62722028e-03 9.99977979e-01 3.49184990e-04 4.07039965e-02] [ 9.86273866e-03 -2.83811701e-04 9.99951322e-01 -3.66520662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.511193817000002 meters Centerline goodness [0,1] 0.895189715944433 Centerline is valid? [False, False] Translation: X:1.81, Y:0.04, Z:-0.37 [[ 9.99928130e-01 6.75632669e-03 -9.90384202e-03 1.80549448e+00] [-6.75415777e-03 9.99977159e-01 2.52428753e-04 4.08193010e-02] [ 9.90532129e-03 -1.85518500e-04 9.99950924e-01 -3.67035832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.541193817000003 meters Centerline goodness [0,1] 0.8957166766535116 Centerline is valid? [False, False] Translation: X:1.81, Y:0.04, Z:-0.37 [[ 9.99927271e-01 6.74788119e-03 -9.99596996e-03 1.80630335e+00] [-6.74538240e-03 9.99977209e-01 2.83672970e-04 4.01278782e-02] [ 9.99765634e-03 -2.16225699e-04 9.99949999e-01 -3.67785111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.571193817 meters Centerline goodness [0,1] 0.8975096181690315 Centerline is valid? [False, False] Translation: X:1.81, Y:0.04, Z:-0.37 [[ 9.99932897e-01 6.17924793e-03 -9.79887402e-03 1.80623564e+00] [-6.17555160e-03 9.99980848e-01 4.07432781e-04 3.82420420e-02] [ 9.80120398e-03 -3.46891989e-04 9.99951907e-01 -3.68209535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.601193817000002 meters Centerline goodness [0,1] 0.8961290057180468 Centerline is valid? [False, False] Translation: X:1.82, Y:0.04, Z:-0.37 [[ 9.99980187e-01 1.73220297e-03 -6.05189835e-03 1.81698762e+00] [-1.69410706e-03 9.99978755e-01 6.29433478e-03 3.66619883e-02] [ 6.06267284e-03 -6.28395751e-03 9.99961877e-01 -3.70925257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.631193817000003 meters Centerline goodness [0,1] 0.8961531290783668 Centerline is valid? [False, False] Translation: X:1.82, Y:0.04, Z:-0.37 [[ 0.99997961 -0.00185435 -0.00611111 1.81733616] [ 0.00187145 0.99999435 0.00279355 0.03596421] [ 0.0061059 -0.00280493 0.99997742 -0.37123839] [ 0. 0. 0. 1. ]] SLAMing on 20.661193817 meters Centerline goodness [0,1] 0.8942339578842646 Centerline is valid? [False, False] Translation: X:1.82, Y:0.03, Z:-0.37 [[ 0.99997908 -0.00225583 -0.00606225 1.8180403 ] [ 0.00227508 0.99999239 0.00317033 0.03298041] [ 0.00605505 -0.00318406 0.9999766 -0.37221326] [ 0. 0. 0. 1. ]] SLAMing on 20.691193817000002 meters Centerline goodness [0,1] 0.8918615994520435 Centerline is valid? [False, False] Translation: X:1.82, Y:0.03, Z:-0.37 [[ 9.99966336e-01 -5.50027461e-03 -6.08888828e-03 1.81911697e+00] [ 5.50562414e-03 9.99984472e-01 8.62158543e-04 2.84235988e-02] [ 6.08405163e-03 -8.95652649e-04 9.99981091e-01 -3.73543321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.721193817000003 meters Centerline goodness [0,1] 0.8916727159597636 Centerline is valid? [False, False] Translation: X:1.82, Y:0.03, Z:-0.37 [[ 9.99966780e-01 -5.42359440e-03 -6.08472975e-03 1.81989526e+00] [ 5.43334665e-03 9.99983979e-01 1.58735814e-03 2.61024548e-02] [ 6.07602308e-03 -1.62036586e-03 9.99980228e-01 -3.74525994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.751193817 meters Centerline goodness [0,1] 0.8919423803395741 Centerline is valid? [False, False] Translation: X:1.82, Y:0.03, Z:-0.38 [[ 0.99996575 -0.00543195 -0.00624365 1.82073837] [ 0.00544384 0.9999834 0.00188952 0.02531503] [ 0.00623329 -0.00192345 0.99997872 -0.37521832] [ 0. 0. 0. 1. ]] SLAMing on 20.781193817000002 meters Centerline goodness [0,1] 0.891916571547162 Centerline is valid? [False, False] Translation: X:1.82, Y:0.02, Z:-0.38 [[ 0.99996549 -0.00536617 -0.00634266 1.8214138 ] [ 0.00537955 0.99998334 0.00209393 0.0249191 ] [ 0.00633132 -0.00212798 0.99997769 -0.37585529] [ 0. 0. 0. 1. ]] SLAMing on 20.811193817000003 meters Centerline goodness [0,1] 0.8935839193478126 Centerline is valid? [False, False] Translation: X:1.82, Y:0.02, Z:-0.38 [[ 0.99996493 -0.00533401 -0.00645692 1.82177812] [ 0.00534837 0.99998326 0.0022079 0.02461944] [ 0.00644503 -0.00224236 0.99997672 -0.37596126] [ 0. 0. 0. 1. ]] SLAMing on 20.841193817 meters Centerline goodness [0,1] 0.8929927368768571 Centerline is valid? [False, False] Translation: X:1.82, Y:0.02, Z:-0.38 [[ 0.99996374 -0.00534388 -0.00663004 1.8223107 ] [ 0.00535896 0.99998309 0.00225881 0.02415774] [ 0.00661785 -0.00229426 0.99997547 -0.37614091] [ 0. 0. 0. 1. ]] SLAMing on 20.871193817 meters Centerline goodness [0,1] 0.8915890177848798 Centerline is valid? [False, False] Translation: X:1.82, Y:0.02, Z:-0.38 [[ 0.99996415 -0.00540322 -0.00651969 1.82204877] [ 0.00541754 0.99998294 0.00218177 0.02409809] [ 0.00650779 -0.00221701 0.99997637 -0.37609058] [ 0. 0. 0. 1. ]] SLAMing on 20.901193817000003 meters Centerline goodness [0,1] 0.8919861350380871 Centerline is valid? [False, False] Translation: X:1.82, Y:0.02, Z:-0.38 [[ 0.99996427 -0.00538533 -0.00651543 1.8221976 ] [ 0.00539961 0.99998306 0.00217527 0.02451393] [ 0.00650361 -0.00221037 0.99997641 -0.37624582] [ 0. 0. 0. 1. ]] SLAMing on 20.931193817 meters Centerline goodness [0,1] 0.8887323651882082 Centerline is valid? [False, False] Translation: X:1.82, Y:0.03, Z:-0.38 [[ 0.99996302 -0.00549233 -0.00661785 1.82266227] [ 0.0055058 0.9999828 0.00201968 0.02536883] [ 0.00660665 -0.00205604 0.99997606 -0.37651886] [ 0. 0. 0. 1. ]] SLAMing on 20.961193817 meters Centerline goodness [0,1] 0.8886675795676169 Centerline is valid? [False, False] Translation: X:1.82, Y:0.03, Z:-0.38 [[ 9.99961714e-01 -5.65491555e-03 -6.67776117e-03 1.82257382e+00] [ 5.66699724e-03 9.99982337e-01 1.79170941e-03 2.63417554e-02] [ 6.66751126e-03 -1.82948367e-03 9.99976098e-01 -3.76242284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.991193817000003 meters Centerline goodness [0,1] 0.8884534030110738 Centerline is valid? [False, False] Translation: X:1.82, Y:0.03, Z:-0.38 [[ 9.99960912e-01 -5.78972844e-03 -6.68231329e-03 1.82241275e+00] [ 5.80136182e-03 9.99981688e-01 1.72285175e-03 2.66234991e-02] [ 6.67221608e-03 -1.76155092e-03 9.99976189e-01 -3.75942832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.021193817 meters Centerline goodness [0,1] 0.8884726045828072 Centerline is valid? [False, False] Translation: X:1.82, Y:0.02, Z:-0.37 [[ 0.99995904 -0.00611059 -0.00667688 1.8217763 ] [ 0.00612402 0.99997926 0.00199201 0.02443128] [ 0.00666457 -0.00203282 0.99997573 -0.37496853] [ 0. 0. 0. 1. ]] SLAMing on 21.051193817 meters Centerline goodness [0,1] 0.8902245079207716 Centerline is valid? [False, False] Translation: X:1.82, Y:0.02, Z:-0.38 [[ 0.9999559 -0.00643722 -0.00683855 1.82247817] [ 0.00645015 0.99997745 0.00187069 0.02450235] [ 0.00682635 -0.00191472 0.99997487 -0.37542081] [ 0. 0. 0. 1. ]] SLAMing on 21.081193817000003 meters Centerline goodness [0,1] 0.8904401423016464 Centerline is valid? [False, False] Translation: X:1.82, Y:0.03, Z:-0.38 [[ 9.99944918e-01 -7.83491835e-03 -6.98397410e-03 1.82332984e+00] [ 7.84053095e-03 9.99968961e-01 7.76623093e-04 2.65571914e-02] [ 6.97767254e-03 -8.31338380e-04 9.99975310e-01 -3.76214653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.111193817000004 meters Centerline goodness [0,1] 0.889369183040331 Centerline is valid? [False, False] Translation: X:1.82, Y:0.03, Z:-0.38 [[ 9.99939865e-01 -8.26264099e-03 -7.21071394e-03 1.82452994e+00] [ 8.26700430e-03 9.99965662e-01 5.75518998e-04 2.66686593e-02] [ 7.20571103e-03 -6.35095392e-04 9.99973837e-01 -3.77161030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.141193817 meters Centerline goodness [0,1] 0.8890061893229005 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:-0.38 [[ 9.99936634e-01 -8.46186843e-03 -7.42457505e-03 1.82573865e+00] [ 8.46734642e-03 9.99963902e-01 7.06694931e-04 2.57610821e-02] [ 7.41832708e-03 -7.69516600e-04 9.99972188e-01 -3.78188114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.171193817000002 meters Centerline goodness [0,1] 0.8836567968814797 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:-0.38 [[ 9.99931824e-01 -8.91154283e-03 -7.54534296e-03 1.82641038e+00] [ 8.91599067e-03 9.99960097e-01 5.56048132e-04 2.51040873e-02] [ 7.54008664e-03 -6.23284430e-04 9.99971379e-01 -3.78747253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.201193817000004 meters Centerline goodness [0,1] 0.8672801127414408 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:-0.38 [[ 9.99917590e-01 -1.02556489e-02 -7.72237183e-03 1.82720751e+00] [ 1.02521327e-02 9.99947323e-01 -4.94778730e-04 2.66518030e-02] [ 7.72703932e-03 4.15567175e-04 9.99970060e-01 -3.79330728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.231193817 meters Centerline goodness [0,1] 0.8529399577342228 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:-0.38 [[ 9.99909146e-01 -1.09417133e-02 -7.87265387e-03 1.82796643e+00] [ 1.09311633e-02 9.99939298e-01 -1.38186193e-03 2.92423137e-02] [ 7.88729592e-03 1.29567912e-03 9.99968055e-01 -3.79865254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.261193817000002 meters Centerline goodness [0,1] 0.8331883157240523 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:-0.38 [[ 9.99932694e-01 -8.49149096e-03 -7.90577171e-03 1.82834218e+00] [ 8.50465976e-03 9.99962500e-01 1.63359377e-03 3.02044932e-02] [ 7.89160360e-03 -1.70071972e-03 9.99967415e-01 -3.80257701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.291193817000003 meters Centerline goodness [0,1] 0.8113426645930534 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:-0.38 [[ 9.99927624e-01 -8.95754586e-03 -8.03170637e-03 1.82878209e+00] [ 8.96280332e-03 9.99959642e-01 6.18831759e-04 3.38848705e-02] [ 8.02583902e-03 -6.90773575e-04 9.99967554e-01 -3.80455394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.321193817 meters Centerline goodness [0,1] 0.8258761113298655 Centerline is valid? [False, False] Translation: X:1.83, Y:0.04, Z:-0.38 [[ 0.99994478 -0.00659582 -0.00818173 1.82971837] [ 0.00661181 0.99997628 0.00192821 0.04091717] [ 0.00816882 -0.0019822 0.99996467 -0.38117644] [ 0. 0. 0. 1. ]] SLAMing on 21.351193817000002 meters Centerline goodness [0,1] 0.8433892262731362 Centerline is valid? [False, False] Translation: X:1.83, Y:0.04, Z:-0.38 [[ 9.99945784e-01 -6.07060113e-03 -8.46030588e-03 1.83063429e+00] [ 6.08283176e-03 9.99980490e-01 1.42066758e-03 4.46913845e-02] [ 8.45151652e-03 -1.47205317e-03 9.99963202e-01 -3.81548071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.381193817000003 meters Centerline goodness [0,1] 0.8646978589732992 Centerline is valid? [False, False] Translation: X:1.83, Y:0.05, Z:-0.38 [[ 0.99995899 -0.00272078 -0.00863857 1.83110016] [ 0.00275854 0.99998668 0.00436303 0.04692923] [ 0.00862659 -0.00438668 0.99995317 -0.38165594] [ 0. 0. 0. 1. ]] SLAMing on 21.411193817 meters Centerline goodness [0,1] 0.8811899597149055 Centerline is valid? [False, False] Translation: X:1.83, Y:0.05, Z:-0.38 [[ 0.99996021 -0.00232665 -0.00861152 1.83082904] [ 0.0023545 0.99999203 0.00322573 0.05228411] [ 0.00860395 -0.00324588 0.99995772 -0.38113064] [ 0. 0. 0. 1. ]] SLAMing on 21.441193817000002 meters Centerline goodness [0,1] 0.89157824933687 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:-0.38 [[ 9.99960881e-01 1.11787463e-03 -8.77416630e-03 1.83088599e+00] [-1.06657221e-03 9.99982323e-01 5.84948822e-03 5.63228090e-02] [ 8.78055019e-03 -5.83990112e-03 9.99944397e-01 -3.80765228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.471193817000003 meters Centerline goodness [0,1] 0.8995555555555556 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:-0.38 [[ 0.9999205 0.00861617 -0.009206 1.83292562] [-0.00851253 0.99990061 0.01123885 0.06425655] [ 0.00930192 -0.01115959 0.99989446 -0.38214147] [ 0. 0. 0. 1. ]] SLAMing on 21.501193817 meters Centerline goodness [0,1] 0.8902044540289471 Centerline is valid? [False, False] Translation: X:1.83, Y:0.07, Z:-0.38 [[ 0.99987328 0.01276968 -0.00950616 1.83424172] [-0.0126328 0.99981763 0.0143222 0.06803618] [ 0.00968732 -0.01420029 0.99985224 -0.38291252] [ 0. 0. 0. 1. ]] SLAMing on 21.531193817000002 meters Centerline goodness [0,1] 0.8869074772944056 Centerline is valid? [False, False] Translation: X:1.84, Y:0.07, Z:-0.38 [[ 0.99981045 0.01686894 -0.00972149 1.83509645] [-0.01669844 0.99970984 0.01736066 0.07158198] [ 0.01001153 -0.01719503 0.99980203 -0.38327123] [ 0. 0. 0. 1. ]] SLAMing on 21.561193817000003 meters Centerline goodness [0,1] 0.8870644608298738 Centerline is valid? [False, False] Translation: X:1.84, Y:0.08, Z:-0.38 [[ 0.99973015 0.02017796 -0.01150992 1.83852237] [-0.01995814 0.9996221 0.0189034 0.07504486] [ 0.011887 -0.01866858 0.99975506 -0.38291548] [ 0. 0. 0. 1. ]] SLAMing on 21.591193817 meters Centerline goodness [0,1] 0.88203125 Centerline is valid? [False, False] Translation: X:1.84, Y:0.08, Z:-0.38 [[ 0.99954331 0.02635025 -0.01479301 1.84452285] [-0.02602854 0.99942924 0.02153389 0.07665373] [ 0.01535199 -0.02113902 0.99965867 -0.38116163] [ 0. 0. 0. 1. ]] SLAMing on 21.621193817 meters Centerline goodness [0,1] 0.8833143448990161 Centerline is valid? [False, False] Translation: X:1.85, Y:0.08, Z:-0.38 [[ 0.99961182 0.02336413 -0.01517621 1.84572964] [-0.02309263 0.99957441 0.01782509 0.07768971] [ 0.01558622 -0.01746772 0.99972594 -0.38187617] [ 0. 0. 0. 1. ]] SLAMing on 21.651193817000003 meters Centerline goodness [0,1] 0.886991482394877 Centerline is valid? [False, False] Translation: X:1.85, Y:0.08, Z:-0.38 [[ 0.99968822 0.0195822 -0.01549204 1.84711867] [-0.01936727 0.99971576 0.01390381 0.07773295] [ 0.0157599 -0.01359943 0.99978332 -0.38298424] [ 0. 0. 0. 1. ]] SLAMing on 21.681193817 meters Centerline goodness [0,1] 0.8912566723217611 Centerline is valid? [False, False] Translation: X:1.85, Y:0.08, Z:-0.38 [[ 0.99975623 0.01536354 -0.01585667 1.8481811 ] [-0.01520926 0.99983626 0.00980492 0.07758356] [ 0.01600471 -0.00956137 0.9998262 -0.38355653] [ 0. 0. 0. 1. ]] SLAMing on 21.711193817 meters Centerline goodness [0,1] 0.8890056888449172 Centerline is valid? [False, False] Translation: X:1.86, Y:0.07, Z:-0.39 [[ 0.99992849 0.00759542 -0.00923763 1.85805829] [-0.0074832 0.99989851 0.01212337 0.07355253] [ 0.00932878 -0.01205337 0.99988384 -0.38638857] [ 0. 0. 0. 1. ]] SLAMing on 21.741193817000003 meters Centerline goodness [0,1] 0.8913632882836269 Centerline is valid? [False, False] Translation: X:1.86, Y:0.07, Z:-0.39 [[ 0.99994878 0.00367138 -0.00943221 1.85778892] [-0.00359519 0.99996087 0.00808239 0.07376364] [ 0.00946151 -0.00804806 0.99992285 -0.38552193] [ 0. 0. 0. 1. ]] SLAMing on 21.771193817 meters Centerline goodness [0,1] 0.8864627922291736 Centerline is valid? [False, False] Translation: X:1.86, Y:0.07, Z:-0.39 [[ 9.99950350e-01 1.01390343e-03 -9.91310751e-03 1.85988458e+00] [-9.60724527e-04 9.99985132e-01 5.36779520e-03 7.29168597e-02] [ 9.91840254e-03 -5.35800493e-03 9.99936457e-01 -3.86799707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.801193817 meters Centerline goodness [0,1] 0.8959741282806086 Centerline is valid? [False, False] Translation: X:1.86, Y:0.07, Z:-0.39 [[ 0.99994537 -0.00271737 -0.01009349 1.8605777 ] [ 0.00273674 0.99999444 0.00190526 0.07130744] [ 0.01008826 -0.00193278 0.99994724 -0.38723516] [ 0. 0. 0. 1. ]] SLAMing on 21.831193817000003 meters Centerline goodness [0,1] 0.899050744656544 Centerline is valid? [False, False] Translation: X:1.86, Y:0.07, Z:-0.39 [[ 0.99994329 -0.00311577 -0.0101838 1.86106223] [ 0.00313626 0.99999309 0.00199679 0.07010151] [ 0.01017751 -0.00202862 0.99994615 -0.38759688] [ 0. 0. 0. 1. ]] SLAMing on 21.861193817000004 meters Centerline goodness [0,1] 0.9006068388459706 Centerline is valid? [False, False] Translation: X:1.86, Y:0.07, Z:-0.39 [[ 0.99994111 -0.00351295 -0.01026797 1.86174818] [ 0.00353309 0.99999187 0.00194458 0.06955472] [ 0.01026105 -0.00198074 0.99994539 -0.38819434] [ 0. 0. 0. 1. ]] SLAMing on 21.891193817 meters Centerline goodness [0,1] 0.9035769508298114 Centerline is valid? [False, False] Translation: X:1.86, Y:0.07, Z:-0.39 [[ 9.99937507e-01 -4.04540892e-03 -1.04219142e-02 1.86244924e+00] [ 4.06291849e-03 9.99990369e-01 1.65944825e-03 6.96540058e-02] [ 1.04151006e-02 -1.70168793e-03 9.99944313e-01 -3.88646914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.921193817000002 meters Centerline goodness [0,1] 0.9042645959637904 Centerline is valid? [False, False] Translation: X:1.86, Y:0.07, Z:-0.39 [[ 9.99935237e-01 -4.67439543e-03 -1.03764883e-02 1.86251418e+00] [ 4.68789474e-03 9.99988196e-01 1.27701108e-03 6.97435697e-02] [ 1.03703966e-02 -1.32557226e-03 9.99945347e-01 -3.88841063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.951193817000004 meters Centerline goodness [0,1] 0.9038836158660422 Centerline is valid? [False, False] Translation: X:1.86, Y:0.07, Z:-0.39 [[ 9.99932909e-01 -4.62479889e-03 -1.06202323e-02 1.86361493e+00] [ 4.64088927e-03 9.99988120e-01 1.49092441e-03 6.91108051e-02] [ 1.06132109e-02 -1.54011171e-03 9.99942492e-01 -3.89599969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.981193817 meters Centerline goodness [0,1] 0.9038836158660422 Centerline is valid? [False, False] Translation: X:1.86, Y:0.07, Z:-0.39 [[ 9.99932909e-01 -4.62479889e-03 -1.06202323e-02 1.86361493e+00] [ 4.64088927e-03 9.99988120e-01 1.49092441e-03 6.91108051e-02] [ 1.06132109e-02 -1.54011171e-03 9.99942492e-01 -3.89599969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.011193817000002 meters Centerline goodness [0,1] 0.9039236039028441 Centerline is valid? [False, False] Translation: X:1.86, Y:0.07, Z:-0.39 [[ 9.99930276e-01 -4.67889746e-03 -1.08420926e-02 1.86435892e+00] [ 4.69502285e-03 9.99987909e-01 1.46231952e-03 6.91844188e-02] [ 1.08351195e-02 -1.51312143e-03 9.99940154e-01 -3.89935885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.041193817000003 meters Centerline goodness [0,1] 0.9041903733543752 Centerline is valid? [False, False] Translation: X:1.86, Y:0.07, Z:-0.39 [[ 9.99931765e-01 -4.23255897e-03 -1.08881317e-02 1.86472041e+00] [ 4.24603516e-03 9.99990248e-01 1.21487693e-03 7.14490249e-02] [ 1.08828835e-02 -1.26102542e-03 9.99939985e-01 -3.90187326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.071193817 meters Centerline goodness [0,1] 0.9042102640757349 Centerline is valid? [False, False] Translation: X:1.86, Y:0.07, Z:-0.39 [[ 9.99934156e-01 -3.53331540e-03 -1.09178527e-02 1.86477567e+00] [ 3.54681334e-03 9.99992969e-01 1.21720338e-03 7.31210083e-02] [ 1.09134752e-02 -1.25584682e-03 9.99939658e-01 -3.90039306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.101193817000002 meters Centerline goodness [0,1] 0.9026360368549353 Centerline is valid? [False, False] Translation: X:1.87, Y:0.07, Z:-0.39 [[ 9.99933268e-01 -1.81764974e-03 -1.14085645e-02 1.86680027e+00] [ 1.84295023e-03 9.99995865e-01 2.20755398e-03 7.45832761e-02] [ 1.14045048e-02 -2.22843208e-03 9.99932483e-01 -3.91174338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.131193817000003 meters Centerline goodness [0,1] 0.9020506783966297 Centerline is valid? [False, False] Translation: X:1.87, Y:0.08, Z:-0.39 [[ 9.99934168e-01 -1.21234980e-03 -1.14100349e-02 1.86685150e+00] [ 1.23535201e-03 9.99997219e-01 2.00913155e-03 7.65079515e-02] [ 1.14075673e-02 -2.02309470e-03 9.99932885e-01 -3.91115687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.161193817 meters Centerline goodness [0,1] 0.8972409793280584 Centerline is valid? [False, False] Translation: X:1.86, Y:0.08, Z:-0.39 [[ 0.9999326 0.00266736 -0.0112995 1.86449591] [-0.00260684 0.9999822 0.00536713 0.07646618] [ 0.01131362 -0.00533732 0.99992175 -0.38836242] [ 0. 0. 0. 1. ]] SLAMing on 22.191193817000002 meters Centerline goodness [0,1] 0.8944641339716886 Centerline is valid? [False, False] Translation: X:1.86, Y:0.08, Z:-0.39 [[ 0.9999293 0.00323912 -0.01144116 1.86426173] [-0.00317748 0.99998037 0.00540095 0.07709504] [ 0.01145843 -0.00536421 0.99991996 -0.38761945] [ 0. 0. 0. 1. ]] SLAMing on 22.221193817000003 meters Centerline goodness [0,1] 0.8950017606727841 Centerline is valid? [False, False] Translation: X:1.86, Y:0.08, Z:-0.39 [[ 0.999926 0.00398436 -0.01149406 1.86410546] [-0.00392185 0.99997743 0.00545562 0.07850593] [ 0.01151554 -0.00541014 0.99991906 -0.38713892] [ 0. 0. 0. 1. ]] SLAMing on 22.251193817 meters Centerline goodness [0,1] 0.8938922649088474 Centerline is valid? [False, False] Translation: X:1.87, Y:0.08, Z:-0.39 [[ 9.99949291e-01 7.76609184e-03 -6.41113784e-03 1.87343933e+00] [-7.77307531e-03 9.99969222e-01 -1.06507366e-03 8.10335340e-02] [ 6.40266906e-03 1.11485391e-03 9.99978881e-01 -3.89181544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.281193817000002 meters Centerline goodness [0,1] 0.8939760531050314 Centerline is valid? [False, False] Translation: X:1.87, Y:0.08, Z:-0.39 [[ 9.99942052e-01 8.60155452e-03 -6.47347821e-03 1.87338439e+00] [-8.60788715e-03 9.99962499e-01 -9.51016246e-04 8.28926771e-02] [ 6.46505523e-03 1.00668411e-03 9.99978595e-01 -3.88855652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.311193817000003 meters Centerline goodness [0,1] 0.8928328067893204 Centerline is valid? [False, False] Translation: X:1.87, Y:0.08, Z:-0.39 [[ 9.99930532e-01 9.77967831e-03 -6.57942539e-03 1.87354911e+00] [-9.78027088e-03 9.99952170e-01 -5.78949577e-05 8.21949815e-02] [ 6.57854450e-03 1.22239498e-04 9.99978354e-01 -3.88744378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.341193817 meters Centerline goodness [0,1] 0.8891549848256498 Centerline is valid? [False, False] Translation: X:1.87, Y:0.08, Z:-0.39 [[ 0.9999546 0.0070374 -0.00642429 1.87301703] [-0.00705736 0.99997032 -0.00309012 0.08100887] [ 0.00640235 0.00313532 0.99997459 -0.38837322] [ 0. 0. 0. 1. ]] SLAMing on 22.371193817 meters Centerline goodness [0,1] 0.8873786807040631 Centerline is valid? [False, False] Translation: X:1.87, Y:0.08, Z:-0.39 [[ 0.99995216 0.00722952 -0.00658943 1.87328413] [-0.00724384 0.99997145 -0.00215242 0.07699667] [ 0.00657368 0.00220005 0.99997597 -0.38831587] [ 0. 0. 0. 1. ]] SLAMing on 22.401193817000003 meters Centerline goodness [0,1] 0.8943362067191968 Centerline is valid? [False, False] Translation: X:1.87, Y:0.07, Z:-0.39 [[ 9.99950735e-01 7.32978418e-03 -6.69345997e-03 1.87332656e+00] [-7.33940779e-03 9.99972066e-01 -1.41433396e-03 7.32916612e-02] [ 6.68290623e-03 1.46339032e-03 9.99976598e-01 -3.88130614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.431193817 meters Centerline goodness [0,1] 0.897134960087457 Centerline is valid? [False, False] Translation: X:1.87, Y:0.07, Z:-0.39 [[ 9.99944073e-01 8.04898627e-03 -6.86033823e-03 1.87425475e+00] [-8.04883713e-03 9.99967606e-01 4.93477527e-05 6.83833709e-02] [ 6.86051320e-03 5.87275230e-06 9.99976466e-01 -3.88938957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.461193817 meters Centerline goodness [0,1] 0.8958491963863108 Centerline is valid? [False, False] Translation: X:1.88, Y:0.07, Z:-0.39 [[ 9.99939007e-01 8.47337592e-03 -7.08406299e-03 1.87503343e+00] [-8.46819008e-03 9.99963854e-01 7.61718666e-04 6.64881190e-02] [ 7.09026126e-03 -7.01683014e-04 9.99974618e-01 -3.89327578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.491193817000003 meters Centerline goodness [0,1] 0.8979217351861779 Centerline is valid? [False, False] Translation: X:1.88, Y:0.06, Z:-0.39 [[ 9.99934711e-01 8.80770675e-03 -7.28001090e-03 1.87563119e+00] [-8.79709165e-03 9.99960196e-01 1.48885394e-03 6.41963433e-02] [ 7.29283452e-03 -1.42471381e-03 9.99972392e-01 -3.89578706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.521193817 meters Centerline goodness [0,1] 0.8996813649912633 Centerline is valid? [False, False] Translation: X:1.88, Y:0.06, Z:-0.39 [[ 0.99992958 0.00917364 -0.00752795 1.87654911] [-0.00915645 0.9999554 0.00231403 0.06154666] [ 0.00754884 -0.00224494 0.99996899 -0.39009571] [ 0. 0. 0. 1. ]] SLAMing on 22.551193817 meters Centerline goodness [0,1] 0.897457050343391 Centerline is valid? [False, False] Translation: X:1.88, Y:0.06, Z:-0.39 [[ 9.99947221e-01 7.33687683e-03 -7.19203214e-03 1.87565586e+00] [-7.33319643e-03 9.99972967e-01 5.37970872e-04 5.83042295e-02] [ 7.19578475e-03 -4.85201894e-04 9.99973992e-01 -3.89831437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.581193817000003 meters Centerline goodness [0,1] 0.8976459180094494 Centerline is valid? [False, False] Translation: X:1.88, Y:0.06, Z:-0.39 [[ 0.9999634 0.00455634 -0.00724115 1.87597275] [-0.00457421 0.99998653 -0.00245351 0.0571941 ] [ 0.00722988 0.00248654 0.99997077 -0.39006181] [ 0. 0. 0. 1. ]] SLAMing on 22.611193817000004 meters Centerline goodness [0,1] 0.8969493203523029 Centerline is valid? [False, False] Translation: X:1.88, Y:0.05, Z:-0.39 [[ 9.99962565e-01 4.64921715e-03 -7.29747819e-03 1.87604236e+00] [-4.66143784e-03 9.99987760e-01 -1.65853170e-03 5.33745031e-02] [ 7.28967800e-03 1.69248636e-03 9.99971998e-01 -3.89993005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.641193817 meters Centerline goodness [0,1] 0.8996728462377317 Centerline is valid? [False, False] Translation: X:1.88, Y:0.05, Z:-0.39 [[ 0.99996968 0.00245069 -0.00739182 1.87642671] [-0.00247369 0.99999212 -0.00310346 0.04683504] [ 0.00738416 0.00312165 0.99996786 -0.39022448] [ 0. 0. 0. 1. ]] SLAMing on 22.671193817000002 meters Centerline goodness [0,1] 0.8976676986584107 Centerline is valid? [False, False] Translation: X:1.88, Y:0.04, Z:-0.39 [[ 0.99996907 0.00251879 -0.00745026 1.87641584] [-0.00253551 0.99999429 -0.00223469 0.04359232] [ 0.00744459 0.00225351 0.99996975 -0.39008611] [ 0. 0. 0. 1. ]] SLAMing on 22.701193817000004 meters Centerline goodness [0,1] 0.8984462167858176 Centerline is valid? [False, False] Translation: X:1.88, Y:0.04, Z:-0.39 [[ 9.99969549e-01 2.26919720e-03 -7.46673713e-03 1.87647442e+00] [-2.28115357e-03 9.99996129e-01 -1.59315651e-03 4.07514190e-02] [ 7.46309304e-03 1.61014077e-03 9.99970854e-01 -3.90102331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.731193817 meters Centerline goodness [0,1] 0.8976801732137334 Centerline is valid? [False, False] Translation: X:1.88, Y:0.04, Z:-0.39 [[ 9.99968593e-01 1.22593917e-03 -7.83013211e-03 1.87847727e+00] [-1.23862910e-03 9.99997927e-01 -1.61600919e-03 3.75539143e-02] [ 7.82813475e-03 1.62565706e-03 9.99968038e-01 -3.91648754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.761193817000002 meters Centerline goodness [0,1] 0.8963667246665009 Centerline is valid? [False, False] Translation: X:1.88, Y:0.03, Z:-0.39 [[ 0.99994721 -0.00594188 -0.00838305 1.88074369] [ 0.00588418 0.99995895 -0.00689082 0.03017181] [ 0.00842365 0.00684113 0.99994112 -0.39322737] [ 0. 0. 0. 1. ]] SLAMing on 22.791193817000003 meters Centerline goodness [0,1] 0.8965510098394615 Centerline is valid? [False, False] Translation: X:1.88, Y:0.03, Z:-0.39 [[ 0.99991412 -0.00976321 -0.00874278 1.88212116] [ 0.00968062 0.99990859 -0.00943952 0.02532281] [ 0.00883414 0.00935407 0.99991723 -0.39404585] [ 0. 0. 0. 1. ]] SLAMing on 22.821193817 meters Centerline goodness [0,1] 0.8976722938599223 Centerline is valid? [False, False] Translation: X:1.88, Y:0.02, Z:-0.39 [[ 0.99986538 -0.01379874 -0.00887839 1.88269077] [ 0.01369035 0.9998324 -0.01215525 0.0204596 ] [ 0.00904463 0.01203206 0.99988671 -0.39430771] [ 0. 0. 0. 1. ]] SLAMing on 22.851193817000002 meters Centerline goodness [0,1] 0.9049537017813395 Centerline is valid? [False, False] Translation: X:1.88, Y:0.01, Z:-0.39 [[ 0.99969697 -0.02325808 -0.00806371 1.87935067] [ 0.02309564 0.99953945 -0.01968434 0.01466171] [ 0.00851782 0.01949214 0.99977373 -0.3913957 ] [ 0. 0. 0. 1. ]] SLAMing on 22.881193817000003 meters Centerline goodness [0,1] 0.9055165289256198 Centerline is valid? [False, False] Translation: X:1.88, Y:0.01, Z:-0.39 [[ 0.99962662 -0.02675262 -0.00556067 1.88468675] [ 0.02668999 0.99958271 -0.01104795 0.01069549] [ 0.00585391 0.01089541 0.99992351 -0.38802369] [ 0. 0. 0. 1. ]] SLAMing on 22.911193817 meters Centerline goodness [0,1] 0.9007363587473628 Centerline is valid? [False, False] Translation: X:1.88, Y:0.01, Z:-0.39 [[ 0.99961627 -0.02714903 -0.00549902 1.88327255] [ 0.02708924 0.99957606 -0.01067069 0.00892919] [ 0.00578638 0.01051763 0.99992795 -0.38615529] [ 0. 0. 0. 1. ]] SLAMing on 22.941193817000002 meters Centerline goodness [0,1] 0.881315637145456 Centerline is valid? [False, False] Translation: X:1.88, Y:0.01, Z:-0.38 [[ 0.99961326 -0.02726399 -0.00547755 1.88236869] [ 0.02720618 0.99957611 -0.01036415 0.00789888] [ 0.0057578 0.01021112 0.99993129 -0.38493249] [ 0. 0. 0. 1. ]] SLAMing on 22.971193817000003 meters Centerline goodness [0,1] 0.8907495685049724 Centerline is valid? [False, False] Translation: X:1.88, Y:0.01, Z:-0.38 [[ 0.99961538 -0.0271618 -0.00559694 1.88226632] [ 0.02710416 0.9995813 -0.01012904 0.0075285 ] [ 0.00586971 0.00997344 0.99993304 -0.38446761] [ 0. 0. 0. 1. ]] SLAMing on 23.001193817 meters Centerline goodness [0,1] 0.858119269843892 Centerline is valid? [False, False] Translation: X:1.88, Y:0.01, Z:-0.38 [[ 0.99969366 -0.02412091 -0.00554746 1.88204186] [ 0.02408412 0.99968811 -0.00660568 0.00761505] [ 0.00570507 0.00647006 0.99996279 -0.38446239] [ 0. 0. 0. 1. ]] SLAMing on 23.031193817000002 meters Centerline goodness [0,1] 0.8547324507961421 Centerline is valid? [False, False] Translation: X:1.88, Y:0.01, Z:-0.39 [[ 0.99976308 -0.02099915 -0.00572907 1.88289358] [ 0.02098269 0.99977558 -0.00291821 0.00721746] [ 0.00578906 0.0027973 0.99997933 -0.38523232] [ 0. 0. 0. 1. ]] SLAMing on 23.061193817000003 meters Centerline goodness [0,1] 0.8753862634419678 Centerline is valid? [False, False] Translation: X:1.89, Y:0.01, Z:-0.39 [[ 0.99977694 -0.02024857 -0.00600553 1.88548326] [ 0.02023566 0.99979281 -0.00220383 0.00838015] [ 0.00604891 0.00208182 0.99997954 -0.38765515] [ 0. 0. 0. 1. ]] SLAMing on 23.091193817 meters Centerline goodness [0,1] 0.8618377620069319 Centerline is valid? [False, False] Translation: X:1.89, Y:0.01, Z:-0.39 [[ 9.99831574e-01 -1.72914877e-02 -6.15038329e-03 1.88634817e+00] [ 1.72989852e-02 9.99849679e-01 1.16791614e-03 9.05979270e-03] [ 6.12926375e-03 -1.27411482e-03 9.99980404e-01 -3.88534712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.121193817 meters Centerline goodness [0,1] 0.851254888167015 Centerline is valid? [False, False] Translation: X:1.89, Y:0.01, Z:-0.39 [[ 0.9998711 -0.01488515 -0.00601858 1.88647879] [ 0.01490412 0.99988406 0.00311868 0.01388249] [ 0.00597146 -0.00320798 0.99997702 -0.38916174] [ 0. 0. 0. 1. ]] SLAMing on 23.151193817000003 meters Centerline goodness [0,1] 0.8864269356935075 Centerline is valid? [False, False] Translation: X:1.89, Y:0.02, Z:-0.39 [[ 0.99986398 -0.01527018 -0.00623205 1.88702928] [ 0.01528264 0.9998813 0.00195728 0.01820473] [ 0.00620142 -0.00205226 0.99997867 -0.38926006] [ 0. 0. 0. 1. ]] SLAMing on 23.181193817 meters Centerline goodness [0,1] 0.8908315917978853 Centerline is valid? [False, False] Translation: X:1.89, Y:0.02, Z:-0.39 [[ 0.99990092 -0.0125402 -0.0063945 1.88719074] [ 0.01256913 0.99991086 0.00450368 0.02135706] [ 0.00633745 -0.00458361 0.99996941 -0.3891685 ] [ 0. 0. 0. 1. ]] SLAMing on 23.211193817 meters Centerline goodness [0,1] 0.8320998314214054 Centerline is valid? [False, False] Translation: X:1.89, Y:0.03, Z:-0.39 [[ 0.99989946 -0.0124163 -0.0068484 1.8890847 ] [ 0.01244254 0.99991536 0.00380285 0.02661272] [ 0.0068006 -0.00388768 0.99996932 -0.3903113 ] [ 0. 0. 0. 1. ]] SLAMing on 23.241193817000003 meters Centerline goodness [0,1] 0.8976679645431198 Centerline is valid? [False, False] Translation: X:1.89, Y:0.03, Z:-0.39 [[ 0.99992754 -0.00972844 -0.00709087 1.88998824] [ 0.00976348 0.99994021 0.00492368 0.0342178 ] [ 0.00704255 -0.00499256 0.99996274 -0.39099313] [ 0. 0. 0. 1. ]] SLAMing on 23.271193817000004 meters Centerline goodness [0,1] 0.9013636363636364 Centerline is valid? [False, False] Translation: X:1.89, Y:0.04, Z:-0.39 [[ 0.99992591 -0.00967209 -0.00739142 1.89070718] [ 0.00969982 0.99994601 0.0037259 0.03875364] [ 0.00735499 -0.00379732 0.99996574 -0.39114998] [ 0. 0. 0. 1. ]] SLAMing on 23.301193817 meters Centerline goodness [0,1] 0.9070229956494718 Centerline is valid? [False, False] Translation: X:1.89, Y:0.04, Z:-0.39 [[ 0.99994907 -0.00687783 -0.00738623 1.8896476 ] [ 0.00692134 0.99995876 0.00588071 0.042663 ] [ 0.00734547 -0.00593153 0.99995543 -0.38991551] [ 0. 0. 0. 1. ]] SLAMing on 23.331193817000003 meters Centerline goodness [0,1] 0.9132421980021922 Centerline is valid? [False, False] Translation: X:1.89, Y:0.05, Z:-0.39 [[ 9.99972734e-01 -9.69920537e-04 -7.32052819e-03 1.88862455e+00] [ 1.04530793e-03 9.99946394e-01 1.03012902e-02 5.16469881e-02] [ 7.31014433e-03 -1.03086616e-02 9.99920143e-01 -3.88797244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.361193817000004 meters Centerline goodness [0,1] 0.914654583824716 Centerline is valid? [False, False] Translation: X:1.89, Y:0.06, Z:-0.39 [[ 0.99996971 0.00205576 -0.00750691 1.88999004] [-0.0019602 0.99991724 0.01271514 0.05547049] [ 0.00753243 -0.01270004 0.99989098 -0.39000244] [ 0. 0. 0. 1. ]] SLAMing on 23.391193817 meters Centerline goodness [0,1] 0.9132952776336274 Centerline is valid? [False, False] Translation: X:1.89, Y:0.06, Z:-0.39 [[ 0.9999682 0.00216502 -0.00767494 1.89101754] [-0.00207674 0.99993181 0.01149225 0.06043897] [ 0.0076993 -0.01147595 0.99990451 -0.39086002] [ 0. 0. 0. 1. ]] SLAMing on 23.421193817000002 meters Centerline goodness [0,1] 0.9130407731552532 Centerline is valid? [False, False] Translation: X:1.89, Y:0.06, Z:-0.39 [[ 0.99996498 0.0024442 -0.00800362 1.89269084] [-0.0023599 0.99994183 0.01052438 0.06468193] [ 0.00802888 -0.01050512 0.99991259 -0.39215242] [ 0. 0. 0. 1. ]] SLAMing on 23.451193817000004 meters Centerline goodness [0,1] 0.9101966391081826 Centerline is valid? [False, False] Translation: X:1.89, Y:0.07, Z:-0.39 [[ 0.99996148 0.00265643 -0.00836538 1.89471891] [-0.0025755 0.99994992 0.00967046 0.06813403] [ 0.00839065 -0.00964854 0.99991825 -0.39381901] [ 0. 0. 0. 1. ]] SLAMing on 23.481193817 meters Centerline goodness [0,1] 0.9096039336915703 Centerline is valid? [False, False] Translation: X:1.90, Y:0.07, Z:-0.40 [[ 0.99995817 0.00296852 -0.00865128 1.89644621] [-0.0028941 0.99995881 0.008602 0.07248376] [ 0.00867646 -0.0085766 0.99992558 -0.39539891] [ 0. 0. 0. 1. ]] SLAMing on 23.511193817000002 meters Centerline goodness [0,1] 0.9097262546661137 Centerline is valid? [False, False] Translation: X:1.90, Y:0.07, Z:-0.40 [[ 0.99995727 0.0027476 -0.00882644 1.89658354] [-0.0026769 0.99996432 0.00801183 0.07431683] [ 0.00884814 -0.00798786 0.99992895 -0.39506604] [ 0. 0. 0. 1. ]] SLAMing on 23.541193817000003 meters Centerline goodness [0,1] 0.9102186449819525 Centerline is valid? [False, False] Translation: X:1.90, Y:0.08, Z:-0.39 [[ 0.99995588 0.00275115 -0.00898126 1.89605323] [-0.00268605 0.99997009 0.00725274 0.07781771] [ 0.00900095 -0.00722829 0.99993337 -0.39386556] [ 0. 0. 0. 1. ]] SLAMing on 23.571193817 meters Centerline goodness [0,1] 0.9114980125869493 Centerline is valid? [False, False] Translation: X:1.90, Y:0.08, Z:-0.39 [[ 0.9999527 0.00271678 -0.00933953 1.8967251 ] [-0.00265377 0.99997368 0.006752 0.07993092] [ 0.00935763 -0.00672689 0.99993359 -0.39374354] [ 0. 0. 0. 1. ]] SLAMing on 23.601193817000002 meters Centerline goodness [0,1] 0.9121994583531454 Centerline is valid? [False, False] Translation: X:1.90, Y:0.08, Z:-0.39 [[ 0.99995093 0.00275687 -0.00951517 1.8966504 ] [-0.002696 0.99997586 0.00640362 0.08128864] [ 0.00953259 -0.00637766 0.99993423 -0.39311498] [ 0. 0. 0. 1. ]] SLAMing on 23.631193817000003 meters Centerline goodness [0,1] 0.9126000248766533 Centerline is valid? [False, False] Translation: X:1.90, Y:0.08, Z:-0.39 [[ 0.9999495 0.00270258 -0.00967996 1.89638425] [-0.00264226 0.99997705 0.006239 0.08159475] [ 0.0096966 -0.0062131 0.99993368 -0.39233552] [ 0. 0. 0. 1. ]] SLAMing on 23.661193817 meters Centerline goodness [0,1] 0.9146503423946877 Centerline is valid? [False, False] Translation: X:1.89, Y:0.08, Z:-0.39 [[ 9.99955801e-01 -4.94779441e-05 -9.40176553e-03 1.89410932e+00] [ 7.83308369e-05 9.99995289e-01 3.06853683e-03 8.14637049e-02] [ 9.40156941e-03 -3.06913765e-03 9.99951094e-01 -3.90024283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.691193817000002 meters Centerline goodness [0,1] 0.9159236989425669 Centerline is valid? [False, False] Translation: X:1.89, Y:0.08, Z:-0.39 [[ 9.99954727e-01 -5.22050872e-04 -9.50112933e-03 1.89402132e+00] [ 5.50034546e-04 9.99995518e-01 2.94292515e-03 8.03136201e-02] [ 9.49955039e-03 -2.94801786e-03 9.99950533e-01 -3.89619203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.721193817000003 meters Centerline goodness [0,1] 0.9165509666991317 Centerline is valid? [False, False] Translation: X:1.89, Y:0.08, Z:-0.39 [[ 9.99954308e-01 -1.02798995e-03 -9.50392679e-03 1.89415564e+00] [ 1.05442513e-03 9.99995588e-01 2.77690851e-03 7.92035481e-02] [ 9.50103023e-03 -2.78680281e-03 9.99950981e-01 -3.89713154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.751193817 meters Centerline goodness [0,1] 0.9168581661594518 Centerline is valid? [False, False] Translation: X:1.89, Y:0.08, Z:-0.39 [[ 9.99953667e-01 -1.30843196e-03 -9.53683913e-03 1.89457424e+00] [ 1.33398143e-03 9.99995537e-01 2.67316054e-03 7.89079265e-02] [ 9.53329892e-03 -2.68575865e-03 9.99950950e-01 -3.90100165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.781193817000002 meters Centerline goodness [0,1] 0.91585706887623 Centerline is valid? [False, False] Translation: X:1.89, Y:0.08, Z:-0.39 [[ 9.99953045e-01 -1.98198388e-03 -9.48572498e-03 1.89468976e+00] [ 1.99880295e-03 9.99996447e-01 1.76394097e-03 8.17280444e-02] [ 9.48219517e-03 -1.78281824e-03 9.99953454e-01 -3.90344066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.811193817000003 meters Centerline goodness [0,1] 0.9150131658062242 Centerline is valid? [False, False] Translation: X:1.89, Y:0.08, Z:-0.39 [[ 9.99951952e-01 -2.26957392e-03 -9.53640666e-03 1.89475128e+00] [ 2.28393847e-03 9.99996273e-01 1.49566499e-03 8.21306904e-02] [ 9.53297660e-03 -1.51737369e-03 9.99953409e-01 -3.90268907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.841193817 meters Centerline goodness [0,1] 0.9159676049628203 Centerline is valid? [False, False] Translation: X:1.90, Y:0.08, Z:-0.39 [[ 9.99950350e-01 -2.51727158e-03 -9.64160215e-03 1.89548877e+00] [ 2.53146583e-03 9.99995730e-01 1.46026719e-03 8.14626133e-02] [ 9.63788509e-03 -1.48460207e-03 9.99952452e-01 -3.90931309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.871193817 meters Centerline goodness [0,1] 0.9134954520141081 Centerline is valid? [False, False] Translation: X:1.90, Y:0.08, Z:-0.39 [[ 9.99933456e-01 -5.42340935e-03 -1.01818127e-02 1.89891485e+00] [ 5.41041241e-03 9.99984514e-01 -1.30359699e-03 8.05448327e-02] [ 1.01887250e-02 1.24842243e-03 9.99947314e-01 -3.93862017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.901193817000003 meters Centerline goodness [0,1] 0.9134954520141081 Centerline is valid? [False, False] Translation: X:1.90, Y:0.08, Z:-0.39 [[ 9.99933456e-01 -5.42340935e-03 -1.01818127e-02 1.89891485e+00] [ 5.41041241e-03 9.99984514e-01 -1.30359699e-03 8.05448327e-02] [ 1.01887250e-02 1.24842243e-03 9.99947314e-01 -3.93862017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.931193817 meters Centerline goodness [0,1] 0.91272885608244 Centerline is valid? [False, False] Translation: X:1.90, Y:0.08, Z:-0.39 [[ 9.99930312e-01 -5.68067679e-03 -1.03489910e-02 1.89976676e+00] [ 5.66933089e-03 9.99983296e-01 -1.12533725e-03 7.94666854e-02] [ 1.03552108e-02 1.06658698e-03 9.99945815e-01 -3.94544531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.961193817 meters Centerline goodness [0,1] 0.9063418470836611 Centerline is valid? [False, False] Translation: X:1.90, Y:0.08, Z:-0.40 [[ 9.99926839e-01 -5.75785019e-03 -1.06378841e-02 1.90087721e+00] [ 5.74780792e-03 9.99983007e-01 -9.74343176e-04 7.93041788e-02] [ 1.06433135e-02 9.13127377e-04 9.99942941e-01 -3.95187042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.991193817000003 meters Centerline goodness [0,1] 0.9097421203438395 Centerline is valid? [False, False] Translation: X:1.90, Y:0.08, Z:-0.40 [[ 9.99924855e-01 -5.65841552e-03 -1.08750799e-02 1.90135346e+00] [ 5.64979443e-03 9.99983701e-01 -8.23296951e-04 7.95155801e-02] [ 1.08795612e-02 7.61793118e-04 9.99940526e-01 -3.95179054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.021193817000004 meters Centerline goodness [0,1] 0.9116398500755835 Centerline is valid? [False, False] Translation: X:1.90, Y:0.08, Z:-0.40 [[ 9.99925090e-01 -4.88150505e-03 -1.12243279e-02 1.90230177e+00] [ 4.88093749e-03 9.99988085e-01 -7.79585781e-05 7.88655693e-02] [ 1.12245747e-02 2.31674955e-05 9.99937002e-01 -3.95436591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.051193817 meters Centerline goodness [0,1] 0.9141395310299113 Centerline is valid? [False, False] Translation: X:1.90, Y:0.08, Z:-0.39 [[ 9.99926633e-01 -4.30346066e-03 -1.13229397e-02 1.90187521e+00] [ 4.30872129e-03 9.99990621e-01 4.40246053e-04 7.80755818e-02] [ 1.13209390e-02 -4.89001145e-04 9.99935797e-01 -3.94569147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.081193817000003 meters Centerline goodness [0,1] 0.9152623178492216 Centerline is valid? [False, False] Translation: X:1.90, Y:0.08, Z:-0.39 [[ 9.99928522e-01 -3.77958415e-03 -1.13430871e-02 1.90116815e+00] [ 3.78873428e-03 9.99992514e-01 7.85290373e-04 7.79007134e-02] [ 1.13400342e-02 -8.28210185e-04 9.99935357e-01 -3.93528358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.111193817000004 meters Centerline goodness [0,1] 0.9168511430640323 Centerline is valid? [False, False] Translation: X:1.90, Y:0.08, Z:-0.39 [[ 9.99928649e-01 -3.32809171e-03 -1.14726338e-02 1.90116143e+00] [ 3.33906917e-03 9.99993986e-01 9.37816533e-04 7.86839214e-02] [ 1.14694436e-02 -9.76057537e-04 9.99933747e-01 -3.93043786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.141193817 meters Centerline goodness [0,1] 0.9157150850724307 Centerline is valid? [False, False] Translation: X:1.90, Y:0.08, Z:-0.39 [[ 9.99930655e-01 -2.78603922e-03 -1.14421755e-02 1.90087871e+00] [ 2.79627949e-03 9.99995704e-01 8.79057432e-04 8.04368519e-02] [ 1.14396773e-02 -9.10991994e-04 9.99934150e-01 -3.92648924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.171193817000002 meters Centerline goodness [0,1] 0.9153866826535464 Centerline is valid? [False, False] Translation: X:1.90, Y:0.08, Z:-0.39 [[ 0.9999273 0.00223226 -0.01184982 1.90211055] [-0.00217069 0.99998409 0.00520624 0.08044929] [ 0.01186125 -0.00518013 0.99991623 -0.39318858] [ 0. 0. 0. 1. ]] SLAMing on 24.201193817000004 meters Centerline goodness [0,1] 0.9167649432065048 Centerline is valid? [False, False] Translation: X:1.90, Y:0.08, Z:-0.39 [[ 0.99992104 0.00313671 -0.01216872 1.90310183] [-0.00307075 0.99998051 0.00543589 0.08082626] [ 0.01218554 -0.0053981 0.99991118 -0.39358849] [ 0. 0. 0. 1. ]] SLAMing on 24.231193817 meters Centerline goodness [0,1] 0.9176153447382063 Centerline is valid? [False, False] Translation: X:1.90, Y:0.08, Z:-0.39 [[ 0.99991765 0.00390637 -0.01222443 1.90320841] [-0.00383774 0.99997677 0.00563238 0.08144421] [ 0.01224615 -0.005585 0.99990942 -0.3935069 ] [ 0. 0. 0. 1. ]] SLAMing on 24.261193817000002 meters Centerline goodness [0,1] 0.9197013687266694 Centerline is valid? [False, False] Translation: X:1.90, Y:0.08, Z:-0.39 [[ 0.99991469 0.00427472 -0.01234293 1.9029477 ] [-0.00420552 0.99997533 0.00562631 0.0820216 ] [ 0.01236667 -0.00557392 0.99990799 -0.39285412] [ 0. 0. 0. 1. ]] SLAMing on 24.291193817000003 meters Centerline goodness [0,1] 0.9220696065269028 Centerline is valid? [False, False] Translation: X:1.91, Y:0.08, Z:-0.39 [[ 0.99996024 0.00615788 -0.00645037 1.91013818] [-0.0061732 0.99997816 -0.00235862 0.08343195] [ 0.0064357 0.00239834 0.99997641 -0.39338052] [ 0. 0. 0. 1. ]] SLAMing on 24.321193817 meters Centerline goodness [0,1] 0.9232373714427327 Centerline is valid? [False, False] Translation: X:1.91, Y:0.08, Z:-0.39 [[ 0.99995946 0.00614458 -0.00658193 1.90988345] [-0.00615943 0.99997853 -0.0022383 0.08276947] [ 0.00656804 0.00227875 0.99997583 -0.39265387] [ 0. 0. 0. 1. ]] SLAMing on 24.351193817000002 meters Centerline goodness [0,1] 0.9233549506381924 Centerline is valid? [False, False] Translation: X:1.91, Y:0.08, Z:-0.39 [[ 9.99958704e-01 6.22152041e-03 -6.62442692e-03 1.90964636e+00] [-6.23401466e-03 9.99978825e-01 -1.86711307e-03 8.10553644e-02] [ 6.61267037e-03 1.90833274e-03 9.99976315e-01 -3.92208543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.381193817000003 meters Centerline goodness [0,1] 0.9229913473423981 Centerline is valid? [False, False] Translation: X:1.91, Y:0.08, Z:-0.39 [[ 9.99954962e-01 6.56740304e-03 -6.85145026e-03 1.91013134e+00] [-6.57565181e-03 9.99977681e-01 -1.18211460e-03 7.84975719e-02] [ 6.84353392e-03 1.22711411e-03 9.99975830e-01 -3.92192390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.411193817 meters Centerline goodness [0,1] 0.9250905328504915 Centerline is valid? [False, False] Translation: X:1.91, Y:0.07, Z:-0.39 [[ 9.99942197e-01 8.33766121e-03 -6.78873111e-03 1.90973451e+00] [-8.33215064e-03 9.99964935e-01 8.39602509e-04 7.29306389e-02] [ 6.79549338e-03 -7.82989247e-04 9.99976604e-01 -3.91873407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.441193817000002 meters Centerline goodness [0,1] 0.9284991219915298 Centerline is valid? [False, False] Translation: X:1.91, Y:0.07, Z:-0.39 [[ 9.99933123e-01 9.24826756e-03 -6.94402110e-03 1.91047375e+00] [-9.23575575e-03 9.99955672e-01 1.83172078e-03 7.04410823e-02] [ 6.96065352e-03 -1.76746500e-03 9.99974212e-01 -3.92387949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.471193817000003 meters Centerline goodness [0,1] 0.929177005789909 Centerline is valid? [False, False] Translation: X:1.91, Y:0.07, Z:-0.39 [[ 0.99992223 0.01022648 -0.00713824 1.91141638] [-0.01020695 0.99994408 0.00276757 0.06856695] [ 0.00716614 -0.0026945 0.99997069 -0.39305919] [ 0. 0. 0. 1. ]] SLAMing on 24.501193817 meters Centerline goodness [0,1] 0.9336768479430511 Centerline is valid? [False, False] Translation: X:1.91, Y:0.06, Z:-0.39 [[ 0.99987704 0.01384517 -0.00736248 1.91309469] [-0.01379822 0.99988438 0.00639042 0.06359948] [ 0.00745011 -0.00628805 0.99995248 -0.39449385] [ 0. 0. 0. 1. ]] SLAMing on 24.531193817000002 meters Centerline goodness [0,1] 0.9323599461530496 Centerline is valid? [False, False] Translation: X:1.91, Y:0.06, Z:-0.39 [[ 0.99990615 0.0114898 -0.00746145 1.91332988] [-0.01146286 0.99992766 0.00364445 0.06234475] [ 0.00750279 -0.00355858 0.99996552 -0.39455506] [ 0. 0. 0. 1. ]] SLAMing on 24.561193817000003 meters Centerline goodness [0,1] 0.9332821926896523 Centerline is valid? [False, False] Translation: X:1.91, Y:0.06, Z:-0.40 [[ 9.99931021e-01 8.91012342e-03 -7.65267064e-03 1.91422574e+00] [-8.90143464e-03 9.99959698e-01 1.16870322e-03 5.94240825e-02] [ 7.66277551e-03 -1.10050286e-03 9.99970035e-01 -3.95248085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.591193817 meters Centerline goodness [0,1] 0.9288678738824306 Centerline is valid? [False, False] Translation: X:1.92, Y:0.05, Z:-0.40 [[ 9.99945062e-01 6.53564519e-03 -8.19506918e-03 1.91702329e+00] [-6.53992477e-03 9.99978492e-01 -4.95524652e-04 5.40385294e-02] [ 8.19165434e-03 5.49092565e-04 9.99966297e-01 -3.97366926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.621193817 meters Centerline goodness [0,1] 0.9233719652520059 Centerline is valid? [False, False] Translation: X:1.92, Y:0.04, Z:-0.40 [[ 9.99951933e-01 1.14296637e-03 -9.73783351e-03 1.92357631e+00] [-1.17768576e-03 9.99992968e-01 -3.56042429e-03 4.04130468e-02] [ 9.73369559e-03 3.57172126e-03 9.99946248e-01 -4.02420289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.651193817000003 meters Centerline goodness [0,1] 0.9192787048155355 Centerline is valid? [False, False] Translation: X:1.93, Y:0.03, Z:-0.40 [[ 9.99947112e-01 -1.29799052e-03 -1.02024081e-02 1.92580545e+00] [ 1.24877335e-03 9.99987561e-01 -4.82896474e-03 3.39034427e-02] [ 1.02085491e-02 4.81596885e-03 9.99936294e-01 -4.03933977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.681193817000004 meters Centerline goodness [0,1] 0.9160230858661352 Centerline is valid? [False, False] Translation: X:1.93, Y:0.03, Z:-0.40 [[ 0.99993812 -0.00375888 -0.01046997 1.92670631] [ 0.00369466 0.99997428 -0.00614652 0.02726714] [ 0.01049281 0.00610746 0.9999263 -0.40429444] [ 0. 0. 0. 1. ]] SLAMing on 24.711193817 meters Centerline goodness [0,1] 0.9160267422846853 Centerline is valid? [False, False] Translation: X:1.93, Y:0.02, Z:-0.40 [[ 0.99992323 -0.00608643 -0.01079309 1.92778262] [ 0.00600746 0.99995506 -0.00733421 0.02044584] [ 0.01083724 0.00726881 0.99991486 -0.40465239] [ 0. 0. 0. 1. ]] SLAMing on 24.741193817000003 meters Centerline goodness [0,1] 0.9112642821659215 Centerline is valid? [False, False] Translation: X:1.93, Y:0.01, Z:-0.41 [[ 0.99990674 -0.00814906 -0.010959 1.92859281] [ 0.00808 0.99994731 -0.00633116 0.00660342] [ 0.01101001 0.00624203 0.99991991 -0.40504678] [ 0. 0. 0. 1. ]] SLAMing on 24.771193817000004 meters Centerline goodness [0,1] 0.9097853613982646 Centerline is valid? [False, False] Translation: X:1.93, Y:0.00, Z:-0.40 [[ 9.99881134e-01 -1.07347701e-02 -1.10671911e-02 1.92868698e+00] [ 1.06474638e-02 9.99911967e-01 -7.91771574e-03 1.04508886e-03] [ 1.11512116e-02 7.79893707e-03 9.99907409e-01 -4.04696353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.801193817 meters Centerline goodness [0,1] 0.9118801803111822 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.01, Z:-0.40 [[ 0.99985173 -0.01320578 -0.01105096 1.92789757] [ 0.01310493 0.99987226 -0.00914992 -0.00575043] [ 0.01117038 0.00900374 0.99989707 -0.40349858] [ 0. 0. 0. 1. ]] SLAMing on 24.831193817000003 meters Centerline goodness [0,1] 0.9133358159549818 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.02, Z:-0.40 [[ 0.99980094 -0.01970436 -0.00313297 1.93609822] [ 0.01967872 0.99977423 -0.00801439 -0.02248921] [ 0.00329019 0.00795114 0.99996298 -0.40416497] [ 0. 0. 0. 1. ]] SLAMing on 24.861193817000004 meters Centerline goodness [0,1] 0.9144406050197604 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.03, Z:-0.40 [[ 0.99973993 -0.02260811 -0.00299102 1.93499001] [ 0.02257913 0.99970095 -0.00939117 -0.02987421] [ 0.00320244 0.00932119 0.99995143 -0.40271438] [ 0. 0. 0. 1. ]] SLAMing on 24.891193817 meters Centerline goodness [0,1] 0.9144532383043965 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.04, Z:-0.40 [[ 0.9996635 -0.0257753 -0.00291764 1.93436673] [ 0.02574106 0.99960567 -0.01122101 -0.03608402] [ 0.00320572 0.01114214 0.99993279 -0.40172435] [ 0. 0. 0. 1. ]] SLAMing on 24.921193817000002 meters Centerline goodness [0,1] 0.9142738589211619 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.04, Z:-0.40 [[ 0.99956877 -0.02920325 -0.00307214 1.93501727] [ 0.02915935 0.99948392 -0.01347697 -0.04120132] [ 0.00346413 0.01338158 0.99990446 -0.40176064] [ 0. 0. 0. 1. ]] SLAMing on 24.951193817000004 meters Centerline goodness [0,1] 0.9099846517608994 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.05, Z:-0.40 [[ 0.99937566 -0.03513957 -0.00367462 1.93875782] [ 0.03506937 0.99922841 -0.01768413 -0.04909346] [ 0.0042932 0.01754422 0.99983687 -0.40456015] [ 0. 0. 0. 1. ]] SLAMing on 24.981193817 meters Centerline goodness [0,1] 0.9071677451468392 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.05, Z:-0.41 [[ 0.99938869 -0.03471708 -0.00411884 1.9403463 ] [ 0.03464659 0.99926988 -0.01610369 -0.05405047] [ 0.00467491 0.01595114 0.99986184 -0.40535857] [ 0. 0. 0. 1. ]] SLAMing on 25.011193817000002 meters Centerline goodness [0,1] 0.9049885166870125 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.06, Z:-0.41 [[ 0.99939674 -0.03445054 -0.00439467 1.94121864] [ 0.03438176 0.99929818 -0.01486715 -0.05797447] [ 0.00490376 0.01470708 0.99987982 -0.40568913] [ 0. 0. 0. 1. ]] SLAMing on 25.041193817000003 meters Centerline goodness [0,1] 0.9052906326386875 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.06, Z:-0.41 [[ 0.99940688 -0.03411964 -0.00466275 1.94162536] [ 0.0340528 0.99932568 -0.01373313 -0.06147439] [ 0.00512817 0.0135662 0.99989482 -0.4053739 ] [ 0. 0. 0. 1. ]] SLAMing on 25.071193817 meters Centerline goodness [0,1] 0.9054028829202531 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.07, Z:-0.40 [[ 0.99934016 -0.03604465 -0.00447443 1.93970954] [ 0.0359742 0.9992411 -0.01493585 -0.06733188] [ 0.00500939 0.01476503 0.99987844 -0.40305505] [ 0. 0. 0. 1. ]] SLAMing on 25.101193817000002 meters Centerline goodness [0,1] 0.9004183753779876 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.07, Z:-0.40 [[ 0.99936282 -0.03538751 -0.00465633 1.93934333] [ 0.03532186 0.99928483 -0.01349784 -0.07182739] [ 0.00513065 0.01332477 0.99989806 -0.40200428] [ 0. 0. 0. 1. ]] SLAMing on 25.131193817000003 meters Centerline goodness [0,1] 0.9079132813795391 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.08, Z:-0.40 [[ 0.99940682 -0.03413633 -0.00455127 1.93846005] [ 0.0340822 0.99935306 -0.01148299 -0.07628903] [ 0.00494031 0.01132106 0.99992371 -0.40108961] [ 0. 0. 0. 1. ]] SLAMing on 25.161193817 meters Centerline goodness [0,1] 0.9068724687990743 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.08, Z:-0.40 [[ 0.99953473 -0.03010098 -0.00492556 1.93924853] [ 0.03006673 0.99952419 -0.00688439 -0.07777366] [ 0.00513044 0.00673309 0.99996417 -0.40133483] [ 0. 0. 0. 1. ]] SLAMing on 25.191193817000002 meters Centerline goodness [0,1] 0.9090588503744269 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.08, Z:-0.40 [[ 9.99658816e-01 -2.55992052e-02 -5.18971475e-03 1.93942924e+00] [ 2.55889640e-02 9.99670487e-01 -2.03027194e-03 -7.92907938e-02] [ 5.23997802e-03 1.89677982e-03 9.99984472e-01 -4.01119794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.221193817000003 meters Centerline goodness [0,1] 0.9092829188495227 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.08, Z:-0.40 [[ 0.9997611 -0.02109907 -0.00570761 1.94038754] [ 0.02111513 0.99977322 0.00276822 -0.08144352] [ 0.00564791 -0.00288808 0.99997988 -0.40118066] [ 0. 0. 0. 1. ]] SLAMing on 25.251193817 meters Centerline goodness [0,1] 0.9066572736879183 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.09, Z:-0.40 [[ 9.99946888e-01 -9.04703172e-03 -4.93693516e-03 1.94109746e+00] [ 9.04569202e-03 9.99959044e-01 -2.93625827e-04 -8.56853096e-02] [ 4.93938940e-03 2.48952237e-04 9.99987770e-01 -4.00335902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.281193817000002 meters Centerline goodness [0,1] 0.904725372701072 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.09, Z:-0.40 [[ 0.9999744 -0.00500823 -0.00511092 1.94181277] [ 0.00502931 0.99997886 0.00412034 -0.08796711] [ 0.00509017 -0.00414593 0.99997845 -0.40079388] [ 0. 0. 0. 1. ]] SLAMing on 25.311193817000003 meters Centerline goodness [0,1] 0.9065098819967232 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.09, Z:-0.40 [[ 0.99997762 -0.00430109 -0.00512355 1.94203567] [ 0.00432558 0.99997923 0.00477749 -0.08882835] [ 0.00510289 -0.00479955 0.99997546 -0.40104018] [ 0. 0. 0. 1. ]] SLAMing on 25.341193817 meters Centerline goodness [0,1] 0.9079641240709214 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.09, Z:-0.40 [[ 0.99997884 -0.00387241 -0.00522709 1.942092 ] [ 0.00390102 0.9999774 0.00547536 -0.09051849] [ 0.00520576 -0.00549563 0.99997135 -0.40075432] [ 0. 0. 0. 1. ]] SLAMing on 25.371193817 meters Centerline goodness [0,1] 0.9094330259294487 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.10, Z:-0.40 [[ 0.99997334 -0.00460463 -0.00566642 1.94278362] [ 0.00463429 0.99997558 0.00523101 -0.09537708] [ 0.00564219 -0.00525713 0.99997026 -0.40049299] [ 0. 0. 0. 1. ]] SLAMing on 25.401193817000003 meters Centerline goodness [0,1] 0.9090758185666266 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.10, Z:-0.40 [[ 0.9999742 -0.00427273 -0.00577352 1.9429768 ] [ 0.00430856 0.99997145 0.00620777 -0.09830274] [ 0.00574683 -0.00623248 0.99996406 -0.40036209] [ 0. 0. 0. 1. ]] SLAMing on 25.431193817000004 meters Centerline goodness [0,1] 0.9086739987549284 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.10, Z:-0.40 [[ 0.99997323 -0.00414106 -0.00603253 1.94378524] [ 0.00418264 0.99996747 0.00689698 -0.10104107] [ 0.00600377 -0.00692203 0.99995802 -0.40064172] [ 0. 0. 0. 1. ]] SLAMing on 25.461193817 meters Centerline goodness [0,1] 0.9059813084112149 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.11, Z:-0.40 [[ 0.99997025 -0.00408241 -0.00654394 1.9458005 ] [ 0.00413195 0.99996278 0.00757431 -0.10642671] [ 0.00651278 -0.00760112 0.9999499 -0.40182984] [ 0. 0. 0. 1. ]] SLAMing on 25.491193817000003 meters Centerline goodness [0,1] 0.9076130961031411 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.11, Z:-0.40 [[ 0.99997026 -0.00381256 -0.00670388 1.94625904] [ 0.00386817 0.99995806 0.00830186 -0.10925903] [ 0.00667195 -0.00832754 0.99994307 -0.40184796] [ 0. 0. 0. 1. ]] SLAMing on 25.521193817000004 meters Centerline goodness [0,1] 0.9063965796355485 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.11, Z:-0.40 [[ 0.99996121 -0.0059851 -0.00646194 1.94482382] [ 0.00602406 0.99996369 0.00602762 -0.11152034] [ 0.00642563 -0.00606631 0.99996095 -0.40058609] [ 0. 0. 0. 1. ]] SLAMing on 25.551193817 meters Centerline goodness [0,1] 0.9106958069456517 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.12, Z:-0.40 [[ 0.99994901 -0.00721764 -0.00706219 1.94556315] [ 0.00725256 0.99996154 0.00493123 -0.11501264] [ 0.00702632 -0.0049822 0.9999629 -0.40003814] [ 0. 0. 0. 1. ]] SLAMing on 25.581193817000003 meters Centerline goodness [0,1] 0.9162574844096381 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.12, Z:-0.40 [[ 0.99995431 -0.0065685 -0.0069455 1.94463839] [ 0.00661339 0.99995727 0.00645948 -0.11971922] [ 0.00690277 -0.00650512 0.99995502 -0.39890121] [ 0. 0. 0. 1. ]] SLAMing on 25.611193817000004 meters Centerline goodness [0,1] 0.9120892797875871 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.12, Z:-0.40 [[ 0.99995577 -0.0062936 -0.00698968 1.94489804] [ 0.00634594 0.9999518 0.00749187 -0.12336171] [ 0.00694219 -0.00753589 0.99994751 -0.39891439] [ 0. 0. 0. 1. ]] SLAMing on 25.641193817 meters Centerline goodness [0,1] 0.9102224247193804 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.13, Z:-0.40 [[ 0.99995238 -0.00633891 -0.0074195 1.94739183] [ 0.00639971 0.9999459 0.00819962 -0.12792397] [ 0.00736712 -0.00824672 0.99993886 -0.4008919 ] [ 0. 0. 0. 1. ]] SLAMing on 25.671193817000002 meters Centerline goodness [0,1] 0.9143171303499927 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.13, Z:-0.40 [[ 0.99995228 -0.00623962 -0.0075169 1.94786788] [ 0.00630653 0.99994042 0.00891024 -0.13063581] [ 0.00746086 -0.00895722 0.99993205 -0.40107323] [ 0. 0. 0. 1. ]] SLAMing on 25.701193817000004 meters Centerline goodness [0,1] 0.9110597747617672 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.13, Z:-0.40 [[ 0.99992591 -0.00939857 -0.0077355 1.94824946] [ 0.00944434 0.99993798 0.00590184 -0.1327135 ] [ 0.00767955 -0.00597446 0.99995266 -0.4009148 ] [ 0. 0. 0. 1. ]] SLAMing on 25.731193817 meters Centerline goodness [0,1] 0.907585779247623 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.14, Z:-0.40 [[ 0.99988893 -0.0126971 -0.00780406 1.94823803] [ 0.0127221 0.99991407 0.00316273 -0.13612992] [ 0.00776324 -0.00326166 0.99996455 -0.40050277] [ 0. 0. 0. 1. ]] SLAMing on 25.761193817000002 meters Centerline goodness [0,1] 0.910530581707089 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.14, Z:-0.40 [[ 9.99787135e-01 -1.91595622e-02 -7.65476953e-03 1.94841425e+00] [ 1.91461296e-02 9.99815032e-01 -1.82425095e-03 -1.44571128e-01] [ 7.68830549e-03 1.67730342e-03 9.99969038e-01 -4.00599920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.791193817000003 meters Centerline goodness [0,1] 0.9106957424714434 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.15, Z:-0.40 [[ 0.99970662 -0.02294773 -0.00775123 1.94942531] [ 0.02291049 0.99972571 -0.00485868 -0.14779687] [ 0.0078606 0.00467967 0.99995815 -0.40133703] [ 0. 0. 0. 1. ]] SLAMing on 25.821193817 meters Centerline goodness [0,1] 0.9106957424714434 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.15, Z:-0.40 [[ 0.99970662 -0.02294773 -0.00775123 1.94942531] [ 0.02291049 0.99972571 -0.00485868 -0.14779687] [ 0.0078606 0.00467967 0.99995815 -0.40133703] [ 0. 0. 0. 1. ]] SLAMing on 25.851193817000002 meters Centerline goodness [0,1] 0.9086215476486689 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.15, Z:-0.40 [[ 0.99960878 -0.02684211 -0.00786022 1.95067772] [ 0.02677811 0.99960828 -0.00813794 -0.15017266] [ 0.00807558 0.00792428 0.99993599 -0.40234746] [ 0. 0. 0. 1. ]] SLAMing on 25.881193817000003 meters Centerline goodness [0,1] 0.9070973631252464 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.15, Z:-0.40 [[ 0.99950058 -0.03059605 -0.00790405 1.95157892] [ 0.03050599 0.99947099 -0.01127455 -0.15260514] [ 0.00824483 0.0110278 0.9999052 -0.40299883] [ 0. 0. 0. 1. ]] SLAMing on 25.911193817 meters Centerline goodness [0,1] 0.9024182667358589 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.16, Z:-0.40 [[ 0.9993629 -0.03482867 -0.00779441 1.95242773] [ 0.03472056 0.99930451 -0.01360038 -0.15946952] [ 0.00826267 0.01332109 0.99987713 -0.40360324] [ 0. 0. 0. 1. ]] SLAMing on 25.941193817000002 meters Centerline goodness [0,1] 0.8986027778354475 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.16, Z:-0.40 [[ 0.99935862 -0.03489099 -0.0080598 1.95360853] [ 0.03478764 0.99931496 -0.01262667 -0.16317611] [ 0.00849484 0.01233819 0.9998878 -0.40415645] [ 0. 0. 0. 1. ]] SLAMing on 25.971193817000003 meters Centerline goodness [0,1] 0.8891120682514703 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.16, Z:-0.41 [[ 0.99935369 -0.03493254 -0.00848057 1.95543242] [ 0.03482828 0.99931952 -0.01214453 -0.16489417] [ 0.00889904 0.01184132 0.99989029 -0.40532431] [ 0. 0. 0. 1. ]] SLAMing on 26.001193817 meters Centerline goodness [0,1] 0.8848309339777912 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.17, Z:-0.41 [[ 0.99935721 -0.03473106 -0.0088839 1.95719639] [ 0.03462835 0.9993345 -0.01146491 -0.16694306] [ 0.00927618 0.01114991 0.99989481 -0.40653087] [ 0. 0. 0. 1. ]] SLAMing on 26.031193817000002 meters Centerline goodness [0,1] 0.8839065447685387 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.17, Z:-0.41 [[ 0.99936064 -0.03451087 -0.00934457 1.95825109] [ 0.03440587 0.99934549 -0.01117273 -0.1676697 ] [ 0.00972403 0.01084407 0.99989392 -0.4066372 ] [ 0. 0. 0. 1. ]] SLAMing on 26.061193817000003 meters Centerline goodness [0,1] 0.8849695483173626 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.17, Z:-0.41 [[ 0.99947191 -0.03102869 -0.00964955 1.95846561] [ 0.03096369 0.99949728 -0.00681377 -0.17080413] [ 0.00985612 0.00651139 0.99993023 -0.40600896] [ 0. 0. 0. 1. ]] SLAMing on 26.091193817 meters Centerline goodness [0,1] 0.8850180017065201 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.17, Z:-0.40 [[ 0.99957048 -0.0276817 -0.00962133 1.95708348] [ 0.02765756 0.99961399 -0.00263329 -0.17299855] [ 0.00969051 0.00236606 0.99995025 -0.40403299] [ 0. 0. 0. 1. ]] SLAMing on 26.121193817 meters Centerline goodness [0,1] 0.8868144205580274 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.17, Z:-0.40 [[ 0.99956855 -0.02770432 -0.0097563 1.95694537] [ 0.0276788 0.99961311 -0.0027408 -0.17170895] [ 0.00982846 0.00246957 0.99994865 -0.40344882] [ 0. 0. 0. 1. ]] SLAMing on 26.151193817000003 meters Centerline goodness [0,1] 0.8857125126698798 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.17, Z:-0.40 [[ 0.99956253 -0.02786478 -0.00991434 1.9572258 ] [ 0.02783518 0.99960769 -0.00311073 -0.169821 ] [ 0.00999713 0.0028334 0.99994601 -0.40335614] [ 0. 0. 0. 1. ]] SLAMing on 26.181193817000004 meters Centerline goodness [0,1] 0.9016240044914849 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.17, Z:-0.40 [[ 9.99653210e-01 -2.43330930e-02 -1.00677847e-02 1.95696142e+00] [ 2.43436385e-02 9.99703221e-01 9.26213517e-04 -1.70273215e-01] [ 1.00422591e-02 -1.17097883e-03 9.99948890e-01 -4.02566521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.211193817 meters Centerline goodness [0,1] 0.9011234098793987 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.17, Z:-0.40 [[ 0.99982932 -0.01806471 -0.00387225 1.96630099] [ 0.01805218 0.99983177 -0.00324671 -0.16697483] [ 0.00393025 0.00317625 0.99998723 -0.40460001] [ 0. 0. 0. 1. ]] SLAMing on 26.241193817000003 meters Centerline goodness [0,1] 0.9134977448586916 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.17, Z:-0.40 [[ 9.99907630e-01 -1.30757551e-02 -3.70887714e-03 1.96423387e+00] [ 1.30819035e-02 9.99913086e-01 1.63836598e-03 -1.67167927e-01] [ 3.68713191e-03 -1.68673382e-03 9.99991780e-01 -4.02430953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.271193817000004 meters Centerline goodness [0,1] 0.9172320780163917 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.17, Z:-0.40 [[ 0.99995942 -0.0083442 -0.00339705 1.96181242] [ 0.00836474 0.99994654 0.00607812 -0.1664184 ] [ 0.00334615 -0.00610629 0.99997576 -0.40014414] [ 0. 0. 0. 1. ]] SLAMing on 26.301193817 meters Centerline goodness [0,1] 0.9188015631784628 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.16, Z:-0.40 [[ 9.99996997e-01 -2.39310719e-03 -5.27857190e-04 1.96881183e+00] [ 2.39267020e-03 9.99996796e-01 -8.26938485e-04 -1.63438947e-01] [ 5.29834451e-04 8.25673013e-04 9.99999519e-01 -3.99468007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.331193817000003 meters Centerline goodness [0,1] 0.9200496842976917 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.16, Z:-0.40 [[ 9.99998225e-01 1.86805578e-03 -2.45739831e-04 1.96703379e+00] [-1.86737351e-03 9.99994481e-01 2.74792103e-03 -1.60813694e-01] [ 2.50871744e-04 -2.74745726e-03 9.99996194e-01 -3.97913588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.361193817000004 meters Centerline goodness [0,1] 0.9197965327519984 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.16, Z:-0.40 [[ 9.99997991e-01 1.98472318e-03 -2.80379574e-04 1.96672347e+00] [-1.98394525e-03 9.99994256e-01 2.74811470e-03 -1.60805850e-01] [ 2.85832211e-04 -2.74755293e-03 9.99996185e-01 -3.97427048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.391193817 meters Centerline goodness [0,1] 0.9173811055985718 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.16, Z:-0.40 [[ 9.99998291e-01 1.80528222e-03 -3.98253909e-04 1.96732510e+00] [-1.80420978e-03 9.99994789e-01 2.67697828e-03 -1.61447360e-01] [ 4.03084535e-04 -2.67625518e-03 9.99996338e-01 -3.97849640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.421193817000002 meters Centerline goodness [0,1] 0.9187280611191411 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.16, Z:-0.40 [[ 9.99998660e-01 1.54880869e-03 -5.29769911e-04 1.96832255e+00] [-1.54747440e-03 9.99995653e-01 2.50982478e-03 -1.61742927e-01] [ 5.33654847e-04 -2.50900161e-03 9.99996710e-01 -3.98743216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.451193817000004 meters Centerline goodness [0,1] 0.9174421971295033 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.16, Z:-0.40 [[ 9.99998394e-01 1.70715584e-03 -5.45899720e-04 1.96904643e+00] [-1.70583694e-03 9.99995647e-01 2.40740903e-03 -1.61123652e-01] [ 5.50007167e-04 -2.40647395e-03 9.99996953e-01 -3.99822661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.481193817 meters Centerline goodness [0,1] 0.9206775459615781 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.16, Z:-0.40 [[ 9.99997470e-01 2.09616850e-03 -8.16527402e-04 1.97019903e+00] [-2.09418648e-03 9.99994877e-01 2.42071748e-03 -1.60773235e-01] [ 8.21597451e-04 -2.41900140e-03 9.99996737e-01 -4.00715471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.511193817000002 meters Centerline goodness [0,1] 0.9200257245399663 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.16, Z:-0.40 [[ 9.99995244e-01 2.93675422e-03 -9.42505868e-04 1.97068185e+00] [-2.93408366e-03 9.99991712e-01 2.82244519e-03 -1.61096018e-01] [ 9.50786884e-04 -2.81966637e-03 9.99995573e-01 -4.01170488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.541193817000003 meters Centerline goodness [0,1] 0.9207715441252722 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.16, Z:-0.40 [[ 9.99991825e-01 3.80541954e-03 -1.36720049e-03 1.97211831e+00] [-3.80102461e-03 9.99987647e-01 3.20289337e-03 -1.61525424e-01] [ 1.37937195e-03 -3.19767042e-03 9.99993936e-01 -4.02140820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.571193817 meters Centerline goodness [0,1] 0.9261662865436451 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.17, Z:-0.40 [[ 9.99951046e-01 9.69742302e-03 -1.96617653e-03 1.97535083e+00] [-9.67945029e-03 9.99913070e-01 8.95320851e-03 -1.65055211e-01] [ 2.05282867e-03 -8.93373870e-03 9.99957986e-01 -4.04887794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.601193817000002 meters Centerline goodness [0,1] 0.9234769224369241 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.17, Z:-0.41 [[ 0.999945 0.01023178 -0.00230391 1.97698625] [-0.01021005 0.99990508 0.00925112 -0.16575796] [ 0.00239835 -0.00922708 0.99995455 -0.40625936] [ 0. 0. 0. 1. ]] SLAMing on 26.631193817000003 meters Centerline goodness [0,1] 0.8964748995356778 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.17, Z:-0.41 [[ 0.99993831 0.01077609 -0.00269159 1.97854467] [-0.01074896 0.99989324 0.00989827 -0.16787414] [ 0.00279797 -0.00986873 0.99994739 -0.40732305] [ 0. 0. 0. 1. ]] SLAMing on 26.661193817 meters Centerline goodness [0,1] 0.9071176592654078 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.17, Z:-0.41 [[ 0.99993396 0.01109242 -0.00300455 1.97983071] [-0.01105997 0.99988257 0.01060752 -0.17053682] [ 0.00312186 -0.01057359 0.99993922 -0.40812073] [ 0. 0. 0. 1. ]] SLAMing on 26.691193817000002 meters Centerline goodness [0,1] 0.908632600983382 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.18, Z:-0.41 [[ 0.99995727 0.00878135 -0.00288951 1.97922044] [-0.00875463 0.99991995 0.00913467 -0.17757739] [ 0.00296949 -0.00910898 0.9999541 -0.40763381] [ 0. 0. 0. 1. ]] SLAMing on 26.721193817000003 meters Centerline goodness [0,1] 0.913981623913857 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.18, Z:-0.41 [[ 0.99998066 0.0054995 -0.00290311 1.97893115] [-0.00548052 0.99996383 0.00650373 -0.18195588] [ 0.00293877 -0.0064877 0.99997464 -0.40716714] [ 0. 0. 0. 1. ]] SLAMing on 26.751193817 meters Centerline goodness [0,1] 0.9176306880724417 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.19, Z:-0.41 [[ 0.99999364 0.00203013 -0.0029308 1.97867532] [-0.00201851 0.99999012 0.00396082 -0.18703458] [ 0.00293881 -0.00395488 0.99998786 -0.40655065] [ 0. 0. 0. 1. ]] SLAMing on 26.781193817000002 meters Centerline goodness [0,1] 0.9248006313341086 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.19, Z:-0.41 [[ 9.99996002e-01 -9.19900880e-04 -2.67407167e-03 1.97730968e+00] [ 9.25557495e-04 9.99997335e-01 2.11488929e-03 -1.92428381e-01] [ 2.67211906e-03 -2.11735584e-03 9.99994188e-01 -4.05155244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.811193817000003 meters Centerline goodness [0,1] 0.9264629725530813 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.20, Z:-0.40 [[ 9.99988605e-01 -3.94788153e-03 -2.68398977e-03 1.97704996e+00] [ 3.94840351e-03 9.99992187e-01 1.89207916e-04 -1.97717083e-01] [ 2.68322183e-03 -1.99803235e-04 9.99996380e-01 -4.04467958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.841193817000004 meters Centerline goodness [0,1] 0.9269371314674861 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.21, Z:-0.40 [[ 0.99994503 -0.01016568 -0.00256873 1.97653242] [ 0.01015811 0.99994407 -0.00294411 -0.20985592] [ 0.00259852 0.00291785 0.99999237 -0.40274789] [ 0. 0. 0. 1. ]] SLAMing on 26.871193817 meters Centerline goodness [0,1] 0.9231389578163771 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.22, Z:-0.40 [[ 0.99990475 -0.01353228 -0.00271287 1.97743799] [ 0.01351832 0.99989562 -0.00509984 -0.21573727] [ 0.0027816 0.00506268 0.99998332 -0.40313781] [ 0. 0. 0. 1. ]] SLAMing on 26.901193817000003 meters Centerline goodness [0,1] 0.9171399657159379 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.23, Z:-0.40 [[ 0.99971994 -0.02352491 -0.00257401 1.97836467] [ 0.02348845 0.99963454 -0.01338197 -0.2250853 ] [ 0.00288788 0.01331776 0.99990714 -0.40382295] [ 0. 0. 0. 1. ]] SLAMing on 26.931193817000004 meters Centerline goodness [0,1] 0.9128251939753538 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.23, Z:-0.40 [[ 0.99961774 -0.02751669 -0.00268278 1.97929295] [ 0.02746976 0.99949152 -0.0161897 -0.22984574] [ 0.0031269 0.01610982 0.99986534 -0.40416647] [ 0. 0. 0. 1. ]] SLAMing on 26.961193817 meters Centerline goodness [0,1] 0.9121310250342508 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.23, Z:-0.40 [[ 0.99949329 -0.03169838 -0.00289469 1.98077046] [ 0.03163662 0.99931226 -0.01934231 -0.23376461] [ 0.00350582 0.01924093 0.99980873 -0.40497339] [ 0. 0. 0. 1. ]] SLAMing on 26.991193817000003 meters Centerline goodness [0,1] 0.9101293326435592 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.24, Z:-0.41 [[ 0.99935379 -0.03581232 -0.00307952 1.98243838] [ 0.03573339 0.99910346 -0.02270247 -0.23665104] [ 0.00388979 0.02257776 0.99973752 -0.4061596 ] [ 0. 0. 0. 1. ]] SLAMing on 27.021193817000004 meters Centerline goodness [0,1] 0.9055721145885081 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.24, Z:-0.41 [[ 0.99912517 -0.04170109 -0.00314929 1.98475044] [ 0.04160053 0.99876558 -0.02714253 -0.2407987 ] [ 0.00427728 0.02698777 0.99962661 -0.40786492] [ 0. 0. 0. 1. ]] SLAMing on 27.051193817 meters Centerline goodness [0,1] 0.8997197134848957 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.24, Z:-0.41 [[ 0.99911279 -0.04198716 -0.00327432 1.98479757] [ 0.04188547 0.99876804 -0.02660853 -0.24300972] [ 0.0043875 0.02644778 0.99964057 -0.40717778] [ 0. 0. 0. 1. ]] SLAMing on 27.081193817000003 meters Centerline goodness [0,1] 0.8982882041705571 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.24, Z:-0.41 [[ 0.9991224 -0.04174703 -0.00340749 1.98465322] [ 0.04164498 0.99879606 -0.02592558 -0.24466537] [ 0.0044857 0.02576093 0.99965807 -0.40645719] [ 0. 0. 0. 1. ]] SLAMing on 27.111193817000004 meters Centerline goodness [0,1] 0.8994601749777659 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.25, Z:-0.41 [[ 0.99926257 -0.03820945 -0.00378895 1.98513048] [ 0.03811978 0.99904324 -0.0214355 -0.24736218] [ 0.00460436 0.02127526 0.99976305 -0.40592623] [ 0. 0. 0. 1. ]] SLAMing on 27.141193817 meters Centerline goodness [0,1] 0.8989205715355337 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.25, Z:-0.41 [[ 0.99940236 -0.03431702 -0.00415631 1.98584813] [ 0.034242 0.99926991 -0.0169448 -0.24947256] [ 0.00473477 0.01679235 0.99984779 -0.40597892] [ 0. 0. 0. 1. ]] SLAMing on 27.171193817000002 meters Centerline goodness [0,1] 0.9091571128357712 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.25, Z:-0.41 [[ 0.99953279 -0.03020479 -0.00467612 1.98703306] [ 0.0301443 0.99946732 -0.01250625 -0.2508352 ] [ 0.00505138 0.01235945 0.99991086 -0.40641971] [ 0. 0. 0. 1. ]] SLAMing on 27.201193817000004 meters Centerline goodness [0,1] 0.9021476759299375 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.25, Z:-0.41 [[ 0.9997166 -0.0231098 -0.00571383 1.99071848] [ 0.0230786 0.9997187 -0.00546853 -0.25054822] [ 0.0058386 0.00533511 0.99996872 -0.40900043] [ 0. 0. 0. 1. ]] SLAMing on 27.231193817 meters Centerline goodness [0,1] 0.9065805057452158 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.25, Z:-0.41 [[ 9.99806404e-01 -1.87744676e-02 -5.88845276e-03 1.99059237e+00] [ 1.87697336e-02 9.99823465e-01 -8.58196880e-04 -2.51677370e-01] [ 5.90352543e-03 7.47506047e-04 9.99982295e-01 -4.08437363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.261193817000002 meters Centerline goodness [0,1] 0.907548067967796 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.25, Z:-0.41 [[ 9.99823202e-01 -1.77702018e-02 -6.14699492e-03 1.99050013e+00] [ 1.77700446e-02 9.99842097e-01 -8.01813432e-05 -2.52244314e-01] [ 6.14744913e-03 -2.90652069e-05 9.99981104e-01 -4.07777997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.291193817000003 meters Centerline goodness [0,1] 0.908261068005477 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.25, Z:-0.41 [[ 0.99988297 -0.01388293 -0.00642808 1.99082284] [ 0.01391159 0.99989339 0.00443548 -0.25496655] [ 0.00636581 -0.00452438 0.9999695 -0.40728524] [ 0. 0. 0. 1. ]] SLAMing on 27.321193817 meters Centerline goodness [0,1] 0.9094861496418367 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.26, Z:-0.41 [[ 0.99992167 -0.01039122 -0.00697658 1.99296086] [ 0.01044741 0.99991289 0.00806657 -0.25533047] [ 0.00689215 -0.00813883 0.99994313 -0.40864204] [ 0. 0. 0. 1. ]] SLAMing on 27.351193817000002 meters Centerline goodness [0,1] 0.9084040571310288 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.25, Z:-0.41 [[ 0.99992118 -0.01029206 -0.00719033 1.99371778] [ 0.01034859 0.99991549 0.00786902 -0.25390538] [ 0.00710873 -0.00794281 0.99994319 -0.40919456] [ 0. 0. 0. 1. ]] SLAMing on 27.381193817000003 meters Centerline goodness [0,1] 0.9141197219628592 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.25, Z:-0.40 [[ 9.99950083e-01 -5.71135112e-03 -8.19823258e-03 1.99827649e+00] [ 5.71295922e-03 9.99983666e-01 1.72747003e-04 -2.54247022e-01] [ 8.19711205e-03 -2.19574548e-04 9.99966379e-01 -4.04140722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.411193817 meters Centerline goodness [0,1] 0.9157636899572383 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.26, Z:-0.40 [[ 9.99957058e-01 -4.60997354e-03 -8.03923878e-03 1.99659569e+00] [ 4.62148283e-03 9.99988322e-01 1.41365029e-03 -2.56514629e-01] [ 8.03262800e-03 -1.45074279e-03 9.99966686e-01 -4.02301213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.441193817000002 meters Centerline goodness [0,1] 0.9171490818549642 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.26, Z:-0.40 [[ 0.99996056 -0.00398939 -0.00793438 1.99558648] [ 0.00400583 0.99998986 0.00205797 -0.25771071] [ 0.00792609 -0.00208967 0.9999664 -0.40119004] [ 0. 0. 0. 1. ]] SLAMing on 27.471193817000003 meters Centerline goodness [0,1] 0.9200107729598708 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.26, Z:-0.40 [[ 0.99996142 -0.00379942 -0.00792012 1.99541256] [ 0.00381643 0.99999044 0.00213291 -0.25764818] [ 0.00791194 -0.00216306 0.99996636 -0.40091769] [ 0. 0. 0. 1. ]] SLAMing on 27.501193817 meters Centerline goodness [0,1] 0.9199280158861493 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.26, Z:-0.40 [[ 0.99996339 -0.00348208 -0.00781601 1.99473758] [ 0.00349867 0.99999165 0.00210991 -0.25645273] [ 0.00780859 -0.00213718 0.99996723 -0.40038832] [ 0. 0. 0. 1. ]] SLAMing on 27.531193817000002 meters Centerline goodness [0,1] 0.920738665836705 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.26, Z:-0.40 [[ 0.99996461 -0.00323064 -0.00776792 1.9943343 ] [ 0.00325116 0.99999125 0.00263086 -0.25753681] [ 0.00775935 -0.00265602 0.99996637 -0.39987736] [ 0. 0. 0. 1. ]] SLAMing on 27.561193817000003 meters Centerline goodness [0,1] 0.9203514151920766 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.26, Z:-0.40 [[ 0.99996213 -0.00350807 -0.00796492 1.9950628 ] [ 0.00353092 0.99998968 0.00285752 -0.25945145] [ 0.00795481 -0.00288553 0.9999642 -0.40003754] [ 0. 0. 0. 1. ]] SLAMing on 27.591193817000004 meters Centerline goodness [0,1] 0.9184417737256527 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.26, Z:-0.40 [[ 0.99995921 -0.00390751 -0.00814254 1.99575823] [ 0.00393413 0.99998696 0.0032548 -0.26240865] [ 0.00812972 -0.0032867 0.99996155 -0.40014824] [ 0. 0. 0. 1. ]] SLAMing on 27.621193817 meters Centerline goodness [0,1] 0.9164418807320414 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.27, Z:-0.40 [[ 0.99995633 -0.00435052 -0.00827084 1.99628689] [ 0.00438237 0.99998304 0.00383711 -0.26577638] [ 0.008254 -0.00387319 0.99995843 -0.40003205] [ 0. 0. 0. 1. ]] SLAMing on 27.651193817000003 meters Centerline goodness [0,1] 0.913332233314083 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.27, Z:-0.40 [[ 0.99994214 -0.00611676 -0.00884918 1.99959296] [ 0.00614168 0.99997724 0.00279152 -0.26831345] [ 0.0088319 -0.00284571 0.99995695 -0.40238551] [ 0. 0. 0. 1. ]] SLAMing on 27.681193817000004 meters Centerline goodness [0,1] 0.906323282213045 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.27, Z:-0.41 [[ 9.99906459e-01 -9.92026165e-03 -9.41607812e-03 2.00449854e+00] [ 9.92068731e-03 9.99950789e-01 -1.50215885e-06 -2.70986035e-01] [ 9.41562964e-03 -9.19119483e-05 9.99955668e-01 -4.06785101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.711193817 meters Centerline goodness [0,1] 0.906323282213045 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.27, Z:-0.41 [[ 9.99906459e-01 -9.92026165e-03 -9.41607812e-03 2.00449854e+00] [ 9.92068731e-03 9.99950789e-01 -1.50215885e-06 -2.70986035e-01] [ 9.41562964e-03 -9.19119483e-05 9.99955668e-01 -4.06785101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.741193817000003 meters Centerline goodness [0,1] 0.9051853082931693 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.27, Z:-0.41 [[ 9.99900346e-01 -1.01887725e-02 -9.77170912e-03 2.00568501e+00] [ 1.01922234e-02 9.99948012e-01 3.03414464e-04 -2.72414481e-01] [ 9.76810969e-03 -4.02979670e-04 9.99952210e-01 -4.07211812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.771193817000004 meters Centerline goodness [0,1] 0.9045465807730426 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.27, Z:-0.41 [[ 0.99993911 -0.00938271 -0.00580814 2.01973061] [ 0.00933282 0.99991983 -0.00855785 -0.27186069] [ 0.00588797 0.00850312 0.99994651 -0.41187816] [ 0. 0. 0. 1. ]] SLAMing on 27.801193817 meters Centerline goodness [0,1] 0.903989532927665 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.27, Z:-0.41 [[ 0.99994025 -0.00908912 -0.00607352 2.01964408] [ 0.00904183 0.99992894 -0.00776911 -0.27411246] [ 0.00614371 0.00771373 0.99995138 -0.41089372] [ 0. 0. 0. 1. ]] SLAMing on 27.831193817000003 meters Centerline goodness [0,1] 0.902054894138669 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.28, Z:-0.41 [[ 0.99994896 -0.00794287 -0.00624383 2.01891932] [ 0.00790406 0.99994944 -0.00621592 -0.27745087] [ 0.00629288 0.00616625 0.99996119 -0.409438 ] [ 0. 0. 0. 1. ]] SLAMing on 27.861193817000004 meters Centerline goodness [0,1] 0.904898298048983 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.28, Z:-0.41 [[ 9.99970909e-01 -3.98398584e-03 -6.50453112e-03 2.01935341e+00] [ 3.97303346e-03 9.99990669e-01 -1.69586226e-03 -2.79153660e-01] [ 6.51122672e-03 1.66997020e-03 9.99977407e-01 -4.09078234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.891193817 meters Centerline goodness [0,1] 0.9052323530022208 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.28, Z:-0.41 [[ 9.99976013e-01 -5.71361890e-04 -6.90270615e-03 2.02085884e+00] [ 5.84279783e-04 9.99998082e-01 1.86955284e-03 -2.79194261e-01] [ 6.90162472e-03 -1.87354111e-03 9.99974428e-01 -4.09822722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.921193817000002 meters Centerline goodness [0,1] 0.9089632963131167 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.28, Z:-0.41 [[ 9.99974786e-01 4.91327103e-04 -7.08415144e-03 2.02024356e+00] [-4.75603720e-04 9.99997420e-01 2.22102926e-03 -2.77541526e-01] [ 7.08522442e-03 -2.21760401e-03 9.99972441e-01 -4.08944755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.951193817000004 meters Centerline goodness [0,1] 0.9117239381839999 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.28, Z:-0.41 [[ 9.99975328e-01 6.70587017e-04 -6.99244373e-03 2.01932033e+00] [-6.51097966e-04 9.99995899e-01 2.78906289e-03 -2.79290585e-01] [ 6.99428536e-03 -2.78444132e-03 9.99971663e-01 -4.07763233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.981193817 meters Centerline goodness [0,1] 0.9099418845994188 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.28, Z:-0.41 [[ 9.99977604e-01 -9.29212280e-04 -6.62777789e-03 2.01675287e+00] [ 9.37959408e-04 9.99998693e-01 1.31678166e-03 -2.80022661e-01] [ 6.62654566e-03 -1.32296875e-03 9.99977169e-01 -4.05468997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.011193817000002 meters Centerline goodness [0,1] 0.9090343067056845 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.28, Z:-0.41 [[ 9.99977498e-01 -1.18922858e-03 -6.60223135e-03 2.01661908e+00] [ 1.19862966e-03 9.99998273e-01 1.42015072e-03 -2.80906578e-01] [ 6.60053107e-03 -1.42803239e-03 9.99977197e-01 -4.05134544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.041193817000003 meters Centerline goodness [0,1] 0.9085665677711156 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.28, Z:-0.40 [[ 9.99976356e-01 -1.87486951e-03 -6.61603190e-03 2.01672776e+00] [ 1.88352504e-03 9.99997378e-01 1.30227788e-03 -2.81159854e-01] [ 6.61357295e-03 -1.31470855e-03 9.99977266e-01 -4.04857704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.071193817 meters Centerline goodness [0,1] 0.9091604948487733 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.28, Z:-0.41 [[ 9.99972837e-01 -2.46921569e-03 -6.94459115e-03 2.01822931e+00] [ 2.47312087e-03 9.99996788e-01 5.53802194e-04 -2.79824197e-01] [ 6.94320139e-03 -5.70961964e-04 9.99975733e-01 -4.05888420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.101193817000002 meters Centerline goodness [0,1] 0.9074938067712635 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.28, Z:-0.41 [[ 9.99970424e-01 -2.64472882e-03 -7.22191910e-03 2.01923886e+00] [ 2.64532688e-03 9.99996498e-01 7.32606903e-05 -2.78256050e-01] [ 7.22170005e-03 -9.23628603e-05 9.99973919e-01 -4.06500284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.131193817000003 meters Centerline goodness [0,1] 0.9070731657006126 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.28, Z:-0.41 [[ 9.99969565e-01 -2.53995185e-03 -7.37684471e-03 2.01975851e+00] [ 2.53875755e-03 9.99996763e-01 -1.71258425e-04 -2.77034185e-01] [ 7.37725581e-03 1.52525192e-04 9.99972776e-01 -4.06849641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.161193817 meters Centerline goodness [0,1] 0.9083891851513706 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.27, Z:-0.41 [[ 9.99965857e-01 -2.92501703e-03 -7.72844017e-03 2.02147463e+00] [ 2.91621530e-03 9.99995087e-01 -1.14989920e-03 -2.74170595e-01] [ 7.73176567e-03 1.12732215e-03 9.99969474e-01 -4.08463204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.191193817000002 meters Centerline goodness [0,1] 0.9046137250020745 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.27, Z:-0.41 [[ 9.99963385e-01 -3.14388708e-03 -7.95895463e-03 2.02224525e+00] [ 3.13292743e-03 9.99994128e-01 -1.38911560e-03 -2.73663669e-01] [ 7.96327512e-03 1.36412991e-03 9.99967362e-01 -4.08844665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.221193817000003 meters Centerline goodness [0,1] 0.9060133999875541 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.27, Z:-0.41 [[ 9.99960593e-01 -3.39018755e-03 -8.20484923e-03 2.02297402e+00] [ 3.37860864e-03 9.99993278e-01 -1.42467689e-03 -2.74170433e-01] [ 8.20962400e-03 1.39689978e-03 9.99965325e-01 -4.09054043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.251193817000004 meters Centerline goodness [0,1] 0.9048426801266006 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.28, Z:-0.41 [[ 9.99955886e-01 -3.92950871e-03 -8.53146830e-03 2.02428540e+00] [ 3.91692799e-03 9.99991218e-01 -1.49083346e-03 -2.75358230e-01] [ 8.53725161e-03 1.45735055e-03 9.99962495e-01 -4.09628711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.281193817000002 meters Centerline goodness [0,1] 0.9040561298625814 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.28, Z:-0.41 [[ 0.99992436 -0.00858215 -0.00881005 2.02554455] [ 0.00853064 0.99994639 -0.0058685 -0.27536268] [ 0.00885995 0.0057929 0.99994397 -0.41042655] [ 0. 0. 0. 1. ]] SLAMing on 28.311193817000003 meters Centerline goodness [0,1] 0.9013119774853076 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.28, Z:-0.41 [[ 0.99991799 -0.00901085 -0.00910013 2.02661749] [ 0.00895813 0.99994295 -0.00581753 -0.27596702] [ 0.00915204 0.00573553 0.99994167 -0.41081734] [ 0. 0. 0. 1. ]] SLAMing on 28.341193817000004 meters Centerline goodness [0,1] 0.8981789456178281 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.28, Z:-0.41 [[ 0.99991443 -0.00919044 -0.00930908 2.02697137] [ 0.00913938 0.99994304 -0.00551339 -0.27714369] [ 0.00935922 0.00542784 0.99994147 -0.41054258] [ 0. 0. 0. 1. ]] SLAMing on 28.371193817 meters Centerline goodness [0,1] 0.8887133652047391 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.28, Z:-0.41 [[ 0.99991092 -0.00943356 -0.00944279 2.02705497] [ 0.00938504 0.9999426 -0.00516937 -0.27854888] [ 0.00949101 0.00508029 0.99994205 -0.40998676] [ 0. 0. 0. 1. ]] SLAMing on 28.401193817000003 meters Centerline goodness [0,1] 0.8903938580612946 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.28, Z:-0.41 [[ 0.9999078 -0.00961502 -0.00958863 2.02705133] [ 0.00956841 0.99994224 -0.00489436 -0.27942474] [ 0.00963514 0.00480216 0.99994205 -0.40935012] [ 0. 0. 0. 1. ]] SLAMing on 28.431193817000004 meters Centerline goodness [0,1] 0.8871709499531787 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.28, Z:-0.41 [[ 9.99934540e-01 -6.91506407e-03 -9.11576233e-03 2.02588471e+00] [ 6.90430082e-03 9.99975431e-01 -1.21167142e-03 -2.78712351e-01] [ 9.12391715e-03 1.14865414e-03 9.99957716e-01 -4.08001128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.461193817 meters Centerline goodness [0,1] 0.8867469378418283 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.28, Z:-0.41 [[ 0.99995095 -0.00374566 -0.00916859 2.02584757] [ 0.00376759 0.99999008 0.00237622 -0.27851966] [ 0.0091596 -0.00241064 0.99995514 -0.40735983] [ 0. 0. 0. 1. ]] SLAMing on 28.491193817000003 meters Centerline goodness [0,1] 0.8936210014341834 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.28, Z:-0.41 [[ 9.99952256e-01 -3.45137894e-03 -9.14187044e-03 2.02513412e+00] [ 3.46966601e-03 9.99992010e-01 1.98526055e-03 -2.76431203e-01] [ 9.13494551e-03 -2.01688500e-03 9.99956242e-01 -4.06569075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.521193817000004 meters Centerline goodness [0,1] 0.9101903416174881 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.27, Z:-0.40 [[ 9.99960823e-01 3.52711251e-04 -8.84463321e-03 2.02155455e+00] [-3.12556194e-04 9.99989641e-01 4.54101901e-03 -2.73136184e-01] [ 8.84614326e-03 -4.53807667e-03 9.99950575e-01 -4.02993597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.551193817 meters Centerline goodness [0,1] 0.9118722219914427 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.27, Z:-0.40 [[ 9.99960558e-01 3.90804181e-04 -8.87297694e-03 2.02114933e+00] [-3.58207327e-04 9.99993183e-01 3.67501438e-03 -2.69540472e-01] [ 8.87435266e-03 -3.67169106e-03 9.99953881e-01 -4.02570402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.581193817000003 meters Centerline goodness [0,1] 0.9091739879950983 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.27, Z:-0.40 [[ 9.99960400e-01 1.17288725e-04 -8.89857361e-03 2.02128108e+00] [-9.36584993e-05 9.99996469e-01 2.65587736e-03 -2.65643309e-01] [ 8.89885369e-03 -2.65493876e-03 9.99956880e-01 -4.02770360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.611193817000004 meters Centerline goodness [0,1] 0.9091022288631553 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.26, Z:-0.40 [[ 9.99958737e-01 -6.52595629e-04 -9.06079570e-03 2.02236158e+00] [ 6.64319930e-04 9.99998946e-01 1.29100989e-03 -2.61474419e-01] [ 9.05994364e-03 -1.29697588e-03 9.99958117e-01 -4.03733327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.641193817 meters Centerline goodness [0,1] 0.9048034209324531 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.25, Z:-0.40 [[ 9.99959628e-01 -8.07938250e-04 -8.94924668e-03 2.02321407e+00] [ 8.12900937e-04 9.99999518e-01 5.50913306e-04 -2.54662897e-01] [ 8.94879726e-03 -5.58165916e-04 9.99959803e-01 -4.04855152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.671193817000002 meters Centerline goodness [0,1] 0.9119180671832479 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.25, Z:-0.40 [[ 9.99958495e-01 -8.60893878e-04 -9.07008572e-03 2.02329575e+00] [ 8.60717917e-04 9.99999629e-01 -2.33035988e-05 -2.52524153e-01] [ 9.07010242e-03 1.54958463e-05 9.99958866e-01 -4.04645880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.701193817000004 meters Centerline goodness [0,1] 0.9132548139839223 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.25, Z:-0.40 [[ 9.99957652e-01 -8.16387112e-04 -9.16662045e-03 2.02335863e+00] [ 8.12203611e-04 9.99999564e-01 -4.60097646e-04 -2.50907674e-01] [ 9.16699207e-03 4.52632999e-04 9.99957880e-01 -4.04473536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.731193817 meters Centerline goodness [0,1] 0.9092317864374561 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.25, Z:-0.41 [[ 9.99949725e-01 1.36343657e-04 -1.00263909e-02 2.02735183e+00] [-1.34011790e-04 9.99999964e-01 2.33244402e-04 -2.48848172e-01] [ 1.00264223e-02 -2.31889021e-04 9.99949707e-01 -4.07066982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.761193817000002 meters Centerline goodness [0,1] 0.9025413223140496 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.24, Z:-0.41 [[ 9.99940346e-01 3.41701350e-03 -1.03743914e-02 2.02929944e+00] [-3.40078001e-03 9.99992966e-01 1.58200401e-03 -2.40399301e-01] [ 1.03797241e-02 -1.54662862e-03 9.99944933e-01 -4.09306475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.791193817000003 meters Centerline goodness [0,1] 0.9110464276129725 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.23, Z:-0.41 [[ 9.99936395e-01 3.19073447e-03 -1.08178570e-02 2.03113879e+00] [-3.18740899e-03 9.99994868e-01 3.24633883e-04 -2.34968145e-01] [ 1.08188373e-02 -2.90132300e-04 9.99941433e-01 -4.10672465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.821193817 meters Centerline goodness [0,1] 0.912266500622665 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.23, Z:-0.41 [[ 9.99934205e-01 3.33273118e-03 -1.09762322e-02 2.03136835e+00] [-3.33580723e-03 9.99994402e-01 -2.61950187e-04 -2.31309813e-01] [ 1.09752977e-02 2.98547546e-04 9.99939725e-01 -4.10651863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.851193817000002 meters Centerline goodness [0,1] 0.9122985757355234 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.23, Z:-0.41 [[ 9.99934142e-01 3.31232391e-03 -1.09881743e-02 2.03107776e+00] [-3.32738104e-03 9.99993550e-01 -1.35230517e-03 -2.27250693e-01] [ 1.09836241e-02 1.38877795e-03 9.99938714e-01 -4.10413016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.881193817000003 meters Centerline goodness [0,1] 0.9116687108912126 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.23, Z:-0.41 [[ 9.99933002e-01 3.15301587e-03 -1.11377922e-02 2.03132129e+00] [-3.17331199e-03 9.99993336e-01 -1.80507306e-03 -2.25908394e-01] [ 1.11320266e-02 1.84029581e-03 9.99936344e-01 -4.10265220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.911193817 meters Centerline goodness [0,1] 0.9111476159780416 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.23, Z:-0.41 [[ 9.99932681e-01 3.21520285e-03 -1.11487820e-02 2.03122089e+00] [-3.23780346e-03 9.99992739e-01 -2.00972521e-03 -2.25258227e-01] [ 1.11422394e-02 2.04568748e-03 9.99935831e-01 -4.10002770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.941193817000002 meters Centerline goodness [0,1] 0.9130154371073108 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.22, Z:-0.41 [[ 0.99993216 0.00327228 -0.01117844 2.03095881] [-0.00329703 0.99999215 -0.00219621 -0.22448854] [ 0.01117117 0.00223292 0.99993511 -0.40949465] [ 0. 0. 0. 1. ]] SLAMing on 28.971193817000003 meters Centerline goodness [0,1] 0.9157684879446764 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.22, Z:-0.41 [[ 0.99992981 0.00334042 -0.01136727 2.03142647] [-0.00336926 0.99999115 -0.00251875 -0.22298645] [ 0.01135876 0.00255687 0.99993222 -0.40959596] [ 0. 0. 0. 1. ]] SLAMing on 29.001193817000004 meters Centerline goodness [0,1] 0.9197707736389684 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.22, Z:-0.41 [[ 9.99928142e-01 4.76282598e-03 -1.10011931e-02 2.02960481e+00] [-4.77892491e-03 9.99987548e-01 -1.43755560e-03 -2.20092712e-01] [ 1.09942093e-02 1.49002618e-03 9.99938452e-01 -4.08183809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.031193817000002 meters Centerline goodness [0,1] 0.9224596165380876 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.22, Z:-0.41 [[ 9.99926734e-01 4.56212835e-03 -1.12122451e-02 2.03038566e+00] [-4.58234709e-03 9.99987920e-01 -1.77824522e-03 -2.19186204e-01] [ 1.12039971e-02 1.82949334e-03 9.99935560e-01 -4.08535624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.061193817000003 meters Centerline goodness [0,1] 0.9195606759468012 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.22, Z:-0.41 [[ 9.99924100e-01 4.54805601e-03 -1.14503013e-02 2.03101591e+00] [-4.56806178e-03 9.99988084e-01 -1.72163578e-03 -2.19567524e-01] [ 1.14423347e-02 1.77381080e-03 9.99932961e-01 -4.08613591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.091193817000004 meters Centerline goodness [0,1] 0.919443982712766 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.22, Z:-0.41 [[ 9.99921761e-01 4.78702559e-03 -1.15566472e-02 2.03126343e+00] [-4.80212141e-03 9.99987652e-01 -1.27884985e-03 -2.20933294e-01] [ 1.15503827e-02 1.33424622e-03 9.99932402e-01 -4.08556375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.121193817 meters Centerline goodness [0,1] 0.9224577240676415 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.22, Z:-0.41 [[ 9.99918780e-01 5.79516341e-03 -1.13511622e-02 2.03029107e+00] [-5.79938169e-03 9.99983126e-01 -3.38735804e-04 -2.23072157e-01] [ 1.13490076e-02 4.04538014e-04 9.99935516e-01 -4.07854291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.151193817000003 meters Centerline goodness [0,1] 0.9236090912868242 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.22, Z:-0.41 [[ 9.99916267e-01 6.17040187e-03 -1.13747379e-02 2.03032778e+00] [-6.17282111e-03 9.99980932e-01 -1.77588761e-04 -2.23281491e-01] [ 1.13734252e-02 2.47788113e-04 9.99935290e-01 -4.07813863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.181193817000004 meters Centerline goodness [0,1] 0.9236705804667671 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.22, Z:-0.41 [[ 9.99909696e-01 6.71351628e-03 -1.16416609e-02 2.03105754e+00] [-6.71172343e-03 9.99977457e-01 1.93065784e-04 -2.23288697e-01] [ 1.16426946e-02 -1.14912742e-04 9.99932215e-01 -4.08039642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.211193817 meters Centerline goodness [0,1] 0.9266205578748417 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.22, Z:-0.41 [[ 9.99905244e-01 7.34244220e-03 -1.16443529e-02 2.03105441e+00] [-7.33718383e-03 9.99972960e-01 4.94236921e-04 -2.22929477e-01] [ 1.16476669e-02 -4.08753331e-04 9.99932080e-01 -4.08083776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.241193817000003 meters Centerline goodness [0,1] 0.9259613584842876 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.22, Z:-0.41 [[ 9.99892991e-01 8.49290176e-03 -1.19112116e-02 2.03173793e+00] [-8.48294085e-03 9.99963626e-01 8.86538100e-04 -2.22755925e-01] [ 1.19183077e-02 -7.85401129e-04 9.99928666e-01 -4.08739270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.271193817000004 meters Centerline goodness [0,1] 0.9255796559461481 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.22, Z:-0.41 [[ 9.99890718e-01 8.18803468e-03 -1.23088541e-02 2.03335834e+00] [-8.18104063e-03 9.99966343e-01 6.18458399e-04 -2.23091181e-01] [ 1.23135037e-02 -5.17691577e-04 9.99924052e-01 -4.09726096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.301193817 meters Centerline goodness [0,1] 0.9245283018867925 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.22, Z:-0.41 [[ 9.99890253e-01 7.86000304e-03 -1.25579460e-02 2.03437009e+00] [-7.85257120e-03 9.99968963e-01 6.41002721e-04 -2.24832378e-01] [ 1.25625945e-02 -5.42320208e-04 9.99920940e-01 -4.10229074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.331193817000003 meters Centerline goodness [0,1] 0.9211239628380475 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.23, Z:-0.41 [[ 0.9999079 0.00475843 -0.01271054 2.03458336] [-0.00478531 0.99998638 -0.00208522 -0.22854707] [ 0.01270044 0.00214585 0.99991704 -0.41019211] [ 0. 0. 0. 1. ]] SLAMing on 29.361193817000004 meters Centerline goodness [0,1] 0.9247915497057784 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.23, Z:-0.41 [[ 9.99906017e-01 4.78904929e-03 -1.28460579e-02 2.03491741e+00] [-4.80913103e-03 9.99987261e-01 -1.53282620e-03 -2.30678378e-01] [ 1.28385535e-02 1.59446051e-03 9.99916311e-01 -4.10086703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.391193817 meters Centerline goodness [0,1] 0.9251752893830644 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.23, Z:-0.41 [[ 9.99906155e-01 4.53703384e-03 -1.29266180e-02 2.03558182e+00] [-4.55592010e-03 9.99988596e-01 -1.43196367e-03 -2.31804637e-01] [ 1.29199737e-02 1.49072192e-03 9.99915422e-01 -4.10460004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.421193817000002 meters Centerline goodness [0,1] 0.9263894077117835 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.23, Z:-0.41 [[ 9.99905495e-01 4.67551220e-03 -1.29283033e-02 2.03537146e+00] [-4.68814372e-03 9.99988562e-01 -9.46910118e-04 -2.33209902e-01] [ 1.29237282e-02 1.00743037e-03 9.99915978e-01 -4.10011689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.451193817000004 meters Centerline goodness [0,1] 0.925067497403946 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.24, Z:-0.41 [[ 9.99905277e-01 4.71016673e-03 -1.29325659e-02 2.03527783e+00] [-4.71396981e-03 9.99988854e-01 -2.63602762e-04 -2.35590949e-01] [ 1.29311802e-02 3.24541518e-04 9.99916336e-01 -4.09599957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.481193817 meters Centerline goodness [0,1] 0.921410057024365 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.24, Z:-0.41 [[ 9.99906524e-01 4.23462610e-03 -1.30004321e-02 2.03580413e+00] [-4.23254452e-03 9.99991025e-01 1.87625693e-04 -2.38659426e-01] [ 1.30011099e-02 -1.32583247e-04 9.99915473e-01 -4.09667121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.511193817000002 meters Centerline goodness [0,1] 0.9230450028010042 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.24, Z:-0.41 [[ 9.99916470e-01 5.40732083e-04 -1.29135531e-02 2.03536125e+00] [-5.65699902e-04 9.99997978e-01 -1.92988401e-03 -2.44536792e-01] [ 1.29124834e-02 1.93702801e-03 9.99914754e-01 -4.08829800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.541193817000003 meters Centerline goodness [0,1] 0.9197972693421597 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.25, Z:-0.41 [[ 9.99913237e-01 -1.75087108e-04 -1.31715016e-02 2.03664294e+00] [ 1.57893359e-04 9.99999134e-01 -1.30640356e-03 -2.48856979e-01] [ 1.31717189e-02 1.30421052e-03 9.99912399e-01 -4.09082701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.571193817 meters Centerline goodness [0,1] 0.9204465139483641 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.25, Z:-0.41 [[ 0.99990567 -0.00368585 -0.01323107 2.03648321] [ 0.00362945 0.99998424 -0.00428435 -0.25163525] [ 0.01324665 0.00423592 0.99990329 -0.40860465] [ 0. 0. 0. 1. ]] SLAMing on 29.601193817000002 meters Centerline goodness [0,1] 0.9181310729791193 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.26, Z:-0.41 [[ 0.99989374 -0.00451389 -0.01386154 2.0383605 ] [ 0.00445836 0.99998193 -0.00403381 -0.25575232] [ 0.0138795 0.00397158 0.99989579 -0.40884137] [ 0. 0. 0. 1. ]] SLAMing on 29.631193817000003 meters Centerline goodness [0,1] 0.9181310729791193 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.26, Z:-0.41 [[ 0.99989374 -0.00451389 -0.01386154 2.0383605 ] [ 0.00445836 0.99998193 -0.00403381 -0.25575232] [ 0.0138795 0.00397158 0.99989579 -0.40884137] [ 0. 0. 0. 1. ]] SLAMing on 29.661193817 meters Centerline goodness [0,1] 0.9213884105479366 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.26, Z:-0.41 [[ 9.99897430e-01 -3.55637530e-03 -1.38737947e-02 2.03817229e+00] [ 3.52792640e-03 9.99991625e-01 -2.07448453e-03 -2.61402697e-01] [ 1.38810561e-02 2.02532602e-03 9.99901602e-01 -4.08315421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.691193817000002 meters Centerline goodness [0,1] 0.9166925514070945 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.26, Z:-0.41 [[ 9.99897792e-01 -1.62772085e-03 -1.42041116e-02 2.04008903e+00] [ 1.62435838e-03 9.99998650e-01 -2.48258732e-04 -2.62691193e-01] [ 1.42044966e-02 2.25160790e-04 9.99899086e-01 -4.09736387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.721193817000003 meters Centerline goodness [0,1] 0.9192851084955422 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.26, Z:-0.41 [[ 9.99896573e-01 -8.55706917e-04 -1.43565545e-02 2.04079486e+00] [ 8.56901235e-04 9.99999630e-01 7.70385716e-05 -2.62182993e-01] [ 1.43564833e-02 -8.93327531e-05 9.99896936e-01 -4.10410824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.751193817000004 meters Centerline goodness [0,1] 0.9230961194526474 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.26, Z:-0.41 [[ 0.99988822 0.00427504 -0.01432723 2.04027991] [-0.00420052 0.99997751 0.00522742 -0.26426181] [ 0.01434925 -0.00516665 0.9998837 -0.40983617] [ 0. 0. 0. 1. ]] SLAMing on 29.781193817000002 meters Centerline goodness [0,1] 0.925584662424593 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.26, Z:-0.41 [[ 0.99994177 0.00671565 -0.00844677 2.05197925] [-0.00673525 0.99997469 -0.00229383 -0.26369467] [ 0.00843115 0.00235059 0.99996169 -0.41393963] [ 0. 0. 0. 1. ]] SLAMing on 29.811193817000003 meters Centerline goodness [0,1] 0.9293213193353724 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.27, Z:-0.41 [[ 9.99939985e-01 6.91126575e-03 -8.50065238e-03 2.05197687e+00] [-6.92725870e-03 9.99974289e-01 -1.85337712e-03 -2.65455922e-01] [ 8.48762463e-03 1.91215211e-03 9.99962151e-01 -4.13672002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.841193817000004 meters Centerline goodness [0,1] 0.9313073823272818 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.27, Z:-0.41 [[ 9.99939393e-01 6.98051688e-03 -8.51362431e-03 2.05212762e+00] [-6.99186930e-03 9.99974706e-01 -1.30440646e-03 -2.67781880e-01] [ 8.50430354e-03 1.36385355e-03 9.99962908e-01 -4.13626160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.871193817 meters Centerline goodness [0,1] 0.9272045646486909 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.27, Z:-0.41 [[ 0.99995588 0.00342121 -0.00874854 2.05328554] [-0.00345693 0.99998574 -0.00407155 -0.27215236] [ 0.00873449 0.00410161 0.99995344 -0.41438672] [ 0. 0. 0. 1. ]] SLAMing on 29.901193817000003 meters Centerline goodness [0,1] 0.9253377676158803 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.27, Z:-0.41 [[ 9.99960566e-01 -2.49354326e-04 -8.87718882e-03 2.05352477e+00] [ 1.84270515e-04 9.99973106e-01 -7.33164219e-03 -2.74125841e-01] [ 8.87877825e-03 7.32971726e-03 9.99933719e-01 -4.14320082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.931193817000004 meters Centerline goodness [0,1] 0.9232250849142574 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.28, Z:-0.41 [[ 9.99956234e-01 -1.23267212e-03 -9.27420350e-03 2.05535505e+00] [ 1.16774724e-03 9.99974799e-01 -7.00274951e-03 -2.77966708e-01] [ 9.28260187e-03 6.99161310e-03 9.99932473e-01 -4.14960301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.961193817 meters Centerline goodness [0,1] 0.9182678341702286 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.28, Z:-0.42 [[ 0.99995182 -0.00217034 -0.00957357 2.05675904] [ 0.00210676 0.99997569 -0.00664689 -0.28188472] [ 0.00958776 0.0066264 0.99993208 -0.41533438] [ 0. 0. 0. 1. ]] SLAMing on 29.991193817000003 meters Centerline goodness [0,1] 0.9160321224982316 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.29, Z:-0.42 [[ 0.99994613 -0.00334077 -0.00982713 2.05836636] [ 0.0032771 0.99997358 -0.00648774 -0.28564843] [ 0.00984854 0.00645519 0.99993067 -0.41600378] [ 0. 0. 0. 1. ]] SLAMing on 30.021193817000004 meters Centerline goodness [0,1] 0.9146055768632736 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.29, Z:-0.42 [[ 0.99994154 -0.00410634 -0.01000317 2.05941829] [ 0.0040478 0.99997461 -0.0058653 -0.28967038] [ 0.010027 0.00582447 0.99993277 -0.41610073] [ 0. 0. 0. 1. ]] SLAMing on 30.051193817 meters Centerline goodness [0,1] 0.9130787977254264 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.30, Z:-0.42 [[ 0.99991806 -0.00814209 -0.00987828 2.05905671] [ 0.00806247 0.99993491 -0.00807335 -0.29644073] [ 0.00994337 0.00799305 0.99991862 -0.41505412] [ 0. 0. 0. 1. ]] SLAMing on 30.081193817000003 meters Centerline goodness [0,1] 0.9126197417742608 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.30, Z:-0.41 [[ 0.99991702 -0.00820435 -0.00993182 2.05911369] [ 0.00813675 0.99994358 -0.00682827 -0.30157484] [ 0.00998728 0.00674689 0.99992736 -0.41428969] [ 0. 0. 0. 1. ]] SLAMing on 30.111193817000004 meters Centerline goodness [0,1] 0.9093784464281999 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.31, Z:-0.41 [[ 0.99991438 -0.00827833 -0.01013415 2.05959126] [ 0.00821913 0.99994899 -0.00586993 -0.30509278] [ 0.01018222 0.00578613 0.99993142 -0.41385498] [ 0. 0. 0. 1. ]] SLAMing on 30.141193817 meters Centerline goodness [0,1] 0.9120899718837863 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.31, Z:-0.41 [[ 0.99990955 -0.00902765 -0.00996918 2.05985434] [ 0.0089773 0.99994678 -0.00508441 -0.30813896] [ 0.01001455 0.00499446 0.99993738 -0.4137142 ] [ 0. 0. 0. 1. ]] SLAMing on 30.171193817000002 meters Centerline goodness [0,1] 0.9121164846593863 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.31, Z:-0.41 [[ 0.99990638 -0.0093271 -0.01001133 2.05972554] [ 0.00928279 0.99994695 -0.00446294 -0.30996241] [ 0.01005242 0.00436959 0.99993993 -0.412855 ] [ 0. 0. 0. 1. ]] SLAMing on 30.201193817000004 meters Centerline goodness [0,1] 0.9082053203446984 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.31, Z:-0.41 [[ 0.99989969 -0.0098056 -0.01022071 2.05981682] [ 0.00976546 0.99994444 -0.00397016 -0.3119565 ] [ 0.01025907 0.00386995 0.99993989 -0.41175666] [ 0. 0. 0. 1. ]] SLAMing on 30.231193817 meters Centerline goodness [0,1] 0.9019953904611615 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.31, Z:-0.41 [[ 0.99988995 -0.01037047 -0.01060842 2.06073467] [ 0.01033085 0.99993948 -0.00378278 -0.31358072] [ 0.01064701 0.00367277 0.99993657 -0.41143992] [ 0. 0. 0. 1. ]] SLAMing on 30.261193817000002 meters Centerline goodness [0,1] 0.8787910132814762 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.31, Z:-0.41 [[ 0.99986732 -0.01179066 -0.01123949 2.06301121] [ 0.01173642 0.99991922 -0.00487977 -0.3127 ] [ 0.01129612 0.00474722 0.99992493 -0.412412 ] [ 0. 0. 0. 1. ]] SLAMing on 30.291193817000003 meters Centerline goodness [0,1] 0.8533761391880696 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.31, Z:-0.41 [[ 0.99985601 -0.01229257 -0.01169871 2.06445449] [ 0.01222949 0.99991037 -0.0054481 -0.31170283] [ 0.01176463 0.00530424 0.99991673 -0.4129886 ] [ 0. 0. 0. 1. ]] SLAMing on 30.321193817 meters Centerline goodness [0,1] 0.8616867569352709 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.31, Z:-0.41 [[ 0.99987225 -0.01011879 -0.01237334 2.06726774] [ 0.01008478 0.9999452 -0.00280794 -0.31163309] [ 0.01240107 0.0026828 0.9999195 -0.4142828 ] [ 0. 0. 0. 1. ]] SLAMing on 30.351193817000002 meters Centerline goodness [0,1] 0.8722611013913188 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.31, Z:-0.41 [[ 0.99987069 -0.01007566 -0.01253316 2.06751433] [ 0.01003254 0.99994355 -0.00349854 -0.30792395] [ 0.0125677 0.00337234 0.99991534 -0.41431693] [ 0. 0. 0. 1. ]] SLAMing on 30.381193817000003 meters Centerline goodness [0,1] 0.8906989291939902 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.30, Z:-0.42 [[ 0.99996349 -0.00338741 -0.00784482 2.08097089] [ 0.00332811 0.99996589 -0.00755954 -0.29738108] [ 0.00787016 0.00753316 0.99994065 -0.41840772] [ 0. 0. 0. 1. ]] SLAMing on 30.411193817000004 meters Centerline goodness [0,1] 0.8998187990752504 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.29, Z:-0.42 [[ 9.99967833e-01 4.67469270e-04 -8.00713049e-03 2.08117185e+00] [-5.01997301e-04 9.99990583e-01 -4.31069360e-03 -2.93766264e-01] [ 8.00503997e-03 4.31457450e-03 9.99958651e-01 -4.18161213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.441193817000002 meters Centerline goodness [0,1] 0.9017489925636658 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.29, Z:-0.42 [[ 9.99956308e-01 3.74118466e-03 -8.56652560e-03 2.08293117e+00] [-3.75629654e-03 9.99991416e-01 -1.74865223e-03 -2.90134252e-01] [ 8.55991004e-03 1.78075424e-03 9.99961778e-01 -4.18909966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.471193817000003 meters Centerline goodness [0,1] 0.9060216889036905 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.29, Z:-0.42 [[ 9.99934048e-01 7.24277510e-03 -8.91299316e-03 2.08384698e+00] [-7.23391983e-03 9.99973309e-01 1.02536267e-03 -2.86901241e-01] [ 8.92018174e-03 -9.60819170e-04 9.99959753e-01 -4.19108918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.501193817000004 meters Centerline goodness [0,1] 0.9030164818078159 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.28, Z:-0.42 [[ 0.99985335 0.01441816 -0.00924136 2.08346942] [-0.01435616 0.99987423 0.00674024 -0.28038939] [ 0.00933738 -0.00660658 0.99993458 -0.41781242] [ 0. 0. 0. 1. ]] SLAMing on 30.531193817000002 meters Centerline goodness [0,1] 0.9043698806702424 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.28, Z:-0.42 [[ 0.99984394 0.01485417 -0.00956267 2.08369457] [-0.01479916 0.99987368 0.00579762 -0.27527253] [ 0.00964759 -0.00565519 0.99993747 -0.41768386] [ 0. 0. 0. 1. ]] SLAMing on 30.561193817000003 meters Centerline goodness [0,1] 0.9074028019563956 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.27, Z:-0.42 [[ 0.99983373 0.01522218 -0.01003971 2.08462467] [-0.01517395 0.99987304 0.00486273 -0.27091844] [ 0.01011246 -0.00470958 0.99993778 -0.41804202] [ 0. 0. 0. 1. ]] SLAMing on 30.591193817000004 meters Centerline goodness [0,1] 0.9068574514038876 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.27, Z:-0.42 [[ 0.99982978 0.01526812 -0.01035876 2.08548022] [-0.0152292 0.99987671 0.00382513 -0.26724293] [ 0.01041589 -0.00366672 0.99993903 -0.41861406] [ 0. 0. 0. 1. ]] SLAMing on 30.621193817 meters Centerline goodness [0,1] 0.9091645044110015 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.26, Z:-0.42 [[ 0.99975572 0.01941375 -0.01056426 2.08568374] [-0.0193386 0.99978728 0.00716967 -0.26467198] [ 0.01070121 -0.00696363 0.99991849 -0.41830764] [ 0. 0. 0. 1. ]] SLAMing on 30.651193817000003 meters Centerline goodness [0,1] 0.9076986840741892 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.26, Z:-0.42 [[ 0.99975427 0.01934129 -0.01083127 2.08650083] [-0.01927298 0.99979393 0.00637597 -0.26184076] [ 0.01095236 -0.00616565 0.99992101 -0.41882972] [ 0. 0. 0. 1. ]] SLAMing on 30.681193817000004 meters Centerline goodness [0,1] 0.907436643124221 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.26, Z:-0.42 [[ 0.99975478 0.01921991 -0.01099918 2.08714168] [-0.01915783 0.9998001 0.00572184 -0.2596238 ] [ 0.01110695 -0.00550971 0.99992314 -0.41930273] [ 0. 0. 0. 1. ]] SLAMing on 30.711193817 meters Centerline goodness [0,1] 0.9082175829659819 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.26, Z:-0.42 [[ 9.99811265e-01 1.58619488e-02 -1.12175396e-02 2.08723985e+00] [-1.58474914e-02 9.99873473e-01 1.37654016e-03 -2.57028818e-01] [ 1.12379549e-02 -1.19851050e-03 9.99936134e-01 -4.19387752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.741193817000003 meters Centerline goodness [0,1] 0.9067764959747697 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.26, Z:-0.42 [[ 0.99985873 0.01228189 -0.01147497 2.08749075] [-0.01231275 0.99992076 -0.0026223 -0.25649397] [ 0.01144185 0.00276321 0.99993072 -0.41932951] [ 0. 0. 0. 1. ]] SLAMing on 30.771193817000004 meters Centerline goodness [0,1] 0.905582871724653 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.26, Z:-0.42 [[ 0.99990122 0.00820378 -0.01141237 2.08650702] [-0.00826631 0.99995102 -0.00544289 -0.2611157 ] [ 0.01136715 0.00553669 0.99992006 -0.41778139] [ 0. 0. 0. 1. ]] SLAMing on 30.801193817 meters Centerline goodness [0,1] 0.9022956268827257 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.26, Z:-0.42 [[ 0.99992629 0.00409501 -0.01142989 2.08631259] [-0.00419896 0.99994991 -0.00908514 -0.26185115] [ 0.01139211 0.00913246 0.9998934 -0.41737435] [ 0. 0. 0. 1. ]] SLAMing on 30.831193817000003 meters Centerline goodness [0,1] 0.9041752224503765 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.26, Z:-0.42 [[ 0.99992799 0.00252839 -0.01173096 2.08780729] [-0.00263785 0.99995305 -0.00932454 -0.26375186] [ 0.01170683 0.00935482 0.99988771 -0.41770837] [ 0. 0. 0. 1. ]] SLAMing on 30.861193817000004 meters Centerline goodness [0,1] 0.905833402335017 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.27, Z:-0.42 [[ 0.99995154 -0.00707256 -0.00684756 2.08698814] [ 0.0070562 0.9999722 -0.00241028 -0.26977327] [ 0.00686442 0.00236184 0.99997365 -0.41727999] [ 0. 0. 0. 1. ]] SLAMing on 30.891193817 meters Centerline goodness [0,1] 0.9030008278145696 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.27, Z:-0.42 [[ 0.99993875 -0.00839419 -0.00721336 2.08906419] [ 0.00837486 0.99996127 -0.00270681 -0.27296175] [ 0.00723581 0.00264623 0.99997032 -0.41841528] [ 0. 0. 0. 1. ]] SLAMing on 30.921193817000002 meters Centerline goodness [0,1] 0.8984269476134074 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.28, Z:-0.42 [[ 0.99993169 -0.00898614 -0.00747422 2.09002722] [ 0.00896831 0.99995686 -0.00241675 -0.27522392] [ 0.00749561 0.00234955 0.99996915 -0.41857589] [ 0. 0. 0. 1. ]] SLAMing on 30.951193817000004 meters Centerline goodness [0,1] 0.8960091220068415 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.28, Z:-0.42 [[ 0.99992296 -0.00969661 -0.00774872 2.09109933] [ 0.00967803 0.99995021 -0.00243153 -0.276332 ] [ 0.00777191 0.00235635 0.99996702 -0.41887245] [ 0. 0. 0. 1. ]] SLAMing on 30.981193817 meters Centerline goodness [0,1] 0.8790329286545817 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.28, Z:-0.42 [[ 0.99991448 -0.01046125 -0.00784871 2.09154514] [ 0.01044243 0.99994251 -0.00243518 -0.27735528] [ 0.00787374 0.00235301 0.99996623 -0.41871629] [ 0. 0. 0. 1. ]] SLAMing on 31.011193817000002 meters Centerline goodness [0,1] 0.79857936998147 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.28, Z:-0.42 [[ 0.99982737 -0.01656101 -0.00842442 2.09372792] [ 0.01649595 0.99983402 -0.00773407 -0.27703055] [ 0.00855111 0.00759377 0.9999346 -0.41938968] [ 0. 0. 0. 1. ]] SLAMing on 31.041193817000003 meters Centerline goodness [0,1] 0.7684659679357058 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.28, Z:-0.42 [[ 0.99980601 -0.01770397 -0.0086321 2.09476752] [ 0.01763343 0.99981106 -0.00817965 -0.27768744] [ 0.00877529 0.00802585 0.99992929 -0.4197145 ] [ 0. 0. 0. 1. ]] SLAMing on 31.071193817 meters Centerline goodness [0,1] 0.7672492338275491 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.28, Z:-0.42 [[ 0.99978356 -0.01872729 -0.00906156 2.09605611] [ 0.01864723 0.99978704 -0.00884021 -0.27673305] [ 0.00922519 0.00866932 0.99991987 -0.41994098] [ 0. 0. 0. 1. ]] SLAMing on 31.101193817000002 meters Centerline goodness [0,1] 0.749808516364088 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.28, Z:-0.42 [[ 0.99982118 -0.01661628 -0.00902859 2.09664037] [ 0.0165645 0.99984609 -0.00577994 -0.27667159] [ 0.00912324 0.00562935 0.99994254 -0.42003299] [ 0. 0. 0. 1. ]] SLAMing on 31.131193817000003 meters Centerline goodness [0,1] 0.742510003939375 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.27, Z:-0.42 [[ 0.99984225 -0.01521751 -0.0091601 2.09729537] [ 0.0151808 0.99987651 -0.00406365 -0.27235213] [ 0.0092208 0.00392395 0.99994979 -0.4199001 ] [ 0. 0. 0. 1. ]] SLAMing on 31.161193817000004 meters Centerline goodness [0,1] 0.719662758420682 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.27, Z:-0.42 [[ 9.99877174e-01 -1.25012615e-02 -9.45274508e-03 2.09845786e+00] [ 1.24903070e-02 9.99921252e-01 -1.21702070e-03 -2.70078971e-01] [ 9.46721500e-03 1.09880353e-03 9.99954581e-01 -4.20389838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.191193817000002 meters Centerline goodness [0,1] 0.7178237331729274 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.27, Z:-0.42 [[ 9.99907516e-01 -9.57481149e-03 -9.65823787e-03 2.09925145e+00] [ 9.59039611e-03 9.99952781e-01 1.56858710e-03 -2.66871609e-01] [ 9.64276289e-03 -1.66106836e-03 9.99952128e-01 -4.20743179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.221193817000003 meters Centerline goodness [0,1] 0.6962990592233412 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.26, Z:-0.42 [[ 0.99992749 -0.00703059 -0.00977688 2.09999196] [ 0.00706826 0.99996771 0.00382415 -0.26334464] [ 0.00974968 -0.00389298 0.99994489 -0.42118506] [ 0. 0. 0. 1. ]] SLAMing on 31.251193817000004 meters Centerline goodness [0,1] 0.7259700998053589 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.25, Z:-0.42 [[ 0.99993594 -0.00545962 -0.009915 2.09981186] [ 0.00549804 0.99997747 0.00385234 -0.25444125] [ 0.00989374 -0.0039066 0.99994342 -0.4207952 ] [ 0. 0. 0. 1. ]] SLAMing on 31.281193817000002 meters Centerline goodness [0,1] 0.7237278302668655 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.25, Z:-0.42 [[ 0.99993512 -0.00550366 -0.00997344 2.09957486] [ 0.00552795 0.99998182 0.00240963 -0.24805181] [ 0.00996 -0.00246461 0.99994736 -0.42059947] [ 0. 0. 0. 1. ]] SLAMing on 31.311193817000003 meters Centerline goodness [0,1] 0.7315854922279792 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.24, Z:-0.42 [[ 0.99994444 -0.00285301 -0.01014824 2.09989496] [ 0.00289423 0.99998761 0.00404971 -0.24172089] [ 0.01013656 -0.00407885 0.9999403 -0.42053651] [ 0. 0. 0. 1. ]] SLAMing on 31.341193817000004 meters Centerline goodness [0,1] 0.7625551847783282 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.23, Z:-0.42 [[ 0.99993911 0.00269602 -0.01070076 2.10091813] [-0.00262056 0.99997164 0.00705995 -0.22730811] [ 0.01071949 -0.00703148 0.99991782 -0.42094178] [ 0. 0. 0. 1. ]] SLAMing on 31.371193817 meters Centerline goodness [0,1] 0.7579878339942284 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.22, Z:-0.42 [[ 0.99992172 0.00537427 -0.01129922 2.10293234] [-0.00527938 0.99995069 0.0084109 -0.22026394] [ 0.01134387 -0.00835059 0.99990079 -0.42207193] [ 0. 0. 0. 1. ]] SLAMing on 31.401193817000003 meters Centerline goodness [0,1] 0.810383183982369 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.21, Z:-0.42 [[ 0.99989682 0.00817428 -0.01181205 2.10471899] [-0.00805838 0.99991925 0.0098263 -0.21336691] [ 0.01189142 -0.0097301 0.99988195 -0.42315863] [ 0. 0. 0. 1. ]] SLAMing on 31.431193817000004 meters Centerline goodness [0,1] 0.7927842097632707 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.20, Z:-0.43 [[ 9.99911589e-01 1.11644337e-02 -7.22278670e-03 2.11860467e+00] [-1.11492844e-02 9.99935567e-01 2.13430643e-03 -2.04248241e-01] [ 7.24614963e-03 -2.05358883e-03 9.99971638e-01 -4.27567142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.461193817 meters Centerline goodness [0,1] 0.8032776708672171 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.20, Z:-0.43 [[ 0.99987559 0.01391682 -0.00742523 2.11917257] [-0.01388971 0.99989672 0.00369051 -0.19724941] [ 0.00747582 -0.00358692 0.99996562 -0.42757455] [ 0. 0. 0. 1. ]] SLAMing on 31.491193817000003 meters Centerline goodness [0,1] 0.8682172143845661 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.19, Z:-0.43 [[ 0.99977616 0.01965027 -0.0078414 2.11974691] [-0.01959351 0.99978173 0.00725112 -0.18571191] [ 0.00798218 -0.00709586 0.99994297 -0.42709864] [ 0. 0. 0. 1. ]] SLAMing on 31.521193817000004 meters Centerline goodness [0,1] 0.8682172143845661 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.19, Z:-0.43 [[ 0.99977616 0.01965027 -0.0078414 2.11974691] [-0.01959351 0.99978173 0.00725112 -0.18571191] [ 0.00798218 -0.00709586 0.99994297 -0.42709864] [ 0. 0. 0. 1. ]] SLAMing on 31.551193817 meters Centerline goodness [0,1] 0.8607014705577334 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.18, Z:-0.43 [[ 0.99977363 0.0196286 -0.00820986 2.12017239] [-0.01958225 0.99979206 0.00568907 -0.17968598] [ 0.00831983 -0.00552702 0.99995012 -0.4268352 ] [ 0. 0. 0. 1. ]] SLAMing on 31.581193817000003 meters Centerline goodness [0,1] 0.8883934127017049 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.17, Z:-0.43 [[ 0.99977452 0.01947013 -0.00847484 2.12040839] [-0.0194363 0.99980287 0.00405628 -0.17380541] [ 0.00855215 -0.00389065 0.99995586 -0.42652959] [ 0. 0. 0. 1. ]] SLAMing on 31.611193817000004 meters Centerline goodness [0,1] 0.893685500114205 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.17, Z:-0.43 [[ 0.99978043 0.01908215 -0.00865782 2.12078759] [-0.01906267 0.99981558 0.00232716 -0.1675932 ] [ 0.00870063 -0.00216161 0.99995981 -0.42658504] [ 0. 0. 0. 1. ]] SLAMing on 31.641193817 meters Centerline goodness [0,1] 0.8945489268069913 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.16, Z:-0.43 [[ 9.99785115e-01 1.87594517e-02 -8.82077316e-03 2.12135355e+00] [-1.87534985e-02 9.99823851e-01 7.57139530e-04 -1.61367502e-01] [ 8.83342291e-03 -5.91556476e-04 9.99960810e-01 -4.26904069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.671193817000002 meters Centerline goodness [0,1] 0.8976629409203077 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.15, Z:-0.43 [[ 9.99729020e-01 2.14959345e-02 -8.93373499e-03 2.12245478e+00] [-2.14805186e-02 9.99767614e-01 1.81798469e-03 -1.52344124e-01] [ 8.97073820e-03 -1.62559079e-03 9.99958441e-01 -4.27960115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.701193817000004 meters Centerline goodness [0,1] 0.8975507579999585 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.15, Z:-0.43 [[ 9.99728293e-01 2.13844712e-02 -9.27599976e-03 2.12336384e+00] [-2.13793708e-02 9.99771225e-01 6.48675499e-04 -1.48352802e-01] [ 9.28774922e-03 -4.50184211e-04 9.99956767e-01 -4.28288371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.731193817 meters Centerline goodness [0,1] 0.8970606474017115 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.15, Z:-0.43 [[ 9.99721709e-01 2.14912646e-02 -9.72778781e-03 2.12439336e+00] [-2.14944803e-02 9.99768941e-01 -2.26127523e-04 -1.45217145e-01] [ 9.72068036e-03 4.35158337e-04 9.99952658e-01 -4.28574196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.761193817000002 meters Centerline goodness [0,1] 0.8957810197771183 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.14, Z:-0.43 [[ 9.99709829e-01 2.19614360e-02 -9.89710218e-03 2.12467578e+00] [-2.19708570e-02 9.99758255e-01 -8.44157616e-04 -1.42080219e-01] [ 9.87617069e-03 1.06136048e-03 9.99950666e-01 -4.28544942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.791193817000003 meters Centerline goodness [0,1] 0.8982805054899523 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.14, Z:-0.43 [[ 9.99694145e-01 2.25068574e-02 -1.02497658e-02 2.12555752e+00] [-2.25235791e-02 9.99745158e-01 -1.51889971e-03 -1.38503335e-01] [ 1.02129681e-02 1.74929656e-03 9.99946316e-01 -4.28884065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.821193817000005 meters Centerline goodness [0,1] 0.9013334989853812 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.13, Z:-0.43 [[ 9.99556940e-01 2.78965356e-02 -1.03782390e-02 2.12632198e+00] [-2.78750712e-02 9.99608978e-01 2.20717785e-03 -1.34410011e-01] [ 1.04357535e-02 -1.91690579e-03 9.99943709e-01 -4.29577245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.851193817000002 meters Centerline goodness [0,1] 0.904012834402867 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.13, Z:-0.43 [[ 9.99532780e-01 2.87383747e-02 -1.04080761e-02 2.12678039e+00] [-2.87193527e-02 9.99585568e-01 1.97251950e-03 -1.31532330e-01] [ 1.04604496e-02 -1.67268470e-03 9.99943889e-01 -4.30184827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.881193817000003 meters Centerline goodness [0,1] 0.9064701847733461 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.13, Z:-0.43 [[ 9.99512763e-01 2.93356147e-02 -1.06610747e-02 2.12778123e+00] [-2.93193151e-02 9.99568681e-01 1.68201249e-03 -1.29115258e-01] [ 1.07058192e-02 -1.36861754e-03 9.99941754e-01 -4.30954204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.911193817000004 meters Centerline goodness [0,1] 0.9082239774447001 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.13, Z:-0.43 [[ 9.99501238e-01 2.96378724e-02 -1.09028764e-02 2.12867393e+00] [-2.96233863e-02 9.99560024e-01 1.48779021e-03 -1.27780483e-01] [ 1.09421743e-02 -1.16406804e-03 9.99939455e-01 -4.31553697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.941193817000002 meters Centerline goodness [0,1] 0.9056224483451806 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.13, Z:-0.43 [[ 9.99490236e-01 2.98807906e-02 -1.12430656e-02 2.12986162e+00] [-2.98586351e-02 9.99551855e-01 2.13335481e-03 -1.30471575e-01] [ 1.13017734e-02 -1.79656471e-03 9.99934519e-01 -4.32232558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.971193817000003 meters Centerline goodness [0,1] 0.9052718970527189 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.13, Z:-0.43 [[ 9.99586771e-01 2.63819145e-02 -1.14140675e-02 2.13002151e+00] [-2.64006970e-02 9.99650318e-01 -1.49799798e-03 -1.31287023e-01] [ 1.13705562e-02 1.79871830e-03 9.99933735e-01 -4.32335207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.001193817 meters Centerline goodness [0,1] 0.9044901855002697 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.13, Z:-0.43 [[ 0.99966287 0.02319517 -0.01166746 2.12990587] [-0.02325063 0.9997189 -0.00464004 -0.13242701] [ 0.01155656 0.00490975 0.99992117 -0.43176684] [ 0. 0. 0. 1. ]] SLAMing on 32.031193817 meters Centerline goodness [0,1] 0.9029429529502426 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.14, Z:-0.43 [[ 0.99973048 0.02015281 -0.01152519 2.12843187] [-0.02023042 0.99977318 -0.00665739 -0.13685774] [ 0.01138842 0.00688876 0.99991142 -0.4303264 ] [ 0. 0. 0. 1. ]] SLAMing on 32.061193816999996 meters Centerline goodness [0,1] 0.8990299363721707 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.14, Z:-0.43 [[ 0.99973542 0.01952101 -0.01216638 2.13012508] [-0.01959689 0.99978906 -0.00614852 -0.1402996 ] [ 0.01204378 0.00638531 0.99990708 -0.4307837 ] [ 0. 0. 0. 1. ]] SLAMing on 32.091193817 meters Centerline goodness [0,1] 0.8993903703396509 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.14, Z:-0.43 [[ 0.99975364 0.01814231 -0.01278743 2.13264581] [-0.01822843 0.99981173 -0.00665049 -0.14324065] [ 0.01266436 0.00688194 0.99989612 -0.43227002] [ 0. 0. 0. 1. ]] SLAMing on 32.121193817 meters Centerline goodness [0,1] 0.8954157116065847 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.15, Z:-0.43 [[ 0.99976177 0.01765168 -0.0128383 2.13295104] [-0.01773189 0.9998238 -0.00616078 -0.14635749] [ 0.01272729 0.00638696 0.99989861 -0.43236017] [ 0. 0. 0. 1. ]] SLAMing on 32.151193817 meters Centerline goodness [0,1] 0.8963436132484394 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.15, Z:-0.43 [[ 0.99976813 0.01705387 -0.01314702 2.1337329 ] [-0.01712922 0.99983738 -0.00564021 -0.14983873] [ 0.0130487 0.0058641 0.99989767 -0.43230796] [ 0. 0. 0. 1. ]] SLAMing on 32.181193817 meters Centerline goodness [0,1] 0.8972248207047084 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.15, Z:-0.43 [[ 0.99981833 0.01379956 -0.01314863 2.13267504] [-0.01391195 0.99986714 -0.00849524 -0.15189248] [ 0.01302965 0.00867662 0.99987746 -0.43104896] [ 0. 0. 0. 1. ]] SLAMing on 32.211193817 meters Centerline goodness [0,1] 0.8979090814522002 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.16, Z:-0.43 [[ 0.9998611 0.01041272 -0.01301403 2.13106627] [-0.01055335 0.99988616 -0.01078438 -0.15612384] [ 0.01290026 0.01092022 0.99985716 -0.42919338] [ 0. 0. 0. 1. ]] SLAMing on 32.241193817 meters Centerline goodness [0,1] 0.8958329037712118 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.16, Z:-0.43 [[ 0.99986138 0.00969206 -0.01353825 2.1324431 ] [-0.0098366 0.9998949 -0.01065052 -0.15855567] [ 0.0134336 0.01078222 0.99985163 -0.42939583] [ 0. 0. 0. 1. ]] SLAMing on 32.271193817 meters Centerline goodness [0,1] 0.8979549551416198 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.16, Z:-0.43 [[ 0.99986237 0.00930131 -0.01373764 2.13284377] [-0.00944076 0.99990421 -0.0101218 -0.16162843] [ 0.01364218 0.0102501 0.9998544 -0.42920114] [ 0. 0. 0. 1. ]] SLAMing on 32.301193817 meters Centerline goodness [0,1] 0.8947368421052632 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.17, Z:-0.43 [[ 0.99988971 0.00543254 -0.01382235 2.13263685] [-0.00561147 0.99990054 -0.01293941 -0.16585455] [ 0.01375069 0.01301555 0.99982074 -0.42871292] [ 0. 0. 0. 1. ]] SLAMing on 32.331193817 meters Centerline goodness [0,1] 0.8981708584493868 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.17, Z:-0.43 [[ 0.99989079 0.0051614 -0.01384839 2.13261582] [-0.00533494 0.99990734 -0.01252388 -0.16762722] [ 0.01378246 0.0125964 0.99982567 -0.42839276] [ 0. 0. 0. 1. ]] SLAMing on 32.361193817 meters Centerline goodness [0,1] 0.893818317323617 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.17, Z:-0.43 [[ 0.99988855 0.00465588 -0.01418477 2.13345762] [-0.00483342 0.9999101 -0.01250752 -0.16805295] [ 0.01412526 0.01257469 0.99982116 -0.4284513 ] [ 0. 0. 0. 1. ]] SLAMing on 32.391193817 meters Centerline goodness [0,1] 0.885043391604036 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.17, Z:-0.43 [[ 0.99989022 0.00429921 -0.01417996 2.13353087] [-0.00447619 0.99991219 -0.0124732 -0.16812642] [ 0.01412509 0.01253531 0.99982166 -0.42842101] [ 0. 0. 0. 1. ]] SLAMing on 32.421193817 meters Centerline goodness [0,1] 0.8164853869146463 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.17, Z:-0.43 [[ 0.99989179 0.00224861 -0.01453767 2.13558872] [-0.0024494 0.99990166 -0.01380867 -0.16723596] [ 0.01450519 0.01384278 0.99979897 -0.42984134] [ 0. 0. 0. 1. ]] SLAMing on 32.451193817 meters Centerline goodness [0,1] 0.810973597359736 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.17, Z:-0.43 [[ 9.99884324e-01 9.86976492e-04 -1.51777739e-02 2.13793052e+00] [-1.21122583e-03 9.99890143e-01 -1.47727628e-02 -1.67165158e-01] [ 1.51615262e-02 1.47894376e-02 9.99775675e-01 -4.31039425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.481193817 meters Centerline goodness [0,1] 0.8251258162458928 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.17, Z:-0.43 [[ 9.99883075e-01 5.73566022e-04 -1.52809244e-02 2.13769380e+00] [-8.00365374e-04 9.99889561e-01 -1.48400128e-02 -1.67844636e-01] [ 1.52707251e-02 1.48505079e-02 9.99773108e-01 -4.30313118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.511193817 meters Centerline goodness [0,1] 0.8041352681073675 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.17, Z:-0.43 [[ 9.99878583e-01 -1.51426882e-04 -1.55819271e-02 2.13798133e+00] [-8.62542231e-05 9.99883680e-01 -1.52518374e-02 -1.67653169e-01] [ 1.55824241e-02 1.52513296e-02 9.99762264e-01 -4.29708297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.541193817 meters Centerline goodness [0,1] 0.7668992856258001 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.17, Z:-0.43 [[ 9.99873578e-01 -1.05129608e-03 -1.58657650e-02 2.13818645e+00] [ 7.97740319e-04 9.99872006e-01 -1.59791890e-02 -1.66257584e-01] [ 1.58805331e-02 1.59645121e-02 9.99746439e-01 -4.29038303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.571193817 meters Centerline goodness [0,1] 0.7593007341047655 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.16, Z:-0.43 [[ 9.99872028e-01 -1.90608754e-03 -1.58837933e-02 2.13827589e+00] [ 1.63860998e-03 9.99856927e-01 -1.68356855e-02 -1.63897715e-01] [ 1.59136111e-02 1.68075036e-02 9.99732097e-01 -4.28892762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.601193817 meters Centerline goodness [0,1] 0.7483289741354258 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.16, Z:-0.43 [[ 0.99986044 -0.00433418 -0.0161343 2.14039979] [ 0.00401678 0.99979879 -0.01965325 -0.15575573] [ 0.01621624 0.0195857 0.99967666 -0.43052661] [ 0. 0. 0. 1. ]] SLAMing on 32.631193816999996 meters Centerline goodness [0,1] 0.7315891873990976 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.15, Z:-0.43 [[ 0.9998472 -0.0056735 -0.01653438 2.14249668] [ 0.00531989 0.99975785 -0.02135262 -0.15172282] [ 0.01665152 0.0212614 0.99963527 -0.43199092] [ 0. 0. 0. 1. ]] SLAMing on 32.661193817 meters Centerline goodness [0,1] 0.7100747272764909 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.15, Z:-0.43 [[ 0.9998351 -0.00680003 -0.01683847 2.1439463 ] [ 0.00641203 0.99971513 -0.02298992 -0.14766255] [ 0.01699001 0.02287816 0.99959388 -0.43293971] [ 0. 0. 0. 1. ]] SLAMing on 32.691193817 meters Centerline goodness [0,1] 0.70873080200345 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.14, Z:-0.43 [[ 0.99982672 -0.00762289 -0.01698283 2.14454828] [ 0.00720792 0.99967719 -0.02436331 -0.14391361] [ 0.01716307 0.02423667 0.99955891 -0.43323 ] [ 0. 0. 0. 1. ]] SLAMing on 32.721193817 meters Centerline goodness [0,1] 0.6961094022778286 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.13, Z:-0.43 [[ 0.99982672 -0.00657689 -0.0174149 2.14557415] [ 0.0061481 0.9996794 -0.02456226 -0.13383512] [ 0.01757086 0.02445094 0.99954661 -0.43307382] [ 0. 0. 0. 1. ]] SLAMing on 32.751193817 meters Centerline goodness [0,1] 0.7150101841459866 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.13, Z:-0.43 [[ 0.99983813 -0.00363747 -0.01762034 2.14608625] [ 0.00323924 0.99973987 -0.02257652 -0.12761397] [ 0.01769788 0.02251579 0.99958983 -0.43301355] [ 0. 0. 0. 1. ]] SLAMing on 32.781193817 meters Centerline goodness [0,1] 0.7102082212195223 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.12, Z:-0.43 [[ 9.99840327e-01 -4.68140282e-04 -1.78633901e-02 2.14661817e+00] [ 1.02228757e-04 9.99790272e-01 -2.04792967e-02 -1.20994050e-01] [ 1.78692309e-02 2.04742005e-02 9.99630681e-01 -4.32827432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.811193816999996 meters Centerline goodness [0,1] 0.7353629491560526 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.12, Z:-0.43 [[ 0.99983327 0.00271928 -0.0180565 2.14691861] [-0.00305132 0.9998263 -0.01838661 -0.11502812] [ 0.01800337 0.01843864 0.99966789 -0.43248342] [ 0. 0. 0. 1. ]] SLAMing on 32.841193817 meters Centerline goodness [0,1] 0.7222245261891925 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.10, Z:-0.43 [[ 0.99979705 0.00882567 -0.01810999 2.14682378] [-0.00908579 0.99985601 -0.01433219 -0.10439887] [ 0.01798089 0.01449383 0.99973327 -0.43177629] [ 0. 0. 0. 1. ]] SLAMing on 32.871193817 meters Centerline goodness [0,1] 0.7584181025534565 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.10, Z:-0.43 [[ 0.99976019 0.01205845 -0.01827974 2.14751809] [-0.01228162 0.99985081 -0.01214589 -0.09900687] [ 0.01813055 0.01236748 0.99975914 -0.43194506] [ 0. 0. 0. 1. ]] SLAMing on 32.901193817 meters Centerline goodness [0,1] 0.7404051504281657 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.09, Z:-0.43 [[ 0.99971668 0.01490294 -0.01855995 2.14855228] [-0.01509816 0.99983169 -0.01042285 -0.09246516] [ 0.01840149 0.01070012 0.99977342 -0.43220672] [ 0. 0. 0. 1. ]] SLAMing on 32.931193817 meters Centerline goodness [0,1] 0.770406792967378 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.09, Z:-0.43 [[ 0.99966854 0.01763705 -0.01875487 2.14954905] [-0.01780489 0.99980258 -0.00882013 -0.08544815] [ 0.01859561 0.00915113 0.99978521 -0.43254563] [ 0. 0. 0. 1. ]] SLAMing on 32.961193817 meters Centerline goodness [0,1] 0.7610756552450586 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.07, Z:-0.43 [[ 0.99958395 0.02220822 -0.01840431 2.14847746] [-0.02232587 0.99973145 -0.00621192 -0.07156844] [ 0.01826142 0.00662023 0.99981133 -0.43132694] [ 0. 0. 0. 1. ]] SLAMing on 32.991193817 meters Centerline goodness [0,1] 0.8064596119273448 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.07, Z:-0.43 [[ 0.99951948 0.02485286 -0.01852431 2.14861845] [-0.0249404 0.99967877 -0.00450935 -0.06599042] [ 0.01840629 0.00496918 0.99981824 -0.43081889] [ 0. 0. 0. 1. ]] SLAMing on 33.021193817 meters Centerline goodness [0,1] 0.8230944019830614 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.06, Z:-0.43 [[ 0.99945199 0.02737397 -0.01861168 2.14883162] [-0.0274327 0.99961942 -0.00290764 -0.06068392] [ 0.01852501 0.00341661 0.99982256 -0.43049175] [ 0. 0. 0. 1. ]] SLAMing on 33.051193817 meters Centerline goodness [0,1] 0.7638943228383749 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.06, Z:-0.43 [[ 9.99381154e-01 2.96924403e-02 -1.88591647e-02 2.14979739e+00] [-2.97223857e-02 9.99557335e-01 -1.30947330e-03 -5.56227891e-02] [ 1.88119349e-02 1.86920231e-03 9.99821293e-01 -4.30620467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.081193817 meters Centerline goodness [0,1] 0.7804787068697544 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.05, Z:-0.43 [[ 9.99367383e-01 3.02292782e-02 -1.87356417e-02 2.14891464e+00] [-3.02625444e-02 9.99540867e-01 -1.49452414e-03 -4.94490796e-02] [ 1.86818611e-02 2.06056687e-03 9.99823355e-01 -4.29524110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.111193817 meters Centerline goodness [0,1] 0.8074886299919009 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.04, Z:-0.43 [[ 0.9993427 0.0309907 -0.01880835 2.14943521] [-0.03104336 0.99951488 -0.00251463 -0.03727094] [ 0.0187213 0.00309685 0.99981995 -0.42945311] [ 0. 0. 0. 1. ]] SLAMing on 33.141193817 meters Centerline goodness [0,1] 0.7878863203247991 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.03, Z:-0.43 [[ 0.99936942 0.02998947 -0.01901015 2.15049126] [-0.03008541 0.9995359 -0.00478098 -0.02983741] [ 0.01885795 0.00534989 0.99980786 -0.42993309] [ 0. 0. 0. 1. ]] SLAMing on 33.171193817 meters Centerline goodness [0,1] 0.7710588965945554 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.02, Z:-0.43 [[ 0.99939022 0.02918626 -0.01916618 2.15139986] [-0.02931915 0.99954771 -0.00668975 -0.02246701] [ 0.01896226 0.00724761 0.99979393 -0.43029581] [ 0. 0. 0. 1. ]] SLAMing on 33.201193817 meters Centerline goodness [0,1] 0.7881198347107438 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.02, Z:-0.43 [[ 0.99935958 0.02985817 -0.01972122 2.15395663] [-0.02999256 0.99952863 -0.00655402 -0.0166501 ] [ 0.01951624 0.00714131 0.99978404 -0.43167475] [ 0. 0. 0. 1. ]] SLAMing on 33.231193817 meters Centerline goodness [0,1] 0.7742929209394641 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.01, Z:-0.43 [[ 0.99941452 0.02793964 -0.01974848 2.15445391] [-0.02812952 0.99956006 -0.00940339 -0.00548379] [ 0.01947706 0.0099534 0.99976076 -0.43172469] [ 0. 0. 0. 1. ]] SLAMing on 33.261193817 meters Centerline goodness [0,1] 0.7709846064478653 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.00, Z:-0.43 [[ 9.99440866e-01 2.68459067e-02 -1.99311885e-02 2.15500669e+00] [-2.70754437e-02 9.99569100e-01 -1.13373093e-02 -2.69860823e-05] [ 1.96182398e-02 1.18706160e-02 9.99737072e-01 -4.31730603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.291193817 meters Centerline goodness [0,1] 0.7614275086791205 Centerline is valid? [False, False] Translation: X:2.16, Y:0.01, Z:-0.43 [[ 0.99942537 0.02697858 -0.02052017 2.15794838] [-0.02722148 0.99956152 -0.0116513 0.00570767] [ 0.02019684 0.01220319 0.99972155 -0.43343774] [ 0. 0. 0. 1. ]] SLAMing on 33.321193817 meters Centerline goodness [0,1] 0.7584854240647452 Centerline is valid? [False, False] Translation: X:2.16, Y:0.01, Z:-0.43 [[ 0.99936893 0.02856337 -0.0211157 2.16054038] [-0.0287924 0.99952896 -0.01062311 0.01154338] [ 0.02080232 0.01122438 0.9997206 -0.43465998] [ 0. 0. 0. 1. ]] SLAMing on 33.351193817 meters Centerline goodness [0,1] 0.7292706671914162 Centerline is valid? [False, False] Translation: X:2.16, Y:0.02, Z:-0.44 [[ 0.99929248 0.03105742 -0.02121263 2.16249045] [-0.03126959 0.99946349 -0.00974434 0.02391638] [ 0.02089862 0.01040076 0.9997275 -0.43596679] [ 0. 0. 0. 1. ]] SLAMing on 33.381193816999996 meters Centerline goodness [0,1] 0.7660936205468103 Centerline is valid? [False, False] Translation: X:2.16, Y:0.03, Z:-0.44 [[ 0.99926514 0.03171792 -0.02152121 2.16443279] [-0.03194043 0.999439 -0.01007488 0.02890661] [ 0.02118958 0.01075487 0.99971763 -0.43715769] [ 0. 0. 0. 1. ]] SLAMing on 33.411193817 meters Centerline goodness [0,1] 0.7660936205468103 Centerline is valid? [False, False] Translation: X:2.16, Y:0.03, Z:-0.44 [[ 0.99926514 0.03171792 -0.02152121 2.16443279] [-0.03194043 0.999439 -0.01007488 0.02890661] [ 0.02118958 0.01075487 0.99971763 -0.43715769] [ 0. 0. 0. 1. ]] SLAMing on 33.441193817 meters Centerline goodness [0,1] 0.7793246753246753 Centerline is valid? [False, False] Translation: X:2.16, Y:0.03, Z:-0.44 [[ 0.99916167 0.03485078 -0.02147958 2.16481172] [-0.03502087 0.99935773 -0.00759396 0.03200294] [ 0.02120113 0.00833983 0.99974045 -0.43732762] [ 0. 0. 0. 1. ]] SLAMing on 33.471193817 meters Centerline goodness [0,1] 0.802162520454875 Centerline is valid? [False, False] Translation: X:2.17, Y:0.04, Z:-0.44 [[ 0.99903937 0.03813145 -0.02159478 2.16546985] [-0.03824764 0.99925582 -0.00499307 0.03563693] [ 0.02138832 0.00581422 0.99975434 -0.43731916] [ 0. 0. 0. 1. ]] SLAMing on 33.501193817 meters Centerline goodness [0,1] 0.8265755976404843 Centerline is valid? [False, False] Translation: X:2.17, Y:0.04, Z:-0.44 [[ 9.98798001e-01 4.41095762e-02 -2.13751875e-02 2.16563343e+00] [-4.41307132e-02 9.99025631e-01 -5.17932869e-04 4.45284841e-02] [ 2.13315144e-02 1.46061259e-03 9.99771390e-01 -4.36916019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.531193817 meters Centerline goodness [0,1] 0.8468470339071033 Centerline is valid? [False, False] Translation: X:2.17, Y:0.05, Z:-0.44 [[ 9.98637947e-01 4.74851076e-02 -2.16197999e-02 2.16742013e+00] [-4.74492359e-02 9.98871295e-01 2.16946215e-03 4.78824238e-02] [ 2.16984146e-02 -1.14066424e-03 9.99763911e-01 -4.37918926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.561193816999996 meters Centerline goodness [0,1] 0.8614475321443384 Centerline is valid? [False, False] Translation: X:2.17, Y:0.05, Z:-0.44 [[ 0.99843605 0.05148978 -0.02177737 2.16903751] [-0.0513798 0.9986636 0.00558009 0.04981433] [ 0.02203558 -0.00445245 0.99974727 -0.43891269] [ 0. 0. 0. 1. ]] SLAMing on 33.591193817 meters Centerline goodness [0,1] 0.889731634027562 Centerline is valid? [False, False] Translation: X:2.17, Y:0.05, Z:-0.44 [[ 0.99820333 0.05576018 -0.02192991 2.17053877] [-0.05557078 0.99841279 0.00915365 0.05135527] [ 0.02240551 -0.00791854 0.9997176 -0.43978358] [ 0. 0. 0. 1. ]] SLAMing on 33.621193817 meters Centerline goodness [0,1] 0.8981304528458662 Centerline is valid? [False, False] Translation: X:2.17, Y:0.05, Z:-0.44 [[ 0.99766836 0.06474083 -0.02159808 2.17132052] [-0.06438445 0.99778362 0.01680753 0.05387858] [ 0.02263834 -0.01537776 0.99962544 -0.4400848 ] [ 0. 0. 0. 1. ]] SLAMing on 33.651193817 meters Centerline goodness [0,1] 0.8954363192922988 Centerline is valid? [False, False] Translation: X:2.18, Y:0.06, Z:-0.44 [[ 0.99740029 0.06925734 -0.01990161 2.18105397] [-0.06906267 0.99755906 0.01030871 0.05618439] [ 0.02056698 -0.00890745 0.9997488 -0.43995212] [ 0. 0. 0. 1. ]] SLAMing on 33.681193817 meters Centerline goodness [0,1] 0.8929845668768669 Centerline is valid? [False, False] Translation: X:2.18, Y:0.06, Z:-0.44 [[ 0.99733933 0.07006989 -0.02011136 2.18174634] [-0.06987496 0.99750322 0.01023755 0.05817116] [ 0.02077849 -0.00880503 0.99974533 -0.4399903 ] [ 0. 0. 0. 1. ]] SLAMing on 33.711193817 meters Centerline goodness [0,1] 0.8914148223434486 Centerline is valid? [False, False] Translation: X:2.18, Y:0.06, Z:-0.44 [[ 0.9972917 0.07071749 -0.02020662 2.18212694] [-0.07052196 0.99745775 0.01023149 0.05937261] [ 0.0208788 -0.00877877 0.99974347 -0.43991568] [ 0. 0. 0. 1. ]] SLAMing on 33.741193817 meters Centerline goodness [0,1] 0.8915390513293409 Centerline is valid? [False, False] Translation: X:2.18, Y:0.06, Z:-0.44 [[ 0.99720991 0.07189956 -0.02007099 2.1814168 ] [-0.07168856 0.99736594 0.0110422 0.05859076] [ 0.02081206 -0.00957253 0.99973758 -0.43902758] [ 0. 0. 0. 1. ]] SLAMing on 33.771193817 meters Centerline goodness [0,1] 0.8926757468333437 Centerline is valid? [False, False] Translation: X:2.18, Y:0.06, Z:-0.44 [[ 0.99741122 0.06894032 -0.02044739 2.18155436] [-0.06879799 0.99760177 0.00758558 0.05870604] [ 0.02092131 -0.0061592 0.99976215 -0.43861576] [ 0. 0. 0. 1. ]] SLAMing on 33.801193817 meters Centerline goodness [0,1] 0.8900169554608991 Centerline is valid? [False, False] Translation: X:2.18, Y:0.06, Z:-0.44 [[ 0.99761005 0.06587925 -0.02083535 2.18197379] [-0.06580516 0.99782356 0.00422277 0.05801669] [ 0.0210682 -0.00284161 0.999774 -0.43857843] [ 0. 0. 0. 1. ]] SLAMing on 33.831193817 meters Centerline goodness [0,1] 0.8928822968885943 Centerline is valid? [False, False] Translation: X:2.18, Y:0.06, Z:-0.44 [[ 9.97808171e-01 6.27073776e-02 -2.11338244e-02 2.18168870e+00] [-6.26990458e-02 9.98031919e-01 1.05727223e-03 5.60512487e-02] [ 2.11585301e-02 2.70115752e-04 9.99776097e-01 -4.38013060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.861193817 meters Centerline goodness [0,1] 0.8947890613696026 Centerline is valid? [False, False] Translation: X:2.18, Y:0.05, Z:-0.44 [[ 9.97959866e-01 6.00994927e-02 -2.15442884e-02 2.18255288e+00] [-6.01395961e-02 9.98189234e-01 -1.21780206e-03 5.23932396e-02] [ 2.14320875e-02 2.51098239e-03 9.99767153e-01 -4.38547549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.891193817 meters Centerline goodness [0,1] 0.8906729877357519 Centerline is valid? [False, False] Translation: X:2.18, Y:0.05, Z:-0.44 [[ 0.99808257 0.05784235 -0.02203294 2.18386065] [-0.05792178 0.99831667 -0.00298318 0.04822938] [ 0.0218233 0.00425365 0.99975279 -0.43933809] [ 0. 0. 0. 1. ]] SLAMing on 33.921193817 meters Centerline goodness [0,1] 0.8924280582965196 Centerline is valid? [False, False] Translation: X:2.18, Y:0.04, Z:-0.44 [[ 0.99820467 0.05565325 -0.02213949 2.18437046] [-0.05575192 0.99843718 -0.00386399 0.0408979 ] [ 0.02188985 0.00509137 0.99974742 -0.4402507 ] [ 0. 0. 0. 1. ]] SLAMing on 33.951193817 meters Centerline goodness [0,1] 0.8904166407432754 Centerline is valid? [False, False] Translation: X:2.19, Y:0.04, Z:-0.44 [[ 0.9983375 0.05306633 -0.02249881 2.18537676] [-0.05321799 0.9985637 -0.00619587 0.03823372] [ 0.0221377 0.00738291 0.99972767 -0.44100394] [ 0. 0. 0. 1. ]] SLAMing on 33.981193817 meters Centerline goodness [0,1] 0.891847679787961 Centerline is valid? [False, False] Translation: X:2.19, Y:0.03, Z:-0.44 [[ 0.99833576 0.0528887 -0.0229891 2.18753703] [-0.05303185 0.99857677 -0.00566217 0.03340417] [ 0.02265692 0.0068719 0.99971968 -0.44262765] [ 0. 0. 0. 1. ]] SLAMing on 34.011193817 meters Centerline goodness [0,1] 0.891034397119086 Centerline is valid? [False, False] Translation: X:2.19, Y:0.02, Z:-0.44 [[ 0.99836294 0.05225262 -0.0232615 2.18832622] [-0.05239405 0.99861127 -0.00551246 0.02394298] [ 0.02294115 0.0067222 0.99971422 -0.44339063] [ 0. 0. 0. 1. ]] SLAMing on 34.041193817 meters Centerline goodness [0,1] 0.8896080994170246 Centerline is valid? [False, False] Translation: X:2.19, Y:0.02, Z:-0.44 [[ 0.99832103 0.05307494 -0.0231985 2.18804048] [-0.05318062 0.99857705 -0.00396179 0.0188291 ] [ 0.02295522 0.00518885 0.99972303 -0.443275 ] [ 0. 0. 0. 1. ]] SLAMing on 34.071193817 meters Centerline goodness [0,1] 0.8912176477919488 Centerline is valid? [False, False] Translation: X:2.19, Y:0.01, Z:-0.44 [[ 0.99829004 0.05360406 -0.02331534 2.18819301] [-0.05368103 0.99855452 -0.00268739 0.01415794] [ 0.02313758 0.00393439 0.99972455 -0.44326285] [ 0. 0. 0. 1. ]] SLAMing on 34.101193817 meters Centerline goodness [0,1] 0.893540743793139 Centerline is valid? [False, False] Translation: X:2.20, Y:0.01, Z:-0.45 [[ 0.99846561 0.05246664 -0.01771084 2.19975089] [-0.05238154 0.99861342 0.00523568 0.00786952] [ 0.01796098 -0.00429992 0.99982944 -0.44662556] [ 0. 0. 0. 1. ]] SLAMing on 34.131193816999996 meters Centerline goodness [0,1] 0.8931608056793793 Centerline is valid? [False, False] Translation: X:2.20, Y:0.01, Z:-0.45 [[ 9.98610052e-01 4.95939117e-02 -1.78439823e-02 2.19973787e+00] [-4.95594104e-02 9.98768364e-01 2.37080762e-03 5.92852793e-03] [ 1.79395826e-02 -1.48317508e-03 9.99837973e-01 -4.46630090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.161193817 meters Centerline goodness [0,1] 0.8937073948987837 Centerline is valid? [False, False] Translation: X:2.20, Y:0.00, Z:-0.45 [[ 9.98753667e-01 4.65655224e-02 -1.79656762e-02 2.19968117e+00] [-4.65812051e-02 9.98914403e-01 -4.55222216e-04 3.39187674e-03] [ 1.79249750e-02 1.29151770e-03 9.99838501e-01 -4.46678859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.191193817 meters Centerline goodness [0,1] 0.8933043568250025 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.01, Z:-0.45 [[ 9.98849108e-01 4.43626159e-02 -1.82323160e-02 2.20047522e+00] [-4.43920127e-02 9.99013455e-01 -1.21060383e-03 -5.43124707e-03] [ 1.81606235e-02 2.01857976e-03 9.99833045e-01 -4.47553748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.221193817 meters Centerline goodness [0,1] 0.8933756429401029 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.01, Z:-0.45 [[ 0.99898484 0.04114196 -0.01834721 2.20074223] [-0.04122256 0.99914184 -0.00403645 -0.00798476] [ 0.01816539 0.00478868 0.99982353 -0.44798641] [ 0. 0. 0. 1. ]] SLAMing on 34.251193817 meters Centerline goodness [0,1] 0.8936986642329711 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.01, Z:-0.45 [[ 0.99901232 0.0402668 -0.01878736 2.20265927] [-0.04034746 0.99917797 -0.00393376 -0.01218682] [ 0.01861352 0.00468789 0.99981576 -0.44941965] [ 0. 0. 0. 1. ]] SLAMing on 34.281193817 meters Centerline goodness [0,1] 0.8909836744841303 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.02, Z:-0.45 [[ 0.99924422 0.03390052 -0.01901931 2.20239095] [-0.03406719 0.99938332 -0.00850874 -0.02117485] [ 0.01871913 0.00915024 0.99978291 -0.44929718] [ 0. 0. 0. 1. ]] SLAMing on 34.311193816999996 meters Centerline goodness [0,1] 0.8937536364391987 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.03, Z:-0.45 [[ 0.99934879 0.03048253 -0.01930824 2.20265338] [-0.03069459 0.99947064 -0.01078336 -0.02657846] [ 0.01896932 0.011369 0.99975543 -0.44933494] [ 0. 0. 0. 1. ]] SLAMing on 34.341193817 meters Centerline goodness [0,1] 0.8948899044453676 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.03, Z:-0.45 [[ 0.99944687 0.02685615 -0.01961377 2.20328436] [-0.02712233 0.99954185 -0.01343378 -0.03084649] [ 0.01924401 0.01395832 0.99971738 -0.44970547] [ 0. 0. 0. 1. ]] SLAMing on 34.371193817 meters Centerline goodness [0,1] 0.8975131406727194 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.03, Z:-0.45 [[ 0.99953368 0.02322043 -0.01983032 2.20401855] [-0.02354467 0.99959027 -0.01627687 -0.03411715] [ 0.01944424 0.01673618 0.99967086 -0.45037007] [ 0. 0. 0. 1. ]] SLAMing on 34.401193817 meters Centerline goodness [0,1] 0.8991527003791095 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.04, Z:-0.45 [[ 0.99960429 0.01965171 -0.02012663 2.20487273] [-0.02003729 0.99961603 -0.01913891 -0.03706263] [ 0.01974279 0.01953462 0.99961424 -0.45093801] [ 0. 0. 0. 1. ]] SLAMing on 34.431193817 meters Centerline goodness [0,1] 0.8970094155709486 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.05, Z:-0.45 [[ 0.99972659 0.0120581 -0.02003341 2.20569124] [-0.01221399 0.99989593 -0.00767746 -0.04596388] [ 0.01993875 0.00792005 0.99976983 -0.45167318] [ 0. 0. 0. 1. ]] SLAMing on 34.461193817 meters Centerline goodness [0,1] 0.8985377809163794 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.05, Z:-0.45 [[ 0.99972911 0.01191963 -0.01999091 2.20572874] [-0.01206478 0.99990161 -0.00715582 -0.04808703] [ 0.01990365 0.00739507 0.99977455 -0.45171544] [ 0. 0. 0. 1. ]] SLAMing on 34.491193817 meters Centerline goodness [0,1] 0.891695027807753 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.05, Z:-0.45 [[ 0.99972028 0.01208544 -0.02033012 2.20658472] [-0.01222405 0.99990279 -0.00670764 -0.04891346] [ 0.02024708 0.00695428 0.99977082 -0.45189271] [ 0. 0. 0. 1. ]] SLAMing on 34.521193817 meters Centerline goodness [0,1] 0.8864305561315473 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.05, Z:-0.45 [[ 0.9996723 0.0149059 -0.02081127 2.2079403 ] [-0.01497706 0.9998825 -0.00326781 -0.04999082] [ 0.02076011 0.00357843 0.99977808 -0.45218273] [ 0. 0. 0. 1. ]] SLAMing on 34.551193817 meters Centerline goodness [0,1] 0.899321337401158 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.05, Z:-0.45 [[ 0.99966518 0.01542044 -0.02077835 2.20756088] [-0.01549173 0.99987463 -0.00327458 -0.04888223] [ 0.02072525 0.00359537 0.99977874 -0.45165516] [ 0. 0. 0. 1. ]] SLAMing on 34.581193817 meters Centerline goodness [0,1] 0.9039047757294237 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.05, Z:-0.45 [[ 0.99968064 0.02159864 -0.01311944 2.21405865] [-0.02168969 0.99974137 -0.00683762 -0.04797268] [ 0.01296836 0.00711999 0.99989056 -0.45217365] [ 0. 0. 0. 1. ]] SLAMing on 34.611193817 meters Centerline goodness [0,1] 0.9043166362580859 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.05, Z:-0.45 [[ 0.99966021 0.02248574 -0.01318547 2.21373383] [-0.02257545 0.99972272 -0.00669536 -0.04690452] [ 0.01303126 0.00699076 0.99989065 -0.4514573 ] [ 0. 0. 0. 1. ]] SLAMing on 34.641193817 meters Centerline goodness [0,1] 0.9034327680818584 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.05, Z:-0.45 [[ 0.99956561 0.02638961 -0.01312199 2.21355362] [-0.02642803 0.9996469 -0.00276356 -0.04742912] [ 0.01304443 0.00310915 0.99991008 -0.45108811] [ 0. 0. 0. 1. ]] SLAMing on 34.671193817 meters Centerline goodness [0,1] 0.9014029134249296 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.05, Z:-0.45 [[ 0.99954744 0.02710367 -0.01304997 2.21321509] [-0.02714318 0.99962746 -0.00286009 -0.04574502] [ 0.01296759 0.00321302 0.99991076 -0.45076246] [ 0. 0. 0. 1. ]] SLAMing on 34.701193817 meters Centerline goodness [0,1] 0.9032398302453162 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.04, Z:-0.45 [[ 9.99427199e-01 3.12476133e-02 -1.29945979e-02 2.21460587e+00] [-3.12380399e-02 9.99511532e-01 9.39088366e-04 -4.44278167e-02] [ 1.30175947e-02 -5.32624688e-04 9.99915126e-01 -4.52433683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.731193817 meters Centerline goodness [0,1] 0.9019453642384105 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.04, Z:-0.45 [[ 9.99426620e-01 3.11410043e-02 -1.32916555e-02 2.21622488e+00] [-3.11306865e-02 9.99514840e-01 9.82503272e-04 -4.47780881e-02] [ 1.33158030e-02 -5.68161566e-04 9.99911179e-01 -4.53783984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.761193817 meters Centerline goodness [0,1] 0.9048287536902083 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.05, Z:-0.46 [[ 9.99497440e-01 2.84998295e-02 -1.38790468e-02 2.21903495e+00] [-2.85252732e-02 9.99591728e-01 -1.63870624e-03 -4.59059881e-02] [ 1.38266775e-02 2.03378629e-03 9.99902339e-01 -4.56065101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.791193817 meters Centerline goodness [0,1] 0.9060579092244966 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.05, Z:-0.46 [[ 0.99958638 0.02504 -0.01414453 2.22001278] [-0.02511187 0.99967251 -0.00492616 -0.04770545] [ 0.01401655 0.00527932 0.99988783 -0.45696864] [ 0. 0. 0. 1. ]] SLAMing on 34.821193817 meters Centerline goodness [0,1] 0.9055860710954503 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.05, Z:-0.46 [[ 0.99962853 0.02305851 -0.01452919 2.22216347] [-0.02315079 0.99971266 -0.00621534 -0.05285949] [ 0.0143817 0.0065494 0.99987513 -0.45896761] [ 0. 0. 0. 1. ]] SLAMing on 34.851193817 meters Centerline goodness [0,1] 0.903800253211847 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.05, Z:-0.46 [[ 0.99961288 0.0235947 -0.01474388 2.22305565] [-0.02367984 0.99970376 -0.00562647 -0.05402438] [ 0.01460676 0.00597342 0.99987547 -0.45954869] [ 0. 0. 0. 1. ]] SLAMing on 34.881193816999996 meters Centerline goodness [0,1] 0.9056223648410078 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.06, Z:-0.46 [[ 0.99958974 0.02443901 -0.01493626 2.22378848] [-0.02451514 0.99968728 -0.00493498 -0.05510673] [ 0.01481099 0.00529912 0.99987627 -0.45998224] [ 0. 0. 0. 1. ]] SLAMing on 34.911193817 meters Centerline goodness [0,1] 0.9063570138845651 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.06, Z:-0.46 [[ 0.99956292 0.02537437 -0.01516926 2.22456668] [-0.0254412 0.99966737 -0.00422906 -0.05624627] [ 0.0150569 0.00461313 0.999876 -0.46040744] [ 0. 0. 0. 1. ]] SLAMing on 34.941193817 meters Centerline goodness [0,1] 0.9095601343227893 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.06, Z:-0.46 [[ 0.99951326 0.02714034 -0.01538357 2.22578952] [-0.02718209 0.99962734 -0.00251149 -0.05907802] [ 0.01530968 0.00292843 0.99987851 -0.46149577] [ 0. 0. 0. 1. ]] SLAMing on 34.971193817 meters Centerline goodness [0,1] 0.9102670254605671 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.06, Z:-0.46 [[ 9.99506674e-01 2.72544993e-02 -1.56077374e-02 2.22681724e+00] [-2.72881853e-02 9.99625707e-01 -1.94936937e-03 -6.07690271e-02] [ 1.55487665e-02 2.37431453e-03 9.99876292e-01 -4.62250061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.001193817 meters Centerline goodness [0,1] 0.911106037649696 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.06, Z:-0.46 [[ 0.9995873 0.02405429 -0.01570396 2.22663765] [-0.02413605 0.99969599 -0.00503776 -0.06197115] [ 0.01557801 0.00541471 0.99986399 -0.46205983] [ 0. 0. 0. 1. ]] SLAMing on 35.031193817 meters Centerline goodness [0,1] 0.9089761628869393 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.07, Z:-0.46 [[ 0.99965861 0.02081803 -0.01578846 2.22625103] [-0.02094069 0.9997515 -0.00764421 -0.06536466] [ 0.0156254 0.00797222 0.99984613 -0.46154201] [ 0. 0. 0. 1. ]] SLAMing on 35.061193817 meters Centerline goodness [0,1] 0.9102891421217594 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.07, Z:-0.46 [[ 0.99978237 0.01379223 -0.01565206 2.22488519] [-0.01399545 0.9998182 -0.01294939 -0.07331799] [ 0.01547062 0.01316563 0.99979364 -0.46047139] [ 0. 0. 0. 1. ]] SLAMing on 35.091193817 meters Centerline goodness [0,1] 0.9108857615894039 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:-0.46 [[ 0.99982488 0.00982562 -0.01592699 2.22557204] [-0.01008346 0.99981809 -0.01618981 -0.07591709] [ 0.01576501 0.01634757 0.99974208 -0.46076931] [ 0. 0. 0. 1. ]] SLAMing on 35.121193817 meters Centerline goodness [0,1] 0.9105550049554014 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:-0.46 [[ 0.99985118 0.00585962 -0.01622605 2.22631213] [-0.00617858 0.99978729 -0.01967715 -0.0772273 ] [ 0.0161073 0.01977447 0.99967471 -0.46101103] [ 0. 0. 0. 1. ]] SLAMing on 35.151193817 meters Centerline goodness [0,1] 0.9101984998549584 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:-0.46 [[ 0.99985435 0.00521952 -0.01624931 2.22657473] [-0.00553465 0.99979631 -0.01940877 -0.0791388 ] [ 0.01614469 0.01949588 0.99967958 -0.46122109] [ 0. 0. 0. 1. ]] SLAMing on 35.181193817 meters Centerline goodness [0,1] 0.9089932220201686 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:-0.46 [[ 9.99863597e-01 1.19637109e-03 -1.64729137e-02 2.22722861e+00] [-1.57511114e-03 9.99734272e-01 -2.29979418e-02 -8.05884598e-02] [ 1.64410223e-02 2.30207514e-02 9.99599789e-01 -4.61535851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.211193817 meters Centerline goodness [0,1] 0.9083948931239266 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:-0.46 [[ 9.99860554e-01 1.15842853e-03 -1.66592412e-02 2.22729604e+00] [-1.53314462e-03 9.99745716e-01 -2.24978355e-02 -8.27447739e-02] [ 1.66289429e-02 2.25202393e-02 9.99608082e-01 -4.61124664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.241193817 meters Centerline goodness [0,1] 0.9084141524845427 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:-0.46 [[ 9.99854620e-01 1.25129219e-03 -1.70050642e-02 2.22760458e+00] [-1.62590073e-03 9.99755915e-01 -2.20332944e-02 -8.45391652e-02] [ 1.69733435e-02 2.20577398e-02 9.99612606e-01 -4.60618335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.271193817 meters Centerline goodness [0,1] 0.9094943796922311 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.09, Z:-0.46 [[ 9.99853495e-01 1.36262108e-03 -1.70625884e-02 2.22714499e+00] [-1.73411457e-03 9.99761359e-01 -2.17765676e-02 -8.51308672e-02] [ 1.70288434e-02 2.18029657e-02 9.99617251e-01 -4.59872212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.301193817 meters Centerline goodness [0,1] 0.9094943796922311 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.09, Z:-0.46 [[ 9.99853495e-01 1.36262108e-03 -1.70625884e-02 2.22714499e+00] [-1.73411457e-03 9.99761359e-01 -2.17765676e-02 -8.51308672e-02] [ 1.70288434e-02 2.18029657e-02 9.99617251e-01 -4.59872212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.331193817 meters Centerline goodness [0,1] 0.9111533142043227 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.09, Z:-0.46 [[ 9.99898265e-01 1.42281374e-03 -1.41927757e-02 2.23425169e+00] [-1.57622228e-03 9.99940397e-01 -1.08035941e-02 -8.75455836e-02] [ 1.41765583e-02 1.08248660e-02 9.99840911e-01 -4.58116349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.361193817 meters Centerline goodness [0,1] 0.910238921957672 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.09, Z:-0.46 [[ 9.99897077e-01 1.52509290e-03 -1.42656590e-02 2.23391310e+00] [-1.67994162e-03 9.99939737e-01 -1.08489707e-02 -8.67202006e-02] [ 1.42482536e-02 1.08718196e-02 9.99839383e-01 -4.57482420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.391193817 meters Centerline goodness [0,1] 0.9108820729334823 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.09, Z:-0.46 [[ 0.99988851 0.00474036 -0.0141595 2.23413614] [-0.00484527 0.999961 -0.00738365 -0.08581015] [ 0.01412394 0.00745143 0.99987249 -0.45787293] [ 0. 0. 0. 1. ]] SLAMing on 35.421193817 meters Centerline goodness [0,1] 0.9120511071140607 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.08, Z:-0.46 [[ 0.99988358 0.00507946 -0.01438812 2.23503968] [-0.00518519 0.99995976 -0.00732088 -0.08499299] [ 0.01435036 0.00739464 0.99986968 -0.458432 ] [ 0. 0. 0. 1. ]] SLAMing on 35.451193817 meters Centerline goodness [0,1] 0.9102936297279363 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.08, Z:-0.46 [[ 0.99987737 0.00575061 -0.01456624 2.23533366] [-0.00585213 0.99995882 -0.00693656 -0.08487861] [ 0.01452575 0.00702096 0.99986985 -0.45839675] [ 0. 0. 0. 1. ]] SLAMing on 35.481193817 meters Centerline goodness [0,1] 0.9143846983652809 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.09, Z:-0.46 [[ 0.99986163 0.00847505 -0.01431425 2.23400583] [-0.00854349 0.99995233 -0.00472709 -0.08645914] [ 0.01427351 0.00484873 0.99988637 -0.45748567] [ 0. 0. 0. 1. ]] SLAMing on 35.511193817 meters Centerline goodness [0,1] 0.914400680314438 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.09, Z:-0.46 [[ 0.9998541 0.00919899 -0.01439302 2.2343219 ] [-0.00926394 0.99994718 -0.00445261 -0.08564505] [ 0.0143513 0.00458529 0.9998865 -0.45763904] [ 0. 0. 0. 1. ]] SLAMing on 35.541193817 meters Centerline goodness [0,1] 0.9131553287276197 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:-0.46 [[ 0.99984533 0.00996255 -0.01449337 2.23460868] [-0.01002412 0.99994101 -0.00418168 -0.08459305] [ 0.01445086 0.00432632 0.99988622 -0.45774955] [ 0. 0. 0. 1. ]] SLAMing on 35.571193817 meters Centerline goodness [0,1] 0.9136335339282009 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.08, Z:-0.46 [[ 0.99983731 0.0103828 -0.01474987 2.23536318] [-0.01044365 0.99993724 -0.00405475 -0.08403691] [ 0.01470684 0.00420813 0.99988299 -0.45807233] [ 0. 0. 0. 1. ]] SLAMing on 35.601193817 meters Centerline goodness [0,1] 0.9118105005293862 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.09, Z:-0.46 [[ 0.99982695 0.01104573 -0.01496867 2.2367676 ] [-0.01109564 0.99993314 -0.00325554 -0.08613636] [ 0.01493171 0.00342107 0.99988266 -0.45939169] [ 0. 0. 0. 1. ]] SLAMing on 35.631193816999996 meters Centerline goodness [0,1] 0.9117385090208587 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.09, Z:-0.46 [[ 0.99982134 0.01125618 -0.01518532 2.23743458] [-0.01129961 0.9999323 -0.00277764 -0.08783831] [ 0.01515303 0.00294873 0.99988084 -0.45964403] [ 0. 0. 0. 1. ]] SLAMing on 35.661193817 meters Centerline goodness [0,1] 0.913939695574634 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.09, Z:-0.46 [[ 0.99982189 0.01130285 -0.01511422 2.2369811 ] [-0.01134303 0.99993235 -0.00257502 -0.08872905] [ 0.01508409 0.00274601 0.99988246 -0.459204 ] [ 0. 0. 0. 1. ]] SLAMing on 35.691193817 meters Centerline goodness [0,1] 0.9151173359775244 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.09, Z:-0.46 [[ 9.99815854e-01 1.14901689e-02 -1.53699113e-02 2.23722240e+00] [-1.15249300e-02 9.99931220e-01 -2.17497007e-03 -8.94501802e-02] [ 1.53438634e-02 2.35170671e-03 9.99879510e-01 -4.58769643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.721193817 meters Centerline goodness [0,1] 0.9151267104882385 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.09, Z:-0.46 [[ 9.99815518e-01 1.13421491e-02 -1.55011723e-02 2.23712659e+00] [-1.13768942e-02 9.99932959e-01 -2.15510418e-03 -8.99922917e-02] [ 1.54756895e-02 2.33106180e-03 9.99877527e-01 -4.58272056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.751193817 meters Centerline goodness [0,1] 0.9155735156978552 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.09, Z:-0.46 [[ 9.99814961e-01 1.10738993e-02 -1.57293317e-02 2.23745132e+00] [-1.11052458e-02 9.99936517e-01 -1.90692565e-03 -9.22343832e-02] [ 1.57072161e-02 2.08125089e-03 9.99874468e-01 -4.58112960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.781193817 meters Centerline goodness [0,1] 0.913798084860492 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.09, Z:-0.46 [[ 9.99812386e-01 1.08146831e-02 -1.60696917e-02 2.23840232e+00] [-1.08464229e-02 9.99939391e-01 -1.88928858e-03 -9.32775368e-02] [ 1.60482857e-02 2.06323279e-03 9.99869089e-01 -4.58436794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.811193817 meters Centerline goodness [0,1] 0.9119641159204597 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.09, Z:-0.46 [[ 9.99817349e-01 1.02161559e-02 -1.61523356e-02 2.23859665e+00] [-1.02519889e-02 9.99945163e-01 -2.13719439e-03 -9.38529727e-02] [ 1.61296160e-02 2.30239760e-03 9.99867258e-01 -4.58407864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.841193817 meters Centerline goodness [0,1] 0.9149345809870818 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.09, Z:-0.46 [[ 0.99982345 0.00954231 -0.01618705 2.23833546] [-0.00958099 0.99995142 -0.0023138 -0.09463464] [ 0.01616419 0.00246848 0.9998663 -0.45789022] [ 0. 0. 0. 1. ]] SLAMing on 35.871193817 meters Centerline goodness [0,1] 0.9161813901623095 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.10, Z:-0.46 [[ 0.99985479 0.00500465 -0.01628984 2.23828448] [-0.00510471 0.99996832 -0.00610679 -0.09633253] [ 0.01625876 0.00618906 0.99984866 -0.45756151] [ 0. 0. 0. 1. ]] SLAMing on 35.901193817 meters Centerline goodness [0,1] 0.9153412856196157 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.10, Z:-0.46 [[ 0.99985621 0.00424324 -0.01641814 2.23876412] [-0.00434503 0.99997153 -0.00616911 -0.09799459] [ 0.01639149 0.00623956 0.99984618 -0.45774858] [ 0. 0. 0. 1. ]] SLAMing on 35.931193817 meters Centerline goodness [0,1] 0.9149349709488659 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.10, Z:-0.46 [[ 0.99984804 0.00322878 -0.01713118 2.24115714] [-0.00334515 0.9999715 -0.00676896 -0.09831456] [ 0.01710884 0.00682523 0.99983034 -0.45891972] [ 0. 0. 0. 1. ]] SLAMing on 35.961193817 meters Centerline goodness [0,1] 0.9128355860984041 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.10, Z:-0.46 [[ 0.99984654 0.00300509 -0.01725853 2.24178621] [-0.00312257 0.99997211 -0.00678429 -0.09840156] [ 0.01723766 0.00683714 0.99982804 -0.45934738] [ 0. 0. 0. 1. ]] SLAMing on 35.991193817 meters Centerline goodness [0,1] 0.9092729449651129 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.10, Z:-0.46 [[ 0.99983857 0.00278808 -0.01774975 2.24306109] [-0.00291063 0.99997208 -0.00688201 -0.09840255] [ 0.01773006 0.00693256 0.99981878 -0.45964598] [ 0. 0. 0. 1. ]] SLAMing on 36.021193817 meters Centerline goodness [0,1] 0.9083827509969626 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.10, Z:-0.46 [[ 0.99983591 0.00307242 -0.01785241 2.243251 ] [-0.00318773 0.99997422 -0.00643411 -0.09940265] [ 0.01783218 0.00648996 0.99981993 -0.45957488] [ 0. 0. 0. 1. ]] SLAMing on 36.051193817 meters Centerline goodness [0,1] 0.9120574992771283 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.10, Z:-0.46 [[ 0.99983141 0.00347444 -0.01803001 2.24323082] [-0.00358171 0.99997606 -0.00592087 -0.10026655] [ 0.01800901 0.00598445 0.99981991 -0.45908331] [ 0. 0. 0. 1. ]] SLAMing on 36.081193817 meters Centerline goodness [0,1] 0.9131670088554305 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.10, Z:-0.46 [[ 0.99982872 0.00345046 -0.01818333 2.24373978] [-0.0035573 0.99997658 -0.00584658 -0.10033233] [ 0.01816273 0.00591027 0.99981758 -0.45930001] [ 0. 0. 0. 1. ]] SLAMing on 36.111193817 meters Centerline goodness [0,1] 0.904431127791486 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.10, Z:-0.46 [[ 0.99982132 0.00351229 -0.01857422 2.24493108] [-0.00361684 0.99997779 -0.00559812 -0.10076955] [ 0.01855415 0.0056643 0.99981181 -0.45981184] [ 0. 0. 0. 1. ]] SLAMing on 36.141193817 meters Centerline goodness [0,1] 0.9069478394166632 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.10, Z:-0.46 [[ 0.99981596 0.00363517 -0.01883682 2.24602544] [-0.00373264 0.99997982 -0.00514164 -0.10203198] [ 0.01881775 0.00521101 0.99980935 -0.46048644] [ 0. 0. 0. 1. ]] SLAMing on 36.171193817 meters Centerline goodness [0,1] 0.9106092001657687 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.10, Z:-0.46 [[ 0.99981599 0.00374217 -0.01881436 2.24586533] [-0.00383162 0.99998152 -0.00472049 -0.10326223] [ 0.01879634 0.00479171 0.99981185 -0.46028587] [ 0. 0. 0. 1. ]] SLAMing on 36.201193817 meters Centerline goodness [0,1] 0.9150094158061378 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.10, Z:-0.46 [[ 9.99789573e-01 7.34578697e-03 -1.91532911e-02 2.24634785e+00] [-7.36256946e-03 9.99972571e-01 -8.05850712e-04 -1.03876988e-01] [ 1.91468462e-02 9.46698575e-04 9.99816234e-01 -4.59844250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.231193817 meters Centerline goodness [0,1] 0.9131216668733722 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.10, Z:-0.46 [[ 9.99777683e-01 8.07205133e-03 -1.94788856e-02 2.24708970e+00] [-8.09245065e-03 9.99966786e-01 -9.68655411e-04 -1.01560899e-01] [ 1.94704196e-02 1.12607198e-03 9.99809799e-01 -4.59968747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.261193817 meters Centerline goodness [0,1] 0.9150851631863243 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.10, Z:-0.46 [[ 9.99768028e-01 8.86421969e-03 -1.96294854e-02 2.24742764e+00] [-8.89050303e-03 9.99959695e-01 -1.25210926e-03 -9.90426333e-02] [ 1.96175953e-02 1.42633481e-03 9.99806539e-01 -4.60075444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.291193817 meters Centerline goodness [0,1] 0.9134561581663316 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.10, Z:-0.46 [[ 9.99756363e-01 9.98772077e-03 -1.96839982e-02 2.24769462e+00] [-1.00145869e-02 9.99949050e-01 -1.26677012e-03 -9.62685483e-02] [ 1.96703432e-02 1.46358860e-03 9.99805449e-01 -4.60360338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.321193817 meters Centerline goodness [0,1] 0.917054134838924 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.09, Z:-0.46 [[ 9.99749448e-01 1.06119254e-02 -1.97086086e-02 2.24749541e+00] [-1.06446305e-02 9.99942135e-01 -1.55526413e-03 -9.35448214e-02] [ 1.96909638e-02 1.76466531e-03 9.99804557e-01 -4.60076004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.351193817 meters Centerline goodness [0,1] 0.9178446870421199 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.09, Z:-0.46 [[ 9.99918001e-01 1.03790535e-02 -7.50105295e-03 2.25155451e+00] [-1.03946399e-02 9.99943889e-01 -2.04190578e-03 -9.22186334e-02] [ 7.47943901e-03 2.11970909e-03 9.99969782e-01 -4.62118466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.381193816999996 meters Centerline goodness [0,1] 0.9201597219348698 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.09, Z:-0.46 [[ 0.99994281 0.00775943 -0.00735932 2.24923925] [-0.00779396 0.9999587 -0.00467533 -0.09214574] [ 0.00732274 0.00473242 0.99996199 -0.45963102] [ 0. 0. 0. 1. ]] SLAMing on 36.411193817 meters Centerline goodness [0,1] 0.921625185429372 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.09, Z:-0.46 [[ 0.99994729 0.00681606 -0.00767885 2.24956177] [-0.00685416 0.99996428 -0.00494606 -0.09325911] [ 0.00764486 0.00499843 0.99995829 -0.4590489 ] [ 0. 0. 0. 1. ]] SLAMing on 36.441193817 meters Centerline goodness [0,1] 0.9203102378490176 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.09, Z:-0.46 [[ 9.99970211e-01 1.91731171e-03 -7.47670187e-03 2.24868724e+00] [-1.99021978e-03 9.99950427e-01 -9.75615081e-03 -9.13354398e-02] [ 7.45762564e-03 9.77074046e-03 9.99924455e-01 -4.58375480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.471193817 meters Centerline goodness [0,1] 0.9193861934896803 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.09, Z:-0.46 [[ 9.99970199e-01 1.28280327e-03 -7.61289310e-03 2.24906258e+00] [-1.35797464e-03 9.99950296e-01 -9.87727883e-03 -9.18969317e-02] [ 7.59984410e-03 9.88732259e-03 9.99922239e-01 -4.58443550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.501193817 meters Centerline goodness [0,1] 0.9169256096306204 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.09, Z:-0.46 [[ 9.99967596e-01 1.03691820e-04 -8.04963814e-03 2.25070081e+00] [-1.88165153e-04 9.99944919e-01 -1.04940055e-02 -9.26574507e-02] [ 8.04810662e-03 1.04951801e-02 9.99912536e-01 -4.59356344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.531193817 meters Centerline goodness [0,1] 0.9140728476821192 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.09, Z:-0.46 [[ 9.99968124e-01 -5.18616488e-05 -7.98426119e-03 2.25063912e+00] [-2.91455004e-05 9.99948534e-01 -1.01454035e-02 -9.44590760e-02] [ 7.98437642e-03 1.01453128e-02 9.99916658e-01 -4.59421981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.561193817 meters Centerline goodness [0,1] 0.9157235833022427 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.10, Z:-0.46 [[ 9.99967222e-01 1.58817176e-04 -8.09499106e-03 2.25063912e+00] [-2.36873556e-04 9.99953482e-01 -9.64250646e-03 -9.59809810e-02] [ 8.09308310e-03 9.64410789e-03 9.99920743e-01 -4.59114777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.591193817 meters Centerline goodness [0,1] 0.9149156187954997 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.10, Z:-0.46 [[ 0.99996262 0.00311318 -0.00806643 2.25101971] [-0.00316145 0.99997713 -0.00597876 -0.09752282] [ 0.00804763 0.00600404 0.99994959 -0.45945497] [ 0. 0. 0. 1. ]] SLAMing on 36.621193817 meters Centerline goodness [0,1] 0.9136474680137469 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.10, Z:-0.46 [[ 0.99996074 0.00332274 -0.00821452 2.25157071] [-0.00337151 0.99997673 -0.00593079 -0.0965884 ] [ 0.00819462 0.00595825 0.99994867 -0.45975081] [ 0. 0. 0. 1. ]] SLAMing on 36.651193817 meters Centerline goodness [0,1] 0.9114745263856071 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.10, Z:-0.46 [[ 0.99995898 0.00327055 -0.00844616 2.25245685] [-0.00332119 0.99997656 -0.00598793 -0.09612826] [ 0.00842638 0.00601574 0.9999464 -0.46029287] [ 0. 0. 0. 1. ]] SLAMing on 36.681193817 meters Centerline goodness [0,1] 0.9071936332925743 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.10, Z:-0.46 [[ 0.99995692 0.00319824 -0.00871339 2.25366811] [-0.0032491 0.99997773 -0.00582922 -0.09662508] [ 0.00869455 0.00585728 0.99994505 -0.46112243] [ 0. 0. 0. 1. ]] SLAMing on 36.711193817 meters Centerline goodness [0,1] 0.8742564441506939 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.10, Z:-0.46 [[ 9.99954924e-01 -1.83843601e-03 -9.31504249e-03 2.25673506e+00] [ 1.74206725e-03 9.99944992e-01 -1.03430722e-02 -9.74425183e-02] [ 9.33354516e-03 1.03263786e-02 9.99903121e-01 -4.63461513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.741193817 meters Centerline goodness [0,1] 0.8465971516822488 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.10, Z:-0.46 [[ 0.99995252 -0.00241184 -0.00944126 2.25760285] [ 0.00231667 0.99994653 -0.01007781 -0.09926602] [ 0.00946506 0.01005546 0.99990465 -0.46415085] [ 0. 0. 0. 1. ]] SLAMing on 36.771193817 meters Centerline goodness [0,1] 0.8235609655456984 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.10, Z:-0.47 [[ 0.99994155 -0.00373543 -0.01014587 2.2603624 ] [ 0.00362389 0.99993303 -0.01099073 -0.09911085] [ 0.01018624 0.01095332 0.99988813 -0.46579504] [ 0. 0. 0. 1. ]] SLAMing on 36.801193817 meters Centerline goodness [0,1] 0.8111920021570945 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.10, Z:-0.47 [[ 9.99949500e-01 -1.38173297e-03 -9.95434497e-03 2.25990886e+00] [ 1.30275217e-03 9.99967657e-01 -7.93642460e-03 -9.98722923e-02] [ 9.96498904e-03 7.92305577e-03 9.99918959e-01 -4.65520453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.831193817 meters Centerline goodness [0,1] 0.8095208488767305 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.10, Z:-0.46 [[ 9.99948892e-01 2.02733972e-03 -9.90475764e-03 2.25956412e+00] [-2.06986094e-03 9.99988679e-01 -4.28464684e-03 -9.95722425e-02] [ 9.89595907e-03 4.30492933e-03 9.99941767e-01 -4.64997392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.861193817 meters Centerline goodness [0,1] 0.864043082021541 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.10, Z:-0.46 [[ 9.99918602e-01 8.41595158e-03 -9.58959630e-03 2.25666094e+00] [-8.40540921e-03 9.99964025e-01 1.13912910e-03 -9.55590254e-02] [ 9.59883817e-03 -1.05843189e-03 9.99953370e-01 -4.61834665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.891193817 meters Centerline goodness [0,1] 0.8959243236529982 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.09, Z:-0.46 [[ 9.99906816e-01 9.45142457e-03 -9.85033035e-03 2.25694054e+00] [-9.44522167e-03 9.99955164e-01 6.76046292e-04 -9.19931999e-02] [ 9.85627830e-03 -5.82944742e-04 9.99951256e-01 -4.61506799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.921193817 meters Centerline goodness [0,1] 0.9066600438759882 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.09, Z:-0.46 [[ 0.99985901 0.01341264 -0.0101027 2.25762405] [-0.01337242 0.99990243 0.00403791 -0.09014487] [ 0.01015587 -0.00390224 0.99994081 -0.4616005 ] [ 0. 0. 0. 1. ]] SLAMing on 36.951193817 meters Centerline goodness [0,1] 0.9122400892894051 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.09, Z:-0.46 [[ 0.99980209 0.01702075 -0.0102997 2.25864459] [-0.01694939 0.99983201 0.00697625 -0.08729274] [ 0.01041672 -0.0068003 0.99992262 -0.4622281 ] [ 0. 0. 0. 1. ]] SLAMing on 36.981193817 meters Centerline goodness [0,1] 0.9152503635985871 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.08, Z:-0.46 [[ 0.99973259 0.02063718 -0.01043314 2.25950997] [-0.02053294 0.99973915 0.0100015 -0.08442777] [ 0.01063682 -0.0097846 0.99989555 -0.4628202 ] [ 0. 0. 0. 1. ]] SLAMing on 37.011193817 meters Centerline goodness [0,1] 0.9148182665424045 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.08, Z:-0.46 [[ 0.99966187 0.02367441 -0.01075496 2.26128385] [-0.02354496 0.99965067 0.01200721 -0.07923603] [ 0.01103547 -0.01174992 0.99987007 -0.46413177] [ 0. 0. 0. 1. ]] SLAMing on 37.041193817 meters Centerline goodness [0,1] 0.9120508362311641 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.08, Z:-0.46 [[ 0.99967235 0.02306123 -0.01110736 2.26243193] [-0.02293991 0.99967711 0.01092912 -0.07672341] [ 0.01135581 -0.01067074 0.99987858 -0.46467603] [ 0. 0. 0. 1. ]] SLAMing on 37.071193817 meters Centerline goodness [0,1] 0.9135412146384808 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.07, Z:-0.46 [[ 0.99975194 0.01913695 -0.01139459 2.26255599] [-0.01907108 0.99980094 0.00586224 -0.07289122] [ 0.01150451 -0.00564348 0.9999179 -0.46421139] [ 0. 0. 0. 1. ]] SLAMing on 37.101193817 meters Centerline goodness [0,1] 0.9194199896426722 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.07, Z:-0.46 [[ 9.99828934e-01 1.49921147e-02 -1.08323378e-02 2.25776852e+00] [-1.49840269e-02 9.99887391e-01 8.27412834e-04 -6.82389268e-02] [ 1.08435227e-02 -6.64959250e-04 9.99940986e-01 -4.59587747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.131193816999996 meters Centerline goodness [0,1] 0.9197426135893404 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.07, Z:-0.46 [[ 9.99837713e-01 1.42290710e-02 -1.10490370e-02 2.25790071e+00] [-1.42311453e-02 9.99898726e-01 -1.09126385e-04 -6.65638693e-02] [ 1.10463652e-02 2.66349125e-04 9.99938952e-01 -4.59077578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.161193817 meters Centerline goodness [0,1] 0.919638621315567 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.06, Z:-0.46 [[ 9.99841696e-01 1.36034863e-02 -1.14686021e-02 2.25907590e+00] [-1.36156614e-02 9.99906818e-01 -9.84187815e-04 -6.46267843e-02] [ 1.14541451e-02 1.14018462e-03 9.99933749e-01 -4.59393613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.191193817 meters Centerline goodness [0,1] 0.9200653202968353 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.06, Z:-0.46 [[ 9.99844248e-01 1.31504187e-02 -1.17705606e-02 2.26019145e+00] [-1.31736822e-02 9.99911416e-01 -1.90105766e-03 -6.20924308e-02] [ 1.17445183e-02 2.05582319e-03 9.99928917e-01 -4.60011800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.221193817 meters Centerline goodness [0,1] 0.9200653202968353 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.06, Z:-0.46 [[ 9.99844248e-01 1.31504187e-02 -1.17705606e-02 2.26019145e+00] [-1.31736822e-02 9.99911416e-01 -1.90105766e-03 -6.20924308e-02] [ 1.17445183e-02 2.05582319e-03 9.99928917e-01 -4.60011800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.251193817 meters Centerline goodness [0,1] 0.9166804944827014 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.06, Z:-0.46 [[ 9.99806244e-01 1.52031430e-02 -1.25035825e-02 2.26392879e+00] [-1.52067779e-02 9.99884351e-01 -1.95678660e-04 -5.85823577e-02] [ 1.24991616e-02 3.85779948e-04 9.99921808e-01 -4.62757575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.281193817 meters Centerline goodness [0,1] 0.9133890781459688 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.06, Z:-0.46 [[ 9.99797469e-01 1.53618956e-02 -1.30012919e-02 2.26572181e+00] [-1.53683661e-02 9.99881821e-01 -3.97912175e-04 -5.74722715e-02] [ 1.29936427e-02 5.97640199e-04 9.99915400e-01 -4.63725334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.311193817 meters Centerline goodness [0,1] 0.9142573109104465 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.06, Z:-0.46 [[ 9.99796621e-01 1.53027149e-02 -1.31355962e-02 2.26590293e+00] [-1.53147293e-02 9.99882391e-01 -8.14534322e-04 -5.63154781e-02] [ 1.31215867e-02 1.01553676e-03 9.99913393e-01 -4.63560652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.341193817 meters Centerline goodness [0,1] 0.9135815243258903 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.06, Z:-0.46 [[ 9.99796402e-01 1.51410581e-02 -1.33379885e-02 2.26607615e+00] [-1.51598626e-02 9.99884225e-01 -1.30985696e-03 -5.52287307e-02] [ 1.33166117e-02 1.51179235e-03 9.99910187e-01 -4.63177747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.371193817 meters Centerline goodness [0,1] 0.9147856229109066 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.05, Z:-0.46 [[ 9.99787116e-01 1.54031116e-02 -1.37283226e-02 2.26690313e+00] [-1.54233062e-02 9.99880120e-01 -1.36635102e-03 -5.46665675e-02] [ 1.37056308e-02 1.57779627e-03 9.99904829e-01 -4.63147697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.401193817 meters Centerline goodness [0,1] 0.9132733454967656 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.05, Z:-0.46 [[ 9.99771385e-01 1.63928155e-02 -1.37278258e-02 2.26680921e+00] [-1.64112212e-02 9.99864571e-01 -1.22917752e-03 -5.33727217e-02] [ 1.37058170e-02 1.45418690e-03 9.99905013e-01 -4.62997449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.431193817 meters Centerline goodness [0,1] 0.9143826407132367 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.05, Z:-0.46 [[ 9.99768692e-01 1.64173650e-02 -1.38936233e-02 2.26717309e+00] [-1.64397741e-02 9.99863732e-01 -1.50022510e-03 -5.23055118e-02] [ 1.38671003e-02 1.72828612e-03 9.99902354e-01 -4.62926037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.461193817 meters Centerline goodness [0,1] 0.9157176810995143 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.05, Z:-0.46 [[ 9.99763294e-01 1.65744070e-02 -1.40941200e-02 2.26718157e+00] [-1.65939834e-02 9.99861500e-01 -1.27316485e-03 -5.25264176e-02] [ 1.40710660e-02 1.50674108e-03 9.99899862e-01 -4.62369879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.491193817 meters Centerline goodness [0,1] 0.9161528468026313 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.05, Z:-0.46 [[ 9.99760727e-01 1.66163074e-02 -1.42262561e-02 2.26720984e+00] [-1.66303862e-02 9.99861325e-01 -8.71900430e-04 -5.39342879e-02] [ 1.42097955e-02 1.10827994e-03 9.99898422e-01 -4.61988407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.521193817 meters Centerline goodness [0,1] 0.9168502769598253 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.06, Z:-0.46 [[ 9.99762560e-01 1.63372600e-02 -1.44193319e-02 2.26786492e+00] [-1.63396659e-02 9.99866498e-01 -4.90480568e-05 -5.86445564e-02] [ 1.44166056e-02 2.84643477e-04 9.99896035e-01 -4.62365652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.551193817 meters Centerline goodness [0,1] 0.9142939910610826 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.06, Z:-0.46 [[ 9.99760028e-01 1.62841826e-02 -1.46530172e-02 2.26887242e+00] [-1.62800644e-02 9.99867391e-01 4.00300507e-04 -6.05403706e-02] [ 1.46575926e-02 -1.61652384e-04 9.99892559e-01 -4.63016757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.581193817 meters Centerline goodness [0,1] 0.9136244234388897 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.06, Z:-0.47 [[ 9.99767083e-01 1.53115391e-02 -1.52097404e-02 2.27185617e+00] [-1.53173831e-02 9.99882646e-01 -2.67802185e-04 -6.14478581e-02] [ 1.52038551e-02 5.00713231e-04 9.99884289e-01 -4.65286911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.611193817 meters Centerline goodness [0,1] 0.9138818547884927 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.06, Z:-0.47 [[ 9.99772709e-01 1.42933685e-02 -1.58186569e-02 2.27494073e+00] [-1.43106785e-02 9.99897115e-01 -9.81616408e-04 -6.30131116e-02] [ 1.58029988e-02 1.20776901e-03 9.99874395e-01 -4.67560065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.641193817 meters Centerline goodness [0,1] 0.9107109477225995 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.07, Z:-0.47 [[ 9.99777743e-01 1.33593232e-02 -1.63092673e-02 2.27744465e+00] [-1.33931045e-02 9.99908380e-01 -1.96382314e-03 -6.71643766e-02] [ 1.62815377e-02 2.18181839e-03 9.99865066e-01 -4.69549901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.671193817 meters Centerline goodness [0,1] 0.9130678631519911 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.07, Z:-0.47 [[ 9.99768054e-01 1.38817759e-02 -1.64661639e-02 2.27794998e+00] [-1.39069441e-02 9.99902293e-01 -1.41495322e-03 -6.88857748e-02] [ 1.64449129e-02 1.64361905e-03 9.99863422e-01 -4.69744066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.701193817 meters Centerline goodness [0,1] 0.9115599892599706 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.07, Z:-0.47 [[ 0.99982901 0.01513685 -0.01062207 2.29039929] [-0.01506494 0.99986327 0.00681756 -0.07331629] [ 0.01072381 -0.00665638 0.99992034 -0.47280121] [ 0. 0. 0. 1. ]] SLAMing on 37.731193817 meters Centerline goodness [0,1] 0.9152093379415964 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.07, Z:-0.47 [[ 0.99981279 0.01609483 -0.01074004 2.29037962] [-0.01601527 0.99984397 0.00745267 -0.07395579] [ 0.01085831 -0.00727927 0.99991455 -0.47237341] [ 0. 0. 0. 1. ]] SLAMing on 37.761193817 meters Centerline goodness [0,1] 0.915248975537067 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.07, Z:-0.47 [[ 0.99979404 0.01708523 -0.0109534 2.29070391] [-0.0169969 0.99982267 0.00810778 -0.07455177] [ 0.01108998 -0.00791994 0.99990714 -0.47215144] [ 0. 0. 0. 1. ]] SLAMing on 37.791193817 meters Centerline goodness [0,1] 0.9169204001739887 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.08, Z:-0.47 [[ 0.99976008 0.01896129 -0.01096558 2.28990496] [-0.01885218 0.99977258 0.00996961 -0.07739654] [ 0.01115212 -0.00976049 0.99989018 -0.47101043] [ 0. 0. 0. 1. ]] SLAMing on 37.821193817 meters Centerline goodness [0,1] 0.9183066597831698 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.08, Z:-0.47 [[ 0.99980832 0.01601625 -0.01126057 2.28971161] [-0.0159399 0.99984957 0.00683737 -0.07840733] [ 0.01136838 -0.00665656 0.99991322 -0.47007444] [ 0. 0. 0. 1. ]] SLAMing on 37.851193817 meters Centerline goodness [0,1] 0.9199601668015186 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.08, Z:-0.47 [[ 0.99985277 0.01288924 -0.01132741 2.28861892] [-0.01284383 0.99990922 0.00407287 -0.08137215] [ 0.01137888 -0.00392678 0.99992755 -0.46857857] [ 0. 0. 0. 1. ]] SLAMing on 37.881193816999996 meters Centerline goodness [0,1] 0.92021792517077 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.09, Z:-0.47 [[ 0.99994654 0.00797372 -0.00658378 2.2983265 ] [-0.00791256 0.99992579 0.00926351 -0.08720147] [ 0.00665716 -0.00921092 0.99993542 -0.47016787] [ 0. 0. 0. 1. ]] SLAMing on 37.911193817 meters Centerline goodness [0,1] 0.9175083131957783 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.10, Z:-0.47 [[ 9.99979938e-01 1.20463644e-03 -6.21866104e-03 2.29751622e+00] [-1.17862188e-03 9.99990547e-01 4.18527641e-03 -9.56912188e-02] [ 6.22364399e-03 -4.17786299e-03 9.99971905e-01 -4.69967891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.941193817 meters Centerline goodness [0,1] 0.9179449922158796 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.10, Z:-0.47 [[ 9.99978127e-01 -2.18580673e-03 -6.24234547e-03 2.29803767e+00] [ 2.19465208e-03 9.99996597e-01 1.41049273e-03 -9.86644495e-02] [ 6.23924116e-03 -1.42416166e-03 9.99979522e-01 -4.70517912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.971193817 meters Centerline goodness [0,1] 0.9165438352467354 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.10, Z:-0.47 [[ 9.99976731e-01 -2.28001123e-03 -6.42955308e-03 2.29896746e+00] [ 2.29653852e-03 9.99994075e-01 2.56430833e-03 -1.02960534e-01] [ 6.42366834e-03 -2.57901437e-03 9.99976042e-01 -4.71031327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.001193817 meters Centerline goodness [0,1] 0.9144262907679213 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.11, Z:-0.47 [[ 9.99970093e-01 -4.35839251e-03 -6.38888306e-03 2.29862421e+00] [ 4.37134248e-03 9.99988417e-01 2.01439261e-03 -1.11900084e-01] [ 6.38002954e-03 -2.04226036e-03 9.99977562e-01 -4.70502134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.031193817 meters Centerline goodness [0,1] 0.9157429318719641 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.12, Z:-0.47 [[ 9.99952855e-01 -7.05104191e-03 -6.67607106e-03 2.29921566e+00] [ 7.05122820e-03 9.99975140e-01 4.36683506e-06 -1.16702869e-01] [ 6.67587431e-03 -5.14411298e-05 9.99977715e-01 -4.70344225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.061193817 meters Centerline goodness [0,1] 0.9158387150190429 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.12, Z:-0.47 [[ 9.99928300e-01 -9.63931975e-03 -7.10476289e-03 2.30090640e+00] [ 9.62610705e-03 9.99951879e-01 -1.89155343e-03 -1.21461627e-01] [ 7.12265429e-03 1.82302660e-03 9.99972972e-01 -4.71214645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.091193817 meters Centerline goodness [0,1] 0.9129182637522014 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.13, Z:-0.47 [[ 9.99925067e-01 -9.70326389e-03 -7.46367528e-03 2.30227106e+00] [ 9.69920892e-03 9.99952794e-01 -5.79299108e-04 -1.26495092e-01] [ 7.46894404e-03 5.06863954e-04 9.99971979e-01 -4.71831217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.121193817 meters Centerline goodness [0,1] 0.9122679513268823 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.13, Z:-0.47 [[ 9.99923950e-01 -9.64103916e-03 -7.69048815e-03 2.30306117e+00] [ 9.64702984e-03 9.99953191e-01 7.42256947e-04 -1.30683106e-01] [ 7.68297204e-03 -8.16390868e-04 9.99970152e-01 -4.72046922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.151193817 meters Centerline goodness [0,1] 0.9151822873314467 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.14, Z:-0.47 [[ 9.99889193e-01 -1.27791567e-02 -7.63514549e-03 2.30220157e+00] [ 1.27714236e-02 9.99917879e-01 -1.06073504e-03 -1.35873139e-01] [ 7.64807379e-03 9.63105821e-04 9.99970289e-01 -4.70754919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.181193817 meters Centerline goodness [0,1] 0.9164769670129548 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.14, Z:-0.47 [[ 9.99869811e-01 -1.38252347e-02 -8.32007342e-03 2.30397948e+00] [ 1.38143602e-02 9.99903648e-01 -1.36306988e-03 -1.39281105e-01] [ 8.33811652e-03 1.24795593e-03 9.99964459e-01 -4.70992520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.211193817 meters Centerline goodness [0,1] 0.9169233950170578 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.14, Z:-0.47 [[ 9.99869704e-01 -1.36318094e-02 -8.64573262e-03 2.30422544e+00] [ 1.36322496e-02 9.99907077e-01 -8.02114676e-06 -1.43909006e-01] [ 8.64503857e-03 -1.09840683e-04 9.99962625e-01 -4.70151320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.241193817 meters Centerline goodness [0,1] 0.9155192048866342 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.15, Z:-0.47 [[ 9.99869481e-01 -1.35385488e-02 -8.81634832e-03 2.30425095e+00] [ 1.35499215e-02 9.99907437e-01 1.23149964e-03 -1.48244535e-01] [ 8.79885954e-03 -1.35079974e-03 9.99960377e-01 -4.69421521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.271193817 meters Centerline goodness [0,1] 0.9163536759975929 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.15, Z:-0.47 [[ 9.99869823e-01 -1.33799994e-02 -9.01734546e-03 2.30436397e+00] [ 1.34003089e-02 9.99907801e-01 2.19562060e-03 -1.51087320e-01] [ 8.98713667e-03 -2.31617000e-03 9.99956932e-01 -4.68826409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.301193817 meters Centerline goodness [0,1] 0.9172509358648219 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.15, Z:-0.47 [[ 9.99864218e-01 -1.35095965e-02 -9.43586763e-03 2.30560189e+00] [ 1.35316501e-02 9.99905850e-01 2.27728327e-03 -1.51565495e-01] [ 9.40421406e-03 -2.40465691e-03 9.99952888e-01 -4.69278055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.331193817 meters Centerline goodness [0,1] 0.9172854785478548 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.15, Z:-0.47 [[ 0.99990426 -0.00972722 -0.00984149 2.30667906] [ 0.00979102 0.99993123 0.00645557 -0.15279319] [ 0.00977802 -0.00655131 0.99993073 -0.46958909] [ 0. 0. 0. 1. ]] SLAMing on 38.361193817 meters Centerline goodness [0,1] 0.915034568156021 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.15, Z:-0.47 [[ 0.99990792 -0.00899233 -0.0101632 2.30745371] [ 0.00906002 0.99993695 0.00663373 -0.15163033] [ 0.01010291 -0.0067252 0.99992635 -0.46986565] [ 0. 0. 0. 1. ]] SLAMing on 38.391193817 meters Centerline goodness [0,1] 0.9121432106913051 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.15, Z:-0.47 [[ 0.99993365 -0.00463588 -0.01054545 2.30814175] [ 0.00474681 0.99993341 0.01051843 -0.15075277] [ 0.01049598 -0.01056779 0.99988907 -0.46986269] [ 0. 0. 0. 1. ]] SLAMing on 38.421193817 meters Centerline goodness [0,1] 0.9113355780022446 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.15, Z:-0.47 [[ 0.99993324 -0.00462929 -0.01058678 2.30811902] [ 0.0047384 0.99993568 0.01030463 -0.15004914] [ 0.01053839 -0.0103541 0.99989086 -0.4696986 ] [ 0. 0. 0. 1. ]] SLAMing on 38.451193817 meters Centerline goodness [0,1] 0.9134698944754811 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.15, Z:-0.47 [[ 9.99966497e-01 -2.86810633e-03 -7.66669706e-03 2.31733570e+00] [ 2.87021403e-03 9.99995846e-01 2.63928643e-04 -1.48370027e-01] [ 7.66590823e-03 -2.85924862e-04 9.99970576e-01 -4.70706678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.481193817 meters Centerline goodness [0,1] 0.9130210269756682 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.15, Z:-0.47 [[ 9.99965252e-01 -2.85911017e-03 -7.83073251e-03 2.31759887e+00] [ 2.86130371e-03 9.99995870e-01 2.68930298e-04 -1.48162280e-01] [ 7.82993127e-03 -2.91327057e-04 9.99969303e-01 -4.70512845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.511193817 meters Centerline goodness [0,1] 0.9080440656828103 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.15, Z:-0.47 [[ 9.99964036e-01 -2.35321222e-03 -8.14790313e-03 2.31807686e+00] [ 2.35614354e-03 9.99997163e-01 3.50183108e-04 -1.47068472e-01] [ 8.14705596e-03 -3.69368143e-04 9.99966744e-01 -4.70420855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.541193817 meters Centerline goodness [0,1] 0.9053340238218539 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.15, Z:-0.47 [[ 9.99959542e-01 -1.54101516e-03 -8.86228753e-03 2.32167307e+00] [ 1.54944007e-03 9.99998354e-01 9.43859851e-04 -1.46566532e-01] [ 8.86081844e-03 -9.57553248e-04 9.99960284e-01 -4.73047260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.571193817 meters Centerline goodness [0,1] 0.8998774178803681 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.15, Z:-0.47 [[ 9.99955547e-01 -1.43384182e-03 -9.31919684e-03 2.32326524e+00] [ 1.44055388e-03 9.99998708e-01 7.13567943e-04 -1.45378358e-01] [ 9.31816165e-03 -7.26961029e-04 9.99956321e-01 -4.74063336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.601193817 meters Centerline goodness [0,1] 0.9029017160686428 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.14, Z:-0.47 [[ 9.99953373e-01 -1.37075767e-03 -9.55895571e-03 2.32427869e+00] [ 1.37621284e-03 9.99998894e-01 5.64132365e-04 -1.44490455e-01] [ 9.55817185e-03 -5.77261219e-04 9.99954153e-01 -4.74780249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.631193817 meters Centerline goodness [0,1] 0.903408972732378 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.15, Z:-0.47 [[ 9.99951442e-01 -1.32495927e-03 -9.76517294e-03 2.32458641e+00] [ 1.33723731e-03 9.99998324e-01 1.25090759e-03 -1.47203521e-01] [ 9.76349917e-03 -1.26390520e-03 9.99951537e-01 -4.74454839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.661193817 meters Centerline goodness [0,1] 0.895810044300915 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.15, Z:-0.48 [[ 9.99945171e-01 -2.15167093e-03 -1.02482089e-02 2.32652257e+00] [ 2.16040550e-03 9.99997312e-01 8.41307299e-04 -1.48551842e-01] [ 1.02463712e-02 -8.63401458e-04 9.99947132e-01 -4.75488925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.691193817 meters Centerline goodness [0,1] 0.900362168012655 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.15, Z:-0.47 [[ 9.99944630e-01 -1.97424148e-03 -1.03362699e-02 2.32639365e+00] [ 1.98838284e-03 9.99997101e-01 1.35803197e-03 -1.49713639e-01] [ 1.03335588e-02 -1.37850924e-03 9.99945657e-01 -4.74989125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.721193817 meters Centerline goodness [0,1] 0.9002666446185328 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.15, Z:-0.48 [[ 9.99989302e-01 2.99913686e-04 -4.61574516e-03 2.34020629e+00] [-3.16310408e-04 9.99993642e-01 -3.55202571e-03 -1.48642334e-01] [ 4.61465051e-03 3.55344772e-03 9.99983039e-01 -4.78690830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.751193817 meters Centerline goodness [0,1] 0.8997320371408986 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.15, Z:-0.48 [[ 9.99988133e-01 7.89189688e-04 -4.80732812e-03 2.34020118e+00] [-8.03625441e-04 9.99995172e-01 -3.00167302e-03 -1.49073354e-01] [ 4.80493602e-03 3.00550069e-03 9.99983940e-01 -4.78130175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.781193817 meters Centerline goodness [0,1] 0.898269609366905 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.15, Z:-0.48 [[ 9.99987251e-01 1.23682751e-03 -4.89564487e-03 2.34001534e+00] [-1.24605832e-03 9.99997451e-01 -1.88291538e-03 -1.52287394e-01] [ 4.89330355e-03 1.88899163e-03 9.99986244e-01 -4.77366770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.811193817 meters Centerline goodness [0,1] 0.8985231062410671 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.15, Z:-0.48 [[ 9.99986860e-01 1.32948893e-03 -4.95098685e-03 2.33988334e+00] [-1.33551581e-03 9.99998371e-01 -1.21420222e-03 -1.54634412e-01] [ 4.94936451e-03 1.22079839e-03 9.99987007e-01 -4.76844660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.841193817 meters Centerline goodness [0,1] 0.8979392579666792 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:-0.48 [[ 9.99986322e-01 1.31532157e-03 -5.06217683e-03 2.33967706e+00] [-1.31875283e-03 9.99998903e-01 -6.74546323e-04 -1.56570549e-01] [ 5.06128403e-03 6.81212856e-04 9.99986960e-01 -4.76064060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.871193817 meters Centerline goodness [0,1] 0.8989512235724988 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:-0.48 [[ 9.99985399e-01 1.26927088e-03 -5.25270976e-03 2.33965207e+00] [-1.27027092e-03 9.99999176e-01 -1.87054217e-04 -1.58287667e-01] [ 5.25246801e-03 1.93723850e-04 9.99986187e-01 -4.75352406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.901193817 meters Centerline goodness [0,1] 0.8953483547035147 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:-0.48 [[ 9.99983485e-01 1.14132886e-03 -5.63275286e-03 2.34059695e+00] [-1.14093478e-03 9.99999346e-01 7.31747425e-05 -1.59676941e-01] [ 5.63283270e-03 -6.67469303e-05 9.99984133e-01 -4.75512662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.931193817 meters Centerline goodness [0,1] 0.8941208265768575 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:-0.48 [[ 9.99981741e-01 1.31808335e-03 -5.89756032e-03 2.34148548e+00] [-1.31682948e-03 9.99999110e-01 2.16486280e-04 -1.59692314e-01] [ 5.89784042e-03 -2.08716246e-04 9.99982586e-01 -4.76004179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.961193817 meters Centerline goodness [0,1] 0.8911051548962164 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:-0.48 [[ 9.99979915e-01 1.33755077e-03 -6.19526955e-03 2.34268294e+00] [-1.33633290e-03 9.99999087e-01 2.00715361e-04 -1.59839895e-01] [ 6.19553236e-03 -1.92432387e-04 9.99980789e-01 -4.76782886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.991193817 meters Centerline goodness [0,1] 0.8901707716888345 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:-0.48 [[ 9.99976767e-01 1.34545748e-03 -6.68243567e-03 2.34406814e+00] [-1.34318912e-03 9.99999039e-01 3.43926729e-04 -1.60930158e-01] [ 6.68289199e-03 -3.34942964e-04 9.99977613e-01 -4.77276512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.021193817 meters Centerline goodness [0,1] 0.8891567266530901 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:-0.48 [[ 9.99975530e-01 1.61813394e-03 -6.80595560e-03 2.34417779e+00] [-1.61207324e-03 9.99998299e-01 8.95891304e-04 -1.62783851e-01] [ 6.80739370e-03 -8.84897683e-04 9.99976438e-01 -4.77001116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.051193817 meters Centerline goodness [0,1] 0.8890387368508413 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.17, Z:-0.48 [[ 9.99974657e-01 1.84581236e-03 -6.87586630e-03 2.34437917e+00] [-1.83301501e-03 9.99996577e-01 1.86703496e-03 -1.66450180e-01] [ 6.87928896e-03 -1.85438408e-03 9.99974618e-01 -4.76852069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.081193817 meters Centerline goodness [0,1] 0.8899134127050204 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.17, Z:-0.48 [[ 9.99973810e-01 1.86118172e-03 -6.99395087e-03 2.34425695e+00] [-1.84428737e-03 9.99995368e-01 2.42123993e-03 -1.68208019e-01] [ 6.99842484e-03 -2.40827766e-03 9.99972611e-01 -4.76201147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.111193817 meters Centerline goodness [0,1] 0.8899134127050204 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.17, Z:-0.48 [[ 9.99973810e-01 1.86118172e-03 -6.99395087e-03 2.34425695e+00] [-1.84428737e-03 9.99995368e-01 2.42123993e-03 -1.68208019e-01] [ 6.99842484e-03 -2.40827766e-03 9.99972611e-01 -4.76201147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.141193817 meters Centerline goodness [0,1] 0.890371013773421 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.17, Z:-0.48 [[ 9.99972407e-01 1.74762874e-03 -7.22015922e-03 2.34457788e+00] [-1.72741816e-03 9.99994575e-01 2.80447582e-03 -1.70117358e-01] [ 7.22502124e-03 -2.79192620e-03 9.99970002e-01 -4.75834602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.171193817 meters Centerline goodness [0,1] 0.8894970566973046 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.17, Z:-0.48 [[ 9.99970718e-01 1.76742168e-03 -7.44573632e-03 2.34484323e+00] [-1.74248528e-03 9.99992856e-01 3.35424143e-03 -1.72494682e-01] [ 7.45161149e-03 -3.34116912e-03 9.99966654e-01 -4.75395849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.201193817 meters Centerline goodness [0,1] 0.8892433910665452 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.18, Z:-0.47 [[ 9.99973617e-01 2.36886134e-04 -7.26004371e-03 2.34275485e+00] [-2.24002213e-04 9.99998399e-01 1.77539582e-03 -1.75032820e-01] [ 7.26045265e-03 -1.77372271e-03 9.99972069e-01 -4.73353281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.231193817 meters Centerline goodness [0,1] 0.8876149158144819 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.18, Z:-0.47 [[ 9.99971048e-01 3.14195226e-04 -7.60292147e-03 2.34333710e+00] [-2.98583013e-04 9.99997845e-01 2.05449716e-03 -1.76355572e-01] [ 7.60355060e-03 -2.05216758e-03 9.99968987e-01 -4.73108590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.261193817 meters Centerline goodness [0,1] 0.8883910048958592 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.18, Z:-0.47 [[ 9.99969775e-01 7.23124667e-04 -7.74116844e-03 2.34332028e+00] [-7.01478296e-04 9.99995838e-01 2.79861674e-03 -1.78440241e-01] [ 7.74315997e-03 -2.79310189e-03 9.99966120e-01 -4.72595321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.291193817 meters Centerline goodness [0,1] 0.8874906553700473 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.18, Z:-0.47 [[ 9.99968095e-01 -1.79615363e-03 -7.78355711e-03 2.34305398e+00] [ 1.80151394e-03 9.99998145e-01 6.81714118e-04 -1.82177860e-01] [ 7.78231821e-03 -6.95714554e-04 9.99969475e-01 -4.72158647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.321193817 meters Centerline goodness [0,1] 0.8860471372110829 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.19, Z:-0.47 [[ 9.99962626e-01 -2.44929002e-03 -8.29138808e-03 2.34547762e+00] [ 2.45549657e-03 9.99996713e-01 7.38456365e-04 -1.85138385e-01] [ 8.28955213e-03 -7.58788241e-04 9.99965353e-01 -4.73732719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.351193817 meters Centerline goodness [0,1] 0.8863565795193442 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.19, Z:-0.47 [[ 9.99961894e-01 -2.57819811e-03 -8.34045922e-03 2.34628132e+00] [ 2.59241469e-03 9.99995205e-01 1.69417060e-03 -1.89456742e-01] [ 8.33605132e-03 -1.71572797e-03 9.99963783e-01 -4.74328013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.381193817 meters Centerline goodness [0,1] 0.8874958691341706 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.19, Z:-0.48 [[ 9.99955615e-01 -3.69998534e-03 -8.66476003e-03 2.34868160e+00] [ 3.71351243e-03 9.99991910e-01 1.54559377e-03 -1.93100094e-01] [ 8.65897126e-03 -1.57770186e-03 9.99961266e-01 -4.76218931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.411193817 meters Centerline goodness [0,1] 0.8849583212375067 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.20, Z:-0.48 [[ 0.99995338 -0.00403015 -0.00877499 2.34940356] [ 0.00405098 0.99998902 0.00235688 -0.19668202] [ 0.00876539 -0.00239232 0.99995872 -0.47654592] [ 0. 0. 0. 1. ]] SLAMing on 39.441193817 meters Centerline goodness [0,1] 0.8877254217568353 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.20, Z:-0.48 [[ 0.99995115 -0.00436624 -0.00886793 2.34988603] [ 0.00439223 0.99998611 0.00291349 -0.19918349] [ 0.00885508 -0.0029523 0.99995643 -0.47662859] [ 0. 0. 0. 1. ]] SLAMing on 39.471193817 meters Centerline goodness [0,1] 0.8877075444217886 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.20, Z:-0.48 [[ 0.99994773 -0.005213 -0.00879515 2.34974223] [ 0.00524366 0.99998024 0.00346636 -0.20366088] [ 0.00877691 -0.00351229 0.99995531 -0.47594099] [ 0. 0. 0. 1. ]] SLAMing on 39.501193817 meters Centerline goodness [0,1] 0.887987383536345 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.21, Z:-0.48 [[ 0.99994575 -0.00530575 -0.00896409 2.34982449] [ 0.00534109 0.99997804 0.00392332 -0.20615482] [ 0.00894308 -0.00397098 0.99995213 -0.47525944] [ 0. 0. 0. 1. ]] SLAMing on 39.531193817 meters Centerline goodness [0,1] 0.8895663392708507 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.21, Z:-0.47 [[ 0.99994598 -0.00523898 -0.00897694 2.34947585] [ 0.00527984 0.99997578 0.00453395 -0.20864749] [ 0.00895297 -0.0045811 0.99994943 -0.47447904] [ 0. 0. 0. 1. ]] SLAMing on 39.561193817 meters Centerline goodness [0,1] 0.887923005277864 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:-0.48 [[ 0.99997579 -0.00318821 -0.00618432 2.36031483] [ 0.00316188 0.99998592 -0.00426284 -0.20961021] [ 0.00619782 0.00424318 0.99997179 -0.47687187] [ 0. 0. 0. 1. ]] SLAMing on 39.591193817 meters Centerline goodness [0,1] 0.8908123610216339 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:-0.48 [[ 0.99997386 -0.00419065 -0.00589301 2.35967444] [ 0.00416683 0.99998312 -0.00404831 -0.21141124] [ 0.00590988 0.00402365 0.99997444 -0.47609915] [ 0. 0. 0. 1. ]] SLAMing on 39.621193817 meters Centerline goodness [0,1] 0.891027508427317 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:-0.48 [[ 0.99997112 -0.00464108 -0.00601821 2.35991899] [ 0.00461684 0.9999812 -0.00403641 -0.21151527] [ 0.00603683 0.00400851 0.99997374 -0.47590905] [ 0. 0. 0. 1. ]] SLAMing on 39.651193817 meters Centerline goodness [0,1] 0.8869006795934908 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:-0.48 [[ 0.99996738 -0.00520761 -0.00617483 2.36062341] [ 0.00518241 0.99997821 -0.00408918 -0.21183058] [ 0.00619599 0.00405704 0.99997257 -0.47621197] [ 0. 0. 0. 1. ]] SLAMing on 39.681193817 meters Centerline goodness [0,1] 0.8765560381554064 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:-0.48 [[ 0.99996236 -0.00591684 -0.00634533 2.36138107] [ 0.00589036 0.9999739 -0.00418324 -0.21271909] [ 0.00636991 0.0041457 0.99997112 -0.47652884] [ 0. 0. 0. 1. ]] SLAMing on 39.711193817 meters Centerline goodness [0,1] 0.8110286803713528 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:-0.48 [[ 0.99991759 -0.01111634 -0.00642242 2.36225659] [ 0.01105576 0.99989476 -0.00939306 -0.21029425] [ 0.00652616 0.00932128 0.99993526 -0.47723669] [ 0. 0. 0. 1. ]] SLAMing on 39.741193817 meters Centerline goodness [0,1] 0.8044521681562397 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:-0.48 [[ 0.99991279 -0.01150101 -0.00649073 2.36238155] [ 0.01143671 0.999886 -0.00985876 -0.20914465] [ 0.00660337 0.00978367 0.99993034 -0.47707201] [ 0. 0. 0. 1. ]] SLAMing on 39.771193817 meters Centerline goodness [0,1] 0.8234442237669646 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:-0.48 [[ 0.99994351 -0.0084362 -0.00646521 2.36206118] [ 0.00839524 0.99994468 -0.00633741 -0.20950742] [ 0.00651831 0.00628278 0.99995902 -0.47638264] [ 0. 0. 0. 1. ]] SLAMing on 39.801193817 meters Centerline goodness [0,1] 0.8466331574793337 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:-0.48 [[ 0.99996537 -0.00503832 -0.00662344 2.36204876] [ 0.00501886 0.99998305 -0.00295012 -0.20855213] [ 0.00663819 0.00291677 0.99997371 -0.47582085] [ 0. 0. 0. 1. ]] SLAMing on 39.831193817 meters Centerline goodness [0,1] 0.7664602211322638 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:-0.48 [[ 9.99976722e-01 -1.59433139e-03 -6.63425127e-03 2.36228771e+00] [ 1.59459754e-03 9.99998728e-01 3.48285713e-05 -2.05923542e-01] [ 6.63418731e-03 -4.54067213e-05 9.99977993e-01 -4.75988438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.861193817 meters Centerline goodness [0,1] 0.8718637622452776 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.20, Z:-0.48 [[ 9.99975400e-01 1.25159314e-03 -6.90160724e-03 2.36410075e+00] [-1.23681308e-03 9.99996934e-01 2.14539123e-03 -2.01547682e-01] [ 6.90427124e-03 -2.13680245e-03 9.99973882e-01 -4.77549944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.891193817 meters Centerline goodness [0,1] 0.8812980888557955 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.19, Z:-0.48 [[ 0.99994703 0.00739186 -0.0071625 2.36478842] [-0.00734139 0.99994822 0.00704769 -0.19389611] [ 0.00721422 -0.00699473 0.99994951 -0.4777507 ] [ 0. 0. 0. 1. ]] SLAMing on 39.921193817 meters Centerline goodness [0,1] 0.8934644709382813 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.19, Z:-0.48 [[ 0.9999444 0.00753542 -0.00737614 2.36544444] [-0.00749247 0.99995492 0.00583359 -0.18882223] [ 0.00741977 -0.005778 0.99995578 -0.47820297] [ 0. 0. 0. 1. ]] SLAMing on 39.951193817 meters Centerline goodness [0,1] 0.8955298116179304 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.18, Z:-0.48 [[ 0.9999414 0.00779078 -0.00751721 2.36555212] [-0.00775578 0.999959 0.00467488 -0.18352242] [ 0.00755332 -0.00461631 0.99996082 -0.47810067] [ 0. 0. 0. 1. ]] SLAMing on 39.981193817 meters Centerline goodness [0,1] 0.9005438041477989 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.18, Z:-0.48 [[ 0.99986694 0.01448829 -0.00749599 2.36507539] [-0.01441261 0.99984559 0.01005349 -0.17699114] [ 0.00764049 -0.00994411 0.99992137 -0.47736576] [ 0. 0. 0. 1. ]] SLAMing on 40.011193817 meters Centerline goodness [0,1] 0.9015440810227462 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.17, Z:-0.48 [[ 0.99986206 0.01472021 -0.00769318 2.36545923] [-0.01465031 0.99985159 0.00906479 -0.17252231] [ 0.00782548 -0.00895084 0.99992932 -0.4774752 ] [ 0. 0. 0. 1. ]] SLAMing on 40.041193817 meters Centerline goodness [0,1] 0.8997486967538266 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.17, Z:-0.48 [[ 0.99986195 0.01464499 -0.00784893 2.36600929] [-0.01458228 0.99986177 0.00798793 -0.16868654] [ 0.00796483 -0.00787237 0.99993729 -0.47787062] [ 0. 0. 0. 1. ]] SLAMing on 40.071193817 meters Centerline goodness [0,1] 0.9015752106145598 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.17, Z:-0.48 [[ 0.99986619 0.01426649 -0.00800377 2.36669981] [-0.01421086 0.99987476 0.00696486 -0.16584379] [ 0.00810213 -0.00685019 0.99994371 -0.47837104] [ 0. 0. 0. 1. ]] SLAMing on 40.101193817 meters Centerline goodness [0,1] 0.9026167605167273 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.16, Z:-0.48 [[ 0.99987231 0.01373154 -0.0081735 2.36731871] [-0.01368226 0.99988806 0.00605442 -0.16356066] [ 0.00825572 -0.00594182 0.99994827 -0.47871395] [ 0. 0. 0. 1. ]] SLAMing on 40.131193817 meters Centerline goodness [0,1] 0.9043590062627017 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.16, Z:-0.48 [[ 0.99988221 0.01299818 -0.00816174 2.36755799] [-0.01296316 0.99990661 0.00432847 -0.15728509] [ 0.00821724 -0.00422216 0.99995732 -0.47908541] [ 0. 0. 0. 1. ]] SLAMing on 40.161193817 meters Centerline goodness [0,1] 0.905739404495314 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.15, Z:-0.48 [[ 0.99988445 0.01270892 -0.0083403 2.36814864] [-0.01268276 0.99991451 0.00318153 -0.15326969] [ 0.00838002 -0.00307539 0.99996016 -0.47940208] [ 0. 0. 0. 1. ]] SLAMing on 40.191193817 meters Centerline goodness [0,1] 0.9043039440756138 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.15, Z:-0.48 [[ 9.99883299e-01 1.26039534e-02 -8.63302218e-03 2.36888020e+00] [-1.25854239e-02 9.99918386e-01 2.19733343e-03 -1.49971166e-01] [ 8.66001269e-03 -2.08842675e-03 9.99960321e-01 -4.79678690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.221193817 meters Centerline goodness [0,1] 0.9039531720186322 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.15, Z:-0.48 [[ 9.99883358e-01 1.24124770e-02 -8.89945388e-03 2.36973541e+00] [-1.24011487e-02 9.99922222e-01 1.32697493e-03 -1.47580248e-01] [ 8.91523274e-03 -1.21645670e-03 9.99959519e-01 -4.80091926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.251193817 meters Centerline goodness [0,1] 0.903326510781699 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.14, Z:-0.48 [[ 9.99886010e-01 1.21895454e-02 -8.90969133e-03 2.36987913e+00] [-1.21904800e-02 9.99925692e-01 -5.05895304e-05 -1.43873661e-01] [ 8.90841261e-03 1.59197177e-04 9.99960307e-01 -4.80393012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.281193817 meters Centerline goodness [0,1] 0.9031762188661999 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.14, Z:-0.48 [[ 9.99891893e-01 1.16589717e-02 -8.95934705e-03 2.37029262e+00] [-1.16685584e-02 9.99931401e-01 -1.01849575e-03 -1.41451308e-01] [ 8.94685784e-03 1.12292831e-03 9.99959346e-01 -4.80828506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.311193817 meters Centerline goodness [0,1] 0.9042557608470002 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.14, Z:-0.48 [[ 9.99898863e-01 1.09559127e-02 -9.06815114e-03 2.37092409e+00] [-1.09748634e-02 9.99937688e-01 -2.04268554e-03 -1.39072509e-01] [ 9.04520660e-03 2.14200067e-03 9.99956797e-01 -4.81328958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.341193817 meters Centerline goodness [0,1] 0.904537529060113 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.14, Z:-0.48 [[ 0.99990436 0.01033315 -0.00919262 2.37133587] [-0.01036136 0.99994174 -0.00302594 -0.13652709] [ 0.00916082 0.00312089 0.99995317 -0.48149491] [ 0. 0. 0. 1. ]] SLAMing on 40.371193817 meters Centerline goodness [0,1] 0.9033524864619074 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.13, Z:-0.48 [[ 0.99990648 0.00976526 -0.00957498 2.37294722] [-0.00980613 0.99994297 -0.00423099 -0.13288705] [ 0.00953311 0.00432448 0.99994521 -0.48262698] [ 0. 0. 0. 1. ]] SLAMing on 40.401193817 meters Centerline goodness [0,1] 0.9014620427239076 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.13, Z:-0.48 [[ 0.99990694 0.00949785 -0.00979299 2.37383352] [-0.00954522 0.99994292 -0.00480114 -0.1314345 ] [ 0.00974684 0.00489417 0.99994052 -0.48318288] [ 0. 0. 0. 1. ]] SLAMing on 40.431193817 meters Centerline goodness [0,1] 0.9022533054687661 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.13, Z:-0.48 [[ 0.999907 0.00934413 -0.00993385 2.37441822] [-0.00939661 0.99994207 -0.00524962 -0.13004581] [ 0.00988422 0.00534248 0.99993688 -0.48355816] [ 0. 0. 0. 1. ]] SLAMing on 40.461193817 meters Centerline goodness [0,1] 0.9014934660858743 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.13, Z:-0.48 [[ 0.99990795 0.00913873 -0.01002918 2.3744712 ] [-0.00919555 0.99994185 -0.00563425 -0.12900686] [ 0.0099771 0.00572596 0.99993383 -0.48337388] [ 0. 0. 0. 1. ]] SLAMing on 40.491193817 meters Centerline goodness [0,1] 0.9032711633100368 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.13, Z:-0.48 [[ 0.99991201 0.00844597 -0.01022957 2.37422045] [-0.00850845 0.99994532 -0.00607972 -0.12860379] [ 0.01017766 0.00616622 0.99992919 -0.48241838] [ 0. 0. 0. 1. ]] SLAMing on 40.521193817 meters Centerline goodness [0,1] 0.9050413223140495 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.13, Z:-0.48 [[ 0.99991296 0.00785368 -0.01060122 2.37490153] [-0.00792191 0.99994808 -0.00640907 -0.12869966] [ 0.01055033 0.00649249 0.99992327 -0.4823015 ] [ 0. 0. 0. 1. ]] SLAMing on 40.551193817 meters Centerline goodness [0,1] 0.9048113031390693 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.13, Z:-0.48 [[ 0.9999175 0.00724971 -0.01060323 2.37463393] [-0.00732022 0.99995125 -0.00662655 -0.12897331] [ 0.01055467 0.00670362 0.99992183 -0.48181797] [ 0. 0. 0. 1. ]] SLAMing on 40.581193817 meters Centerline goodness [0,1] 0.9023991726990693 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.13, Z:-0.48 [[ 0.99993703 0.00287437 -0.0108477 2.3750908 ] [-0.00299182 0.99993692 -0.01082655 -0.12859744] [ 0.0108159 0.01085832 0.99988255 -0.48181822] [ 0. 0. 0. 1. ]] SLAMing on 40.611193817 meters Centerline goodness [0,1] 0.8951009839461419 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.13, Z:-0.48 [[ 0.99993658 0.00253635 -0.01097315 2.3755884 ] [-0.00265424 0.99993878 -0.01074194 -0.12941491] [ 0.01094523 0.01077038 0.99988209 -0.48204809] [ 0. 0. 0. 1. ]] SLAMing on 40.641193817 meters Centerline goodness [0,1] 0.8899228983584812 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.13, Z:-0.48 [[ 9.99936056e-01 2.22959955e-03 -1.10865971e-02 2.37596674e+00] [-2.34960843e-03 9.99938664e-01 -1.08234648e-02 -1.29484598e-01] [ 1.10617851e-02 1.08488218e-02 9.99879963e-01 -4.82236469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.671193817 meters Centerline goodness [0,1] 0.8780169737114469 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.13, Z:-0.48 [[ 0.99992861 0.00466869 -0.01099872 2.37587386] [-0.00475223 0.99995997 -0.00758166 -0.13003028] [ 0.01096288 0.00763339 0.99991077 -0.48202911] [ 0. 0. 0. 1. ]] SLAMing on 40.701193817 meters Centerline goodness [0,1] 0.8901030671799329 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.13, Z:-0.48 [[ 0.99992239 0.00623136 -0.01078822 2.37470768] [-0.00629441 0.99996325 -0.0058199 -0.12824317] [ 0.01075156 0.00588735 0.99992487 -0.48092879] [ 0. 0. 0. 1. ]] SLAMing on 40.731193817 meters Centerline goodness [0,1] 0.9084562642842302 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.12, Z:-0.48 [[ 0.99989729 0.00962588 -0.01061804 2.37289679] [-0.00966299 0.99994737 -0.00344859 -0.12384988] [ 0.01058428 0.00355084 0.99993768 -0.4788407 ] [ 0. 0. 0. 1. ]] SLAMing on 40.761193817 meters Centerline goodness [0,1] 0.9091419073343029 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.12, Z:-0.48 [[ 0.99989064 0.01021366 -0.01069525 2.37277377] [-0.0102574 0.99993922 -0.00404327 -0.12064683] [ 0.0106533 0.00415253 0.99993463 -0.47838423] [ 0. 0. 0. 1. ]] SLAMing on 40.791193817 meters Centerline goodness [0,1] 0.9088983050847458 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.12, Z:-0.48 [[ 0.99987917 0.0111748 -0.01080568 2.37283603] [-0.01122264 0.99992745 -0.00437648 -0.11693922] [ 0.01075599 0.00449722 0.99993204 -0.47807774] [ 0. 0. 0. 1. ]] SLAMing on 40.821193817 meters Centerline goodness [0,1] 0.9084505578988925 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.11, Z:-0.48 [[ 9.99828423e-01 1.49222084e-02 -1.09750766e-02 2.37348547e+00] [-1.49368094e-02 9.99887659e-01 -1.24961156e-03 -1.14607161e-01] [ 1.09551967e-02 1.41332978e-03 9.99938991e-01 -4.78314683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.851193817 meters Centerline goodness [0,1] 0.9082620138011066 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.11, Z:-0.48 [[ 9.99743472e-01 1.94663206e-02 -1.15780923e-02 2.37587382e+00] [-1.94517688e-02 9.99809860e-01 1.36813746e-03 -1.08788140e-01] [ 1.16025235e-02 -1.14257212e-03 9.99932036e-01 -4.79918488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.881193817 meters Centerline goodness [0,1] 0.9079319524166043 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.11, Z:-0.48 [[ 9.99735746e-01 1.97797044e-02 -1.17132947e-02 2.37631044e+00] [-1.97734591e-02 9.99804276e-01 6.48761257e-04 -1.05761928e-01] [ 1.17238344e-02 -4.16977466e-04 9.99931187e-01 -4.80116241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.911193817 meters Centerline goodness [0,1] 0.9078484804360036 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:-0.48 [[ 9.99732585e-01 1.97866194e-02 -1.19686577e-02 2.37666605e+00] [-1.97882731e-02 9.99804193e-01 -1.97497924e-05 -1.03491740e-01] [ 1.19659233e-02 2.56583577e-04 9.99928373e-01 -4.79940212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.941193817 meters Centerline goodness [0,1] 0.9083420012481798 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:-0.48 [[ 9.99731016e-01 1.97294531e-02 -1.21919729e-02 2.37702910e+00] [-1.97385033e-02 9.99804983e-01 -6.22414320e-04 -1.01696538e-01] [ 1.21773153e-02 8.62898197e-04 9.99925481e-01 -4.79813156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.971193817 meters Centerline goodness [0,1] 0.9101289517470882 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:-0.48 [[ 9.99721629e-01 2.01038630e-02 -1.23490189e-02 2.37784506e+00] [-2.01185753e-02 9.99797030e-01 -1.06829448e-03 -9.96996667e-02] [ 1.23250356e-02 1.31644177e-03 9.99923177e-01 -4.80558040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.001193817 meters Centerline goodness [0,1] 0.9133398449676843 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:-0.48 [[ 9.99713149e-01 2.03845716e-02 -1.25733359e-02 2.37869146e+00] [-2.04008335e-02 9.99791201e-01 -1.16645061e-03 -9.90170983e-02] [ 1.25469330e-02 1.42262254e-03 9.99920272e-01 -4.81063321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.031193817 meters Centerline goodness [0,1] 0.91503349044902 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:-0.48 [[ 9.99701020e-01 2.08466981e-02 -1.27783142e-02 2.37907177e+00] [-2.08613151e-02 9.99781867e-01 -1.01165812e-03 -9.87625533e-02] [ 1.27544371e-02 1.27792809e-03 9.99917842e-01 -4.81058514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.061193817 meters Centerline goodness [0,1] 0.91503349044902 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:-0.48 [[ 9.99701020e-01 2.08466981e-02 -1.27783142e-02 2.37907177e+00] [-2.08613151e-02 9.99781867e-01 -1.01165812e-03 -9.87625533e-02] [ 1.27544371e-02 1.27792809e-03 9.99917842e-01 -4.81058514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.091193817 meters Centerline goodness [0,1] 0.9157592885046962 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:-0.48 [[ 9.99676305e-01 2.20283033e-02 -1.27294673e-02 2.37761533e+00] [-2.20204439e-02 9.99757234e-01 7.57270042e-04 -1.02756271e-01] [ 1.27430584e-02 -4.76716398e-04 9.99918690e-01 -4.79288365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.121193817 meters Centerline goodness [0,1] 0.9158516369664318 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.11, Z:-0.48 [[ 9.99690677e-01 2.10349160e-02 -1.32696029e-02 2.37931180e+00] [-2.10296130e-02 9.99778708e-01 5.39056518e-04 -1.06149856e-01] [ 1.32780055e-02 -2.59835162e-04 9.99911810e-01 -4.80094171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.151193817 meters Centerline goodness [0,1] 0.9149002493765586 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.11, Z:-0.48 [[ 0.9997606 0.01733301 -0.01335335 2.37918055] [-0.01736813 0.99984599 -0.00251872 -0.10898194] [ 0.01330764 0.00275004 0.99990767 -0.4798926 ] [ 0. 0. 0. 1. ]] SLAMing on 41.181193817 meters Centerline goodness [0,1] 0.9142275070680193 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.11, Z:-0.48 [[ 0.99981272 0.01355024 -0.01381701 2.38052141] [-0.01362453 0.99989315 -0.00529679 -0.11295491] [ 0.01374377 0.00548405 0.99989051 -0.48063739] [ 0. 0. 0. 1. ]] SLAMing on 41.211193817 meters Centerline goodness [0,1] 0.9108892355694228 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.12, Z:-0.48 [[ 0.99989353 0.00265883 -0.01434794 2.38239054] [-0.00286395 0.99989373 -0.0142944 -0.12052288] [ 0.0143084 0.01433397 0.99979488 -0.48194041] [ 0. 0. 0. 1. ]] SLAMing on 41.241193817 meters Centerline goodness [0,1] 0.9092024284763806 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.12, Z:-0.48 [[ 9.99893430e-01 -1.19681326e-03 -1.45497686e-02 2.38281030e+00] [ 9.44077837e-04 9.99848773e-01 -1.73648841e-02 -1.23494940e-01] [ 1.45683509e-02 1.73492974e-02 9.99743350e-01 -4.81947611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.271193817 meters Centerline goodness [0,1] 0.9081494728524194 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.13, Z:-0.48 [[ 9.99888786e-01 -1.72531524e-03 -1.48134465e-02 2.38334166e+00] [ 1.47589260e-03 9.99857242e-01 -1.68320368e-02 -1.26352786e-01] [ 1.48403723e-02 1.68083018e-02 9.99748591e-01 -4.81878770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.301193817 meters Centerline goodness [0,1] 0.9084229427669192 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.13, Z:-0.48 [[ 9.99950773e-01 -2.16074905e-03 -9.68417768e-03 2.39157159e+00] [ 2.09564811e-03 9.99975174e-01 -6.72751641e-03 -1.30666230e-01] [ 9.69847373e-03 6.70689060e-03 9.99930476e-01 -4.82904993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.331193817 meters Centerline goodness [0,1] 0.9089285714285714 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.13, Z:-0.48 [[ 9.99950149e-01 -1.80361691e-03 -9.82066945e-03 2.39151401e+00] [ 1.74352130e-03 9.99979726e-01 -6.12442547e-03 -1.32007119e-01] [ 9.83151646e-03 6.10699761e-03 9.99933021e-01 -4.82494896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.361193817 meters Centerline goodness [0,1] 0.9101100269877517 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.13, Z:-0.48 [[ 9.99950939e-01 1.10385522e-03 -9.84381330e-03 2.39199487e+00] [-1.13224803e-03 9.99995214e-01 -2.87922322e-03 -1.34253768e-01] [ 9.84058794e-03 2.89022760e-03 9.99947403e-01 -4.82816658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.391193817 meters Centerline goodness [0,1] 0.9119787119038709 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.13, Z:-0.48 [[ 9.99933867e-01 5.65799740e-03 -1.00124143e-02 2.39172464e+00] [-5.64531591e-03 9.99983227e-01 1.29438675e-03 -1.34149873e-01] [ 1.00195700e-02 -1.23777791e-03 9.99949037e-01 -4.81963761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.421193817 meters Centerline goodness [0,1] 0.9146113602391629 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.13, Z:-0.48 [[ 9.99930683e-01 6.11850330e-03 -1.00594906e-02 2.39122063e+00] [-6.10940173e-03 9.99980900e-01 9.35254840e-04 -1.32040505e-01] [ 1.00650209e-02 -8.73732542e-04 9.99948965e-01 -4.81142816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.451193817 meters Centerline goodness [0,1] 0.9154570866549332 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.13, Z:-0.48 [[ 9.99926222e-01 6.62386903e-03 -1.01821069e-02 2.39117516e+00] [-6.61780032e-03 9.99977904e-01 6.29594421e-04 -1.29960716e-01] [ 1.01860523e-02 -5.62164820e-04 9.99947963e-01 -4.80752504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.481193817 meters Centerline goodness [0,1] 0.9171529070970412 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.13, Z:-0.48 [[ 9.99920088e-01 7.36173840e-03 -1.02772726e-02 2.39119218e+00] [-7.35701298e-03 9.99972813e-01 4.97523768e-04 -1.28432066e-01] [ 1.02806558e-02 -4.21873983e-04 9.99947064e-01 -4.80530631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.511193817 meters Centerline goodness [0,1] 0.9178318409407268 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.13, Z:-0.48 [[ 9.99898775e-01 9.68607733e-03 -1.04220494e-02 2.39131446e+00] [-9.67150599e-03 9.99952182e-01 1.44761919e-03 -1.28217366e-01] [ 1.04355728e-02 -1.34667574e-03 9.99944641e-01 -4.80523343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.541193817 meters Centerline goodness [0,1] 0.920564725423025 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.13, Z:-0.48 [[ 9.99887586e-01 1.04624987e-02 -1.07401513e-02 2.39243250e+00] [-1.04432393e-02 9.99943761e-01 1.84773154e-03 -1.28733335e-01] [ 1.07588792e-02 -1.73536186e-03 9.99940616e-01 -4.81204338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.571193817 meters Centerline goodness [0,1] 0.9225522415824394 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.13, Z:-0.48 [[ 9.99875562e-01 1.11591181e-02 -1.11505201e-02 2.39374202e+00] [-1.11345320e-02 9.99935445e-01 2.26457981e-03 -1.29489621e-01] [ 1.11750710e-02 -2.14014218e-03 9.99935267e-01 -4.81896173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.601193817 meters Centerline goodness [0,1] 0.9245482866043614 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.13, Z:-0.48 [[ 0.99982001 0.01506258 -0.0115351 2.39614513] [-0.0149911 0.99986804 0.00625784 -0.13381849] [ 0.01162784 -0.00608379 0.99991389 -0.48393233] [ 0. 0. 0. 1. ]] SLAMing on 41.631193817 meters Centerline goodness [0,1] 0.9249241763263949 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.14, Z:-0.48 [[ 0.99980761 0.01567428 -0.01179272 2.39724249] [-0.01559196 0.99985365 0.00704036 -0.13562267] [ 0.01190135 -0.00685513 0.99990568 -0.48467093] [ 0. 0. 0. 1. ]] SLAMing on 41.661193817 meters Centerline goodness [0,1] 0.9220862846104314 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.14, Z:-0.49 [[ 0.99979345 0.01640348 -0.01199894 2.39823619] [-0.01630815 0.99983501 0.00800016 -0.1378963 ] [ 0.01212819 -0.00780283 0.99989601 -0.48540661] [ 0. 0. 0. 1. ]] SLAMing on 41.691193817 meters Centerline goodness [0,1] 0.9198928860565047 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.14, Z:-0.49 [[ 0.99977808 0.01711936 -0.01227678 2.39925036] [-0.01700641 0.99981263 0.00924639 -0.1414943 ] [ 0.01243277 -0.00903555 0.99988189 -0.48593539] [ 0. 0. 0. 1. ]] SLAMing on 41.721193817 meters Centerline goodness [0,1] 0.9155095706156233 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.14, Z:-0.49 [[ 0.99981952 0.01431482 -0.01249049 2.39974172] [-0.01423212 0.99987637 0.00668539 -0.14498934] [ 0.01258465 -0.00650642 0.99989964 -0.48619592] [ 0. 0. 0. 1. ]] SLAMing on 41.751193817 meters Centerline goodness [0,1] 0.9218234280613622 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.16, Z:-0.48 [[ 0.99988815 0.0090318 -0.01192121 2.39710233] [-0.00899836 0.99995543 0.00285627 -0.15764018] [ 0.01194647 -0.00274868 0.99992486 -0.48454595] [ 0. 0. 0. 1. ]] SLAMing on 41.781193817 meters Centerline goodness [0,1] 0.9237794169301019 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.16, Z:-0.48 [[ 9.99909734e-01 5.66566279e-03 -1.21829487e-02 2.39744263e+00] [-5.65641389e-03 9.99983688e-01 7.93491051e-04 -1.63680443e-01] [ 1.21872456e-02 -7.24507625e-04 9.99925470e-01 -4.84214064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.811193817 meters Centerline goodness [0,1] 0.9210433629602005 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.17, Z:-0.48 [[ 9.99923528e-01 2.10544896e-03 -1.21862448e-02 2.39705199e+00] [-2.12280927e-03 9.99996750e-01 -1.41182254e-03 -1.69244175e-01] [ 1.21832327e-02 1.43758364e-03 9.99924748e-01 -4.83593657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.841193817 meters Centerline goodness [0,1] 0.9184852374839538 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.18, Z:-0.48 [[ 9.99925555e-01 -1.27284538e-03 -1.21352445e-02 2.39654749e+00] [ 1.23196442e-03 9.99993544e-01 -3.37565999e-03 -1.75045444e-01] [ 1.21394628e-02 3.36045850e-03 9.99920667e-01 -4.82893339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.871193817 meters Centerline goodness [0,1] 0.9167582816486548 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.19, Z:-0.48 [[ 0.99989729 -0.00805717 -0.0118532 2.39563444] [ 0.00797125 0.99994174 -0.00727832 -0.18606849] [ 0.01191115 0.00718309 0.99990326 -0.48171034] [ 0. 0. 0. 1. ]] SLAMing on 41.901193817 meters Centerline goodness [0,1] 0.9181560254312755 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.19, Z:-0.48 [[ 0.9998625 -0.01153538 -0.01191267 2.396174 ] [ 0.01141975 0.99988745 -0.00972974 -0.19077068] [ 0.01202356 0.00959236 0.9998817 -0.4820511 ] [ 0. 0. 0. 1. ]] SLAMing on 41.931193817 meters Centerline goodness [0,1] 0.9173070566848455 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.19, Z:-0.48 [[ 0.99981146 -0.01524869 -0.012022 2.39666765] [ 0.01509715 0.99980668 -0.01259665 -0.19439581] [ 0.01221175 0.01241277 0.99984839 -0.48219146] [ 0. 0. 0. 1. ]] SLAMing on 41.961193817 meters Centerline goodness [0,1] 0.9163701067615658 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.20, Z:-0.48 [[ 0.99974281 -0.01918049 -0.01210045 2.39727142] [ 0.01898913 0.99969585 -0.0157361 -0.19741383] [ 0.0123986 0.01550228 0.99980296 -0.4825364 ] [ 0. 0. 0. 1. ]] SLAMing on 41.991193817 meters Centerline goodness [0,1] 0.9139267188823906 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.20, Z:-0.48 [[ 0.99955048 -0.02743056 -0.01209929 2.39769412] [ 0.02715253 0.99937639 -0.02257383 -0.20241809] [ 0.01271095 0.02223516 0.99967196 -0.48240129] [ 0. 0. 0. 1. ]] SLAMing on 42.021193817 meters Centerline goodness [0,1] 0.9138478673376784 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.21, Z:-0.48 [[ 0.99953334 -0.02798063 -0.01225536 2.3980094 ] [ 0.02770658 0.99937424 -0.02198802 -0.20609354] [ 0.01286293 0.0216382 0.99968312 -0.48201681] [ 0. 0. 0. 1. ]] SLAMing on 42.051193817 meters Centerline goodness [0,1] 0.9119985133488882 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.21, Z:-0.48 [[ 0.9995246 -0.02820054 -0.01246235 2.39825077] [ 0.0279282 0.99937843 -0.02151208 -0.20864128] [ 0.01306126 0.0211538 0.99969091 -0.48157504] [ 0. 0. 0. 1. ]] SLAMing on 42.081193817 meters Centerline goodness [0,1] 0.9105988308442297 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.21, Z:-0.48 [[ 0.99952136 -0.02821415 -0.01268909 2.39841549] [ 0.02794255 0.99938692 -0.02109514 -0.21051538] [ 0.01327649 0.02073048 0.99969695 -0.48106678] [ 0. 0. 0. 1. ]] SLAMing on 42.111193817 meters Centerline goodness [0,1] 0.9117798938301696 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.21, Z:-0.48 [[ 0.99952738 -0.02791951 -0.0128656 2.39886529] [ 0.02764898 0.99940238 -0.02074656 -0.21144896] [ 0.01343714 0.02038103 0.99970198 -0.48114672] [ 0. 0. 0. 1. ]] SLAMing on 42.141193817 meters Centerline goodness [0,1] 0.9119567244916993 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.21, Z:-0.48 [[ 0.99962625 -0.02391095 -0.01325266 2.39972428] [ 0.02369227 0.99958446 -0.01641881 -0.21252826] [ 0.01363974 0.01609869 0.99977737 -0.48141268] [ 0. 0. 0. 1. ]] SLAMing on 42.171193817 meters Centerline goodness [0,1] 0.9153421656366906 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.21, Z:-0.48 [[ 0.99970994 -0.01986157 -0.01362194 2.40099799] [ 0.01969706 0.99973269 -0.01210655 -0.21343749] [ 0.01385875 0.01183472 0.99983392 -0.48220291] [ 0. 0. 0. 1. ]] SLAMing on 42.201193817000004 meters Centerline goodness [0,1] 0.9142329710445533 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.22, Z:-0.48 [[ 0.99977989 -0.01568951 -0.01392882 2.40164801] [ 0.0155854 0.99985002 -0.00755201 -0.21510405] [ 0.01404522 0.00733326 0.99987447 -0.48230481] [ 0. 0. 0. 1. ]] SLAMing on 42.231193817 meters Centerline goodness [0,1] 0.9183542202672421 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.22, Z:-0.48 [[ 0.99983584 -0.01130391 -0.01416032 2.40194017] [ 0.01126664 0.99993286 -0.00270895 -0.21739037] [ 0.01418999 0.00254897 0.99989607 -0.48205553] [ 0. 0. 0. 1. ]] SLAMing on 42.261193817 meters Centerline goodness [0,1] 0.9179987544114594 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.22, Z:-0.48 [[ 9.99879967e-01 -6.12622526e-03 -1.42310111e-02 2.40171172e+00] [ 6.15886454e-03 9.99978501e-01 2.25083872e-03 -2.18352749e-01] [ 1.42169160e-02 -2.33821541e-03 9.99896201e-01 -4.81697541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.291193817 meters Centerline goodness [0,1] 0.9157169744979213 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.22, Z:-0.49 [[ 9.99945310e-01 -2.09497734e-03 -1.02463246e-02 2.41387845e+00] [ 2.05248718e-03 9.99989259e-01 -4.15562796e-03 -2.17978953e-01] [ 1.02549205e-02 4.13437024e-03 9.99938870e-01 -4.85625595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.321193817 meters Centerline goodness [0,1] 0.9156180912828777 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.22, Z:-0.49 [[ 9.99943889e-01 -1.61188285e-03 -1.04700140e-02 2.41450448e+00] [ 1.57554805e-03 9.99992712e-01 -3.47769002e-03 -2.19297067e-01] [ 1.04755433e-02 3.46099887e-03 9.99939140e-01 -4.85825772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.351193817 meters Centerline goodness [0,1] 0.9169480640550227 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.22, Z:-0.49 [[ 9.99943856e-01 -1.54896218e-03 -1.04826052e-02 2.41459237e+00] [ 1.52287463e-03 9.99995725e-01 -2.49617526e-03 -2.22452024e-01] [ 1.04864269e-02 2.48007142e-03 9.99941940e-01 -4.85723001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.381193817 meters Centerline goodness [0,1] 0.919180385725259 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.22, Z:-0.48 [[ 9.99943114e-01 -1.47361362e-03 -1.05639696e-02 2.41424311e+00] [ 1.45428210e-03 9.99997255e-01 -1.83739641e-03 -2.24173541e-01] [ 1.05666482e-02 1.82192889e-03 9.99942512e-01 -4.84921864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.411193817 meters Centerline goodness [0,1] 0.9205509573298484 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.23, Z:-0.48 [[ 9.99943535e-01 -1.09678560e-03 -1.05699587e-02 2.41354629e+00] [ 1.08603442e-03 9.99998887e-01 -1.02283157e-03 -2.26014678e-01] [ 1.05710688e-02 1.01129448e-03 9.99943613e-01 -4.83835909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.441193817 meters Centerline goodness [0,1] 0.9198284394589245 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.23, Z:-0.49 [[ 9.99997805e-01 -9.92853886e-04 1.84508627e-03 2.41771024e+00] [ 9.91791553e-04 9.99999342e-01 5.76589428e-04 -2.28121499e-01] [-1.84565752e-03 -5.74758222e-04 9.99998132e-01 -4.88343453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.471193817 meters Centerline goodness [0,1] 0.9233551000165316 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.23, Z:-0.49 [[ 9.99997746e-01 5.63624449e-04 2.04718004e-03 2.41495843e+00] [-5.66908867e-04 9.99998553e-01 1.60413625e-03 -2.27970133e-01] [-2.04627295e-03 -1.60529320e-03 9.99996618e-01 -4.85302522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.501193817 meters Centerline goodness [0,1] 0.9245357320510694 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.23, Z:-0.48 [[ 9.99997069e-01 1.06754821e-03 2.17290622e-03 2.41387210e+00] [-1.07045213e-03 9.99998535e-01 1.33569899e-03 -2.25333446e-01] [-2.17147711e-03 -1.33802107e-03 9.99996747e-01 -4.84279665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.531193817 meters Centerline goodness [0,1] 0.9248458003891211 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.22, Z:-0.48 [[ 9.99996793e-01 1.51855866e-03 2.02700297e-03 2.41398097e+00] [-1.52013353e-03 9.99998544e-01 7.75628243e-04 -2.21908871e-01] [-2.02582218e-03 -7.78707070e-04 9.99997645e-01 -4.84171741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.561193817 meters Centerline goodness [0,1] 0.9247141238281652 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.22, Z:-0.48 [[ 9.99996108e-01 2.06093334e-03 1.88041273e-03 2.41425091e+00] [-2.06131869e-03 9.99997855e-01 2.03011308e-04 -2.18544893e-01] [-1.87999031e-03 -2.06886648e-04 9.99998211e-01 -4.84344351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.591193817 meters Centerline goodness [0,1] 0.9222645572765675 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.21, Z:-0.49 [[ 9.99980039e-01 6.07180297e-03 1.74790741e-03 2.41526713e+00] [-6.07705452e-03 9.99976989e-01 3.01501442e-03 -2.14882941e-01] [-1.72956061e-03 -3.02557636e-03 9.99993927e-01 -4.85576958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.621193817 meters Centerline goodness [0,1] 0.9240151845167714 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.21, Z:-0.49 [[ 9.99981800e-01 5.86069512e-03 1.43247370e-03 2.41698694e+00] [-5.86373713e-03 9.99980542e-01 2.12871106e-03 -2.12918630e-01] [-1.41997010e-03 -2.13707197e-03 9.99996708e-01 -4.87125288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.651193817 meters Centerline goodness [0,1] 0.9226426451358476 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.21, Z:-0.49 [[ 9.99984819e-01 5.38570186e-03 1.16416496e-03 2.41864634e+00] [-5.38724633e-03 9.99984607e-01 1.32763412e-03 -2.11894087e-01] [-1.15699680e-03 -1.33388561e-03 9.99998441e-01 -4.88616394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.681193817 meters Centerline goodness [0,1] 0.922082763762893 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.21, Z:-0.49 [[ 9.99989444e-01 4.49978746e-03 9.29795916e-04 2.42018249e+00] [-4.50028495e-03 9.99989731e-01 5.33654442e-04 -2.11932662e-01] [-9.27385037e-04 -5.37833155e-04 9.99999425e-01 -4.89936965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.711193817 meters Centerline goodness [0,1] 0.9243026239549706 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.21, Z:-0.49 [[ 9.99994748e-01 3.21125180e-03 4.37225163e-04 2.42221081e+00] [-3.21112262e-03 9.99994801e-01 -2.95844110e-04 -2.12979341e-01] [-4.38172919e-04 2.94438573e-04 9.99999861e-01 -4.91096573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.741193817 meters Centerline goodness [0,1] 0.923397635345364 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.21, Z:-0.49 [[ 9.99999884e-01 -3.80936223e-04 2.93775283e-04 2.42234894e+00] [ 3.82077276e-04 9.99992346e-01 -3.89387505e-03 -2.13471118e-01] [-2.92289716e-04 3.89398684e-03 9.99992376e-01 -4.90982058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.771193817 meters Centerline goodness [0,1] 0.9225533327799452 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.22, Z:-0.49 [[ 9.99999887e-01 -4.75363558e-04 2.06155676e-06 2.42321317e+00] [ 4.75367699e-04 9.99994898e-01 -3.15884603e-03 -2.16298589e-01] [-5.59945949e-07 3.15884665e-03 9.99995011e-01 -4.91235736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.801193817 meters Centerline goodness [0,1] 0.9210471854304636 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.22, Z:-0.49 [[ 9.99999473e-01 -8.74413355e-04 -5.38647250e-04 2.42541762e+00] [ 8.72924477e-04 9.99995815e-01 -2.75816705e-03 -2.19416086e-01] [ 5.41056774e-04 2.75769540e-03 9.99996051e-01 -4.92546144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.831193817 meters Centerline goodness [0,1] 0.918206352501557 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.22, Z:-0.49 [[ 9.99999454e-01 -6.52157752e-04 -8.16127322e-04 2.42643503e+00] [ 6.50778562e-04 9.99998362e-01 -1.68904577e-03 -2.23033530e-01] [ 8.17227510e-04 1.68851373e-03 9.99998241e-01 -4.93018640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.861193817 meters Centerline goodness [0,1] 0.915425256396975 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.23, Z:-0.50 [[ 9.99998909e-01 -4.14713283e-04 -1.41773978e-03 2.43004642e+00] [ 4.14492579e-04 9.99999902e-01 -1.55963601e-04 -2.28966075e-01] [ 1.41780432e-03 1.55375788e-04 9.99998983e-01 -4.95868073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.891193817 meters Centerline goodness [0,1] 0.9136579992101599 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.23, Z:-0.50 [[ 9.99998744e-01 1.06022828e-06 -1.58476251e-03 2.43035610e+00] [ 4.19453691e-07 9.99999564e-01 9.33692574e-04 -2.31878898e-01] [ 1.58476281e-03 -9.33692067e-04 9.99998308e-01 -4.95731521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.921193817 meters Centerline goodness [0,1] 0.9141419370871213 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.24, Z:-0.50 [[ 9.99998267e-01 1.26695734e-04 -1.85724047e-03 2.43087021e+00] [-1.23293267e-04 9.99998314e-01 1.83200147e-03 -2.35402009e-01] [ 1.85746944e-03 -1.83176931e-03 9.99996597e-01 -4.95499199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.951193817000004 meters Centerline goodness [0,1] 0.9141419370871213 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.24, Z:-0.50 [[ 9.99998267e-01 1.26695734e-04 -1.85724047e-03 2.43087021e+00] [-1.23293267e-04 9.99998314e-01 1.83200147e-03 -2.35402009e-01] [ 1.85746944e-03 -1.83176931e-03 9.99996597e-01 -4.95499199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.981193817 meters Centerline goodness [0,1] 0.9162036748028383 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.24, Z:-0.49 [[ 9.99998093e-01 3.02449222e-04 -1.92962110e-03 2.43055826e+00] [-2.96822053e-04 9.99995705e-01 2.91582410e-03 -2.39033048e-01] [ 1.93049470e-03 -2.91524578e-03 9.99993887e-01 -4.94654312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.011193817 meters Centerline goodness [0,1] 0.9175459001412312 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.24, Z:-0.49 [[ 9.99994055e-01 -2.87823300e-03 -1.89899867e-03 2.42991941e+00] [ 2.87943606e-03 9.99995655e-01 6.31093898e-04 -2.42966783e-01] [ 1.89717399e-03 -6.36558191e-04 9.99997998e-01 -4.93733681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.041193817 meters Centerline goodness [0,1] 0.9182543290490557 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.24, Z:-0.49 [[ 9.99991888e-01 -3.33060986e-03 -2.26530052e-03 2.43092107e+00] [ 3.33249148e-03 9.99994105e-01 8.27363221e-04 -2.44862313e-01] [ 2.26253154e-03 -8.34905604e-04 9.99997092e-01 -4.93867855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.071193817 meters Centerline goodness [0,1] 0.9167856034750232 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.25, Z:-0.49 [[ 9.99991804e-01 -3.29739422e-03 -2.34935202e-03 2.43058297e+00] [ 3.30122764e-03 9.99993223e-01 1.62968888e-03 -2.47441922e-01] [ 2.34396237e-03 -1.63743127e-03 9.99995912e-01 -4.92920983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.101193817 meters Centerline goodness [0,1] 0.9194248789710985 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.25, Z:-0.49 [[ 9.99992573e-01 -3.06384329e-03 -2.33814230e-03 2.42943127e+00] [ 3.06994419e-03 9.99991881e-01 2.61017974e-03 -2.50370094e-01] [ 2.33012613e-03 -2.61733832e-03 9.99993860e-01 -4.91122238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.131193817 meters Centerline goodness [0,1] 0.9254018096930132 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.25, Z:-0.49 [[ 9.99981155e-01 -5.79549979e-03 -2.02550409e-03 2.42670389e+00] [ 5.79469201e-03 9.99983129e-01 -4.04448923e-04 -2.50713006e-01] [ 2.02781390e-03 3.92704129e-04 9.99997867e-01 -4.88370039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.161193817 meters Centerline goodness [0,1] 0.9264995951248884 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.25, Z:-0.49 [[ 9.99981331e-01 -5.75309766e-03 -2.05915553e-03 2.42655583e+00] [ 5.75188573e-03 9.99983281e-01 -5.93994961e-04 -2.49311825e-01] [ 2.06253842e-03 5.82139844e-04 9.99997704e-01 -4.88142678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.191193817 meters Centerline goodness [0,1] 0.923911015279995 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.25, Z:-0.49 [[ 9.99991342e-01 -3.32141915e-03 -2.50663474e-03 2.42889956e+00] [ 3.32669575e-03 9.99992253e-01 2.10382908e-03 -2.48543386e-01] [ 2.49962763e-03 -2.11214968e-03 9.99994645e-01 -4.89826861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.221193817 meters Centerline goodness [0,1] 0.9174616341766901 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.24, Z:-0.49 [[ 9.99990481e-01 -3.49717001e-03 -2.60914325e-03 2.43037926e+00] [ 3.49943652e-03 9.99993503e-01 8.64621375e-04 -2.43897207e-01] [ 2.60610258e-03 -8.73743676e-04 9.99996222e-01 -4.91812400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.251193817 meters Centerline goodness [0,1] 0.917954864842523 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.24, Z:-0.49 [[ 9.99990202e-01 -3.46349521e-03 -2.75668684e-03 2.43074684e+00] [ 3.46502940e-03 9.99993844e-01 5.51952749e-04 -2.42891565e-01] [ 2.75475819e-03 -5.61499342e-04 9.99996048e-01 -4.91926137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.281193817 meters Centerline goodness [0,1] 0.9208966015907447 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.24, Z:-0.49 [[ 9.99990668e-01 -3.18637423e-03 -2.91742898e-03 2.43060753e+00] [ 3.18806210e-03 9.99994753e-01 5.74078722e-04 -2.42516586e-01] [ 2.91558444e-03 -5.83374309e-04 9.99995580e-01 -4.91306768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.311193817 meters Centerline goodness [0,1] 0.9227046115496469 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.24, Z:-0.49 [[ 9.99991328e-01 -2.99284554e-03 -2.89608108e-03 2.42994321e+00] [ 2.99468341e-03 9.99995317e-01 6.30478477e-04 -2.42167063e-01] [ 2.89418059e-03 -6.39145855e-04 9.99995608e-01 -4.90476587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.341193817 meters Centerline goodness [0,1] 0.922570050719215 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.24, Z:-0.49 [[ 9.99991546e-01 -2.91124417e-03 -2.90381613e-03 2.42957305e+00] [ 2.91332208e-03 9.99995503e-01 7.11605962e-04 -2.41829700e-01] [ 2.90173142e-03 -7.20059697e-04 9.99995531e-01 -4.89905511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.371193817 meters Centerline goodness [0,1] 0.9202820406470344 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.24, Z:-0.49 [[ 9.99986960e-01 -3.87932922e-03 -3.32137444e-03 2.43190078e+00] [ 3.87928976e-03 9.99992475e-01 -1.83241162e-05 -2.41061065e-01] [ 3.32142054e-03 5.43930336e-06 9.99994484e-01 -4.91816204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.401193817 meters Centerline goodness [0,1] 0.92119103822421 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.24, Z:-0.49 [[ 9.99984606e-01 -4.23495006e-03 -3.58510323e-03 2.43314318e+00] [ 4.23604653e-03 9.99990983e-01 2.98301970e-04 -2.42659137e-01] [ 3.58380761e-03 -3.13484042e-04 9.99993529e-01 -4.92615255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.431193817 meters Centerline goodness [0,1] 0.921297162457125 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.25, Z:-0.49 [[ 9.99979637e-01 -5.12360391e-03 -3.80447095e-03 2.43444194e+00] [ 5.12555659e-03 9.99986737e-01 5.03686641e-04 -2.45331574e-01] [ 3.80183980e-03 -5.23176416e-04 9.99992636e-01 -4.93418889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.461193817 meters Centerline goodness [0,1] 0.9189351439749933 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.25, Z:-0.49 [[ 0.99994855 -0.00931127 -0.00402407 2.4357747 ] [ 0.00929807 0.99995137 -0.003287 -0.24655765] [ 0.00405448 0.00324941 0.9999865 -0.49447785] [ 0. 0. 0. 1. ]] SLAMing on 43.491193817 meters Centerline goodness [0,1] 0.9047708138447147 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.25, Z:-0.50 [[ 0.99984416 -0.01714763 -0.00419732 2.43818548] [ 0.01710397 0.99980141 -0.01022675 -0.24857968] [ 0.00437185 0.01015337 0.9999389 -0.49654073] [ 0. 0. 0. 1. ]] SLAMing on 43.521193817 meters Centerline goodness [0,1] 0.8978807396634116 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.25, Z:-0.50 [[ 0.99983365 -0.01771951 -0.00432284 2.43840127] [ 0.01767562 0.99979389 -0.00998746 -0.2503894 ] [ 0.00449892 0.00990939 0.99994078 -0.49614424] [ 0. 0. 0. 1. ]] SLAMing on 43.551193817 meters Centerline goodness [0,1] 0.8768162503886413 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.25, Z:-0.50 [[ 0.99982748 -0.01801113 -0.00453887 2.43857169] [ 0.01796518 0.99978891 -0.00996904 -0.25068343] [ 0.00471747 0.00988577 0.99994001 -0.49563043] [ 0. 0. 0. 1. ]] SLAMing on 43.581193817 meters Centerline goodness [0,1] 0.8690307820299501 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.25, Z:-0.50 [[ 0.99987876 -0.0148766 -0.00459876 2.43848252] [ 0.01484793 0.9998705 -0.00620724 -0.25126554] [ 0.0046905 0.00613821 0.99997016 -0.49505434] [ 0. 0. 0. 1. ]] SLAMing on 43.611193817 meters Centerline goodness [0,1] 0.8958328999105415 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.25, Z:-0.49 [[ 0.99992804 -0.01110792 -0.00453113 2.43683612] [ 0.01109435 0.99993393 -0.0030096 -0.24614674] [ 0.00456426 0.00295911 0.99998521 -0.4931443 ] [ 0. 0. 0. 1. ]] SLAMing on 43.641193817 meters Centerline goodness [0,1] 0.9002026132980483 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.24, Z:-0.49 [[ 9.99955821e-01 -8.07537368e-03 -4.81093827e-03 2.43755858e+00] [ 8.07399071e-03 9.99967358e-01 -3.06817487e-04 -2.43098774e-01] [ 4.81325890e-03 2.67960461e-04 9.99988380e-01 -4.93308475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.671193817 meters Centerline goodness [0,1] 0.8896720427878436 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.24, Z:-0.49 [[ 0.99997723 -0.00469331 -0.0048487 2.43728811] [ 0.00470569 0.99998569 0.00254474 -0.2395268 ] [ 0.00483668 -0.0025675 0.99998501 -0.4928589 ] [ 0. 0. 0. 1. ]] SLAMing on 43.701193817000004 meters Centerline goodness [0,1] 0.9210068365444375 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.23, Z:-0.49 [[ 9.99989181e-01 1.11724794e-03 -4.51543087e-03 2.43496974e+00] [-1.08675791e-03 9.99976633e-01 6.74922896e-03 -2.31167941e-01] [ 4.52286592e-03 -6.74424876e-03 9.99967029e-01 -4.90744200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.731193817 meters Centerline goodness [0,1] 0.9228696949602122 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.23, Z:-0.49 [[ 0.99997854 0.00466032 -0.00460503 2.4342546 ] [-0.00461644 0.99994429 0.00949223 -0.22767938] [ 0.00464901 -0.00947077 0.99994434 -0.48952921] [ 0. 0. 0. 1. ]] SLAMing on 43.761193817 meters Centerline goodness [0,1] 0.9218675559790377 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.22, Z:-0.49 [[ 0.99995446 0.00834762 -0.00462538 2.43373769] [-0.00829039 0.99989052 0.01225663 -0.22386014] [ 0.00472719 -0.01221773 0.99991419 -0.48874025] [ 0. 0. 0. 1. ]] SLAMing on 43.791193817 meters Centerline goodness [0,1] 0.9189015809949508 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.22, Z:-0.49 [[ 0.99991657 0.01202695 -0.00471218 2.43372922] [-0.01195574 0.99981811 0.01485956 -0.21955054] [ 0.00489004 -0.01480198 0.99987849 -0.48853393] [ 0. 0. 0. 1. ]] SLAMing on 43.821193817 meters Centerline goodness [0,1] 0.9122028131612796 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.21, Z:-0.49 [[ 0.99978783 0.01997561 -0.00502608 2.43509852] [-0.01986969 0.99959631 0.0203078 -0.21126781] [ 0.00542971 -0.02020363 0.99978114 -0.48986468] [ 0. 0. 0. 1. ]] SLAMing on 43.851193817 meters Centerline goodness [0,1] 0.9100165906262961 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.21, Z:-0.49 [[ 0.99971047 0.0234662 -0.005322 2.43706365] [-0.02333882 0.99946641 0.02285165 -0.2074208 ] [ 0.0058554 -0.02272083 0.9997247 -0.49159124] [ 0. 0. 0. 1. ]] SLAMing on 43.881193817 meters Centerline goodness [0,1] 0.9104065445787135 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.20, Z:-0.49 [[ 0.9996158 0.02715955 -0.00553321 2.43871785] [-0.0270082 0.99930213 0.02580329 -0.20443524] [ 0.00623015 -0.02564394 0.99965173 -0.49303613] [ 0. 0. 0. 1. ]] SLAMing on 43.911193817 meters Centerline goodness [0,1] 0.9101667116490544 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.20, Z:-0.49 [[ 0.9995949 0.02783889 -0.00591882 2.43984914] [-0.02768076 0.99929652 0.02530302 -0.20140855] [ 0.00661907 -0.02512894 0.99966231 -0.49381972] [ 0. 0. 0. 1. ]] SLAMing on 43.941193817 meters Centerline goodness [0,1] 0.9107850665117148 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.20, Z:-0.49 [[ 0.99957822 0.02836938 -0.00620968 2.44074347] [-0.02820377 0.99928187 0.02530402 -0.20104063] [ 0.00692308 -0.02511822 0.99966052 -0.49435358] [ 0. 0. 0. 1. ]] SLAMing on 43.971193817 meters Centerline goodness [0,1] 0.9129328534193869 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.20, Z:-0.49 [[ 0.99954574 0.02946676 -0.00632655 2.44131608] [-0.02929005 0.99922197 0.02641096 -0.20465551] [ 0.00709987 -0.02621366 0.99963115 -0.49475679] [ 0. 0. 0. 1. ]] SLAMing on 44.001193817 meters Centerline goodness [0,1] 0.9150102810143934 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.20, Z:-0.49 [[ 0.99962432 0.02664197 -0.0064366 2.44129942] [-0.02648803 0.9993863 0.02292161 -0.20409581] [ 0.00704333 -0.0227425 0.99971654 -0.49494431] [ 0. 0. 0. 1. ]] SLAMing on 44.031193817 meters Centerline goodness [0,1] 0.9153876508338699 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.20, Z:-0.50 [[ 0.99969719 0.02370828 -0.00659154 2.44175317] [-0.02357604 0.99953257 0.01946284 -0.20345753] [ 0.00704989 -0.01930155 0.99978885 -0.49559428] [ 0. 0. 0. 1. ]] SLAMing on 44.061193817 meters Centerline goodness [0,1] 0.9143569499272803 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.20, Z:-0.50 [[ 0.99977099 0.02026818 -0.00686738 2.44266729] [-0.0201578 0.99967229 0.01577886 -0.20350259] [ 0.00718494 -0.01563681 0.99985192 -0.49645567] [ 0. 0. 0. 1. ]] SLAMing on 44.091193817 meters Centerline goodness [0,1] 0.9100478468899521 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.21, Z:-0.50 [[ 0.99987616 0.01391549 -0.00735076 2.44483336] [-0.01383882 0.99985036 0.01038026 -0.20932085] [ 0.00749411 -0.01027725 0.9999191 -0.49821319] [ 0. 0. 0. 1. ]] SLAMing on 44.121193817 meters Centerline goodness [0,1] 0.909287526514994 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.21, Z:-0.50 [[ 0.99994929 0.00666084 -0.00755346 2.44564032] [-0.00663688 0.99997288 0.00319231 -0.21120654] [ 0.00757452 -0.00314201 0.99996638 -0.4990391 ] [ 0. 0. 0. 1. ]] SLAMing on 44.151193817 meters Centerline goodness [0,1] 0.9041968523607294 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.22, Z:-0.50 [[ 9.99966576e-01 2.62990760e-03 -7.74152767e-03 2.44638741e+00] [-2.62777989e-03 9.99996507e-01 2.85002968e-04 -2.15703285e-01] [ 7.74225016e-03 -2.64650411e-04 9.99969993e-01 -4.99387174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.181193817 meters Centerline goodness [0,1] 0.901066844474079 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.22, Z:-0.50 [[ 9.99967408e-01 -1.61010441e-03 -7.91146392e-03 2.44705497e+00] [ 1.58888990e-03 9.99995128e-01 -2.68704336e-03 -2.20101434e-01] [ 7.91575179e-03 2.67438534e-03 9.99965094e-01 -4.99564496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.211193817 meters Centerline goodness [0,1] 0.8983068367410225 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.22, Z:-0.50 [[ 0.99985893 -0.01459947 -0.00830512 2.45049493] [ 0.01448366 0.99979935 -0.01383775 -0.22443131] [ 0.00850548 0.01371551 0.99986976 -0.50237519] [ 0. 0. 0. 1. ]] SLAMing on 44.241193817 meters Centerline goodness [0,1] 0.8982787225217752 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.23, Z:-0.50 [[ 0.9997762 -0.01940761 -0.00841997 2.45136951] [ 0.01925679 0.99965897 -0.01763844 -0.22636466] [ 0.00875942 0.01747235 0.99980898 -0.50277657] [ 0. 0. 0. 1. ]] SLAMing on 44.271193817 meters Centerline goodness [0,1] 0.8940242182964253 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.23, Z:-0.50 [[ 0.99967156 -0.02417804 -0.00849635 2.45195129] [ 0.02398948 0.99947807 -0.02163525 -0.22765953] [ 0.00901501 0.02142432 0.99972983 -0.50289303] [ 0. 0. 0. 1. ]] SLAMing on 44.301193817 meters Centerline goodness [0,1] 0.8120325674863784 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.23, Z:-0.50 [[ 0.99929572 -0.03741388 -0.00287551 2.44802416] [ 0.03735633 0.99914032 -0.01797548 -0.22998076] [ 0.00354557 0.0178554 0.99983429 -0.50032116] [ 0. 0. 0. 1. ]] SLAMing on 44.331193817 meters Centerline goodness [0,1] 0.7813585769270779 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.23, Z:-0.50 [[ 0.99926338 -0.03827533 -0.00277538 2.44722975] [ 0.03821803 0.9991003 -0.01838384 -0.22992053] [ 0.00347653 0.01826422 0.99982715 -0.49907142] [ 0. 0. 0. 1. ]] SLAMing on 44.361193817 meters Centerline goodness [0,1] 0.7948092557848656 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.23, Z:-0.50 [[ 0.99924582 -0.03873198 -0.00276309 2.4464371 ] [ 0.03867237 0.99906963 -0.01908737 -0.2276002 ] [ 0.00349981 0.01896612 0.999814 -0.49792771] [ 0. 0. 0. 1. ]] SLAMing on 44.391193817 meters Centerline goodness [0,1] 0.777724695178946 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.23, Z:-0.50 [[ 0.99935868 -0.03568849 -0.00292521 2.4461566 ] [ 0.03563768 0.99923841 -0.01589209 -0.22594752] [ 0.00349015 0.01577765 0.99986943 -0.49710343] [ 0. 0. 0. 1. ]] SLAMing on 44.421193817 meters Centerline goodness [0,1] 0.8176732384992929 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.22, Z:-0.50 [[ 0.9994653 -0.03254258 -0.00317872 2.44552177] [ 0.03249597 0.99937722 -0.01375458 -0.21985092] [ 0.00362435 0.01364393 0.99990035 -0.49593176] [ 0. 0. 0. 1. ]] SLAMing on 44.451193817000004 meters Centerline goodness [0,1] 0.829517758566816 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.22, Z:-0.50 [[ 0.99956986 -0.02913812 -0.00332592 2.44537558] [ 0.02910182 0.99952144 -0.01048722 -0.21808815] [ 0.00362991 0.01038592 0.99993948 -0.49547925] [ 0. 0. 0. 1. ]] SLAMing on 44.481193817 meters Centerline goodness [0,1] 0.8311075054085538 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.22, Z:-0.50 [[ 0.99966284 -0.02572332 -0.00353847 2.44553471] [ 0.0256972 0.99964356 -0.00723956 -0.21616039] [ 0.00372344 0.00714619 0.99996753 -0.49526334] [ 0. 0. 0. 1. ]] SLAMing on 44.511193817 meters Centerline goodness [0,1] 0.8399950115358235 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.21, Z:-0.50 [[ 0.99974593 -0.0222305 -0.00372477 2.44581151] [ 0.02221566 0.99974529 -0.00397841 -0.21395955] [ 0.00381226 0.00389465 0.99998515 -0.49526964] [ 0. 0. 0. 1. ]] SLAMing on 44.541193817 meters Centerline goodness [0,1] 0.8685905426743123 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.21, Z:-0.50 [[ 9.99856545e-01 -1.63784411e-02 -4.31694376e-03 2.44778961e+00] [ 1.63844911e-02 9.99864827e-01 1.36983806e-03 -2.08119901e-01] [ 4.29392442e-03 -1.44037248e-03 9.99989744e-01 -4.96472351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.571193817 meters Centerline goodness [0,1] 0.8633570034467007 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.21, Z:-0.50 [[ 0.9999036 -0.01308325 -0.00465019 2.44859227] [ 0.01310386 0.99990433 0.00442899 -0.20595598] [ 0.0045918 -0.0044895 0.99997938 -0.49669849] [ 0. 0. 0. 1. ]] SLAMing on 44.601193817 meters Centerline goodness [0,1] 0.8670562302445517 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.20, Z:-0.50 [[ 0.99990504 -0.01281105 -0.00507754 2.44918349] [ 0.01283058 0.99991034 0.00383327 -0.20263594] [ 0.00502798 -0.00389805 0.99997976 -0.49653609] [ 0. 0. 0. 1. ]] SLAMing on 44.631193817 meters Centerline goodness [0,1] 0.8862964112110869 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.20, Z:-0.50 [[ 0.99990645 -0.01250077 -0.00555259 2.45011406] [ 0.01251833 0.99991672 0.00313876 -0.1992004 ] [ 0.00551289 -0.00320798 0.99997966 -0.49670884] [ 0. 0. 0. 1. ]] SLAMing on 44.661193817 meters Centerline goodness [0,1] 0.881247143866063 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.20, Z:-0.50 [[ 0.99994279 -0.00890948 -0.00591957 2.45115357] [ 0.00894685 0.99994002 0.00631692 -0.19692045] [ 0.00586293 -0.00636952 0.99996253 -0.49719884] [ 0. 0. 0. 1. ]] SLAMing on 44.691193817 meters Centerline goodness [0,1] 0.8820214204013725 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.19, Z:-0.50 [[ 0.9999605 -0.00602807 -0.0065308 2.45361301] [ 0.00608381 0.99994495 0.00854933 -0.19346679] [ 0.0064789 -0.00858873 0.99994213 -0.49884768] [ 0. 0. 0. 1. ]] SLAMing on 44.721193817 meters Centerline goodness [0,1] 0.8852037110064133 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.19, Z:-0.50 [[ 9.99973564e-01 5.36817616e-04 -7.25140693e-03 2.45665997e+00] [-4.37546145e-04 9.99906266e-01 1.36846161e-02 -1.86015218e-01] [ 7.25807336e-03 -1.36810815e-02 9.99880067e-01 -5.01136710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.751193817 meters Centerline goodness [0,1] 0.8868668423564566 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.18, Z:-0.50 [[ 0.9999646 0.00399168 -0.00740687 2.45697274] [-0.00386899 0.99985629 0.01650523 -0.18259063] [ 0.00747169 -0.01647599 0.99983634 -0.50106487] [ 0. 0. 0. 1. ]] SLAMing on 44.781193817 meters Centerline goodness [0,1] 0.8847930084701887 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.17, Z:-0.50 [[ 0.99992468 0.00861603 -0.00874062 2.46210855] [-0.00853947 0.99992518 0.00875885 -0.17364427] [ 0.00881543 -0.00868355 0.99992344 -0.49611703] [ 0. 0. 0. 1. ]] SLAMing on 44.811193817 meters Centerline goodness [0,1] 0.8842279449787982 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.17, Z:-0.50 [[ 0.99992588 0.00826566 -0.0089397 2.46240264] [-0.00819863 0.9999382 0.00750867 -0.17012142] [ 0.00900121 -0.00743482 0.99993185 -0.4959733 ] [ 0. 0. 0. 1. ]] SLAMing on 44.841193817 meters Centerline goodness [0,1] 0.8842279449787982 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.17, Z:-0.50 [[ 0.99992588 0.00826566 -0.0089397 2.46240264] [-0.00819863 0.9999382 0.00750867 -0.17012142] [ 0.00900121 -0.00743482 0.99993185 -0.4959733 ] [ 0. 0. 0. 1. ]] SLAMing on 44.871193817 meters Centerline goodness [0,1] 0.8838467598159128 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.17, Z:-0.50 [[ 0.99992903 0.00772314 -0.00907121 2.46279814] [-0.00766764 0.99995178 0.00613635 -0.16636006] [ 0.00911816 -0.00606636 0.99994003 -0.49619031] [ 0. 0. 0. 1. ]] SLAMing on 44.901193817 meters Centerline goodness [0,1] 0.884574005875781 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.16, Z:-0.50 [[ 0.9999338 0.00680907 -0.00927552 2.46413946] [-0.00676871 0.99996752 0.00437547 -0.16207323] [ 0.00930501 -0.00431239 0.99994741 -0.49737133] [ 0. 0. 0. 1. ]] SLAMing on 44.931193817 meters Centerline goodness [0,1] 0.8821002386634845 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.15, Z:-0.50 [[ 9.99939436e-01 5.79978471e-03 -9.35346221e-03 2.46498991e+00] [-5.78233445e-03 9.99981493e-01 1.89161251e-03 -1.54024224e-01] [ 9.36426005e-03 -1.83741310e-03 9.99954466e-01 -4.98243361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.961193817 meters Centerline goodness [0,1] 0.8824343872700972 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.15, Z:-0.50 [[ 9.99939010e-01 5.50896044e-03 -9.57224508e-03 2.46569217e+00] [-5.50259112e-03 9.99984621e-01 6.91604156e-04 -1.50377605e-01] [ 9.57590789e-03 -6.38889824e-04 9.99953946e-01 -4.98555256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.991193817 meters Centerline goodness [0,1] 0.8819604612850083 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.15, Z:-0.50 [[ 9.99936258e-01 5.57469718e-03 -9.81848515e-03 2.46609226e+00] [-5.57790985e-03 9.99984398e-01 -2.99851835e-04 -1.47104443e-01] [ 9.81666038e-03 3.54599346e-04 9.99951753e-01 -4.98428641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.021193817 meters Centerline goodness [0,1] 0.8817591328451451 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.14, Z:-0.50 [[ 9.99933280e-01 6.04839209e-03 -9.84136434e-03 2.46595466e+00] [-6.05807032e-03 9.99981195e-01 -9.53909713e-04 -1.43821259e-01] [ 9.83540965e-03 1.01346575e-03 9.99951118e-01 -4.98148969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.051193817 meters Centerline goodness [0,1] 0.8800950806118231 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.14, Z:-0.50 [[ 9.99929537e-01 6.37761508e-03 -1.00123823e-02 2.46614356e+00] [-6.39575014e-03 9.99977962e-01 -1.78028920e-03 -1.40464254e-01] [ 1.00008077e-02 1.84420045e-03 9.99948290e-01 -4.97972449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.081193817 meters Centerline goodness [0,1] 0.8800505050505051 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.14, Z:-0.50 [[ 9.99919375e-01 7.89230977e-03 -9.94760890e-03 2.46431313e+00] [-7.90548484e-03 9.99967924e-01 -1.28582074e-03 -1.38455273e-01] [ 9.93714173e-03 1.36435774e-03 9.99949695e-01 -4.95785831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.111193817 meters Centerline goodness [0,1] 0.880799089121209 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.14, Z:-0.50 [[ 9.99919798e-01 7.90261434e-03 -9.89673298e-03 2.46371931e+00] [-7.91588174e-03 9.99967821e-01 -1.30212987e-03 -1.38556082e-01] [ 9.88612428e-03 1.38036681e-03 9.99950178e-01 -4.95024864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.141193817 meters Centerline goodness [0,1] 0.8814785799694883 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.14, Z:-0.49 [[ 9.99919325e-01 7.83585517e-03 -9.99713781e-03 2.46376466e+00] [-7.84613490e-03 9.99968729e-01 -9.89460401e-04 -1.39753097e-01] [ 9.98907192e-03 1.06781947e-03 9.99949538e-01 -4.94715704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.171193817 meters Centerline goodness [0,1] 0.8809277924653007 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.14, Z:-0.49 [[ 0.99994662 0.00326772 -0.00980215 2.46328671] [-0.0033081 0.9999861 -0.00410532 -0.143072 ] [ 0.0097886 0.00413753 0.99994353 -0.49435888] [ 0. 0. 0. 1. ]] SLAMing on 45.201193817000004 meters Centerline goodness [0,1] 0.8812157551948723 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.14, Z:-0.49 [[ 9.99949907e-01 -8.64406494e-04 -9.97177136e-03 2.46410326e+00] [ 7.88838259e-04 9.99970963e-01 -7.57966136e-03 -1.44850849e-01] [ 9.97803371e-03 7.57141556e-03 9.99921553e-01 -4.94987564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.231193817 meters Centerline goodness [0,1] 0.8810862394456777 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.15, Z:-0.50 [[ 0.99993648 -0.00497983 -0.01011103 2.46476573] [ 0.00487138 0.99993065 -0.01072224 -0.14779646] [ 0.01016372 0.01067231 0.99989139 -0.49541147] [ 0. 0. 0. 1. ]] SLAMing on 45.261193817 meters Centerline goodness [0,1] 0.8777764016183635 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.15, Z:-0.50 [[ 0.99990326 -0.00936153 -0.01028724 2.46548846] [ 0.00921605 0.99985813 -0.01409901 -0.15094327] [ 0.01041777 0.01400284 0.99984768 -0.49572762] [ 0. 0. 0. 1. ]] SLAMing on 45.291193817 meters Centerline goodness [0,1] 0.8549175573784075 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.15, Z:-0.50 [[ 0.99985538 -0.01347033 -0.01038165 2.46593122] [ 0.01329037 0.99976352 -0.01721241 -0.154184 ] [ 0.01061105 0.01707194 0.99979796 -0.49588546] [ 0. 0. 0. 1. ]] SLAMing on 45.321193817 meters Centerline goodness [0,1] 0.8304796297449308 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.16, Z:-0.50 [[ 0.99977936 -0.01845241 -0.01003699 2.46649435] [ 0.01823966 0.99961537 -0.02089064 -0.15703799] [ 0.01041862 0.02070295 0.99973138 -0.4970687 ] [ 0. 0. 0. 1. ]] SLAMing on 45.351193817 meters Centerline goodness [0,1] 0.7805768074474922 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.16, Z:-0.50 [[ 0.99979214 -0.01765031 -0.0102053 2.46876638] [ 0.01744516 0.9996507 -0.01985291 -0.15697657] [ 0.01055215 0.01967075 0.99975083 -0.49929105] [ 0. 0. 0. 1. ]] SLAMing on 45.381193817 meters Centerline goodness [0,1] 0.8159159656901338 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.16, Z:-0.50 [[ 0.99984449 -0.01413901 -0.01053971 2.47012383] [ 0.01396782 0.99977213 -0.01614254 -0.15647562] [ 0.01076555 0.01599281 0.99981415 -0.50026793] [ 0. 0. 0. 1. ]] SLAMing on 45.411193817 meters Centerline goodness [0,1] 0.841144160016582 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.15, Z:-0.50 [[ 0.99991779 -0.00667368 -0.01094857 2.47200548] [ 0.00657017 0.99993364 -0.00946274 -0.15301329] [ 0.01101099 0.00939003 0.99989529 -0.50174622] [ 0. 0. 0. 1. ]] SLAMing on 45.441193817 meters Centerline goodness [0,1] 0.8624333154129276 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.15, Z:-0.50 [[ 0.9999338 -0.00265355 -0.0111964 2.47277917] [ 0.00258411 0.99997737 -0.00621185 -0.15018366] [ 0.01121263 0.00618251 0.99991802 -0.50211674] [ 0. 0. 0. 1. ]] SLAMing on 45.471193817 meters Centerline goodness [0,1] 0.8750490915479857 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.15, Z:-0.50 [[ 9.99935333e-01 1.21614896e-03 -1.13071500e-02 2.47307155e+00] [-1.25284720e-03 9.99993969e-01 -3.23906181e-03 -1.46813178e-01] [ 1.13031426e-02 3.25301848e-03 9.99930826e-01 -5.02171904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.501193817 meters Centerline goodness [0,1] 0.8784279584602948 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.14, Z:-0.50 [[ 9.99923719e-01 4.89356249e-03 -1.13405940e-02 2.47279903e+00] [-4.89675519e-03 9.99987979e-01 -2.53778527e-04 -1.44058235e-01] [ 1.13392158e-02 3.09291281e-04 9.99935661e-01 -5.01609038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.531193817 meters Centerline goodness [0,1] 0.8839658954513472 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.14, Z:-0.50 [[ 9.99900978e-01 8.63155542e-03 -1.11144425e-02 2.47136155e+00] [-8.61435400e-03 9.99961624e-01 1.59460916e-03 -1.37839268e-01] [ 1.11277799e-02 -1.49870752e-03 9.99936961e-01 -5.00064196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.561193817 meters Centerline goodness [0,1] 0.8824796057807777 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.13, Z:-0.50 [[ 9.99901583e-01 8.70667690e-03 -1.10008225e-02 2.47094566e+00] [-8.70156926e-03 9.99962010e-01 5.12075717e-04 -1.33558625e-01] [ 1.10048630e-02 -4.16300901e-04 9.99939358e-01 -4.99818328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.591193817 meters Centerline goodness [0,1] 0.883535888646515 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.13, Z:-0.50 [[ 0.99986474 0.01232516 -0.0108901 2.47048628] [-0.01228512 0.99991756 0.00373536 -0.13114834] [ 0.01093524 -0.00360107 0.99993372 -0.49929175] [ 0. 0. 0. 1. ]] SLAMing on 45.621193817 meters Centerline goodness [0,1] 0.8841017784310884 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.13, Z:-0.50 [[ 0.999861 0.0126847 -0.0108199 2.47012823] [-0.01265348 0.99991559 0.002949 -0.12710363] [ 0.0108564 -0.00281168 0.99993711 -0.49887184] [ 0. 0. 0. 1. ]] SLAMing on 45.651193817 meters Centerline goodness [0,1] 0.8785178430803664 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.13, Z:-0.50 [[ 0.99979179 0.01744671 -0.0105824 2.4688404 ] [-0.01737327 0.99982462 0.00699333 -0.12614575] [ 0.01070256 -0.00680803 0.99991955 -0.49743868] [ 0. 0. 0. 1. ]] SLAMing on 45.681193817 meters Centerline goodness [0,1] 0.8794373327247453 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.13, Z:-0.50 [[ 0.9997786 0.01811144 -0.01071107 2.46907335] [-0.01803329 0.99981038 0.0073484 -0.12682508] [ 0.01084213 -0.00715361 0.99991563 -0.49737852] [ 0. 0. 0. 1. ]] SLAMing on 45.711193817 meters Centerline goodness [0,1] 0.8800703278518978 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.13, Z:-0.50 [[ 0.99976741 0.01862345 -0.0108762 2.46974161] [-0.01853832 0.99979713 0.00787551 -0.1284838 ] [ 0.01102066 -0.00767205 0.99990984 -0.49782646] [ 0. 0. 0. 1. ]] SLAMing on 45.741193817 meters Centerline goodness [0,1] 0.8848345454922194 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.13, Z:-0.50 [[ 0.99979004 0.01712221 -0.01125657 2.47221071] [-0.01704802 0.99983253 0.0066543 -0.13259924] [ 0.01136862 -0.006461 0.9999145 -0.50018409] [ 0. 0. 0. 1. ]] SLAMing on 45.771193817000004 meters Centerline goodness [0,1] 0.8843850378199151 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.13, Z:-0.50 [[ 0.99984403 0.01352672 -0.01135505 2.47278234] [-0.01349272 0.99990427 0.00306531 -0.13326713] [ 0.01139542 -0.00291162 0.99993083 -0.50090775] [ 0. 0. 0. 1. ]] SLAMing on 45.801193817 meters Centerline goodness [0,1] 0.8858218837940738 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.14, Z:-0.50 [[ 9.99884431e-01 9.96384372e-03 -1.14824082e-02 2.47312347e+00] [-9.96580385e-03 9.99950334e-01 -1.13501094e-04 -1.35235167e-01] [ 1.14807070e-02 2.27919405e-04 9.99934069e-01 -5.01142368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.831193817 meters Centerline goodness [0,1] 0.883244003890487 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.14, Z:-0.50 [[ 0.99991232 0.00662687 -0.01146477 2.47275976] [-0.00665852 0.99997412 -0.00272474 -0.13864891] [ 0.01144641 0.00280083 0.99993057 -0.5007838 ] [ 0. 0. 0. 1. ]] SLAMing on 45.861193817 meters Centerline goodness [0,1] 0.8866839647119875 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.15, Z:-0.50 [[ 9.99936552e-01 -4.30733118e-04 -1.12564094e-02 2.47171952e+00] [ 3.48918656e-04 9.99973518e-01 -7.26920909e-03 -1.48498875e-01] [ 1.12592424e-02 7.26482030e-03 9.99910222e-01 -4.99688289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.891193817 meters Centerline goodness [0,1] 0.8867226265299372 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.15, Z:-0.50 [[ 9.99960066e-01 -4.59366079e-03 -7.66582629e-03 2.48037332e+00] [ 4.59088147e-03 9.99989390e-01 -3.80116612e-04 -1.54850941e-01] [ 7.66749108e-03 3.44908533e-04 9.99970545e-01 -5.00262897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.921193817 meters Centerline goodness [0,1] 0.8876451077943616 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.16, Z:-0.50 [[ 0.99994133 -0.00756763 -0.00775093 2.48208559] [ 0.00754791 0.99996821 -0.00257041 -0.15834101] [ 0.00777013 0.00251176 0.99996666 -0.50201759] [ 0. 0. 0. 1. ]] SLAMing on 45.951193817000004 meters Centerline goodness [0,1] 0.8857746566403579 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.16, Z:-0.50 [[ 0.99991446 -0.01032161 -0.0080339 2.48437478] [ 0.01028493 0.99993656 -0.00459289 -0.16137229] [ 0.00808079 0.00450987 0.99995718 -0.50396188] [ 0. 0. 0. 1. ]] SLAMing on 45.981193817 meters Centerline goodness [0,1] 0.8780840301434912 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.16, Z:-0.50 [[ 0.99979567 -0.01858555 -0.00795009 2.48476363] [ 0.01848997 0.99975785 -0.01193122 -0.16413417] [ 0.00816991 0.01178178 0.99989722 -0.50425648] [ 0. 0. 0. 1. ]] SLAMing on 46.011193817 meters Centerline goodness [0,1] 0.8683807077152566 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.17, Z:-0.50 [[ 0.99978409 -0.01924107 -0.00784537 2.48443177] [ 0.01914924 0.99974914 -0.01161742 -0.16628486] [ 0.00806693 0.01146467 0.99990174 -0.50376524] [ 0. 0. 0. 1. ]] SLAMing on 46.041193817 meters Centerline goodness [0,1] 0.8162838816470102 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.17, Z:-0.50 [[ 0.99977158 -0.01985128 -0.00791933 2.48461442] [ 0.01975848 0.99973716 -0.01162838 -0.16711948] [ 0.00814809 0.01146925 0.99990103 -0.50361122] [ 0. 0. 0. 1. ]] SLAMing on 46.071193817 meters Centerline goodness [0,1] 0.8319822528144631 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.17, Z:-0.50 [[ 0.99975662 -0.02051177 -0.00812178 2.48539103] [ 0.0204137 0.99971985 -0.01197919 -0.16720856] [ 0.00836522 0.01181048 0.99989526 -0.50400816] [ 0. 0. 0. 1. ]] SLAMing on 46.101193817 meters Centerline goodness [0,1] 0.8157590042591903 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.17, Z:-0.51 [[ 0.99973969 -0.02120885 -0.00841081 2.48686708] [ 0.02110281 0.99969914 -0.01250224 -0.16697654] [ 0.00867344 0.0123215 0.99988647 -0.50509367] [ 0. 0. 0. 1. ]] SLAMing on 46.131193817 meters Centerline goodness [0,1] 0.7909217095858625 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.16, Z:-0.51 [[ 0.99969245 -0.02317364 -0.00883066 2.48991272] [ 0.02304183 0.99962574 -0.01474622 -0.16373612] [ 0.00916908 0.01453821 0.99985227 -0.5078159 ] [ 0. 0. 0. 1. ]] SLAMing on 46.161193817 meters Centerline goodness [0,1] 0.7828174693911489 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.16, Z:-0.51 [[ 0.99975839 -0.02012196 -0.00884687 2.49011867] [ 0.0200202 0.99973407 -0.0114446 -0.16246124] [ 0.0090748 0.01126472 0.99989537 -0.50804286] [ 0. 0. 0. 1. ]] SLAMing on 46.191193817 meters Centerline goodness [0,1] 0.7605041145865721 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.16, Z:-0.51 [[ 0.99981835 -0.01684819 -0.00891149 2.4901957 ] [ 0.01677621 0.99982653 -0.00809124 -0.16059247] [ 0.00904627 0.00794027 0.99992756 -0.50796515] [ 0. 0. 0. 1. ]] SLAMing on 46.221193817 meters Centerline goodness [0,1] 0.7744519654722722 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.16, Z:-0.51 [[ 0.9998672 -0.01364715 -0.00890692 2.48974187] [ 0.01359986 0.99989322 -0.00534761 -0.15653666] [ 0.00897894 0.00522577 0.99994603 -0.50737448] [ 0. 0. 0. 1. ]] SLAMing on 46.251193817 meters Centerline goodness [0,1] 0.7977261862698231 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.16, Z:-0.51 [[ 9.99906618e-01 -1.03405486e-02 -8.93462912e-03 2.48981172e+00] [ 1.03264705e-02 9.99945368e-01 -1.62037628e-03 -1.56795731e-01] [ 8.95089658e-03 1.52796179e-03 9.99958773e-01 -5.07348582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.281193817 meters Centerline goodness [0,1] 0.7694906821997886 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.16, Z:-0.51 [[ 9.99922431e-01 -8.38996789e-03 -9.20543937e-03 2.49172869e+00] [ 8.39746127e-03 9.99964440e-01 7.75666239e-04 -1.56244753e-01] [ 9.19860421e-03 -8.52908392e-04 9.99957328e-01 -5.08905004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.311193817 meters Centerline goodness [0,1] 0.759552192391417 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.16, Z:-0.51 [[ 0.99993391 -0.00646228 -0.00950856 2.49351856] [ 0.00649245 0.99997398 0.00314513 -0.15518859] [ 0.00948799 -0.00320666 0.99994985 -0.51026437] [ 0. 0. 0. 1. ]] SLAMing on 46.341193817 meters Centerline goodness [0,1] 0.7522204698265128 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.15, Z:-0.51 [[ 0.99993102 -0.00678438 -0.00958789 2.49383633] [ 0.00680899 0.9999736 0.00253636 -0.15305675] [ 0.00957043 -0.00260147 0.99995082 -0.51047901] [ 0. 0. 0. 1. ]] SLAMing on 46.371193817 meters Centerline goodness [0,1] 0.7392518495363134 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.15, Z:-0.51 [[ 9.99935000e-01 -6.66464789e-03 -9.25085382e-03 2.49198208e+00] [ 6.68491652e-03 9.99975319e-01 2.16181101e-03 -1.48940449e-01] [ 9.23621779e-03 -2.22351168e-03 9.99954873e-01 -5.08956701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.401193817 meters Centerline goodness [0,1] 0.7305580969807868 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.15, Z:-0.51 [[ 9.99931711e-01 -7.01560293e-03 -9.34631877e-03 2.49194538e+00] [ 7.02969731e-03 9.99974202e-01 1.47601593e-03 -1.46851559e-01] [ 9.33572252e-03 -1.54161693e-03 9.99955233e-01 -5.08645853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.431193817 meters Centerline goodness [0,1] 0.7522323740858143 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.14, Z:-0.51 [[ 9.99926822e-01 -7.60375677e-03 -9.40919611e-03 2.49221757e+00] [ 7.60854460e-03 9.99970943e-01 4.73154657e-04 -1.44172643e-01] [ 9.40532495e-03 -5.44710320e-04 9.99955621e-01 -5.08771328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.461193817 meters Centerline goodness [0,1] 0.7240963855421687 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.14, Z:-0.51 [[ 9.99916224e-01 -8.91440807e-03 -9.38495670e-03 2.49233495e+00] [ 8.89817160e-03 9.99958843e-01 -1.77038975e-03 -1.37046638e-01] [ 9.40035242e-03 1.68673248e-03 9.99954393e-01 -5.08899150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.491193817 meters Centerline goodness [0,1] 0.746906004950392 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.13, Z:-0.51 [[ 9.99937133e-01 -6.22995684e-03 -9.32297851e-03 2.49274580e+00] [ 6.23818549e-03 9.99980178e-01 8.53800135e-04 -1.34221469e-01] [ 9.31747457e-03 -9.11904928e-04 9.99956176e-01 -5.09520607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.521193817000004 meters Centerline goodness [0,1] 0.7077447232840286 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.13, Z:-0.51 [[ 9.99943814e-01 -4.46652554e-03 -9.61347634e-03 2.49490186e+00] [ 4.48906879e-03 9.99987222e-01 2.32466327e-03 -1.29856547e-01] [ 9.60297033e-03 -2.36768821e-03 9.99951087e-01 -5.11431342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.551193817 meters Centerline goodness [0,1] 0.7430365012056207 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.12, Z:-0.51 [[ 9.99948064e-01 -3.37099504e-03 -9.61794143e-03 2.49634335e+00] [ 3.38882842e-03 9.99992568e-01 1.83848427e-03 -1.19210046e-01] [ 9.61167243e-03 -1.87098234e-03 9.99952056e-01 -5.13148969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.581193817 meters Centerline goodness [0,1] 0.7076859074362974 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.11, Z:-0.51 [[ 9.99950983e-01 -3.28417404e-03 -9.34049660e-03 2.49532595e+00] [ 3.29088216e-03 9.99994338e-01 7.02896259e-04 -1.13103576e-01] [ 9.33813528e-03 -7.33600279e-04 9.99956130e-01 -5.12462703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.611193817 meters Centerline goodness [0,1] 0.7583856353131884 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.11, Z:-0.51 [[ 9.99955346e-01 -6.72681159e-04 -9.42626014e-03 2.49581720e+00] [ 6.94983231e-04 9.99996967e-01 2.36287538e-03 -1.07836052e-01] [ 9.42464209e-03 -2.36932096e-03 9.99952780e-01 -5.12733788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.641193817 meters Centerline goodness [0,1] 0.7166538883938747 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.10, Z:-0.51 [[ 9.99952047e-01 1.99998284e-03 -9.58663560e-03 2.49657668e+00] [-1.96312995e-03 9.99990654e-01 3.85206362e-03 -1.01745969e-01] [ 9.59425007e-03 -3.83305909e-03 9.99946628e-01 -5.13131644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.671193817 meters Centerline goodness [0,1] 0.7694336018603106 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.09, Z:-0.51 [[ 0.99994215 0.00460511 -0.00972069 2.49726364] [-0.00455533 0.99997643 0.0051369 -0.09490395] [ 0.00974412 -0.00509232 0.99993956 -0.51354623] [ 0. 0. 0. 1. ]] SLAMing on 46.701193817000004 meters Centerline goodness [0,1] 0.802847595525207 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.08, Z:-0.52 [[ 0.99989916 0.00991713 -0.0101646 2.50008335] [-0.00983999 0.99992262 0.00761048 -0.08054669] [ 0.01023928 -0.00750969 0.99991938 -0.51596661] [ 0. 0. 0. 1. ]] SLAMing on 46.731193817 meters Centerline goodness [0,1] 0.802847595525207 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.08, Z:-0.52 [[ 0.99989916 0.00991713 -0.0101646 2.50008335] [-0.00983999 0.99992262 0.00761048 -0.08054669] [ 0.01023928 -0.00750969 0.99991938 -0.51596661] [ 0. 0. 0. 1. ]] SLAMing on 46.761193817 meters Centerline goodness [0,1] 0.8215080140531775 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.07, Z:-0.52 [[ 0.9998653 0.01272717 -0.01036374 2.50128686] [-0.01263179 0.99987773 0.0092177 -0.07440191] [ 0.01047979 -0.00908554 0.99990381 -0.51684122] [ 0. 0. 0. 1. ]] SLAMing on 46.791193817 meters Centerline goodness [0,1] 0.836141428393576 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.07, Z:-0.52 [[ 0.99982239 0.01561698 -0.01054998 2.5020735 ] [-0.0154985 0.99981693 0.01122024 -0.06949039] [ 0.01072327 -0.01105474 0.99988139 -0.51717441] [ 0. 0. 0. 1. ]] SLAMing on 46.821193817 meters Centerline goodness [0,1] 0.833154018041877 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.06, Z:-0.52 [[ 0.99982393 0.01534592 -0.01079881 2.50264563] [-0.01524446 0.99983947 0.00941543 -0.06314413] [ 0.01094156 -0.00924915 0.99989736 -0.51716599] [ 0. 0. 0. 1. ]] SLAMing on 46.851193817 meters Centerline goodness [0,1] 0.8731897589111581 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.05, Z:-0.52 [[ 0.99978139 0.01786253 -0.01086794 2.50199781] [-0.01775389 0.99979226 0.01001197 -0.05372216] [ 0.01104452 -0.00981683 0.99989082 -0.51584988] [ 0. 0. 0. 1. ]] SLAMing on 46.881193817 meters Centerline goodness [0,1] 0.8600825606239758 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.05, Z:-0.52 [[ 0.99978887 0.0173347 -0.01103305 2.50221986] [-0.01724064 0.9998147 0.00856362 -0.04921244] [ 0.01117945 -0.00837159 0.99990246 -0.51566419] [ 0. 0. 0. 1. ]] SLAMing on 46.911193817 meters Centerline goodness [0,1] 0.852649487530603 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.05, Z:-0.52 [[ 0.99979915 0.01666212 -0.0111371 2.50252615] [-0.01658176 0.99983609 0.00726937 -0.04556742] [ 0.0112564 -0.00708324 0.99991156 -0.51575508] [ 0. 0. 0. 1. ]] SLAMing on 46.941193817 meters Centerline goodness [0,1] 0.876517379956084 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.04, Z:-0.52 [[ 0.9998153 0.01564014 -0.0111688 2.50256818] [-0.01558363 0.99986541 0.00512904 -0.03924634] [ 0.01124752 -0.00495405 0.99992447 -0.51558196] [ 0. 0. 0. 1. ]] SLAMing on 46.971193817 meters Centerline goodness [0,1] 0.8627097949131848 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.04, Z:-0.51 [[ 0.99981681 0.01551995 -0.01120177 2.50218578] [-0.01547632 0.99987235 0.00397133 -0.03530843] [ 0.01126197 -0.00379724 0.99992937 -0.51482284] [ 0. 0. 0. 1. ]] SLAMing on 47.001193817 meters Centerline goodness [0,1] 0.8790068748446948 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.03, Z:-0.51 [[ 0.99981047 0.01592651 -0.01119729 2.50173949] [-0.01589384 0.99986918 0.00300089 -0.03068227] [ 0.01124362 -0.00282235 0.99993281 -0.51401596] [ 0. 0. 0. 1. ]] SLAMing on 47.031193817 meters Centerline goodness [0,1] 0.8998146240988671 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.03, Z:-0.51 [[ 0.99973813 0.01984128 -0.01140148 2.50246427] [-0.01977122 0.99978515 0.0062249 -0.02805563] [ 0.01152254 -0.00599785 0.99991562 -0.51418305] [ 0. 0. 0. 1. ]] SLAMing on 47.061193817 meters Centerline goodness [0,1] 0.9028794836787887 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.02, Z:-0.52 [[ 0.99946228 0.03061491 -0.01174211 2.50607288] [-0.03043032 0.99941532 0.0155892 -0.02304018] [ 0.01221251 -0.01522351 0.99980953 -0.51709882] [ 0. 0. 0. 1. ]] SLAMing on 47.091193817 meters Centerline goodness [0,1] 0.9000970132309534 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.02, Z:-0.52 [[ 0.99933413 0.03447038 -0.0119622 2.50766579] [-0.03424585 0.99924232 0.01849333 -0.01930028] [ 0.01259061 -0.01807136 0.99975742 -0.51823085] [ 0. 0. 0. 1. ]] SLAMing on 47.121193817 meters Centerline goodness [0,1] 0.897180384926143 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.02, Z:-0.52 [[ 0.9991979 0.03819409 -0.01203228 2.50876262] [-0.03792776 0.99904625 0.0216352 -0.01660367] [ 0.01284714 -0.02116149 0.99969352 -0.51908685] [ 0. 0. 0. 1. ]] SLAMing on 47.151193817 meters Centerline goodness [0,1] 0.8981183743750389 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.01, Z:-0.52 [[ 0.99908415 0.04100998 -0.01220796 2.51085544] [-0.04071346 0.99889163 0.02362044 -0.01216282] [ 0.0131631 -0.02310178 0.99964646 -0.52089447] [ 0. 0. 0. 1. ]] SLAMing on 47.181193817 meters Centerline goodness [0,1] 0.8983660063211386 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.01, Z:-0.52 [[ 0.99922127 0.03741439 -0.01253086 2.51173554] [-0.03717269 0.99912831 0.01899523 -0.00833081] [ 0.01323063 -0.01851463 0.99974105 -0.52142491] [ 0. 0. 0. 1. ]] SLAMing on 47.211193817 meters Centerline goodness [0,1] 0.8995328068797288 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.01, Z:-0.52 [[ 0.999364 0.03329709 -0.01276308 2.51202679] [-0.03311836 0.99935382 0.01396873 -0.00504846] [ 0.01321995 -0.01353715 0.99982097 -0.52147206] [ 0. 0. 0. 1. ]] SLAMing on 47.241193817 meters Centerline goodness [0,1] 0.9002854306279474 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.00, Z:-0.52 [[ 9.99485571e-01 2.93069694e-02 -1.30266983e-02 2.51226677e+00] [-2.91889320e-02 9.99531933e-01 9.16083212e-03 -2.21899581e-03] [ 1.32890772e-02 -8.77588411e-03 9.99873184e-01 -5.21327286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.271193817000004 meters Centerline goodness [0,1] 0.9006665010763372 Centerline is valid? [False, False] Translation: X:2.51, Y:0.00, Z:-0.52 [[ 9.99588277e-01 2.54847505e-02 -1.31834831e-02 2.51219903e+00] [-2.54278836e-02 9.99666695e-01 4.46331192e-03 2.93405343e-04] [ 1.32928354e-02 -4.12624620e-03 9.99903133e-01 -5.20933924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.301193817 meters Centerline goodness [0,1] 0.9017395975372918 Centerline is valid? [False, False] Translation: X:2.51, Y:0.00, Z:-0.52 [[ 9.99662017e-01 2.22561704e-02 -1.34355374e-02 2.51237377e+00] [-2.22556706e-02 9.99752294e-01 1.86730449e-04 2.31046598e-03] [ 1.34363653e-02 1.12349557e-04 9.99909722e-01 -5.20559657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.331193817 meters Centerline goodness [0,1] 0.902205593567191 Centerline is valid? [False, False] Translation: X:2.51, Y:0.00, Z:-0.52 [[ 9.99661363e-01 2.22324418e-02 -1.35232117e-02 2.51272424e+00] [-2.22344801e-02 9.99752783e-01 -3.73153287e-07 2.70054131e-03] [ 1.35198603e-02 3.01054608e-04 9.99908557e-01 -5.20763228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.361193817 meters Centerline goodness [0,1] 0.902687750299327 Centerline is valid? [False, False] Translation: X:2.51, Y:0.00, Z:-0.52 [[ 9.99657752e-01 2.23028704e-02 -1.36733701e-02 2.51329404e+00] [-2.23054373e-02 9.99751202e-01 -3.52358981e-05 2.77303827e-03] [ 1.36691823e-02 3.40214337e-04 9.99906514e-01 -5.21087874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.391193817 meters Centerline goodness [0,1] 0.9008064014594 Centerline is valid? [False, False] Translation: X:2.51, Y:0.00, Z:-0.52 [[ 9.99656524e-01 2.22998528e-02 -1.37677426e-02 2.51346723e+00] [-2.23013080e-02 9.99751294e-01 4.78388414e-05 2.32949719e-03] [ 1.37653852e-02 2.59216258e-04 9.99905219e-01 -5.21089299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.421193817 meters Centerline goodness [0,1] 0.9009429074707285 Centerline is valid? [False, False] Translation: X:2.51, Y:0.00, Z:-0.52 [[ 9.99722488e-01 1.88457205e-02 -1.41345626e-02 2.51385114e+00] [-1.88900763e-02 9.99817032e-01 -3.01118191e-03 2.57665052e-04] [ 1.40752285e-02 3.27734924e-03 9.99895568e-01 -5.20857281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.451193817000004 meters Centerline goodness [0,1] 0.9018889026966571 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.00, Z:-0.52 [[ 0.99973306 0.01806532 -0.01440347 2.5140687 ] [-0.01810597 0.99983244 -0.00269634 -0.00313253] [ 0.01435235 0.00295641 0.99989263 -0.52054331] [ 0. 0. 0. 1. ]] SLAMing on 47.481193817 meters Centerline goodness [0,1] 0.9026259111994699 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.01, Z:-0.52 [[ 9.99745234e-01 1.71731811e-02 -1.46474973e-02 2.51428246e+00] [-1.72102900e-02 9.99848985e-01 -2.41118213e-03 -6.48732946e-03] [ 1.46038776e-02 2.66265552e-03 9.99889812e-01 -5.20313752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.511193817 meters Centerline goodness [0,1] 0.904006436705727 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.01, Z:-0.52 [[ 0.99976258 0.01567306 -0.01513737 2.51530867] [-0.01571631 0.99987273 -0.00274218 -0.00949667] [ 0.01509246 0.00297943 0.99988166 -0.52053763] [ 0. 0. 0. 1. ]] SLAMing on 47.541193817 meters Centerline goodness [0,1] 0.9053505611463122 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.01, Z:-0.52 [[ 0.99981559 0.01163389 -0.0152784 2.51545611] [-0.01173153 0.99991123 -0.00631675 -0.01075868] [ 0.01520356 0.00649482 0.99986333 -0.52053396] [ 0. 0. 0. 1. ]] SLAMing on 47.571193817 meters Centerline goodness [0,1] 0.8981192840479779 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.02, Z:-0.53 [[ 9.99943720e-01 1.48416097e-03 -1.05049868e-02 2.52071398e+00] [-1.47708165e-03 9.99998677e-01 6.81627220e-04 -1.59092128e-02] [ 1.05059845e-02 -6.66072135e-04 9.99944589e-01 -5.25345047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.601193817 meters Centerline goodness [0,1] 0.8852875557759048 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.02, Z:-0.53 [[ 9.99943189e-01 5.35531561e-04 -1.06457760e-02 2.52149292e+00] [-5.27576069e-04 9.99999580e-01 7.50085203e-04 -1.84744395e-02] [ 1.06461733e-02 -7.44426133e-04 9.99943051e-01 -5.26017111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.631193817 meters Centerline goodness [0,1] 0.8775211685448814 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.02, Z:-0.53 [[ 9.99940966e-01 -5.49722061e-04 -1.08518786e-02 2.52317581e+00] [ 5.52962061e-04 9.99999803e-01 2.95567603e-04 -2.01817237e-02] [ 1.08517139e-02 -3.01550832e-04 9.99941073e-01 -5.27490518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.661193817 meters Centerline goodness [0,1] 0.8682514352034154 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.02, Z:-0.53 [[ 9.99939396e-01 -7.24277063e-04 -1.09854202e-02 2.52384346e+00] [ 7.29214475e-04 9.99999635e-01 4.45452496e-04 -2.11398732e-02] [ 1.09850936e-02 -4.53436227e-04 9.99939559e-01 -5.28025154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.691193817 meters Centerline goodness [0,1] 0.8663821677162744 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.02, Z:-0.53 [[ 9.99936026e-01 -5.29498604e-04 -1.12988166e-02 2.52523936e+00] [ 5.32088194e-04 9.99999833e-01 2.26186424e-04 -2.01610739e-02] [ 1.12986949e-02 -2.32183921e-04 9.99936141e-01 -5.28962329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.721193817 meters Centerline goodness [0,1] 0.8877176996831576 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.02, Z:-0.53 [[ 9.99934022e-01 -7.22685794e-06 -1.14870386e-02 2.52606007e+00] [ 6.50781772e-06 9.99999998e-01 -6.26331644e-05 -1.82436081e-02] [ 1.14870390e-02 6.25542764e-05 9.99934020e-01 -5.29452421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.751193817 meters Centerline goodness [0,1] 0.8975056030547024 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.02, Z:-0.53 [[ 9.99933821e-01 1.25021276e-03 -1.14363566e-02 2.52561610e+00] [-1.24951312e-03 9.99999217e-01 6.83219632e-05 -1.55081724e-02] [ 1.14364330e-02 -5.40275641e-05 9.99934600e-01 -5.28841440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.781193817 meters Centerline goodness [0,1] 0.9055857125098413 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.01, Z:-0.53 [[ 0.99990099 0.00852769 -0.0111933 2.52308624] [-0.00845907 0.99994523 0.00616312 -0.01164903] [ 0.01124524 -0.00606783 0.99991836 -0.52595973] [ 0. 0. 0. 1. ]] SLAMing on 47.811193817 meters Centerline goodness [0,1] 0.9055578512396694 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.01, Z:-0.53 [[ 0.99989483 0.00899178 -0.01137854 2.52323675] [-0.00892841 0.99994442 0.00560781 -0.00883623] [ 0.01142833 -0.00550563 0.99991954 -0.52555586] [ 0. 0. 0. 1. ]] SLAMing on 47.841193817 meters Centerline goodness [0,1] 0.9065352847413418 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.01, Z:-0.53 [[ 0.99988904 0.0093989 -0.01155696 2.52329971] [-0.0093396 0.999943 0.00517419 -0.00660328] [ 0.01160493 -0.00506568 0.99991983 -0.52511154] [ 0. 0. 0. 1. ]] SLAMing on 47.871193817 meters Centerline goodness [0,1] 0.9068860978778692 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.00, Z:-0.52 [[ 0.99988425 0.00968685 -0.0117324 2.52348463] [-0.00963257 0.99994268 0.00467443 -0.0043499 ] [ 0.01177701 -0.00456088 0.99992025 -0.5248152 ] [ 0. 0. 0. 1. ]] SLAMing on 47.901193817 meters Centerline goodness [0,1] 0.9072066854211485 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.00, Z:-0.52 [[ 9.99880249e-01 1.00676280e-02 -1.17529093e-02 2.52317079e+00] [-1.00176805e-02 9.99940572e-01 4.30096168e-03 -2.21873162e-03] [ 1.17955113e-02 -4.18270974e-03 9.99921682e-01 -5.24284188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.931193817 meters Centerline goodness [0,1] 0.9064438353906072 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.00, Z:-0.52 [[ 9.99867620e-01 1.11240744e-02 -1.18742094e-02 2.52294020e+00] [-1.10724202e-02 9.99928987e-01 4.40702824e-03 -7.44642981e-04] [ 1.19223903e-02 -4.27496860e-03 9.99919787e-01 -5.23535765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.961193817 meters Centerline goodness [0,1] 0.9075644052139998 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.00, Z:-0.52 [[ 9.99861909e-01 1.15068418e-02 -1.19897949e-02 2.52327184e+00] [-1.14501698e-02 9.99922997e-01 4.78466107e-03 -1.81108162e-03] [ 1.20439280e-02 -4.64671517e-03 9.99916672e-01 -5.23642629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.991193817 meters Centerline goodness [0,1] 0.907000615889961 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.00, Z:-0.52 [[ 9.99892273e-01 8.51803053e-03 -1.19535058e-02 2.52317003e+00] [-8.50448618e-03 9.99963136e-01 1.18346136e-03 -1.53988027e-03] [ 1.19631459e-02 -1.08167544e-03 9.99927854e-01 -5.23628568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.021193817000004 meters Centerline goodness [0,1] 0.908849119623933 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.01, Z:-0.52 [[ 9.99910095e-01 6.80795883e-03 -1.15521743e-02 2.52077876e+00] [-6.80883896e-03 9.99976819e-01 -3.68587367e-05 -5.00558147e-03] [ 1.15516556e-02 1.15512317e-04 9.99933271e-01 -5.21728139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.051193817 meters Centerline goodness [0,1] 0.9079858598805118 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.01, Z:-0.52 [[ 9.99910038e-01 6.77957927e-03 -1.15738095e-02 2.52054532e+00] [-6.77208289e-03 9.99976833e-01 6.86770191e-04 -7.39250894e-03] [ 1.15781974e-02 -6.08329610e-04 9.99932785e-01 -5.21371430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.081193817 meters Centerline goodness [0,1] 0.9078623315879881 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.01, Z:-0.52 [[ 0.99992496 0.00336006 -0.01178028 2.52079764] [-0.00339005 0.99999106 -0.00252703 -0.00862725] [ 0.01177168 0.00256678 0.99992742 -0.52120503] [ 0. 0. 0. 1. ]] SLAMing on 48.111193817 meters Centerline goodness [0,1] 0.9103920476809173 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.01, Z:-0.52 [[ 9.99921383e-01 3.19678150e-03 -1.21246822e-02 2.52175080e+00] [-3.21625525e-03 9.99993569e-01 -1.58696549e-03 -1.30805117e-02] [ 1.21195310e-02 1.62583680e-03 9.99925234e-01 -5.21559001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.141193817 meters Centerline goodness [0,1] 0.9093416277864178 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.02, Z:-0.52 [[ 9.99924631e-01 8.08326967e-04 -1.22506388e-02 2.52275454e+00] [-8.40765134e-04 9.99996154e-01 -2.64295671e-03 -2.21065284e-02] [ 1.22484553e-02 2.65305742e-03 9.99921465e-01 -5.22540062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.171193817 meters Centerline goodness [0,1] 0.9084974093264249 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.03, Z:-0.52 [[ 9.99922544e-01 1.30406056e-03 -1.23776170e-02 2.52388021e+00] [-1.32092856e-03 9.99998210e-01 -1.35470525e-03 -2.64269891e-02] [ 1.23758282e-02 1.37095027e-03 9.99922477e-01 -5.23665517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.201193817000004 meters Centerline goodness [0,1] 0.908966998471769 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.03, Z:-0.53 [[ 9.99916186e-01 1.37380801e-03 -1.28737449e-02 2.52753512e+00] [-1.38338013e-03 9.99998773e-01 -7.34662698e-04 -2.97960228e-02] [ 1.28727198e-02 7.52410406e-04 9.99916860e-01 -5.26812085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.231193817 meters Centerline goodness [0,1] 0.9083402317880794 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.03, Z:-0.53 [[ 9.99914121e-01 1.83341825e-03 -1.29764639e-02 2.52812593e+00] [-1.82973193e-03 9.99998282e-01 2.95944497e-04 -3.29092622e-02] [ 1.29769842e-02 -2.72175631e-04 9.99915758e-01 -5.27328498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.261193817 meters Centerline goodness [0,1] 0.9093359318309041 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.04, Z:-0.53 [[ 9.99912627e-01 2.31492551e-03 -1.30145970e-02 2.52826358e+00] [-2.29821052e-03 9.99996515e-01 1.29913588e-03 -3.58838023e-02] [ 1.30175590e-02 -1.26911209e-03 9.99914463e-01 -5.27400223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.291193817 meters Centerline goodness [0,1] 0.9085966841657502 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.04, Z:-0.53 [[ 0.99991177 0.0027349 -0.01299879 2.52858671] [-0.00269924 0.99999255 0.00276024 -0.04091252] [ 0.01300624 -0.0027249 0.9999117 -0.52781574] [ 0. 0. 0. 1. ]] SLAMing on 48.321193817 meters Centerline goodness [0,1] 0.9079746966711604 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.04, Z:-0.53 [[ 9.99908287e-01 9.09036185e-04 -1.35126603e-02 2.53101191e+00] [-8.94698776e-04 9.99999030e-01 1.06704249e-03 -4.31939726e-02] [ 1.35136172e-02 -1.05485487e-03 9.99908130e-01 -5.29515312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.351193817 meters Centerline goodness [0,1] 0.9068991943000352 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.05, Z:-0.53 [[ 9.99902547e-01 -4.73570196e-04 -1.39525204e-02 2.53363927e+00] [ 4.75771825e-04 9.99999875e-01 1.54475501e-04 -4.62153854e-02] [ 1.39524455e-02 -1.61098663e-04 9.99902647e-01 -5.31590895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.381193817 meters Centerline goodness [0,1] 0.9063003179059493 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.05, Z:-0.53 [[ 9.99889769e-01 -4.15725789e-03 -1.42536793e-02 2.53505703e+00] [ 4.12253841e-03 9.99988466e-01 -2.46434332e-03 -5.11318117e-02] [ 1.42637598e-02 2.40531033e-03 9.99895374e-01 -5.32588264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.411193817 meters Centerline goodness [0,1] 0.9076913526600037 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.05, Z:-0.53 [[ 9.99887533e-01 -4.38239132e-03 -1.43428140e-02 2.53509666e+00] [ 4.35521755e-03 9.99988663e-01 -1.92527793e-03 -5.34976908e-02] [ 1.43510887e-02 1.86259533e-03 9.99895283e-01 -5.32320114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.441193817 meters Centerline goodness [0,1] 0.9062765494519157 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.06, Z:-0.53 [[ 9.99886143e-01 -4.72888961e-03 -1.43296631e-02 2.53510720e+00] [ 4.70738915e-03 9.99987744e-01 -1.53377413e-03 -5.55353354e-02] [ 1.43367405e-02 1.46614420e-03 9.99896149e-01 -5.32281600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.471193817 meters Centerline goodness [0,1] 0.9053760773857507 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.06, Z:-0.53 [[ 9.99878008e-01 -5.34786173e-03 -1.46754690e-02 2.53606233e+00] [ 5.32929761e-03 9.99984949e-01 -1.30379205e-03 -5.78150531e-02] [ 1.46822206e-02 1.22542306e-03 9.99891459e-01 -5.32554872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.501193817 meters Centerline goodness [0,1] 0.9024905722929013 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.06, Z:-0.53 [[ 0.99981212 -0.01290762 -0.01446097 2.53412472] [ 0.01278935 0.99988425 -0.00824182 -0.06009887] [ 0.01456567 0.00805532 0.99986147 -0.53045126] [ 0. 0. 0. 1. ]] SLAMing on 48.531193817 meters Centerline goodness [0,1] 0.8932651709578607 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.06, Z:-0.53 [[ 0.99980405 -0.01367961 -0.01430869 2.53337362] [ 0.01356568 0.99987574 -0.00802946 -0.06202047] [ 0.01441675 0.00783378 0.99986539 -0.52967073] [ 0. 0. 0. 1. ]] SLAMing on 48.561193817 meters Centerline goodness [0,1] 0.8773345440287265 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.06, Z:-0.53 [[ 9.99827158e-01 -1.63688498e-02 -8.81555775e-03 2.53959926e+00] [ 1.63749125e-02 9.99865732e-01 6.15988403e-04 -6.42253534e-02] [ 8.80429108e-03 -7.60235921e-04 9.99960952e-01 -5.29500187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.591193817 meters Centerline goodness [0,1] 0.85919534298041 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.06, Z:-0.53 [[ 9.99822876e-01 -1.67140814e-02 -8.65198867e-03 2.53867518e+00] [ 1.67205387e-02 9.99859974e-01 6.74534951e-04 -6.43612760e-02] [ 8.63950294e-03 -8.19081385e-04 9.99962343e-01 -5.28560220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.621193817 meters Centerline goodness [0,1] 0.8651144533509627 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.06, Z:-0.53 [[ 9.99812201e-01 -1.74301886e-02 -8.47059466e-03 2.53809942e+00] [ 1.74324959e-02 9.99848023e-01 1.98633771e-04 -6.33519656e-02] [ 8.46584509e-03 -3.46260074e-04 9.99964104e-01 -5.28161418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.651193817 meters Centerline goodness [0,1] 0.8651144533509627 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.06, Z:-0.53 [[ 9.99812201e-01 -1.74301886e-02 -8.47059466e-03 2.53809942e+00] [ 1.74324959e-02 9.99848023e-01 1.98633771e-04 -6.33519656e-02] [ 8.46584509e-03 -3.46260074e-04 9.99964104e-01 -5.28161418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.681193817 meters Centerline goodness [0,1] 0.8486438472184924 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.06, Z:-0.53 [[ 9.99806385e-01 -1.77435152e-02 -8.50646688e-03 2.53871283e+00] [ 1.77438332e-02 9.99842565e-01 -3.80858660e-05 -6.28943290e-02] [ 8.50580345e-03 -1.12858838e-04 9.99963819e-01 -5.28850518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.711193817 meters Centerline goodness [0,1] 0.8351243412384717 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.06, Z:-0.53 [[ 9.99797453e-01 -1.81945366e-02 -8.60301659e-03 2.53953395e+00] [ 1.81908569e-02 9.99834405e-01 -5.05777590e-04 -6.19337164e-02] [ 8.61079436e-03 3.49178902e-04 9.99962865e-01 -5.29601370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.741193817 meters Centerline goodness [0,1] 0.8314648497986993 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.06, Z:-0.53 [[ 9.99790894e-01 -1.85501482e-02 -8.60579335e-03 2.53963112e+00] [ 1.85416456e-02 9.99827520e-01 -1.06674420e-03 -6.01627867e-02] [ 8.62409728e-03 9.06955563e-04 9.99962400e-01 -5.29703582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.771193817000004 meters Centerline goodness [0,1] 0.8022137167683873 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.06, Z:-0.53 [[ 9.99838573e-01 -1.58997832e-02 -8.36804868e-03 2.53902297e+00] [ 1.59176518e-02 9.99871157e-01 2.07307675e-03 -5.99745477e-02] [ 8.33400905e-03 -2.20594179e-03 9.99962838e-01 -5.29494226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.801193817 meters Centerline goodness [0,1] 0.8209971038477452 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.06, Z:-0.53 [[ 9.99833030e-01 -1.62074860e-02 -8.43979579e-03 2.53934676e+00] [ 1.62186422e-02 9.99867681e-01 1.25510001e-03 -5.74196004e-02] [ 8.41833703e-03 -1.39177247e-03 9.99963597e-01 -5.29708546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.831193817 meters Centerline goodness [0,1] 0.7939178059627738 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.05, Z:-0.53 [[ 9.99854802e-01 -1.46545720e-02 -8.69588844e-03 2.54111435e+00] [ 1.46717666e-02 9.99890527e-01 1.91683532e-03 -5.03640531e-02] [ 8.66684607e-03 -2.04414104e-03 9.99960353e-01 -5.31232399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.861193817 meters Centerline goodness [0,1] 0.7772509894459103 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.05, Z:-0.53 [[ 0.99989041 -0.01206291 -0.00858199 2.54068272] [ 0.01209907 0.99991809 0.00417482 -0.04680497] [ 0.00853093 -0.0042782 0.99995446 -0.53105433] [ 0. 0. 0. 1. ]] SLAMing on 48.891193817 meters Centerline goodness [0,1] 0.8084424313871481 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.04, Z:-0.53 [[ 0.99991982 -0.00933969 -0.00855135 2.54065232] [ 0.00938361 0.99994291 0.00511119 -0.03823394] [ 0.00850312 -0.00519102 0.99995037 -0.53110692] [ 0. 0. 0. 1. ]] SLAMing on 48.921193817 meters Centerline goodness [0,1] 0.8078467077763523 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.03, Z:-0.53 [[ 0.99994233 -0.00636645 -0.00864922 2.54151024] [ 0.00642929 0.999953 0.00725711 -0.03385721] [ 0.00860262 -0.0073123 0.99993626 -0.53197427] [ 0. 0. 0. 1. ]] SLAMing on 48.951193817000004 meters Centerline goodness [0,1] 0.8645745098444311 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.03, Z:-0.53 [[ 9.99973306e-01 -1.51742185e-03 -7.14731870e-03 2.55054302e+00] [ 1.51917736e-03 9.99998817e-01 2.40194495e-04 -2.73813492e-02] [ 7.14694577e-03 -2.51046128e-04 9.99974429e-01 -5.32038810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.981193817 meters Centerline goodness [0,1] 0.8979295765890862 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.02, Z:-0.53 [[ 9.99972538e-01 1.86431370e-03 -7.17265733e-03 2.55109864e+00] [-1.84899100e-03 9.99995996e-01 2.14230389e-03 -2.09083144e-02] [ 7.17662254e-03 -2.12898288e-03 9.99971981e-01 -5.32635899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.011193817 meters Centerline goodness [0,1] 0.910309534662081 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.53 [[ 0.99995804 0.00543626 -0.00737383 2.55204456] [-0.00540489 0.99997629 0.004267 -0.01476665] [ 0.00739685 -0.00422697 0.99996371 -0.53323518] [ 0. 0. 0. 1. ]] SLAMing on 49.041193817 meters Centerline goodness [0,1] 0.9174551251526883 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.53 [[ 0.99988901 0.01279497 -0.00763197 2.55360354] [-0.01272575 0.99987807 0.00904946 -0.00580201] [ 0.00774683 -0.00895133 0.99992993 -0.53423639] [ 0. 0. 0. 1. ]] SLAMing on 49.071193817 meters Centerline goodness [0,1] 0.9185665047132594 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.00, Z:-0.53 [[ 9.99885279e-01 1.30265834e-02 -7.72891173e-03 2.55383005e+00] [-1.29668973e-02 9.99886101e-01 7.72294968e-03 -9.57720134e-04] [ 7.82863506e-03 -7.62184370e-03 9.99940308e-01 -5.34153594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.101193817 meters Centerline goodness [0,1] 0.9174342378225874 Centerline is valid? [False, False] Translation: X:2.55, Y:0.00, Z:-0.53 [[ 0.99988262 0.01306369 -0.0080054 2.5545707 ] [-0.0130119 0.99989429 0.00648772 0.00341301] [ 0.00808931 -0.00638279 0.99994691 -0.53432212] [ 0. 0. 0. 1. ]] SLAMing on 49.131193817 meters Centerline goodness [0,1] 0.9181132231064199 Centerline is valid? [False, False] Translation: X:2.56, Y:0.01, Z:-0.54 [[ 0.99988053 0.01296478 -0.00841641 2.55602621] [-0.01291892 0.99990153 0.0054807 0.00713456] [ 0.00848664 -0.00537132 0.99994956 -0.53515223] [ 0. 0. 0. 1. ]] SLAMing on 49.161193817 meters Centerline goodness [0,1] 0.9161792159303049 Centerline is valid? [False, False] Translation: X:2.56, Y:0.01, Z:-0.54 [[ 0.99988415 0.01257089 -0.00858288 2.55689037] [-0.01253253 0.9999113 0.00450868 0.01020624] [ 0.00863879 -0.00440059 0.999953 -0.53582527] [ 0. 0. 0. 1. ]] SLAMing on 49.191193817 meters Centerline goodness [0,1] 0.9156861524414286 Centerline is valid? [False, False] Translation: X:2.56, Y:0.01, Z:-0.54 [[ 0.99988945 0.01193705 -0.00886503 2.55777951] [-0.01190609 0.99992286 0.00353682 0.01279303] [ 0.00890657 -0.00343088 0.99995445 -0.53627125] [ 0. 0. 0. 1. ]] SLAMing on 49.221193817 meters Centerline goodness [0,1] 0.9142212189616252 Centerline is valid? [False, False] Translation: X:2.56, Y:0.02, Z:-0.54 [[ 9.99897585e-01 1.10048288e-02 -9.14949206e-03 2.55779606e+00] [-1.09837535e-02 9.99936914e-01 2.35050310e-03 1.53129126e-02] [ 9.17478174e-03 -2.24976660e-03 9.99955380e-01 -5.35468751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.251193817 meters Centerline goodness [0,1] 0.915806953814219 Centerline is valid? [False, False] Translation: X:2.56, Y:0.02, Z:-0.53 [[ 9.99912296e-01 9.61980132e-03 -9.10268802e-03 2.55597760e+00] [-9.61189779e-03 9.99953389e-01 9.11614096e-04 1.61225159e-02] [ 9.11103328e-03 -8.24040037e-04 9.99958154e-01 -5.33351955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.281193817 meters Centerline goodness [0,1] 0.915110671448003 Centerline is valid? [False, False] Translation: X:2.56, Y:0.01, Z:-0.54 [[ 9.99979175e-01 6.07288396e-03 -2.18399979e-03 2.56457641e+00] [-6.05873001e-03 9.99960973e-01 6.42999736e-03 1.41110505e-02] [ 2.22296318e-03 -6.41663119e-03 9.99976942e-01 -5.35337333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.311193817 meters Centerline goodness [0,1] 0.9182646707080704 Centerline is valid? [False, False] Translation: X:2.56, Y:0.02, Z:-0.53 [[ 9.99995947e-01 1.92217156e-03 -2.10019255e-03 2.56342986e+00] [-1.91824960e-03 9.99996416e-01 1.86784796e-03 1.54671400e-02] [ 2.10377534e-03 -1.86381170e-03 9.99996050e-01 -5.33905485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.341193817000004 meters Centerline goodness [0,1] 0.9200906655676901 Centerline is valid? [False, False] Translation: X:2.56, Y:0.02, Z:-0.53 [[ 9.99996165e-01 1.66954521e-03 -2.20973037e-03 2.56355876e+00] [-1.66671551e-03 9.99997790e-01 1.28178827e-03 1.72170430e-02] [ 2.21186548e-03 -1.27810037e-03 9.99996737e-01 -5.33716827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.371193817 meters Centerline goodness [0,1] 0.9187182976617593 Centerline is valid? [False, False] Translation: X:2.56, Y:0.02, Z:-0.53 [[ 9.99996009e-01 1.57433186e-03 -2.34614311e-03 2.56354700e+00] [-1.57291069e-03 9.99998578e-01 6.07466352e-04 1.96755877e-02] [ 2.34709613e-03 -6.03773654e-04 9.99997063e-01 -5.33304145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.401193817 meters Centerline goodness [0,1] 0.9201385309942485 Centerline is valid? [False, False] Translation: X:2.56, Y:0.02, Z:-0.53 [[ 9.99996113e-01 1.37401236e-03 -2.42625954e-03 2.56380093e+00] [-1.37434452e-03 9.99999046e-01 -1.35236807e-04 2.21261909e-02] [ 2.42607141e-03 1.38570798e-04 9.99997047e-01 -5.33329698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.431193817 meters Centerline goodness [0,1] 0.9180202678995274 Centerline is valid? [False, False] Translation: X:2.56, Y:0.02, Z:-0.53 [[ 9.99996220e-01 1.25241889e-03 -2.44783630e-03 2.56414020e+00] [-1.25447370e-03 9.99998862e-01 -8.38083193e-04 2.43580526e-02] [ 2.44678388e-03 8.41150771e-04 9.99996653e-01 -5.33673374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.461193817 meters Centerline goodness [0,1] 0.9192524755545449 Centerline is valid? [False, False] Translation: X:2.56, Y:0.02, Z:-0.53 [[ 9.99995841e-01 1.26223946e-03 -2.59304009e-03 2.56497131e+00] [-1.26475321e-03 9.99998732e-01 -9.68011418e-04 2.46292951e-02] [ 2.59181494e-03 9.71286948e-04 9.99996170e-01 -5.34421506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.491193817 meters Centerline goodness [0,1] 0.915121991495686 Centerline is valid? [False, False] Translation: X:2.57, Y:0.02, Z:-0.54 [[ 9.99994669e-01 1.46038126e-03 -2.92056964e-03 2.56784526e+00] [-1.46302323e-03 9.99998522e-01 -9.02677033e-04 2.49625387e-02] [ 2.91924707e-03 9.06945082e-04 9.99995328e-01 -5.37115747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.521193817000004 meters Centerline goodness [0,1] 0.915082278219986 Centerline is valid? [False, False] Translation: X:2.57, Y:0.03, Z:-0.54 [[ 9.99994177e-01 1.44526698e-03 -3.09143023e-03 2.56948626e+00] [-1.44899779e-03 9.99998224e-01 -1.20492439e-03 2.61139855e-02] [ 3.08968330e-03 1.20939685e-03 9.99994496e-01 -5.38814258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.551193817 meters Centerline goodness [0,1] 0.9132719561394435 Centerline is valid? [False, False] Translation: X:2.57, Y:0.03, Z:-0.54 [[ 9.99993228e-01 1.51047578e-03 -3.35594727e-03 2.57095083e+00] [-1.51584064e-03 9.99997576e-01 -1.59664232e-03 2.79811079e-02] [ 3.35352745e-03 1.60171859e-03 9.99993094e-01 -5.40063949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.581193817 meters Centerline goodness [0,1] 0.9110133438479258 Centerline is valid? [False, False] Translation: X:2.57, Y:0.03, Z:-0.54 [[ 9.99992272e-01 1.50316947e-03 -3.63261002e-03 2.57174096e+00] [-1.51120239e-03 9.99996417e-01 -2.20960535e-03 3.11384486e-02] [ 3.62927559e-03 2.21507789e-03 9.99990961e-01 -5.40362536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.611193817 meters Centerline goodness [0,1] 0.904512023799686 Centerline is valid? [False, False] Translation: X:2.57, Y:0.03, Z:-0.54 [[ 9.99991364e-01 1.35756350e-03 -3.92791307e-03 2.57236281e+00] [-1.36630997e-03 9.99996591e-01 -2.22492102e-03 3.10464087e-02] [ 3.92487921e-03 2.23026855e-03 9.99989811e-01 -5.40362852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.641193817 meters Centerline goodness [0,1] 0.9084302325581395 Centerline is valid? [False, False] Translation: X:2.57, Y:0.03, Z:-0.54 [[ 9.99991446e-01 1.07231731e-03 -3.99468116e-03 2.57226796e+00] [-1.08077672e-03 9.99997177e-01 -2.11611276e-03 2.98716367e-02] [ 3.99240074e-03 2.12041201e-03 9.99989782e-01 -5.40069240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.671193817 meters Centerline goodness [0,1] 0.9005705308417397 Centerline is valid? [False, False] Translation: X:2.57, Y:0.03, Z:-0.54 [[ 9.99991039e-01 6.60441148e-04 -4.18159668e-03 2.57274969e+00] [-6.68822418e-04 9.99997770e-01 -2.00324190e-03 2.85588503e-02] [ 4.18026433e-03 2.00602069e-03 9.99989251e-01 -5.40234217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.701193817000004 meters Centerline goodness [0,1] 0.8929822016865923 Centerline is valid? [False, False] Translation: X:2.57, Y:0.03, Z:-0.54 [[ 9.99991303e-01 -9.02603629e-04 -4.07183290e-03 2.57187680e+00] [ 8.91046071e-04 9.99995572e-01 -2.83933830e-03 2.79431132e-02] [ 4.07437766e-03 2.83568542e-03 9.99987679e-01 -5.39427728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.731193817 meters Centerline goodness [0,1] 0.8828207737192931 Centerline is valid? [False, False] Translation: X:2.57, Y:0.03, Z:-0.54 [[ 9.99990569e-01 -1.27376000e-03 -4.15213880e-03 2.57190608e+00] [ 1.26232782e-03 9.99995409e-01 -2.75478225e-03 2.69835348e-02] [ 4.15562867e-03 2.74951490e-03 9.99987585e-01 -5.39288930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.761193817 meters Centerline goodness [0,1] 0.8629920605229247 Centerline is valid? [False, False] Translation: X:2.57, Y:0.03, Z:-0.54 [[ 9.99989718e-01 -1.67477175e-03 -4.21420631e-03 2.57197667e+00] [ 1.66393642e-03 9.99995305e-01 -2.57333738e-03 2.56950579e-02] [ 4.21849627e-03 2.56629875e-03 9.99987809e-01 -5.39204669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.791193817 meters Centerline goodness [0,1] 0.8465185924631894 Centerline is valid? [False, False] Translation: X:2.57, Y:0.02, Z:-0.54 [[ 0.99998592 -0.00319187 -0.00423898 2.57167099] [ 0.00317981 0.99999089 -0.0028487 0.02326764] [ 0.00424803 0.00283518 0.99998696 -0.53878148] [ 0. 0. 0. 1. ]] SLAMing on 49.821193817 meters Centerline goodness [0,1] 0.7804068766719894 Centerline is valid? [False, False] Translation: X:2.57, Y:0.02, Z:-0.54 [[ 0.99998406 -0.00352935 -0.00440681 2.57230751] [ 0.00351706 0.99998991 -0.00279314 0.02267826] [ 0.00441662 0.0027776 0.99998639 -0.53917997] [ 0. 0. 0. 1. ]] SLAMing on 49.851193817 meters Centerline goodness [0,1] 0.761013353300886 Centerline is valid? [False, False] Translation: X:2.57, Y:0.02, Z:-0.54 [[ 0.99998317 -0.00371676 -0.00445542 2.57244577] [ 0.00370342 0.99998865 -0.00299846 0.02345212] [ 0.00446651 0.00298191 0.99998558 -0.53917232] [ 0. 0. 0. 1. ]] SLAMing on 49.881193817 meters Centerline goodness [0,1] 0.7702211608348043 Centerline is valid? [False, False] Translation: X:2.57, Y:0.03, Z:-0.54 [[ 0.99998269 -0.00353586 -0.00470274 2.57300088] [ 0.00352057 0.9999885 -0.00325645 0.02532857] [ 0.0047142 0.00323984 0.99998364 -0.53917052] [ 0. 0. 0. 1. ]] SLAMing on 49.911193817 meters Centerline goodness [0,1] 0.8360031621869018 Centerline is valid? [False, False] Translation: X:2.57, Y:0.03, Z:-0.54 [[ 9.99988633e-01 7.42422065e-05 -4.76737119e-03 2.57263964e+00] [-7.35585364e-05 9.99999987e-01 1.43581282e-04 2.67035268e-02] [ 4.76738179e-03 -1.43228969e-04 9.99988626e-01 -5.38479714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.941193817 meters Centerline goodness [0,1] 0.8729667407607453 Centerline is valid? [False, False] Translation: X:2.57, Y:0.03, Z:-0.54 [[ 9.99987839e-01 9.11809963e-04 -4.84674585e-03 2.57229725e+00] [-9.13953389e-04 9.99999486e-01 -4.40043769e-04 3.04478748e-02] [ 4.84634212e-03 4.44468117e-04 9.99988158e-01 -5.37468417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.971193817 meters Centerline goodness [0,1] 0.9072088266286493 Centerline is valid? [False, False] Translation: X:2.58, Y:0.04, Z:-0.53 [[ 9.99932296e-01 1.02629233e-02 -5.48422129e-03 2.57693628e+00] [-1.02751169e-02 9.99944790e-01 -2.19986104e-03 3.52867530e-02] [ 5.46134150e-03 2.25606312e-03 9.99982542e-01 -5.30897950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.001193817 meters Centerline goodness [0,1] 0.9137780910523261 Centerline is valid? [False, False] Translation: X:2.58, Y:0.04, Z:-0.53 [[ 9.99882514e-01 1.43355991e-02 -5.42671765e-03 2.57637116e+00] [-1.43288720e-02 9.99896522e-01 1.27648366e-03 3.68283728e-02] [ 5.44445526e-03 -1.19857495e-03 9.99984461e-01 -5.30112042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.031193817 meters Centerline goodness [0,1] 0.9149304839308552 Centerline is valid? [False, False] Translation: X:2.58, Y:0.04, Z:-0.53 [[ 9.99870252e-01 1.50905463e-02 -5.63520133e-03 2.57698373e+00] [-1.50868682e-02 9.99885945e-01 6.94635425e-04 4.05946801e-02] [ 5.64504104e-03 -6.09527757e-04 9.99983881e-01 -5.30144540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.061193817 meters Centerline goodness [0,1] 0.913201210663792 Centerline is valid? [False, False] Translation: X:2.58, Y:0.04, Z:-0.53 [[ 9.99867435e-01 1.52925800e-02 -5.59009253e-03 2.57687421e+00] [-1.52933505e-02 9.99883045e-01 -9.51219084e-05 4.41088596e-02] [ 5.58798409e-03 1.80600543e-04 9.99984371e-01 -5.29974511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.091193817000004 meters Centerline goodness [0,1] 0.9111893178759962 Centerline is valid? [False, False] Translation: X:2.58, Y:0.05, Z:-0.53 [[ 9.99868663e-01 1.52091184e-02 -5.59823058e-03 2.57722616e+00] [-1.52160034e-02 9.99883523e-01 -1.18933135e-03 4.88718548e-02] [ 5.57948983e-03 1.27435784e-03 9.99983623e-01 -5.30273616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.121193817 meters Centerline goodness [0,1] 0.9111791730474732 Centerline is valid? [False, False] Translation: X:2.58, Y:0.05, Z:-0.53 [[ 9.99870945e-01 1.50338460e-02 -5.66360376e-03 2.57760998e+00] [-1.50424542e-02 9.99885760e-01 -1.48039875e-03 4.94720741e-02] [ 5.64070066e-03 1.56540220e-03 9.99982866e-01 -5.30569897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.151193817 meters Centerline goodness [0,1] 0.9090233479903388 Centerline is valid? [False, False] Translation: X:2.58, Y:0.05, Z:-0.53 [[ 0.99988545 0.01385554 -0.00609149 2.57986636] [-0.01387184 0.99990029 -0.00264228 0.0491278 ] [ 0.00605427 0.00272648 0.99997796 -0.53226779] [ 0. 0. 0. 1. ]] SLAMing on 50.181193817 meters Centerline goodness [0,1] 0.9076379855045531 Centerline is valid? [False, False] Translation: X:2.58, Y:0.05, Z:-0.53 [[ 0.99990387 0.0122453 -0.00650335 2.58261892] [-0.01227436 0.99991477 -0.0044479 0.04604027] [ 0.00644833 0.00452729 0.99996896 -0.53473671] [ 0. 0. 0. 1. ]] SLAMing on 50.211193817 meters Centerline goodness [0,1] 0.9071357533565391 Centerline is valid? [False, False] Translation: X:2.58, Y:0.05, Z:-0.54 [[ 0.99989734 0.01266998 -0.00669157 2.58351735] [-0.012697 0.99991135 -0.00401092 0.04523673] [ 0.00664016 0.00409547 0.99996957 -0.53545793] [ 0. 0. 0. 1. ]] SLAMing on 50.241193817 meters Centerline goodness [0,1] 0.9097568546301087 Centerline is valid? [False, False] Translation: X:2.58, Y:0.05, Z:-0.54 [[ 0.99988925 0.01311733 -0.00703048 2.58487822] [-0.0131433 0.99990692 -0.00366092 0.04505263] [ 0.00698181 0.00375292 0.99996858 -0.53636173] [ 0. 0. 0. 1. ]] SLAMing on 50.271193817000004 meters Centerline goodness [0,1] 0.9066255075826635 Centerline is valid? [False, False] Translation: X:2.59, Y:0.05, Z:-0.54 [[ 0.99988269 0.0134848 -0.00726449 2.58580832] [-0.01350974 0.99990297 -0.00339606 0.04509207] [ 0.00721799 0.00349381 0.99996785 -0.53691884] [ 0. 0. 0. 1. ]] SLAMing on 50.301193817 meters Centerline goodness [0,1] 0.9077002905770029 Centerline is valid? [False, False] Translation: X:2.59, Y:0.04, Z:-0.54 [[ 0.99987465 0.01394968 -0.0074892 2.58646281] [-0.01397109 0.99989844 -0.0028148 0.04415722] [ 0.00744917 0.00291908 0.99996799 -0.53719329] [ 0. 0. 0. 1. ]] SLAMing on 50.331193817 meters Centerline goodness [0,1] 0.9077889238932184 Centerline is valid? [False, False] Translation: X:2.59, Y:0.04, Z:-0.54 [[ 9.99865664e-01 1.45355893e-02 -7.57427582e-03 2.58685170e+00] [-1.45448556e-02 9.99893534e-01 -1.16974771e-03 3.88106348e-02] [ 7.55646644e-03 1.27975732e-03 9.99970631e-01 -5.37575010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.361193817 meters Centerline goodness [0,1] 0.9073632727498808 Centerline is valid? [False, False] Translation: X:2.59, Y:0.04, Z:-0.54 [[ 0.99990374 0.01151268 -0.00774409 2.58729666] [-0.01154522 0.99992465 -0.00417126 0.03709701] [ 0.00769548 0.00426027 0.99996131 -0.53778272] [ 0. 0. 0. 1. ]] SLAMing on 50.391193817 meters Centerline goodness [0,1] 0.9093033354701296 Centerline is valid? [False, False] Translation: X:2.59, Y:0.03, Z:-0.54 [[ 0.99990449 0.01138115 -0.00784061 2.58730607] [-0.011408 0.99992919 -0.00338778 0.03307675] [ 0.0078015 0.0034769 0.99996352 -0.53760144] [ 0. 0. 0. 1. ]] SLAMing on 50.421193817 meters Centerline goodness [0,1] 0.909540490418298 Centerline is valid? [False, False] Translation: X:2.59, Y:0.03, Z:-0.54 [[ 9.99904943e-01 1.12921428e-02 -7.91147767e-03 2.58734862e+00] [-1.13128707e-02 9.99932679e-01 -2.58014153e-03 2.91754805e-02] [ 7.88180973e-03 2.66939780e-03 9.99965375e-01 -5.37571384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.451193817000004 meters Centerline goodness [0,1] 0.9090665291387313 Centerline is valid? [False, False] Translation: X:2.59, Y:0.03, Z:-0.54 [[ 0.99991911 0.01017285 -0.00763393 2.58569725] [-0.01019743 0.99994292 -0.00318864 0.02701627] [ 0.00760106 0.00326623 0.99996578 -0.53629117] [ 0. 0. 0. 1. ]] SLAMing on 50.481193817 meters Centerline goodness [0,1] 0.9107224083033536 Centerline is valid? [False, False] Translation: X:2.59, Y:0.02, Z:-0.54 [[ 0.99992444 0.00973438 -0.00750743 2.58545486] [-0.00975588 0.9999484 -0.0028329 0.02465633] [ 0.00747946 0.00290593 0.99996781 -0.53636907] [ 0. 0. 0. 1. ]] SLAMing on 50.511193817 meters Centerline goodness [0,1] 0.9110794398314537 Centerline is valid? [False, False] Translation: X:2.59, Y:0.02, Z:-0.54 [[ 0.99992603 0.00942379 -0.00768911 2.58611468] [-0.00944513 0.99995163 -0.00274475 0.02370281] [ 0.00766287 0.00281717 0.99996667 -0.53681988] [ 0. 0. 0. 1. ]] SLAMing on 50.541193817 meters Centerline goodness [0,1] 0.9110794398314537 Centerline is valid? [False, False] Translation: X:2.59, Y:0.02, Z:-0.54 [[ 0.99992603 0.00942379 -0.00768911 2.58611468] [-0.00944513 0.99995163 -0.00274475 0.02370281] [ 0.00766287 0.00281717 0.99996667 -0.53681988] [ 0. 0. 0. 1. ]] SLAMing on 50.571193817 meters Centerline goodness [0,1] 0.9118241431929723 Centerline is valid? [False, False] Translation: X:2.59, Y:0.02, Z:-0.54 [[ 0.9999366 0.00773391 -0.00818464 2.58857764] [-0.00776743 0.99996154 -0.00407137 0.02267722] [ 0.00815284 0.00413468 0.99995822 -0.53867238] [ 0. 0. 0. 1. ]] SLAMing on 50.601193817 meters Centerline goodness [0,1] 0.9123815055280134 Centerline is valid? [False, False] Translation: X:2.59, Y:0.02, Z:-0.54 [[ 0.99994678 0.00660312 -0.00792725 2.58779622] [-0.00663935 0.99996759 -0.00455344 0.019599 ] [ 0.00789693 0.00460583 0.99995821 -0.53842626] [ 0. 0. 0. 1. ]] SLAMing on 50.631193817 meters Centerline goodness [0,1] 0.9133655195180326 Centerline is valid? [False, False] Translation: X:2.60, Y:0.01, Z:-0.54 [[ 9.99992621e-01 -1.58815465e-05 -3.84155876e-03 2.59660700e+00] [ 1.78171812e-05 9.99999873e-01 5.03833316e-04 1.38602709e-02] [ 3.84155027e-03 -5.03898044e-04 9.99992494e-01 -5.40223890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.661193817 meters Centerline goodness [0,1] 0.9127490369879468 Centerline is valid? [False, False] Translation: X:2.60, Y:0.01, Z:-0.54 [[ 9.99992542e-01 -5.11019293e-04 -3.82813418e-03 2.59677202e+00] [ 5.13373515e-04 9.99999680e-01 6.14021553e-04 1.25988924e-02] [ 3.82781918e-03 -6.15982236e-04 9.99992484e-01 -5.40509588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.691193817 meters Centerline goodness [0,1] 0.8869370675726064 Centerline is valid? [False, False] Translation: X:2.60, Y:0.01, Z:-0.54 [[ 9.99981751e-01 -4.16038937e-03 -4.38047477e-03 2.59992756e+00] [ 4.15138176e-03 9.99989254e-01 -2.06339760e-03 1.02369100e-02] [ 4.38901224e-03 2.04517492e-03 9.99988277e-01 -5.43243659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.721193817 meters Centerline goodness [0,1] 0.863872280352101 Centerline is valid? [False, False] Translation: X:2.60, Y:0.01, Z:-0.54 [[ 9.99979678e-01 -4.54431873e-03 -4.47137754e-03 2.60068985e+00] [ 4.53812763e-03 9.99988731e-01 -1.39378042e-03 7.01982616e-03] [ 4.47766094e-03 1.37346041e-03 9.99989032e-01 -5.44078404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.751193817 meters Centerline goodness [0,1] 0.8808772221299219 Centerline is valid? [False, False] Translation: X:2.60, Y:0.00, Z:-0.54 [[ 9.99979221e-01 -4.56983374e-03 -4.54678001e-03 2.60121170e+00] [ 4.56715933e-03 9.99989391e-01 -5.98407651e-04 4.06374102e-03] [ 4.54946640e-03 5.77629348e-04 9.99989484e-01 -5.44617004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.781193817 meters Centerline goodness [0,1] 0.8389365883935037 Centerline is valid? [False, False] Translation: X:2.60, Y:0.00, Z:-0.54 [[ 9.99979635e-01 -4.40920608e-03 -4.61390547e-03 2.60164462e+00] [ 4.40884927e-03 9.99990277e-01 -8.75011858e-05 2.52888935e-03] [ 4.61424643e-03 6.71573901e-05 9.99989352e-01 -5.44966979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.811193817 meters Centerline goodness [0,1] 0.8499741655471738 Centerline is valid? [False, False] Translation: X:2.60, Y:0.00, Z:-0.54 [[ 9.99981254e-01 -3.88916925e-03 -4.72922058e-03 2.60190603e+00] [ 3.89041276e-03 9.99992400e-01 2.53770158e-04 2.62060882e-03] [ 4.72819768e-03 -2.72164021e-04 9.99988785e-01 -5.44967560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.841193817000004 meters Centerline goodness [0,1] 0.8702514602924728 Centerline is valid? [False, False] Translation: X:2.60, Y:0.00, Z:-0.54 [[ 9.99988415e-01 -1.94578347e-03 -4.40269977e-03 2.60005628e+00] [ 1.95347521e-03 9.99996572e-01 1.74342565e-03 3.18432283e-03] [ 4.39929235e-03 -1.75200602e-03 9.99988788e-01 -5.43432585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.871193817 meters Centerline goodness [0,1] 0.9129658094802875 Centerline is valid? [False, False] Translation: X:2.60, Y:0.01, Z:-0.54 [[ 0.99998746 0.00265664 -0.00424477 2.59907328] [-0.00263308 0.99998115 0.00554674 0.00504255] [ 0.00425943 -0.00553549 0.99997561 -0.54238667] [ 0. 0. 0. 1. ]] SLAMing on 50.901193817 meters Centerline goodness [0,1] 0.9180516939553084 Centerline is valid? [False, False] Translation: X:2.61, Y:0.01, Z:-0.55 [[ 9.99982631e-01 5.74644880e-03 1.30996805e-03 2.60946060e+00] [-5.74453747e-03 9.99982437e-01 -1.45819017e-03 8.03119997e-03] [-1.31832446e-03 1.45063969e-03 9.99998079e-01 -5.45251845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.931193817 meters Centerline goodness [0,1] 0.9168581185967091 Centerline is valid? [False, False] Translation: X:2.61, Y:0.01, Z:-0.55 [[ 9.99979686e-01 6.25258249e-03 1.23766835e-03 2.60969573e+00] [-6.25055444e-03 9.99979127e-01 -1.63574573e-03 9.65976531e-03] [-1.24787015e-03 1.62797639e-03 9.99997896e-01 -5.45362525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.961193817 meters Centerline goodness [0,1] 0.9173658415019106 Centerline is valid? [False, False] Translation: X:2.61, Y:0.01, Z:-0.55 [[ 9.99979041e-01 6.37326438e-03 1.14002789e-03 2.61015602e+00] [-6.37121837e-03 9.99978103e-01 -1.78941895e-03 1.02591023e-02] [-1.15140736e-03 1.78211808e-03 9.99997749e-01 -5.45746669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.991193817 meters Centerline goodness [0,1] 0.9150375627775702 Centerline is valid? [False, False] Translation: X:2.61, Y:0.01, Z:-0.55 [[ 9.99981152e-01 6.03116265e-03 1.14932496e-03 2.61001504e+00] [-6.02882716e-03 9.99979777e-01 -2.02479497e-03 9.84182330e-03] [-1.16151358e-03 2.01782773e-03 9.99997290e-01 -5.45596684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.021193817000004 meters Centerline goodness [0,1] 0.9171535114978248 Centerline is valid? [False, False] Translation: X:2.61, Y:0.01, Z:-0.55 [[ 9.99981981e-01 5.91485180e-03 1.02550065e-03 2.60997671e+00] [-5.91253679e-03 9.99979999e-01 -2.24596346e-03 1.02883865e-02] [-1.03876468e-03 2.23985968e-03 9.99996952e-01 -5.45210136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.051193817 meters Centerline goodness [0,1] 0.9159815645241655 Centerline is valid? [False, False] Translation: X:2.61, Y:0.01, Z:-0.54 [[ 9.99982903e-01 5.76441217e-03 9.82324686e-04 2.60977314e+00] [-5.76186312e-03 9.99980076e-01 -2.57828840e-03 1.11430578e-02] [-9.97167432e-04 2.57258430e-03 9.99996194e-01 -5.44831828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.081193817 meters Centerline goodness [0,1] 0.9149576552640319 Centerline is valid? [False, False] Translation: X:2.61, Y:0.01, Z:-0.54 [[ 9.99984283e-01 5.55207349e-03 7.79850339e-04 2.61022810e+00] [-5.54969165e-03 9.99980028e-01 -3.02388798e-03 1.22491573e-02] [-7.96623613e-04 3.01951252e-03 9.99995124e-01 -5.44915191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.111193817 meters Centerline goodness [0,1] 0.9140038957271334 Centerline is valid? [False, False] Translation: X:2.61, Y:0.01, Z:-0.54 [[ 9.99983132e-01 5.76778217e-03 6.84659824e-04 2.61039882e+00] [-5.76552202e-03 9.99978070e-01 -3.25844300e-03 1.32769443e-02] [-7.03438799e-04 3.25444061e-03 9.99994457e-01 -5.44900486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.141193817 meters Centerline goodness [0,1] 0.9115817749767539 Centerline is valid? [False, False] Translation: X:2.61, Y:0.01, Z:-0.55 [[ 9.99981367e-01 6.09290183e-03 3.77443630e-04 2.61116619e+00] [-6.09166864e-03 9.99976369e-01 -3.18648967e-03 1.35385626e-02] [-3.96849680e-04 3.18413104e-03 9.99994852e-01 -5.45106883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.171193817 meters Centerline goodness [0,1] 0.9118859676383451 Centerline is valid? [False, False] Translation: X:2.61, Y:0.01, Z:-0.54 [[ 9.99977871e-01 6.64764570e-03 2.56224014e-04 2.61126197e+00] [-6.64682683e-03 9.99973184e-01 -3.07424124e-03 1.40891878e-02] [-2.76653610e-04 3.07247014e-03 9.99995242e-01 -5.44878705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.201193817000004 meters Centerline goodness [0,1] 0.9104233516199152 Centerline is valid? [False, False] Translation: X:2.61, Y:0.01, Z:-0.54 [[ 9.99934807e-01 1.14144103e-02 3.04679507e-04 2.61045962e+00] [-1.14148932e-02 9.99933514e-01 1.63314712e-03 1.27355051e-02] [-2.86017839e-04 -1.63651853e-03 9.99998620e-01 -5.43810653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.231193817 meters Centerline goodness [0,1] 0.9135570469798657 Centerline is valid? [False, False] Translation: X:2.61, Y:0.01, Z:-0.54 [[ 9.99928742e-01 1.19377624e-02 2.81376228e-06 2.61103152e+00] [-1.19377451e-02 9.99926830e-01 1.95590186e-03 1.22942987e-02] [ 2.05355354e-05 -1.95579608e-03 9.99998087e-01 -5.43778318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.261193817 meters Centerline goodness [0,1] 0.913221693546726 Centerline is valid? [False, False] Translation: X:2.61, Y:0.01, Z:-0.54 [[ 9.99922731e-01 1.24286131e-02 -2.48895106e-04 2.61174677e+00] [-1.24279361e-02 9.99919498e-01 2.55817833e-03 1.07259273e-02] [ 2.80669679e-04 -2.55488741e-03 9.99996697e-01 -5.44066839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.291193817 meters Centerline goodness [0,1] 0.9127833557602733 Centerline is valid? [False, False] Translation: X:2.61, Y:0.01, Z:-0.54 [[ 9.99950329e-01 9.96201933e-03 -3.13956114e-04 2.61184911e+00] [-9.96182108e-03 9.99950183e-01 6.26809328e-04 6.10789202e-03] [ 3.20184760e-04 -6.23650618e-04 9.99999754e-01 -5.44228196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.321193817 meters Centerline goodness [0,1] 0.9127833557602733 Centerline is valid? [False, False] Translation: X:2.61, Y:0.01, Z:-0.54 [[ 9.99950329e-01 9.96201933e-03 -3.13956114e-04 2.61184911e+00] [-9.96182108e-03 9.99950183e-01 6.26809328e-04 6.10789202e-03] [ 3.20184760e-04 -6.23650618e-04 9.99999754e-01 -5.44228196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.351193817 meters Centerline goodness [0,1] 0.9121522693997072 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.00, Z:-0.55 [[ 9.99975859e-01 6.83304503e-03 -1.26139392e-03 2.61605755e+00] [-6.83435088e-03 9.99976111e-01 -1.03385556e-03 -1.53952514e-03] [ 1.25429940e-03 1.04245141e-03 9.99998670e-01 -5.47436856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.381193817 meters Centerline goodness [0,1] 0.9102905644012143 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.01, Z:-0.55 [[ 9.99990532e-01 4.08977758e-03 -1.48651608e-03 2.61705945e+00] [-4.09469787e-03 9.99986098e-01 -3.32211190e-03 -5.15714649e-03] [ 1.47290872e-03 3.32816728e-03 9.99993377e-01 -5.48185572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.411193817 meters Centerline goodness [0,1] 0.9106072506303997 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.01, Z:-0.55 [[ 9.99989074e-01 4.37334356e-03 -1.65116213e-03 2.61761499e+00] [-4.37650422e-03 9.99988589e-01 -1.91546966e-03 -1.06849466e-02] [ 1.64276628e-03 1.92267505e-03 9.99996802e-01 -5.48504175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.441193817 meters Centerline goodness [0,1] 0.9100233678681473 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:-0.55 [[ 9.99986370e-01 4.85545663e-03 -1.91939079e-03 2.61819892e+00] [-4.85634588e-03 9.99988103e-01 -4.58909532e-04 -1.58538205e-02] [ 1.91713974e-03 4.68224503e-04 9.99998053e-01 -5.48612875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.471193817 meters Centerline goodness [0,1] 0.9091830403309203 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.03, Z:-0.55 [[ 9.99992152e-01 3.17172309e-03 -2.37421919e-03 2.62000730e+00] [-3.17382913e-03 9.99994573e-01 -8.83800250e-04 -2.52681624e-02] [ 2.37140313e-03 8.91328680e-04 9.99996791e-01 -5.49789044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.501193817 meters Centerline goodness [0,1] 0.909258415800588 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.03, Z:-0.55 [[ 9.99995620e-01 1.00958837e-03 -2.78228365e-03 2.62186277e+00] [-1.01629531e-03 9.99996579e-01 -2.41023048e-03 -3.00401400e-02] [ 2.77984079e-03 2.41304754e-03 9.99993225e-01 -5.51136377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.531193817 meters Centerline goodness [0,1] 0.910488377407092 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.04, Z:-0.55 [[ 9.99995579e-01 8.55531840e-04 -2.84772745e-03 2.62233691e+00] [-8.59352416e-04 9.99998732e-01 -1.34066944e-03 -3.63772313e-02] [ 2.84657685e-03 1.34311071e-03 9.99995047e-01 -5.51528190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.561193817 meters Centerline goodness [0,1] 0.9068115942028986 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.04, Z:-0.55 [[ 9.99993018e-01 -2.22487947e-03 -3.00232083e-03 2.62309248e+00] [ 2.21385387e-03 9.99990812e-01 -3.67069841e-03 -4.05396757e-02] [ 3.01046011e-03 3.66402608e-03 9.99988756e-01 -5.52039891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.591193817000004 meters Centerline goodness [0,1] 0.9055598183364094 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.05, Z:-0.55 [[ 0.99998254 -0.00512558 -0.00294174 2.62198034] [ 0.00511266 0.99997734 -0.00438033 -0.05001197] [ 0.00296412 0.00436522 0.99998608 -0.55048778] [ 0. 0. 0. 1. ]] SLAMing on 51.621193817 meters Centerline goodness [0,1] 0.9048043442215221 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.06, Z:-0.55 [[ 0.99998329 -0.00486348 -0.0031245 2.62198525] [ 0.00485498 0.99998451 -0.0027213 -0.05565258] [ 0.00313769 0.00270608 0.99999142 -0.54992554] [ 0. 0. 0. 1. ]] SLAMing on 51.651193817 meters Centerline goodness [0,1] 0.9063520946197428 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.06, Z:-0.55 [[ 9.99983456e-01 -4.71320572e-03 -3.29744825e-03 2.62223393e+00] [ 4.70939110e-03 9.99988234e-01 -1.16365015e-03 -6.16401813e-02] [ 3.30289398e-03 1.14810192e-03 9.99993886e-01 -5.49716029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.681193817 meters Centerline goodness [0,1] 0.9052812739751591 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.07, Z:-0.55 [[ 9.99983351e-01 -4.67151026e-03 -3.38740327e-03 2.62207199e+00] [ 4.67228967e-03 9.99989060e-01 2.22214793e-04 -6.77046208e-02] [ 3.38632813e-03 -2.38038022e-04 9.99994238e-01 -5.49174244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.711193817 meters Centerline goodness [0,1] 0.9043981817804437 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.08, Z:-0.55 [[ 9.99965216e-01 -7.57474497e-03 -3.49135117e-03 2.62165971e+00] [ 7.57172743e-03 9.99970950e-01 -8.76699277e-04 -7.61901142e-02] [ 3.49789052e-03 8.50233223e-04 9.99993521e-01 -5.48176099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.741193817 meters Centerline goodness [0,1] 0.903076763700404 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.08, Z:-0.55 [[ 9.99964628e-01 -7.52651374e-03 -3.75429983e-03 2.62214962e+00] [ 7.52761740e-03 9.99971628e-01 2.79929224e-04 -8.01433987e-02] [ 3.75208643e-03 -3.08180255e-04 9.99992913e-01 -5.48044693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.771193817000004 meters Centerline goodness [0,1] 0.9049402126691216 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.08, Z:-0.55 [[ 9.99964253e-01 -7.47401755e-03 -3.95375212e-03 2.62263206e+00] [ 7.47987547e-03 9.99970946e-01 1.46890306e-03 -8.43050110e-02] [ 3.94265865e-03 -1.49842412e-03 9.99991105e-01 -5.48049760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.801193817 meters Centerline goodness [0,1] 0.8977678663610646 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.09, Z:-0.55 [[ 0.9999634 -0.00741005 -0.00427681 2.62332375] [ 0.00742147 0.99996892 0.0026608 -0.08884389] [ 0.00425696 -0.00269244 0.99998731 -0.54800879] [ 0. 0. 0. 1. ]] SLAMing on 51.831193817 meters Centerline goodness [0,1] 0.8861084641836185 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:-0.55 [[ 9.99936726e-01 -1.03323952e-02 -4.44819074e-03 2.62392074e+00] [ 1.03367946e-02 9.99946106e-01 9.67170412e-04 -9.57504269e-02] [ 4.43795783e-03 -1.01308925e-03 9.99989639e-01 -5.48182167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.861193817 meters Centerline goodness [0,1] 0.883371919960311 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:-0.55 [[ 9.99939160e-01 -1.00163205e-02 -4.62051269e-03 2.62451999e+00] [ 1.00244538e-02 9.99948239e-01 1.74047556e-03 -9.77094440e-02] [ 4.60284037e-03 -1.78668778e-03 9.99987811e-01 -5.48449183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.891193817 meters Centerline goodness [0,1] 0.8978573952077142 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:-0.55 [[ 9.99943603e-01 -9.48786087e-03 -4.77191268e-03 2.62463622e+00] [ 9.49843387e-03 9.99952473e-01 2.19791360e-03 -9.77437093e-02] [ 4.75083239e-03 -2.24311534e-03 9.99986199e-01 -5.48210700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.921193817 meters Centerline goodness [0,1] 0.9018158477752242 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.10, Z:-0.55 [[ 0.99997126 -0.00560776 -0.00510237 2.62520409] [ 0.00564033 0.99996367 0.00639177 -0.09856659] [ 0.00506634 -0.00642036 0.99996656 -0.54804612] [ 0. 0. 0. 1. ]] SLAMing on 51.951193817000004 meters Centerline goodness [0,1] 0.9053101943260937 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:-0.55 [[ 0.9999844 -0.0027371 -0.0048682 2.62280241] [ 0.00277996 0.99995724 0.00881972 -0.10019373] [ 0.00484385 -0.00883311 0.99994926 -0.54562426] [ 0. 0. 0. 1. ]] SLAMing on 51.981193817 meters Centerline goodness [0,1] 0.9048218635181439 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:-0.55 [[ 9.99984375e-01 -2.40174311e-03 -5.04782358e-03 2.62289813e+00] [ 2.44910750e-03 9.99952839e-01 9.39798952e-03 -1.02263590e-01] [ 5.02501397e-03 -9.41020535e-03 9.99943097e-01 -5.45216913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.011193817 meters Centerline goodness [0,1] 0.9070061581206328 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:-0.54 [[ 0.99997926 -0.0043948 -0.00470881 2.62109535] [ 0.00442851 0.99996447 0.00717293 -0.10303411] [ 0.00467711 -0.00719363 0.99996319 -0.54382941] [ 0. 0. 0. 1. ]] SLAMing on 52.041193817 meters Centerline goodness [0,1] 0.9037118401691157 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:-0.54 [[ 0.9999784 -0.00448826 -0.00480168 2.62144292] [ 0.00452427 0.99996153 0.00751405 -0.10468588] [ 0.00476777 -0.00753561 0.99996024 -0.54397196] [ 0. 0. 0. 1. ]] SLAMing on 52.071193817 meters Centerline goodness [0,1] 0.9044082564049373 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.11, Z:-0.54 [[ 0.99996026 -0.00756502 -0.00471691 2.62109998] [ 0.00758628 0.99996107 0.00450622 -0.10632053] [ 0.00468264 -0.00454183 0.99997872 -0.54370403] [ 0. 0. 0. 1. ]] SLAMing on 52.101193817 meters Centerline goodness [0,1] 0.9048820852296235 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.11, Z:-0.54 [[ 0.99996074 -0.00742554 -0.00483471 2.62163925] [ 0.00744901 0.99996046 0.00485657 -0.10750358] [ 0.00479846 -0.00489239 0.99997652 -0.544071 ] [ 0. 0. 0. 1. ]] SLAMing on 52.131193817 meters Centerline goodness [0,1] 0.9049952248474027 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.11, Z:-0.54 [[ 0.99996312 -0.00711782 -0.00480508 2.62157225] [ 0.00714228 0.99996153 0.0050909 -0.10744772] [ 0.00476866 -0.00512503 0.9999755 -0.5440419 ] [ 0. 0. 0. 1. ]] SLAMing on 52.161193817 meters Centerline goodness [0,1] 0.9051577945981718 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.11, Z:-0.54 [[ 0.99998279 -0.00308815 -0.00498796 2.62229932] [ 0.00313299 0.99995453 0.00900625 -0.10665735] [ 0.00495992 -0.00902172 0.999947 -0.54455748] [ 0. 0. 0. 1. ]] SLAMing on 52.191193817 meters Centerline goodness [0,1] 0.904405359439167 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.11, Z:-0.54 [[ 0.99998289 -0.00290912 -0.00507476 2.6224502 ] [ 0.00295331 0.9999576 0.0087227 -0.10535655] [ 0.00504917 -0.00873754 0.99994908 -0.54452776] [ 0. 0. 0. 1. ]] SLAMing on 52.221193817 meters Centerline goodness [0,1] 0.9041002419204764 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.11, Z:-0.54 [[ 0.99998161 -0.00278474 -0.00538685 2.62309496] [ 0.00283074 0.99995944 0.00855038 -0.10501758] [ 0.00536282 -0.00856547 0.99994894 -0.54458779] [ 0. 0. 0. 1. ]] SLAMing on 52.251193817 meters Centerline goodness [0,1] 0.9052709940238632 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:-0.54 [[ 0.9999814 -0.0028033 -0.00541681 2.62328385] [ 0.00284821 0.99996149 0.00830056 -0.10479468] [ 0.00539333 -0.00831583 0.99995088 -0.54472417] [ 0. 0. 0. 1. ]] SLAMing on 52.281193817 meters Centerline goodness [0,1] 0.9028522899103093 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:-0.55 [[ 9.99981142e-01 -2.55160355e-03 -5.58606462e-03 2.62379087e+00] [ 2.59685978e-03 9.99963746e-01 8.10942449e-03 -1.04612561e-01] [ 5.56517006e-03 -8.12377779e-03 9.99951515e-01 -5.45004115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.311193817 meters Centerline goodness [0,1] 0.9062882512810937 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:-0.55 [[ 0.9999801 -0.00267532 -0.0057141 2.62408104] [ 0.00272064 0.99996479 0.00793828 -0.10457318] [ 0.00569266 -0.00795367 0.99995217 -0.54504149] [ 0. 0. 0. 1. ]] SLAMing on 52.341193817000004 meters Centerline goodness [0,1] 0.9055552114943952 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:-0.55 [[ 0.99997876 -0.00285058 -0.00586186 2.62454887] [ 0.00289636 0.99996525 0.00781695 -0.10464787] [ 0.00583938 -0.00783376 0.99995227 -0.5452076 ] [ 0. 0. 0. 1. ]] SLAMing on 52.371193817 meters Centerline goodness [0,1] 0.9066315090108795 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:-0.54 [[ 0.99997826 -0.00300822 -0.00586832 2.62435935] [ 0.0030536 0.99996539 0.00773888 -0.10456039] [ 0.00584483 -0.00775664 0.99995284 -0.54492571] [ 0. 0. 0. 1. ]] SLAMing on 52.401193817 meters Centerline goodness [0,1] 0.9072625698324023 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.11, Z:-0.54 [[ 0.99997619 -0.00346963 -0.00596456 2.624388 ] [ 0.00351598 0.99996358 0.00777676 -0.10537309] [ 0.00593736 -0.00779755 0.99995197 -0.54462958] [ 0. 0. 0. 1. ]] SLAMing on 52.431193817 meters Centerline goodness [0,1] 0.9083436341161928 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.11, Z:-0.54 [[ 0.99997506 -0.00360213 -0.00607476 2.62462405] [ 0.0036523 0.99995915 0.00826785 -0.1075692 ] [ 0.00604473 -0.00828983 0.99994737 -0.54453891] [ 0. 0. 0. 1. ]] SLAMing on 52.461193817 meters Centerline goodness [0,1] 0.9076110503620871 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.11, Z:-0.54 [[ 0.99996443 -0.00607364 -0.00585308 2.62329491] [ 0.00610784 0.99996428 0.00584177 -0.10908553] [ 0.00581739 -0.00587732 0.99996581 -0.54341895] [ 0. 0. 0. 1. ]] SLAMing on 52.491193817 meters Centerline goodness [0,1] 0.9076110503620871 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.11, Z:-0.54 [[ 0.99996443 -0.00607364 -0.00585308 2.62329491] [ 0.00610784 0.99996428 0.00584177 -0.10908553] [ 0.00581739 -0.00587732 0.99996581 -0.54341895] [ 0. 0. 0. 1. ]] SLAMing on 52.521193817000004 meters Centerline goodness [0,1] 0.9079907161803713 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.11, Z:-0.54 [[ 9.99938971e-01 -9.39530550e-03 -5.81225909e-03 2.62333016e+00] [ 9.40993298e-03 9.99952614e-01 2.49445229e-03 -1.10023946e-01] [ 5.78854753e-03 -2.54899303e-03 9.99979997e-01 -5.43510717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.551193817 meters Centerline goodness [0,1] 0.9074786855392766 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.11, Z:-0.55 [[ 9.99913189e-01 -1.15943417e-02 -6.25986822e-03 2.62668312e+00] [ 1.16014407e-02 9.99932097e-01 1.09892357e-03 -1.14071187e-01] [ 6.24670186e-03 -1.17145166e-03 9.99979803e-01 -5.46529682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.581193817 meters Centerline goodness [0,1] 0.9051223194160101 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.12, Z:-0.55 [[ 9.99913204e-01 -1.14190419e-02 -6.57183322e-03 2.62827551e+00] [ 1.14315305e-02 9.99932917e-01 1.86591025e-03 -1.16526154e-01] [ 6.55008545e-03 -1.94087441e-03 9.99976664e-01 -5.47753361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.611193817 meters Centerline goodness [0,1] 0.9031004547333609 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.12, Z:-0.55 [[ 0.99991492 -0.01110625 -0.00684126 2.62951323] [ 0.01112517 0.99993438 0.00273312 -0.1192082 ] [ 0.00681045 -0.002809 0.99997286 -0.54860611] [ 0. 0. 0. 1. ]] SLAMing on 52.641193817 meters Centerline goodness [0,1] 0.9012740175125534 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.12, Z:-0.55 [[ 0.99991733 -0.01077656 -0.00701372 2.62998173] [ 0.01080113 0.99993563 0.00347474 -0.12139337] [ 0.00697582 -0.00355021 0.99996937 -0.5487441 ] [ 0. 0. 0. 1. ]] SLAMing on 52.671193817 meters Centerline goodness [0,1] 0.9028051334148819 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.12, Z:-0.55 [[ 0.99991994 -0.01039824 -0.00720992 2.63038884] [ 0.01042764 0.99993742 0.00405149 -0.12290796] [ 0.00716734 -0.00412635 0.9999658 -0.54873896] [ 0. 0. 0. 1. ]] SLAMing on 52.701193817000004 meters Centerline goodness [0,1] 0.9055221091965954 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.12, Z:-0.55 [[ 0.99993996 -0.00842994 -0.00700129 2.62904873] [ 0.00847003 0.99994779 0.00571632 -0.12441803] [ 0.00695274 -0.00577528 0.99995915 -0.54759198] [ 0. 0. 0. 1. ]] SLAMing on 52.731193817 meters Centerline goodness [0,1] 0.9056102321332171 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.12, Z:-0.55 [[ 0.99994343 -0.00774138 -0.00729452 2.62961238] [ 0.00778625 0.99995081 0.00614359 -0.12463325] [ 0.0072466 -0.00620004 0.99995452 -0.54761305] [ 0. 0. 0. 1. ]] SLAMing on 52.761193817 meters Centerline goodness [0,1] 0.901953488372093 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.13, Z:-0.55 [[ 0.99994662 -0.00706007 -0.00754398 2.63023276] [ 0.00711026 0.99995263 0.0066473 -0.12516998] [ 0.00749669 -0.00670058 0.99994945 -0.54780906] [ 0. 0. 0. 1. ]] SLAMing on 52.791193817 meters Centerline goodness [0,1] 0.9061787269334439 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.13, Z:-0.55 [[ 0.99995198 -0.00629118 -0.00751351 2.62968233] [ 0.00634685 0.99995242 0.00740753 -0.12626414] [ 0.00746655 -0.00745486 0.99994434 -0.54715387] [ 0. 0. 0. 1. ]] SLAMing on 52.821193817 meters Centerline goodness [0,1] 0.91128332300062 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.13, Z:-0.55 [[ 9.99996172e-01 -1.24591047e-03 -2.47046524e-03 2.63482251e+00] [ 1.24785887e-03 9.99998912e-01 7.87290499e-04 -1.27763218e-01] [ 2.46948165e-03 -7.90370277e-04 9.99996638e-01 -5.46034074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.851193817 meters Centerline goodness [0,1] 0.9128808234467364 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.13, Z:-0.55 [[ 9.99996520e-01 -7.87780782e-04 -2.51776680e-03 2.63459427e+00] [ 7.90895873e-04 9.99998923e-01 1.23648753e-03 -1.28496884e-01] [ 2.51679000e-03 -1.23847452e-03 9.99996066e-01 -5.45547563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.881193817 meters Centerline goodness [0,1] 0.9116067911855552 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.13, Z:-0.54 [[ 9.99996841e-01 -1.25504698e-04 -2.51039330e-03 2.63413999e+00] [ 1.30741066e-04 9.99997816e-01 2.08582007e-03 -1.30472721e-01] [ 2.51012604e-03 -2.08614170e-03 9.99994674e-01 -5.44977440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.911193817000004 meters Centerline goodness [0,1] 0.913597821377731 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.13, Z:-0.54 [[ 9.99996525e-01 3.43155432e-04 -2.61385544e-03 2.63434359e+00] [-3.35693253e-04 9.99995869e-01 2.85475891e-03 -1.33062196e-01] [ 2.61482426e-03 -2.85387153e-03 9.99992509e-01 -5.44898909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.941193817 meters Centerline goodness [0,1] 0.9156921290536618 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.14, Z:-0.54 [[ 9.99995079e-01 1.99026875e-03 -2.42501596e-03 2.63327345e+00] [-1.97818448e-03 9.99985666e-01 4.97542212e-03 -1.38277842e-01] [ 2.43488362e-03 -4.97060050e-03 9.99984682e-01 -5.44010262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.971193817 meters Centerline goodness [0,1] 0.9152786642235079 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.14, Z:-0.54 [[ 9.99993858e-01 2.42381077e-03 -2.53162165e-03 2.63365891e+00] [-2.40922556e-03 9.99980575e-01 5.74845947e-03 -1.40629676e-01] [ 2.54550565e-03 -5.74232492e-03 9.99980273e-01 -5.44184558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.001193817 meters Centerline goodness [0,1] 0.9166477448653112 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.14, Z:-0.54 [[ 9.99997268e-01 6.28415466e-04 -2.25147045e-03 2.63195292e+00] [-6.19881777e-04 9.99992630e-01 3.78896893e-03 -1.42255589e-01] [ 2.25383491e-03 -3.78756293e-03 9.99990287e-01 -5.42898601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.031193817 meters Centerline goodness [0,1] 0.9169735589853933 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.15, Z:-0.54 [[ 9.99997858e-01 -4.09624057e-04 -2.02865463e-03 2.63002422e+00] [ 4.15571783e-04 9.99995614e-01 2.93230450e-03 -1.45107163e-01] [ 2.02744459e-03 -2.93314127e-03 9.99993643e-01 -5.41152371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.061193817 meters Centerline goodness [0,1] 0.9176818620703823 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.15, Z:-0.54 [[ 9.99993912e-01 -2.91749749e-03 -1.91426461e-03 2.62890807e+00] [ 2.92133280e-03 9.99993725e-01 2.00381026e-03 -1.53951418e-01] [ 1.90840649e-03 -2.00939026e-03 9.99996160e-01 -5.39788102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.091193817000004 meters Centerline goodness [0,1] 0.9170295762729356 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.16, Z:-0.54 [[ 9.99981686e-01 -5.75544849e-03 -1.87136723e-03 2.62837027e+00] [ 5.75519180e-03 9.99983429e-01 -1.42523746e-04 -1.58322333e-01] [ 1.87215650e-03 1.31751059e-04 9.99998239e-01 -5.39188191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.121193817 meters Centerline goodness [0,1] 0.9173569121179491 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.16, Z:-0.54 [[ 9.99959374e-01 -8.79178333e-03 -1.98866805e-03 2.62844788e+00] [ 8.78721696e-03 9.99958762e-01 -2.29339369e-03 -1.63445220e-01] [ 2.00874906e-03 2.27582567e-03 9.99995393e-01 -5.38889318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.151193817 meters Centerline goodness [0,1] 0.9197800387197759 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.17, Z:-0.54 [[ 9.99927205e-01 -1.18874127e-02 -2.06750474e-03 2.62852183e+00] [ 1.18783083e-02 9.99919938e-01 -4.36149455e-03 -1.69022927e-01] [ 2.11918610e-03 4.33661859e-03 9.99988351e-01 -5.38530933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.181193817 meters Centerline goodness [0,1] 0.9192917054986021 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.18, Z:-0.54 [[ 9.99888777e-01 -1.47786641e-02 -2.00639060e-03 2.62772216e+00] [ 1.47662885e-02 9.99872676e-01 -6.04879003e-03 -1.75189513e-01] [ 2.09552817e-03 6.01849032e-03 9.99979693e-01 -5.37478779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.211193817 meters Centerline goodness [0,1] 0.9205975330068803 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.19, Z:-0.54 [[ 9.99786755e-01 -2.05773085e-02 -1.73732810e-03 2.62767518e+00] [ 2.05595634e-02 9.99741776e-01 -9.67910483e-03 -1.85979307e-01] [ 1.93604940e-03 9.64132210e-03 9.99951647e-01 -5.37431845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.241193817 meters Centerline goodness [0,1] 0.9191548478062537 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.19, Z:-0.54 [[ 9.99792939e-01 -2.02629615e-02 -1.86842278e-03 2.62836265e+00] [ 2.02476633e-02 9.99764002e-01 -7.87223557e-03 -1.92004416e-01] [ 2.02749665e-03 7.83277434e-03 9.99967268e-01 -5.37795629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.271193817000004 meters Centerline goodness [0,1] 0.9197335484805229 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.20, Z:-0.54 [[ 9.99799287e-01 -1.99351699e-02 -1.99376485e-03 2.62949258e+00] [ 1.99221137e-02 9.99781262e-01 -6.36698060e-03 -1.96916130e-01] [ 2.12025557e-03 6.32598265e-03 9.99977743e-01 -5.38794794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.301193817 meters Centerline goodness [0,1] 0.9188813510093151 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.20, Z:-0.54 [[ 9.99808438e-01 -1.94479262e-02 -2.20581433e-03 2.63053880e+00] [ 1.94368347e-02 9.99798868e-01 -4.94296887e-03 -2.01078415e-01] [ 2.30150116e-03 4.89914793e-03 9.99985351e-01 -5.39500321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.331193817 meters Centerline goodness [0,1] 0.9188281395782796 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.21, Z:-0.54 [[ 9.99851726e-01 -1.69881405e-02 -2.81576836e-03 2.63309427e+00] [ 1.69837650e-02 9.99854532e-01 -1.57063001e-03 -2.08329868e-01] [ 2.84204084e-03 1.52257478e-03 9.99994802e-01 -5.41189849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.361193817 meters Centerline goodness [0,1] 0.917508627499896 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.21, Z:-0.54 [[ 0.99991743 -0.01247382 -0.00308943 2.6337736 ] [ 0.01248506 0.99991542 0.00364397 -0.21266359] [ 0.00304371 -0.00368224 0.99998859 -0.54133982] [ 0. 0. 0. 1. ]] SLAMing on 53.391193817 meters Centerline goodness [0,1] 0.9154473569516219 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.22, Z:-0.54 [[ 0.9999434 -0.00984532 -0.00403386 2.63688359] [ 0.00986996 0.99993248 0.00613321 -0.2155108 ] [ 0.0039732 -0.00617268 0.99997306 -0.5431042 ] [ 0. 0. 0. 1. ]] SLAMing on 53.421193817 meters Centerline goodness [0,1] 0.9122356527003612 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.22, Z:-0.54 [[ 0.99998461 -0.0036105 -0.00421166 2.63751252] [ 0.00366123 0.99992007 0.01210125 -0.21976977] [ 0.00416763 -0.01211649 0.99991791 -0.54373731] [ 0. 0. 0. 1. ]] SLAMing on 53.451193817000004 meters Centerline goodness [0,1] 0.9117206671380443 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.22, Z:-0.54 [[ 9.99996926e-01 2.15106700e-03 -1.23335668e-03 2.64539253e+00] [-2.14473513e-03 9.99984632e-01 5.11239569e-03 -2.19016141e-01] [ 1.24433483e-03 -5.10973475e-03 9.99986171e-01 -5.44048642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.481193817 meters Centerline goodness [0,1] 0.9123553331248045 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.22, Z:-0.54 [[ 9.99992687e-01 3.62129030e-03 -1.22936443e-03 2.64451785e+00] [-3.61382812e-03 9.99975357e-01 6.01885288e-03 -2.19122209e-01] [ 1.25113015e-03 -6.01436615e-03 9.99981131e-01 -5.43101647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.511193817 meters Centerline goodness [0,1] 0.9010538153948684 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.22, Z:-0.54 [[ 9.99988632e-01 4.58633705e-03 -1.30402751e-03 2.64432429e+00] [-4.57741285e-03 9.99966633e-01 6.76611767e-03 -2.20042883e-01] [ 1.33501570e-03 -6.76007169e-03 9.99976259e-01 -5.42702625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.541193817 meters Centerline goodness [0,1] 0.8902837632461016 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.22, Z:-0.54 [[ 9.99984210e-01 5.47816366e-03 -1.25315905e-03 2.64391682e+00] [-5.46814753e-03 9.99954150e-01 7.86117614e-03 -2.22624660e-01] [ 1.29616640e-03 -7.85419955e-03 9.99968315e-01 -5.42257123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.571193817 meters Centerline goodness [0,1] 0.8712256510362587 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.23, Z:-0.54 [[ 9.99989894e-01 4.36054825e-03 -1.09435483e-03 2.64355247e+00] [-4.35252449e-03 9.99964389e-01 7.23025196e-03 -2.30118694e-01] [ 1.12584373e-03 -7.22541568e-03 9.99973263e-01 -5.42341736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.601193817 meters Centerline goodness [0,1] 0.8565892276127909 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.23, Z:-0.54 [[ 9.99998555e-01 1.34745408e-03 -1.03663965e-03 2.64374749e+00] [-1.34287363e-03 9.99989389e-01 4.40663188e-03 -2.33003334e-01] [ 1.04256639e-03 -4.40523344e-03 9.99989753e-01 -5.42860629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.631193817 meters Centerline goodness [0,1] 0.891552226383687 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.24, Z:-0.54 [[ 9.99998851e-01 -1.31431283e-03 -7.55727897e-04 2.64259918e+00] [ 1.31613697e-03 9.99996210e-01 2.41833166e-03 -2.37214445e-01] [ 7.52546589e-04 -2.41932352e-03 9.99996790e-01 -5.42072851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.661193817000004 meters Centerline goodness [0,1] 0.900399317832037 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.24, Z:-0.54 [[ 9.99990571e-01 -4.28695580e-03 -6.92106392e-04 2.64206322e+00] [ 4.28720129e-03 9.99990747e-01 3.53609395e-04 -2.42222039e-01] [ 6.90584081e-04 -3.56573260e-04 9.99999698e-01 -5.41385274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.691193817 meters Centerline goodness [0,1] 0.9119678748283467 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.25, Z:-0.54 [[ 9.99950043e-01 -9.98001134e-03 -5.58456792e-04 2.64183144e+00] [ 9.97823097e-03 9.99945396e-01 -3.10483114e-03 -2.54123250e-01] [ 5.89412548e-04 3.09910362e-03 9.99995024e-01 -5.40770526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.721193817 meters Centerline goodness [0,1] 0.9135073307684309 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.26, Z:-0.54 [[ 9.99913923e-01 -1.31049365e-02 -6.37846817e-04 2.64228869e+00] [ 1.31012235e-02 9.99898974e-01 -5.51353220e-03 -2.58667958e-01] [ 7.10036867e-04 5.50470104e-03 9.99984597e-01 -5.40939489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.751193817 meters Centerline goodness [0,1] 0.9145496535796767 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.26, Z:-0.54 [[ 9.99919874e-01 -1.26261956e-02 -9.07864170e-04 2.64311106e+00] [ 1.26226222e-02 9.99912960e-01 -3.83952181e-03 -2.64141837e-01] [ 9.56263702e-04 3.82775454e-03 9.99992217e-01 -5.41082209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.781193817 meters Centerline goodness [0,1] 0.9120587930856019 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.27, Z:-0.54 [[ 9.99923937e-01 -1.22692860e-02 -1.25927290e-03 2.64430572e+00] [ 1.22661198e-02 9.99921663e-01 -2.49199614e-03 -2.68852882e-01] [ 1.28974927e-03 2.47636020e-03 9.99996102e-01 -5.41519866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.811193817 meters Centerline goodness [0,1] 0.9154015721831719 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.27, Z:-0.54 [[ 9.99931924e-01 -1.15839801e-02 -1.39975578e-03 2.64450807e+00] [ 1.15828079e-02 9.99932562e-01 -8.42648811e-04 -2.73896735e-01] [ 1.40942261e-03 8.26378344e-04 9.99998665e-01 -5.41242647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.841193817000004 meters Centerline goodness [0,1] 0.9099279506183034 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.28, Z:-0.54 [[ 9.99930242e-01 -1.16194742e-02 -2.12103902e-03 2.64628965e+00] [ 1.16192670e-02 9.99932488e-01 -1.09994747e-04 -2.83329240e-01] [ 2.12217391e-03 8.53421556e-05 9.99997745e-01 -5.41773066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.871193817 meters Centerline goodness [0,1] 0.9041979728182821 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.29, Z:-0.54 [[ 9.99942551e-01 -1.04958273e-02 -2.17545329e-03 2.64602735e+00] [ 1.04999354e-02 9.99943096e-01 1.88561872e-03 -2.88892142e-01] [ 2.15553837e-03 -1.90835252e-03 9.99995856e-01 -5.41143730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.901193817 meters Centerline goodness [0,1] 0.9130679098420362 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.29, Z:-0.54 [[ 9.99954067e-01 -9.32669921e-03 -2.20851849e-03 2.64578013e+00] [ 9.33533111e-03 9.99948698e-01 3.93094681e-03 -2.94543926e-01] [ 2.17174243e-03 -3.95138350e-03 9.99989835e-01 -5.40550709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.931193817 meters Centerline goodness [0,1] 0.9088568165299553 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.31, Z:-0.54 [[ 9.99962984e-01 -8.19111023e-03 -2.63366495e-03 2.64664114e+00] [ 8.20734699e-03 9.99947008e-01 6.21454187e-03 -3.05174116e-01] [ 2.58262139e-03 -6.23592723e-03 9.99977221e-01 -5.40616560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.961193817 meters Centerline goodness [0,1] 0.9096381790629606 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.31, Z:-0.54 [[ 0.99996171 -0.00818754 -0.00308813 2.64871077] [ 0.00820938 0.99994091 0.00712606 -0.31039842] [ 0.0030296 -0.00715114 0.99996984 -0.54196765] [ 0. 0. 0. 1. ]] SLAMing on 53.991193817 meters Centerline goodness [0,1] 0.9107643722341111 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.32, Z:-0.54 [[ 0.9999558 -0.0087082 -0.0035437 2.65076532] [ 0.00873524 0.99993231 0.00768634 -0.31680677] [ 0.00347653 -0.00771695 0.99996418 -0.5431982 ] [ 0. 0. 0. 1. ]] SLAMing on 54.021193817000004 meters Centerline goodness [0,1] 0.9087167976056865 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.32, Z:-0.54 [[ 0.99992928 -0.0112997 -0.00370734 2.65212301] [ 0.01132272 0.99991637 0.00624921 -0.32300127] [ 0.00363641 -0.00629074 0.9999736 -0.54406245] [ 0. 0. 0. 1. ]] SLAMing on 54.051193817 meters Centerline goodness [0,1] 0.9151329881256889 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.33, Z:-0.54 [[ 0.99988574 -0.01460495 -0.00389987 2.65299768] [ 0.01462137 0.99988422 0.00421567 -0.32925356] [ 0.00383785 -0.00427221 0.99998351 -0.54424088] [ 0. 0. 0. 1. ]] SLAMing on 54.081193817 meters Centerline goodness [0,1] 0.9190691500394077 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.34, Z:-0.54 [[ 9.99748683e-01 -2.19989562e-02 -4.31465205e-03 2.65488518e+00] [ 2.20067228e-02 9.99756272e-01 1.76092557e-03 -3.44697437e-01] [ 4.27486192e-03 -1.85543437e-03 9.99989141e-01 -5.42307815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.111193817 meters Centerline goodness [0,1] 0.9177291166487291 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.35, Z:-0.54 [[ 9.99664111e-01 -2.55305891e-02 -4.45581334e-03 2.65538256e+00] [ 2.55289634e-02 9.99673994e-01 -4.21356516e-04 -3.51335961e-01] [ 4.46511820e-03 3.07462691e-04 9.99989984e-01 -5.41930980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.141193817 meters Centerline goodness [0,1] 0.9181876566740558 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.36, Z:-0.54 [[ 9.99573962e-01 -2.88348072e-02 -4.52197094e-03 2.65541064e+00] [ 2.88238713e-02 9.99581466e-01 -2.46521517e-03 -3.57394233e-01] [ 4.59116235e-03 2.33382419e-03 9.99986737e-01 -5.41108898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.171193817 meters Centerline goodness [0,1] 0.9182277851458887 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.36, Z:-0.54 [[ 0.99947232 -0.03217086 -0.00448597 2.65530714] [ 0.03214889 0.99947115 -0.00488647 -0.36223219] [ 0.0046408 0.00473967 0.999978 -0.54051425] [ 0. 0. 0. 1. ]] SLAMing on 54.201193817000004 meters Centerline goodness [0,1] 0.9180334684544226 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.37, Z:-0.54 [[ 0.99934352 -0.03595537 -0.00444407 2.65574311] [ 0.0359257 0.99933276 -0.00658555 -0.37055376] [ 0.00467789 0.00642157 0.99996844 -0.53996899] [ 0. 0. 0. 1. ]] SLAMing on 54.231193817 meters Centerline goodness [0,1] 0.9164680771701514 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.37, Z:-0.54 [[ 0.99933081 -0.03627519 -0.00469423 2.65692249] [ 0.03624791 0.99932616 -0.00577122 -0.37466737] [ 0.00490042 0.0055972 0.99997233 -0.54033149] [ 0. 0. 0. 1. ]] SLAMing on 54.261193817 meters Centerline goodness [0,1] 0.9147816395608024 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.38, Z:-0.54 [[ 0.99931077 -0.03679254 -0.00492801 2.65800685] [ 0.03676779 0.99931121 -0.00502328 -0.37918081] [ 0.00510944 0.00483862 0.99997524 -0.54037817] [ 0. 0. 0. 1. ]] SLAMing on 54.291193817 meters Centerline goodness [0,1] 0.9167634613789098 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.38, Z:-0.54 [[ 0.9991652 -0.04056084 -0.00487009 2.65799736] [ 0.04051997 0.99914495 -0.0082157 -0.38216115] [ 0.00519916 0.00801151 0.99995439 -0.53991563] [ 0. 0. 0. 1. ]] SLAMing on 54.321193817 meters Centerline goodness [0,1] 0.9152822889298053 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.39, Z:-0.54 [[ 0.9991235 -0.04156556 -0.00495389 2.65893694] [ 0.0415251 0.99910536 -0.00800866 -0.38656186] [ 0.00528235 0.00779593 0.99995566 -0.53999557] [ 0. 0. 0. 1. ]] SLAMing on 54.351193817 meters Centerline goodness [0,1] 0.9151992682064822 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.39, Z:-0.54 [[ 0.99910413 -0.04201449 -0.00507084 2.65934983] [ 0.04197659 0.99909147 -0.00736269 -0.3899663 ] [ 0.00537557 0.00714324 0.99996004 -0.53959894] [ 0. 0. 0. 1. ]] SLAMing on 54.381193817 meters Centerline goodness [0,1] 0.9151992682064822 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.39, Z:-0.54 [[ 0.99910413 -0.04201449 -0.00507084 2.65934983] [ 0.04197659 0.99909147 -0.00736269 -0.3899663 ] [ 0.00537557 0.00714324 0.99996004 -0.53959894] [ 0. 0. 0. 1. ]] SLAMing on 54.411193817000004 meters Centerline goodness [0,1] 0.9094837389128951 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.39, Z:-0.54 [[ 0.99889219 -0.04678745 -0.00503338 2.66071047] [ 0.04672833 0.99884389 -0.01128442 -0.39155407] [ 0.00555553 0.01103671 0.99992366 -0.54067332] [ 0. 0. 0. 1. ]] SLAMing on 54.441193817 meters Centerline goodness [0,1] 0.9085828590282934 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.39, Z:-0.54 [[ 0.99887845 -0.04705191 -0.00528781 2.6615442 ] [ 0.04699185 0.99883515 -0.01095934 -0.39323461] [ 0.00579731 0.01069857 0.99992596 -0.54077321] [ 0. 0. 0. 1. ]] SLAMing on 54.471193817 meters Centerline goodness [0,1] 0.905536653263223 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.39, Z:-0.54 [[ 0.99887051 -0.0471975 -0.00548612 2.66222827] [ 0.04713627 0.99883008 -0.01079982 -0.39406205] [ 0.00598943 0.01052903 0.99992663 -0.54094268] [ 0. 0. 0. 1. ]] SLAMing on 54.501193817 meters Centerline goodness [0,1] 0.9048436821087915 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.40, Z:-0.54 [[ 0.99902022 -0.0438887 -0.00569079 2.66285562] [ 0.04385047 0.99901579 -0.00667784 -0.39561638] [ 0.00597827 0.00642175 0.99996151 -0.54103368] [ 0. 0. 0. 1. ]] SLAMing on 54.531193817 meters Centerline goodness [0,1] 0.9100745571223858 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.39, Z:-0.54 [[ 0.99918067 -0.0400421 -0.00588325 2.66259118] [ 0.04002523 0.99919429 -0.00295904 -0.39353682] [ 0.005997 0.00272114 0.99997832 -0.54050422] [ 0. 0. 0. 1. ]] SLAMing on 54.561193817 meters Centerline goodness [0,1] 0.9083817013043749 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.39, Z:-0.54 [[ 9.99331941e-01 -3.59977131e-02 -6.31154200e-03 2.66285468e+00] [ 3.60046657e-02 9.99351130e-01 9.91383066e-04 -3.92876983e-01] [ 6.27175911e-03 -1.21796572e-03 9.99979591e-01 -5.40014212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.591193817000004 meters Centerline goodness [0,1] 0.9110580417402139 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.39, Z:-0.54 [[ 0.99944937 -0.03245103 -0.00691981 2.6643058 ] [ 0.03247929 0.99946436 0.00401103 -0.39075983] [ 0.00678595 -0.00423357 0.99996801 -0.54070792] [ 0. 0. 0. 1. ]] SLAMing on 54.621193817 meters Centerline goodness [0,1] 0.9133642276760666 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.39, Z:-0.54 [[ 0.99956001 -0.02871489 -0.00743191 2.66541447] [ 0.02876831 0.9995603 0.00718284 -0.38833776] [ 0.00722239 -0.00739348 0.99994659 -0.54119066] [ 0. 0. 0. 1. ]] SLAMing on 54.651193817 meters Centerline goodness [0,1] 0.9126532308331602 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.39, Z:-0.54 [[ 0.99965885 -0.02490666 -0.00786386 2.66631126] [ 0.02498728 0.99963443 0.01032661 -0.38561924] [ 0.00760378 -0.01051958 0.99991576 -0.541629 ] [ 0. 0. 0. 1. ]] SLAMing on 54.681193817 meters Centerline goodness [0,1] 0.9134460047222568 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.38, Z:-0.54 [[ 0.99988386 -0.01393346 -0.00617416 2.67172837] [ 0.01395207 0.99989822 0.00298211 -0.37861008] [ 0.00613198 -0.0030679 0.99997649 -0.54455903] [ 0. 0. 0. 1. ]] SLAMing on 54.711193817 meters Centerline goodness [0,1] 0.9135325861353258 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.38, Z:-0.54 [[ 0.99992914 -0.01000766 -0.00644754 2.67172594] [ 0.01004984 0.9999281 0.00654165 -0.37725298] [ 0.00638161 -0.00660598 0.99995782 -0.54394843] [ 0. 0. 0. 1. ]] SLAMing on 54.741193817 meters Centerline goodness [0,1] 0.9137956008028638 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.37, Z:-0.55 [[ 9.99982504e-01 -5.70272913e-03 -1.57199092e-03 2.68177321e+00] [ 5.70082646e-03 9.99983015e-01 -1.21218740e-03 -3.74008801e-01] [ 1.57887699e-03 1.20320454e-03 9.99998030e-01 -5.47361118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.771193817000004 meters Centerline goodness [0,1] 0.91475131486313 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.37, Z:-0.55 [[ 9.99995814e-01 -2.25948334e-03 -1.80726068e-03 2.68250438e+00] [ 2.26405739e-03 9.99994229e-01 2.53290163e-03 -3.74360744e-01] [ 1.80152720e-03 -2.53698277e-03 9.99995159e-01 -5.47481105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.801193817 meters Centerline goodness [0,1] 0.9123813864832387 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.37, Z:-0.55 [[ 9.99995059e-01 -2.49903419e-03 -1.90703420e-03 2.68362793e+00] [ 2.50279255e-03 9.99994926e-01 1.97095614e-03 -3.72700173e-01] [ 1.90209904e-03 -1.97571931e-03 9.99996239e-01 -5.48849349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.831193817 meters Centerline goodness [0,1] 0.9120351196885612 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.37, Z:-0.55 [[ 9.99993816e-01 -2.77114126e-03 -2.16524757e-03 2.68477518e+00] [ 2.77501494e-03 9.99994551e-01 1.78807605e-03 -3.72550394e-01] [ 2.16028076e-03 -1.79407358e-03 9.99996057e-01 -5.49658433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.861193817 meters Centerline goodness [0,1] 0.9093297476210178 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.37, Z:-0.55 [[ 9.99992338e-01 -3.07917522e-03 -2.41712593e-03 2.68574188e+00] [ 3.08360796e-03 9.99993567e-01 1.83231092e-03 -3.73344358e-01] [ 2.41146837e-03 -1.83975035e-03 9.99995400e-01 -5.50127901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.891193817 meters Centerline goodness [0,1] 0.908267504859589 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.38, Z:-0.55 [[ 9.99989040e-01 -3.71917644e-03 -2.84377333e-03 2.68696231e+00] [ 3.72451134e-03 9.99991310e-01 1.87300449e-03 -3.75059036e-01] [ 2.83678259e-03 -1.88357563e-03 9.99994202e-01 -5.50268957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.921193817 meters Centerline goodness [0,1] 0.9077953866578161 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.38, Z:-0.55 [[ 9.99958598e-01 -8.63831727e-03 -2.86025267e-03 2.68693173e+00] [ 8.63294644e-03 9.99960959e-01 -1.88479872e-03 -3.77704654e-01] [ 2.87642249e-03 1.86002828e-03 9.99994133e-01 -5.49464297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.951193817000004 meters Centerline goodness [0,1] 0.9067339301589927 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.38, Z:-0.55 [[ 9.99952161e-01 -9.31294804e-03 -2.99085731e-03 2.68731352e+00] [ 9.30779466e-03 9.99955181e-01 -1.73236700e-03 -3.79342591e-01] [ 3.00685670e-03 1.70444584e-03 9.99994027e-01 -5.49117042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.981193817 meters Centerline goodness [0,1] 0.9059607859375971 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.38, Z:-0.55 [[ 9.99944996e-01 -9.99112068e-03 -3.19111879e-03 2.68765196e+00] [ 9.98544276e-03 9.99948542e-01 -1.79029128e-03 -3.80081417e-01] [ 3.20884160e-03 1.75832808e-03 9.99993306e-01 -5.48587215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.011193817 meters Centerline goodness [0,1] 0.9047293518115717 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.38, Z:-0.55 [[ 9.99938641e-01 -1.05589421e-02 -3.35002848e-03 2.68790428e+00] [ 1.05523824e-02 9.99942382e-01 -1.96976129e-03 -3.79884770e-01] [ 3.37063405e-03 1.93428965e-03 9.99992449e-01 -5.48225690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.041193817 meters Centerline goodness [0,1] 0.9086768437253026 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.38, Z:-0.55 [[ 9.99933882e-01 -1.09654715e-02 -3.46264963e-03 2.68795262e+00] [ 1.09581022e-02 9.99937668e-01 -2.14007414e-03 -3.79389686e-01] [ 3.48590072e-03 2.10198858e-03 9.99991715e-01 -5.47787431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.071193817 meters Centerline goodness [0,1] 0.9103032820938928 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.38, Z:-0.55 [[ 0.99992408 -0.01188085 -0.00326732 2.68734231] [ 0.01187104 0.99992502 -0.00300588 -0.37696463] [ 0.00330279 0.00296686 0.99999014 -0.54704123] [ 0. 0. 0. 1. ]] SLAMing on 55.101193817 meters Centerline goodness [0,1] 0.9098026220408839 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.38, Z:-0.55 [[ 0.9999212 -0.01209929 -0.00334543 2.68726989] [ 0.01208826 0.9999215 -0.00329735 -0.37620044] [ 0.00338506 0.00325665 0.99998897 -0.54660376] [ 0. 0. 0. 1. ]] SLAMing on 55.131193817 meters Centerline goodness [0,1] 0.9071885413863763 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.38, Z:-0.55 [[ 9.99949781e-01 -9.43624618e-03 -3.37530708e-03 2.68740517e+00] [ 9.43659490e-03 9.99955471e-01 8.74045229e-05 -3.76999752e-01] [ 3.37433201e-03 -1.19251539e-04 9.99994300e-01 -5.46052429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.161193817000004 meters Centerline goodness [0,1] 0.9072639124849791 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.37, Z:-0.55 [[ 9.99968009e-01 -7.22968606e-03 -3.42223178e-03 2.68816064e+00] [ 7.23712636e-03 9.99971464e-01 2.16673948e-03 -3.72576227e-01] [ 3.40646927e-03 -2.19143729e-03 9.99991797e-01 -5.46583233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.191193817 meters Centerline goodness [0,1] 0.9066032247340425 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.37, Z:-0.55 [[ 9.99966305e-01 -7.46156432e-03 -3.42250265e-03 2.68830229e+00] [ 7.46597748e-03 9.99971312e-01 1.27849379e-03 -3.68405851e-01] [ 3.41286490e-03 -1.30400304e-03 9.99993326e-01 -5.46898506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.221193817 meters Centerline goodness [0,1] 0.9039176023778072 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.36, Z:-0.55 [[ 9.99960498e-01 -8.10695326e-03 -3.64421434e-03 2.68918483e+00] [ 8.10653757e-03 9.99967133e-01 -1.28827844e-04 -3.63903050e-01] [ 3.64513897e-03 9.92807944e-05 9.99993352e-01 -5.47568310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.251193817 meters Centerline goodness [0,1] 0.9053183334369238 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.36, Z:-0.55 [[ 9.99966029e-01 -7.46901108e-03 -3.48632061e-03 2.68795840e+00] [ 7.46863528e-03 9.99972102e-01 -1.20799558e-04 -3.60158519e-01] [ 3.48712560e-03 9.47573969e-05 9.99993915e-01 -5.46514706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.281193817 meters Centerline goodness [0,1] 0.9059294574123378 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.36, Z:-0.55 [[ 9.99981110e-01 -4.70461820e-03 -3.95543573e-03 2.68962568e+00] [ 4.71398871e-03 9.99986097e-01 2.36304429e-03 -3.57742958e-01] [ 3.94426352e-03 -2.38164554e-03 9.99989385e-01 -5.47259708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.311193817 meters Centerline goodness [0,1] 0.9046554009277668 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.35, Z:-0.55 [[ 9.99983765e-01 -4.19442904e-03 -3.85709077e-03 2.68866494e+00] [ 4.20201790e-03 9.99989248e-01 1.96151631e-03 -3.54063952e-01] [ 3.84882186e-03 -1.97769203e-03 9.99990638e-01 -5.46488648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.341193817000004 meters Centerline goodness [0,1] 0.9063910864432755 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.35, Z:-0.55 [[ 9.99989354e-01 -1.53898608e-03 -4.35007516e-03 2.69078071e+00] [ 1.55085952e-03 9.99995078e-01 2.72742400e-03 -3.45557539e-01] [ 4.34585628e-03 -2.73414132e-03 9.99986819e-01 -5.48518067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.371193817 meters Centerline goodness [0,1] 0.9028553628906656 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.34, Z:-0.55 [[ 9.99990149e-01 -1.40799269e-03 -4.20934421e-03 2.69073586e+00] [ 1.41521533e-03 9.99997531e-01 1.71337340e-03 -3.39956281e-01] [ 4.20692140e-03 -1.71931366e-03 9.99989673e-01 -5.49077508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.401193817 meters Centerline goodness [0,1] 0.9028712194919991 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.34, Z:-0.55 [[ 9.99988212e-01 1.16183529e-03 -4.71447116e-03 2.69298086e+00] [-1.14359647e-03 9.99991859e-01 3.86954107e-03 -3.36631956e-01] [ 4.71892855e-03 -3.86410400e-03 9.99981400e-01 -5.50543291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.431193817 meters Centerline goodness [0,1] 0.9026708074534161 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.33, Z:-0.55 [[ 9.99987849e-01 5.83962244e-04 -4.89488500e-03 2.69342592e+00] [-5.75509003e-04 9.99998341e-01 1.72818478e-03 -3.28095292e-01] [ 4.89588608e-03 -1.72534673e-03 9.99986527e-01 -5.50940059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.461193817 meters Centerline goodness [0,1] 0.9007484812672347 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.32, Z:-0.55 [[ 9.99987704e-01 4.45726077e-04 -4.93884717e-03 2.69298534e+00] [-4.41284163e-04 9.99999497e-01 9.00435923e-04 -3.24635274e-01] [ 4.93924604e-03 -8.98245416e-04 9.99987398e-01 -5.50284000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.491193817 meters Centerline goodness [0,1] 0.9012612462858687 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.32, Z:-0.55 [[ 9.99987035e-01 9.78250233e-05 -5.09120748e-03 2.69314863e+00] [-9.91732371e-05 9.99999960e-01 -2.64560423e-04 -3.20939302e-01] [ 5.09118139e-03 2.65061904e-04 9.99987005e-01 -5.50160656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.521193817000004 meters Centerline goodness [0,1] 0.8997613365155132 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.32, Z:-0.55 [[ 9.99985622e-01 -1.60631766e-04 -5.36002967e-03 2.69373889e+00] [ 1.53011974e-04 9.99998977e-01 -1.42197494e-03 -3.17092223e-01] [ 5.36025261e-03 1.42113434e-03 9.99984624e-01 -5.50375427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.551193817 meters Centerline goodness [0,1] 0.9032425367715702 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.31, Z:-0.55 [[ 9.99979651e-01 3.15017054e-03 -5.54751182e-03 2.69367469e+00] [-3.14637419e-03 9.99994810e-01 6.92927115e-04 -3.11508526e-01] [ 5.54966587e-03 -6.75458467e-04 9.99984372e-01 -5.49875594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.581193817 meters Centerline goodness [0,1] 0.902866967725898 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.31, Z:-0.55 [[ 9.99978119e-01 3.24022394e-03 -5.76735145e-03 2.69390875e+00] [-3.24199932e-03 9.99994700e-01 -2.98509604e-04 -3.07465706e-01] [ 5.76635365e-03 3.17200821e-04 9.99983324e-01 -5.49872710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.611193817 meters Centerline goodness [0,1] 0.9027964924646034 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.30, Z:-0.55 [[ 9.99977750e-01 3.35285497e-03 -5.76703579e-03 2.69377802e+00] [-3.35874875e-03 9.99993847e-01 -1.01259466e-03 -3.03843885e-01] [ 5.76360522e-03 1.03194216e-03 9.99982858e-01 -5.49862462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.641193817 meters Centerline goodness [0,1] 0.9046927211971524 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.30, Z:-0.55 [[ 9.99977572e-01 3.26718753e-03 -5.84652697e-03 2.69436528e+00] [-3.27786199e-03 9.99992977e-01 -1.81712811e-03 -3.00610784e-01] [ 5.84054901e-03 1.83625146e-03 9.99981258e-01 -5.50553115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.671193817 meters Centerline goodness [0,1] 0.9057211089191154 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.30, Z:-0.55 [[ 9.99977378e-01 3.26496113e-03 -5.88077542e-03 2.69396068e+00] [-3.28064038e-03 9.99991085e-01 -2.65851632e-03 -2.96705872e-01] [ 5.87204304e-03 2.67774888e-03 9.99979174e-01 -5.50018136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.701193817000004 meters Centerline goodness [0,1] 0.9050759846996795 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.30, Z:-0.55 [[ 0.99997715 0.00304916 -0.00603381 2.69389025] [-0.00306797 0.99999045 -0.00311162 -0.2957106 ] [ 0.00602426 0.00313006 0.99997696 -0.54942459] [ 0. 0. 0. 1. ]] SLAMing on 55.731193817 meters Centerline goodness [0,1] 0.9069604034058031 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.30, Z:-0.55 [[ 0.99997673 0.0030707 -0.00609136 2.69340947] [-0.00309016 0.99999015 -0.00318704 -0.29518663] [ 0.00608152 0.00320579 0.99997637 -0.54851559] [ 0. 0. 0. 1. ]] SLAMing on 55.761193817 meters Centerline goodness [0,1] 0.9086479650017624 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.29, Z:-0.55 [[ 0.99997555 0.00330402 -0.00616276 2.69278941] [-0.00332328 0.99998962 -0.00311755 -0.29443914] [ 0.00615239 0.00313795 0.99997615 -0.54748645] [ 0. 0. 0. 1. ]] SLAMing on 55.791193817 meters Centerline goodness [0,1] 0.9092219910602097 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.29, Z:-0.55 [[ 9.99966724e-01 4.75342509e-03 -6.62995926e-03 2.69493644e+00] [-4.76483432e-03 9.99987193e-01 -1.70612850e-03 -2.93844448e-01] [ 6.62176440e-03 1.73766239e-03 9.99976566e-01 -5.48741166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.821193817 meters Centerline goodness [0,1] 0.9074108565633989 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.29, Z:-0.55 [[ 9.99962618e-01 5.72415312e-03 -6.48050973e-03 2.69443994e+00] [-5.73210478e-03 9.99982840e-01 -1.20910372e-03 -2.90118641e-01] [ 6.47347743e-03 1.24620548e-03 9.99978270e-01 -5.48502693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.851193817 meters Centerline goodness [0,1] 0.9066288153505045 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.29, Z:-0.55 [[ 9.99963275e-01 5.44851114e-03 -6.61536433e-03 2.69510985e+00] [-5.46035300e-03 9.99983520e-01 -1.77331301e-03 -2.88620221e-01] [ 6.60559339e-03 1.80937011e-03 9.99976546e-01 -5.49052186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.881193817 meters Centerline goodness [0,1] 0.905840927920464 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.29, Z:-0.55 [[ 9.99963636e-01 5.09852101e-03 -6.83605081e-03 2.69600122e+00] [-5.11334111e-03 9.99984611e-01 -2.15221066e-03 -2.88013452e-01] [ 6.82497251e-03 2.18708746e-03 9.99974318e-01 -5.49595571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.911193817000004 meters Centerline goodness [0,1] 0.9040092920996412 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.29, Z:-0.55 [[ 9.99965090e-01 4.51439920e-03 -7.03124039e-03 2.69710527e+00] [-4.53315092e-03 9.99986205e-01 -2.65326502e-03 -2.87722990e-01] [ 7.01916550e-03 2.68504607e-03 9.99971761e-01 -5.50466164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.941193817 meters Centerline goodness [0,1] 0.9001034126163392 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.29, Z:-0.55 [[ 0.99996646 0.00368901 -0.00731284 2.69866507] [-0.00371209 0.99998817 -0.00314443 -0.28795698] [ 0.00730115 0.00317147 0.99996832 -0.55156442] [ 0. 0. 0. 1. ]] SLAMing on 55.971193817 meters Centerline goodness [0,1] 0.8919299991706062 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.29, Z:-0.55 [[ 9.99965207e-01 -2.65412469e-03 -7.90823861e-03 2.70207685e+00] [ 2.58460745e-03 9.99958047e-01 -8.78777401e-03 -2.88125760e-01] [ 7.93123068e-03 8.76702856e-03 9.99930115e-01 -5.54169403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.001193817 meters Centerline goodness [0,1] 0.8911683398806926 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.29, Z:-0.56 [[ 0.99993748 -0.00748317 -0.00830888 2.70383598] [ 0.00737166 0.99988344 -0.01337005 -0.2879505 ] [ 0.00840796 0.01330796 0.99987609 -0.55537205] [ 0. 0. 0. 1. ]] SLAMing on 56.031193817 meters Centerline goodness [0,1] 0.8829455105523873 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.29, Z:-0.56 [[ 0.99988812 -0.01222395 -0.00862051 2.70520334] [ 0.01206949 0.99976966 -0.01774712 -0.2880532 ] [ 0.00883546 0.01764109 0.99980534 -0.5561588 ] [ 0. 0. 0. 1. ]] SLAMing on 56.061193817 meters Centerline goodness [0,1] 0.8400730714938138 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.29, Z:-0.56 [[ 0.99977727 -0.01907547 -0.00902984 2.70776289] [ 0.01885844 0.99954502 -0.02353957 -0.28679661] [ 0.00947476 0.02336404 0.99968212 -0.55760511] [ 0. 0. 0. 1. ]] SLAMing on 56.091193817000004 meters Centerline goodness [0,1] 0.8096996349153668 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.29, Z:-0.56 [[ 0.99976469 -0.01962534 -0.00924217 2.70859202] [ 0.01939873 0.9995237 -0.02400131 -0.2855869 ] [ 0.0097088 0.02381638 0.9996692 -0.55800195] [ 0. 0. 0. 1. ]] SLAMing on 56.121193817 meters Centerline goodness [0,1] 0.8067931736079392 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.29, Z:-0.56 [[ 0.99982197 -0.01639095 -0.00934707 2.70902312] [ 0.0161992 0.99966403 -0.02023391 -0.28602281] [ 0.00967559 0.02007889 0.99975158 -0.55805819] [ 0. 0. 0. 1. ]] SLAMing on 56.151193817 meters Centerline goodness [0,1] 0.8304368639040939 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.29, Z:-0.56 [[ 0.99987741 -0.01242759 -0.00952453 2.70897365] [ 0.01227163 0.99979246 -0.01626187 -0.28589024] [ 0.00972465 0.01614299 0.9998224 -0.55748927] [ 0. 0. 0. 1. ]] SLAMing on 56.181193817 meters Centerline goodness [0,1] 0.8694239168684924 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.28, Z:-0.56 [[ 9.99994562e-01 -1.28910552e-03 -3.03554814e-03 2.71859193e+00] [ 1.24139412e-03 9.99876489e-01 -1.56673296e-02 -2.81460180e-01] [ 3.05537005e-03 1.56634760e-02 9.99872652e-01 -5.59639641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.211193817 meters Centerline goodness [0,1] 0.8837306044344606 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.28, Z:-0.56 [[ 9.99987384e-01 4.24355644e-03 -2.68763274e-03 2.71626058e+00] [-4.27260756e-03 9.99931495e-01 -1.08972954e-02 -2.78963576e-01] [ 2.64120533e-03 1.09086412e-02 9.99937011e-01 -5.57538757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.241193817 meters Centerline goodness [0,1] 0.8940057720656935 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.28, Z:-0.56 [[ 0.99995973 0.00850679 -0.00285763 2.71593185] [-0.00852822 0.99993496 -0.00757328 -0.27574128] [ 0.00279302 0.00759734 0.99996724 -0.55656263] [ 0. 0. 0. 1. ]] SLAMing on 56.271193817000004 meters Centerline goodness [0,1] 0.8980397042943766 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.27, Z:-0.56 [[ 9.99914176e-01 1.28106261e-02 -2.74363938e-03 2.71490809e+00] [-1.28214498e-02 9.99909943e-01 -3.96445385e-03 -2.73282647e-01] [ 2.69260516e-03 3.99929104e-03 9.99988378e-01 -5.55277155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.301193817 meters Centerline goodness [0,1] 0.8980397042943766 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.27, Z:-0.56 [[ 9.99914176e-01 1.28106261e-02 -2.74363938e-03 2.71490809e+00] [-1.28214498e-02 9.99909943e-01 -3.96445385e-03 -2.73282647e-01] [ 2.69260516e-03 3.99929104e-03 9.99988378e-01 -5.55277155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.331193817 meters Centerline goodness [0,1] 0.9033444954318078 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.27, Z:-0.55 [[ 9.99854835e-01 1.68113041e-02 -2.77305899e-03 2.71473183e+00] [-1.68128448e-02 9.99858512e-01 -5.33222782e-04 -2.71074195e-01] [ 2.76370247e-03 5.79768387e-04 9.99996013e-01 -5.54663357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.361193817 meters Centerline goodness [0,1] 0.9036045144118678 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.27, Z:-0.55 [[ 9.99687384e-01 2.49009118e-02 -2.25367461e-03 2.71178080e+00] [-2.48857869e-02 9.99669121e-01 6.50733542e-03 -2.66766407e-01] [ 2.41496750e-03 -6.44921666e-03 9.99976287e-01 -5.51731462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.391193817 meters Centerline goodness [0,1] 0.9056397115046808 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.26, Z:-0.55 [[ 9.99662031e-01 2.58941952e-02 -2.30546253e-03 2.71148546e+00] [-2.58793028e-02 9.99645407e-01 6.27072950e-03 -2.63411260e-01] [ 2.46702052e-03 -6.20894643e-03 9.99977681e-01 -5.51423706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.421193817 meters Centerline goodness [0,1] 0.9061346385167365 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.26, Z:-0.55 [[ 9.99643013e-01 2.66221845e-02 -2.25944378e-03 2.71117825e+00] [-2.66082859e-02 9.99628090e-01 5.97331834e-03 -2.60932362e-01] [ 2.41762625e-03 -5.91106602e-03 9.99979607e-01 -5.51286466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.451193817000004 meters Centerline goodness [0,1] 0.9089549137751922 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.26, Z:-0.55 [[ 9.99515204e-01 3.10771006e-02 -1.88969146e-03 2.71077077e+00] [-3.10568806e-02 9.99468347e-01 9.92441459e-03 -2.60246063e-01] [ 2.19710883e-03 -9.86091535e-03 9.99948966e-01 -5.51389196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.481193817000005 meters Centerline goodness [0,1] 0.9076900682082848 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.26, Z:-0.55 [[ 9.99609087e-01 2.78860537e-02 -2.01009703e-03 2.71090143e+00] [-2.78739533e-02 9.99594529e-01 5.81552673e-03 -2.58215689e-01] [ 2.17145408e-03 -5.75722401e-03 9.99981069e-01 -5.51792178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.511193817 meters Centerline goodness [0,1] 0.9082792207792207 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.26, Z:-0.55 [[ 9.99708774e-01 2.40349150e-02 -2.16546201e-03 2.71160404e+00] [-2.40314612e-02 9.99709911e-01 1.60713272e-03 -2.57771476e-01] [ 2.20346113e-03 -1.55462546e-03 9.99996364e-01 -5.52733230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.541193817 meters Centerline goodness [0,1] 0.908058409951325 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.26, Z:-0.55 [[ 9.99797939e-01 1.99632947e-02 -2.35527990e-03 2.71254949e+00] [-1.99691917e-02 9.99797452e-01 -2.50735368e-03 -2.58286913e-01] [ 2.30474780e-03 2.55388008e-03 9.99994083e-01 -5.53803405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.571193817 meters Centerline goodness [0,1] 0.9064287348432853 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.26, Z:-0.55 [[ 9.99873165e-01 1.57749622e-02 -2.19182663e-03 2.71305776e+00] [-1.57872475e-02 9.99859095e-01 -5.70559338e-03 -2.62082510e-01] [ 2.10151227e-03 5.73947262e-03 9.99981321e-01 -5.54886500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.601193817 meters Centerline goodness [0,1] 0.9057240459923346 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.26, Z:-0.56 [[ 9.99881823e-01 1.52047803e-02 -2.27048231e-03 2.71383945e+00] [-1.52168712e-02 9.99869600e-01 -5.40646070e-03 -2.64984718e-01] [ 2.18798219e-03 5.44037142e-03 9.99982807e-01 -5.55504643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.631193817 meters Centerline goodness [0,1] 0.9040472280541293 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.27, Z:-0.56 [[ 9.99897476e-01 1.40595788e-02 -2.71396435e-03 2.71603503e+00] [-1.40748113e-02 9.99884826e-01 -5.67757708e-03 -2.68785112e-01] [ 2.63382743e-03 5.71519353e-03 9.99980200e-01 -5.57030855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.661193817000004 meters Centerline goodness [0,1] 0.9047698119473618 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.27, Z:-0.56 [[ 0.99993042 0.01140526 -0.00301223 2.71787766] [-0.01142834 0.99990457 -0.00776115 -0.27246049] [ 0.00292343 0.00779504 0.99996534 -0.55866805] [ 0. 0. 0. 1. ]] SLAMing on 56.691193817 meters Centerline goodness [0,1] 0.9049322876578394 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.28, Z:-0.56 [[ 0.99998276 0.00501458 -0.00305598 2.7201416 ] [-0.00505323 0.99990564 -0.01277435 -0.27810216] [ 0.00299164 0.01278957 0.99991373 -0.56131654] [ 0. 0. 0. 1. ]] SLAMing on 56.721193817 meters Centerline goodness [0,1] 0.9041506293560803 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.28, Z:-0.56 [[ 0.99998646 0.00427933 -0.00295948 2.72061877] [-0.00431545 0.99991494 -0.01230784 -0.28144643] [ 0.00290656 0.01232045 0.99991988 -0.56182725] [ 0. 0. 0. 1. ]] SLAMing on 56.751193817 meters Centerline goodness [0,1] 0.9070835064395513 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.28, Z:-0.56 [[ 0.99998876 0.00344052 -0.00326381 2.72198459] [-0.00347985 0.99992049 -0.01212056 -0.28405915] [ 0.00322185 0.01213178 0.99992122 -0.56260702] [ 0. 0. 0. 1. ]] SLAMing on 56.781193817 meters Centerline goodness [0,1] 0.9056744649079144 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.29, Z:-0.56 [[ 0.99998949 0.00303376 -0.00343851 2.72256929] [-0.00307387 0.99992661 -0.01171867 -0.28624066] [ 0.00340271 0.01172912 0.99992542 -0.56274529] [ 0. 0. 0. 1. ]] SLAMing on 56.811193817 meters Centerline goodness [0,1] 0.9067703244850022 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.29, Z:-0.56 [[ 0.99999033 0.00284275 -0.00335637 2.72217166] [-0.00288025 0.9999329 -0.01122057 -0.28823076] [ 0.00332425 0.01123013 0.99993141 -0.56221104] [ 0. 0. 0. 1. ]] SLAMing on 56.841193817000004 meters Centerline goodness [0,1] 0.9069786688184056 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.29, Z:-0.56 [[ 9.99990715e-01 2.51911415e-03 -3.49627866e-03 2.72229090e+00] [-2.55711044e-03 9.99937258e-01 -1.09060550e-02 -2.89997281e-01] [ 3.46858570e-03 1.09148941e-02 9.99934415e-01 -5.61824867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.871193817 meters Centerline goodness [0,1] 0.9055737841093159 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.29, Z:-0.56 [[ 9.99993495e-01 -1.38597169e-03 -3.33009548e-03 2.72177889e+00] [ 1.33738165e-03 9.99893258e-01 -1.45493716e-02 -2.91120795e-01] [ 3.34990504e-03 1.45448234e-02 9.99888607e-01 -5.61509314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.901193817 meters Centerline goodness [0,1] 0.9030535141289722 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.29, Z:-0.56 [[ 9.99993121e-01 -1.52667219e-03 -3.38028835e-03 2.72220010e+00] [ 1.47766712e-03 9.99894463e-01 -1.44526463e-02 -2.92005634e-01] [ 3.40199606e-03 1.44475519e-02 9.99889841e-01 -5.61840343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.931193817 meters Centerline goodness [0,1] 0.9023984702997049 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.29, Z:-0.56 [[ 9.99993019e-01 -1.53421916e-03 -3.40719774e-03 2.72264040e+00] [ 1.48502907e-03 9.99895312e-01 -1.43930150e-02 -2.92099759e-01] [ 3.42892309e-03 1.43878547e-02 9.99890610e-01 -5.62337756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.961193817 meters Centerline goodness [0,1] 0.8963545981772991 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.29, Z:-0.56 [[ 9.99992823e-01 1.29163346e-03 -3.56155805e-03 2.72432152e+00] [-1.33304645e-03 9.99931248e-01 -1.16500188e-02 -2.89497442e-01] [ 3.54626563e-03 1.16546829e-02 9.99925793e-01 -5.63883480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.991193817 meters Centerline goodness [0,1] 0.9031930754576327 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.29, Z:-0.56 [[ 0.99998218 0.00482495 -0.00351667 2.72457207] [-0.00485319 0.99995571 -0.00806383 -0.28826423] [ 0.0034776 0.00808075 0.9999613 -0.56409735] [ 0. 0. 0. 1. ]] SLAMing on 57.021193817000004 meters Centerline goodness [0,1] 0.9050632911392404 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.29, Z:-0.56 [[ 0.99995948 0.00821618 -0.00367828 2.72514231] [-0.00823325 0.9999553 -0.00464873 -0.28753023] [ 0.00363993 0.00467882 0.99998243 -0.56420116] [ 0. 0. 0. 1. ]] SLAMing on 57.051193817 meters Centerline goodness [0,1] 0.9074439573681258 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.29, Z:-0.56 [[ 0.99995656 0.00857237 -0.00365932 2.72479156] [-0.00858975 0.99995179 -0.00475844 -0.28631039] [ 0.00361835 0.00478967 0.99998198 -0.56387428] [ 0. 0. 0. 1. ]] SLAMing on 57.081193817 meters Centerline goodness [0,1] 0.9053130259521682 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.29, Z:-0.56 [[ 0.99996124 0.00810193 -0.00344696 2.72451459] [-0.00811953 0.99995391 -0.0051232 -0.28675122] [ 0.00340529 0.00515099 0.99998094 -0.56395554] [ 0. 0. 0. 1. ]] SLAMing on 57.111193817 meters Centerline goodness [0,1] 0.9039965157517058 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.29, Z:-0.57 [[ 0.99996772 0.00701635 -0.00391545 2.72651835] [-0.00703941 0.99995778 -0.00590646 -0.2866958 ] [ 0.00387384 0.00593384 0.99997489 -0.56525835] [ 0. 0. 0. 1. ]] SLAMing on 57.141193817 meters Centerline goodness [0,1] 0.8988840952459969 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.29, Z:-0.57 [[ 0.99997235 0.00627134 -0.00399652 2.72748919] [-0.00629614 0.99996081 -0.00622315 -0.28671127] [ 0.00395734 0.00624814 0.99997265 -0.56613369] [ 0. 0. 0. 1. ]] SLAMing on 57.171193817 meters Centerline goodness [0,1] 0.8826401820815228 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.29, Z:-0.57 [[ 0.99997815 0.00485221 -0.00448947 2.72996195] [-0.00488525 0.99996085 -0.0073777 -0.28546113] [ 0.00445349 0.00739947 0.99996271 -0.56792129] [ 0. 0. 0. 1. ]] SLAMing on 57.201193817000004 meters Centerline goodness [0,1] 0.8639671580518753 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.28, Z:-0.57 [[ 0.99998501 0.00320538 -0.00443816 2.73081456] [-0.00324433 0.99995605 -0.00879637 -0.28222381] [ 0.00440977 0.00881063 0.99995146 -0.56883789] [ 0. 0. 0. 1. ]] SLAMing on 57.231193817000005 meters Centerline goodness [0,1] 0.8674943941533095 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.28, Z:-0.57 [[ 0.99998496 0.00302871 -0.00457215 2.73089043] [-0.00306959 0.99995513 -0.00896152 -0.28160371] [ 0.0045448 0.00897542 0.99994939 -0.56852328] [ 0. 0. 0. 1. ]] SLAMing on 57.261193817 meters Centerline goodness [0,1] 0.8681581188591845 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.28, Z:-0.57 [[ 0.99998425 0.00301678 -0.0047327 2.73082664] [-0.00305979 0.99995384 -0.00910777 -0.28114482] [ 0.004705 0.00912211 0.99994732 -0.5679396 ] [ 0. 0. 0. 1. ]] SLAMing on 57.291193817 meters Centerline goodness [0,1] 0.8718928460180666 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.28, Z:-0.57 [[ 0.99997262 0.00563294 -0.00479914 2.73143535] [-0.00566622 0.9999598 -0.00694875 -0.27788545] [ 0.00475981 0.00697576 0.99996434 -0.56825277] [ 0. 0. 0. 1. ]] SLAMing on 57.321193817 meters Centerline goodness [0,1] 0.8719652759028889 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.27, Z:-0.57 [[ 0.99995396 0.00796476 -0.00535109 2.73391398] [-0.00799144 0.99995565 -0.00498322 -0.2742573 ] [ 0.00531116 0.00502575 0.99997327 -0.56981569] [ 0. 0. 0. 1. ]] SLAMing on 57.351193817 meters Centerline goodness [0,1] 0.8772082427254841 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.27, Z:-0.57 [[ 0.99993056 0.01018794 -0.0059233 2.73685677] [-0.01020737 0.9999426 -0.0032579 -0.26996045] [ 0.00588977 0.00331814 0.99997715 -0.5719045 ] [ 0. 0. 0. 1. ]] SLAMing on 57.381193817 meters Centerline goodness [0,1] 0.8808112324492979 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.26, Z:-0.57 [[ 0.99992624 0.01074067 -0.00566957 2.73676149] [-0.0107589 0.99993702 -0.00319515 -0.26468389] [ 0.00563489 0.00325592 0.99997882 -0.5721358 ] [ 0. 0. 0. 1. ]] SLAMing on 57.411193817000004 meters Centerline goodness [0,1] 0.8802145039595934 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.26, Z:-0.57 [[ 0.99991119 0.01195181 -0.00589689 2.73724989] [-0.01197025 0.99992354 -0.00310254 -0.25606762] [ 0.00585935 0.00317286 0.9999778 -0.57202661] [ 0. 0. 0. 1. ]] SLAMing on 57.441193817 meters Centerline goodness [0,1] 0.8721283502580323 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.25, Z:-0.57 [[ 0.99992126 0.01099359 -0.00605125 2.73775418] [-0.01102222 0.99992812 -0.00471932 -0.2517685 ] [ 0.00599893 0.00478565 0.99997055 -0.57219849] [ 0. 0. 0. 1. ]] SLAMing on 57.471193817 meters Centerline goodness [0,1] 0.863952765692977 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.25, Z:-0.57 [[ 0.99993151 0.0096927 -0.00656011 2.73924282] [-0.00973596 0.99993085 -0.00659539 -0.24735183] [ 0.00649572 0.00665881 0.99995673 -0.57271306] [ 0. 0. 0. 1. ]] SLAMing on 57.501193817 meters Centerline goodness [0,1] 0.8414018167078925 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.24, Z:-0.57 [[ 0.999938 0.00885657 -0.00674943 2.73967639] [-0.00891045 0.99992834 -0.00799471 -0.24278194] [ 0.00667814 0.00805435 0.99994526 -0.57269663] [ 0. 0. 0. 1. ]] SLAMing on 57.531193817 meters Centerline goodness [0,1] 0.8355865224625624 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.23, Z:-0.57 [[ 0.99994873 0.00783318 -0.0064172 2.73956733] [-0.00789367 0.99992415 -0.00945468 -0.23355468] [ 0.00634265 0.00950485 0.99993471 -0.57276751] [ 0. 0. 0. 1. ]] SLAMing on 57.561193817 meters Centerline goodness [0,1] 0.8131262939958592 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.23, Z:-0.57 [[ 0.99993133 0.00933223 -0.00708833 2.7422785 ] [-0.00938813 0.99992478 -0.00789346 -0.23064061] [ 0.00701414 0.00795946 0.99994372 -0.57410687] [ 0. 0. 0. 1. ]] SLAMing on 57.591193817000004 meters Centerline goodness [0,1] 0.8204212929334855 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.23, Z:-0.57 [[ 0.99992583 0.01009749 -0.00681007 2.74095847] [-0.01014915 0.99991966 -0.00759425 -0.22677654] [ 0.00673284 0.00766281 0.99994797 -0.57288789] [ 0. 0. 0. 1. ]] SLAMing on 57.621193817 meters Centerline goodness [0,1] 0.841370426544223 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.22, Z:-0.57 [[ 0.9998894 0.01309001 -0.00705989 2.74143927] [-0.01312573 0.99990116 -0.00503754 -0.22362114] [ 0.00699325 0.00512965 0.99996239 -0.5725645 ] [ 0. 0. 0. 1. ]] SLAMing on 57.651193817 meters Centerline goodness [0,1] 0.8281827377634648 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.22, Z:-0.57 [[ 0.99984489 0.01595511 -0.00745915 2.74311037] [-0.01597724 0.9998681 -0.002917 -0.21925485] [ 0.00741162 0.00303573 0.99996793 -0.57333849] [ 0. 0. 0. 1. ]] SLAMing on 57.681193817 meters Centerline goodness [0,1] 0.8737694704049844 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.21, Z:-0.57 [[ 9.99737304e-01 2.16214006e-02 -7.60508955e-03 2.74449500e+00] [-2.16160870e-02 9.99766041e-01 7.80206647e-04 -2.07642379e-01] [ 7.62017943e-03 -6.15609413e-04 9.99970777e-01 -5.74336140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.711193817 meters Centerline goodness [0,1] 0.8827894704293872 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.20, Z:-0.58 [[ 9.99669857e-01 2.44271109e-02 -7.96829730e-03 2.74614810e+00] [-2.44055359e-02 9.99698237e-01 2.79370870e-03 -2.02709576e-01] [ 8.03413500e-03 -2.59831581e-03 9.99964350e-01 -5.75117633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.741193817 meters Centerline goodness [0,1] 0.8885933928942448 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.20, Z:-0.58 [[ 9.99676835e-01 2.40321186e-02 -8.28751439e-03 2.74714199e+00] [-2.40232422e-02 9.99710717e-01 1.16896118e-03 -1.97060945e-01] [ 8.31320956e-03 -9.69490445e-04 9.99964975e-01 -5.75528039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.771193817000004 meters Centerline goodness [0,1] 0.8895551498049631 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.19, Z:-0.58 [[ 9.99689462e-01 2.33121831e-02 -8.80460783e-03 2.74925266e+00] [-2.33191310e-02 9.99727836e-01 -6.87275857e-04 -1.92332813e-01] [ 8.78618963e-03 8.92378235e-04 9.99961003e-01 -5.76866295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.801193817 meters Centerline goodness [0,1] 0.8938994793503288 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.18, Z:-0.58 [[ 9.99628103e-01 2.55392881e-02 -9.56036363e-03 2.75220076e+00] [-2.55390921e-02 9.99673814e-01 1.42606264e-04 -1.84881429e-01] [ 9.56088724e-03 1.01609778e-04 9.99954289e-01 -5.78473719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.831193817 meters Centerline goodness [0,1] 0.8926754621779229 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.18, Z:-0.58 [[ 9.99637540e-01 2.49936695e-02 -1.00052370e-02 2.75395187e+00] [-2.50108826e-02 9.99685900e-01 -1.59898075e-03 -1.79065983e-01] [ 9.96212995e-03 1.84864099e-03 9.99948668e-01 -5.79418857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.861193817 meters Centerline goodness [0,1] 0.8922009321595028 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.17, Z:-0.58 [[ 0.99964829 0.02445247 -0.01026552 2.75488515] [-0.0244868 0.99969493 -0.0032325 -0.173194 ] [ 0.01018334 0.00348274 0.99994208 -0.57982736] [ 0. 0. 0. 1. ]] SLAMing on 57.891193817 meters Centerline goodness [0,1] 0.8975634012928891 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.17, Z:-0.58 [[ 0.99966656 0.02349046 -0.01072222 2.75699925] [-0.02354741 0.99970911 -0.00521633 -0.16728999] [ 0.01059657 0.00546707 0.99992891 -0.58121768] [ 0. 0. 0. 1. ]] SLAMing on 57.921193817 meters Centerline goodness [0,1] 0.8925055835883862 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.16, Z:-0.58 [[ 0.99961746 0.02519579 -0.01140633 2.76009836] [-0.02524988 0.99967048 -0.00462321 -0.1598438 ] [ 0.01128609 0.00490945 0.99992426 -0.58302464] [ 0. 0. 0. 1. ]] SLAMing on 57.951193817000004 meters Centerline goodness [0,1] 0.8910772037482378 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.16, Z:-0.58 [[ 0.99963271 0.02448338 -0.01161955 2.76089961] [-0.02455618 0.99967945 -0.00616387 -0.15556915] [ 0.01146492 0.00644694 0.99991349 -0.58336024] [ 0. 0. 0. 1. ]] SLAMing on 57.981193817000005 meters Centerline goodness [0,1] 0.8946232990375041 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.15, Z:-0.58 [[ 0.9996438 0.02388107 -0.01191475 2.76178845] [-0.02397439 0.99968252 -0.00775175 -0.15077912] [ 0.01172585 0.00803464 0.99989897 -0.58358426] [ 0. 0. 0. 1. ]] SLAMing on 58.011193817 meters Centerline goodness [0,1] 0.9013895206980688 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.15, Z:-0.58 [[ 0.99957717 0.02644343 -0.01209266 2.76274491] [-0.02651308 0.99963258 -0.00563613 -0.14722475] [ 0.01193918 0.00595436 0.999911 -0.5838736 ] [ 0. 0. 0. 1. ]] SLAMing on 58.041193817 meters Centerline goodness [0,1] 0.9059976333326414 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.14, Z:-0.58 [[ 0.9994988 0.02939904 -0.01174048 2.76085467] [-0.0294527 0.99955639 -0.00442386 -0.13760275] [ 0.01160522 0.00476743 0.99992129 -0.58182892] [ 0. 0. 0. 1. ]] SLAMing on 58.071193817 meters Centerline goodness [0,1] 0.908717310087173 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.13, Z:-0.58 [[ 0.99950185 0.02920235 -0.01196984 2.76132132] [-0.0292754 0.99955353 -0.00597367 -0.1320356 ] [ 0.01179005 0.00632112 0.99991052 -0.5815852 ] [ 0. 0. 0. 1. ]] SLAMing on 58.101193817 meters Centerline goodness [0,1] 0.9099352543284447 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.13, Z:-0.58 [[ 0.99939956 0.03245513 -0.01213206 2.76171546] [-0.03249692 0.99946651 -0.00326316 -0.12901668] [ 0.01201969 0.00365545 0.99992108 -0.58118476] [ 0. 0. 0. 1. ]] SLAMing on 58.131193817 meters Centerline goodness [0,1] 0.9120790523639221 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.12, Z:-0.58 [[ 0.99939209 0.03259272 -0.01237583 2.76183043] [-0.03264991 0.99945696 -0.00444701 -0.12409093] [ 0.01222417 0.00484837 0.99991353 -0.58048576] [ 0. 0. 0. 1. ]] SLAMing on 58.161193817000004 meters Centerline goodness [0,1] 0.9142798311541234 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.12, Z:-0.58 [[ 9.99257513e-01 3.64394665e-02 -1.25135150e-02 2.76195194e+00] [-3.64684120e-02 9.99332615e-01 -2.09272387e-03 -1.18569926e-01] [ 1.24289059e-02 2.54751807e-03 9.99919513e-01 -5.79679471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.191193817 meters Centerline goodness [0,1] 0.9142798311541234 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.12, Z:-0.58 [[ 9.99257513e-01 3.64394665e-02 -1.25135150e-02 2.76195194e+00] [-3.64684120e-02 9.99332615e-01 -2.09272387e-03 -1.18569926e-01] [ 1.24289059e-02 2.54751807e-03 9.99919513e-01 -5.79679471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.221193817 meters Centerline goodness [0,1] 0.9156866405326365 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.12, Z:-0.58 [[ 9.99222766e-01 3.73600805e-02 -1.25733384e-02 2.76182513e+00] [-3.73885805e-02 9.99298722e-01 -2.03924162e-03 -1.15788240e-01] [ 1.24883348e-02 2.50775593e-03 9.99918873e-01 -5.79187685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.251193817 meters Centerline goodness [0,1] 0.915788600348461 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.11, Z:-0.58 [[ 9.99205998e-01 3.77271211e-02 -1.28077322e-02 2.76226751e+00] [-3.77635453e-02 9.99283284e-01 -2.61401126e-03 -1.12802344e-01] [ 1.26999336e-02 3.09560110e-03 9.99914561e-01 -5.79007883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.281193817 meters Centerline goodness [0,1] 0.9159979263867288 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.11, Z:-0.58 [[ 0.99919034 0.03803619 -0.01311153 2.76271599] [-0.03808142 0.99926946 -0.00321773 -0.11013165] [ 0.01297957 0.00371443 0.99990886 -0.578638 ] [ 0. 0. 0. 1. ]] SLAMing on 58.311193817 meters Centerline goodness [0,1] 0.9156313740033377 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.11, Z:-0.58 [[ 9.98984572e-01 4.30774730e-02 -1.31968617e-02 2.76347970e+00] [-4.30653042e-02 9.99071533e-01 1.20502191e-03 -1.10345810e-01] [ 1.32365181e-02 -6.35471434e-04 9.99912192e-01 -5.78890759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.341193817000004 meters Centerline goodness [0,1] 0.9166132401298782 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.11, Z:-0.58 [[ 9.98939982e-01 4.40114941e-02 -1.34870755e-02 2.76449621e+00] [-4.39962375e-02 9.99030679e-01 1.42596585e-03 -1.09851745e-01] [ 1.35367611e-02 -8.31073725e-04 9.99908028e-01 -5.79363850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.371193817 meters Centerline goodness [0,1] 0.9165321746327333 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.11, Z:-0.58 [[ 9.98895706e-01 4.48867800e-02 -1.38761116e-02 2.76603299e+00] [-4.48685504e-02 9.98991582e-01 1.62243453e-03 -1.09202125e-01] [ 1.39349445e-02 -9.98041873e-04 9.99902406e-01 -5.80259625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.401193817 meters Centerline goodness [0,1] 0.916979969183359 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.11, Z:-0.58 [[ 0.99869673 0.04898348 -0.0143339 2.76928992] [-0.04890788 0.99878772 0.00557764 -0.11016356] [ 0.01458974 -0.00486933 0.99988171 -0.58275747] [ 0. 0. 0. 1. ]] SLAMing on 58.431193817 meters Centerline goodness [0,1] 0.9182207687371928 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.11, Z:-0.58 [[ 0.99868276 0.04916504 -0.0146812 2.77085991] [-0.04908221 0.99877702 0.00594977 -0.11155955] [ 0.01495577 -0.00522135 0.99987452 -0.58386611] [ 0. 0. 0. 1. ]] SLAMing on 58.461193817 meters Centerline goodness [0,1] 0.9147450639153044 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.11, Z:-0.59 [[ 9.98826189e-01 4.59699087e-02 -1.52646988e-02 2.77256293e+00] [-4.59370534e-02 9.98941217e-01 2.49625250e-03 -1.12076173e-01] [ 1.53632893e-02 -1.79210708e-03 9.99880372e-01 -5.85023109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.491193817 meters Centerline goodness [0,1] 0.91191816700695 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.11, Z:-0.59 [[ 9.98904278e-01 4.39664040e-02 -1.60373930e-02 2.77607302e+00] [-4.39626082e-02 9.99033003e-01 5.89325271e-04 -1.14019850e-01] [ 1.60477954e-02 1.16366089e-04 9.99871219e-01 -5.87640534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.521193817000004 meters Centerline goodness [0,1] 0.9072508115037112 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.12, Z:-0.59 [[ 9.99044607e-01 4.05004179e-02 -1.64191721e-02 2.77704776e+00] [-4.05375992e-02 9.99176134e-01 -1.93790895e-03 -1.18781817e-01] [ 1.63271588e-02 2.60165130e-03 9.99863318e-01 -5.88388796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.551193817 meters Centerline goodness [0,1] 0.9085108146183807 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.12, Z:-0.59 [[ 0.99917703 0.03699374 -0.0166349 2.77698618] [-0.03708458 0.99929868 -0.00518551 -0.12073893] [ 0.0164314 0.00579814 0.99984818 -0.58809984] [ 0. 0. 0. 1. ]] SLAMing on 58.581193817 meters Centerline goodness [0,1] 0.9093715043294527 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.12, Z:-0.59 [[ 0.99928666 0.03367321 -0.01709612 2.77758739] [-0.03381605 0.99939496 -0.00813547 -0.12323699] [ 0.01681183 0.00870779 0.99982075 -0.58800153] [ 0. 0. 0. 1. ]] SLAMing on 58.611193817 meters Centerline goodness [0,1] 0.9097858060239467 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.13, Z:-0.59 [[ 0.99929246 0.03330842 -0.01746804 2.77817242] [-0.03344296 0.99941273 -0.0074676 -0.12720786] [ 0.01720905 0.0080465 0.99981954 -0.5877274 ] [ 0. 0. 0. 1. ]] SLAMing on 58.641193817 meters Centerline goodness [0,1] 0.9050220373704141 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.13, Z:-0.58 [[ 0.9993992 0.03010073 -0.01718083 2.7753098 ] [-0.03026295 0.99949907 -0.00926105 -0.13288173] [ 0.01689346 0.00977543 0.99980951 -0.58496079] [ 0. 0. 0. 1. ]] SLAMing on 58.671193817 meters Centerline goodness [0,1] 0.916036511239775 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.14, Z:-0.58 [[ 0.99939935 0.02986913 -0.01757185 2.77563539] [-0.03002064 0.99951379 -0.00842244 -0.13669465] [ 0.01731174 0.0089449 0.99981013 -0.58427308] [ 0. 0. 0. 1. ]] SLAMing on 58.701193817000004 meters Centerline goodness [0,1] 0.9166272104082178 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.14, Z:-0.58 [[ 0.99939999 0.02960843 -0.01797242 2.77627883] [-0.02974989 0.99952806 -0.00765522 -0.14049118] [ 0.01773728 0.00818531 0.99980918 -0.58402874] [ 0. 0. 0. 1. ]] SLAMing on 58.731193817000005 meters Centerline goodness [0,1] 0.9201685880748729 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.15, Z:-0.58 [[ 0.99950193 0.02603051 -0.01784088 2.77459469] [-0.02620568 0.99960993 -0.00965611 -0.1469484 ] [ 0.01758257 0.01011883 0.99979421 -0.58238805] [ 0. 0. 0. 1. ]] SLAMing on 58.761193817 meters Centerline goodness [0,1] 0.9222027068912078 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.15, Z:-0.58 [[ 0.9995816 0.02255665 -0.01810559 2.77515827] [-0.02278601 0.99966142 -0.01256328 -0.1496943 ] [ 0.01781608 0.01297057 0.99975715 -0.58265132] [ 0. 0. 0. 1. ]] SLAMing on 58.791193817 meters Centerline goodness [0,1] 0.9212806337156532 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.15, Z:-0.58 [[ 0.99965219 0.01891049 -0.0183821 2.77566066] [-0.01919921 0.99969304 -0.01565918 -0.1520855 ] [ 0.01808033 0.01600665 0.9997084 -0.58276385] [ 0. 0. 0. 1. ]] SLAMing on 58.821193817 meters Centerline goodness [0,1] 0.9190253355047517 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.15, Z:-0.58 [[ 0.99970517 0.01538878 -0.01878188 2.77663567] [-0.01573823 0.99970309 -0.01860216 -0.15489054] [ 0.01849004 0.01889227 0.99965054 -0.58315655] [ 0. 0. 0. 1. ]] SLAMing on 58.851193817 meters Centerline goodness [0,1] 0.9191724307793354 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.16, Z:-0.58 [[ 0.99970765 0.01438151 -0.01943691 2.77901396] [-0.01474372 0.99971787 -0.01862241 -0.1586718 ] [ 0.0191636 0.01890354 0.99963764 -0.58438705] [ 0. 0. 0. 1. ]] SLAMing on 58.881193817 meters Centerline goodness [0,1] 0.9203652667516762 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.17, Z:-0.58 [[ 0.99970806 0.0143439 -0.01944334 2.77942282] [-0.01467545 0.99974747 -0.01701816 -0.16502077] [ 0.01919433 0.01729853 0.99966611 -0.58483511] [ 0. 0. 0. 1. ]] SLAMing on 58.911193817000004 meters Centerline goodness [0,1] 0.9181855585270521 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.17, Z:-0.58 [[ 0.99969596 0.01486543 -0.01967255 2.77976154] [-0.01518209 0.99975598 -0.01604633 -0.16723383] [ 0.01942921 0.01634012 0.9996777 -0.58461807] [ 0. 0. 0. 1. ]] SLAMing on 58.941193817 meters Centerline goodness [0,1] 0.9215613764766307 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.17, Z:-0.58 [[ 0.99968059 0.01556897 -0.01990802 2.78018331] [-0.01586945 0.99976117 -0.01502553 -0.16931326] [ 0.01966933 0.01533666 0.9996889 -0.58450072] [ 0. 0. 0. 1. ]] SLAMing on 58.971193817 meters Centerline goodness [0,1] 0.9256174493877046 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.17, Z:-0.58 [[ 0.99966136 0.01658494 -0.02005265 2.78013781] [-0.01686413 0.99976207 -0.01383485 -0.17158528] [ 0.01981843 0.01416833 0.9997032 -0.58406191] [ 0. 0. 0. 1. ]] SLAMing on 59.001193817 meters Centerline goodness [0,1] 0.9218650638987467 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.18, Z:-0.58 [[ 0.99954991 0.02205282 -0.02033849 2.78134865] [-0.02222089 0.99972047 -0.00807515 -0.17653991] [ 0.02015473 0.00852345 0.99976054 -0.58471842] [ 0. 0. 0. 1. ]] SLAMing on 59.031193817 meters Centerline goodness [0,1] 0.9218972234246491 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.18, Z:-0.58 [[ 0.99949377 0.02455151 -0.02023427 2.78013821] [-0.02467427 0.99967849 -0.00583951 -0.17722593] [ 0.0200844 0.00633582 0.99977821 -0.58355675] [ 0. 0. 0. 1. ]] SLAMing on 59.061193817 meters Centerline goodness [0,1] 0.9216886215122913 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.18, Z:-0.58 [[ 0.99944444 0.02663388 -0.0200364 2.77878109] [-0.02672 0.99963478 -0.00404299 -0.17731885] [ 0.0199214 0.00457612 0.99979108 -0.58239524] [ 0. 0. 0. 1. ]] SLAMing on 59.091193817000004 meters Centerline goodness [0,1] 0.9198082868228313 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.18, Z:-0.58 [[ 0.99943007 0.02712055 -0.02010016 2.77880517] [-0.0272022 0.99962273 -0.00379973 -0.17699701] [ 0.01998952 0.00434433 0.99979075 -0.5822375 ] [ 0. 0. 0. 1. ]] SLAMing on 59.121193817 meters Centerline goodness [0,1] 0.9202465446395218 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.18, Z:-0.58 [[ 0.99941402 0.02758878 -0.02026022 2.77888615] [-0.02765427 0.99961317 -0.00295907 -0.17961153] [ 0.02017075 0.00351762 0.99979036 -0.58194144] [ 0. 0. 0. 1. ]] SLAMing on 59.151193817 meters Centerline goodness [0,1] 0.9175619063420299 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.18, Z:-0.58 [[ 9.99408988e-01 2.75412459e-02 -2.05707241e-02 2.77983140e+00] [-2.76022308e-02 9.99615376e-01 -2.68657108e-03 -1.81284502e-01] [ 2.04888206e-02 3.25278116e-03 9.99784791e-01 -5.82342776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.181193817 meters Centerline goodness [0,1] 0.9213891310665504 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.18, Z:-0.58 [[ 9.99408951e-01 2.74724195e-02 -2.06643445e-02 2.78007882e+00] [-2.75293108e-02 9.99617936e-01 -2.47365224e-03 -1.82714074e-01] [ 2.05884922e-02 3.04106535e-03 9.99783409e-01 -5.82381898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.211193817 meters Centerline goodness [0,1] 0.9204172380833645 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.19, Z:-0.58 [[ 0.99947564 0.02487014 -0.02073478 2.77964446] [-0.02497558 0.99967634 -0.004842 -0.18579622] [ 0.02060765 0.00535732 0.99977329 -0.58195326] [ 0. 0. 0. 1. ]] SLAMing on 59.241193817 meters Centerline goodness [0,1] 0.9211986911320051 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.19, Z:-0.58 [[ 0.9994641 0.02500764 -0.02112198 2.78028426] [-0.02510193 0.99967603 -0.00421063 -0.18834439] [ 0.02100984 0.00473857 0.99976804 -0.58168303] [ 0. 0. 0. 1. ]] SLAMing on 59.271193817000004 meters Centerline goodness [0,1] 0.9217493991878677 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.19, Z:-0.58 [[ 0.99946449 0.02498253 -0.02113325 2.780013 ] [-0.02506937 0.99967828 -0.0038544 -0.1900695 ] [ 0.02103016 0.00438213 0.99976924 -0.58115702] [ 0. 0. 0. 1. ]] SLAMing on 59.301193817 meters Centerline goodness [0,1] 0.9221743743368908 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.19, Z:-0.58 [[ 0.99946492 0.02479751 -0.02132963 2.78013236] [-0.02488158 0.99968361 -0.00368517 -0.19107088] [ 0.0212315 0.00421391 0.99976571 -0.58073648] [ 0. 0. 0. 1. ]] SLAMing on 59.331193817 meters Centerline goodness [0,1] 0.9186186810900769 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.19, Z:-0.58 [[ 0.99946574 0.02451773 -0.02161286 2.78057332] [-0.02460262 0.99969057 -0.0036709 -0.19153416] [ 0.02151617 0.00420067 0.99975968 -0.58052502] [ 0. 0. 0. 1. ]] SLAMing on 59.361193817 meters Centerline goodness [0,1] 0.9220951708967149 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.19, Z:-0.58 [[ 0.99946236 0.02425211 -0.02206436 2.7815926 ] [-0.02433787 0.99969721 -0.0036265 -0.192193 ] [ 0.02196973 0.00416155 0.99974998 -0.58060515] [ 0. 0. 0. 1. ]] SLAMing on 59.391193817 meters Centerline goodness [0,1] 0.9217214221889741 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.20, Z:-0.58 [[ 0.999508 0.02234341 -0.02201212 2.77980966] [-0.02246942 0.99973244 -0.00549394 -0.19502584] [ 0.02188348 0.00598584 0.99974261 -0.57881872] [ 0. 0. 0. 1. ]] SLAMing on 59.421193817 meters Centerline goodness [0,1] 0.9197896256574198 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.20, Z:-0.58 [[ 0.9995022 0.02198686 -0.02262582 2.78205163] [-0.0221148 0.99974075 -0.00542007 -0.19816632] [ 0.02250079 0.00591774 0.99972931 -0.58000002] [ 0. 0. 0. 1. ]] SLAMing on 59.451193817000004 meters Centerline goodness [0,1] 0.918118105664759 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.20, Z:-0.58 [[ 0.99949274 0.02217664 -0.02285751 2.78277047] [-0.02229045 0.99974032 -0.00473613 -0.20118913] [ 0.02274654 0.00524323 0.99972751 -0.58031161] [ 0. 0. 0. 1. ]] SLAMing on 59.481193817000005 meters Centerline goodness [0,1] 0.9160860910674297 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.20, Z:-0.58 [[ 0.99948905 0.02232835 -0.02287108 2.78316198] [-0.02241965 0.99974164 -0.00374329 -0.20462137] [ 0.02278159 0.00425413 0.99973141 -0.58067905] [ 0. 0. 0. 1. ]] SLAMing on 59.511193817 meters Centerline goodness [0,1] 0.9185734346604989 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.21, Z:-0.58 [[ 0.99947801 0.02264057 -0.02304569 2.78346762] [-0.02271162 0.99973806 -0.00282625 -0.20669375] [ 0.02297567 0.00334818 0.99973042 -0.58043379] [ 0. 0. 0. 1. ]] SLAMing on 59.541193817 meters Centerline goodness [0,1] 0.9220631674619405 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.21, Z:-0.58 [[ 9.99475500e-01 2.27065820e-02 -2.30897394e-02 2.78349012e+00] [-2.27609479e-02 9.99738742e-01 -2.09444236e-03 -2.09165006e-01] [ 2.30361494e-02 2.61888818e-03 9.99731202e-01 -5.80240356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.571193817 meters Centerline goodness [0,1] 0.9276050960700503 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.21, Z:-0.58 [[ 9.99473357e-01 2.27291003e-02 -2.31602356e-02 2.78391404e+00] [-2.27665152e-02 9.99739894e-01 -1.35305440e-03 -2.12137341e-01] [ 2.31234578e-02 1.87961968e-03 9.99730850e-01 -5.80469642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.601193817 meters Centerline goodness [0,1] 0.9255645964795749 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.21, Z:-0.58 [[ 9.99488676e-01 2.15050539e-02 -2.36626040e-02 2.78628472e+00] [-2.15614674e-02 9.99765252e-01 -2.13150268e-03 -2.14712649e-01] [ 2.36112111e-02 2.64061326e-03 9.99717729e-01 -5.82126009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.631193817 meters Centerline goodness [0,1] 0.9219507144336302 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.22, Z:-0.58 [[ 0.99953394 0.01865327 -0.02416516 2.78781671] [-0.01874963 0.99981711 -0.0037671 -0.22164791] [ 0.02409047 0.00421843 0.99970088 -0.58293609] [ 0. 0. 0. 1. ]] SLAMing on 59.661193817000004 meters Centerline goodness [0,1] 0.9209959846007368 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.22, Z:-0.58 [[ 0.99953296 0.01783568 -0.02481414 2.79009198] [-0.01793542 0.99983192 -0.0038027 -0.22453851] [ 0.02474214 0.00424597 0.99968485 -0.58398078] [ 0. 0. 0. 1. ]] SLAMing on 59.691193817 meters Centerline goodness [0,1] 0.9190155397586378 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.23, Z:-0.58 [[ 0.99953172 0.01754496 -0.02507017 2.79098256] [-0.0176409 0.99983787 -0.00361093 -0.22600669] [ 0.02500275 0.0040515 0.99967917 -0.58432472] [ 0. 0. 0. 1. ]] SLAMing on 59.721193817 meters Centerline goodness [0,1] 0.9164137817138375 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.23, Z:-0.58 [[ 0.99952972 0.01737608 -0.02526692 2.79199446] [-0.01747211 0.99984092 -0.00358495 -0.22649734] [ 0.0252006 0.00402473 0.99967431 -0.58497147] [ 0. 0. 0. 1. ]] SLAMing on 59.751193817 meters Centerline goodness [0,1] 0.9160914314057785 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.23, Z:-0.59 [[ 0.99952961 0.01730016 -0.02532334 2.79277843] [-0.01740157 0.9998414 -0.00378964 -0.22574158] [ 0.02525376 0.00422853 0.99967213 -0.58571116] [ 0. 0. 0. 1. ]] SLAMing on 59.781193817 meters Centerline goodness [0,1] 0.913251762754044 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.22, Z:-0.59 [[ 0.99952634 0.01734053 -0.02542434 2.79298908] [-0.01744756 0.9998398 -0.00399398 -0.22483224] [ 0.02535101 0.00443569 0.99966877 -0.58569034] [ 0. 0. 0. 1. ]] SLAMing on 59.811193817 meters Centerline goodness [0,1] 0.9165275459098498 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.22, Z:-0.58 [[ 0.99959602 0.01924033 -0.020919 2.80831549] [-0.01936819 0.99979485 -0.00592688 -0.22380205] [ 0.02080068 0.00632964 0.99976361 -0.58381362] [ 0. 0. 0. 1. ]] SLAMing on 59.841193817000004 meters Centerline goodness [0,1] 0.9186024978909899 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.22, Z:-0.58 [[ 0.99959292 0.01926898 -0.02104035 2.80806824] [-0.01939894 0.99979388 -0.00599011 -0.22329248] [ 0.02092059 0.00639583 0.99976068 -0.58305468] [ 0. 0. 0. 1. ]] SLAMing on 59.871193817 meters Centerline goodness [0,1] 0.9195814338997099 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.22, Z:-0.58 [[ 0.99959533 0.01908544 -0.02109329 2.80757407] [-0.01922019 0.99979603 -0.00620414 -0.22270312] [ 0.02097058 0.00660705 0.99975826 -0.58218101] [ 0. 0. 0. 1. ]] SLAMing on 59.901193817 meters Centerline goodness [0,1] 0.9239952743175741 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.22, Z:-0.58 [[ 0.99959693 0.01895935 -0.02113124 2.80720221] [-0.01909798 0.99979727 -0.00637813 -0.22179969] [ 0.02100603 0.00677912 0.99975637 -0.58144825] [ 0. 0. 0. 1. ]] SLAMing on 59.931193817 meters Centerline goodness [0,1] 0.9209769817798276 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.22, Z:-0.58 [[ 0.99959568 0.01881092 -0.02132183 2.80775453] [-0.01895564 0.9997985 -0.00660594 -0.2205863 ] [ 0.02119327 0.00700744 0.99975084 -0.58154684] [ 0. 0. 0. 1. ]] SLAMing on 59.961193817 meters Centerline goodness [0,1] 0.9167686912494034 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.22, Z:-0.58 [[ 0.999612 0.01783737 -0.02139358 2.80822912] [-0.01800167 0.99980974 -0.00751186 -0.2189036 ] [ 0.02125552 0.00789406 0.99974291 -0.5818641 ] [ 0. 0. 0. 1. ]] SLAMing on 59.991193817 meters Centerline goodness [0,1] 0.9188921246669558 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.22, Z:-0.58 [[ 0.99961183 0.01728587 -0.02184925 2.80957784] [-0.01745997 0.99981712 -0.00780275 -0.21915627] [ 0.02171038 0.00818121 0.99973083 -0.58224705] [ 0. 0. 0. 1. ]] SLAMing on 60.021193817000004 meters Centerline goodness [0,1] 0.917188889578292 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.22, Z:-0.58 [[ 0.9996115 0.01719185 -0.02193809 2.80955661] [-0.01736189 0.99982051 -0.00758418 -0.22010808] [ 0.02180377 0.00796212 0.99973056 -0.5818305 ] [ 0. 0. 0. 1. ]] SLAMing on 60.051193817000005 meters Centerline goodness [0,1] 0.9172901166766834 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.22, Z:-0.58 [[ 0.99960979 0.01710333 -0.02208502 2.80962393] [-0.01727024 0.99982355 -0.00738917 -0.22110754] [ 0.02195474 0.0077677 0.99972879 -0.58143409] [ 0. 0. 0. 1. ]] SLAMing on 60.081193817 meters Centerline goodness [0,1] 0.9172901166766834 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.22, Z:-0.58 [[ 0.99960979 0.01710333 -0.02208502 2.80962393] [-0.01727024 0.99982355 -0.00738917 -0.22110754] [ 0.02195474 0.0077677 0.99972879 -0.58143409] [ 0. 0. 0. 1. ]] SLAMing on 60.111193817 meters Centerline goodness [0,1] 0.913670555567068 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.22, Z:-0.58 [[ 0.99960635 0.01727004 -0.02211085 2.80939168] [-0.01742654 0.9998243 -0.00690508 -0.22258561] [ 0.02198771 0.00728768 0.99973168 -0.58100949] [ 0. 0. 0. 1. ]] SLAMing on 60.141193817 meters Centerline goodness [0,1] 0.9176280189227322 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.22, Z:-0.58 [[ 0.99959878 0.0176004 -0.0221925 2.80948178] [-0.01775248 0.99982014 -0.00667425 -0.22235091] [ 0.02207104 0.00706555 0.99973144 -0.58081257] [ 0. 0. 0. 1. ]] SLAMing on 60.171193817 meters Centerline goodness [0,1] 0.9185165300348979 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.22, Z:-0.58 [[ 0.99953411 0.02039624 -0.02270609 2.81175229] [-0.02047973 0.99978431 -0.00345043 -0.22394721] [ 0.02263081 0.00391383 0.99973623 -0.58190321] [ 0. 0. 0. 1. ]] SLAMing on 60.201193817000004 meters Centerline goodness [0,1] 0.9179414991616122 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.22, Z:-0.58 [[ 0.99952396 0.0207724 -0.02281145 2.81223643] [-0.02085275 0.99977714 -0.00328992 -0.22383815] [ 0.02273802 0.00376404 0.99973437 -0.58218441] [ 0. 0. 0. 1. ]] SLAMing on 60.231193817000005 meters Centerline goodness [0,1] 0.9131243028875945 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.22, Z:-0.58 [[ 9.99430427e-01 2.44251513e-02 -2.32859223e-02 2.81493700e+00] [-2.44278370e-02 9.99701582e-01 1.69147341e-04 -2.24139120e-01] [ 2.32831048e-02 3.99773715e-04 9.99728832e-01 -5.84224528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.261193817 meters Centerline goodness [0,1] 0.9115126102238392 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.22, Z:-0.58 [[ 9.99414303e-01 2.46903451e-02 -2.36946632e-02 2.81617402e+00] [-2.46963789e-02 9.99694997e-01 3.79894999e-05 -2.23201795e-01] [ 2.36883742e-02 5.47205130e-04 9.99719241e-01 -5.84755918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.291193817 meters Centerline goodness [0,1] 0.9126082811787624 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.22, Z:-0.58 [[ 9.99404867e-01 2.50062405e-02 -2.37613001e-02 2.81616723e+00] [-2.50094178e-02 9.99687202e-01 1.63489774e-04 -2.22884272e-01] [ 2.37579559e-02 4.30863805e-04 9.99717647e-01 -5.84524874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.321193817 meters Centerline goodness [0,1] 0.9180895817866864 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.23, Z:-0.58 [[ 0.99929623 0.02715022 -0.02588252 2.81967944] [-0.02702278 0.99962097 0.00526109 -0.22594686] [ 0.02601555 -0.00455797 0.99965115 -0.58186439] [ 0. 0. 0. 1. ]] SLAMing on 60.351193817 meters Centerline goodness [0,1] 0.9180755302638386 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.22, Z:-0.58 [[ 9.99390360e-01 2.34998005e-02 -2.58199089e-02 2.81905480e+00] [-2.34749970e-02 9.99723626e-01 1.26336858e-03 -2.24749303e-01] [ 2.58424618e-02 -6.56476099e-04 9.99665812e-01 -5.81493460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.381193817 meters Centerline goodness [0,1] 0.9183282129528444 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.22, Z:-0.58 [[ 9.99414631e-01 2.18269944e-02 -2.63434392e-02 2.82128091e+00] [-2.18353613e-02 9.99761580e-01 -2.99557770e-05 -2.24918522e-01] [ 2.63365046e-02 6.05156754e-04 9.99652951e-01 -5.82731756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.411193817000004 meters Centerline goodness [0,1] 0.9172097064482095 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.23, Z:-0.58 [[ 9.99430127e-01 2.07514491e-02 -2.66232894e-02 2.82272086e+00] [-2.07786337e-02 9.99783823e-01 -7.44812421e-04 -2.25203052e-01] [ 2.66020781e-02 1.29758355e-03 9.99645260e-01 -5.83680497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.441193817 meters Centerline goodness [0,1] 0.9171453365841564 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.22, Z:-0.59 [[ 9.99459475e-01 1.89905055e-02 -2.68350198e-02 2.82499894e+00] [-1.90635222e-02 9.99815229e-01 -2.46771958e-03 -2.22998398e-01] [ 2.67831982e-02 2.97795571e-03 9.99636830e-01 -5.85871167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.471193817 meters Centerline goodness [0,1] 0.9136974963790606 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.22, Z:-0.59 [[ 0.99946293 0.01864241 -0.02695016 2.82581569] [-0.01873349 0.99981961 -0.00313088 -0.22115873] [ 0.02688693 0.00363407 0.99963188 -0.58654306] [ 0. 0. 0. 1. ]] SLAMing on 60.501193817 meters Centerline goodness [0,1] 0.9120091419073343 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.22, Z:-0.59 [[ 0.99946353 0.01830405 -0.0271592 2.82665245] [-0.01841491 0.99982307 -0.0038375 -0.21917877] [ 0.02708416 0.00433558 0.99962375 -0.58703761] [ 0. 0. 0. 1. ]] SLAMing on 60.531193817 meters Centerline goodness [0,1] 0.9082062724680798 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.22, Z:-0.59 [[ 0.99945515 0.0180533 -0.02763103 2.82807036] [-0.01818398 0.9998246 -0.00448556 -0.21732253] [ 0.0275452 0.00498556 0.99960813 -0.58757721] [ 0. 0. 0. 1. ]] SLAMing on 60.561193817 meters Centerline goodness [0,1] 0.9093089119963615 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.22, Z:-0.59 [[ 0.99945193 0.01793376 -0.0278249 2.82840338] [-0.0180803 0.99982392 -0.00502371 -0.21554727] [ 0.02772991 0.00552404 0.99960019 -0.58736497] [ 0. 0. 0. 1. ]] SLAMing on 60.591193817000004 meters Centerline goodness [0,1] 0.9129144706809976 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.21, Z:-0.59 [[ 0.99944571 0.01839221 -0.02774896 2.82666212] [-0.01854272 0.99981467 -0.00517626 -0.21337644] [ 0.02764862 0.00568793 0.99960152 -0.58534373] [ 0. 0. 0. 1. ]] SLAMing on 60.621193817 meters Centerline goodness [0,1] 0.9139272010785026 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.21, Z:-0.59 [[ 0.99944226 0.01829878 -0.02793442 2.82706049] [-0.01845982 0.99981438 -0.00551807 -0.21209969] [ 0.02782826 0.00603065 0.99959453 -0.58529207] [ 0. 0. 0. 1. ]] SLAMing on 60.651193817 meters Centerline goodness [0,1] 0.9168043621943159 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.21, Z:-0.59 [[ 0.99939589 0.02057427 -0.02801 2.82754095] [-0.02066587 0.99978198 -0.00298478 -0.20971308] [ 0.02794248 0.00356183 0.99960319 -0.58511565] [ 0. 0. 0. 1. ]] SLAMing on 60.681193817 meters Centerline goodness [0,1] 0.917517854177047 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.21, Z:-0.58 [[ 0.99939285 0.02054085 -0.02814246 2.82740537] [-0.02064073 0.99978163 -0.0032632 -0.20795808] [ 0.02806928 0.0038421 0.9995986 -0.58456838] [ 0. 0. 0. 1. ]] SLAMing on 60.711193817 meters Centerline goodness [0,1] 0.908623254276506 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.21, Z:-0.59 [[ 9.99322402e-01 2.30848028e-02 -2.86675555e-02 2.82930200e+00] [-2.31007724e-02 9.99733116e-01 -2.25952583e-04 -2.08498513e-01] [ 2.86546886e-02 8.88042154e-04 9.99588976e-01 -5.85099896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.741193817 meters Centerline goodness [0,1] 0.9225355019815059 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.21, Z:-0.59 [[ 9.99316668e-01 2.30857017e-02 -2.88660369e-02 2.83000120e+00] [-2.31139590e-02 9.99732628e-01 -6.45575241e-04 -2.07058801e-01] [ 2.88434154e-02 1.31234249e-03 9.99583081e-01 -5.85402558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.771193817000004 meters Centerline goodness [0,1] 0.9225522415824394 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.20, Z:-0.59 [[ 9.99296125e-01 2.39189905e-02 -2.88987144e-02 2.83000247e+00] [-2.39549865e-02 9.99712633e-01 -8.99978344e-04 -2.04999830e-01] [ 2.88688833e-02 1.59161319e-03 9.99581940e-01 -5.85383165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.801193817000005 meters Centerline goodness [0,1] 0.9176122858146794 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.20, Z:-0.59 [[ 9.99288602e-01 2.39865985e-02 -2.91021098e-02 2.83098965e+00] [-2.40346599e-02 9.99710277e-01 -1.30274769e-03 -2.04028760e-01] [ 2.90624298e-02 2.00128023e-03 9.99575595e-01 -5.86091284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.831193817 meters Centerline goodness [0,1] 0.9164468260511129 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.20, Z:-0.59 [[ 9.99275017e-01 2.41301089e-02 -2.94478881e-02 2.83236141e+00] [-2.41922208e-02 9.99705785e-01 -1.75470882e-03 -2.02258744e-01] [ 2.93968828e-02 2.46584650e-03 9.99564777e-01 -5.86967569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.861193817 meters Centerline goodness [0,1] 0.9195209033918711 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.20, Z:-0.59 [[ 9.99255494e-01 2.46077416e-02 -2.97139245e-02 2.83324525e+00] [-2.46740361e-02 9.99693807e-01 -1.86644135e-03 -2.00103627e-01] [ 2.96588974e-02 2.59821422e-03 9.99556701e-01 -5.87456495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.891193817 meters Centerline goodness [0,1] 0.9127921432123322 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.20, Z:-0.59 [[ 9.99248705e-01 2.45022343e-02 -3.00277692e-02 2.83460600e+00] [-2.45889634e-02 9.99694464e-01 -2.52239229e-03 -1.97414575e-01] [ 2.99567903e-02 3.25884894e-03 9.99545882e-01 -5.88385814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.921193817 meters Centerline goodness [0,1] 0.9177031509121061 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.19, Z:-0.59 [[ 0.99923109 0.02489491 -0.03028993 2.8353867 ] [-0.02499505 0.99968328 -0.00293168 -0.19454404] [ 0.03020735 0.00368653 0.99953686 -0.58873291] [ 0. 0. 0. 1. ]] SLAMing on 60.951193817000004 meters Centerline goodness [0,1] 0.9155559252250941 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.19, Z:-0.59 [[ 0.99922124 0.02507676 -0.03046426 2.83562817] [-0.02518109 0.99967827 -0.00304588 -0.19421173] [ 0.03037808 0.00381063 0.99953122 -0.58858244] [ 0. 0. 0. 1. ]] SLAMing on 60.981193817000005 meters Centerline goodness [0,1] 0.9135663753641282 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.19, Z:-0.59 [[ 0.99920484 0.0253983 -0.03073458 2.83615102] [-0.02550447 0.99967 -0.00306722 -0.1940215 ] [ 0.03064654 0.00384865 0.99952288 -0.58856933] [ 0. 0. 0. 1. ]] SLAMing on 61.011193817 meters Centerline goodness [0,1] 0.9123760330578512 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.19, Z:-0.59 [[ 0.99918448 0.02574377 -0.0311068 2.83731522] [-0.02584984 0.9996613 -0.00301265 -0.1938708 ] [ 0.0310187 0.0038143 0.99951153 -0.58911292] [ 0. 0. 0. 1. ]] SLAMing on 61.041193817 meters Centerline goodness [0,1] 0.9111565976098912 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.19, Z:-0.59 [[ 0.99917979 0.02572849 -0.03126976 2.83815799] [-0.02584444 0.9996605 -0.00330946 -0.19297002] [ 0.031174 0.00411489 0.9995055 -0.58976502] [ 0. 0. 0. 1. ]] SLAMing on 61.071193817 meters Centerline goodness [0,1] 0.9150860993261791 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.19, Z:-0.59 [[ 0.99916529 0.02618136 -0.03135705 2.83834447] [-0.02629678 0.99964882 -0.00327416 -0.19130087] [ 0.03126032 0.00409601 0.99950288 -0.58985005] [ 0. 0. 0. 1. ]] SLAMing on 61.101193817 meters Centerline goodness [0,1] 0.9115088449531737 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.19, Z:-0.59 [[ 0.99916496 0.02615556 -0.031389 2.83836063] [-0.0262707 0.99964955 -0.00326105 -0.19131609] [ 0.03129271 0.00408294 0.99950192 -0.58968042] [ 0. 0. 0. 1. ]] SLAMing on 61.131193817 meters Centerline goodness [0,1] 0.914037969682477 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.19, Z:-0.59 [[ 9.99148434e-01 2.63562905e-02 -3.17451361e-02 2.83889796e+00] [-2.64582465e-02 9.99646010e-01 -2.79585942e-03 -1.92741078e-01] [ 3.16602101e-02 3.63339920e-03 9.99492086e-01 -5.89394468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.161193817000004 meters Centerline goodness [0,1] 0.9144553797599767 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.20, Z:-0.59 [[ 9.99140119e-01 2.62330339e-02 -3.21068524e-02 2.83904494e+00] [-2.63043486e-02 9.99652359e-01 -1.80073087e-03 -1.97086723e-01] [ 3.20484521e-02 2.64373230e-03 9.99482820e-01 -5.88531532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.191193817 meters Centerline goodness [0,1] 0.9116700242995701 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.20, Z:-0.59 [[ 9.99140665e-01 2.60137424e-02 -3.22678863e-02 2.83967281e+00] [-2.60744491e-02 9.99658935e-01 -1.46190122e-03 -1.99137942e-01] [ 3.22188514e-02 2.30201231e-03 9.99478187e-01 -5.88821414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.221193817 meters Centerline goodness [0,1] 0.9121793005946193 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.20, Z:-0.59 [[ 9.99140263e-01 2.57878646e-02 -3.24610758e-02 2.84020399e+00] [-2.58391134e-02 9.99665441e-01 -1.16020634e-03 -2.01046976e-01] [ 3.24202964e-02 1.99797429e-03 9.99472327e-01 -5.88920289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.251193817 meters Centerline goodness [0,1] 0.9130353391434574 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.21, Z:-0.59 [[ 9.99137344e-01 2.60077853e-02 -3.23753491e-02 2.83929007e+00] [-2.60245039e-02 9.99661301e-01 -9.50486223e-05 -2.05062709e-01] [ 3.23619116e-02 9.37519029e-04 9.99475776e-01 -5.87742839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.281193817 meters Centerline goodness [0,1] 0.9152226569778275 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.21, Z:-0.59 [[ 9.99478671e-01 2.48702420e-02 -2.05877799e-02 2.84501539e+00] [-2.48784138e-02 9.99690474e-01 -1.40859290e-04 -2.07048960e-01] [ 2.05779042e-02 6.52977164e-04 9.99788039e-01 -5.92020427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.311193817 meters Centerline goodness [0,1] 0.9149196728797376 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.21, Z:-0.59 [[ 9.99528916e-01 2.28498403e-02 -2.04897653e-02 2.84297261e+00] [-2.29013188e-02 9.99735128e-01 -2.28125255e-03 -2.07947596e-01] [ 2.04322119e-02 2.74942053e-03 9.99787460e-01 -5.89984981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.341193817000004 meters Centerline goodness [0,1] 0.9195737637078419 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.21, Z:-0.59 [[ 9.99524934e-01 2.27908960e-02 -2.07480448e-02 2.84332662e+00] [-2.28329992e-02 9.99737682e-01 -1.79460223e-03 -2.10159497e-01] [ 2.07017016e-02 2.26748977e-03 9.99783126e-01 -5.89653139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.371193817 meters Centerline goodness [0,1] 0.9184676649935704 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.21, Z:-0.59 [[ 0.99956877 0.02108217 -0.02044039 2.84157697] [-0.02115123 0.99977127 -0.00316802 -0.21054539] [ 0.02036892 0.00359899 0.99978605 -0.58825335] [ 0. 0. 0. 1. ]] SLAMing on 61.401193817 meters Centerline goodness [0,1] 0.914587650227932 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.21, Z:-0.59 [[ 0.99958881 0.01984297 -0.02069926 2.84226452] [-0.01990988 0.99979718 -0.00303148 -0.21415077] [ 0.02063491 0.00344235 0.99978115 -0.58819118] [ 0. 0. 0. 1. ]] SLAMing on 61.431193817 meters Centerline goodness [0,1] 0.914652052528177 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.22, Z:-0.59 [[ 0.99959597 0.01881432 -0.02130558 2.84414298] [-0.01888691 0.99981647 -0.00321116 -0.21642707] [ 0.02124125 0.00361226 0.99976785 -0.58892986] [ 0. 0. 0. 1. ]] SLAMing on 61.461193817 meters Centerline goodness [0,1] 0.9147741400745959 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.22, Z:-0.59 [[ 0.9996554 0.01511221 -0.02146406 2.84430805] [-0.01525839 0.99986138 -0.00666321 -0.21740149] [ 0.02136039 0.00698842 0.99974742 -0.58894864] [ 0. 0. 0. 1. ]] SLAMing on 61.491193817 meters Centerline goodness [0,1] 0.9138299417097102 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.22, Z:-0.59 [[ 0.9996763 0.01317138 -0.0217671 2.84607961] [-0.01334192 0.99988128 -0.0077081 -0.21950016] [ 0.02166299 0.00799601 0.99973335 -0.59019695] [ 0. 0. 0. 1. ]] SLAMing on 61.521193817000004 meters Centerline goodness [0,1] 0.9095277376778718 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.22, Z:-0.59 [[ 0.99972004 0.00849422 -0.02208374 2.84731067] [-0.00875991 0.99989008 -0.01196234 -0.21981934] [ 0.0219797 0.01215245 0.99968456 -0.59101794] [ 0. 0. 0. 1. ]] SLAMing on 61.551193817000005 meters Centerline goodness [0,1] 0.8581838565022422 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.22, Z:-0.60 [[ 0.99980443 -0.00510676 -0.01910549 2.83353265] [ 0.00499393 0.99996984 -0.00594848 -0.22170617] [ 0.0191353 0.0058519 0.99979978 -0.59511247] [ 0. 0. 0. 1. ]] SLAMing on 61.581193817 meters Centerline goodness [0,1] 0.779945562966195 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.22, Z:-0.60 [[ 0.99976021 -0.01007709 -0.01944163 2.83529841] [ 0.0098724 0.99989513 -0.01059593 -0.22128511] [ 0.01954637 0.01040146 0.99975484 -0.59638384] [ 0. 0. 0. 1. ]] SLAMing on 61.611193817 meters Centerline goodness [0,1] 0.7944529982106445 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.22, Z:-0.60 [[ 0.99974182 -0.0114465 -0.01962857 2.83652629] [ 0.01122705 0.99987364 -0.01125423 -0.22160455] [ 0.01975491 0.01103096 0.999744 -0.59721208] [ 0. 0. 0. 1. ]] SLAMing on 61.641193817 meters Centerline goodness [0,1] 0.7682571404779749 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.22, Z:-0.60 [[ 0.99972864 -0.01241639 -0.01970975 2.83724047] [ 0.01218055 0.99985331 -0.012041 -0.22022443] [ 0.01985637 0.01179766 0.99973323 -0.59777519] [ 0. 0. 0. 1. ]] SLAMing on 61.671193817 meters Centerline goodness [0,1] 0.7423050580104191 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.21, Z:-0.60 [[ 0.99973196 -0.01190844 -0.0198544 2.83822398] [ 0.01166938 0.99985854 -0.01211303 -0.21217167] [ 0.01999583 0.0118781 0.9997295 -0.59824883] [ 0. 0. 0. 1. ]] SLAMing on 61.701193817000004 meters Centerline goodness [0,1] 0.7371769712243591 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.21, Z:-0.60 [[ 0.99975495 -0.0092167 -0.02012696 2.83912832] [ 0.00901447 0.99990821 -0.01011537 -0.20720383] [ 0.02021834 0.00993146 0.99974626 -0.59859493] [ 0. 0. 0. 1. ]] SLAMing on 61.731193817000005 meters Centerline goodness [0,1] 0.7539466295056054 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.20, Z:-0.60 [[ 0.99977654 -0.00608517 -0.02024433 2.83956205] [ 0.00592352 0.99995017 -0.00803523 -0.20131627] [ 0.02029222 0.00791351 0.99976277 -0.59885745] [ 0. 0. 0. 1. ]] SLAMing on 61.761193817 meters Centerline goodness [0,1] 0.7764703440833437 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.19, Z:-0.60 [[ 9.99865356e-01 -6.94535980e-04 -1.63947420e-02 2.85637581e+00] [ 5.05977515e-04 9.99933716e-01 -1.15025022e-02 -1.86609129e-01] [ 1.64016442e-02 1.14926580e-02 9.99799432e-01 -6.02993648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.791193817 meters Centerline goodness [0,1] 0.7601146533591785 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.18, Z:-0.60 [[ 9.99856165e-01 1.69779332e-03 -1.68750132e-02 2.85841248e+00] [-1.86934180e-03 9.99946687e-01 -1.01552587e-02 -1.80385367e-01] [ 1.68568720e-02 1.01853432e-02 9.99806034e-01 -6.04210033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.821193817 meters Centerline goodness [0,1] 0.8004085506767911 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.18, Z:-0.60 [[ 0.99984404 0.00466987 -0.01703206 2.85940457] [-0.00480826 0.99995569 -0.00809371 -0.17515938] [ 0.01699351 0.00817434 0.99982218 -0.60493838] [ 0. 0. 0. 1. ]] SLAMing on 61.851193817 meters Centerline goodness [0,1] 0.7788550991296438 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.17, Z:-0.61 [[ 0.99982469 0.00746716 -0.01717075 2.86001792] [-0.0075724 0.99995289 -0.00607224 -0.17040683] [ 0.01712459 0.0062012 0.99983413 -0.60515892] [ 0. 0. 0. 1. ]] SLAMing on 61.881193817 meters Centerline goodness [0,1] 0.8278031561461794 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.16, Z:-0.60 [[ 0.99977984 0.01235904 -0.01695661 2.85894882] [-0.01241728 0.99991735 -0.00333342 -0.15734846] [ 0.01691401 0.00354324 0.99985067 -0.60389312] [ 0. 0. 0. 1. ]] SLAMing on 61.911193817000004 meters Centerline goodness [0,1] 0.8406054473743986 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.15, Z:-0.61 [[ 0.99980756 0.01659328 -0.01046446 2.87068094] [-0.01667584 0.99983011 -0.00785257 -0.14863759] [ 0.01033238 0.00802556 0.99991441 -0.60681472] [ 0. 0. 0. 1. ]] SLAMing on 61.941193817 meters Centerline goodness [0,1] 0.864454780361757 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.14, Z:-0.61 [[ 0.99975171 0.01961954 -0.0105635 2.87025299] [-0.01968592 0.99978688 -0.00621714 -0.14166977] [ 0.01043927 0.00642355 0.99992488 -0.60573149] [ 0. 0. 0. 1. ]] SLAMing on 61.971193817 meters Centerline goodness [0,1] 0.864454780361757 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.14, Z:-0.61 [[ 0.99975171 0.01961954 -0.0105635 2.87025299] [-0.01968592 0.99978688 -0.00621714 -0.14166977] [ 0.01043927 0.00642355 0.99992488 -0.60573149] [ 0. 0. 0. 1. ]] SLAMing on 62.001193817 meters Centerline goodness [0,1] 0.886996295299791 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.14, Z:-0.61 [[ 0.9996833 0.02282988 -0.01058709 2.87017011] [-0.02287591 0.99972929 -0.00424765 -0.13565309] [ 0.01048725 0.0044885 0.99993493 -0.60519012] [ 0. 0. 0. 1. ]] SLAMing on 62.031193817 meters Centerline goodness [0,1] 0.9034832041343669 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.13, Z:-0.60 [[ 9.99604124e-01 2.60168936e-02 -1.07105992e-02 2.87030251e+00] [-2.60409470e-02 9.99658645e-01 -2.11243215e-03 -1.30546495e-01] [ 1.06519842e-02 2.39051004e-03 9.99940409e-01 -6.04709707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.061193817 meters Centerline goodness [0,1] 0.9083310865462388 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.13, Z:-0.60 [[ 9.99518078e-01 2.91506738e-02 -1.06700496e-02 2.87012999e+00] [-2.91506066e-02 9.99575018e-01 1.61852909e-04 -1.26075177e-01] [ 1.06702332e-02 1.49263511e-04 9.99943060e-01 -6.04223035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.091193817000004 meters Centerline goodness [0,1] 0.9069729083336769 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.12, Z:-0.60 [[ 9.99450504e-01 3.14504789e-02 -1.04669689e-02 2.86913386e+00] [-3.14455122e-02 9.99505263e-01 6.38791817e-04 -1.16064870e-01] [ 1.04818808e-02 -3.09301605e-04 9.99945016e-01 -6.02939546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.121193817 meters Centerline goodness [0,1] 0.9101743041306556 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.11, Z:-0.60 [[ 9.99459650e-01 3.11328517e-02 -1.05429569e-02 2.86927732e+00] [-3.11430226e-02 9.99514617e-01 -8.01878756e-04 -1.10848224e-01] [ 1.05128747e-02 1.12978501e-03 9.99944100e-01 -6.02840221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.151193817 meters Centerline goodness [0,1] 0.910208135060206 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.11, Z:-0.60 [[ 9.99475591e-01 3.04789076e-02 -1.09351893e-02 2.87105267e+00] [-3.05085299e-02 9.99531248e-01 -2.55234627e-03 -1.05566426e-01] [ 1.08522707e-02 2.88462435e-03 9.99936952e-01 -6.04069826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.181193817 meters Centerline goodness [0,1] 0.9072984412098689 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.10, Z:-0.61 [[ 0.99949214 0.02975951 -0.01139488 2.87319706] [-0.02980872 0.99954691 -0.00417398 -0.10102202] [ 0.0112655 0.00451153 0.99992636 -0.60558939] [ 0. 0. 0. 1. ]] SLAMing on 62.211193817 meters Centerline goodness [0,1] 0.9036535184338501 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.10, Z:-0.61 [[ 0.99944022 0.03125322 -0.01193666 2.8764016 ] [-0.03129307 0.99950524 -0.00316604 -0.0962111 ] [ 0.0118318 0.00353781 0.99992374 -0.60799227] [ 0. 0. 0. 1. ]] SLAMing on 62.241193817 meters Centerline goodness [0,1] 0.9028118121028368 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.09, Z:-0.61 [[ 0.99944617 0.03095443 -0.01221368 2.87726557] [-0.03100638 0.99951083 -0.00408687 -0.09359617] [ 0.0120812 0.0044633 0.99991706 -0.60832657] [ 0. 0. 0. 1. ]] SLAMing on 62.271193817000004 meters Centerline goodness [0,1] 0.8963683393688567 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.09, Z:-0.61 [[ 9.99340252e-01 3.41133300e-02 -1.24636058e-02 2.87869022e+00] [-3.41407694e-02 9.99415042e-01 -1.99540428e-03 -8.84116457e-02] [ 1.23882453e-02 2.41960491e-03 9.99920335e-01 -6.09085739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.301193817000005 meters Centerline goodness [0,1] 0.8983496573002299 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:-0.61 [[ 0.99933994 0.03398799 -0.01282546 2.87957308] [-0.03403061 0.99941592 -0.00311998 -0.08436749] [ 0.01271193 0.00355438 0.99991288 -0.60916981] [ 0. 0. 0. 1. ]] SLAMing on 62.331193817 meters Centerline goodness [0,1] 0.8991233536914703 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:-0.61 [[ 0.99934513 0.03374043 -0.01307255 2.88021234] [-0.03379694 0.9994202 -0.00412672 -0.0810701 ] [ 0.01292573 0.00456583 0.99990603 -0.60928654] [ 0. 0. 0. 1. ]] SLAMing on 62.361193817 meters Centerline goodness [0,1] 0.8984220702272302 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:-0.61 [[ 0.99935162 0.03344575 -0.01333108 2.88075551] [-0.03351352 0.99942628 -0.0048934 -0.07908071] [ 0.01315977 0.005337 0.99989916 -0.60927086] [ 0. 0. 0. 1. ]] SLAMing on 62.391193817 meters Centerline goodness [0,1] 0.8984111799692218 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:-0.61 [[ 0.99935838 0.03311869 -0.01363778 2.88104613] [-0.03319193 0.99943557 -0.00517977 -0.07979948] [ 0.01345853 0.00562911 0.99989358 -0.60895027] [ 0. 0. 0. 1. ]] SLAMing on 62.421193817 meters Centerline goodness [0,1] 0.8994268925992593 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:-0.61 [[ 0.99935853 0.03303928 -0.01381769 2.8814883 ] [-0.03311624 0.99943704 -0.00537798 -0.07947327] [ 0.01363223 0.00583212 0.99989007 -0.60898271] [ 0. 0. 0. 1. ]] SLAMing on 62.451193817000004 meters Centerline goodness [0,1] 0.9018739210914914 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:-0.61 [[ 0.99932236 0.03426231 -0.01345036 2.8795432 ] [-0.03432582 0.99940048 -0.00451979 -0.07824115] [ 0.01328743 0.00497842 0.99989932 -0.60733611] [ 0. 0. 0. 1. ]] SLAMing on 62.481193817000005 meters Centerline goodness [0,1] 0.9032197911486822 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:-0.61 [[ 9.99182828e-01 3.81070544e-02 -1.34732834e-02 2.87969276e+00] [-3.81202027e-02 9.99272901e-01 -7.20322725e-04 -7.76296281e-02] [ 1.34360376e-02 1.23333839e-03 9.99908972e-01 -6.06983553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.511193817 meters Centerline goodness [0,1] 0.900965230928905 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:-0.60 [[ 0.9989776 0.04327576 -0.01307533 2.87784814] [-0.04323089 0.99905827 0.00369514 -0.07641068] [ 0.01322293 -0.00312611 0.99990769 -0.60493837] [ 0. 0. 0. 1. ]] SLAMing on 62.541193817 meters Centerline goodness [0,1] 0.8997072198342989 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:-0.60 [[ 0.99893805 0.0441196 -0.01327545 2.87792396] [-0.04406934 0.99902025 0.00405481 -0.07657849] [ 0.01344134 -0.00346546 0.99990366 -0.60447857] [ 0. 0. 0. 1. ]] SLAMing on 62.571193817 meters Centerline goodness [0,1] 0.8996046285371255 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:-0.60 [[ 0.99889974 0.04491943 -0.01347436 2.87813588] [-0.04486097 0.9989826 0.0046097 -0.07781994] [ 0.01366772 -0.00400015 0.99989859 -0.60426791] [ 0. 0. 0. 1. ]] SLAMing on 62.601193817 meters Centerline goodness [0,1] 0.9051383399209486 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:-0.60 [[ 0.99883605 0.04633678 -0.0133959 2.87778384] [-0.04625993 0.99891147 0.00599087 -0.0807768 ] [ 0.01365891 -0.0053642 0.99989232 -0.6040212 ] [ 0. 0. 0. 1. ]] SLAMing on 62.631193817 meters Centerline goodness [0,1] 0.9045024968016178 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:-0.60 [[ 9.98961843e-01 4.34504874e-02 -1.36854548e-02 2.87813172e+00] [-4.34179022e-02 9.99053432e-01 2.66932369e-03 -8.08171270e-02] [ 1.37884840e-02 -2.07235877e-03 9.99902787e-01 -6.04109804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.661193817000004 meters Centerline goodness [0,1] 0.9040610294574929 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:-0.60 [[ 9.99076814e-01 4.07727940e-02 -1.35314388e-02 2.87686594e+00] [-4.07769071e-02 9.99168276e-01 -2.80922184e-05 -8.18008981e-02] [ 1.35190390e-02 5.79836508e-04 9.99908445e-01 -6.03256992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.691193817 meters Centerline goodness [0,1] 0.901034432720413 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:-0.60 [[ 0.99920998 0.03730907 -0.01369118 2.87699188] [-0.03735806 0.99929636 -0.00334021 -0.08288274] [ 0.01355693 0.00384905 0.99990069 -0.60331035] [ 0. 0. 0. 1. ]] SLAMing on 62.721193817 meters Centerline goodness [0,1] 0.9027432454831759 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.09, Z:-0.60 [[ 0.99928585 0.03495875 -0.01434132 2.87897899] [-0.03503688 0.99937232 -0.00523324 -0.08606919] [ 0.01414937 0.00573198 0.99988346 -0.60446045] [ 0. 0. 0. 1. ]] SLAMing on 62.751193817 meters Centerline goodness [0,1] 0.9018950678583251 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.10, Z:-0.60 [[ 0.99946176 0.02931903 -0.01471688 2.8791219 ] [-0.02945975 0.99952141 -0.00943789 -0.0954262 ] [ 0.01443312 0.00986636 0.99984716 -0.60445304] [ 0. 0. 0. 1. ]] SLAMing on 62.781193817 meters Centerline goodness [0,1] 0.9034119106699752 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.10, Z:-0.60 [[ 0.99945014 0.02959232 -0.01495685 2.87941357] [-0.0297146 0.99952625 -0.00802043 -0.10187057] [ 0.01471243 0.00846046 0.99985597 -0.60436875] [ 0. 0. 0. 1. ]] SLAMing on 62.811193817 meters Centerline goodness [0,1] 0.9023484254405877 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.11, Z:-0.60 [[ 0.99943129 0.03014666 -0.01510858 2.87968008] [-0.03024882 0.99952075 -0.00657941 -0.10635286] [ 0.01490299 0.00703268 0.99986421 -0.60435521] [ 0. 0. 0. 1. ]] SLAMing on 62.841193817000004 meters Centerline goodness [0,1] 0.9029521056977704 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.11, Z:-0.60 [[ 0.99940471 0.03096302 -0.01521547 2.87982106] [-0.031047 0.9995038 -0.00531411 -0.10917318] [ 0.01504338 0.00578334 0.99987012 -0.60422464] [ 0. 0. 0. 1. ]] SLAMing on 62.871193817 meters Centerline goodness [0,1] 0.9060664558261798 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.12, Z:-0.61 [[ 9.99273802e-01 3.45980402e-02 -1.59638668e-02 2.88278865e+00] [-3.46214197e-02 9.99399790e-01 -1.19040860e-03 -1.15411722e-01] [ 1.59130993e-02 1.74223586e-03 9.99871861e-01 -6.05985311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.901193817 meters Centerline goodness [0,1] 0.90729571180699 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.12, Z:-0.61 [[ 9.99233073e-01 3.56931566e-02 -1.61017020e-02 2.88326242e+00] [-3.56938352e-02 9.99362742e-01 2.45329147e-04 -1.19012844e-01] [ 1.61001977e-02 3.29590501e-04 9.99870329e-01 -6.06239748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.931193817 meters Centerline goodness [0,1] 0.9110825543557113 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.12, Z:-0.61 [[ 9.99194946e-01 3.66832783e-02 -1.62418293e-02 2.88393951e+00] [-3.66610132e-02 9.99326369e-01 1.66657741e-03 -1.23190479e-01] [ 1.62920238e-02 -1.06979381e-03 9.99866704e-01 -6.06746651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.961193817 meters Centerline goodness [0,1] 0.9145835924221697 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.13, Z:-0.61 [[ 9.99266012e-01 3.45574866e-02 -1.65293034e-02 2.88429858e+00] [-3.45729847e-02 9.99401963e-01 -6.52692923e-04 -1.26317610e-01] [ 1.64968628e-02 1.22368121e-03 9.99863169e-01 -6.06871983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.991193817 meters Centerline goodness [0,1] 0.9195870352089504 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.14, Z:-0.61 [[ 0.99925159 0.03682918 -0.01182635 2.89833933] [-0.03676015 0.99930609 0.0060021 -0.14010779] [ 0.01203919 -0.00556287 0.99991205 -0.60813998] [ 0. 0. 0. 1. ]] SLAMing on 63.021193817000004 meters Centerline goodness [0,1] 0.9209125789017699 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.14, Z:-0.61 [[ 0.99934837 0.03406686 -0.01192823 2.89770278] [-0.03402595 0.99941441 0.00361576 -0.14399798] [ 0.01204442 -0.00320754 0.99992232 -0.60742994] [ 0. 0. 0. 1. ]] SLAMing on 63.051193817000005 meters Centerline goodness [0,1] 0.922656699252444 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.15, Z:-0.61 [[ 9.99446514e-01 3.09743659e-02 -1.21348579e-02 2.89795464e+00] [-3.09608252e-02 9.99519751e-01 1.30216949e-03 -1.48922759e-01] [ 1.21693640e-02 -9.25743546e-04 9.99925522e-01 -6.07543071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.081193817 meters Centerline goodness [0,1] 0.9176242043481855 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.16, Z:-0.61 [[ 9.99542049e-01 2.77095678e-02 -1.21602797e-02 2.89805036e+00] [-2.77201210e-02 9.99615478e-01 -7.00118309e-04 -1.55161505e-01] [ 1.21362039e-02 1.03688211e-03 9.99925816e-01 -6.07850963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.111193817 meters Centerline goodness [0,1] 0.9114787194594371 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.17, Z:-0.61 [[ 0.9997009 0.02078056 -0.01289492 2.90111408] [-0.02083733 0.9997737 -0.00428349 -0.16703747] [ 0.01280299 0.00455091 0.99990768 -0.61053067] [ 0. 0. 0. 1. ]] SLAMing on 63.141193817 meters Centerline goodness [0,1] 0.9082644971151053 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.17, Z:-0.61 [[ 0.99976456 0.01742241 -0.01293404 2.9010383 ] [-0.01750593 0.99982646 -0.00637199 -0.17235929] [ 0.01282078 0.00659691 0.99989605 -0.61044587] [ 0. 0. 0. 1. ]] SLAMing on 63.171193817 meters Centerline goodness [0,1] 0.90501494520093 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.18, Z:-0.61 [[ 0.99981401 0.0140453 -0.0132162 2.90140226] [-0.01415855 0.9998635 -0.00851529 -0.17791354] [ 0.01309479 0.00870083 0.9998764 -0.61028931] [ 0. 0. 0. 1. ]] SLAMing on 63.201193817000004 meters Centerline goodness [0,1] 0.9064055689822561 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.19, Z:-0.61 [[ 0.99990274 0.0049079 -0.01305435 2.89989766] [-0.00511617 0.9998594 -0.01596874 -0.18954707] [ 0.01297414 0.01603398 0.99978727 -0.60907392] [ 0. 0. 0. 1. ]] SLAMing on 63.231193817000005 meters Centerline goodness [0,1] 0.909985964332893 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.19, Z:-0.61 [[ 9.99912628e-01 1.61389592e-03 -1.31198972e-02 2.89968050e+00] [-1.85484023e-03 9.99829474e-01 -1.83734256e-02 -1.94252645e-01] [ 1.30880071e-02 1.83961556e-02 9.99745110e-01 -6.08639302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.261193817 meters Centerline goodness [0,1] 0.9127675460428074 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.20, Z:-0.61 [[ 9.99914736e-01 9.29207221e-04 -1.30252674e-02 2.89956742e+00] [-1.15991371e-03 9.99842389e-01 -1.77158775e-02 -1.98670779e-01] [ 1.30067528e-02 1.77294752e-02 9.99758216e-01 -6.08505679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.291193817 meters Centerline goodness [0,1] 0.9126384797311315 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.20, Z:-0.61 [[ 9.99915045e-01 1.30037779e-04 -1.30340433e-02 2.89973200e+00] [-3.55419471e-04 9.99850437e-01 -1.72909466e-02 -2.01519212e-01] [ 1.30298454e-02 1.72941102e-02 9.99765541e-01 -6.08414760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.321193817 meters Centerline goodness [0,1] 0.9136553665300716 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.20, Z:-0.61 [[ 9.99907888e-01 -1.39438077e-03 -1.35008043e-02 2.90135687e+00] [ 1.15490606e-03 9.99842155e-01 -1.77293875e-02 -2.03886573e-01] [ 1.35233948e-02 1.77121623e-02 9.99751668e-01 -6.09011526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.351193817 meters Centerline goodness [0,1] 0.9022230517191323 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.21, Z:-0.61 [[ 0.99985827 -0.01001534 -0.01353291 2.90115009] [ 0.00966915 0.99963038 -0.02540895 -0.20601182] [ 0.01378239 0.02527449 0.99958554 -0.60843154] [ 0. 0. 0. 1. ]] SLAMing on 63.381193817 meters Centerline goodness [0,1] 0.8831211907624694 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.21, Z:-0.60 [[ 0.99975918 -0.01482092 -0.01618394 2.90854589] [ 0.01445036 0.99963609 -0.02277895 -0.20857705] [ 0.01651566 0.0225396 0.99960952 -0.60447 ] [ 0. 0. 0. 1. ]] SLAMing on 63.411193817000004 meters Centerline goodness [0,1] 0.860828691528793 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.21, Z:-0.60 [[ 0.99967214 -0.01973858 -0.01630934 2.90942376] [ 0.01928861 0.99944113 -0.02730146 -0.20819141] [ 0.01683911 0.02697793 0.99949419 -0.60495956] [ 0. 0. 0. 1. ]] SLAMing on 63.441193817 meters Centerline goodness [0,1] 0.7788650110443632 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.21, Z:-0.61 [[ 0.99958471 -0.0236702 -0.01643576 2.91139237] [ 0.02315561 0.99925658 -0.03082389 -0.20798042] [ 0.01715315 0.03043051 0.99938969 -0.60658474] [ 0. 0. 0. 1. ]] SLAMing on 63.471193817 meters Centerline goodness [0,1] 0.7138086249455495 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.21, Z:-0.60 [[ 0.99919803 -0.0338265 -0.02142592 2.90919043] [ 0.03330039 0.99914619 -0.02445352 -0.20727886] [ 0.0222348 0.02372041 0.99947134 -0.60441307] [ 0. 0. 0. 1. ]] SLAMing on 63.501193817 meters Centerline goodness [0,1] 0.6825913111935196 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.21, Z:-0.61 [[ 0.99913923 -0.0353247 -0.02174781 2.9106339 ] [ 0.03476048 0.99906267 -0.02579704 -0.20537595] [ 0.0226387 0.02501887 0.99943061 -0.60516723] [ 0. 0. 0. 1. ]] SLAMing on 63.531193817 meters Centerline goodness [0,1] 0.6967214805950441 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.20, Z:-0.61 [[ 0.99910239 -0.03629942 -0.02183476 2.91120156] [ 0.03570336 0.99899504 -0.02709578 -0.20190162] [ 0.02279638 0.02629189 0.99939435 -0.60549192] [ 0. 0. 0. 1. ]] SLAMing on 63.561193817 meters Centerline goodness [0,1] 0.6936163184408292 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.20, Z:-0.61 [[ 0.99916763 -0.03419247 -0.02224671 2.91244494] [ 0.03362977 0.99911675 -0.02519438 -0.19794245] [ 0.02308852 0.02442526 0.999435 -0.6060053 ] [ 0. 0. 0. 1. ]] SLAMing on 63.591193817000004 meters Centerline goodness [0,1] 0.7057543670610663 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.19, Z:-0.61 [[ 0.99926559 -0.03106294 -0.02243592 2.91251383] [ 0.03055215 0.99927398 -0.02276155 -0.19306868] [ 0.02312667 0.02205937 0.99948914 -0.60579005] [ 0. 0. 0. 1. ]] SLAMing on 63.621193817000005 meters Centerline goodness [0,1] 0.7294095719344751 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.18, Z:-0.61 [[ 0.99954519 -0.02412423 -0.01809532 2.92772873] [ 0.02368497 0.99942874 -0.02410827 -0.17772122] [ 0.01866658 0.02366872 0.99954557 -0.60803599] [ 0. 0. 0. 1. ]] SLAMing on 63.651193817 meters Centerline goodness [0,1] 0.7472527472527473 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.17, Z:-0.61 [[ 0.99966525 -0.0179722 -0.01861156 2.92910135] [ 0.01761937 0.99966515 -0.01895113 -0.17160761] [ 0.01894592 0.01861687 0.99964717 -0.60853209] [ 0. 0. 0. 1. ]] SLAMing on 63.681193817 meters Centerline goodness [0,1] 0.8207125792043212 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.16, Z:-0.61 [[ 0.99980339 -0.00688876 -0.01859386 2.92773568] [ 0.00668794 0.99991887 -0.0108412 -0.15779056] [ 0.01866704 0.01071471 0.99976834 -0.6069819 ] [ 0. 0. 0. 1. ]] SLAMing on 63.711193817 meters Centerline goodness [0,1] 0.8311597193561701 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.15, Z:-0.61 [[ 9.99909346e-01 -8.06450510e-04 -1.34405648e-02 2.94170798e+00] [ 6.20828626e-04 9.99904458e-01 -1.38090264e-02 -1.49102624e-01] [ 1.34504169e-02 1.37994303e-02 9.99814314e-01 -6.10910731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.741193817 meters Centerline goodness [0,1] 0.8813454139257788 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.14, Z:-0.61 [[ 0.99989957 0.00503958 -0.01324579 2.94101526] [-0.0051586 0.99994649 -0.00896653 -0.14192097] [ 0.0131999 0.00903396 0.99987207 -0.61027517] [ 0. 0. 0. 1. ]] SLAMing on 63.771193817000004 meters Centerline goodness [0,1] 0.8754954244568488 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.13, Z:-0.61 [[ 0.99987445 0.00907526 -0.01298917 2.93972839] [-0.00915408 0.99993997 -0.00602162 -0.13403665] [ 0.01293375 0.00613977 0.99989751 -0.60898672] [ 0. 0. 0. 1. ]] SLAMing on 63.801193817000005 meters Centerline goodness [0,1] 0.906368358962684 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.12, Z:-0.61 [[ 9.99806133e-01 1.42497751e-02 -1.35882473e-02 2.94105049e+00] [-1.42905974e-02 9.99893644e-01 -2.91187964e-03 -1.19457048e-01] [ 1.35453085e-02 3.10549929e-03 9.99903436e-01 -6.08483709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.831193817 meters Centerline goodness [0,1] 0.9071606475716065 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.11, Z:-0.61 [[ 9.99759897e-01 1.70567860e-02 -1.37555139e-02 2.94200909e+00] [-1.70738232e-02 9.99853602e-01 -1.12208431e-03 -1.13793234e-01] [ 1.37343610e-02 1.35667411e-03 9.99904759e-01 -6.09024429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.861193817 meters Centerline goodness [0,1] 0.9021973913765888 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.11, Z:-0.61 [[ 9.99707571e-01 1.96354248e-02 -1.41146438e-02 2.94376658e+00] [-1.96295333e-02 9.99807168e-01 5.55834965e-04 -1.08759565e-01] [ 1.41228361e-02 -2.78608553e-04 9.99900229e-01 -6.10014106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.891193817 meters Centerline goodness [0,1] 0.9057927523334506 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.10, Z:-0.61 [[ 9.99702863e-01 1.95841328e-02 -1.45136694e-02 2.94548740e+00] [-1.95999632e-02 9.99807452e-01 -9.49276063e-04 -1.02996253e-01] [ 1.44922841e-02 1.23346138e-03 9.99894221e-01 -6.11122291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.921193817 meters Centerline goodness [0,1] 0.9057927523334506 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.10, Z:-0.61 [[ 9.99702863e-01 1.95841328e-02 -1.45136694e-02 2.94548740e+00] [-1.95999632e-02 9.99807452e-01 -9.49276063e-04 -1.02996253e-01] [ 1.44922841e-02 1.23346138e-03 9.99894221e-01 -6.11122291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.951193817000004 meters Centerline goodness [0,1] 0.9159222171438068 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.09, Z:-0.61 [[ 9.99640135e-01 2.25161624e-02 -1.45815647e-02 2.94594419e+00] [-2.25159624e-02 9.99746468e-01 1.77901927e-04 -9.47451345e-02] [ 1.45818735e-02 1.50480057e-04 9.99893668e-01 -6.11161150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.981193817000005 meters Centerline goodness [0,1] 0.9192476957568712 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.09, Z:-0.61 [[ 9.99640095e-01 2.24314535e-02 -1.47143156e-02 2.94600707e+00] [-2.24515060e-02 9.99747214e-01 -1.19899943e-03 -8.90344701e-02] [ 1.46837007e-02 1.52892645e-03 9.99891020e-01 -6.10697997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.011193817 meters Centerline goodness [0,1] 0.918977920079837 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.09, Z:-0.61 [[ 9.99556393e-01 2.58067223e-02 -1.48670765e-02 2.94623363e+00] [-2.57867150e-02 9.99666287e-01 1.53590566e-03 -8.53869013e-02] [ 1.49017519e-02 -1.15185125e-03 9.99888299e-01 -6.10202649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.041193817 meters Centerline goodness [0,1] 0.9168875269173431 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.08, Z:-0.61 [[ 0.99935 0.03256467 -0.01546337 2.94898027] [-0.03245843 0.99944807 0.00707202 -0.08019429] [ 0.01568513 -0.00656551 0.99985542 -0.6114314 ] [ 0. 0. 0. 1. ]] SLAMing on 64.07119381700001 meters Centerline goodness [0,1] 0.9162299326773693 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.08, Z:-0.61 [[ 0.99932951 0.0330423 -0.01577112 2.94993449] [-0.03294611 0.99943714 0.0063208 -0.07674096] [ 0.01597109 -0.00579697 0.99985565 -0.61171648] [ 0. 0. 0. 1. ]] SLAMing on 64.101193817 meters Centerline goodness [0,1] 0.9194490472245236 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.07, Z:-0.61 [[ 0.99931348 0.03341404 -0.01600196 2.9502002 ] [-0.03332888 0.99942898 0.00555908 -0.07350128] [ 0.01617858 -0.00502194 0.99985651 -0.61127903] [ 0. 0. 0. 1. ]] SLAMing on 64.131193817 meters Centerline goodness [0,1] 0.9214706370272063 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.07, Z:-0.61 [[ 0.99930051 0.03377515 -0.01605399 2.94978107] [-0.03369707 0.99941903 0.00510921 -0.07110135] [ 0.01621723 -0.00456466 0.99985807 -0.6104302 ] [ 0. 0. 0. 1. ]] SLAMing on 64.161193817 meters Centerline goodness [0,1] 0.924812030075188 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.07, Z:-0.61 [[ 9.99239149e-01 3.76445948e-02 -1.01984443e-02 2.95762468e+00] [-3.76655504e-02 9.99288651e-01 -1.87049561e-03 -6.70910643e-02] [ 1.01207756e-02 2.25320245e-03 9.99946245e-01 -6.11378809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.191193817 meters Centerline goodness [0,1] 0.9251469735861555 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.07, Z:-0.61 [[ 9.99232674e-01 3.77999354e-02 -1.02580979e-02 2.95694510e+00] [-3.78224643e-02 9.99282451e-01 -2.01110488e-03 -6.65432954e-02] [ 1.01747176e-02 2.39754825e-03 9.99945362e-01 -6.10248517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.221193817 meters Centerline goodness [0,1] 0.9275086397781594 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.07, Z:-0.61 [[ 9.99224156e-01 3.80198502e-02 -1.02750417e-02 2.95625835e+00] [-3.80390770e-02 9.99274836e-01 -1.68223625e-03 -6.80720643e-02] [ 1.02036323e-02 2.07178420e-03 9.99945795e-01 -6.09286690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.251193817 meters Centerline goodness [0,1] 0.9329170901698853 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.07, Z:-0.61 [[ 0.99931529 0.0356498 -0.0099018 2.95366701] [-0.03568842 0.99935592 -0.00375188 -0.07192305] [ 0.00976167 0.00410269 0.99994394 -0.60722322] [ 0. 0. 0. 1. ]] SLAMing on 64.281193817 meters Centerline goodness [0,1] 0.928030303030303 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.07, Z:-0.61 [[ 0.99931041 0.03574643 -0.01004428 2.95400664] [-0.03578074 0.99935436 -0.00325706 -0.07395055] [ 0.00992137 0.00361421 0.99994425 -0.6072395 ] [ 0. 0. 0. 1. ]] SLAMing on 64.311193817 meters Centerline goodness [0,1] 0.9349531081417545 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.08, Z:-0.61 [[ 9.99304390e-01 3.58907149e-02 -1.01288235e-02 2.95406369e+00] [-3.59213228e-02 9.99350539e-01 -2.85622680e-03 -7.53459330e-02] [ 1.00197332e-02 3.21808072e-03 9.99944623e-01 -6.07059426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.341193817 meters Centerline goodness [0,1] 0.9342520338701643 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.08, Z:-0.61 [[ 9.99295376e-01 3.60780084e-02 -1.03503216e-02 2.95472089e+00] [-3.61048388e-02 9.99345085e-01 -2.41712876e-03 -7.68030190e-02] [ 1.02563378e-02 2.78912229e-03 9.99943513e-01 -6.07317103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.371193817 meters Centerline goodness [0,1] 0.9310387751291467 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.08, Z:-0.61 [[ 0.99936479 0.033992 -0.01070367 2.95653088] [-0.03403786 0.999412 -0.00413184 -0.08122682] [ 0.01055692 0.00449355 0.99993418 -0.60897781] [ 0. 0. 0. 1. ]] SLAMing on 64.401193817 meters Centerline goodness [0,1] 0.9296324766792013 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.08, Z:-0.61 [[ 0.99943044 0.03184452 -0.011168 2.95843885] [-0.03191212 0.9994731 -0.00592747 -0.08433473] [ 0.01097336 0.00628049 0.99992007 -0.61040971] [ 0. 0. 0. 1. ]] SLAMing on 64.43119381700001 meters Centerline goodness [0,1] 0.9290511130456411 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.09, Z:-0.61 [[ 0.99948217 0.02997759 -0.01169318 2.96054762] [-0.03006297 0.99952211 -0.00719569 -0.08859477] [ 0.01147188 0.00754349 0.99990574 -0.61193094] [ 0. 0. 0. 1. ]] SLAMing on 64.46119381700001 meters Centerline goodness [0,1] 0.9258666555823427 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.09, Z:-0.61 [[ 0.99948847 0.02974543 -0.01174774 2.96095338] [-0.02982275 0.99953431 -0.00646297 -0.09344464] [ 0.01155003 0.00681001 0.99991011 -0.61235217] [ 0. 0. 0. 1. ]] SLAMing on 64.491193817 meters Centerline goodness [0,1] 0.9162459654059423 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.10, Z:-0.62 [[ 0.99956328 0.0267207 -0.01261925 2.96464232] [-0.02681911 0.99961069 -0.00769418 -0.10223213] [ 0.01240874 0.00802926 0.99989077 -0.61518742] [ 0. 0. 0. 1. ]] SLAMing on 64.521193817 meters Centerline goodness [0,1] 0.9158107912628382 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.11, Z:-0.62 [[ 0.9996027 0.02489864 -0.01320956 2.96703822] [-0.02501569 0.99964858 -0.00877088 -0.10675247] [ 0.01298653 0.00909784 0.99987428 -0.61681625] [ 0. 0. 0. 1. ]] SLAMing on 64.551193817 meters Centerline goodness [0,1] 0.9156775981142219 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.11, Z:-0.62 [[ 0.99959496 0.02500758 -0.01358469 2.96780159] [-0.02511036 0.99965694 -0.00744847 -0.11173068] [ 0.01339376 0.00778657 0.99987998 -0.61687787] [ 0. 0. 0. 1. ]] SLAMing on 64.581193817 meters Centerline goodness [0,1] 0.9161712741633756 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.12, Z:-0.61 [[ 0.99962799 0.02377847 -0.01335875 2.96521957] [-0.02388168 0.99968575 -0.00761976 -0.1190369 ] [ 0.01317337 0.00793595 0.99988173 -0.61439127] [ 0. 0. 0. 1. ]] SLAMing on 64.611193817 meters Centerline goodness [0,1] 0.9177255728424141 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.12, Z:-0.61 [[ 0.99961463 0.02418789 -0.01362151 2.96537225] [-0.02427394 0.99968619 -0.00618784 -0.12396694] [ 0.01346756 0.0065161 0.99988808 -0.61378375] [ 0. 0. 0. 1. ]] SLAMing on 64.641193817 meters Centerline goodness [0,1] 0.9206503930149117 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.13, Z:-0.61 [[ 0.99967421 0.02156305 -0.01365696 2.96433941] [-0.02167715 0.99973088 -0.00826254 -0.12777668] [ 0.01347512 0.0085559 0.9998726 -0.61264989] [ 0. 0. 0. 1. ]] SLAMing on 64.671193817 meters Centerline goodness [0,1] 0.9188909579971033 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.13, Z:-0.61 [[ 0.99973576 0.01836602 -0.01382423 2.96448236] [-0.01851579 0.9997704 -0.01078478 -0.13165284] [ 0.01362298 0.0110379 0.99984628 -0.61258573] [ 0. 0. 0. 1. ]] SLAMing on 64.701193817 meters Centerline goodness [0,1] 0.9194120208156241 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.14, Z:-0.61 [[ 0.99979078 0.01494928 -0.01396087 2.96448666] [-0.01513579 0.99979631 -0.01335089 -0.135609 ] [ 0.01375844 0.01355941 0.99981341 -0.61233679] [ 0. 0. 0. 1. ]] SLAMing on 64.731193817 meters Centerline goodness [0,1] 0.9108196180340717 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.14, Z:-0.61 [[ 0.99995134 0.00597772 -0.00784804 2.965113 ] [-0.00601694 0.99996948 -0.004984 -0.14470132] [ 0.00781801 0.00503097 0.99995678 -0.61337232] [ 0. 0. 0. 1. ]] SLAMing on 64.761193817 meters Centerline goodness [0,1] 0.9124139075595387 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.15, Z:-0.61 [[ 9.99966337e-01 2.05852234e-03 -7.94276719e-03 2.96519082e+00] [-2.12515284e-03 9.99962549e-01 -8.38952571e-03 -1.46366517e-01] [ 7.92519970e-03 8.40612289e-03 9.99933262e-01 -6.13181475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.791193817 meters Centerline goodness [0,1] 0.8888452230748547 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.15, Z:-0.61 [[ 9.99966672e-01 1.40780326e-03 -8.04199067e-03 2.96567757e+00] [-1.47063753e-03 9.99968399e-01 -7.81271147e-03 -1.49671490e-01] [ 8.03073777e-03 7.82427794e-03 9.99937142e-01 -6.13321630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82119381700001 meters Centerline goodness [0,1] 0.887071699521174 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.15, Z:-0.61 [[ 9.99967111e-01 7.46923930e-04 -8.07578365e-03 2.96597069e+00] [-8.07405770e-04 9.99971634e-01 -7.48861972e-03 -1.52282119e-01] [ 8.06996114e-03 7.49489386e-03 9.99939349e-01 -6.13448237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.851193817 meters Centerline goodness [0,1] 0.8797791523101831 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.15, Z:-0.61 [[ 9.99966119e-01 3.85678931e-04 -8.22265384e-03 2.96615977e+00] [-4.44969439e-04 9.99973908e-01 -7.21001958e-03 -1.53907508e-01] [ 8.21965855e-03 7.21343413e-03 9.99940200e-01 -6.13202004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.881193817 meters Centerline goodness [0,1] 0.8717327368377449 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.15, Z:-0.61 [[ 9.99965483e-01 -3.08380062e-04 -8.30291806e-03 2.96649691e+00] [ 2.45083798e-04 9.99970912e-01 -7.62331432e-03 -1.53837675e-01] [ 8.30502742e-03 7.62101627e-03 9.99936471e-01 -6.13202703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.911193817 meters Centerline goodness [0,1] 0.8721956867853524 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.15, Z:-0.61 [[ 9.99963234e-01 -4.26820147e-04 -8.56441913e-03 2.96733810e+00] [ 3.59041159e-04 9.99968619e-01 -7.91399785e-03 -1.52859988e-01] [ 8.56752823e-03 7.91063190e-03 9.99932007e-01 -6.13542629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.941193817 meters Centerline goodness [0,1] 0.8831866854818627 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.15, Z:-0.61 [[ 9.99959443e-01 2.73608202e-03 -8.58054848e-03 2.96753511e+00] [-2.77486028e-03 9.99985977e-01 -4.51067722e-03 -1.52795810e-01] [ 8.56808657e-03 4.53430411e-03 9.99953013e-01 -6.13586466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.971193817 meters Centerline goodness [0,1] 0.9025032664827758 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.15, Z:-0.61 [[ 9.99940581e-01 6.71209719e-03 -8.58965267e-03 2.96765398e+00] [-6.73000573e-03 9.99975236e-01 -2.05769273e-03 -1.46521003e-01] [ 8.57562853e-03 2.11537887e-03 9.99960991e-01 -6.13487363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.001193817 meters Centerline goodness [0,1] 0.9113117694353392 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.14, Z:-0.61 [[ 9.99905921e-01 1.05701396e-02 -8.74188329e-03 2.96825030e+00] [-1.05607810e-02 9.99943611e-01 1.11601334e-03 -1.43495842e-01] [ 8.75318676e-03 -1.02358723e-03 9.99961166e-01 -6.13625868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.031193817 meters Centerline goodness [0,1] 0.9100944741901474 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.14, Z:-0.61 [[ 0.99985653 0.01448349 -0.00878295 2.96808605] [-0.01444483 0.99988577 0.0044488 -0.14123481] [ 0.00884638 -0.00432129 0.99995153 -0.61307132] [ 0. 0. 0. 1. ]] SLAMing on 65.061193817 meters Centerline goodness [0,1] 0.9083773959021811 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.14, Z:-0.61 [[ 0.99977528 0.01915326 -0.00908521 2.96887829] [-0.01908523 0.9997896 0.00751671 -0.13706113] [ 0.00922726 -0.00734163 0.99993048 -0.6131633 ] [ 0. 0. 0. 1. ]] SLAMing on 65.091193817 meters Centerline goodness [0,1] 0.9063704563352261 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.14, Z:-0.61 [[ 0.99976725 0.0194589 -0.00931641 2.96991044] [-0.01939346 0.99978698 0.00706345 -0.13524569] [ 0.00945187 -0.00688113 0.99993165 -0.61394268] [ 0. 0. 0. 1. ]] SLAMing on 65.121193817 meters Centerline goodness [0,1] 0.9049317682193372 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.13, Z:-0.61 [[ 0.99976138 0.01970908 -0.00941957 2.97066151] [-0.01964578 0.99978411 0.00676644 -0.13366865] [ 0.00955089 -0.00657977 0.99993274 -0.61464016] [ 0. 0. 0. 1. ]] SLAMing on 65.151193817 meters Centerline goodness [0,1] 0.9041936018564561 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.13, Z:-0.62 [[ 0.99976068 0.01969076 -0.00953207 2.97152104] [-0.01963134 0.99978752 0.00628763 -0.13186753] [ 0.00965386 -0.006099 0.9999348 -0.61540856] [ 0. 0. 0. 1. ]] SLAMing on 65.18119381700001 meters Centerline goodness [0,1] 0.9047146607139166 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.13, Z:-0.62 [[ 0.99975334 0.02002801 -0.00959839 2.97249648] [-0.01997049 0.99978226 0.00605146 -0.12947876] [ 0.00971749 -0.00585828 0.99993562 -0.61644318] [ 0. 0. 0. 1. ]] SLAMing on 65.21119381700001 meters Centerline goodness [0,1] 0.9008544520903932 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.13, Z:-0.62 [[ 0.99975163 0.020014 -0.00980352 2.9735499 ] [-0.01995555 0.99978272 0.00602368 -0.1297163 ] [ 0.00992195 -0.00582655 0.9999338 -0.61723759] [ 0. 0. 0. 1. ]] SLAMing on 65.241193817 meters Centerline goodness [0,1] 0.9001616647322169 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.13, Z:-0.62 [[ 0.99974898 0.02002096 -0.01005642 2.97460429] [-0.01996061 0.99978237 0.00606536 -0.13034648] [ 0.01017567 -0.00586311 0.99993104 -0.61792233] [ 0. 0. 0. 1. ]] SLAMing on 65.271193817 meters Centerline goodness [0,1] 0.8998653547384775 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.13, Z:-0.62 [[ 9.99804412e-01 1.69629674e-02 -1.01683779e-02 2.97479444e+00] [-1.69412765e-02 9.99854032e-01 2.21552832e-03 -1.28946630e-01] [ 1.02044756e-02 -2.04282969e-03 9.99945846e-01 -6.17974793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.301193817 meters Centerline goodness [0,1] 0.8981939301156464 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.13, Z:-0.62 [[ 9.99852831e-01 1.38180417e-02 -1.01674698e-02 2.97422326e+00] [-1.38316497e-02 9.99903533e-01 -1.26928827e-03 -1.29783446e-01] [ 1.01489499e-02 1.40973435e-03 9.99947504e-01 -6.17187192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.331193817 meters Centerline goodness [0,1] 0.8957849319615001 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.13, Z:-0.62 [[ 9.99855158e-01 1.35306545e-02 -1.03239547e-02 2.97480465e+00] [-1.35428620e-02 9.99907671e-01 -1.11345374e-03 -1.31451972e-01] [ 1.03079358e-02 1.25310836e-03 9.99946087e-01 -6.17462311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.361193817 meters Centerline goodness [0,1] 0.896716430255159 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.13, Z:-0.62 [[ 9.99865207e-01 1.23766601e-02 -1.07882266e-02 2.97688550e+00] [-1.23968332e-02 9.99921527e-01 -1.80505440e-03 -1.32397611e-01] [ 1.07650395e-02 1.93855093e-03 9.99940176e-01 -6.18764244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.391193817 meters Centerline goodness [0,1] 0.8976183560848098 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.13, Z:-0.62 [[ 0.99991173 0.00857094 -0.01015216 2.97376259] [-0.00862306 0.99994981 -0.00510121 -0.13223813] [ 0.01010793 0.0051883 0.99993545 -0.61610313] [ 0. 0. 0. 1. ]] SLAMing on 65.421193817 meters Centerline goodness [0,1] 0.8993099186321969 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.13, Z:-0.62 [[ 9.99981590e-01 4.18249534e-03 -4.39611839e-03 2.98142253e+00] [-4.18106281e-03 9.99991203e-01 3.35001890e-04 -1.34316083e-01] [ 4.39748086e-03 -3.16615275e-04 9.99990281e-01 -6.16787370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.451193817 meters Centerline goodness [0,1] 0.9004269784023546 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.14, Z:-0.62 [[ 9.99990346e-01 1.77823453e-04 -4.39036687e-03 2.98090830e+00] [-1.93100715e-04 9.99993928e-01 -3.47954464e-03 -1.35241125e-01] [ 4.38972147e-03 3.48035883e-03 9.99984309e-01 -6.16029623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.481193817 meters Centerline goodness [0,1] 0.9094941956882255 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.14, Z:-0.62 [[ 0.99995579 -0.00837202 -0.00428172 2.98118385] [ 0.00832336 0.99990197 -0.01125934 -0.13767427] [ 0.00437556 0.0112232 0.99992744 -0.61640598] [ 0. 0. 0. 1. ]] SLAMing on 65.511193817 meters Centerline goodness [0,1] 0.9044621596438555 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.14, Z:-0.62 [[ 0.99992312 -0.01156913 -0.00446227 2.98373063] [ 0.01150568 0.99983591 -0.01399221 -0.13834791] [ 0.00462341 0.01393979 0.99989215 -0.61885276] [ 0. 0. 0. 1. ]] SLAMing on 65.541193817 meters Centerline goodness [0,1] 0.8834075147500259 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.14, Z:-0.62 [[ 0.9999089 -0.01262644 -0.0047716 2.98547176] [ 0.01255692 0.99981848 -0.01432927 -0.13863186] [ 0.00495166 0.01426804 0.99988595 -0.62020728] [ 0. 0. 0. 1. ]] SLAMing on 65.57119381700001 meters Centerline goodness [0,1] 0.8283326767163622 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.14, Z:-0.62 [[ 0.99990151 -0.01314051 -0.0049296 2.98651903] [ 0.01306798 0.99980993 -0.01446796 -0.13842971] [ 0.00511878 0.01440211 0.99988318 -0.62105063] [ 0. 0. 0. 1. ]] SLAMing on 65.601193817 meters Centerline goodness [0,1] 0.8607600190938713 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.14, Z:-0.62 [[ 0.9998938 -0.01369241 -0.00499006 2.98707739] [ 0.01361689 0.99979677 -0.01486577 -0.13787662] [ 0.00519259 0.01479624 0.99987705 -0.62141138] [ 0. 0. 0. 1. ]] SLAMing on 65.631193817 meters Centerline goodness [0,1] 0.8530619827034613 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.14, Z:-0.62 [[ 0.99989336 -0.01362276 -0.00526177 2.98822298] [ 0.01354189 0.99979412 -0.01511055 -0.13694589] [ 0.00546653 0.01503769 0.99987198 -0.6221299 ] [ 0. 0. 0. 1. ]] SLAMing on 65.661193817 meters Centerline goodness [0,1] 0.8543361695960914 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.14, Z:-0.62 [[ 0.9999333 -0.01018724 -0.00544171 2.98908805] [ 0.01012518 0.99988474 -0.01131334 -0.13756095] [ 0.00555634 0.01125749 0.99992119 -0.62283246] [ 0. 0. 0. 1. ]] SLAMing on 65.691193817 meters Centerline goodness [0,1] 0.8514312898155043 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.14, Z:-0.62 [[ 0.99996137 -0.006822 -0.00554254 2.98963196] [ 0.00677973 0.99994806 -0.00760938 -0.13748069] [ 0.00559416 0.00757151 0.99995569 -0.62320928] [ 0. 0. 0. 1. ]] SLAMing on 65.721193817 meters Centerline goodness [0,1] 0.8692922492307057 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.13, Z:-0.62 [[ 0.99997993 -0.00330177 -0.00540669 2.98922073] [ 0.0032761 0.99998335 -0.00474944 -0.13302793] [ 0.00542228 0.00473163 0.9999741 -0.62273719] [ 0. 0. 0. 1. ]] SLAMing on 65.751193817 meters Centerline goodness [0,1] 0.8393952537331929 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.13, Z:-0.62 [[ 9.99984743e-01 3.98807598e-04 -5.50956946e-03 2.98949756e+00] [-4.06176590e-04 9.99999024e-01 -1.33643542e-03 -1.31545870e-01] [ 5.50903110e-03 1.33865289e-03 9.99983929e-01 -6.22638657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.781193817 meters Centerline goodness [0,1] 0.8393952537331929 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.13, Z:-0.62 [[ 9.99984743e-01 3.98807598e-04 -5.50956946e-03 2.98949756e+00] [-4.06176590e-04 9.99999024e-01 -1.33643542e-03 -1.31545870e-01] [ 5.50903110e-03 1.33865289e-03 9.99983929e-01 -6.22638657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.811193817 meters Centerline goodness [0,1] 0.9006072958695561 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.13, Z:-0.62 [[ 9.99975696e-01 4.23112942e-03 -5.54117022e-03 2.98976648e+00] [-4.21982636e-03 9.99988995e-01 2.04993675e-03 -1.29965602e-01] [ 5.54978279e-03 -2.02650416e-03 9.99982546e-01 -6.22790124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.841193817 meters Centerline goodness [0,1] 0.907531553900269 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.13, Z:-0.62 [[ 0.99995068 0.00804835 -0.0058194 2.99101662] [-0.00801727 0.99995358 0.0053446 -0.1281698 ] [ 0.00586215 -0.00529768 0.99996878 -0.62355549] [ 0. 0. 0. 1. ]] SLAMing on 65.871193817 meters Centerline goodness [0,1] 0.9080180348646346 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.12, Z:-0.62 [[ 0.99990882 0.01219856 -0.00579262 2.99137578] [-0.01215231 0.99989452 0.00795382 -0.12239417] [ 0.00588903 -0.0078827 0.99995159 -0.62394944] [ 0. 0. 0. 1. ]] SLAMing on 65.901193817 meters Centerline goodness [0,1] 0.907748695436097 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.12, Z:-0.62 [[ 0.99990844 0.01214203 -0.00597366 2.99187706] [-0.01210047 0.99990268 0.00694384 -0.11847419] [ 0.00605739 -0.00687092 0.99995805 -0.62410181] [ 0. 0. 0. 1. ]] SLAMing on 65.93119381700001 meters Centerline goodness [0,1] 0.907568611970997 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.11, Z:-0.62 [[ 0.99991094 0.01192101 -0.00600044 2.99185103] [-0.01188523 0.99991158 0.00596367 -0.11494743] [ 0.006071 -0.00589182 0.99996421 -0.62392845] [ 0. 0. 0. 1. ]] SLAMing on 65.96119381700001 meters Centerline goodness [0,1] 0.9079514378055855 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.11, Z:-0.62 [[ 0.99991681 0.01135919 -0.0061108 2.99199772] [-0.01132934 0.99992383 0.00489762 -0.11230039] [ 0.00616596 -0.00482798 0.99996934 -0.62374728] [ 0. 0. 0. 1. ]] SLAMing on 65.991193817 meters Centerline goodness [0,1] 0.9089212779632202 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.11, Z:-0.62 [[ 9.99955458e-01 7.31613749e-03 -5.96288911e-03 2.99132198e+00] [-7.31577058e-03 9.99973236e-01 8.33417784e-05 -1.09959943e-01] [ 5.96333926e-03 -3.97149375e-05 9.99982218e-01 -6.23155018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.021193817 meters Centerline goodness [0,1] 0.9134264632730891 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.11, Z:-0.62 [[ 9.99958865e-01 6.71861615e-03 -6.09324795e-03 2.99188134e+00] [-6.72194141e-03 9.99977269e-01 -5.25413951e-04 -1.09616962e-01] [ 6.08957940e-03 5.66350794e-04 9.99981298e-01 -6.23500243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.051193817 meters Centerline goodness [0,1] 0.9112286158631415 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.11, Z:-0.62 [[ 9.99960490e-01 6.36016248e-03 -6.21020961e-03 2.99255897e+00] [-6.36803623e-03 9.99978944e-01 -1.24892225e-03 -1.07978154e-01] [ 6.20213550e-03 1.28841974e-03 9.99979937e-01 -6.24055675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.081193817 meters Centerline goodness [0,1] 0.9096380558428128 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.11, Z:-0.63 [[ 9.99958597e-01 6.42870763e-03 -6.44012806e-03 2.99380716e+00] [-6.44088365e-03 9.99977506e-01 -1.87169589e-03 -1.05546025e-01] [ 6.42795061e-03 1.91309851e-03 9.99977510e-01 -6.25074140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.111193817 meters Centerline goodness [0,1] 0.9078996397962986 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.10, Z:-0.63 [[ 9.99955574e-01 6.84728642e-03 -6.47803266e-03 2.99462791e+00] [-6.86269243e-03 9.99973669e-01 -2.35895979e-03 -1.02588459e-01] [ 6.46170962e-03 2.40331174e-03 9.99976235e-01 -6.25970933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.141193817 meters Centerline goodness [0,1] 0.9050525179557438 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.10, Z:-0.63 [[ 9.99902717e-01 1.22769755e-02 -6.62056787e-03 2.99600861e+00] [-1.22647514e-02 9.99923011e-01 1.88383315e-03 -9.97107091e-02] [ 6.64318593e-03 -1.80245026e-03 9.99976309e-01 -6.27343528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.171193817 meters Centerline goodness [0,1] 0.902805631939132 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.10, Z:-0.63 [[ 9.99893843e-01 1.28961390e-02 -6.78182880e-03 2.99660794e+00] [-1.28851100e-02 9.99915593e-01 1.66743905e-03 -9.76090341e-02] [ 6.80275989e-03 -1.57987743e-03 9.99975613e-01 -6.27688586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.201193817 meters Centerline goodness [0,1] 0.9015750469624094 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.10, Z:-0.63 [[ 9.99888442e-01 1.32712256e-02 -6.85413124e-03 2.99673453e+00] [-1.32604098e-02 9.99910763e-01 1.62103934e-03 -9.68891226e-02] [ 6.87503277e-03 -1.52996991e-03 9.99975196e-01 -6.27646361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.231193817 meters Centerline goodness [0,1] 0.9002406838741804 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.10, Z:-0.63 [[ 9.99887746e-01 1.33159718e-02 -6.86877695e-03 2.99626013e+00] [-1.33032303e-02 9.99909708e-01 1.89734945e-03 -9.83709925e-02] [ 6.89342180e-03 -1.80575954e-03 9.99974610e-01 -6.26963292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.261193817 meters Centerline goodness [0,1] 0.9039179104477612 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.10, Z:-0.63 [[ 0.99995601 0.0067428 -0.00651947 2.99423014] [-0.00676855 0.99996934 -0.00393673 -0.1024981 ] [ 0.00649272 0.00398069 0.999971 -0.62539922] [ 0. 0. 0. 1. ]] SLAMing on 66.291193817 meters Centerline goodness [0,1] 0.9080298013245033 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.10, Z:-0.63 [[ 9.99973560e-01 2.59109325e-03 -6.79454931e-03 2.99539828e+00] [-2.64124295e-03 9.99969262e-01 -7.38231517e-03 -1.04734501e-01] [ 6.77521219e-03 7.40006604e-03 9.99949666e-01 -6.26267770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32119381700001 meters Centerline goodness [0,1] 0.9099114052741872 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.11, Z:-0.63 [[ 0.9999493 -0.00794584 -0.00618505 2.99334627] [ 0.00790655 0.99994858 -0.00635069 -0.1105757 ] [ 0.00623519 0.00630147 0.99996071 -0.63420089] [ 0. 0. 0. 1. ]] SLAMing on 66.351193817 meters Centerline goodness [0,1] 0.9000911841505368 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.11, Z:-0.64 [[ 0.99991532 -0.01130419 -0.00644803 2.9955488 ] [ 0.01124548 0.99989563 -0.00907067 -0.11286223] [ 0.0065499 0.00899739 0.99993807 -0.63617327] [ 0. 0. 0. 1. ]] SLAMing on 66.381193817 meters Centerline goodness [0,1] 0.869980760876311 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.12, Z:-0.64 [[ 0.99990705 -0.01192423 -0.00661033 2.99676981] [ 0.01186688 0.99989219 -0.00864822 -0.1156188 ] [ 0.00671274 0.00856897 0.99994075 -0.6372671 ] [ 0. 0. 0. 1. ]] SLAMing on 66.411193817 meters Centerline goodness [0,1] 0.8477138490768659 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.12, Z:-0.64 [[ 0.99990168 -0.0122133 -0.00688963 2.99782783] [ 0.01215653 0.99989231 -0.00822149 -0.11758542] [ 0.0069893 0.00813692 0.99994247 -0.63783903] [ 0. 0. 0. 1. ]] SLAMing on 66.441193817 meters Centerline goodness [0,1] 0.8389306048353824 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.12, Z:-0.64 [[ 0.99989867 -0.01232581 -0.00712203 2.99872411] [ 0.01226776 0.99989164 -0.00813665 -0.11799183] [ 0.00722155 0.00804845 0.99994153 -0.63835693] [ 0. 0. 0. 1. ]] SLAMing on 66.471193817 meters Centerline goodness [0,1] 0.8482915247238567 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.12, Z:-0.64 [[ 0.99993915 -0.00819101 -0.00739 2.99945293] [ 0.00816006 0.99995785 -0.00420777 -0.11722724] [ 0.00742416 0.00414721 0.99996384 -0.63862274] [ 0. 0. 0. 1. ]] SLAMing on 66.501193817 meters Centerline goodness [0,1] 0.8760789021588392 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.12, Z:-0.64 [[ 9.99962617e-01 -4.11068757e-03 -7.60707469e-03 3.00010319e+00] [ 4.10806762e-03 9.99991497e-01 -3.60003242e-04 -1.16365050e-01] [ 7.60848987e-03 3.28739407e-04 9.99971001e-01 -6.38923116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.531193817 meters Centerline goodness [0,1] 0.9000165913144469 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.11, Z:-0.64 [[ 9.99969339e-01 -1.99365352e-04 -7.82822663e-03 3.00075813e+00] [ 2.22685819e-04 9.99995540e-01 2.97826442e-03 -1.14209371e-01] [ 7.82759795e-03 -2.97991634e-03 9.99964924e-01 -6.39208754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.561193817 meters Centerline goodness [0,1] 0.9107050150555498 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.11, Z:-0.64 [[ 0.99993289 0.00847831 -0.00789502 3.00053482] [-0.00840017 0.99991592 0.00987889 -0.10887234] [ 0.00797811 -0.00981191 0.99992003 -0.63852523] [ 0. 0. 0. 1. ]] SLAMing on 66.591193817 meters Centerline goodness [0,1] 0.9087609408055751 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.11, Z:-0.64 [[ 0.99989163 0.01244303 -0.00786753 2.99995343] [-0.01233859 0.99983692 0.01318663 -0.1064282 ] [ 0.00803033 -0.01308813 0.9998821 -0.63763657] [ 0. 0. 0. 1. ]] SLAMing on 66.621193817 meters Centerline goodness [0,1] 0.9060511204626962 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.10, Z:-0.64 [[ 0.99988538 0.01292019 -0.00789248 2.99954668] [-0.01282074 0.99983938 0.01252338 -0.10318339] [ 0.00805302 -0.01242075 0.99989043 -0.63699338] [ 0. 0. 0. 1. ]] SLAMing on 66.651193817 meters Centerline goodness [0,1] 0.9082351487187937 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.10, Z:-0.64 [[ 9.99886730e-01 1.48317319e-02 -2.55865789e-03 3.00793641e+00] [-1.48241401e-02 9.99885732e-01 2.96099063e-03 -9.88993381e-02] [ 2.60228214e-03 -2.92272534e-03 9.99992343e-01 -6.38292015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68119381700001 meters Centerline goodness [0,1] 0.9056533443777179 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.10, Z:-0.64 [[ 9.99887636e-01 1.47511567e-02 -2.66799252e-03 3.00767513e+00] [-1.47436572e-02 9.99887361e-01 2.80905164e-03 -9.85716241e-02] [ 2.70912876e-03 -2.76940004e-03 9.99992495e-01 -6.37644986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71119381700001 meters Centerline goodness [0,1] 0.9057252303551092 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.10, Z:-0.64 [[ 9.99890514e-01 1.45114745e-02 -2.89437611e-03 3.00831006e+00] [-1.45044725e-02 9.99891862e-01 2.42566641e-03 -9.78915319e-02] [ 2.92926311e-03 -2.38341944e-03 9.99992869e-01 -6.37879338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.741193817 meters Centerline goodness [0,1] 0.905524038262454 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.10, Z:-0.64 [[ 9.99890446e-01 1.44516399e-02 -3.20109892e-03 3.00944055e+00] [-1.44442810e-02 9.99893007e-01 2.31016917e-03 -9.77869644e-02] [ 3.23414216e-03 -2.26367850e-03 9.99992208e-01 -6.38555271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.771193817 meters Centerline goodness [0,1] 0.9047363311507239 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.10, Z:-0.64 [[ 9.99880797e-01 1.50121596e-02 -3.60935033e-03 3.01155297e+00] [-1.50020385e-02 9.99883500e-01 2.81503973e-03 -9.86209773e-02] [ 3.65118967e-03 -2.76055656e-03 9.99989524e-01 -6.40346169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.801193817 meters Centerline goodness [0,1] 0.9058146015233142 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.10, Z:-0.64 [[ 9.99876296e-01 1.52318770e-02 -3.92197229e-03 3.01271249e+00] [-1.52200703e-02 9.99879599e-01 3.02285554e-03 -9.93051467e-02] [ 3.96754384e-03 -2.96278891e-03 9.99987740e-01 -6.41017906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.831193817 meters Centerline goodness [0,1] 0.9062254557480055 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.10, Z:-0.64 [[ 0.99986695 0.0157632 -0.0041962 3.0135612 ] [-0.01574865 0.99986993 0.0034801 -0.10048571] [ 0.00425052 -0.00341355 0.99998514 -0.64142445] [ 0. 0. 0. 1. ]] SLAMing on 66.861193817 meters Centerline goodness [0,1] 0.9079697377966629 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.10, Z:-0.64 [[ 0.99985566 0.01639169 -0.00446985 3.01425438] [-0.01637343 0.99985757 0.00409315 -0.10217259] [ 0.00453631 -0.00401937 0.99998163 -0.64159389] [ 0. 0. 0. 1. ]] SLAMing on 66.891193817 meters Centerline goodness [0,1] 0.9191361332069407 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.11, Z:-0.64 [[ 0.99981107 0.01886201 -0.00469645 3.01442124] [-0.01883328 0.9998041 0.0060881 -0.10536177] [ 0.00481036 -0.0059985 0.99997044 -0.64120295] [ 0. 0. 0. 1. ]] SLAMing on 66.921193817 meters Centerline goodness [0,1] 0.9217573482129893 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.11, Z:-0.64 [[ 0.99979433 0.01972055 -0.00473338 3.01427653] [-0.01968779 0.99978257 0.00687017 -0.10690166] [ 0.00486784 -0.00677556 0.9999652 -0.64092706] [ 0. 0. 0. 1. ]] SLAMing on 66.951193817 meters Centerline goodness [0,1] 0.9270656801554169 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.11, Z:-0.64 [[ 0.99977707 0.02052769 -0.00494306 3.01455615] [-0.02048905 0.99976008 0.00774422 -0.10887684] [ 0.00510084 -0.00764121 0.9999578 -0.64071244] [ 0. 0. 0. 1. ]] SLAMing on 66.981193817 meters Centerline goodness [0,1] 0.9274798094843653 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.11, Z:-0.64 [[ 0.99980469 0.01910768 -0.00504761 3.01461123] [-0.01907511 0.99979741 0.00642435 -0.11377793] [ 0.00516934 -0.00632681 0.99996662 -0.64076198] [ 0. 0. 0. 1. ]] SLAMing on 67.011193817 meters Centerline goodness [0,1] 0.9265614985423947 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.12, Z:-0.64 [[ 0.99985864 0.01593304 -0.0053705 3.01572126] [-0.01591542 0.99986787 0.00330797 -0.11582191] [ 0.00542249 -0.00322203 0.99998011 -0.64154133] [ 0. 0. 0. 1. ]] SLAMing on 67.041193817 meters Centerline goodness [0,1] 0.9276706077577266 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.12, Z:-0.64 [[ 9.99902952e-01 1.28145171e-02 -5.46573607e-03 3.01645736e+00] [-1.28123780e-02 9.99917827e-01 4.26209988e-04 -1.18320639e-01] [ 5.47074861e-03 -3.56139549e-04 9.99984972e-01 -6.42394904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07119381700001 meters Centerline goodness [0,1] 0.9278737479521371 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.13, Z:-0.64 [[ 9.99932803e-01 9.94978570e-03 -5.94899745e-03 3.01928064e+00] [-9.95634775e-03 9.99949857e-01 -1.07445450e-03 -1.27256825e-01] [ 5.93800856e-03 1.13361258e-03 9.99981727e-01 -6.44825597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.101193817 meters Centerline goodness [0,1] 0.9291081956323175 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.13, Z:-0.65 [[ 9.99953621e-01 7.31672871e-03 -6.26269333e-03 3.02108097e+00] [-7.33516205e-03 9.99968818e-01 -2.92546457e-03 -1.32573736e-01] [ 6.24109322e-03 2.97126676e-03 9.99976110e-01 -6.46338628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.131193817 meters Centerline goodness [0,1] 0.9230244386552537 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.14, Z:-0.65 [[ 0.99996136 0.00540136 -0.00693585 3.02421611] [-0.00542943 0.99997712 -0.00403422 -0.13839123] [ 0.0069139 0.00407173 0.99996781 -0.64859132] [ 0. 0. 0. 1. ]] SLAMing on 67.161193817 meters Centerline goodness [0,1] 0.919710901259112 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.14, Z:-0.65 [[ 0.99996842 0.00306281 -0.00733366 3.02624905] [-0.00310236 0.99998067 -0.00538784 -0.14421368] [ 0.00731702 0.00541042 0.99995859 -0.6500912 ] [ 0. 0. 0. 1. ]] SLAMing on 67.191193817 meters Centerline goodness [0,1] 0.9167220468516365 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.15, Z:-0.65 [[ 9.99965234e-01 -2.92177275e-03 -7.80986648e-03 3.02814601e+00] [ 2.85072435e-03 9.99954595e-01 -9.09296507e-03 -1.54761708e-01] [ 7.83607944e-03 9.07038517e-03 9.99928159e-01 -6.51159108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.221193817 meters Centerline goodness [0,1] 0.9157744023904383 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.16, Z:-0.65 [[ 0.99994906 -0.00602944 -0.00809436 3.02859818] [ 0.00593843 0.9999194 -0.01122139 -0.15971955] [ 0.00816136 0.01117276 0.99990428 -0.65087349] [ 0. 0. 0. 1. ]] SLAMing on 67.251193817 meters Centerline goodness [0,1] 0.9156065777226187 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.17, Z:-0.65 [[ 0.99992534 -0.00895231 -0.00831639 3.02825639] [ 0.00884257 0.99987458 -0.01313932 -0.16532292] [ 0.00843297 0.0130648 0.99987909 -0.64971791] [ 0. 0. 0. 1. ]] SLAMing on 67.281193817 meters Centerline goodness [0,1] 0.9158290413689982 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.17, Z:-0.65 [[ 0.99989454 -0.01182456 -0.00843127 3.02778916] [ 0.0116965 0.99981788 -0.01507945 -0.17072943] [ 0.00860804 0.01497924 0.99985075 -0.64864735] [ 0. 0. 0. 1. ]] SLAMing on 67.311193817 meters Centerline goodness [0,1] 0.9200867052023122 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.18, Z:-0.65 [[ 9.99880631e-01 -1.52250551e-02 -2.63093691e-03 3.03316356e+00] [ 1.52051410e-02 9.99856787e-01 -7.43034207e-03 -1.84299734e-01] [ 2.74368750e-03 7.38945135e-03 9.99968934e-01 -6.47406403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.341193817 meters Centerline goodness [0,1] 0.9207666673566121 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.19, Z:-0.65 [[ 9.99889953e-01 -1.45964450e-02 -2.65051260e-03 3.03226633e+00] [ 1.45811754e-02 9.99877489e-01 -5.69174097e-03 -1.89470199e-01] [ 2.73326707e-03 5.65246703e-03 9.99980289e-01 -6.45941481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.371193817 meters Centerline goodness [0,1] 0.9233740215213665 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.19, Z:-0.64 [[ 9.99898466e-01 -1.39955435e-02 -2.67987712e-03 3.03165372e+00] [ 1.39841373e-02 9.99893275e-01 -4.22867574e-03 -1.93127295e-01] [ 2.73877372e-03 4.19077062e-03 9.99987468e-01 -6.44868180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.401193817 meters Centerline goodness [0,1] 0.9261202231115351 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.20, Z:-0.64 [[ 9.99901904e-01 -1.37538045e-02 -2.64881323e-03 3.03129506e+00] [ 1.37469017e-02 9.99902109e-01 -2.60681507e-03 -1.98110370e-01] [ 2.68440756e-03 2.57014638e-03 9.99993094e-01 -6.44156284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43119381700001 meters Centerline goodness [0,1] 0.9274221936926677 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.20, Z:-0.64 [[ 9.99900484e-01 -1.37999761e-02 -2.92960739e-03 3.03233213e+00] [ 1.37946206e-02 9.99903156e-01 -1.84044945e-03 -2.01007461e-01] [ 2.95472184e-03 1.79985348e-03 9.99994015e-01 -6.44647360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46119381700001 meters Centerline goodness [0,1] 0.9268959234798452 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.20, Z:-0.65 [[ 9.99896723e-01 -1.40183948e-02 -3.16666144e-03 3.03337461e+00] [ 1.40152061e-02 9.99901255e-01 -1.02691381e-03 -2.04337971e-01] [ 3.18074443e-03 9.82426344e-04 9.99994459e-01 -6.45225391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.491193817 meters Centerline goodness [0,1] 0.9286706616625542 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.21, Z:-0.65 [[ 9.99887743e-01 -1.46058290e-02 -3.34221367e-03 3.03419815e+00] [ 1.46036957e-02 9.99893141e-01 -6.61814404e-04 -2.06834787e-01] [ 3.35152287e-03 6.12931440e-04 9.99994196e-01 -6.45600833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.521193817 meters Centerline goodness [0,1] 0.9256266832401078 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.21, Z:-0.65 [[ 0.9998073 -0.01931016 -0.00353223 3.03501906] [ 0.01929461 0.99980423 -0.00438327 -0.20955543] [ 0.00361618 0.00431427 0.99998416 -0.64584632] [ 0. 0. 0. 1. ]] SLAMing on 67.551193817 meters Centerline goodness [0,1] 0.9197655701844897 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.21, Z:-0.65 [[ 0.99978838 -0.02018675 -0.00396015 3.0365707 ] [ 0.02016923 0.99978683 -0.00441458 -0.21193395] [ 0.00404842 0.00433378 0.99998241 -0.64647728] [ 0. 0. 0. 1. ]] SLAMing on 67.581193817 meters Centerline goodness [0,1] 0.912056502557942 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.21, Z:-0.65 [[ 0.99977529 -0.02078872 -0.00414802 3.03728251] [ 0.02077022 0.99977436 -0.00445337 -0.21298849] [ 0.00423966 0.00436621 0.99998148 -0.64670067] [ 0. 0. 0. 1. ]] SLAMing on 67.611193817 meters Centerline goodness [0,1] 0.9015870384950069 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.21, Z:-0.65 [[ 0.99976489 -0.02125237 -0.00430151 3.038048 ] [ 0.02123132 0.99976268 -0.00488049 -0.21203476] [ 0.00440421 0.00478801 0.99997884 -0.64721896] [ 0. 0. 0. 1. ]] SLAMing on 67.641193817 meters Centerline goodness [0,1] 0.9039030955585464 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.21, Z:-0.65 [[ 9.99820138e-01 -1.84001317e-02 -4.59647385e-03 3.03875865e+00] [ 1.83910319e-02 9.99828842e-01 -2.01422206e-03 -2.09320563e-01] [ 4.63274908e-03 1.92932588e-03 9.99987408e-01 -6.47382816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.671193817 meters Centerline goodness [0,1] 0.9004331683168316 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.21, Z:-0.65 [[ 9.99851841e-01 -1.63601287e-02 -5.35183807e-03 3.04164185e+00] [ 1.63603814e-02 9.99866160e-01 3.43585558e-06 -2.08392098e-01] [ 5.35106557e-03 -9.09934586e-05 9.99985679e-01 -6.49051754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.701193817 meters Centerline goodness [0,1] 0.9057145216565506 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.21, Z:-0.65 [[ 0.99990068 -0.0128207 -0.00585378 3.0431509 ] [ 0.01284244 0.99991072 0.00369214 -0.20841145] [ 0.00580592 -0.00376695 0.99997605 -0.64974542] [ 0. 0. 0. 1. ]] SLAMing on 67.731193817 meters Centerline goodness [0,1] 0.9057145216565506 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.21, Z:-0.65 [[ 0.99990068 -0.0128207 -0.00585378 3.0431509 ] [ 0.01284244 0.99991072 0.00369214 -0.20841145] [ 0.00580592 -0.00376695 0.99997605 -0.64974542] [ 0. 0. 0. 1. ]] SLAMing on 67.761193817 meters Centerline goodness [0,1] 0.9120008276432857 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.21, Z:-0.65 [[ 0.99993359 -0.00974116 -0.00615897 3.04479523] [ 0.00978209 0.99993004 0.0066508 -0.20714778] [ 0.00609375 -0.0067106 0.99995892 -0.65104928] [ 0. 0. 0. 1. ]] SLAMing on 67.791193817 meters Centerline goodness [0,1] 0.9200313926351226 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.20, Z:-0.65 [[ 0.99996105 -0.00576474 -0.00668293 3.0469315 ] [ 0.00582734 0.99993896 0.00938678 -0.20225382] [ 0.00662841 -0.00942536 0.99993361 -0.6527753 ] [ 0. 0. 0. 1. ]] SLAMing on 67.82119381700001 meters Centerline goodness [0,1] 0.9209163594183686 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.20, Z:-0.65 [[ 0.99996381 -0.00523443 -0.00670698 3.04669783] [ 0.00529498 0.9999451 0.00904179 -0.19911475] [ 0.00665928 -0.00907697 0.99993663 -0.65253832] [ 0. 0. 0. 1. ]] SLAMing on 67.851193817 meters Centerline goodness [0,1] 0.9166271029001961 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.20, Z:-0.65 [[ 9.99984798e-01 -1.02342653e-03 -5.41813370e-03 3.05502916e+00] [ 1.02797803e-03 9.99999121e-01 8.37329999e-04 -1.95724121e-01] [ 5.41727200e-03 -8.42886993e-04 9.99984971e-01 -6.51935463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.881193817 meters Centerline goodness [0,1] 0.9228905182055425 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.19, Z:-0.65 [[ 9.99985714e-01 -4.38150085e-04 -5.32726179e-03 3.05410660e+00] [ 4.41686232e-04 9.99999683e-01 6.62624790e-04 -1.92805915e-01] [ 5.32696977e-03 -6.64968302e-04 9.99985591e-01 -6.51016966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.911193817 meters Centerline goodness [0,1] 0.9220892184069917 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.19, Z:-0.65 [[ 9.99985694e-01 8.97984191e-04 -5.27314346e-03 3.05228183e+00] [-8.91953080e-04 9.99998946e-01 1.14598145e-03 -1.89427776e-01] [ 5.27416697e-03 -1.14126166e-03 9.99985440e-01 -6.48890983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.941193817 meters Centerline goodness [0,1] 0.9214833229749326 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.19, Z:-0.65 [[ 9.99984521e-01 1.03098701e-03 -5.46765603e-03 3.05298071e+00] [-1.02625928e-03 9.99999097e-01 8.67406670e-04 -1.88572679e-01] [ 5.46854538e-03 -8.61782011e-04 9.99984676e-01 -6.49268184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.971193817 meters Centerline goodness [0,1] 0.9205608445854853 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.19, Z:-0.65 [[ 9.99983359e-01 1.43630277e-03 -5.58736244e-03 3.05332846e+00] [-1.43223988e-03 9.99998707e-01 7.31089210e-04 -1.87404906e-01] [ 5.58840528e-03 -7.23074601e-04 9.99984123e-01 -6.49421024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.001193817 meters Centerline goodness [0,1] 0.9195635941259438 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.19, Z:-0.65 [[ 9.99982151e-01 1.80518697e-03 -5.69548328e-03 3.05385854e+00] [-1.80362319e-03 9.99998334e-01 2.79688017e-04 -1.85044990e-01] [ 5.69597868e-03 -2.69410519e-04 9.99983741e-01 -6.49870663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.031193817 meters Centerline goodness [0,1] 0.9237903560461449 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.18, Z:-0.65 [[ 0.99995927 0.00700693 -0.00568849 3.05373819] [-0.00698297 0.99996671 0.00422081 -0.18253313] [ 0.00571787 -0.00418092 0.99997491 -0.6498057 ] [ 0. 0. 0. 1. ]] SLAMing on 68.061193817 meters Centerline goodness [0,1] 0.9267067856401743 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.18, Z:-0.65 [[ 0.99995175 0.00785464 -0.00589955 3.05416629] [-0.00783055 0.99996096 0.0040952 -0.18065558] [ 0.00593148 -0.00404881 0.99997421 -0.64983375] [ 0. 0. 0. 1. ]] SLAMing on 68.091193817 meters Centerline goodness [0,1] 0.9274578098436788 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.18, Z:-0.65 [[ 0.99994302 0.00866999 -0.00622871 3.05503568] [-0.00864508 0.99995457 0.00401567 -0.17908372] [ 0.00626324 -0.0039616 0.99997254 -0.6502321 ] [ 0. 0. 0. 1. ]] SLAMing on 68.121193817 meters Centerline goodness [0,1] 0.9270278087682328 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.18, Z:-0.65 [[ 0.99988453 0.01378344 -0.00639858 3.0558045 ] [-0.01372833 0.99986897 0.00857726 -0.17909389] [ 0.00651597 -0.00848842 0.99994274 -0.65074845] [ 0. 0. 0. 1. ]] SLAMing on 68.151193817 meters Centerline goodness [0,1] 0.9221177347860309 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.18, Z:-0.65 [[ 0.99987565 0.01434628 -0.00654737 3.05640385] [-0.01428751 0.999858 0.00893557 -0.17956018] [ 0.00667463 -0.00884091 0.99993864 -0.65113976] [ 0. 0. 0. 1. ]] SLAMing on 68.18119381700001 meters Centerline goodness [0,1] 0.9121254817454726 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.18, Z:-0.65 [[ 0.99990594 0.01186375 -0.00688209 3.05707497] [-0.01182428 0.99991357 0.00574829 -0.17951472] [ 0.00694969 -0.00566637 0.9999598 -0.65145342] [ 0. 0. 0. 1. ]] SLAMing on 68.21119381700001 meters Centerline goodness [0,1] 0.9092547703399838 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.18, Z:-0.65 [[ 9.99936078e-01 8.72924723e-03 -7.18607849e-03 3.05791707e+00] [-8.71292277e-03 9.99959397e-01 2.29985953e-03 -1.80440837e-01] [ 7.20586276e-03 -2.23710077e-03 9.99971535e-01 -6.51974847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.241193817 meters Centerline goodness [0,1] 0.9090683075393126 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.19, Z:-0.65 [[ 9.99955811e-01 5.80637214e-03 -7.39341210e-03 3.05892555e+00] [-5.80227069e-03 9.99983001e-01 5.76072700e-04 -1.87995416e-01] [ 7.39663131e-03 -5.33148666e-04 9.99972502e-01 -6.52736728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.271193817 meters Centerline goodness [0,1] 0.9154052202080608 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.19, Z:-0.65 [[ 9.99968716e-01 2.74681209e-03 -7.41769377e-03 3.05867080e+00] [-2.76029378e-03 9.99994556e-01 -1.80787866e-03 -1.92008199e-01] [ 7.41268749e-03 1.82829712e-03 9.99970854e-01 -6.52326548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.301193817 meters Centerline goodness [0,1] 0.9205953789624463 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.20, Z:-0.65 [[ 9.99971934e-01 -1.98175490e-04 -7.48945168e-03 3.05833876e+00] [ 1.69132875e-04 9.99992465e-01 -3.87823698e-03 -1.96667721e-01] [ 7.49016382e-03 3.87686142e-03 9.99964433e-01 -6.51609513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.331193817 meters Centerline goodness [0,1] 0.9284573419900848 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.21, Z:-0.65 [[ 0.99996664 -0.00354349 -0.00735958 3.05807079] [ 0.00350841 0.99998245 -0.00477363 -0.20710494] [ 0.00737637 0.00474765 0.99996152 -0.65096174] [ 0. 0. 0. 1. ]] SLAMing on 68.361193817 meters Centerline goodness [0,1] 0.9301208327267434 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.21, Z:-0.65 [[ 0.99996666 -0.00363478 -0.00731264 3.05823994] [ 0.00361132 0.9999883 -0.00321885 -0.21299103] [ 0.00732425 0.00319234 0.99996808 -0.65086626] [ 0. 0. 0. 1. ]] SLAMing on 68.391193817 meters Centerline goodness [0,1] 0.9246966748105512 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.22, Z:-0.65 [[ 0.99994856 -0.00689142 -0.00744212 3.05878383] [ 0.0068503 0.99996121 -0.00553645 -0.21753702] [ 0.00747998 0.00548518 0.99995698 -0.65102999] [ 0. 0. 0. 1. ]] SLAMing on 68.421193817 meters Centerline goodness [0,1] 0.9249787401738121 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.22, Z:-0.65 [[ 0.99992067 -0.01018461 -0.00741142 3.05844131] [ 0.01012789 0.99991944 -0.00765057 -0.22322672] [ 0.00748874 0.0075749 0.99994327 -0.65037814] [ 0. 0. 0. 1. ]] SLAMing on 68.451193817 meters Centerline goodness [0,1] 0.9235531628532975 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.23, Z:-0.65 [[ 0.99978499 -0.01944385 -0.00720507 3.05703024] [ 0.01933333 0.99969899 -0.01510441 -0.23457573] [ 0.00749659 0.01496186 0.99985996 -0.64843377] [ 0. 0. 0. 1. ]] SLAMing on 68.481193817 meters Centerline goodness [0,1] 0.9217081850533808 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.24, Z:-0.65 [[ 0.99971169 -0.0228413 -0.00740375 3.05783684] [ 0.02270649 0.99958357 -0.01780747 -0.23825348] [ 0.00780741 0.01763423 0.99981402 -0.64868232] [ 0. 0. 0. 1. ]] SLAMing on 68.511193817 meters Centerline goodness [0,1] 0.9190841895035928 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.24, Z:-0.65 [[ 0.99970635 -0.02292901 -0.00784103 3.05939588] [ 0.02279377 0.99959694 -0.01692365 -0.24151196] [ 0.00822592 0.01673996 0.99982604 -0.64938769] [ 0. 0. 0. 1. ]] SLAMing on 68.541193817 meters Centerline goodness [0,1] 0.9163496518033468 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.24, Z:-0.65 [[ 0.99970729 -0.02274506 -0.0082465 3.06075238] [ 0.02260955 0.99961362 -0.01616862 -0.24362707] [ 0.00861107 0.01597743 0.99983527 -0.6500472 ] [ 0. 0. 0. 1. ]] SLAMing on 68.57119381700001 meters Centerline goodness [0,1] 0.9181532870829203 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.25, Z:-0.65 [[ 9.99799092e-01 -1.98429477e-02 -2.83444177e-03 3.06994744e+00] [ 1.98322933e-02 9.99796330e-01 -3.73883317e-03 -2.51937726e-01] [ 2.90805395e-03 3.68186852e-03 9.99988993e-01 -6.51415251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.601193817 meters Centerline goodness [0,1] 0.9241522347817069 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.26, Z:-0.65 [[ 9.99827568e-01 -1.83572308e-02 -2.80125232e-03 3.06859995e+00] [ 1.83517013e-02 9.99829619e-01 -1.98706369e-03 -2.55112934e-01] [ 2.83725203e-03 1.93531331e-03 9.99994102e-01 -6.49708574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.631193817 meters Centerline goodness [0,1] 0.9252140304214114 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.26, Z:-0.65 [[ 9.99892158e-01 -1.43450177e-02 -3.14522988e-03 3.06810394e+00] [ 1.43530468e-02 9.99893750e-01 2.54524266e-03 -2.59375534e-01] [ 3.10838415e-03 -2.59011181e-03 9.99991815e-01 -6.48259053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.661193817 meters Centerline goodness [0,1] 0.930367023811991 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.26, Z:-0.65 [[ 0.99994488 -0.00584402 -0.00872277 3.07811439] [ 0.00587931 0.99997462 0.00402523 -0.26441242] [ 0.00869902 -0.00407629 0.99995385 -0.64575038] [ 0. 0. 0. 1. ]] SLAMing on 68.691193817 meters Centerline goodness [0,1] 0.9301890323788133 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.27, Z:-0.65 [[ 0.99994909 -0.00495052 -0.00879311 3.07854985] [ 0.00499354 0.99997564 0.00487629 -0.26536994] [ 0.00876875 -0.00491995 0.99994945 -0.64624218] [ 0. 0. 0. 1. ]] SLAMing on 68.721193817 meters Centerline goodness [0,1] 0.9303034071126586 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.27, Z:-0.65 [[ 0.99994658 -0.00470772 -0.00920203 3.08008343] [ 0.00475523 0.99997544 0.00514765 -0.26610448] [ 0.00917757 -0.00519114 0.99994441 -0.64721336] [ 0. 0. 0. 1. ]] SLAMing on 68.751193817 meters Centerline goodness [0,1] 0.9313507330768431 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.27, Z:-0.65 [[ 0.99994886 -0.0042288 -0.00918645 3.08032413] [ 0.00428389 0.99997291 0.00598569 -0.26810755] [ 0.00916089 -0.00602474 0.99993989 -0.64745991] [ 0. 0. 0. 1. ]] SLAMing on 68.781193817 meters Centerline goodness [0,1] 0.9287491705374917 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.27, Z:-0.65 [[ 0.9999314 -0.00709591 -0.00931914 3.08014329] [ 0.00713284 0.99996682 0.00393592 -0.27266601] [ 0.0092909 -0.00400212 0.99994883 -0.64666605] [ 0. 0. 0. 1. ]] SLAMing on 68.811193817 meters Centerline goodness [0,1] 0.9272500519642486 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.28, Z:-0.65 [[ 0.99993129 -0.00701478 -0.00939151 3.07990708] [ 0.00706304 0.99996197 0.00511564 -0.27761553] [ 0.00935527 -0.00518162 0.99994281 -0.64573356] [ 0. 0. 0. 1. ]] SLAMing on 68.841193817 meters Centerline goodness [0,1] 0.9290141310635485 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.28, Z:-0.65 [[ 9.99900870e-01 -1.02563492e-02 -9.64665766e-03 3.08017222e+00] [ 1.02789164e-02 9.99944542e-01 2.29271668e-03 -2.80944607e-01] [ 9.62260777e-03 -2.39164659e-03 9.99950842e-01 -6.45225676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.871193817 meters Centerline goodness [0,1] 0.9278725304859048 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.29, Z:-0.64 [[ 9.99878118e-01 -1.24253870e-02 -9.45300340e-03 3.07916560e+00] [ 1.24350817e-02 9.99922213e-01 9.67482655e-04 -2.87699094e-01] [ 9.44024674e-03 -1.08491361e-03 9.99954851e-01 -6.44235371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.901193817 meters Centerline goodness [0,1] 0.9273305653673751 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.29, Z:-0.64 [[ 9.99879442e-01 -1.21316845e-02 -9.69138291e-03 3.07986211e+00] [ 1.21476017e-02 9.99924959e-01 1.58523538e-03 -2.89591057e-01] [ 9.67142408e-03 -1.70277133e-03 9.99951781e-01 -6.44393814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93119381700001 meters Centerline goodness [0,1] 0.9301493530806673 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.29, Z:-0.64 [[ 9.99891799e-01 -1.11114490e-02 -9.63984419e-03 3.07903153e+00] [ 1.11414272e-02 9.99933245e-01 3.06171221e-03 -2.92171779e-01] [ 9.60518062e-03 -3.16878256e-03 9.99948848e-01 -6.43375423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96119381700001 meters Centerline goodness [0,1] 0.9386244046504857 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.30, Z:-0.64 [[ 0.99990711 -0.00976833 -0.00950583 3.07800117] [ 0.00981887 0.99993783 0.005284 -0.29798525] [ 0.00945362 -0.00537685 0.99994086 -0.64212449] [ 0. 0. 0. 1. ]] SLAMing on 68.991193817 meters Centerline goodness [0,1] 0.9397211818560133 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.30, Z:-0.64 [[ 0.99991717 -0.00883735 -0.00935675 3.07726054] [ 0.00890121 0.99993722 0.00680559 -0.30198302] [ 0.00929602 -0.00688831 0.99993307 -0.64136039] [ 0. 0. 0. 1. ]] SLAMing on 69.021193817 meters Centerline goodness [0,1] 0.9397437760843836 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.31, Z:-0.64 [[ 0.99991665 -0.00861732 -0.00961477 3.07782076] [ 0.00869098 0.999933 0.00764597 -0.30543337] [ 0.00954824 -0.00772889 0.99992454 -0.64117437] [ 0. 0. 0. 1. ]] SLAMing on 69.051193817 meters Centerline goodness [0,1] 0.9394424797170793 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.31, Z:-0.64 [[ 0.99991891 -0.00827327 -0.00968107 3.07803169] [ 0.00835745 0.99992733 0.00868783 -0.30901843] [ 0.00960849 -0.00876803 0.9999154 -0.64104531] [ 0. 0. 0. 1. ]] SLAMing on 69.081193817 meters Centerline goodness [0,1] 0.9379497708372219 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.31, Z:-0.64 [[ 0.9998944 -0.01030951 -0.01024185 3.08105514] [ 0.01038557 0.99991867 0.00740193 -0.31402437] [ 0.01016471 -0.00750751 0.99992015 -0.64326672] [ 0. 0. 0. 1. ]] SLAMing on 69.111193817 meters Centerline goodness [0,1] 0.938337358848909 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.64 [[ 0.99987951 -0.01123014 -0.01071713 3.08348703] [ 0.01130523 0.99991179 0.00697137 -0.31595186] [ 0.0106379 -0.00709169 0.99991827 -0.6448756 ] [ 0. 0. 0. 1. ]] SLAMing on 69.141193817 meters Centerline goodness [0,1] 0.9362702456401972 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.64 [[ 0.99987779 -0.01109678 -0.01101245 3.08407887] [ 0.01118254 0.99990739 0.00775684 -0.31879138] [ 0.01092535 -0.00787904 0.99990927 -0.64467022] [ 0. 0. 0. 1. ]] SLAMing on 69.171193817 meters Centerline goodness [0,1] 0.9354458394522928 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.32, Z:-0.65 [[ 0.99984661 -0.01293505 -0.0118085 3.08727051] [ 0.01301135 0.99989482 0.00640787 -0.32375005] [ 0.01172437 -0.00656053 0.99990975 -0.64659586] [ 0. 0. 0. 1. ]] SLAMing on 69.201193817 meters Centerline goodness [0,1] 0.9317770802585902 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.33, Z:-0.65 [[ 0.99984713 -0.01263742 -0.01208352 3.08814408] [ 0.01272618 0.9998924 0.00729664 -0.3269261 ] [ 0.01199001 -0.0074493 0.99990037 -0.64684682] [ 0. 0. 0. 1. ]] SLAMing on 69.231193817 meters Centerline goodness [0,1] 0.9306908031627132 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.33, Z:-0.65 [[ 0.99982763 -0.01345692 -0.01279174 3.09105585] [ 0.01354635 0.99988423 0.00693051 -0.329426 ] [ 0.012697 -0.00710259 0.99989416 -0.6485785 ] [ 0. 0. 0. 1. ]] SLAMing on 69.261193817 meters Centerline goodness [0,1] 0.9302513019756965 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.33, Z:-0.65 [[ 0.99979508 -0.01508018 -0.01350515 3.0942385 ] [ 0.01515656 0.99986961 0.00557111 -0.33238168] [ 0.01341938 -0.00577466 0.99989328 -0.65062269] [ 0. 0. 0. 1. ]] SLAMing on 69.291193817 meters Centerline goodness [0,1] 0.9268530829316936 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.34, Z:-0.65 [[ 0.99974682 -0.01816253 -0.01328205 3.09331856] [ 0.01821784 0.99982582 0.00405568 -0.33968997] [ 0.01320607 -0.00429662 0.99990356 -0.64928476] [ 0. 0. 0. 1. ]] SLAMing on 69.32119381700001 meters Centerline goodness [0,1] 0.9254634025512942 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.34, Z:-0.65 [[ 9.99776036e-01 -1.91693126e-02 -8.96747946e-03 3.10943794e+00] [ 1.91566562e-02 9.99815376e-01 -1.49515426e-03 -3.41729618e-01] [ 8.99448493e-03 1.32303248e-03 9.99958674e-01 -6.49649522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35119381700001 meters Centerline goodness [0,1] 0.924750171400079 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.35, Z:-0.65 [[ 9.99780380e-01 -1.89094989e-02 -9.03450925e-03 3.10927896e+00] [ 1.89100312e-02 9.99821189e-01 -2.65055706e-05 -3.45981831e-01] [ 9.03339499e-03 -1.44343103e-04 9.99959188e-01 -6.48744782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.381193817 meters Centerline goodness [0,1] 0.9234428886026509 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.35, Z:-0.65 [[ 9.99768474e-01 -1.94528491e-02 -9.19704768e-03 3.11061870e+00] [ 1.94645092e-02 9.99809852e-01 1.17998880e-03 -3.52401960e-01] [ 9.17234474e-03 -1.35873162e-03 9.99957010e-01 -6.49274178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.411193817 meters Centerline goodness [0,1] 0.9207785201477362 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.36, Z:-0.65 [[ 9.99761904e-01 -1.95423759e-02 -9.70728659e-03 3.11242126e+00] [ 1.95606754e-02 9.99807063e-01 1.79376309e-03 -3.55313749e-01] [ 9.67035930e-03 -1.98321709e-03 9.99951274e-01 -6.50068327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.441193817 meters Centerline goodness [0,1] 0.9170528941078666 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.36, Z:-0.65 [[ 9.99751082e-01 -1.98393872e-02 -1.02065485e-02 3.11437122e+00] [ 1.98629114e-02 9.99800273e-01 2.20861768e-03 -3.58696602e-01] [ 1.01606923e-02 -2.41079968e-03 9.99945473e-01 -6.51017317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.471193817 meters Centerline goodness [0,1] 0.9154047968269052 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.36, Z:-0.65 [[ 9.99663862e-01 -2.37801207e-02 -1.03280511e-02 3.11508634e+00] [ 2.37737598e-02 9.99717092e-01 -7.38237624e-04 -3.63675196e-01] [ 1.03426846e-02 4.92452867e-04 9.99946392e-01 -6.51041810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.501193817 meters Centerline goodness [0,1] 0.9162238458983727 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.37, Z:-0.65 [[ 9.99665170e-01 -2.36985135e-02 -1.03888492e-02 3.11468812e+00] [ 2.37023934e-02 9.99719027e-01 2.50487423e-04 -3.66568454e-01] [ 1.03799940e-02 -4.96644142e-04 9.99946003e-01 -6.49861504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.531193817 meters Centerline goodness [0,1] 0.9163752185860604 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.37, Z:-0.65 [[ 9.99659887e-01 -2.38512249e-02 -1.05465473e-02 3.11482462e+00] [ 2.38611491e-02 9.99714949e-01 8.16143386e-04 -3.68466874e-01] [ 1.05240749e-02 -1.06751854e-03 9.99944051e-01 -6.49283750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.561193817 meters Centerline goodness [0,1] 0.9123000436835645 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.37, Z:-0.65 [[ 9.99638233e-01 -2.45375651e-02 -1.10141483e-02 3.11648152e+00] [ 2.45459791e-02 9.99698504e-01 6.29378496e-04 -3.69206462e-01] [ 1.09953841e-02 -8.99503861e-04 9.99939144e-01 -6.49985187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.591193817 meters Centerline goodness [0,1] 0.9086488508374548 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.37, Z:-0.65 [[ 9.99596011e-01 -2.59690032e-02 -1.15510428e-02 3.11884206e+00] [ 2.59694878e-02 9.99662730e-01 -1.08055926e-04 -3.70101367e-01] [ 1.15499531e-02 -1.91962393e-04 9.99933279e-01 -6.51235922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.621193817 meters Centerline goodness [0,1] 0.9086488508374548 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.37, Z:-0.65 [[ 9.99596011e-01 -2.59690032e-02 -1.15510428e-02 3.11884206e+00] [ 2.59694878e-02 9.99662730e-01 -1.08055926e-04 -3.70101367e-01] [ 1.15499531e-02 -1.91962393e-04 9.99933279e-01 -6.51235922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.651193817 meters Centerline goodness [0,1] 0.9055644010669754 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.37, Z:-0.65 [[ 9.99563315e-01 -2.69374817e-02 -1.21470908e-02 3.12087609e+00] [ 2.69267270e-02 9.99636861e-01 -1.04808051e-03 -3.69877690e-01] [ 1.21709123e-02 7.20541431e-04 9.99925672e-01 -6.52111371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68119381700001 meters Centerline goodness [0,1] 0.90458213196706 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.37, Z:-0.65 [[ 9.99558853e-01 -2.70133426e-02 -1.23441699e-02 3.12114540e+00] [ 2.70018935e-02 9.99634785e-01 -1.09324674e-03 -3.69597780e-01] [ 1.23691938e-02 7.59448499e-04 9.99923210e-01 -6.51839071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71119381700001 meters Centerline goodness [0,1] 0.9040064868910743 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.37, Z:-0.65 [[ 9.99629303e-01 -2.41313049e-02 -1.26070025e-02 3.12211474e+00] [ 2.41621039e-02 9.99705416e-01 2.29641380e-03 -3.70021884e-01] [ 1.25478732e-02 -2.60017423e-03 9.99917892e-01 -6.52169772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.741193817 meters Centerline goodness [0,1] 0.9088338046913991 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.36, Z:-0.65 [[ 0.99966223 -0.02237069 -0.01322805 3.12524852] [ 0.02242237 0.99974147 0.00377177 -0.36474444] [ 0.01314026 -0.0040671 0.99990539 -0.65466972] [ 0. 0. 0. 1. ]] SLAMing on 69.771193817 meters Centerline goodness [0,1] 0.9061976895575441 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.36, Z:-0.66 [[ 0.9997605 -0.02013359 -0.00857787 3.13899704] [ 0.02010301 0.9997913 -0.00363712 -0.36017351] [ 0.00864931 0.00346381 0.99995659 -0.65902739] [ 0. 0. 0. 1. ]] SLAMing on 69.801193817 meters Centerline goodness [0,1] 0.9064623391643776 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.36, Z:-0.66 [[ 9.99807589e-01 -1.73154746e-02 -9.21728700e-03 3.14062068e+00] [ 1.73125912e-02 9.99850049e-01 -3.92529346e-04 -3.59811969e-01] [ 9.22270169e-03 2.32878697e-04 9.99957443e-01 -6.59276295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.831193817 meters Centerline goodness [0,1] 0.9113484034802881 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.36, Z:-0.66 [[ 9.99804709e-01 -1.73965427e-02 -9.37573991e-03 3.14068143e+00] [ 1.73907769e-02 9.99848527e-01 -6.96158387e-04 -3.58554368e-01] [ 9.38643048e-03 5.32971033e-04 9.99955804e-01 -6.58943207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.861193817 meters Centerline goodness [0,1] 0.8998218133598541 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.35, Z:-0.66 [[ 0.99986019 -0.01622502 -0.00404446 3.15334054] [ 0.0161867 0.99982542 -0.00933426 -0.35476355] [ 0.00419521 0.00926749 0.99994826 -0.66219558] [ 0. 0. 0. 1. ]] SLAMing on 69.891193817 meters Centerline goodness [0,1] 0.9074035626790682 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.36, Z:-0.66 [[ 0.99991101 -0.01263727 -0.00427416 3.15337652] [ 0.01261461 0.99990645 -0.00528782 -0.3552094 ] [ 0.00434058 0.00523343 0.99997689 -0.66133439] [ 0. 0. 0. 1. ]] SLAMing on 69.921193817 meters Centerline goodness [0,1] 0.9115678776290631 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.35, Z:-0.66 [[ 9.99950948e-01 -8.81503259e-03 -4.51628020e-03 3.15337455e+00] [ 8.80902527e-03 9.99960291e-01 -1.34831936e-03 -3.54501261e-01] [ 4.52798634e-03 1.30846920e-03 9.99988893e-01 -6.60562224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.951193817 meters Centerline goodness [0,1] 0.9065565307176046 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.35, Z:-0.66 [[ 9.99999483e-01 -9.34997645e-04 3.99040454e-04 3.16471691e+00] [ 9.37062212e-04 9.99986013e-01 -5.20538876e-03 -3.46212310e-01] [-3.94167846e-04 5.20576000e-03 9.99986372e-01 -6.64194641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.981193817 meters Centerline goodness [0,1] 0.9144498123535632 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.34, Z:-0.66 [[ 9.99995140e-01 3.11061611e-03 2.08189334e-04 3.16450911e+00] [-3.11027872e-03 9.99993880e-01 -1.60176958e-03 -3.44037320e-01] [-2.13170550e-04 1.60111427e-03 9.99998695e-01 -6.63397272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.011193817 meters Centerline goodness [0,1] 0.9182087572787367 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.34, Z:-0.66 [[ 9.99992468e-01 3.87876505e-03 -1.38271798e-04 3.16457269e+00] [-3.87904514e-03 9.99990300e-01 -2.08648071e-03 -3.40603179e-01] [ 1.30177489e-04 2.08700136e-03 9.99997814e-01 -6.63037919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.041193817 meters Centerline goodness [0,1] 0.9254917420532824 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.34, Z:-0.66 [[ 9.99959749e-01 8.96953982e-03 -2.19749716e-04 3.16374346e+00] [-8.96913317e-03 9.99958181e-01 1.78644888e-03 -3.38201687e-01] [ 2.35764151e-04 -1.78440600e-03 9.99998380e-01 -6.61929097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07119381700001 meters Centerline goodness [0,1] 0.9319241529375194 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.34, Z:-0.66 [[ 9.99957232e-01 9.22837924e-03 -6.09686473e-04 3.16500448e+00] [-9.22770715e-03 9.99956823e-01 1.09612721e-03 -3.35540870e-01] [ 6.19775627e-04 -1.09045433e-03 9.99999213e-01 -6.62970771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10119381700001 meters Centerline goodness [0,1] 0.9332336200091403 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.33, Z:-0.66 [[ 9.99957534e-01 9.17757539e-03 -8.38398990e-04 3.16612070e+00] [-9.17720586e-03 9.99957790e-01 4.43547555e-04 -3.33373742e-01] [ 8.42434293e-04 -4.35834559e-04 9.99999550e-01 -6.64062037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.131193817 meters Centerline goodness [0,1] 0.9342258198422582 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.33, Z:-0.66 [[ 9.99958155e-01 9.07520876e-03 -1.15235770e-03 3.16731895e+00] [-9.07535551e-03 9.99958811e-01 -1.22182652e-04 -3.31528221e-01] [ 1.15120141e-03 1.32635595e-04 9.99999329e-01 -6.64952029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.161193817 meters Centerline goodness [0,1] 0.9333347170046283 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.33, Z:-0.67 [[ 9.99958909e-01 8.95414186e-03 -1.41519269e-03 3.16806276e+00] [-8.95493378e-03 9.99959750e-01 -5.54245264e-04 -3.30294523e-01] [ 1.41017294e-03 5.66895446e-04 9.99998845e-01 -6.65288394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.191193817 meters Centerline goodness [0,1] 0.9344742971219431 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.33, Z:-0.67 [[ 9.99958878e-01 8.95776607e-03 -1.41454963e-03 3.16793072e+00] [-8.95823924e-03 9.99959820e-01 -3.28526428e-04 -3.31152447e-01] [ 1.41154993e-03 3.41184792e-04 9.99998946e-01 -6.65017643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.221193817 meters Centerline goodness [0,1] 0.9344664228723404 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.33, Z:-0.67 [[ 9.99962738e-01 8.45242577e-03 -1.75451167e-03 3.16886433e+00] [-8.45309582e-03 9.99964202e-01 -3.74839537e-04 -3.32341693e-01] [ 1.75128056e-03 3.89656626e-04 9.99998391e-01 -6.65112884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.251193817 meters Centerline goodness [0,1] 0.9309980089596814 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.33, Z:-0.66 [[ 9.99986535e-01 4.79786565e-03 -1.97746105e-03 3.16909630e+00] [-4.80597270e-03 9.99979982e-01 -4.11557167e-03 -3.32405045e-01] [ 1.95767551e-03 4.12501988e-03 9.99989576e-01 -6.64939589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.281193817 meters Centerline goodness [0,1] 0.9310844370860927 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.34, Z:-0.67 [[ 9.99988847e-01 3.98534992e-03 -2.53431293e-03 3.17097738e+00] [-3.99578026e-03 9.99983513e-01 -4.12398881e-03 -3.35029344e-01] [ 2.51783561e-03 4.13406938e-03 9.99988285e-01 -6.65544959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.311193817 meters Centerline goodness [0,1] 0.9219849350219352 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.34, Z:-0.67 [[ 9.99995077e-01 -1.64904570e-04 -3.13350898e-03 3.17405300e+00] [ 1.40669581e-04 9.99970092e-01 -7.73278455e-03 -3.38128728e-01] [ 3.13469043e-03 7.73230569e-03 9.99965192e-01 -6.67982099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.341193817 meters Centerline goodness [0,1] 0.922843483683226 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.34, Z:-0.67 [[ 9.99994325e-01 -2.09956495e-04 -3.36244767e-03 3.17509259e+00] [ 1.85605165e-04 9.99973768e-01 -7.24081915e-03 -3.40040139e-01] [ 3.36387973e-03 7.24015397e-03 9.99968132e-01 -6.68581042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.371193817 meters Centerline goodness [0,1] 0.9227775247401764 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.34, Z:-0.67 [[ 9.99993393e-01 -1.72133655e-04 -3.63115560e-03 3.17592302e+00] [ 1.47698192e-04 9.99977352e-01 -6.72858558e-03 -3.41955984e-01] [ 3.63223158e-03 6.72800481e-03 9.99970770e-01 -6.68772989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.401193817 meters Centerline goodness [0,1] 0.9192328471096705 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.35, Z:-0.67 [[ 9.99993267e-01 -2.91835354e-06 -3.66959206e-03 3.17594540e+00] [-1.71003970e-05 9.99985120e-01 -5.45526359e-03 -3.46535234e-01] [ 3.66955337e-03 5.45528961e-03 9.99978387e-01 -6.68326995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43119381700001 meters Centerline goodness [0,1] 0.9205852485855802 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.35, Z:-0.67 [[ 9.99991589e-01 7.07137217e-06 -4.10155204e-03 3.17686256e+00] [-2.69334988e-05 9.99988274e-01 -4.84255296e-03 -3.48698900e-01] [ 4.10146970e-03 4.84262269e-03 9.99979863e-01 -6.68149073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46119381700001 meters Centerline goodness [0,1] 0.9193742979573158 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.35, Z:-0.67 [[ 9.99990899e-01 -6.26682654e-05 -4.26585936e-03 3.17727636e+00] [ 4.52039451e-05 9.99991619e-01 -4.09394800e-03 -3.51270526e-01] [ 4.26608017e-03 4.09371791e-03 9.99982521e-01 -6.67940398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.491193817 meters Centerline goodness [0,1] 0.9154739119580594 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.35, Z:-0.67 [[ 9.99989277e-01 -3.31999506e-04 -4.61899253e-03 3.17800347e+00] [ 3.16536695e-04 9.99994345e-01 -3.34798717e-03 -3.54183836e-01] [ 4.62007794e-03 3.34648919e-03 9.99983728e-01 -6.67534762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.521193817 meters Centerline goodness [0,1] 0.9151624175506069 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.36, Z:-0.67 [[ 0.99998046 -0.0041581 -0.00466815 3.17816511] [ 0.00413132 0.99997504 -0.00573229 -0.35963281] [ 0.00469187 0.0057129 0.99997267 -0.66709238] [ 0. 0. 0. 1. ]] SLAMing on 70.551193817 meters Centerline goodness [0,1] 0.9128436551179138 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.36, Z:-0.67 [[ 0.99998014 -0.00402388 -0.00485031 3.17842288] [ 0.004001 0.99998087 -0.0047169 -0.36301238] [ 0.0048692 0.0046974 0.99997711 -0.66656845] [ 0. 0. 0. 1. ]] SLAMing on 70.581193817 meters Centerline goodness [0,1] 0.9122446863659928 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.36, Z:-0.67 [[ 0.99997869 -0.0039362 -0.00520876 3.17956193] [ 0.0039141 0.99998332 -0.00424662 -0.36451877] [ 0.00522539 0.00422614 0.99997742 -0.66699768] [ 0. 0. 0. 1. ]] SLAMing on 70.611193817 meters Centerline goodness [0,1] 0.9153360950933656 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.37, Z:-0.67 [[ 9.99986318e-01 -1.25003217e-05 -5.23095361e-03 3.18040711e+00] [ 1.42572874e-05 9.99999944e-01 3.35841500e-04 -3.66613055e-01] [ 5.23094912e-03 -3.35911484e-04 9.99986262e-01 -6.67814394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.641193817 meters Centerline goodness [0,1] 0.9158197267577475 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.37, Z:-0.67 [[ 9.99985558e-01 3.33502667e-04 -5.36403866e-03 3.18075408e+00] [-3.30687094e-04 9.99999807e-01 5.25776238e-04 -3.66811031e-01] [ 5.36421297e-03 -5.23994826e-04 9.99985475e-01 -6.68020543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.671193817 meters Centerline goodness [0,1] 0.914899814818668 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.37, Z:-0.67 [[ 9.99984322e-01 6.53190295e-04 -5.56141313e-03 3.18124111e+00] [-6.49287470e-04 9.99999542e-01 7.03545152e-04 -3.67349514e-01] [ 5.56187013e-03 -6.99923166e-04 9.99984288e-01 -6.68175245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.701193817 meters Centerline goodness [0,1] 0.918253474382908 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.37, Z:-0.67 [[ 9.99983420e-01 1.01625190e-03 -5.66804381e-03 3.18120852e+00] [-1.01131651e-03 9.99999107e-01 8.73537223e-04 -3.67719455e-01] [ 5.66892648e-03 -8.67790554e-04 9.99983555e-01 -6.67831573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.731193817 meters Centerline goodness [0,1] 0.9272151243451432 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.37, Z:-0.67 [[ 9.99981779e-01 2.23499955e-03 -5.60774180e-03 3.17975082e+00] [-2.22503393e-03 9.99995936e-01 1.78272803e-03 -3.68405478e-01] [ 5.61170340e-03 -1.77021813e-03 9.99982687e-01 -6.66150157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.761193817 meters Centerline goodness [0,1] 0.927435346608279 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.37, Z:-0.67 [[ 9.99980335e-01 2.34963875e-03 -5.81446816e-03 3.18041378e+00] [-2.34003641e-03 9.99995888e-01 1.65770813e-03 -3.67996406e-01] [ 5.81833926e-03 -1.64406946e-03 9.99981722e-01 -6.66513162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.791193817 meters Centerline goodness [0,1] 0.9308232079650597 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.37, Z:-0.67 [[ 9.99978817e-01 2.72127353e-03 -5.91268256e-03 3.18053146e+00] [-2.71094161e-03 9.99994786e-01 1.75473000e-03 -3.67448261e-01] [ 5.91742683e-03 -1.73866389e-03 9.99980980e-01 -6.66497601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82119381700001 meters Centerline goodness [0,1] 0.9339873628200864 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.37, Z:-0.67 [[ 9.99975022e-01 3.95393013e-03 -5.85843768e-03 3.17982316e+00] [-3.94125625e-03 9.99989872e-01 2.17332371e-03 -3.66300750e-01] [ 5.86697151e-03 -2.15017982e-03 9.99980477e-01 -6.66200399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85119381700001 meters Centerline goodness [0,1] 0.9369723555702698 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.37, Z:-0.67 [[ 9.99973151e-01 4.12531393e-03 -6.05627266e-03 3.18053923e+00] [-4.11348827e-03 9.99989611e-01 1.96379035e-03 -3.65295710e-01] [ 6.06431099e-03 -1.93882522e-03 9.99979732e-01 -6.66693297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.881193817 meters Centerline goodness [0,1] 0.939746081634341 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.36, Z:-0.67 [[ 9.99970598e-01 4.48579722e-03 -6.21942887e-03 3.18090255e+00] [-4.47478282e-03 9.99988397e-01 1.78375152e-03 -3.64332211e-01] [ 6.22735826e-03 -1.75586848e-03 9.99979068e-01 -6.66905831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.911193817 meters Centerline goodness [0,1] 0.9399763882272529 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.36, Z:-0.67 [[ 9.99966729e-01 5.23887233e-03 -6.25255571e-03 3.18053216e+00] [-5.22560410e-03 9.99984064e-01 2.13650396e-03 -3.64265349e-01] [ 6.26364895e-03 -2.10375950e-03 9.99978170e-01 -6.66456710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.941193817 meters Centerline goodness [0,1] 0.9354063516397009 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.37, Z:-0.67 [[ 0.9999528 0.00748471 -0.00619537 3.17903767] [-0.00746236 0.99996559 0.00362296 -0.36566059] [ 0.00622227 -0.00357656 0.99997425 -0.66516057] [ 0. 0. 0. 1. ]] SLAMing on 70.971193817 meters Centerline goodness [0,1] 0.9269401652618029 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.37, Z:-0.67 [[ 0.99994792 0.00802043 -0.00631149 3.17929009] [-0.00799611 0.99996055 0.00386867 -0.36583936] [ 0.00634227 -0.003818 0.9999726 -0.66532791] [ 0. 0. 0. 1. ]] SLAMing on 71.001193817 meters Centerline goodness [0,1] 0.921448583584103 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.37, Z:-0.67 [[ 0.99994393 0.00831808 -0.00655352 3.18024705] [-0.00829218 0.99995774 0.00396968 -0.3661705 ] [ 0.00658627 -0.00391511 0.99997065 -0.66611085] [ 0. 0. 0. 1. ]] SLAMing on 71.031193817 meters Centerline goodness [0,1] 0.8897516817540071 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.37, Z:-0.67 [[ 0.99994226 0.0080945 -0.00706849 3.18263619] [-0.00806351 0.9999578 0.00440294 -0.37228261] [ 0.00710383 -0.00434569 0.99996532 -0.66796486] [ 0. 0. 0. 1. ]] SLAMing on 71.061193817 meters Centerline goodness [0,1] 0.9205552212793328 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.38, Z:-0.67 [[ 9.99964255e-01 4.54212594e-03 -7.13151026e-03 3.18317823e+00] [-4.53337267e-03 9.99988952e-01 1.24309415e-03 -3.75637552e-01] [ 7.13707775e-03 -1.21071992e-03 9.99973798e-01 -6.68576664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.091193817 meters Centerline goodness [0,1] 0.918232731798382 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.38, Z:-0.67 [[ 9.99973256e-01 1.45810469e-03 -7.16666000e-03 3.18352788e+00] [-1.46653445e-03 9.99998239e-01 -1.17113141e-03 -3.79790888e-01] [ 7.16493974e-03 1.18161025e-03 9.99973633e-01 -6.68893326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.121193817 meters Centerline goodness [0,1] 0.91506357331572 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.39, Z:-0.67 [[ 9.99970851e-01 6.52279531e-04 -7.60729174e-03 3.18559956e+00] [-6.58055325e-04 9.99999497e-01 -7.56766168e-04 -3.85475074e-01] [ 7.60679429e-03 7.61750128e-04 9.99970778e-01 -6.69841944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.151193817 meters Centerline goodness [0,1] 0.9316928562544052 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.40, Z:-0.67 [[ 9.99970170e-01 -2.54434979e-03 -7.29289004e-03 3.18471432e+00] [ 2.53408972e-03 9.99995787e-01 -1.41575572e-03 -3.95681490e-01] [ 7.29646150e-03 1.39723265e-03 9.99972404e-01 -6.68282621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18119381700001 meters Centerline goodness [0,1] 0.9383969560362297 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.40, Z:-0.67 [[ 9.99968829e-01 -2.42868780e-03 -7.51283196e-03 3.18525549e+00] [ 2.43031231e-03 9.99997025e-01 2.07110023e-04 -4.01488117e-01] [ 7.51230661e-03 -2.25362095e-04 9.99971757e-01 -6.67751437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21119381700001 meters Centerline goodness [0,1] 0.9414843006660324 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.41, Z:-0.67 [[ 9.99966037e-01 -2.75904018e-03 -7.76611553e-03 3.18642003e+00] [ 2.76932393e-03 9.99995302e-01 1.31374115e-03 -4.07008982e-01] [ 7.76245438e-03 -1.33520342e-03 9.99968980e-01 -6.67923480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.241193817 meters Centerline goodness [0,1] 0.9467939406515875 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.41, Z:-0.67 [[ 9.99962700e-01 -3.07794020e-03 -8.06998075e-03 3.18787039e+00] [ 3.09681561e-03 9.99992496e-01 2.32751462e-03 -4.12526567e-01] [ 8.06275624e-03 -2.35241904e-03 9.99964728e-01 -6.68469496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.271193817 meters Centerline goodness [0,1] 0.9455865574110569 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.42, Z:-0.67 [[ 9.99939432e-01 -7.34720619e-03 -8.19461413e-03 3.18949320e+00] [ 7.34923739e-03 9.99972970e-01 2.17785729e-04 -4.21421747e-01] [ 8.19279251e-03 -2.77996703e-04 9.99966400e-01 -6.69323386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.301193817 meters Centerline goodness [0,1] 0.9418383779989263 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.43, Z:-0.67 [[ 9.99926526e-01 -8.43650883e-03 -8.70444796e-03 3.19203782e+00] [ 8.43977820e-03 9.99964327e-01 3.38932579e-04 -4.25982483e-01] [ 8.70127804e-03 -4.12371286e-04 9.99962058e-01 -6.70599633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.331193817 meters Centerline goodness [0,1] 0.937423592548849 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.43, Z:-0.67 [[ 9.99912795e-01 -9.63377057e-03 -9.03287077e-03 3.19405410e+00] [ 9.63762815e-03 9.99953483e-01 3.83627665e-04 -4.30469166e-01] [ 9.02875481e-03 -4.70649660e-04 9.99959129e-01 -6.71652432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.361193817 meters Centerline goodness [0,1] 0.9244060025010421 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.44, Z:-0.67 [[ 0.99978415 -0.01854322 -0.00937061 3.19630353] [ 0.01847866 0.99980524 -0.00693007 -0.43622817] [ 0.00949729 0.00675541 0.99993208 -0.67284638] [ 0. 0. 0. 1. ]] SLAMing on 71.391193817 meters Centerline goodness [0,1] 0.9230176096696885 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.44, Z:-0.67 [[ 0.99968987 -0.02301888 -0.00950213 3.19756798] [ 0.02291757 0.99968078 -0.0106362 -0.43852303] [ 0.00974393 0.01041513 0.99989829 -0.67364155] [ 0. 0. 0. 1. ]] SLAMing on 71.421193817 meters Centerline goodness [0,1] 0.9176607506546407 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.44, Z:-0.67 [[ 0.99964547 -0.02482893 -0.0096153 3.19933254] [ 0.02472201 0.99963293 -0.0110828 -0.44103854] [ 0.00988694 0.01084116 0.99989235 -0.67451765] [ 0. 0. 0. 1. ]] SLAMing on 71.451193817 meters Centerline goodness [0,1] 0.9082656672912763 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.44, Z:-0.67 [[ 0.99961251 -0.02612073 -0.00961947 3.20023119] [ 0.02601308 0.99959941 -0.01115095 -0.44291208] [ 0.00990688 0.0108964 0.99989156 -0.6747633 ] [ 0. 0. 0. 1. ]] SLAMing on 71.481193817 meters Centerline goodness [0,1] 0.8470837487537388 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.44, Z:-0.68 [[ 0.99939841 -0.03332503 -0.00960541 3.20263608] [ 0.03316012 0.9993081 -0.01684443 -0.44332463] [ 0.0101601 0.01651578 0.99981198 -0.67611793] [ 0. 0. 0. 1. ]] SLAMing on 71.511193817 meters Centerline goodness [0,1] 0.8066215512753774 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.44, Z:-0.68 [[ 0.99935361 -0.03467697 -0.00948023 3.20287501] [ 0.03451133 0.99925782 -0.01711047 -0.44449061] [ 0.01006653 0.01677223 0.99980866 -0.67570234] [ 0. 0. 0. 1. ]] SLAMing on 71.541193817 meters Centerline goodness [0,1] 0.8066215512753774 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.44, Z:-0.68 [[ 0.99935361 -0.03467697 -0.00948023 3.20287501] [ 0.03451133 0.99925782 -0.01711047 -0.44449061] [ 0.01006653 0.01677223 0.99980866 -0.67570234] [ 0. 0. 0. 1. ]] SLAMing on 71.57119381700001 meters Centerline goodness [0,1] 0.7959145427286357 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.44, Z:-0.68 [[ 0.99931531 -0.03578451 -0.00940122 3.20281588] [ 0.03561628 0.99921247 -0.0174903 -0.44472795] [ 0.0100197 0.01714349 0.99980283 -0.67504811] [ 0. 0. 0. 1. ]] SLAMing on 71.60119381700001 meters Centerline goodness [0,1] 0.7521790684612344 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.44, Z:-0.67 [[ 0.99922081 -0.03835583 -0.00930618 3.20288687] [ 0.0381645 0.99907265 -0.01993288 -0.43970177] [ 0.01006209 0.01956219 0.99975801 -0.67446185] [ 0. 0. 0. 1. ]] SLAMing on 71.631193817 meters Centerline goodness [0,1] 0.7463232239302036 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.44, Z:-0.67 [[ 0.99930038 -0.03609267 -0.00980185 3.20421703] [ 0.03591619 0.99919945 -0.01762071 -0.4365504 ] [ 0.01042998 0.01725633 0.9997967 -0.67463473] [ 0. 0. 0. 1. ]] SLAMing on 71.661193817 meters Centerline goodness [0,1] 0.7436972174382172 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.43, Z:-0.67 [[ 0.99939709 -0.03322184 -0.01008827 3.20469307] [ 0.0330682 0.99934004 -0.01503264 -0.43226922] [ 0.01058103 0.01468997 0.99983611 -0.67451721] [ 0. 0. 0. 1. ]] SLAMing on 71.691193817 meters Centerline goodness [0,1] 0.7510070179809809 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.42, Z:-0.68 [[ 0.99949233 -0.03002445 -0.01065874 3.20669321] [ 0.02989289 0.99947749 -0.01229474 -0.419615 ] [ 0.01102231 0.01196988 0.99986761 -0.6750447 ] [ 0. 0. 0. 1. ]] SLAMing on 71.721193817 meters Centerline goodness [0,1] 0.7481530671536483 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.41, Z:-0.68 [[ 0.99954125 -0.02806929 -0.01137583 3.20901293] [ 0.02794707 0.99955145 -0.01076367 -0.41410506] [ 0.01167285 0.01044081 0.99987736 -0.67610943] [ 0. 0. 0. 1. ]] SLAMing on 71.751193817 meters Centerline goodness [0,1] 0.7274520388672037 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.41, Z:-0.68 [[ 0.99960334 -0.02558952 -0.01176163 3.2098949 ] [ 0.02548745 0.99963687 -0.00874708 -0.40907461] [ 0.01198119 0.00844384 0.99989257 -0.67623704] [ 0. 0. 0. 1. ]] SLAMing on 71.781193817 meters Centerline goodness [0,1] 0.7286082367119644 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.40, Z:-0.68 [[ 0.99965272 -0.02326038 -0.01238522 3.21147849] [ 0.02317606 0.99970753 -0.00690858 -0.40361078] [ 0.0125423 0.00661914 0.99989943 -0.67659892] [ 0. 0. 0. 1. ]] SLAMing on 71.811193817 meters Centerline goodness [0,1] 0.7164624047697914 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.39, Z:-0.68 [[ 0.99974669 -0.02068531 -0.0088697 3.23049759] [ 0.02057195 0.99970787 -0.0126877 -0.38517327] [ 0.00912955 0.01250202 0.99988017 -0.68160163] [ 0. 0. 0. 1. ]] SLAMing on 71.841193817 meters Centerline goodness [0,1] 0.7108148517318714 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.38, Z:-0.68 [[ 0.99979858 -0.01787177 -0.00913212 3.23113329] [ 0.01777266 0.99978349 -0.01082172 -0.37647392] [ 0.00932355 0.01065724 0.99989974 -0.68176354] [ 0. 0. 0. 1. ]] SLAMing on 71.871193817 meters Centerline goodness [0,1] 0.7117030804157207 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.37, Z:-0.68 [[ 0.99988297 -0.01198158 -0.00951273 3.2321107 ] [ 0.01192981 0.99991382 -0.00548066 -0.37000767] [ 0.00957758 0.00536653 0.99993973 -0.68191836] [ 0. 0. 0. 1. ]] SLAMing on 71.901193817 meters Centerline goodness [0,1] 0.7289245545830648 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.36, Z:-0.68 [[ 9.99926849e-01 -6.60097572e-03 -1.01352394e-02 3.23455031e+00] [ 6.59402086e-03 9.99978000e-01 -7.19469052e-04 -3.63873283e-01] [ 1.01397656e-02 6.52584442e-04 9.99948378e-01 -6.83274579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93119381700001 meters Centerline goodness [0,1] 0.7285820710206109 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.35, Z:-0.69 [[ 9.99979440e-01 -7.41896302e-04 -6.36939585e-03 3.24939607e+00] [ 6.89921720e-04 9.99966482e-01 -8.15837184e-03 -3.45462106e-01] [ 6.37523502e-03 8.15380972e-03 9.99946434e-01 -6.89746114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96119381700001 meters Centerline goodness [0,1] 0.7232575898293192 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.34, Z:-0.69 [[ 9.99975131e-01 2.24246837e-03 -6.68652480e-03 3.25053824e+00] [-2.28613014e-03 9.99976070e-01 -6.52933758e-03 -3.36642084e-01] [ 6.67172296e-03 6.54446146e-03 9.99956328e-01 -6.90308057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.991193817 meters Centerline goodness [0,1] 0.7487834675832936 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.33, Z:-0.69 [[ 0.99996339 0.00546002 -0.0065888 3.25083899] [-0.0054911 0.99997384 -0.00470754 -0.32728214] [ 0.00656293 0.00474355 0.99996721 -0.6907262 ] [ 0. 0. 0. 1. ]] SLAMing on 72.021193817 meters Centerline goodness [0,1] 0.8144927536231884 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.31, Z:-0.69 [[ 9.99904663e-01 1.23859493e-02 -6.10355124e-03 3.24992640e+00] [-1.23996655e-02 9.99920669e-01 -2.21454870e-03 -3.08632296e-01] [ 6.07563775e-03 2.29001957e-03 9.99978921e-01 -6.91388995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.051193817 meters Centerline goodness [0,1] 0.8225352112676056 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.30, Z:-0.69 [[ 9.99864170e-01 1.50867731e-02 -6.63554370e-03 3.25162037e+00] [-1.50950501e-02 9.99885344e-01 -1.19906564e-03 -3.00043370e-01] [ 6.61669286e-03 1.29906663e-03 9.99977266e-01 -6.92107961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.081193817 meters Centerline goodness [0,1] 0.8412668743509865 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.29, Z:-0.69 [[ 9.99817948e-01 1.77925015e-02 -6.89184747e-03 3.25222952e+00] [-1.77942024e-02 9.99841653e-01 -1.85554449e-04 -2.91233199e-01] [ 6.88745469e-03 3.08155597e-04 9.99976234e-01 -6.92113755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.111193817 meters Centerline goodness [0,1] 0.86400781851074 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.28, Z:-0.69 [[ 9.99766147e-01 2.04027473e-02 -7.16794822e-03 3.25321545e+00] [-2.03965726e-02 9.99791532e-01 9.33496595e-04 -2.83068417e-01] [ 7.18549983e-03 -7.87076718e-04 9.99973874e-01 -6.92495873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.141193817 meters Centerline goodness [0,1] 0.8659089497546736 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.27, Z:-0.69 [[ 9.99661998e-01 2.47519456e-02 -7.95174856e-03 3.25526143e+00] [-2.47272373e-02 9.99689143e-01 3.19071856e-03 -2.68456276e-01] [ 8.02825320e-03 -2.99301532e-03 9.99963294e-01 -6.92591072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.171193817 meters Centerline goodness [0,1] 0.8881543386969357 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.26, Z:-0.69 [[ 0.99959451 0.0273009 -0.00809143 3.25620881] [-0.02726382 0.99961742 0.00465858 -0.2618012 ] [ 0.00821552 -0.00443609 0.99995641 -0.69310262] [ 0. 0. 0. 1. ]] SLAMing on 72.201193817 meters Centerline goodness [0,1] 0.8802463503649635 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.25, Z:-0.69 [[ 0.99952529 0.02968247 -0.00825545 3.2570091 ] [-0.02963435 0.99954345 0.00589034 -0.25441381] [ 0.00842652 -0.0056429 0.99994857 -0.69333071] [ 0. 0. 0. 1. ]] SLAMing on 72.231193817 meters Centerline goodness [0,1] 0.8995407219601405 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.24, Z:-0.69 [[ 0.99944473 0.03230947 -0.00814396 3.25572207] [-0.03225744 0.99945884 0.00644121 -0.24175498] [ 0.00834767 -0.00617493 0.99994609 -0.69138812] [ 0. 0. 0. 1. ]] SLAMing on 72.261193817 meters Centerline goodness [0,1] 0.9021106485221317 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.24, Z:-0.69 [[ 0.99946262 0.0316723 -0.00844567 3.25626752] [-0.03163369 0.99948864 0.00466666 -0.23663458] [ 0.00858916 -0.00439698 0.99995345 -0.69127697] [ 0. 0. 0. 1. ]] SLAMing on 72.291193817 meters Centerline goodness [0,1] 0.901359908647358 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.23, Z:-0.69 [[ 9.99482649e-01 3.09864589e-02 -8.61826410e-03 3.25668171e+00] [-3.09624688e-02 9.99516331e-01 2.90330582e-03 -2.31745524e-01] [ 8.70405889e-03 -2.63496106e-03 9.99958647e-01 -6.91359411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32119381700001 meters Centerline goodness [0,1] 0.8989039275927925 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.22, Z:-0.69 [[ 9.99429487e-01 3.25656626e-02 -8.95417502e-03 3.25815351e+00] [-3.25394881e-02 9.99465786e-01 3.05351198e-03 -2.22162293e-01] [ 9.04883122e-03 -2.76040564e-03 9.99955248e-01 -6.91983062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35119381700001 meters Centerline goodness [0,1] 0.9025184631980748 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.22, Z:-0.69 [[ 9.99450921e-01 3.18467485e-02 -9.14551346e-03 3.25926046e+00] [-3.18368437e-02 9.99492327e-01 1.22660212e-03 -2.16516935e-01] [ 9.17993381e-03 -9.34764341e-04 9.99957427e-01 -6.92851842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.381193817 meters Centerline goodness [0,1] 0.8989082924201934 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.21, Z:-0.69 [[ 9.99463629e-01 3.13547503e-02 -9.45163007e-03 3.26034967e+00] [-3.13591514e-02 9.99508130e-01 -3.17770079e-04 -2.11767777e-01] [ 9.43701750e-03 6.13994735e-04 9.99955282e-01 -6.93391338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.411193817 meters Centerline goodness [0,1] 0.9001410846923109 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.21, Z:-0.69 [[ 9.99473560e-01 3.09491010e-02 -9.73431286e-03 3.26140169e+00] [-3.09656170e-02 9.99519248e-01 -1.55052300e-03 -2.08220529e-01] [ 9.68164577e-03 1.85113575e-03 9.99951418e-01 -6.93987472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.441193817 meters Centerline goodness [0,1] 0.9069420563070995 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.20, Z:-0.69 [[ 9.99465700e-01 3.11551733e-02 -9.88282960e-03 3.26166445e+00] [-3.11846130e-02 9.99509610e-01 -2.83885614e-03 -2.02427326e-01] [ 9.78953810e-03 3.14553155e-03 9.99947134e-01 -6.93887854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.471193817 meters Centerline goodness [0,1] 0.9079306071871127 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.20, Z:-0.69 [[ 0.9994667 0.03103468 -0.01015722 3.26214478] [-0.03107304 0.99951049 -0.00364026 -0.19972873] [ 0.01003928 0.00395393 0.99994179 -0.69373092] [ 0. 0. 0. 1. ]] SLAMing on 72.501193817 meters Centerline goodness [0,1] 0.9110402121444405 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.20, Z:-0.69 [[ 0.99946645 0.03101766 -0.01023349 3.26181072] [-0.03106141 0.99950889 -0.00414433 -0.19782006] [ 0.01009992 0.00445999 0.99993905 -0.69302577] [ 0. 0. 0. 1. ]] SLAMing on 72.531193817 meters Centerline goodness [0,1] 0.909605222256761 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.19, Z:-0.69 [[ 0.9994617 0.0311 -0.01044495 3.26205933] [-0.03115444 0.99950162 -0.00509055 -0.19342376] [ 0.01028143 0.00541322 0.99993249 -0.69274697] [ 0. 0. 0. 1. ]] SLAMing on 72.561193817 meters Centerline goodness [0,1] 0.914619545022914 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.19, Z:-0.69 [[ 0.9994581 0.03109037 -0.01081162 3.26275367] [-0.03115165 0.99949928 -0.00554625 -0.19132781] [ 0.01063377 0.00588005 0.99992617 -0.69263369] [ 0. 0. 0. 1. ]] SLAMing on 72.591193817 meters Centerline goodness [0,1] 0.9111848242977091 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.19, Z:-0.69 [[ 0.99945778 0.03109227 -0.01083577 3.262624 ] [-0.03115768 0.99949695 -0.00592053 -0.18974241] [ 0.01064623 0.00625494 0.99992376 -0.6923701 ] [ 0. 0. 0. 1. ]] SLAMing on 72.621193817 meters Centerline goodness [0,1] 0.9128557855165861 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.19, Z:-0.69 [[ 0.99946141 0.03088641 -0.01108679 3.26331133] [-0.03095696 0.99950118 -0.00624945 -0.18903637] [ 0.01088823 0.0065893 0.99991901 -0.69255597] [ 0. 0. 0. 1. ]] SLAMing on 72.651193817 meters Centerline goodness [0,1] 0.9101937727724412 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.19, Z:-0.69 [[ 0.99948754 0.03001502 -0.01112413 3.26374881] [-0.03009347 0.9995229 -0.00695346 -0.18886769] [ 0.01091012 0.00728466 0.99991395 -0.69303321] [ 0. 0. 0. 1. ]] SLAMing on 72.68119381700001 meters Centerline goodness [0,1] 0.9094965604148161 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.19, Z:-0.69 [[ 0.99951121 0.02903825 -0.01158064 3.26569529] [-0.02913026 0.99954474 -0.00785748 -0.18814388] [ 0.0113472 0.00819098 0.99990207 -0.69430451] [ 0. 0. 0. 1. ]] SLAMing on 72.71119381700001 meters Centerline goodness [0,1] 0.9066382749994831 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.19, Z:-0.70 [[ 0.99952976 0.02818109 -0.01208682 3.26756244] [-0.02828709 0.99956206 -0.00869102 -0.18688058] [ 0.01183661 0.00902884 0.99988918 -0.69534174] [ 0. 0. 0. 1. ]] SLAMing on 72.741193817 meters Centerline goodness [0,1] 0.9025904605263158 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.18, Z:-0.70 [[ 0.99956113 0.02685996 -0.01249329 3.26913379] [-0.02698911 0.9995828 -0.01028701 -0.18330936] [ 0.01221177 0.01061968 0.99986904 -0.69615197] [ 0. 0. 0. 1. ]] SLAMing on 72.771193817 meters Centerline goodness [0,1] 0.9011102825420498 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.18, Z:-0.70 [[ 0.99956691 0.02663091 -0.01252173 3.26874652] [-0.0267661 0.99958386 -0.01075571 -0.18156735] [ 0.01223009 0.01108621 0.99986375 -0.69551201] [ 0. 0. 0. 1. ]] SLAMing on 72.801193817 meters Centerline goodness [0,1] 0.9010247386398924 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.18, Z:-0.69 [[ 0.99956356 0.02660375 -0.01284277 3.2688822 ] [-0.02674548 0.99958183 -0.01099282 -0.18040379] [ 0.01254494 0.01133151 0.9998571 -0.69482177] [ 0. 0. 0. 1. ]] SLAMing on 72.831193817 meters Centerline goodness [0,1] 0.9040185503405727 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.18, Z:-0.69 [[ 0.99956181 0.02656892 -0.013049 3.26870487] [-0.02671573 0.99958024 -0.01120766 -0.17950279] [ 0.01274574 0.01155136 0.99985205 -0.69399098] [ 0. 0. 0. 1. ]] SLAMing on 72.861193817 meters Centerline goodness [0,1] 0.9075254181360721 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.18, Z:-0.69 [[ 0.99948319 0.02936262 -0.01308383 3.26775866] [-0.02947837 0.99952718 -0.00874341 -0.17829939] [ 0.01282091 0.00912458 0.99987618 -0.69250292] [ 0. 0. 0. 1. ]] SLAMing on 72.891193817 meters Centerline goodness [0,1] 0.9096442916890969 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.18, Z:-0.69 [[ 0.99936577 0.03314209 -0.01302508 3.26803985] [-0.03321107 0.99943527 -0.00511608 -0.17754728] [ 0.01284816 0.00554541 0.99990208 -0.69261183] [ 0. 0. 0. 1. ]] SLAMing on 72.921193817 meters Centerline goodness [0,1] 0.9125443884713849 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.17, Z:-0.69 [[ 0.99932544 0.03428509 -0.01316062 3.26858255] [-0.03435603 0.99939612 -0.00520264 -0.17386661] [ 0.0129743 0.00565127 0.99989986 -0.69292869] [ 0. 0. 0. 1. ]] SLAMing on 72.951193817 meters Centerline goodness [0,1] 0.912191386767658 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.17, Z:-0.69 [[ 9.99165042e-01 3.87105348e-02 -1.30657659e-02 3.26868705e+00] [-3.87325211e-02 9.99248586e-01 -1.43381855e-03 -1.72000213e-01] [ 1.30004442e-02 1.93869142e-03 9.99913611e-01 -6.92828875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.981193817 meters Centerline goodness [0,1] 0.9133163487230473 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.17, Z:-0.69 [[ 0.99874914 0.04835109 -0.01274066 3.26826295] [-0.04825972 0.99880753 0.00738386 -0.17169938] [ 0.01308248 -0.00675976 0.99989157 -0.69218733] [ 0. 0. 0. 1. ]] SLAMing on 73.011193817 meters Centerline goodness [0,1] 0.9194489263994042 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.17, Z:-0.69 [[ 0.99869335 0.04943325 -0.01295924 3.26873197] [-0.04933351 0.99875107 0.00790643 -0.1717254 ] [ 0.0133339 -0.00725678 0.99988477 -0.69221337] [ 0. 0. 0. 1. ]] SLAMing on 73.041193817 meters Centerline goodness [0,1] 0.924121091729261 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.17, Z:-0.69 [[ 0.99864987 0.05024013 -0.01320489 3.26923534] [-0.05012933 0.99870577 0.00859253 -0.17322687] [ 0.01361949 -0.00791897 0.99987589 -0.69222363] [ 0. 0. 0. 1. ]] SLAMing on 73.07119381700001 meters Centerline goodness [0,1] 0.9310565546860482 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.17, Z:-0.69 [[ 0.99875162 0.04802136 -0.01375283 3.27009284] [-0.04794463 0.99883283 0.00585577 -0.17430629] [ 0.01401798 -0.00518908 0.99988828 -0.69249394] [ 0. 0. 0. 1. ]] SLAMing on 73.10119381700001 meters Centerline goodness [0,1] 0.9286527907217562 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.18, Z:-0.69 [[ 0.99884393 0.04601841 -0.01389672 3.27054466] [-0.04595832 0.99893271 0.00461294 -0.18140765] [ 0.01409417 -0.00396893 0.9998928 -0.693221 ] [ 0. 0. 0. 1. ]] SLAMing on 73.131193817 meters Centerline goodness [0,1] 0.9323943661971831 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.18, Z:-0.69 [[ 9.98978369e-01 4.29048447e-02 -1.41912618e-02 3.27100315e+00] [-4.28860705e-02 9.99078648e-01 1.62475953e-03 -1.83675992e-01] [ 1.42478967e-02 -1.01449217e-03 9.99897979e-01 -6.93533907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.161193817 meters Centerline goodness [0,1] 0.9305428926647327 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.19, Z:-0.69 [[ 9.99094292e-01 4.00678532e-02 -1.43234815e-02 3.27128758e+00] [-4.00882792e-02 9.99195490e-01 -1.14167125e-03 -1.86068283e-01] [ 1.42662138e-02 1.71484096e-03 9.99896762e-01 -6.94014046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.191193817 meters Centerline goodness [0,1] 0.930509910915442 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.19, Z:-0.70 [[ 9.99096065e-01 3.98539085e-02 -1.47891660e-02 3.27341780e+00] [-3.98700535e-02 9.99204554e-01 -7.98333468e-04 -1.90245313e-01] [ 1.47455853e-02 1.38725667e-03 9.99890316e-01 -6.95527074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.221193817 meters Centerline goodness [0,1] 0.9230737313804407 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.20, Z:-0.70 [[ 9.99154254e-01 3.83935598e-02 -1.47210875e-02 3.27359650e+00] [-3.84137842e-02 9.99261320e-01 -1.09344135e-03 -1.99893421e-01] [ 1.46682322e-02 1.65800926e-03 9.99891041e-01 -6.96322318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.251193817 meters Centerline goodness [0,1] 0.9307590156451011 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.20, Z:-0.70 [[ 0.99925989 0.03551617 -0.01477432 3.27370787] [-0.03557115 0.9993611 -0.00347566 -0.203845 ] [ 0.01464144 0.00399863 0.99988481 -0.69671216] [ 0. 0. 0. 1. ]] SLAMing on 73.281193817 meters Centerline goodness [0,1] 0.9267342328338412 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.21, Z:-0.70 [[ 0.99935101 0.03280882 -0.01487052 3.27440871] [-0.03289431 0.99944348 -0.00554118 -0.2080509 ] [ 0.01468044 0.00602673 0.99987407 -0.69756786] [ 0. 0. 0. 1. ]] SLAMing on 73.311193817 meters Centerline goodness [0,1] 0.9242583979328165 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.22, Z:-0.70 [[ 0.99944076 0.02953823 -0.01567336 3.2780438 ] [-0.02964671 0.99953775 -0.00673447 -0.21843271] [ 0.01546719 0.00719537 0.99985449 -0.70039264] [ 0. 0. 0. 1. ]] SLAMing on 73.341193817 meters Centerline goodness [0,1] 0.9189211583875379 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.22, Z:-0.70 [[ 0.9995321 0.02621098 -0.0157659 3.27841864] [-0.0263579 0.99961037 -0.00918492 -0.22295523] [ 0.01551901 0.00959617 0.99983352 -0.70086158] [ 0. 0. 0. 1. ]] SLAMing on 73.371193817 meters Centerline goodness [0,1] 0.9161250129789222 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.23, Z:-0.70 [[ 0.99961086 0.02297091 -0.0158258 3.27796918] [-0.02315348 0.99966634 -0.01145122 -0.22780359] [ 0.01555747 0.01181318 0.99980919 -0.70032495] [ 0. 0. 0. 1. ]] SLAMing on 73.401193817 meters Centerline goodness [0,1] 0.9115730685696556 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.24, Z:-0.69 [[ 0.9997587 0.016383 -0.01463348 3.27370201] [-0.01657205 0.99977955 -0.01289237 -0.24032851] [ 0.01441903 0.01313177 0.99980981 -0.6942067 ] [ 0. 0. 0. 1. ]] SLAMing on 73.43119381700001 meters Centerline goodness [0,1] 0.9115730685696556 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.24, Z:-0.69 [[ 0.9997587 0.016383 -0.01463348 3.27370201] [-0.01657205 0.99977955 -0.01289237 -0.24032851] [ 0.01441903 0.01313177 0.99980981 -0.6942067 ] [ 0. 0. 0. 1. ]] SLAMing on 73.46119381700001 meters Centerline goodness [0,1] 0.9115128844555278 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.25, Z:-0.69 [[ 0.99980733 0.01311958 -0.01460049 3.27266481] [-0.01333852 0.99979851 -0.01500086 -0.24571842] [ 0.01440074 0.01519272 0.99978088 -0.69300464] [ 0. 0. 0. 1. ]] SLAMing on 73.491193817 meters Centerline goodness [0,1] 0.9111560026385224 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.25, Z:-0.69 [[ 0.999842 0.0097757 -0.0148465 3.27293774] [-0.01003561 0.9997959 -0.01753429 -0.24978012] [ 0.01467206 0.01768051 0.99973603 -0.69280273] [ 0. 0. 0. 1. ]] SLAMing on 73.521193817 meters Centerline goodness [0,1] 0.9106983686076159 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.25, Z:-0.69 [[ 0.99984296 0.00971823 -0.01481936 3.27290686] [-0.00995967 0.99981744 -0.0163063 -0.25438059] [ 0.01465819 0.01645133 0.99975722 -0.69255163] [ 0. 0. 0. 1. ]] SLAMing on 73.551193817 meters Centerline goodness [0,1] 0.9107235222311878 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.26, Z:-0.69 [[ 0.99983401 0.01054591 -0.0148569 3.27258895] [-0.01075088 0.99984719 -0.01378455 -0.26132088] [ 0.01470926 0.01394199 0.99979461 -0.69179968] [ 0. 0. 0. 1. ]] SLAMing on 73.581193817 meters Centerline goodness [0,1] 0.9118262635472574 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.26, Z:-0.69 [[ 0.99982079 0.01154379 -0.01500457 3.27242322] [-0.0117274 0.99985672 -0.01220689 -0.26498843] [ 0.0148615 0.01238067 0.99981291 -0.69117133] [ 0. 0. 0. 1. ]] SLAMing on 73.611193817 meters Centerline goodness [0,1] 0.9113103619647147 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.27, Z:-0.69 [[ 0.9998053 0.01245468 -0.0153048 3.27290359] [-0.01262138 0.99986155 -0.01084365 -0.26846735] [ 0.01516762 0.01103471 0.99982407 -0.69099941] [ 0. 0. 0. 1. ]] SLAMing on 73.641193817 meters Centerline goodness [0,1] 0.9153218269051031 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.27, Z:-0.69 [[ 0.99977717 0.01480822 -0.01504412 3.27206867] [-0.01492939 0.99985675 -0.00797416 -0.27463432] [ 0.01492388 0.00819699 0.99985503 -0.69076516] [ 0. 0. 0. 1. ]] SLAMing on 73.671193817 meters Centerline goodness [0,1] 0.9161795796542719 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.28, Z:-0.69 [[ 0.99975913 0.01573059 -0.01530427 3.27262441] [-0.01583301 0.9998529 -0.00659437 -0.27794442] [ 0.01519829 0.00683509 0.99986114 -0.69077387] [ 0. 0. 0. 1. ]] SLAMing on 73.701193817 meters Centerline goodness [0,1] 0.9165352042510794 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.28, Z:-0.69 [[ 0.99974791 0.01633175 -0.0154076 3.27286429] [-0.01641676 0.99985062 -0.00540697 -0.28136686] [ 0.01531699 0.00565855 0.99986668 -0.69073711] [ 0. 0. 0. 1. ]] SLAMing on 73.731193817 meters Centerline goodness [0,1] 0.9182578801308868 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.28, Z:-0.69 [[ 0.99973566 0.01665693 -0.01584767 3.2739165 ] [-0.01672873 0.99985034 -0.00440901 -0.2845545 ] [ 0.01577185 0.00467296 0.9998647 -0.69084864] [ 0. 0. 0. 1. ]] SLAMing on 73.761193817 meters Centerline goodness [0,1] 0.9183466699749809 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.29, Z:-0.69 [[ 9.99725730e-01 1.72275908e-02 -1.58642551e-02 3.27367275e+00] [-1.72647422e-02 9.99848516e-01 -2.20785371e-03 -2.91068893e-01] [ 1.58238159e-02 2.48114043e-03 9.99871717e-01 -6.90070537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.791193817 meters Centerline goodness [0,1] 0.9193091322784156 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.29, Z:-0.69 [[ 0.99976982 0.01450435 -0.01580889 3.27262548] [-0.01457884 0.99988311 -0.004607 -0.293402 ] [ 0.01574022 0.00483641 0.99986442 -0.6890337 ] [ 0. 0. 0. 1. ]] SLAMing on 73.82119381700001 meters Centerline goodness [0,1] 0.9176603851302646 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.30, Z:-0.69 [[ 0.99976535 0.01404677 -0.0164901 3.27454905] [-0.01411594 0.99989202 -0.00408591 -0.2975052 ] [ 0.01643093 0.00431772 0.99985568 -0.68948104] [ 0. 0. 0. 1. ]] SLAMing on 73.85119381700001 meters Centerline goodness [0,1] 0.9180110862910565 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.30, Z:-0.69 [[ 0.99976341 0.01383406 -0.01678494 3.27592234] [-0.01389646 0.99989694 -0.00360657 -0.30116727] [ 0.01673332 0.00383897 0.99985262 -0.69031057] [ 0. 0. 0. 1. ]] SLAMing on 73.881193817 meters Centerline goodness [0,1] 0.9162811923084901 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.30, Z:-0.69 [[ 9.99755664e-01 1.41037975e-02 -1.70204537e-02 3.27796260e+00] [-1.41581846e-02 9.99895027e-01 -3.07913351e-03 -3.03985972e-01] [ 1.69752396e-02 3.31935990e-03 9.99850400e-01 -6.92400862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.911193817 meters Centerline goodness [0,1] 0.9184496124031007 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.30, Z:-0.69 [[ 9.99745465e-01 1.43559900e-02 -1.74043081e-02 3.27933165e+00] [-1.44098568e-02 9.99891751e-01 -2.97357498e-03 -3.04334887e-01] [ 1.73597355e-02 3.22361169e-03 9.99844112e-01 -6.93181968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.941193817 meters Centerline goodness [0,1] 0.9225317188081167 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.30, Z:-0.69 [[ 9.99736344e-01 1.47451183e-02 -1.76018258e-02 3.28002288e+00] [-1.47959582e-02 9.99886720e-01 -2.76160015e-03 -3.04977414e-01] [ 1.75591117e-02 3.02130792e-03 9.99841262e-01 -6.93579546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.971193817 meters Centerline goodness [0,1] 0.9258666888228818 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.31, Z:-0.69 [[ 9.99711031e-01 1.67031450e-02 -1.72875288e-02 3.27861214e+00] [-1.67243645e-02 9.99859551e-01 -1.08359580e-03 -3.07461184e-01] [ 1.72670014e-02 1.37240560e-03 9.99849972e-01 -6.92861277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.001193817 meters Centerline goodness [0,1] 0.9307819611088126 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.31, Z:-0.69 [[ 9.99701372e-01 1.70835718e-02 -1.74733515e-02 3.27899442e+00] [-1.70975735e-02 9.99853613e-01 -6.52235501e-04 -3.08315540e-01] [ 1.74596512e-02 9.50792637e-04 9.99847117e-01 -6.92803309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.031193817 meters Centerline goodness [0,1] 0.9332628874523454 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.31, Z:-0.69 [[ 9.99693627e-01 1.75621668e-02 -1.74419550e-02 3.27829990e+00] [-1.75634653e-02 9.99845747e-01 7.87442053e-05 -3.10205735e-01] [ 1.74406475e-02 2.27621092e-04 9.99847874e-01 -6.91894013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.061193817 meters Centerline goodness [0,1] 0.9403365524101629 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.31, Z:-0.69 [[ 9.99683632e-01 1.80663115e-02 -1.74998317e-02 3.27759175e+00] [-1.80499075e-02 9.99836488e-01 1.09488844e-03 -3.13010255e-01] [ 1.75167509e-02 -7.78671711e-04 9.99846267e-01 -6.90655930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.091193817 meters Centerline goodness [0,1] 0.9437606553287039 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.32, Z:-0.69 [[ 9.99724507e-01 1.64077565e-02 -1.67837732e-02 3.27423295e+00] [-1.64072135e-02 9.99865378e-01 1.70056427e-04 -3.19549722e-01] [ 1.67843040e-02 1.05365373e-04 9.99859128e-01 -6.88286518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.121193817 meters Centerline goodness [0,1] 0.9453113636835871 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.32, Z:-0.69 [[ 9.99767331e-01 1.34242256e-02 -1.68841096e-02 3.27411804e+00] [-1.34678222e-02 9.99906251e-01 -2.47105424e-03 -3.22056114e-01] [ 1.68493548e-02 2.69787149e-03 9.99854400e-01 -6.88052921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.151193817 meters Centerline goodness [0,1] 0.9446455536478912 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.33, Z:-0.69 [[ 9.99761801e-01 1.32033709e-02 -1.73785054e-02 3.27562990e+00] [-1.32326168e-02 9.99911214e-01 -1.56895928e-03 -3.26577598e-01] [ 1.73562469e-02 1.79854866e-03 9.99847751e-01 -6.88343942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18119381700001 meters Centerline goodness [0,1] 0.9441071280046578 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.33, Z:-0.69 [[ 0.99979693 0.01021727 -0.01736942 3.27515599] [-0.01028931 0.99993881 -0.00406292 -0.32967363] [ 0.01732684 0.00424081 0.99984089 -0.68782413] [ 0. 0. 0. 1. ]] SLAMing on 74.21119381700001 meters Centerline goodness [0,1] 0.9455029622442871 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.34, Z:-0.69 [[ 0.99981174 0.00823037 -0.01757109 3.27516339] [-0.00830791 0.99995605 -0.00434443 -0.34074957] [ 0.01753457 0.00448959 0.99983618 -0.6871068 ] [ 0. 0. 0. 1. ]] SLAMing on 74.241193817 meters Centerline goodness [0,1] 0.9469497123153937 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.35, Z:-0.69 [[ 0.99983082 0.00573738 -0.01747616 3.27405371] [-0.00584777 0.99996323 -0.00627224 -0.34521931] [ 0.01743954 0.00637338 0.99982761 -0.68603073] [ 0. 0. 0. 1. ]] SLAMing on 74.271193817 meters Centerline goodness [0,1] 0.9456535231081137 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.35, Z:-0.69 [[ 0.9998199 0.00578048 -0.0180766 3.27555461] [-0.00587102 0.99997047 -0.00495975 -0.35077544] [ 0.01804739 0.00506498 0.9998243 -0.68596385] [ 0. 0. 0. 1. ]] SLAMing on 74.301193817 meters Centerline goodness [0,1] 0.9404234981194024 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.36, Z:-0.69 [[ 9.99831385e-01 2.86516636e-03 -1.81381643e-02 3.27675799e+00] [-2.97553900e-03 9.99977205e-01 -6.06104470e-03 -3.58722507e-01] [ 1.81203849e-02 6.11399353e-03 9.99817119e-01 -6.86920861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.331193817 meters Centerline goodness [0,1] 0.9359913658911189 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.36, Z:-0.69 [[ 9.99821013e-01 2.39596996e-03 -1.87670149e-02 3.27889883e+00] [-2.49301218e-03 9.99983635e-01 -5.14920487e-03 -3.63900811e-01] [ 1.87543705e-02 5.19506963e-03 9.99810624e-01 -6.87534890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.361193817 meters Centerline goodness [0,1] 0.9315927866001367 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.37, Z:-0.69 [[ 9.99816261e-01 -1.32734987e-03 -1.91228182e-02 3.28014036e+00] [ 1.17261666e-03 9.99966503e-01 -8.10048989e-03 -3.67592667e-01] [ 1.91329299e-02 8.07657778e-03 9.99784327e-01 -6.88055967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.391193817 meters Centerline goodness [0,1] 0.9287912179300595 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.37, Z:-0.69 [[ 0.99980272 -0.00482022 -0.01926867 3.28029254] [ 0.00461549 0.99993258 -0.01065546 -0.37206542] [ 0.01931873 0.01056442 0.99975756 -0.68762627] [ 0. 0. 0. 1. ]] SLAMing on 74.421193817 meters Centerline goodness [0,1] 0.9280350826386446 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.38, Z:-0.69 [[ 0.99977599 -0.00840804 -0.01942352 3.28069733] [ 0.00814945 0.99987761 -0.01335459 -0.37623703] [ 0.01953343 0.01319331 0.99972215 -0.68745304] [ 0. 0. 0. 1. ]] SLAMing on 74.451193817 meters Centerline goodness [0,1] 0.9235526042747458 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.38, Z:-0.69 [[ 0.99971705 -0.01338255 -0.01966552 3.28322722] [ 0.01305663 0.99977681 -0.01660895 -0.38220971] [ 0.0198834 0.01634749 0.99966865 -0.68939069] [ 0. 0. 0. 1. ]] SLAMing on 74.481193817 meters Centerline goodness [0,1] 0.917611865885579 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.39, Z:-0.69 [[ 0.99968791 -0.01461292 -0.02026194 3.28623443] [ 0.01427758 0.99976031 -0.01659735 -0.38535727] [ 0.02049962 0.01630288 0.99965693 -0.69106994] [ 0. 0. 0. 1. ]] SLAMing on 74.511193817 meters Centerline goodness [0,1] 0.9114990844015316 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.39, Z:-0.69 [[ 0.99965544 -0.01613993 -0.02070053 3.28903991] [ 0.01579251 0.9997335 -0.01683841 -0.38848932] [ 0.02096679 0.01650569 0.99964391 -0.69280459] [ 0. 0. 0. 1. ]] SLAMing on 74.541193817 meters Centerline goodness [0,1] 0.9042699437617163 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.39, Z:-0.69 [[ 0.99961954 -0.01778826 -0.02107972 3.29149308] [ 0.01742545 0.99969897 -0.01727177 -0.39160876] [ 0.02138061 0.01689788 0.9996286 -0.69417401] [ 0. 0. 0. 1. ]] SLAMing on 74.57119381700001 meters Centerline goodness [0,1] 0.8869457364341086 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.39, Z:-0.69 [[ 0.99948433 -0.02419887 -0.02110653 3.29320293] [ 0.02372926 0.99947139 -0.02222319 -0.39377149] [ 0.02163315 0.02171088 0.99953021 -0.69484571] [ 0. 0. 0. 1. ]] SLAMing on 74.60119381700001 meters Centerline goodness [0,1] 0.8575614990919598 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.39, Z:-0.69 [[ 0.9994544 -0.02512363 -0.02144089 3.29411989] [ 0.02464032 0.9994428 -0.02251534 -0.39410793] [ 0.02199461 0.02197475 0.99951656 -0.69458481] [ 0. 0. 0. 1. ]] SLAMing on 74.631193817 meters Centerline goodness [0,1] 0.8732505502720213 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.39, Z:-0.69 [[ 0.99943347 -0.0257536 -0.02166765 3.294556 ] [ 0.02525817 0.9994201 -0.02283631 -0.39329999] [ 0.02224321 0.02227608 0.99950439 -0.69420723] [ 0. 0. 0. 1. ]] SLAMing on 74.661193817 meters Centerline goodness [0,1] 0.8413527290811886 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.39, Z:-0.69 [[ 0.99938195 -0.02740879 -0.02201076 3.29603326] [ 0.02685771 0.99932776 -0.02495384 -0.38687436] [ 0.02267991 0.02434726 0.99944626 -0.69490927] [ 0. 0. 0. 1. ]] SLAMing on 74.691193817 meters Centerline goodness [0,1] 0.8267550217436322 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.38, Z:-0.70 [[ 0.99942442 -0.02512263 -0.02279642 3.29852864] [ 0.02460734 0.99944149 -0.02260947 -0.38405985] [ 0.0233517 0.02203549 0.99948443 -0.6958143 ] [ 0. 0. 0. 1. ]] SLAMing on 74.721193817 meters Centerline goodness [0,1] 0.8245461147421932 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.38, Z:-0.70 [[ 0.99948674 -0.02206002 -0.02322973 3.29973545] [ 0.02160356 0.9995721 -0.01972077 -0.38114733] [ 0.02365483 0.0192088 0.99953563 -0.69615697] [ 0. 0. 0. 1. ]] SLAMing on 74.751193817 meters Centerline goodness [0,1] 0.8056289204357874 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.38, Z:-0.70 [[ 0.99951533 -0.01975414 -0.02406006 3.30267724] [ 0.01933146 0.99965688 -0.01767531 -0.37767217] [ 0.02440096 0.01720163 0.99955425 -0.69762858] [ 0. 0. 0. 1. ]] SLAMing on 74.781193817 meters Centerline goodness [0,1] 0.8125426180390536 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.37, Z:-0.70 [[ 0.99956654 -0.01658167 -0.02432664 3.30250923] [ 0.01620463 0.99974676 -0.01561517 -0.37110924] [ 0.0245794 0.0152142 0.9995821 -0.69685672] [ 0. 0. 0. 1. ]] SLAMing on 74.811193817 meters Centerline goodness [0,1] 0.8216498476968026 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.37, Z:-0.70 [[ 0.99960912 -0.01321966 -0.02463409 3.30241299] [ 0.01291798 0.99984009 -0.01236575 -0.36917168] [ 0.02479362 0.01204269 0.99962005 -0.69574853] [ 0. 0. 0. 1. ]] SLAMing on 74.841193817 meters Centerline goodness [0,1] 0.8445051307514069 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.37, Z:-0.70 [[ 0.99963192 -0.01028325 -0.02510544 3.30322963] [ 0.01004469 0.99990337 -0.00961013 -0.36671537] [ 0.02520184 0.00935442 0.99963862 -0.69536643] [ 0. 0. 0. 1. ]] SLAMing on 74.871193817 meters Centerline goodness [0,1] 0.8627887788778879 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.36, Z:-0.70 [[ 0.99977789 -0.00493131 -0.02049027 3.31857372] [ 0.00465548 0.9998982 -0.01348766 -0.35585752] [ 0.02055469 0.01338927 0.99969907 -0.69891979] [ 0. 0. 0. 1. ]] SLAMing on 74.901193817 meters Centerline goodness [0,1] 0.8694390314689664 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.35, Z:-0.70 [[ 9.99783693e-01 -1.30099643e-03 -2.07575141e-02 3.31901296e+00] [ 1.08344666e-03 9.99944409e-01 -1.04883373e-02 -3.51756871e-01] [ 2.07700055e-02 1.04635789e-02 9.99729524e-01 -6.98790745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93119381700001 meters Centerline goodness [0,1] 0.8795829965387884 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.35, Z:-0.70 [[ 9.99774728e-01 2.38981511e-03 -2.10898756e-02 3.31960569e+00] [-2.54414985e-03 9.99970161e-01 -7.29415979e-03 -3.48666902e-01] [ 2.10718146e-02 7.34617242e-03 9.99750975e-01 -6.98558917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96119381700001 meters Centerline goodness [0,1] 0.8990770631570234 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.35, Z:-0.70 [[ 0.99975111 0.0058223 -0.02153627 3.32052503] [-0.00591858 0.99997276 -0.00440956 -0.34615837] [ 0.02151001 0.00453593 0.99975834 -0.69845427] [ 0. 0. 0. 1. ]] SLAMing on 74.991193817 meters Centerline goodness [0,1] 0.9115079036663081 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.34, Z:-0.70 [[ 9.99686974e-01 1.25661625e-02 -2.16343698e-02 3.31913412e+00] [-1.25542865e-02 9.99920957e-01 6.84676273e-04 -3.39769001e-01] [ 2.16412636e-02 -4.12857875e-04 9.99765715e-01 -6.96579554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.021193817 meters Centerline goodness [0,1] 0.9161254059455408 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.34, Z:-0.70 [[ 9.99634633e-01 1.61274130e-02 -2.16911833e-02 3.31941086e+00] [-1.60559547e-02 9.99865093e-01 3.46449331e-03 -3.36110944e-01] [ 2.17441303e-02 -3.11495484e-03 9.99758716e-01 -6.96646752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.051193817 meters Centerline goodness [0,1] 0.9130380510537375 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.33, Z:-0.70 [[ 9.99626076e-01 1.61495809e-02 -2.20657976e-02 3.32043633e+00] [-1.61065700e-02 9.99868021e-01 2.12555798e-03 -3.30536765e-01] [ 2.20972123e-02 -1.76935887e-03 9.99754261e-01 -6.97390236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.081193817 meters Centerline goodness [0,1] 0.9156869681017084 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.33, Z:-0.70 [[ 9.99623281e-01 1.59240157e-02 -2.23544492e-02 3.32122563e+00] [-1.59111539e-02 9.99873126e-01 7.53115132e-04 -3.25592724e-01] [ 2.23636056e-02 -3.97146337e-04 9.99749824e-01 -6.97848444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.111193817 meters Centerline goodness [0,1] 0.9165210153974199 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.32, Z:-0.70 [[ 9.99578230e-01 1.82986196e-02 -2.25504409e-02 3.32156416e+00] [-1.82523497e-02 9.99830867e-01 2.25597897e-03 -3.19378527e-01] [ 2.25879081e-02 -1.84342893e-03 9.99743161e-01 -6.97560928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.141193817 meters Centerline goodness [0,1] 0.9146596533371989 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.32, Z:-0.70 [[ 9.99578884e-01 1.77857973e-02 -2.29285690e-02 3.32275430e+00] [-1.77694008e-02 9.99841690e-01 9.18668282e-04 -3.15036307e-01] [ 2.29412784e-02 -5.10854483e-04 9.99736684e-01 -6.98187824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.171193817 meters Centerline goodness [0,1] 0.9157896917467683 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.31, Z:-0.70 [[ 9.99579637e-01 1.73728408e-02 -2.32106461e-02 3.32359324e+00] [-1.73876759e-02 9.99848727e-01 -4.37470259e-04 -3.10457239e-01] [ 2.31995348e-02 8.40865552e-04 9.99730501e-01 -6.98714114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.201193817 meters Centerline goodness [0,1] 0.9122434536447275 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.30, Z:-0.70 [[ 9.99525277e-01 1.97641748e-02 -2.36346712e-02 3.32517477e+00] [-1.97457540e-02 9.99804521e-01 1.01254347e-03 -3.04691449e-01] [ 2.36500632e-02 -5.45378389e-04 9.99720149e-01 -6.99483411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.231193817 meters Centerline goodness [0,1] 0.9146938098594469 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.30, Z:-0.70 [[ 9.99527752e-01 1.87940895e-02 -2.43116118e-02 3.32731981e+00] [-1.88161601e-02 9.99822730e-01 -6.79360058e-04 -3.01215516e-01] [ 2.42945341e-02 1.13649041e-03 9.99704198e-01 -7.00500746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.261193817 meters Centerline goodness [0,1] 0.9126124625124958 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.30, Z:-0.70 [[ 9.99533859e-01 1.82182527e-02 -2.44981712e-02 3.32805698e+00] [-1.82697117e-02 9.99831331e-01 -1.87832843e-03 -2.98156133e-01] [ 2.44598192e-02 2.32502739e-03 9.99698110e-01 -7.00982427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.291193817 meters Centerline goodness [0,1] 0.9108467691797572 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.29, Z:-0.70 [[ 0.99953461 0.01739232 -0.02506141 3.33021526] [-0.01748313 0.99984135 -0.00340894 -0.29427905] [ 0.02499815 0.0038455 0.9996801 -0.7023168 ] [ 0. 0. 0. 1. ]] SLAMing on 75.32119381700001 meters Centerline goodness [0,1] 0.9085871422024082 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.29, Z:-0.70 [[ 0.99953896 0.01662104 -0.02540872 3.33161297] [-0.0167554 0.99984669 -0.00508408 -0.28868078] [ 0.02532032 0.00550747 0.99966422 -0.70328217] [ 0. 0. 0. 1. ]] SLAMing on 75.35119381700001 meters Centerline goodness [0,1] 0.9085871422024082 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.29, Z:-0.70 [[ 0.99953896 0.01662104 -0.02540872 3.33161297] [-0.0167554 0.99984669 -0.00508408 -0.28868078] [ 0.02532032 0.00550747 0.99966422 -0.70328217] [ 0. 0. 0. 1. ]] SLAMing on 75.381193817 meters Centerline goodness [0,1] 0.9044551462463777 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.29, Z:-0.70 [[ 0.99954101 0.01606545 -0.02568416 3.33276533] [-0.01621893 0.99985177 -0.00577848 -0.2873455 ] [ 0.02558752 0.0061924 0.99965341 -0.70397235] [ 0. 0. 0. 1. ]] SLAMing on 75.411193817 meters Centerline goodness [0,1] 0.9044543522646777 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.29, Z:-0.70 [[ 0.99954088 0.01557468 -0.02598955 3.33408142] [-0.01574038 0.99985699 -0.00618321 -0.28707988] [ 0.02588953 0.00658945 0.99964309 -0.70472422] [ 0. 0. 0. 1. ]] SLAMing on 75.441193817 meters Centerline goodness [0,1] 0.9003962573390594 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.29, Z:-0.71 [[ 0.99953705 0.01511432 -0.02640541 3.33530679] [-0.01529043 0.9998621 -0.00648004 -0.28695984] [ 0.02630383 0.00688079 0.99963031 -0.70508663] [ 0. 0. 0. 1. ]] SLAMing on 75.471193817 meters Centerline goodness [0,1] 0.9085439480368073 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.29, Z:-0.70 [[ 0.99954833 0.01464446 -0.02624279 3.33432436] [-0.01481828 0.99986946 -0.00644135 -0.2872222 ] [ 0.02614504 0.00682731 0.99963485 -0.70389065] [ 0. 0. 0. 1. ]] SLAMing on 75.501193817 meters Centerline goodness [0,1] 0.9110262688301448 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.29, Z:-0.70 [[ 0.99954225 0.01445281 -0.02657837 3.33487456] [-0.01462578 0.99987303 -0.006325 -0.28757532] [ 0.02648358 0.00671084 0.99962672 -0.70354971] [ 0. 0. 0. 1. ]] SLAMing on 75.531193817 meters Centerline goodness [0,1] 0.9088133269634214 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.29, Z:-0.70 [[ 0.99953735 0.01455424 -0.02670696 3.33480125] [-0.014719 0.99987377 -0.00598289 -0.28828489] [ 0.02661652 0.00637322 0.9996254 -0.70297798] [ 0. 0. 0. 1. ]] SLAMing on 75.561193817 meters Centerline goodness [0,1] 0.9068961222286805 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.29, Z:-0.70 [[ 0.99954052 0.01456181 -0.026584 3.33416256] [-0.01470749 0.99987783 -0.00529273 -0.29050225] [ 0.02650368 0.00568128 0.99963257 -0.70213672] [ 0. 0. 0. 1. ]] SLAMing on 75.591193817 meters Centerline goodness [0,1] 0.91282316442606 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.29, Z:-0.70 [[ 0.99953272 0.01447288 -0.02692339 3.33513517] [-0.01461875 0.99987947 -0.00522913 -0.29118323] [ 0.02684447 0.00562028 0.99962382 -0.70240025] [ 0. 0. 0. 1. ]] SLAMing on 75.621193817 meters Centerline goodness [0,1] 0.9100653540357158 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.29, Z:-0.70 [[ 0.99952431 0.01475229 -0.02708382 3.33509302] [-0.01489277 0.99987663 -0.00499278 -0.29131262] [ 0.02700682 0.00539376 0.9996207 -0.70194198] [ 0. 0. 0. 1. ]] SLAMing on 75.651193817 meters Centerline goodness [0,1] 0.9090265339276045 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.29, Z:-0.70 [[ 0.99951509 0.01505868 -0.02725471 3.33514724] [-0.01519818 0.9998724 -0.00491848 -0.29035171] [ 0.02717716 0.00533032 0.99961642 -0.70155753] [ 0. 0. 0. 1. ]] SLAMing on 75.68119381700001 meters Centerline goodness [0,1] 0.9141194499668654 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.29, Z:-0.70 [[ 9.99388742e-01 1.83516938e-02 -2.97549660e-02 3.33998949e+00] [-1.83222790e-02 9.99831338e-01 1.26094200e-03 -2.88029194e-01] [ 2.97730878e-02 -7.14992452e-04 9.99556428e-01 -6.98898579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71119381700001 meters Centerline goodness [0,1] 0.9159448654951279 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.29, Z:-0.70 [[ 9.99386118e-01 1.82716503e-02 -2.98920301e-02 3.33973571e+00] [-1.82513449e-02 9.99832977e-01 9.52018466e-04 -2.86475282e-01] [ 2.99044324e-02 -4.05864287e-04 9.99552680e-01 -6.98188372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.741193817 meters Centerline goodness [0,1] 0.9163505193109024 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.29, Z:-0.70 [[ 9.99377602e-01 1.79522814e-02 -3.03664981e-02 3.34026747e+00] [-1.79374085e-02 9.99838821e-01 7.62139762e-04 -2.86534949e-01] [ 3.03752859e-02 -2.16969125e-04 9.99538541e-01 -6.97545960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.771193817 meters Centerline goodness [0,1] 0.9147895642083014 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.29, Z:-0.70 [[ 9.99382205e-01 1.72021629e-02 -3.06478993e-02 3.34072476e+00] [-1.72021507e-02 9.99851997e-01 2.64083396e-04 -2.86867735e-01] [ 3.06479062e-02 2.63289537e-04 9.99530208e-01 -6.97207093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.801193817 meters Centerline goodness [0,1] 0.9070288667067882 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.28, Z:-0.70 [[ 0.9994525 0.01243276 -0.03066139 3.33995474] [-0.01258105 0.99991005 -0.00464801 -0.28437082] [ 0.03060084 0.00503122 0.99951902 -0.69627299] [ 0. 0. 0. 1. ]] SLAMing on 75.831193817 meters Centerline goodness [0,1] 0.8994160310895905 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.28, Z:-0.70 [[ 0.99946432 0.01133925 -0.03070021 3.34031649] [-0.01151695 0.9999179 -0.00561755 -0.28254259] [ 0.030634 0.00596811 0.99951285 -0.69643922] [ 0. 0. 0. 1. ]] SLAMing on 75.861193817 meters Centerline goodness [0,1] 0.8512470617602397 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.28, Z:-0.70 [[ 9.99657584e-01 2.91276520e-03 -2.60044372e-02 3.33935672e+00] [-2.91977853e-03 9.99995711e-01 -2.31731492e-04 -2.77232272e-01] [ 2.60036506e-02 3.07579340e-04 9.99661801e-01 -6.96241684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.891193817 meters Centerline goodness [0,1] 0.8209829121940079 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.27, Z:-0.70 [[ 9.99644901e-01 1.21090675e-03 -2.66196460e-02 3.34167586e+00] [-1.26250726e-03 9.99997357e-01 -1.92171604e-03 -2.74884072e-01] [ 2.66172486e-02 1.95464113e-03 9.99643787e-01 -6.97429797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.921193817 meters Centerline goodness [0,1] 0.8335307441348212 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.27, Z:-0.70 [[ 9.99639139e-01 1.65028033e-04 -2.68619586e-02 3.34280838e+00] [-2.44566076e-04 9.99995596e-01 -2.95773352e-03 -2.73028365e-01] [ 2.68613522e-02 2.96323571e-03 9.99634777e-01 -6.98112681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.951193817 meters Centerline goodness [0,1] 0.7915453400243686 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.27, Z:-0.70 [[ 9.99618003e-01 -1.91321812e-03 -2.75714830e-02 3.34557839e+00] [ 1.77407069e-03 9.99985572e-01 -5.07036604e-03 -2.70030989e-01] [ 2.75807859e-02 5.01951541e-03 9.99606975e-01 -6.99601690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.981193817 meters Centerline goodness [0,1] 0.7217284770962249 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.26, Z:-0.70 [[ 0.99960628 -0.00543475 -0.02752706 3.34616872] [ 0.00518768 0.99994569 -0.00903924 -0.262855 ] [ 0.0275747 0.00889288 0.99958019 -0.70011054] [ 0. 0. 0. 1. ]] SLAMing on 76.011193817 meters Centerline goodness [0,1] 0.7047470655448218 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.26, Z:-0.70 [[ 9.99614673e-01 -3.30224454e-03 -2.75608394e-02 3.34710858e+00] [ 3.11585753e-03 9.99972005e-01 -6.80295642e-03 -2.59916567e-01] [ 2.75825329e-02 6.71445941e-03 9.99596979e-01 -7.00762387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.041193817 meters Centerline goodness [0,1] 0.7071977205153617 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.26, Z:-0.70 [[ 9.99605232e-01 -1.21831006e-03 -2.80694791e-02 3.34932760e+00] [ 1.07115358e-03 9.99985608e-01 -5.25701959e-03 -2.55027416e-01] [ 2.80754798e-02 5.22487757e-03 9.99592151e-01 -7.01962751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07119381700001 meters Centerline goodness [0,1] 0.7089413418213385 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.25, Z:-0.70 [[ 9.99594335e-01 1.47872468e-03 -2.84425680e-02 3.35043695e+00] [-1.57653733e-03 9.99992920e-01 -3.41683557e-03 -2.49450858e-01] [ 2.84373141e-02 3.46029025e-03 9.99589589e-01 -7.02209259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10119381700001 meters Centerline goodness [0,1] 0.7546026277008655 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.24, Z:-0.70 [[ 9.99579317e-01 7.25404875e-03 -2.80814381e-02 3.34766677e+00] [-7.25333048e-03 9.99973686e-01 1.27441366e-04 -2.36989955e-01] [ 2.80816236e-02 7.62961970e-05 9.99605631e-01 -6.99351674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.131193817 meters Centerline goodness [0,1] 0.7992977498909227 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.23, Z:-0.70 [[ 0.99968974 0.01145682 -0.02211724 3.36018026] [-0.01157069 0.99992042 -0.00502739 -0.22999285] [ 0.02205788 0.00528174 0.99974274 -0.70266521] [ 0. 0. 0. 1. ]] SLAMing on 76.161193817 meters Centerline goodness [0,1] 0.7885613817354431 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.22, Z:-0.71 [[ 0.99974092 0.01570653 -0.0164741 3.3737448 ] [-0.0158623 0.9998303 -0.00936757 -0.2234519 ] [ 0.01632417 0.00962646 0.99982041 -0.70611109] [ 0. 0. 0. 1. ]] SLAMing on 76.191193817 meters Centerline goodness [0,1] 0.8309094675782059 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.21, Z:-0.71 [[ 0.99963971 0.0211474 -0.01652961 3.37458572] [-0.02124375 0.99975822 -0.00567503 -0.21232346] [ 0.01640561 0.00602413 0.99984727 -0.70650623] [ 0. 0. 0. 1. ]] SLAMing on 76.221193817 meters Centerline goodness [0,1] 0.8201332807407253 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.21, Z:-0.71 [[ 0.99957191 0.02402529 -0.01669656 3.37601371] [-0.02408727 0.99970366 -0.00352105 -0.20780893] [ 0.01660701 0.00392172 0.9998544 -0.7075499 ] [ 0. 0. 0. 1. ]] SLAMing on 76.251193817 meters Centerline goodness [0,1] 0.8314979572367739 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.20, Z:-0.71 [[ 9.99496069e-01 2.68221478e-02 -1.69758989e-02 3.37769323e+00] [-2.68517258e-02 9.99638277e-01 -1.51677988e-03 -2.03203621e-01] [ 1.69290751e-02 1.97184771e-03 9.99854749e-01 -7.08546059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.281193817 meters Centerline goodness [0,1] 0.8761798310978639 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.20, Z:-0.71 [[ 9.99407214e-01 2.97627194e-02 -1.73031967e-02 3.37923306e+00] [-2.97575614e-02 9.99556991e-01 5.55541247e-04 -1.98650768e-01] [ 1.73120657e-02 -4.03109897e-05 9.99850134e-01 -7.09280584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.311193817 meters Centerline goodness [0,1] 0.9015666445623343 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.19, Z:-0.71 [[ 0.999152 0.03711283 -0.01783036 3.38154616] [-0.03702279 0.99930008 0.00535356 -0.18933764] [ 0.01801657 -0.00468889 0.99982669 -0.71054061] [ 0. 0. 0. 1. ]] SLAMing on 76.341193817 meters Centerline goodness [0,1] 0.8988657259147539 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.18, Z:-0.71 [[ 0.99900667 0.04055651 -0.0184619 3.38439993] [-0.04042528 0.99915496 0.00742662 -0.18416521] [ 0.0187475 -0.00667292 0.99980198 -0.71217924] [ 0. 0. 0. 1. ]] SLAMing on 76.371193817 meters Centerline goodness [0,1] 0.892336217552534 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.18, Z:-0.71 [[ 0.9988609 0.04374203 -0.01906641 3.38731811] [-0.04356467 0.99900429 0.00962051 -0.18012766] [ 0.01946824 -0.00877893 0.99977193 -0.71388033] [ 0. 0. 0. 1. ]] SLAMing on 76.401193817 meters Centerline goodness [0,1] 0.8922029806011157 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.18, Z:-0.71 [[ 0.99884367 0.04398883 -0.01939864 3.38879008] [-0.04383065 0.99900277 0.00850584 -0.17509215] [ 0.01975345 -0.00764575 0.99977565 -0.71495179] [ 0. 0. 0. 1. ]] SLAMing on 76.43119381700001 meters Centerline goodness [0,1] 0.8909117420376195 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.17, Z:-0.72 [[ 0.99870031 0.04685977 -0.02004635 3.3924848 ] [-0.0466731 0.9988633 0.00968114 -0.16685345] [ 0.02047722 -0.00873293 0.99975218 -0.71769178] [ 0. 0. 0. 1. ]] SLAMing on 76.46119381700001 meters Centerline goodness [0,1] 0.8861792001331724 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.16, Z:-0.72 [[ 0.99871861 0.04629064 -0.02045259 3.3937623 ] [-0.04612965 0.99890119 0.00827447 -0.16258246] [ 0.02081314 -0.00732039 0.99975658 -0.71826457] [ 0. 0. 0. 1. ]] SLAMing on 76.49119381700001 meters Centerline goodness [0,1] 0.8864772537910348 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.16, Z:-0.72 [[ 0.9987353 0.04580446 -0.02073022 3.39434975] [-0.04566196 0.9989303 0.00729629 -0.16017104] [ 0.02104224 -0.00634048 0.99975848 -0.71825768] [ 0. 0. 0. 1. ]] SLAMing on 76.521193817 meters Centerline goodness [0,1] 0.8897054231289685 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.16, Z:-0.72 [[ 9.98900899e-01 4.19251500e-02 -2.09589090e-02 3.39318913e+00] [-4.18831931e-02 9.99119542e-01 2.43702514e-03 -1.57920954e-01] [ 2.10426282e-02 -1.55652057e-03 9.99777368e-01 -7.16470167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.551193817 meters Centerline goodness [0,1] 0.8906917164816396 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.16, Z:-0.72 [[ 9.99043111e-01 3.84187642e-02 -2.09012011e-02 3.39207514e+00] [-3.84647264e-02 9.99258335e-01 -1.80130962e-03 -1.55739066e-01] [ 2.08164953e-02 2.60354495e-03 9.99779923e-01 -7.15405193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.581193817 meters Centerline goodness [0,1] 0.8937999917112188 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.15, Z:-0.71 [[ 9.99050983e-01 3.80237295e-02 -2.12445105e-02 3.39222333e+00] [-3.80806980e-02 9.99272058e-01 -2.28333291e-03 -1.54761399e-01] [ 2.11422250e-02 3.09017178e-03 9.99771703e-01 -7.14621703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.611193817 meters Centerline goodness [0,1] 0.8920380384113369 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.15, Z:-0.71 [[ 9.99064753e-01 3.75278695e-02 -2.14773943e-02 3.39135292e+00] [-3.75992990e-02 9.99288596e-01 -2.93156692e-03 -1.52353062e-01] [ 2.13520998e-02 3.73636016e-03 9.99765036e-01 -7.12794750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.641193817 meters Centerline goodness [0,1] 0.8956334321182102 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.15, Z:-0.71 [[ 9.99072103e-01 3.72637735e-02 -2.15949866e-02 3.39127644e+00] [-3.73416939e-02 9.99297380e-01 -3.21618198e-03 -1.51849806e-01] [ 2.14599665e-02 4.01959108e-03 9.99761628e-01 -7.12296072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.671193817 meters Centerline goodness [0,1] 0.8971676025112405 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.15, Z:-0.71 [[ 9.99078996e-01 3.70484733e-02 -2.16464776e-02 3.39095387e+00] [-3.71267347e-02 9.99305362e-01 -3.22467265e-03 -1.52584451e-01] [ 2.15119719e-02 4.02536575e-03 9.99760487e-01 -7.11711875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.701193817 meters Centerline goodness [0,1] 0.8960809941702454 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.15, Z:-0.71 [[ 9.99082446e-01 3.68066162e-02 -2.18983894e-02 3.39116381e+00] [-3.68817090e-02 9.99315029e-01 -3.03507714e-03 -1.54201993e-01] [ 2.17716787e-02 3.83994231e-03 9.99755595e-01 -7.11301113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.731193817 meters Centerline goodness [0,1] 0.8987123929585934 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.16, Z:-0.71 [[ 9.99120487e-01 3.59067941e-02 -2.16553615e-02 3.38954102e+00] [-3.59745681e-02 9.99348927e-01 -2.74813688e-03 -1.57185173e-01] [ 2.15425855e-02 3.52476214e-03 9.99761718e-01 -7.09614865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.761193817 meters Centerline goodness [0,1] 0.9000248952325629 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.16, Z:-0.71 [[ 9.99145119e-01 3.50960958e-02 -2.18470811e-02 3.38970503e+00] [-3.51646280e-02 9.99377721e-01 -2.76056244e-03 -1.59013762e-01] [ 2.17366012e-02 3.52644697e-03 9.99757513e-01 -7.09267595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.791193817 meters Centerline goodness [0,1] 0.8974162083635986 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.16, Z:-0.71 [[ 0.99927234 0.03102588 -0.02218542 3.39004817] [-0.03117753 0.99949258 -0.0065226 -0.15969338] [ 0.02197179 0.00720954 0.9997326 -0.70917583] [ 0. 0. 0. 1. ]] SLAMing on 76.82119381700001 meters Centerline goodness [0,1] 0.8913696332042333 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.16, Z:-0.71 [[ 0.9993878 0.02684637 -0.02243412 3.3906104 ] [-0.0270827 0.99958016 -0.01029739 -0.16044135] [ 0.02214825 0.01089866 0.99969529 -0.70950047] [ 0. 0. 0. 1. ]] SLAMing on 76.85119381700001 meters Centerline goodness [0,1] 0.798630647029621 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.16, Z:-0.71 [[ 0.99971835 0.01591976 -0.0176004 3.3910343 ] [-0.01598617 0.99986559 -0.00363884 -0.16222067] [ 0.01754011 0.00391918 0.99983848 -0.71123707] [ 0. 0. 0. 1. ]] SLAMing on 76.881193817 meters Centerline goodness [0,1] 0.7828831625789092 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.16, Z:-0.71 [[ 0.99973042 0.01509241 -0.01764412 3.39118499] [-0.01516242 0.99987767 -0.0038407 -0.16295441] [ 0.017584 0.00410719 0.99983695 -0.71116291] [ 0. 0. 0. 1. ]] SLAMing on 76.911193817 meters Centerline goodness [0,1] 0.7434333374828831 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.16, Z:-0.71 [[ 0.9997394 0.01447824 -0.01764969 3.39131848] [-0.01455439 0.99988528 -0.00419395 -0.16291907] [ 0.01758694 0.00444974 0.99983544 -0.71119927] [ 0. 0. 0. 1. ]] SLAMing on 76.941193817 meters Centerline goodness [0,1] 0.7138225819773685 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.16, Z:-0.71 [[ 0.99974152 0.0140039 -0.01791062 3.39230443] [-0.01408946 0.99988988 -0.00465996 -0.16204587] [ 0.01784339 0.00491111 0.99982873 -0.71170057] [ 0. 0. 0. 1. ]] SLAMing on 76.971193817 meters Centerline goodness [0,1] 0.7936921296296297 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.16, Z:-0.71 [[ 0.99974765 0.01342483 -0.01801145 3.39350966] [-0.0135329 0.99989107 -0.00589169 -0.15808904] [ 0.01793039 0.00613395 0.99982042 -0.71293878] [ 0. 0. 0. 1. ]] SLAMing on 77.001193817 meters Centerline goodness [0,1] 0.7889123591782637 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.16, Z:-0.71 [[ 0.99974524 0.0132632 -0.01826315 3.39493352] [-0.01338591 0.99988853 -0.0066134 -0.1554809 ] [ 0.0181734 0.00685618 0.99981134 -0.71414206] [ 0. 0. 0. 1. ]] SLAMing on 77.031193817 meters Centerline goodness [0,1] 0.8002444633201433 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.15, Z:-0.71 [[ 0.99974332 0.01318693 -0.01842294 3.39589741] [-0.01332572 0.99988359 -0.00743126 -0.15197924] [ 0.0183228 0.00767485 0.99980267 -0.71491016] [ 0. 0. 0. 1. ]] SLAMing on 77.061193817 meters Centerline goodness [0,1] 0.7920540997464074 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.15, Z:-0.72 [[ 0.99970161 0.01559264 -0.01880297 3.39798293] [-0.01569324 0.99986326 -0.00521464 -0.14940158] [ 0.01871908 0.00550817 0.99980961 -0.71625304] [ 0. 0. 0. 1. ]] SLAMing on 77.091193817 meters Centerline goodness [0,1] 0.8086110536120886 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.15, Z:-0.72 [[ 9.99648312e-01 1.86527021e-02 -1.88501570e-02 3.39809933e+00] [-1.87038989e-02 9.99821832e-01 -2.54332963e-03 -1.46502042e-01] [ 1.87993585e-02 2.89500660e-03 9.99819085e-01 -7.16039298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.121193817 meters Centerline goodness [0,1] 0.8526450705972339 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.14, Z:-0.72 [[ 9.99572159e-01 2.20141653e-02 -1.92581187e-02 3.39981948e+00] [-2.20469419e-02 9.99755824e-01 -1.49128559e-03 -1.37890036e-01] [ 1.92205869e-02 1.91523018e-03 9.99813433e-01 -7.16994813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.151193817 meters Centerline goodness [0,1] 0.8693656438673394 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.13, Z:-0.72 [[ 9.99485764e-01 2.54242417e-02 -1.95401045e-02 3.40104895e+00] [-2.54106393e-02 9.99676652e-01 9.44140818e-04 -1.34069209e-01] [ 1.95577903e-02 -4.47128759e-04 9.99808628e-01 -7.17525282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18119381700001 meters Centerline goodness [0,1] 0.8814435129077779 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.13, Z:-0.72 [[ 9.99381770e-01 2.91307026e-02 -1.96845037e-02 3.40146396e+00] [-2.90652543e-02 9.99571023e-01 3.60288266e-03 -1.30006973e-01] [ 1.97810140e-02 -3.02852014e-03 9.99799750e-01 -7.17319728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21119381700001 meters Centerline goodness [0,1] 0.8877453822579309 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.13, Z:-0.72 [[ 0.99927682 0.0325666 -0.01962785 3.4009132 ] [-0.03245257 0.99945466 0.0061002 -0.12591852] [ 0.01981581 -0.00545882 0.99978875 -0.71636742] [ 0. 0. 0. 1. ]] SLAMing on 77.24119381700001 meters Centerline goodness [0,1] 0.8877453822579309 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.13, Z:-0.72 [[ 0.99927682 0.0325666 -0.01962785 3.4009132 ] [-0.03245257 0.99945466 0.0061002 -0.12591852] [ 0.01981581 -0.00545882 0.99978875 -0.71636742] [ 0. 0. 0. 1. ]] SLAMing on 77.271193817 meters Centerline goodness [0,1] 0.8939181093252903 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.12, Z:-0.71 [[ 0.99909266 0.03815445 -0.01892325 3.39744416] [-0.037965 0.99922628 0.0102717 -0.11841423] [ 0.01930052 -0.00954396 0.99976817 -0.71294409] [ 0. 0. 0. 1. ]] SLAMing on 77.301193817 meters Centerline goodness [0,1] 0.8942325600645655 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.11, Z:-0.71 [[ 0.99909934 0.03792589 -0.01902968 3.39709918] [-0.03775721 0.99924508 0.00914628 -0.11427738] [ 0.01936219 -0.00841954 0.99977708 -0.71216692] [ 0. 0. 0. 1. ]] SLAMing on 77.331193817 meters Centerline goodness [0,1] 0.8960456415238647 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.11, Z:-0.71 [[ 0.99910882 0.03759447 -0.01918884 3.39699634] [-0.03744235 0.99926493 0.00822655 -0.11131684] [ 0.01948401 -0.00750074 0.99978203 -0.71156158] [ 0. 0. 0. 1. ]] SLAMing on 77.361193817 meters Centerline goodness [0,1] 0.8952432409966543 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.11, Z:-0.71 [[ 0.99911484 0.03737742 -0.01929958 3.39694584] [-0.03723813 0.99927807 0.00752704 -0.10903849] [ 0.01956698 -0.00680169 0.99978541 -0.71116932] [ 0. 0. 0. 1. ]] SLAMing on 77.391193817 meters Centerline goodness [0,1] 0.8964195433260121 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.11, Z:-0.71 [[ 0.99910075 0.03773059 -0.0193416 3.39636929] [-0.03760054 0.99926802 0.00704422 -0.1074472 ] [ 0.01959322 -0.00631063 0.99978812 -0.71017531] [ 0. 0. 0. 1. ]] SLAMing on 77.421193817 meters Centerline goodness [0,1] 0.9010411254961451 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.11, Z:-0.71 [[ 0.99908695 0.03807998 -0.01936948 3.39613692] [-0.03795078 0.99925513 0.00699514 -0.10706666] [ 0.01962143 -0.00625367 0.99978792 -0.70972866] [ 0. 0. 0. 1. ]] SLAMing on 77.451193817 meters Centerline goodness [0,1] 0.9027938981926712 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.11, Z:-0.71 [[ 0.99890206 0.0426736 -0.01932998 3.39699007] [-0.04246328 0.99903566 0.01116359 -0.10674105] [ 0.01978773 -0.01033052 0.99975083 -0.71053092] [ 0. 0. 0. 1. ]] SLAMing on 77.481193817 meters Centerline goodness [0,1] 0.903959737126695 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.11, Z:-0.71 [[ 0.99888345 0.04299404 -0.01957958 3.39825321] [-0.04278374 0.9990234 0.0110362 -0.10543311] [ 0.02003495 -0.01018619 0.99974739 -0.7115061 ] [ 0. 0. 0. 1. ]] SLAMing on 77.511193817 meters Centerline goodness [0,1] 0.9028993037514289 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.11, Z:-0.71 [[ 0.99886364 0.04332582 -0.01985692 3.39919925] [-0.04310934 0.99900754 0.01120366 -0.10513115] [ 0.02032262 -0.01033491 0.99974006 -0.71201736] [ 0. 0. 0. 1. ]] SLAMing on 77.541193817 meters Centerline goodness [0,1] 0.9006692716993682 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.10, Z:-0.71 [[ 0.99898615 0.04023262 -0.0201991 3.399654 ] [-0.04008853 0.99916807 0.00748846 -0.10401205] [ 0.02048358 -0.00667111 0.99976793 -0.71211913] [ 0. 0. 0. 1. ]] SLAMing on 77.57119381700001 meters Centerline goodness [0,1] 0.9015329575472679 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.11, Z:-0.71 [[ 0.99908167 0.03760317 -0.02053813 3.40007939] [-0.0375072 0.99928366 0.00503799 -0.10801869] [ 0.02071286 -0.00426304 0.99977638 -0.71225919] [ 0. 0. 0. 1. ]] SLAMing on 77.60119381700001 meters Centerline goodness [0,1] 0.9039068994181214 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.11, Z:-0.71 [[ 9.99167882e-01 3.50225820e-02 -2.09036498e-02 3.40098539e+00] [-3.49880214e-02 9.99385697e-01 2.01688591e-03 -1.09315894e-01] [ 2.09614451e-02 -1.28383028e-03 9.99779460e-01 -7.12852254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.631193817 meters Centerline goodness [0,1] 0.9031609076201933 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.11, Z:-0.71 [[ 9.99137608e-01 3.56841469e-02 -2.12292512e-02 3.40217452e+00] [-3.56292544e-02 9.99360698e-01 2.95846111e-03 -1.12104958e-01] [ 2.13212495e-02 -2.19952737e-03 9.99770257e-01 -7.13609224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.661193817 meters Centerline goodness [0,1] 0.9044201530770986 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.11, Z:-0.71 [[ 9.99225329e-01 3.30212048e-02 -2.14089320e-02 3.40239882e+00] [-3.30335036e-02 9.99454220e-01 -2.20983001e-04 -1.12471410e-01] [ 2.13899504e-02 9.28023845e-04 9.99770778e-01 -7.13749737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.691193817 meters Centerline goodness [0,1] 0.904283843611648 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.12, Z:-0.71 [[ 9.99307369e-01 3.07221894e-02 -2.09983201e-02 3.40021239e+00] [-3.07593477e-02 9.99525769e-01 -1.44881866e-03 -1.18407462e-01] [ 2.09438512e-02 2.09370980e-03 9.99778461e-01 -7.12315896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.721193817 meters Centerline goodness [0,1] 0.9032726970678628 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.12, Z:-0.71 [[ 9.99312924e-01 3.03976192e-02 -2.12053190e-02 3.40051303e+00] [-3.04144918e-02 9.99537260e-01 -4.73543892e-04 -1.23224840e-01] [ 2.11811118e-02 1.11816753e-03 9.99775030e-01 -7.12203546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.751193817 meters Centerline goodness [0,1] 0.9018892183903279 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.13, Z:-0.71 [[ 9.99404923e-01 2.69667352e-02 -2.15080294e-02 3.40100295e+00] [-2.70374453e-02 9.99629909e-01 -3.00357352e-03 -1.27437452e-01] [ 2.14190729e-02 3.58330833e-03 9.99764164e-01 -7.12374389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.781193817 meters Centerline goodness [0,1] 0.8991837497663406 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.14, Z:-0.71 [[ 0.99955704 0.02029848 -0.02176471 3.40170802] [-0.02047006 0.99976089 -0.0076897 -0.13676227] [ 0.02160341 0.00813182 0.99973355 -0.71317873] [ 0. 0. 0. 1. ]] SLAMing on 77.811193817 meters Centerline goodness [0,1] 0.8997709876415854 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.14, Z:-0.71 [[ 9.99702612e-01 1.53937414e-02 -1.89135190e-02 3.41128995e+00] [-1.54310692e-02 9.99879261e-01 -1.82923956e-03 -1.42190193e-01] [ 1.88830765e-02 2.12055138e-03 9.99819450e-01 -7.13936707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.841193817 meters Centerline goodness [0,1] 0.8958316034210745 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.15, Z:-0.71 [[ 0.99974762 0.01196992 -0.01901095 3.41143995] [-0.01206084 0.99991634 -0.0046752 -0.14500999] [ 0.0189534 0.00490331 0.99980834 -0.71407777] [ 0. 0. 0. 1. ]] SLAMing on 77.871193817 meters Centerline goodness [0,1] 0.8949914215432954 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.15, Z:-0.71 [[ 0.99974762 0.01137637 -0.01937184 3.41286251] [-0.01145875 0.99992575 -0.00414678 -0.1487468 ] [ 0.01932323 0.00436771 0.99980375 -0.71491903] [ 0. 0. 0. 1. ]] SLAMing on 77.901193817 meters Centerline goodness [0,1] 0.8943497088867248 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.15, Z:-0.71 [[ 0.99977947 0.0078873 -0.01946292 3.41284435] [-0.00801535 0.99994669 -0.00650995 -0.15331936] [ 0.01941053 0.00666451 0.99978939 -0.714724 ] [ 0. 0. 0. 1. ]] SLAMing on 77.93119381700001 meters Centerline goodness [0,1] 0.8946901559534615 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.16, Z:-0.71 [[ 0.99977317 0.00792322 -0.01976931 3.41328098] [-0.00803903 0.99995095 -0.00578561 -0.15628165] [ 0.0197225 0.00594323 0.99978783 -0.71446483] [ 0. 0. 0. 1. ]] SLAMing on 77.96119381700001 meters Centerline goodness [0,1] 0.8937944516075365 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.16, Z:-0.71 [[ 0.99976761 0.00825111 -0.01991599 3.41305447] [-0.00835126 0.99995287 -0.00495078 -0.15902823] [ 0.0198742 0.00511595 0.9997894 -0.71376815] [ 0. 0. 0. 1. ]] SLAMing on 77.99119381700001 meters Centerline goodness [0,1] 0.8961971364727302 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.16, Z:-0.71 [[ 9.99870171e-01 7.40285229e-03 -1.43121898e-02 3.42134695e+00] [-7.35381218e-03 9.99966919e-01 3.47605433e-03 -1.63935341e-01] [ 1.43374490e-02 -3.37035388e-03 9.99891533e-01 -7.14708071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.021193817 meters Centerline goodness [0,1] 0.9000830220008302 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.16, Z:-0.71 [[ 0.99986663 0.00756478 -0.01447421 3.42108557] [-0.00751424 0.99996549 0.00354331 -0.1639797 ] [ 0.01450051 -0.00343407 0.99988896 -0.71392369] [ 0. 0. 0. 1. ]] SLAMing on 78.051193817 meters Centerline goodness [0,1] 0.8989126390209616 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.16, Z:-0.72 [[ 9.99922186e-01 9.69392663e-03 -7.85177463e-03 3.43219861e+00] [-9.71370585e-03 9.99949733e-01 -2.48486892e-03 -1.63180936e-01] [ 7.82729181e-03 2.56094539e-03 9.99966087e-01 -7.17208324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.081193817 meters Centerline goodness [0,1] 0.8994398340248962 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.16, Z:-0.72 [[ 9.99921394e-01 9.74646926e-03 -7.88744392e-03 3.43189976e+00] [-9.76639783e-03 9.99949202e-01 -2.49205837e-03 -1.63099041e-01] [ 7.86275449e-03 2.56889439e-03 9.99965788e-01 -7.16708676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.111193817 meters Centerline goodness [0,1] 0.9006438213914849 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.16, Z:-0.72 [[ 9.99921019e-01 9.71997439e-03 -7.96726642e-03 3.43205261e+00] [-9.73977793e-03 9.99949564e-01 -2.45059105e-03 -1.63440036e-01] [ 7.94304490e-03 2.52799690e-03 9.99965258e-01 -7.16679152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.141193817 meters Centerline goodness [0,1] 0.9016543163750337 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.16, Z:-0.72 [[ 9.99926799e-01 8.83144908e-03 -8.27055430e-03 3.43377356e+00] [-8.85580062e-03 9.99956545e-01 -2.91238591e-03 -1.64766378e-01] [ 8.24447432e-03 2.98541510e-03 9.99961557e-01 -7.18090390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.171193817 meters Centerline goodness [0,1] 0.9031200730229857 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.17, Z:-0.72 [[ 9.99929200e-01 8.44171704e-03 -8.38649287e-03 3.43421584e+00] [-8.46496126e-03 9.99960418e-01 -2.74000570e-03 -1.66331791e-01] [ 8.36303056e-03 2.81080304e-03 9.99961079e-01 -7.18340215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.201193817 meters Centerline goodness [0,1] 0.9003445699103287 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.17, Z:-0.72 [[ 9.99931245e-01 8.05487500e-03 -8.52195634e-03 3.43482271e+00] [-8.07673061e-03 9.99964174e-01 -2.53332296e-03 -1.68008285e-01] [ 8.50124543e-03 2.60197833e-03 9.99960478e-01 -7.18726817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.231193817 meters Centerline goodness [0,1] 0.8981640552232318 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.17, Z:-0.72 [[ 0.99993559 0.00678976 -0.00909528 3.43791433] [-0.00682138 0.99997078 -0.00344999 -0.16872424] [ 0.00907159 0.00351181 0.99995269 -0.72114586] [ 0. 0. 0. 1. ]] SLAMing on 78.261193817 meters Centerline goodness [0,1] 0.8846145891501727 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.17, Z:-0.73 [[ 0.99993922 0.00555379 -0.00952469 3.44209409] [-0.00559216 0.99997634 -0.00400663 -0.17038822] [ 0.00950221 0.00405965 0.99994661 -0.72533459] [ 0. 0. 0. 1. ]] SLAMing on 78.291193817 meters Centerline goodness [0,1] 0.8792670526468697 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.17, Z:-0.73 [[ 0.99993936 0.00529951 -0.00965334 3.44295648] [-0.00533776 0.99997799 -0.00394042 -0.171056 ] [ 0.00963224 0.0039917 0.99994564 -0.72614198] [ 0. 0. 0. 1. ]] SLAMing on 78.32119381700001 meters Centerline goodness [0,1] 0.8864041450777203 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.17, Z:-0.73 [[ 0.99993858 0.00510827 -0.00983568 3.44388907] [-0.00514701 0.99997908 -0.00391676 -0.17143833] [ 0.00981547 0.00396714 0.99994396 -0.72683601] [ 0. 0. 0. 1. ]] SLAMing on 78.35119381700001 meters Centerline goodness [0,1] 0.8917549230514645 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.17, Z:-0.73 [[ 0.99993418 0.00550947 -0.01006372 3.44434473] [-0.00554982 0.99997666 -0.0039854 -0.17076201] [ 0.01004153 0.00404099 0.99994142 -0.72682306] [ 0. 0. 0. 1. ]] SLAMing on 78.381193817 meters Centerline goodness [0,1] 0.8910005822174166 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.17, Z:-0.73 [[ 9.99926838e-01 7.03926721e-03 -9.83708920e-03 3.44280254e+00] [-7.06828885e-03 9.99970760e-01 -2.91857993e-03 -1.69535929e-01] [ 9.81625690e-03 2.98789779e-03 9.99947355e-01 -7.25502781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.411193817 meters Centerline goodness [0,1] 0.8941543290177373 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.17, Z:-0.73 [[ 9.99898909e-01 9.91157740e-03 -1.01947206e-02 3.44460805e+00] [-9.91330740e-03 9.99950855e-01 -1.19175627e-04 -1.68619814e-01] [ 1.01930383e-02 2.20226979e-04 9.99948025e-01 -7.26647316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.441193817 meters Centerline goodness [0,1] 0.8933283622278838 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.17, Z:-0.73 [[ 9.99897208e-01 1.00695353e-02 -1.02067490e-02 3.44442668e+00] [-1.00771506e-02 9.99948983e-01 -6.94957220e-04 -1.66175235e-01] [ 1.01992304e-02 7.97740731e-04 9.99947668e-01 -7.26412302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.471193817 meters Centerline goodness [0,1] 0.8973065359746304 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.16, Z:-0.73 [[ 9.99893497e-01 1.02977336e-02 -1.03417021e-02 3.44453929e+00] [-1.03071034e-02 9.99946516e-01 -8.53126312e-04 -1.64839221e-01] [ 1.03323638e-02 9.59628445e-04 9.99946159e-01 -7.26167653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.501193817 meters Centerline goodness [0,1] 0.896513376032292 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.16, Z:-0.72 [[ 9.99913588e-01 8.67650025e-03 -9.87596114e-03 3.44188867e+00] [-8.70215457e-03 9.99958865e-01 -2.55765186e-03 -1.62903164e-01] [ 9.85336342e-03 2.64337299e-03 9.99947961e-01 -7.23931050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.531193817 meters Centerline goodness [0,1] 0.8992019898435071 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.16, Z:-0.72 [[ 9.99917164e-01 8.22992585e-03 -9.89610476e-03 3.44134084e+00] [-8.25950631e-03 9.99961533e-01 -2.95195604e-03 -1.62220944e-01] [ 9.87142970e-03 3.03344845e-03 9.99946675e-01 -7.23087263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.561193817 meters Centerline goodness [0,1] 0.8996727558924651 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.16, Z:-0.72 [[ 9.99920799e-01 7.81139084e-03 -9.86797938e-03 3.44113792e+00] [-7.84400623e-03 9.99963886e-01 -3.27080544e-03 -1.61792550e-01] [ 9.84207347e-03 3.34795088e-03 9.99945961e-01 -7.22828391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.591193817 meters Centerline goodness [0,1] 0.8983814069308985 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.16, Z:-0.72 [[ 0.99992518 0.00726048 -0.00984455 3.44111893] [-0.00729769 0.99996634 -0.00374898 -0.16119166] [ 0.009817 0.00382054 0.99994451 -0.72282119] [ 0. 0. 0. 1. ]] SLAMing on 78.621193817 meters Centerline goodness [0,1] 0.8876257920238539 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.16, Z:-0.72 [[ 0.9999368 0.00499556 -0.01007135 3.44324424] [-0.00505259 0.9999713 -0.00564597 -0.15952955] [ 0.01004286 0.0056965 0.99993334 -0.72479819] [ 0. 0. 0. 1. ]] SLAMing on 78.651193817 meters Centerline goodness [0,1] 0.8854313125465222 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.16, Z:-0.72 [[ 0.99993991 0.00443126 -0.01002665 3.44340182] [-0.00449207 0.9999716 -0.00605115 -0.15888394] [ 0.00999955 0.00609583 0.99993142 -0.72498795] [ 0. 0. 0. 1. ]] SLAMing on 78.68119381700001 meters Centerline goodness [0,1] 0.8771403755480188 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.16, Z:-0.72 [[ 0.99994149 0.00389862 -0.01009064 3.44323566] [-0.00396576 0.99997008 -0.00664231 -0.15759518] [ 0.01006444 0.00668194 0.99992703 -0.72452494] [ 0. 0. 0. 1. ]] SLAMing on 78.71119381700001 meters Centerline goodness [0,1] 0.8725682743792769 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.15, Z:-0.72 [[ 0.99994104 0.00480297 -0.00973916 3.44104355] [-0.00486278 0.99996941 -0.00612628 -0.15346924] [ 0.00970944 0.00617327 0.99993381 -0.72248528] [ 0. 0. 0. 1. ]] SLAMing on 78.74119381700001 meters Centerline goodness [0,1] 0.8802936662657099 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.15, Z:-0.72 [[ 0.99993593 0.00619695 -0.00947323 3.44013828] [-0.00624428 0.99996813 -0.00497443 -0.15088728] [ 0.0094421 0.00503327 0.99994275 -0.72190763] [ 0. 0. 0. 1. ]] SLAMing on 78.771193817 meters Centerline goodness [0,1] 0.8837354021033417 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.15, Z:-0.72 [[ 9.99914467e-01 8.42214200e-03 -1.00063403e-02 3.44308107e+00] [-8.45378456e-03 9.99959386e-01 -3.12417259e-03 -1.47903245e-01] [ 9.97962169e-03 3.20849681e-03 9.99945055e-01 -7.24120688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.801193817 meters Centerline goodness [0,1] 0.8836832932193543 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.14, Z:-0.73 [[ 9.99883321e-01 1.10625650e-02 -1.05339181e-02 3.44575928e+00] [-1.10747802e-02 9.99938066e-01 -1.10198348e-03 -1.44008314e-01] [ 1.05210749e-02 1.21851573e-03 9.99943910e-01 -7.26025558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.831193817 meters Centerline goodness [0,1] 0.8934456928838952 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.14, Z:-0.73 [[ 0.99978181 0.01760831 -0.01123761 3.44950225] [-0.01756584 0.99983823 0.00386687 -0.13672725] [ 0.01130388 -0.00366862 0.99992938 -0.72886968] [ 0. 0. 0. 1. ]] SLAMing on 78.861193817 meters Centerline goodness [0,1] 0.8942662739078123 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.13, Z:-0.73 [[ 9.99772415e-01 1.78558554e-02 -1.16741508e-02 3.45090661e+00] [-1.78234492e-02 9.99837019e-01 2.87407475e-03 -1.32723071e-01] [ 1.17235672e-02 -2.66534702e-03 9.99927724e-01 -7.29577192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.891193817 meters Centerline goodness [0,1] 0.8917945959366078 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.13, Z:-0.73 [[ 9.99772852e-01 1.76896878e-02 -1.18877677e-02 3.45162499e+00] [-1.76685105e-02 9.99842124e-01 1.88412010e-03 -1.29706751e-01] [ 1.19192204e-02 -1.67365298e-03 9.99927563e-01 -7.29934241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.921193817 meters Centerline goodness [0,1] 0.8924595455862269 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.13, Z:-0.73 [[ 9.99777317e-01 1.73946776e-02 -1.19474190e-02 3.45147861e+00] [-1.73837057e-02 9.99848370e-01 1.02158588e-03 -1.27219303e-01] [ 1.19633776e-02 -8.13667972e-04 9.99928105e-01 -7.29579277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.951193817 meters Centerline goodness [0,1] 0.8917081260364843 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.12, Z:-0.73 [[ 9.99784359e-01 1.69857826e-02 -1.19465325e-02 3.45115520e+00] [-1.69855524e-02 9.99855728e-01 1.20743724e-04 -1.24631521e-01] [ 1.19468598e-02 8.22007658e-05 9.99928630e-01 -7.29133634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.981193817 meters Centerline goodness [0,1] 0.893082675529705 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.12, Z:-0.73 [[ 9.99735097e-01 1.98486346e-02 -1.16518912e-02 3.44997412e+00] [-1.98224044e-02 9.99800726e-01 2.36235372e-03 -1.19741614e-01] [ 1.16964587e-02 -2.13075943e-03 9.99929324e-01 -7.28146298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.011193817 meters Centerline goodness [0,1] 0.8915672665309007 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.12, Z:-0.73 [[ 9.99733958e-01 1.98140685e-02 -1.18074178e-02 3.45038749e+00] [-1.97974973e-02 9.99802857e-01 1.51870250e-03 -1.16505206e-01] [ 1.18351817e-02 -1.28454114e-03 9.99929137e-01 -7.28257430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.041193817 meters Centerline goodness [0,1] 0.8929096062731467 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.12, Z:-0.73 [[ 9.99730526e-01 1.98133070e-02 -1.20958079e-02 3.45148523e+00] [-1.98010370e-02 9.99803298e-01 1.13333121e-03 -1.15255802e-01] [ 1.21158837e-02 -8.93516266e-04 9.99926201e-01 -7.28929288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07119381700001 meters Centerline goodness [0,1] 0.8911215146869951 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.12, Z:-0.73 [[ 9.99727736e-01 1.98599767e-02 -1.22489093e-02 3.45229482e+00] [-1.98475187e-02 9.99802371e-01 1.13780522e-03 -1.15763976e-01] [ 1.22690853e-02 -8.94384984e-04 9.99924332e-01 -7.29591480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10119381700001 meters Centerline goodness [0,1] 0.8913740013315579 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.12, Z:-0.73 [[ 9.99782720e-01 1.72030172e-02 -1.17714908e-02 3.44943578e+00] [-1.72258669e-02 9.99849926e-01 -1.84246866e-03 -1.15266356e-01] [ 1.17380282e-02 2.04484246e-03 9.99929016e-01 -7.27349874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.131193817 meters Centerline goodness [0,1] 0.8913740013315579 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.12, Z:-0.73 [[ 9.99782720e-01 1.72030172e-02 -1.17714908e-02 3.44943578e+00] [-1.72258669e-02 9.99849926e-01 -1.84246866e-03 -1.15266356e-01] [ 1.17380282e-02 2.04484246e-03 9.99929016e-01 -7.27349874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.161193817 meters Centerline goodness [0,1] 0.8891454484939257 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.11, Z:-0.73 [[ 9.99786231e-01 1.69188206e-02 -1.18846672e-02 3.44905404e+00] [-1.69465997e-02 9.99853886e-01 -2.24057493e-03 -1.14275566e-01] [ 1.18450228e-02 2.44150067e-03 9.99926865e-01 -7.26513202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.191193817 meters Centerline goodness [0,1] 0.8954226735888473 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.11, Z:-0.73 [[ 9.99785743e-01 1.68000402e-02 -1.20924179e-02 3.44919891e+00] [-1.68317034e-02 9.99855158e-01 -2.52144169e-03 -1.12990772e-01] [ 1.20483061e-02 2.72443745e-03 9.99923705e-01 -7.26066332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.221193817 meters Centerline goodness [0,1] 0.8917733621549717 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.11, Z:-0.73 [[ 0.99979923 0.01600117 -0.01206097 3.44841466] [-0.01604431 0.99986519 -0.0034889 -0.11083663] [ 0.01200352 0.0036817 0.99992118 -0.72508002] [ 0. 0. 0. 1. ]] SLAMing on 79.251193817 meters Centerline goodness [0,1] 0.8930356478995415 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.11, Z:-0.72 [[ 0.99980241 0.01563659 -0.01227308 3.44854847] [-0.01568259 0.99987032 -0.00366114 -0.11139455] [ 0.01221424 0.00385289 0.99991798 -0.72465933] [ 0. 0. 0. 1. ]] SLAMing on 79.281193817 meters Centerline goodness [0,1] 0.8954936687908632 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.11, Z:-0.72 [[ 0.99981025 0.01506056 -0.012355 3.44859367] [-0.01510947 0.99987834 -0.00387476 -0.11221153] [ 0.01229514 0.0040607 0.99991617 -0.72447584] [ 0. 0. 0. 1. ]] SLAMing on 79.311193817 meters Centerline goodness [0,1] 0.8936016213086276 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.11, Z:-0.73 [[ 0.99982259 0.01387567 -0.01273786 3.45014044] [-0.01393607 0.99989201 -0.00466505 -0.11284833] [ 0.01267176 0.00484174 0.99990799 -0.7254348 ] [ 0. 0. 0. 1. ]] SLAMing on 79.341193817 meters Centerline goodness [0,1] 0.8955344221624975 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.11, Z:-0.73 [[ 0.99987059 0.00959371 -0.0129134 3.45147545] [-0.00970911 0.99991322 -0.00890382 -0.11262692] [ 0.01282686 0.00902804 0.99987698 -0.72681801] [ 0. 0. 0. 1. ]] SLAMing on 79.371193817 meters Centerline goodness [0,1] 0.8911028634224222 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.11, Z:-0.73 [[ 0.9998741 0.00928403 -0.01286843 3.45188961] [-0.00940022 0.99991533 -0.00899788 -0.1128935 ] [ 0.01278381 0.00911771 0.99987671 -0.72735448] [ 0. 0. 0. 1. ]] SLAMing on 79.401193817 meters Centerline goodness [0,1] 0.8878863306367973 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.11, Z:-0.73 [[ 0.99987413 0.009185 -0.01293679 3.45288952] [-0.00930302 0.99991539 -0.00909245 -0.11206109] [ 0.01285218 0.00921166 0.99987498 -0.72837747] [ 0. 0. 0. 1. ]] SLAMing on 79.43119381700001 meters Centerline goodness [0,1] 0.8897295056482537 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.11, Z:-0.73 [[ 0.99987133 0.00911038 -0.0132035 3.45431013] [-0.00923341 0.99991424 -0.00928701 -0.1106859 ] [ 0.01311776 0.00940772 0.9998697 -0.72940898] [ 0. 0. 0. 1. ]] SLAMing on 79.46119381700001 meters Centerline goodness [0,1] 0.8829807113344268 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.11, Z:-0.73 [[ 0.9998616 0.0095095 -0.01365099 3.45697749] [-0.00963107 0.9999143 -0.00886783 -0.11031834] [ 0.01356549 0.00899807 0.9998675 -0.73152234] [ 0. 0. 0. 1. ]] SLAMing on 79.49119381700001 meters Centerline goodness [0,1] 0.8805678940595293 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.11, Z:-0.73 [[ 0.9998525 0.0100584 -0.0139211 3.45840544] [-0.01017581 0.99991304 -0.00838886 -0.11097605] [ 0.01383551 0.00852928 0.99986791 -0.73255739] [ 0. 0. 0. 1. ]] SLAMing on 79.521193817 meters Centerline goodness [0,1] 0.8880511766049806 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.11, Z:-0.73 [[ 0.99982486 0.01217088 -0.01421704 3.46048514] [-0.01226577 0.99990295 -0.00660688 -0.11095243] [ 0.01413525 0.0067801 0.9998771 -0.73415551] [ 0. 0. 0. 1. ]] SLAMing on 79.551193817 meters Centerline goodness [0,1] 0.896200645641917 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.11, Z:-0.74 [[ 9.99681542e-01 2.05401004e-02 -1.46601081e-02 3.46274537e+00] [-2.05314414e-02 9.99788933e-01 7.40923700e-04 -1.08007218e-01] [ 1.46722325e-02 -4.39694596e-04 9.99892260e-01 -7.35527260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.581193817 meters Centerline goodness [0,1] 0.8979120244284889 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.11, Z:-0.74 [[ 0.99957821 0.02494583 -0.01486985 3.46358333] [-0.02488338 0.99968081 0.00437025 -0.10572255] [ 0.01497412 -0.0039984 0.99987989 -0.73570717] [ 0. 0. 0. 1. ]] SLAMing on 79.611193817 meters Centerline goodness [0,1] 0.8937339304968068 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.10, Z:-0.74 [[ 0.99946322 0.02920408 -0.01484561 3.46325172] [-0.02908589 0.99954397 0.00811601 -0.10443585] [ 0.01507586 -0.00767986 0.99985686 -0.73502021] [ 0. 0. 0. 1. ]] SLAMing on 79.641193817 meters Centerline goodness [0,1] 0.8938870143043451 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.10, Z:-0.73 [[ 0.99944423 0.02982067 -0.01489828 3.46264973] [-0.02970608 0.99952782 0.0078541 -0.10252431] [ 0.01512546 -0.00740717 0.99985817 -0.73396387] [ 0. 0. 0. 1. ]] SLAMing on 79.671193817 meters Centerline goodness [0,1] 0.8934076137418756 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.10, Z:-0.73 [[ 9.99464431e-01 3.21242288e-02 -6.23578279e-03 3.46872701e+00] [-3.21127262e-02 9.99482378e-01 1.93607318e-03 -1.02189628e-01] [ 6.29474987e-03 -1.73478829e-03 9.99978683e-01 -7.34187895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.701193817 meters Centerline goodness [0,1] 0.8942463029700509 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.10, Z:-0.73 [[ 9.99471152e-01 3.19115192e-02 -6.25067092e-03 3.46849009e+00] [-3.19009535e-02 9.99489445e-01 1.78281385e-03 -1.02503789e-01] [ 6.30437191e-03 -1.58246865e-03 9.99978875e-01 -7.33834902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.731193817 meters Centerline goodness [0,1] 0.8965474518873379 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.10, Z:-0.73 [[ 9.99479899e-01 3.15917921e-02 -6.47230436e-03 3.46911567e+00] [-3.15833911e-02 9.99500145e-01 1.39613987e-03 -1.01886305e-01] [ 6.51317571e-03 -1.19099642e-03 9.99978080e-01 -7.33998522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.761193817 meters Centerline goodness [0,1] 0.8980820557383155 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.10, Z:-0.73 [[ 9.99492291e-01 3.11748286e-02 -6.57957795e-03 3.46913420e+00] [-3.11708020e-02 9.99513818e-01 7.13678154e-04 -9.98333826e-02] [ 6.59862787e-03 -5.08225092e-04 9.99978100e-01 -7.33708089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.791193817 meters Centerline goodness [0,1] 0.8984174330930483 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.10, Z:-0.73 [[ 9.99575043e-01 2.83395738e-02 -6.82657779e-03 3.46943269e+00] [-2.83606869e-02 9.99593205e-01 -3.01605873e-03 -9.83981295e-02] [ 6.73832695e-03 3.20838347e-03 9.99972150e-01 -7.33576211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82119381700001 meters Centerline goodness [0,1] 0.8952218855079082 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.10, Z:-0.73 [[ 9.99564180e-01 2.86798742e-02 -6.99398724e-03 3.46985761e+00] [-2.86996886e-02 9.99584298e-01 -2.74933172e-03 -9.95252659e-02] [ 6.91222934e-03 2.94885876e-03 9.99971762e-01 -7.33668397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85119381700001 meters Centerline goodness [0,1] 0.8991967206326861 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.10, Z:-0.73 [[ 9.99547179e-01 2.91771725e-02 -7.35734348e-03 3.47113104e+00] [-2.91960140e-02 9.99570662e-01 -2.46661034e-03 -1.00174845e-01] [ 7.28221597e-03 2.68029851e-03 9.99969892e-01 -7.34297576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.881193817 meters Centerline goodness [0,1] 0.8993377758402359 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.10, Z:-0.74 [[ 9.99471614e-01 3.15353224e-02 -7.87506295e-03 3.47397278e+00] [-3.15406382e-02 9.99502318e-01 -5.51699879e-04 -1.01399589e-01] [ 7.85374564e-03 7.99792879e-04 9.99968839e-01 -7.36447699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.911193817 meters Centerline goodness [0,1] 0.9032713677432755 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.10, Z:-0.74 [[ 9.99461165e-01 3.18211452e-02 -8.04954261e-03 3.47461422e+00] [-3.18253127e-02 9.99493370e-01 -3.90142014e-04 -1.01498942e-01] [ 8.03304971e-03 6.46111003e-04 9.99967526e-01 -7.36775144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.941193817 meters Centerline goodness [0,1] 0.9037726887893117 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.10, Z:-0.74 [[ 9.99450369e-01 3.21339074e-02 -8.14688286e-03 3.47491689e+00] [-3.21344017e-02 9.99483554e-01 7.02508953e-05 -1.02763135e-01] [ 8.14493288e-03 1.91582923e-04 9.99966811e-01 -7.36803328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.971193817 meters Centerline goodness [0,1] 0.9034787478996826 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.11, Z:-0.74 [[ 9.99523031e-01 2.97828564e-02 -8.16647691e-03 3.47369538e+00] [-2.97992888e-02 9.99554101e-01 -1.89791380e-03 -1.07336838e-01] [ 8.10631019e-03 2.14036375e-03 9.99964853e-01 -7.35490927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.001193817 meters Centerline goodness [0,1] 0.9044446736103949 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.11, Z:-0.74 [[ 9.99545905e-01 2.87965866e-02 -8.87353170e-03 3.47605139e+00] [-2.88222584e-02 9.99580690e-01 -2.77888235e-03 -1.10800901e-01] [ 8.78978861e-03 3.03337570e-03 9.99956768e-01 -7.36695252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.031193817 meters Centerline goodness [0,1] 0.9043440468552744 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.11, Z:-0.74 [[ 0.99958047 0.02760319 -0.00877176 3.47473663] [-0.02763898 0.99961003 -0.00398462 -0.11341965] [ 0.00865835 0.00422539 0.99995359 -0.73545766] [ 0. 0. 0. 1. ]] SLAMing on 80.061193817 meters Centerline goodness [0,1] 0.9067829898079428 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.12, Z:-0.74 [[ 9.99562165e-01 2.81954807e-02 -8.97179733e-03 3.47557122e+00] [-2.82210327e-02 9.99597968e-01 -2.73426985e-03 -1.17266974e-01] [ 8.89109632e-03 2.98626608e-03 9.99956014e-01 -7.35949857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.091193817 meters Centerline goodness [0,1] 0.9059320804757267 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.13, Z:-0.74 [[ 9.99594874e-01 2.69425841e-02 -9.17520523e-03 3.47716420e+00] [-2.69699995e-02 9.99632102e-01 -2.87746415e-03 -1.25595722e-01] [ 9.09430338e-03 3.12375370e-03 9.99953767e-01 -7.37793744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.121193817 meters Centerline goodness [0,1] 0.9075319087317184 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.13, Z:-0.74 [[ 0.9996425 0.0248972 -0.00974641 3.47947181] [-0.02493974 0.99967985 -0.00426729 -0.13088053] [ 0.00963705 0.00450883 0.9999434 -0.73950965] [ 0. 0. 0. 1. ]] SLAMing on 80.151193817 meters Centerline goodness [0,1] 0.905244573683664 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.14, Z:-0.74 [[ 0.99969953 0.02240215 -0.00994986 3.48070849] [-0.02246096 0.99973067 -0.00583838 -0.13697215] [ 0.00981638 0.00606011 0.99993345 -0.7407307 ] [ 0. 0. 0. 1. ]] SLAMing on 80.18119381700001 meters Centerline goodness [0,1] 0.9036867795201994 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.14, Z:-0.74 [[ 0.99974646 0.01998299 -0.01037766 3.48219451] [-0.02005756 0.99977339 -0.00713246 -0.1438261 ] [ 0.01023278 0.0073388 0.99992071 -0.74166474] [ 0. 0. 0. 1. ]] SLAMing on 80.21119381700001 meters Centerline goodness [0,1] 0.9018622708493367 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.15, Z:-0.74 [[ 0.99984651 0.01420285 -0.01025795 3.48101017] [-0.0143138 0.99983896 -0.01082417 -0.15414086] [ 0.01010256 0.01096934 0.9998888 -0.74069373] [ 0. 0. 0. 1. ]] SLAMing on 80.24119381700001 meters Centerline goodness [0,1] 0.9041030534351145 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.16, Z:-0.74 [[ 0.99988323 0.01110464 -0.01049785 3.48179721] [-0.01124289 0.99984962 -0.01320343 -0.15782499] [ 0.01034965 0.01331991 0.99985772 -0.74112287] [ 0. 0. 0. 1. ]] SLAMing on 80.271193817 meters Centerline goodness [0,1] 0.8992726517040731 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.16, Z:-0.74 [[ 0.99988133 0.01095367 -0.01083235 3.48310513] [-0.01108329 0.99986682 -0.01197898 -0.16307689] [ 0.01069969 0.01209762 0.99986957 -0.74185979] [ 0. 0. 0. 1. ]] SLAMing on 80.301193817 meters Centerline goodness [0,1] 0.8992602443687141 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.17, Z:-0.75 [[ 0.99990801 0.006962 -0.01164013 3.48717961] [-0.00712996 0.99987016 -0.01445102 -0.17088012] [ 0.01153801 0.01453268 0.99982782 -0.74504808] [ 0. 0. 0. 1. ]] SLAMing on 80.331193817 meters Centerline goodness [0,1] 0.8980725388601036 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.18, Z:-0.74 [[ 0.99990821 0.00628618 -0.01200242 3.48782207] [-0.00645454 0.9998806 -0.01403994 -0.17503742] [ 0.01191273 0.01411612 0.9998294 -0.74482752] [ 0. 0. 0. 1. ]] SLAMing on 80.361193817 meters Centerline goodness [0,1] 0.8987919797417908 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.18, Z:-0.74 [[ 0.99991404 0.00555113 -0.01187821 3.48667379] [-0.00571356 0.99989005 -0.013684 -0.17849461] [ 0.01180094 0.01375069 0.99983581 -0.74345954] [ 0. 0. 0. 1. ]] SLAMing on 80.391193817 meters Centerline goodness [0,1] 0.8982326584799203 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.18, Z:-0.74 [[ 0.99991484 0.00484569 -0.01211782 3.48678967] [-0.0050069 0.9998989 -0.01330848 -0.18181 ] [ 0.01205211 0.01336802 0.99983801 -0.74281409] [ 0. 0. 0. 1. ]] SLAMing on 80.421193817 meters Centerline goodness [0,1] 0.8907926474257672 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.18, Z:-0.74 [[ 9.99926759e-01 -7.03899635e-04 -1.20822940e-02 3.48678060e+00] [ 4.92670594e-04 9.99847151e-01 -1.74766095e-02 -1.84898717e-01] [ 1.20927490e-02 1.74693769e-02 9.99774268e-01 -7.42668713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.451193817 meters Centerline goodness [0,1] 0.8568954854669141 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.19, Z:-0.74 [[ 9.99918191e-01 -2.50103221e-03 -1.25441982e-02 3.48928294e+00] [ 2.26871324e-03 9.99826283e-01 -1.85001941e-02 -1.86261443e-01] [ 1.25882887e-02 1.84702214e-02 9.99750162e-01 -7.44379450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.481193817 meters Centerline goodness [0,1] 0.8267410622029345 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.19, Z:-0.74 [[ 9.99914796e-01 -3.09902752e-03 -1.26805766e-02 3.48968108e+00] [ 2.86625781e-03 9.99827817e-01 -1.83335771e-02 -1.87700322e-01] [ 1.27352095e-02 1.82956692e-02 9.99751511e-01 -7.44357580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.511193817 meters Centerline goodness [0,1] 0.815798766175768 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.19, Z:-0.74 [[ 9.99912783e-01 -3.44951840e-03 -1.27486087e-02 3.48971108e+00] [ 3.21823183e-03 9.99830671e-01 -1.81183024e-02 -1.89003858e-01] [ 1.28089494e-02 1.80756942e-02 9.99754570e-01 -7.44110371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.541193817 meters Centerline goodness [0,1] 0.81648667065893 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.19, Z:-0.74 [[ 0.99995173 -0.00360132 -0.00914173 3.4978764 ] [ 0.00353046 0.99996369 -0.00775593 -0.19114096] [ 0.00916933 0.00772328 0.99992813 -0.74381721] [ 0. 0. 0. 1. ]] SLAMing on 80.57119381700001 meters Centerline goodness [0,1] 0.8335513611163022 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.19, Z:-0.74 [[ 9.99960580e-01 -8.91087703e-04 -8.83428515e-03 3.49572841e+00] [ 8.46655612e-04 9.99986981e-01 -5.03197081e-03 -1.90493081e-01] [ 8.83865407e-03 5.02429285e-03 9.99948316e-01 -7.41810994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60119381700001 meters Centerline goodness [0,1] 0.8492208601703719 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.19, Z:-0.74 [[ 9.99955232e-01 2.87015696e-03 -9.01639069e-03 3.49570113e+00] [-2.88295339e-03 9.99994855e-01 -1.40656419e-03 -1.89902204e-01] [ 9.01230724e-03 1.43249506e-03 9.99958362e-01 -7.41156522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.631193817 meters Centerline goodness [0,1] 0.8693312836279785 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.19, Z:-0.74 [[ 9.99952753e-01 3.44918103e-03 -9.08819590e-03 3.49615459e+00] [-3.46707080e-03 9.99992082e-01 -1.95344195e-03 -1.86577891e-01] [ 9.08138616e-03 1.98485907e-03 9.99956793e-01 -7.41515560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.661193817 meters Centerline goodness [0,1] 0.87955629276384 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.18, Z:-0.74 [[ 9.99948468e-01 4.19378528e-03 -9.24522889e-03 3.49669856e+00] [-4.21417109e-03 9.99988730e-01 -2.18663212e-03 -1.83836605e-01] [ 9.23595443e-03 2.22548041e-03 9.99954871e-01 -7.41793596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.691193817 meters Centerline goodness [0,1] 0.8986064092712206 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.18, Z:-0.74 [[ 9.99922198e-01 8.32042965e-03 -9.29350018e-03 3.49660344e+00] [-8.31057060e-03 9.99964863e-01 1.09896924e-03 -1.81215435e-01] [ 9.30231753e-03 -1.02164945e-03 9.99956211e-01 -7.41426986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.721193817 meters Centerline goodness [0,1] 0.8959083198874684 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.18, Z:-0.74 [[ 9.99915674e-01 8.72391875e-03 -9.61966140e-03 3.49793220e+00] [-8.71907228e-03 9.99961839e-01 5.45632903e-04 -1.78289715e-01] [ 9.62405436e-03 -4.61712369e-04 9.99953581e-01 -7.42359642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.751193817 meters Centerline goodness [0,1] 0.895299676697339 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.17, Z:-0.74 [[ 9.99911166e-01 9.06219893e-03 -9.77428622e-03 3.49887741e+00] [-9.06361763e-03 9.99958919e-01 -1.00859249e-04 -1.74582520e-01] [ 9.77297068e-03 1.89440682e-04 9.99952225e-01 -7.43234854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.781193817 meters Centerline goodness [0,1] 0.8956047375080376 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.17, Z:-0.74 [[ 9.99871295e-01 1.25478994e-02 -9.99722443e-03 3.49988644e+00] [-1.25214050e-02 9.99917936e-01 2.70837809e-03 -1.70842255e-01] [ 1.00303885e-02 -2.58285021e-03 9.99946359e-01 -7.43808395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.811193817 meters Centerline goodness [0,1] 0.8981277761633941 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.17, Z:-0.74 [[ 9.99870501e-01 1.24065575e-02 -1.02497946e-02 3.50049342e+00] [-1.23856517e-02 9.99921088e-01 2.10060408e-03 -1.69195023e-01] [ 1.02750470e-02 -1.97338167e-03 9.99945263e-01 -7.43908449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.841193817 meters Centerline goodness [0,1] 0.8992642779948458 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.17, Z:-0.74 [[ 9.99870151e-01 1.22128615e-02 -1.05132205e-02 3.50093708e+00] [-1.21975564e-02 9.99924454e-01 1.51869166e-03 -1.67892293e-01] [ 1.05309738e-02 -1.39025886e-03 9.99943581e-01 -7.43753077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.871193817 meters Centerline goodness [0,1] 0.8988771054273238 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.17, Z:-0.74 [[ 9.99869778e-01 1.20452985e-02 -1.07395711e-02 3.50138800e+00] [-1.20363404e-02 9.99927157e-01 8.98370673e-04 -1.66108828e-01] [ 1.07496100e-02 -7.68988551e-04 9.99941926e-01 -7.43694184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.901193817 meters Centerline goodness [0,1] 0.9001826180791899 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.16, Z:-0.74 [[ 9.99872838e-01 1.16103667e-02 -1.09318983e-02 3.50184066e+00] [-1.16167365e-02 9.99932389e-01 -5.19360632e-04 -1.61920079e-01] [ 1.09251292e-02 6.46287571e-04 9.99940110e-01 -7.43676527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93119381700001 meters Centerline goodness [0,1] 0.9012640858247745 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.16, Z:-0.74 [[ 9.99872719e-01 1.13987078e-02 -1.11631324e-02 3.50213248e+00] [-1.14118630e-02 9.99934260e-01 -1.11545983e-03 -1.60380028e-01] [ 1.11496838e-02 1.24270999e-03 9.99937068e-01 -7.43420516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96119381700001 meters Centerline goodness [0,1] 0.8996652041007299 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.16, Z:-0.74 [[ 9.99872733e-01 1.12092627e-02 -1.13521375e-02 3.50250206e+00] [-1.12304195e-02 9.99935314e-01 -1.80165684e-03 -1.58275044e-01] [ 1.13312079e-02 1.92891682e-03 9.99933939e-01 -7.43370223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99119381700001 meters Centerline goodness [0,1] 0.9013245033112582 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.15, Z:-0.74 [[ 9.99833163e-01 1.39052962e-02 -1.18443667e-02 3.50474388e+00] [-1.39028928e-02 9.99903309e-01 2.85233902e-04 -1.54183317e-01] [ 1.18471878e-02 -1.20515353e-04 9.99929812e-01 -7.44738303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.021193817 meters Centerline goodness [0,1] 0.9013245033112582 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.15, Z:-0.74 [[ 9.99833163e-01 1.39052962e-02 -1.18443667e-02 3.50474388e+00] [-1.39028928e-02 9.99903309e-01 2.85233902e-04 -1.54183317e-01] [ 1.18471878e-02 -1.20515353e-04 9.99929812e-01 -7.44738303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.051193817 meters Centerline goodness [0,1] 0.8995595079787234 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.15, Z:-0.75 [[ 9.99829090e-01 1.38779175e-02 -1.22145215e-02 3.50587275e+00] [-1.38830362e-02 9.99903570e-01 -3.34373758e-04 -1.51994061e-01] [ 1.22087033e-02 5.03891254e-04 9.99925344e-01 -7.45245443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.081193817 meters Centerline goodness [0,1] 0.9008508602217645 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.15, Z:-0.75 [[ 9.99827391e-01 1.37677804e-02 -1.24754531e-02 3.50674477e+00] [-1.37804749e-02 9.99904610e-01 -9.32158649e-04 -1.50355850e-01] [ 1.24614293e-02 1.10391542e-03 9.99921744e-01 -7.45690010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.111193817 meters Centerline goodness [0,1] 0.8990323850568759 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.15, Z:-0.75 [[ 9.99824275e-01 1.36731065e-02 -1.28243698e-02 3.50764767e+00] [-1.36900752e-02 9.99905522e-01 -1.23630840e-03 -1.49928050e-01] [ 1.28062540e-02 1.41165774e-03 9.99917000e-01 -7.45867674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.141193817 meters Centerline goodness [0,1] 0.9006733657930177 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.15, Z:-0.74 [[ 9.99851342e-01 1.20192107e-02 -1.23625035e-02 3.50517696e+00] [-1.20547382e-02 9.99923409e-01 -2.80331451e-03 -1.48998255e-01] [ 1.23278630e-02 2.95192452e-03 9.99919652e-01 -7.43768838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.171193817 meters Centerline goodness [0,1] 0.9006001655629139 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.15, Z:-0.74 [[ 9.99859030e-01 1.13525330e-02 -1.23709209e-02 3.50494134e+00] [-1.13927909e-02 9.99930016e-01 -3.18862830e-03 -1.48765737e-01] [ 1.23338561e-02 3.32911811e-03 9.99918393e-01 -7.43312292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.201193817 meters Centerline goodness [0,1] 0.8986694386694387 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.15, Z:-0.74 [[ 0.99986591 0.01048845 -0.01257611 3.50516006] [-0.01053399 0.99993818 -0.00356026 -0.14904652] [ 0.01253799 0.00369225 0.99991458 -0.74298147] [ 0. 0. 0. 1. ]] SLAMing on 81.231193817 meters Centerline goodness [0,1] 0.8958995746789445 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.15, Z:-0.74 [[ 0.99987413 0.00885224 -0.01316707 3.50752457] [-0.00891307 0.99994984 -0.00456852 -0.15008902] [ 0.01312597 0.0046853 0.99990287 -0.74430888] [ 0. 0. 0. 1. ]] SLAMing on 81.261193817 meters Centerline goodness [0,1] 0.8905751790964429 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.15, Z:-0.74 [[ 0.99990311 0.00421928 -0.01326559 3.5078976 ] [-0.00433069 0.9999555 -0.00838067 -0.15201714] [ 0.01322964 0.0084373 0.99987689 -0.74450804] [ 0. 0. 0. 1. ]] SLAMing on 81.291193817 meters Centerline goodness [0,1] 0.8854220799467853 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.15, Z:-0.74 [[ 0.99990506 0.00351179 -0.0133244 3.50786784] [-0.00362367 0.9999583 -0.00838219 -0.15338928] [ 0.01329441 0.00842968 0.99987609 -0.74417539] [ 0. 0. 0. 1. ]] SLAMing on 81.32119381700001 meters Centerline goodness [0,1] 0.8869547154133777 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.15, Z:-0.74 [[ 9.99903518e-01 2.60249999e-03 -1.36448690e-02 3.50840291e+00] [-2.72261912e-03 9.99957643e-01 -8.79207308e-03 -1.53450658e-01] [ 1.36214097e-02 8.82837458e-03 9.99868250e-01 -7.43894947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35119381700001 meters Centerline goodness [0,1] 0.8771765975551543 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.15, Z:-0.74 [[ 9.99903731e-01 2.10062537e-03 -1.37155375e-02 3.50815855e+00] [-2.22120141e-03 9.99958971e-01 -8.78189357e-03 -1.53727681e-01] [ 1.36965273e-02 8.81151311e-03 9.99867372e-01 -7.43238523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.381193817 meters Centerline goodness [0,1] 0.8539369997311217 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.15, Z:-0.74 [[ 9.99893294e-01 -3.21416740e-03 -1.42502494e-02 3.50989382e+00] [ 3.01840591e-03 9.99901078e-01 -1.37376975e-02 -1.52952219e-01] [ 1.42929950e-02 1.36932186e-02 9.99804084e-01 -7.44058754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.411193817 meters Centerline goodness [0,1] 0.7775252107786411 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.15, Z:-0.74 [[ 0.99988728 -0.00371633 -0.01454721 3.51081657] [ 0.00351612 0.99989908 -0.01376443 -0.15397788] [ 0.0145969 0.01371173 0.99979944 -0.74439626] [ 0. 0. 0. 1. ]] SLAMing on 81.441193817 meters Centerline goodness [0,1] 0.8068814267684605 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.15, Z:-0.74 [[ 0.99988317 -0.00417202 -0.01470495 3.51163158] [ 0.00396475 0.99989278 -0.01409626 -0.15349091] [ 0.01476219 0.01403631 0.99979251 -0.74497245] [ 0. 0. 0. 1. ]] SLAMing on 81.471193817 meters Centerline goodness [0,1] 0.7919713291178349 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.15, Z:-0.75 [[ 0.99987678 -0.00471533 -0.01497291 3.51288036] [ 0.00449391 0.99988056 -0.01478723 -0.15182656] [ 0.01504085 0.01471812 0.99977855 -0.7457893 ] [ 0. 0. 0. 1. ]] SLAMing on 81.501193817 meters Centerline goodness [0,1] 0.7791865532268105 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.15, Z:-0.75 [[ 9.99884007e-01 -2.72527859e-03 -1.49848480e-02 3.51399290e+00] [ 2.52961080e-03 9.99911499e-01 -1.30611951e-02 -1.47164009e-01] [ 1.50191172e-02 1.30217743e-02 9.99802410e-01 -7.46962163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.531193817 meters Centerline goodness [0,1] 0.7799005387484459 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.14, Z:-0.75 [[ 9.99881205e-01 -2.82571635e-04 -1.54109316e-02 3.51583397e+00] [ 1.18058365e-04 9.99943014e-01 -1.06749674e-02 -1.44903322e-01] [ 1.54130699e-02 1.06718798e-02 9.99824259e-01 -7.48039663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.561193817 meters Centerline goodness [0,1] 0.7795545047287208 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.14, Z:-0.75 [[ 9.99875140e-01 3.05982304e-03 -1.55029776e-02 3.51608786e+00] [-3.17617298e-03 9.99966936e-01 -7.48595098e-03 -1.43057326e-01] [ 1.54795593e-02 7.53425642e-03 9.99851798e-01 -7.47998730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.591193817 meters Centerline goodness [0,1] 0.7960090533441309 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.14, Z:-0.75 [[ 0.9998595 0.00634767 -0.01551381 3.51599554] [-0.00641822 0.99996927 -0.00450199 -0.14086512] [ 0.01548476 0.00460093 0.99986952 -0.74768727] [ 0. 0. 0. 1. ]] SLAMing on 81.621193817 meters Centerline goodness [0,1] 0.8362772440863547 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.13, Z:-0.75 [[ 0.99985994 0.01326826 -0.01020096 3.52811328] [-0.01334841 0.99988026 -0.00782882 -0.13165463] [ 0.01009586 0.00796389 0.99991732 -0.7509443 ] [ 0. 0. 0. 1. ]] SLAMing on 81.651193817 meters Centerline goodness [0,1] 0.8512259774685222 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.13, Z:-0.75 [[ 0.99980219 0.01697731 -0.01036095 3.52895644] [-0.01702963 0.99984257 -0.00498221 -0.12766932] [ 0.01027473 0.00515767 0.99993391 -0.75137315] [ 0. 0. 0. 1. ]] SLAMing on 81.68119381700001 meters Centerline goodness [0,1] 0.867240842585867 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.12, Z:-0.75 [[ 9.99730826e-01 2.06016306e-02 -1.06699807e-02 3.53012144e+00] [-2.06253849e-02 9.99785024e-01 -2.12102472e-03 -1.24419504e-01] [ 1.06239904e-02 2.34052626e-03 9.99940825e-01 -7.51809944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71119381700001 meters Centerline goodness [0,1] 0.8765774913484055 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.12, Z:-0.75 [[ 9.99713608e-01 2.11830761e-02 -1.11346260e-02 3.53173777e+00] [-2.12160459e-02 9.99770849e-01 -2.85126241e-03 -1.20348689e-01] [ 1.10716760e-02 3.08667856e-03 9.99933943e-01 -7.52659441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74119381700001 meters Centerline goodness [0,1] 0.8810981303562906 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.12, Z:-0.75 [[ 9.99631593e-01 2.47467078e-02 -1.11479952e-02 3.53198946e+00] [-2.47501381e-02 9.99693654e-01 -1.69823829e-04 -1.16747719e-01] [ 1.11403774e-02 4.45675685e-04 9.99937845e-01 -7.52592155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.771193817 meters Centerline goodness [0,1] 0.8831492400963376 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.11, Z:-0.75 [[ 9.99634748e-01 2.45454518e-02 -1.13089061e-02 3.53175754e+00] [-2.45577942e-02 9.99697957e-01 -9.53799143e-04 -1.14529995e-01] [ 1.12820789e-02 1.23117255e-03 9.99935597e-01 -7.51781086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.801193817 meters Centerline goodness [0,1] 0.8862415759460861 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.11, Z:-0.75 [[ 9.99640824e-01 2.42337741e-02 -1.14431858e-02 3.53158520e+00] [-2.42556046e-02 9.99704218e-01 -1.77279447e-03 -1.12083886e-01] [ 1.13968396e-02 2.04971912e-03 9.99932953e-01 -7.51069410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.831193817 meters Centerline goodness [0,1] 0.8912126973629826 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.11, Z:-0.75 [[ 9.99560120e-01 2.74317878e-02 -1.12722403e-02 3.53063311e+00] [-2.74272106e-02 9.99623646e-01 5.60469359e-04 -1.07185094e-01] [ 1.12833726e-02 -2.51056711e-04 9.99936309e-01 -7.49829466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.861193817 meters Centerline goodness [0,1] 0.8924740107484489 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.10, Z:-0.75 [[ 9.99548896e-01 2.78261841e-02 -1.13007853e-02 3.53020481e+00] [-2.78281073e-02 9.99612723e-01 -1.29361487e-05 -1.04052531e-01] [ 1.12960488e-02 3.27409779e-04 9.99936144e-01 -7.49011128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.891193817 meters Centerline goodness [0,1] 0.8954251079375622 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.10, Z:-0.75 [[ 9.99538530e-01 2.81817856e-02 -1.13364030e-02 3.52968950e+00] [-2.81871053e-02 9.99602617e-01 -3.09725126e-04 -1.02662235e-01] [ 1.13231694e-02 6.29122580e-04 9.99935693e-01 -7.48130631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.921193817 meters Centerline goodness [0,1] 0.8982948637970471 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.10, Z:-0.75 [[ 9.99531178e-01 2.84239194e-02 -1.13800343e-02 3.52948612e+00] [-2.84303183e-02 9.99595696e-01 -4.00881361e-04 -1.02494189e-01] [ 1.13640387e-02 7.24231418e-04 9.99935165e-01 -7.47682164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.951193817 meters Centerline goodness [0,1] 0.898710064807338 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.10, Z:-0.75 [[ 9.99517344e-01 2.88125640e-02 -1.16153108e-02 3.53047786e+00] [-2.88212074e-02 9.99584416e-01 -5.77408004e-04 -1.01478409e-01] [ 1.15938471e-02 9.11896597e-04 9.99932373e-01 -7.48416286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.981193817 meters Centerline goodness [0,1] 0.8947696268765184 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.10, Z:-0.75 [[ 9.99515693e-01 2.88302179e-02 -1.17131363e-02 3.53099011e+00] [-2.88392962e-02 9.99583877e-01 -6.06854779e-04 -1.01190988e-01] [ 1.16907664e-02 9.44359483e-04 9.99931215e-01 -7.48793675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.011193817 meters Centerline goodness [0,1] 0.8966619613053226 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.10, Z:-0.75 [[ 9.99519320e-01 2.86453831e-02 -1.18562510e-02 3.53153167e+00] [-2.86529776e-02 9.99589308e-01 -4.71138431e-04 -1.02180653e-01] [ 1.18378858e-02 8.10628859e-04 9.99929601e-01 -7.49126298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.041193817 meters Centerline goodness [0,1] 0.896789703840335 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.10, Z:-0.75 [[ 0.99960772 0.02516749 -0.01228818 3.53231238] [-0.02521994 0.99967338 -0.00413255 -0.10225585] [ 0.01218016 0.00444084 0.99991596 -0.74933124] [ 0. 0. 0. 1. ]] SLAMing on 82.07119381700001 meters Centerline goodness [0,1] 0.8959844183829928 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.10, Z:-0.75 [[ 0.9996972 0.02126404 -0.01238302 3.53257813] [-0.02135789 0.99974379 -0.00749654 -0.10417417] [ 0.01222044 0.00775874 0.99989523 -0.74967203] [ 0. 0. 0. 1. ]] SLAMing on 82.10119381700001 meters Centerline goodness [0,1] 0.8964058319679781 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.11, Z:-0.75 [[ 0.99970409 0.02076983 -0.01266243 3.53334716] [-0.02086322 0.99975577 -0.00728861 -0.10612719] [ 0.01250795 0.00755063 0.99989326 -0.7499967 ] [ 0. 0. 0. 1. ]] SLAMing on 82.131193817 meters Centerline goodness [0,1] 0.8949281348091855 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.11, Z:-0.75 [[ 0.99972228 0.01950184 -0.01322995 3.53554437] [-0.01960786 0.99977628 -0.00793238 -0.10787278] [ 0.01307229 0.00818959 0.99988102 -0.7513287 ] [ 0. 0. 0. 1. ]] SLAMing on 82.161193817 meters Centerline goodness [0,1] 0.8898684811019375 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.11, Z:-0.75 [[ 0.9997415 0.018461 -0.01327096 3.53640168] [-0.01856802 0.9997957 -0.00798664 -0.11003348] [ 0.01312081 0.00823099 0.99988004 -0.75240356] [ 0. 0. 0. 1. ]] SLAMing on 82.191193817 meters Centerline goodness [0,1] 0.8907451273739766 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.11, Z:-0.75 [[ 0.99974891 0.01785081 -0.01354531 3.53756461] [-0.01796445 0.99980405 -0.00831519 -0.10973591] [ 0.01339422 0.00855644 0.99987368 -0.7531953 ] [ 0. 0. 0. 1. ]] SLAMing on 82.221193817 meters Centerline goodness [0,1] 0.8755191866592276 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.11, Z:-0.75 [[ 0.99976179 0.01663231 -0.0141328 3.53989372] [-0.01676406 0.99981663 -0.00925564 -0.10893783] [ 0.01397626 0.00949036 0.99985729 -0.75463441] [ 0. 0. 0. 1. ]] SLAMing on 82.251193817 meters Centerline goodness [0,1] 0.858065856445414 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.11, Z:-0.76 [[ 0.99976879 0.01606677 -0.01429095 3.54082162] [-0.01620281 0.99982402 -0.00945518 -0.10935243] [ 0.01413652 0.00968455 0.99985317 -0.75544391] [ 0. 0. 0. 1. ]] SLAMing on 82.281193817 meters Centerline goodness [0,1] 0.8222060656418778 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.11, Z:-0.76 [[ 0.99981272 0.01218493 -0.01503523 3.5448801 ] [-0.01238247 0.99983731 -0.01311612 -0.10979966] [ 0.01487296 0.01329984 0.99980093 -0.75874858] [ 0. 0. 0. 1. ]] SLAMing on 82.311193817 meters Centerline goodness [0,1] 0.8055942312088278 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.11, Z:-0.76 [[ 0.99981514 0.01167947 -0.01527369 3.54580977] [-0.0118851 0.99983902 -0.01344183 -0.11014678] [ 0.01511424 0.01362088 0.99979299 -0.75931925] [ 0. 0. 0. 1. ]] SLAMing on 82.341193817 meters Centerline goodness [0,1] 0.7932683312197252 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.11, Z:-0.76 [[ 0.99981465 0.01151066 -0.015433 3.54652284] [-0.01172232 0.9998375 -0.0136952 -0.1095086 ] [ 0.01527285 0.01387357 0.99978711 -0.75976185] [ 0. 0. 0. 1. ]] SLAMing on 82.371193817 meters Centerline goodness [0,1] 0.7910271546635184 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.11, Z:-0.76 [[ 0.999815 0.01135526 -0.01552493 3.54687948] [-0.01157618 0.99983195 -0.01421509 -0.10767764] [ 0.0153609 0.01439218 0.99977843 -0.75985242] [ 0. 0. 0. 1. ]] SLAMing on 82.401193817 meters Centerline goodness [0,1] 0.8575878395215549 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.10, Z:-0.76 [[ 0.99977052 0.01485679 -0.01543314 3.54622301] [-0.01503211 0.99982309 -0.01130637 -0.10366721] [ 0.01526243 0.01153577 0.99981698 -0.75892274] [ 0. 0. 0. 1. ]] SLAMing on 82.43119381700001 meters Centerline goodness [0,1] 0.8681621408894136 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.10, Z:-0.76 [[ 0.99971105 0.01828745 -0.01560102 3.54668769] [-0.01841348 0.99979866 -0.00797337 -0.10217767] [ 0.01545206 0.00825833 0.99984651 -0.75884382] [ 0. 0. 0. 1. ]] SLAMing on 82.46119381700001 meters Centerline goodness [0,1] 0.8749350568382551 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.10, Z:-0.76 [[ 0.99963622 0.02193189 -0.01569747 3.54677496] [-0.02200451 0.99974789 -0.00446843 -0.10124591] [ 0.01559551 0.00481222 0.9998668 -0.75846787] [ 0. 0. 0. 1. ]] SLAMing on 82.49119381700001 meters Centerline goodness [0,1] 0.8794483616756532 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.10, Z:-0.76 [[ 0.99962174 0.02235182 -0.01602407 3.54745938] [-0.02243322 0.99973625 -0.0049179 -0.09889793] [ 0.01590992 0.00527551 0.99985951 -0.75841657] [ 0. 0. 0. 1. ]] SLAMing on 82.521193817 meters Centerline goodness [0,1] 0.8841180371352785 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.10, Z:-0.76 [[ 0.99961357 0.02273129 -0.01599999 3.54746475] [-0.02282079 0.99972481 -0.00543368 -0.09652204] [ 0.01587207 0.00579671 0.99985723 -0.75829557] [ 0. 0. 0. 1. ]] SLAMing on 82.551193817 meters Centerline goodness [0,1] 0.8907341203857666 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.09, Z:-0.76 [[ 9.99520009e-01 2.66185736e-02 -1.58493918e-02 3.54728354e+00] [-2.66624890e-02 9.99641199e-01 -2.56592306e-03 -9.24542395e-02] [ 1.57754038e-02 2.98727568e-03 9.99871098e-01 -7.58092134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.581193817 meters Centerline goodness [0,1] 0.8905158069883528 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.09, Z:-0.76 [[ 9.99525448e-01 2.64135882e-02 -1.58493567e-02 3.54737359e+00] [-2.64726307e-02 9.99643316e-01 -3.52702886e-03 -8.87987380e-02] [ 1.57505420e-02 3.94492927e-03 9.99868170e-01 -7.58036874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.611193817 meters Centerline goodness [0,1] 0.8936814383178151 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.09, Z:-0.76 [[ 0.99952617 0.02623134 -0.01610423 3.5475744 ] [-0.02630054 0.99964567 -0.00410042 -0.0864651 ] [ 0.01599097 0.00452203 0.99986191 -0.75758664] [ 0. 0. 0. 1. ]] SLAMing on 82.641193817 meters Centerline goodness [0,1] 0.894587012987013 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.09, Z:-0.76 [[ 0.99956263 0.02497631 -0.01583469 3.54532034] [-0.02506553 0.99967089 -0.00546167 -0.08501948] [ 0.01569306 0.00585619 0.99985971 -0.75545867] [ 0. 0. 0. 1. ]] SLAMing on 82.671193817 meters Centerline goodness [0,1] 0.8975993377483443 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.08, Z:-0.75 [[ 9.99797232e-01 1.81642601e-02 -8.69215554e-03 3.54815672e+00] [-1.81819706e-02 9.99832768e-01 -1.96286295e-03 -8.43409830e-02] [ 8.65504798e-03 2.12050546e-03 9.99960296e-01 -7.53252009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.701193817 meters Centerline goodness [0,1] 0.8952046686465494 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.08, Z:-0.75 [[ 0.99983405 0.01617103 -0.00838821 3.54608296] [-0.01620555 0.99986042 -0.00406397 -0.08177111] [ 0.00832132 0.00419923 0.99995656 -0.75138436] [ 0. 0. 0. 1. ]] SLAMing on 82.731193817 meters Centerline goodness [0,1] 0.8912957938989791 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.08, Z:-0.75 [[ 0.99984479 0.01543402 -0.0084965 3.54628031] [-0.01547777 0.99986717 -0.005107 -0.07915061] [ 0.00841655 0.00523772 0.99995086 -0.75125006] [ 0. 0. 0. 1. ]] SLAMing on 82.761193817 meters Centerline goodness [0,1] 0.8919822288656369 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.07, Z:-0.75 [[ 0.99982633 0.01684012 -0.00798231 3.54420246] [-0.01687655 0.99984737 -0.00451839 -0.07333397] [ 0.007905 0.00465231 0.99995793 -0.7496142 ] [ 0. 0. 0. 1. ]] SLAMing on 82.791193817 meters Centerline goodness [0,1] 0.8954757221244435 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.07, Z:-0.75 [[ 0.99982208 0.01692464 -0.00832804 3.54512328] [-0.01697098 0.99984072 -0.00552487 -0.06935225] [ 0.0082332 0.00566522 0.99995006 -0.74980046] [ 0. 0. 0. 1. ]] SLAMing on 82.82119381700001 meters Centerline goodness [0,1] 0.8973863943036267 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.07, Z:-0.75 [[ 9.99759049e-01 2.02573178e-02 -8.45485241e-03 3.54605106e+00] [-2.02802514e-02 9.99790861e-01 -2.63560765e-03 -6.67072962e-02] [ 8.39969382e-03 2.80643913e-03 9.99960784e-01 -7.50421958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85119381700001 meters Centerline goodness [0,1] 0.8981801619014099 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.06, Z:-0.75 [[ 9.99695428e-01 2.30743435e-02 -8.75362881e-03 3.54827152e+00] [-2.30795357e-02 9.99733511e-01 -4.92584810e-04 -6.27220352e-02] [ 8.73992999e-03 6.94464471e-04 9.99961565e-01 -7.52179630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.881193817 meters Centerline goodness [0,1] 0.896849508906276 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.06, Z:-0.76 [[ 9.99580113e-01 2.74758465e-02 -9.20187861e-03 3.55239797e+00] [-2.74523709e-02 9.99619553e-01 2.66786720e-03 -5.59764460e-02] [ 9.27167968e-03 -2.41413361e-03 9.99954103e-01 -7.55832477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.911193817 meters Centerline goodness [0,1] 0.8977468591008203 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.05, Z:-0.76 [[ 9.99589437e-01 2.69899501e-02 -9.61768932e-03 3.55478755e+00] [-2.69795562e-02 9.99635255e-01 1.20883779e-03 -5.21112817e-02] [ 9.64680778e-03 -9.48860501e-04 9.99953018e-01 -7.57770767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.941193817 meters Centerline goodness [0,1] 0.8977468591008203 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.05, Z:-0.76 [[ 9.99589437e-01 2.69899501e-02 -9.61768932e-03 3.55478755e+00] [-2.69795562e-02 9.99635255e-01 1.20883779e-03 -5.21112817e-02] [ 9.64680778e-03 -9.48860501e-04 9.99953018e-01 -7.57770767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.971193817 meters Centerline goodness [0,1] 0.8962311244228129 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.05, Z:-0.76 [[ 9.99591014e-01 2.67725027e-02 -1.00517903e-02 3.55652723e+00] [-2.67713141e-02 9.99641552e-01 2.52809968e-04 -4.93778942e-02] [ 1.00549556e-02 1.63930619e-05 9.99949448e-01 -7.58918308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.001193817 meters Centerline goodness [0,1] 0.8933158747973563 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.05, Z:-0.76 [[ 9.99594214e-01 2.65516975e-02 -1.03157154e-02 3.55771200e+00] [-2.65589574e-02 9.99647088e-01 -5.67390444e-04 -4.69717290e-02] [ 1.02970097e-02 8.41134851e-04 9.99946631e-01 -7.59746209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.031193817 meters Centerline goodness [0,1] 0.8937856162389252 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.04, Z:-0.76 [[ 9.99599643e-01 2.62785185e-02 -1.04877215e-02 3.55820598e+00] [-2.62952235e-02 9.99653157e-01 -1.45809783e-03 -4.43306863e-02] [ 1.04457673e-02 1.73329105e-03 9.99943939e-01 -7.59850895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.061193817 meters Centerline goodness [0,1] 0.8945633925425415 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.04, Z:-0.76 [[ 9.99494960e-01 2.99838379e-02 -1.05258527e-02 3.55806142e+00] [-2.99694748e-02 9.99549659e-01 1.51967508e-03 -4.10737219e-02] [ 1.05666782e-02 -1.20345330e-03 9.99943447e-01 -7.59154762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.091193817 meters Centerline goodness [0,1] 0.8935241026494198 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.04, Z:-0.76 [[ 9.99480128e-01 3.04169583e-02 -1.06903251e-02 3.55837799e+00] [-3.04079486e-02 9.99537067e-01 1.00436490e-03 -3.82570847e-02] [ 1.07159260e-02 -6.78771898e-04 9.99942352e-01 -7.58954977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.121193817 meters Centerline goodness [0,1] 0.8932828408244351 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.04, Z:-0.76 [[ 9.99462552e-01 3.08819326e-02 -1.09960966e-02 3.55938815e+00] [-3.08763266e-02 9.99522982e-01 6.79255083e-04 -3.60109351e-02] [ 1.10118280e-02 -3.39370948e-04 9.99939310e-01 -7.59325106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.151193817 meters Centerline goodness [0,1] 0.8932139667241343 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.03, Z:-0.76 [[ 9.99455795e-01 3.10660508e-02 -1.10912205e-02 3.55972103e+00] [-3.10632191e-02 9.99517330e-01 4.27525371e-04 -3.47602779e-02] [ 1.10991486e-02 -8.27636955e-05 9.99938399e-01 -7.59492727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18119381700001 meters Centerline goodness [0,1] 0.8936996428274774 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.03, Z:-0.76 [[ 9.99557981e-01 2.74314598e-02 -1.14611729e-02 3.56023221e+00] [-2.74734111e-02 9.99616341e-01 -3.51899525e-03 -3.40926122e-02] [ 1.13602446e-02 3.83231730e-03 9.99928127e-01 -7.59491221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21119381700001 meters Centerline goodness [0,1] 0.8915902998566174 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.03, Z:-0.76 [[ 0.9996553 0.02349598 -0.01171451 3.56063222] [-0.02358378 0.99969437 -0.00741415 -0.03423014] [ 0.01153673 0.00768787 0.9999039 -0.75958416] [ 0. 0. 0. 1. ]] SLAMing on 83.24119381700001 meters Centerline goodness [0,1] 0.8942453045080864 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.03, Z:-0.76 [[ 0.99974203 0.01932285 -0.01193702 3.56102533] [-0.01945939 0.99974531 -0.01142993 -0.0342021 ] [ 0.01171312 0.01165926 0.99986342 -0.75971015] [ 0. 0. 0. 1. ]] SLAMing on 83.271193817 meters Centerline goodness [0,1] 0.8989648636827526 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.04, Z:-0.76 [[ 9.99912126e-01 9.14773191e-03 -9.59478561e-03 3.55777344e+00] [-9.16814693e-03 9.99955796e-01 -2.08589779e-03 -3.61373104e-02] [ 9.57528025e-03 2.17368090e-03 9.99951793e-01 -7.58709491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.301193817 meters Centerline goodness [0,1] 0.8988988572261194 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.04, Z:-0.76 [[ 9.99929430e-01 7.27857796e-03 -9.38922403e-03 3.55666826e+00] [-7.30994021e-03 9.99967803e-01 -3.31025603e-03 -3.65418194e-02] [ 9.36482776e-03 3.37865709e-03 9.99950441e-01 -7.57858985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.331193817 meters Centerline goodness [0,1] 0.8959153492053573 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.04, Z:-0.76 [[ 9.99934202e-01 6.46993487e-03 -9.47271520e-03 3.55679806e+00] [-6.50317666e-03 9.99972790e-01 -3.48262811e-03 -3.78109917e-02] [ 9.44992507e-03 3.54400170e-03 9.99949068e-01 -7.57856016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.361193817 meters Centerline goodness [0,1] 0.8948318804483189 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.04, Z:-0.76 [[ 0.99993483 0.0059837 -0.00972302 3.5576298 ] [-0.00601941 0.99997523 -0.00364753 -0.03849046] [ 0.00970095 0.00370582 0.99994608 -0.75829067] [ 0. 0. 0. 1. ]] SLAMing on 83.391193817 meters Centerline goodness [0,1] 0.8762725950550592 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.03, Z:-0.76 [[ 0.99993751 0.00545896 -0.00975543 3.55775583] [-0.00550676 0.99997293 -0.00487947 -0.03429334] [ 0.00972853 0.00493288 0.99994051 -0.75825156] [ 0. 0. 0. 1. ]] SLAMing on 83.421193817 meters Centerline goodness [0,1] 0.8954064634349492 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.03, Z:-0.76 [[ 9.99911956e-01 8.86340762e-03 -9.87525439e-03 3.55813388e+00] [-8.87928644e-03 9.99959353e-01 -1.56525798e-03 -3.29420468e-02] [ 9.86097948e-03 1.65280538e-03 9.99950013e-01 -7.58351652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.451193817 meters Centerline goodness [0,1] 0.8960463034290355 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.03, Z:-0.76 [[ 9.99906581e-01 9.13535949e-03 -1.01673615e-02 3.55917903e+00] [-9.15933237e-03 9.99955376e-01 -2.31376549e-03 -2.98022282e-02] [ 1.01457707e-02 2.40667558e-03 9.99945634e-01 -7.58828073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.481193817 meters Centerline goodness [0,1] 0.8949936668120185 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.03, Z:-0.76 [[ 9.99896637e-01 9.69323569e-03 -1.06186845e-02 3.56052283e+00] [-9.72260699e-03 9.99949041e-01 -2.71787858e-03 -2.75440694e-02] [ 1.05917983e-02 2.82083895e-03 9.99939927e-01 -7.59307382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.511193817 meters Centerline goodness [0,1] 0.8931801211316684 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.02, Z:-0.76 [[ 9.99841256e-01 1.42162507e-02 -1.07406166e-02 3.56069523e+00] [-1.42107425e-02 9.99898849e-01 5.88985076e-04 -2.44948156e-02] [ 1.07479033e-02 -4.36259441e-04 9.99942144e-01 -7.58929295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.541193817 meters Centerline goodness [0,1] 0.8917631890869013 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.02, Z:-0.76 [[ 9.99833577e-01 1.46588208e-02 -1.08598923e-02 3.56053346e+00] [-1.46596170e-02 9.99892542e-01 6.28887027e-06 -2.15117926e-02] [ 1.08588175e-02 1.52914038e-04 9.99941030e-01 -7.58218249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57119381700001 meters Centerline goodness [0,1] 0.8928230062751943 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.02, Z:-0.76 [[ 9.99824682e-01 1.51728247e-02 -1.09722764e-02 3.56044554e+00] [-1.51791297e-02 9.99884670e-01 -4.91576820e-04 -1.87608591e-02] [ 1.09635523e-02 6.58040244e-04 9.99939682e-01 -7.57604336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60119381700001 meters Centerline goodness [0,1] 0.8947335786036129 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.02, Z:-0.76 [[ 0.99974497 0.02212995 -0.00450011 3.56889424] [-0.02214719 0.99974744 -0.00381653 -0.01609396] [ 0.00441451 0.00391522 0.99998259 -0.75925714] [ 0. 0. 0. 1. ]] SLAMing on 83.63119381700001 meters Centerline goodness [0,1] 0.8950921137350198 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.02, Z:-0.76 [[ 0.99972983 0.02280893 -0.00447368 3.56853089] [-0.0228251 0.99973301 -0.00359628 -0.01560102] [ 0.00439045 0.00369742 0.99998353 -0.75871242] [ 0. 0. 0. 1. ]] SLAMing on 83.661193817 meters Centerline goodness [0,1] 0.8951407180040235 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.02, Z:-0.76 [[ 9.99715139e-01 2.34137219e-02 -4.63023896e-03 3.56882877e+00] [-2.34287166e-02 9.99720353e-01 -3.21115726e-03 -1.60191089e-02] [ 4.55375898e-03 3.31872308e-03 9.99984125e-01 -7.58618646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.691193817 meters Centerline goodness [0,1] 0.8929898490855873 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.02, Z:-0.76 [[ 9.99700200e-01 2.40219334e-02 -4.73878920e-03 3.56926659e+00] [-2.40352219e-02 9.99707282e-01 -2.76744891e-03 -1.66768116e-02] [ 4.67092260e-03 2.88051708e-03 9.99984942e-01 -7.58864737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.721193817 meters Centerline goodness [0,1] 0.8968828421511086 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.02, Z:-0.76 [[ 9.99633401e-01 2.66205247e-02 -4.94079733e-03 3.57115876e+00] [-2.66233621e-02 9.99645406e-01 -5.09398219e-04 -1.92870602e-02] [ 4.92548491e-03 6.40752111e-04 9.99987664e-01 -7.60694546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.751193817 meters Centerline goodness [0,1] 0.8977044565419884 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.02, Z:-0.76 [[ 9.99614860e-01 2.72628015e-02 -5.18366277e-03 3.57205038e+00] [-2.72626877e-02 9.99628300e-01 9.26226649e-05 -2.04156933e-02] [ 5.18426115e-03 4.87335869e-05 9.99986560e-01 -7.61181642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.781193817 meters Centerline goodness [0,1] 0.9017161333112254 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.02, Z:-0.76 [[ 9.99601392e-01 2.77000916e-02 -5.45543010e-03 3.57300893e+00] [-2.76964032e-02 9.99616099e-01 7.50510266e-04 -2.22356581e-02] [ 5.47412496e-03 -5.99115315e-04 9.99984837e-01 -7.61695245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.811193817 meters Centerline goodness [0,1] 0.9009747314832061 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.02, Z:-0.76 [[ 9.99590332e-01 2.80437735e-02 -5.71976022e-03 3.57408804e+00] [-2.80354130e-02 9.99605749e-01 1.53667021e-03 -2.46872196e-02] [ 5.76059923e-03 -1.37568484e-03 9.99982461e-01 -7.62442618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.841193817 meters Centerline goodness [0,1] 0.9008930425752856 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.03, Z:-0.76 [[ 9.99673880e-01 2.48456852e-02 -5.90138145e-03 3.57482057e+00] [-2.48494335e-02 9.99691047e-01 -5.62664945e-04 -3.04751351e-02] [ 5.88557840e-03 7.09127435e-04 9.99982428e-01 -7.63305985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.871193817 meters Centerline goodness [0,1] 0.9013508746446433 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.03, Z:-0.76 [[ 9.99757011e-01 2.11313455e-02 -6.27580076e-03 3.57536544e+00] [-2.11536334e-02 9.99770088e-01 -3.50650749e-03 -3.43542204e-02] [ 6.20026065e-03 3.63841143e-03 9.99974159e-01 -7.63322733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.901193817 meters Centerline goodness [0,1] 0.9024753704776886 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.04, Z:-0.76 [[ 0.99983047 0.01713515 -0.00673975 3.57574446] [-0.01717773 0.99983252 -0.00631284 -0.03928405] [ 0.00663045 0.00642754 0.99995736 -0.76285772] [ 0. 0. 0. 1. ]] SLAMing on 83.93119381700001 meters Centerline goodness [0,1] 0.9018757521683197 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.05, Z:-0.76 [[ 9.99982018e-01 5.98636276e-03 -3.56006144e-04 3.56475288e+00] [-5.98885227e-03 9.99954241e-01 -7.45985667e-03 -5.09871274e-02] [ 3.11332446e-04 7.46185460e-03 9.99972112e-01 -7.61226913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96119381700001 meters Centerline goodness [0,1] 0.9028750155350262 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.06, Z:-0.76 [[ 9.99999922e-01 1.44997789e-04 -3.68494644e-04 3.57032881e+00] [-1.45623151e-04 9.99998548e-01 -1.69761033e-03 -5.69088508e-02] [ 3.68247959e-04 1.69766386e-03 9.99998491e-01 -7.56447857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99119381700001 meters Centerline goodness [0,1] 0.9066746892960142 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.06, Z:-0.76 [[ 9.99991144e-01 -4.19650679e-03 -3.19747277e-04 3.56969199e+00] [ 4.19486200e-03 9.99978792e-01 -4.98186107e-03 -5.97990747e-02] [ 3.40646910e-04 4.98047565e-03 9.99987539e-01 -7.55590794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.021193817 meters Centerline goodness [0,1] 0.9066050252923128 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.06, Z:-0.76 [[ 9.99987175e-01 -5.05351334e-03 -3.34905975e-04 3.56967166e+00] [ 5.05201419e-03 9.99977840e-01 -4.33541619e-03 -6.38671122e-02] [ 3.56807637e-04 4.33366864e-03 9.99990546e-01 -7.55406188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.051193817 meters Centerline goodness [0,1] 0.9088409781507741 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.07, Z:-0.76 [[ 9.99986013e-01 -5.25005552e-03 -6.41085278e-04 3.57040512e+00] [ 5.24789333e-03 9.99980688e-01 -3.32905051e-03 -6.79001944e-02] [ 6.58550597e-04 3.32563960e-03 9.99994253e-01 -7.55505365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.081193817 meters Centerline goodness [0,1] 0.9026523000414421 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.07, Z:-0.76 [[ 9.99969476e-01 -7.74910688e-03 -9.99279099e-04 3.57254993e+00] [ 7.74390408e-03 9.99956962e-01 -5.10935959e-03 -7.32005337e-02] [ 1.03882907e-03 5.10146531e-03 9.99986448e-01 -7.57343869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.111193817 meters Centerline goodness [0,1] 0.9058375739522568 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.08, Z:-0.76 [[ 9.99973299e-01 -7.21054843e-03 -1.18689396e-03 3.57383766e+00] [ 7.20538147e-03 9.99964789e-01 -4.30152705e-03 -7.52203157e-02] [ 1.21786854e-03 4.29286017e-03 9.99990044e-01 -7.58547068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.141193817 meters Centerline goodness [0,1] 0.9056243249979231 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.08, Z:-0.76 [[ 9.99992958e-01 -3.53687417e-03 -1.25512822e-03 3.57439278e+00] [ 3.53689128e-03 9.99993745e-01 1.14190935e-05 -7.75678929e-02] [ 1.25507998e-03 -1.58582652e-05 9.99999212e-01 -7.59141224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.171193817 meters Centerline goodness [0,1] 0.9043671109084502 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.08, Z:-0.76 [[ 9.99996293e-01 -1.89546433e-03 -1.95484932e-03 3.57820439e+00] [ 1.89795943e-03 9.99997386e-01 1.27529899e-03 -7.72325598e-02] [ 1.95242692e-03 -1.27900449e-03 9.99997276e-01 -7.62253719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.201193817 meters Centerline goodness [0,1] 0.8966634138238897 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.08, Z:-0.77 [[ 9.99989022e-01 3.16788736e-03 -3.45264806e-03 3.58498270e+00] [-3.14834754e-03 9.99979081e-01 5.65018979e-03 -7.60903082e-02] [ 3.47047500e-03 -5.63925762e-03 9.99978077e-01 -7.67660860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.231193817 meters Centerline goodness [0,1] 0.8985302077694965 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.07, Z:-0.77 [[ 0.99998499 0.00404153 -0.00370044 3.5854817 ] [-0.0040205 0.99997583 0.00567283 -0.07464741] [ 0.00372327 -0.00565787 0.99997706 -0.76763877] [ 0. 0. 0. 1. ]] SLAMing on 84.261193817 meters Centerline goodness [0,1] 0.8994398284084046 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.07, Z:-0.77 [[ 0.99998064 0.00489419 -0.00384179 3.58486163] [-0.004872 0.99997152 0.00576391 -0.0736874 ] [ 0.00386989 -0.00574509 0.99997601 -0.76633894] [ 0. 0. 0. 1. ]] SLAMing on 84.291193817 meters Centerline goodness [0,1] 0.9081327179743046 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.07, Z:-0.76 [[ 0.99997143 0.00664241 -0.00360932 3.58230739] [-0.00661674 0.99995307 0.00707676 -0.07378002] [ 0.00365616 -0.00705267 0.99996845 -0.76349059] [ 0. 0. 0. 1. ]] SLAMing on 84.32119381700001 meters Centerline goodness [0,1] 0.9121433721289525 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.08, Z:-0.76 [[ 0.99995118 0.00908799 0.00387987 3.59085711] [-0.00912258 0.99991795 0.00899321 -0.07586553] [-0.00379782 -0.00902817 0.99995203 -0.75753968] [ 0. 0. 0. 1. ]] SLAMing on 84.35119381700001 meters Centerline goodness [0,1] 0.9178011230600278 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.08, Z:-0.75 [[ 0.99996173 0.00770338 0.00414589 3.58816646] [-0.0077352 0.99994033 0.00771334 -0.07626995] [-0.00408623 -0.00774511 0.99996166 -0.75476654] [ 0. 0. 0. 1. ]] SLAMing on 84.38119381700001 meters Centerline goodness [0,1] 0.9180771694876723 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.08, Z:-0.75 [[ 0.99998367 0.00393747 0.004143 3.58751059] [-0.00395269 0.99998544 0.00367252 -0.07595613] [-0.00412848 -0.00368883 0.99998467 -0.75385966] [ 0. 0. 0. 1. ]] SLAMing on 84.411193817 meters Centerline goodness [0,1] 0.9160603555188094 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.08, Z:-0.75 [[ 9.99991455e-01 2.58699874e-04 4.12582704e-03 3.58716973e+00] [-2.59156072e-04 9.99999960e-01 1.10036834e-04 -7.65751214e-02] [-4.12579841e-03 -1.11105127e-04 9.99991483e-01 -7.53300577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.441193817 meters Centerline goodness [0,1] 0.9162839766662529 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.08, Z:-0.75 [[ 0.99995685 -0.00817141 0.00441922 3.58627105] [ 0.00820451 0.99993802 -0.00752636 -0.0788258 ] [-0.00435745 0.0075623 0.99996191 -0.75274562] [ 0. 0. 0. 1. ]] SLAMing on 84.471193817 meters Centerline goodness [0,1] 0.9179866244280183 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.08, Z:-0.75 [[ 0.99994867 -0.00908436 0.00448607 3.58632636] [ 0.00911667 0.99993226 -0.00723573 -0.08156617] [-0.00442003 0.00727626 0.99996376 -0.75287778] [ 0. 0. 0. 1. ]] SLAMing on 84.501193817 meters Centerline goodness [0,1] 0.9074725729662596 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.08, Z:-0.75 [[ 0.99988724 -0.01437284 0.00434978 3.58807568] [ 0.01442398 0.99982441 -0.01196252 -0.0812382 ] [-0.00417708 0.01202391 0.99991899 -0.75474117] [ 0. 0. 0. 1. ]] SLAMing on 84.531193817 meters Centerline goodness [0,1] 0.8905810296308558 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.08, Z:-0.76 [[ 9.99871639e-01 -1.55896141e-02 3.69722858e-03 3.59153728e+00] [ 1.56363459e-02 9.99793661e-01 -1.29668594e-02 -8.05346403e-02] [-3.49431737e-03 1.30230061e-02 9.99909091e-01 -7.57501306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.561193817 meters Centerline goodness [0,1] 0.8785066092073095 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.08, Z:-0.76 [[ 9.99871580e-01 -1.57408669e-02 3.00795282e-03 3.59570622e+00] [ 1.57791998e-02 9.99788682e-01 -1.31760377e-02 -7.92708365e-02] [-2.79991493e-03 1.32218088e-02 9.99908668e-01 -7.61031885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.591193817 meters Centerline goodness [0,1] 0.8583594057559621 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.08, Z:-0.76 [[ 9.99885344e-01 -1.49355695e-02 2.49545264e-03 3.59884510e+00] [ 1.49658938e-02 9.99808481e-01 -1.26104741e-02 -7.76158951e-02] [-2.30663010e-03 1.26463749e-02 9.99917371e-01 -7.63719499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.621193817 meters Centerline goodness [0,1] 0.8656806082074866 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.08, Z:-0.76 [[ 9.99931749e-01 -1.14537144e-02 2.30417609e-03 3.59970480e+00] [ 1.14742690e-02 9.99892628e-01 -9.11444117e-03 -7.66000304e-02] [-2.19953448e-03 9.14025783e-03 9.99955808e-01 -7.64404928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.651193817 meters Centerline goodness [0,1] 0.8942899157053207 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.07, Z:-0.76 [[ 9.99987686e-01 -4.46322078e-03 2.16976351e-03 3.59898414e+00] [ 4.47030011e-03 9.99984665e-01 -3.26889010e-03 -7.05254864e-02] [-2.15514046e-03 3.27854934e-03 9.99992303e-01 -7.63070223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68119381700001 meters Centerline goodness [0,1] 0.9112863070539419 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.07, Z:-0.76 [[ 9.99997061e-01 -1.16658328e-03 2.12533761e-03 3.59781691e+00] [ 1.16829051e-03 9.99998996e-01 -8.02211962e-04 -6.65374051e-02] [-2.12439963e-03 8.04692617e-04 9.99997420e-01 -7.61340877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71119381700001 meters Centerline goodness [0,1] 0.916792114325779 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.06, Z:-0.76 [[ 9.99995641e-01 2.23236831e-03 1.93268137e-03 3.59741668e+00] [-2.23601466e-03 9.99995721e-01 1.88657578e-03 -6.31854309e-02] [-1.92846156e-03 -1.89088906e-03 9.99996353e-01 -7.60160885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74119381700001 meters Centerline goodness [0,1] 0.9168707200664038 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.06, Z:-0.76 [[ 9.99986800e-01 4.70788848e-03 2.05786053e-03 3.59565079e+00] [-4.71587436e-03 9.99981302e-01 3.89319965e-03 -5.99701593e-02] [-2.03949330e-03 -3.90285287e-03 9.99990304e-01 -7.58141936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.771193817 meters Centerline goodness [0,1] 0.919235626591582 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.06, Z:-0.76 [[ 9.99989006e-01 4.29403782e-03 1.88405170e-03 3.59575217e+00] [-4.29885343e-03 9.99987485e-01 2.55942435e-03 -5.60749045e-02] [-1.87303785e-03 -2.56749548e-03 9.99994950e-01 -7.57734307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.801193817 meters Centerline goodness [0,1] 0.9199166786973828 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.05, Z:-0.76 [[ 9.99991378e-01 3.69008546e-03 1.90426566e-03 3.59592965e+00] [-3.69151192e-03 9.99992908e-01 7.46113444e-04 -5.01607391e-02] [-1.90149894e-03 -7.53136631e-04 9.99997909e-01 -7.57894865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.831193817 meters Centerline goodness [0,1] 0.9199166786973828 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.05, Z:-0.76 [[ 9.99991378e-01 3.69008546e-03 1.90426566e-03 3.59592965e+00] [-3.69151192e-03 9.99992908e-01 7.46113444e-04 -5.01607391e-02] [-1.90149894e-03 -7.53136631e-04 9.99997909e-01 -7.57894865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.861193817 meters Centerline goodness [0,1] 0.9209256280163346 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.05, Z:-0.76 [[ 9.99992312e-01 3.45368440e-03 1.85710055e-03 3.59628620e+00] [-3.45369962e-03 9.99994036e-01 4.98627453e-06 -4.82172702e-02] [-1.85707225e-03 -1.14001036e-05 9.99998276e-01 -7.58207812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.891193817 meters Centerline goodness [0,1] 0.9206748618100817 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.05, Z:-0.76 [[ 9.99993257e-01 3.34586767e-03 1.51335324e-03 3.59818999e+00] [-3.34508949e-03 9.99994272e-01 -5.16447741e-04 -4.67806354e-02] [-1.51507254e-03 5.11381957e-04 9.99998722e-01 -7.59832104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.921193817 meters Centerline goodness [0,1] 0.9202412176534974 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.05, Z:-0.76 [[ 9.99992631e-01 3.63905106e-03 1.22310188e-03 3.60017969e+00] [-3.63808646e-03 9.99993070e-01 -7.89951356e-04 -4.51029358e-02] [-1.22596808e-03 7.85495784e-04 9.99998940e-01 -7.61686443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.951193817 meters Centerline goodness [0,1] 0.917343892528402 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.04, Z:-0.77 [[ 9.99972787e-01 7.37740482e-03 -6.03367436e-06 3.60644321e+00] [-7.37736932e-03 9.99969929e-01 2.39050835e-03 -4.16310590e-02] [ 2.36692407e-05 -2.39039878e-03 9.99997143e-01 -7.66820797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.981193817 meters Centerline goodness [0,1] 0.9146103356596876 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.04, Z:-0.77 [[ 9.99974128e-01 7.17470338e-03 -5.15889586e-04 3.60878870e+00] [-7.17389463e-03 9.99973062e-01 1.55281488e-03 -3.87842852e-02] [ 5.27016674e-04 -1.54907377e-03 9.99998661e-01 -7.68548902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.011193817 meters Centerline goodness [0,1] 0.9090514120202752 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.04, Z:-0.77 [[ 9.99978111e-01 6.50555819e-03 -1.20639325e-03 3.61191282e+00] [-6.50500537e-03 9.99978736e-01 4.61605748e-04 -3.68024068e-02] [ 1.20937060e-03 -4.53748049e-04 9.99999166e-01 -7.70718125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.041193817 meters Centerline goodness [0,1] 0.9075527321043017 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.04, Z:-0.77 [[ 9.99978938e-01 6.31478536e-03 -1.49929820e-03 3.61245009e+00] [-6.31478773e-03 9.99980062e-01 3.15381864e-06 -3.61542360e-02] [ 1.49928822e-03 6.31399765e-06 9.99998876e-01 -7.70652666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07119381700001 meters Centerline goodness [0,1] 0.910137485506046 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.04, Z:-0.77 [[ 9.99980580e-01 5.99461162e-03 -1.70404665e-03 3.61234419e+00] [-5.99553271e-03 9.99981883e-01 -5.35936339e-04 -3.51129913e-02] [ 1.70080305e-03 5.46142599e-04 9.99998404e-01 -7.69867568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10119381700001 meters Centerline goodness [0,1] 0.9089462152217951 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.03, Z:-0.77 [[ 9.99983119e-01 5.51861779e-03 -1.81816537e-03 3.61168403e+00] [-5.52087560e-03 9.99983992e-01 -1.23913656e-03 -3.35937443e-02] [ 1.81129794e-03 1.24915351e-03 9.99997579e-01 -7.68544813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13119381700001 meters Centerline goodness [0,1] 0.9086496577473553 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.03, Z:-0.77 [[ 9.99988864e-01 4.43732879e-03 -1.60709196e-03 3.60970034e+00] [-4.44131607e-03 9.99987047e-01 -2.48603827e-03 -3.17074923e-02] [ 1.59603977e-03 2.49314819e-03 9.99995618e-01 -7.66408739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.161193817 meters Centerline goodness [0,1] 0.9167945898850766 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.03, Z:-0.76 [[ 9.99996105e-01 2.50153650e-03 -1.23775452e-03 3.60666781e+00] [-2.50724338e-03 9.99986135e-01 -4.63080262e-03 -2.83691620e-02] [ 1.22615324e-03 4.63388794e-03 9.99988512e-01 -7.63268234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.191193817 meters Centerline goodness [0,1] 0.9161232896561717 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.03, Z:-0.76 [[ 9.99996874e-01 2.16004358e-03 -1.25939931e-03 3.60606916e+00] [-2.16663172e-03 9.99983853e-01 -5.25349618e-03 -2.67064321e-02] [ 1.24803120e-03 5.25620841e-03 9.99985407e-01 -7.62286484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.221193817 meters Centerline goodness [0,1] 0.9175285509979895 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.03, Z:-0.76 [[ 9.99997305e-01 1.92934718e-03 -1.29109801e-03 3.60536868e+00] [-1.93668902e-03 9.99981825e-01 -5.70962604e-03 -2.55382611e-02] [ 1.28005869e-03 5.71211111e-03 9.99982866e-01 -7.61188410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.251193817 meters Centerline goodness [0,1] 0.9177613968620022 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.02, Z:-0.76 [[ 9.99997620e-01 1.65037224e-03 -1.42699962e-03 3.60562929e+00] [-1.65904356e-03 9.99980037e-01 -6.09693679e-03 -2.49996897e-02] [ 1.41690892e-03 6.09928973e-03 9.99980395e-01 -7.61145662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.281193817 meters Centerline goodness [0,1] 0.9184044641934483 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.02, Z:-0.76 [[ 9.99998531e-01 1.04513895e-03 -1.35870752e-03 3.60606745e+00] [-1.05487396e-03 9.99973638e-01 -7.18403789e-03 -2.20689878e-02] [ 1.35116338e-03 7.18546060e-03 9.99973271e-01 -7.61875861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.311193817 meters Centerline goodness [0,1] 0.9163935439985158 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.02, Z:-0.76 [[ 9.99996222e-01 2.03795162e-03 -1.84442129e-03 3.60895556e+00] [-2.04961570e-03 9.99977774e-01 -6.34433898e-03 -2.05706686e-02] [ 1.83145084e-03 6.34809537e-03 9.99978173e-01 -7.64181353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.341193817 meters Centerline goodness [0,1] 0.9128347336616862 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.02, Z:-0.77 [[ 9.99995255e-01 2.16567831e-03 -2.19069020e-03 3.61068099e+00] [-2.17996607e-03 9.99976232e-01 -6.54080953e-03 -1.91199597e-02] [ 2.17647284e-03 6.54555412e-03 9.99976209e-01 -7.65505213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.371193817 meters Centerline goodness [0,1] 0.9074154784882635 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.02, Z:-0.77 [[ 9.99994459e-01 2.05036343e-03 -2.62262137e-03 3.61261882e+00] [-2.06761610e-03 9.99976130e-01 -6.59270014e-03 -1.91714047e-02] [ 2.60904134e-03 6.59808619e-03 9.99974829e-01 -7.67075800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.401193817 meters Centerline goodness [0,1] 0.9060337325432017 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.02, Z:-0.77 [[ 9.99993392e-01 2.15989132e-03 -2.92421708e-03 3.61352130e+00] [-2.17846640e-03 9.99977377e-01 -6.36394125e-03 -1.97928904e-02] [ 2.91040551e-03 6.37026950e-03 9.99975474e-01 -7.67455838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43119381700001 meters Centerline goodness [0,1] 0.905550712002325 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.02, Z:-0.77 [[ 9.99992648e-01 2.33010326e-03 -3.04549819e-03 3.61404420e+00] [-2.34899944e-03 9.99977922e-01 -6.21584714e-03 -1.95715272e-02] [ 3.03094739e-03 6.22295531e-03 9.99976044e-01 -7.67811021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46119381700001 meters Centerline goodness [0,1] 0.8992288237489117 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.02, Z:-0.77 [[ 9.99990595e-01 2.81549599e-03 -3.29904111e-03 3.61580950e+00] [-2.83427704e-03 9.99979726e-01 -5.70210205e-03 -1.81008696e-02] [ 3.28291998e-03 5.71139881e-03 9.99978301e-01 -7.69327567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49119381700001 meters Centerline goodness [0,1] 0.8993651979088872 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.02, Z:-0.77 [[ 9.99989769e-01 2.95759206e-03 -3.42269840e-03 3.61625399e+00] [-2.97639146e-03 9.99980442e-01 -5.50056983e-03 -1.80408022e-02] [ 3.40636302e-03 5.51070084e-03 9.99979014e-01 -7.69508019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.521193817 meters Centerline goodness [0,1] 0.9033715315912717 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.02, Z:-0.77 [[ 9.99988117e-01 3.35217626e-03 -3.53968213e-03 3.61661350e+00] [-3.36991092e-03 9.99981740e-01 -5.01621977e-03 -1.89270796e-02] [ 3.52280224e-03 5.02808857e-03 9.99981154e-01 -7.69644308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.551193817 meters Centerline goodness [0,1] 0.8993405861918332 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.02, Z:-0.77 [[ 9.99987553e-01 3.53856400e-03 -3.51735769e-03 3.61646235e+00] [-3.55568584e-03 9.99981803e-01 -4.87353898e-03 -1.93942790e-02] [ 3.50004835e-03 4.88598494e-03 9.99981938e-01 -7.69485089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.581193817 meters Centerline goodness [0,1] 0.9044372137365029 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.02, Z:-0.77 [[ 9.99965432e-01 7.49534856e-03 -3.59925501e-03 3.61679896e+00] [-7.49873452e-03 9.99971453e-01 -9.28168728e-04 -1.95436176e-02] [ 3.59219531e-03 9.55126501e-04 9.99993092e-01 -7.69645225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.611193817 meters Centerline goodness [0,1] 0.9058044700852927 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.02, Z:-0.77 [[ 9.99958368e-01 8.32090077e-03 -3.74510257e-03 3.61719836e+00] [-8.32543311e-03 9.99964627e-01 -1.19624531e-03 -1.67708869e-02] [ 3.73501625e-03 1.22737511e-03 9.99992272e-01 -7.69585845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.641193817 meters Centerline goodness [0,1] 0.9092907051481413 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.02, Z:-0.77 [[ 9.99910378e-01 1.27719760e-02 -4.01396988e-03 3.61796456e+00] [-1.27605713e-02 9.99914507e-01 2.85413181e-03 -1.61232177e-02] [ 4.05007962e-03 -2.80265547e-03 9.99987871e-01 -7.69738298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.671193817 meters Centerline goodness [0,1] 0.9150292859219873 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.02, Z:-0.77 [[ 0.99984117 0.01729945 -0.00428509 3.61886173] [-0.01726931 0.99982655 0.00697372 -0.01579948] [ 0.00440498 -0.00689861 0.9999665 -0.7699783 ] [ 0. 0. 0. 1. ]] SLAMing on 85.701193817 meters Centerline goodness [0,1] 0.9220493216712027 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.01, Z:-0.77 [[ 0.99973233 0.02270642 -0.00443592 3.61884957] [-0.02265442 0.99967789 0.01144065 -0.01488985] [ 0.00469427 -0.0113371 0.99992471 -0.76913119] [ 0. 0. 0. 1. ]] SLAMing on 85.731193817 meters Centerline goodness [0,1] 0.9285506704861544 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.02, Z:-0.77 [[ 0.99972043 0.02321555 -0.00448267 3.61810407] [-0.02316149 0.9996626 0.01175726 -0.01511509] [ 0.00475411 -0.01165015 0.99992083 -0.76789922] [ 0. 0. 0. 1. ]] SLAMing on 85.761193817 meters Centerline goodness [0,1] 0.9323184914437614 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.02, Z:-0.77 [[ 0.99978363 0.02028958 -0.00458465 3.61701582] [-0.02025125 0.99976082 0.00825759 -0.01521066] [ 0.00475109 -0.00816296 0.9999554 -0.76622328] [ 0. 0. 0. 1. ]] SLAMing on 85.791193817 meters Centerline goodness [0,1] 0.9322104129115131 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.02, Z:-0.76 [[ 0.99984638 0.01687957 -0.00472134 3.61603008] [-0.01685709 0.99984658 0.00475972 -0.0167724 ] [ 0.00480095 -0.0046794 0.99997753 -0.7646538 ] [ 0. 0. 0. 1. ]] SLAMing on 85.82119381700001 meters Centerline goodness [0,1] 0.9344520406049306 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.02, Z:-0.76 [[ 9.99932701e-01 1.07712763e-02 -4.30953918e-03 3.61329737e+00] [-1.07748437e-02 9.99941625e-01 -8.05420780e-04 -2.22188586e-02] [ 4.30061220e-03 8.51801187e-04 9.99990390e-01 -7.62291199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85119381700001 meters Centerline goodness [0,1] 0.9328075513879401 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.02, Z:-0.76 [[ 0.99996245 0.0074899 -0.00435993 3.61293823] [-0.00750616 0.9999649 -0.00372284 -0.0247132 ] [ 0.00433189 0.00375542 0.99998357 -0.76170809] [ 0. 0. 0. 1. ]] SLAMing on 85.88119381700001 meters Centerline goodness [0,1] 0.93250201625411 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.03, Z:-0.76 [[ 9.99963375e-01 7.28142589e-03 -4.49765081e-03 3.61293822e+00] [-7.29497615e-03 9.99968880e-01 -3.00371963e-03 -2.87844638e-02] [ 4.47563948e-03 3.03641987e-03 9.99985374e-01 -7.61351031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.911193817 meters Centerline goodness [0,1] 0.9317047924645482 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.03, Z:-0.76 [[ 9.99960947e-01 7.57495313e-03 -4.55248615e-03 3.61306219e+00] [-7.58306797e-03 9.99969685e-01 -1.76789681e-03 -3.34720327e-02] [ 4.53895640e-03 1.80234958e-03 9.99988075e-01 -7.61382189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.941193817 meters Centerline goodness [0,1] 0.9317665992654645 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.04, Z:-0.76 [[ 9.99964193e-01 6.82207400e-03 -5.00713000e-03 3.61529914e+00] [-6.83308633e-03 9.99974266e-01 -2.18552784e-03 -3.75413518e-02] [ 4.99209132e-03 2.21966373e-03 9.99985076e-01 -7.62976323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.971193817 meters Centerline goodness [0,1] 0.9360526479170547 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.05, Z:-0.76 [[ 9.99966978e-01 6.27636257e-03 -5.16233124e-03 3.61613912e+00] [-6.28689114e-03 9.99978185e-01 -2.02580714e-03 -4.60910559e-02] [ 5.14950393e-03 2.05819526e-03 9.99984623e-01 -7.63769386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.001193817 meters Centerline goodness [0,1] 0.9348769001982815 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.05, Z:-0.77 [[ 9.99966871e-01 5.77500824e-03 -5.73635189e-03 3.61897917e+00] [-5.78668475e-03 9.99981215e-01 -2.02102182e-03 -4.98038415e-02] [ 5.72457271e-03 2.05414932e-03 9.99981505e-01 -7.65845259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.031193817 meters Centerline goodness [0,1] 0.9327999012670726 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.05, Z:-0.77 [[ 9.99962833e-01 5.48404504e-03 -6.65267061e-03 3.62305263e+00] [-5.49389215e-03 9.99983839e-01 -1.46280403e-03 -5.44545248e-02] [ 6.64454101e-03 1.49929872e-03 9.99976801e-01 -7.68601212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.061193817 meters Centerline goodness [0,1] 0.927475766444569 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.06, Z:-0.77 [[ 9.99967379e-01 3.80605763e-03 -7.12423214e-03 3.62517666e+00] [-3.81566828e-03 9.99991828e-01 -1.33590208e-03 -6.48433717e-02] [ 7.11908940e-03 1.36304220e-03 9.99973730e-01 -7.70234155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.091193817 meters Centerline goodness [0,1] 0.9274421872739672 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.07, Z:-0.77 [[ 9.99962885e-01 3.58057390e-03 -7.83638969e-03 3.62852329e+00] [-3.58748580e-03 9.99993188e-01 -8.68148288e-04 -7.05729433e-02] [ 7.83322784e-03 8.96229003e-04 9.99968918e-01 -7.72473619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.121193817 meters Centerline goodness [0,1] 0.9253626772172766 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.08, Z:-0.77 [[ 9.99959782e-01 3.18601352e-03 -8.38358698e-03 3.63122275e+00] [-3.19179674e-03 9.99994677e-01 -6.76537752e-04 -7.64140972e-02] [ 8.38138689e-03 7.03269248e-04 9.99964628e-01 -7.74334305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.151193817 meters Centerline goodness [0,1] 0.9244170408226604 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.08, Z:-0.77 [[ 9.99956778e-01 3.49092091e-03 -8.61716885e-03 3.63201689e+00] [-3.48876372e-03 9.99993879e-01 2.65355289e-04 -8.30900760e-02] [ 8.61804244e-03 -2.35280554e-04 9.99962836e-01 -7.74736601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18119381700001 meters Centerline goodness [0,1] 0.9290076018776222 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.09, Z:-0.78 [[ 9.99960295e-01 1.79447278e-03 -8.72859733e-03 3.63261144e+00] [-1.80280889e-03 9.99997926e-01 -9.47259719e-04 -8.81705850e-02] [ 8.72687939e-03 9.62958101e-04 9.99961456e-01 -7.75175865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21119381700001 meters Centerline goodness [0,1] 0.9280799204112088 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.10, Z:-0.78 [[ 9.99961042e-01 1.03910625e-03 -8.76548825e-03 3.63264741e+00] [-1.03591486e-03 9.99999396e-01 3.68617487e-04 -1.00597731e-01] [ 8.76586598e-03 -3.59522827e-04 9.99961514e-01 -7.75007693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24119381700001 meters Centerline goodness [0,1] 0.929152317331231 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.11, Z:-0.77 [[ 9.99960543e-01 -1.21399421e-03 -8.79995158e-03 3.63178431e+00] [ 1.20629487e-03 9.99998885e-01 -8.80184817e-04 -1.06672659e-01] [ 8.80101031e-03 8.69534751e-04 9.99960892e-01 -7.73813394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.271193817 meters Centerline goodness [0,1] 0.9288025889967637 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.11, Z:-0.77 [[ 9.99953930e-01 -3.78008580e-03 -8.82325122e-03 3.63106910e+00] [ 3.76088604e-03 9.99990526e-01 -2.19161980e-03 -1.13428768e-01] [ 8.83145214e-03 2.15833559e-03 9.99958673e-01 -7.72728617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.301193817 meters Centerline goodness [0,1] 0.9244574634870864 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.13, Z:-0.78 [[ 9.99931416e-01 -1.15151157e-02 -2.13664444e-03 3.64104760e+00] [ 1.15156407e-02 9.99933666e-01 2.33573275e-04 -1.29107880e-01] [ 2.13381309e-03 -2.58162085e-04 9.99997690e-01 -7.75466147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.331193817 meters Centerline goodness [0,1] 0.91562732303626 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.14, Z:-0.78 [[ 9.99879957e-01 -1.53152977e-02 -2.34781860e-03 3.64190813e+00] [ 1.53108157e-02 9.99880948e-01 -1.91523643e-03 -1.35610489e-01] [ 2.37687150e-03 1.87905950e-03 9.99995410e-01 -7.75684187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.361193817 meters Centerline goodness [0,1] 0.9048222296062469 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.14, Z:-0.78 [[ 9.99810415e-01 -1.93009908e-02 -2.57031094e-03 3.64302209e+00] [ 1.92894848e-02 9.99804133e-01 -4.42848181e-03 -1.41355558e-01] [ 2.65528159e-03 4.37806226e-03 9.99986891e-01 -7.76250732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.391193817 meters Centerline goodness [0,1] 0.8975130781366769 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.15, Z:-0.78 [[ 9.99733668e-01 -2.28802043e-02 -3.01468741e-03 3.64547753e+00] [ 2.28593520e-02 9.99715709e-01 -6.77876045e-03 -1.46575663e-01] [ 3.16892978e-03 6.70804125e-03 9.99972480e-01 -7.77951385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.421193817 meters Centerline goodness [0,1] 0.8769389865563599 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.15, Z:-0.78 [[ 0.99961212 -0.02759494 -0.00375999 3.65007316] [ 0.02755645 0.99957093 -0.00992938 -0.15211706] [ 0.00403237 0.00982192 0.99994363 -0.78155708] [ 0. 0. 0. 1. ]] SLAMing on 86.451193817 meters Centerline goodness [0,1] 0.8719340986043439 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.15, Z:-0.78 [[ 0.99961508 -0.02743272 -0.00413915 3.65144947] [ 0.02739192 0.99957857 -0.00961086 -0.15277499] [ 0.00440106 0.00949379 0.99994525 -0.78228868] [ 0. 0. 0. 1. ]] SLAMing on 86.481193817 meters Centerline goodness [0,1] 0.8744251563988896 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.15, Z:-0.78 [[ 0.99971629 -0.0233856 -0.00452151 3.65210015] [ 0.02336223 0.99971379 -0.00515283 -0.154425 ] [ 0.00464072 0.00504574 0.9999765 -0.782286 ] [ 0. 0. 0. 1. ]] SLAMing on 86.511193817 meters Centerline goodness [0,1] 0.8815669539277428 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.16, Z:-0.78 [[ 9.99805862e-01 -1.90741267e-02 -4.94117806e-03 3.65273351e+00] [ 1.90708288e-02 9.99817880e-01 -7.13680232e-04 -1.55482619e-01] [ 4.95389100e-03 6.19309319e-04 9.99987538e-01 -7.82132696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.541193817 meters Centerline goodness [0,1] 0.8920864802058261 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.15, Z:-0.78 [[ 9.99883355e-01 -1.42470794e-02 -5.50431693e-03 3.65271883e+00] [ 1.42660885e-02 9.99892352e-01 3.42980728e-03 -1.54803071e-01] [ 5.45485966e-03 -3.50793228e-03 9.99978969e-01 -7.80871426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57119381700001 meters Centerline goodness [0,1] 0.8946854077431696 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.15, Z:-0.78 [[ 9.99891081e-01 -1.36248160e-02 -5.67358951e-03 3.65272283e+00] [ 1.36447110e-02 9.99900841e-01 3.48277748e-03 -1.53701804e-01] [ 5.62557473e-03 -3.55981263e-03 9.99977840e-01 -7.80427312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60119381700001 meters Centerline goodness [0,1] 0.89972359041503 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.15, Z:-0.78 [[ 9.99896764e-01 -1.30429154e-02 -6.02859822e-03 3.65331784e+00] [ 1.30646497e-02 9.99908245e-01 3.57999525e-03 -1.52712400e-01] [ 5.98135149e-03 -3.65838719e-03 9.99975420e-01 -7.80292764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63119381700001 meters Centerline goodness [0,1] 0.9033164699269253 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.15, Z:-0.78 [[ 9.99900863e-01 -1.26160242e-02 -6.25305115e-03 3.65351491e+00] [ 1.26381094e-02 9.99913993e-01 3.50507363e-03 -1.51324807e-01] [ 6.20829324e-03 -3.58375289e-03 9.99974307e-01 -7.79966529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.661193817 meters Centerline goodness [0,1] 0.9049345376201525 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.15, Z:-0.78 [[ 9.99968564e-01 -6.97538491e-03 -3.77023552e-03 3.66003026e+00] [ 6.96599917e-03 9.99972620e-01 -2.49685639e-03 -1.50755681e-01] [ 3.78754882e-03 2.47051444e-03 9.99989775e-01 -7.77935636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.691193817 meters Centerline goodness [0,1] 0.9103399609812793 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.15, Z:-0.78 [[ 9.99970263e-01 -6.67841218e-03 -3.85645067e-03 3.65965779e+00] [ 6.67145750e-03 9.99976101e-01 -1.81344428e-03 -1.52602964e-01] [ 3.86846943e-03 1.78766221e-03 9.99990920e-01 -7.77147959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.721193817 meters Centerline goodness [0,1] 0.9075400958133722 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.16, Z:-0.78 [[ 9.99969316e-01 -6.81541850e-03 -3.86221878e-03 3.65925914e+00] [ 6.81134744e-03 9.99976234e-01 -1.06624776e-03 -1.55417647e-01] [ 3.86939391e-03 1.03990813e-03 9.99991973e-01 -7.76416077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.751193817 meters Centerline goodness [0,1] 0.9075400958133722 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.16, Z:-0.78 [[ 9.99969316e-01 -6.81541850e-03 -3.86221878e-03 3.65925914e+00] [ 6.81134744e-03 9.99976234e-01 -1.06624776e-03 -1.55417647e-01] [ 3.86939391e-03 1.03990813e-03 9.99991973e-01 -7.76416077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.781193817 meters Centerline goodness [0,1] 0.8898153539050154 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.16, Z:-0.78 [[ 0.99991577 -0.01237645 -0.00390841 3.65977765] [ 0.01235799 0.99991253 -0.00471375 -0.15873328] [ 0.0039664 0.00466505 0.99998125 -0.77662173] [ 0. 0. 0. 1. ]] SLAMing on 86.811193817 meters Centerline goodness [0,1] 0.8765839877020234 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.16, Z:-0.78 [[ 0.99984853 -0.01688854 -0.00420727 3.66138661] [ 0.01685148 0.99982022 -0.00869212 -0.15944084] [ 0.00435331 0.00861991 0.99995337 -0.77769703] [ 0. 0. 0. 1. ]] SLAMing on 86.841193817 meters Centerline goodness [0,1] 0.843931354667551 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.16, Z:-0.78 [[ 0.99976137 -0.02136551 -0.00455189 3.66293872] [ 0.02130554 0.99969057 -0.01283868 -0.1594785 ] [ 0.00482478 0.01273863 0.99990722 -0.77854369] [ 0. 0. 0. 1. ]] SLAMing on 86.871193817 meters Centerline goodness [0,1] 0.7858860103626943 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.16, Z:-0.78 [[ 0.99974074 -0.02227545 -0.00471851 3.66348306] [ 0.02221272 0.99966934 -0.0129538 -0.16079295] [ 0.0050055 0.01284563 0.99990496 -0.77857153] [ 0. 0. 0. 1. ]] SLAMing on 86.901193817 meters Centerline goodness [0,1] 0.8198321701561981 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.16, Z:-0.78 [[ 0.99971656 -0.02335708 -0.00461014 3.66273878] [ 0.02329115 0.9996325 -0.01387069 -0.15919184] [ 0.00493242 0.01375939 0.99989317 -0.77759153] [ 0. 0. 0. 1. ]] SLAMing on 86.93119381700001 meters Centerline goodness [0,1] 0.7787706246623166 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.16, Z:-0.78 [[ 0.99978618 -0.02010537 -0.00483382 3.66300502] [ 0.0200536 0.99974346 -0.01052972 -0.15820273] [ 0.00504428 0.01043053 0.99993288 -0.77737489] [ 0. 0. 0. 1. ]] SLAMing on 86.96119381700001 meters Centerline goodness [0,1] 0.7872729160178553 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.16, Z:-0.78 [[ 0.99985138 -0.01645836 -0.00513183 3.66353694] [ 0.01642087 0.99983878 -0.00726392 -0.15591194] [ 0.00525056 0.00717857 0.99996045 -0.77739324] [ 0. 0. 0. 1. ]] SLAMing on 86.99119381700001 meters Centerline goodness [0,1] 0.8486270779918947 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.15, Z:-0.78 [[ 0.99990307 -0.0127802 -0.00552407 3.66440536] [ 0.01275636 0.99990926 -0.00432943 -0.15232655] [ 0.0055789 0.00425855 0.99997537 -0.77756097] [ 0. 0. 0. 1. ]] SLAMing on 87.021193817 meters Centerline goodness [0,1] 0.8808599023782324 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.14, Z:-0.78 [[ 9.99970126e-01 -5.45051773e-03 -5.48077816e-03 3.66425383e+00] [ 5.45485032e-03 9.99984821e-01 7.75868730e-04 -1.42198256e-01] [ 5.47646608e-03 -8.05742377e-04 9.99984679e-01 -7.77665224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.051193817 meters Centerline goodness [0,1] 0.8939195509822264 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.14, Z:-0.78 [[ 9.99981327e-01 -1.82448485e-03 -5.83234109e-03 3.66519181e+00] [ 1.84254204e-03 9.99993522e-01 3.09217190e-03 -1.36936707e-01] [ 5.82666168e-03 -3.10286050e-03 9.99978211e-01 -7.78021080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.081193817 meters Centerline goodness [0,1] 0.8966267006274461 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.13, Z:-0.78 [[ 9.99979577e-01 1.93823153e-03 -6.09003974e-03 3.66611801e+00] [-1.90328800e-03 9.99981724e-01 5.73838336e-03 -1.32672970e-01] [ 6.10105075e-03 -5.72667506e-03 9.99964991e-01 -7.78511402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.111193817 meters Centerline goodness [0,1] 0.9011840465309514 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.13, Z:-0.78 [[ 0.99996343 0.00582953 -0.00625772 3.66646858] [-0.0057753 0.99994591 0.00865007 -0.12917613] [ 0.0063078 -0.00861361 0.99994301 -0.77846845] [ 0. 0. 0. 1. ]] SLAMing on 87.141193817 meters Centerline goodness [0,1] 0.9058420670333092 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.12, Z:-0.78 [[ 0.99988345 0.01386783 -0.00638505 3.66659268] [-0.01377153 0.99979435 0.01488616 -0.12294686] [ 0.00659017 -0.01479649 0.99986881 -0.77807421] [ 0. 0. 0. 1. ]] SLAMing on 87.171193817 meters Centerline goodness [0,1] 0.9074435808985495 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.12, Z:-0.78 [[ 0.99987424 0.01440985 -0.00662347 3.66704886] [-0.01431483 0.99979705 0.01417555 -0.11909917] [ 0.00682639 -0.01407895 0.99987758 -0.77804546] [ 0. 0. 0. 1. ]] SLAMing on 87.201193817 meters Centerline goodness [0,1] 0.9079250451347818 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.12, Z:-0.78 [[ 0.99986514 0.01494352 -0.00681125 3.66753334] [-0.01484855 0.9997947 0.01378683 -0.11679792] [ 0.00701587 -0.01368383 0.99988176 -0.77816185] [ 0. 0. 0. 1. ]] SLAMing on 87.231193817 meters Centerline goodness [0,1] 0.9092439069999376 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.12, Z:-0.78 [[ 0.99983918 0.01655344 -0.00689874 3.66736723] [-0.01645276 0.99976088 0.0144044 -0.11614104] [ 0.00713553 -0.01428858 0.99987245 -0.77772384] [ 0. 0. 0. 1. ]] SLAMing on 87.261193817 meters Centerline goodness [0,1] 0.9089086813663698 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.12, Z:-0.78 [[ 0.99982676 0.01723756 -0.00702259 3.66773348] [-0.01713257 0.99974448 0.01474595 -0.11623171] [ 0.00727498 -0.01462308 0.99986661 -0.77781199] [ 0. 0. 0. 1. ]] SLAMing on 87.291193817 meters Centerline goodness [0,1] 0.9144084325849691 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.12, Z:-0.78 [[ 0.99981414 0.01792071 -0.00710817 3.66762607] [-0.01781059 0.99972485 0.01526464 -0.11681581] [ 0.00737977 -0.0151352 0.99985822 -0.77741373] [ 0. 0. 0. 1. ]] SLAMing on 87.32119381700001 meters Centerline goodness [0,1] 0.9116687319289549 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.12, Z:-0.78 [[ 0.99980174 0.01855814 -0.0072166 3.66747983] [-0.01844066 0.99970163 0.0160188 -0.11834723] [ 0.00751172 -0.01588255 0.99984565 -0.77688536] [ 0. 0. 0. 1. ]] SLAMing on 87.35119381700001 meters Centerline goodness [0,1] 0.9150661633550421 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.12, Z:-0.78 [[ 0.9997761 0.01994102 -0.00707822 3.66640093] [-0.01980737 0.9996331 0.01847524 -0.12495494] [ 0.00744403 -0.0183309 0.99980426 -0.77567132] [ 0. 0. 0. 1. ]] SLAMing on 87.38119381700001 meters Centerline goodness [0,1] 0.9162361240792614 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.13, Z:-0.78 [[ 0.99982677 0.01713883 -0.00725888 3.66686129] [-0.01702324 0.99973186 0.01569747 -0.12758163] [ 0.00752597 -0.01557118 0.99985044 -0.77590088] [ 0. 0. 0. 1. ]] SLAMing on 87.411193817 meters Centerline goodness [0,1] 0.9123702781237027 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.13, Z:-0.78 [[ 0.99987171 0.01411214 -0.00757762 3.66798832] [-0.01401292 0.99981741 0.0129919 -0.13130781] [ 0.00775958 -0.01288405 0.99988689 -0.77665911] [ 0. 0. 0. 1. ]] SLAMing on 87.441193817 meters Centerline goodness [0,1] 0.9102954267850858 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.14, Z:-0.78 [[ 0.99990955 0.01091323 -0.00786044 3.66943303] [-0.01083189 0.99988811 0.01031733 -0.13538732] [ 0.00797216 -0.01023125 0.99991588 -0.77782948] [ 0. 0. 0. 1. ]] SLAMing on 87.471193817 meters Centerline goodness [0,1] 0.9084012304622547 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.14, Z:-0.78 [[ 0.99996151 0.0039833 -0.00781686 3.66988722] [-0.00394136 0.9999778 0.00537338 -0.1446262 ] [ 0.00783809 -0.00534236 0.99995501 -0.77852284] [ 0. 0. 0. 1. ]] SLAMing on 87.501193817 meters Centerline goodness [0,1] 0.9046233766233767 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.15, Z:-0.78 [[ 9.99968673e-01 4.20415892e-05 -7.91522462e-03 3.67020467e+00] [-1.95678421e-05 9.99995969e-01 2.83936233e-03 -1.49757374e-01] [ 7.91531209e-03 -2.83911850e-03 9.99964643e-01 -7.78485669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.531193817 meters Centerline goodness [0,1] 0.9037453105892594 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.16, Z:-0.78 [[ 9.99959823e-01 -3.77521839e-03 -8.13020227e-03 3.67059399e+00] [ 3.77999237e-03 9.99992692e-01 5.71904315e-04 -1.55303410e-01] [ 8.12798380e-03 -6.02613440e-04 9.99966786e-01 -7.78154738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.561193817 meters Centerline goodness [0,1] 0.9060951077376138 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.16, Z:-0.78 [[ 9.99937440e-01 -7.56321127e-03 -8.24104200e-03 3.67068212e+00] [ 7.54833497e-03 9.99969828e-01 -1.83475969e-03 -1.60507136e-01] [ 8.25467003e-03 1.77243876e-03 9.99964359e-01 -7.77682262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.591193817 meters Centerline goodness [0,1] 0.9043073100020709 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.17, Z:-0.78 [[ 0.99984951 -0.01529143 -0.00819272 3.67033779] [ 0.01523019 0.99985599 -0.00748543 -0.16840623] [ 0.008306 0.00735953 0.99993842 -0.776772 ] [ 0. 0. 0. 1. ]] SLAMing on 87.621193817 meters Centerline goodness [0,1] 0.9019135276640834 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.17, Z:-0.78 [[ 0.9997875 -0.01883736 -0.00837354 3.67121752] [ 0.01875076 0.99977111 -0.01030274 -0.17230465] [ 0.0085657 0.01014354 0.99991186 -0.77720377] [ 0. 0. 0. 1. ]] SLAMing on 87.651193817 meters Centerline goodness [0,1] 0.8996330313270997 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.18, Z:-0.78 [[ 0.99971108 -0.02242013 -0.00866619 3.6722491 ] [ 0.02230381 0.99966285 -0.01329376 -0.17572073] [ 0.00896132 0.01309663 0.99987408 -0.77752208] [ 0. 0. 0. 1. ]] SLAMing on 87.68119381700001 meters Centerline goodness [0,1] 0.9000892060660125 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.18, Z:-0.78 [[ 0.99970649 -0.02261599 -0.00868663 3.67233328] [ 0.02250787 0.99967039 -0.01234899 -0.17992606] [ 0.00896305 0.01214984 0.99988602 -0.77730322] [ 0. 0. 0. 1. ]] SLAMing on 87.71119381700001 meters Centerline goodness [0,1] 0.8977782392026579 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.18, Z:-0.78 [[ 0.99970299 -0.02289208 -0.00835976 3.67143234] [ 0.02279478 0.99967339 -0.01155476 -0.18280173] [ 0.00862154 0.01136077 0.9998983 -0.77663537] [ 0. 0. 0. 1. ]] SLAMing on 87.74119381700001 meters Centerline goodness [0,1] 0.895630766684596 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.19, Z:-0.78 [[ 0.99976545 -0.01986526 -0.00862652 3.67230867] [ 0.01980139 0.99977634 -0.00742814 -0.18545028] [ 0.00877215 0.00725558 0.9999352 -0.77695045] [ 0. 0. 0. 1. ]] SLAMing on 87.771193817 meters Centerline goodness [0,1] 0.8926896093652704 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.19, Z:-0.78 [[ 0.99976661 -0.01973404 -0.00879154 3.67283017] [ 0.01967309 0.9997822 -0.0069656 -0.18669865] [ 0.00892709 0.00679102 0.99993709 -0.77712631] [ 0. 0. 0. 1. ]] SLAMing on 87.801193817 meters Centerline goodness [0,1] 0.8804237411115948 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.19, Z:-0.78 [[ 0.99976072 -0.02005552 -0.00873412 3.67275953] [ 0.02000211 0.99978096 -0.00616065 -0.19058242] [ 0.00885576 0.00598448 0.99994288 -0.7769214 ] [ 0. 0. 0. 1. ]] SLAMing on 87.831193817 meters Centerline goodness [0,1] 0.8657295905655676 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.19, Z:-0.78 [[ 0.99975514 -0.0202744 -0.00886602 3.67326145] [ 0.02022487 0.99977955 -0.00564047 -0.19300488] [ 0.00897842 0.00545978 0.99994479 -0.77710868] [ 0. 0. 0. 1. ]] SLAMing on 87.861193817 meters Centerline goodness [0,1] 0.8535413416536661 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.19, Z:-0.78 [[ 0.99974663 -0.02061046 -0.0090491 3.67417275] [ 0.02056195 0.99977388 -0.00542134 -0.19439882] [ 0.00915879 0.0052339 0.99994436 -0.77774291] [ 0. 0. 0. 1. ]] SLAMing on 87.891193817 meters Centerline goodness [0,1] 0.8522942068421162 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.20, Z:-0.78 [[ 0.99973797 -0.02088067 -0.00938077 3.67529613] [ 0.0208322 0.99976928 -0.00523517 -0.19536223] [ 0.00948792 0.00503837 0.9999423 -0.7782502 ] [ 0. 0. 0. 1. ]] SLAMing on 87.921193817 meters Centerline goodness [0,1] 0.8114945860334155 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.19, Z:-0.78 [[ 0.99971839 -0.02170027 -0.00960442 3.67683552] [ 0.02164524 0.99974891 -0.00579695 -0.19430128] [ 0.0097278 0.00558743 0.99993707 -0.77954034] [ 0. 0. 0. 1. ]] SLAMing on 87.951193817 meters Centerline goodness [0,1] 0.8302569219256672 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.20, Z:-0.78 [[ 9.99772739e-01 -1.89819828e-02 -9.70331979e-03 3.67732994e+00] [ 1.89614426e-02 9.99817785e-01 -2.20446062e-03 -1.95322742e-01] [ 9.74339674e-03 2.01997069e-03 9.99950492e-01 -7.79771243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.981193817 meters Centerline goodness [0,1] 0.8222493180127304 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.19, Z:-0.78 [[ 9.99758040e-01 -1.96214449e-02 -9.94288697e-03 3.67829155e+00] [ 1.95934599e-02 9.99803812e-01 -2.90421855e-03 -1.94038547e-01] [ 9.99792126e-03 2.70870029e-03 9.99946351e-01 -7.80253100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.011193817 meters Centerline goodness [0,1] 0.8158499948202631 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.20, Z:-0.78 [[ 9.99811348e-01 -1.66562199e-02 -9.99198372e-03 3.67840103e+00] [ 1.66654968e-02 9.99860763e-01 8.45878896e-04 -1.95089911e-01] [ 9.97650332e-03 -1.01224069e-03 9.99949721e-01 -7.80105564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.041193817 meters Centerline goodness [0,1] 0.8248231058881946 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.19, Z:-0.78 [[ 9.99800146e-01 -1.72267273e-02 -1.01443574e-02 3.67820399e+00] [ 1.72243198e-02 9.99851598e-01 -3.24657355e-04 -1.91495326e-01] [ 1.01484447e-02 1.49862815e-04 9.99948492e-01 -7.79423947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07119381700001 meters Centerline goodness [0,1] 0.8238243861839367 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.19, Z:-0.78 [[ 9.99841268e-01 -1.48282583e-02 -9.87736307e-03 3.67651384e+00] [ 1.48513096e-02 9.99887149e-01 2.26450027e-03 -1.89939328e-01] [ 9.84266981e-03 -2.41083259e-03 9.99948654e-01 -7.77920467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10119381700001 meters Centerline goodness [0,1] 0.8199349586759741 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.19, Z:-0.78 [[ 9.99833151e-01 -1.51620597e-02 -1.01873857e-02 3.67688540e+00] [ 1.51750653e-02 9.99884131e-01 1.20054149e-03 -1.86317197e-01] [ 1.01680027e-02 -1.35493543e-03 9.99947387e-01 -7.77607662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13119381700001 meters Centerline goodness [0,1] 0.8192405904212252 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.18, Z:-0.78 [[ 9.99874036e-01 -1.22243043e-02 -1.01231344e-02 3.67610367e+00] [ 1.22560306e-02 9.99920155e-01 3.07796302e-03 -1.80427879e-01] [ 1.00847002e-02 -3.20164476e-03 9.99944023e-01 -7.76888456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.161193817 meters Centerline goodness [0,1] 0.8372266401590457 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.18, Z:-0.78 [[ 9.99940350e-01 -6.48277338e-03 -8.79039449e-03 3.68542750e+00] [ 6.45449847e-03 9.99973917e-01 -3.24113304e-03 -1.76709742e-01] [ 8.81117674e-03 3.18420212e-03 9.99956111e-01 -7.77028230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.191193817 meters Centerline goodness [0,1] 0.8601236155473514 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.17, Z:-0.78 [[ 9.99956987e-01 -2.62488536e-03 -8.89568814e-03 3.68557004e+00] [ 2.62165455e-03 9.99996493e-01 -3.74829827e-04 -1.72577775e-01] [ 8.89664083e-03 3.51492283e-04 9.99960362e-01 -7.76935409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.221193817 meters Centerline goodness [0,1] 0.8985040085957517 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.17, Z:-0.78 [[ 9.99956418e-01 8.90752177e-04 -9.29343490e-03 3.68679803e+00] [-8.74258118e-04 9.99998036e-01 1.77871914e-03 -1.66844097e-01] [ 9.29500104e-03 -1.77051676e-03 9.99955233e-01 -7.77485932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.251193817 meters Centerline goodness [0,1] 0.9056072832609146 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.16, Z:-0.78 [[ 0.99992042 0.0082227 -0.00956807 3.6878398 ] [-0.00816331 0.99994728 0.00622948 -0.15615522] [ 0.00961879 -0.00615088 0.99993482 -0.77832571] [ 0. 0. 0. 1. ]] SLAMing on 88.281193817 meters Centerline goodness [0,1] 0.9056111352762071 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.15, Z:-0.78 [[ 0.99988233 0.01181754 -0.00978132 3.68867586] [-0.0117326 0.99989336 0.00869609 -0.15151657] [ 0.00988305 -0.00858031 0.99991435 -0.77877615] [ 0. 0. 0. 1. ]] SLAMing on 88.311193817 meters Centerline goodness [0,1] 0.9040204026622987 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.15, Z:-0.78 [[ 0.99983335 0.01522364 -0.01007579 3.68966626] [-0.01511146 0.999824 0.01111794 -0.14742144] [ 0.01024327 -0.01096382 0.99988743 -0.77916109] [ 0. 0. 0. 1. ]] SLAMing on 88.341193817 meters Centerline goodness [0,1] 0.9042722994962791 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.14, Z:-0.78 [[ 0.99982807 0.01540174 -0.01032536 3.69014658] [-0.01530052 0.9998348 0.00981122 -0.14270953] [ 0.01047477 -0.00965155 0.99989856 -0.77918456] [ 0. 0. 0. 1. ]] SLAMing on 88.371193817 meters Centerline goodness [0,1] 0.9055317734092515 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.14, Z:-0.78 [[ 0.99978123 0.01821994 -0.01027237 3.68822337] [-0.01809784 0.99976592 0.01185637 -0.1394781 ] [ 0.01048599 -0.01166787 0.99987694 -0.77680292] [ 0. 0. 0. 1. ]] SLAMing on 88.401193817 meters Centerline goodness [0,1] 0.9088536272113353 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.14, Z:-0.78 [[ 0.99978231 0.01803953 -0.01048393 3.68848824] [-0.01792079 0.99977543 0.01131124 -0.13824629] [ 0.01068562 -0.0111209 0.99988106 -0.77656599] [ 0. 0. 0. 1. ]] SLAMing on 88.43119381700001 meters Centerline goodness [0,1] 0.9059839681849251 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.14, Z:-0.78 [[ 0.99978437 0.01781977 -0.01066194 3.68923846] [-0.01770376 0.99978411 0.0108772 -0.13699804] [ 0.01085346 -0.0106861 0.999884 -0.77704105] [ 0. 0. 0. 1. ]] SLAMing on 88.46119381700001 meters Centerline goodness [0,1] 0.9066533848005645 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.14, Z:-0.78 [[ 0.99978288 0.01769443 -0.01100435 3.69043188] [-0.01757582 0.99978739 0.01078283 -0.13686184] [ 0.0111928 -0.01058708 0.99988131 -0.77770799] [ 0. 0. 0. 1. ]] SLAMing on 88.49119381700001 meters Centerline goodness [0,1] 0.9050076690295569 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.14, Z:-0.78 [[ 0.99983254 0.01428203 -0.01144155 3.69214657] [-0.01419615 0.99987071 0.0075521 -0.13877227] [ 0.01154793 -0.00738841 0.99990602 -0.77903392] [ 0. 0. 0. 1. ]] SLAMing on 88.521193817 meters Centerline goodness [0,1] 0.9056795975219325 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.14, Z:-0.78 [[ 0.99987536 0.01073933 -0.01157287 3.69204104] [-0.01069318 0.99993466 0.00404195 -0.13983194] [ 0.01161552 -0.0039177 0.99992486 -0.77864702] [ 0. 0. 0. 1. ]] SLAMing on 88.551193817 meters Centerline goodness [0,1] 0.9052533416226298 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.14, Z:-0.78 [[ 9.99903388e-01 7.27916694e-03 -1.18418220e-02 3.69234047e+00] [-7.27128079e-03 9.99973313e-01 7.08876320e-04 -1.41446719e-01] [ 1.18466660e-02 -6.22702621e-04 9.99929632e-01 -7.78340070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.581193817 meters Centerline goodness [0,1] 0.9064140182667273 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.15, Z:-0.78 [[ 9.99917270e-01 4.25853671e-03 -1.21374770e-02 3.69306890e+00] [-4.27403280e-03 9.99990084e-01 -1.25106098e-03 -1.47094707e-01] [ 1.21320289e-02 1.30283345e-03 9.99925555e-01 -7.78446324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.611193817 meters Centerline goodness [0,1] 0.9075303509751608 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.15, Z:-0.78 [[ 9.99916020e-01 4.19190891e-03 -1.22630153e-02 3.69371397e+00] [-4.19950555e-03 9.99991006e-01 -5.93791021e-04 -1.50016415e-01] [ 1.22604159e-02 6.45239755e-04 9.99924630e-01 -7.78898383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.641193817 meters Centerline goodness [0,1] 0.9075303509751608 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.15, Z:-0.78 [[ 9.99916020e-01 4.19190891e-03 -1.22630153e-02 3.69371397e+00] [-4.19950555e-03 9.99991006e-01 -5.93791021e-04 -1.50016415e-01] [ 1.22604159e-02 6.45239755e-04 9.99924630e-01 -7.78898383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.671193817 meters Centerline goodness [0,1] 0.9038569148825931 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.15, Z:-0.78 [[ 9.99915925e-01 3.88584406e-03 -1.23710415e-02 3.69438494e+00] [-3.88693066e-03 9.99992444e-01 -6.37915310e-05 -1.52946709e-01] [ 1.23707001e-02 1.11871548e-04 9.99923474e-01 -7.79380513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.701193817 meters Centerline goodness [0,1] 0.898307906841218 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.16, Z:-0.78 [[ 9.99921994e-01 -1.71533831e-04 -1.24890754e-02 3.69517924e+00] [ 1.34003990e-04 9.99995474e-01 -3.00578842e-03 -1.57013351e-01] [ 1.24895344e-02 3.00388036e-03 9.99917491e-01 -7.80098204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.731193817 meters Centerline goodness [0,1] 0.9016481584879128 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.16, Z:-0.78 [[ 9.99960635e-01 -3.38941597e-03 -8.20002431e-03 3.70645966e+00] [ 3.41835206e-03 9.99987972e-01 3.51734224e-03 -1.60277963e-01] [ 8.18800394e-03 -3.54523435e-03 9.99960193e-01 -7.83001184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.761193817 meters Centerline goodness [0,1] 0.8998543790305804 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.16, Z:-0.78 [[ 9.99958570e-01 -3.66468354e-03 -8.33231085e-03 3.70664561e+00] [ 3.69476309e-03 9.99986703e-01 3.59746504e-03 -1.61174506e-01] [ 8.31901649e-03 -3.62810192e-03 9.99958815e-01 -7.82813239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.791193817 meters Centerline goodness [0,1] 0.899533780127378 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.16, Z:-0.78 [[ 9.99957928e-01 -3.81456529e-03 -8.34212738e-03 3.70652823e+00] [ 3.84469544e-03 9.99986134e-01 3.59875725e-03 -1.61425042e-01] [ 8.32828401e-03 -3.63067878e-03 9.99958728e-01 -7.82489919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82119381700001 meters Centerline goodness [0,1] 0.8988638248465749 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.16, Z:-0.78 [[ 9.99953949e-01 -3.87989051e-03 -8.77756832e-03 3.70728785e+00] [ 3.90842982e-03 9.99987124e-01 3.23657803e-03 -1.60578163e-01] [ 8.76489774e-03 -3.27073549e-03 9.99956238e-01 -7.82252757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85119381700001 meters Centerline goodness [0,1] 0.899154801512678 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.16, Z:-0.78 [[ 9.99951070e-01 -3.61923362e-03 -9.20647483e-03 3.70852390e+00] [ 3.64652552e-03 9.99989002e-01 2.94936840e-03 -1.58982963e-01] [ 9.19569912e-03 -2.98279573e-03 9.99953270e-01 -7.82718906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88119381700001 meters Centerline goodness [0,1] 0.89980684154776 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.16, Z:-0.78 [[ 9.99957598e-01 -2.28218215e-03 -8.92154091e-03 3.70680558e+00] [ 2.31538267e-03 9.99990427e-01 3.71283303e-03 -1.57205984e-01] [ 8.91298214e-03 -3.73333238e-03 9.99953309e-01 -7.81291073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.911193817 meters Centerline goodness [0,1] 0.9002445190434747 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.16, Z:-0.78 [[ 9.99957687e-01 2.09389888e-03 -8.95764692e-03 3.70595724e+00] [-2.02789338e-03 9.99970775e-01 7.37136787e-03 -1.55540708e-01] [ 8.97282003e-03 -7.35289081e-03 9.99932709e-01 -7.80065414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.941193817 meters Centerline goodness [0,1] 0.9016168870254675 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.15, Z:-0.78 [[ 9.99955241e-01 2.53615955e-03 -9.11507197e-03 3.70593130e+00] [-2.47171977e-03 9.99971925e-01 7.07391152e-03 -1.53775656e-01] [ 9.13275663e-03 -7.05106499e-03 9.99933435e-01 -7.79628775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.971193817 meters Centerline goodness [0,1] 0.9031206527832568 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.15, Z:-0.78 [[ 9.99953403e-01 2.97320128e-03 -9.18433463e-03 3.70560469e+00] [-2.91123083e-03 9.99972958e-01 6.75342400e-03 -1.51971661e-01] [ 9.20416555e-03 -6.72637160e-03 9.99935018e-01 -7.79021509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.001193817 meters Centerline goodness [0,1] 0.9082551672615589 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.15, Z:-0.78 [[ 9.99949539e-01 3.42357898e-03 -9.44455175e-03 3.70549422e+00] [-3.36090190e-03 9.99972279e-01 6.64422988e-03 -1.50864945e-01] [ 9.46703698e-03 -6.61215239e-03 9.99933325e-01 -7.78189503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.031193817 meters Centerline goodness [0,1] 0.9063069405333775 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.15, Z:-0.78 [[ 0.99994093 0.00501289 -0.00964416 3.70495313] [-0.00494177 0.99996053 0.00738413 -0.1512601 ] [ 0.00968079 -0.00733604 0.99992623 -0.77701133] [ 0. 0. 0. 1. ]] SLAMing on 89.061193817 meters Centerline goodness [0,1] 0.914527076111999 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.15, Z:-0.78 [[ 0.99993652 0.00549545 -0.00983602 3.70525621] [-0.00542124 0.99995676 0.00755571 -0.15115425] [ 0.00987711 -0.0075019 0.99992308 -0.776918 ] [ 0. 0. 0. 1. ]] SLAMing on 89.091193817 meters Centerline goodness [0,1] 0.914129148763933 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.15, Z:-0.78 [[ 0.99993158 0.00588569 -0.01010908 3.70620334] [-0.00580614 0.99995209 0.00788039 -0.15182818] [ 0.01015498 -0.00782115 0.99991785 -0.77740767] [ 0. 0. 0. 1. ]] SLAMing on 89.121193817 meters Centerline goodness [0,1] 0.9131048219769275 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.15, Z:-0.78 [[ 9.99941706e-01 3.12445497e-03 -1.03355216e-02 3.70696144e+00] [-3.07870164e-03 9.99985405e-01 4.43975646e-03 -1.51269047e-01] [ 1.03492425e-02 -4.40767766e-03 9.99936731e-01 -7.77955558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.151193817 meters Centerline goodness [0,1] 0.9142945736434108 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.16, Z:-0.78 [[ 9.99939092e-01 2.28599040e-03 -1.07975501e-02 3.70923650e+00] [-2.24282771e-03 9.99989453e-01 4.00787116e-03 -1.56764329e-01] [ 1.08065981e-02 -3.98341001e-03 9.99933673e-01 -7.79625272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18119381700001 meters Centerline goodness [0,1] 0.9148345386352805 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.16, Z:-0.78 [[ 9.99941878e-01 -1.61303713e-04 -1.07802659e-02 3.70871263e+00] [ 1.80259564e-04 9.99998439e-01 1.75743586e-03 -1.59495753e-01] [ 1.07799656e-02 -1.75927696e-03 9.99940347e-01 -7.79039420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21119381700001 meters Centerline goodness [0,1] 0.9178394984846597 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.16, Z:-0.78 [[ 9.99936131e-01 -2.31288396e-03 -1.10627474e-02 3.70941112e+00] [ 2.31358862e-03 9.99997322e-01 5.08992701e-05 -1.63665259e-01] [ 1.10626000e-02 -7.64906656e-05 9.99938805e-01 -7.79131826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24119381700001 meters Centerline goodness [0,1] 0.9174609738447225 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.18, Z:-0.78 [[ 0.99997553 -0.004147 -0.00563361 3.72026937] [ 0.00418636 0.99996678 0.00699343 -0.17672409] [ 0.00560442 -0.00701684 0.99995968 -0.78128295] [ 0. 0. 0. 1. ]] SLAMing on 89.271193817 meters Centerline goodness [0,1] 0.915799491073091 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.18, Z:-0.78 [[ 0.9999626 -0.00656582 -0.00562949 3.71982396] [ 0.00659503 0.99996481 0.0051852 -0.18163364] [ 0.00559525 -0.00522213 0.99997071 -0.78057052] [ 0. 0. 0. 1. ]] SLAMing on 89.301193817 meters Centerline goodness [0,1] 0.9199709664039818 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.19, Z:-0.78 [[ 9.99943581e-01 -8.92655493e-03 -5.75764167e-03 3.72012741e+00] [ 8.94608072e-03 9.99954289e-01 3.37449015e-03 -1.86211605e-01] [ 5.72725591e-03 -3.42580809e-03 9.99977731e-01 -7.80481497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.331193817 meters Centerline goodness [0,1] 0.9195350085688918 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.19, Z:-0.78 [[ 9.99933056e-01 -9.64543041e-03 -6.39134594e-03 3.72236735e+00] [ 9.66643036e-03 9.99947955e-01 3.26297985e-03 -1.91300556e-01] [ 6.35954046e-03 -3.32454292e-03 9.99974251e-01 -7.81513244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.361193817 meters Centerline goodness [0,1] 0.9192925978662374 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.20, Z:-0.78 [[ 9.99912675e-01 -1.15271728e-02 -6.46271165e-03 3.72311376e+00] [ 1.15475713e-02 9.99928432e-01 3.12796115e-03 -2.00474806e-01] [ 6.42619258e-03 -3.20231663e-03 9.99974224e-01 -7.81849141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.391193817 meters Centerline goodness [0,1] 0.9172330652033839 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.20, Z:-0.78 [[ 9.99873173e-01 -1.45549837e-02 -6.46448892e-03 3.72315244e+00] [ 1.45595085e-02 9.99893791e-01 6.53429895e-04 -2.04083809e-01] [ 6.45429167e-03 -7.47466804e-04 9.99978891e-01 -7.81672093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.421193817 meters Centerline goodness [0,1] 0.914689884805493 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.21, Z:-0.78 [[ 9.99824446e-01 -1.75069990e-02 -6.67692045e-03 3.72366516e+00] [ 1.74956328e-02 9.99845396e-01 -1.75694823e-03 -2.08172813e-01] [ 6.70664706e-03 1.63982284e-03 9.99976166e-01 -7.81482388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.451193817 meters Centerline goodness [0,1] 0.9184480082772892 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.22, Z:-0.78 [[ 9.99783826e-01 -1.97579025e-02 -6.47512263e-03 3.72209347e+00] [ 1.97432465e-02 9.99802392e-01 -2.31960468e-03 -2.18055597e-01] [ 6.51967362e-03 2.19126330e-03 9.99976346e-01 -7.79354079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.481193817 meters Centerline goodness [0,1] 0.9190685522332351 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.22, Z:-0.78 [[ 9.99793416e-01 -1.92898176e-02 -6.40529137e-03 3.72173957e+00] [ 1.92855437e-02 9.99813751e-01 -7.28350157e-04 -2.23195931e-01] [ 6.41814813e-03 6.04670166e-04 9.99979221e-01 -7.78735997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.511193817 meters Centerline goodness [0,1] 0.918849840255591 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.23, Z:-0.78 [[ 9.99773970e-01 -2.01274850e-02 -6.84789687e-03 3.72330803e+00] [ 2.01201080e-02 9.99796915e-01 -1.14446661e-03 -2.26590362e-01] [ 6.86954140e-03 1.00642750e-03 9.99975898e-01 -7.79276791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.541193817 meters Centerline goodness [0,1] 0.9230849033114781 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.23, Z:-0.78 [[ 9.99783091e-01 -1.96599465e-02 -6.87444349e-03 3.72309689e+00] [ 1.96604767e-02 9.99806714e-01 9.54361557e-06 -2.29633431e-01] [ 6.87292713e-03 -1.44696381e-04 9.99976371e-01 -7.78757828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57119381700001 meters Centerline goodness [0,1] 0.9208443818362612 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.23, Z:-0.78 [[ 9.99794598e-01 -1.90540224e-02 -6.90695392e-03 3.72286802e+00] [ 1.90678071e-02 9.99816320e-01 1.93543956e-03 -2.34712720e-01] [ 6.86880734e-03 -2.06674248e-03 9.99974274e-01 -7.78039891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60119381700001 meters Centerline goodness [0,1] 0.9238993059152595 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.24, Z:-0.78 [[ 9.99803619e-01 -1.84804620e-02 -7.15514883e-03 3.72295908e+00] [ 1.85069379e-02 9.99822063e-01 3.65190315e-03 -2.40093323e-01] [ 7.08638680e-03 -3.78360588e-03 9.99967733e-01 -7.77224012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63119381700001 meters Centerline goodness [0,1] 0.9218950328797717 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.24, Z:-0.78 [[ 9.99745484e-01 -2.13414422e-02 -7.31505006e-03 3.72361024e+00] [ 2.13509156e-02 9.99771300e-01 1.21941295e-03 -2.44020891e-01] [ 7.28735307e-03 -1.37528561e-03 9.99972501e-01 -7.77358668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.661193817 meters Centerline goodness [0,1] 0.9213224784040768 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.25, Z:-0.78 [[ 9.99754679e-01 -2.08179464e-02 -7.56278594e-03 3.72430293e+00] [ 2.08401340e-02 9.99778710e-01 2.86691171e-03 -2.49428002e-01] [ 7.50142916e-03 -3.02381787e-03 9.99967292e-01 -7.77274211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.691193817 meters Centerline goodness [0,1] 0.9210067643275096 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.25, Z:-0.78 [[ 0.99976366 -0.02033953 -0.00767579 3.72491899] [ 0.02037262 0.99978339 0.00425733 -0.25349013] [ 0.00758753 -0.0044127 0.99996148 -0.77757812] [ 0. 0. 0. 1. ]] SLAMing on 89.721193817 meters Centerline goodness [0,1] 0.9206658512821576 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.26, Z:-0.78 [[ 0.99977372 -0.01960035 -0.0082667 3.72813859] [ 0.01965222 0.9997874 0.00623994 -0.2590605 ] [ 0.00814264 -0.00640099 0.99994636 -0.77995235] [ 0. 0. 0. 1. ]] SLAMing on 89.751193817 meters Centerline goodness [0,1] 0.9186475834889027 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.26, Z:-0.78 [[ 0.99977859 -0.01915483 -0.0087099 3.72966065] [ 0.01921833 0.99978891 0.00726558 -0.26189487] [ 0.00856889 -0.00743136 0.99993567 -0.78063211] [ 0. 0. 0. 1. ]] SLAMing on 89.781193817 meters Centerline goodness [0,1] 0.9176336274001038 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.27, Z:-0.78 [[ 0.9997832 -0.0187181 -0.00912009 3.73086737] [ 0.01879348 0.99978934 0.00825067 -0.26520791] [ 0.00896373 -0.00842028 0.99992437 -0.7809559 ] [ 0. 0. 0. 1. ]] SLAMing on 89.811193817 meters Centerline goodness [0,1] 0.9177931435453394 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.27, Z:-0.78 [[ 0.99978711 -0.01837214 -0.00939117 3.73149748] [ 0.01845886 0.999787 0.00923226 -0.26878478] [ 0.00921955 -0.00940365 0.99991328 -0.78082396] [ 0. 0. 0. 1. ]] SLAMing on 89.841193817 meters Centerline goodness [0,1] 0.919777782384279 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.27, Z:-0.78 [[ 0.99979802 -0.01757689 -0.00974562 3.7323218 ] [ 0.01768357 0.99978345 0.01096984 -0.27441643] [ 0.0095507 -0.01113996 0.99989234 -0.78066268] [ 0. 0. 0. 1. ]] SLAMing on 89.871193817 meters Centerline goodness [0,1] 0.9185891840212828 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.28, Z:-0.78 [[ 0.99980108 -0.01724642 -0.01001826 3.73264224] [ 0.01736351 0.99978054 0.01172129 -0.27669878] [ 0.00981391 -0.01189291 0.99988112 -0.78024046] [ 0. 0. 0. 1. ]] SLAMing on 89.901193817 meters Centerline goodness [0,1] 0.9207121760472565 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.28, Z:-0.78 [[ 0.99980559 -0.01690351 -0.01015147 3.73276932] [ 0.01702875 0.99977835 0.01238045 -0.27876833] [ 0.00993995 -0.01255091 0.99987183 -0.77988699] [ 0. 0. 0. 1. ]] SLAMing on 89.93119381700001 meters Centerline goodness [0,1] 0.9230337545726638 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.28, Z:-0.78 [[ 0.99981058 -0.01644138 -0.01041572 3.73308151] [ 0.0165777 0.99977624 0.01313976 -0.28097935] [ 0.01019736 -0.01330994 0.99985942 -0.7794611 ] [ 0. 0. 0. 1. ]] SLAMing on 89.96119381700001 meters Centerline goodness [0,1] 0.9279085629249944 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.28, Z:-0.78 [[ 0.99989892 -0.01239666 -0.00696153 3.74110676] [ 0.01243084 0.99991079 0.00488789 -0.28439366] [ 0.00690032 -0.00497393 0.99996382 -0.78067364] [ 0. 0. 0. 1. ]] SLAMing on 89.99119381700001 meters Centerline goodness [0,1] 0.9327753723767894 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.29, Z:-0.78 [[ 0.99991135 -0.01138174 -0.00690947 3.74015791] [ 0.01142493 0.99991524 0.00624366 -0.28706314] [ 0.00683782 -0.00632205 0.99995664 -0.77946213] [ 0. 0. 0. 1. ]] SLAMing on 90.021193817 meters Centerline goodness [0,1] 0.9363989126600403 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.29, Z:-0.78 [[ 0.99991721 -0.01070349 -0.00714242 3.74016122] [ 0.01075535 0.99991579 0.00726247 -0.28992326] [ 0.00706408 -0.00733869 0.99994812 -0.77870499] [ 0. 0. 0. 1. ]] SLAMing on 90.051193817 meters Centerline goodness [0,1] 0.9415799726447548 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.29, Z:-0.78 [[ 0.99992399 -0.00991264 -0.00733181 3.73996995] [ 0.00997267 0.99991667 0.00819696 -0.29240624] [ 0.00724995 -0.00826946 0.99993953 -0.77790608] [ 0. 0. 0. 1. ]] SLAMing on 90.081193817 meters Centerline goodness [0,1] 0.944344666707954 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.29, Z:-0.78 [[ 9.99987623e-01 -4.18821822e-03 -2.68556773e-03 3.74812816e+00] [ 4.19232037e-03 9.99990051e-01 1.52367383e-03 -2.93537198e-01] [ 2.67915954e-03 -1.53491373e-03 9.99995233e-01 -7.80510705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.111193817 meters Centerline goodness [0,1] 0.942106028199431 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.29, Z:-0.78 [[ 9.99990896e-01 -3.35005653e-03 -2.64282247e-03 3.74796787e+00] [ 3.35605641e-03 9.99991794e-01 2.26909836e-03 -2.94086355e-01] [ 2.63519917e-03 -2.27794717e-03 9.99993933e-01 -7.80496844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.141193817 meters Centerline goodness [0,1] 0.9390565606630248 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.30, Z:-0.78 [[ 9.99994927e-01 -1.97182533e-03 -2.50162723e-03 3.74762526e+00] [ 1.98229333e-03 9.99989262e-01 4.18892305e-03 -2.99807198e-01] [ 2.49334055e-03 -4.19386076e-03 9.99988097e-01 -7.80433362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.171193817 meters Centerline goodness [0,1] 0.9394083771802627 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.30, Z:-0.78 [[ 9.99991906e-01 -2.58432530e-03 -3.08373960e-03 3.75017958e+00] [ 2.59673816e-03 9.99988516e-01 4.02806859e-03 -3.03411698e-01] [ 3.07329435e-03 -4.03604365e-03 9.99987133e-01 -7.82008424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.201193817 meters Centerline goodness [0,1] 0.9407290738399685 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.31, Z:-0.78 [[ 9.99990617e-01 -2.81868414e-03 -3.28945597e-03 3.75148876e+00] [ 2.83362158e-03 9.99985656e-01 4.54521618e-03 -3.07420535e-01] [ 3.27659725e-03 -4.55449461e-03 9.99984260e-01 -7.82891555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.231193817 meters Centerline goodness [0,1] 0.9441134339512964 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.31, Z:-0.78 [[ 9.99989810e-01 -2.81920877e-03 -3.52582343e-03 3.75276842e+00] [ 2.83766523e-03 9.99982241e-01 5.24065095e-03 -3.10533562e-01] [ 3.51098633e-03 -5.25060266e-03 9.99980052e-01 -7.83757883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.261193817 meters Centerline goodness [0,1] 0.9413026440622035 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.32, Z:-0.79 [[ 9.99974067e-01 -5.77232936e-03 -4.30645685e-03 3.75688408e+00] [ 5.78726817e-03 9.99977252e-01 3.46457350e-03 -3.16995366e-01] [ 4.28636023e-03 -3.48940628e-03 9.99984725e-01 -7.86777036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.291193817 meters Centerline goodness [0,1] 0.9404571594660245 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.32, Z:-0.79 [[ 9.99947494e-01 -9.18532631e-03 -4.54312818e-03 3.75749910e+00] [ 9.18946682e-03 9.99957379e-01 8.91344425e-04 -3.21193607e-01] [ 4.53474726e-03 -9.33046549e-04 9.99989283e-01 -7.86761813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32119381700001 meters Centerline goodness [0,1] 0.9386535016456277 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.33, Z:-0.79 [[ 9.99905455e-01 -1.28606585e-02 -4.86657256e-03 3.75861563e+00] [ 1.28529072e-02 9.99916085e-01 -1.62069432e-03 -3.26321196e-01] [ 4.88700738e-03 1.55799148e-03 9.99986845e-01 -7.87014933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35119381700001 meters Centerline goodness [0,1] 0.9303553677932406 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.33, Z:-0.79 [[ 0.99984208 -0.01697759 -0.00525153 3.76055032] [ 0.01695359 0.99984578 -0.00458162 -0.33079146] [ 0.0053285 0.00449187 0.99997571 -0.78806738] [ 0. 0. 0. 1. ]] SLAMing on 90.38119381700001 meters Centerline goodness [0,1] 0.9167550481419094 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.34, Z:-0.79 [[ 0.99966374 -0.02527387 -0.00579986 3.7644049 ] [ 0.02521144 0.999626 -0.01059487 -0.33852704] [ 0.00606546 0.01044509 0.99992705 -0.7906312 ] [ 0. 0. 0. 1. ]] SLAMing on 90.411193817 meters Centerline goodness [0,1] 0.9129883624272652 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.34, Z:-0.79 [[ 0.99954786 -0.02941689 -0.00622262 3.76604673] [ 0.02932956 0.99947605 -0.01368921 -0.3424835 ] [ 0.00662205 0.01350052 0.99988694 -0.79111266] [ 0. 0. 0. 1. ]] SLAMing on 90.441193817 meters Centerline goodness [0,1] 0.9081269140226246 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.35, Z:-0.79 [[ 0.99942518 -0.03328237 -0.00644974 3.76677712] [ 0.03317203 0.99931313 -0.01651923 -0.3467126 ] [ 0.0069951 0.01629579 0.99984275 -0.79086075] [ 0. 0. 0. 1. ]] SLAMing on 90.471193817 meters Centerline goodness [0,1] 0.904902022162399 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.35, Z:-0.79 [[ 0.99912948 -0.04124917 -0.00622723 3.76702135] [ 0.04109526 0.99888825 -0.02309641 -0.3518984 ] [ 0.00717301 0.02282039 0.99971385 -0.79059431] [ 0. 0. 0. 1. ]] SLAMing on 90.501193817 meters Centerline goodness [0,1] 0.8957089785866343 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.35, Z:-0.79 [[ 0.99911106 -0.0416517 -0.00649888 3.76821985] [ 0.04149544 0.99888383 -0.02256586 -0.35425542] [ 0.00743153 0.02227613 0.99972424 -0.7911156 ] [ 0. 0. 0. 1. ]] SLAMing on 90.531193817 meters Centerline goodness [0,1] 0.8616910663783064 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.36, Z:-0.79 [[ 0.999087 -0.04215984 -0.00690732 3.76959612] [ 0.04199644 0.99886879 -0.02230313 -0.35578555] [ 0.00783981 0.02199269 0.99972739 -0.7915243 ] [ 0. 0. 0. 1. ]] SLAMing on 90.561193817 meters Centerline goodness [0,1] 0.8616910663783064 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.36, Z:-0.79 [[ 0.999087 -0.04215984 -0.00690732 3.76959612] [ 0.04199644 0.99886879 -0.02230313 -0.35578555] [ 0.00783981 0.02199269 0.99972739 -0.7915243 ] [ 0. 0. 0. 1. ]] SLAMing on 90.591193817 meters Centerline goodness [0,1] 0.8360546899313264 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.36, Z:-0.79 [[ 0.99906917 -0.04253889 -0.0071579 3.77025795] [ 0.04237297 0.99886132 -0.02192237 -0.35736383] [ 0.0080823 0.02159867 0.99973405 -0.79132737] [ 0. 0. 0. 1. ]] SLAMing on 90.621193817 meters Centerline goodness [0,1] 0.8580965850006239 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.36, Z:-0.79 [[ 0.99904932 -0.04304666 -0.00688813 3.76824229] [ 0.04288863 0.99884535 -0.0216455 -0.35792572] [ 0.00781195 0.0213295 0.99974198 -0.7885794 ] [ 0. 0. 0. 1. ]] SLAMing on 90.651193817 meters Centerline goodness [0,1] 0.86077025122295 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.36, Z:-0.79 [[ 0.99904521 -0.04314601 -0.00686288 3.76723534] [ 0.04298737 0.99883795 -0.02179077 -0.3568299 ] [ 0.00779509 0.02147494 0.999739 -0.78709984] [ 0. 0. 0. 1. ]] SLAMing on 90.68119381700001 meters Centerline goodness [0,1] 0.8527837703285761 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.36, Z:-0.79 [[ 0.99917756 -0.03995257 -0.00692755 3.76665811] [ 0.03982195 0.99904347 -0.01806561 -0.35689531] [ 0.00764269 0.01777488 0.9998128 -0.78588638] [ 0. 0. 0. 1. ]] SLAMing on 90.71119381700001 meters Centerline goodness [0,1] 0.8209668411145357 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.36, Z:-0.79 [[ 0.99929677 -0.03675561 -0.00741574 3.76735488] [ 0.03664356 0.99921999 -0.01471918 -0.35568977] [ 0.00795097 0.01443709 0.99986417 -0.78553843] [ 0. 0. 0. 1. ]] SLAMing on 90.74119381700001 meters Centerline goodness [0,1] 0.822377940386126 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.35, Z:-0.79 [[ 0.99940858 -0.0334933 -0.00779087 3.76791662] [ 0.03340215 0.99937526 -0.01154929 -0.35371713] [ 0.00817282 0.01128223 0.99990295 -0.7854323 ] [ 0. 0. 0. 1. ]] SLAMing on 90.77119381700001 meters Centerline goodness [0,1] 0.8435250310302027 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.35, Z:-0.79 [[ 0.99956507 -0.02832797 -0.00819771 3.76912676] [ 0.02827353 0.99957788 -0.00668326 -0.34706034] [ 0.00838357 0.00644857 0.99994406 -0.78600358] [ 0. 0. 0. 1. ]] SLAMing on 90.801193817 meters Centerline goodness [0,1] 0.8392797944637825 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.34, Z:-0.79 [[ 9.99644174e-01 -2.52707321e-02 -8.53902957e-03 3.77002067e+00] [ 2.52383701e-02 9.99673945e-01 -3.87664303e-03 -3.43884413e-01] [ 8.63421098e-03 3.65975243e-03 9.99956027e-01 -7.86405882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.831193817 meters Centerline goodness [0,1] 0.8394028735154888 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.34, Z:-0.79 [[ 9.99711472e-01 -2.23006202e-02 -8.92499088e-03 3.77107059e+00] [ 2.22916388e-02 9.99750900e-01 -1.10454258e-03 -3.40836519e-01] [ 8.94739965e-03 9.05271216e-04 9.99959561e-01 -7.86873965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.861193817 meters Centerline goodness [0,1] 0.8212799436841343 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.34, Z:-0.79 [[ 9.99741856e-01 -2.06353800e-02 -9.50797554e-03 3.77358302e+00] [ 2.06417533e-02 9.99786772e-01 5.72653520e-04 -3.38035196e-01] [ 9.49413126e-03 -7.68766979e-04 9.99954634e-01 -7.88378668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.891193817 meters Centerline goodness [0,1] 0.8116405170814176 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.33, Z:-0.79 [[ 9.99713715e-01 -2.16905242e-02 -1.00999701e-02 3.77555259e+00] [ 2.16800928e-02 9.99764308e-01 -1.14117375e-03 -3.34147653e-01] [ 1.01223423e-02 9.21878761e-04 9.99948343e-01 -7.89395965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.921193817 meters Centerline goodness [0,1] 0.8202277544574207 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.33, Z:-0.79 [[ 9.99750571e-01 -1.98968864e-02 -1.01444039e-02 3.77547663e+00] [ 1.98981663e-02 9.99802012e-01 2.52398095e-05 -3.28091786e-01] [ 1.01418932e-02 -2.27088549e-04 9.99948544e-01 -7.89246245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.951193817 meters Centerline goodness [0,1] 0.8240063032615231 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.32, Z:-0.79 [[ 9.99793921e-01 -1.72723482e-02 -1.06668329e-02 3.77723374e+00] [ 1.72979330e-02 9.99847709e-01 2.31094593e-03 -3.24766515e-01] [ 1.06252930e-02 -2.49498386e-03 9.99940437e-01 -7.90102701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.981193817 meters Centerline goodness [0,1] 0.8308053036748075 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.32, Z:-0.79 [[ 0.99983244 -0.01447312 -0.01120816 3.77890795] [ 0.01452362 0.99988468 0.00443717 -0.32052042] [ 0.01114264 -0.00459921 0.99992734 -0.79099517] [ 0. 0. 0. 1. ]] SLAMing on 91.011193817 meters Centerline goodness [0,1] 0.8848877536186738 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.31, Z:-0.79 [[ 9.99939547e-01 -5.20554461e-03 -9.68524982e-03 3.78473370e+00] [ 5.18135778e-03 9.99983400e-01 -2.52070307e-03 -3.09899284e-01] [ 9.69821067e-03 2.47036794e-03 9.99949920e-01 -7.91903262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.041193817 meters Centerline goodness [0,1] 0.898049977131928 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.31, Z:-0.79 [[ 9.99950547e-01 -1.36062561e-03 -9.85149474e-03 3.78473101e+00] [ 1.36603329e-03 9.99998920e-01 5.42211707e-04 -3.06182219e-01] [ 9.85074635e-03 -5.55642363e-04 9.99951326e-01 -7.91509787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07119381700001 meters Centerline goodness [0,1] 0.903173025143946 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.30, Z:-0.79 [[ 9.99945977e-01 2.28207299e-03 -1.01407637e-02 3.78569252e+00] [-2.24777841e-03 9.99991721e-01 3.39196513e-03 -3.02732225e-01] [ 1.01484204e-02 -3.36898770e-03 9.99942828e-01 -7.92055120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10119381700001 meters Centerline goodness [0,1] 0.9025643150089068 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.30, Z:-0.79 [[ 0.99989802 0.00988994 -0.01030205 3.78587404] [-0.00978909 0.99990412 0.009794 -0.29790405] [ 0.01039793 -0.00969216 0.99989897 -0.79190744] [ 0. 0. 0. 1. ]] SLAMing on 91.13119381700001 meters Centerline goodness [0,1] 0.902345124500652 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.30, Z:-0.79 [[ 0.99985361 0.01359077 -0.01039504 3.78571846] [-0.01345617 0.9998261 0.01291108 -0.29520278] [ 0.0105687 -0.01276931 0.99986261 -0.79130676] [ 0. 0. 0. 1. ]] SLAMing on 91.161193817 meters Centerline goodness [0,1] 0.9044102393892877 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.29, Z:-0.79 [[ 0.99979257 0.01753545 -0.01036025 3.78505359] [-0.01736574 0.99971715 0.01624984 -0.29245766] [ 0.01064227 -0.01606656 0.99981429 -0.79028689] [ 0. 0. 0. 1. ]] SLAMing on 91.191193817 meters Centerline goodness [0,1] 0.9042548792590143 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.29, Z:-0.79 [[ 0.99975636 0.02145437 -0.00518867 3.79463169] [-0.02141268 0.99973901 0.00796261 -0.28695956] [ 0.00535815 -0.00784957 0.99995484 -0.79298299] [ 0. 0. 0. 1. ]] SLAMing on 91.221193817 meters Centerline goodness [0,1] 0.9094202148578998 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.28, Z:-0.79 [[ 0.99957019 0.02893157 -0.00473311 3.79110418] [-0.02886167 0.99948221 0.01422353 -0.28200378] [ 0.00514217 -0.01408082 0.99988764 -0.78912068] [ 0. 0. 0. 1. ]] SLAMing on 91.251193817 meters Centerline goodness [0,1] 0.9140310701244043 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.28, Z:-0.79 [[ 0.99944356 0.03301715 -0.00473641 3.79054871] [-0.0329278 0.99929846 0.01784211 -0.28037351] [ 0.00532219 -0.01767622 0.9998296 -0.78802271] [ 0. 0. 0. 1. ]] SLAMing on 91.281193817 meters Centerline goodness [0,1] 0.916754478398314 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.28, Z:-0.79 [[ 0.9994168 0.03380012 -0.00485882 3.79036732] [-0.0337112 0.99928109 0.01734522 -0.2765986 ] [ 0.00544159 -0.01717131 0.99983775 -0.78764788] [ 0. 0. 0. 1. ]] SLAMing on 91.311193817 meters Centerline goodness [0,1] 0.9230975458857497 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.27, Z:-0.79 [[ 0.99940242 0.03419714 -0.0050354 3.7906557 ] [-0.03410819 0.99927688 0.01680323 -0.27389693] [ 0.00560638 -0.01662144 0.99984614 -0.78770362] [ 0. 0. 0. 1. ]] SLAMing on 91.341193817 meters Centerline goodness [0,1] 0.9265992430353043 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.27, Z:-0.79 [[ 0.99938737 0.03459576 -0.00529236 3.79148679] [-0.03450585 0.99927271 0.01622974 -0.27177058] [ 0.00584999 -0.01603718 0.99985428 -0.78839042] [ 0. 0. 0. 1. ]] SLAMing on 91.371193817 meters Centerline goodness [0,1] 0.9306899846300835 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.27, Z:-0.79 [[ 0.99948852 0.03145125 -0.00578993 3.79263355] [-0.03137941 0.99943423 0.012106 -0.26958262] [ 0.00616741 -0.01191812 0.99990996 -0.78927974] [ 0. 0. 0. 1. ]] SLAMing on 91.401193817 meters Centerline goodness [0,1] 0.9300723888314374 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.27, Z:-0.79 [[ 0.99949076 0.03131543 -0.00612955 3.79413682] [-0.03124067 0.99944064 0.01193435 -0.26992656] [ 0.00649985 -0.01173678 0.99991 -0.79033248] [ 0. 0. 0. 1. ]] SLAMing on 91.43119381700001 meters Centerline goodness [0,1] 0.9285965383899585 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.27, Z:-0.79 [[ 0.99957379 0.02844883 -0.00655051 3.79531874] [-0.02839446 0.99956277 0.00824743 -0.26897185] [ 0.00678227 -0.00805792 0.99994453 -0.79134866] [ 0. 0. 0. 1. ]] SLAMing on 91.46119381700001 meters Centerline goodness [0,1] 0.9280310902365019 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.27, Z:-0.79 [[ 0.99964774 0.02565093 -0.00681401 3.7960317 ] [-0.02561772 0.99965972 0.00491714 -0.26934509] [ 0.00693782 -0.00474085 0.99996469 -0.79206208] [ 0. 0. 0. 1. ]] SLAMing on 91.49119381700001 meters Centerline goodness [0,1] 0.9178566993666957 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.28, Z:-0.80 [[ 0.99961524 0.02670088 -0.00751292 3.79978516] [-0.02665123 0.99962279 0.00663307 -0.27643885] [ 0.0076872 -0.00643029 0.99994978 -0.79516833] [ 0. 0. 0. 1. ]] SLAMing on 91.52119381700001 meters Centerline goodness [0,1] 0.9062616551324023 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.28, Z:-0.80 [[ 0.99961547 0.02656923 -0.00793664 3.80206871] [-0.02651451 0.99962447 0.00692148 -0.27917874] [ 0.00811756 -0.00670838 0.99994455 -0.79693391] [ 0. 0. 0. 1. ]] SLAMing on 91.551193817 meters Centerline goodness [0,1] 0.9059124148246634 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.28, Z:-0.80 [[ 9.99680799e-01 2.39349780e-02 -8.08803077e-03 3.80250604e+00] [-2.39032755e-02 9.99706298e-01 3.99389099e-03 -2.80366512e-01] [ 8.18124899e-03 -3.79928571e-03 9.99959315e-01 -7.97602403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.581193817 meters Centerline goodness [0,1] 0.9017444151749601 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.28, Z:-0.80 [[ 9.99735383e-01 2.14350517e-02 -8.34879964e-03 3.80282409e+00] [-2.14242853e-02 9.99769526e-01 1.37689065e-03 -2.82671506e-01] [ 8.37638918e-03 -1.19765923e-03 9.99964200e-01 -7.97742937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.611193817 meters Centerline goodness [0,1] 0.8942237590351407 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.29, Z:-0.80 [[ 9.99764322e-01 2.02248127e-02 -7.89030695e-03 3.80126174e+00] [-2.02177385e-02 9.99795125e-01 9.75311531e-04 -2.94862866e-01] [ 7.90841591e-03 -8.15557509e-04 9.99968395e-01 -7.97457151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.641193817 meters Centerline goodness [0,1] 0.8824717790644395 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.30, Z:-0.80 [[ 9.99818403e-01 1.73589304e-02 -7.86308558e-03 3.80110889e+00] [-1.73679257e-02 9.99848586e-01 -1.07714787e-03 -3.00751753e-01] [ 7.84319686e-03 1.21351775e-03 9.99968505e-01 -7.97454940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.671193817 meters Centerline goodness [0,1] 0.8798884425666534 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.31, Z:-0.80 [[ 9.99863861e-01 1.45802280e-02 -7.72508488e-03 3.80036189e+00] [-1.46016017e-02 9.99889698e-01 -2.71765718e-03 -3.07035941e-01] [ 7.68460872e-03 2.83008581e-03 9.99966468e-01 -7.96811539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.701193817 meters Centerline goodness [0,1] 0.919407450499678 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.32, Z:-0.79 [[ 9.99935177e-01 8.99304010e-03 -6.98327784e-03 3.79747008e+00] [-9.01764183e-03 9.99953217e-01 -3.49948895e-03 -3.21589515e-01] [ 6.95148009e-03 3.56223480e-03 9.99969493e-01 -7.92140917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.731193817 meters Centerline goodness [0,1] 0.9292099943734762 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.33, Z:-0.79 [[ 0.99995925 0.00588184 -0.00684925 3.79662111] [-0.00591657 0.99996969 -0.00506155 -0.32810381] [ 0.00681927 0.00510186 0.99996373 -0.79101966] [ 0. 0. 0. 1. ]] SLAMing on 91.761193817 meters Centerline goodness [0,1] 0.9311180626048766 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.33, Z:-0.79 [[ 9.99971524e-01 2.72711723e-03 -7.03657388e-03 3.79665516e+00] [-2.77499172e-03 9.99973010e-01 -6.80289440e-03 -3.34331527e-01] [ 7.01783167e-03 6.82222712e-03 9.99952102e-01 -7.90289410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.791193817 meters Centerline goodness [0,1] 0.9285714285714286 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.34, Z:-0.79 [[ 9.99974478e-01 -6.14202464e-04 -7.11804270e-03 3.79681788e+00] [ 5.50999206e-04 9.99960439e-01 -8.87786503e-03 -3.40128949e-01] [ 7.12321391e-03 8.87371642e-03 9.99935256e-01 -7.90057254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82119381700001 meters Centerline goodness [0,1] 0.9261254888907381 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.35, Z:-0.79 [[ 0.99996636 -0.00391094 -0.00721004 3.79719569] [ 0.00383166 0.99993241 -0.01097725 -0.34602329] [ 0.00725249 0.01094925 0.99991375 -0.79005662] [ 0. 0. 0. 1. ]] SLAMing on 91.85119381700001 meters Centerline goodness [0,1] 0.9146914525845116 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.36, Z:-0.79 [[ 0.9999253 -0.0100543 -0.00694971 3.79646694] [ 0.00994929 0.99983826 -0.01498246 -0.35678972] [ 0.00709922 0.01491219 0.9998636 -0.78903003] [ 0. 0. 0. 1. ]] SLAMing on 91.88119381700001 meters Centerline goodness [0,1] 0.9158822184818071 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.36, Z:-0.79 [[ 0.99992232 -0.01029095 -0.00703143 3.79688314] [ 0.01019323 0.99985289 -0.01379493 -0.36231577] [ 0.00717236 0.01372218 0.99988012 -0.78879915] [ 0. 0. 0. 1. ]] SLAMing on 91.911193817 meters Centerline goodness [0,1] 0.9094537291095036 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.37, Z:-0.79 [[ 0.99982721 -0.01712504 -0.00723039 3.79979524] [ 0.01698323 0.99967067 -0.01923833 -0.36808165] [ 0.00755747 0.01911221 0.99978878 -0.79146188] [ 0. 0. 0. 1. ]] SLAMing on 91.941193817 meters Centerline goodness [0,1] 0.9119931871053506 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.37, Z:-0.79 [[ 0.99973637 -0.02165713 -0.00762557 3.80237656] [ 0.0214737 0.9994963 -0.02336735 -0.36961545] [ 0.0081278 0.02319744 0.99969786 -0.79356107] [ 0. 0. 0. 1. ]] SLAMing on 91.971193817 meters Centerline goodness [0,1] 0.9077949145477282 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.37, Z:-0.79 [[ 0.99962984 -0.02602871 -0.00791819 3.8041757 ] [ 0.02580429 0.99929597 -0.02723441 -0.37125896] [ 0.0086215 0.02702 0.99959771 -0.79486481] [ 0. 0. 0. 1. ]] SLAMing on 92.001193817 meters Centerline goodness [0,1] 0.9023672958598394 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.37, Z:-0.80 [[ 0.99950311 -0.03046922 -0.00807181 3.80538348] [ 0.0302043 0.99905896 -0.03112719 -0.3727907 ] [ 0.00901264 0.03086792 0.99948284 -0.79560935] [ 0. 0. 0. 1. ]] SLAMing on 92.031193817 meters Centerline goodness [0,1] 0.8469997510166819 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.38, Z:-0.79 [[ 0.99900307 -0.04426463 -0.00578906 3.81035222] [ 0.04413767 0.99881561 -0.0204756 -0.37856263] [ 0.00668855 0.02019967 0.99977359 -0.79244853] [ 0. 0. 0. 1. ]] SLAMing on 92.061193817 meters Centerline goodness [0,1] 0.8322412617044586 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.38, Z:-0.79 [[ 0.99895042 -0.04541461 -0.00596398 3.81118489] [ 0.04528387 0.99876418 -0.02048114 -0.38069963] [ 0.00688676 0.02018958 0.99977245 -0.79225362] [ 0. 0. 0. 1. ]] SLAMing on 92.091193817 meters Centerline goodness [0,1] 0.810122120627812 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.38, Z:-0.79 [[ 0.99892055 -0.04606897 -0.00594868 3.81139866] [ 0.04593933 0.99873695 -0.02034892 -0.38205368] [ 0.00687862 0.02005368 0.99977524 -0.79199179] [ 0. 0. 0. 1. ]] SLAMing on 92.121193817 meters Centerline goodness [0,1] 0.7913176563049368 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.38, Z:-0.79 [[ 0.99889042 -0.04668019 -0.00623645 3.81238445] [ 0.04654369 0.99870618 -0.02048541 -0.38258042] [ 0.00718465 0.02017241 0.9997707 -0.79218148] [ 0. 0. 0. 1. ]] SLAMing on 92.151193817 meters Centerline goodness [0,1] 0.7897389104332138 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.38, Z:-0.79 [[ 0.99881243 -0.04826286 -0.00666591 3.81549575] [ 0.0481072 0.99860393 -0.02181478 -0.38138753] [ 0.00770945 0.0214682 0.99973981 -0.79480708] [ 0. 0. 0. 1. ]] SLAMing on 92.18119381700001 meters Centerline goodness [0,1] 0.7605376321748343 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.38, Z:-0.80 [[ 0.99892467 -0.04581236 -0.00712294 3.81747812] [ 0.04567254 0.99878163 -0.01868899 -0.38173922] [ 0.00797045 0.01834357 0.99979997 -0.79601325] [ 0. 0. 0. 1. ]] SLAMing on 92.21119381700001 meters Centerline goodness [0,1] 0.7834563026083342 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.38, Z:-0.80 [[ 0.99907338 -0.04238995 -0.00744849 3.81806975] [ 0.04227523 0.99899434 -0.01493721 -0.38130264] [ 0.00807419 0.01460848 0.99986069 -0.79599671] [ 0. 0. 0. 1. ]] SLAMing on 92.24119381700001 meters Centerline goodness [0,1] 0.8018514299915092 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.38, Z:-0.80 [[ 0.99934189 -0.03534096 -0.00817379 3.81926636] [ 0.03527096 0.99934117 -0.00855474 -0.37718198] [ 0.00847074 0.00826081 0.99993 -0.79624303] [ 0. 0. 0. 1. ]] SLAMing on 92.27119381700001 meters Centerline goodness [0,1] 0.8269067048734401 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.37, Z:-0.80 [[ 0.99948045 -0.03108952 -0.00850135 3.81903155] [ 0.0310486 0.99950585 -0.00490395 -0.37472992] [ 0.00864961 0.00463744 0.99995184 -0.79546008] [ 0. 0. 0. 1. ]] SLAMing on 92.301193817 meters Centerline goodness [0,1] 0.8478763032484964 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.37, Z:-0.79 [[ 9.99597877e-01 -2.69044235e-02 -8.95747196e-03 3.81919228e+00] [ 2.68915157e-02 9.99637143e-01 -1.55837426e-03 -3.71056663e-01] [ 8.99614884e-03 1.31686760e-03 9.99958667e-01 -7.94932486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.331193817 meters Centerline goodness [0,1] 0.865567795908225 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.37, Z:-0.80 [[ 9.99777686e-01 -2.07666025e-02 -3.65052815e-03 3.83131011e+00] [ 2.07437220e-02 9.99765616e-01 -6.19766257e-03 -3.65637035e-01] [ 3.77837692e-03 6.12055920e-03 9.99974131e-01 -7.99080759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.361193817 meters Centerline goodness [0,1] 0.8871834388537154 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.36, Z:-0.80 [[ 9.99901483e-01 -1.35758892e-02 -3.56648165e-03 3.82898092e+00] [ 1.35765517e-02 9.99907821e-01 1.61627246e-04 -3.59445501e-01] [ 3.56395866e-03 -2.10031845e-04 9.99993627e-01 -7.96593873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.391193817 meters Centerline goodness [0,1] 0.895185786210627 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.36, Z:-0.80 [[ 9.99932972e-01 -1.08256062e-02 -4.10590652e-03 3.83035470e+00] [ 1.08369703e-02 9.99937481e-01 2.75568039e-03 -3.57003902e-01] [ 4.07581792e-03 -2.79999126e-03 9.99987774e-01 -7.96849251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.421193817 meters Centerline goodness [0,1] 0.8896498605270827 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.35, Z:-0.80 [[ 0.99995888 -0.00799799 -0.00427434 3.83061335] [ 0.00802172 0.99995234 0.00556443 -0.35486818] [ 0.00422963 -0.00559848 0.99997538 -0.79649868] [ 0. 0. 0. 1. ]] SLAMing on 92.451193817 meters Centerline goodness [0,1] 0.8991544262771903 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.35, Z:-0.80 [[ 0.99995415 -0.00843788 -0.00452858 3.8309527 ] [ 0.0084572 0.99995515 0.00426346 -0.35055815] [ 0.0044924 -0.00430157 0.99998066 -0.79634796] [ 0. 0. 0. 1. ]] SLAMing on 92.481193817 meters Centerline goodness [0,1] 0.8991544262771903 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.35, Z:-0.80 [[ 0.99995415 -0.00843788 -0.00452858 3.8309527 ] [ 0.0084572 0.99995515 0.00426346 -0.35055815] [ 0.0044924 -0.00430157 0.99998066 -0.79634796] [ 0. 0. 0. 1. ]] SLAMing on 92.511193817 meters Centerline goodness [0,1] 0.8944027459007919 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.34, Z:-0.80 [[ 9.99980362e-01 -6.06701218e-03 1.57086939e-03 3.84246236e+00] [ 6.07276266e-03 9.99974781e-01 -3.68217980e-03 -3.44683949e-01] [-1.54848994e-03 3.69164701e-03 9.99991987e-01 -8.00411223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.541193817 meters Centerline goodness [0,1] 0.9117372062581811 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.34, Z:-0.80 [[ 9.99992908e-01 -3.38238181e-03 1.65640940e-03 3.84179199e+00] [ 3.38433690e-03 9.99993578e-01 -1.17893744e-03 -3.41246715e-01] [-1.65241115e-03 1.18453493e-03 9.99997933e-01 -7.99524227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57119381700001 meters Centerline goodness [0,1] 0.9150355317292108 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.33, Z:-0.80 [[ 9.99998709e-01 -8.58222706e-04 1.35814688e-03 3.84228435e+00] [ 8.58343084e-04 9.99999628e-01 -8.80536318e-05 -3.33064606e-01] [-1.35807080e-03 8.92192742e-05 9.99999074e-01 -7.99511310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60119381700001 meters Centerline goodness [0,1] 0.9109580489428999 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.33, Z:-0.80 [[ 9.99999150e-01 -6.60112007e-04 1.12440771e-03 3.84268814e+00] [ 6.61130937e-04 9.99999371e-01 -9.06062382e-04 -3.28312234e-01] [-1.12380890e-03 9.06804993e-04 9.99998957e-01 -7.99602229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63119381700001 meters Centerline goodness [0,1] 0.9135572525403034 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.32, Z:-0.80 [[ 9.99998106e-01 1.82803352e-03 6.68506299e-04 3.84471980e+00] [-1.82868756e-03 9.99997849e-01 9.79067660e-04 -3.23774017e-01] [-6.66715092e-04 -9.80288295e-04 9.99999297e-01 -8.00917750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.661193817 meters Centerline goodness [0,1] 0.9150582362728785 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.32, Z:-0.80 [[ 9.99990381e-01 4.36619375e-03 4.16945051e-04 3.84623261e+00] [-4.36736873e-03 9.99986373e-01 2.86000771e-03 -3.18648793e-01] [-4.04452022e-04 -2.86180116e-03 9.99995823e-01 -8.02153068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.691193817 meters Centerline goodness [0,1] 0.9119344126193442 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.31, Z:-0.80 [[ 9.99977906e-01 6.64230573e-03 -2.60641344e-04 3.84895623e+00] [-6.64139489e-03 9.99972326e-01 3.35236639e-03 -3.10166039e-01] [ 2.82901573e-04 -3.35056130e-03 9.99994347e-01 -8.04339230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.721193817 meters Centerline goodness [0,1] 0.9080150061143698 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.31, Z:-0.81 [[ 9.99981595e-01 6.01659991e-03 -7.80791625e-04 3.85080087e+00] [-6.01518271e-03 9.99980280e-01 1.80491207e-03 -3.06523991e-01] [ 7.91635662e-04 -1.80018225e-03 9.99998066e-01 -8.05489961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.751193817 meters Centerline goodness [0,1] 0.9066658375823903 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.30, Z:-0.81 [[ 9.99962798e-01 8.53994724e-03 -1.21344352e-03 3.85279554e+00] [-8.53607218e-03 9.99958563e-01 3.16351716e-03 -3.00419398e-01] [ 1.24040951e-03 -3.15304143e-03 9.99994260e-01 -8.07029555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.781193817 meters Centerline goodness [0,1] 0.9053286448471733 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.30, Z:-0.81 [[ 9.99965165e-01 8.23297977e-03 -1.37352216e-03 3.85352716e+00] [-8.23046043e-03 9.99964455e-01 1.82989226e-03 -2.95654725e-01] [ 1.38853880e-03 -1.81852379e-03 9.99997382e-01 -8.07733223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.811193817 meters Centerline goodness [0,1] 0.9076756576756577 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.29, Z:-0.81 [[ 9.99966080e-01 8.06511338e-03 -1.67142391e-03 3.85446665e+00] [-8.06402366e-03 9.99967269e-01 6.57690320e-04 -2.91613096e-01] [ 1.67667355e-03 -6.44189609e-04 9.99998387e-01 -8.08376368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.841193817 meters Centerline goodness [0,1] 0.9047450277279739 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.29, Z:-0.81 [[ 9.99967455e-01 7.85070045e-03 -1.85905118e-03 3.85504721e+00] [-7.85114920e-03 9.99969152e-01 -2.34211516e-04 -2.88908703e-01] [ 1.85715511e-03 2.48799581e-04 9.99998245e-01 -8.08668237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.871193817 meters Centerline goodness [0,1] 0.9051851851851852 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.29, Z:-0.81 [[ 9.99961934e-01 8.50424467e-03 -1.95146384e-03 3.85467391e+00] [-8.50541114e-03 9.99963654e-01 -5.90227057e-04 -2.86022471e-01] [ 1.94637348e-03 6.06802592e-04 9.99997922e-01 -8.08088282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.901193817 meters Centerline goodness [0,1] 0.9071622997485819 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.28, Z:-0.81 [[ 9.99960923e-01 8.53966777e-03 -2.28630026e-03 3.85580015e+00] [-8.54182249e-03 9.99963081e-01 -9.34350578e-04 -2.84974457e-01] [ 2.27823681e-03 9.53843237e-04 9.99996950e-01 -8.08661222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93119381700001 meters Centerline goodness [0,1] 0.9069413457328135 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.29, Z:-0.81 [[ 9.99960136e-01 8.61137884e-03 -2.36025513e-03 3.85593786e+00] [-8.61366458e-03 9.99962441e-01 -9.59983361e-04 -2.85064493e-01] [ 2.35189970e-03 9.80275538e-04 9.99996754e-01 -8.08615359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96119381700001 meters Centerline goodness [0,1] 0.906674726924039 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.29, Z:-0.81 [[ 9.99960081e-01 8.59537478e-03 -2.44038848e-03 3.85612224e+00] [-8.59752830e-03 9.99962659e-01 -8.73333606e-04 -2.85770006e-01] [ 2.43279072e-03 8.94280052e-04 9.99996641e-01 -8.08528984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99119381700001 meters Centerline goodness [0,1] 0.9115498601661309 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.29, Z:-0.81 [[ 9.99960272e-01 8.61981607e-03 -2.27009542e-03 3.85532699e+00] [-8.62103913e-03 9.99962698e-01 -5.29538471e-04 -2.86927698e-01] [ 2.26544621e-03 5.49088015e-04 9.99997283e-01 -8.07662871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02119381700001 meters Centerline goodness [0,1] 0.9103059782156814 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.29, Z:-0.81 [[ 9.99961687e-01 8.41482788e-03 -2.41129476e-03 3.85568424e+00] [-8.41663039e-03 9.99964307e-01 -7.38356074e-04 -2.86544175e-01] [ 2.40499556e-03 7.58622762e-04 9.99996820e-01 -8.07614515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.051193817 meters Centerline goodness [0,1] 0.9144417349256967 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.29, Z:-0.81 [[ 9.99963388e-01 8.18423175e-03 -2.49804467e-03 3.85605761e+00] [-8.18700222e-03 9.99965880e-01 -1.10085010e-03 -2.85438718e-01] [ 2.48894983e-03 1.12126129e-03 9.99996274e-01 -8.07787829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.081193817 meters Centerline goodness [0,1] 0.9132375534609476 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.28, Z:-0.81 [[ 9.99965360e-01 7.83947214e-03 -2.79660063e-03 3.85708205e+00] [-7.84395537e-03 9.99967962e-01 -1.59575024e-03 -2.84508221e-01] [ 2.78400119e-03 1.61763137e-03 9.99994816e-01 -8.08305290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.111193817 meters Centerline goodness [0,1] 0.9113681757656458 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.28, Z:-0.81 [[ 9.99970427e-01 7.16131182e-03 -2.80385257e-03 3.85766935e+00] [-7.16754261e-03 9.99971852e-01 -2.21851609e-03 -2.83907298e-01] [ 2.78788616e-03 2.23854721e-03 9.99993608e-01 -8.08948424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.141193817 meters Centerline goodness [0,1] 0.9186963049462007 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.28, Z:-0.81 [[ 9.99973837e-01 6.61751646e-03 -2.92133161e-03 3.85809620e+00] [-6.62525778e-03 9.99974546e-01 -2.64825126e-03 -2.83653841e-01] [ 2.90373240e-03 2.66753655e-03 9.99992226e-01 -8.09043131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.171193817 meters Centerline goodness [0,1] 0.9160836265783482 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.28, Z:-0.81 [[ 9.99977602e-01 5.90176845e-03 -3.15657356e-03 3.85872233e+00] [-5.91191696e-03 9.99977355e-01 -3.21542820e-03 -2.83393141e-01] [ 3.13752537e-03 3.23401758e-03 9.99989848e-01 -8.09005372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.201193817 meters Centerline goodness [0,1] 0.9141523137580411 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.28, Z:-0.81 [[ 9.99981333e-01 5.22615035e-03 -3.16559019e-03 3.85830326e+00] [-5.23748573e-03 9.99979865e-01 -3.58316800e-03 -2.83439697e-01] [ 3.14680027e-03 3.59968084e-03 9.99988570e-01 -8.08095601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.231193817 meters Centerline goodness [0,1] 0.9164208864703194 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.28, Z:-0.81 [[ 9.99984464e-01 4.65135520e-03 -3.07200883e-03 3.85783909e+00] [-4.66287590e-03 9.99982083e-01 -3.75376380e-03 -2.83882385e-01] [ 3.05449370e-03 3.76802987e-03 9.99988236e-01 -8.07344697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.261193817 meters Centerline goodness [0,1] 0.918834806423503 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.28, Z:-0.81 [[ 9.99991646e-01 2.82913362e-03 -2.95028338e-03 3.85791608e+00] [-2.84357419e-03 9.99983942e-01 -4.90198203e-03 -2.83429628e-01] [ 2.93636764e-03 4.91033043e-03 9.99983633e-01 -8.07276065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.291193817 meters Centerline goodness [0,1] 0.9153948517486589 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.28, Z:-0.81 [[ 9.99993219e-01 1.97576258e-03 -3.10792790e-03 3.85910815e+00] [-1.99313358e-03 9.99982355e-01 -5.59612328e-03 -2.82303671e-01] [ 3.09681646e-03 5.60227985e-03 9.99979512e-01 -8.08259293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32119381700001 meters Centerline goodness [0,1] 0.9054698515385253 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.28, Z:-0.81 [[ 9.99993658e-01 1.08554419e-03 -3.39203814e-03 3.86072380e+00] [-1.10634221e-03 9.99980565e-01 -6.13557219e-03 -2.81771147e-01] [ 3.38531179e-03 6.13928603e-03 9.99975424e-01 -8.09409246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35119381700001 meters Centerline goodness [0,1] 0.9050593508757367 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.28, Z:-0.81 [[ 9.99994046e-01 3.82479787e-05 -3.45045177e-03 3.86151052e+00] [-6.10325238e-05 9.99978195e-01 -6.60348770e-03 -2.81956504e-01] [ 3.45012396e-03 6.60365898e-03 9.99972244e-01 -8.09994509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38119381700001 meters Centerline goodness [0,1] 0.8427777316850577 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.28, Z:-0.81 [[ 9.99976027e-01 -6.12111308e-03 -3.23687001e-03 3.86170247e+00] [ 6.08222185e-03 9.99910796e-01 -1.18914283e-02 -2.81239112e-01] [ 3.30937005e-03 1.18714559e-02 9.99924055e-01 -8.10252735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.411193817 meters Centerline goodness [0,1] 0.8142124176897032 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.28, Z:-0.81 [[ 9.99968717e-01 -7.26513203e-03 -3.12778942e-03 3.86154449e+00] [ 7.22618100e-03 9.99898371e-01 -1.22894265e-02 -2.81617022e-01] [ 3.21675585e-03 1.22664401e-02 9.99919590e-01 -8.09846445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.441193817 meters Centerline goodness [0,1] 0.771769721049582 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.28, Z:-0.81 [[ 9.99961107e-01 -8.23438536e-03 -3.15913512e-03 3.86183299e+00] [ 8.19340584e-03 9.99884859e-01 -1.27725053e-02 -2.81147899e-01] [ 3.26394511e-03 1.27461244e-02 9.99913438e-01 -8.09744235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.471193817 meters Centerline goodness [0,1] 0.7558327128319682 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.28, Z:-0.81 [[ 9.99938198e-01 -1.05535054e-02 -3.49621444e-03 3.86395440e+00] [ 1.04993437e-02 9.99829899e-01 -1.51636556e-02 -2.76137535e-01] [ 3.65564946e-03 1.51260105e-02 9.99878913e-01 -8.11325385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.501193817 meters Centerline goodness [0,1] 0.7381597732304318 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.27, Z:-0.81 [[ 9.99958112e-01 -8.30589549e-03 -3.84520565e-03 3.86602616e+00] [ 8.25679111e-03 9.99886341e-01 -1.26147220e-02 -2.74101664e-01] [ 3.94954517e-03 1.25824445e-02 9.99913038e-01 -8.12838443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.531193817 meters Centerline goodness [0,1] 0.7410381774680121 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.27, Z:-0.81 [[ 0.99997804 -0.00528373 -0.00399958 3.8669783 ] [ 0.00524506 0.99993997 -0.00961991 -0.27160576] [ 0.00405017 0.00959872 0.99994573 -0.81351776] [ 0. 0. 0. 1. ]] SLAMing on 93.561193817 meters Centerline goodness [0,1] 0.7486792295852573 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.27, Z:-0.81 [[ 9.99989254e-01 -1.97336327e-03 -4.19503248e-03 3.86768210e+00] [ 1.94586946e-03 9.99976669e-01 -6.54790661e-03 -2.68729727e-01] [ 4.20785600e-03 6.53967326e-03 9.99969763e-01 -8.13773437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.591193817 meters Centerline goodness [0,1] 0.7617212588310854 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.26, Z:-0.81 [[ 9.99990136e-01 8.82210852e-04 -4.35318066e-03 3.86902242e+00] [-9.03861808e-04 9.99987220e-01 -4.97413625e-03 -2.58677692e-01] [ 4.34873679e-03 4.97802186e-03 9.99978154e-01 -8.14849225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.621193817 meters Centerline goodness [0,1] 0.7672512430048473 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.25, Z:-0.82 [[ 9.99982350e-01 3.82368177e-03 -4.54744411e-03 3.86994392e+00] [-3.83577458e-03 9.99989123e-01 -2.65351259e-03 -2.54349730e-01] [ 4.53724846e-03 2.67090873e-03 9.99986140e-01 -8.15367171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.651193817 meters Centerline goodness [0,1] 0.7753659347970725 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.25, Z:-0.82 [[ 9.99967378e-01 6.39734742e-03 -4.93116004e-03 3.87192571e+00] [-6.40210902e-03 9.99979055e-01 -9.50435249e-04 -2.49042872e-01] [ 4.92497649e-03 9.81974068e-04 9.99987390e-01 -8.16739478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68119381700001 meters Centerline goodness [0,1] 0.78623788619233 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.24, Z:-0.82 [[ 9.99918479e-01 1.15396312e-02 -5.46549729e-03 3.87459094e+00] [-1.15268817e-02 9.99930782e-01 2.35850893e-03 -2.37496877e-01] [ 5.49233530e-03 -2.29531653e-03 9.99982283e-01 -8.18620918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71119381700001 meters Centerline goodness [0,1] 0.7982950410645597 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.23, Z:-0.82 [[ 0.99988394 0.01410864 -0.0057487 3.87582584] [-0.01408596 0.99989292 0.00396758 -0.23142323] [ 0.00580406 -0.00388615 0.99997561 -0.81926838] [ 0. 0. 0. 1. ]] SLAMing on 93.74119381700001 meters Centerline goodness [0,1] 0.7989245525889632 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.23, Z:-0.82 [[ 0.99984365 0.01660965 -0.0060657 3.87742419] [-0.01657632 0.99984745 0.00550444 -0.22543146] [ 0.0061562 -0.00540304 0.99996645 -0.82020618] [ 0. 0. 0. 1. ]] SLAMing on 93.77119381700001 meters Centerline goodness [0,1] 0.8075244231968406 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.22, Z:-0.82 [[ 0.9997994 0.01896184 -0.00645023 3.87927711] [-0.01891686 0.9997968 0.00696458 -0.21968915] [ 0.00658098 -0.00684116 0.99995494 -0.82129113] [ 0. 0. 0. 1. ]] SLAMing on 93.801193817 meters Centerline goodness [0,1] 0.7927076439444076 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.21, Z:-0.82 [[ 0.9997664 0.0204459 -0.00700738 3.88109096] [-0.02040173 0.9997719 0.00631792 -0.20808868] [ 0.00713496 -0.00617348 0.99995549 -0.82211082] [ 0. 0. 0. 1. ]] SLAMing on 93.831193817 meters Centerline goodness [0,1] 0.8111924360861722 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.20, Z:-0.82 [[ 9.99786899e-01 1.93497476e-02 -7.19328233e-03 3.88170883e+00] [-1.93217042e-02 9.99805524e-01 3.94783426e-03 -2.01451356e-01] [ 7.26827301e-03 -3.80800650e-03 9.99966335e-01 -8.22376053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.861193817 meters Centerline goodness [0,1] 0.7974654617222395 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.19, Z:-0.82 [[ 9.99804841e-01 1.82584003e-02 -7.54394425e-03 3.88265039e+00] [-1.82464730e-02 9.99832163e-01 1.64685737e-03 -1.94841090e-01] [ 7.57274707e-03 -1.50888559e-03 9.99970188e-01 -8.22572662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.891193817 meters Centerline goodness [0,1] 0.7846160222139335 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.19, Z:-0.82 [[ 9.99821778e-01 1.70488855e-02 -8.10852709e-03 3.88466978e+00] [-1.70558679e-02 9.99854224e-01 -7.92735407e-04 -1.88055155e-01] [ 8.09382980e-03 9.30892091e-04 9.99966811e-01 -8.23582345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.921193817 meters Centerline goodness [0,1] 0.7988453420518975 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.18, Z:-0.82 [[ 9.99794652e-01 1.83430406e-02 -8.61315548e-03 3.88534087e+00] [-1.83532293e-02 9.99830954e-01 -1.10536851e-03 -1.76602395e-01] [ 8.59142365e-03 1.26322075e-03 9.99962295e-01 -8.22999655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.951193817 meters Centerline goodness [0,1] 0.7983854274477333 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.17, Z:-0.82 [[ 9.99799594e-01 1.79603177e-02 -8.84305293e-03 3.88548898e+00] [-1.79864128e-02 9.99834083e-01 -2.88027203e-03 -1.70459072e-01] [ 8.78985511e-03 3.03874960e-03 9.99956751e-01 -8.22370065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.981193817 meters Centerline goodness [0,1] 0.8541839960073199 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.17, Z:-0.82 [[ 9.99738483e-01 2.10561173e-02 -8.92215797e-03 3.88530058e+00] [-2.10618743e-02 9.99778022e-01 -5.51773260e-04 -1.66004007e-01] [ 8.90855924e-03 7.39546332e-04 9.99960045e-01 -8.21521705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.011193817 meters Centerline goodness [0,1] 0.8887548362940467 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.16, Z:-0.82 [[ 0.99948478 0.03090014 -0.00868106 3.88393041] [-0.03083301 0.9994944 0.0077638 -0.15764059] [ 0.00891657 -0.00749213 0.99993218 -0.81937707] [ 0. 0. 0. 1. ]] SLAMing on 94.041193817 meters Centerline goodness [0,1] 0.8960290746897392 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.15, Z:-0.82 [[ 9.99375539e-01 3.51021447e-02 -4.04619317e-03 3.89715983e+00] [-3.50973932e-02 9.99383128e-01 1.23939704e-03 -1.51689912e-01] [ 4.08720268e-03 -1.09661225e-03 9.99991046e-01 -8.23086067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07119381700001 meters Centerline goodness [0,1] 0.8984462864997709 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.15, Z:-0.82 [[ 0.99922545 0.03912442 -0.00421638 3.89793047] [-0.03910586 0.9992254 0.00439792 -0.14895343] [ 0.00438518 -0.00422963 0.99998144 -0.82304905] [ 0. 0. 0. 1. ]] SLAMing on 94.10119381700001 meters Centerline goodness [0,1] 0.9055696624068601 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.15, Z:-0.82 [[ 9.99190191e-01 3.99645240e-02 -4.66886439e-03 3.89955623e+00] [-3.99470294e-02 9.99194641e-01 3.78213811e-03 -1.45004579e-01] [ 4.81625562e-03 -3.59256804e-03 9.99981948e-01 -8.23674887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13119381700001 meters Centerline goodness [0,1] 0.9076974272581685 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.14, Z:-0.82 [[ 0.99903298 0.04369345 -0.00489836 3.90094639] [-0.04366045 0.99902427 0.00665358 -0.14159104] [ 0.0051843 -0.00643328 0.99996587 -0.82428357] [ 0. 0. 0. 1. ]] SLAMing on 94.161193817 meters Centerline goodness [0,1] 0.9031729572791373 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.14, Z:-0.83 [[ 0.9990434 0.04341257 -0.00525686 3.90244082] [-0.04338055 0.99904025 0.0060592 -0.1398255 ] [ 0.00551486 -0.00582536 0.99996783 -0.82510282] [ 0. 0. 0. 1. ]] SLAMing on 94.191193817 meters Centerline goodness [0,1] 0.905376566870403 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.14, Z:-0.83 [[ 0.99905553 0.04309497 -0.00555704 3.9037193 ] [-0.0430624 0.99905524 0.00585341 -0.13928527] [ 0.00580404 -0.00560859 0.99996743 -0.8258184 ] [ 0. 0. 0. 1. ]] SLAMing on 94.221193817 meters Centerline goodness [0,1] 0.9036788880103208 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.14, Z:-0.83 [[ 9.99206194e-01 3.93948479e-02 -5.91845652e-03 3.90423104e+00] [-3.93853549e-02 9.99222629e-01 1.71208354e-03 -1.37792892e-01] [ 5.98130295e-03 -1.47762397e-03 9.99981020e-01 -8.25801761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.251193817 meters Centerline goodness [0,1] 0.9057119771272297 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.14, Z:-0.83 [[ 9.99352582e-01 3.54177498e-02 -6.32457162e-03 3.90448718e+00] [-3.54303517e-02 9.99370358e-01 -1.89168886e-03 -1.39764920e-01] [ 6.25359004e-03 2.11454594e-03 9.99978210e-01 -8.25260149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.281193817 meters Centerline goodness [0,1] 0.905638401863522 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.14, Z:-0.83 [[ 0.99947388 0.03177434 -0.0065085 3.90460279] [-0.03181106 0.99947811 -0.00561881 -0.14016072] [ 0.00632657 0.00582289 0.99996303 -0.82507077] [ 0. 0. 0. 1. ]] SLAMing on 94.311193817 meters Centerline goodness [0,1] 0.9053402096157045 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.14, Z:-0.83 [[ 0.99951523 0.03030129 -0.00715144 3.90691613] [-0.03034787 0.99951828 -0.0064967 -0.14201681] [ 0.00695114 0.00671058 0.99995332 -0.82627125] [ 0. 0. 0. 1. ]] SLAMing on 94.341193817 meters Centerline goodness [0,1] 0.9046063581890812 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.14, Z:-0.83 [[ 0.99955206 0.02892216 -0.007693 3.90867445] [-0.02897751 0.99955425 -0.00718313 -0.14355661] [ 0.00748182 0.00740283 0.99994461 -0.82699596] [ 0. 0. 0. 1. ]] SLAMing on 94.371193817 meters Centerline goodness [0,1] 0.8971356586745968 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.15, Z:-0.83 [[ 0.99966582 0.02457317 -0.00802584 3.9094674 ] [-0.02465967 0.99963688 -0.01086276 -0.1452807 ] [ 0.00775599 0.01105704 0.99990879 -0.82732677] [ 0. 0. 0. 1. ]] SLAMing on 94.401193817 meters Centerline goodness [0,1] 0.8971356586745968 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.15, Z:-0.83 [[ 0.99966582 0.02457317 -0.00802584 3.9094674 ] [-0.02465967 0.99963688 -0.01086276 -0.1452807 ] [ 0.00775599 0.01105704 0.99990879 -0.82732677] [ 0. 0. 0. 1. ]] SLAMing on 94.43119381700001 meters Centerline goodness [0,1] 0.8967119593403174 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.15, Z:-0.83 [[ 0.99967833 0.02405354 -0.00804185 3.90951243] [-0.02414001 0.99964988 -0.01083365 -0.14637889] [ 0.00777845 0.01102429 0.99990898 -0.82717057] [ 0. 0. 0. 1. ]] SLAMing on 94.46119381700001 meters Centerline goodness [0,1] 0.8965717726696982 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.15, Z:-0.83 [[ 0.99968245 0.02374457 -0.00843745 3.91070748] [-0.02383477 0.99965805 -0.01075582 -0.1470391 ] [ 0.00817917 0.01095351 0.99990656 -0.82758642] [ 0. 0. 0. 1. ]] SLAMing on 94.49119381700001 meters Centerline goodness [0,1] 0.8922258558595852 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.15, Z:-0.83 [[ 0.99969304 0.02307007 -0.00903265 3.91336957] [-0.02317113 0.99966824 -0.01124804 -0.14683732] [ 0.00877016 0.01145389 0.99989594 -0.82927473] [ 0. 0. 0. 1. ]] SLAMing on 94.52119381700001 meters Centerline goodness [0,1] 0.8884678304445963 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.15, Z:-0.83 [[ 0.9996777 0.02356949 -0.00943264 3.9148138 ] [-0.0236736 0.99965831 -0.01108255 -0.14635055] [ 0.00916821 0.01130229 0.9998941 -0.83004134] [ 0. 0. 0. 1. ]] SLAMing on 94.551193817 meters Centerline goodness [0,1] 0.8934171229467397 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.15, Z:-0.83 [[ 0.9996599 0.02414832 -0.0098457 3.91585441] [-0.02425667 0.99964483 -0.0110376 -0.14501258] [ 0.00957566 0.01127267 0.99989061 -0.83011788] [ 0. 0. 0. 1. ]] SLAMing on 94.581193817 meters Centerline goodness [0,1] 0.8978391430871153 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.14, Z:-0.83 [[ 0.99959094 0.02665839 -0.01035823 3.9179257 ] [-0.02674636 0.99960655 -0.00844887 -0.14444875] [ 0.01012892 0.00872246 0.99991066 -0.83091838] [ 0. 0. 0. 1. ]] SLAMing on 94.611193817 meters Centerline goodness [0,1] 0.9019563097732506 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.14, Z:-0.83 [[ 0.99957956 0.02699744 -0.01057547 3.9181334 ] [-0.02709029 0.99959481 -0.00873693 -0.14225159] [ 0.01033531 0.00901975 0.99990591 -0.83042736] [ 0. 0. 0. 1. ]] SLAMing on 94.641193817 meters Centerline goodness [0,1] 0.8986991534173033 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.14, Z:-0.83 [[ 0.99950343 0.02947273 -0.01114724 3.92057679] [-0.02955001 0.99953995 -0.00683259 -0.13796437] [ 0.01094074 0.0071586 0.99991452 -0.83158008] [ 0. 0. 0. 1. ]] SLAMing on 94.671193817 meters Centerline goodness [0,1] 0.9002803447201744 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.14, Z:-0.83 [[ 0.99951867 0.02885671 -0.01138922 3.92135176] [-0.02894513 0.99955153 -0.00767627 -0.13602727] [ 0.01116261 0.00800223 0.99990568 -0.83180552] [ 0. 0. 0. 1. ]] SLAMing on 94.701193817 meters Centerline goodness [0,1] 0.8836094699004255 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.13, Z:-0.83 [[ 0.99955445 0.02727978 -0.01211232 3.92352264] [-0.02739063 0.99958355 -0.00908223 -0.1347092 ] [ 0.01185951 0.00940995 0.9998854 -0.83256334] [ 0. 0. 0. 1. ]] SLAMing on 94.731193817 meters Centerline goodness [0,1] 0.86730103447561 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.13, Z:-0.83 [[ 0.99959949 0.02527751 -0.01272397 3.92526198] [-0.02541082 0.99962272 -0.01042644 -0.13435514] [ 0.01245561 0.01074559 0.99986469 -0.83310552] [ 0. 0. 0. 1. ]] SLAMing on 94.761193817 meters Centerline goodness [0,1] 0.8011354252683732 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.13, Z:-0.83 [[ 9.99893512e-01 9.51018538e-03 -1.10689130e-02 3.93122031e+00] [-9.53847910e-03 9.99951367e-01 -2.50616229e-03 -1.33707276e-01] [ 1.10445406e-02 2.61147601e-03 9.99935597e-01 -8.31277223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.791193817 meters Centerline goodness [0,1] 0.7539927498705334 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.13, Z:-0.83 [[ 0.99992916 0.00429639 -0.01110044 3.93148244] [-0.00437957 0.99996243 -0.00748023 -0.13202142] [ 0.01106788 0.00752832 0.99991041 -0.83142292] [ 0. 0. 0. 1. ]] SLAMing on 94.82119381700001 meters Centerline goodness [0,1] 0.7108750025838725 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.13, Z:-0.83 [[ 9.99965861e-01 -1.43672653e-03 -8.13710271e-03 3.94021523e+00] [ 1.42059294e-03 9.99997015e-01 -1.98815307e-03 -1.32162231e-01] [ 8.13993485e-03 1.97652569e-03 9.99964917e-01 -8.31115818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85119381700001 meters Centerline goodness [0,1] 0.682615531008233 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.13, Z:-0.83 [[ 0.99995518 -0.00568021 -0.00757441 3.937943 ] [ 0.00563393 0.99996542 -0.00611746 -0.12573587] [ 0.0076089 0.00607451 0.9999526 -0.82928297] [ 0. 0. 0. 1. ]] SLAMing on 94.88119381700001 meters Centerline goodness [0,1] 0.6885083147182924 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.12, Z:-0.83 [[ 9.99967405e-01 -2.92419741e-03 -7.52579450e-03 3.93761064e+00] [ 2.89818365e-03 9.99989796e-01 -3.46519962e-03 -1.22522146e-01] [ 7.53585064e-03 3.44327554e-03 9.99965677e-01 -8.28723267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.911193817 meters Centerline goodness [0,1] 0.6945129150527166 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.12, Z:-0.83 [[ 9.99971909e-01 7.03131720e-05 -7.49511071e-03 3.93732059e+00] [-7.96320026e-05 9.99999224e-01 -1.24303010e-03 -1.17963660e-01] [ 7.49501749e-03 1.24359203e-03 9.99971139e-01 -8.28208318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.941193817 meters Centerline goodness [0,1] 0.7026356589147287 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.11, Z:-0.83 [[ 9.99964437e-01 3.22608142e-03 -7.79211227e-03 3.93855331e+00] [-3.21942729e-03 9.99994442e-01 8.66349320e-04 -1.13119241e-01] [ 7.79486388e-03 -8.41232371e-04 9.99969266e-01 -8.28797184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.971193817 meters Centerline goodness [0,1] 0.7433084232098868 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.10, Z:-0.83 [[ 9.99858854e-01 1.23989087e-02 -1.13375307e-02 3.94483833e+00] [-1.23882867e-02 9.99922756e-01 1.00663841e-03 -9.92075663e-02] [ 1.13491361e-02 -8.66043743e-04 9.99935221e-01 -8.29358075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.001193817 meters Centerline goodness [0,1] 0.7916079569001243 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.09, Z:-0.83 [[ 0.99974291 0.0194692 -0.01162146 3.94710708] [-0.01939173 0.99978923 0.00674162 -0.0931181 ] [ 0.01175026 -0.00651453 0.99990974 -0.83095574] [ 0. 0. 0. 1. ]] SLAMing on 95.031193817 meters Centerline goodness [0,1] 0.8217273085784262 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.09, Z:-0.83 [[ 0.99957985 0.02642768 -0.01190388 3.94947701] [-0.02628232 0.99958004 0.01220618 -0.08622961] [ 0.01222146 -0.01188819 0.99985464 -0.83259129] [ 0. 0. 0. 1. ]] SLAMing on 95.061193817 meters Centerline goodness [0,1] 0.9018886741881195 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.07, Z:-0.83 [[ 0.99919748 0.03679548 -0.01582658 3.95716601] [-0.03663802 0.99927729 0.01012671 -0.06920842] [ 0.01618776 -0.00953873 0.99982347 -0.83256287] [ 0. 0. 0. 1. ]] SLAMing on 95.091193817 meters Centerline goodness [0,1] 0.8980357216857984 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.06, Z:-0.83 [[ 0.99905661 0.04034419 -0.01606953 3.9584088 ] [-0.0401457 0.99911578 0.01248917 -0.06433135] [ 0.01655919 -0.01183227 0.99979287 -0.83293068] [ 0. 0. 0. 1. ]] SLAMing on 95.121193817 meters Centerline goodness [0,1] 0.9006981995980691 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.06, Z:-0.83 [[ 0.99891188 0.0436815 -0.01633962 3.96014563] [-0.0434391 0.99894485 0.01490737 -0.06038736] [ 0.01697356 -0.01418137 0.99975536 -0.8338755 ] [ 0. 0. 0. 1. ]] SLAMing on 95.151193817 meters Centerline goodness [0,1] 0.904452939353239 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.06, Z:-0.84 [[ 0.99876588 0.04677057 -0.01671016 3.96260021] [-0.04648287 0.99877083 0.01720964 -0.05678183] [ 0.01749453 -0.01641167 0.99971226 -0.83542869] [ 0. 0. 0. 1. ]] SLAMing on 95.18119381700001 meters Centerline goodness [0,1] 0.8999751542506936 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.05, Z:-0.84 [[ 0.99853223 0.05138348 -0.01712088 3.96615308] [-0.0510347 0.99849214 0.02022161 -0.05073466] [ 0.01813412 -0.01931817 0.99964892 -0.8380189 ] [ 0. 0. 0. 1. ]] SLAMing on 95.21119381700001 meters Centerline goodness [0,1] 0.9049283395032366 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.05, Z:-0.84 [[ 0.9985148 0.05157967 -0.01754243 3.96751879] [-0.05123838 0.99849843 0.01937804 -0.04636872] [ 0.0185156 -0.01845042 0.99965832 -0.83843892] [ 0. 0. 0. 1. ]] SLAMing on 95.24119381700001 meters Centerline goodness [0,1] 0.9020692226433853 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.04, Z:-0.84 [[ 0.99851516 0.05148726 -0.01779156 3.96819701] [-0.05115925 0.99852053 0.01842491 -0.04224853] [ 0.01871389 -0.01748735 0.99967194 -0.83843933] [ 0. 0. 0. 1. ]] SLAMing on 95.27119381700001 meters Centerline goodness [0,1] 0.9038286235186873 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.04, Z:-0.84 [[ 0.99852699 0.05117066 -0.01803911 3.9685146 ] [-0.05085292 0.99855012 0.01765339 -0.03984906] [ 0.01891629 -0.01671005 0.99968142 -0.83804465] [ 0. 0. 0. 1. ]] SLAMing on 95.301193817 meters Centerline goodness [0,1] 0.9063127600985528 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.04, Z:-0.84 [[ 0.99866694 0.04829533 -0.01821838 3.9674099 ] [-0.04804177 0.99874569 0.01410765 -0.04058033] [ 0.01887686 -0.0132136 0.9997345 -0.83630847] [ 0. 0. 0. 1. ]] SLAMing on 95.331193817 meters Centerline goodness [0,1] 0.9072374704148154 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.04, Z:-0.84 [[ 0.99881674 0.04499662 -0.01845074 3.96753553] [-0.04481434 0.9989435 0.01017657 -0.04004442] [ 0.01888916 -0.00933767 0.99977798 -0.83609314] [ 0. 0. 0. 1. ]] SLAMing on 95.361193817 meters Centerline goodness [0,1] 0.9075769501636356 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.04, Z:-0.84 [[ 0.99895918 0.04157573 -0.01876211 3.9680174 ] [-0.04146812 0.99912128 0.00608858 -0.03854777] [ 0.01899876 -0.00530421 0.99980544 -0.83606773] [ 0. 0. 0. 1. ]] SLAMing on 95.391193817 meters Centerline goodness [0,1] 0.9089794985771555 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.04, Z:-0.83 [[ 9.99109294e-01 3.77249690e-02 -1.89062137e-02 3.96702089e+00] [-3.76861878e-02 9.99286733e-01 2.40347016e-03 -3.86318264e-02] [ 1.89833994e-02 -1.68882626e-03 9.99818373e-01 -8.34595226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.421193817 meters Centerline goodness [0,1] 0.9083926680920847 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.04, Z:-0.83 [[ 9.99231385e-01 3.40584662e-02 -1.94077191e-02 3.96768312e+00] [-3.40833364e-02 9.99418541e-01 -9.52037552e-04 -4.00761460e-02] [ 1.93640093e-02 1.61278562e-03 9.99811199e-01 -8.34453883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.451193817 meters Centerline goodness [0,1] 0.9074974039460021 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.04, Z:-0.83 [[ 9.99332125e-01 3.06682891e-02 -1.98685589e-02 3.96872396e+00] [-3.07477166e-02 9.99520312e-01 -3.70449696e-03 -4.34192320e-02] [ 1.97454176e-02 4.31293564e-03 9.99795738e-01 -8.34882569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.481193817 meters Centerline goodness [0,1] 0.9042358423833895 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.05, Z:-0.84 [[ 0.99942439 0.0271919 -0.02028536 3.96983309] [-0.02732563 0.99960645 -0.0063443 -0.04705414] [ 0.02010486 0.00689496 0.9997741 -0.83551276] [ 0. 0. 0. 1. ]] SLAMing on 95.511193817 meters Centerline goodness [0,1] 0.9021155207595886 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.05, Z:-0.84 [[ 9.99697426e-01 1.58942771e-02 -1.87730942e-02 3.96979797e+00] [-1.58704886e-02 9.99873054e-01 1.41547134e-03 -5.44033408e-02] [ 1.87932089e-02 -1.11710488e-03 9.99822768e-01 -8.35546071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.541193817 meters Centerline goodness [0,1] 0.8906927080093716 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.06, Z:-0.84 [[ 0.99986741 0.01076031 -0.01222208 3.97979394] [-0.01069239 0.9999271 0.00560889 -0.05806867] [ 0.01228154 -0.00547746 0.99990958 -0.83803663] [ 0. 0. 0. 1. ]] SLAMing on 95.57119381700001 meters Centerline goodness [0,1] 0.8887016580332439 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.06, Z:-0.84 [[ 9.99900555e-01 6.89291742e-03 -1.23031471e-02 3.97920297e+00] [-6.87174620e-03 9.99974836e-01 1.76224255e-03 -5.86465918e-02] [ 1.23149845e-02 -1.67752320e-03 9.99922761e-01 -8.36985485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60119381700001 meters Centerline goodness [0,1] 0.8910930001654808 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.06, Z:-0.84 [[ 9.99977996e-01 3.89803994e-03 -5.36770672e-03 3.99064085e+00] [-3.86509945e-03 9.99973720e-01 6.13354897e-03 -6.18047251e-02] [ 5.39147447e-03 -6.11266729e-03 9.99966783e-01 -8.40063294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63119381700001 meters Centerline goodness [0,1] 0.901205270717542 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.06, Z:-0.84 [[ 9.99978663e-01 3.74913156e-03 -5.34957856e-03 3.99039151e+00] [-3.71726952e-03 9.99975368e-01 5.95355438e-03 -6.17443857e-02] [ 5.37176745e-03 -5.93354152e-03 9.99967968e-01 -8.39747335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.661193817 meters Centerline goodness [0,1] 0.9006422208411021 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.06, Z:-0.84 [[ 9.99977298e-01 3.68767308e-03 -5.63950842e-03 3.99143848e+00] [-3.65639035e-03 9.99977929e-01 5.54735297e-03 -6.03285677e-02] [ 5.65984077e-03 -5.52660679e-03 9.99968711e-01 -8.40312190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.691193817 meters Centerline goodness [0,1] 0.900957870293581 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.06, Z:-0.84 [[ 9.99975355e-01 3.52309910e-03 -6.07259958e-03 3.99311468e+00] [-3.49286473e-03 9.99981488e-01 4.98225385e-03 -5.87814813e-02] [ 6.09004014e-03 -4.96092029e-03 9.99969150e-01 -8.41372190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.721193817 meters Centerline goodness [0,1] 0.8854690552392036 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.06, Z:-0.84 [[ 0.99996428 0.00491708 -0.00687509 3.99731874] [-0.00487919 0.99997288 0.00551624 -0.05646521] [ 0.00690203 -0.0054825 0.99996115 -0.84480299] [ 0. 0. 0. 1. ]] SLAMing on 95.751193817 meters Centerline goodness [0,1] 0.8991666666666667 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.05, Z:-0.85 [[ 0.99996119 0.00500891 -0.00724799 3.99855518] [-0.00497282 0.99997519 0.00498872 -0.05444911] [ 0.0072728 -0.00495248 0.99996129 -0.84546071] [ 0. 0. 0. 1. ]] SLAMing on 95.781193817 meters Centerline goodness [0,1] 0.8979430379746836 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.05, Z:-0.85 [[ 0.99995823 0.00498058 -0.00766371 3.99979783] [-0.00494622 0.99997766 0.00449681 -0.05295752] [ 0.00768593 -0.00445872 0.99996052 -0.8459883 ] [ 0. 0. 0. 1. ]] SLAMing on 95.811193817 meters Centerline goodness [0,1] 0.8954344930913933 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.05, Z:-0.85 [[ 0.99995552 0.00497259 -0.00801451 4.00079255] [-0.00493954 0.99997924 0.0041385 -0.05188083] [ 0.00803493 -0.00409873 0.99995932 -0.84637733] [ 0. 0. 0. 1. ]] SLAMing on 95.841193817 meters Centerline goodness [0,1] 0.8980574464552549 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.05, Z:-0.85 [[ 9.99953353e-01 4.85131451e-03 -8.35199572e-03 4.00174218e+00] [-4.82049086e-03 9.99981511e-01 3.70675674e-03 -5.07625442e-02] [ 8.36982395e-03 -3.66632312e-03 9.99958251e-01 -8.46676560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.871193817 meters Centerline goodness [0,1] 0.8976399218847384 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.05, Z:-0.85 [[ 9.99950254e-01 5.13505060e-03 -8.55101470e-03 4.00187653e+00] [-5.10643609e-03 9.99981301e-01 3.36480678e-03 -4.90376114e-02] [ 8.56813325e-03 -3.32097418e-03 9.99957778e-01 -8.46192269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.901193817 meters Centerline goodness [0,1] 0.8989687298985329 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.05, Z:-0.85 [[ 9.99957131e-01 3.03810387e-03 -8.74682320e-03 4.00214047e+00] [-3.03355618e-03 9.99995257e-01 5.33145411e-04 -4.84598286e-02] [ 8.74840146e-03 -5.06588576e-04 9.99961604e-01 -8.45912690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93119381700001 meters Centerline goodness [0,1] 0.8989987301983805 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.05, Z:-0.85 [[ 9.99954928e-01 3.41363715e-03 -8.85945588e-03 4.00205760e+00] [-3.40469178e-03 9.99993679e-01 1.02458313e-03 -4.99270425e-02] [ 8.86289743e-03 -9.94373237e-04 9.99960229e-01 -8.45460600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96119381700001 meters Centerline goodness [0,1] 0.8995160890065349 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.05, Z:-0.85 [[ 9.99949606e-01 3.95689061e-03 -9.22647210e-03 4.00282016e+00] [-3.94096458e-03 9.99990714e-01 1.74366516e-03 -5.14531371e-02] [ 9.23328592e-03 -1.70721609e-03 9.99955915e-01 -8.45441421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99119381700001 meters Centerline goodness [0,1] 0.9009188807118207 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.06, Z:-0.84 [[ 9.99947861e-01 4.37292082e-03 -9.22780414e-03 4.00198126e+00] [-4.34477535e-03 9.99985855e-01 3.06791819e-03 -5.54083133e-02] [ 9.24108938e-03 -3.02766549e-03 9.99952717e-01 -8.44273400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02119381700001 meters Centerline goodness [0,1] 0.9015629851982196 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.06, Z:-0.85 [[ 9.99950025e-01 2.24037859e-03 -9.74306206e-03 4.00397103e+00] [-2.23112417e-03 9.99997050e-01 9.60612629e-04 -5.67918219e-02] [ 9.74518545e-03 -9.38826642e-04 9.99952074e-01 -8.45298860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.051193817 meters Centerline goodness [0,1] 0.9019408195494971 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.06, Z:-0.84 [[ 9.99953421e-01 9.44328671e-04 -9.60541895e-03 4.00233903e+00] [-9.41995793e-04 9.99999526e-01 2.47392416e-04 -6.03333618e-02] [ 9.60564801e-03 -2.38332628e-04 9.99953836e-01 -8.43607062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.081193817 meters Centerline goodness [0,1] 0.8998503989361702 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.07, Z:-0.84 [[ 9.99951539e-01 -2.21073003e-03 -9.59339487e-03 4.00207996e+00] [ 2.20090361e-03 9.99997043e-01 -1.03472589e-03 -6.93824216e-02] [ 9.59565400e-03 1.01356161e-03 9.99953447e-01 -8.43226367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.111193817 meters Centerline goodness [0,1] 0.8970918622066899 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.07, Z:-0.84 [[ 9.99951312e-01 -1.96154872e-03 -9.67085165e-03 4.00249511e+00] [ 1.96531808e-03 9.99997996e-01 3.80276746e-04 -7.43062735e-02] [ 9.67008634e-03 -3.99264531e-04 9.99953164e-01 -8.43460562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.141193817 meters Centerline goodness [0,1] 0.8970374974103998 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.08, Z:-0.84 [[ 9.99948176e-01 -1.75763401e-03 -1.00278097e-02 4.00395963e+00] [ 1.77113540e-03 9.99997537e-01 1.33767281e-03 -7.75856877e-02] [ 1.00254338e-02 -1.35536410e-03 9.99948826e-01 -8.44410467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.171193817 meters Centerline goodness [0,1] 0.8953227081686155 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.08, Z:-0.84 [[ 9.99948053e-01 -1.35042746e-03 -1.01028580e-02 4.00423179e+00] [ 1.37157907e-03 9.99996882e-01 2.08699040e-03 -7.92668107e-02] [ 1.01000082e-02 -2.10073885e-03 9.99946787e-01 -8.44494884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.201193817 meters Centerline goodness [0,1] 0.8975198392143049 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.08, Z:-0.84 [[ 9.99944731e-01 -3.76638974e-05 -1.05134688e-02 4.00490465e+00] [ 7.17524419e-05 9.99994742e-01 3.24201055e-03 -8.11053632e-02] [ 1.05132915e-02 -3.24258574e-03 9.99939476e-01 -8.44285153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.231193817 meters Centerline goodness [0,1] 0.897968519327137 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.08, Z:-0.84 [[ 9.99941360e-01 5.86742107e-04 -1.08134992e-02 4.00516115e+00] [-5.46404944e-04 9.99992884e-01 3.73283693e-03 -8.21526743e-02] [ 1.08156124e-02 -3.72670949e-03 9.99934565e-01 -8.43816189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.261193817 meters Centerline goodness [0,1] 0.8996822231914761 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.08, Z:-0.84 [[ 9.99937306e-01 1.15843267e-03 -1.11373935e-02 4.00575281e+00] [-1.11423588e-03 9.99991484e-01 3.97371150e-03 -8.26410924e-02] [ 1.11419020e-02 -3.96105269e-03 9.99930082e-01 -8.43656665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.291193817 meters Centerline goodness [0,1] 0.8996822231914761 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.08, Z:-0.84 [[ 9.99937306e-01 1.15843267e-03 -1.11373935e-02 4.00575281e+00] [-1.11423588e-03 9.99991484e-01 3.97371150e-03 -8.26410924e-02] [ 1.11419020e-02 -3.96105269e-03 9.99930082e-01 -8.43656665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32119381700001 meters Centerline goodness [0,1] 0.8983444670345628 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.08, Z:-0.84 [[ 9.99931954e-01 2.70781528e-03 -1.13470259e-02 4.00574914e+00] [-2.65986499e-03 9.99987479e-01 4.23876528e-03 -8.10778290e-02] [ 1.13583616e-02 -4.20829529e-03 9.99926636e-01 -8.43039164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35119381700001 meters Centerline goodness [0,1] 0.8992077647351612 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.08, Z:-0.84 [[ 9.99927986e-01 3.11747152e-03 -1.15890110e-02 4.00634478e+00] [-3.06976170e-03 9.99986750e-01 4.13232644e-03 -8.02576853e-02] [ 1.16017399e-02 -4.09645335e-03 9.99924306e-01 -8.43119055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38119381700001 meters Centerline goodness [0,1] 0.899140519830175 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.08, Z:-0.84 [[ 9.99923190e-01 3.49926573e-03 -1.18898415e-02 4.00736524e+00] [-3.44981296e-03 9.99985325e-01 4.17721300e-03 -8.00169134e-02] [ 1.19042842e-02 -4.13587442e-03 9.99920588e-01 -8.43657452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.411193817 meters Centerline goodness [0,1] 0.8983142335160272 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.08, Z:-0.84 [[ 9.99919280e-01 3.84356129e-03 -1.21103667e-02 4.00832811e+00] [-3.78995046e-03 9.99982931e-01 4.44669934e-03 -8.06641857e-02] [ 1.21272512e-02 -4.40044271e-03 9.99916779e-01 -8.44355560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.441193817 meters Centerline goodness [0,1] 0.8958987279035189 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.08, Z:-0.85 [[ 9.99916358e-01 2.10524614e-03 -1.27610830e-02 4.01150710e+00] [-2.06745406e-03 9.99993441e-01 2.97397912e-03 -8.41037586e-02] [ 1.27672603e-02 -2.94734742e-03 9.99914151e-01 -8.46752624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.471193817 meters Centerline goodness [0,1] 0.8950791913601917 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.09, Z:-0.85 [[ 9.99915720e-01 1.54472576e-03 -1.28905439e-02 4.01181356e+00] [-1.50239179e-03 9.99993449e-01 3.29314840e-03 -8.71886623e-02] [ 1.28955465e-02 -3.27350420e-03 9.99911491e-01 -8.46714147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.501193817 meters Centerline goodness [0,1] 0.894650598411151 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.09, Z:-0.85 [[ 9.99913822e-01 -1.91224268e-03 -1.29881214e-02 4.01188796e+00] [ 1.91494279e-03 9.99998147e-01 1.95457305e-04 -8.91563255e-02] [ 1.29877236e-02 -2.20311970e-04 9.99915632e-01 -8.46530535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.531193817 meters Centerline goodness [0,1] 0.8926519816506179 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.09, Z:-0.85 [[ 0.99995507 -0.00579162 -0.00750475 4.02273639] [ 0.00583816 0.99996378 0.00619385 -0.09437147] [ 0.00746861 -0.00623739 0.99995266 -0.84966708] [ 0. 0. 0. 1. ]] SLAMing on 96.561193817 meters Centerline goodness [0,1] 0.8909634055265123 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.10, Z:-0.85 [[ 9.99891809e-01 -1.26174934e-02 -7.56096406e-03 4.02269159e+00] [ 1.26277291e-02 9.99919412e-01 1.30754134e-03 -1.03491456e-01] [ 7.54385684e-03 -1.40287768e-03 9.99970561e-01 -8.49065951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.591193817 meters Centerline goodness [0,1] 0.8892671080761327 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.11, Z:-0.85 [[ 9.99841864e-01 -1.60253709e-02 -7.70942561e-03 4.02295137e+00] [ 1.60166955e-02 9.99871021e-01 -1.18573171e-03 -1.07861467e-01] [ 7.72743305e-03 1.06206468e-03 9.99969579e-01 -8.48790446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.621193817 meters Centerline goodness [0,1] 0.8942445297106709 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.11, Z:-0.85 [[ 9.99769912e-01 -2.00417765e-02 -7.64522196e-03 4.02250467e+00] [ 2.00167417e-02 9.99794075e-01 -3.33716437e-03 -1.13747831e-01] [ 7.71053032e-03 3.18336410e-03 9.99965206e-01 -8.47847600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.651193817 meters Centerline goodness [0,1] 0.892871969445367 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.12, Z:-0.85 [[ 9.99765072e-01 -2.02437602e-02 -7.74534057e-03 4.02219470e+00] [ 2.02254590e-02 9.99792482e-01 -2.43394243e-03 -1.17096068e-01] [ 7.79300542e-03 2.27671756e-03 9.99967042e-01 -8.46910377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68119381700001 meters Centerline goodness [0,1] 0.8904584111180253 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.12, Z:-0.85 [[ 9.99760293e-01 -2.04106474e-02 -7.92222507e-03 4.02209750e+00] [ 2.03978839e-02 9.99790516e-01 -1.68857368e-03 -1.20019305e-01] [ 7.95503037e-03 1.52657229e-03 9.99967193e-01 -8.46112945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71119381700001 meters Centerline goodness [0,1] 0.882878020426804 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.12, Z:-0.85 [[ 9.99751450e-01 -2.07908346e-02 -8.04858223e-03 4.02240810e+00] [ 2.07820177e-02 9.99783337e-01 -1.17755149e-03 -1.22760128e-01] [ 8.07132068e-03 1.00999304e-03 9.99966916e-01 -8.46020763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74119381700001 meters Centerline goodness [0,1] 0.8740874398539904 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.12, Z:-0.85 [[ 9.99739827e-01 -2.12423388e-02 -8.30909304e-03 4.02295096e+00] [ 2.12353106e-02 9.99774070e-01 -9.33166267e-04 -1.24528953e-01] [ 8.32703840e-03 7.56477311e-04 9.99965043e-01 -8.45891392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77119381700001 meters Centerline goodness [0,1] 0.838461219926291 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.12, Z:-0.84 [[ 0.99962298 -0.02625328 -0.00804178 4.02191052] [ 0.0262063 0.99963919 -0.00589305 -0.12248331] [ 0.00819359 0.00568009 0.9999503 -0.84482876] [ 0. 0. 0. 1. ]] SLAMing on 96.801193817 meters Centerline goodness [0,1] 0.8148056347337547 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.12, Z:-0.84 [[ 0.99960569 -0.02689242 -0.00807896 4.02171266] [ 0.02684127 0.99961938 -0.00637513 -0.12165448] [ 0.00824733 0.00615577 0.99994704 -0.84431877] [ 0. 0. 0. 1. ]] SLAMing on 96.831193817 meters Centerline goodness [0,1] 0.7979918521871527 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.12, Z:-0.84 [[ 0.99958812 -0.02752823 -0.00811101 4.02159166] [ 0.02747051 0.99959709 -0.00714372 -0.11984624] [ 0.0083044 0.00691796 0.99994159 -0.84397326] [ 0. 0. 0. 1. ]] SLAMing on 96.861193817 meters Centerline goodness [0,1] 0.7805448598517782 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.11, Z:-0.84 [[ 0.9996163 -0.02658343 -0.00778333 4.01981394] [ 0.02653355 0.99962715 -0.00644423 -0.11458355] [ 0.00795174 0.00623524 0.99994894 -0.8426164 ] [ 0. 0. 0. 1. ]] SLAMing on 96.891193817 meters Centerline goodness [0,1] 0.780875837197321 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.11, Z:-0.84 [[ 9.99682365e-01 -2.38504769e-02 -8.14389719e-03 4.02094832e+00] [ 2.38196379e-02 9.99708809e-01 -3.86300603e-03 -1.12068865e-01] [ 8.23366029e-03 3.66779432e-03 9.99959376e-01 -8.43220980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.921193817 meters Centerline goodness [0,1] 0.7838848267030198 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.11, Z:-0.84 [[ 9.99756049e-01 -2.04439228e-02 -8.35989217e-03 4.02120341e+00] [ 2.04371593e-02 9.99790740e-01 -8.93688941e-04 -1.09366304e-01] [ 8.37641329e-03 7.22618477e-04 9.99964656e-01 -8.43150975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.951193817 meters Centerline goodness [0,1] 0.8477232834279814 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.10, Z:-0.84 [[ 9.99864345e-01 -1.41122054e-02 -8.49340355e-03 4.02069287e+00] [ 1.41427414e-02 9.99893699e-01 3.54600473e-03 -1.00906856e-01] [ 8.44245874e-03 -3.66564370e-03 9.99957643e-01 -8.42442447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.981193817 meters Centerline goodness [0,1] 0.8936998901986782 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.10, Z:-0.84 [[ 0.999913 -0.01006542 -0.00852493 4.02067125] [ 0.01011922 0.99992901 0.00629076 -0.09601064] [ 0.008461 -0.00637648 0.99994387 -0.8423822 ] [ 0. 0. 0. 1. ]] SLAMing on 97.011193817 meters Centerline goodness [0,1] 0.8913551643532405 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.09, Z:-0.84 [[ 0.99994336 -0.00571995 -0.00897549 4.02249627] [ 0.00580351 0.9999398 0.00931202 -0.09093455] [ 0.00892169 -0.00936359 0.99991636 -0.84369738] [ 0. 0. 0. 1. ]] SLAMing on 97.041193817 meters Centerline goodness [0,1] 0.9017160043672621 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.09, Z:-0.85 [[ 9.99954609e-01 7.56977544e-04 -9.49770880e-03 4.02534288e+00] [-6.13598288e-04 9.99885951e-01 1.50900367e-02 -8.70603589e-02] [ 9.50804841e-03 -1.50835240e-02 9.99841030e-01 -8.45913744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07119381700001 meters Centerline goodness [0,1] 0.9006178983163308 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.08, Z:-0.85 [[ 0.99994095 0.00461713 -0.0098376 4.02696912] [-0.00444154 0.99983176 0.01779688 -0.08239723] [ 0.00991811 -0.01775213 0.99979322 -0.84714902] [ 0. 0. 0. 1. ]] SLAMing on 97.10119381700001 meters Centerline goodness [0,1] 0.8984479666920873 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.08, Z:-0.85 [[ 0.99986994 0.011809 -0.01098446 4.03106279] [-0.01154552 0.9996513 0.02374831 -0.07796525] [ 0.01126107 -0.0236184 0.99965762 -0.84949931] [ 0. 0. 0. 1. ]] SLAMing on 97.13119381700001 meters Centerline goodness [0,1] 0.8977355279271052 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.08, Z:-0.85 [[ 0.99986542 0.01207603 -0.01110464 4.0318558 ] [-0.01181326 0.99965564 0.02343158 -0.07621028] [ 0.01138378 -0.02329724 0.99966377 -0.85024164] [ 0. 0. 0. 1. ]] SLAMing on 97.161193817 meters Centerline goodness [0,1] 0.8951271186440678 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.08, Z:-0.85 [[ 0.999859 0.01235639 -0.01137075 4.03286255] [-0.01208743 0.99965249 0.02342622 -0.07572804] [ 0.01165627 -0.02328548 0.9996609 -0.85085847] [ 0. 0. 0. 1. ]] SLAMing on 97.191193817 meters Centerline goodness [0,1] 0.892880712753671 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.08, Z:-0.85 [[ 0.9998579 0.01473011 -0.00819746 4.0428332 ] [-0.01461165 0.9997906 0.01432708 -0.07553451] [ 0.00840678 -0.01420527 0.99986376 -0.85247527] [ 0. 0. 0. 1. ]] SLAMing on 97.221193817 meters Centerline goodness [0,1] 0.893734949763348 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.07, Z:-0.85 [[ 0.99989404 0.01202824 -0.00819995 4.04254571] [-0.01193922 0.99987018 0.01082036 -0.07415335] [ 0.00832903 -0.01072131 0.99990784 -0.85213621] [ 0. 0. 0. 1. ]] SLAMing on 97.251193817 meters Centerline goodness [0,1] 0.8970548668170624 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.07, Z:-0.85 [[ 0.99992386 0.00905506 -0.00838378 4.04265436] [-0.00899623 0.99993483 0.00702844 -0.07248914] [ 0.00844688 -0.00695249 0.99994015 -0.85178923] [ 0. 0. 0. 1. ]] SLAMing on 97.281193817 meters Centerline goodness [0,1] 0.8972226255418888 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.07, Z:-0.85 [[ 0.99992266 0.00915252 -0.00842018 4.04226806] [-0.00909148 0.99993232 0.0072592 -0.07326501] [ 0.00848605 -0.00718209 0.9999382 -0.85110246] [ 0. 0. 0. 1. ]] SLAMing on 97.311193817 meters Centerline goodness [0,1] 0.8972623999006767 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.07, Z:-0.85 [[ 9.99948400e-01 5.59626705e-03 -8.47810947e-03 4.04158886e+00] [-5.56393059e-03 9.99977175e-01 3.83290936e-03 -7.48586124e-02] [ 8.49936595e-03 -3.78553997e-03 9.99956714e-01 -8.49984988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.341193817 meters Centerline goodness [0,1] 0.9003342135665952 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.08, Z:-0.85 [[ 9.99961321e-01 1.83540436e-03 -8.60161537e-03 4.04153277e+00] [-1.83313393e-03 9.99998283e-01 2.71830807e-04 -7.63134318e-02] [ 8.60209952e-03 -2.56052380e-04 9.99962968e-01 -8.49521296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.371193817 meters Centerline goodness [0,1] 0.8997388276262334 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.08, Z:-0.85 [[ 9.99961591e-01 -1.92930085e-03 -8.54954408e-03 4.04082468e+00] [ 1.90333902e-03 9.99993556e-01 -3.04373038e-03 -7.84206809e-02] [ 8.55536126e-03 3.02734079e-03 9.99958820e-01 -8.48676326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.401193817 meters Centerline goodness [0,1] 0.9009427121102248 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.08, Z:-0.85 [[ 0.99994645 -0.00590827 -0.00849623 4.04024071] [ 0.00585353 0.99996204 -0.00645426 -0.08051862] [ 0.00853404 0.00640418 0.99994308 -0.84795699] [ 0. 0. 0. 1. ]] SLAMing on 97.43119381700001 meters Centerline goodness [0,1] 0.9015041943881978 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.09, Z:-0.85 [[ 0.99985889 -0.01462024 -0.00827382 4.03938254] [ 0.01450857 0.99980495 -0.01339998 -0.08604956] [ 0.00846811 0.01327804 0.99987598 -0.8469999 ] [ 0. 0. 0. 1. ]] SLAMing on 97.46119381700001 meters Centerline goodness [0,1] 0.89659869561628 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.09, Z:-0.85 [[ 0.99978954 -0.01875146 -0.00832218 4.03973168] [ 0.01861004 0.99968639 -0.01675652 -0.08860754] [ 0.00863378 0.01659812 0.99982496 -0.84708205] [ 0. 0. 0. 1. ]] SLAMing on 97.49119381700001 meters Centerline goodness [0,1] 0.8865370262874201 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.09, Z:-0.85 [[ 0.99976782 -0.01981821 -0.00845808 4.04017753] [ 0.01967653 0.99966995 -0.01651749 -0.0918973 ] [ 0.00878264 0.01634723 0.9998278 -0.84721457] [ 0. 0. 0. 1. ]] SLAMing on 97.52119381700001 meters Centerline goodness [0,1] 0.8651643580731858 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.09, Z:-0.85 [[ 0.99975292 -0.02054825 -0.00847792 4.04060072] [ 0.02040864 0.99965985 -0.01623795 -0.09403574] [ 0.0088087 0.01606091 0.99983221 -0.84756587] [ 0. 0. 0. 1. ]] SLAMing on 97.551193817 meters Centerline goodness [0,1] 0.8317623713258092 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.09, Z:-0.85 [[ 0.99965074 -0.02500372 -0.00855659 4.04090251] [ 0.02482671 0.99948761 -0.02020299 -0.09463269] [ 0.00905735 0.0199835 0.99975928 -0.84745975] [ 0. 0. 0. 1. ]] SLAMing on 97.581193817 meters Centerline goodness [0,1] 0.8450028932793254 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.10, Z:-0.85 [[ 0.99964378 -0.02524833 -0.00865072 4.04084993] [ 0.02507213 0.99948747 -0.01990467 -0.09659573] [ 0.00914884 0.01968068 0.99976446 -0.84706655] [ 0. 0. 0. 1. ]] SLAMing on 97.611193817 meters Centerline goodness [0,1] 0.8031926976849844 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.10, Z:-0.85 [[ 0.99964217 -0.02530999 -0.00865698 4.04078033] [ 0.02513681 0.99949264 -0.01956017 -0.09827508] [ 0.00914766 0.01933556 0.9997712 -0.846857 ] [ 0. 0. 0. 1. ]] SLAMing on 97.641193817 meters Centerline goodness [0,1] 0.8314311162665451 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.10, Z:-0.85 [[ 0.99962446 -0.02609539 -0.00836442 4.04019199] [ 0.02592256 0.99946097 -0.02014411 -0.09760478] [ 0.00888557 0.01991972 0.9997621 -0.8467696 ] [ 0. 0. 0. 1. ]] SLAMing on 97.671193817 meters Centerline goodness [0,1] 0.8155653633368558 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.10, Z:-0.85 [[ 0.99969102 -0.02341906 -0.00833101 4.04039245] [ 0.02327788 0.99959026 -0.01665707 -0.09760748] [ 0.00871769 0.01645799 0.99982655 -0.84722779] [ 0. 0. 0. 1. ]] SLAMing on 97.701193817 meters Centerline goodness [0,1] 0.7617263506520389 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.09, Z:-0.85 [[ 0.99973231 -0.02155223 -0.00841518 4.04133475] [ 0.02142675 0.99966196 -0.01472642 -0.09243239] [ 0.00872972 0.01454216 0.99985615 -0.84826429] [ 0. 0. 0. 1. ]] SLAMing on 97.731193817 meters Centerline goodness [0,1] 0.7716770186335404 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.09, Z:-0.85 [[ 0.99978903 -0.01864478 -0.00861779 4.04187648] [ 0.01854706 0.99976432 -0.01128296 -0.09189537] [ 0.00882613 0.01112074 0.99989921 -0.84859647] [ 0. 0. 0. 1. ]] SLAMing on 97.761193817 meters Centerline goodness [0,1] 0.7834524179351765 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.09, Z:-0.85 [[ 0.99983247 -0.01611113 -0.00868707 4.04199045] [ 0.01604238 0.99983989 -0.00792652 -0.09260967] [ 0.00881338 0.00778583 0.99993085 -0.84861775] [ 0. 0. 0. 1. ]] SLAMing on 97.791193817 meters Centerline goodness [0,1] 0.7495391752790838 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.09, Z:-0.85 [[ 0.99982444 -0.01662061 -0.0086514 4.04201689] [ 0.01654697 0.99982683 -0.00851463 -0.09142933] [ 0.00879142 0.00836998 0.99992632 -0.84865621] [ 0. 0. 0. 1. ]] SLAMing on 97.82119381700001 meters Centerline goodness [0,1] 0.7582190222001531 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.09, Z:-0.85 [[ 0.99987021 -0.01367536 -0.00851697 4.04141826] [ 0.0136322 0.99989404 -0.00510556 -0.09136788] [ 0.00858589 0.00498879 0.9999507 -0.84822437] [ 0. 0. 0. 1. ]] SLAMing on 97.85119381700001 meters Centerline goodness [0,1] 0.7455607862570202 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.09, Z:-0.85 [[ 9.99908189e-01 -1.04840040e-02 -8.58483749e-03 4.04146831e+00] [ 1.04668556e-02 9.99943140e-01 -2.04002547e-03 -8.93138307e-02] [ 8.60573699e-03 1.94998192e-03 9.99961069e-01 -8.48144611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88119381700001 meters Centerline goodness [0,1] 0.7605974219137333 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.08, Z:-0.85 [[ 9.99949984e-01 -4.51288168e-03 -8.92541836e-03 4.04366463e+00] [ 4.53358548e-03 9.99987076e-01 2.30077440e-03 -7.90421013e-02] [ 8.91491989e-03 -2.34112347e-03 9.99957521e-01 -8.50046133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91119381700001 meters Centerline goodness [0,1] 0.7728228599703117 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.07, Z:-0.85 [[ 9.99955549e-01 -1.54904570e-03 -9.30059403e-03 4.04585467e+00] [ 1.58739653e-03 9.99990263e-01 4.11751739e-03 -7.29682318e-02] [ 9.29412525e-03 -4.13209809e-03 9.99948271e-01 -8.51746120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.941193817 meters Centerline goodness [0,1] 0.8310154433742942 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.07, Z:-0.85 [[ 9.99953311e-01 1.88288076e-03 -9.47791911e-03 4.04662023e+00] [-1.82122435e-03 9.99977153e-01 6.50970130e-03 -6.83295365e-02] [ 9.48995956e-03 -6.49213595e-03 9.99933894e-01 -8.52268948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.971193817 meters Centerline goodness [0,1] 0.8519838392209675 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.06, Z:-0.85 [[ 0.99993822 0.00540894 -0.00971033 4.04777603] [-0.00532191 0.99994564 0.0089663 -0.06417197] [ 0.0097583 -0.00891407 0.99991265 -0.85303694] [ 0. 0. 0. 1. ]] SLAMing on 98.001193817 meters Centerline goodness [0,1] 0.885634153942038 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.05, Z:-0.85 [[ 0.99987401 0.01258655 -0.00967149 4.04764279] [-0.01245484 0.99983048 0.01356028 -0.05467402] [ 0.00984053 -0.01343811 0.99986128 -0.85260949] [ 0. 0. 0. 1. ]] SLAMing on 98.031193817 meters Centerline goodness [0,1] 0.8957503320053121 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.05, Z:-0.85 [[ 0.99982683 0.01587356 -0.00971263 4.04792947] [-0.01571893 0.99975169 0.01579453 -0.04945152] [ 0.00996093 -0.01563912 0.99982808 -0.85265948] [ 0. 0. 0. 1. ]] SLAMing on 98.061193817 meters Centerline goodness [0,1] 0.9044957774465971 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.04, Z:-0.85 [[ 0.99976883 0.01914616 -0.00978316 4.04799903] [-0.01896737 0.99965711 0.01805254 -0.04435938] [ 0.01012545 -0.01786281 0.99978918 -0.85234977] [ 0. 0. 0. 1. ]] SLAMing on 98.091193817 meters Centerline goodness [0,1] 0.9077365556911999 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.04, Z:-0.85 [[ 0.99969798 0.02255281 -0.00976276 4.04783171] [-0.02234786 0.99953767 0.0206158 -0.04012173] [ 0.01022319 -0.02039139 0.9997398 -0.85196014] [ 0. 0. 0. 1. ]] SLAMing on 98.121193817 meters Centerline goodness [0,1] 0.9117616591045642 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.04, Z:-0.85 [[ 0.99952037 0.02944309 -0.00959877 4.04622904] [-0.02918292 0.9992306 0.02620243 -0.03511956] [ 0.01036286 -0.02590974 0.99961057 -0.84988575] [ 0. 0. 0. 1. ]] SLAMing on 98.151193817 meters Centerline goodness [0,1] 0.9114751385786382 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.03, Z:-0.85 [[ 0.9995067 0.02987168 -0.00969778 4.0463151 ] [-0.02961337 0.99922924 0.02576784 -0.03303482] [ 0.01046003 -0.02546795 0.99962091 -0.84965573] [ 0. 0. 0. 1. ]] SLAMing on 98.18119381700001 meters Centerline goodness [0,1] 0.90883161441002 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.03, Z:-0.85 [[ 0.99947302 0.03102921 -0.00953278 4.0455968 ] [-0.0307717 0.9991865 0.02606603 -0.03236357] [ 0.01033383 -0.02575896 0.99961477 -0.84898796] [ 0. 0. 0. 1. ]] SLAMing on 98.21119381700001 meters Centerline goodness [0,1] 0.90883161441002 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.03, Z:-0.85 [[ 0.99947302 0.03102921 -0.00953278 4.0455968 ] [-0.0307717 0.9991865 0.02606603 -0.03236357] [ 0.01033383 -0.02575896 0.99961477 -0.84898796] [ 0. 0. 0. 1. ]] SLAMing on 98.24119381700001 meters Centerline goodness [0,1] 0.9106135986733002 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.03, Z:-0.85 [[ 0.99945903 0.03146161 -0.0095818 4.04572193] [-0.03120166 0.99917051 0.0261677 -0.03195448] [ 0.01039713 -0.02585458 0.99961164 -0.84893692] [ 0. 0. 0. 1. ]] SLAMing on 98.27119381700001 meters Centerline goodness [0,1] 0.9073481768845051 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.03, Z:-0.85 [[ 0.99939398 0.03331619 -0.01008492 4.04784593] [-0.03302504 0.99906845 0.02777735 -0.03281433] [ 0.01100096 -0.02742746 0.99956326 -0.85015206] [ 0. 0. 0. 1. ]] SLAMing on 98.301193817 meters Centerline goodness [0,1] 0.9073947667804323 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.03, Z:-0.85 [[ 0.99936097 0.03424603 -0.01024027 4.04843804] [-0.0339432 0.99901982 0.0284124 -0.03342295] [ 0.01120325 -0.02804665 0.99954383 -0.85041952] [ 0. 0. 0. 1. ]] SLAMing on 98.331193817 meters Centerline goodness [0,1] 0.9072729535742439 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.04, Z:-0.85 [[ 0.99932044 0.03534761 -0.01045026 4.04938081] [-0.03502676 0.99895274 0.0294371 -0.03538973] [ 0.01147985 -0.02905105 0.99951201 -0.85099452] [ 0. 0. 0. 1. ]] SLAMing on 98.361193817 meters Centerline goodness [0,1] 0.9139945314441958 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.04, Z:-0.85 [[ 0.99922272 0.03795651 -0.01064236 4.05045276] [-0.03758984 0.99875602 0.03276316 -0.04431519] [ 0.0118727 -0.03233765 0.99940648 -0.8516233 ] [ 0. 0. 0. 1. ]] SLAMing on 98.391193817 meters Centerline goodness [0,1] 0.9140873469557445 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.05, Z:-0.85 [[ 0.99931601 0.03533765 -0.01089826 4.05067801] [-0.03499367 0.99892855 0.03028517 -0.04777955] [ 0.01195679 -0.02988309 0.99948188 -0.85145295] [ 0. 0. 0. 1. ]] SLAMing on 98.421193817 meters Centerline goodness [0,1] 0.9146860404774261 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.05, Z:-0.85 [[ 0.99940287 0.03270889 -0.01113652 4.05068734] [-0.0323846 0.99907896 0.02815094 -0.05247015] [ 0.01204704 -0.02777348 0.99954165 -0.85103485] [ 0. 0. 0. 1. ]] SLAMing on 98.451193817 meters Centerline goodness [0,1] 0.9150994312284635 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.07, Z:-0.85 [[ 0.9995531 0.02766452 -0.01132624 4.04998328] [-0.02737751 0.99931858 0.02475589 -0.06544026] [ 0.01200338 -0.02443474 0.99962936 -0.85002677] [ 0. 0. 0. 1. ]] SLAMing on 98.481193817 meters Centerline goodness [0,1] 0.914658883921179 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.07, Z:-0.85 [[ 0.99962786 0.02475182 -0.0114668 4.05026644] [-0.02448619 0.9994412 0.02275335 -0.0711211 ] [ 0.01202358 -0.02246411 0.99967535 -0.85012017] [ 0. 0. 0. 1. ]] SLAMing on 98.511193817 meters Centerline goodness [0,1] 0.9154005811540058 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.08, Z:-0.85 [[ 0.9996926 0.02189498 -0.01163234 4.05062212] [-0.02165136 0.99955185 0.02067172 -0.07622993] [ 0.01207973 -0.02041351 0.99971864 -0.85025431] [ 0. 0. 0. 1. ]] SLAMing on 98.541193817 meters Centerline goodness [0,1] 0.9162744406892119 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.09, Z:-0.85 [[ 0.99975356 0.01864523 -0.01204923 4.05187384] [-0.0184213 0.99966033 0.01843588 -0.09060706] [ 0.01238887 -0.01820938 0.99975744 -0.85085992] [ 0. 0. 0. 1. ]] SLAMing on 98.57119381700001 meters Centerline goodness [0,1] 0.916172137610491 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.10, Z:-0.85 [[ 0.99977941 0.0170254 -0.01229872 4.05312912] [-0.016811 0.99970848 0.01733045 -0.09741029] [ 0.01259019 -0.01711987 0.99977417 -0.85178153] [ 0. 0. 0. 1. ]] SLAMing on 98.60119381700001 meters Centerline goodness [0,1] 0.9153909977183157 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.10, Z:-0.85 [[ 0.99978477 0.01640167 -0.0127041 4.05497514] [-0.01618634 0.99972665 0.01687078 -0.10375935] [ 0.01297733 -0.01666151 0.99977697 -0.85308297] [ 0. 0. 0. 1. ]] SLAMing on 98.63119381700001 meters Centerline goodness [0,1] 0.9179936471027882 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.11, Z:-0.85 [[ 0.99975519 0.01803125 -0.01282326 4.0559696 ] [-0.0177832 0.99965747 0.01920176 -0.11061609] [ 0.0131651 -0.01896902 0.99973339 -0.85388301] [ 0. 0. 0. 1. ]] SLAMing on 98.66119381700001 meters Centerline goodness [0,1] 0.8876188507647789 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.12, Z:-0.85 [[ 0.99955968 0.02502132 -0.01594912 4.06253474] [-0.02464301 0.99942029 0.02349065 -0.12368167] [ 0.01652764 -0.02308728 0.99959683 -0.85258458] [ 0. 0. 0. 1. ]] SLAMing on 98.691193817 meters Centerline goodness [0,1] 0.8912755292265628 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.13, Z:-0.85 [[ 0.99952155 0.02647483 -0.01599227 4.06263374] [-0.02606101 0.99933373 0.02555245 -0.12918677] [ 0.01665811 -0.02512345 0.99954556 -0.85242456] [ 0. 0. 0. 1. ]] SLAMing on 98.721193817 meters Centerline goodness [0,1] 0.8598826155245102 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.13, Z:-0.85 [[ 0.99956022 0.02496524 -0.01600345 4.06247588] [-0.02457422 0.9994055 0.0241817 -0.1342087 ] [ 0.01659764 -0.0237778 0.99957948 -0.85227609] [ 0. 0. 0. 1. ]] SLAMing on 98.751193817 meters Centerline goodness [0,1] 0.869839888978645 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.15, Z:-0.85 [[ 0.99965719 0.02115094 -0.01543198 4.05969901] [-0.02082323 0.99956057 0.02109638 -0.14899505] [ 0.01587141 -0.02076781 0.99965834 -0.85085515] [ 0. 0. 0. 1. ]] SLAMing on 98.781193817 meters Centerline goodness [0,1] 0.8896016275352391 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.15, Z:-0.85 [[ 0.99977019 0.0147067 -0.01559752 4.05973255] [-0.01446867 0.99977879 0.0152656 -0.15421965] [ 0.01581858 -0.01503642 0.99976181 -0.85073035] [ 0. 0. 0. 1. ]] SLAMing on 98.811193817 meters Centerline goodness [0,1] 0.9027734561370755 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.16, Z:-0.85 [[ 0.99984501 0.00793014 -0.01571814 4.05992668] [-0.0077859 0.99992721 0.00921699 -0.15939121] [ 0.01579008 -0.00909318 0.99983398 -0.8507839 ] [ 0. 0. 0. 1. ]] SLAMing on 98.841193817 meters Centerline goodness [0,1] 0.9166753225169828 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.17, Z:-0.85 [[ 9.99876599e-01 1.93101960e-03 -1.55902891e-02 4.05971298e+00] [-1.86406084e-03 9.99988982e-01 4.30829161e-03 -1.66034761e-01] [ 1.55984367e-02 -4.27869872e-03 9.99869182e-01 -8.50742107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.871193817 meters Centerline goodness [0,1] 0.9237520229055147 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.18, Z:-0.85 [[ 0.99987449 -0.00599683 -0.01466409 4.0589249 ] [ 0.00607301 0.99996827 0.00515549 -0.18394914] [ 0.01463271 -0.0052439 0.99987919 -0.84935711] [ 0. 0. 0. 1. ]] SLAMing on 98.901193817 meters Centerline goodness [0,1] 0.9188857707099054 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.19, Z:-0.85 [[ 9.99848733e-01 -9.28730258e-03 -1.47056577e-02 4.05900236e+00] [ 9.34102927e-03 9.99949931e-01 3.58900701e-03 -1.91342838e-01] [ 1.46715892e-02 -3.72583009e-03 9.99885425e-01 -8.48991369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93119381700001 meters Centerline goodness [0,1] 0.9174361533982198 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.20, Z:-0.85 [[ 9.99815377e-01 -1.22207041e-02 -1.48278876e-02 4.05958536e+00] [ 1.22566916e-02 9.99922149e-01 2.33856494e-03 -1.99416652e-01] [ 1.47981543e-02 -2.51987403e-03 9.99887326e-01 -8.49018404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96119381700001 meters Centerline goodness [0,1] 0.9138259142809863 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.22, Z:-0.85 [[ 0.99978112 -0.01818898 -0.01033756 4.07316797] [ 0.01823722 0.99982315 0.00459136 -0.21792871] [ 0.01025222 -0.00477888 0.99993603 -0.85193425] [ 0. 0. 0. 1. ]] SLAMing on 98.99119381700001 meters Centerline goodness [0,1] 0.9138734187697978 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.22, Z:-0.85 [[ 9.99728508e-01 -2.08201136e-02 -1.04610104e-02 4.07438775e+00] [ 2.08542030e-02 9.99777533e-01 3.16025974e-03 -2.24410487e-01] [ 1.03928863e-02 -3.37755780e-03 9.99940288e-01 -8.52716831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02119381700001 meters Centerline goodness [0,1] 0.9128679072478249 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.23, Z:-0.85 [[ 9.99660179e-01 -2.39137573e-02 -1.03758706e-02 4.07432535e+00] [ 2.39247156e-02 9.99713327e-01 9.33282642e-04 -2.28770301e-01] [ 1.03505778e-02 -1.18120525e-03 9.99945734e-01 -8.52553666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.051193817 meters Centerline goodness [0,1] 0.9136180332954194 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.23, Z:-0.85 [[ 9.99573508e-01 -2.72825899e-02 -1.04145565e-02 4.07459283e+00] [ 2.72664293e-02 9.99626772e-01 -1.69060533e-03 -2.32234946e-01] [ 1.04567936e-02 1.40591653e-03 9.99944338e-01 -8.52389539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.081193817 meters Centerline goodness [0,1] 0.9126547455295736 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.24, Z:-0.85 [[ 9.99557433e-01 -2.77719800e-02 -1.06609275e-02 4.07508732e+00] [ 2.77663543e-02 9.99614212e-01 -6.75367882e-04 -2.37856482e-01] [ 1.06755709e-02 3.79053896e-04 9.99942943e-01 -8.51928031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.111193817 meters Centerline goodness [0,1] 0.9139597231747615 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.25, Z:-0.85 [[ 0.99932462 -0.03517695 -0.01062462 4.07577337] [ 0.03511229 0.99936406 -0.0062125 -0.24594482] [ 0.0108364 0.00583525 0.99992426 -0.85191305] [ 0. 0. 0. 1. ]] SLAMing on 99.141193817 meters Centerline goodness [0,1] 0.9125457114361702 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.25, Z:-0.85 [[ 0.99918194 -0.03901614 -0.01063953 4.07665271] [ 0.03891649 0.99919809 -0.00941742 -0.24881686] [ 0.01099843 0.00899567 0.99989905 -0.85247649] [ 0. 0. 0. 1. ]] SLAMing on 99.171193817 meters Centerline goodness [0,1] 0.909829793394412 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.25, Z:-0.85 [[ 0.99910946 -0.04074946 -0.01094422 4.07896617] [ 0.04063731 0.99912106 -0.01028208 -0.25138258] [ 0.01135359 0.00982818 0.99988725 -0.85408772] [ 0. 0. 0. 1. ]] SLAMing on 99.201193817 meters Centerline goodness [0,1] 0.9028688864900772 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.25, Z:-0.85 [[ 0.99890938 -0.04540942 -0.01086461 4.0797859 ] [ 0.04524911 0.99886944 -0.01457247 -0.25135864] [ 0.01151405 0.01406496 0.99983479 -0.85477927] [ 0. 0. 0. 1. ]] SLAMing on 99.231193817 meters Centerline goodness [0,1] 0.9012923535746831 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.25, Z:-0.85 [[ 0.99889081 -0.04578657 -0.01098858 4.07975676] [ 0.04562438 0.99885223 -0.01458241 -0.25179131] [ 0.01164365 0.01406489 0.99983329 -0.85425032] [ 0. 0. 0. 1. ]] SLAMing on 99.261193817 meters Centerline goodness [0,1] 0.8971307296976758 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.25, Z:-0.85 [[ 0.99886624 -0.04628771 -0.01112171 4.07986447] [ 0.04612002 0.99882495 -0.01488862 -0.2514567 ] [ 0.0117978 0.0143588 0.9998273 -0.85391372] [ 0. 0. 0. 1. ]] SLAMing on 99.291193817 meters Centerline goodness [0,1] 0.887870664754899 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.25, Z:-0.85 [[ 0.99896706 -0.04398963 -0.01138961 4.08058356] [ 0.04385412 0.99896724 -0.01188557 -0.25126758] [ 0.01190069 0.01137381 0.9998645 -0.85409664] [ 0. 0. 0. 1. ]] SLAMing on 99.32119381700001 meters Centerline goodness [0,1] 0.8665709589497118 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.25, Z:-0.85 [[ 0.99907725 -0.0413283 -0.01168873 4.08148186] [ 0.04122502 0.99910987 -0.00894252 -0.24963098] [ 0.0120479 0.0084524 0.9998917 -0.85463931] [ 0. 0. 0. 1. ]] SLAMing on 99.35119381700001 meters Centerline goodness [0,1] 0.8542685337383742 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.24, Z:-0.85 [[ 0.99917337 -0.03886966 -0.01190475 4.08151913] [ 0.03878481 0.99922109 -0.00727669 -0.24308059] [ 0.01217832 0.00680895 0.99990266 -0.8544587 ] [ 0. 0. 0. 1. ]] SLAMing on 99.38119381700001 meters Centerline goodness [0,1] 0.8655217581138117 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.24, Z:-0.85 [[ 0.99928259 -0.03584018 -0.01223914 4.08167261] [ 0.03578692 0.99934912 -0.00454312 -0.24028843] [ 0.012394 0.00410186 0.99991478 -0.85399907] [ 0. 0. 0. 1. ]] SLAMing on 99.41119381700001 meters Centerline goodness [0,1] 0.8784665918257037 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.24, Z:-0.85 [[ 9.99385191e-01 -3.27055471e-02 -1.26328210e-02 4.08180667e+00] [ 3.26853220e-02 9.99464064e-01 -1.80420885e-03 -2.37271481e-01] [ 1.26850582e-02 1.39019178e-03 9.99918575e-01 -8.53452780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.441193817 meters Centerline goodness [0,1] 0.8806384167925974 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.23, Z:-0.86 [[ 0.99953628 -0.02955187 -0.00734252 4.09517507] [ 0.02949361 0.99953359 -0.00792033 -0.2315586 ] [ 0.00757316 0.0077001 0.99994168 -0.8575724 ] [ 0. 0. 0. 1. ]] SLAMing on 99.471193817 meters Centerline goodness [0,1] 0.8803233275448606 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.23, Z:-0.86 [[ 9.99682923e-01 -2.38727404e-02 -8.00914100e-03 4.09745587e+00] [ 2.38509801e-02 9.99711599e-01 -2.80154248e-03 -2.25229911e-01] [ 8.07371166e-03 2.60962831e-03 9.99964002e-01 -8.59126725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.501193817 meters Centerline goodness [0,1] 0.8790524464673632 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.22, Z:-0.86 [[ 9.99755631e-01 -2.05166286e-02 -8.23083588e-03 4.09821687e+00] [ 2.05196077e-02 9.99789412e-01 2.77648176e-04 -2.22566687e-01] [ 8.22340616e-03 -4.46473851e-04 9.99966088e-01 -8.59662761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.531193817 meters Centerline goodness [0,1] 0.8773598560823804 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.22, Z:-0.86 [[ 9.99803912e-01 -1.78303110e-02 -8.61490627e-03 4.09992748e+00] [ 1.78537810e-02 9.99837083e-01 2.65516415e-03 -2.19374289e-01] [ 8.56616035e-03 -2.80845215e-03 9.99959366e-01 -8.60921893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.561193817 meters Centerline goodness [0,1] 0.8996781895567321 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.21, Z:-0.86 [[ 0.99984639 -0.01531126 -0.00853007 4.09994492] [ 0.01534751 0.9998734 0.00419998 -0.21178224] [ 0.00846469 -0.00433025 0.9999548 -0.86139931] [ 0. 0. 0. 1. ]] SLAMing on 99.591193817 meters Centerline goodness [0,1] 0.8944278483113435 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.21, Z:-0.86 [[ 9.99836995e-01 -1.58213077e-02 -8.69888105e-03 4.10064996e+00] [ 1.58492197e-02 9.99869434e-01 3.14915694e-03 -2.08188031e-01] [ 8.64792149e-03 -3.28651409e-03 9.99957205e-01 -8.61845751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.621193817 meters Centerline goodness [0,1] 0.8508505405014365 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.20, Z:-0.86 [[ 9.99822187e-01 -1.65874885e-02 -8.96936710e-03 4.10167940e+00] [ 1.66050324e-02 9.99860350e-01 1.88505392e-03 -2.04984955e-01] [ 8.93684621e-03 -2.03365536e-03 9.99957998e-01 -8.62441898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.651193817 meters Centerline goodness [0,1] 0.8788394134848705 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.20, Z:-0.86 [[ 9.99813097e-01 -1.70753109e-02 -9.06665114e-03 4.10174591e+00] [ 1.70839831e-02 9.99853671e-01 8.79895818e-04 -2.01639957e-01] [ 9.05029993e-03 -1.03462588e-03 9.99958510e-01 -8.62278456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68119381700001 meters Centerline goodness [0,1] 0.8482735792457123 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.19, Z:-0.86 [[ 9.99778007e-01 -1.89391508e-02 -9.23281057e-03 4.10245124e+00] [ 1.89209200e-02 9.99818865e-01 -2.05794198e-03 -1.93512819e-01] [ 9.27011386e-03 1.88279186e-03 9.99955259e-01 -8.62723504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71119381700001 meters Centerline goodness [0,1] 0.8485951165050551 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.19, Z:-0.86 [[ 9.99798057e-01 -1.75838689e-02 -9.72894533e-03 4.10405677e+00] [ 1.75808251e-02 9.99845366e-01 -3.98306876e-04 -1.90826088e-01] [ 9.73444468e-03 2.27183555e-04 9.99952593e-01 -8.63379340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74119381700001 meters Centerline goodness [0,1] 0.8221171787535764 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.19, Z:-0.86 [[ 9.99777928e-01 -1.86097124e-02 -9.88800878e-03 4.10454544e+00] [ 1.85913070e-02 9.99825265e-01 -1.95006305e-03 -1.86399809e-01] [ 9.92257111e-03 1.76579899e-03 9.99949211e-01 -8.63560667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77119381700001 meters Centerline goodness [0,1] 0.7835627244607751 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.18, Z:-0.87 [[ 0.99970912 -0.02176825 -0.01038357 4.10813797] [ 0.02170951 0.99974786 -0.00573678 -0.17577372] [ 0.01050583 0.00550969 0.99992963 -0.86649485] [ 0. 0. 0. 1. ]] SLAMing on 99.801193817 meters Centerline goodness [0,1] 0.7594097164649312 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.17, Z:-0.87 [[ 0.9996724 -0.02328446 -0.01062655 4.1099675 ] [ 0.0232006 0.99969923 -0.00794827 -0.17027425] [ 0.01080843 0.00769912 0.99991195 -0.86806448] [ 0. 0. 0. 1. ]] SLAMing on 99.831193817 meters Centerline goodness [0,1] 0.7512466755319149 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.16, Z:-0.87 [[ 0.99963922 -0.02460978 -0.01076075 4.11076511] [ 0.02450226 0.99964964 -0.01001182 -0.16442425] [ 0.01100337 0.00974454 0.99989198 -0.86864861] [ 0. 0. 0. 1. ]] SLAMing on 99.861193817 meters Centerline goodness [0,1] 0.7348561935416883 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.16, Z:-0.87 [[ 0.99967813 -0.02294816 -0.01081725 4.11103217] [ 0.0228564 0.99970235 -0.00853153 -0.15973074] [ 0.01100981 0.00828154 0.9999051 -0.86879102] [ 0. 0. 0. 1. ]] SLAMing on 99.891193817 meters Centerline goodness [0,1] 0.73512563333678 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.15, Z:-0.87 [[ 0.99969479 -0.02201773 -0.01120498 4.11262791] [ 0.02192638 0.99972587 -0.00821109 -0.15323629] [ 0.01138269 0.0079629 0.99990351 -0.86972723] [ 0. 0. 0. 1. ]] SLAMing on 99.921193817 meters Centerline goodness [0,1] 0.7339491437467567 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.14, Z:-0.87 [[ 0.99976779 -0.01850823 -0.01103724 4.11185817] [ 0.01844665 0.99981385 -0.00565563 -0.13695269] [ 0.01113986 0.00545072 0.99992309 -0.86930855] [ 0. 0. 0. 1. ]] SLAMing on 99.951193817 meters Centerline goodness [0,1] 0.7466492656350341 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.13, Z:-0.87 [[ 0.99988218 -0.01445602 -0.00516191 4.12466265] [ 0.01440196 0.99984262 -0.01035948 -0.12638208] [ 0.00531086 0.01028392 0.99993302 -0.87281848] [ 0. 0. 0. 1. ]] SLAMing on 99.981193817 meters Centerline goodness [0,1] 0.75923627487485 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.12, Z:-0.87 [[ 0.99995311 -0.00809656 -0.00531352 4.12481032] [ 0.00806976 0.99995471 -0.00504632 -0.11905104] [ 0.00535414 0.0050032 0.99997315 -0.87262331] [ 0. 0. 0. 1. ]] SLAMing on 100.011193817 meters Centerline goodness [0,1] 0.7986125449064707 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:-0.87 [[ 9.99979582e-01 1.57111555e-03 -6.19419993e-03 4.12636094e+00] [-1.58719203e-03 9.99995383e-01 -2.59134704e-03 -1.00156041e-01] [ 6.19010003e-03 2.60112551e-03 9.99977458e-01 -8.72481638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.041193817 meters Centerline goodness [0,1] 0.8288308834200651 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.09, Z:-0.87 [[ 9.99969703e-01 4.58241856e-03 -6.29240252e-03 4.12692230e+00] [-4.59049194e-03 9.99988658e-01 -1.26919321e-03 -9.24356892e-02] [ 6.28651518e-03 1.29803998e-03 9.99979397e-01 -8.72784865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07119381700001 meters Centerline goodness [0,1] 0.8367270844122217 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.09, Z:-0.87 [[ 9.99952371e-01 7.22528946e-03 -6.56137246e-03 4.12798009e+00] [-7.22524696e-03 9.99973897e-01 3.01805613e-05 -8.56432446e-02] [ 6.56141925e-03 1.72284126e-05 9.99978474e-01 -8.73254611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10119381700001 meters Centerline goodness [0,1] 0.8367270844122217 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.09, Z:-0.87 [[ 9.99952371e-01 7.22528946e-03 -6.56137246e-03 4.12798009e+00] [-7.22524696e-03 9.99973897e-01 3.01805613e-05 -8.56432446e-02] [ 6.56141925e-03 1.72284126e-05 9.99978474e-01 -8.73254611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13119381700001 meters Centerline goodness [0,1] 0.8444532011531203 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.07, Z:-0.87 [[ 9.99941709e-01 8.52358665e-03 -6.62781800e-03 4.12861977e+00] [-8.52667701e-03 9.99963551e-01 -4.38153114e-04 -7.21256575e-02] [ 6.62384179e-03 4.94640837e-04 9.99977940e-01 -8.73547663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16119381700001 meters Centerline goodness [0,1] 0.8320823194622016 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.07, Z:-0.87 [[ 9.99922442e-01 1.03027706e-02 -6.99737871e-03 4.12996711e+00] [-1.02968302e-02 9.99946595e-01 8.84450566e-04 -6.67853276e-02] [ 7.00611731e-03 -8.12331149e-04 9.99975127e-01 -8.74101428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.191193817 meters Centerline goodness [0,1] 0.8090318038760974 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.06, Z:-0.87 [[ 9.99933953e-01 9.01447123e-03 -7.12949477e-03 4.12989486e+00] [-9.02516895e-03 9.99958192e-01 -1.46974078e-03 -5.99965620e-02] [ 7.11594776e-03 1.53398860e-03 9.99973505e-01 -8.73534234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.221193817 meters Centerline goodness [0,1] 0.8161685346616854 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.05, Z:-0.87 [[ 9.99944659e-01 7.70798351e-03 -7.16000813e-03 4.12959353e+00] [-7.73439766e-03 9.99963359e-01 -3.66878907e-03 -5.40859243e-02] [ 7.13146681e-03 3.72396438e-03 9.99967637e-01 -8.72919679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.251193817 meters Centerline goodness [0,1] 0.769514800755077 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.04, Z:-0.87 [[ 0.99996253 0.00516572 -0.00694693 4.12813688] [-0.00521531 0.99996091 -0.00713932 -0.04430815] [ 0.00690978 0.00717529 0.99995038 -0.87138803] [ 0. 0. 0. 1. ]] SLAMing on 100.281193817 meters Centerline goodness [0,1] 0.7849948186528497 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.04, Z:-0.87 [[ 0.99996553 0.00444329 -0.00701334 4.12840603] [-0.00450312 0.99995342 -0.00853741 -0.03984616] [ 0.00697508 0.00856869 0.99993896 -0.87138249] [ 0. 0. 0. 1. ]] SLAMing on 100.311193817 meters Centerline goodness [0,1] 0.7792285850483948 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.04, Z:-0.87 [[ 0.9999589 0.00610041 -0.00670646 4.12780221] [-0.00614772 0.9999562 -0.00705718 -0.03605012] [ 0.00666311 0.00709812 0.99995261 -0.87115433] [ 0. 0. 0. 1. ]] SLAMing on 100.341193817 meters Centerline goodness [0,1] 0.7831652765674925 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.02, Z:-0.87 [[ 0.99994851 0.00766956 -0.00664482 4.12866317] [-0.00771699 0.99994473 -0.00714076 -0.02467748] [ 0.00658968 0.00719167 0.99995243 -0.87199073] [ 0. 0. 0. 1. ]] SLAMing on 100.371193817 meters Centerline goodness [0,1] 0.7904165633523432 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.02, Z:-0.87 [[ 0.99992251 0.01030031 -0.00699194 4.13050861] [-0.01033963 0.9999308 -0.00561126 -0.01841408] [ 0.00693366 0.00568312 0.99995981 -0.87309335] [ 0. 0. 0. 1. ]] SLAMing on 100.401193817 meters Centerline goodness [0,1] 0.8234832851836567 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.00, Z:-0.87 [[ 9.99832848e-01 1.68096843e-02 -7.19097996e-03 4.13235530e+00] [-1.68250748e-02 9.99856274e-01 -2.08513361e-03 -4.87413149e-03] [ 7.15489599e-03 2.20577385e-03 9.99971971e-01 -8.74092983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43119381700001 meters Centerline goodness [0,1] 0.8454334493618432 Centerline is valid? [False, False] Translation: X:4.13, Y:0.00, Z:-0.87 [[ 9.99770353e-01 2.01312791e-02 -7.34668940e-03 4.13286714e+00] [-2.01324844e-02 9.99797317e-01 -9.01277732e-05 1.09519653e-03] [ 7.34338596e-03 2.38014185e-04 9.99973009e-01 -8.73974648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46119381700001 meters Centerline goodness [0,1] 0.872809661393918 Centerline is valid? [False, False] Translation: X:4.13, Y:0.01, Z:-0.87 [[ 9.99698581e-01 2.33879543e-02 -7.46661628e-03 4.13341926e+00] [-2.33735182e-02 9.99724772e-01 2.01487638e-03 6.41586002e-03] [ 7.51168509e-03 -1.83974797e-03 9.99970095e-01 -8.73972966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49119381700001 meters Centerline goodness [0,1] 0.8866467364225212 Centerline is valid? [False, False] Translation: X:4.13, Y:0.01, Z:-0.87 [[ 0.99961443 0.0267101 -0.00758737 4.13395739] [-0.02667744 0.99963453 0.00437373 0.01097127] [ 0.00770142 -0.00416963 0.99996165 -0.87391934] [ 0. 0. 0. 1. ]] SLAMing on 100.52119381700001 meters Centerline goodness [0,1] 0.9080636131787928 Centerline is valid? [False, False] Translation: X:4.13, Y:0.02, Z:-0.87 [[ 0.99940921 0.03352273 -0.00758059 4.13454809] [-0.03344774 0.99939231 0.00981094 0.01749524] [ 0.00790487 -0.00955159 0.99992314 -0.87388052] [ 0. 0. 0. 1. ]] SLAMing on 100.551193817 meters Centerline goodness [0,1] 0.9099480789200416 Centerline is valid? [False, False] Translation: X:4.14, Y:0.02, Z:-0.87 [[ 0.99939559 0.03387975 -0.00778624 4.13503886] [-0.03380993 0.99938838 0.00893 0.02129443] [ 0.00808402 -0.00866135 0.99992981 -0.87366135] [ 0. 0. 0. 1. ]] SLAMing on 100.581193817 meters Centerline goodness [0,1] 0.9143307674751541 Centerline is valid? [False, False] Translation: X:4.14, Y:0.02, Z:-0.87 [[ 0.9993823 0.03418378 -0.00815382 4.13566688] [-0.03411589 0.99938321 0.00832444 0.02397246] [ 0.00843335 -0.00804112 0.99993211 -0.87329115] [ 0. 0. 0. 1. ]] SLAMing on 100.611193817 meters Centerline goodness [0,1] 0.9178844959635686 Centerline is valid? [False, False] Translation: X:4.14, Y:0.03, Z:-0.87 [[ 0.99937772 0.0342624 -0.00838167 4.13563781] [-0.03419777 0.99938515 0.00773591 0.02590932] [ 0.00864157 -0.00744446 0.99993495 -0.8724445 ] [ 0. 0. 0. 1. ]] SLAMing on 100.641193817 meters Centerline goodness [0,1] 0.9206224392666473 Centerline is valid? [False, False] Translation: X:4.13, Y:0.03, Z:-0.87 [[ 0.99940071 0.03361631 -0.00825653 4.13317 ] [-0.03356015 0.99941323 0.00684883 0.02607659] [ 0.00848192 -0.00656764 0.99994246 -0.86955887] [ 0. 0. 0. 1. ]] SLAMing on 100.671193817 meters Centerline goodness [0,1] 0.9245337574092815 Centerline is valid? [False, False] Translation: X:4.13, Y:0.03, Z:-0.87 [[ 9.99511406e-01 3.00436317e-02 -8.62140412e-03 4.13324109e+00] [-3.00202077e-02 9.99545275e-01 2.83365937e-03 2.66252465e-02] [ 8.70261717e-03 -2.57345852e-03 9.99958820e-01 -8.68796670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.701193817 meters Centerline goodness [0,1] 0.9225077720207254 Centerline is valid? [False, False] Translation: X:4.13, Y:0.03, Z:-0.87 [[ 9.99611952e-01 2.63831804e-02 -8.93721082e-03 4.13315732e+00] [-2.63942538e-02 9.99650980e-01 -1.12332653e-03 2.68892679e-02] [ 8.90445462e-03 1.35878164e-03 9.99959431e-01 -8.67987368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.731193817 meters Centerline goodness [0,1] 0.9211314132342314 Centerline is valid? [False, False] Translation: X:4.13, Y:0.02, Z:-0.87 [[ 9.99614262e-01 2.62313255e-02 -9.12385427e-03 4.13337687e+00] [-2.62380906e-02 9.99655528e-01 -6.22551261e-04 2.45866277e-02] [ 9.10438102e-03 8.61703634e-04 9.99958183e-01 -8.67846242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.761193817 meters Centerline goodness [0,1] 0.9249742002063983 Centerline is valid? [False, False] Translation: X:4.13, Y:0.02, Z:-0.87 [[ 9.99690555e-01 2.30584440e-02 -9.33286717e-03 4.13334896e+00] [-2.30957218e-02 9.99725626e-01 -3.90636589e-03 2.40426479e-02] [ 9.24023175e-03 4.12070639e-03 9.99948818e-01 -8.67363735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.791193817 meters Centerline goodness [0,1] 0.9240202170850941 Centerline is valid? [False, False] Translation: X:4.13, Y:0.02, Z:-0.87 [[ 0.99975938 0.01987144 -0.00929018 4.13295216] [-0.01992795 0.99978323 -0.00603012 0.01876749] [ 0.00916834 0.0062138 0.99993866 -0.86729462] [ 0. 0. 0. 1. ]] SLAMing on 100.82119381700001 meters Centerline goodness [0,1] 0.9146326302266794 Centerline is valid? [False, False] Translation: X:4.14, Y:0.02, Z:-0.87 [[ 0.99979441 0.01774781 -0.00980621 4.13543328] [-0.01782568 0.99980981 -0.00791159 0.01586257] [ 0.00966393 0.00808477 0.99992062 -0.869215 ] [ 0. 0. 0. 1. ]] SLAMing on 100.85119381700001 meters Centerline goodness [0,1] 0.9204799801044516 Centerline is valid? [False, False] Translation: X:4.14, Y:0.01, Z:-0.87 [[ 0.99978152 0.01826158 -0.01017002 4.13733008] [-0.01833043 0.99980941 -0.00671824 0.01241841] [ 0.0100454 0.00690319 0.99992572 -0.8708076 ] [ 0. 0. 0. 1. ]] SLAMing on 100.88119381700001 meters Centerline goodness [0,1] 0.9198347960764068 Centerline is valid? [False, False] Translation: X:4.14, Y:0.01, Z:-0.87 [[ 0.99976659 0.01855844 -0.01106141 4.14235827] [-0.0186229 0.99981003 -0.00575326 0.00881412] [ 0.01095253 0.00595791 0.99992227 -0.87495392] [ 0. 0. 0. 1. ]] SLAMing on 100.91119381700001 meters Centerline goodness [0,1] 0.915172199813838 Centerline is valid? [False, False] Translation: X:4.14, Y:0.01, Z:-0.88 [[ 0.99975956 0.01874975 -0.01136975 4.14369847] [-0.01881036 0.9998093 -0.00524765 0.00753364] [ 0.01126919 0.00546025 0.99992159 -0.8759302 ] [ 0. 0. 0. 1. ]] SLAMing on 100.941193817 meters Centerline goodness [0,1] 0.9082484936629961 Centerline is valid? [False, False] Translation: X:4.14, Y:0.01, Z:-0.88 [[ 0.99975408 0.01888564 -0.01162414 4.14482619] [-0.01894301 0.99980883 -0.0048447 0.00638349] [ 0.01153043 0.0050637 0.9999207 -0.87674843] [ 0. 0. 0. 1. ]] SLAMing on 100.971193817 meters Centerline goodness [0,1] 0.9104 Centerline is valid? [False, False] Translation: X:4.15, Y:0.00, Z:-0.88 [[ 0.99974589 0.01902452 -0.01209218 4.1463318 ] [-0.0190785 0.99980846 -0.004364 0.0047379 ] [ 0.01200684 0.00459359 0.99991736 -0.87752623] [ 0. 0. 0. 1. ]] SLAMing on 101.001193817 meters Centerline goodness [0,1] 0.9018604070420777 Centerline is valid? [False, False] Translation: X:4.15, Y:0.00, Z:-0.88 [[ 9.99779414e-01 1.65498327e-02 -1.29315676e-02 4.14880916e+00] [-1.66343453e-02 9.99840801e-01 -6.45537076e-03 1.40606801e-03] [ 1.28226736e-02 6.66905496e-03 9.99895546e-01 -8.78720748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.031193817 meters Centerline goodness [0,1] 0.8991214405881987 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.00, Z:-0.88 [[ 9.99777594e-01 1.62981706e-02 -1.33840278e-02 4.15002817e+00] [-1.63807614e-02 9.99847313e-01 -6.08457676e-03 -1.06305545e-03] [ 1.32828168e-02 6.30246408e-03 9.99891917e-01 -8.79237328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.061193817 meters Centerline goodness [0,1] 0.8904978881884194 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.00, Z:-0.88 [[ 9.99774631e-01 1.61656081e-02 -1.37608279e-02 4.15101819e+00] [-1.62456366e-02 9.99851647e-01 -5.72389134e-03 -2.90889367e-03] [ 1.36662563e-02 5.94615476e-03 9.99888932e-01 -8.79615968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.091193817 meters Centerline goodness [0,1] 0.8914010224013964 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.00, Z:-0.88 [[ 0.99977066 0.0160831 -0.01414076 4.15201848] [-0.0161603 0.99985504 -0.00536206 -0.00474845] [ 0.01405247 0.00558935 0.99988564 -0.87999098] [ 0. 0. 0. 1. ]] SLAMing on 101.121193817 meters Centerline goodness [0,1] 0.8853228150301017 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.01, Z:-0.88 [[ 0.9997607 0.01634661 -0.01453716 4.15320343] [-0.01641161 0.9998558 -0.0043631 -0.00882562] [ 0.01446374 0.00460063 0.99988481 -0.88060441] [ 0. 0. 0. 1. ]] SLAMing on 101.151193817 meters Centerline goodness [0,1] 0.8882110435579246 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.01, Z:-0.88 [[ 9.99756284e-01 1.65201733e-02 -1.46443091e-02 4.15296980e+00] [-1.65809605e-02 9.99854367e-01 -4.03925244e-03 -1.02048538e-02] [ 1.45754472e-02 4.28108472e-03 9.99884608e-01 -8.80005436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18119381700001 meters Centerline goodness [0,1] 0.8782225730726884 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.01, Z:-0.88 [[ 9.99742530e-01 1.71521350e-02 -1.48552177e-02 4.15297847e+00] [-1.72027706e-02 9.99846617e-01 -3.28754765e-03 -1.15307893e-02] [ 1.47965507e-02 3.54225211e-03 9.99884251e-01 -8.79411997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21119381700001 meters Centerline goodness [0,1] 0.8965631607313129 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.02, Z:-0.88 [[ 0.99982787 0.0168549 -0.00775498 4.16012846] [-0.01680455 0.99983758 0.00651287 -0.01589357] [ 0.00786349 -0.00638143 0.99994872 -0.88024504] [ 0. 0. 0. 1. ]] SLAMing on 101.24119381700001 meters Centerline goodness [0,1] 0.9065300097711066 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.01, Z:-0.88 [[ 9.99876708e-01 1.35500117e-02 -7.93517236e-03 4.15979579e+00] [-1.35298217e-02 9.99905107e-01 2.59255218e-03 -1.46330178e-02] [ 7.96954848e-03 -2.48487107e-03 9.99965155e-01 -8.79262530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27119381700001 meters Centerline goodness [0,1] 0.9119167756805582 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.01, Z:-0.88 [[ 9.99917212e-01 1.00092413e-02 -8.08606473e-03 4.15969868e+00] [-1.00208045e-02 9.99948823e-01 -1.39076779e-03 -1.39431998e-02] [ 8.07173038e-03 1.47168152e-03 9.99966340e-01 -8.78645064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.301193817 meters Centerline goodness [0,1] 0.8984188327203972 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.02, Z:-0.88 [[ 9.99935741e-01 8.09422369e-03 -7.93713926e-03 4.15793583e+00] [-8.11908911e-03 9.99962217e-01 -3.10559169e-03 -1.53792957e-02] [ 7.91170202e-03 3.16983447e-03 9.99963678e-01 -8.76855997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.331193817 meters Centerline goodness [0,1] 0.8734923557523222 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.02, Z:-0.88 [[ 9.99994223e-01 1.75444001e-03 -2.91127048e-03 4.16367769e+00] [-1.74621776e-03 9.99994487e-01 2.82442368e-03 -2.20391556e-02] [ 2.91620971e-03 -2.81932365e-03 9.99991774e-01 -8.76057501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.361193817 meters Centerline goodness [0,1] 0.8642665613502671 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.02, Z:-0.87 [[ 9.99993391e-01 -2.00916153e-03 -3.02996617e-03 4.16310675e+00] [ 2.00747871e-03 9.99997829e-01 -5.58329862e-04 -2.41056837e-02] [ 3.03108137e-03 5.52243579e-04 9.99995254e-01 -8.74965828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.391193817 meters Centerline goodness [0,1] 0.8639294479803652 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.03, Z:-0.87 [[ 9.99991803e-01 -2.55113683e-03 -3.14415668e-03 4.16304078e+00] [ 2.55145496e-03 9.99996740e-01 9.71738941e-05 -2.80123991e-02] [ 3.14389853e-03 -1.05195272e-04 9.99995052e-01 -8.74623025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.421193817 meters Centerline goodness [0,1] 0.8174527321836692 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.03, Z:-0.87 [[ 9.99990628e-01 -2.91423700e-03 -3.20180219e-03 4.16307871e+00] [ 2.91685888e-03 9.99995414e-01 8.14510849e-04 -3.12161013e-02] [ 3.19941383e-03 -8.23842421e-04 9.99994543e-01 -8.74539149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.451193817 meters Centerline goodness [0,1] 0.7745614578813612 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.03, Z:-0.87 [[ 9.99965966e-01 -7.54354935e-03 -3.34093175e-03 4.16367370e+00] [ 7.53300784e-03 9.99966644e-01 -3.15668556e-03 -3.18877755e-02] [ 3.36463293e-03 3.13141086e-03 9.99989437e-01 -8.74949543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.481193817 meters Centerline goodness [0,1] 0.753723338421552 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.03, Z:-0.88 [[ 9.99960575e-01 -8.11155162e-03 -3.61258513e-03 4.16471311e+00] [ 8.10058366e-03 9.99962568e-01 -3.04039577e-03 -3.27879331e-02] [ 3.63711223e-03 3.01101186e-03 9.99988853e-01 -8.75645733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.511193817 meters Centerline goodness [0,1] 0.7168930916298468 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.03, Z:-0.88 [[ 9.99954610e-01 -8.67803397e-03 -3.93324348e-03 4.16588116e+00] [ 8.66650993e-03 9.99958130e-01 -2.93754113e-03 -3.38057448e-02] [ 3.95857088e-03 2.90332030e-03 9.99987950e-01 -8.76378579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.541193817 meters Centerline goodness [0,1] 0.7288835404693238 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.03, Z:-0.88 [[ 9.99949370e-01 -9.20986360e-03 -4.05423704e-03 4.16668508e+00] [ 9.19789251e-03 9.99953313e-01 -2.96154276e-03 -3.45650042e-02] [ 4.08132316e-03 2.92410238e-03 9.99987396e-01 -8.77112554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57119381700001 meters Centerline goodness [0,1] 0.7008085141489976 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.03, Z:-0.88 [[ 0.99992148 -0.01162713 -0.00467362 4.1708197 ] [ 0.01160292 0.9999193 -0.00517433 -0.03305666] [ 0.00473341 0.0051197 0.99997569 -0.88082091] [ 0. 0. 0. 1. ]] SLAMing on 101.60119381700001 meters Centerline goodness [0,1] 0.6974567144395659 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.03, Z:-0.88 [[ 0.99992303 -0.01133642 -0.0050418 4.17320171] [ 0.01131124 0.99992355 -0.00499581 -0.03238448] [ 0.00509805 0.0049384 0.99997481 -0.88283524] [ 0. 0. 0. 1. ]] SLAMing on 101.63119381700001 meters Centerline goodness [0,1] 0.7028728846910666 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.03, Z:-0.88 [[ 9.99953830e-01 -8.10787499e-03 -5.15755436e-03 4.17394261e+00] [ 8.10178158e-03 9.99966459e-01 -1.20125317e-03 -3.29768000e-02] [ 5.16712098e-03 1.15941233e-03 9.99985978e-01 -8.83669137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66119381700001 meters Centerline goodness [0,1] 0.6916525054917727 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.03, Z:-0.88 [[ 9.99973477e-01 -5.09818325e-03 -5.20123496e-03 4.17445221e+00] [ 5.10881954e-03 9.99984882e-01 2.03372214e-03 -3.24716268e-02] [ 5.19078804e-03 -2.06024037e-03 9.99984405e-01 -8.84215268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.691193817 meters Centerline goodness [0,1] 0.7070370676816151 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.03, Z:-0.88 [[ 9.99982438e-01 -2.62785828e-03 -5.31208263e-03 4.17470072e+00] [ 2.64759600e-03 9.99989606e-01 3.71201663e-03 -2.67659403e-02] [ 5.30227276e-03 -3.72601569e-03 9.99979001e-01 -8.84122246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.721193817 meters Centerline goodness [0,1] 0.7129985259617581 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.02, Z:-0.88 [[ 9.99981559e-01 -2.71850730e-03 -5.43063210e-03 4.17461628e+00] [ 2.73336215e-03 9.99992538e-01 2.72983546e-03 -2.26625957e-02] [ 5.42317050e-03 -2.74462900e-03 9.99981528e-01 -8.83576702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.751193817 meters Centerline goodness [0,1] 0.7235704787234043 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.02, Z:-0.88 [[ 9.99980336e-01 -2.90070828e-03 -5.56001292e-03 4.17493601e+00] [ 2.91021449e-03 9.99994316e-01 1.70241917e-03 -1.86976987e-02] [ 5.55504310e-03 -1.71856652e-03 9.99983094e-01 -8.83511118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.781193817 meters Centerline goodness [0,1] 0.7225744954204485 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.02, Z:-0.88 [[ 9.99978839e-01 -2.89474587e-03 -5.82601355e-03 4.17592474e+00] [ 2.90050979e-03 9.99995312e-01 9.81135090e-04 -1.52860163e-02] [ 5.82314610e-03 -9.98012737e-04 9.99982547e-01 -8.83879022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.811193817 meters Centerline goodness [0,1] 0.7246427831849245 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.01, Z:-0.88 [[ 9.99983332e-01 -1.33538183e-03 -5.61720418e-03 4.17473610e+00] [ 1.34499101e-03 9.99997638e-01 1.70723908e-03 -9.31689692e-03] [ 5.61491110e-03 -1.71476571e-03 9.99982766e-01 -8.82742030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.841193817 meters Centerline goodness [0,1] 0.7373291010559947 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.01, Z:-0.88 [[ 9.99982887e-01 -1.80873739e-03 -5.56366822e-03 4.17418264e+00] [ 1.81083499e-03 9.99998291e-01 3.72002063e-04 -5.38207896e-03] [ 5.56298586e-03 -3.82070582e-04 9.99984453e-01 -8.81938240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.871193817 meters Centerline goodness [0,1] 0.7367557917462426 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.00, Z:-0.88 [[ 9.99982148e-01 -2.01661603e-03 -5.62468742e-03 4.17403250e+00] [ 2.01235045e-03 9.99997683e-01 -7.63924628e-04 -1.20228697e-03] [ 5.62621494e-03 7.52592148e-04 9.99983890e-01 -8.81334342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.901193817 meters Centerline goodness [0,1] 0.7286656161884226 Centerline is valid? [False, False] Translation: X:4.17, Y:0.01, Z:-0.88 [[ 9.99986424e-01 -7.35826894e-04 -5.15847282e-03 4.17225149e+00] [ 7.31522479e-04 9.99999383e-01 -8.36272896e-04 8.96503073e-03] [ 5.15908499e-03 8.32488004e-04 9.99986345e-01 -8.79794334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93119381700001 meters Centerline goodness [0,1] 0.7208013728368516 Centerline is valid? [False, False] Translation: X:4.17, Y:0.01, Z:-0.88 [[ 9.99985347e-01 -1.23812553e-03 -5.27003936e-03 4.17248301e+00] [ 1.22626395e-03 9.99996709e-01 -2.25339346e-03 1.45313652e-02] [ 5.27281200e-03 2.24689798e-03 9.99983574e-01 -8.79545009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96119381700001 meters Centerline goodness [0,1] 0.7177032503515011 Centerline is valid? [False, False] Translation: X:4.17, Y:0.02, Z:-0.88 [[ 9.99984493e-01 -1.72964402e-03 -5.29364428e-03 4.17245999e+00] [ 1.71061661e-03 9.99992068e-01 -3.59680760e-03 1.93212037e-02] [ 5.29982349e-03 3.58769643e-03 9.99979520e-01 -8.79255720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99119381700001 meters Centerline goodness [0,1] 0.7129595093041567 Centerline is valid? [False, False] Translation: X:4.17, Y:0.03, Z:-0.88 [[ 9.99987594e-01 -2.19474752e-04 -4.97627551e-03 4.17213553e+00] [ 2.04387897e-04 9.99995382e-01 -3.03206230e-03 2.70671765e-02] [ 4.97691800e-03 3.03100759e-03 9.99983021e-01 -8.79465454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02119381700001 meters Centerline goodness [0,1] 0.7129595093041567 Centerline is valid? [False, False] Translation: X:4.17, Y:0.03, Z:-0.88 [[ 9.99987594e-01 -2.19474752e-04 -4.97627551e-03 4.17213553e+00] [ 2.04387897e-04 9.99995382e-01 -3.03206230e-03 2.70671765e-02] [ 4.97691800e-03 3.03100759e-03 9.99983021e-01 -8.79465454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.051193817 meters Centerline goodness [0,1] 0.7217595381004798 Centerline is valid? [False, False] Translation: X:4.17, Y:0.03, Z:-0.88 [[ 9.99985078e-01 1.31021822e-03 -5.30350443e-03 4.17393128e+00] [-1.31929263e-03 9.99997671e-01 -1.70788597e-03 3.04541850e-02] [ 5.30125438e-03 1.71485736e-03 9.99984478e-01 -8.80874819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.081193817 meters Centerline goodness [0,1] 0.7180108529058449 Centerline is valid? [False, False] Translation: X:4.18, Y:0.04, Z:-0.88 [[ 9.99983050e-01 1.47564789e-03 -5.63222793e-03 4.17613820e+00] [-1.48917691e-03 9.99996014e-01 -2.39863519e-03 3.54220243e-02] [ 5.62866594e-03 2.40698192e-03 9.99981262e-01 -8.82540576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.111193817 meters Centerline goodness [0,1] 0.7278443051850013 Centerline is valid? [False, False] Translation: X:4.18, Y:0.04, Z:-0.88 [[ 9.99974706e-01 3.74026215e-03 -6.04965886e-03 4.17806961e+00] [-3.74540241e-03 9.99992634e-01 -8.38571563e-04 4.03554565e-02] [ 6.04647782e-03 8.61208759e-04 9.99981349e-01 -8.83693757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.141193817 meters Centerline goodness [0,1] 0.7314409120169445 Centerline is valid? [False, False] Translation: X:4.18, Y:0.05, Z:-0.88 [[ 9.99958040e-01 6.73001002e-03 -6.21494371e-03 4.17893391e+00] [-6.72336331e-03 9.99976804e-01 1.08974716e-03 4.59462018e-02] [ 6.22213356e-03 -1.04791611e-03 9.99980093e-01 -8.84154171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.171193817 meters Centerline goodness [0,1] 0.7815303648757848 Centerline is valid? [False, False] Translation: X:4.18, Y:0.06, Z:-0.89 [[ 0.9998251 0.01749755 -0.00660365 4.18159274] [-0.01743523 0.999804 0.00937926 0.05670327] [ 0.00676647 -0.00926248 0.99993421 -0.88584735] [ 0. 0. 0. 1. ]] SLAMing on 102.201193817 meters Centerline goodness [0,1] 0.8157217030114227 Centerline is valid? [False, False] Translation: X:4.18, Y:0.06, Z:-0.89 [[ 0.9996606 0.02513378 -0.0068537 4.18324186] [-0.02502142 0.99955864 0.01601405 0.06078904] [ 0.00725317 -0.01583713 0.99984828 -0.88672704] [ 0. 0. 0. 1. ]] SLAMing on 102.231193817 meters Centerline goodness [0,1] 0.8530650154798761 Centerline is valid? [False, False] Translation: X:4.19, Y:0.07, Z:-0.89 [[ 0.99945229 0.03227222 -0.00732214 4.18604413] [-0.03210521 0.99924491 0.02188286 0.0653962 ] [ 0.00802282 -0.02163579 0.99973373 -0.8882478 ] [ 0. 0. 0. 1. ]] SLAMing on 102.261193817 meters Centerline goodness [0,1] 0.9088773007399469 Centerline is valid? [False, False] Translation: X:4.19, Y:0.07, Z:-0.89 [[ 0.99916284 0.04019945 -0.00759067 4.18768627] [-0.03996582 0.99878701 0.02876198 0.06934441] [ 0.00873768 -0.02843453 0.99955747 -0.88874865] [ 0. 0. 0. 1. ]] SLAMing on 102.291193817 meters Centerline goodness [0,1] 0.9270572663536906 Centerline is valid? [False, False] Translation: X:4.18, Y:0.08, Z:-0.89 [[ 0.99845024 0.0550232 -0.00834036 4.1831027 ] [-0.05481544 0.99822292 0.02337245 0.08147381] [ 0.00961157 -0.02287905 0.99969204 -0.88577841] [ 0. 0. 0. 1. ]] SLAMing on 102.32119381700001 meters Centerline goodness [0,1] 0.9271525913689862 Centerline is valid? [False, False] Translation: X:4.18, Y:0.08, Z:-0.89 [[ 0.99821074 0.0592174 -0.00828368 4.18350311] [-0.05897742 0.99790191 0.02671018 0.08439135] [ 0.00984801 -0.02617384 0.9996089 -0.88555023] [ 0. 0. 0. 1. ]] SLAMing on 102.35119381700001 meters Centerline goodness [0,1] 0.9257122699259198 Centerline is valid? [False, False] Translation: X:4.18, Y:0.09, Z:-0.89 [[ 0.99815598 0.06009917 -0.00852839 4.18415605] [-0.05985633 0.9978596 0.02633319 0.08795146] [ 0.01009273 -0.02577415 0.99961684 -0.88518458] [ 0. 0. 0. 1. ]] SLAMing on 102.38119381700001 meters Centerline goodness [0,1] 0.9227572871454137 Centerline is valid? [False, False] Translation: X:4.19, Y:0.09, Z:-0.89 [[ 0.99806676 0.0614131 -0.00954819 4.1867273 ] [-0.06113819 0.9977689 0.02682048 0.0888066 ] [ 0.01117402 -0.02618487 0.99959466 -0.88549075] [ 0. 0. 0. 1. ]] SLAMing on 102.41119381700001 meters Centerline goodness [0,1] 0.9234465617232809 Centerline is valid? [False, False] Translation: X:4.19, Y:0.09, Z:-0.88 [[ 0.99800226 0.06245691 -0.00951934 4.1861065 ] [-0.0621723 0.99768026 0.0277255 0.0864092 ] [ 0.01122891 -0.02707827 0.99957025 -0.88455443] [ 0. 0. 0. 1. ]] SLAMing on 102.441193817 meters Centerline goodness [0,1] 0.9233982710840882 Centerline is valid? [False, False] Translation: X:4.19, Y:0.09, Z:-0.88 [[ 0.99818204 0.05946163 -0.00984498 4.18608425] [-0.05920865 0.99795096 0.02425338 0.08592857] [ 0.01126695 -0.02362638 0.99965737 -0.88386808] [ 0. 0. 0. 1. ]] SLAMing on 102.471193817 meters Centerline goodness [0,1] 0.92589911691105 Centerline is valid? [False, False] Translation: X:4.19, Y:0.08, Z:-0.88 [[ 0.99836567 0.05622123 -0.01025515 4.18573406] [-0.05599882 0.99821375 0.02081906 0.08472935] [ 0.01140731 -0.02021076 0.99973066 -0.88265674] [ 0. 0. 0. 1. ]] SLAMing on 102.501193817 meters Centerline goodness [0,1] 0.9294003268311855 Centerline is valid? [False, False] Translation: X:4.19, Y:0.08, Z:-0.88 [[ 0.99853169 0.05311186 -0.01065828 4.1856529 ] [-0.05291801 0.99844175 0.01771329 0.08274504] [ 0.01158246 -0.01712327 0.9997863 -0.8818317 ] [ 0. 0. 0. 1. ]] SLAMing on 102.531193817 meters Centerline goodness [0,1] 0.9261778162482998 Centerline is valid? [False, False] Translation: X:4.19, Y:0.08, Z:-0.88 [[ 0.99868403 0.05006976 -0.01110089 4.18577263] [-0.04990413 0.99864542 0.01472732 0.0802407 ] [ 0.01182325 -0.01415396 0.99982992 -0.88112329] [ 0. 0. 0. 1. ]] SLAMing on 102.561193817 meters Centerline goodness [0,1] 0.9319725074527989 Centerline is valid? [False, False] Translation: X:4.18, Y:0.07, Z:-0.88 [[ 0.99880197 0.04761984 -0.01126858 4.18433685] [-0.04746788 0.99878302 0.01338978 0.07039055] [ 0.01189248 -0.01283884 0.99984685 -0.87950664] [ 0. 0. 0. 1. ]] SLAMing on 102.591193817 meters Centerline goodness [0,1] 0.9303645401822701 Centerline is valid? [False, False] Translation: X:4.19, Y:0.07, Z:-0.88 [[ 0.99892589 0.04480401 -0.01181804 4.18524977] [-0.04467303 0.99893974 0.01112313 0.06559332] [ 0.01230387 -0.01058324 0.9998683 -0.87969141] [ 0. 0. 0. 1. ]] SLAMing on 102.621193817 meters Centerline goodness [0,1] 0.9298790589794566 Centerline is valid? [False, False] Translation: X:4.19, Y:0.06, Z:-0.88 [[ 0.99903772 0.04206182 -0.01242736 4.18675324] [-0.0419495 0.9990777 0.00916484 0.05969984] [ 0.01280138 -0.0086347 0.99988078 -0.88047577] [ 0. 0. 0. 1. ]] SLAMing on 102.651193817 meters Centerline goodness [0,1] 0.9252903305939097 Centerline is valid? [False, False] Translation: X:4.19, Y:0.05, Z:-0.88 [[ 0.99924192 0.03658009 -0.01332191 4.18920758] [-0.03651967 0.99932164 0.00475086 0.0464602 ] [ 0.01348666 -0.00426075 0.99989997 -0.88192142] [ 0. 0. 0. 1. ]] SLAMing on 102.68119381700001 meters Centerline goodness [0,1] 0.925299113508152 Centerline is valid? [False, False] Translation: X:4.19, Y:0.04, Z:-0.88 [[ 9.99333249e-01 3.37379724e-02 -1.39573339e-02 4.19085151e+00] [-3.36983522e-02 9.99427352e-01 3.06423980e-03 3.98438070e-02] [ 1.40527225e-02 -2.59185757e-03 9.99897896e-01 -8.82828734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71119381700001 meters Centerline goodness [0,1] 0.9206606083239969 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-0.88 [[ 9.99431541e-01 3.05295913e-02 -1.43017007e-02 4.19151671e+00] [-3.05186028e-02 9.99533713e-01 9.86000682e-04 3.37761410e-02] [ 1.43251342e-02 -5.48972259e-04 9.99897239e-01 -8.83201810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74119381700001 meters Centerline goodness [0,1] 0.9180993413148846 Centerline is valid? [False, False] Translation: X:4.19, Y:0.02, Z:-0.88 [[ 9.99569709e-01 2.49002262e-02 -1.55040205e-02 4.19422466e+00] [-2.49307780e-02 9.99687594e-01 -1.78039635e-03 2.04859838e-02] [ 1.54548447e-02 2.16615755e-03 9.99878220e-01 -8.84757006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77119381700001 meters Centerline goodness [0,1] 0.9207185529372718 Centerline is valid? [False, False] Translation: X:4.20, Y:0.01, Z:-0.89 [[ 9.99620362e-01 2.23594942e-02 -1.60992042e-02 4.19597618e+00] [-2.24126839e-02 9.99743901e-01 -3.13104202e-03 1.37104679e-02] [ 1.60250727e-02 3.49067973e-03 9.99865497e-01 -8.85710940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.801193817 meters Centerline goodness [0,1] 0.9195566604516263 Centerline is valid? [False, False] Translation: X:4.20, Y:0.01, Z:-0.89 [[ 0.99966148 0.01992829 -0.01672689 4.19776317] [-0.02000505 0.99979004 -0.00443443 0.00689124] [ 0.01663501 0.00476755 0.99985026 -0.88657728] [ 0. 0. 0. 1. ]] SLAMing on 102.831193817 meters Centerline goodness [0,1] 0.9191133660484072 Centerline is valid? [False, False] Translation: X:4.20, Y:0.00, Z:-0.89 [[ 9.99704993e-01 1.73318890e-02 -1.70156501e-02 4.19854916e+00] [-1.74387957e-02 9.99828989e-01 -6.15468703e-03 1.26235158e-03] [ 1.69060679e-02 6.44960379e-03 9.99836280e-01 -8.87023405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.861193817 meters Centerline goodness [0,1] 0.9168660909374675 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.01, Z:-0.89 [[ 0.99969031 0.01761574 -0.01757737 4.20081793] [-0.01770095 0.99983226 -0.00470375 -0.0053152 ] [ 0.01749156 0.00501343 0.99983444 -0.88852202] [ 0. 0. 0. 1. ]] SLAMing on 102.891193817 meters Centerline goodness [0,1] 0.910820229846907 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.02, Z:-0.89 [[ 9.99681594e-01 1.72462410e-02 -1.84194732e-02 4.20380388e+00] [-1.73166038e-02 9.99843331e-01 -3.66737365e-03 -1.63921899e-02] [ 1.83533390e-02 3.98516866e-03 9.99823621e-01 -8.90332035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.921193817 meters Centerline goodness [0,1] 0.9121270131923925 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.02, Z:-0.89 [[ 9.99662519e-01 1.81307019e-02 -1.86044403e-02 4.20410738e+00] [-1.81699491e-02 9.99833026e-01 -1.94268304e-03 -2.15681292e-02] [ 1.85661117e-02 2.28006916e-03 9.99825035e-01 -8.90289040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.951193817 meters Centerline goodness [0,1] 0.910431050569136 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.03, Z:-0.89 [[ 0.99975636 0.01778782 -0.01306943 4.21583712] [-0.01769558 0.99981793 0.00713976 -0.02887693] [ 0.01319405 -0.00690675 0.9998891 -0.89350949] [ 0. 0. 0. 1. ]] SLAMing on 102.981193817 meters Centerline goodness [0,1] 0.9115775022880439 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.04, Z:-0.89 [[ 0.99977738 0.0165843 -0.01304441 4.21406728] [-0.0164984 0.99984167 0.00666545 -0.0366079 ] [ 0.01315288 -0.00644875 0.9998927 -0.89134318] [ 0. 0. 0. 1. ]] SLAMing on 103.011193817 meters Centerline goodness [0,1] 0.9103439686131235 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.04, Z:-0.89 [[ 0.99983324 0.01624521 -0.00834193 4.23014716] [-0.01617831 0.99983691 0.00802568 -0.04201498] [ 0.00847094 -0.00788939 0.999933 -0.8900894 ] [ 0. 0. 0. 1. ]] SLAMing on 103.041193817 meters Centerline goodness [0,1] 0.9125168796094318 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.04, Z:-0.89 [[ 0.9998562 0.0147747 -0.00832439 4.22816347] [-0.0147204 0.99987022 0.00654643 -0.0449143 ] [ 0.00842003 -0.00642295 0.99994392 -0.88758516] [ 0. 0. 0. 1. ]] SLAMing on 103.07119381700001 meters Centerline goodness [0,1] 0.9180497925311203 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.05, Z:-0.89 [[ 0.99984463 0.01545429 -0.00847813 4.22718434] [-0.01538854 0.99985143 0.00776566 -0.04850897] [ 0.00859688 -0.00763399 0.99993391 -0.88582246] [ 0. 0. 0. 1. ]] SLAMing on 103.10119381700001 meters Centerline goodness [0,1] 0.9168272518182383 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.06, Z:-0.88 [[ 0.9998094 0.01768314 -0.00827483 4.22495705] [-0.01759516 0.99978915 0.01058632 -0.05532167] [ 0.00846028 -0.01043871 0.99990972 -0.88328717] [ 0. 0. 0. 1. ]] SLAMing on 103.13119381700001 meters Centerline goodness [0,1] 0.9192223552235109 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.06, Z:-0.88 [[ 0.99979193 0.0185394 -0.00850841 4.22507471] [-0.01843986 0.99976231 0.01163197 -0.0581509 ] [ 0.00872204 -0.01147266 0.99989615 -0.88272808] [ 0. 0. 0. 1. ]] SLAMing on 103.16119381700001 meters Centerline goodness [0,1] 0.9199428606918825 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.06, Z:-0.88 [[ 0.99977341 0.01945688 -0.00863482 4.22490968] [-0.01934543 0.99973082 0.01280811 -0.06124893] [ 0.0088817 -0.01263816 0.99988069 -0.88209778] [ 0. 0. 0. 1. ]] SLAMing on 103.191193817 meters Centerline goodness [0,1] 0.9232200062002687 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.06, Z:-0.88 [[ 0.99975315 0.02041869 -0.00875929 4.22455307] [-0.02029499 0.9996962 0.0139862 -0.06434019] [ 0.00904221 -0.01380498 0.99986382 -0.88119523] [ 0. 0. 0. 1. ]] SLAMing on 103.221193817 meters Centerline goodness [0,1] 0.9254706028692263 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.07, Z:-0.88 [[ 0.99973146 0.02140226 -0.00888566 4.22423268] [-0.0212636 0.99965502 0.01541724 -0.06842985] [ 0.00921256 -0.01522416 0.99984166 -0.88034031] [ 0. 0. 0. 1. ]] SLAMing on 103.251193817 meters Centerline goodness [0,1] 0.9283627851090717 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.08, Z:-0.88 [[ 0.999759 0.0200591 -0.00892021 4.22383088] [-0.0199243 0.99968968 0.01495192 -0.07716731] [ 0.00921736 -0.01477058 0.99984842 -0.87981927] [ 0. 0. 0. 1. ]] SLAMing on 103.281193817 meters Centerline goodness [0,1] 0.9278220121091482 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.08, Z:-0.88 [[ 0.99981542 0.01682462 -0.00927636 4.22485024] [-0.01670925 0.99978378 0.01237711 -0.08138477] [ 0.0094826 -0.01221982 0.99988037 -0.88032939] [ 0. 0. 0. 1. ]] SLAMing on 103.311193817 meters Centerline goodness [0,1] 0.9271833632777813 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.09, Z:-0.88 [[ 0.9998616 0.01354158 -0.00966497 4.22601025] [-0.01344511 0.99985983 0.00997736 -0.0865223 ] [ 0.00979872 -0.00984603 0.99990352 -0.88089708] [ 0. 0. 0. 1. ]] SLAMing on 103.341193817 meters Centerline goodness [0,1] 0.9271758068530657 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.09, Z:-0.88 [[ 9.99927611e-01 7.15028754e-03 -9.67712610e-03 4.22546631e+00] [-7.11141901e-03 9.99966532e-01 4.04500500e-03 -9.05860873e-02] [ 9.70572518e-03 -3.97589408e-03 9.99944994e-01 -8.80329295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.371193817 meters Centerline goodness [0,1] 0.9244268970791906 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.10, Z:-0.88 [[ 9.99943687e-01 3.57740854e-03 -9.99129234e-03 4.22703889e+00] [-3.55933655e-03 9.99991998e-01 1.82597039e-03 -9.74624642e-02] [ 9.99774463e-03 -1.79030519e-03 9.99948419e-01 -8.81335091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.401193817 meters Centerline goodness [0,1] 0.922235118554137 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.11, Z:-0.88 [[ 9.99932794e-01 -4.13038437e-03 -1.08327144e-02 4.23047123e+00] [ 4.10023446e-03 9.99987663e-01 -2.80396125e-03 -1.10540213e-01] [ 1.08441622e-02 2.75935614e-03 9.99937393e-01 -8.83979294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43119381700001 meters Centerline goodness [0,1] 0.9213082834476044 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.12, Z:-0.89 [[ 9.99910629e-01 -7.01090668e-03 -1.13833899e-02 4.23298381e+00] [ 6.96222213e-03 9.99966472e-01 -4.31081626e-03 -1.17047900e-01] [ 1.14132310e-02 4.23117731e-03 9.99925915e-01 -8.85620955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46119381700001 meters Centerline goodness [0,1] 0.9157302203851028 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.13, Z:-0.89 [[ 0.99979309 -0.01611778 -0.01240939 4.2377407 ] [ 0.01597822 0.99980888 -0.0112649 -0.12839679] [ 0.01258858 0.01106429 0.99985954 -0.88898284] [ 0. 0. 0. 1. ]] SLAMing on 103.49119381700001 meters Centerline goodness [0,1] 0.9157621127053441 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.13, Z:-0.89 [[ 0.99973201 -0.01929236 -0.01279473 4.23940445] [ 0.01912466 0.99973126 -0.01310204 -0.13487528] [ 0.01304406 0.01285383 0.9998323 -0.88982987] [ 0. 0. 0. 1. ]] SLAMing on 103.52119381700001 meters Centerline goodness [0,1] 0.9112167971589376 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.14, Z:-0.89 [[ 0.99965729 -0.02264544 -0.01313373 4.24086608] [ 0.02244376 0.99963095 -0.01530527 -0.14025117] [ 0.01347548 0.01500525 0.99979661 -0.89052057] [ 0. 0. 0. 1. ]] SLAMing on 103.551193817 meters Centerline goodness [0,1] 0.8998340248962655 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.15, Z:-0.89 [[ 0.99956667 -0.02624654 -0.01332611 4.24180152] [ 0.02600742 0.99950307 -0.01781106 -0.14505816] [ 0.01378697 0.01745676 0.99975256 -0.89082611] [ 0. 0. 0. 1. ]] SLAMing on 103.581193817 meters Centerline goodness [0,1] 0.8418806075298896 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.16, Z:-0.89 [[ 0.99927936 -0.03566912 -0.0129795 4.24204656] [ 0.03556312 0.9993329 -0.00830801 -0.15603143] [ 0.01326718 0.00784044 0.99988125 -0.89038378] [ 0. 0. 0. 1. ]] SLAMing on 103.611193817 meters Centerline goodness [0,1] 0.8196809724325334 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.16, Z:-0.89 [[ 0.99924541 -0.03646068 -0.0133876 4.24363918] [ 0.03635906 0.99930868 -0.0077572 -0.15943112] [ 0.01366118 0.00726459 0.99988029 -0.8911317 ] [ 0. 0. 0. 1. ]] SLAMing on 103.641193817 meters Centerline goodness [0,1] 0.7776925628057375 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.16, Z:-0.89 [[ 0.99922248 -0.03695653 -0.01373496 4.24500429] [ 0.03685904 0.99929393 -0.00728437 -0.16197212] [ 0.01399446 0.00677245 0.99987914 -0.89173291] [ 0. 0. 0. 1. ]] SLAMing on 103.671193817 meters Centerline goodness [0,1] 0.7965989078299869 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.16, Z:-0.89 [[ 0.99920865 -0.0372141 -0.01404232 4.24551308] [ 0.03712429 0.99928884 -0.00660354 -0.16493424] [ 0.01427808 0.00607701 0.9998796 -0.89137154] [ 0. 0. 0. 1. ]] SLAMing on 103.701193817 meters Centerline goodness [0,1] 0.7676141078838175 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.17, Z:-0.89 [[ 0.99906424 -0.04103187 -0.01367564 4.24404072] [ 0.04090093 0.99911592 -0.0097206 -0.16766378] [ 0.01406241 0.00915215 0.99985923 -0.88975719] [ 0. 0. 0. 1. ]] SLAMing on 103.731193817 meters Centerline goodness [0,1] 0.756761809796834 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.17, Z:-0.89 [[ 0.99904552 -0.04147238 -0.01371436 4.24411674] [ 0.041342 0.99909837 -0.00965801 -0.1687746 ] [ 0.01410254 0.00908182 0.99985931 -0.88955575] [ 0. 0. 0. 1. ]] SLAMing on 103.761193817 meters Centerline goodness [0,1] 0.7222130197117773 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.17, Z:-0.89 [[ 0.99898757 -0.04288586 -0.01358821 4.24382772] [ 0.04274967 0.99903416 -0.01015913 -0.16940253] [ 0.01401077 0.00956795 0.99985607 -0.88911424] [ 0. 0. 0. 1. ]] SLAMing on 103.791193817 meters Centerline goodness [0,1] 0.7141316744427164 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.17, Z:-0.89 [[ 0.99909295 -0.04029252 -0.01377661 4.24399781] [ 0.04020297 0.99916896 -0.00671662 -0.17062588] [ 0.01403579 0.00615666 0.99988254 -0.88888119] [ 0. 0. 0. 1. ]] SLAMing on 103.82119381700001 meters Centerline goodness [0,1] 0.7059127986418782 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.17, Z:-0.89 [[ 9.99214267e-01 -3.70480001e-02 -1.40816792e-02 4.24436434e+00] [ 3.70089460e-02 9.99310359e-01 -3.02402580e-03 -1.70614955e-01] [ 1.41840020e-02 2.50050162e-03 9.99896275e-01 -8.88714956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85119381700001 meters Centerline goodness [0,1] 0.7122996198975375 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.17, Z:-0.89 [[ 9.99289680e-01 -3.47383826e-02 -1.46075359e-02 4.24621757e+00] [ 3.47318330e-02 9.99396421e-01 -7.01895256e-04 -1.68791590e-01] [ 1.46231018e-02 1.94050190e-04 9.99893058e-01 -8.89763181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88119381700001 meters Centerline goodness [0,1] 0.7158503823103948 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.17, Z:-0.89 [[ 9.99395922e-01 -3.13426155e-02 -1.50143517e-02 4.24720443e+00] [ 3.13845846e-02 9.99504084e-01 2.56778858e-03 -1.67274529e-01] [ 1.49264247e-02 -3.03745663e-03 9.99883981e-01 -8.90207286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91119381700001 meters Centerline goodness [0,1] 0.7158503823103948 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.17, Z:-0.89 [[ 9.99395922e-01 -3.13426155e-02 -1.50143517e-02 4.24720443e+00] [ 3.13845846e-02 9.99504084e-01 2.56778858e-03 -1.67274529e-01] [ 1.49264247e-02 -3.03745663e-03 9.99883981e-01 -8.90207286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.941193817 meters Centerline goodness [0,1] 0.7478126289723483 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.16, Z:-0.89 [[ 0.99948887 -0.02796901 -0.01548327 4.24820153] [ 0.02803966 0.99959728 0.0043648 -0.16022052] [ 0.01535495 -0.00479672 0.9998706 -0.89077509] [ 0. 0. 0. 1. ]] SLAMing on 103.971193817 meters Centerline goodness [0,1] 0.733377371343641 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.16, Z:-0.89 [[ 0.9995645 -0.02493096 -0.0157877 4.2489946 ] [ 0.02504072 0.99966335 0.00679299 -0.1565202 ] [ 0.01561303 -0.00718537 0.99985229 -0.89117894] [ 0. 0. 0. 1. ]] SLAMing on 104.001193817 meters Centerline goodness [0,1] 0.742008281573499 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.15, Z:-0.89 [[ 0.99963142 -0.02185616 -0.0161039 4.24940259] [ 0.02200442 0.99971657 0.00908756 -0.15232552] [ 0.01590072 -0.00943857 0.99982903 -0.89112346] [ 0. 0. 0. 1. ]] SLAMing on 104.031193817 meters Centerline goodness [0,1] 0.758973301721472 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.14, Z:-0.89 [[ 9.99844834e-01 -1.27990558e-02 -1.21033536e-02 4.25477928e+00] [ 1.28180091e-02 9.99916736e-01 1.48967993e-03 -1.40724611e-01] [ 1.20832793e-02 -1.64458968e-03 9.99925642e-01 -8.93866626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.061193817 meters Centerline goodness [0,1] 0.8629555201060722 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.14, Z:-0.89 [[ 9.99885182e-01 -8.93575011e-03 -1.22382936e-02 4.25479292e+00] [ 8.98780022e-03 9.99950769e-01 4.20467639e-03 -1.36124495e-01] [ 1.22001192e-02 -4.31418896e-03 9.99916269e-01 -8.93580897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.091193817 meters Centerline goodness [0,1] 0.8629525884427846 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.13, Z:-0.89 [[ 0.99990778 -0.00538503 -0.01246754 4.25548383] [ 0.00546624 0.99996401 0.00648864 -0.13084587] [ 0.01243215 -0.0065562 0.99990122 -0.89392968] [ 0. 0. 0. 1. ]] SLAMing on 104.121193817 meters Centerline goodness [0,1] 0.894535213600878 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.12, Z:-0.90 [[ 9.99949280e-01 1.89894157e-05 -1.00715984e-02 4.26525989e+00] [-2.59493749e-05 9.99999761e-01 -6.90917899e-04 -1.23931959e-01] [ 1.00715829e-02 6.91144207e-04 9.99949041e-01 -8.95112516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.151193817 meters Centerline goodness [0,1] 0.9142768402526141 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.11, Z:-0.90 [[ 0.99990066 0.00974534 -0.01018325 4.26567109] [-0.00967027 0.9999259 0.00739444 -0.11409327] [ 0.01025456 -0.00729523 0.99992081 -0.89516459] [ 0. 0. 0. 1. ]] SLAMing on 104.18119381700001 meters Centerline goodness [0,1] 0.9178368750258896 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.11, Z:-0.90 [[ 0.99986107 0.01299603 -0.01043782 4.26657723] [-0.01289474 0.99986968 0.00971315 -0.10961057] [ 0.0105627 -0.00957721 0.99989835 -0.89547059] [ 0. 0. 0. 1. ]] SLAMing on 104.21119381700001 meters Centerline goodness [0,1] 0.9161982416043816 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.10, Z:-0.90 [[ 9.99859764e-01 1.55704373e-02 -6.16545623e-03 4.27875815e+00] [-1.55633936e-02 9.99878176e-01 1.18877418e-03 -1.03637155e-01] [ 6.18321487e-03 -1.09265205e-03 9.99980287e-01 -8.99165691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24119381700001 meters Centerline goodness [0,1] 0.9146313768400189 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.10, Z:-0.90 [[ 9.99797594e-01 1.91321653e-02 -6.22343688e-03 4.27902533e+00] [-1.91119414e-02 9.99811927e-01 3.29304212e-03 -9.81616758e-02] [ 6.28526945e-03 -3.17343363e-03 9.99975212e-01 -8.99109211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27119381700001 meters Centerline goodness [0,1] 0.9142679772374547 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.09, Z:-0.90 [[ 9.99800458e-01 1.89369626e-02 -6.35885983e-03 4.27901484e+00] [-1.89238817e-02 9.99818699e-01 2.11101329e-03 -9.46018121e-02] [ 6.39768314e-03 -1.99025774e-03 9.99977554e-01 -8.98612615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.301193817 meters Centerline goodness [0,1] 0.9138977174227102 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.09, Z:-0.90 [[ 9.99801664e-01 1.87694040e-02 -6.65897952e-03 4.27974115e+00] [-1.87619428e-02 9.99823282e-01 1.18118398e-03 -9.17172619e-02] [ 6.67997287e-03 -1.05601431e-03 9.99977131e-01 -8.98665533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.331193817 meters Centerline goodness [0,1] 0.9138421303887586 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.09, Z:-0.90 [[ 9.99801960e-01 1.86872860e-02 -6.84298780e-03 4.28010064e+00] [-1.86852959e-02 9.99825352e-01 3.54650062e-04 -8.88270109e-02] [ 6.84842013e-03 -2.26716575e-04 9.99976524e-01 -8.98592967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.361193817 meters Centerline goodness [0,1] 0.912300659813432 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.09, Z:-0.90 [[ 9.99801624e-01 1.85838682e-02 -7.16599826e-03 4.28121651e+00] [-1.85863580e-02 9.99827219e-01 -2.81007820e-04 -8.65235515e-02] [ 7.15953790e-03 4.14141884e-04 9.99974284e-01 -8.99091935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.391193817 meters Centerline goodness [0,1] 0.9120047944780838 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.09, Z:-0.90 [[ 9.99813655e-01 1.78761644e-02 -7.28683869e-03 4.28099144e+00] [-1.78843306e-02 9.99839504e-01 -1.05705109e-03 -8.53504068e-02] [ 7.26677316e-03 1.18717435e-03 9.99972892e-01 -8.98490206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.421193817 meters Centerline goodness [0,1] 0.9137583822949322 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.09, Z:-0.90 [[ 0.99987062 0.01420747 -0.00754323 4.28099499] [-0.01424466 0.99988653 -0.00489998 -0.08508424] [ 0.00747275 0.0050068 0.99995954 -0.89793366] [ 0. 0. 0. 1. ]] SLAMing on 104.451193817 meters Centerline goodness [0,1] 0.9156556544100873 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.09, Z:-0.90 [[ 0.99989098 0.01241511 -0.00799355 4.2826602 ] [-0.01246299 0.99990452 -0.00596833 -0.08668706] [ 0.00791869 0.00606731 0.99995024 -0.89884076] [ 0. 0. 0. 1. ]] SLAMing on 104.481193817 meters Centerline goodness [0,1] 0.9178554371976162 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.09, Z:-0.90 [[ 0.99989907 0.01147866 -0.00837145 4.28337514] [-0.0115286 0.99991588 -0.00594286 -0.08876086] [ 0.00830253 0.00603878 0.9999473 -0.89878738] [ 0. 0. 0. 1. ]] SLAMing on 104.511193817 meters Centerline goodness [0,1] 0.9054154917896832 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.09, Z:-0.90 [[ 9.99993544e-01 1.20011732e-03 -3.38697782e-03 4.28381750e+00] [-1.19578520e-03 9.99998465e-01 1.28078672e-03 -9.34598956e-02] [ 3.38850972e-03 -1.27672835e-03 9.99993444e-01 -8.99861332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.541193817 meters Centerline goodness [0,1] 0.897003278960694 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.10, Z:-0.90 [[ 9.99994209e-01 2.68596735e-04 -3.39273362e-03 4.28386566e+00] [-2.64204283e-04 9.99999127e-01 1.29504644e-03 -9.63393339e-02] [ 3.39307850e-03 -1.29414257e-03 9.99993406e-01 -8.99821543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57119381700001 meters Centerline goodness [0,1] 0.89057700290577 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.10, Z:-0.90 [[ 9.99994040e-01 -3.48328964e-04 -3.43478789e-03 4.28418886e+00] [ 3.53396548e-04 9.99998850e-01 1.47487367e-03 -9.88254793e-02] [ 3.43427020e-03 -1.47607872e-03 9.99993013e-01 -8.99991991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60119381700001 meters Centerline goodness [0,1] 0.8403277668291671 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.10, Z:-0.90 [[ 9.99993371e-01 -1.00407892e-03 -3.49992920e-03 4.28522544e+00] [ 1.00912615e-03 9.99998453e-01 1.44062517e-03 -9.95107034e-02] [ 3.49847728e-03 -1.44414749e-03 9.99992838e-01 -9.01228509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63119381700001 meters Centerline goodness [0,1] 0.8423724949744058 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.10, Z:-0.90 [[ 9.99991403e-01 -1.19252546e-03 -3.97128158e-03 4.28801718e+00] [ 1.19747627e-03 9.99998509e-01 1.24451020e-03 -9.88625085e-02] [ 3.96979154e-03 -1.24925502e-03 9.99991340e-01 -9.03468084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66119381700001 meters Centerline goodness [0,1] 0.8092846365308696 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.10, Z:-0.91 [[ 9.99987049e-01 -1.20541052e-03 -4.94455314e-03 4.29347003e+00] [ 1.21173651e-03 9.99998451e-01 1.27658976e-03 -1.00004780e-01] [ 4.94300666e-03 -1.28256473e-03 9.99986961e-01 -9.08064945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.691193817 meters Centerline goodness [0,1] 0.8096506377577561 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.10, Z:-0.91 [[ 9.99985900e-01 -9.27407781e-04 -5.22871965e-03 4.29469004e+00] [ 9.35225575e-04 9.99998448e-01 1.49291727e-03 -1.00648500e-01] [ 5.22732699e-03 -1.49778626e-03 9.99985216e-01 -9.08916300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.721193817 meters Centerline goodness [0,1] 0.8293974702473674 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.10, Z:-0.91 [[ 9.99983393e-01 -5.39490397e-04 -5.73776755e-03 4.29624597e+00] [ 5.47568593e-04 9.99998861e-01 1.40642106e-03 -9.99052033e-02] [ 5.73700227e-03 -1.40953953e-03 9.99982550e-01 -9.09553865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.751193817 meters Centerline goodness [0,1] 0.8456996736034594 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.10, Z:-0.91 [[ 9.99982823e-01 2.02298986e-05 -5.86118685e-03 4.29643575e+00] [-1.44702060e-05 9.99999517e-01 9.82724399e-04 -9.71844809e-02] [ 5.86120390e-03 -9.82622706e-04 9.99982340e-01 -9.09312213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.781193817 meters Centerline goodness [0,1] 0.8695579788562391 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.09, Z:-0.91 [[ 9.99981908e-01 1.14645551e-03 -5.90496644e-03 4.29604302e+00] [-1.14070954e-03 9.99998873e-01 9.76350322e-04 -9.37680175e-02] [ 5.90607913e-03 -9.69596807e-04 9.99982089e-01 -9.08504807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.811193817 meters Centerline goodness [0,1] 0.8840968110522489 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.09, Z:-0.91 [[ 9.99978208e-01 2.12648442e-03 -6.24994667e-03 4.29690154e+00] [-2.12151542e-03 9.99997428e-01 8.01569649e-04 -9.01549656e-02] [ 6.25163512e-03 -7.88292823e-04 9.99980148e-01 -9.08545044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.841193817 meters Centerline goodness [0,1] 0.9034836405912638 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.09, Z:-0.91 [[ 0.99995888 0.00656999 -0.00625076 4.2958677 ] [-0.00654189 0.99996845 0.00450538 -0.08843047] [ 0.00628016 -0.0044643 0.99997031 -0.90693715] [ 0. 0. 0. 1. ]] SLAMing on 104.871193817 meters Centerline goodness [0,1] 0.8938253638253638 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.09, Z:-0.91 [[ 0.99995596 0.0068476 -0.00641802 4.2951039 ] [-0.00681894 0.99996673 0.0044769 -0.08836684] [ 0.00644846 -0.00443294 0.99996938 -0.9053873 ] [ 0. 0. 0. 1. ]] SLAMing on 104.901193817 meters Centerline goodness [0,1] 0.9075188906418666 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.09, Z:-0.90 [[ 0.99995391 0.00705991 -0.00650688 4.29420855] [-0.00703006 0.99996471 0.00459859 -0.08926698] [ 0.00653912 -0.00455263 0.99996826 -0.90385162] [ 0. 0. 0. 1. ]] SLAMing on 104.93119381700001 meters Centerline goodness [0,1] 0.9044395368516646 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.09, Z:-0.91 [[ 9.99962834e-01 8.45189564e-03 1.70178774e-03 4.30346090e+00] [-8.45030066e-03 9.99963852e-01 -9.42255319e-04 -8.88518760e-02] [-1.70969007e-03 9.27839681e-04 9.99998108e-01 -9.05785402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96119381700001 meters Centerline goodness [0,1] 0.9156167897556838 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.09, Z:-0.90 [[ 9.99957488e-01 8.90808435e-03 2.38096670e-03 4.29908561e+00] [-8.90654204e-03 9.99960120e-01 -6.57586374e-04 -8.88184958e-02] [-2.38672958e-03 6.36352239e-04 9.99996949e-01 -9.01614688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99119381700001 meters Centerline goodness [0,1] 0.9169102556129113 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.09, Z:-0.90 [[ 9.99956427e-01 9.08293535e-03 2.15521392e-03 4.29928669e+00] [-9.08131056e-03 9.99958473e-01 -7.62476171e-04 -8.80454138e-02] [-2.16204995e-03 7.42870780e-04 9.99997387e-01 -9.01227870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02119381700001 meters Centerline goodness [0,1] 0.9139960691010655 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.09, Z:-0.90 [[ 9.99953744e-01 9.45657331e-03 1.75562997e-03 4.30033676e+00] [-9.45577651e-03 9.99955187e-01 -4.61596418e-04 -8.85959107e-02] [-1.75991641e-03 4.44974222e-04 9.99998352e-01 -9.01496367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05119381700001 meters Centerline goodness [0,1] 0.9126722217638809 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.09, Z:-0.90 [[ 9.99970208e-01 7.67199504e-03 8.50684816e-04 4.30270989e+00] [-7.67014739e-03 9.99968263e-01 -2.15434632e-03 -9.28011077e-02] [-8.67185953e-04 2.14775726e-03 9.99997318e-01 -9.02410588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.081193817 meters Centerline goodness [0,1] 0.9138202293710926 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.10, Z:-0.90 [[ 9.99989199e-01 4.59363276e-03 7.08067685e-04 4.30298255e+00] [-4.58997716e-03 9.99976559e-01 -5.08072765e-03 -9.51396282e-02] [-7.31390085e-04 5.07742275e-03 9.99986842e-01 -9.02419699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.111193817 meters Centerline goodness [0,1] 0.9160188554416143 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.10, Z:-0.90 [[ 9.99993048e-01 3.71959948e-03 2.61611822e-04 4.30417922e+00] [-3.71828366e-03 9.99981267e-01 -4.86210436e-03 -9.90843722e-02] [-2.79692002e-04 4.86109781e-03 9.99988146e-01 -9.02780925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.141193817 meters Centerline goodness [0,1] 0.9177010923535254 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.10, Z:-0.90 [[ 9.99994489e-01 3.31395639e-03 2.00021400e-04 4.30419333e+00] [-3.31310478e-03 9.99986035e-01 -4.11751690e-03 -1.02325174e-01] [-2.13663878e-04 4.11683152e-03 9.99991503e-01 -9.02561320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.171193817 meters Centerline goodness [0,1] 0.9182129159324142 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.11, Z:-0.90 [[ 9.99998200e-01 1.87782566e-03 2.72306210e-04 4.30379958e+00] [-1.87673081e-03 9.99990372e-01 -3.96668993e-03 -1.05631863e-01] [-2.79752340e-04 3.96617175e-03 9.99992096e-01 -9.02162097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.201193817 meters Centerline goodness [0,1] 0.9165509666991317 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.11, Z:-0.90 [[ 9.99998451e-01 1.75728059e-03 -1.02868460e-04 4.30441250e+00] [-1.75761370e-03 9.99992901e-01 -3.33302481e-03 -1.08216812e-01] [ 9.70106697e-05 3.33320045e-03 9.99994440e-01 -9.01910617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.231193817 meters Centerline goodness [0,1] 0.9128609249607016 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.11, Z:-0.90 [[ 9.99998758e-01 1.54737669e-03 -2.98231381e-04 4.30487670e+00] [-1.54817021e-03 9.99995213e-01 -2.67915894e-03 -1.10938349e-01] [ 2.94084285e-04 2.67961733e-03 9.99996367e-01 -9.01893102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.261193817 meters Centerline goodness [0,1] 0.8903450564034505 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.12, Z:-0.90 [[ 9.99995561e-01 -2.91942834e-03 -5.95354146e-04 4.30579921e+00] [ 2.91597385e-03 9.99979372e-01 -5.72300339e-03 -1.15964966e-01] [ 6.12049763e-04 5.72124195e-03 9.99983446e-01 -9.02347265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.291193817 meters Centerline goodness [0,1] 0.8564335953661564 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.12, Z:-0.90 [[ 9.99981687e-01 -5.93183275e-03 -1.19977094e-03 4.30900937e+00] [ 5.92160106e-03 9.99947529e-01 -8.35900652e-03 -1.17986213e-01] [ 1.24929221e-03 8.35174888e-03 9.99964343e-01 -9.04801124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32119381700001 meters Centerline goodness [0,1] 0.829343244533959 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.12, Z:-0.91 [[ 9.99972263e-01 -7.20408682e-03 -1.89057450e-03 4.31232145e+00] [ 7.18658122e-03 9.99932693e-01 -9.10836634e-03 -1.18965592e-01] [ 1.95606471e-03 9.09452694e-03 9.99956731e-01 -9.07225675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35119381700001 meters Centerline goodness [0,1] 0.8028614551243617 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.12, Z:-0.91 [[ 9.99972036e-01 -7.04331711e-03 -2.51380614e-03 4.31534671e+00] [ 7.02130880e-03 9.99937860e-01 -8.65897257e-03 -1.19115525e-01] [ 2.57463782e-03 8.64108022e-03 9.99959351e-01 -9.09439381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38119381700001 meters Centerline goodness [0,1] 0.8033153750518027 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.12, Z:-0.91 [[ 9.99972706e-01 -6.73721333e-03 -3.03262713e-03 4.31840149e+00] [ 6.71174871e-03 9.99942779e-01 -8.33017219e-03 -1.17486030e-01] [ 3.08857574e-03 8.30959060e-03 9.99960705e-01 -9.11904273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41119381700001 meters Centerline goodness [0,1] 0.8268878908848969 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.12, Z:-0.91 [[ 9.99989374e-01 -3.29606424e-03 -3.22314053e-03 4.31879903e+00] [ 3.28253764e-03 9.99985822e-01 -4.19303741e-03 -1.19330635e-01] [ 3.23691535e-03 4.18241277e-03 9.99986015e-01 -9.11921692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.441193817 meters Centerline goodness [0,1] 0.7843785064206458 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.12, Z:-0.91 [[ 9.99988921e-01 -3.04973247e-03 -3.58558207e-03 4.31975919e+00] [ 3.03526686e-03 9.99987261e-01 -4.03292533e-03 -1.19632322e-01] [ 3.59783574e-03 4.02199745e-03 9.99985439e-01 -9.12203011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.471193817 meters Centerline goodness [0,1] 0.8339916018791835 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.12, Z:-0.91 [[ 9.99988425e-01 -2.74185036e-03 -3.95379070e-03 4.32038910e+00] [ 2.72643016e-03 9.99988677e-01 -3.90023397e-03 -1.19611931e-01] [ 3.96443979e-03 3.88940909e-03 9.99984578e-01 -9.12023760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.501193817 meters Centerline goodness [0,1] 0.859718813693274 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.12, Z:-0.91 [[ 9.99990837e-01 8.67118421e-04 -4.19224059e-03 4.32126134e+00] [-8.71112346e-04 9.99999168e-01 -9.50962410e-04 -1.16730278e-01] [ 4.19141250e-03 9.54605609e-04 9.99990760e-01 -9.12428620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.531193817 meters Centerline goodness [0,1] 0.8278297978123964 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.11, Z:-0.91 [[ 9.99978103e-01 4.82790659e-03 -4.52591347e-03 4.32193404e+00] [-4.81703178e-03 9.99985492e-01 2.41061704e-03 -1.14056613e-01] [ 4.53748604e-03 -2.38876278e-03 9.99986852e-01 -9.12285643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.561193817 meters Centerline goodness [0,1] 0.8978877614412922 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.11, Z:-0.91 [[ 0.99985401 0.01651056 -0.0044007 4.31990502] [-0.01645262 0.99978152 0.0128925 -0.10995515] [ 0.0046126 -0.01281822 0.9999072 -0.90949495] [ 0. 0. 0. 1. ]] SLAMing on 105.591193817 meters Centerline goodness [0,1] 0.9033129796187804 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.11, Z:-0.91 [[ 0.99976797 0.02106067 -0.00452274 4.31940958] [-0.02098282 0.99964164 0.01662239 -0.10844691] [ 0.0048712 -0.01652363 0.99985161 -0.90816147] [ 0. 0. 0. 1. ]] SLAMing on 105.621193817 meters Centerline goodness [0,1] 0.9010131207440625 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.11, Z:-0.91 [[ 0.99966582 0.02544747 -0.00454653 4.31882713] [-0.0253489 0.99946721 0.02056047 -0.10785411] [ 0.00506732 -0.02043835 0.99977827 -0.90698085] [ 0. 0. 0. 1. ]] SLAMing on 105.651193817 meters Centerline goodness [0,1] 0.9028422812558053 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.11, Z:-0.91 [[ 0.99964319 0.02628977 -0.00472742 4.31868902] [-0.02618906 0.99945222 0.02023325 -0.10518104] [ 0.00525676 -0.02010222 0.99978411 -0.90616605] [ 0. 0. 0. 1. ]] SLAMing on 105.68119381700001 meters Centerline goodness [0,1] 0.9054174712930085 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.10, Z:-0.91 [[ 0.99963069 0.02673588 -0.00486591 4.31837089] [-0.02663338 0.9994445 0.02003379 -0.10372721] [ 0.00539882 -0.0198968 0.99978746 -0.90527592] [ 0. 0. 0. 1. ]] SLAMing on 105.71119381700001 meters Centerline goodness [0,1] 0.9058694163779332 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.10, Z:-0.90 [[ 0.99971303 0.02342145 -0.00502846 4.3179697 ] [-0.02333843 0.99959992 0.01597898 -0.10236329] [ 0.0054007 -0.01585703 0.99985968 -0.90447214] [ 0. 0. 0. 1. ]] SLAMing on 105.74119381700001 meters Centerline goodness [0,1] 0.9069506958992761 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.10, Z:-0.90 [[ 0.99979539 0.0194852 -0.00543109 4.31892401] [-0.01942094 0.99974359 0.01164366 -0.10128874] [ 0.00565658 -0.01153581 0.99991746 -0.90485609] [ 0. 0. 0. 1. ]] SLAMing on 105.77119381700001 meters Centerline goodness [0,1] 0.9073236235926041 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.10, Z:-0.91 [[ 0.99986022 0.01567214 -0.0058245 4.31989037] [-0.01562844 0.99984993 0.00747442 -0.10043124] [ 0.00594076 -0.00738235 0.9999551 -0.90525903] [ 0. 0. 0. 1. ]] SLAMing on 105.80119381700001 meters Centerline goodness [0,1] 0.9071277434344273 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.10, Z:-0.90 [[ 9.99910489e-01 1.19449216e-02 -6.02764072e-03 4.31990605e+00] [-1.19205061e-02 9.99920664e-01 4.07039885e-03 -1.02635374e-01] [ 6.07578311e-03 -3.99818198e-03 9.99973549e-01 -9.04899946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.831193817 meters Centerline goodness [0,1] 0.9071277434344273 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.10, Z:-0.90 [[ 9.99910489e-01 1.19449216e-02 -6.02764072e-03 4.31990605e+00] [-1.19205061e-02 9.99920664e-01 4.07039885e-03 -1.02635374e-01] [ 6.07578311e-03 -3.99818198e-03 9.99973549e-01 -9.04899946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.861193817 meters Centerline goodness [0,1] 0.9065172270651722 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.10, Z:-0.91 [[ 9.99940403e-01 8.79659505e-03 -6.46610366e-03 4.32090306e+00] [-8.79350118e-03 9.99961208e-01 5.06749930e-04 -1.03166686e-01] [ 6.47031050e-03 -4.49860039e-04 9.99978966e-01 -9.05130835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.891193817 meters Centerline goodness [0,1] 0.90598538934086 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.10, Z:-0.91 [[ 9.99935188e-01 9.06230800e-03 -6.89165531e-03 4.32214401e+00] [-9.05603541e-03 9.99958551e-01 9.40835096e-04 -1.04897335e-01] [ 6.89989579e-03 -8.78363043e-04 9.99975810e-01 -9.05595991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.921193817 meters Centerline goodness [0,1] 0.9066509394917639 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.11, Z:-0.91 [[ 9.99925768e-01 9.85697748e-03 -7.16233567e-03 4.32250707e+00] [-9.84609562e-03 9.99950320e-01 1.55299455e-03 -1.05593826e-01] [ 7.17728768e-03 -1.48235823e-03 9.99973144e-01 -9.05298004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.951193817 meters Centerline goodness [0,1] 0.907507731905266 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.11, Z:-0.90 [[ 9.99923458e-01 1.00498846e-02 -7.21649297e-03 4.32203194e+00] [-1.00362632e-02 9.99947790e-01 1.92128056e-03 -1.06958364e-01] [ 7.23542484e-03 -1.84870688e-03 9.99972115e-01 -9.04454735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.981193817 meters Centerline goodness [0,1] 0.9106685397901 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.11, Z:-0.90 [[ 9.99916968e-01 1.04188310e-02 -7.58323881e-03 4.32255880e+00] [-1.03984608e-02 9.99942233e-01 2.72069404e-03 -1.10033290e-01] [ 7.61114721e-03 -2.64161412e-03 9.99967546e-01 -9.04074923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.011193817 meters Centerline goodness [0,1] 0.9087717840599879 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.11, Z:-0.90 [[ 9.99939995e-01 7.70828316e-03 -7.78389308e-03 4.32265969e+00] [-7.70984817e-03 9.99970264e-01 -1.71070303e-04 -1.11574710e-01] [ 7.78234297e-03 2.31072672e-04 9.99969690e-01 -9.03753457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.041193817 meters Centerline goodness [0,1] 0.9089122429558525 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.11, Z:-0.91 [[ 9.99945158e-01 6.34987564e-03 -8.32827131e-03 4.32522100e+00] [-6.36167827e-03 9.99978796e-01 -1.39145032e-03 -1.13820081e-01] [ 8.31925918e-03 1.44435579e-03 9.99964351e-01 -9.05465757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07119381700001 meters Centerline goodness [0,1] 0.9094181908466441 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.12, Z:-0.91 [[ 9.99953881e-01 5.06774318e-03 -8.15801051e-03 4.32471153e+00] [-5.08697247e-03 9.99984328e-01 -2.33808300e-03 -1.18147053e-01] [ 8.14603385e-03 2.37947474e-03 9.99963989e-01 -9.05179413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10119381700001 meters Centerline goodness [0,1] 0.9104274210200289 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.12, Z:-0.91 [[ 9.99951935e-01 5.26306239e-03 -8.27207514e-03 4.32507728e+00] [-5.27664885e-03 9.99984764e-01 -1.62148348e-03 -1.20701587e-01] [ 8.26341513e-03 1.66505438e-03 9.99964471e-01 -9.05246985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13119381700001 meters Centerline goodness [0,1] 0.9081863692071207 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.12, Z:-0.91 [[ 9.99948677e-01 5.61361856e-03 -8.43385097e-03 4.32541768e+00] [-5.61855280e-03 9.99984058e-01 -5.61472564e-04 -1.24102695e-01] [ 8.43056463e-03 6.08829785e-04 9.99964277e-01 -9.05229706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16119381700001 meters Centerline goodness [0,1] 0.9097531781409939 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.13, Z:-0.91 [[ 9.99946280e-01 4.71215156e-03 -9.23217405e-03 4.32865866e+00] [-4.71951302e-03 9.99988562e-01 -7.75746367e-04 -1.27314671e-01] [ 9.22841301e-03 8.19276060e-04 9.99957082e-01 -9.07204977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.191193817 meters Centerline goodness [0,1] 0.9042894720490462 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.13, Z:-0.91 [[ 9.99949386e-01 2.03919582e-04 -1.00590032e-02 4.33310450e+00] [-2.41239373e-04 9.99993092e-01 -3.70901463e-03 -1.32883911e-01] [ 1.00581774e-02 3.71125353e-03 9.99942528e-01 -9.10903052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.221193817 meters Centerline goodness [0,1] 0.9007541603473708 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.14, Z:-0.91 [[ 9.99940743e-01 -2.80458267e-03 -1.05187524e-02 4.33575538e+00] [ 2.74083135e-03 9.99977820e-01 -6.07025602e-03 -1.35163139e-01] [ 1.05355436e-02 6.04106619e-03 9.99926251e-01 -9.13000514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.251193817 meters Centerline goodness [0,1] 0.8868608601972321 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.14, Z:-0.92 [[ 0.99986388 -0.01208315 -0.01123464 4.33893611] [ 0.01192974 0.99983603 -0.01362317 -0.1404678 ] [ 0.01139741 0.01348729 0.99984408 -0.91515027] [ 0. 0. 0. 1. ]] SLAMing on 106.281193817 meters Centerline goodness [0,1] 0.8750828775070446 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.14, Z:-0.92 [[ 0.99980322 -0.01610935 -0.01157645 4.33997269] [ 0.01591435 0.99973315 -0.01674393 -0.14394374] [ 0.01184309 0.0165564 0.99979279 -0.91537072] [ 0. 0. 0. 1. ]] SLAMing on 106.311193817 meters Centerline goodness [0,1] 0.8560853382129713 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.15, Z:-0.92 [[ 0.99973218 -0.01990316 -0.01180803 4.34086136] [ 0.01966485 0.99960725 -0.01996596 -0.14656685] [ 0.01220078 0.01972841 0.99973093 -0.91572244] [ 0. 0. 0. 1. ]] SLAMing on 106.341193817 meters Centerline goodness [0,1] 0.8341070424880821 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.15, Z:-0.92 [[ 0.99972781 -0.02009783 -0.01184873 4.34071531] [ 0.01986618 0.99961529 -0.01935471 -0.14914316] [ 0.01223316 0.01911406 0.99974247 -0.91530746] [ 0. 0. 0. 1. ]] SLAMing on 106.371193817 meters Centerline goodness [0,1] 0.8398568366731174 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.15, Z:-0.91 [[ 0.9997902 -0.01674911 -0.01179083 4.33983795] [ 0.01657138 0.99974997 -0.01501304 -0.15151238] [ 0.01203933 0.0148145 0.99981778 -0.91420791] [ 0. 0. 0. 1. ]] SLAMing on 106.401193817 meters Centerline goodness [0,1] 0.8623060465695948 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.15, Z:-0.91 [[ 0.99986941 -0.01126402 -0.01158772 4.33686542] [ 0.01115229 0.99989113 -0.00966182 -0.15107025] [ 0.01169529 0.00953133 0.99988618 -0.91086829] [ 0. 0. 0. 1. ]] SLAMing on 106.43119381700001 meters Centerline goodness [0,1] 0.8971144650950065 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.15, Z:-0.91 [[ 0.99990732 -0.0069415 -0.01171167 4.33645745] [ 0.00688017 0.99996245 -0.00526873 -0.151561 ] [ 0.0117478 0.00518767 0.99991754 -0.91001868] [ 0. 0. 0. 1. ]] SLAMing on 106.46119381700001 meters Centerline goodness [0,1] 0.8923791937257506 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.15, Z:-0.91 [[ 9.99925641e-01 -2.69219882e-03 -1.18938493e-02 4.33672764e+00] [ 2.67917285e-03 9.99995794e-01 -1.11098345e-03 -1.51685060e-01] [ 1.18967903e-02 1.07903516e-03 9.99928648e-01 -9.09789748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49119381700001 meters Centerline goodness [0,1] 0.9077321724709785 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.15, Z:-0.91 [[ 9.99926382e-01 1.30033465e-03 -1.20639953e-02 4.33704943e+00] [-1.26864573e-03 9.99995726e-01 2.63401591e-03 -1.51185849e-01] [ 1.20673689e-02 -2.61851706e-03 9.99923758e-01 -9.09673389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52119381700001 meters Centerline goodness [0,1] 0.9036267276317157 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.15, Z:-0.91 [[ 0.99990486 0.00667792 -0.01206982 4.3369581 ] [-0.00659483 0.99995437 0.00691128 -0.15009336] [ 0.01211543 -0.00683103 0.99990327 -0.90949369] [ 0. 0. 0. 1. ]] SLAMing on 106.55119381700001 meters Centerline goodness [0,1] 0.901924630715366 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.15, Z:-0.91 [[ 0.99989475 0.00732332 -0.01252424 4.33826031] [-0.00723887 0.99995085 0.00677433 -0.14888893] [ 0.01257323 -0.00668296 0.99989862 -0.91003557] [ 0. 0. 0. 1. ]] SLAMing on 106.581193817 meters Centerline goodness [0,1] 0.9022181606712636 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.15, Z:-0.91 [[ 0.99988774 0.00787141 -0.01274914 4.3389253 ] [-0.00778532 0.99994665 0.00678853 -0.14827234] [ 0.0128019 -0.00668851 0.99989568 -0.91033589] [ 0. 0. 0. 1. ]] SLAMing on 106.611193817 meters Centerline goodness [0,1] 0.9041774644967348 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.15, Z:-0.91 [[ 0.9998781 0.0086635 -0.01298919 4.33979948] [-0.00857234 0.99993835 0.00705779 -0.14798736] [ 0.01304954 -0.00694558 0.99989073 -0.91090954] [ 0. 0. 0. 1. ]] SLAMing on 106.641193817 meters Centerline goodness [0,1] 0.9050466048037201 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.15, Z:-0.91 [[ 0.99987588 0.00867326 -0.01315307 4.34071768] [-0.00858307 0.99993937 0.00689767 -0.14742521] [ 0.0132121 -0.00678392 0.9998897 -0.91165412] [ 0. 0. 0. 1. ]] SLAMing on 106.671193817 meters Centerline goodness [0,1] 0.9037081712871493 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.15, Z:-0.91 [[ 0.99987123 0.00874995 -0.01345199 4.34173621] [-0.00865577 0.99993773 0.00704358 -0.14796683] [ 0.01351278 -0.00692624 0.99988471 -0.912157 ] [ 0. 0. 0. 1. ]] SLAMing on 106.701193817 meters Centerline goodness [0,1] 0.905225165425543 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.15, Z:-0.91 [[ 9.99890582e-01 5.79137693e-03 -1.36119248e-02 4.34192972e+00] [-5.73593830e-03 9.99975110e-01 4.10831636e-03 -1.50357945e-01] [ 1.36353788e-02 -4.02978968e-03 9.99898914e-01 -9.12076417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.731193817 meters Centerline goodness [0,1] 0.9030303030303031 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.15, Z:-0.92 [[ 9.99946890e-01 6.57801444e-03 -7.93393037e-03 4.35380610e+00] [-6.60995797e-03 9.99970127e-01 -4.00671166e-03 -1.51247845e-01] [ 7.90733715e-03 4.05894181e-03 9.99960499e-01 -9.15936970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.761193817 meters Centerline goodness [0,1] 0.904184152574064 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.15, Z:-0.92 [[ 9.99945214e-01 6.78344319e-03 -7.97211317e-03 4.35331603e+00] [-6.80913308e-03 9.99971698e-01 -3.19975807e-03 -1.54128830e-01] [ 7.95018217e-03 3.25386594e-03 9.99963103e-01 -9.15129448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.791193817 meters Centerline goodness [0,1] 0.9061044577511643 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.16, Z:-0.91 [[ 9.99943653e-01 7.18853349e-03 -7.81126420e-03 4.35265394e+00] [-7.20455128e-03 9.99971998e-01 -2.02440172e-03 -1.57640784e-01] [ 7.79649299e-03 2.08056430e-03 9.99967442e-01 -9.14556908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82119381700001 meters Centerline goodness [0,1] 0.9058110827576191 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.16, Z:-0.91 [[ 9.99941087e-01 7.24247936e-03 -8.08516462e-03 4.35339817e+00] [-7.25648300e-03 9.99972219e-01 -1.70402640e-03 -1.58913855e-01] [ 8.07259863e-03 1.76259587e-03 9.99965863e-01 -9.14786651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85119381700001 meters Centerline goodness [0,1] 0.9050661798265632 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.16, Z:-0.91 [[ 9.99938455e-01 7.32909050e-03 -8.32889454e-03 4.35396871e+00] [-7.33963599e-03 9.99972300e-01 -1.23627353e-03 -1.60818118e-01] [ 8.31960307e-03 1.29732850e-03 9.99964550e-01 -9.14807332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88119381700001 meters Centerline goodness [0,1] 0.9044677399226257 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.16, Z:-0.91 [[ 9.99934874e-01 7.56689418e-03 -8.54340873e-03 4.35452190e+00] [-7.57135157e-03 9.99971217e-01 -4.89511334e-04 -1.63302560e-01] [ 8.53945874e-03 5.54164605e-04 9.99963385e-01 -9.14955875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91119381700001 meters Centerline goodness [0,1] 0.9027711468604047 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.17, Z:-0.92 [[ 9.99950518e-01 4.92698677e-03 -8.64209035e-03 4.35516418e+00] [-4.94985743e-03 9.99984299e-01 -2.62703700e-03 -1.67217146e-01] [ 8.62901128e-03 2.66968413e-03 9.99959206e-01 -9.15549073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.941193817 meters Centerline goodness [0,1] 0.9039076450313526 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.17, Z:-0.92 [[ 9.99951068e-01 4.59306483e-03 -8.76160514e-03 4.35567930e+00] [-4.61274882e-03 9.99986880e-01 -2.22773502e-03 -1.69606053e-01] [ 8.75125806e-03 2.26804110e-03 9.99959135e-01 -9.15838888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.971193817 meters Centerline goodness [0,1] 0.9025874242046682 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.17, Z:-0.92 [[ 9.99959236e-01 2.82047384e-04 -9.02473555e-03 4.35630326e+00] [-3.29988968e-04 9.99985841e-01 -5.31119449e-03 -1.73462303e-01] [ 9.02310976e-03 5.31395605e-03 9.99945171e-01 -9.15951478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.001193817 meters Centerline goodness [0,1] 0.9007566938300349 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.18, Z:-0.92 [[ 9.99956885e-01 -5.87977437e-04 -9.26730766e-03 4.35707391e+00] [ 5.41778852e-04 9.99987419e-01 -4.98683634e-03 -1.76868161e-01] [ 9.27012321e-03 4.98160050e-03 9.99944623e-01 -9.16181287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.031193817 meters Centerline goodness [0,1] 0.8971798370756316 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.18, Z:-0.92 [[ 9.99972567e-01 -5.09075882e-03 -5.38043943e-03 4.36699684e+00] [ 5.09725787e-03 9.99986295e-01 1.19488227e-03 -1.80690944e-01] [ 5.37428284e-03 -1.22227497e-03 9.99984811e-01 -9.17859583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.061193817 meters Centerline goodness [0,1] 0.8899008840075007 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.18, Z:-0.92 [[ 9.99964014e-01 -6.34261575e-03 -5.63396966e-03 4.36794051e+00] [ 6.34931837e-03 9.99979155e-01 1.17259201e-03 -1.83713820e-01] [ 5.62641492e-03 -1.20832168e-03 9.99983442e-01 -9.18130844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.091193817 meters Centerline goodness [0,1] 0.8810448288033886 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.18, Z:-0.92 [[ 9.99928357e-01 -1.05760017e-02 -5.60624170e-03 4.36768938e+00] [ 1.05601726e-02 9.99940191e-01 -2.84561415e-03 -1.84064093e-01] [ 5.63600161e-03 2.78620740e-03 9.99980236e-01 -9.17729206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.121193817 meters Centerline goodness [0,1] 0.8212266292459449 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.19, Z:-0.92 [[ 9.99850665e-01 -1.72792644e-02 -2.72408852e-04 4.37480727e+00] [ 1.72796039e-02 9.99849855e-01 1.29718246e-03 -1.85430921e-01] [ 2.49953592e-04 -1.30169586e-03 9.99999122e-01 -9.17643698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.151193817 meters Centerline goodness [0,1] 0.8535633472421167 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.18, Z:-0.92 [[ 9.99837534e-01 -1.80227841e-02 -2.89833306e-04 4.37457366e+00] [ 1.80230428e-02 9.99837152e-01 9.16414519e-04 -1.84821822e-01] [ 2.73269767e-04 -9.21489312e-04 9.99999538e-01 -9.17120446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18119381700001 meters Centerline goodness [0,1] 0.7655012235079425 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.18, Z:-0.92 [[ 9.99825261e-01 -1.86880067e-02 -4.52913006e-04 4.37511460e+00] [ 1.86881543e-02 9.99825309e-01 3.23950714e-04 -1.83585871e-01] [ 4.46779893e-04 -3.32358216e-04 9.99999845e-01 -9.17326128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21119381700001 meters Centerline goodness [0,1] 0.8094104003147845 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.18, Z:-0.92 [[ 9.99817566e-01 -1.90888799e-02 -6.70669600e-04 4.37576798e+00] [ 1.90886564e-02 9.99817738e-01 -3.38029348e-04 -1.81517968e-01] [ 6.76999964e-04 3.25165499e-04 9.99999718e-01 -9.17579533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24119381700001 meters Centerline goodness [0,1] 0.760316738339398 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.18, Z:-0.92 [[ 9.99859143e-01 -1.67550208e-02 -9.81095341e-04 4.37674613e+00] [ 1.67562949e-02 9.99858752e-01 1.30523130e-03 -1.76120155e-01] [ 9.59087586e-04 -1.32148698e-03 9.99998667e-01 -9.18130429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27119381700001 meters Centerline goodness [0,1] 0.8032085116994306 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.17, Z:-0.92 [[ 9.99905901e-01 -1.36800336e-02 -1.02262313e-03 4.37695073e+00] [ 1.36838734e-02 9.99898970e-01 3.84723357e-03 -1.72285068e-01] [ 9.69889529e-04 -3.86086499e-03 9.99992076e-01 -9.18375592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30119381700001 meters Centerline goodness [0,1] 0.8207895720038192 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.16, Z:-0.92 [[ 9.99932964e-01 -1.15114323e-02 -1.24694357e-03 4.37728039e+00] [ 1.15162222e-02 9.99926062e-01 3.90475157e-03 -1.61217391e-01] [ 1.20190209e-03 -3.91884989e-03 9.99991599e-01 -9.18385646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.331193817 meters Centerline goodness [0,1] 0.8155699530127714 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.16, Z:-0.92 [[ 9.99927437e-01 -1.19531752e-02 -1.49769346e-03 4.37782672e+00] [ 1.19567613e-02 9.99925614e-01 2.40876861e-03 -1.56544164e-01] [ 1.46878962e-03 -2.42650138e-03 9.99995977e-01 -9.18487165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.361193817 meters Centerline goodness [0,1] 0.8087570035277029 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.15, Z:-0.92 [[ 9.99945079e-01 -1.04173121e-02 -1.14810575e-03 4.37648930e+00] [ 1.04215485e-02 9.99938671e-01 3.74783514e-03 -1.52935309e-01] [ 1.10899297e-03 -3.75959434e-03 9.99992318e-01 -9.17637103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.391193817 meters Centerline goodness [0,1] 0.8030745039620963 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.15, Z:-0.92 [[ 9.99958049e-01 -9.01709708e-03 -1.60995040e-03 4.37883068e+00] [ 9.02451994e-03 9.99948399e-01 4.66447085e-03 -1.47864884e-01] [ 1.56780734e-03 -4.67880420e-03 9.99987825e-01 -9.19446922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.421193817 meters Centerline goodness [0,1] 0.7967181146792797 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.13, Z:-0.92 [[ 9.99966858e-01 -8.00536367e-03 -1.48195799e-03 4.37955481e+00] [ 8.01144218e-03 9.99959329e-01 4.14221241e-03 -1.34329015e-01] [ 1.44873780e-03 -4.15394775e-03 9.99990323e-01 -9.20712420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.451193817 meters Centerline goodness [0,1] 0.7920716006312817 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.13, Z:-0.92 [[ 9.99981485e-01 -5.81951709e-03 -1.77858256e-03 4.38073819e+00] [ 5.82961340e-03 9.99966619e-01 5.72514113e-03 -1.29462683e-01] [ 1.74520563e-03 -5.73540358e-03 9.99982030e-01 -9.21470665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.481193817 meters Centerline goodness [0,1] 0.795439955269316 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.12, Z:-0.92 [[ 9.99991704e-01 -3.47371558e-03 -2.12723856e-03 4.38239832e+00] [ 3.48916979e-03 9.99967232e-01 7.30481838e-03 -1.24392440e-01] [ 2.10179400e-03 -7.31218008e-03 9.99971057e-01 -9.22701964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.511193817 meters Centerline goodness [0,1] 0.8073470744680851 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.12, Z:-0.92 [[ 9.99996956e-01 -7.01191104e-04 -2.36565729e-03 4.38316112e+00] [ 7.22670359e-04 9.99958415e-01 9.09101001e-03 -1.18777308e-01] [ 2.35918438e-03 -9.09269193e-03 9.99955878e-01 -9.23092428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.541193817 meters Centerline goodness [0,1] 0.8700847950785602 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.10, Z:-0.92 [[ 9.99980402e-01 3.82142231e-03 -4.95897964e-03 4.38724479e+00] [-3.80140542e-03 9.99984615e-01 4.03966047e-03 -1.01279674e-01] [ 4.97434059e-03 -4.02073021e-03 9.99979545e-01 -9.23918907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57119381700001 meters Centerline goodness [0,1] 0.8822515676259292 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.09, Z:-0.92 [[ 0.99996202 0.00693813 -0.00527467 4.38860412] [-0.00690771 0.99995953 0.00576361 -0.09472613] [ 0.00531445 -0.00572695 0.99996948 -0.92474186] [ 0. 0. 0. 1. ]] SLAMing on 107.60119381700001 meters Centerline goodness [0,1] 0.8916023547521478 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.09, Z:-0.93 [[ 0.99993302 0.01013204 -0.00559362 4.38962544] [-0.01008971 0.99992063 0.00754545 -0.08830781] [ 0.00566962 -0.00748851 0.99995589 -0.92509481] [ 0. 0. 0. 1. ]] SLAMing on 107.63119381700001 meters Centerline goodness [0,1] 0.9010961582461468 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.08, Z:-0.92 [[ 0.99985412 0.01612823 -0.00562232 4.38980848] [-0.01606433 0.99980786 0.01123278 -0.07711329] [ 0.00580241 -0.01114082 0.9999211 -0.92489372] [ 0. 0. 0. 1. ]] SLAMing on 107.66119381700001 meters Centerline goodness [0,1] 0.9029223212055616 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-0.92 [[ 0.99986108 0.01561765 -0.00582374 4.38998981] [-0.01556314 0.99983572 0.00929072 -0.07057913] [ 0.00596788 -0.00919879 0.99993988 -0.92453371] [ 0. 0. 0. 1. ]] SLAMing on 107.691193817 meters Centerline goodness [0,1] 0.9029223212055616 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-0.92 [[ 0.99986108 0.01561765 -0.00582374 4.38998981] [-0.01556314 0.99983572 0.00929072 -0.07057913] [ 0.00596788 -0.00919879 0.99993988 -0.92453371] [ 0. 0. 0. 1. ]] SLAMing on 107.721193817 meters Centerline goodness [0,1] 0.90028715302343 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-0.92 [[ 0.99986915 0.01501905 -0.00600876 4.39031438] [-0.01497378 0.99985968 0.00750981 -0.06519126] [ 0.00612071 -0.00741885 0.99995375 -0.9243765 ] [ 0. 0. 0. 1. ]] SLAMing on 107.751193817 meters Centerline goodness [0,1] 0.9056023282403076 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.06, Z:-0.92 [[ 0.99987935 0.01422677 -0.00623509 4.39061261] [-0.01419004 0.99988193 0.00589703 -0.06109013] [ 0.00631825 -0.00580784 0.99996317 -0.92413643] [ 0. 0. 0. 1. ]] SLAMing on 107.781193817 meters Centerline goodness [0,1] 0.9067426479763737 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.06, Z:-0.92 [[ 9.99899730e-01 1.26920055e-02 -6.28039232e-03 4.39022182e+00] [-1.26713106e-02 9.99914191e-01 3.32405033e-03 -5.54442983e-02] [ 6.32204227e-03 -3.24413622e-03 9.99974753e-01 -9.23443373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.811193817 meters Centerline goodness [0,1] 0.9078791899007068 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.05, Z:-0.92 [[ 9.99903232e-01 1.22360436e-02 -6.61856057e-03 4.39142434e+00] [-1.22219511e-02 9.99922964e-01 2.16551677e-03 -5.20048379e-02] [ 6.64454806e-03 -2.08441550e-03 9.99975752e-01 -9.24088590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.841193817 meters Centerline goodness [0,1] 0.9010134925076168 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.05, Z:-0.92 [[ 9.99907746e-01 1.17138515e-02 -6.87646064e-03 4.39217391e+00] [-1.17093517e-02 9.99931202e-01 6.94281142e-04 -4.72435131e-02] [ 6.88412026e-03 -6.13698196e-04 9.99976116e-01 -9.24289629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.871193817 meters Centerline goodness [0,1] 0.9037721324095458 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.04, Z:-0.92 [[ 9.99909721e-01 1.14513462e-02 -7.02972915e-03 4.39258251e+00] [-1.14560400e-02 9.99934180e-01 -6.27808572e-04 -4.23578315e-02] [ 7.02207720e-03 7.08284753e-04 9.99975094e-01 -9.24289250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.901193817 meters Centerline goodness [0,1] 0.9022854768335757 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.04, Z:-0.92 [[ 9.99906441e-01 1.16488437e-02 -7.17038358e-03 4.39274704e+00] [-1.16640495e-02 9.99929804e-01 -2.08248459e-03 -3.67217378e-02] [ 7.14562171e-03 2.16592546e-03 9.99972124e-01 -9.23980020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93119381700001 meters Centerline goodness [0,1] 0.9067398444971103 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.04, Z:-0.92 [[ 9.99905989e-01 1.16205944e-02 -7.27832380e-03 4.39280228e+00] [-1.16402819e-02 9.99928689e-01 -2.66844877e-03 -3.51217931e-02] [ 7.24679581e-03 2.75291965e-03 9.99969952e-01 -9.23700014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96119381700001 meters Centerline goodness [0,1] 0.9030716156116214 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.03, Z:-0.92 [[ 9.99904575e-01 1.16656240e-02 -7.39956078e-03 4.39252126e+00] [-1.16897864e-02 9.99926453e-01 -3.23058799e-03 -3.33689365e-02] [ 7.36132974e-03 3.31677900e-03 9.99967404e-01 -9.22870385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99119381700001 meters Centerline goodness [0,1] 0.9049447812006975 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.03, Z:-0.92 [[ 9.99872061e-01 1.44173962e-02 -6.92819157e-03 4.38956296e+00] [-1.44229664e-02 9.99895699e-01 -7.54697847e-04 -3.18734668e-02] [ 6.91658817e-03 8.54526366e-04 9.99975715e-01 -9.20010240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02119381700001 meters Centerline goodness [0,1] 0.9090325785486608 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.03, Z:-0.92 [[ 9.99867722e-01 1.45894843e-02 -7.18929569e-03 4.38995274e+00] [-1.45947701e-02 9.99893257e-01 -6.83315130e-04 -3.16456436e-02] [ 7.17855906e-03 7.88150860e-04 9.99973923e-01 -9.19785587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05119381700001 meters Centerline goodness [0,1] 0.9095429494882525 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.03, Z:-0.92 [[ 9.99865939e-01 1.46140754e-02 -7.38463122e-03 4.39033460e+00] [-1.46183429e-02 9.99893009e-01 -5.24251205e-04 -3.23506667e-02] [ 7.37617969e-03 6.32131995e-04 9.99972596e-01 -9.19765312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.081193817 meters Centerline goodness [0,1] 0.9029873856762393 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.04, Z:-0.92 [[ 9.99878142e-01 1.33527944e-02 -8.08729665e-03 4.39298191e+00] [-1.33633665e-02 9.99909919e-01 -1.25461970e-03 -3.54944665e-02] [ 8.06981546e-03 1.36254033e-03 9.99966510e-01 -9.21292672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.111193817 meters Centerline goodness [0,1] 0.9067264388712143 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.04, Z:-0.92 [[ 0.99991335 0.01022066 -0.00829586 4.39354366] [-0.01025835 0.9999372 -0.00451321 -0.03635879] [ 0.00824921 0.00459793 0.9999554 -0.92150481] [ 0. 0. 0. 1. ]] SLAMing on 108.141193817 meters Centerline goodness [0,1] 0.9010923453539322 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.04, Z:-0.92 [[ 9.99912048e-01 1.01518534e-02 -8.53437848e-03 4.39433597e+00] [-1.01839518e-02 9.99941200e-01 -3.72606456e-03 -3.97716417e-02] [ 8.49605020e-03 3.81265054e-03 9.99956639e-01 -9.21940965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.171193817 meters Centerline goodness [0,1] 0.9046309127386295 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.04, Z:-0.92 [[ 0.99993912 0.00682637 -0.0086691 4.39458432] [-0.0068855 0.99995311 -0.00680921 -0.04191145] [ 0.00862221 0.00686848 0.99993924 -0.92198234] [ 0. 0. 0. 1. ]] SLAMing on 108.201193817 meters Centerline goodness [0,1] 0.9017378289610444 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.05, Z:-0.92 [[ 9.99952223e-01 3.91602686e-03 -8.95641512e-03 4.39603374e+00] [-3.99222523e-03 9.99955857e-01 -8.50568993e-03 -4.84479229e-02] [ 8.92271124e-03 8.54103958e-03 9.99923715e-01 -9.23235097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.231193817 meters Centerline goodness [0,1] 0.9016481919707726 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.05, Z:-0.92 [[ 9.99949211e-01 4.38956751e-03 -9.07233213e-03 4.39652160e+00] [-4.45725477e-03 9.99962284e-01 -7.45413983e-03 -5.09308624e-02] [ 9.03926951e-03 7.49419894e-03 9.99931062e-01 -9.23543800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.261193817 meters Centerline goodness [0,1] 0.900141289893617 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.05, Z:-0.92 [[ 0.99994695 0.00472869 -0.0091506 4.39649353] [-0.00479083 0.99996553 -0.00678142 -0.05254622] [ 0.00911822 0.0068249 0.99993514 -0.92324534] [ 0. 0. 0. 1. ]] SLAMing on 108.291193817 meters Centerline goodness [0,1] 0.9016417229799759 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.05, Z:-0.92 [[ 0.99994376 0.00511646 -0.00928981 4.39657317] [-0.00517215 0.99996874 -0.00598071 -0.0544229 ] [ 0.00925892 0.00602842 0.99993896 -0.92292364] [ 0. 0. 0. 1. ]] SLAMing on 108.32119381700001 meters Centerline goodness [0,1] 0.902712312908294 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.06, Z:-0.92 [[ 9.99940339e-01 6.07110862e-03 -9.08073805e-03 4.39461758e+00] [-6.10774883e-03 9.99973297e-01 -4.01266221e-03 -5.92826811e-02] [ 9.05613425e-03 4.06788568e-03 9.99950718e-01 -9.20732329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35119381700001 meters Centerline goodness [0,1] 0.9057793635647015 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.06, Z:-0.92 [[ 9.99941524e-01 6.06659938e-03 -8.95238495e-03 4.39368686e+00] [-6.09957651e-03 9.99974696e-01 -3.66091992e-03 -6.09124088e-02] [ 8.92994909e-03 3.71531160e-03 9.99953225e-01 -9.19806418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38119381700001 meters Centerline goodness [0,1] 0.9077742015350334 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.06, Z:-0.92 [[ 9.99983732e-01 2.65935058e-03 -5.04607151e-03 4.40219130e+00] [-2.64127041e-03 9.99990081e-01 3.58630619e-03 -6.32702425e-02] [ 5.05555871e-03 -3.57291981e-03 9.99980838e-01 -9.20456072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41119381700001 meters Centerline goodness [0,1] 0.9081706735256903 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.07, Z:-0.92 [[ 9.99986673e-01 -9.97597717e-04 -5.06548073e-03 4.40215390e+00] [ 9.99801783e-04 9.99999407e-01 4.32601291e-04 -6.56306761e-02] [ 5.06504617e-03 -4.37660002e-04 9.99987077e-01 -9.20354118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.441193817 meters Centerline goodness [0,1] 0.9089951243698868 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.07, Z:-0.92 [[ 9.99982176e-01 -2.34880163e-03 -5.48916557e-03 4.40482617e+00] [ 2.34685002e-03 9.99997181e-01 -3.61953097e-04 -6.73056098e-02] [ 5.49000025e-03 3.49064398e-04 9.99984869e-01 -9.22556416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.471193817 meters Centerline goodness [0,1] 0.8975784865021891 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.07, Z:-0.92 [[ 9.99980548e-01 -2.78904727e-03 -5.57893294e-03 4.40561371e+00] [ 2.78946048e-03 9.99996107e-01 6.62861426e-05 -6.99095542e-02] [ 5.57872634e-03 -8.18470662e-05 9.99984435e-01 -9.23361539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.501193817 meters Centerline goodness [0,1] 0.8984081041968162 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.07, Z:-0.93 [[ 9.99968117e-01 -5.18838084e-03 -6.07001437e-03 4.40854050e+00] [ 5.17644437e-03 9.99984641e-01 -1.98052536e-03 -7.18686594e-02] [ 6.08019686e-03 1.94904112e-03 9.99979616e-01 -9.25709098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.531193817 meters Centerline goodness [0,1] 0.8482855898276256 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.08, Z:-0.93 [[ 0.99994012 -0.00887935 -0.00639634 4.41049642] [ 0.00884948 0.99994988 -0.00468335 -0.07558183] [ 0.00643761 0.00462646 0.99996858 -0.92732115] [ 0. 0. 0. 1. ]] SLAMing on 108.561193817 meters Centerline goodness [0,1] 0.8241831287260339 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.08, Z:-0.93 [[ 9.99938872e-01 -8.87926332e-03 -6.58866555e-03 4.41117732e+00] [ 8.85242061e-03 9.99952443e-01 -4.09211523e-03 -7.73356171e-02] [ 6.62468718e-03 4.03353945e-03 9.99969922e-01 -9.27688392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.591193817 meters Centerline goodness [0,1] 0.8748572259256951 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.08, Z:-0.93 [[ 9.99937090e-01 -8.96006451e-03 -6.74788578e-03 4.41152074e+00] [ 8.93487932e-03 9.99953039e-01 -3.75325193e-03 -7.83209830e-02] [ 6.78119827e-03 3.69272427e-03 9.99970189e-01 -9.27692443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.621193817 meters Centerline goodness [0,1] 0.8744727272727273 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.08, Z:-0.93 [[ 9.99935385e-01 -9.03333905e-03 -6.90109202e-03 4.41204757e+00] [ 9.00918100e-03 9.99953208e-01 -3.52371525e-03 -7.89673406e-02] [ 6.93260001e-03 3.46131438e-03 9.99969979e-01 -9.27948237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.651193817 meters Centerline goodness [0,1] 0.7713711515352422 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.08, Z:-0.93 [[ 9.99932450e-01 -9.11634068e-03 -7.21022612e-03 4.41287499e+00] [ 9.09259581e-03 9.99953153e-01 -3.31917490e-03 -7.96473460e-02] [ 7.24014707e-03 3.25339102e-03 9.99968497e-01 -9.28178689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68119381700001 meters Centerline goodness [0,1] 0.7629342508913025 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.08, Z:-0.93 [[ 9.99956740e-01 -5.95617580e-03 -7.14433369e-03 4.41252394e+00] [ 5.96028574e-03 9.99982084e-01 5.54118662e-04 -8.16247475e-02] [ 7.14090526e-03 -5.96676961e-04 9.99974325e-01 -9.27856890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71119381700001 meters Centerline goodness [0,1] 0.8744758583468261 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.08, Z:-0.93 [[ 9.99971253e-01 -3.10940095e-03 -6.91556738e-03 4.41079735e+00] [ 3.12908421e-03 9.99991079e-01 2.83722761e-03 -7.89366510e-02] [ 6.90668361e-03 -2.85878544e-03 9.99972062e-01 -9.26215625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74119381700001 meters Centerline goodness [0,1] 0.8851928660306927 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.08, Z:-0.93 [[ 9.99972570e-01 -2.29939960e-03 -7.04076618e-03 4.41130149e+00] [ 2.31750821e-03 9.99994025e-01 2.56488814e-03 -7.61749074e-02] [ 7.03482641e-03 -2.58113482e-03 9.99971924e-01 -9.26459792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77119381700001 meters Centerline goodness [0,1] 0.8972669443235739 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.07, Z:-0.93 [[ 9.99972877e-01 1.69557074e-03 -7.16726770e-03 4.41143347e+00] [-1.65277719e-03 9.99980799e-01 5.97240452e-03 -7.42722778e-02] [ 7.17725672e-03 -5.96039664e-03 9.99956479e-01 -9.26234659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80119381700001 meters Centerline goodness [0,1] 0.9002429553335963 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.07, Z:-0.93 [[ 0.99995637 0.00593689 -0.00721127 4.41120365] [-0.00586881 0.99993835 0.00942653 -0.07174742] [ 0.00726679 -0.0093838 0.99992957 -0.92571527] [ 0. 0. 0. 1. ]] SLAMing on 108.831193817 meters Centerline goodness [0,1] 0.897436427965488 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.07, Z:-0.92 [[ 0.9997947 0.01782878 -0.00962745 4.41527982] [-0.01770273 0.99975849 0.01302211 -0.06651383] [ 0.00985729 -0.012849 0.99986886 -0.91948582] [ 0. 0. 0. 1. ]] SLAMing on 108.861193817 meters Centerline goodness [0,1] 0.8972365436172407 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.07, Z:-0.92 [[ 0.99971305 0.02199395 -0.00949154 4.41462732] [-0.02183264 0.99962087 0.0167766 -0.06529956] [ 0.00985692 -0.01656456 0.99981421 -0.91870004] [ 0. 0. 0. 1. ]] SLAMing on 108.891193817 meters Centerline goodness [0,1] 0.8969234270581177 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.06, Z:-0.92 [[ 0.99969842 0.02265094 -0.00948684 4.41439776] [-0.02249134 0.99960912 0.01660559 -0.06327066] [ 0.00985926 -0.01638721 0.99981711 -0.91832978] [ 0. 0. 0. 1. ]] SLAMing on 108.921193817 meters Centerline goodness [0,1] 0.8977566957350291 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.06, Z:-0.92 [[ 0.99968975 0.02302812 -0.00949237 4.41409725] [-0.02286779 0.99959956 0.01666707 -0.06291944] [ 0.00987238 -0.01644483 0.99981603 -0.91784556] [ 0. 0. 0. 1. ]] SLAMing on 108.951193817 meters Centerline goodness [0,1] 0.8965453002421808 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.06, Z:-0.92 [[ 0.99975186 0.02016249 -0.00947076 4.41364445] [-0.02003839 0.99971442 0.01302053 -0.06216707] [ 0.00973058 -0.01282752 0.99987038 -0.917358 ] [ 0. 0. 0. 1. ]] SLAMing on 108.981193817 meters Centerline goodness [0,1] 0.8969905488310397 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.06, Z:-0.92 [[ 0.99981245 0.01693611 -0.00939348 4.41318056] [-0.01684892 0.99981494 0.0092841 -0.06195941] [ 0.00954898 -0.00912409 0.99991278 -0.91703622] [ 0. 0. 0. 1. ]] SLAMing on 109.011193817 meters Centerline goodness [0,1] 0.895811821073066 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.06, Z:-0.92 [[ 0.9998556 0.01425473 -0.00925104 4.4127797 ] [-0.01419645 0.99987916 0.00633492 -0.06328669] [ 0.00934023 -0.00620268 0.99993714 -0.91690582] [ 0. 0. 0. 1. ]] SLAMing on 109.041193817 meters Centerline goodness [0,1] 0.8962484739379643 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.06, Z:-0.92 [[ 9.99893951e-01 1.13411827e-02 -9.13585134e-03 4.41249848e+00] [-1.13140634e-02 9.99931450e-01 3.01467507e-03 -6.39025715e-02] [ 9.16941506e-03 -2.91099176e-03 9.99953723e-01 -9.16893205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07119381700001 meters Centerline goodness [0,1] 0.8920059582919563 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.07, Z:-0.92 [[ 9.99923016e-01 8.36475522e-03 -9.16480280e-03 4.41282120e+00] [-8.36554747e-03 9.99965007e-01 -4.81120560e-05 -6.58936158e-02] [ 9.16407965e-03 1.24776945e-04 9.99958001e-01 -9.17277798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10119381700001 meters Centerline goodness [0,1] 0.8942882558596579 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.07, Z:-0.92 [[ 9.99938907e-01 5.91710662e-03 -9.33644340e-03 4.41417567e+00] [-5.93681373e-03 9.99980204e-01 -2.08447103e-03 -6.99200454e-02] [ 9.32392454e-03 2.13977241e-03 9.99954242e-01 -9.18506843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13119381700001 meters Centerline goodness [0,1] 0.8948648203099242 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.08, Z:-0.92 [[ 9.99974681e-01 -3.55076676e-04 -7.10707810e-03 4.42445894e+00] [ 3.82410605e-04 9.99992535e-01 3.84502560e-03 -8.19885746e-02] [ 7.10565976e-03 -3.84764607e-03 9.99967352e-01 -9.20329083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16119381700001 meters Centerline goodness [0,1] 0.893292430146754 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.09, Z:-0.92 [[ 9.99967917e-01 -3.44276724e-03 -7.23279426e-03 4.42480145e+00] [ 3.45598367e-03 9.99992380e-01 1.81558858e-03 -8.75334337e-02] [ 7.22648849e-03 -1.84052675e-03 9.99972195e-01 -9.20408790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.191193817 meters Centerline goodness [0,1] 0.8937608894051273 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.09, Z:-0.92 [[ 9.99952310e-01 -6.48267784e-03 -7.30428075e-03 4.42503071e+00] [ 6.48318515e-03 9.99978983e-01 4.57780532e-05 -9.38997953e-02] [ 7.30383047e-03 -9.31308745e-05 9.99973322e-01 -9.20425707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.221193817 meters Centerline goodness [0,1] 0.8941645222877065 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.11, Z:-0.92 [[ 9.99895775e-01 -1.21216881e-02 -7.84246437e-03 4.42815263e+00] [ 1.20958544e-02 9.99921287e-01 -3.33317835e-03 -1.05253159e-01] [ 7.88225081e-03 3.23796964e-03 9.99963692e-01 -9.22966608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.251193817 meters Centerline goodness [0,1] 0.8950680095524868 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.11, Z:-0.92 [[ 9.99899022e-01 -1.16150561e-02 -8.18753643e-03 4.42983764e+00] [ 1.16032763e-02 9.99931577e-01 -1.48478558e-03 -1.11664479e-01] [ 8.20422208e-03 1.38963340e-03 9.99965379e-01 -9.24196772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.281193817 meters Centerline goodness [0,1] 0.8950267057380967 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.12, Z:-0.93 [[ 9.99907025e-01 -1.07009674e-02 -8.45169398e-03 4.43126137e+00] [ 1.07066039e-02 9.99942489e-01 6.21943671e-04 -1.18516586e-01] [ 8.44455252e-03 -7.12374785e-04 9.99964090e-01 -9.25278610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.311193817 meters Centerline goodness [0,1] 0.8945195818121474 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.13, Z:-0.93 [[ 9.99916060e-01 -9.66540086e-03 -8.62865012e-03 4.43259202e+00] [ 9.68978505e-03 9.99949164e-01 2.78863629e-03 -1.25789262e-01] [ 8.60125819e-03 -2.87201197e-03 9.99958884e-01 -9.26353609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.341193817 meters Centerline goodness [0,1] 0.8941858291269396 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.14, Z:-0.93 [[ 9.99906027e-01 -1.08819584e-02 -8.33782729e-03 4.43194667e+00] [ 1.09051769e-02 9.99936771e-01 2.74434235e-03 -1.35159457e-01] [ 8.30743628e-03 -2.83500994e-03 9.99961474e-01 -9.26044146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.371193817 meters Centerline goodness [0,1] 0.8956279379341903 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.14, Z:-0.93 [[ 9.99915341e-01 -1.00542210e-02 -8.25971732e-03 4.43142556e+00] [ 1.00901054e-02 9.99939786e-01 4.31438097e-03 -1.38912738e-01] [ 8.21584223e-03 -4.39735713e-03 9.99956581e-01 -9.25484438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.401193817 meters Centerline goodness [0,1] 0.8955192890660687 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.14, Z:-0.93 [[ 0.9999203 -0.00945457 -0.0083667 4.43172071] [ 0.00950248 0.99993857 0.00570553 -0.14273292] [ 0.00831224 -0.00578458 0.99994872 -0.92552231] [ 0. 0. 0. 1. ]] SLAMing on 109.43119381700001 meters Centerline goodness [0,1] 0.8963101160862355 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.15, Z:-0.93 [[ 0.99991072 -0.01001022 -0.00885161 4.43377063] [ 0.01006142 0.9999328 0.00575868 -0.14638777] [ 0.00879337 -0.00584722 0.99994424 -0.92675176] [ 0. 0. 0. 1. ]] SLAMing on 109.46119381700001 meters Centerline goodness [0,1] 0.8963853925140775 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.15, Z:-0.93 [[ 0.99988242 -0.01238835 -0.00903774 4.434666 ] [ 0.012431 0.99991179 0.00467749 -0.15429201] [ 0.008979 -0.00478929 0.99994822 -0.92714576] [ 0. 0. 0. 1. ]] SLAMing on 109.49119381700001 meters Centerline goodness [0,1] 0.8958453667794373 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.16, Z:-0.93 [[ 9.99834484e-01 -1.57434607e-02 -9.11850302e-03 4.43499221e+00] [ 1.57590546e-02 9.99874472e-01 1.64081261e-03 -1.56680272e-01] [ 9.09152632e-03 -1.78424002e-03 9.99957079e-01 -9.27195115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52119381700001 meters Centerline goodness [0,1] 0.899744532369618 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.16, Z:-0.93 [[ 9.99835018e-01 -1.57544436e-02 -9.04069761e-03 4.43447317e+00] [ 1.57794653e-02 9.99871843e-01 2.70304877e-03 -1.60986433e-01] [ 8.99695395e-03 -2.84526018e-03 9.99955479e-01 -9.26497382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55119381700001 meters Centerline goodness [0,1] 0.9004348726444399 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.17, Z:-0.92 [[ 9.99797360e-01 -1.80152546e-02 -8.98276639e-03 4.43334547e+00] [ 1.80247590e-02 9.99837062e-01 9.78239293e-04 -1.65901604e-01] [ 8.96367953e-03 -1.13995326e-03 9.99959176e-01 -9.24962845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.581193817 meters Centerline goodness [0,1] 0.9029914087568575 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.17, Z:-0.92 [[ 9.99808328e-01 -1.72756452e-02 -9.21194261e-03 4.43357892e+00] [ 1.72946056e-02 9.99848472e-01 1.98256558e-03 -1.67996515e-01] [ 9.17629664e-03 -2.14150249e-03 9.99955604e-01 -9.24592294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.611193817 meters Centerline goodness [0,1] 0.9029914087568575 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.17, Z:-0.92 [[ 9.99808328e-01 -1.72756452e-02 -9.21194261e-03 4.43357892e+00] [ 1.72946056e-02 9.99848472e-01 1.98256558e-03 -1.67996515e-01] [ 9.17629664e-03 -2.14150249e-03 9.99955604e-01 -9.24592294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.641193817 meters Centerline goodness [0,1] 0.9031219491930291 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.17, Z:-0.92 [[ 9.99822455e-01 -1.64099827e-02 -9.26126808e-03 4.43333304e+00] [ 1.64367879e-02 9.99860914e-01 2.82567800e-03 -1.68954906e-01] [ 9.21361064e-03 -2.97740181e-03 9.99953121e-01 -9.24123602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.671193817 meters Centerline goodness [0,1] 0.9048489253452393 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.17, Z:-0.92 [[ 9.99832101e-01 -1.56866013e-02 -9.47099872e-03 4.43345115e+00] [ 1.57196235e-02 9.99870582e-01 3.42234730e-03 -1.69423965e-01] [ 9.41608800e-03 -3.57065322e-03 9.99949293e-01 -9.23773032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.701193817 meters Centerline goodness [0,1] 0.9039170984455959 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.17, Z:-0.92 [[ 9.99842971e-01 -1.48530742e-02 -9.66542434e-03 4.43357794e+00] [ 1.48942338e-02 9.99880252e-01 4.20047432e-03 -1.70571655e-01] [ 9.60187697e-03 -4.34377381e-03 9.99944466e-01 -9.23396527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.731193817 meters Centerline goodness [0,1] 0.9039651235208637 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.17, Z:-0.92 [[ 0.99985954 -0.01351664 -0.00990969 4.43360742] [ 0.0135754 0.99989052 0.00588646 -0.17481843] [ 0.00982904 -0.00602016 0.99993357 -0.92285901] [ 0. 0. 0. 1. ]] SLAMing on 109.761193817 meters Centerline goodness [0,1] 0.904921839366422 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.18, Z:-0.92 [[ 0.99984354 -0.01427192 -0.01045067 4.43592865] [ 0.01432944 0.99988248 0.00544981 -0.17705566] [ 0.01037166 -0.00559871 0.99993054 -0.9242823 ] [ 0. 0. 0. 1. ]] SLAMing on 109.791193817 meters Centerline goodness [0,1] 0.9034528580030314 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.18, Z:-0.92 [[ 0.99984353 -0.01419971 -0.01054907 4.4365401 ] [ 0.01426548 0.99987911 0.00618638 -0.17981538] [ 0.01045995 -0.0063359 0.99992522 -0.92468386] [ 0. 0. 0. 1. ]] SLAMing on 109.82119381700001 meters Centerline goodness [0,1] 0.9061592097617664 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.18, Z:-0.93 [[ 0.99982823 -0.01485063 -0.01108892 4.43882291] [ 0.01491764 0.99987081 0.00598503 -0.18151128] [ 0.01099861 -0.00614942 0.9999206 -0.92611301] [ 0. 0. 0. 1. ]] SLAMing on 109.85119381700001 meters Centerline goodness [0,1] 0.9062979393838883 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.18, Z:-0.93 [[ 0.99980624 -0.01604504 -0.01140373 4.44128288] [ 0.01610969 0.99985455 0.00559977 -0.1848638 ] [ 0.01131222 -0.0057824 0.9999193 -0.92822906] [ 0. 0. 0. 1. ]] SLAMing on 109.88119381700001 meters Centerline goodness [0,1] 0.906615106137897 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.19, Z:-0.93 [[ 9.99765885e-01 -1.80330918e-02 -1.19575017e-02 4.44384359e+00] [ 1.80787762e-02 9.99829632e-01 3.72352684e-03 -1.86094412e-01] [ 1.18883179e-02 -3.93883211e-03 9.99921574e-01 -9.29821614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91119381700001 meters Centerline goodness [0,1] 0.9067960358189109 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.19, Z:-0.93 [[ 9.99692957e-01 -2.17385635e-02 -1.18922619e-02 4.44377964e+00] [ 2.17414621e-02 9.99763620e-01 1.14498769e-04 -1.86929155e-01] [ 1.18869617e-02 -3.73018774e-04 9.99929278e-01 -9.29729528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.941193817 meters Centerline goodness [0,1] 0.9085830581687537 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.19, Z:-0.93 [[ 0.99947731 -0.03010337 -0.01178539 4.44427331] [ 0.03001683 0.99952161 -0.00745289 -0.18952526] [ 0.01200411 0.00709524 0.99990277 -0.93001177] [ 0. 0. 0. 1. ]] SLAMing on 109.971193817 meters Centerline goodness [0,1] 0.9081455447591482 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.19, Z:-0.93 [[ 0.99933165 -0.03459641 -0.0118047 4.4453209 ] [ 0.03445891 0.9993381 -0.01165947 -0.18962544] [ 0.01220026 0.0112449 0.99986234 -0.93094714] [ 0. 0. 0. 1. ]] SLAMing on 110.001193817 meters Centerline goodness [0,1] 0.8972604160185819 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.19, Z:-0.93 [[ 0.99929235 -0.03569997 -0.01184519 4.44599202] [ 0.03556061 0.99929816 -0.01177441 -0.19092937] [ 0.01225722 0.01134486 0.99986052 -0.9314153 ] [ 0. 0. 0. 1. ]] SLAMing on 110.031193817 meters Centerline goodness [0,1] 0.8493261121217133 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.19, Z:-0.93 [[ 0.99908662 -0.04110241 -0.01168407 4.44603456] [ 0.04090487 0.99902396 -0.01667105 -0.18983747] [ 0.01235789 0.01617789 0.99979276 -0.93127831] [ 0. 0. 0. 1. ]] SLAMing on 110.061193817 meters Centerline goodness [0,1] 0.8215710182066172 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.19, Z:-0.93 [[ 0.99906905 -0.04149747 -0.01178979 4.44575181] [ 0.04129577 0.99900462 -0.01686516 -0.18978552] [ 0.01247792 0.01636259 0.99978826 -0.93054032] [ 0. 0. 0. 1. ]] SLAMing on 110.091193817 meters Centerline goodness [0,1] 0.8189058028122278 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.19, Z:-0.93 [[ 0.99918965 -0.03850641 -0.01171717 4.44524299] [ 0.0383504 0.99917636 -0.01326074 -0.19016219] [ 0.01221814 0.01280063 0.99984342 -0.93011791] [ 0. 0. 0. 1. ]] SLAMing on 110.121193817 meters Centerline goodness [0,1] 0.8104797901563501 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.19, Z:-0.93 [[ 0.99926497 -0.03631013 -0.01229175 4.44700936] [ 0.03617454 0.99928407 -0.01107965 -0.1876958 ] [ 0.01268525 0.01062685 0.99986307 -0.93105806] [ 0. 0. 0. 1. ]] SLAMing on 110.151193817 meters Centerline goodness [0,1] 0.8095100268761629 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.19, Z:-0.93 [[ 0.99937366 -0.03311053 -0.01248926 4.4474297 ] [ 0.03301255 0.99942315 -0.00797113 -0.18538384] [ 0.01274598 0.00755384 0.99989023 -0.93133402] [ 0. 0. 0. 1. ]] SLAMing on 110.18119381700001 meters Centerline goodness [0,1] 0.8193557748113756 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.18, Z:-0.93 [[ 0.99945269 -0.03055672 -0.01267326 4.44789632] [ 0.03048207 0.99951705 -0.006042 -0.18009175] [ 0.01285177 0.00565238 0.99990144 -0.93171174] [ 0. 0. 0. 1. ]] SLAMing on 110.21119381700001 meters Centerline goodness [0,1] 0.8244996063155278 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.18, Z:-0.93 [[ 9.99536882e-01 -2.75898378e-02 -1.28382816e-02 4.44819427e+00] [ 2.75569399e-02 9.99616501e-01 -2.73239434e-03 -1.79736229e-01] [ 1.29087445e-02 2.37734517e-03 9.99913853e-01 -9.31723331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24119381700001 meters Centerline goodness [0,1] 0.8007605034201988 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.18, Z:-0.93 [[ 9.99517971e-01 -2.82180498e-02 -1.29447429e-02 4.44869079e+00] [ 2.81700737e-02 9.99595639e-01 -3.87374267e-03 -1.76413180e-01] [ 1.30488180e-02 3.50722105e-03 9.99908710e-01 -9.32066858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27119381700001 meters Centerline goodness [0,1] 0.7611171983213082 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.17, Z:-0.93 [[ 9.99496597e-01 -2.88418536e-02 -1.32174005e-02 4.45053457e+00] [ 2.87849269e-02 9.99575601e-01 -4.47717445e-03 -1.67308372e-01] [ 1.33409211e-02 4.09445872e-03 9.99902623e-01 -9.33551882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30119381700001 meters Centerline goodness [0,1] 0.7674379993773996 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.16, Z:-0.93 [[ 9.99524201e-01 -2.77064672e-02 -1.35544596e-02 4.45236842e+00] [ 2.76677031e-02 9.99612556e-01 -3.03912419e-03 -1.63721716e-01] [ 1.36334114e-02 2.66265742e-03 9.99903516e-01 -9.34984444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.331193817 meters Centerline goodness [0,1] 0.720602264714422 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.16, Z:-0.94 [[ 9.99484714e-01 -2.89806070e-02 -1.37996879e-02 4.45364442e+00] [ 2.89162798e-02 9.99570127e-01 -4.83846990e-03 -1.58965819e-01] [ 1.39339776e-02 4.43694106e-03 9.99893073e-01 -9.35912867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.361193817 meters Centerline goodness [0,1] 0.7042428252419155 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.15, Z:-0.94 [[ 0.99944428 -0.03023793 -0.01402837 4.45441506] [ 0.03014621 0.99952301 -0.00670464 -0.15420824] [ 0.01422442 0.00627802 0.99987912 -0.93621491] [ 0. 0. 0. 1. ]] SLAMing on 110.391193817 meters Centerline goodness [0,1] 0.7261692326845666 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.15, Z:-0.94 [[ 0.99940588 -0.03147687 -0.01403912 4.45421806] [ 0.03135708 0.99947062 -0.00867274 -0.14884533] [ 0.01430468 0.00822736 0.99986383 -0.93587433] [ 0. 0. 0. 1. ]] SLAMing on 110.421193817 meters Centerline goodness [0,1] 0.7191675657730932 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.14, Z:-0.94 [[ 9.99343081e-01 -3.52699451e-02 -8.33289299e-03 4.45778545e+00] [ 3.52546853e-02 9.99376416e-01 -1.97116180e-03 -1.35295910e-01] [ 8.39721950e-03 1.67609339e-03 9.99963338e-01 -9.36485360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.451193817 meters Centerline goodness [0,1] 0.7153637249414351 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.13, Z:-0.94 [[ 9.99428660e-01 -3.27325512e-02 -8.42218164e-03 4.45810199e+00] [ 3.27313248e-02 9.99464146e-01 -2.83441901e-04 -1.29121137e-01] [ 8.42694636e-03 7.61079666e-06 9.99964493e-01 -9.36945216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.481193817 meters Centerline goodness [0,1] 0.7197756543415039 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.11, Z:-0.94 [[ 9.99570214e-01 -2.79017883e-02 -8.99322190e-03 4.46095886e+00] [ 2.79123719e-02 9.99609819e-01 1.05345855e-03 -1.14400991e-01] [ 8.96031954e-03 -1.30402794e-03 9.99959005e-01 -9.40721706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.511193817 meters Centerline goodness [0,1] 0.7431607787786957 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.11, Z:-0.94 [[ 9.99635402e-01 -2.52970853e-02 -9.44038146e-03 4.46320610e+00] [ 2.53199641e-02 9.99676725e-01 2.31188349e-03 -1.07171080e-01] [ 9.37884571e-03 -2.55007070e-03 9.99952766e-01 -9.42722606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.541193817 meters Centerline goodness [0,1] 0.7571179184504759 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.10, Z:-0.94 [[ 9.99692539e-01 -2.27923749e-02 -9.76395788e-03 4.46494973e+00] [ 2.28286223e-02 9.99732850e-01 3.61712819e-03 -1.00251592e-01] [ 9.67890649e-03 -3.83891377e-03 9.99945789e-01 -9.44332622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57119381700001 meters Centerline goodness [0,1] 0.7484043990769422 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.09, Z:-0.95 [[ 0.99974121 -0.02039128 -0.01008474 4.46655275] [ 0.02044148 0.99977904 0.00490011 -0.09379984] [ 0.00998259 -0.00510499 0.99993714 -0.94570929] [ 0. 0. 0. 1. ]] SLAMing on 110.60119381700001 meters Centerline goodness [0,1] 0.7855272999252056 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.08, Z:-0.95 [[ 0.99983602 -0.0149451 -0.0102261 4.46733278] [ 0.0150253 0.99985661 0.00781076 -0.08048722] [ 0.01010791 -0.00796313 0.99991721 -0.94672347] [ 0. 0. 0. 1. ]] SLAMing on 110.63119381700001 meters Centerline goodness [0,1] 0.8021070497164383 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.07, Z:-0.95 [[ 9.99927985e-01 -9.26830384e-03 -7.62382883e-03 4.47586265e+00] [ 9.27956078e-03 9.99955904e-01 1.44250021e-03 -7.27100398e-02] [ 7.61012312e-03 -1.51314211e-03 9.99969898e-01 -9.46706523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66119381700001 meters Centerline goodness [0,1] 0.819078536646273 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.07, Z:-0.95 [[ 9.99952669e-01 -5.98649530e-03 -7.66947883e-03 4.47575032e+00] [ 6.01231201e-03 9.99976323e-01 3.34754029e-03 -6.57360610e-02] [ 7.64925720e-03 -3.39349315e-03 9.99964986e-01 -9.46452400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.691193817 meters Centerline goodness [0,1] 0.8338075557124759 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.06, Z:-0.95 [[ 9.99963507e-01 -3.12994475e-03 -7.94915016e-03 4.47681086e+00] [ 3.16862622e-03 9.99983179e-01 4.85819081e-03 -5.85755086e-02] [ 7.93381058e-03 -4.88320141e-03 9.99956604e-01 -9.47048906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.721193817 meters Centerline goodness [0,1] 0.8507019438444925 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.05, Z:-0.95 [[ 9.99966624e-01 -7.73359728e-04 -8.13343499e-03 4.47764369e+00] [ 8.13864523e-04 9.99987279e-01 4.97790541e-03 -4.73715942e-02] [ 8.12948181e-03 -4.98435878e-03 9.99954533e-01 -9.47551435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.751193817 meters Centerline goodness [0,1] 0.8439564548967466 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.04, Z:-0.95 [[ 9.99965288e-01 -1.48174748e-03 -8.19917429e-03 4.47809697e+00] [ 1.50901251e-03 9.99993350e-01 3.32015281e-03 -4.27461762e-02] [ 8.19420014e-03 -3.33241022e-03 9.99960874e-01 -9.47903771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.781193817 meters Centerline goodness [0,1] 0.8412869521953646 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.04, Z:-0.95 [[ 9.99963321e-01 -2.23084016e-03 -8.26916335e-03 4.47828703e+00] [ 2.24501979e-03 9.99996025e-01 1.70587396e-03 -3.80718569e-02] [ 8.26532495e-03 -1.72437583e-03 9.99964355e-01 -9.47866366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.811193817 meters Centerline goodness [0,1] 0.8343175649074822 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.03, Z:-0.95 [[ 9.99962504e-01 -2.82804843e-03 -8.18492160e-03 4.47763205e+00] [ 2.83044806e-03 9.99995955e-01 2.81607351e-04 -3.31489956e-02] [ 8.18409209e-03 -3.04763788e-04 9.99966463e-01 -9.47111111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.841193817 meters Centerline goodness [0,1] 0.8403696397051189 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.02, Z:-0.94 [[ 9.99969031e-01 -2.27206526e-03 -7.53486422e-03 4.47420196e+00] [ 2.27401086e-03 9.99997383e-01 2.49655252e-04 -2.49398148e-02] [ 7.53427727e-03 -2.66781883e-04 9.99971581e-01 -9.44424767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.871193817 meters Centerline goodness [0,1] 0.8148355290413456 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.02, Z:-0.94 [[ 9.99967079e-01 -2.66098615e-03 -7.66549289e-03 4.47461246e+00] [ 2.65613675e-03 9.99996266e-01 -6.42737644e-04 -2.19354213e-02] [ 7.66717458e-03 6.22355887e-04 9.99970413e-01 -9.44457528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.901193817 meters Centerline goodness [0,1] 0.8253463783469392 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.02, Z:-0.94 [[ 9.99965156e-01 -3.06464966e-03 -7.76499975e-03 4.47477759e+00] [ 3.05164101e-03 9.99993921e-01 -1.68658770e-03 -1.84466897e-02] [ 7.77012135e-03 1.66283294e-03 9.99968430e-01 -9.44313722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93119381700001 meters Centerline goodness [0,1] 0.8196751836143581 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.02, Z:-0.94 [[ 9.99961933e-01 -3.30892115e-03 -8.07368958e-03 4.47574414e+00] [ 3.28848857e-03 9.99991360e-01 -2.54272543e-03 -1.54220275e-02] [ 8.08203350e-03 2.51607840e-03 9.99964174e-01 -9.44698166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96119381700001 meters Centerline goodness [0,1] 0.8192175675116827 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.01, Z:-0.95 [[ 9.99959391e-01 -3.34739976e-03 -8.36721884e-03 4.47705313e+00] [ 3.32095122e-03 9.99989452e-01 -3.17286927e-03 -1.27795310e-02] [ 8.37775145e-03 3.14495329e-03 9.99959960e-01 -9.45549123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99119381700001 meters Centerline goodness [0,1] 0.8223915834817546 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.01, Z:-0.95 [[ 9.99962706e-01 -3.08298958e-04 -8.63090045e-03 4.47875767e+00] [ 2.99316489e-04 9.99999412e-01 -1.04200602e-03 -8.61890859e-03] [ 8.63121662e-03 1.03938379e-03 9.99962210e-01 -9.47071715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02119381700001 meters Centerline goodness [0,1] 0.8370625596745402 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.01, Z:-0.95 [[ 9.99954994e-01 3.28158016e-03 -8.90172970e-03 4.47993679e+00] [-3.26293467e-03 9.99992454e-01 2.10830704e-03 -6.48261242e-03] [ 8.90858111e-03 -2.07916639e-03 9.99958156e-01 -9.47849608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05119381700001 meters Centerline goodness [0,1] 0.8613079863622275 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.00, Z:-0.95 [[ 9.99934154e-01 6.93622556e-03 -9.14206716e-03 4.48073963e+00] [-6.88944917e-03 9.99963066e-01 5.13820939e-03 -3.72571172e-03] [ 9.17736929e-03 -5.07488725e-03 9.99945009e-01 -9.48094524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.081193817 meters Centerline goodness [0,1] 0.8837789513077466 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.00, Z:-0.95 [[ 9.99899776e-01 1.06834362e-02 -9.28988515e-03 4.48102512e+00] [-1.06087379e-02 9.99911296e-01 8.05326119e-03 -4.81011122e-04] [ 9.37509761e-03 -7.95390011e-03 9.99924419e-01 -9.47897353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.111193817 meters Centerline goodness [0,1] 0.9174340532562829 Centerline is valid? [False, False] Translation: X:4.48, Y:0.01, Z:-0.95 [[ 0.99978545 0.01869186 -0.00892534 4.47881346] [-0.0185639 0.99972669 0.01421013 0.00507399] [ 0.00918851 -0.01404139 0.9998592 -0.9451649 ] [ 0. 0. 0. 1. ]] SLAMing on 111.141193817 meters Centerline goodness [0,1] 0.9192673841059602 Centerline is valid? [False, False] Translation: X:4.49, Y:0.01, Z:-0.94 [[ 0.99970246 0.02338859 -0.00692514 4.48551625] [-0.0233375 0.99970049 0.00736832 0.00898979] [ 0.0070954 -0.00720451 0.99994887 -0.94225446] [ 0. 0. 0. 1. ]] SLAMing on 111.171193817 meters Centerline goodness [0,1] 0.9207014789721557 Centerline is valid? [False, False] Translation: X:4.48, Y:0.01, Z:-0.94 [[ 0.9995997 0.02744939 -0.00685339 4.48464176] [-0.02737334 0.99956526 0.01095385 0.01042442] [ 0.00715109 -0.01076186 0.99991652 -0.94097299] [ 0. 0. 0. 1. ]] SLAMing on 111.201193817 meters Centerline goodness [0,1] 0.9187933597621407 Centerline is valid? [False, False] Translation: X:4.48, Y:0.01, Z:-0.94 [[ 0.99944107 0.03276619 -0.00662684 4.48374797] [-0.03266267 0.99935132 0.0151688 0.0117963 ] [ 0.00711957 -0.01494387 0.99986299 -0.93969579] [ 0. 0. 0. 1. ]] SLAMing on 111.231193817 meters Centerline goodness [0,1] 0.9187306982817585 Centerline is valid? [False, False] Translation: X:4.48, Y:0.01, Z:-0.94 [[ 0.99941434 0.03355337 -0.00671969 4.4839497 ] [-0.03344425 0.99931661 0.01574174 0.01065275] [ 0.00724329 -0.01550779 0.99985351 -0.93964805] [ 0. 0. 0. 1. ]] SLAMing on 111.261193817 meters Centerline goodness [0,1] 0.9194470236252966 Centerline is valid? [False, False] Translation: X:4.48, Y:0.01, Z:-0.94 [[ 0.99948661 0.03125558 -0.00704368 4.48467641] [-0.03116464 0.99943396 0.01266961 0.01010716] [ 0.00743569 -0.01244359 0.99989493 -0.93976467] [ 0. 0. 0. 1. ]] SLAMing on 111.291193817 meters Centerline goodness [0,1] 0.9218121428424071 Centerline is valid? [False, False] Translation: X:4.48, Y:0.01, Z:-0.94 [[ 0.99953238 0.02971382 -0.00721938 4.48498768] [-0.02963106 0.99949689 0.01131257 0.00525631] [ 0.00755189 -0.01109336 0.99990995 -0.93982578] [ 0. 0. 0. 1. ]] SLAMing on 111.32119381700001 meters Centerline goodness [0,1] 0.921727478870336 Centerline is valid? [False, False] Translation: X:4.49, Y:0.00, Z:-0.94 [[ 9.99616584e-01 2.66525218e-02 -7.50519708e-03 4.48531133e+00] [-2.65894423e-02 9.99611290e-01 8.38274232e-03 2.91188705e-03] [ 7.72570096e-03 -8.17996923e-03 9.99936699e-01 -9.39663496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35119381700001 meters Centerline goodness [0,1] 0.9225112070568307 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.00, Z:-0.94 [[ 9.99688512e-01 2.36915633e-02 -7.84789413e-03 4.48559688e+00] [-2.36464887e-02 9.99703631e-01 5.78737988e-03 -6.65775114e-04] [ 7.98268033e-03 -5.60000204e-03 9.99952457e-01 -9.39300964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38119381700001 meters Centerline goodness [0,1] 0.9212608183752298 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.01, Z:-0.94 [[ 9.99747264e-01 2.09301305e-02 -8.20592476e-03 4.48639079e+00] [-2.09026323e-02 9.99775658e-01 3.42259167e-03 -5.14549670e-03] [ 8.27571912e-03 -3.25020124e-03 9.99960474e-01 -9.39543882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41119381700001 meters Centerline goodness [0,1] 0.9204074871624979 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.01, Z:-0.94 [[ 9.99797649e-01 1.82027203e-02 -8.56280619e-03 4.48686315e+00] [-1.81937673e-02 9.99833850e-01 1.12230765e-03 -9.90953165e-03] [ 8.58181253e-03 -9.66290846e-04 9.99962709e-01 -9.39373504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.441193817 meters Centerline goodness [0,1] 0.9208246314178781 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.02, Z:-0.94 [[ 9.99833987e-01 1.53006562e-02 -9.89381545e-03 4.49076685e+00] [-1.53054060e-02 9.99882784e-01 -4.04535320e-04 -2.35984823e-02] [ 9.88646608e-03 5.55897024e-04 9.99950973e-01 -9.41088866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.471193817 meters Centerline goodness [0,1] 0.9190318576748034 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.03, Z:-0.94 [[ 9.99865104e-01 1.27257173e-02 -1.03841615e-02 4.49241054e+00] [-1.27447095e-02 9.99917225e-01 -1.76483674e-03 -3.06137399e-02] [ 1.03608431e-02 1.89694179e-03 9.99944526e-01 -9.42022782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.501193817 meters Centerline goodness [0,1] 0.9190318576748034 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.03, Z:-0.94 [[ 9.99865104e-01 1.27257173e-02 -1.03841615e-02 4.49241054e+00] [-1.27447095e-02 9.99917225e-01 -1.76483674e-03 -3.06137399e-02] [ 1.03608431e-02 1.89694179e-03 9.99944526e-01 -9.42022782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.531193817 meters Centerline goodness [0,1] 0.9165458687098779 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.04, Z:-0.94 [[ 9.99898061e-01 9.79091607e-03 -1.03926029e-02 4.49276552e+00] [-9.82614607e-03 9.99946130e-01 -3.34427941e-03 -3.75470782e-02] [ 1.03592995e-02 3.44605774e-03 9.99940403e-01 -9.42470759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.561193817 meters Centerline goodness [0,1] 0.9117354343769438 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.04, Z:-0.94 [[ 0.99992407 0.00663256 -0.01038601 4.49281749] [-0.00668592 0.99996459 -0.00511102 -0.04399976] [ 0.01035174 0.00518007 0.999933 -0.94261046] [ 0. 0. 0. 1. ]] SLAMing on 111.591193817 meters Centerline goodness [0,1] 0.9102935097147582 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.06, Z:-0.94 [[ 9.99965605e-01 1.06067904e-03 -8.22579213e-03 4.48984861e+00] [-1.06074975e-03 9.99999437e-01 -4.23247389e-06 -6.10748643e-02] [ 8.22578301e-03 1.29578352e-05 9.99966168e-01 -9.43468339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.621193817 meters Centerline goodness [0,1] 0.910780361757106 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.07, Z:-0.94 [[ 9.99961921e-01 -2.00091797e-03 -8.49428770e-03 4.49044981e+00] [ 1.98710222e-03 9.99996690e-01 -1.63460269e-03 -6.83004853e-02] [ 8.49753029e-03 1.61766143e-03 9.99962587e-01 -9.43439866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.651193817 meters Centerline goodness [0,1] 0.9096743571752858 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.08, Z:-0.94 [[ 9.99948399e-01 -5.14871081e-03 -8.75725739e-03 4.49148225e+00] [ 5.11915554e-03 9.99981137e-01 -3.39401857e-03 -7.53738600e-02] [ 8.77456702e-03 3.34901368e-03 9.99955895e-01 -9.43960840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68119381700001 meters Centerline goodness [0,1] 0.9025851914612222 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.09, Z:-0.95 [[ 0.99988888 -0.01167442 -0.00927044 4.49453127] [ 0.01160174 0.99990184 -0.00785583 -0.08525929] [ 0.00936125 0.00774741 0.99992617 -0.9464734 ] [ 0. 0. 0. 1. ]] SLAMing on 111.71119381700001 meters Centerline goodness [0,1] 0.8965588809098833 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.09, Z:-0.95 [[ 0.99985292 -0.01412128 -0.00973261 4.49731347] [ 0.01402784 0.99985549 -0.00960321 -0.08907285] [ 0.00986681 0.00946527 0.99990652 -0.9486635 ] [ 0. 0. 0. 1. ]] SLAMing on 111.74119381700001 meters Centerline goodness [0,1] 0.8911498373360409 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.09, Z:-0.95 [[ 0.99984959 -0.0141289 -0.01005843 4.49893641] [ 0.01404525 0.99986659 -0.00833902 -0.09386955] [ 0.01017491 0.00819649 0.99991464 -0.9499142 ] [ 0. 0. 0. 1. ]] SLAMing on 111.77119381700001 meters Centerline goodness [0,1] 0.8770965876229034 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.10, Z:-0.95 [[ 0.99984968 -0.01382634 -0.01046224 4.50086168] [ 0.01375377 0.99988107 -0.00697677 -0.09852763] [ 0.01055746 0.00683183 0.99992093 -0.95128065] [ 0. 0. 0. 1. ]] SLAMing on 111.80119381700001 meters Centerline goodness [0,1] 0.8699997921991564 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.10, Z:-0.95 [[ 0.99985537 -0.01321045 -0.01071075 4.50258571] [ 0.0131558 0.99990016 -0.00515719 -0.10497476] [ 0.01077781 0.00501553 0.99992934 -0.95281493] [ 0. 0. 0. 1. ]] SLAMing on 111.831193817 meters Centerline goodness [0,1] 0.8758156395649922 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.11, Z:-0.95 [[ 9.99872251e-01 -1.13621018e-02 -1.12421113e-02 4.50495113e+00] [ 1.13271602e-02 9.99930831e-01 -3.16690764e-03 -1.06959725e-01] [ 1.12773164e-02 3.03916187e-03 9.99931790e-01 -9.54353199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.861193817 meters Centerline goodness [0,1] 0.8788837325453145 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.11, Z:-0.95 [[ 9.99903986e-01 -8.45076876e-03 -1.09819627e-02 4.50339569e+00] [ 8.45208116e-03 9.99964278e-01 7.30975276e-05 -1.08085623e-01] [ 1.09809527e-02 -1.65910950e-04 9.99939694e-01 -9.53094981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.891193817 meters Centerline goodness [0,1] 0.8894942605223757 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.11, Z:-0.95 [[ 9.99926823e-01 -4.53160098e-03 -1.12166818e-02 4.50348357e+00] [ 4.57966285e-03 9.99980427e-01 4.26288594e-03 -1.09460900e-01] [ 1.11971445e-02 -4.31394261e-03 9.99928004e-01 -9.52545070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.921193817 meters Centerline goodness [0,1] 0.8973581457173714 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.11, Z:-0.95 [[ 9.99931094e-01 -3.62563122e-03 -1.11652207e-02 4.50275053e+00] [ 3.67784846e-03 9.99982380e-01 4.65980005e-03 -1.08950481e-01] [ 1.11481293e-02 -4.70054295e-03 9.99926809e-01 -9.51539427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.951193817 meters Centerline goodness [0,1] 0.9083829972797308 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.11, Z:-0.95 [[ 9.99979692e-01 2.56158521e-03 -5.83550863e-03 4.48865910e+00] [-2.53171608e-03 9.99983687e-01 5.12016355e-03 -1.11237928e-01] [ 5.84852918e-03 -5.10528572e-03 9.99969865e-01 -9.47950489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.981193817 meters Centerline goodness [0,1] 0.9094890207961479 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.11, Z:-0.95 [[ 9.99977601e-01 3.30184063e-03 -5.82198171e-03 4.48731710e+00] [-3.26981487e-03 9.99979519e-01 5.50179968e-03 -1.11616549e-01] [ 5.84002854e-03 -5.48263965e-03 9.99967917e-01 -9.46044092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.011193817 meters Centerline goodness [0,1] 0.9102760418822167 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.11, Z:-0.94 [[ 9.99976029e-01 3.69478847e-03 -5.85579457e-03 4.48632822e+00] [-3.66176903e-03 9.99977394e-01 5.63948886e-03 -1.11672295e-01] [ 5.87649891e-03 -5.61791111e-03 9.99966952e-01 -9.44541012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.041193817 meters Centerline goodness [0,1] 0.9094590685565519 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.11, Z:-0.94 [[ 9.99975592e-01 4.08152361e-03 -5.67075940e-03 4.48511331e+00] [-4.04669116e-03 9.99972959e-01 6.14042227e-03 -1.12734952e-01] [ 5.69566834e-03 -6.11732458e-03 9.99965068e-01 -9.43339421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07119381700001 meters Centerline goodness [0,1] 0.9112899896800826 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.11, Z:-0.94 [[ 9.99983732e-01 6.92107577e-04 -5.66183877e-03 4.48516016e+00] [-6.78235901e-04 9.99996765e-01 2.45158342e-03 -1.12145353e-01] [ 5.66351722e-03 -2.44770347e-03 9.99980966e-01 -9.43352261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10119381700001 meters Centerline goodness [0,1] 0.90622480411817 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.11, Z:-0.94 [[ 9.99984454e-01 4.38591965e-04 -5.55877629e-03 4.48476334e+00] [-4.22260227e-04 9.99995592e-01 2.93884271e-03 -1.14652453e-01] [ 5.56004074e-03 -2.93644977e-03 9.99980231e-01 -9.42995303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13119381700001 meters Centerline goodness [0,1] 0.9028395342584742 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.12, Z:-0.94 [[ 9.99984254e-01 -1.45712927e-04 -5.60978566e-03 4.48487325e+00] [ 1.63511436e-04 9.99994954e-01 3.17243317e-03 -1.17751200e-01] [ 5.60929509e-03 -3.17330049e-03 9.99979233e-01 -9.42858355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16119381700001 meters Centerline goodness [0,1] 0.910015503875969 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.12, Z:-0.95 [[ 9.99976564e-01 -3.01144642e-03 -6.14832661e-03 4.48842943e+00] [ 3.01965099e-03 9.99994562e-01 1.32559316e-03 -1.23080067e-01] [ 6.14430123e-03 -1.34412789e-03 9.99980220e-01 -9.46043557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19119381700001 meters Centerline goodness [0,1] 0.906953580544085 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.12, Z:-0.95 [[ 9.99975334e-01 -2.97573083e-03 -6.36209743e-03 4.48990853e+00] [ 2.98720969e-03 9.99993926e-01 1.79551733e-03 -1.24777877e-01] [ 6.35671581e-03 -1.81447796e-03 9.99978150e-01 -9.47379555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.221193817 meters Centerline goodness [0,1] 0.9077312423506959 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.13, Z:-0.95 [[ 9.99974578e-01 -2.78868011e-03 -6.56246142e-03 4.49180038e+00] [ 2.80268091e-03 9.99993814e-01 2.12523838e-03 -1.25668252e-01] [ 6.55649421e-03 -2.14357684e-03 9.99976208e-01 -9.49222136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.251193817 meters Centerline goodness [0,1] 0.9071944979595219 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.13, Z:-0.95 [[ 9.99973224e-01 -1.82835202e-03 -7.08577474e-03 4.49419573e+00] [ 1.85045360e-03 9.99993440e-01 3.11384925e-03 -1.27398033e-01] [ 7.08003504e-03 -3.12687777e-03 9.99970047e-01 -9.50955681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.281193817 meters Centerline goodness [0,1] 0.906329008994073 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.13, Z:-0.95 [[ 9.99972971e-01 -1.70008653e-03 -7.15306571e-03 4.49451451e+00] [ 1.72474135e-03 9.99992589e-01 3.44199258e-03 -1.28749036e-01] [ 7.14716101e-03 -3.45423674e-03 9.99968493e-01 -9.51065414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.311193817 meters Centerline goodness [0,1] 0.9074450014500559 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.13, Z:-0.95 [[ 9.99973158e-01 -1.61665729e-03 -7.14626509e-03 4.49435708e+00] [ 1.64276878e-03 9.99991991e-01 3.64950784e-03 -1.29773139e-01] [ 7.14030785e-03 -3.66114954e-03 9.99967805e-01 -9.50755652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.341193817 meters Centerline goodness [0,1] 0.9091041393791971 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.13, Z:-0.95 [[ 9.99973401e-01 -1.14488840e-03 -7.20322948e-03 4.49428677e+00] [ 1.17387641e-03 9.99991225e-01 4.02136832e-03 -1.30348558e-01] [ 7.19856226e-03 -4.02971705e-03 9.99965970e-01 -9.50424531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.371193817 meters Centerline goodness [0,1] 0.9086889737628695 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.13, Z:-0.95 [[ 9.99972229e-01 -5.21543987e-04 -7.43434136e-03 4.49495117e+00] [ 5.53202835e-04 9.99990786e-01 4.25704023e-03 -1.30323426e-01] [ 7.43205262e-03 -4.26103471e-03 9.99963303e-01 -9.50601121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.401193817 meters Centerline goodness [0,1] 0.9126586749215715 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.13, Z:-0.95 [[ 9.99971763e-01 5.54657961e-04 -7.49432469e-03 4.49506194e+00] [-5.19633002e-04 9.99988939e-01 4.67467021e-03 -1.30159581e-01] [ 7.49683463e-03 -4.67064391e-03 9.99960991e-01 -9.50493447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43119381700001 meters Centerline goodness [0,1] 0.9185454545454546 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.13, Z:-0.95 [[ 0.99995043 0.00640027 -0.00762726 4.49486171] [-0.00632215 0.99992777 0.01022203 -0.13322468] [ 0.00769214 -0.0101733 0.99991866 -0.94982149] [ 0. 0. 0. 1. ]] SLAMing on 112.46119381700001 meters Centerline goodness [0,1] 0.9208103512628043 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.13, Z:-0.95 [[ 0.99994328 0.00739644 -0.0076634 4.49487138] [-0.00731246 0.99991353 0.01092982 -0.13405742] [ 0.00774358 -0.01087317 0.9999109 -0.9496574 ] [ 0. 0. 0. 1. ]] SLAMing on 112.49119381700001 meters Centerline goodness [0,1] 0.9218927575162723 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.14, Z:-0.95 [[ 0.99993915 0.00789507 -0.00770421 4.49472293] [-0.00780605 0.99990321 0.01151698 -0.13545015] [ 0.00779439 -0.01145614 0.999904 -0.9492779 ] [ 0. 0. 0. 1. ]] SLAMing on 112.52119381700001 meters Centerline goodness [0,1] 0.9215479440721437 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.14, Z:-0.95 [[ 0.99995911 0.00480361 -0.00766203 4.49434998] [-0.00474031 0.99995467 0.00825764 -0.13617224] [ 0.00770135 -0.00822099 0.99993655 -0.94893467] [ 0. 0. 0. 1. ]] SLAMing on 112.55119381700001 meters Centerline goodness [0,1] 0.9189447246611454 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.14, Z:-0.95 [[ 9.99967427e-01 -5.75779804e-04 -8.05066747e-03 4.49582392e+00] [ 6.08952676e-04 9.99991333e-01 4.11866803e-03 -1.44089918e-01] [ 8.04822625e-03 -4.12343635e-03 9.99959111e-01 -9.49761711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.581193817 meters Centerline goodness [0,1] 0.9167220192627035 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.15, Z:-0.95 [[ 9.99959605e-01 -3.46801970e-03 -8.29224926e-03 4.49695919e+00] [ 3.48570117e-03 9.99991680e-01 2.11878737e-03 -1.49517031e-01] [ 8.28483228e-03 -2.14760608e-03 9.99963374e-01 -9.50451357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.611193817 meters Centerline goodness [0,1] 0.9146578457721728 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.15, Z:-0.95 [[ 9.99944353e-01 -5.84753019e-03 -8.78047793e-03 4.49926513e+00] [ 5.85226057e-03 9.99982744e-01 5.13141102e-04 -1.54761069e-01] [ 8.77732581e-03 -5.64498192e-04 9.99961319e-01 -9.51896426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.641193817 meters Centerline goodness [0,1] 0.9147937352000333 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.16, Z:-0.95 [[ 9.99931084e-01 -7.65565086e-03 -8.90045266e-03 4.49995730e+00] [ 7.65730896e-03 9.99970671e-01 1.52230067e-04 -1.63672588e-01] [ 8.89902619e-03 -2.20373092e-04 9.99960379e-01 -9.52267612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.671193817 meters Centerline goodness [0,1] 0.9143022702344736 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.17, Z:-0.95 [[ 9.99935855e-01 -6.57360939e-03 -9.22353836e-03 4.50080081e+00] [ 6.59166135e-03 9.99976416e-01 1.92812840e-03 -1.68318230e-01] [ 9.21064606e-03 -1.98880316e-03 9.99955603e-01 -9.52331734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.701193817 meters Centerline goodness [0,1] 0.9151380435008414 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.17, Z:-0.95 [[ 9.99942090e-01 -5.31151747e-03 -9.35971374e-03 4.50070286e+00] [ 5.34714761e-03 9.99978537e-01 3.78585200e-03 -1.72783013e-01] [ 9.33940423e-03 -3.83568053e-03 9.99949030e-01 -9.51779239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.731193817 meters Centerline goodness [0,1] 0.9172536302232871 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.18, Z:-0.95 [[ 9.99946906e-01 -3.50907298e-03 -9.68871017e-03 4.50024934e+00] [ 3.56908148e-03 9.99974514e-01 6.18332383e-03 -1.82253224e-01] [ 9.66676550e-03 -6.21757533e-03 9.99933946e-01 -9.50290362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.761193817 meters Centerline goodness [0,1] 0.919470308297124 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.19, Z:-0.95 [[ 0.99994431 -0.00475239 -0.00942288 4.49834366] [ 0.00479941 0.99997611 0.00497422 -0.18553293] [ 0.00939901 -0.00501917 0.99994323 -0.94852595] [ 0. 0. 0. 1. ]] SLAMing on 112.791193817 meters Centerline goodness [0,1] 0.9201235566059249 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.19, Z:-0.95 [[ 9.99945742e-01 -4.20364442e-03 -9.53108505e-03 4.49838341e+00] [ 4.26401691e-03 9.99970920e-01 6.32282541e-03 -1.89640247e-01] [ 9.50422898e-03 -6.36312305e-03 9.99934588e-01 -9.48117226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82119381700001 meters Centerline goodness [0,1] 0.9208358282917966 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.19, Z:-0.95 [[ 0.99993367 -0.0053156 -0.01021788 4.50096214] [ 0.00537238 0.99997023 0.00553779 -0.19271055] [ 0.01018814 -0.00559232 0.99993246 -0.94947364] [ 0. 0. 0. 1. ]] SLAMing on 112.85119381700001 meters Centerline goodness [0,1] 0.9194586291360485 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.20, Z:-0.95 [[ 9.99913057e-01 -8.23219137e-03 -1.03009467e-02 4.50094600e+00] [ 8.26261782e-03 9.99961616e-01 2.91468910e-03 -1.95307878e-01] [ 1.02765570e-02 -2.99954847e-03 9.99942696e-01 -9.49131225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88119381700001 meters Centerline goodness [0,1] 0.9173098810139679 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.20, Z:-0.95 [[ 9.99886364e-01 -1.07738542e-02 -1.05443428e-02 4.50228835e+00] [ 1.07950204e-02 9.99939826e-01 1.95249629e-03 -2.04364299e-01] [ 1.05226724e-02 -2.06610082e-03 9.99942501e-01 -9.49808029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91119381700001 meters Centerline goodness [0,1] 0.9174826919478576 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.21, Z:-0.95 [[ 9.99888560e-01 -1.05212974e-02 -1.05909847e-02 4.50261702e+00] [ 1.05569419e-02 9.99938778e-01 3.31528576e-03 -2.09511570e-01] [ 1.05554552e-02 -3.42672472e-03 9.99938418e-01 -9.49871904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94119381700001 meters Centerline goodness [0,1] 0.9162012328823798 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.21, Z:-0.95 [[ 9.99864364e-01 -1.20165038e-02 -1.12631240e-02 4.50535545e+00] [ 1.20432672e-02 9.99924806e-01 2.31139556e-03 -2.13296179e-01] [ 1.12345022e-02 -2.44672686e-03 9.99933898e-01 -9.51430297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.971193817 meters Centerline goodness [0,1] 0.9145302696638551 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.22, Z:-0.95 [[ 9.99863175e-01 -1.19700692e-02 -1.14170361e-02 4.50618464e+00] [ 1.20096857e-02 9.99922074e-01 3.40771660e-03 -2.17519865e-01] [ 1.13753558e-02 -3.54436535e-03 9.99929017e-01 -9.51889990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.001193817 meters Centerline goodness [0,1] 0.91001736398214 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.22, Z:-0.95 [[ 9.99802699e-01 -1.58394655e-02 -1.19863926e-02 4.50943805e+00] [ 1.58511631e-02 9.99873974e-01 8.81528769e-04 -2.22924417e-01] [ 1.19709190e-02 -1.07135311e-03 9.99927772e-01 -9.54226743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.031193817 meters Centerline goodness [0,1] 0.9091531329724348 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.23, Z:-0.95 [[ 9.99798989e-01 -1.59793662e-02 -1.21095222e-02 4.50961590e+00] [ 1.60026127e-02 9.99870284e-01 1.82522370e-03 -2.27308633e-01] [ 1.20787855e-02 -2.01864080e-03 9.99925011e-01 -9.53873736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.061193817 meters Centerline goodness [0,1] 0.9138546465778442 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.23, Z:-0.95 [[ 9.99798954e-01 -1.59084737e-02 -1.22053742e-02 4.50953945e+00] [ 1.59451658e-02 9.99868619e-01 2.91482243e-03 -2.31537617e-01] [ 1.21574003e-02 -3.10885314e-03 9.99921263e-01 -9.53196434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.091193817 meters Centerline goodness [0,1] 0.9152890845655425 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.23, Z:-0.95 [[ 9.99791324e-01 -1.61994439e-02 -1.24453519e-02 4.51022298e+00] [ 1.62418103e-02 9.99862612e-01 3.31069386e-03 -2.34732989e-01] [ 1.23900106e-02 -3.51213804e-03 9.99917073e-01 -9.53156896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.121193817 meters Centerline goodness [0,1] 0.9192258975477066 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.24, Z:-0.95 [[ 0.99986576 -0.01405973 -0.00841313 4.51632164] [ 0.01400912 0.9998836 -0.00604458 -0.23702996] [ 0.00849714 0.00592591 0.99994634 -0.95216839] [ 0. 0. 0. 1. ]] SLAMing on 113.151193817 meters Centerline goodness [0,1] 0.9201972698518395 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.24, Z:-0.95 [[ 9.99913667e-01 -1.00152494e-02 -8.50603150e-03 4.51599100e+00] [ 1.00065506e-02 9.99949367e-01 -1.06460125e-03 -2.40326500e-01] [ 8.51626306e-03 9.79393303e-04 9.99963256e-01 -9.51349673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18119381700001 meters Centerline goodness [0,1] 0.9153346032797747 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.24, Z:-0.95 [[ 9.99916888e-01 -9.37840565e-03 -8.84664647e-03 4.51701853e+00] [ 9.37427776e-03 9.99955931e-01 -5.07956763e-04 -2.40795551e-01] [ 8.85102043e-03 4.24983624e-04 9.99960739e-01 -9.51793768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21119381700001 meters Centerline goodness [0,1] 0.9201525641557149 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.24, Z:-0.95 [[ 9.99942791e-01 -5.57044801e-03 -9.13148873e-03 4.51816594e+00] [ 5.60623562e-03 9.99976687e-01 3.89824174e-03 -2.43206768e-01] [ 9.10956089e-03 -3.94921201e-03 9.99950709e-01 -9.52440081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24119381700001 meters Centerline goodness [0,1] 0.9187981127390117 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.25, Z:-0.95 [[ 9.99946957e-01 -4.39022367e-03 -9.31714444e-03 4.51924336e+00] [ 4.43672588e-03 9.99977776e-01 4.97625021e-03 -2.45069646e-01] [ 9.29509052e-03 -5.01732387e-03 9.99944212e-01 -9.53423571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27119381700001 meters Centerline goodness [0,1] 0.9185211253027512 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.25, Z:-0.95 [[ 9.99947894e-01 -4.01020925e-03 -9.38767141e-03 4.51943899e+00] [ 4.06206917e-03 9.99976560e-01 5.51172404e-03 -2.46595729e-01] [ 9.36534819e-03 -5.54957022e-03 9.99940745e-01 -9.53408280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30119381700001 meters Centerline goodness [0,1] 0.9180651325081001 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.25, Z:-0.95 [[ 9.99947534e-01 -3.78138717e-03 -9.52002681e-03 4.51987250e+00] [ 3.83811003e-03 9.99974950e-01 5.94706395e-03 -2.47978546e-01] [ 9.49730019e-03 -5.98329084e-03 9.99936999e-01 -9.53548832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.331193817 meters Centerline goodness [0,1] 0.917019422310757 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.25, Z:-0.95 [[ 9.99944612e-01 -3.84075598e-03 -9.79903076e-03 4.52096781e+00] [ 3.90118479e-03 9.99973447e-01 6.15517253e-03 -2.49185581e-01] [ 9.77513005e-03 -6.19305944e-03 9.99933044e-01 -9.54098459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.361193817 meters Centerline goodness [0,1] 0.915674170148199 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.25, Z:-0.95 [[ 9.99942417e-01 -3.80629828e-03 -1.00336562e-02 4.52207726e+00] [ 3.87138317e-03 9.99971541e-01 6.47523520e-03 -2.50539254e-01] [ 1.00087240e-02 -6.51370647e-03 9.99928696e-01 -9.54900248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.391193817 meters Centerline goodness [0,1] 0.9116006056457802 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.25, Z:-0.96 [[ 9.99935573e-01 -4.45556954e-03 -1.04401972e-02 4.52405682e+00] [ 4.51647063e-03 9.99972881e-01 5.81702986e-03 -2.50103943e-01] [ 1.04139959e-02 -5.86380793e-03 9.99928580e-01 -9.56272789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.421193817 meters Centerline goodness [0,1] 0.9116006056457802 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.25, Z:-0.96 [[ 9.99935573e-01 -4.45556954e-03 -1.04401972e-02 4.52405682e+00] [ 4.51647063e-03 9.99972881e-01 5.81702986e-03 -2.50103943e-01] [ 1.04139959e-02 -5.86380793e-03 9.99928580e-01 -9.56272789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.451193817 meters Centerline goodness [0,1] 0.911330662736877 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.25, Z:-0.96 [[ 9.99934546e-01 -4.46135140e-03 -1.05356857e-02 4.52462526e+00] [ 4.52287963e-03 9.99972815e-01 5.82339498e-03 -2.50348419e-01] [ 1.05094191e-02 -5.87066545e-03 9.99927541e-01 -9.56695926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.481193817 meters Centerline goodness [0,1] 0.9139751358780533 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.25, Z:-0.96 [[ 0.99993212 -0.00458909 -0.01071006 4.52456121] [ 0.00464973 0.99997326 0.00564377 -0.24984292] [ 0.01068388 -0.00569319 0.99992672 -0.95611942] [ 0. 0. 0. 1. ]] SLAMing on 113.511193817 meters Centerline goodness [0,1] 0.9119468107209641 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.25, Z:-0.96 [[ 0.99992729 -0.00496467 -0.01098982 4.52514241] [ 0.00502324 0.99997329 0.00530818 -0.25002214] [ 0.01096317 -0.005363 0.99992552 -0.95596639] [ 0. 0. 0. 1. ]] SLAMing on 113.541193817 meters Centerline goodness [0,1] 0.9120036475172013 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.25, Z:-0.96 [[ 0.99992073 -0.00542433 -0.01136307 4.52595856] [ 0.00548178 0.99997232 0.00503037 -0.25078789] [ 0.01133547 -0.00509226 0.99992279 -0.9558509 ] [ 0. 0. 0. 1. ]] SLAMing on 113.57119381700001 meters Centerline goodness [0,1] 0.912202872235061 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.25, Z:-0.96 [[ 9.99971169e-01 -4.84371372e-03 -5.84799018e-03 4.53788598e+00] [ 4.81975138e-03 9.99979961e-01 -4.10469702e-03 -2.50030348e-01] [ 5.86775497e-03 4.07639282e-03 9.99974476e-01 -9.59905387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60119381700001 meters Centerline goodness [0,1] 0.916296556425458 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.25, Z:-0.96 [[ 9.99969246e-01 -5.42596540e-03 -5.66267258e-03 4.53732972e+00] [ 5.40261795e-03 9.99976876e-01 -4.13022854e-03 -2.50609902e-01] [ 5.68495211e-03 4.09950826e-03 9.99975437e-01 -9.59398641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63119381700001 meters Centerline goodness [0,1] 0.9146953701216867 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.25, Z:-0.96 [[ 9.99980045e-01 -2.63272921e-03 -5.74276228e-03 4.53783462e+00] [ 2.63060852e-03 9.99996469e-01 -3.76803002e-04 -2.52014366e-01] [ 5.74373402e-03 3.61688523e-04 9.99983439e-01 -9.59445070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66119381700001 meters Centerline goodness [0,1] 0.9097082338282629 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.25, Z:-0.96 [[ 9.99979245e-01 -2.70582521e-03 -5.84709160e-03 4.53823494e+00] [ 2.70386375e-03 9.99996286e-01 -3.43338915e-04 -2.51794747e-01] [ 5.84799889e-03 3.27522049e-04 9.99982847e-01 -9.59613678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69119381700001 meters Centerline goodness [0,1] 0.9145464371830049 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.25, Z:-0.96 [[ 9.99978094e-01 -2.80248651e-03 -5.99644587e-03 4.53897633e+00] [ 2.80309358e-03 9.99996067e-01 9.28374348e-05 -2.53878645e-01] [ 5.99616211e-03 -1.09644000e-04 9.99982017e-01 -9.60087029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.721193817 meters Centerline goodness [0,1] 0.9105502689284237 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.25, Z:-0.96 [[ 9.99973196e-01 -3.37061856e-03 -6.49974435e-03 4.54114451e+00] [ 3.36809304e-03 9.99994248e-01 -3.99463309e-04 -2.54155271e-01] [ 6.50105341e-03 3.77560858e-04 9.99978797e-01 -9.61383027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.751193817 meters Centerline goodness [0,1] 0.9073580185656102 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.25, Z:-0.96 [[ 9.99971878e-01 -3.31593832e-03 -6.72664653e-03 4.54196521e+00] [ 3.31450098e-03 9.99994482e-01 -2.24814456e-04 -2.54489431e-01] [ 6.72735488e-03 2.02512657e-04 9.99977351e-01 -9.61764935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.781193817 meters Centerline goodness [0,1] 0.9069979296066253 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.25, Z:-0.96 [[ 9.99970915e-01 -3.18745686e-03 -6.92892615e-03 4.54255296e+00] [ 3.18668162e-03 9.99994915e-01 -1.22920901e-04 -2.54111563e-01] [ 6.92928272e-03 1.00837044e-04 9.99975987e-01 -9.61933353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.811193817 meters Centerline goodness [0,1] 0.9044603181195232 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.25, Z:-0.96 [[ 9.99968561e-01 -3.53455333e-03 -7.09814167e-03 4.54332089e+00] [ 3.53071717e-03 9.99993614e-01 -5.52904343e-04 -2.52045559e-01] [ 7.10005061e-03 5.27825429e-04 9.99974655e-01 -9.62474304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.841193817 meters Centerline goodness [0,1] 0.9020295509255416 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.25, Z:-0.96 [[ 9.99965251e-01 -3.78169386e-03 -7.42938854e-03 4.54445273e+00] [ 3.77689699e-03 9.99992650e-01 -6.59586490e-04 -2.51523477e-01] [ 7.43182829e-03 6.31503535e-04 9.99972184e-01 -9.62972501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.871193817 meters Centerline goodness [0,1] 0.8969900219434439 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.25, Z:-0.96 [[ 9.99961223e-01 -4.06515765e-03 -7.81198368e-03 4.54561487e+00] [ 4.06015412e-03 9.99991542e-01 -6.56246243e-04 -2.51937420e-01] [ 7.81458535e-03 6.24502938e-04 9.99969271e-01 -9.63364147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.901193817 meters Centerline goodness [0,1] 0.8844380403458213 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.25, Z:-0.96 [[ 9.99952273e-01 -5.02595693e-03 -8.37802749e-03 4.54798297e+00] [ 5.01534873e-03 9.99986595e-01 -1.28672156e-03 -2.52710760e-01] [ 8.38438219e-03 1.24464142e-03 9.99964076e-01 -9.64624965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93119381700001 meters Centerline goodness [0,1] 0.884608995390174 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.25, Z:-0.96 [[ 9.99951029e-01 -5.06657719e-03 -8.50117775e-03 4.54777852e+00] [ 5.05905379e-03 9.99986792e-01 -9.06254131e-04 -2.54351664e-01] [ 8.50565708e-03 8.63201835e-04 9.99963454e-01 -9.63885208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96119381700001 meters Centerline goodness [0,1] 0.8864357894300002 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.26, Z:-0.96 [[ 9.99951308e-01 -4.72129601e-03 -8.66548306e-03 4.54764551e+00] [ 4.71813697e-03 9.99988795e-01 -3.84960966e-04 -2.55417573e-01] [ 8.66720348e-03 3.44057286e-04 9.99962380e-01 -9.63144455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99119381700001 meters Centerline goodness [0,1] 0.8973591294831823 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.25, Z:-0.97 [[ 9.99996827e-01 6.35543636e-05 -2.51833442e-03 4.55794140e+00] [-7.80462977e-05 9.99983437e-01 -5.75489062e-03 -2.51265200e-01] [ 2.51792696e-03 5.75506891e-03 9.99980269e-01 -9.66059453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02119381700001 meters Centerline goodness [0,1] 0.900213812716667 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.25, Z:-0.97 [[ 9.99989382e-01 3.82861131e-03 -2.56456013e-03 4.55761864e+00] [-3.83415814e-03 9.99990314e-01 -2.16146537e-03 -2.49729450e-01] [ 2.55625988e-03 2.17127535e-03 9.99994376e-01 -9.65342873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05119381700001 meters Centerline goodness [0,1] 0.904123414071511 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.25, Z:-0.96 [[ 9.99967961e-01 7.46806119e-03 -2.88190182e-03 4.55814719e+00] [-7.46408994e-03 9.99971182e-01 1.38630121e-03 -2.48663483e-01] [ 2.89217175e-03 -1.36474602e-03 9.99994886e-01 -9.64921656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.081193817 meters Centerline goodness [0,1] 0.9094288192293396 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.25, Z:-0.96 [[ 9.99953165e-01 9.29072053e-03 -2.71127729e-03 4.55580407e+00] [-9.28539591e-03 9.99954949e-01 1.96990598e-03 -2.46096615e-01] [ 2.72945699e-03 -1.94463843e-03 9.99994384e-01 -9.62404204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.111193817 meters Centerline goodness [0,1] 0.9122871946706144 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.24, Z:-0.96 [[ 9.99950400e-01 9.48938833e-03 -3.02477444e-03 4.55582829e+00] [-9.48439827e-03 9.99953645e-01 1.65982625e-03 -2.44821412e-01] [ 3.04038496e-03 -1.63105576e-03 9.99994048e-01 -9.61496395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.141193817 meters Centerline goodness [0,1] 0.9183533518972611 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.24, Z:-0.96 [[ 9.99940926e-01 1.05394239e-02 -2.65795639e-03 4.55345377e+00] [-1.05339765e-02 9.99942404e-01 2.05522310e-03 -2.42709760e-01] [ 2.67946417e-03 -2.02710284e-03 9.99994356e-01 -9.59394747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.171193817 meters Centerline goodness [0,1] 0.9175796812749004 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.24, Z:-0.96 [[ 9.99938316e-01 1.07614792e-02 -2.74874984e-03 4.55323156e+00] [-1.07583055e-02 9.99941447e-01 1.16680555e-03 -2.38586068e-01] [ 2.76114545e-03 -1.13716168e-03 9.99995541e-01 -9.58873412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.201193817 meters Centerline goodness [0,1] 0.9173769135291684 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.23, Z:-0.96 [[ 9.99881674e-01 1.51248049e-02 -2.80673574e-03 4.55337239e+00] [-1.51135012e-02 9.99877760e-01 4.00577129e-03 -2.33720649e-01] [ 2.86697915e-03 -3.96287770e-03 9.99988038e-01 -9.58781020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.231193817 meters Centerline goodness [0,1] 0.9184010912923961 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.23, Z:-0.96 [[ 9.99873198e-01 1.55885682e-02 -3.25333026e-03 4.55470448e+00] [-1.55774399e-02 9.99872821e-01 3.41834810e-03 -2.31229507e-01] [ 3.30620366e-03 -3.36723610e-03 9.99988865e-01 -9.59411260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.261193817 meters Centerline goodness [0,1] 0.919024045261669 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.23, Z:-0.96 [[ 9.99864693e-01 1.60981154e-02 -3.38339600e-03 4.55518679e+00] [-1.60880669e-02 9.99866148e-01 2.97647136e-03 -2.28937620e-01] [ 3.43085870e-03 -2.92163632e-03 9.99989847e-01 -9.59782870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.291193817 meters Centerline goodness [0,1] 0.9196321056346801 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.23, Z:-0.96 [[ 9.99858859e-01 1.63886920e-02 -3.69769520e-03 4.55630424e+00] [-1.63800566e-02 9.99863068e-01 2.35367447e-03 -2.26177069e-01] [ 3.73576251e-03 -2.29277381e-03 9.99990394e-01 -9.60510327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32119381700001 meters Centerline goodness [0,1] 0.9162415495002281 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.22, Z:-0.96 [[ 9.99860849e-01 1.62116962e-02 -3.93239544e-03 4.55738946e+00] [-1.62055947e-02 9.99867435e-01 1.57852301e-03 -2.23607021e-01] [ 3.95746468e-03 -1.51457655e-03 9.99991022e-01 -9.61430880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35119381700001 meters Centerline goodness [0,1] 0.9147578466015381 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.22, Z:-0.96 [[ 9.99913648e-01 1.25169019e-02 -4.00291930e-03 4.55767447e+00] [-1.25265970e-02 9.99918644e-01 -2.40619212e-03 -2.22964856e-01] [ 3.97247557e-03 2.45612730e-03 9.99989093e-01 -9.61739305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38119381700001 meters Centerline goodness [0,1] 0.9128444185465745 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.22, Z:-0.96 [[ 9.99950389e-01 9.04159353e-03 -4.17971195e-03 4.55820174e+00] [-9.06559791e-03 9.99942316e-01 -5.76024976e-03 -2.24264623e-01] [ 4.12738900e-03 5.79785558e-03 9.99974674e-01 -9.62032546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41119381700001 meters Centerline goodness [0,1] 0.9121314604643442 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.23, Z:-0.96 [[ 0.99995613 0.00804388 -0.00479854 4.56048424] [-0.0080721 0.99995007 -0.00589075 -0.2273793 ] [ 0.00475092 0.00592922 0.99997114 -0.96317616] [ 0. 0. 0. 1. ]] SLAMing on 114.44119381700001 meters Centerline goodness [0,1] 0.912940344160303 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.23, Z:-0.96 [[ 0.99995902 0.00778555 -0.00461883 4.56031734] [-0.00780816 0.99995752 -0.00489782 -0.2326846 ] [ 0.0045805 0.00493368 0.99997734 -0.96319699] [ 0. 0. 0. 1. ]] SLAMing on 114.471193817 meters Centerline goodness [0,1] 0.9133854999065983 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.23, Z:-0.96 [[ 9.99956337e-01 7.85536139e-03 -5.06142966e-03 4.56168259e+00] [-7.87719850e-03 9.99959690e-01 -4.30902255e-03 -2.34949034e-01] [ 5.02737671e-03 4.34870429e-03 9.99977907e-01 -9.63756532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.501193817 meters Centerline goodness [0,1] 0.9110532889258951 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.24, Z:-0.96 [[ 9.99953491e-01 8.08316626e-03 -5.26094860e-03 4.56233599e+00] [-8.10089949e-03 9.99961548e-01 -3.35819202e-03 -2.38254191e-01] [ 5.23360148e-03 3.40065425e-03 9.99980522e-01 -9.63976954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.531193817 meters Centerline goodness [0,1] 0.9095006719735346 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.25, Z:-0.96 [[ 9.99961932e-01 6.37678911e-03 -5.95570028e-03 4.56428810e+00] [-6.39944050e-03 9.99972333e-01 -3.79203202e-03 -2.46753833e-01] [ 5.93135452e-03 3.83000081e-03 9.99975075e-01 -9.64700035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.561193817 meters Centerline goodness [0,1] 0.9088925825888219 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.25, Z:-0.96 [[ 9.99959363e-01 6.64733782e-03 -6.08980928e-03 4.56431912e+00] [-6.66292274e-03 9.99974570e-01 -2.54247628e-03 -2.51322623e-01] [ 6.07275372e-03 2.58294889e-03 9.99978225e-01 -9.64201139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.591193817 meters Centerline goodness [0,1] 0.9110266317670032 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.26, Z:-0.96 [[ 9.99957846e-01 6.71315687e-03 -6.26421519e-03 4.56461175e+00] [-6.72326247e-03 9.99976129e-01 -1.59356598e-03 -2.55024309e-01] [ 6.25336779e-03 1.63561476e-03 9.99979110e-01 -9.63893575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.621193817 meters Centerline goodness [0,1] 0.9107064912390098 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.26, Z:-0.96 [[ 9.99957525e-01 6.76092110e-03 -6.26405083e-03 4.56443336e+00] [-6.76572262e-03 9.99976834e-01 -7.45645900e-04 -2.58473775e-01] [ 6.25886446e-03 7.87995059e-04 9.99980103e-01 -9.63414249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.651193817 meters Centerline goodness [0,1] 0.9100465348180156 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.26, Z:-0.96 [[ 9.99954472e-01 6.93558019e-03 -6.55375927e-03 4.56506880e+00] [-6.93497777e-03 9.99975946e-01 1.14640432e-04 -2.62027236e-01] [ 6.55439673e-03 -6.91850378e-05 9.99978517e-01 -9.63233283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68119381700001 meters Centerline goodness [0,1] 0.9110362468026701 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.27, Z:-0.96 [[ 9.99963928e-01 5.74367466e-03 -6.25730736e-03 4.56325760e+00] [-5.75134163e-03 9.99982731e-01 -1.20797798e-03 -2.66198927e-01] [ 6.25026107e-03 1.24392232e-03 9.99979693e-01 -9.61826364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71119381700001 meters Centerline goodness [0,1] 0.9142863069678677 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.27, Z:-0.96 [[ 9.99959604e-01 6.24316722e-03 -6.46637490e-03 4.56405449e+00] [-6.24849395e-03 9.99980155e-01 -8.03883356e-04 -2.67395834e-01] [ 6.46122780e-03 8.44255987e-04 9.99978770e-01 -9.62280354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74119381700001 meters Centerline goodness [0,1] 0.9178139080960983 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.27, Z:-0.96 [[ 9.99952678e-01 7.12562248e-03 -6.62322061e-03 4.56428344e+00] [-7.12658845e-03 9.99974598e-01 -1.22255502e-04 -2.68322398e-01] [ 6.62218122e-03 1.69450684e-04 9.99978059e-01 -9.62180021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77119381700001 meters Centerline goodness [0,1] 0.9204592641807159 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.27, Z:-0.96 [[ 9.99946221e-01 7.83078613e-03 -6.79957066e-03 4.56493311e+00] [-7.82970347e-03 9.99969330e-01 1.85829697e-04 -2.68741190e-01] [ 6.80081731e-03 -1.32581081e-04 9.99976865e-01 -9.62587250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80119381700001 meters Centerline goodness [0,1] 0.9274877701405659 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.27, Z:-0.96 [[ 0.99989199 0.01294238 -0.00696511 4.56568846] [-0.01290383 0.99990133 0.00555122 -0.2736803 ] [ 0.00703627 -0.00546074 0.99996033 -0.96298265] [ 0. 0. 0. 1. ]] SLAMing on 114.831193817 meters Centerline goodness [0,1] 0.9256717411197072 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.27, Z:-0.96 [[ 0.99988734 0.01318191 -0.00717947 4.56626507] [-0.01313996 0.9998965 0.00585886 -0.27474832] [ 0.00725596 -0.00576386 0.99995706 -0.96311046] [ 0. 0. 0. 1. ]] SLAMing on 114.861193817 meters Centerline goodness [0,1] 0.9199991729043464 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.28, Z:-0.96 [[ 0.99988859 0.01282629 -0.00763494 4.56847289] [-0.01278209 0.99990142 0.00581066 -0.2764852 ] [ 0.00770872 -0.00571243 0.99995397 -0.96460049] [ 0. 0. 0. 1. ]] SLAMing on 114.891193817 meters Centerline goodness [0,1] 0.9207027342447482 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.28, Z:-0.97 [[ 9.99926720e-01 9.17381525e-03 -7.89905381e-03 4.57008144e+00] [-9.15024801e-03 9.99953592e-01 3.01454076e-03 -2.81109122e-01] [ 7.92634207e-03 -2.94204155e-03 9.99964258e-01 -9.66089271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.921193817 meters Centerline goodness [0,1] 0.9200289675150011 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.28, Z:-0.97 [[ 9.99936138e-01 7.37304431e-03 -8.56495753e-03 4.57317464e+00] [-7.35744004e-03 9.99971219e-01 1.85195665e-03 -2.84677848e-01] [ 8.57836558e-03 -1.78882221e-03 9.99961605e-01 -9.68104900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.951193817 meters Centerline goodness [0,1] 0.9167290730570811 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.29, Z:-0.97 [[ 9.99954630e-01 3.98102694e-03 -8.65385271e-03 4.57323886e+00] [-3.98911994e-03 9.99991622e-01 -9.18130385e-04 -2.87991399e-01] [ 8.65012510e-03 9.52609986e-04 9.99962133e-01 -9.67896284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.981193817 meters Centerline goodness [0,1] 0.9170245876128229 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.29, Z:-0.97 [[ 9.99959947e-01 4.82820240e-04 -8.93710349e-03 4.57414857e+00] [-5.16049520e-04 9.99992962e-01 -3.71619372e-03 -2.91851655e-01] [ 8.93524634e-03 3.72065687e-03 9.99953158e-01 -9.68248347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.011193817 meters Centerline goodness [0,1] 0.9058031088082902 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.30, Z:-0.97 [[ 0.99993384 -0.00729043 -0.00889801 4.57410087] [ 0.00721122 0.99993438 -0.00890161 -0.30071094] [ 0.00896232 0.00883686 0.99992079 -0.96735329] [ 0. 0. 0. 1. ]] SLAMing on 115.041193817 meters Centerline goodness [0,1] 0.9033137103987685 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.31, Z:-0.97 [[ 0.99989666 -0.01125312 -0.00894584 4.57423301] [ 0.01114995 0.9998717 -0.01150013 -0.30556708] [ 0.0090741 0.01139919 0.99989385 -0.96690755] [ 0. 0. 0. 1. ]] SLAMing on 115.07119381700001 meters Centerline goodness [0,1] 0.9057030747192061 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.31, Z:-0.97 [[ 0.9998443 -0.01529035 -0.00880801 4.57423252] [ 0.01516579 0.99978644 -0.01403854 -0.31073761] [ 0.00902079 0.01390277 0.99986266 -0.96661276] [ 0. 0. 0. 1. ]] SLAMing on 115.10119381700001 meters Centerline goodness [0,1] 0.9071640613647215 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.32, Z:-0.97 [[ 0.99977448 -0.01931138 -0.00883468 4.57440304] [ 0.0191614 0.99967597 -0.01675717 -0.31530359] [ 0.00915542 0.0165841 0.99982056 -0.96616308] [ 0. 0. 0. 1. ]] SLAMing on 115.13119381700001 meters Centerline goodness [0,1] 0.9101735845941092 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.32, Z:-0.97 [[ 0.99963121 -0.02576671 -0.00857451 4.57390919] [ 0.02557803 0.99944308 -0.02143117 -0.32262502] [ 0.00912195 0.02120395 0.99973356 -0.96516213] [ 0. 0. 0. 1. ]] SLAMing on 115.16119381700001 meters Centerline goodness [0,1] 0.9133961440069882 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.33, Z:-0.96 [[ 0.99963817 -0.02547523 -0.00863401 4.57336304] [ 0.02529828 0.99947949 -0.02001843 -0.32739688] [ 0.00913949 0.01979276 0.99976233 -0.96389293] [ 0. 0. 0. 1. ]] SLAMing on 115.19119381700001 meters Centerline goodness [0,1] 0.9125461101670328 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.33, Z:-0.96 [[ 0.99966934 -0.02424828 -0.00855716 4.57216461] [ 0.02409136 0.99954792 -0.01798759 -0.33173894] [ 0.00898946 0.01777549 0.99980159 -0.96227613] [ 0. 0. 0. 1. ]] SLAMing on 115.221193817 meters Centerline goodness [0,1] 0.9135958811683863 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.33, Z:-0.96 [[ 0.99975704 -0.02019119 -0.00884213 4.57254778] [ 0.02007292 0.9997105 -0.01326607 -0.33373672] [ 0.00910743 0.01308536 0.99987291 -0.96193738] [ 0. 0. 0. 1. ]] SLAMing on 115.251193817 meters Centerline goodness [0,1] 0.9133995037220843 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.34, Z:-0.96 [[ 0.99982579 -0.01625049 -0.00918172 4.5731722 ] [ 0.01616985 0.99983063 -0.00878886 -0.33504241] [ 0.00932299 0.00863886 0.99991922 -0.96170583] [ 0. 0. 0. 1. ]] SLAMing on 115.281193817 meters Centerline goodness [0,1] 0.9144438226698999 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.34, Z:-0.96 [[ 9.99881427e-01 -1.21486506e-02 -9.46266918e-03 4.57347323e+00] [ 1.21093882e-02 9.99917877e-01 -4.19549856e-03 -3.36573359e-01] [ 9.51286172e-03 4.08041395e-03 9.99946426e-01 -9.61202432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.311193817 meters Centerline goodness [0,1] 0.9144438226698999 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.34, Z:-0.96 [[ 9.99881427e-01 -1.21486506e-02 -9.46266918e-03 4.57347323e+00] [ 1.21093882e-02 9.99917877e-01 -4.19549856e-03 -3.36573359e-01] [ 9.51286172e-03 4.08041395e-03 9.99946426e-01 -9.61202432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.341193817 meters Centerline goodness [0,1] 0.912778273408162 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.34, Z:-0.96 [[ 9.99919753e-01 -8.12573670e-03 -9.71901399e-03 4.57376914e+00] [ 8.13014859e-03 9.99966864e-01 4.14519489e-04 -3.38714948e-01] [ 9.71532366e-03 -4.93503253e-04 9.99952683e-01 -9.60656848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.371193817 meters Centerline goodness [0,1] 0.9118960111297992 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.34, Z:-0.96 [[ 9.99921061e-01 -7.83033657e-03 -9.82640271e-03 4.57360946e+00] [ 7.83977894e-03 9.99968843e-01 9.22766148e-04 -3.39683245e-01] [ 9.81887097e-03 -9.99730131e-04 9.99951294e-01 -9.60081189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.401193817 meters Centerline goodness [0,1] 0.9130272179513816 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.34, Z:-0.96 [[ 9.99915176e-01 -8.34028080e-03 -1.00039818e-02 4.57442149e+00] [ 8.35036546e-03 9.99964668e-01 9.66717882e-04 -3.40891560e-01] [ 9.99556568e-03 -1.05017279e-03 9.99949492e-01 -9.60397455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43119381700001 meters Centerline goodness [0,1] 0.907440148095763 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.34, Z:-0.96 [[ 9.99904057e-01 -9.19512257e-03 -1.03598316e-02 4.57564084e+00] [ 9.20533603e-03 9.99957189e-01 9.38618571e-04 -3.42536713e-01] [ 1.03507574e-02 -1.03389425e-03 9.99945895e-01 -9.60673156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46119381700001 meters Centerline goodness [0,1] 0.9077178768048197 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.34, Z:-0.96 [[ 9.99891735e-01 -1.01314116e-02 -1.06711349e-02 4.57681089e+00] [ 1.01411035e-02 9.99948213e-01 8.54508249e-04 -3.43894911e-01] [ 1.06619249e-02 -9.62632819e-04 9.99942697e-01 -9.61015058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49119381700001 meters Centerline goodness [0,1] 0.8951292246520874 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.34, Z:-0.96 [[ 9.99867346e-01 -1.16685754e-02 -1.13637301e-02 4.57988674e+00] [ 1.16693841e-02 9.99931910e-01 4.86086285e-06 -3.44043606e-01] [ 1.13628996e-02 -1.37467949e-04 9.99935431e-01 -9.62806215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52119381700001 meters Centerline goodness [0,1] 0.849738449034033 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.34, Z:-0.97 [[ 9.99820727e-01 -1.47554331e-02 -1.18655334e-02 4.58333489e+00] [ 1.47308947e-02 9.99889177e-01 -2.15278921e-03 -3.42939658e-01] [ 1.18959837e-02 1.97761336e-03 9.99927285e-01 -9.65267777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55119381700001 meters Centerline goodness [0,1] 0.8272653637666411 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.34, Z:-0.97 [[ 9.99790521e-01 -1.61100778e-02 -1.26245692e-02 4.58598175e+00] [ 1.60680938e-02 9.99865051e-01 -3.41998824e-03 -3.42014366e-01] [ 1.26779618e-02 3.21641906e-03 9.99914458e-01 -9.66493861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.581193817 meters Centerline goodness [0,1] 0.8193689472039988 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.34, Z:-0.97 [[ 9.99833163e-01 -1.29676420e-02 -1.28641592e-02 4.58642659e+00] [ 1.29731126e-02 9.99915787e-01 3.41895429e-04 -3.43331183e-01] [ 1.28586423e-02 -5.08726574e-04 9.99917195e-01 -9.66039711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.611193817 meters Centerline goodness [0,1] 0.8291783049151624 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.34, Z:-0.97 [[ 9.99868440e-01 -9.50121509e-03 -1.31464980e-02 4.58681641e+00] [ 9.55343420e-03 9.99946701e-01 3.91500992e-03 -3.43248811e-01] [ 1.31085999e-02 -4.04008907e-03 9.99905917e-01 -9.65649473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.641193817 meters Centerline goodness [0,1] 0.8682562470091338 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.33, Z:-0.97 [[ 9.99964854e-01 -2.21755367e-04 -8.38098168e-03 4.59456510e+00] [ 2.01361554e-04 9.99997017e-01 -2.43410961e-03 -3.34912981e-01] [ 8.38149646e-03 2.43233645e-03 9.99961916e-01 -9.70499995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.671193817 meters Centerline goodness [0,1] 0.8966860380345352 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.33, Z:-0.97 [[ 9.99956733e-01 3.81608744e-03 -8.48349033e-03 4.59453518e+00] [-3.81207244e-03 9.99992614e-01 4.89391532e-04 -3.30088147e-01] [ 8.48529524e-03 -4.57030678e-04 9.99963895e-01 -9.70219571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.701193817 meters Centerline goodness [0,1] 0.9108552904995428 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.33, Z:-0.97 [[ 9.99929004e-01 8.25145428e-03 -8.59654930e-03 4.59394438e+00] [-8.21914242e-03 9.99959050e-01 3.78727501e-03 -3.26081606e-01] [ 8.62744780e-03 -3.71634987e-03 9.99955877e-01 -9.69118474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.731193817 meters Centerline goodness [0,1] 0.9059974302648485 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.32, Z:-0.97 [[ 0.99982309 0.01679551 -0.00846708 4.59191221] [-0.01670146 0.99979936 0.01105878 -0.32212644] [ 0.00865112 -0.01091541 0.999903 -0.96666318] [ 0. 0. 0. 1. ]] SLAMing on 115.761193817 meters Centerline goodness [0,1] 0.9051477597712106 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.32, Z:-0.97 [[ 0.99981681 0.01703156 -0.00873316 4.59234472] [-0.01694246 0.99980468 0.01017662 -0.31847953] [ 0.00890478 -0.0100268 0.99991008 -0.96682941] [ 0. 0. 0. 1. ]] SLAMing on 115.791193817 meters Centerline goodness [0,1] 0.9106181258706364 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.32, Z:-0.97 [[ 0.99981547 0.0170775 -0.00879733 4.59215547] [-0.01699424 0.99981089 0.00945364 -0.31542957] [ 0.00895712 -0.00930239 0.99991661 -0.96652011] [ 0. 0. 0. 1. ]] SLAMing on 115.82119381700001 meters Centerline goodness [0,1] 0.9079944364866829 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.31, Z:-0.97 [[ 0.99981496 0.01706928 -0.00887059 4.59203682] [-0.01699007 0.99981578 0.00892954 -0.31344735] [ 0.00902138 -0.00877717 0.99992078 -0.96619919] [ 0. 0. 0. 1. ]] SLAMing on 115.85119381700001 meters Centerline goodness [0,1] 0.9154982239670967 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.31, Z:-0.97 [[ 0.99981655 0.016846 -0.00911507 4.59207282] [-0.01677118 0.99982554 0.00822339 -0.31156404] [ 0.00925202 -0.00806901 0.99992464 -0.96567657] [ 0. 0. 0. 1. ]] SLAMing on 115.88119381700001 meters Centerline goodness [0,1] 0.9071126251677506 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.31, Z:-0.97 [[ 0.9998208 0.01625346 -0.00970557 4.59414374] [-0.01618314 0.99984254 0.00728021 -0.30986956] [ 0.00982237 -0.00712184 0.9999264 -0.96683025] [ 0. 0. 0. 1. ]] SLAMing on 115.91119381700001 meters Centerline goodness [0,1] 0.9131499232333292 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.31, Z:-0.97 [[ 0.99982388 0.01581194 -0.0101092 4.59566517] [-0.01574607 0.99985449 0.00656224 -0.30852439] [ 0.01021149 -0.0064019 0.99992737 -0.96778855] [ 0. 0. 0. 1. ]] SLAMing on 115.94119381700001 meters Centerline goodness [0,1] 0.9134393514187714 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.31, Z:-0.97 [[ 9.99870086e-01 1.23004107e-02 -1.04168160e-02 4.59642021e+00] [-1.22784658e-02 9.99922266e-01 2.16802912e-03 -3.05902302e-01] [ 1.04426739e-02 -2.03984494e-03 9.99943393e-01 -9.68391838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.971193817 meters Centerline goodness [0,1] 0.9113263630505727 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.30, Z:-0.97 [[ 9.99901711e-01 8.98611511e-03 -1.07618702e-02 4.59702780e+00] [-9.00492204e-03 9.99958009e-01 -1.70037189e-03 -3.04685008e-01] [ 1.07461386e-02 1.79711456e-03 9.99940644e-01 -9.68644162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.001193817 meters Centerline goodness [0,1] 0.9092583395414287 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.30, Z:-0.97 [[ 9.99903778e-01 8.10231878e-03 -1.12600057e-02 4.59907015e+00] [-8.12911909e-03 9.99964229e-01 -2.33640612e-03 -3.04760162e-01] [ 1.12406726e-02 2.42771523e-03 9.99933875e-01 -9.69751291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.031193817 meters Centerline goodness [0,1] 0.9089272411224236 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.31, Z:-0.97 [[ 9.99906398e-01 7.49302962e-03 -1.14476653e-02 4.59980301e+00] [-7.52207292e-03 9.99968593e-01 -2.49610308e-03 -3.05703264e-01] [ 1.14286024e-02 2.58197961e-03 9.99931358e-01 -9.70063703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.061193817 meters Centerline goodness [0,1] 0.9081904290224726 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.31, Z:-0.97 [[ 9.99911576e-01 6.22493426e-03 -1.17511593e-02 4.60162639e+00] [-6.26034224e-03 9.99975967e-01 -2.97877188e-03 -3.07708554e-01] [ 1.17323342e-02 3.05207476e-03 9.99926516e-01 -9.71204239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.091193817 meters Centerline goodness [0,1] 0.908285251753767 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.31, Z:-0.97 [[ 9.99926937e-01 2.22969959e-03 -1.18805993e-02 4.60201663e+00] [-2.30749588e-03 9.99975961e-01 -6.53849997e-03 -3.09041138e-01] [ 1.18657348e-02 6.56543668e-03 9.99908045e-01 -9.71333469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.121193817 meters Centerline goodness [0,1] 0.9084223210204845 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.31, Z:-0.97 [[ 0.99990511 -0.00652903 -0.01213002 4.60353443] [ 0.00635284 0.99987458 -0.01450748 -0.31047739] [ 0.01222322 0.01442904 0.99982118 -0.97248445] [ 0. 0. 0. 1. ]] SLAMing on 116.151193817 meters Centerline goodness [0,1] 0.9052334977002445 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.31, Z:-0.97 [[ 0.99988461 -0.00830248 -0.01272161 4.60593007] [ 0.0081081 0.99985075 -0.01525542 -0.31234758] [ 0.01284636 0.01515051 0.9998027 -0.9734524 ] [ 0. 0. 0. 1. ]] SLAMing on 116.18119381700001 meters Centerline goodness [0,1] 0.8962643559019859 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.31, Z:-0.97 [[ 0.99987351 -0.00896786 -0.01313565 4.60713729] [ 0.00876886 0.99984709 -0.01512938 -0.31409933] [ 0.01326932 0.01501228 0.99979926 -0.97362471] [ 0. 0. 0. 1. ]] SLAMing on 116.21119381700001 meters Centerline goodness [0,1] 0.8854345621261358 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.31, Z:-0.97 [[ 0.99986115 -0.00959338 -0.01362491 4.60874397] [ 0.00938595 0.9998403 -0.01520765 -0.31467469] [ 0.01376862 0.01507765 0.99979152 -0.97414036] [ 0. 0. 0. 1. ]] SLAMing on 116.24119381700001 meters Centerline goodness [0,1] 0.8637270799550955 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.31, Z:-0.97 [[ 0.99984641 -0.01068334 -0.01389335 4.609553 ] [ 0.01046316 0.99982004 -0.01582464 -0.31445741] [ 0.01405991 0.01567684 0.99977825 -0.97416046] [ 0. 0. 0. 1. ]] SLAMing on 116.27119381700001 meters Centerline goodness [0,1] 0.8521583631373202 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.31, Z:-0.97 [[ 0.99983708 -0.01102301 -0.01429381 4.61065224] [ 0.01079348 0.99981314 -0.01603703 -0.31399157] [ 0.01446791 0.01588014 0.99976922 -0.97439811] [ 0. 0. 0. 1. ]] SLAMing on 116.30119381700001 meters Centerline goodness [0,1] 0.841728257044076 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.31, Z:-0.97 [[ 0.99982546 -0.0114001 -0.01480157 4.61223536] [ 0.01115663 0.9998028 -0.01642843 -0.31282858] [ 0.01498594 0.01626043 0.99975548 -0.97497467] [ 0. 0. 0. 1. ]] SLAMing on 116.331193817 meters Centerline goodness [0,1] 0.8276436303080766 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.31, Z:-0.98 [[ 0.99985018 -0.00851795 -0.0150683 4.61350294] [ 0.00831757 0.99987681 -0.01331113 -0.31135075] [ 0.01517983 0.01318381 0.99979786 -0.97569316] [ 0. 0. 0. 1. ]] SLAMing on 116.361193817 meters Centerline goodness [0,1] 0.8276192659594422 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.31, Z:-0.98 [[ 0.99987105 -0.00490299 -0.0152917 4.61374659] [ 0.00476145 0.99994562 -0.00927865 -0.31189532] [ 0.01533636 0.00920464 0.99984002 -0.97512182] [ 0. 0. 0. 1. ]] SLAMing on 116.391193817 meters Centerline goodness [0,1] 0.8110008271298594 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.31, Z:-0.98 [[ 9.99870140e-01 -1.99787368e-03 -1.59909562e-02 4.61574426e+00] [ 1.89926182e-03 9.99979103e-01 -6.17953975e-03 -3.11335372e-01] [ 1.60029679e-02 6.14836626e-03 9.99853041e-01 -9.75507916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.421193817 meters Centerline goodness [0,1] 0.8471205059920106 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.31, Z:-0.98 [[ 9.99868586e-01 1.60797869e-03 -1.61314827e-02 4.61582156e+00] [-1.65062749e-03 9.99995177e-01 -2.63085771e-03 -3.09926550e-01] [ 1.61271745e-02 2.65713905e-03 9.99866418e-01 -9.75005640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.451193817 meters Centerline goodness [0,1] 0.8678656330749354 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.30, Z:-0.98 [[ 0.99992554 0.00734825 -0.00974284 4.62658784] [-0.00740836 0.99995366 -0.00614845 -0.30247284] [ 0.00969721 0.00622017 0.99993363 -0.97667467] [ 0. 0. 0. 1. ]] SLAMing on 116.481193817 meters Centerline goodness [0,1] 0.8750597179236856 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.30, Z:-0.97 [[ 0.9999176 0.00851222 -0.00960907 4.62448455] [-0.00856485 0.99994847 -0.00544928 -0.29986771] [ 0.00956219 0.00553113 0.99993898 -0.97427993] [ 0. 0. 0. 1. ]] SLAMing on 116.511193817 meters Centerline goodness [0,1] 0.8720061433730439 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.30, Z:-0.97 [[ 0.9999168 0.00863704 -0.00958134 4.62332968] [-0.00869376 0.99994484 -0.00589371 -0.29695283] [ 0.0095299 0.00597652 0.99993673 -0.97276062] [ 0. 0. 0. 1. ]] SLAMing on 116.541193817 meters Centerline goodness [0,1] 0.874331439943613 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.29, Z:-0.97 [[ 0.99991476 0.00857526 -0.00984607 4.6230867 ] [-0.00863822 0.9999424 -0.00637015 -0.2943687 ] [ 0.00979088 0.00645466 0.99993124 -0.97165466] [ 0. 0. 0. 1. ]] SLAMing on 116.57119381700001 meters Centerline goodness [0,1] 0.8865245290830056 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.29, Z:-0.97 [[ 0.99992203 0.00773514 -0.00980358 4.62254929] [-0.00781018 0.99994032 -0.00763931 -0.28688106] [ 0.00974391 0.00771528 0.99992276 -0.97074246] [ 0. 0. 0. 1. ]] SLAMing on 116.60119381700001 meters Centerline goodness [0,1] 0.8733208955223881 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.28, Z:-0.97 [[ 0.99992555 0.00710365 -0.00992151 4.62246506] [-0.00718977 0.99993656 -0.00867127 -0.28314139] [ 0.00985928 0.00874196 0.99991318 -0.97019773] [ 0. 0. 0. 1. ]] SLAMing on 116.63119381700001 meters Centerline goodness [0,1] 0.8611329498903464 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.28, Z:-0.97 [[ 0.99990619 0.00896934 -0.01035214 4.62373946] [-0.00903622 0.99993848 -0.00643276 -0.28125116] [ 0.01029381 0.0065257 0.99992572 -0.9701776 ] [ 0. 0. 0. 1. ]] SLAMing on 116.66119381700001 meters Centerline goodness [0,1] 0.8659531827854796 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.27, Z:-0.97 [[ 0.99989527 0.01029091 -0.0101754 4.62217985] [-0.01035296 0.99992802 -0.00606419 -0.27323632] [ 0.01011226 0.0061689 0.99992984 -0.96820374] [ 0. 0. 0. 1. ]] SLAMing on 116.69119381700001 meters Centerline goodness [0,1] 0.8739858485672193 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.27, Z:-0.97 [[ 0.9998793 0.01188752 -0.01000315 4.62049427] [-0.01194022 0.99991506 -0.00522494 -0.2685834 ] [ 0.00994019 0.00534375 0.99993632 -0.96628111] [ 0. 0. 0. 1. ]] SLAMing on 116.721193817 meters Centerline goodness [0,1] 0.9047628934473881 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.26, Z:-0.97 [[ 9.99834304e-01 1.50435478e-02 -1.02496745e-02 4.62090916e+00] [-1.50750739e-02 9.99881848e-01 -3.00552572e-03 -2.64083856e-01] [ 1.02032497e-02 3.15954232e-03 9.99942954e-01 -9.65889075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.751193817 meters Centerline goodness [0,1] 0.9140968708045027 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.26, Z:-0.97 [[ 9.99775533e-01 1.81888962e-02 -1.08649831e-02 4.62290556e+00] [-1.82023157e-02 9.99833677e-01 -1.13750003e-03 -2.58304324e-01] [ 1.08424861e-02 1.33501255e-03 9.99940327e-01 -9.66691864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.781193817 meters Centerline goodness [0,1] 0.9180748840291584 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.24, Z:-0.97 [[ 9.99612850e-01 2.49731212e-02 -1.22675512e-02 4.62673507e+00] [-2.49737665e-02 9.99688102e-01 1.00609063e-04 -2.43890440e-01] [ 1.22662375e-02 2.05796848e-04 9.99924746e-01 -9.71290446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.811193817 meters Centerline goodness [0,1] 0.9151889776889777 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.24, Z:-0.97 [[ 9.99534511e-01 2.77202280e-02 -1.27416395e-02 4.62905399e+00] [-2.76979844e-02 9.99614495e-01 1.91894334e-03 -2.38626869e-01] [ 1.27899211e-02 -1.56513236e-03 9.99916981e-01 -9.72699893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.841193817 meters Centerline goodness [0,1] 0.914536309598038 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.23, Z:-0.97 [[ 9.99538466e-01 2.72881084e-02 -1.33496838e-02 4.63100711e+00] [-2.72870358e-02 9.99627605e-01 2.62520107e-04 -2.33576673e-01] [ 1.33518761e-02 1.01874355e-04 9.99910855e-01 -9.73705108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.871193817 meters Centerline goodness [0,1] 0.9117531242875795 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.23, Z:-0.97 [[ 9.99551856e-01 2.65078074e-02 -1.39076893e-02 4.63299493e+00] [-2.65269878e-02 9.99647382e-01 -1.19643796e-03 -2.30031782e-01] [ 1.38710702e-02 1.56483089e-03 9.99902568e-01 -9.74750565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.901193817 meters Centerline goodness [0,1] 0.909190825764174 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.23, Z:-0.98 [[ 9.99563518e-01 2.58426313e-02 -1.43154431e-02 4.63454134e+00] [-2.58781687e-02 9.99662452e-01 -2.30277120e-03 -2.27595343e-01] [ 1.42511013e-02 2.67222353e-03 9.99894877e-01 -9.75584105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93119381700001 meters Centerline goodness [0,1] 0.9082385713988732 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.22, Z:-0.98 [[ 9.99559017e-01 2.58983000e-02 -1.45275756e-02 4.63667199e+00] [-2.59481503e-02 9.99657996e-01 -3.25345681e-03 -2.23494089e-01] [ 1.44383481e-02 3.62898581e-03 9.99889176e-01 -9.77786233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96119381700001 meters Centerline goodness [0,1] 0.9024810905161665 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.22, Z:-0.98 [[ 9.99549825e-01 2.59064436e-02 -1.51328444e-02 4.63937984e+00] [-2.59691117e-02 9.99654904e-01 -3.95944425e-03 -2.20976411e-01] [ 1.50250470e-02 4.35064833e-03 9.99877652e-01 -9.79706310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99119381700001 meters Centerline goodness [0,1] 0.899939872695984 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.22, Z:-0.98 [[ 9.99527618e-01 2.64100600e-02 -1.57177892e-02 4.64154444e+00] [-2.64795426e-02 9.99640410e-01 -4.22902272e-03 -2.19209692e-01] [ 1.56004485e-02 4.64322487e-03 9.99867524e-01 -9.80986880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02119381700001 meters Centerline goodness [0,1] 0.9054048422719506 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.22, Z:-0.98 [[ 9.99491725e-01 2.76512501e-02 -1.58650318e-02 4.64183430e+00] [-2.77121657e-02 9.99609344e-01 -3.63266508e-03 -2.18272404e-01] [ 1.57583863e-02 4.07047308e-03 9.99867543e-01 -9.81006928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05119381700001 meters Centerline goodness [0,1] 0.9033642045337349 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.22, Z:-0.98 [[ 9.99394753e-01 3.34702458e-02 -9.48000214e-03 4.65428582e+00] [-3.35094064e-02 9.99430387e-01 -4.00255235e-03 -2.19860408e-01] [ 9.34063580e-03 4.31779906e-03 9.99947053e-01 -9.81769766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.081193817 meters Centerline goodness [0,1] 0.9048311084352357 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.22, Z:-0.98 [[ 9.99375241e-01 3.40225037e-02 -9.57058922e-03 4.65379066e+00] [-3.40556993e-02 9.99414398e-01 -3.32713807e-03 -2.21550009e-01] [ 9.45178710e-03 3.65099252e-03 9.99948666e-01 -9.80815680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.111193817 meters Centerline goodness [0,1] 0.9044585987261147 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.22, Z:-0.98 [[ 9.99360708e-01 3.43250888e-02 -9.99821763e-03 4.65472517e+00] [-3.43542739e-02 9.99405901e-01 -2.76201369e-03 -2.23466271e-01] [ 9.89747134e-03 3.10372946e-03 9.99946202e-01 -9.80770657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.141193817 meters Centerline goodness [0,1] 0.9129275050659609 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.23, Z:-0.98 [[ 9.99414177e-01 3.27694998e-02 -9.87235616e-03 4.65375519e+00] [-3.28116339e-02 9.99452993e-01 -4.13654321e-03 -2.26583241e-01] [ 9.73140346e-03 4.45804806e-03 9.99942711e-01 -9.80197252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.171193817 meters Centerline goodness [0,1] 0.9134928031479755 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.23, Z:-0.98 [[ 0.99951153 0.02956498 -0.01012935 4.65371111] [-0.02963884 0.99953459 -0.00722106 -0.22762041] [ 0.00991114 0.00751776 0.99992262 -0.97973958] [ 0. 0. 0. 1. ]] SLAMing on 117.201193817 meters Centerline goodness [0,1] 0.9174604489356415 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.23, Z:-0.98 [[ 0.99952069 0.02907896 -0.01062125 4.65461896] [-0.02914779 0.99955473 -0.00638416 -0.23211375] [ 0.01043087 0.00669068 0.99992321 -0.97934537] [ 0. 0. 0. 1. ]] SLAMing on 117.231193817 meters Centerline goodness [0,1] 0.9189138848072187 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.24, Z:-0.98 [[ 0.99961057 0.025694 -0.01088735 4.65456739] [-0.02579505 0.99962451 -0.00924464 -0.23511409] [ 0.01064573 0.00952188 0.999898 -0.97872823] [ 0. 0. 0. 1. ]] SLAMing on 117.261193817 meters Centerline goodness [0,1] 0.9189138848072187 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.24, Z:-0.98 [[ 0.99961057 0.025694 -0.01088735 4.65456739] [-0.02579505 0.99962451 -0.00924464 -0.23511409] [ 0.01064573 0.00952188 0.999898 -0.97872823] [ 0. 0. 0. 1. ]] SLAMing on 117.291193817 meters Centerline goodness [0,1] 0.9224340450302488 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.24, Z:-0.98 [[ 0.99968286 0.02293432 -0.01040193 4.65133825] [-0.02304475 0.999678 -0.01062272 -0.24070452] [ 0.01015496 0.01085906 0.99988947 -0.97554032] [ 0. 0. 0. 1. ]] SLAMing on 117.32119381700001 meters Centerline goodness [0,1] 0.9202800689784131 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.24, Z:-0.97 [[ 0.99967547 0.02306528 -0.01081444 4.65177112] [-0.02316987 0.99968499 -0.00964802 -0.24365204] [ 0.01058849 0.00989546 0.99989498 -0.97480501] [ 0. 0. 0. 1. ]] SLAMing on 117.35119381700001 meters Centerline goodness [0,1] 0.9222770132254936 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.25, Z:-0.97 [[ 0.99967385 0.02285193 -0.01140079 4.65312601] [-0.02295594 0.99969527 -0.00907697 -0.24650796] [ 0.01118989 0.00933573 0.99989381 -0.97484409] [ 0. 0. 0. 1. ]] SLAMing on 117.38119381700001 meters Centerline goodness [0,1] 0.9203479056992447 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.25, Z:-0.97 [[ 0.99967077 0.02283213 -0.01170643 4.65382625] [-0.0229304 0.99970236 -0.00832983 -0.24969338] [ 0.01151275 0.00859552 0.99989678 -0.97479348] [ 0. 0. 0. 1. ]] SLAMing on 117.41119381700001 meters Centerline goodness [0,1] 0.9203291565363756 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.26, Z:-0.98 [[ 0.99971169 0.0206391 -0.01227016 4.65542303] [-0.02075766 0.9997383 -0.00961473 -0.25512826] [ 0.01206851 0.00986666 0.99987849 -0.97548432] [ 0. 0. 0. 1. ]] SLAMing on 117.44119381700001 meters Centerline goodness [0,1] 0.9171170796607351 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.26, Z:-0.98 [[ 0.99971098 0.02033996 -0.01281566 4.65664513] [-0.0204526 0.99975279 -0.0087208 -0.25916085] [ 0.01263511 0.00898039 0.99987985 -0.97543102] [ 0. 0. 0. 1. ]] SLAMing on 117.471193817 meters Centerline goodness [0,1] 0.9166926288242259 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.26, Z:-0.98 [[ 0.999722 0.01941018 -0.01338508 4.65830774] [-0.01952454 0.99977353 -0.00846691 -0.26383294] [ 0.0132177 0.0087259 0.99987457 -0.97586543] [ 0. 0. 0. 1. ]] SLAMing on 117.501193817 meters Centerline goodness [0,1] 0.9158707748525869 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.27, Z:-0.98 [[ 0.99978271 0.01557377 -0.01385639 4.65959065] [-0.01573673 0.99980736 -0.01173044 -0.26617361] [ 0.01367103 0.01194594 0.99983519 -0.97644298] [ 0. 0. 0. 1. ]] SLAMing on 117.531193817 meters Centerline goodness [0,1] 0.911436612774 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.27, Z:-0.98 [[ 0.99986937 0.00519868 -0.01530384 4.67977394] [-0.00528089 0.99997182 -0.00533676 -0.27246437] [ 0.01527567 0.00541688 0.99986865 -0.97582455] [ 0. 0. 0. 1. ]] SLAMing on 117.561193817 meters Centerline goodness [0,1] 0.910997920997921 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.28, Z:-0.98 [[ 9.99877505e-01 9.14070562e-04 -1.56249888e-02 4.68067229e+00] [-1.04961265e-03 9.99961875e-01 -8.66870155e-03 -2.75359286e-01] [ 1.56164693e-02 8.68403986e-03 9.99840344e-01 -9.76030177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.591193817 meters Centerline goodness [0,1] 0.9029838341021486 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.28, Z:-0.98 [[ 9.99866072e-01 -3.42994305e-03 -1.60023003e-02 4.68173654e+00] [ 3.23897240e-03 9.99923414e-01 -1.19446423e-02 -2.78821328e-01] [ 1.60420442e-02 1.18912115e-02 9.99800606e-01 -9.76147309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.621193817 meters Centerline goodness [0,1] 0.8960591337569038 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.28, Z:-0.98 [[ 0.99983813 -0.00739172 -0.01640334 4.68294814] [ 0.00714042 0.99985705 -0.0153263 -0.28108711] [ 0.01651428 0.01520669 0.99974799 -0.97653526] [ 0. 0. 0. 1. ]] SLAMing on 117.651193817 meters Centerline goodness [0,1] 0.8555891985416795 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.28, Z:-0.98 [[ 0.99981881 -0.00846419 -0.01705035 4.68532383] [ 0.00819786 0.99984424 -0.01562959 -0.28235307] [ 0.01717998 0.01548698 0.99973247 -0.97762126] [ 0. 0. 0. 1. ]] SLAMing on 117.68119381700001 meters Centerline goodness [0,1] 0.866517245673017 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.28, Z:-0.98 [[ 9.99841079e-01 -4.84771376e-03 -1.71556499e-02 4.68540755e+00] [ 4.65245754e-03 9.99924159e-01 -1.14031203e-02 -2.83451833e-01] [ 1.72096278e-02 1.13214922e-02 9.99787804e-01 -9.77182946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71119381700001 meters Centerline goodness [0,1] 0.8827074832749943 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.28, Z:-0.98 [[ 9.99841563e-01 -1.72781035e-03 -1.77162147e-02 4.68703812e+00] [ 1.58934173e-03 9.99968105e-01 -7.82702830e-03 -2.83985804e-01] [ 1.77291733e-02 7.79763108e-03 9.99812419e-01 -9.77569984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74119381700001 meters Centerline goodness [0,1] 0.9013174299725708 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.28, Z:-0.98 [[ 9.99837553e-01 1.82653621e-03 -1.79313104e-02 4.68740169e+00] [-1.89702625e-03 9.99990537e-01 -3.91489278e-03 -2.84757642e-01] [ 1.79239901e-02 3.94827298e-03 9.99831557e-01 -9.77193123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77119381700001 meters Centerline goodness [0,1] 0.909022806725487 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.28, Z:-0.98 [[ 0.99988849 0.00920152 -0.01176153 4.69639489] [-0.00929154 0.99992778 -0.00762238 -0.28198072] [ 0.01169054 0.00773082 0.99990178 -0.97915457] [ 0. 0. 0. 1. ]] SLAMing on 117.80119381700001 meters Centerline goodness [0,1] 0.9073846985222289 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.28, Z:-0.98 [[ 9.99840296e-01 1.32859569e-02 -1.19526618e-02 4.69671678e+00] [-1.33364770e-02 9.99902424e-01 -4.15694818e-03 -2.79926783e-01] [ 1.18962665e-02 4.31569070e-03 9.99919924e-01 -9.78915108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.831193817 meters Centerline goodness [0,1] 0.9121831833077529 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.28, Z:-0.98 [[ 9.99775988e-01 1.72335188e-02 -1.22873655e-02 4.69772415e+00] [-1.72480433e-02 9.99850661e-01 -1.07707020e-03 -2.76771122e-01] [ 1.22669688e-02 1.28876193e-03 9.99923927e-01 -9.79235374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.861193817 meters Centerline goodness [0,1] 0.9103442582349541 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.27, Z:-0.98 [[ 9.99699236e-01 2.10065559e-02 -1.26555451e-02 4.69918156e+00] [-2.09841219e-02 9.99777998e-01 1.90286882e-03 -2.73701846e-01] [ 1.26927082e-02 -1.63673101e-03 9.99918105e-01 -9.80012351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.891193817 meters Centerline goodness [0,1] 0.9146842357650689 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.27, Z:-0.98 [[ 9.99590911e-01 2.55682148e-02 -1.28170558e-02 4.69949518e+00] [-2.55112340e-02 9.99663999e-01 4.58968523e-03 -2.67450025e-01] [ 1.29300994e-02 -4.26082873e-03 9.99907325e-01 -9.80104654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.921193817 meters Centerline goodness [0,1] 0.9163483099410348 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.26, Z:-0.98 [[ 9.99576659e-01 2.58679687e-02 -1.33173324e-02 4.70036111e+00] [-2.58178214e-02 9.99658964e-01 3.92384337e-03 -2.64555632e-01] [ 1.34142926e-02 -3.57835774e-03 9.99903621e-01 -9.80140922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.951193817 meters Centerline goodness [0,1] 0.9185254413291797 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.26, Z:-0.98 [[ 9.99569904e-01 2.59746724e-02 -1.36133664e-02 4.70083998e+00] [-2.59299718e-02 9.99657809e-01 3.44988878e-03 -2.62918482e-01] [ 1.36983177e-02 -3.09541079e-03 9.99901382e-01 -9.80052711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.981193817 meters Centerline goodness [0,1] 0.9158039452579833 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.26, Z:-0.98 [[ 9.99566401e-01 2.59907141e-02 -1.38381255e-02 4.70093886e+00] [-2.59464219e-02 9.99657652e-01 3.37073973e-03 -2.62815538e-01] [ 1.39209960e-02 -3.01022833e-03 9.99898567e-01 -9.79540622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.011193817 meters Centerline goodness [0,1] 0.919959452190823 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.26, Z:-0.98 [[ 9.99574730e-01 2.55903205e-02 -1.39819198e-02 4.70112586e+00] [-2.55447212e-02 9.99667795e-01 3.43024464e-03 -2.64261911e-01] [ 1.40650560e-02 -3.07162162e-03 9.99896364e-01 -9.79126247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.041193817 meters Centerline goodness [0,1] 0.9216544003317093 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.26, Z:-0.98 [[ 9.99655792e-01 2.21532511e-02 -1.40545455e-02 4.70070052e+00] [-2.21620188e-02 9.99754283e-01 -4.68375848e-04 -2.62750387e-01] [ 1.40407160e-02 7.79691732e-04 9.99901120e-01 -9.78708509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07119381700001 meters Centerline goodness [0,1] 0.9230146371846777 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.26, Z:-0.98 [[ 9.99702652e-01 2.00737141e-02 -1.38439037e-02 4.69857697e+00] [-2.01113481e-02 9.99794406e-01 -2.58460375e-03 -2.62636430e-01] [ 1.37891749e-02 2.86225479e-03 9.99900828e-01 -9.76727503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10119381700001 meters Centerline goodness [0,1] 0.9213126323218066 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.27, Z:-0.97 [[ 9.99751148e-01 1.77288471e-02 -1.35399182e-02 4.69590981e+00] [-1.77854249e-02 9.99833544e-01 -4.06966807e-03 -2.68039239e-01] [ 1.34655138e-02 4.30946852e-03 9.99900049e-01 -9.73943520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13119381700001 meters Centerline goodness [0,1] 0.9236216384591424 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.27, Z:-0.97 [[ 0.99979767 0.01473515 -0.01369296 4.69591735] [-0.0148319 0.99986556 -0.00699138 -0.27024233] [ 0.0135881 0.00719306 0.9998818 -0.97385737] [ 0. 0. 0. 1. ]] SLAMing on 118.16119381700001 meters Centerline goodness [0,1] 0.9226149658167612 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.27, Z:-0.97 [[ 0.99979218 0.01480969 -0.01400983 4.6970555 ] [-0.01489987 0.9998688 -0.00635445 -0.27298579] [ 0.01391388 0.00656187 0.99988167 -0.97451007] [ 0. 0. 0. 1. ]] SLAMing on 118.19119381700001 meters Centerline goodness [0,1] 0.9221080543586344 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.27, Z:-0.98 [[ 0.99978906 0.01446402 -0.01458188 4.6994336 ] [-0.01455968 0.99987303 -0.00647547 -0.27372962] [ 0.01448637 0.00668642 0.99987271 -0.97615686] [ 0. 0. 0. 1. ]] SLAMing on 118.221193817 meters Centerline goodness [0,1] 0.9137920279458549 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.27, Z:-0.98 [[ 9.99759903e-01 1.58573743e-02 -1.51221689e-02 4.70394924e+00] [-1.59289021e-02 9.99862447e-01 -4.62132961e-03 -2.74841238e-01] [ 1.50468066e-02 4.86109959e-03 9.99874974e-01 -9.80408097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.251193817 meters Centerline goodness [0,1] 0.9131028207461328 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.28, Z:-0.98 [[ 9.99752151e-01 1.57892035e-02 -1.56951678e-02 4.70583810e+00] [-1.58613528e-02 9.99864150e-01 -4.48310038e-03 -2.75960455e-01] [ 1.56222510e-02 4.73093584e-03 9.99866773e-01 -9.81417192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.281193817 meters Centerline goodness [0,1] 0.912201016751396 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.28, Z:-0.98 [[ 9.99745743e-01 1.60084518e-02 -1.58801658e-02 4.70627647e+00] [-1.60710558e-02 9.99863545e-01 -3.82251973e-03 -2.78287414e-01] [ 1.58168062e-02 4.07675885e-03 9.99866595e-01 -9.81487731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.311193817 meters Centerline goodness [0,1] 0.9103143662906437 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.28, Z:-0.98 [[ 9.99741403e-01 1.57614168e-02 -1.63922020e-02 4.70777066e+00] [-1.58230861e-02 9.99868184e-01 -3.63923713e-03 -2.80459067e-01] [ 1.63326817e-02 3.89767126e-03 9.99859016e-01 -9.82047484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.341193817 meters Centerline goodness [0,1] 0.9091684346270643 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.28, Z:-0.98 [[ 9.99740080e-01 1.57791492e-02 -1.64556989e-02 4.70836602e+00] [-1.58265806e-02 9.99870953e-01 -2.75612393e-03 -2.84492969e-01] [ 1.64100861e-02 3.01584501e-03 9.99860797e-01 -9.82527369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.371193817 meters Centerline goodness [0,1] 0.9055928038978887 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.29, Z:-0.98 [[ 9.99735233e-01 1.57710321e-02 -1.67552703e-02 4.70922408e+00] [-1.58143049e-02 9.99871936e-01 -2.45328125e-03 -2.85951449e-01] [ 1.67144337e-02 2.71760465e-03 9.99856611e-01 -9.82842579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.401193817 meters Centerline goodness [0,1] 0.9076836885024796 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.29, Z:-0.98 [[ 9.99733970e-01 1.53584856e-02 -1.72077613e-02 4.71140526e+00] [-1.54088949e-02 9.99877354e-01 -2.80069876e-03 -2.86292825e-01] [ 1.71626364e-02 3.06510628e-03 9.99848013e-01 -9.84478206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43119381700001 meters Centerline goodness [0,1] 0.9020925361372073 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.29, Z:-0.99 [[ 9.99728751e-01 1.52707132e-02 -1.75849377e-02 4.71278939e+00] [-1.53234265e-02 9.99878480e-01 -2.86679996e-03 -2.86528728e-01] [ 1.75390227e-02 3.13548384e-03 9.99841263e-01 -9.85348999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46119381700001 meters Centerline goodness [0,1] 0.9066346690940688 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.29, Z:-0.99 [[ 9.99716736e-01 1.56320255e-02 -1.79467886e-02 4.71383263e+00] [-1.56755159e-02 9.99874520e-01 -2.28517429e-03 -2.88219330e-01] [ 1.79088148e-02 2.56585215e-03 9.99836332e-01 -9.85763788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49119381700001 meters Centerline goodness [0,1] 0.9052043064388744 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.29, Z:-0.99 [[ 9.99711095e-01 1.58630699e-02 -1.80579701e-02 4.71387335e+00] [-1.58963727e-02 9.99872196e-01 -1.70216520e-03 -2.90078803e-01] [ 1.80286607e-02 1.98872966e-03 9.99835493e-01 -9.85445202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52119381700001 meters Centerline goodness [0,1] 0.9045964335504276 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.29, Z:-0.99 [[ 9.99706986e-01 1.59073008e-02 -1.82455638e-02 4.71406539e+00] [-1.59360888e-02 9.99871985e-01 -1.43349328e-03 -2.91608079e-01] [ 1.82204251e-02 1.72383617e-03 9.99832508e-01 -9.85121015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55119381700001 meters Centerline goodness [0,1] 0.906818652849741 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.29, Z:-0.98 [[ 9.99697234e-01 1.63183294e-02 -1.84160879e-02 4.71405167e+00] [-1.63364041e-02 9.99866206e-01 -8.31441590e-04 -2.92984192e-01] [ 1.84000562e-02 1.13204251e-03 9.99830064e-01 -9.84575537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.581193817 meters Centerline goodness [0,1] 0.9151948590381426 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.29, Z:-0.99 [[ 9.99812456e-01 1.86463286e-02 -5.23131687e-03 4.71489917e+00] [-1.86480522e-02 9.99826070e-01 -2.80890557e-04 -2.94186742e-01] [ 5.22516941e-03 3.78391747e-04 9.99986277e-01 -9.85168252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.611193817 meters Centerline goodness [0,1] 0.92095009119549 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.29, Z:-0.98 [[ 9.99806859e-01 1.89590799e-02 -5.17676962e-03 4.71378972e+00] [-1.89591348e-02 9.99820259e-01 3.84657785e-05 -2.94453802e-01] [ 5.17656842e-03 5.96887239e-05 9.99986600e-01 -9.83683933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.641193817 meters Centerline goodness [0,1] 0.9246415956783711 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.29, Z:-0.98 [[ 9.99841618e-01 1.71215882e-02 -4.85698464e-03 4.71134799e+00] [-1.71317555e-02 9.99851120e-01 -2.05950762e-03 -2.93878911e-01] [ 4.82099949e-03 2.14239010e-03 9.99986084e-01 -9.81584965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.671193817 meters Centerline goodness [0,1] 0.9243307135599196 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.30, Z:-0.98 [[ 9.99842587e-01 1.70122515e-02 -5.03824510e-03 4.71142782e+00] [-1.70216489e-02 9.99853450e-01 -1.82824788e-03 -2.95302449e-01] [ 5.00640413e-03 1.91371933e-03 9.99985637e-01 -9.81044656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.701193817 meters Centerline goodness [0,1] 0.921408543625268 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.30, Z:-0.98 [[ 0.99989412 0.01362294 -0.00511505 4.71083167] [-0.01364751 0.99989535 -0.00479972 -0.29813307] [ 0.00504913 0.00486902 0.9999754 -0.98014672] [ 0. 0. 0. 1. ]] SLAMing on 118.731193817 meters Centerline goodness [0,1] 0.9235730676203667 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.30, Z:-0.98 [[ 0.99993442 0.01018459 -0.00523677 4.71066069] [-0.01022741 0.99991395 -0.00821553 -0.29904029] [ 0.00515265 0.00826855 0.99995254 -0.97983384] [ 0. 0. 0. 1. ]] SLAMing on 118.761193817 meters Centerline goodness [0,1] 0.9231310247817632 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.30, Z:-0.98 [[ 0.99993744 0.00981 -0.00537347 4.71142208] [-0.00985124 0.9999218 -0.00770324 -0.30194242] [ 0.00529748 0.0077557 0.99995589 -0.98026489] [ 0. 0. 0. 1. ]] SLAMing on 118.791193817 meters Centerline goodness [0,1] 0.9158699019101704 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.31, Z:-0.98 [[ 9.99998666e-01 1.25782482e-03 -1.04244013e-03 4.71105736e+00] [-1.25794079e-03 9.99999203e-01 -1.10605854e-04 -3.06252825e-01] [ 1.04230017e-03 1.11917035e-04 9.99999451e-01 -9.81133405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82119381700001 meters Centerline goodness [0,1] 0.9119012100116028 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.31, Z:-0.98 [[ 9.99998738e-01 1.01354644e-03 -1.22332737e-03 4.71166023e+00] [-1.01285423e-03 9.99999327e-01 5.66332530e-04 -3.09203452e-01] [ 1.22390055e-03 -5.65092763e-04 9.99999091e-01 -9.81234250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85119381700001 meters Centerline goodness [0,1] 0.908501336427491 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.31, Z:-0.98 [[ 9.99998703e-01 6.18966399e-04 -1.48720261e-03 4.71297768e+00] [-6.17428259e-04 9.99999274e-01 1.03448733e-03 -3.12080210e-01] [ 1.48784184e-03 -1.03356774e-03 9.99998359e-01 -9.82151228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88119381700001 meters Centerline goodness [0,1] 0.9112729234088457 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.32, Z:-0.98 [[ 9.99998155e-01 1.94823715e-04 -1.91086938e-03 4.71481556e+00] [-1.92054058e-04 9.99998931e-01 1.44949874e-03 -3.15028045e-01] [ 1.91114973e-03 -1.44912908e-03 9.99997124e-01 -9.83319846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91119381700001 meters Centerline goodness [0,1] 0.9069935707936245 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.32, Z:-0.99 [[ 9.99994837e-01 -2.04499062e-03 -2.47871901e-03 4.71760186e+00] [ 2.04494233e-03 9.99997909e-01 -2.20160682e-05 -3.20102019e-01] [ 2.47875885e-03 1.69471171e-05 9.99996928e-01 -9.85362702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94119381700001 meters Centerline goodness [0,1] 0.9045157271877919 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.32, Z:-0.99 [[ 9.99995280e-01 -1.54819241e-03 -2.65400874e-03 4.71783454e+00] [ 1.55072378e-03 9.99998344e-01 9.52001285e-04 -3.22868494e-01] [ 2.65253047e-03 -9.56112425e-04 9.99996025e-01 -9.85109903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.971193817 meters Centerline goodness [0,1] 0.9042186201163758 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.32, Z:-0.99 [[ 9.99995745e-01 -1.00881320e-03 -2.73733908e-03 4.71805180e+00] [ 1.01321439e-03 9.99998196e-01 1.60692623e-03 -3.24458520e-01] [ 2.73571305e-03 -1.60969290e-03 9.99994962e-01 -9.85220280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.001193817 meters Centerline goodness [0,1] 0.9039040910885329 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.32, Z:-0.99 [[ 9.99995116e-01 -7.17687562e-04 -3.04181043e-03 4.71920180e+00] [ 7.22739448e-04 9.99998361e-01 1.66004185e-03 -3.24766511e-01] [ 3.04061406e-03 -1.66223218e-03 9.99993996e-01 -9.86067125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.031193817 meters Centerline goodness [0,1] 0.9034586028326019 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.32, Z:-0.99 [[ 9.99992535e-01 1.31700375e-03 -3.63243294e-03 4.72014315e+00] [-1.30729391e-03 9.99995570e-01 2.67417577e-03 -3.24930703e-01] [ 3.63593875e-03 -2.66940715e-03 9.99989827e-01 -9.86620946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.061193817 meters Centerline goodness [0,1] 0.9088203463203464 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.32, Z:-0.99 [[ 9.99991294e-01 1.98900036e-03 -3.66827298e-03 4.72014518e+00] [-1.97859035e-03 9.99994012e-01 2.83929833e-03 -3.24366261e-01] [ 3.67389838e-03 -2.83201560e-03 9.99989241e-01 -9.86717269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.091193817 meters Centerline goodness [0,1] 0.9124479600333055 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.32, Z:-0.99 [[ 9.99989820e-01 2.59014263e-03 -3.69462356e-03 4.71993002e+00] [-2.57919499e-03 9.99992279e-01 2.96482180e-03 -3.23604277e-01] [ 3.70227435e-03 -2.95526246e-03 9.99988780e-01 -9.86525994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.121193817 meters Centerline goodness [0,1] 0.9166096919220171 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.32, Z:-0.99 [[ 9.99988148e-01 3.20951562e-03 -3.66109479e-03 4.71956784e+00] [-3.19772133e-03 9.99989694e-01 3.22283880e-03 -3.23134070e-01] [ 3.67140081e-03 -3.21109344e-03 9.99988105e-01 -9.86239884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.151193817 meters Centerline goodness [0,1] 0.9166096919220171 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.32, Z:-0.99 [[ 9.99988148e-01 3.20951562e-03 -3.66109479e-03 4.71956784e+00] [-3.19772133e-03 9.99989694e-01 3.22283880e-03 -3.23134070e-01] [ 3.67140081e-03 -3.21109344e-03 9.99988105e-01 -9.86239884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18119381700001 meters Centerline goodness [0,1] 0.9296362059710122 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.33, Z:-0.98 [[ 9.99981933e-01 5.05040078e-03 -3.26003255e-03 4.71676510e+00] [-5.03371822e-03 9.99974298e-01 5.10537943e-03 -3.25754691e-01] [ 3.28573297e-03 -5.08887710e-03 9.99981653e-01 -9.83493146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21119381700001 meters Centerline goodness [0,1] 0.9343340363064963 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.33, Z:-0.98 [[ 9.99991285e-01 2.79873773e-03 -3.09783978e-03 4.71511361e+00] [-2.79166939e-03 9.99993496e-01 2.28367618e-03 -3.25768189e-01] [ 3.10421104e-03 -2.27500813e-03 9.99992594e-01 -9.82051556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24119381700001 meters Centerline goodness [0,1] 0.9362473082656949 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.33, Z:-0.98 [[ 9.99989976e-01 3.21440139e-03 -3.11706383e-03 4.71452785e+00] [-3.20534322e-03 9.99990639e-01 2.90664802e-03 -3.27441619e-01] [ 3.12637778e-03 -2.89662762e-03 9.99990918e-01 -9.81151533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27119381700001 meters Centerline goodness [0,1] 0.9420699399505476 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.33, Z:-0.98 [[ 9.99995313e-01 1.87147587e-03 -2.42312729e-03 4.71066133e+00] [-1.86779975e-03 9.99997103e-01 1.51847270e-03 -3.30133204e-01] [ 2.42596205e-03 -1.51393967e-03 9.99995911e-01 -9.78077229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30119381700001 meters Centerline goodness [0,1] 0.9409493762842732 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.33, Z:-0.98 [[ 9.99994875e-01 1.85014894e-03 -2.61296653e-03 4.71099809e+00] [-1.84501526e-03 9.99996366e-01 1.96574302e-03 -3.32444322e-01] [ 2.61659395e-03 -1.96091198e-03 9.99994654e-01 -9.77891359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33119381700001 meters Centerline goodness [0,1] 0.9423976487146583 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.33, Z:-0.98 [[ 9.99994810e-01 1.15270498e-03 -3.00842925e-03 4.71290331e+00] [-1.14760924e-03 9.99997905e-01 1.69499700e-03 -3.34487677e-01] [ 3.01037678e-03 -1.69153570e-03 9.99994038e-01 -9.79169050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.361193817 meters Centerline goodness [0,1] 0.9419549618478463 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.34, Z:-0.98 [[ 9.99994075e-01 7.49929558e-04 -3.35963938e-03 4.71479744e+00] [-7.44058388e-04 9.99998195e-01 1.74846873e-03 -3.36607402e-01] [ 3.36094454e-03 -1.74595860e-03 9.99992828e-01 -9.80652839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.391193817 meters Centerline goodness [0,1] 0.935548172757475 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.34, Z:-0.98 [[ 9.99992703e-01 -4.65654884e-05 -3.82004682e-03 4.71795412e+00] [ 5.30331487e-05 9.99998565e-01 1.69300023e-03 -3.40605581e-01] [ 3.81996251e-03 -1.69319046e-03 9.99991270e-01 -9.83492090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.421193817 meters Centerline goodness [0,1] 0.9347622515867235 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.34, Z:-0.98 [[ 9.99992058e-01 2.70579229e-04 -3.97633704e-03 4.71837290e+00] [-2.59709573e-04 9.99996229e-01 2.73384716e-03 -3.44339917e-01] [ 3.97706177e-03 -2.73279276e-03 9.99988357e-01 -9.83510614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.451193817 meters Centerline goodness [0,1] 0.9344006328850397 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.35, Z:-0.98 [[ 9.99991097e-01 3.88046380e-04 -4.20194358e-03 4.71911022e+00] [-3.73044523e-04 9.99993556e-01 3.57041396e-03 -3.48345212e-01] [ 4.20330199e-03 -3.56881466e-03 9.99984798e-01 -9.83720314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.481193817 meters Centerline goodness [0,1] 0.9336706014614953 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.35, Z:-0.98 [[ 9.99990187e-01 6.73625570e-04 -4.37862183e-03 4.71965033e+00] [-6.53739633e-04 9.99989474e-01 4.54144305e-03 -3.52259263e-01] [ 4.38163497e-03 -4.53853601e-03 9.99980101e-01 -9.83840375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.511193817 meters Centerline goodness [0,1] 0.9331181861436935 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.36, Z:-0.98 [[ 9.99988944e-01 7.96449579e-04 -4.63437903e-03 4.72066672e+00] [-7.72330171e-04 9.99986161e-01 5.20391735e-03 -3.55218395e-01] [ 4.63845956e-03 -5.20028054e-03 9.99975721e-01 -9.84356958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.541193817 meters Centerline goodness [0,1] 0.9245326227255694 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.36, Z:-0.98 [[ 9.99986607e-01 2.37280362e-03 -4.59962720e-03 4.72059563e+00] [-2.33814433e-03 9.99968946e-01 7.52602764e-03 -3.60986643e-01] [ 4.61734215e-03 -7.51517225e-03 9.99961100e-01 -9.84278660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57119381700001 meters Centerline goodness [0,1] 0.9024598529503656 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.36, Z:-0.98 [[ 9.99988899e-01 7.01809985e-05 -4.71128928e-03 4.72082801e+00] [-4.77187229e-05 9.99988633e-01 4.76769867e-03 -3.62662255e-01] [ 4.71157033e-03 -4.76742093e-03 9.99977536e-01 -9.84735607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60119381700001 meters Centerline goodness [0,1] 0.8775960377908186 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.37, Z:-0.99 [[ 9.99987812e-01 7.63970553e-04 -4.87765611e-03 4.72148151e+00] [-7.35423115e-04 9.99982608e-01 5.85180946e-03 -3.66457001e-01] [ 4.88204189e-03 -5.84815100e-03 9.99970982e-01 -9.85113757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63119381700001 meters Centerline goodness [0,1] 0.8373392608596298 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.37, Z:-0.99 [[ 9.99985508e-01 2.63117492e-03 -4.69683789e-03 4.72129311e+00] [-2.59135721e-03 9.99960825e-01 8.46360594e-03 -3.73541503e-01] [ 4.71892312e-03 -8.45131211e-03 9.99953152e-01 -9.85261344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66119381700001 meters Centerline goodness [0,1] 0.8463324144506394 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.37, Z:-0.99 [[ 9.99989056e-01 9.53069406e-05 -4.67739909e-03 4.72116247e+00] [-6.93493665e-05 9.99984599e-01 5.54942283e-03 -3.74829893e-01] [ 4.67785595e-03 -5.54903772e-03 9.99973663e-01 -9.85518119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69119381700001 meters Centerline goodness [0,1] 0.8964216493341391 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.38, Z:-0.98 [[ 9.99989705e-01 -1.59888145e-03 -4.24658932e-03 4.71904963e+00] [ 1.61482599e-03 9.99991650e-01 3.75389962e-03 -3.77427257e-01] [ 4.24055182e-03 -3.76071847e-03 9.99983937e-01 -9.84212826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.721193817 meters Centerline goodness [0,1] 0.8056787193738421 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.38, Z:-0.98 [[ 9.99989514e-01 -1.23219512e-03 -4.41066476e-03 4.71947915e+00] [ 1.25368426e-03 9.99987343e-01 4.87264253e-03 -3.81898085e-01] [ 4.40460489e-03 -4.87812102e-03 9.99978401e-01 -9.84095992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.751193817 meters Centerline goodness [0,1] 0.8763169378467677 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.39, Z:-0.98 [[ 9.99989003e-01 -1.02461369e-03 -4.57648706e-03 4.72002631e+00] [ 1.05131753e-03 9.99982415e-01 5.83642034e-03 -3.86880902e-01] [ 4.57042650e-03 -5.84116750e-03 9.99972496e-01 -9.84134635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.781193817 meters Centerline goodness [0,1] 0.8758000166237221 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.39, Z:-0.98 [[ 9.99987117e-01 -2.99060777e-03 -4.10146878e-03 4.71773059e+00] [ 3.01090415e-03 9.99983209e-01 4.95135076e-03 -3.94909998e-01] [ 4.08659236e-03 -4.96363610e-03 9.99979331e-01 -9.82114095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.811193817 meters Centerline goodness [0,1] 0.8910634772703738 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.40, Z:-0.98 [[ 9.99986857e-01 -2.78576722e-03 -4.30419250e-03 4.71816343e+00] [ 2.81151176e-03 9.99978126e-01 5.98684273e-03 -3.99420964e-01] [ 4.28742040e-03 -5.99886533e-03 9.99972815e-01 -9.81829952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.841193817 meters Centerline goodness [0,1] 0.8739690828463674 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.40, Z:-0.98 [[ 9.99976955e-01 -5.44208222e-03 -4.05875057e-03 4.71707413e+00] [ 5.45641097e-03 9.99978891e-01 3.52765727e-03 -4.02160225e-01] [ 4.03946709e-03 -3.54972218e-03 9.99985541e-01 -9.81113229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.871193817 meters Centerline goodness [0,1] 0.8570598006644519 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.41, Z:-0.98 [[ 9.99982190e-01 -4.38140175e-03 -4.05255142e-03 4.71717554e+00] [ 4.40513952e-03 9.99973085e-01 5.86722813e-03 -4.10679293e-01] [ 4.02673566e-03 -5.88497569e-03 9.99974576e-01 -9.80976610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.901193817 meters Centerline goodness [0,1] 0.8647439085032322 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.41, Z:-0.98 [[ 9.99981063e-01 -4.43336727e-03 -4.26831009e-03 4.71880468e+00] [ 4.46033708e-03 9.99970018e-01 6.32996662e-03 -4.14098165e-01] [ 4.24011906e-03 -6.34888486e-03 9.99970856e-01 -9.82385378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93119381700001 meters Centerline goodness [0,1] 0.860769405122499 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.42, Z:-0.98 [[ 0.99997571 -0.00502803 -0.0048268 4.72173467] [ 0.00505804 0.99996784 0.00622358 -0.41787337] [ 0.00479535 -0.00624784 0.99996898 -0.9845682 ] [ 0. 0. 0. 1. ]] SLAMing on 119.96119381700001 meters Centerline goodness [0,1] 0.8686533070293843 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.43, Z:-0.99 [[ 9.99966439e-01 -6.82767884e-03 -4.52815003e-03 4.72173964e+00] [ 6.85232109e-03 9.99961676e-01 5.44900974e-03 -4.28017806e-01] [ 4.49077240e-03 -5.47985521e-03 9.99974902e-01 -9.85100016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99119381700001 meters Centerline goodness [0,1] 0.835445404686721 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.43, Z:-0.99 [[ 9.99966723e-01 -6.63052792e-03 -4.75271172e-03 4.72267817e+00] [ 6.66153544e-03 9.99956436e-01 6.53830868e-03 -4.33313957e-01] [ 4.70915223e-03 -6.56975146e-03 9.99967331e-01 -9.85451345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02119381700001 meters Centerline goodness [0,1] 0.8684051571514861 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.44, Z:-0.99 [[ 0.99996707 -0.00641933 -0.0049651 4.72356026] [ 0.00645696 0.99995027 0.00760046 -0.4377386 ] [ 0.00491606 -0.00763227 0.99995879 -0.98574449] [ 0. 0. 0. 1. ]] SLAMing on 120.05119381700001 meters Centerline goodness [0,1] 0.8616509404486659 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.44, Z:-0.99 [[ 0.99996306 -0.00667187 -0.00541913 4.72546476] [ 0.00671485 0.99994583 0.0079523 -0.44126342] [ 0.00536577 -0.0079884 0.9999537 -0.98684626] [ 0. 0. 0. 1. ]] SLAMing on 120.08119381700001 meters Centerline goodness [0,1] 0.8785904338899247 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.45, Z:-0.98 [[ 9.99927473e-01 -3.53917813e-03 -1.15118897e-02 4.73521519e+00] [ 3.60098934e-03 9.99979189e-01 5.35304727e-03 -4.50474812e-01] [ 1.14927047e-02 -5.39411322e-03 9.99919407e-01 -9.84368849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.111193817 meters Centerline goodness [0,1] 0.8798951750956316 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.45, Z:-0.98 [[ 9.99918353e-01 -6.14815051e-03 -1.12021328e-02 4.73442840e+00] [ 6.17870485e-03 9.99977280e-01 2.69498299e-03 -4.53304579e-01] [ 1.11853091e-02 -2.76397762e-03 9.99933622e-01 -9.84376273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.141193817 meters Centerline goodness [0,1] 0.823953823953824 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.46, Z:-0.99 [[ 9.99975146e-01 -3.64703824e-03 -6.03378699e-03 4.74574754e+00] [ 3.61019755e-03 9.99974845e-01 -6.10539814e-03 -4.55823714e-01] [ 6.05590183e-03 6.08346324e-03 9.99963158e-01 -9.89277123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.171193817 meters Centerline goodness [0,1] 0.8165551478523635 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.46, Z:-0.99 [[ 9.99999492e-01 -8.73914288e-04 5.02041874e-04 4.75674469e+00] [ 8.79832521e-04 9.99928667e-01 -1.19116049e-02 -4.64184630e-01] [-4.91596340e-04 1.19120405e-02 9.99928928e-01 -9.92449698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.201193817 meters Centerline goodness [0,1] 0.8047254430102821 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.47, Z:-0.99 [[ 9.99999879e-01 -2.33779766e-05 4.92075948e-04 4.75634575e+00] [ 2.83628676e-05 9.99948662e-01 -1.01327606e-02 -4.69452017e-01] [-4.91813802e-04 1.01327733e-02 9.99948541e-01 -9.91632754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.231193817 meters Centerline goodness [0,1] 0.7976198361705416 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.47, Z:-0.99 [[ 9.99999755e-01 5.97732098e-04 3.65298300e-04 4.75645746e+00] [-5.94570059e-04 9.99962879e-01 -8.59570604e-03 -4.74141159e-01] [-3.70422669e-04 8.59548674e-03 9.99962990e-01 -9.91110185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.261193817 meters Centerline goodness [0,1] 0.8287889242549024 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.48, Z:-0.99 [[ 9.99999461e-01 1.02824978e-03 1.40897705e-04 4.75685863e+00] [-1.02719735e-03 9.99972999e-01 -7.27636965e-03 -4.78921535e-01] [-1.48375826e-04 7.27622100e-03 9.99973517e-01 -9.90754348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.291193817 meters Centerline goodness [0,1] 0.8269082498072475 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.49, Z:-0.99 [[ 9.99999331e-01 -1.04704354e-03 4.91972796e-04 4.75585478e+00] [ 1.05090395e-03 9.99968138e-01 -7.91317047e-03 -4.89592929e-01] [-4.83671687e-04 7.91368219e-03 9.99968569e-01 -9.89967790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32119381700001 meters Centerline goodness [0,1] 0.7836930455635491 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.50, Z:-0.99 [[ 9.99999481e-01 -1.01848997e-03 -2.68299018e-05 4.75724232e+00] [ 1.01829093e-03 9.99977744e-01 -6.59350271e-03 -4.96210314e-01] [ 3.35447211e-05 6.59347197e-03 9.99978262e-01 -9.89843269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35119381700001 meters Centerline goodness [0,1] 0.7947934378015716 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.50, Z:-0.99 [[ 9.99999384e-01 -9.41463016e-04 -5.87518230e-04 4.75877214e+00] [ 9.38430800e-04 9.99986349e-01 -5.14016676e-03 -5.02573323e-01] [ 5.92349487e-04 5.13961225e-03 9.99986617e-01 -9.89742130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38119381700001 meters Centerline goodness [0,1] 0.838667159968552 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.51, Z:-0.99 [[ 9.99998608e-01 -1.25545548e-03 -1.09893899e-03 4.76082231e+00] [ 1.25073702e-03 9.99990042e-01 -4.28386452e-03 -5.08182062e-01] [ 1.10430625e-03 4.28248408e-03 9.99990220e-01 -9.90563483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41119381700001 meters Centerline goodness [0,1] 0.8292785824778512 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.52, Z:-0.99 [[ 9.99989384e-01 -4.46908652e-03 -1.12229601e-03 4.76314890e+00] [ 4.46253985e-03 9.99973399e-01 -5.76956401e-03 -5.18296318e-01] [ 1.14805083e-03 5.76449447e-03 9.99982726e-01 -9.92736772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44119381700001 meters Centerline goodness [0,1] 0.8482123943794573 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.52, Z:-0.99 [[ 9.99987711e-01 -4.72182200e-03 -1.51098048e-03 4.76481216e+00] [ 4.71456008e-03 9.99977490e-01 -4.77410025e-03 -5.24422716e-01] [ 1.53348892e-03 4.76691797e-03 9.99987462e-01 -9.93203361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.471193817 meters Centerline goodness [0,1] 0.8619507118868549 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.53, Z:-0.99 [[ 9.99987309e-01 -4.69132259e-03 -1.83659334e-03 4.76570659e+00] [ 4.68493980e-03 9.99983025e-01 -3.46435434e-03 -5.30573404e-01] [ 1.85281457e-03 3.45570604e-03 9.99992313e-01 -9.92826084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.501193817 meters Centerline goodness [0,1] 0.8675371798238285 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.54, Z:-0.99 [[ 9.99987026e-01 -4.66801366e-03 -2.03903183e-03 4.76653376e+00] [ 4.66359123e-03 9.99986775e-01 -2.16828479e-03 -5.36436144e-01] [ 2.04912644e-03 2.15874745e-03 9.99995570e-01 -9.92722977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.531193817 meters Centerline goodness [0,1] 0.8790518589820719 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.54, Z:-1.00 [[ 9.99966648e-01 -7.90134450e-03 -2.06690775e-03 4.76944639e+00] [ 7.89261136e-03 9.99960033e-01 -4.19979300e-03 -5.43724979e-01] [ 2.10000916e-03 4.18333963e-03 9.99989045e-01 -9.95751558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.561193817 meters Centerline goodness [0,1] 0.8915237012122825 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.55, Z:-1.00 [[ 9.99961366e-01 -8.37941317e-03 -2.65570022e-03 4.77185777e+00] [ 8.36967874e-03 9.99958291e-01 -3.65564530e-03 -5.47742246e-01] [ 2.68622161e-03 3.63327671e-03 9.99989792e-01 -9.96841176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.591193817 meters Centerline goodness [0,1] 0.9042364436234597 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.55, Z:-1.00 [[ 9.99956146e-01 -8.77694929e-03 -3.26681166e-03 4.77387227e+00] [ 8.76739037e-03 9.99957276e-01 -2.92897960e-03 -5.52087498e-01] [ 3.29237959e-03 2.90020973e-03 9.99990374e-01 -9.97224903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.621193817 meters Centerline goodness [0,1] 0.908888725957426 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.56, Z:-1.00 [[ 9.99950875e-01 -9.13425679e-03 -3.84866576e-03 4.77564629e+00] [ 9.12618038e-03 9.99956128e-01 -2.11085962e-03 -5.56829953e-01] [ 3.86777805e-03 2.07563230e-03 9.99990366e-01 -9.97295112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.651193817 meters Centerline goodness [0,1] 0.9212752275425405 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.56, Z:-1.00 [[ 9.99904830e-01 -1.31484014e-02 -4.17732749e-03 4.77710949e+00] [ 1.31283290e-02 9.99902314e-01 -4.79671222e-03 -5.63764776e-01] [ 4.23998853e-03 4.74141439e-03 9.99979771e-01 -9.97590828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68119381700001 meters Centerline goodness [0,1] 0.9262802196437001 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.57, Z:-1.00 [[ 9.99896738e-01 -1.35566474e-02 -4.76776703e-03 4.77884077e+00] [ 1.35373780e-02 9.99900160e-01 -4.05091539e-03 -5.68247272e-01] [ 4.82220785e-03 3.98595402e-03 9.99980429e-01 -9.97550188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71119381700001 meters Centerline goodness [0,1] 0.9266881189353688 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.57, Z:-1.00 [[ 9.99887226e-01 -1.40187900e-02 -5.38605383e-03 4.78117188e+00] [ 1.40001956e-02 9.99895955e-01 -3.47464942e-03 -5.72042531e-01] [ 5.43420382e-03 3.39885176e-03 9.99979458e-01 -9.98300593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74119381700001 meters Centerline goodness [0,1] 0.9272890933640046 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.57, Z:-1.00 [[ 9.99876047e-01 -1.45667773e-02 -5.97499796e-03 4.78373718e+00] [ 1.45474709e-02 9.99888859e-01 -3.26203275e-03 -5.74549897e-01] [ 6.02185120e-03 3.17470730e-03 9.99976829e-01 -9.99641624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77119381700001 meters Centerline goodness [0,1] 0.9238814205457464 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.58, Z:-1.00 [[ 9.99867650e-01 -1.49353871e-02 -6.45107667e-03 4.78584041e+00] [ 1.49174228e-02 9.99884741e-01 -2.82390685e-03 -5.77306846e-01] [ 6.49250927e-03 2.72729967e-03 9.99975204e-01 -1.00065791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80119381700001 meters Centerline goodness [0,1] 0.9196808510638298 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.58, Z:-1.00 [[ 9.99853287e-01 -1.58328862e-02 -6.53635077e-03 4.78744999e+00] [ 1.58223285e-02 9.99873435e-01 -1.66378824e-03 -5.84862330e-01] [ 6.56186606e-03 1.56012385e-03 9.99977254e-01 -1.00092151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83119381700001 meters Centerline goodness [0,1] 0.92281164418298 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.59, Z:-1.00 [[ 9.99841062e-01 -1.62884959e-02 -7.24810133e-03 4.78951096e+00] [ 1.62823800e-02 9.99867026e-01 -9.02005047e-04 -5.89067906e-01] [ 7.26182983e-03 7.83845344e-04 9.99973325e-01 -1.00084146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.861193817 meters Centerline goodness [0,1] 0.9240551492137924 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.59, Z:-1.00 [[ 9.99781447e-01 -1.96677501e-02 -7.08793323e-03 4.78877711e+00] [ 1.96448485e-02 9.99801620e-01 -3.28634057e-03 -5.93923479e-01] [ 7.15116205e-03 3.14638096e-03 9.99969480e-01 -9.99637710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.891193817 meters Centerline goodness [0,1] 0.9244544501010514 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.60, Z:-1.00 [[ 9.99785279e-01 -1.93640029e-02 -7.37780754e-03 4.78861525e+00] [ 1.93500692e-02 9.99810858e-01 -1.95532362e-03 -5.97217762e-01] [ 7.41427498e-03 1.81214269e-03 9.99970872e-01 -9.97855790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.921193817 meters Centerline goodness [0,1] 0.9236077264448606 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.60, Z:-1.00 [[ 9.99791648e-01 -1.89365795e-02 -7.62012846e-03 4.78827064e+00] [ 1.89324350e-02 9.99820576e-01 -6.15661000e-04 -6.00417382e-01] [ 7.63041974e-03 4.71265140e-04 9.99970777e-01 -9.96051148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.951193817 meters Centerline goodness [0,1] 0.9220055710306406 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.60, Z:-0.99 [[ 9.99811045e-01 -1.79369301e-02 -7.49265350e-03 4.78625855e+00] [ 1.79452233e-02 9.99838429e-01 1.04108459e-03 -6.03544533e-01] [ 7.47276905e-03 -1.17534522e-03 9.99971388e-01 -9.93341992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.981193817 meters Centerline goodness [0,1] 0.9236460186116052 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.60, Z:-0.99 [[ 9.99817753e-01 -1.74860212e-02 -7.66161111e-03 4.78545794e+00] [ 1.75005209e-02 9.99845180e-01 1.82956685e-03 -6.04880337e-01] [ 7.62843310e-03 -1.96331560e-03 9.99968976e-01 -9.91552747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.011193817 meters Centerline goodness [0,1] 0.9207692705906714 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.60, Z:-0.99 [[ 9.99847761e-01 -1.59856273e-02 -6.99384743e-03 4.78244453e+00] [ 1.60063454e-02 9.99867637e-01 2.91645640e-03 -6.04712789e-01] [ 6.94630032e-03 -3.02795834e-03 9.99971290e-01 -9.89888677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.041193817 meters Centerline goodness [0,1] 0.9231106299618518 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.60, Z:-0.99 [[ 9.99847667e-01 -1.59485347e-02 -7.09138678e-03 4.78285887e+00] [ 1.59681978e-02 9.99868787e-01 2.72488735e-03 -6.03664562e-01] [ 7.04699834e-03 -2.83770893e-03 9.99971143e-01 -9.90300104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07119381700001 meters Centerline goodness [0,1] 0.9231106299618518 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.60, Z:-0.99 [[ 9.99847667e-01 -1.59485347e-02 -7.09138678e-03 4.78285887e+00] [ 1.59681978e-02 9.99868787e-01 2.72488735e-03 -6.03664562e-01] [ 7.04699834e-03 -2.83770893e-03 9.99971143e-01 -9.90300104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10119381700001 meters Centerline goodness [0,1] 0.9211187362423928 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.60, Z:-0.99 [[ 9.99849526e-01 -1.58224891e-02 -7.11155583e-03 4.78304255e+00] [ 1.58425497e-02 9.99870653e-01 2.77341602e-03 -6.03226951e-01] [ 7.06675363e-03 -2.88566387e-03 9.99970867e-01 -9.90492383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13119381700001 meters Centerline goodness [0,1] 0.9235083747137675 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.60, Z:-0.99 [[ 9.99864845e-01 -1.43422342e-02 -8.03696241e-03 4.78647709e+00] [ 1.43780130e-02 9.99886898e-01 4.41182731e-03 -6.03685780e-01] [ 7.97277795e-03 -4.52678658e-03 9.99957971e-01 -9.92268628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16119381700001 meters Centerline goodness [0,1] 0.9237972064148992 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.60, Z:-0.99 [[ 9.99862373e-01 -1.43992776e-02 -8.23987569e-03 4.78708857e+00] [ 1.44365742e-02 9.99885729e-01 4.48491447e-03 -6.03999538e-01] [ 8.17435458e-03 -4.60325280e-03 9.99955994e-01 -9.92385764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19119381700001 meters Centerline goodness [0,1] 0.9219291712678805 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.60, Z:-0.99 [[ 9.99841109e-01 -1.53824129e-02 -9.00762632e-03 4.78986299e+00] [ 1.54166134e-02 9.99874163e-01 3.73979173e-03 -6.03510597e-01] [ 8.94896581e-03 -3.87806460e-03 9.99952437e-01 -9.93555046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.221193817 meters Centerline goodness [0,1] 0.9218332305161423 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.60, Z:-0.99 [[ 9.99831162e-01 -1.58500021e-02 -9.29652134e-03 4.79140752e+00] [ 1.58822096e-02 9.99868086e-01 3.40092494e-03 -6.03297766e-01] [ 9.24139033e-03 -3.54800003e-03 9.99951003e-01 -9.94574544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.251193817 meters Centerline goodness [0,1] 0.9206451115847865 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.60, Z:-1.00 [[ 9.99807182e-01 -1.69628682e-02 -9.89243664e-03 4.79464233e+00] [ 1.69872634e-02 9.99852856e-01 2.38724473e-03 -6.02186268e-01] [ 9.85048651e-03 -2.55482986e-03 9.99948219e-01 -9.96973407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.281193817 meters Centerline goodness [0,1] 0.9214764583493874 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.60, Z:-1.00 [[ 9.99791525e-01 -1.75728120e-02 -1.03972746e-02 4.79687896e+00] [ 1.75935239e-02 9.99843409e-01 1.90394355e-03 -6.01719025e-01] [ 1.03621889e-02 -2.08647132e-03 9.99944134e-01 -9.98302322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.311193817 meters Centerline goodness [0,1] 0.921604938271605 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.60, Z:-1.00 [[ 9.99787476e-01 -1.76644261e-02 -1.06287313e-02 4.79761313e+00] [ 1.76870163e-02 9.99841501e-01 2.03514601e-03 -6.01957198e-01] [ 1.05910970e-02 -2.22270404e-03 9.99941442e-01 -9.98373989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.341193817 meters Centerline goodness [0,1] 0.9210892415498764 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.60, Z:-1.00 [[ 9.99784800e-01 -1.76656219e-02 -1.08756678e-02 4.79783691e+00] [ 1.76940697e-02 9.99840259e-01 2.52508822e-03 -6.03504103e-01] [ 1.08293232e-02 -2.71697964e-03 9.99937670e-01 -9.97591082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.371193817 meters Centerline goodness [0,1] 0.9210512754444731 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.61, Z:-1.00 [[ 9.99777836e-01 -1.78184291e-02 -1.12597199e-02 4.79833757e+00] [ 1.78559077e-02 9.99835331e-01 3.23683388e-03 -6.05937474e-01] [ 1.12001904e-02 -3.43716729e-03 9.99931368e-01 -9.96501709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.401193817 meters Centerline goodness [0,1] 0.9210220973106773 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.61, Z:-1.00 [[ 9.99750451e-01 -1.90379588e-02 -1.16872668e-02 4.80020269e+00] [ 1.90810754e-02 9.99811499e-01 3.58882782e-03 -6.08995950e-01] [ 1.16167398e-02 -3.81093785e-03 9.99925261e-01 -9.96166559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43119381700001 meters Centerline goodness [0,1] 0.9179584899830046 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.61, Z:-1.00 [[ 9.99730118e-01 -1.97082951e-02 -1.22993225e-02 4.80214665e+00] [ 1.97553156e-02 9.99797949e-01 3.71328830e-03 -6.09639554e-01] [ 1.22236549e-02 -3.95526315e-03 9.99917466e-01 -9.96281472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46119381700001 meters Centerline goodness [0,1] 0.9169199855737029 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.61, Z:-1.00 [[ 9.99723397e-01 -1.98902907e-02 -1.25501642e-02 4.80247190e+00] [ 1.99451289e-02 9.99792002e-01 4.25957814e-03 -6.10863423e-01] [ 1.24628296e-02 -4.50871457e-03 9.99912171e-01 -9.95380031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49119381700001 meters Centerline goodness [0,1] 0.9155919675393482 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.61, Z:-0.99 [[ 9.99707599e-01 -2.03338797e-02 -1.30862090e-02 4.80327609e+00] [ 2.03942679e-02 9.99781898e-01 4.49784703e-03 -6.11969203e-01] [ 1.29918962e-02 -4.76341551e-03 9.99904256e-01 -9.94376577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52119381700001 meters Centerline goodness [0,1] 0.9204160306331013 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.61, Z:-0.99 [[ 9.99692796e-01 -2.07567962e-02 -1.35450410e-02 4.80390656e+00] [ 2.08220872e-02 9.99772163e-01 4.69718618e-03 -6.13147110e-01] [ 1.34444564e-02 -4.97777922e-03 9.99897229e-01 -9.93335615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55119381700001 meters Centerline goodness [0,1] 0.9175568551007147 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.61, Z:-0.99 [[ 0.99968447 -0.02097451 -0.01382136 4.80341709] [ 0.02105359 0.99976266 0.0056012 -0.6147838 ] [ 0.0137006 -0.00589043 0.99988879 -0.9908044 ] [ 0. 0. 0. 1. ]] SLAMing on 121.58119381700001 meters Centerline goodness [0,1] 0.91856508299348 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.61, Z:-0.99 [[ 0.99967815 -0.02114658 -0.01401499 4.80362619] [ 0.02122679 0.99975901 0.005599 -0.61400868] [ 0.01389321 -0.00589469 0.99988611 -0.99025863] [ 0. 0. 0. 1. ]] SLAMing on 121.611193817 meters Centerline goodness [0,1] 0.9189063348767428 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.61, Z:-0.99 [[ 0.99965999 -0.02177085 -0.01435029 4.80486216] [ 0.02184433 0.99974896 0.0049837 -0.61225476] [ 0.01423819 -0.00529548 0.99988461 -0.99071937] [ 0. 0. 0. 1. ]] SLAMing on 121.641193817 meters Centerline goodness [0,1] 0.9176482744368671 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.61, Z:-0.99 [[ 9.99652064e-01 -2.20458378e-02 -1.44821526e-02 4.80486152e+00] [ 2.21107337e-02 9.99746124e-01 4.33635245e-03 -6.08334803e-01] [ 1.43828774e-02 -4.65505470e-03 9.99885725e-01 -9.90501323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.671193817 meters Centerline goodness [0,1] 0.9149012567324954 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.61, Z:-0.99 [[ 9.99640428e-01 -2.23659462e-02 -1.47912045e-02 4.80559090e+00] [ 2.24231175e-02 9.99741684e-01 3.71071959e-03 -6.05634908e-01] [ 1.47043900e-02 -4.04105024e-03 9.99883719e-01 -9.90607925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.701193817 meters Centerline goodness [0,1] 0.9163222875330476 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.60, Z:-0.99 [[ 9.99647427e-01 -2.21230738e-02 -1.46830047e-02 4.80476241e+00] [ 2.21754352e-02 9.99748269e-01 3.41292386e-03 -6.02712968e-01] [ 1.46038041e-02 -3.73732258e-03 9.99886374e-01 -9.90081103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.731193817 meters Centerline goodness [0,1] 0.9149135702336899 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.60, Z:-0.99 [[ 0.99970438 -0.01870394 -0.01553465 4.8058291 ] [ 0.01880156 0.99980425 0.0061622 -0.59756565] [ 0.01541635 -0.00645245 0.99986034 -0.98953174] [ 0. 0. 0. 1. ]] SLAMing on 121.761193817 meters Centerline goodness [0,1] 0.9169666910043053 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.60, Z:-0.99 [[ 0.99974332 -0.01559237 -0.01643685 4.80787794] [ 0.01574503 0.99983372 0.00919904 -0.59506631] [ 0.01629068 -0.00945548 0.99982259 -0.9896332 ] [ 0. 0. 0. 1. ]] SLAMing on 121.791193817 meters Centerline goodness [0,1] 0.9199820632271244 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.59, Z:-1.00 [[ 9.99851588e-01 -1.23175387e-02 -1.20449592e-02 4.82043296e+00] [ 1.23069936e-02 9.99923816e-01 -9.49210762e-04 -5.88291809e-01] [ 1.20557335e-02 8.00832651e-04 9.99927006e-01 -9.96619651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82119381700001 meters Centerline goodness [0,1] 0.9194634206930816 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.59, Z:-1.00 [[ 9.99888945e-01 -8.34043392e-03 -1.23504920e-02 4.82050212e+00] [ 8.37692499e-03 9.99960691e-01 2.90584657e-03 -5.86375444e-01] [ 1.23257705e-02 -3.00898301e-03 9.99919507e-01 -9.95820307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85119381700001 meters Centerline goodness [0,1] 0.919514586908556 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.58, Z:-1.00 [[ 9.99963565e-01 -2.31887573e-03 -8.21527035e-03 4.83286604e+00] [ 2.28039955e-03 9.99986403e-01 -4.68977129e-03 -5.78634094e-01] [ 8.22603364e-03 4.67086633e-03 9.99955257e-01 -1.00152896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88119381700001 meters Centerline goodness [0,1] 0.9187518398586989 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.58, Z:-1.00 [[ 9.99961632e-01 1.53169861e-03 -8.62487470e-03 4.83329227e+00] [-1.53863431e-03 9.99998498e-01 -7.97572846e-04 -5.77736097e-01] [ 8.62364010e-03 8.10812773e-04 9.99962487e-01 -1.00069707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91119381700001 meters Centerline goodness [0,1] 0.9177111181967575 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.57, Z:-1.00 [[ 9.99961981e-01 2.34501736e-03 -8.39870935e-03 4.83194829e+00] [-2.35250032e-03 9.99996845e-01 -8.81197196e-04 -5.74375019e-01] [ 8.39661643e-03 9.00921660e-04 9.99964342e-01 -1.00008098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94119381700001 meters Centerline goodness [0,1] 0.9178912653377952 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.57, Z:-1.00 [[ 9.99943635e-01 6.06578425e-03 -8.71398389e-03 4.83248661e+00] [-6.04539428e-03 9.99978931e-01 2.36435240e-03 -5.71031973e-01] [ 8.72814195e-03 -2.31153966e-03 9.99959237e-01 -9.99922300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.971193817 meters Centerline goodness [0,1] 0.9164364306141244 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.57, Z:-1.00 [[ 9.99943359e-01 6.01518233e-03 -8.78044716e-03 4.83275587e+00] [-5.99824143e-03 9.99980100e-01 1.95445020e-03 -5.69481320e-01] [ 8.79202880e-03 -1.90167226e-03 9.99959541e-01 -1.00019554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.001193817 meters Centerline goodness [0,1] 0.9180765589727408 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.57, Z:-1.00 [[ 9.99941597e-01 5.87870355e-03 -9.06879762e-03 4.83330510e+00] [-5.86404467e-03 9.99981458e-01 1.64215296e-03 -5.68564758e-01] [ 9.07828319e-03 -1.58887722e-03 9.99957529e-01 -1.00016993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.031193817 meters Centerline goodness [0,1] 0.9179138872043663 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.57, Z:-1.00 [[ 9.99940134e-01 5.78362400e-03 -9.28862192e-03 4.83364227e+00] [-5.77017929e-03 9.99982267e-01 1.47358642e-03 -5.68416286e-01] [ 9.29697987e-03 -1.41990119e-03 9.99955774e-01 -9.99990641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.061193817 meters Centerline goodness [0,1] 0.9163440703138315 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.57, Z:-1.00 [[ 9.99938032e-01 5.81583659e-03 -9.49252637e-03 4.83377748e+00] [-5.80069932e-03 9.99981861e-01 1.62140574e-03 -5.69104778e-01] [ 9.50178401e-03 -1.56624197e-03 9.99953630e-01 -9.99533206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.091193817 meters Centerline goodness [0,1] 0.918376308150172 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.57, Z:-1.00 [[ 9.99937022e-01 5.53446409e-03 -9.76330932e-03 4.83457537e+00] [-5.52100450e-03 9.99983772e-01 1.40500261e-03 -5.69288353e-01] [ 9.77092682e-03 -1.35101085e-03 9.99951351e-01 -9.99759232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.121193817 meters Centerline goodness [0,1] 0.9169391440144454 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.57, Z:-1.00 [[ 9.99935635e-01 5.30878682e-03 -1.00271084e-02 4.83533693e+00] [-5.29579881e-03 9.99985104e-01 1.32139719e-03 -5.69776974e-01] [ 1.00339740e-02 -1.26821059e-03 9.99948854e-01 -9.99925052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.151193817 meters Centerline goodness [0,1] 0.9171709253043926 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.57, Z:-1.00 [[ 9.99934026e-01 5.03749186e-03 -1.03231321e-02 4.83670993e+00] [-5.02546246e-03 9.99986663e-01 1.19089447e-03 -5.71003722e-01] [ 1.03289935e-02 -1.13893739e-03 9.99946006e-01 -1.00088083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18119381700001 meters Centerline goodness [0,1] 0.9165970618582027 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.57, Z:-1.00 [[ 9.99932160e-01 4.42782587e-03 -1.07735977e-02 4.83868412e+00] [-4.42057606e-03 9.99989987e-01 6.96644231e-04 -5.71410988e-01] [ 1.07765744e-02 -6.48971462e-04 9.99941720e-01 -1.00218279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21119381700001 meters Centerline goodness [0,1] 0.9163185057753748 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.57, Z:-1.00 [[ 9.99931381e-01 4.04027008e-03 -1.09959155e-02 4.83982648e+00] [-4.03572319e-03 9.99991762e-01 4.35665469e-04 -5.72177922e-01] [ 1.09975851e-02 -3.91259103e-04 9.99939448e-01 -1.00297200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24119381700001 meters Centerline goodness [0,1] 0.9164659621528631 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.57, Z:-1.00 [[ 9.99929156e-01 3.42021497e-03 -1.14011359e-02 4.84168365e+00] [-3.42071699e-03 9.99994149e-01 -2.45321418e-05 -5.72595187e-01] [ 1.14009853e-02 6.35304633e-05 9.99935005e-01 -1.00412537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27119381700001 meters Centerline goodness [0,1] 0.9154780380853842 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.57, Z:-1.00 [[ 9.99928035e-01 2.74295228e-03 -1.16790827e-02 4.84293234e+00] [-2.74267582e-03 9.99996238e-01 3.96874277e-05 -5.74984270e-01] [ 1.16791476e-02 -7.65263384e-06 9.99931796e-01 -1.00438151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30119381700001 meters Centerline goodness [0,1] 0.9138689740420272 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.58, Z:-1.00 [[ 9.99926307e-01 2.30494639e-03 -1.19191779e-02 4.84384625e+00] [-2.30498254e-03 9.99997343e-01 1.07041989e-05 -5.76050272e-01] [ 1.19191709e-02 1.67700867e-05 9.99928964e-01 -1.00457753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33119381700001 meters Centerline goodness [0,1] 0.9160472557223727 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.58, Z:-1.01 [[ 9.99918666e-01 1.28630981e-03 -1.26888091e-02 4.84655807e+00] [-1.29386463e-03 9.99998991e-01 -5.87200802e-04 -5.76480350e-01] [ 1.26880409e-02 6.03570644e-04 9.99919321e-01 -1.00561260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.361193817 meters Centerline goodness [0,1] 0.914562435143549 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.58, Z:-1.01 [[ 9.99913400e-01 6.81430611e-04 -1.31425999e-02 4.84804585e+00] [-6.89150888e-04 9.99999593e-01 -5.82904079e-04 -5.77787451e-01] [ 1.31421973e-02 5.91910834e-04 9.99913462e-01 -1.00580889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.391193817 meters Centerline goodness [0,1] 0.9176109654114504 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.58, Z:-1.01 [[ 9.99906358e-01 -1.18454747e-04 -1.36843479e-02 4.84998712e+00] [ 1.09502062e-04 9.99999780e-01 -6.54975514e-04 -5.79188269e-01] [ 1.36844225e-02 6.53415717e-04 9.99906150e-01 -1.00628225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.421193817 meters Centerline goodness [0,1] 0.9157374211892694 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.58, Z:-1.01 [[ 9.99895563e-01 -1.21925417e-03 -1.44005826e-02 4.85268230e+00] [ 1.20378516e-03 9.99998689e-01 -1.08281315e-03 -5.80115384e-01] [ 1.44018839e-02 1.06536486e-03 9.99895720e-01 -1.00723141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.451193817 meters Centerline goodness [0,1] 0.9204672271408377 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.58, Z:-1.01 [[ 9.99886253e-01 -3.04330755e-03 -1.47722823e-02 4.85487322e+00] [ 3.02171574e-03 9.99994334e-01 -1.48374323e-03 -5.82121569e-01] [ 1.47767141e-02 1.43893682e-03 9.99889783e-01 -1.00761033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.481193817 meters Centerline goodness [0,1] 0.9205120571598691 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.58, Z:-1.01 [[ 9.99877735e-01 -3.63818867e-03 -1.52078550e-02 4.85610966e+00] [ 3.61977219e-03 9.99992682e-01 -1.23833535e-03 -5.83778412e-01] [ 1.52122490e-02 1.18313497e-03 9.99883587e-01 -1.00733845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.511193817 meters Centerline goodness [0,1] 0.9228858810381224 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.59, Z:-1.01 [[ 9.99866741e-01 -4.39121130e-03 -1.57231694e-02 4.85769280e+00] [ 4.37592848e-03 9.99989919e-01 -1.00626602e-03 -5.85819859e-01] [ 1.57274297e-02 9.37328462e-04 9.99875877e-01 -1.00716934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.541193817 meters Centerline goodness [0,1] 0.9241379310344827 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.59, Z:-1.01 [[ 9.99856597e-01 -5.30549649e-03 -1.60822178e-02 4.85907272e+00] [ 5.29541152e-03 9.99985755e-01 -6.69607154e-04 -5.87954163e-01] [ 1.60855413e-02 5.84349169e-04 9.99870449e-01 -1.00686671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57119381700001 meters Centerline goodness [0,1] 0.9289627054203456 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.59, Z:-1.01 [[ 9.99806704e-01 -1.11555305e-02 -1.61898041e-02 4.86055739e+00] [ 1.10796306e-02 9.99927240e-01 -4.77027671e-03 -5.89411842e-01] [ 1.62418411e-02 4.58997758e-03 9.99857557e-01 -1.00667969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60119381700001 meters Centerline goodness [0,1] 0.9308883986764264 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.59, Z:-1.01 [[ 9.99784510e-01 -1.23453190e-02 -1.66891257e-02 4.86187254e+00] [ 1.22765928e-02 9.99915759e-01 -4.21422365e-03 -5.92291931e-01] [ 1.67397457e-02 4.00842993e-03 9.99851846e-01 -1.00538945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63119381700001 meters Centerline goodness [0,1] 0.9366013071895425 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.59, Z:-1.00 [[ 0.99968766 -0.0182233 -0.01710238 4.86343628] [ 0.01808568 0.99980308 -0.00816745 -0.59365701] [ 0.01724785 0.00785559 0.99982038 -1.00417295] [ 0. 0. 0. 1. ]] SLAMing on 122.66119381700001 meters Centerline goodness [0,1] 0.927186416838298 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.59, Z:-1.00 [[ 0.99966092 -0.01913868 -0.01765645 4.86480008] [ 0.01900048 0.99978777 -0.00796194 -0.59486653] [ 0.01780509 0.00762376 0.99981241 -1.00338392] [ 0. 0. 0. 1. ]] SLAMing on 122.69119381700001 meters Centerline goodness [0,1] 0.9182529105584751 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.60, Z:-1.00 [[ 0.99963692 -0.01989789 -0.0181687 4.86604272] [ 0.0197552 0.99977284 -0.00799957 -0.59508225] [ 0.01832374 0.00763774 0.99980293 -1.00288319] [ 0. 0. 0. 1. ]] SLAMing on 122.721193817 meters Centerline goodness [0,1] 0.9133453652178273 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.60, Z:-1.00 [[ 9.99675596e-01 -1.73324556e-02 -1.86624738e-02 4.86745233e+00] [ 1.72613202e-02 9.99843146e-01 -3.96605446e-03 -5.96370909e-01] [ 1.87282880e-02 3.64262893e-03 9.99817975e-01 -1.00182180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.751193817 meters Centerline goodness [0,1] 0.8924510857342762 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.60, Z:-1.00 [[ 9.99712546e-01 -1.41702638e-02 -1.93398148e-02 4.86880653e+00] [ 1.41727053e-02 9.99899562e-01 -1.08214441e-05 -5.96130100e-01] [ 1.93380257e-02 -2.63279162e-04 9.99812968e-01 -1.00092535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.781193817 meters Centerline goodness [0,1] 0.8984401994175428 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.59, Z:-1.00 [[ 9.99747754e-01 -1.07506451e-02 -1.97193433e-02 4.86946885e+00] [ 1.08042850e-02 9.99938211e-01 2.61564849e-03 -5.88641605e-01] [ 1.96900050e-02 -2.82804211e-03 9.99802133e-01 -1.00092294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.811193817 meters Centerline goodness [0,1] 0.9060468539188029 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.59, Z:-1.00 [[ 0.9997659 -0.00739685 -0.02033303 4.87054063] [ 0.0075113 0.99995634 0.00555837 -0.58512968] [ 0.02029103 -0.00570979 0.99977781 -1.00066442] [ 0. 0. 0. 1. ]] SLAMing on 122.841193817 meters Centerline goodness [0,1] 0.92240580981625 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.58, Z:-1.00 [[ 0.99977237 -0.00662877 -0.0202795 4.86928641] [ 0.00673044 0.9999651 0.0049496 -0.57932207] [ 0.02024598 -0.00508496 0.9997821 -1.00000247] [ 0. 0. 0. 1. ]] SLAMing on 122.871193817 meters Centerline goodness [0,1] 0.9309022033613849 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.57, Z:-1.00 [[ 9.99778909e-01 9.49718171e-05 -2.10267589e-02 4.86825564e+00] [ 1.16306923e-04 9.99949524e-01 1.00466379e-02 -5.70151650e-01] [ 2.10266517e-02 -1.00468622e-02 9.99728433e-01 -9.97451015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.901193817 meters Centerline goodness [0,1] 0.9290803803350571 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.57, Z:-1.00 [[ 9.99762127e-01 3.70245424e-03 -2.14937432e-02 4.86879815e+00] [-3.42705614e-03 9.99911747e-01 1.28356679e-02 -5.65157292e-01] [ 2.15393698e-02 -1.27589544e-02 9.99686583e-01 -9.97045551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93119381700001 meters Centerline goodness [0,1] 0.9291704841778843 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.56, Z:-1.00 [[ 9.99824478e-01 7.61863701e-03 -1.71163282e-02 4.88237051e+00] [-7.54753144e-03 9.99962633e-01 4.21501885e-03 -5.57164582e-01] [ 1.71478013e-02 -4.08509300e-03 9.99844620e-01 -1.00306734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96119381700001 meters Centerline goodness [0,1] 0.9291704841778843 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.56, Z:-1.00 [[ 9.99824478e-01 7.61863701e-03 -1.71163282e-02 4.88237051e+00] [-7.54753144e-03 9.99962633e-01 4.21501885e-03 -5.57164582e-01] [ 1.71478013e-02 -4.08509300e-03 9.99844620e-01 -1.00306734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99119381700001 meters Centerline goodness [0,1] 0.9287326368691686 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.55, Z:-1.00 [[ 0.99978467 0.01135813 -0.01736671 4.88236852] [-0.01123575 0.99991147 0.00712828 -0.55188811] [ 0.01744613 -0.00693161 0.99982378 -1.00240098] [ 0. 0. 0. 1. ]] SLAMing on 123.02119381700001 meters Centerline goodness [0,1] 0.9294664324024413 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.55, Z:-1.00 [[ 0.99972984 0.01508674 -0.01768142 4.88228818] [-0.01490997 0.99983796 0.01008688 -0.54674539] [ 0.01783074 -0.00982052 0.99979279 -1.00136953] [ 0. 0. 0. 1. ]] SLAMing on 123.05119381700001 meters Centerline goodness [0,1] 0.9295119182746878 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.54, Z:-1.00 [[ 0.99959563 0.02205433 -0.01794961 4.88013545] [-0.02177866 0.99964403 0.01541129 -0.53641854] [ 0.01828311 -0.01501414 0.99972011 -0.99794136] [ 0. 0. 0. 1. ]] SLAMing on 123.08119381700001 meters Centerline goodness [0,1] 0.926453009765669 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.53, Z:-1.00 [[ 0.99956469 0.0231702 -0.01826396 4.8794874 ] [-0.02289678 0.9996247 0.01503986 -0.5303032 ] [ 0.01860558 -0.01461512 0.99972008 -0.99706825] [ 0. 0. 0. 1. ]] SLAMing on 123.111193817 meters Centerline goodness [0,1] 0.9220542583344581 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.53, Z:-1.00 [[ 0.99945662 0.02716673 -0.01866644 4.87973719] [-0.02682616 0.99947334 0.01825919 -0.52670805] [ 0.01915265 -0.01774852 0.99965902 -0.99622343] [ 0. 0. 0. 1. ]] SLAMing on 123.141193817 meters Centerline goodness [0,1] 0.9204873285695264 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.52, Z:-1.00 [[ 0.99934351 0.03088076 -0.01894529 4.88056329] [-0.03048129 0.99931421 0.02102367 -0.52252659] [ 0.01958153 -0.02043239 0.99959946 -0.99647257] [ 0. 0. 0. 1. ]] SLAMing on 123.171193817 meters Centerline goodness [0,1] 0.9171689717905442 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.52, Z:-1.00 [[ 0.99905242 0.03903068 -0.01925769 4.88119863] [-0.038495 0.99888184 0.0274446 -0.51518412] [ 0.02030734 -0.02667727 0.99943781 -0.99639284] [ 0. 0. 0. 1. ]] SLAMing on 123.201193817 meters Centerline goodness [0,1] 0.9127839604696416 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.51, Z:-1.00 [[ 0.99889523 0.04275634 -0.01949932 4.88237238] [-0.04215234 0.99864858 0.03040065 -0.51183186] [ 0.02077279 -0.02954512 0.99934758 -0.99705304] [ 0. 0. 0. 1. ]] SLAMing on 123.231193817 meters Centerline goodness [0,1] 0.9119938884644767 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.51, Z:-1.00 [[ 0.99884082 0.04378076 -0.0200064 4.88315772] [-0.04316924 0.99861608 0.03003892 -0.50739722] [ 0.02129384 -0.02914044 0.99934849 -0.99754392] [ 0. 0. 0. 1. ]] SLAMing on 123.261193817 meters Centerline goodness [0,1] 0.9127423522004385 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.50, Z:-1.00 [[ 0.99859538 0.05001697 -0.01748039 4.89226121] [-0.04968752 0.99858788 0.01879861 -0.50115411] [ 0.01839596 -0.01790365 0.99967047 -1.00412899] [ 0. 0. 0. 1. ]] SLAMing on 123.291193817 meters Centerline goodness [0,1] 0.9110715680743023 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.50, Z:-1.00 [[ 0.99858575 0.05013749 -0.01768441 4.89265394] [-0.04981324 0.99859047 0.01832261 -0.49927256] [ 0.01857814 -0.01741578 0.99967572 -1.00434699] [ 0. 0. 0. 1. ]] SLAMing on 123.32119381700001 meters Centerline goodness [0,1] 0.9106283873495418 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.50, Z:-1.00 [[ 0.99858289 0.05015801 -0.01778752 4.89295719] [-0.04983732 0.99859448 0.0180361 -0.49818089] [ 0.01866717 -0.01712406 0.9996791 -1.00451952] [ 0. 0. 0. 1. ]] SLAMing on 123.35119381700001 meters Centerline goodness [0,1] 0.911318375510914 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.50, Z:-1.01 [[ 0.99872969 0.04700453 -0.01815418 4.89322852] [-0.04675554 0.99880958 0.01390462 -0.495809 ] [ 0.01878615 -0.01303815 0.99973851 -1.00507182] [ 0. 0. 0. 1. ]] SLAMing on 123.38119381700001 meters Centerline goodness [0,1] 0.9095634322653913 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.49, Z:-1.01 [[ 0.9988861 0.04351248 -0.01825433 4.89341109] [-0.04334275 0.99901421 0.00959278 -0.4939072 ] [ 0.01865374 -0.0087909 0.99978736 -1.00604171] [ 0. 0. 0. 1. ]] SLAMing on 123.41119381700001 meters Centerline goodness [0,1] 0.9052159650082012 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.49, Z:-1.01 [[ 9.99052190e-01 3.93678910e-02 -1.85712268e-02 4.89474612e+00] [-3.92787062e-02 9.99215058e-01 5.14301404e-03 -4.93649591e-01] [ 1.87591191e-02 -4.40868568e-03 9.99814312e-01 -1.00776114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44119381700001 meters Centerline goodness [0,1] 0.9049721087538982 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.49, Z:-1.01 [[ 9.99190899e-01 3.56248337e-02 -1.86659552e-02 4.89489375e+00] [-3.56136862e-02 9.99365199e-01 9.29387160e-04 -4.92734193e-01] [ 1.86872153e-02 -2.63871721e-04 9.99825344e-01 -1.00838126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.471193817 meters Centerline goodness [0,1] 0.9029207171227316 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.49, Z:-1.01 [[ 9.99193322e-01 3.53956873e-02 -1.89697373e-02 4.89570775e+00] [-3.53817084e-02 9.99373296e-01 1.07212624e-03 -4.94620829e-01] [ 1.89957975e-02 -4.00079668e-04 9.99819484e-01 -1.00842010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.501193817 meters Centerline goodness [0,1] 0.8999512497784081 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.50, Z:-1.01 [[ 9.99304856e-01 3.21757484e-02 -1.88288454e-02 4.89450458e+00] [-3.22190165e-02 9.99478834e-01 -1.99906780e-03 -4.97621891e-01] [ 1.87547110e-02 2.60432504e-03 9.99820723e-01 -1.00777841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.531193817 meters Centerline goodness [0,1] 0.9025156532008289 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.50, Z:-1.01 [[ 0.99940602 0.02893665 -0.01871554 4.8939185 ] [-0.02904485 0.99956278 -0.00553532 -0.49738614] [ 0.01854718 0.00607562 0.99980953 -1.00791012] [ 0. 0. 0. 1. ]] SLAMing on 123.561193817 meters Centerline goodness [0,1] 0.9005233260276424 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.50, Z:-1.01 [[ 0.99941533 0.02849242 -0.01889913 4.8950923 ] [-0.02860367 0.9995749 -0.00564282 -0.49862636] [ 0.01873032 0.00618011 0.99980547 -1.00879619] [ 0. 0. 0. 1. ]] SLAMing on 123.591193817 meters Centerline goodness [0,1] 0.8957755373615716 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.50, Z:-1.01 [[ 0.99942455 0.02785413 -0.01935767 4.89658325] [-0.02795609 0.99959656 -0.00501685 -0.50400632] [ 0.01921012 0.00555512 0.99980004 -1.00897561] [ 0. 0. 0. 1. ]] SLAMing on 123.621193817 meters Centerline goodness [0,1] 0.8954020385050963 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.51, Z:-1.01 [[ 0.99951696 0.02421895 -0.01947541 4.89665752] [-0.02438718 0.9996669 -0.00844722 -0.5060548 ] [ 0.01926434 0.00891809 0.99977465 -1.0091179 ] [ 0. 0. 0. 1. ]] SLAMing on 123.651193817 meters Centerline goodness [0,1] 0.8974329772452907 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.51, Z:-1.01 [[ 0.99952669 0.02354937 -0.01979448 4.89790321] [-0.02371416 0.9996857 -0.00813213 -0.51012975] [ 0.01959676 0.00859769 0.999771 -1.0095298 ] [ 0. 0. 0. 1. ]] SLAMing on 123.68119381700001 meters Centerline goodness [0,1] 0.8941184538368345 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.51, Z:-1.01 [[ 0.99954178 0.02261372 -0.02012083 4.8996785 ] [-0.02278112 0.99970742 -0.00812936 -0.51314889] [ 0.01993111 0.00858401 0.99976451 -1.01049121] [ 0. 0. 0. 1. ]] SLAMing on 123.71119381700001 meters Centerline goodness [0,1] 0.8921863174552209 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.52, Z:-1.01 [[ 0.99963381 0.01749382 -0.02064495 4.90237727] [-0.01774766 0.99976835 -0.01217685 -0.5161717 ] [ 0.02042715 0.01253879 0.99971271 -1.01245191] [ 0. 0. 0. 1. ]] SLAMing on 123.74119381700001 meters Centerline goodness [0,1] 0.892372625866747 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.52, Z:-1.01 [[ 0.99964616 0.01643283 -0.02091704 4.90404538] [-0.01669058 0.99978617 -0.01220841 -0.51935279] [ 0.02071195 0.01255321 0.99970667 -1.01329627] [ 0. 0. 0. 1. ]] SLAMing on 123.77119381700001 meters Centerline goodness [0,1] 0.8947527914403599 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.52, Z:-1.01 [[ 0.99964734 0.01557937 -0.02150529 4.90584806] [-0.0158343 0.99980576 -0.01173502 -0.52325118] [ 0.02131829 0.0120714 0.99969986 -1.0133685 ] [ 0. 0. 0. 1. ]] SLAMing on 123.80119381700001 meters Centerline goodness [0,1] 0.901095068703355 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.53, Z:-1.01 [[ 0.99965418 0.01427499 -0.02208497 4.90796722] [-0.01453597 0.99982587 -0.01170205 -0.52701178] [ 0.02191408 0.01201903 0.99968761 -1.01366197] [ 0. 0. 0. 1. ]] SLAMing on 123.83119381700001 meters Centerline goodness [0,1] 0.91015854374633 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.53, Z:-1.01 [[ 0.9997118 0.0088704 -0.02230785 4.90889041] [-0.00920545 0.99984569 -0.01496185 -0.53248454] [ 0.02217169 0.01516289 0.99963919 -1.01295977] [ 0. 0. 0. 1. ]] SLAMing on 123.861193817 meters Centerline goodness [0,1] 0.9154710945952302 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.54, Z:-1.01 [[ 0.99970906 0.00810025 -0.02271984 4.91006255] [-0.00842808 0.99986121 -0.01437077 -0.53591809] [ 0.02260028 0.01455807 0.99963858 -1.01248642] [ 0. 0. 0. 1. ]] SLAMing on 123.891193817 meters Centerline goodness [0,1] 0.9214359796341693 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.54, Z:-1.01 [[ 0.99970746 0.00764661 -0.02294632 4.9105654 ] [-0.00796228 0.99987449 -0.01369696 -0.53865526] [ 0.0228387 0.01387565 0.99964287 -1.01182448] [ 0. 0. 0. 1. ]] SLAMing on 123.921193817 meters Centerline goodness [0,1] 0.9228513315358782 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.54, Z:-1.01 [[ 0.99970667 0.00746759 -0.0230394 4.91061616] [-0.00776864 0.99988525 -0.01300511 -0.54062922] [ 0.02293964 0.01318028 0.99964997 -1.01105954] [ 0. 0. 0. 1. ]] SLAMing on 123.951193817 meters Centerline goodness [0,1] 0.9278030178197312 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.54, Z:-1.01 [[ 0.9997197 0.00658267 -0.02274184 4.91022282] [-0.00687758 0.99989296 -0.01291397 -0.5414361 ] [ 0.0226544 0.01306676 0.99965796 -1.01040154] [ 0. 0. 0. 1. ]] SLAMing on 123.981193817 meters Centerline goodness [0,1] 0.928684179526446 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.54, Z:-1.01 [[ 0.99971725 0.00657796 -0.02285068 4.90985577] [-0.00686472 0.99989839 -0.01249328 -0.54207856] [ 0.02276618 0.01264661 0.99966082 -1.00930257] [ 0. 0. 0. 1. ]] SLAMing on 124.011193817 meters Centerline goodness [0,1] 0.9326001460094671 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.54, Z:-1.01 [[ 0.99971399 0.00665631 -0.02297034 4.90937712] [-0.00693575 0.99990266 -0.01210676 -0.54267066] [ 0.02288752 0.01226262 0.99966284 -1.00807589] [ 0. 0. 0. 1. ]] SLAMing on 124.041193817 meters Centerline goodness [0,1] 0.9374266259685372 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.54, Z:-1.01 [[ 0.99971099 0.00658414 -0.02312095 4.90914374] [-0.00686064 0.99990565 -0.0119002 -0.54283789] [ 0.02304042 0.01205538 0.99966185 -1.00708004] [ 0. 0. 0. 1. ]] SLAMing on 124.07119381700001 meters Centerline goodness [0,1] 0.9366408485102226 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.54, Z:-1.01 [[ 0.99971731 0.00549486 -0.02313219 4.90939925] [-0.00579377 0.99990034 -0.01287445 -0.54001416] [ 0.02305914 0.01300483 0.99964951 -1.00690077] [ 0. 0. 0. 1. ]] SLAMing on 124.10119381700001 meters Centerline goodness [0,1] 0.9358424020233427 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.54, Z:-1.01 [[ 0.99971668 0.0050626 -0.02325804 4.91002014] [-0.00537732 0.99989456 -0.01348932 -0.53729615] [ 0.02318729 0.01361057 0.99963849 -1.00722472] [ 0. 0. 0. 1. ]] SLAMing on 124.13119381700001 meters Centerline goodness [0,1] 0.934408055799344 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.54, Z:-1.01 [[ 0.99968459 0.00808784 -0.02377624 4.91175941] [-0.00832867 0.99991484 -0.01004761 -0.5363947 ] [ 0.02369295 0.01024247 0.99966681 -1.00739742] [ 0. 0. 0. 1. ]] SLAMing on 124.16119381700001 meters Centerline goodness [0,1] 0.9351760296180468 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.53, Z:-1.01 [[ 0.99963954 0.01139217 -0.02431058 4.91334098] [-0.01155887 0.99991056 -0.00672756 -0.53477645] [ 0.02423176 0.00700613 0.99968182 -1.00759129] [ 0. 0. 0. 1. ]] SLAMing on 124.19119381700001 meters Centerline goodness [0,1] 0.9314573499853204 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.53, Z:-1.01 [[ 9.99517106e-01 1.86171671e-02 -2.48788216e-02 4.91493270e+00] [-1.86412989e-02 9.99825963e-01 -7.38381258e-04 -5.27998318e-01] [ 2.48607452e-02 1.20179825e-03 9.99690202e-01 -1.00790729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.221193817 meters Centerline goodness [0,1] 0.9269306399713979 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.52, Z:-1.01 [[ 9.99427445e-01 2.26329468e-02 -2.51502011e-02 4.91539339e+00] [-2.25812632e-02 9.99742279e-01 2.33714300e-03 -5.23637131e-01] [ 2.51966158e-02 -1.76788154e-03 9.99680952e-01 -1.00767736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.251193817 meters Centerline goodness [0,1] 0.9203215405679961 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.52, Z:-1.01 [[ 9.99323344e-01 2.64707087e-02 -2.55373288e-02 4.91625612e+00] [-2.63470802e-02 9.99639509e-01 5.16553561e-03 -5.19326667e-01] [ 2.56648582e-02 -4.48920627e-03 9.99660523e-01 -1.00770536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.281193817 meters Centerline goodness [0,1] 0.9167538810395953 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.52, Z:-1.01 [[ 0.99920656 0.03032128 -0.02582399 4.91716833] [-0.03012347 0.99951405 0.00801496 -0.5151784 ] [ 0.02605446 -0.00723069 0.99963437 -1.00796417] [ 0. 0. 0. 1. ]] SLAMing on 124.311193817 meters Centerline goodness [0,1] 0.9155659155659156 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.51, Z:-1.01 [[ 0.99907104 0.03447945 -0.02585021 4.9172418 ] [-0.03419967 0.99935239 0.01118834 -0.51082387] [ 0.02621924 -0.01029388 0.99960322 -1.00775506] [ 0. 0. 0. 1. ]] SLAMing on 124.341193817 meters Centerline goodness [0,1] 0.904547959140423 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.50, Z:-1.01 [[ 0.99872918 0.0433746 -0.02566471 4.91583414] [-0.04291653 0.99891401 0.01813775 -0.50191998] [ 0.02642356 -0.01701326 0.99950605 -1.00593141] [ 0. 0. 0. 1. ]] SLAMing on 124.371193817 meters Centerline goodness [0,1] 0.8999873267995945 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.50, Z:-1.00 [[ 0.99853192 0.04773937 -0.02559199 4.91521742] [-0.04718903 0.99865038 0.0216937 -0.49864477] [ 0.0265931 -0.02045419 0.99943706 -1.00486213] [ 0. 0. 0. 1. ]] SLAMing on 124.401193817 meters Centerline goodness [0,1] 0.904457267101522 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.49, Z:-1.00 [[ 0.99811305 0.05600006 -0.02518614 4.91329545] [-0.05527988 0.9980659 0.02843563 -0.49236627] [ 0.02672982 -0.02698968 0.99927828 -1.0026803 ] [ 0. 0. 0. 1. ]] SLAMing on 124.43119381700001 meters Centerline goodness [0,1] 0.910158201498751 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.49, Z:-1.01 [[ 0.99793006 0.06085918 -0.02077896 4.92627058] [-0.06041724 0.9979465 0.02127278 -0.48793255] [ 0.02203094 -0.01997334 0.99955775 -1.00764901] [ 0. 0. 0. 1. ]] SLAMing on 124.46119381700001 meters Centerline goodness [0,1] 0.9085689230383764 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.48, Z:-1.01 [[ 0.99789713 0.06133352 -0.0209647 4.92677113] [-0.06090409 0.9979322 0.02054305 -0.48378256] [ 0.02218133 -0.01922301 0.99956914 -1.00820359] [ 0. 0. 0. 1. ]] SLAMing on 124.49119381700001 meters Centerline goodness [0,1] 0.9092179353493222 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.48, Z:-1.01 [[ 0.99786766 0.06173353 -0.02119231 4.92713471] [-0.06131193 0.99791828 0.01999894 -0.48097685] [ 0.0223828 -0.01865695 0.99957537 -1.00839989] [ 0. 0. 0. 1. ]] SLAMing on 124.52119381700001 meters Centerline goodness [0,1] 0.9076875 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.48, Z:-1.01 [[ 0.99779794 0.06281468 -0.02129737 4.92649315] [-0.06238873 0.99784935 0.02010782 -0.47967142] [ 0.02251463 -0.01873482 0.99957096 -1.00775671] [ 0. 0. 0. 1. ]] SLAMing on 124.55119381700001 meters Centerline goodness [0,1] 0.9088295944510404 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.48, Z:-1.01 [[ 0.99797343 0.05983415 -0.02165413 4.92651106] [-0.05948976 0.99809723 0.01621392 -0.47772378] [ 0.02258307 -0.01489286 0.99963404 -1.0080379 ] [ 0. 0. 0. 1. ]] SLAMing on 124.58119381700001 meters Centerline goodness [0,1] 0.9056277236806439 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.48, Z:-1.01 [[ 0.99815284 0.05661183 -0.0220457 4.92690518] [-0.05635263 0.9983363 0.01220696 -0.47641425] [ 0.02270008 -0.01094208 0.99968244 -1.00865989] [ 0. 0. 0. 1. ]] SLAMing on 124.611193817 meters Centerline goodness [0,1] 0.8982639615143275 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.48, Z:-1.01 [[ 0.99832366 0.05337562 -0.02238119 4.9272247 ] [-0.05320201 0.99854942 0.00828241 -0.47547541] [ 0.0227908 -0.0070778 0.9997152 -1.0093174 ] [ 0. 0. 0. 1. ]] SLAMing on 124.641193817 meters Centerline goodness [0,1] 0.8994460123340651 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.48, Z:-1.01 [[ 0.99832081 0.05328946 -0.02271117 4.92905675] [-0.05310708 0.99855214 0.00855977 -0.47859616] [ 0.02313443 -0.00733927 0.99970542 -1.01093606] [ 0. 0. 0. 1. ]] SLAMing on 124.671193817 meters Centerline goodness [0,1] 0.8931593498659518 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.48, Z:-1.01 [[ 9.98497228e-01 4.98109611e-02 -2.28506834e-02 4.92922218e+00] [-4.97112325e-02 9.98751553e-01 4.91218779e-03 -4.78975918e-01] [ 2.30668363e-02 -3.76887026e-03 9.99726821e-01 -1.01155809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.701193817 meters Centerline goodness [0,1] 0.8649989444796284 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.48, Z:-1.01 [[ 9.98659481e-01 4.64268044e-02 -2.28865078e-02 4.92895611e+00] [-4.64064304e-02 9.98921631e-01 1.42081311e-03 -4.80054309e-01] [ 2.29277915e-02 -3.56827353e-04 9.99737060e-01 -1.01188888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.731193817 meters Centerline goodness [0,1] 0.8757674945981216 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.49, Z:-1.02 [[ 0.99872305 0.04733555 -0.01765252 4.94202835] [-0.04746699 0.99884756 -0.00710225 -0.48583742] [ 0.01729599 0.00793109 0.99981896 -1.01686424] [ 0. 0. 0. 1. ]] SLAMing on 124.761193817 meters Centerline goodness [0,1] 0.8807442665512765 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.49, Z:-1.02 [[ 0.99872392 0.04721969 -0.01791169 4.94317072] [-0.04734592 0.99885615 -0.00668991 -0.4893089 ] [ 0.0175753 0.00752942 0.99981719 -1.01764658] [ 0. 0. 0. 1. ]] SLAMing on 124.791193817 meters Centerline goodness [0,1] 0.8648778569243543 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.49, Z:-1.02 [[ 0.99872231 0.04712164 -0.01825626 4.94442759] [-0.04724337 0.99886357 -0.00629497 -0.49257125] [ 0.01793888 0.00714941 0.99981352 -1.01836408] [ 0. 0. 0. 1. ]] SLAMing on 124.82119381700001 meters Centerline goodness [0,1] 0.8748125606421452 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.49, Z:-1.02 [[ 0.9988315 0.04480451 -0.01811588 4.94436231] [-0.04496763 0.99895057 -0.00869936 -0.49457695] [ 0.0177071 0.00950383 0.99979805 -1.01913127] [ 0. 0. 0. 1. ]] SLAMing on 124.85119381700001 meters Centerline goodness [0,1] 0.8356592609132523 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.50, Z:-1.02 [[ 0.99881199 0.04514352 -0.01834885 4.94546867] [-0.0452893 0.99894494 -0.00760841 -0.50166485] [ 0.01798602 0.00843038 0.9998027 -1.02016677] [ 0. 0. 0. 1. ]] SLAMing on 124.88119381700001 meters Centerline goodness [0,1] 0.8356592609132523 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.50, Z:-1.02 [[ 0.99881199 0.04514352 -0.01834885 4.94546867] [-0.0452893 0.99894494 -0.00760841 -0.50166485] [ 0.01798602 0.00843038 0.9998027 -1.02016677] [ 0. 0. 0. 1. ]] SLAMing on 124.91119381700001 meters Centerline goodness [0,1] 0.8300794398815134 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.51, Z:-1.02 [[ 0.9988146 0.0449587 -0.01865774 4.9465439 ] [-0.04510062 0.99895609 -0.00725661 -0.50518265] [ 0.01831201 0.00808949 0.9997996 -1.02070497] [ 0. 0. 0. 1. ]] SLAMing on 124.94119381700001 meters Centerline goodness [0,1] 0.8560800757473286 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.51, Z:-1.02 [[ 0.99881176 0.04492465 -0.01889025 4.94711392] [-0.04505788 0.998962 -0.00668689 -0.50846578] [ 0.01857023 0.0075301 0.9997992 -1.02071197] [ 0. 0. 0. 1. ]] SLAMing on 124.971193817 meters Centerline goodness [0,1] 0.8590253605171556 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.51, Z:-1.02 [[ 0.99880353 0.04494463 -0.01927429 4.94787895] [-0.04506361 0.99896738 -0.00578346 -0.51218749] [ 0.01899445 0.00664511 0.99979751 -1.02040487] [ 0. 0. 0. 1. ]] SLAMing on 125.001193817 meters Centerline goodness [0,1] 0.8627258847389649 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.52, Z:-1.02 [[ 0.99894393 0.04166055 -0.01937596 4.94720361] [-0.04181568 0.99909589 -0.00767138 -0.51953973] [ 0.01903885 0.00847349 0.99978284 -1.01937152] [ 0. 0. 0. 1. ]] SLAMing on 125.031193817 meters Centerline goodness [0,1] 0.8705863519941457 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.52, Z:-1.02 [[ 0.99895295 0.04124051 -0.01980486 4.94841049] [-0.04138614 0.9991187 -0.00700053 -0.52385912] [ 0.01949871 0.00781285 0.99977936 -1.0193838 ] [ 0. 0. 0. 1. ]] SLAMing on 125.061193817 meters Centerline goodness [0,1] 0.8752179498944663 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.53, Z:-1.02 [[ 0.99897578 0.04054445 -0.02008835 4.94983282] [-0.04068899 0.99914845 -0.00683929 -0.52758365] [ 0.01979395 0.00764966 0.99977482 -1.02019068] [ 0. 0. 0. 1. ]] SLAMing on 125.091193817 meters Centerline goodness [0,1] 0.8815437788018433 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.53, Z:-1.02 [[ 0.99899803 0.03967391 -0.02071044 4.95209673] [-0.03981794 0.99918523 -0.00658887 -0.53147007] [ 0.02043215 0.00740691 0.9997638 -1.02101443] [ 0. 0. 0. 1. ]] SLAMing on 125.121193817 meters Centerline goodness [0,1] 0.911650327177887 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.54, Z:-1.02 [[ 0.99917189 0.03490191 -0.02091371 4.95406128] [-0.0351144 0.99933445 -0.00988081 -0.53742529] [ 0.02055493 0.010607 0.99973246 -1.02302643] [ 0. 0. 0. 1. ]] SLAMing on 125.151193817 meters Centerline goodness [0,1] 0.9151916197067833 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.54, Z:-1.02 [[ 0.99920415 0.03365329 -0.02141337 4.9563896 ] [-0.03386452 0.99938052 -0.00957943 -0.54160533] [ 0.02107772 0.01029696 0.99972481 -1.0238822 ] [ 0. 0. 0. 1. ]] SLAMing on 125.18119381700001 meters Centerline goodness [0,1] 0.9147997841844754 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.54, Z:-1.02 [[ 0.99934099 0.02898375 -0.0218526 4.95807923] [-0.02927905 0.99948257 -0.01331655 -0.54404056] [ 0.02145533 0.0139476 0.99967251 -1.02488072] [ 0. 0. 0. 1. ]] SLAMing on 125.21119381700001 meters Centerline goodness [0,1] 0.9150662251655629 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.55, Z:-1.02 [[ 0.99945527 0.02429778 -0.02233337 4.95930723] [-0.02467416 0.99955547 -0.01673478 -0.54759384] [ 0.02191682 0.01727672 0.99961051 -1.02498707] [ 0. 0. 0. 1. ]] SLAMing on 125.24119381700001 meters Centerline goodness [0,1] 0.9224119402985075 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.56, Z:-1.02 [[ 0.99981325 0.00692054 -0.01804364 4.96625393] [-0.00712083 0.99991348 -0.01106025 -0.55688361] [ 0.01796554 0.01118667 0.99977602 -1.02279606] [ 0. 0. 0. 1. ]] SLAMing on 125.27119381700001 meters Centerline goodness [0,1] 0.9253070311938905 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.56, Z:-1.02 [[ 9.99825498e-01 1.49598228e-03 -1.86208628e-02 4.96873070e+00] [-1.77929708e-03 9.99882774e-01 -1.52076562e-02 -5.59528331e-01] [ 1.85959296e-02 1.52381345e-02 9.99710954e-01 -1.02378173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30119381700001 meters Centerline goodness [0,1] 0.9275859586822468 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.56, Z:-1.02 [[ 9.99808333e-01 -3.86291237e-03 -1.91930914e-02 4.97139686e+00] [ 3.48878297e-03 9.99803998e-01 -1.94883115e-02 -5.61063892e-01] [ 1.92646111e-02 1.94176157e-02 9.99625845e-01 -1.02497681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33119381700001 meters Centerline goodness [0,1] 0.930862110601304 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.56, Z:-1.03 [[ 0.99977394 -0.00859445 -0.01944741 4.97246962] [ 0.00813892 0.99969346 -0.02338258 -0.56226211] [ 0.01964241 0.02321901 0.99953742 -1.02511846] [ 0. 0. 0. 1. ]] SLAMing on 125.361193817 meters Centerline goodness [0,1] 0.9330926186206563 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.56, Z:-1.03 [[ 0.99975422 -0.01787309 -0.0131168 4.96567899] [ 0.01752847 0.99950997 -0.02593389 -0.56272144] [ 0.01357389 0.0256976 0.9995776 -1.02857188] [ 0. 0. 0. 1. ]] SLAMing on 125.391193817 meters Centerline goodness [0,1] 0.9346625320994234 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.56, Z:-1.03 [[ 0.99973865 -0.01842078 -0.01353911 4.96674712] [ 0.01806704 0.99950381 -0.0258013 -0.56342632] [ 0.01400767 0.02554994 0.9995754 -1.02830083] [ 0. 0. 0. 1. ]] SLAMing on 125.421193817 meters Centerline goodness [0,1] 0.9339754731556585 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.57, Z:-1.03 [[ 0.99977554 -0.01576313 -0.01415579 4.96853339] [ 0.01545279 0.99964354 -0.02177176 -0.56511375] [ 0.01449394 0.02154812 0.99966275 -1.02781831] [ 0. 0. 0. 1. ]] SLAMing on 125.451193817 meters Centerline goodness [0,1] 0.9345293849220645 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.57, Z:-1.03 [[ 0.99981172 -0.01268925 -0.01468003 4.96981507] [ 0.01242803 0.9997652 -0.01775058 -0.5659232 ] [ 0.01490183 0.01756479 0.99973467 -1.02723414] [ 0. 0. 0. 1. ]] SLAMing on 125.481193817 meters Centerline goodness [0,1] 0.9344542199245891 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.56, Z:-1.03 [[ 0.99983764 -0.00974064 -0.01515985 4.97110759] [ 0.00951622 0.9998451 -0.01480595 -0.56194976] [ 0.01530172 0.01465928 0.99977546 -1.02716793] [ 0. 0. 0. 1. ]] SLAMing on 125.511193817 meters Centerline goodness [0,1] 0.9374260984723076 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.56, Z:-1.03 [[ 0.99985687 -0.0063032 -0.01570048 4.97192508] [ 0.00613152 0.99992115 -0.01095929 -0.56056661] [ 0.01576832 0.01086146 0.99981668 -1.02628566] [ 0. 0. 0. 1. ]] SLAMing on 125.541193817 meters Centerline goodness [0,1] 0.9305989981420945 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.56, Z:-1.03 [[ 9.99863256e-01 -2.95916691e-03 -1.62700198e-02 4.97283644e+00] [ 2.84169095e-03 9.99969762e-01 -7.23877848e-03 -5.59177645e-01] [ 1.62909486e-02 7.19155425e-03 9.99841431e-01 -1.02541972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57119381700001 meters Centerline goodness [0,1] 0.9300077248999274 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.56, Z:-1.02 [[ 9.99858247e-01 3.07949823e-04 -1.68342072e-02 4.97381625e+00] [-3.70434849e-04 9.99993054e-01 -3.70879686e-03 -5.57786557e-01] [ 1.68329482e-02 3.71450711e-03 9.99851416e-01 -1.02470895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60119381700001 meters Centerline goodness [0,1] 0.9250828576689376 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.55, Z:-1.03 [[ 9.99838516e-01 3.15518160e-03 -1.76914504e-02 4.97586698e+00] [-3.18560185e-03 9.99993495e-01 -1.69157176e-03 -5.50732321e-01] [ 1.76859981e-02 1.74765652e-03 9.99842063e-01 -1.02514078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63119381700001 meters Centerline goodness [0,1] 0.9322448606251859 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.55, Z:-1.03 [[ 9.99838978e-01 4.23848513e-03 -1.74371227e-02 4.97555003e+00] [-4.25694407e-03 9.99990417e-01 -1.02161884e-03 -5.45944664e-01] [ 1.74326255e-02 1.09568320e-03 9.99847440e-01 -1.02507311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66119381700001 meters Centerline goodness [0,1] 0.9281359773371105 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.54, Z:-1.03 [[ 9.99808430e-01 7.00320244e-03 -1.82772803e-02 4.97807289e+00] [-6.97944233e-03 9.99974714e-01 1.36344575e-03 -5.42287728e-01] [ 1.82863666e-02 -1.23561933e-03 9.99832027e-01 -1.02587197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69119381700001 meters Centerline goodness [0,1] 0.9310112963959117 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.53, Z:-1.03 [[ 0.9997149 0.01430295 -0.01911947 4.97947682] [-0.01417388 0.99987595 0.00686938 -0.53301776] [ 0.01921535 -0.00659643 0.99979361 -1.02586522] [ 0. 0. 0. 1. ]] SLAMing on 125.721193817 meters Centerline goodness [0,1] 0.9295974149569528 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.53, Z:-1.03 [[ 9.99708232e-01 1.87430332e-02 -1.52364375e-02 4.99422011e+00] [-1.87446830e-02 9.99824302e-01 3.45366489e-05 -5.26416972e-01] [ 1.52344078e-02 2.51075618e-04 9.99883918e-01 -1.03054624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.751193817 meters Centerline goodness [0,1] 0.9293140666989735 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.52, Z:-1.03 [[ 9.99622911e-01 2.27516431e-02 -1.53752398e-02 4.99360527e+00] [-2.27014517e-02 9.99736401e-01 3.43113669e-03 -5.22423137e-01] [ 1.54492509e-02 -3.08080259e-03 9.99875907e-01 -1.02912763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.781193817 meters Centerline goodness [0,1] 0.9266555898409684 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.51, Z:-1.03 [[ 0.99943381 0.02981991 -0.01558313 4.99153564] [-0.02967906 0.9995172 0.00919352 -0.51377732] [ 0.01584976 -0.00872583 0.99983631 -1.02553052] [ 0. 0. 0. 1. ]] SLAMing on 125.811193817 meters Centerline goodness [0,1] 0.9337523866732457 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.51, Z:-1.02 [[ 0.99941096 0.03059178 -0.01555234 4.99024205] [-0.03045761 0.99949739 0.00879188 -0.50810541] [ 0.01581349 -0.00831301 0.9998404 -1.02416237] [ 0. 0. 0. 1. ]] SLAMing on 125.841193817 meters Centerline goodness [0,1] 0.9360326641714869 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.50, Z:-1.02 [[ 0.99940125 0.03088951 -0.01558783 4.98932129] [-0.03076726 0.99949438 0.0080223 -0.5028494 ] [ 0.01582775 -0.00753791 0.99984632 -1.02306463] [ 0. 0. 0. 1. ]] SLAMing on 125.871193817 meters Centerline goodness [0,1] 0.9359890399409843 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.50, Z:-1.02 [[ 0.99940639 0.03062352 -0.01578204 4.98934346] [-0.03051841 0.99951067 0.00685892 -0.49817077] [ 0.01598436 -0.00637321 0.99985193 -1.02270639] [ 0. 0. 0. 1. ]] SLAMing on 125.901193817 meters Centerline goodness [0,1] 0.9365932520103298 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.49, Z:-1.02 [[ 0.99941189 0.03031287 -0.0160315 4.98944437] [-0.0302243 0.99952667 0.0057389 -0.49363709] [ 0.01619788 -0.00525098 0.99985502 -1.02226313] [ 0. 0. 0. 1. ]] SLAMing on 125.93119381700001 meters Centerline goodness [0,1] 0.9373215811297951 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.49, Z:-1.02 [[ 0.9993582 0.03214814 -0.01580169 4.98699505] [-0.03204798 0.99946486 0.00655154 -0.48583519] [ 0.01600385 -0.00604093 0.99985368 -1.0194132 ] [ 0. 0. 0. 1. ]] SLAMing on 125.96119381700001 meters Centerline goodness [0,1] 0.9362307996092369 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.48, Z:-1.02 [[ 9.99367412e-01 3.17616436e-02 -1.59991546e-02 4.98702720e+00] [-3.16790863e-02 9.99483572e-01 5.38744088e-03 -4.81384943e-01] [ 1.61620061e-02 -4.87719426e-03 9.99857491e-01 -1.01895804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99119381700001 meters Centerline goodness [0,1] 0.9377209119659357 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.48, Z:-1.02 [[ 9.99378670e-01 3.12234865e-02 -1.63513654e-02 4.98772531e+00] [-3.11629614e-02 9.99506538e-01 3.94340217e-03 -4.76695389e-01] [ 1.64664234e-02 -3.43139505e-03 9.99858531e-01 -1.01903829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02119381700001 meters Centerline goodness [0,1] 0.9398234489618301 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.47, Z:-1.02 [[ 0.99926562 0.03461791 -0.01642623 4.98723078] [-0.03452767 0.99938723 0.00574576 -0.46891671] [ 0.01661507 -0.00517438 0.99984857 -1.01809401] [ 0. 0. 0. 1. ]] SLAMing on 126.05119381700001 meters Centerline goodness [0,1] 0.9419234360410831 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.46, Z:-1.02 [[ 9.99270840e-01 3.42968814e-02 -1.67783443e-02 4.98839309e+00] [-3.42308925e-02 9.99405107e-01 4.20456940e-03 -4.63976170e-01] [ 1.69125665e-02 -3.62716590e-03 9.99850393e-01 -1.01897632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08119381700001 meters Centerline goodness [0,1] 0.9441291017567119 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.46, Z:-1.02 [[ 9.99276461e-01 3.38443507e-02 -1.73526260e-02 4.99038770e+00] [-3.38050035e-02 9.99425179e-01 2.55591933e-03 -4.59281111e-01] [ 1.74291547e-02 -1.96746444e-03 9.99846165e-01 -1.02043746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.111193817 meters Centerline goodness [0,1] 0.9428400511572259 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.45, Z:-1.02 [[ 9.99284321e-01 3.33434915e-02 -1.78621676e-02 4.99263582e+00] [-3.33313033e-02 9.99443878e-01 9.79705586e-04 -4.54596909e-01] [ 1.78849009e-02 -3.83635106e-04 9.99839979e-01 -1.02227226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.141193817 meters Centerline goodness [0,1] 0.9391194394925584 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.45, Z:-1.02 [[ 9.99292796e-01 3.29032066e-02 -1.82013082e-02 4.99453462e+00] [-3.29148316e-02 9.99458103e-01 -3.39407745e-04 -4.50366304e-01] [ 1.81802773e-02 9.38260708e-04 9.99834285e-01 -1.02402155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.171193817 meters Centerline goodness [0,1] 0.9365906307727433 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.44, Z:-1.03 [[ 9.99296817e-01 3.26513890e-02 -1.84325333e-02 4.99728853e+00] [-3.26863588e-02 9.99464379e-01 -1.59902612e-03 -4.44926826e-01] [ 1.83704500e-02 2.20039411e-03 9.99828828e-01 -1.02706987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.201193817 meters Centerline goodness [0,1] 0.9340424205912292 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.44, Z:-1.03 [[ 9.99318632e-01 3.16626919e-02 -1.89669568e-02 4.99952074e+00] [-3.17216849e-02 9.99492770e-01 -2.81748794e-03 -4.43166093e-01] [ 1.88681269e-02 3.41723203e-03 9.99816141e-01 -1.02852546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.231193817 meters Centerline goodness [0,1] 0.9293189368770765 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.44, Z:-1.03 [[ 9.99344801e-01 3.04200089e-02 -1.96110273e-02 5.00227443e+00] [-3.05056367e-02 9.99526260e-01 -4.08197565e-03 -4.42101628e-01] [ 1.94775631e-02 4.67754802e-03 9.99799352e-01 -1.03029706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.261193817 meters Centerline goodness [0,1] 0.9199029126213593 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.44, Z:-1.03 [[ 0.99940632 0.02794551 -0.02015103 5.00516135] [-0.02807036 0.9995883 -0.00593943 -0.44168242] [ 0.01997675 0.00650155 0.99977931 -1.03218819] [ 0. 0. 0. 1. ]] SLAMing on 126.291193817 meters Centerline goodness [0,1] 0.9174526350624638 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.44, Z:-1.03 [[ 0.99943506 0.02624211 -0.02099771 5.00816006] [-0.02639081 0.99962833 -0.00683619 -0.44171129] [ 0.02081051 0.00738647 0.99975615 -1.0333987 ] [ 0. 0. 0. 1. ]] SLAMing on 126.32119381700001 meters Centerline goodness [0,1] 0.9186927560366361 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.44, Z:-1.03 [[ 0.9995373 0.02176639 -0.02124638 5.00893062] [-0.02200728 0.9996954 -0.01117075 -0.44023054] [ 0.02099676 0.01163316 0.99971186 -1.03391786] [ 0. 0. 0. 1. ]] SLAMing on 126.35119381700001 meters Centerline goodness [0,1] 0.9086543458827931 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.44, Z:-1.03 [[ 0.99985311 0.00934766 -0.0143657 5.00562702] [-0.00944492 0.99993283 -0.00671738 -0.44174249] [ 0.01430194 0.00685207 0.99987424 -1.03221484] [ 0. 0. 0. 1. ]] SLAMing on 126.38119381700001 meters Centerline goodness [0,1] 0.8921293699756964 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.44, Z:-1.03 [[ 9.99881071e-01 4.92903743e-03 -1.46133132e-02 5.00585095e+00] [-5.08478907e-03 9.99930462e-01 -1.06402746e-02 -4.42388834e-01] [ 1.45598507e-02 1.07133148e-02 9.99836604e-01 -1.03160309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41119381700001 meters Centerline goodness [0,1] 0.8704809938196325 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.44, Z:-1.03 [[ 9.99880336e-01 3.26084875e-03 -1.51221638e-02 5.00726273e+00] [-3.43165246e-03 9.99930459e-01 -1.12827656e-02 -4.43680462e-01] [ 1.50843208e-02 1.13333095e-02 9.99821994e-01 -1.03133456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44119381700001 meters Centerline goodness [0,1] 0.8479905240846183 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.44, Z:-1.03 [[ 9.99881962e-01 2.23875294e-03 -1.52003210e-02 5.00737558e+00] [-2.41739714e-03 9.99928109e-01 -1.17444761e-02 -4.43678778e-01] [ 1.51729353e-02 1.17798350e-02 9.99815492e-01 -1.03075961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.471193817 meters Centerline goodness [0,1] 0.8156004884207041 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.44, Z:-1.03 [[ 9.99879737e-01 1.05209069e-03 -1.54727105e-02 5.00782740e+00] [-1.25214998e-03 9.99915674e-01 -1.29258164e-02 -4.40305375e-01] [ 1.54578066e-02 1.29436361e-02 9.99796739e-01 -1.03020507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.501193817 meters Centerline goodness [0,1] 0.8150950436350822 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.44, Z:-1.03 [[ 9.99868046e-01 4.25717847e-03 -1.56769620e-02 5.00819066e+00] [-4.40561625e-03 9.99945678e-01 -9.44619906e-03 -4.39228747e-01] [ 1.56358962e-02 9.51401927e-03 9.99832487e-01 -1.02962049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.531193817 meters Centerline goodness [0,1] 0.8222065474461641 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.44, Z:-1.03 [[ 0.99984713 0.00757043 -0.01576059 5.00838464] [-0.00766918 0.99995128 -0.00621457 -0.43713261] [ 0.01571277 0.00633449 0.99985648 -1.02923385] [ 0. 0. 0. 1. ]] SLAMing on 126.561193817 meters Centerline goodness [0,1] 0.837190031281722 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.43, Z:-1.03 [[ 9.99815874e-01 1.05421035e-02 -1.60338113e-02 5.00926073e+00] [-1.06020549e-02 9.99937103e-01 -3.65866209e-03 -4.33837967e-01] [ 1.59942328e-02 3.82797978e-03 9.99864756e-01 -1.02932111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.591193817 meters Centerline goodness [0,1] 0.8722978547854785 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.43, Z:-1.03 [[ 0.99980629 0.01699943 -0.00991963 5.01990719] [-0.01707749 0.99982344 -0.00783851 -0.42552689] [ 0.00978463 0.00800639 0.99992008 -1.03111723] [ 0. 0. 0. 1. ]] SLAMing on 126.621193817 meters Centerline goodness [0,1] 0.8913662826706304 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.42, Z:-1.03 [[ 0.99978622 0.0180895 -0.01001376 5.01979906] [-0.01816766 0.99980476 -0.00776992 -0.42062852] [ 0.00987125 0.00795018 0.99991967 -1.03068001] [ 0. 0. 0. 1. ]] SLAMing on 126.651193817 meters Centerline goodness [0,1] 0.901740932642487 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.42, Z:-1.03 [[ 0.99972074 0.02125738 -0.01032321 5.0211245 ] [-0.02131224 0.99975917 -0.00523372 -0.41707808] [ 0.01020947 0.00545227 0.99993302 -1.03129938] [ 0. 0. 0. 1. ]] SLAMing on 126.68119381700001 meters Centerline goodness [0,1] 0.9090569561157796 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.41, Z:-1.03 [[ 9.99653578e-01 2.40285491e-02 -1.07402494e-02 5.02320790e+00] [-2.40640918e-02 9.99705321e-01 -3.19239381e-03 -4.12875670e-01] [ 1.06603758e-02 3.44974224e-03 9.99937226e-01 -1.03263343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71119381700001 meters Centerline goodness [0,1] 0.9222035411088279 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.40, Z:-1.04 [[ 9.99579027e-01 2.66724480e-02 -1.14170806e-02 5.02616368e+00] [-2.67049601e-02 9.99639700e-01 -2.70472577e-03 -4.02757641e-01] [ 1.13408254e-02 3.00847984e-03 9.99931165e-01 -1.03516342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74119381700001 meters Centerline goodness [0,1] 0.92218858848897 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.40, Z:-1.04 [[ 9.99592402e-01 2.59162631e-02 -1.19740420e-02 5.02845973e+00] [-2.59736816e-02 9.99651743e-01 -4.66485663e-03 -3.97370065e-01] [ 1.18489763e-02 4.97396520e-03 9.99917427e-01 -1.03689313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77119381700001 meters Centerline goodness [0,1] 0.92218858848897 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.40, Z:-1.04 [[ 9.99592402e-01 2.59162631e-02 -1.19740420e-02 5.02845973e+00] [-2.59736816e-02 9.99651743e-01 -4.66485663e-03 -3.97370065e-01] [ 1.18489763e-02 4.97396520e-03 9.99917427e-01 -1.03689313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80119381700001 meters Centerline goodness [0,1] 0.9104412588428106 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.39, Z:-1.04 [[ 0.99960467 0.02529561 -0.01227347 5.02994188] [-0.02537267 0.99965906 -0.0061642 -0.39318584] [ 0.01211336 0.00647317 0.99990568 -1.03805635] [ 0. 0. 0. 1. ]] SLAMing on 126.83119381700001 meters Centerline goodness [0,1] 0.9162321068705462 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.39, Z:-1.04 [[ 0.99961507 0.02467721 -0.0126788 5.03098739] [-0.02477192 0.99966598 -0.00736742 -0.3898561 ] [ 0.01249276 0.00767866 0.99989248 -1.03835844] [ 0. 0. 0. 1. ]] SLAMing on 126.861193817 meters Centerline goodness [0,1] 0.8912247868579746 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.38, Z:-1.04 [[ 0.99965378 0.02275978 -0.01320286 5.03215798] [-0.02288557 0.99969337 -0.00945645 -0.38474211] [ 0.01298358 0.00975533 0.99986812 -1.03816734] [ 0. 0. 0. 1. ]] SLAMing on 126.891193817 meters Centerline goodness [0,1] 0.9011459828206568 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.38, Z:-1.04 [[ 0.99967422 0.0215267 -0.01371326 5.03337153] [-0.02167254 0.99970918 -0.01057645 -0.38238599] [ 0.01348159 0.0108702 0.99985003 -1.0381306 ] [ 0. 0. 0. 1. ]] SLAMing on 126.921193817 meters Centerline goodness [0,1] 0.8512712040147651 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.38, Z:-1.04 [[ 0.99969667 0.02004374 -0.01431157 5.03504859] [-0.02021741 0.99972245 -0.01209479 -0.37934593] [ 0.01406517 0.01238046 0.99982443 -1.03842438] [ 0. 0. 0. 1. ]] SLAMing on 126.951193817 meters Centerline goodness [0,1] 0.8480656700370117 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.37, Z:-1.04 [[ 0.99973135 0.01764676 -0.01502761 5.03705479] [-0.01786953 0.99973048 -0.01482067 -0.37231218] [ 0.01476202 0.01508522 0.99977723 -1.0386235 ] [ 0. 0. 0. 1. ]] SLAMing on 126.981193817 meters Centerline goodness [0,1] 0.7930050849559718 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.37, Z:-1.04 [[ 0.99970557 0.01866072 -0.01550977 5.03956923] [-0.01886769 0.99973343 -0.013307 -0.37017648] [ 0.01525732 0.01359572 0.99979116 -1.03971239] [ 0. 0. 0. 1. ]] SLAMing on 127.011193817 meters Centerline goodness [0,1] 0.8296529968454258 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.37, Z:-1.04 [[ 0.99971684 0.0176993 -0.01590538 5.04071368] [-0.01793165 0.99973281 -0.01458664 -0.36659171] [ 0.01564296 0.01486772 0.9997671 -1.03993679] [ 0. 0. 0. 1. ]] SLAMing on 127.041193817 meters Centerline goodness [0,1] 0.7606018020996941 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.36, Z:-1.04 [[ 0.99972747 0.01665409 -0.01635914 5.04250691] [-0.01691751 0.99972729 -0.01609773 -0.36245684] [ 0.01608658 0.0163701 0.99973659 -1.04082537] [ 0. 0. 0. 1. ]] SLAMing on 127.07119381700001 meters Centerline goodness [0,1] 0.7793389286084343 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.35, Z:-1.04 [[ 0.99971941 0.01631932 -0.01716941 5.04594704] [-0.01660007 0.99972871 -0.0163382 -0.35360313] [ 0.01689812 0.01661863 0.9997191 -1.04190425] [ 0. 0. 0. 1. ]] SLAMing on 127.10119381700001 meters Centerline goodness [0,1] 0.7885568528234587 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.35, Z:-1.04 [[ 0.99968488 0.01749741 -0.01799969 5.04919157] [-0.01776724 0.99973049 -0.01494212 -0.34976076] [ 0.01773339 0.01525722 0.99972633 -1.04319509] [ 0. 0. 0. 1. ]] SLAMing on 127.13119381700001 meters Centerline goodness [0,1] 0.7497774741766545 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.35, Z:-1.04 [[ 0.99964075 0.01909788 -0.01880531 5.05192366] [-0.01934999 0.99972408 -0.0133169 -0.3456559 ] [ 0.0185458 0.013676 0.99973447 -1.04392371] [ 0. 0. 0. 1. ]] SLAMing on 127.16119381700001 meters Centerline goodness [0,1] 0.7498344370860928 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.34, Z:-1.04 [[ 0.99958393 0.02131478 -0.01943333 5.05387151] [-0.0215375 0.9997039 -0.01132451 -0.34136228] [ 0.0191862 0.01173834 0.99974702 -1.04418595] [ 0. 0. 0. 1. ]] SLAMing on 127.19119381700001 meters Centerline goodness [0,1] 0.7674673618438748 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.33, Z:-1.04 [[ 0.99950791 0.02421702 -0.0199368 5.05541059] [-0.02441806 0.99965279 -0.00990272 -0.32870434] [ 0.01969006 0.01038467 0.9997522 -1.04391114] [ 0. 0. 0. 1. ]] SLAMing on 127.22119381700001 meters Centerline goodness [0,1] 0.7796290148560047 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.32, Z:-1.04 [[ 0.99943029 0.02688577 -0.02040228 5.05708519] [-0.02705929 0.99959956 -0.00827685 -0.32267113] [ 0.02017158 0.00882421 0.99975759 -1.0443969 ] [ 0. 0. 0. 1. ]] SLAMing on 127.251193817 meters Centerline goodness [0,1] 0.7912358852170309 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.32, Z:-1.05 [[ 0.99934023 0.0296443 -0.02098361 5.05928876] [-0.02979238 0.99953311 -0.00678009 -0.31617649] [ 0.02077282 0.00740077 0.99975683 -1.04525756] [ 0. 0. 0. 1. ]] SLAMing on 127.281193817 meters Centerline goodness [0,1] 0.8628766013994726 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.30, Z:-1.04 [[ 9.99125310e-01 3.61617286e-02 -2.09986850e-02 5.05838174e+00] [-3.62251540e-02 9.99340146e-01 -2.64783624e-03 -3.04861735e-01] [ 2.08890786e-02 3.40620080e-03 9.99775997e-01 -1.04329419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.311193817 meters Centerline goodness [0,1] 0.8814133189314943 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.30, Z:-1.04 [[ 9.99007764e-01 3.91360413e-02 -2.12569475e-02 5.05911111e+00] [-3.91535165e-02 9.99233124e-01 -4.06371219e-04 -3.00632154e-01] [ 2.12247423e-02 1.23825225e-03 9.99773963e-01 -1.04301218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.341193817 meters Centerline goodness [0,1] 0.8911782439653201 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.29, Z:-1.04 [[ 9.99000381e-01 3.90991901e-02 -2.16677773e-02 5.05992133e+00] [-3.91473728e-02 9.99231820e-01 -1.80385290e-03 -2.94881262e-01] [ 2.15806034e-02 2.65028629e-03 9.99763599e-01 -1.04295338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.371193817 meters Centerline goodness [0,1] 0.900525517728434 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.29, Z:-1.04 [[ 9.98873354e-01 4.20942564e-02 -2.19111007e-02 5.06117417e+00] [-4.20920582e-02 9.99113579e-01 5.61716753e-04 -2.90880501e-01] [ 2.19153233e-02 3.61199430e-04 9.99759765e-01 -1.04332228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.401193817 meters Centerline goodness [0,1] 0.9076878336553043 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.28, Z:-1.04 [[ 9.98623812e-01 4.75957464e-02 -2.20255913e-02 5.06202140e+00] [-4.74969379e-02 9.98858929e-01 4.98797283e-03 -2.82443232e-01] [ 2.22378648e-02 -3.93496030e-03 9.99744964e-01 -1.04297905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43119381700001 meters Centerline goodness [0,1] 0.9086795898883401 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.28, Z:-1.04 [[ 9.98620513e-01 4.74511670e-02 -2.24823703e-02 5.06346098e+00] [-4.73802470e-02 9.98870158e-01 3.67701914e-03 -2.77294062e-01] [ 2.26314476e-02 -2.60672648e-03 9.99740478e-01 -1.04358212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46119381700001 meters Centerline goodness [0,1] 0.9137469084913438 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.27, Z:-1.04 [[ 9.98611379e-01 4.73094894e-02 -2.31759833e-02 5.06533937e+00] [-4.72656703e-02 9.98879385e-01 2.43517060e-03 -2.72986966e-01] [ 2.32652186e-02 -1.33636069e-03 9.99728435e-01 -1.04415496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49119381700001 meters Centerline goodness [0,1] 0.9169934233729591 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.27, Z:-1.04 [[ 9.98601443e-01 4.73786879e-02 -2.34609908e-02 5.06580986e+00] [-4.73581768e-02 9.98876949e-01 1.42941382e-03 -2.69016132e-01] [ 2.35023667e-02 -3.16344951e-04 9.99723731e-01 -1.04392681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52119381700001 meters Centerline goodness [0,1] 0.9199027613289286 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.26, Z:-1.04 [[ 9.98437919e-01 5.07227372e-02 -2.34291503e-02 5.06573255e+00] [-5.06659793e-02 9.98711118e-01 3.01020818e-03 -2.61567164e-01] [ 2.35516389e-02 -1.81844515e-03 9.99720968e-01 -1.04328326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55119381700001 meters Centerline goodness [0,1] 0.921104454716942 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.26, Z:-1.04 [[ 9.98446025e-01 5.03702945e-02 -2.38404647e-02 5.06694156e+00] [-5.03518592e-02 9.98730596e-01 1.37332021e-03 -2.55715324e-01] [ 2.38793760e-02 -1.70774383e-04 9.99714832e-01 -1.04367664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58119381700001 meters Centerline goodness [0,1] 0.922446943399364 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.25, Z:-1.04 [[ 9.98456353e-01 5.00852985e-02 -2.40077980e-02 5.06757416e+00] [-5.01013157e-02 9.98744138e-01 -6.57572466e-05 -2.50295362e-01] [ 2.39743540e-02 1.26847801e-03 9.99711769e-01 -1.04389515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.611193817 meters Centerline goodness [0,1] 0.9205481720697222 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.25, Z:-1.04 [[ 9.98479663e-01 4.92835105e-02 -2.46880327e-02 5.06987470e+00] [-4.93444998e-02 9.98780073e-01 -1.86694920e-03 -2.45533075e-01] [ 2.45659053e-02 3.08232944e-03 9.99693461e-01 -1.04497971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.641193817 meters Centerline goodness [0,1] 0.917341207565871 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.24, Z:-1.05 [[ 9.98488627e-01 4.88164052e-02 -2.52471852e-02 5.07148555e+00] [-4.89354186e-02 9.98793458e-01 -4.11739815e-03 -2.39163988e-01] [ 2.50157268e-02 5.34665681e-03 9.99672760e-01 -1.04570192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.671193817 meters Centerline goodness [0,1] 0.9172216344059252 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.24, Z:-1.05 [[ 9.98495305e-01 4.86432565e-02 -2.53171816e-02 5.07147853e+00] [-4.87850382e-02 9.98796723e-01 -5.01266108e-03 -2.35801038e-01] [ 2.50428858e-02 6.24021823e-03 9.99666901e-01 -1.04540277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.701193817 meters Centerline goodness [0,1] 0.9176105828854899 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.23, Z:-1.05 [[ 0.99851544 0.04794936 -0.02584124 5.07307614] [-0.04812835 0.99882098 -0.00634958 -0.23199192] [ 0.02550632 0.00758385 0.99964589 -1.04597258] [ 0. 0. 0. 1. ]] SLAMing on 127.731193817 meters Centerline goodness [0,1] 0.920898093004918 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.23, Z:-1.05 [[ 0.99854395 0.04722959 -0.02606421 5.07370137] [-0.04743543 0.99884736 -0.00733641 -0.22944167] [ 0.02568768 0.0085621 0.99963335 -1.04604326] [ 0. 0. 0. 1. ]] SLAMing on 127.761193817 meters Centerline goodness [0,1] 0.9160128829796019 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.23, Z:-1.05 [[ 0.99876698 0.04185988 -0.02668823 5.07453492] [-0.04221071 0.99902775 -0.01272033 -0.2265717 ] [ 0.02612981 0.01383117 0.99956287 -1.0458397 ] [ 0. 0. 0. 1. ]] SLAMing on 127.791193817 meters Centerline goodness [0,1] 0.9074468304983155 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.23, Z:-1.05 [[ 0.99893455 0.03734024 -0.02711962 5.07480241] [-0.03780911 0.99914059 -0.01698676 -0.22606337] [ 0.02646202 0.01799403 0.99948786 -1.0453418 ] [ 0. 0. 0. 1. ]] SLAMing on 127.82119381700001 meters Centerline goodness [0,1] 0.90870025534035 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.23, Z:-1.04 [[ 0.99933066 0.02879205 -0.02256673 5.07110769] [-0.02897942 0.99954783 -0.00802021 -0.22800899] [ 0.02232561 0.00866881 0.99971317 -1.04381886] [ 0. 0. 0. 1. ]] SLAMing on 127.85119381700001 meters Centerline goodness [0,1] 0.8768079903850139 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.23, Z:-1.04 [[ 0.99945119 0.0237393 -0.02310316 5.07205988] [-0.02403256 0.99963303 -0.01249957 -0.22778828] [ 0.02279795 0.01304794 0.99965494 -1.04376008] [ 0. 0. 0. 1. ]] SLAMing on 127.88119381700001 meters Centerline goodness [0,1] 0.792087210627759 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.23, Z:-1.04 [[ 0.99974911 0.01090633 -0.0195645 5.06873987] [-0.01103058 0.9999196 -0.00625404 -0.22614589] [ 0.01949472 0.00646828 0.99978904 -1.04242834] [ 0. 0. 0. 1. ]] SLAMing on 127.91119381700001 meters Centerline goodness [0,1] 0.7775657908380167 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.22, Z:-1.04 [[ 0.9997593 0.00980647 -0.01962597 5.06888322] [-0.0099492 0.99992467 -0.0071881 -0.22472317] [ 0.019554 0.00738163 0.99978155 -1.04221457] [ 0. 0. 0. 1. ]] SLAMing on 127.94119381700001 meters Centerline goodness [0,1] 0.7607714912462232 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.22, Z:-1.04 [[ 0.99975382 0.00931654 -0.02013719 5.07002151] [-0.00947948 0.99992298 -0.00801142 -0.22256459] [ 0.020061 0.00820034 0.99976513 -1.04220926] [ 0. 0. 0. 1. ]] SLAMing on 127.97119381700001 meters Centerline goodness [0,1] 0.7439915975039644 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.22, Z:-1.04 [[ 0.99972222 0.01114344 -0.02076776 5.07242362] [-0.01127314 0.99991761 -0.00613848 -0.22089966] [ 0.02069765 0.00637089 0.99976548 -1.04321976] [ 0. 0. 0. 1. ]] SLAMing on 128.001193817 meters Centerline goodness [0,1] 0.7764178732937809 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.21, Z:-1.04 [[ 9.99687946e-01 1.37126845e-02 -2.08799517e-02 5.07347597e+00] [-1.38179776e-02 9.99892487e-01 -4.90688294e-03 -2.13781146e-01] [ 2.08104203e-02 5.19387044e-03 9.99769949e-01 -1.04408809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03119381700003 meters Centerline goodness [0,1] 0.7858148102156546 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.21, Z:-1.05 [[ 9.99644761e-01 1.58854300e-02 -2.14010466e-02 5.07619471e+00] [-1.59572486e-02 9.99867589e-01 -3.18925290e-03 -2.09813096e-01] [ 2.13475502e-02 3.52962177e-03 9.99765885e-01 -1.04585801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06119381700003 meters Centerline goodness [0,1] 0.7980093312597201 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.20, Z:-1.05 [[ 9.99590516e-01 1.85297926e-02 -2.18047726e-02 5.07898046e+00] [-1.85847118e-02 9.99824601e-01 -2.31872033e-03 -1.99169361e-01] [ 2.17579827e-02 2.72300626e-03 9.99759559e-01 -1.04801753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09119381700003 meters Centerline goodness [0,1] 0.8062792527854865 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.19, Z:-1.05 [[ 9.99528448e-01 2.12079322e-02 -2.22059764e-02 5.08040920e+00] [-2.12201854e-02 9.99774776e-01 -3.16279144e-04 -1.94840033e-01] [ 2.21942674e-02 7.87344937e-04 9.99753367e-01 -1.04842767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12119381700003 meters Centerline goodness [0,1] 0.8117068922617566 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.19, Z:-1.05 [[ 9.99523982e-01 2.11939986e-02 -2.24192619e-02 5.08040422e+00] [-2.12348329e-02 9.99773259e-01 -1.58487234e-03 -1.88692295e-01] [ 2.23805887e-02 2.06018719e-03 9.99747401e-01 -1.04771405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15119381700003 meters Centerline goodness [0,1] 0.8216288051829395 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.18, Z:-1.05 [[ 9.99522520e-01 2.11369815e-02 -2.25379489e-02 5.08000955e+00] [-2.12080803e-02 9.99770818e-01 -2.92025496e-03 -1.82763198e-01] [ 2.24710582e-02 3.39684722e-03 9.99741723e-01 -1.04672337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.181193817 meters Centerline goodness [0,1] 0.8338980949626018 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.18, Z:-1.05 [[ 0.99957282 0.02406593 -0.01658332 5.092588 ] [-0.02421309 0.9996687 -0.00873047 -0.17701766] [ 0.01636772 0.00912827 0.99982437 -1.04985795] [ 0. 0. 0. 1. ]] SLAMing on 128.211193817 meters Centerline goodness [0,1] 0.8777087217733582 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.17, Z:-1.05 [[ 9.99399217e-01 3.04126927e-02 -1.66214785e-02 5.09277556e+00] [-3.04942686e-02 9.99524001e-01 -4.67659443e-03 -1.67067002e-01] [ 1.64713389e-02 5.18064464e-03 9.99850917e-01 -1.04922761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.241193817 meters Centerline goodness [0,1] 0.8937203078646557 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.16, Z:-1.05 [[ 9.99291031e-01 3.36896793e-02 -1.68059636e-02 5.09366754e+00] [-3.37379732e-02 9.99427335e-01 -2.59833917e-03 -1.61705257e-01] [ 1.67088022e-02 3.16349617e-03 9.99855394e-01 -1.04939981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.271193817 meters Centerline goodness [0,1] 0.9052982463405039 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.16, Z:-1.05 [[ 9.99168129e-01 3.70289903e-02 -1.70851729e-02 5.09459302e+00] [-3.70396873e-02 9.99313747e-01 -3.09981358e-04 -1.56830714e-01] [ 1.70619698e-02 9.42552955e-04 9.99853990e-01 -1.04934045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.301193817 meters Centerline goodness [0,1] 0.9186540413981725 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.15, Z:-1.05 [[ 9.98879733e-01 4.41506243e-02 -1.70294138e-02 5.09479133e+00] [-4.40724406e-02 9.99016126e-01 4.93956661e-03 -1.49012661e-01] [ 1.72307439e-02 -4.18350515e-03 9.99842788e-01 -1.04872771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.331193817 meters Centerline goodness [0,1] 0.9233153555266258 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.14, Z:-1.05 [[ 9.98846404e-01 4.47366177e-02 -1.74498087e-02 5.09580727e+00] [-4.46721408e-02 9.98993420e-01 4.06764227e-03 -1.44438833e-01] [ 1.76142167e-02 -3.28342955e-03 9.99839466e-01 -1.04871028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36119381700001 meters Centerline goodness [0,1] 0.921574705517669 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.14, Z:-1.05 [[ 9.98811584e-01 4.53886437e-02 -1.77564064e-02 5.09658000e+00] [-4.53358437e-02 9.98966134e-01 3.36509888e-03 -1.40246036e-01] [ 1.78907859e-02 -2.55609808e-03 9.99836680e-01 -1.04869329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.39119381700002 meters Centerline goodness [0,1] 0.9107620806274249 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.14, Z:-1.05 [[ 0.9985669 0.05039665 -0.01800922 5.09792116] [-0.05028169 0.99871206 0.00678057 -0.13602995] [ 0.01832774 -0.00586532 0.99981483 -1.04924321] [ 0. 0. 0. 1. ]] SLAMing on 128.42119381700002 meters Centerline goodness [0,1] 0.906804825882011 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.14, Z:-1.05 [[ 0.9985279 0.05094175 -0.01862703 5.09971082] [-0.05082203 0.99868427 0.00684545 -0.13590076] [ 0.01895124 -0.00588871 0.99980307 -1.04999907] [ 0. 0. 0. 1. ]] SLAMing on 128.45119381700002 meters Centerline goodness [0,1] 0.9032003160806006 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.14, Z:-1.05 [[ 0.99849091 0.05150848 -0.01904685 5.10122742] [-0.05137459 0.99865164 0.00745333 -0.1380272 ] [ 0.01940507 -0.00646356 0.99979081 -1.05093298] [ 0. 0. 0. 1. ]] SLAMing on 128.48119381700002 meters Centerline goodness [0,1] 0.9012743487932146 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.14, Z:-1.05 [[ 9.98624609e-01 4.86547408e-02 -1.95347733e-02 5.10221013e+00] [-4.85856881e-02 9.98811031e-01 3.99431946e-03 -1.38101314e-01] [ 1.97058896e-02 -3.03971531e-03 9.99801199e-01 -1.05140415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.51119381700002 meters Centerline goodness [0,1] 0.9018313502327988 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.14, Z:-1.05 [[ 9.98591021e-01 4.92055498e-02 -1.98692551e-02 5.10281484e+00] [-4.91167104e-02 9.98780854e-01 4.93501767e-03 -1.39944864e-01] [ 2.00878619e-02 -3.95215188e-03 9.99790407e-01 -1.05125179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54119381700002 meters Centerline goodness [0,1] 0.9034826905083688 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.14, Z:-1.05 [[ 9.98584209e-01 4.92724997e-02 -2.00449026e-02 5.10271188e+00] [-4.91732955e-02 9.98775596e-01 5.41254167e-03 -1.41467838e-01] [ 2.02870490e-02 -4.41920473e-03 9.99784430e-01 -1.05062182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57119381700002 meters Centerline goodness [0,1] 0.9017552564659183 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.14, Z:-1.05 [[ 9.98707196e-01 4.64451648e-02 -2.06587581e-02 5.10347972e+00] [-4.63986299e-02 9.98919283e-01 2.72645297e-03 -1.43895411e-01] [ 2.07630624e-02 -1.76439013e-03 9.99782868e-01 -1.05045476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60119381700002 meters Centerline goodness [0,1] 0.9045599151643691 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.15, Z:-1.05 [[ 9.98852689e-01 4.30270205e-02 -2.10233273e-02 5.10339649e+00] [-4.30397961e-02 9.99073347e-01 -1.55386160e-04 -1.47654500e-01] [ 2.09971601e-02 1.06004760e-03 9.99778973e-01 -1.04992888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63119381700002 meters Centerline goodness [0,1] 0.9015853279452907 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.16, Z:-1.05 [[ 9.99099322e-01 3.67306960e-02 -2.12461759e-02 5.10242322e+00] [-3.68429633e-02 9.99308971e-01 -4.91691499e-03 -1.56145284e-01] [ 2.10508925e-02 5.69525851e-03 9.99762184e-01 -1.04889721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66119381700003 meters Centerline goodness [0,1] 0.907950137929604 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.16, Z:-1.05 [[ 0.99922108 0.03300217 -0.02163523 5.10314181] [-0.03318058 0.99941784 -0.00793935 -0.15876862] [ 0.02136062 0.00865103 0.99973441 -1.04914122] [ 0. 0. 0. 1. ]] SLAMing on 128.69119381700003 meters Centerline goodness [0,1] 0.907950137929604 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.16, Z:-1.05 [[ 0.99922108 0.03300217 -0.02163523 5.10314181] [-0.03318058 0.99941784 -0.00793935 -0.15876862] [ 0.02136062 0.00865103 0.99973441 -1.04914122] [ 0. 0. 0. 1. ]] SLAMing on 128.72119381700003 meters Centerline goodness [0,1] 0.9092922643813782 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.16, Z:-1.05 [[ 0.9993368 0.02894392 -0.02209538 5.10405497] [-0.02919404 0.99951232 -0.01108283 -0.16152337] [ 0.02176382 0.01172053 0.99969444 -1.04944132] [ 0. 0. 0. 1. ]] SLAMing on 128.75119381700003 meters Centerline goodness [0,1] 0.9138081576649619 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.16, Z:-1.05 [[ 0.99945205 0.02452305 -0.02223115 5.1040385 ] [-0.02484594 0.99958806 -0.01436621 -0.16470553] [ 0.02186969 0.01491069 0.99964963 -1.04930033] [ 0. 0. 0. 1. ]] SLAMing on 128.78119381700003 meters Centerline goodness [0,1] 0.866195144145262 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.18, Z:-1.05 [[ 0.99975385 0.01318741 -0.01784212 5.10756665] [-0.01334327 0.9998736 -0.00864513 -0.17575587] [ 0.01772586 0.00888108 0.99980344 -1.05003564] [ 0. 0. 0. 1. ]] SLAMing on 128.81119381700003 meters Centerline goodness [0,1] 0.8197442710063102 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.18, Z:-1.05 [[ 0.99979923 0.00912772 -0.01783792 5.10725401] [-0.00933866 0.99988703 -0.01177791 -0.17885967] [ 0.0177284 0.01194213 0.99977152 -1.0496863 ] [ 0. 0. 0. 1. ]] SLAMing on 128.84119381700003 meters Centerline goodness [0,1] 0.8207966439607908 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.18, Z:-1.05 [[ 0.9998204 0.0052088 -0.01822184 5.1083525 ] [-0.00548514 0.99987021 -0.01514829 -0.18088466] [ 0.01814057 0.01524552 0.99971921 -1.05016211] [ 0. 0. 0. 1. ]] SLAMing on 128.87119381700003 meters Centerline goodness [0,1] 0.7609964000496545 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.18, Z:-1.05 [[ 9.99814647e-01 4.11854867e-03 -1.88071584e-02 5.11047889e+00] [-4.40752852e-03 9.99872469e-01 -1.53499077e-02 -1.83130698e-01] [ 1.87415406e-02 1.54299557e-02 9.99705292e-01 -1.05124486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90119381700003 meters Centerline goodness [0,1] 0.7437619166044931 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.18, Z:-1.05 [[ 9.99809824e-01 4.13540436e-03 -1.90582057e-02 5.11162300e+00] [-4.41658315e-03 9.99881676e-01 -1.47352895e-02 -1.84734942e-01] [ 1.89950143e-02 1.48166594e-02 9.99709786e-01 -1.05210502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.931193817 meters Centerline goodness [0,1] 0.8238167180612181 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.18, Z:-1.05 [[ 0.99978303 0.00695758 -0.0196338 5.11367066] [-0.00718451 0.99990793 -0.01151148 -0.18490832] [ 0.0195519 0.01165004 0.99974097 -1.05298264] [ 0. 0. 0. 1. ]] SLAMing on 128.961193817 meters Centerline goodness [0,1] 0.825818611105358 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.19, Z:-1.05 [[ 0.99974921 0.01077272 -0.01963309 5.1135354 ] [-0.0109209 0.99991257 -0.00745607 -0.18527438] [ 0.01955105 0.00766861 0.99977945 -1.05257138] [ 0. 0. 0. 1. ]] SLAMing on 128.991193817 meters Centerline goodness [0,1] 0.8405249387433034 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.18, Z:-1.05 [[ 0.99973001 0.01287639 -0.01934203 5.11197422] [-0.01298328 0.99990107 -0.00541065 -0.18390393] [ 0.01927045 0.00566032 0.99979829 -1.05118512] [ 0. 0. 0. 1. ]] SLAMing on 129.021193817 meters Centerline goodness [0,1] 0.8443616029822927 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.18, Z:-1.05 [[ 9.99684015e-01 1.57775059e-02 -1.95688600e-02 5.11212146e+00] [-1.58313780e-02 9.99871293e-01 -2.60109089e-03 -1.81836536e-01] [ 1.95253027e-02 2.91007101e-03 9.99805128e-01 -1.05045087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.051193817 meters Centerline goodness [0,1] 0.8301710730948678 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.18, Z:-1.05 [[ 9.99692041e-01 1.51508173e-02 -1.96538943e-02 5.11235087e+00] [-1.52211144e-02 9.99878262e-01 -3.43209638e-03 -1.80348674e-01] [ 1.95995026e-02 3.73019361e-03 9.99800953e-01 -1.05039679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.081193817 meters Centerline goodness [0,1] 0.8579228166324137 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.18, Z:-1.05 [[ 9.99700268e-01 1.44216652e-02 -1.97835539e-02 5.11276778e+00] [-1.45107014e-02 9.99885189e-01 -4.36436748e-03 -1.78567866e-01] [ 1.97183411e-02 4.65013258e-03 9.99794761e-01 -1.05049229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.11119381700001 meters Centerline goodness [0,1] 0.8221066860767391 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.18, Z:-1.05 [[ 0.99971287 0.01350974 -0.01979073 5.11312175] [-0.01362093 0.99989213 -0.00549443 -0.17608827] [ 0.01971437 0.00576242 0.99978905 -1.05077712] [ 0. 0. 0. 1. ]] SLAMing on 129.14119381700002 meters Centerline goodness [0,1] 0.7943124026984951 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.17, Z:-1.05 [[ 9.99888857e-01 5.09035182e-03 -1.40129157e-02 5.11372219e+00] [-5.08262707e-03 9.99986911e-01 5.86817059e-04 -1.69009871e-01] [ 1.40157193e-02 -5.15529413e-04 9.99901642e-01 -1.05106243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.17119381700002 meters Centerline goodness [0,1] 0.7424431157615015 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.17, Z:-1.05 [[ 9.99896266e-01 3.46580445e-03 -1.39801483e-02 5.11362723e+00] [-3.48398521e-03 9.99993116e-01 -1.27632549e-03 -1.65310986e-01] [ 1.39756286e-02 1.32489972e-03 9.99901458e-01 -1.05082403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20119381700002 meters Centerline goodness [0,1] 0.7458823042542626 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.16, Z:-1.05 [[ 9.99895844e-01 1.74304905e-03 -1.43270215e-02 5.11504927e+00] [-1.79062619e-03 9.99992923e-01 -3.30864118e-03 -1.61418576e-01] [ 1.43211530e-02 3.33395090e-03 9.99891889e-01 -1.05155570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.23119381700002 meters Centerline goodness [0,1] 0.7274955853329179 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.16, Z:-1.05 [[ 9.99895240e-01 6.68221681e-04 -1.44590207e-02 5.11568194e+00] [-7.39550040e-04 9.99987582e-01 -4.92835465e-03 -1.57329236e-01] [ 1.44555480e-02 4.93853153e-03 9.99883317e-01 -1.05193177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26119381700002 meters Centerline goodness [0,1] 0.724822047440181 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.15, Z:-1.05 [[ 9.99892502e-01 9.14342066e-04 -1.46338019e-02 5.11728697e+00] [-9.90560368e-04 9.99985979e-01 -5.20197279e-03 -1.49064228e-01] [ 1.46288403e-02 5.21590925e-03 9.99879388e-01 -1.05329507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29119381700002 meters Centerline goodness [0,1] 0.6991481619319356 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.14, Z:-1.06 [[ 9.99883315e-01 2.04840267e-03 -1.51380751e-02 5.12035119e+00] [-2.11601322e-03 9.99987853e-01 -4.45159109e-03 -1.44776988e-01] [ 1.51287726e-02 4.48310402e-03 9.99875503e-01 -1.05558951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32119381700002 meters Centerline goodness [0,1] 0.6959196354598177 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.14, Z:-1.06 [[ 9.99874889e-01 4.41743095e-03 -1.51885689e-02 5.12110955e+00] [-4.46006376e-03 9.99986206e-01 -2.77417404e-03 -1.39802066e-01] [ 1.51761047e-02 2.84156894e-03 9.99880799e-01 -1.05625876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35119381700002 meters Centerline goodness [0,1] 0.7284347699777967 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.13, Z:-1.06 [[ 9.99852455e-01 8.81964851e-03 -1.47405168e-02 5.11985461e+00] [-8.82820144e-03 9.99960898e-01 -5.15262609e-04 -1.25885958e-01] [ 1.47353960e-02 6.45318836e-04 9.99891220e-01 -1.05532057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38119381700002 meters Centerline goodness [0,1] 0.7139713971397139 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.12, Z:-1.05 [[ 9.99831021e-01 1.11179448e-02 -1.46397149e-02 5.11925372e+00] [-1.11094150e-02 9.99938068e-01 6.63842361e-04 -1.19303675e-01] [ 1.46461888e-02 -5.01091516e-04 9.99892613e-01 -1.05451986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41119381700003 meters Centerline goodness [0,1] 0.7365835457993906 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.11, Z:-1.05 [[ 9.99801321e-01 1.33767668e-02 -1.47777103e-02 5.11949164e+00] [-1.33501416e-02 9.99909080e-01 1.89890190e-03 -1.12900178e-01] [ 1.48017679e-02 -1.70124010e-03 9.99889001e-01 -1.05416815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44119381700003 meters Centerline goodness [0,1] 0.7461940515203054 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.11, Z:-1.05 [[ 9.99805880e-01 1.28875902e-02 -1.49034640e-02 5.11995291e+00] [-1.28895968e-02 9.99916925e-01 -3.85896912e-05 -1.05194759e-01] [ 1.49017285e-02 2.30681842e-04 9.99888936e-01 -1.05419850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47119381700003 meters Centerline goodness [0,1] 0.7188002473716759 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.09, Z:-1.06 [[ 0.99985762 0.01381844 -0.00968453 5.13377223] [-0.01388659 0.99987904 -0.00700531 -0.09045818] [ 0.00958656 0.0071388 0.99992857 -1.05681421] [ 0. 0. 0. 1. ]] SLAMing on 129.50119381700003 meters Centerline goodness [0,1] 0.7400988563274253 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.09, Z:-1.06 [[ 0.99982328 0.01609272 -0.00971745 5.13420129] [-0.01614538 0.99985526 -0.00536555 -0.08560726] [ 0.00962969 0.00552149 0.99993839 -1.05697141] [ 0. 0. 0. 1. ]] SLAMing on 129.53119381700003 meters Centerline goodness [0,1] 0.7539515929859224 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.08, Z:-1.06 [[ 9.99786236e-01 1.80354775e-02 -1.01095559e-02 5.13622270e+00] [-1.80771575e-02 9.99828406e-01 -4.04671748e-03 -8.05344796e-02] [ 1.00348367e-02 4.22860447e-03 9.99940709e-01 -1.05817599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56119381700003 meters Centerline goodness [0,1] 0.770332554822975 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.07, Z:-1.06 [[ 9.99682750e-01 2.29667067e-02 -1.03406878e-02 5.13837692e+00] [-2.29778696e-02 9.99735511e-01 -9.61984873e-04 -6.82088000e-02] [ 1.03158592e-02 1.19928666e-03 9.99946071e-01 -1.05961042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59119381700003 meters Centerline goodness [0,1] 0.7472432164539711 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.06, Z:-1.06 [[ 9.99608674e-01 2.57948501e-02 -1.08224455e-02 5.14090610e+00] [-2.57891164e-02 9.99667182e-01 6.69040545e-04 -6.20965848e-02] [ 1.08361014e-02 -3.89677426e-04 9.99941212e-01 -1.06114110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62119381700003 meters Centerline goodness [0,1] 0.7894280225568568 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.06, Z:-1.06 [[ 9.99511674e-01 2.91191412e-02 -1.13352900e-02 5.14283129e+00] [-2.90907501e-02 9.99573231e-01 2.66157583e-03 -5.63054842e-02] [ 1.14079552e-02 -2.33052403e-03 9.99932211e-01 -1.06178084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65119381700003 meters Centerline goodness [0,1] 0.8251383040211377 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.05, Z:-1.06 [[ 9.99390970e-01 3.28577490e-02 -1.17497442e-02 5.14439840e+00] [-3.28017579e-02 9.99449735e-01 4.92673084e-03 -5.07893520e-02] [ 1.19051600e-02 -4.53831805e-03 9.99918832e-01 -1.06219037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.681193817 meters Centerline goodness [0,1] 0.9107834406776151 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.04, Z:-1.06 [[ 0.99894754 0.04434836 -0.01170647 5.1456238 ] [-0.04418302 0.99892502 0.01402348 -0.0426052 ] [ 0.0123158 -0.01349149 0.99983314 -1.06239551] [ 0. 0. 0. 1. ]] SLAMing on 129.711193817 meters Centerline goodness [0,1] 0.9178657943228639 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.04, Z:-1.06 [[ 0.99875307 0.04848163 -0.01190992 5.14676317] [-0.0482775 0.99869153 0.01686726 -0.03826033] [ 0.01271208 -0.01627124 0.9997868 -1.06262531] [ 0. 0. 0. 1. ]] SLAMing on 129.741193817 meters Centerline goodness [0,1] 0.9159950402975822 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.03, Z:-1.06 [[ 0.99854845 0.05249681 -0.01204511 5.14795177] [-0.05225309 0.998439 0.01972761 -0.03408687] [ 0.01306194 -0.01906958 0.99973283 -1.06306632] [ 0. 0. 0. 1. ]] SLAMing on 129.771193817 meters Centerline goodness [0,1] 0.9173050319010552 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.03, Z:-1.06 [[ 0.9983418 0.05631011 -0.0119507 5.14827294] [-0.05603018 0.99817344 0.02259189 -0.03028625] [ 0.01320102 -0.02188483 0.99967334 -1.06297494] [ 0. 0. 0. 1. ]] SLAMing on 129.801193817 meters Centerline goodness [0,1] 0.9169174327053877 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.03, Z:-1.06 [[ 0.99812655 0.0601141 -0.01138779 5.14563764] [-0.05981434 0.99789512 0.02505145 -0.02577162] [ 0.01286976 -0.02432336 0.9996213 -1.0599699 ] [ 0. 0. 0. 1. ]] SLAMing on 129.831193817 meters Centerline goodness [0,1] 0.9177866920309334 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.02, Z:-1.06 [[ 0.99829417 0.05719369 -0.01173193 5.14537615] [-0.05693682 0.99815328 0.02117141 -0.02411674] [ 0.01292114 -0.02046732 0.99970702 -1.05901424] [ 0. 0. 0. 1. ]] SLAMing on 129.86119381700001 meters Centerline goodness [0,1] 0.9211437760277079 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.03, Z:-1.06 [[ 0.99846524 0.05413019 -0.01170854 5.14424013] [-0.05391636 0.99838561 0.01786626 -0.02586624] [ 0.01265674 -0.01720755 0.99977183 -1.05788019] [ 0. 0. 0. 1. ]] SLAMing on 129.89119381700002 meters Centerline goodness [0,1] 0.9210097551921134 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.03, Z:-1.06 [[ 0.99863185 0.0508711 -0.01210653 5.14476689] [-0.05069892 0.99861405 0.01412792 -0.02542404] [ 0.01280845 -0.0134948 0.9998269 -1.05784697] [ 0. 0. 0. 1. ]] SLAMing on 129.92119381700002 meters Centerline goodness [0,1] 0.9180159024430437 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.02, Z:-1.06 [[ 0.99877548 0.04783682 -0.01261679 5.14568643] [-0.04770578 0.99880634 0.01049072 -0.02476062] [ 0.01310357 -0.00987598 0.99986537 -1.05794975] [ 0. 0. 0. 1. ]] SLAMing on 129.95119381700002 meters Centerline goodness [0,1] 0.9162598262308647 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.03, Z:-1.06 [[ 0.99874304 0.04838533 -0.01308461 5.14715355] [-0.0482386 0.99877184 0.01130667 -0.02670354] [ 0.01361561 -0.01066128 0.99985046 -1.05861273] [ 0. 0. 0. 1. ]] SLAMing on 129.98119381700002 meters Centerline goodness [0,1] 0.9172576343374614 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.03, Z:-1.06 [[ 0.99864216 0.05035362 -0.01335506 5.14855258] [-0.05016806 0.99864429 0.01388328 -0.03311743] [ 0.01403602 -0.01319444 0.99981443 -1.05964221] [ 0. 0. 0. 1. ]] SLAMing on 130.01119381700002 meters Centerline goodness [0,1] 0.9152717931720252 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.03, Z:-1.06 [[ 0.99876427 0.04779404 -0.01362601 5.14875113] [-0.04764869 0.99880578 0.01079927 -0.03418733] [ 0.01412588 -0.01013667 0.99984884 -1.0594031 ] [ 0. 0. 0. 1. ]] SLAMing on 130.04119381700002 meters Centerline goodness [0,1] 0.9172326940149059 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.04, Z:-1.06 [[ 0.99887827 0.045209 -0.01408361 5.14943852] [-0.04510232 0.9989519 0.0078027 -0.03569344] [ 0.0144216 -0.00715875 0.99987038 -1.05935526] [ 0. 0. 0. 1. ]] SLAMing on 130.07119381700002 meters Centerline goodness [0,1] 0.9180021589304991 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.04, Z:-1.06 [[ 9.98990583e-01 4.25342211e-02 -1.44449317e-02 5.14980319e+00] [-4.24666862e-02 9.99085619e-01 4.95045156e-03 -3.78258985e-02] [ 1.46422871e-02 -4.33202611e-03 9.99883412e-01 -1.05918441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10119381700002 meters Centerline goodness [0,1] 0.9182718197257778 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.05, Z:-1.06 [[ 9.99063574e-01 4.06448381e-02 -1.48314791e-02 5.15105877e+00] [-4.05880806e-02 9.99167519e-01 4.10810299e-03 -4.59672216e-02] [ 1.49861053e-02 -3.50227479e-03 9.99881568e-01 -1.06020951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13119381700002 meters Centerline goodness [0,1] 0.9190018875360395 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.05, Z:-1.06 [[ 9.99190422e-01 3.72693678e-02 -1.51490991e-02 5.15151877e+00] [-3.72562152e-02 9.99305085e-01 1.14959269e-03 -4.86919200e-02] [ 1.51814164e-02 -5.84263906e-04 9.99884585e-01 -1.06030799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16119381700003 meters Centerline goodness [0,1] 0.918085633989089 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.05, Z:-1.06 [[ 9.99298983e-01 3.40020050e-02 -1.56654245e-02 5.15275728e+00] [-3.40249552e-02 9.99420262e-01 -1.20075962e-03 -5.29116459e-02] [ 1.56155144e-02 1.73293324e-03 9.99876569e-01 -1.06087702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19119381700003 meters Centerline goodness [0,1] 0.909440232630595 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.06, Z:-1.06 [[ 0.9995782 0.02396062 -0.01641097 5.15449386] [-0.02411384 0.99966686 -0.00920319 -0.06252852] [ 0.01618499 0.00959504 0.99982297 -1.06222036] [ 0. 0. 0. 1. ]] SLAMing on 130.22119381700003 meters Centerline goodness [0,1] 0.910463884330141 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.07, Z:-1.06 [[ 0.99964809 0.02030974 -0.01706498 5.15628653] [-0.02050657 0.99972427 -0.01143963 -0.06917674] [ 0.01682793 0.01178555 0.99978894 -1.06318225] [ 0. 0. 0. 1. ]] SLAMing on 130.25119381700003 meters Centerline goodness [0,1] 0.9125576371868899 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.08, Z:-1.06 [[ 0.99970576 0.0167968 -0.01750033 5.15727512] [-0.0170367 0.99976168 -0.01365022 -0.07512128] [ 0.01726688 0.01394435 0.99975367 -1.063548 ] [ 0. 0. 0. 1. ]] SLAMing on 130.28119381700003 meters Centerline goodness [0,1] 0.9060206493344943 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.08, Z:-1.06 [[ 0.99982124 0.01221306 -0.01443328 5.16511675] [-0.01230263 0.99990551 -0.00613367 -0.0820013 ] [ 0.014357 0.00631014 0.99987702 -1.06311652] [ 0. 0. 0. 1. ]] SLAMing on 130.31119381700003 meters Centerline goodness [0,1] 0.9027506949342405 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.09, Z:-1.06 [[ 0.99986372 0.00799692 -0.01444236 5.16420349] [-0.00811536 0.99993377 -0.00816085 -0.08959087] [ 0.01437614 0.00827695 0.9998624 -1.06199153] [ 0. 0. 0. 1. ]] SLAMing on 130.34119381700003 meters Centerline goodness [0,1] 0.9180440057236474 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.09, Z:-1.06 [[ 9.99881574e-01 4.49400281e-03 -1.47187880e-02 5.16468863e+00] [-4.65699017e-03 9.99928015e-01 -1.10579318e-02 -9.22285489e-02] [ 1.46680341e-02 1.11251675e-02 9.99830525e-01 -1.06188973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37119381700003 meters Centerline goodness [0,1] 0.915206495174185 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.10, Z:-1.06 [[ 9.99931033e-01 1.18135906e-03 -1.16847630e-02 5.17295137e+00] [-1.21000531e-03 9.99996279e-01 -2.44482453e-03 -9.75184517e-02] [ 1.16818313e-02 2.45879455e-03 9.99928742e-01 -1.06161298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40119381700003 meters Centerline goodness [0,1] 0.9104337875793197 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.10, Z:-1.06 [[ 9.99931161e-01 6.59294138e-04 -1.17148579e-02 5.17268858e+00] [-6.82493170e-04 9.99997814e-01 -1.97642096e-03 -1.00422643e-01] [ 1.17135293e-02 1.98428021e-03 9.99929425e-01 -1.06104031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.431193817 meters Centerline goodness [0,1] 0.9046264970215239 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.10, Z:-1.06 [[ 9.99925515e-01 -3.09495395e-03 -1.18061394e-02 5.17209091e+00] [ 3.03846932e-03 9.99983867e-01 -4.79928381e-03 -1.04019999e-01] [ 1.18208025e-02 4.76305375e-03 9.99918788e-01 -1.05986900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.461193817 meters Centerline goodness [0,1] 0.8933178481065163 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.11, Z:-1.06 [[ 9.99923578e-01 -3.09435047e-03 -1.19692694e-02 5.17247102e+00] [ 3.04562355e-03 9.99987010e-01 -4.08708927e-03 -1.06566447e-01] [ 1.19817608e-02 4.05032303e-03 9.99920013e-01 -1.05982700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.491193817 meters Centerline goodness [0,1] 0.8694996176342931 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.11, Z:-1.06 [[ 9.99920924e-01 -3.06347959e-03 -1.21967362e-02 5.17320749e+00] [ 3.02036010e-03 9.99989130e-01 -3.55218169e-03 -1.08286771e-01] [ 1.22074857e-02 3.51506226e-03 9.99919308e-01 -1.06003604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.521193817 meters Centerline goodness [0,1] 0.8699357246527057 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.11, Z:-1.06 [[ 9.99919665e-01 -3.45338327e-03 -1.21958119e-02 5.17320337e+00] [ 3.40999147e-03 9.99987789e-01 -3.57693103e-03 -1.08028824e-01] [ 1.22080155e-02 3.53505606e-03 9.99919231e-01 -1.05993788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.551193817 meters Centerline goodness [0,1] 0.8652752997800921 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.11, Z:-1.06 [[ 9.99917272e-01 -3.49642640e-03 -1.23783725e-02 5.17377399e+00] [ 3.45283542e-03 9.99987769e-01 -3.54116530e-03 -1.07691445e-01] [ 1.23906025e-02 3.49813186e-03 9.99917115e-01 -1.06014616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.581193817 meters Centerline goodness [0,1] 0.8652752997800921 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.11, Z:-1.06 [[ 9.99917272e-01 -3.49642640e-03 -1.23783725e-02 5.17377399e+00] [ 3.45283542e-03 9.99987769e-01 -3.54116530e-03 -1.07691445e-01] [ 1.23906025e-02 3.49813186e-03 9.99917115e-01 -1.06014616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.61119381700001 meters Centerline goodness [0,1] 0.8626109314091399 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.11, Z:-1.06 [[ 9.99914758e-01 -3.45387241e-03 -1.25915955e-02 5.17460222e+00] [ 3.41028855e-03 9.99988126e-01 -3.48117519e-03 -1.07851098e-01] [ 1.26034695e-02 3.43793748e-03 9.99914663e-01 -1.06057588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64119381700002 meters Centerline goodness [0,1] 0.8336376083979917 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.11, Z:-1.06 [[ 9.99912535e-01 -3.30889512e-03 -1.28051779e-02 5.17526329e+00] [ 3.26582759e-03 9.99988946e-01 -3.38274048e-03 -1.08029001e-01] [ 1.28162294e-02 3.34062510e-03 9.99912288e-01 -1.06082650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.67119381700002 meters Centerline goodness [0,1] 0.874338157430286 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.11, Z:-1.06 [[ 9.99918332e-01 1.06837783e-05 -1.27800037e-02 5.17591230e+00] [-1.41432645e-05 9.99999963e-01 -2.70604897e-04 -1.06514118e-01] [ 1.27800003e-02 2.70763549e-04 9.99918296e-01 -1.06168199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70119381700002 meters Centerline goodness [0,1] 0.8835643400252761 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.10, Z:-1.06 [[ 9.99909826e-01 9.48020901e-04 -1.33955472e-02 5.17906670e+00] [-9.46491848e-04 9.99999545e-01 1.20485537e-04 -1.04045927e-01] [ 1.33956554e-02 -1.07795896e-04 9.99910268e-01 -1.06384088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.73119381700002 meters Centerline goodness [0,1] 0.8494128387070004 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.10, Z:-1.06 [[ 9.99905505e-01 1.10567809e-03 -1.37024700e-02 5.18030685e+00] [-1.11202035e-03 9.99999278e-01 -4.55244341e-04 -1.01026254e-01] [ 1.37019568e-02 4.70438749e-04 9.99906013e-01 -1.06453789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76119381700002 meters Centerline goodness [0,1] 0.8911872934034636 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.10, Z:-1.07 [[ 9.99901634e-01 1.14193156e-03 -1.39792322e-02 5.18144904e+00] [-1.15755766e-03 9.99998714e-01 -1.10976790e-03 -9.79985838e-02] [ 1.39779470e-02 1.12584050e-03 9.99901670e-01 -1.06521738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79119381700002 meters Centerline goodness [0,1] 0.886161545142479 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.09, Z:-1.07 [[ 9.99893456e-01 1.77499683e-03 -1.44887923e-02 5.18371354e+00] [-1.79159421e-03 9.99997754e-01 -1.13263262e-03 -9.36692076e-02] [ 1.44867493e-02 1.15846998e-03 9.99894390e-01 -1.06661056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82119381700002 meters Centerline goodness [0,1] 0.8855898818162969 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.09, Z:-1.07 [[ 9.99893549e-01 1.31509319e-03 -1.45313733e-02 5.18353142e+00] [-1.34545261e-03 9.99996932e-01 -2.07965391e-03 -9.08778733e-02] [ 1.45285938e-02 2.09898380e-03 9.99892251e-01 -1.06616559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85119381700002 meters Centerline goodness [0,1] 0.8825052295839115 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.09, Z:-1.07 [[ 9.99891827e-01 1.04523504e-03 -1.46711092e-02 5.18350360e+00] [-1.08441669e-03 9.99995866e-01 -2.66296609e-03 -8.86929371e-02] [ 1.46682651e-02 2.67858762e-03 9.99888827e-01 -1.06558714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88119381700002 meters Centerline goodness [0,1] 0.8787286673457085 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.09, Z:-1.06 [[ 9.99893073e-01 4.67094162e-04 -1.46158750e-02 5.18252956e+00] [-5.17178714e-04 9.99994007e-01 -3.42313077e-03 -8.68835509e-02] [ 1.46141885e-02 3.43032377e-03 9.99887323e-01 -1.06433677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91119381700003 meters Centerline goodness [0,1] 0.8698110462094913 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.09, Z:-1.06 [[ 9.99894321e-01 1.30784711e-04 -1.45372180e-02 5.18185081e+00] [-1.87558501e-04 9.99992361e-01 -3.90411482e-03 -8.53049268e-02] [ 1.45365963e-02 3.90642881e-03 9.99886707e-01 -1.06347605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94119381700003 meters Centerline goodness [0,1] 0.8296572434503469 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.08, Z:-1.06 [[ 9.99970659e-01 -2.04700918e-03 -7.38180769e-03 5.18929342e+00] [ 2.06978983e-03 9.99993116e-01 3.07973534e-03 -8.28765749e-02] [ 7.37545262e-03 -3.09492377e-03 9.99968012e-01 -1.06498275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97119381700003 meters Centerline goodness [0,1] 0.8349242581448433 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.08, Z:-1.06 [[ 9.99968502e-01 -2.31150666e-03 -7.59287089e-03 5.18967074e+00] [ 2.32975401e-03 9.99994417e-01 2.39525607e-03 -8.07052190e-02] [ 7.58729186e-03 -2.41287014e-03 9.99968305e-01 -1.06482985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00119381700003 meters Centerline goodness [0,1] 0.867156374501992 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.08, Z:-1.07 [[ 9.99967791e-01 -2.17851741e-03 -7.72473975e-03 5.19027761e+00] [ 2.19314233e-03 9.99995818e-01 1.88529171e-03 -7.82894870e-02] [ 7.72060030e-03 -1.90217244e-03 9.99968387e-01 -1.06514394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03119381700003 meters Centerline goodness [0,1] 0.8423569846166588 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.08, Z:-1.07 [[ 9.99966110e-01 -1.32942213e-03 -8.12470622e-03 5.19250502e+00] [ 1.34496530e-03 9.99997275e-01 1.90790998e-03 -7.58053031e-02] [ 8.12214767e-03 -1.91877277e-03 9.99965174e-01 -1.06673477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06119381700003 meters Centerline goodness [0,1] 0.8914360399983403 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.07, Z:-1.07 [[ 9.99957901e-01 3.65308899e-03 -8.41729344e-03 5.19370061e+00] [-3.60934310e-03 9.99979932e-01 5.20648705e-03 -7.02705045e-02] [ 8.43614428e-03 -5.17588696e-03 9.99951020e-01 -1.06740731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09119381700003 meters Centerline goodness [0,1] 0.9197523194168323 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.07, Z:-1.07 [[ 0.99993273 0.00751842 -0.00883249 5.19493645] [-0.00744558 0.99993823 0.00825183 -0.06687814] [ 0.00889399 -0.00818551 0.99992694 -1.06775734] [ 0. 0. 0. 1. ]] SLAMing on 131.12119381700003 meters Centerline goodness [0,1] 0.9243109745973768 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.06, Z:-1.07 [[ 0.9998915 0.01158426 -0.00909861 5.19576378] [-0.01148105 0.99987007 0.01131506 -0.06327678] [ 0.00922851 -0.01120937 0.99989459 -1.06787961] [ 0. 0. 0. 1. ]] SLAMing on 131.15119381700003 meters Centerline goodness [0,1] 0.9174734136279774 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.06, Z:-1.07 [[ 9.99706071e-01 2.34981497e-02 -5.96731086e-03 5.19508103e+00] [-2.34672021e-02 9.99711061e-01 5.20431136e-03 -5.68690473e-02] [ 6.08787835e-03 -5.06274557e-03 9.99968653e-01 -1.06703430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.181193817 meters Centerline goodness [0,1] 0.9189708220620728 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.06, Z:-1.07 [[ 9.99689915e-01 2.40944276e-02 -6.28746692e-03 5.19593587e+00] [-2.40626294e-02 9.99697521e-01 5.08497865e-03 -5.55722841e-02] [ 6.40808474e-03 -4.93210889e-03 9.99967305e-01 -1.06710509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.211193817 meters Centerline goodness [0,1] 0.9202289208900643 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.06, Z:-1.07 [[ 9.99686310e-01 2.41762711e-02 -6.54130394e-03 5.19683296e+00] [-2.41446592e-02 9.99696617e-01 4.86923720e-03 -5.51003991e-02] [ 6.65703942e-03 -4.70977222e-03 9.99966750e-01 -1.06748760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.241193817 meters Centerline goodness [0,1] 0.9201455658251142 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.05, Z:-1.07 [[ 9.99759318e-01 2.08793561e-02 -6.73485722e-03 5.19738813e+00] [-2.08750210e-02 9.99781839e-01 7.13342933e-04 -5.32637937e-02] [ 6.74828207e-03 -5.72580958e-04 9.99977066e-01 -1.06770851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.271193817 meters Centerline goodness [0,1] 0.9188005947464067 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.05, Z:-1.07 [[ 9.99760518e-01 2.07101392e-02 -7.07082065e-03 5.19878893e+00] [-2.07039286e-02 9.99785199e-01 9.50429905e-04 -5.43203898e-02] [ 7.08898536e-03 -8.03808529e-04 9.99974550e-01 -1.06861489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.301193817 meters Centerline goodness [0,1] 0.9186409170711556 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.06, Z:-1.07 [[ 9.99755547e-01 2.08075085e-02 -7.47625392e-03 5.20036037e+00] [-2.07977333e-02 9.99782747e-01 1.38288651e-03 -5.59242268e-02] [ 7.50340411e-03 -1.22705932e-03 9.99971096e-01 -1.06955860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.331193817 meters Centerline goodness [0,1] 0.9165375797756986 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.06, Z:-1.07 [[ 9.99802759e-01 1.81158843e-02 -8.13989029e-03 5.20274427e+00] [-1.81279871e-02 9.99834673e-01 -1.41552822e-03 -5.74106424e-02] [ 8.11290099e-03 1.56280885e-03 9.99965869e-01 -1.07089397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36119381700001 meters Centerline goodness [0,1] 0.9138188453881885 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.06, Z:-1.07 [[ 9.99852500e-01 1.50136637e-02 -8.34079476e-03 5.20367735e+00] [-1.50499646e-02 9.99877468e-01 -4.30662050e-03 -5.99330469e-02] [ 8.27511459e-03 4.43151394e-03 9.99955941e-01 -1.07165723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.39119381700002 meters Centerline goodness [0,1] 0.9121467874725911 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.07, Z:-1.07 [[ 0.99988633 0.01221532 -0.00883842 5.20559642] [-0.01226613 0.99990842 -0.00571743 -0.06690495] [ 0.00876777 0.00582519 0.9999446 -1.07297549] [ 0. 0. 0. 1. ]] SLAMing on 131.42119381700002 meters Centerline goodness [0,1] 0.9111904218454963 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.07, Z:-1.07 [[ 9.99888343e-01 1.19717204e-02 -8.94310402e-03 5.20580162e+00] [-1.20169077e-02 9.99915212e-01 -5.01621459e-03 -7.03315804e-02] [ 8.88229304e-03 5.12312295e-03 9.99947428e-01 -1.07290886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.45119381700002 meters Centerline goodness [0,1] 0.913501058662349 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.08, Z:-1.07 [[ 0.99992284 0.00842949 -0.00912406 5.20563055] [-0.00849372 0.99993927 -0.00702304 -0.07645917] [ 0.0090643 0.00709999 0.99993371 -1.07224212] [ 0. 0. 0. 1. ]] SLAMing on 131.48119381700002 meters Centerline goodness [0,1] 0.9157006283569399 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.08, Z:-1.07 [[ 9.99944126e-01 5.15722438e-03 -9.22759413e-03 5.20524974e+00] [-5.24535110e-03 9.99940623e-01 -9.55177102e-03 -8.04530971e-02] [ 9.17778560e-03 9.59963929e-03 9.99911804e-01 -1.07138189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.51119381700002 meters Centerline goodness [0,1] 0.9150091165257749 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.09, Z:-1.07 [[ 9.99978302e-01 4.87315510e-04 -6.56951544e-03 5.21163062e+00] [-5.01304782e-04 9.99997610e-01 -2.12794379e-03 -8.69950201e-02] [ 6.56846276e-03 2.13119095e-03 9.99976156e-01 -1.06922941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54119381700002 meters Centerline goodness [0,1] 0.9186102053955265 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.09, Z:-1.07 [[ 9.99973426e-01 -3.09427844e-03 -6.60094629e-03 5.21143802e+00] [ 3.06170662e-03 9.99983117e-01 -4.93882853e-03 -9.07920349e-02] [ 6.61611696e-03 4.91848712e-03 9.99966017e-01 -1.06871020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57119381700002 meters Centerline goodness [0,1] 0.9054132471192904 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.10, Z:-1.07 [[ 0.99995136 -0.00733054 -0.00659816 5.21164838] [ 0.00728106 0.99994542 -0.00749223 -0.09629131] [ 0.00665272 0.00744382 0.99995016 -1.06872957] [ 0. 0. 0. 1. ]] SLAMing on 131.60119381700002 meters Centerline goodness [0,1] 0.8806538381957376 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.10, Z:-1.07 [[ 0.99994901 -0.0073692 -0.0069044 5.2127765 ] [ 0.00732174 0.99994957 -0.00687365 -0.09823289] [ 0.00695471 0.00682274 0.99995254 -1.06929529] [ 0. 0. 0. 1. ]] SLAMing on 131.63119381700002 meters Centerline goodness [0,1] 0.9005410335606642 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.10, Z:-1.07 [[ 0.999948 -0.00714768 -0.00727401 5.21374103] [ 0.00710241 0.99995537 -0.00623065 -0.09971855] [ 0.00731822 0.00617867 0.99995413 -1.06945869] [ 0. 0. 0. 1. ]] SLAMing on 131.66119381700003 meters Centerline goodness [0,1] 0.8569677580189463 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.10, Z:-1.07 [[ 0.99994744 -0.00694599 -0.00754067 5.21439419] [ 0.00690348 0.99996022 -0.00564794 -0.10145705] [ 0.0075796 0.00559559 0.99995562 -1.06950174] [ 0. 0. 0. 1. ]] SLAMing on 131.69119381700003 meters Centerline goodness [0,1] 0.8655752010138995 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.11, Z:-1.07 [[ 9.99945919e-01 -6.84332679e-03 -7.83119995e-03 5.21529275e+00] [ 6.80718445e-03 9.99966100e-01 -4.63255856e-03 -1.05668417e-01] [ 7.86263658e-03 4.57899960e-03 9.99958605e-01 -1.06982867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72119381700003 meters Centerline goodness [0,1] 0.852502231355211 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.11, Z:-1.07 [[ 9.99943461e-01 -6.72358573e-03 -8.23818558e-03 5.21684212e+00] [ 6.68811368e-03 9.99968278e-01 -4.32581896e-03 -1.06467999e-01] [ 8.26700926e-03 4.27047646e-03 9.99956709e-01 -1.07074140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75119381700003 meters Centerline goodness [0,1] 0.8556388479348797 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.11, Z:-1.07 [[ 9.99959641e-01 -3.39662951e-03 -8.31740478e-03 5.21754436e+00] [ 3.39448884e-03 9.99994202e-01 -2.71476478e-04 -1.08158402e-01] [ 8.31827866e-03 2.43232183e-04 9.99965373e-01 -1.07134910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78119381700003 meters Centerline goodness [0,1] 0.8925454998753428 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.11, Z:-1.07 [[ 9.99964660e-01 -1.39189170e-03 -8.29103479e-03 5.21674740e+00] [ 1.39911973e-03 9.99998646e-01 8.66052448e-04 -1.06676370e-01] [ 8.28981811e-03 -8.77621992e-04 9.99965254e-01 -1.07038112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81119381700003 meters Centerline goodness [0,1] 0.8887687862473237 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.11, Z:-1.07 [[ 9.99965722e-01 -6.19047665e-04 -8.25666594e-03 5.21648517e+00] [ 6.25616565e-04 9.99999490e-01 7.93028391e-04 -1.05011146e-01] [ 8.25617081e-03 -7.98166714e-04 9.99965599e-01 -1.06992546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84119381700003 meters Centerline goodness [0,1] 0.9124932463322389 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.10, Z:-1.07 [[ 9.99966816e-01 1.62987579e-04 -8.14496612e-03 5.21620394e+00] [-1.57925810e-04 9.99999794e-01 6.22098994e-04 -1.02843006e-01] [ 8.14506584e-03 -6.20792050e-04 9.99966636e-01 -1.06963278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87119381700003 meters Centerline goodness [0,1] 0.9136619046631694 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.10, Z:-1.07 [[ 9.99964485e-01 7.69402673e-04 -8.39270244e-03 5.21706088e+00] [-7.66737053e-04 9.99999655e-01 3.20824513e-04 -1.00266246e-01] [ 8.39294638e-03 -3.14378123e-04 9.99964729e-01 -1.06994170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90119381700003 meters Centerline goodness [0,1] 0.9201515402451143 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.10, Z:-1.07 [[ 9.99960508e-01 2.24548885e-03 -8.59890027e-03 5.21726797e+00] [-2.24316177e-03 9.99997445e-01 2.80260702e-04 -9.72870098e-02] [ 8.59950762e-03 -2.60960909e-04 9.99962989e-01 -1.06949894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.931193817 meters Centerline goodness [0,1] 0.9214459434177978 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.10, Z:-1.07 [[ 9.99959167e-01 2.60184306e-03 -8.65411811e-03 5.21708219e+00] [-2.60039546e-03 9.99996603e-01 1.78520754e-04 -9.62417127e-02] [ 8.65455320e-03 -1.56009335e-04 9.99962536e-01 -1.06901522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.961193817 meters Centerline goodness [0,1] 0.9195634095634095 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.10, Z:-1.07 [[ 9.99958232e-01 2.61283719e-03 -8.75827003e-03 5.21723055e+00] [-2.61412161e-03 9.99996574e-01 -1.35207364e-04 -9.51237025e-02] [ 8.75788675e-03 1.58096900e-04 9.99961636e-01 -1.06885439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.991193817 meters Centerline goodness [0,1] 0.9220609307831288 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.09, Z:-1.07 [[ 9.99956402e-01 2.59815714e-03 -8.96902727e-03 5.21778163e+00] [-2.60232645e-03 9.99996511e-01 -4.53217713e-04 -9.39262957e-02] [ 8.96781845e-03 4.76538290e-04 9.99959675e-01 -1.06889166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.021193817 meters Centerline goodness [0,1] 0.9217385894697551 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.09, Z:-1.07 [[ 9.99953830e-01 2.64135702e-03 -9.23914898e-03 5.21854920e+00] [-2.64527824e-03 9.99996416e-01 -4.12219303e-04 -9.41238756e-02] [ 9.23802705e-03 4.36640390e-04 9.99957233e-01 -1.06912465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.051193817 meters Centerline goodness [0,1] 0.9232350925291295 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.09, Z:-1.07 [[ 9.99953135e-01 2.64852560e-03 -9.31198281e-03 5.21855817e+00] [-2.65136297e-03 9.99996442e-01 -2.92369462e-04 -9.48781528e-02] [ 9.31117534e-03 3.17045207e-04 9.99956600e-01 -1.06889170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.081193817 meters Centerline goodness [0,1] 0.9239575153944704 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.09, Z:-1.07 [[ 9.99950974e-01 2.81335366e-03 -9.49387672e-03 5.21870645e+00] [-2.81544353e-03 9.99996015e-01 -2.06770693e-04 -9.48050548e-02] [ 9.49325717e-03 2.33490030e-04 9.99954911e-01 -1.06843530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.11119381700001 meters Centerline goodness [0,1] 0.9256622104126879 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.09, Z:-1.07 [[ 9.99949142e-01 2.95455623e-03 -9.64279757e-03 5.21871326e+00] [-2.95686530e-03 9.99995603e-01 -2.25212761e-04 -9.45336786e-02] [ 9.64208977e-03 2.53713761e-04 9.99953482e-01 -1.06797306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14119381700002 meters Centerline goodness [0,1] 0.9276502822298216 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.09, Z:-1.07 [[ 9.99975659e-01 5.58338833e-03 -4.18420171e-03 5.23078993e+00] [-5.61119617e-03 9.99962053e-01 -6.66390725e-03 -9.36846698e-02] [ 4.14683575e-03 6.68722342e-03 9.99969042e-01 -1.07198482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.17119381700002 meters Centerline goodness [0,1] 0.9259788392653788 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.09, Z:-1.07 [[ 9.99971594e-01 6.09441277e-03 -4.43503583e-03 5.23122631e+00] [-6.12221214e-03 9.99961528e-01 -6.28178156e-03 -9.41377601e-02] [ 4.39658143e-03 6.30875535e-03 9.99970434e-01 -1.07184442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20119381700002 meters Centerline goodness [0,1] 0.9263509587449157 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.09, Z:-1.07 [[ 9.99964678e-01 7.08679812e-03 -4.51882624e-03 5.23202096e+00] [-7.11337556e-03 9.99957337e-01 -5.89279632e-03 -9.38904365e-02] [ 4.47687239e-03 5.92473229e-03 9.99972427e-01 -1.07274141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.23119381700002 meters Centerline goodness [0,1] 0.9265657403566985 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.09, Z:-1.07 [[ 9.99960927e-01 7.46104481e-03 -4.74094992e-03 5.23317472e+00] [-7.48871744e-03 9.99954869e-01 -5.84624431e-03 -9.31423991e-02] [ 4.69711687e-03 5.88151951e-03 9.99971672e-01 -1.07357800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26119381700002 meters Centerline goodness [0,1] 0.9272576807696287 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.09, Z:-1.08 [[ 9.99950641e-01 8.37759256e-03 -5.34141155e-03 5.23584532e+00] [-8.40536830e-03 9.99951159e-01 -5.19900673e-03 -9.32014520e-02] [ 5.29759551e-03 5.24364664e-03 9.99972219e-01 -1.07537800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29119381700002 meters Centerline goodness [0,1] 0.9215441833406055 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.09, Z:-1.08 [[ 9.99945420e-01 8.77890013e-03 -5.66467129e-03 5.23700192e+00] [-8.80674026e-03 9.99949172e-01 -4.90861170e-03 -9.37291593e-02] [ 5.62129116e-03 4.95823108e-03 9.99971908e-01 -1.07602482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32119381700002 meters Centerline goodness [0,1] 0.9179866826585054 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.10, Z:-1.08 [[ 9.99931599e-01 9.87416696e-03 -6.26881843e-03 5.23964987e+00] [-9.89495498e-03 9.99945619e-01 -3.29378898e-03 -9.77186030e-02] [ 6.23595411e-03 3.35559336e-03 9.99974926e-01 -1.07789243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35119381700002 meters Centerline goodness [0,1] 0.9153970692017104 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.10, Z:-1.08 [[ 9.99928641e-01 1.00390142e-02 -6.47549312e-03 5.24035239e+00] [-1.00571810e-02 9.99945564e-01 -2.77902847e-03 -9.95192734e-02] [ 6.44724191e-03 2.84395537e-03 9.99975172e-01 -1.07822457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38119381700002 meters Centerline goodness [0,1] 0.9143924457818824 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.10, Z:-1.08 [[ 9.99927104e-01 1.00388008e-02 -6.70885739e-03 5.24099801e+00] [-1.00554285e-02 9.99946443e-01 -2.44934972e-03 -1.00849281e-01] [ 6.68390955e-03 2.51663160e-03 9.99974496e-01 -1.07839619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41119381700003 meters Centerline goodness [0,1] 0.9215120503186432 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.10, Z:-1.08 [[ 9.99924974e-01 1.00829475e-02 -6.95566026e-03 5.24145121e+00] [-1.00970837e-02 9.99947023e-01 -2.00021904e-03 -1.02638412e-01] [ 6.93512366e-03 2.07030086e-03 9.99973809e-01 -1.07828329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44119381700003 meters Centerline goodness [0,1] 0.9223107569721115 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.10, Z:-1.08 [[ 9.99923670e-01 9.99829223e-03 -7.25865003e-03 5.24198943e+00] [-1.00100197e-02 9.99948648e-01 -1.58113042e-03 -1.04734221e-01] [ 7.24246868e-03 1.65366896e-03 9.99972406e-01 -1.07813727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47119381700003 meters Centerline goodness [0,1] 0.9125963476201359 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.11, Z:-1.08 [[ 9.99946326e-01 7.58895651e-03 -7.05352736e-03 5.24057560e+00] [-7.61360684e-03 9.99964980e-01 -3.47449467e-03 -1.09282577e-01] [ 7.02691255e-03 3.52801096e-03 9.99969087e-01 -1.07686526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50119381700003 meters Centerline goodness [0,1] 0.9125963476201359 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.11, Z:-1.08 [[ 9.99946326e-01 7.58895651e-03 -7.05352736e-03 5.24057560e+00] [-7.61360684e-03 9.99964980e-01 -3.47449467e-03 -1.09282577e-01] [ 7.02691255e-03 3.52801096e-03 9.99969087e-01 -1.07686526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53119381700003 meters Centerline goodness [0,1] 0.9233095164129647 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.11, Z:-1.08 [[ 9.99943240e-01 7.64861656e-03 -7.41722812e-03 5.24103739e+00] [-7.66818022e-03 9.99967186e-01 -2.61275513e-03 -1.12801741e-01] [ 7.39700077e-03 2.66948347e-03 9.99969079e-01 -1.07639571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56119381700003 meters Centerline goodness [0,1] 0.923407702854294 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.12, Z:-1.08 [[ 9.99942479e-01 7.60098517e-03 -7.56723366e-03 5.24090885e+00] [-7.61605467e-03 9.99969068e-01 -1.96459264e-03 -1.15711369e-01] [ 7.55206674e-03 2.02211210e-03 9.99969438e-01 -1.07575149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59119381700003 meters Centerline goodness [0,1] 0.92269032698393 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.12, Z:-1.08 [[ 9.99939233e-01 7.67061173e-03 -7.91789082e-03 5.24153291e+00] [-7.68106839e-03 9.99969667e-01 -1.29107339e-03 -1.18264102e-01] [ 7.90774732e-03 1.35181279e-03 9.99967820e-01 -1.07556640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62119381700003 meters Centerline goodness [0,1] 0.9280376532760828 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.12, Z:-1.07 [[ 9.99942337e-01 7.38811151e-03 -7.79346519e-03 5.23974732e+00] [-7.39591867e-03 9.99972176e-01 -9.73413258e-04 -1.20891644e-01] [ 7.78605666e-03 1.03099696e-03 9.99969157e-01 -1.07345909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65119381700003 meters Centerline goodness [0,1] 0.9286099473182063 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.12, Z:-1.07 [[ 9.99940718e-01 7.50325959e-03 -7.89056804e-03 5.23918645e+00] [-7.50714095e-03 9.99971714e-01 -4.62395807e-04 -1.22782810e-01] [ 7.88687537e-03 5.21604002e-04 9.99968762e-01 -1.07234446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.681193817 meters Centerline goodness [0,1] 0.9299353853140935 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.12, Z:-1.07 [[ 9.99947180e-01 5.96078110e-03 -8.37291832e-03 5.24091156e+00] [-5.97671598e-03 9.99980373e-01 -1.87941377e-03 -1.24891941e-01] [ 8.36155121e-03 1.92935706e-03 9.99963180e-01 -1.07310725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.711193817 meters Centerline goodness [0,1] 0.9302359271523178 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.13, Z:-1.07 [[ 9.99944959e-01 6.04413495e-03 -8.57597294e-03 5.24122936e+00] [-6.05367584e-03 9.99981086e-01 -1.08699113e-03 -1.28241752e-01] [ 8.56924081e-03 1.13884746e-03 9.99962635e-01 -1.07288398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.741193817 meters Centerline goodness [0,1] 0.9291016230745374 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.13, Z:-1.07 [[ 9.99954570e-01 3.52982589e-03 -8.85429800e-03 5.24217343e+00] [-3.55789303e-03 9.99988690e-01 -3.15614228e-03 -1.32105159e-01] [ 8.84305723e-03 3.18750154e-03 9.99955819e-01 -1.07330168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.771193817 meters Centerline goodness [0,1] 0.9289166372819481 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.13, Z:-1.07 [[ 9.99953083e-01 3.68498781e-03 -8.95841114e-03 5.24221140e+00] [-3.70661993e-03 9.99990252e-01 -2.39932362e-03 -1.34738661e-01] [ 8.94948233e-03 2.43241647e-03 9.99956994e-01 -1.07301261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.801193817 meters Centerline goodness [0,1] 0.9270624262864946 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.14, Z:-1.07 [[ 9.99951425e-01 3.73171036e-03 -9.12258672e-03 5.24291918e+00] [-3.74723509e-03 9.99991559e-01 -1.68529104e-03 -1.37562987e-01] [ 9.11622070e-03 1.71939365e-03 9.99956968e-01 -1.07334485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.831193817 meters Centerline goodness [0,1] 0.9341199402786994 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.14, Z:-1.07 [[ 9.99950217e-01 3.74149618e-03 -9.25007961e-03 5.24321644e+00] [-3.74972585e-03 9.99992589e-01 -8.72503598e-04 -1.40839961e-01] [ 9.24674659e-03 9.07145425e-04 9.99956836e-01 -1.07323610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86119381700001 meters Centerline goodness [0,1] 0.9309537134921129 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.15, Z:-1.08 [[ 9.99951172e-01 1.92331233e-03 -9.69304701e-03 5.24562308e+00] [-1.94145345e-03 9.99996381e-01 -1.86249774e-03 -1.46422580e-01] [ 9.68942977e-03 1.88122539e-03 9.99951287e-01 -1.07515668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.89119381700002 meters Centerline goodness [0,1] 0.9257473080281046 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.15, Z:-1.08 [[ 9.99947736e-01 2.34442879e-03 -9.95128106e-03 5.24678421e+00] [-2.35404003e-03 9.99996774e-01 -9.54226128e-04 -1.49082838e-01] [ 9.94901185e-03 9.77601971e-04 9.99950029e-01 -1.07595992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92119381700002 meters Centerline goodness [0,1] 0.9153777667349939 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.15, Z:-1.08 [[ 9.99941006e-01 2.52892181e-03 -1.05635674e-02 5.25009324e+00] [-2.53435905e-03 9.99996663e-01 -5.01361596e-04 -1.51369440e-01] [ 1.05622643e-02 5.28103892e-04 9.99944078e-01 -1.07840237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.95119381700002 meters Centerline goodness [0,1] 0.9265368555955187 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.16, Z:-1.08 [[ 9.99932909e-01 3.91997914e-03 -1.09000608e-02 5.25124929e+00] [-3.90463097e-03 9.99991356e-01 1.42900583e-03 -1.56637037e-01] [ 1.09055682e-02 -1.38634924e-03 9.99939571e-01 -1.07903561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98119381700002 meters Centerline goodness [0,1] 0.9272415077164964 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.16, Z:-1.08 [[ 9.99929582e-01 4.46605642e-03 -1.09947543e-02 5.25123503e+00] [-4.44095516e-03 9.99987479e-01 2.30637853e-03 -1.59156257e-01] [ 1.10049170e-02 -2.25738891e-03 9.99936896e-01 -1.07866802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.01119381700002 meters Centerline goodness [0,1] 0.9271519053057834 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.16, Z:-1.08 [[ 9.99926240e-01 4.98727032e-03 -1.10744105e-02 5.25097202e+00] [-4.95188823e-03 9.99982555e-01 3.22006717e-03 -1.61710377e-01] [ 1.10902767e-02 -3.16499041e-03 9.99933492e-01 -1.07802854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04119381700002 meters Centerline goodness [0,1] 0.929969253780954 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.17, Z:-1.08 [[ 9.99934709e-01 3.49252581e-03 -1.08803001e-02 5.24958420e+00] [-3.47414825e-03 9.99992507e-01 1.70751003e-03 -1.65701503e-01] [ 1.08861821e-02 -1.66959877e-03 9.99939350e-01 -1.07677782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07119381700002 meters Centerline goodness [0,1] 0.9212252012949282 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.17, Z:-1.08 [[ 9.99932448e-01 3.75173690e-03 -1.10010505e-02 5.25025243e+00] [-3.72480424e-03 9.99990018e-01 2.46765695e-03 -1.68333813e-01] [ 1.10101987e-02 -2.42651350e-03 9.99936442e-01 -1.07718828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10119381700002 meters Centerline goodness [0,1] 0.9356753055422987 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.17, Z:-1.08 [[ 9.99928430e-01 3.73536806e-03 -1.13658571e-02 5.25152458e+00] [-3.70183358e-03 9.99988738e-01 2.97006720e-03 -1.70477014e-01] [ 1.13768234e-02 -2.92778012e-03 9.99930996e-01 -1.07783816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13119381700002 meters Centerline goodness [0,1] 0.928799502384408 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.17, Z:-1.08 [[ 9.99926462e-01 3.53015673e-03 -1.16021024e-02 5.25234506e+00] [-3.49125706e-03 9.99988222e-01 3.37135753e-03 -1.72272912e-01] [ 1.16138672e-02 -3.33060368e-03 9.99927010e-01 -1.07818579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16119381700003 meters Centerline goodness [0,1] 0.9272764943540868 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.18, Z:-1.08 [[ 9.99931700e-01 1.16882038e-04 -1.16867845e-02 5.25227016e+00] [-1.04579463e-04 9.99999440e-01 1.05329679e-03 -1.77135933e-01] [ 1.16869011e-02 -1.05200265e-03 9.99931152e-01 -1.07772843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19119381700003 meters Centerline goodness [0,1] 0.9262005649717514 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.18, Z:-1.08 [[ 9.99924353e-01 -3.14700490e-03 -1.18905234e-02 5.25219608e+00] [ 3.12492478e-03 9.99993359e-01 -1.87507461e-03 -1.79681945e-01] [ 1.18963453e-02 1.83777578e-03 9.99927547e-01 -1.07704346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22119381700003 meters Centerline goodness [0,1] 0.9261429758935993 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.18, Z:-1.08 [[ 9.99923079e-01 -3.05582514e-03 -1.20207188e-02 5.25235424e+00] [ 3.04735266e-03 9.99995095e-01 -7.23076689e-04 -1.83931062e-01] [ 1.20228694e-02 6.86389700e-04 9.99927487e-01 -1.07668188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25119381700003 meters Centerline goodness [0,1] 0.9301747701482648 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.19, Z:-1.08 [[ 9.99916772e-01 -3.56768424e-03 -1.23984353e-02 5.25348126e+00] [ 3.56319721e-03 9.99993578e-01 -3.83973961e-04 -1.86696391e-01] [ 1.23997256e-02 3.39763933e-04 9.99923063e-01 -1.07693459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28119381700003 meters Centerline goodness [0,1] 0.9314115308151093 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.19, Z:-1.08 [[ 9.99916576e-01 -4.22918531e-03 -1.22046937e-02 5.25283868e+00] [ 4.23427018e-03 9.99990959e-01 3.90822363e-04 -1.90235721e-01] [ 1.22029305e-02 -4.42467730e-04 9.99925444e-01 -1.07621297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31119381700003 meters Centerline goodness [0,1] 0.9309331678046762 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.19, Z:-1.08 [[ 9.99916431e-01 -4.14216442e-03 -1.22463959e-02 5.25290751e+00] [ 4.15645112e-03 9.99990711e-01 1.14138243e-03 -1.92700979e-01] [ 1.22415544e-02 -1.19218860e-03 9.99924359e-01 -1.07598871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34119381700003 meters Centerline goodness [0,1] 0.9322371285794264 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.20, Z:-1.08 [[ 9.99914847e-01 -4.34633961e-03 -1.23047758e-02 5.25294855e+00] [ 4.36876339e-03 9.99988844e-01 1.79607140e-03 -1.95674144e-01] [ 1.22968322e-02 -1.84967512e-03 9.99922680e-01 -1.07568936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37119381700003 meters Centerline goodness [0,1] 0.9267239598396892 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.20, Z:-1.08 [[ 9.99888164e-01 -8.46563410e-03 -1.23284989e-02 5.25300847e+00] [ 8.45458973e-03 9.99963810e-01 -9.47684719e-04 -2.00403039e-01] [ 1.23360755e-02 8.43346334e-04 9.99923552e-01 -1.07537223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40119381700003 meters Centerline goodness [0,1] 0.9167028738129228 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.20, Z:-1.08 [[ 9.99883136e-01 -8.82482645e-03 -1.24834945e-02 5.25350919e+00] [ 8.82317427e-03 9.99961057e-01 -1.87418526e-04 -2.04104402e-01] [ 1.24846623e-02 7.72525756e-05 9.99922061e-01 -1.07539080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.431193817 meters Centerline goodness [0,1] 0.9220609849504213 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.21, Z:-1.08 [[ 9.99875572e-01 -9.30236061e-03 -1.27399924e-02 5.25448257e+00] [ 9.30943144e-03 9.99956543e-01 4.95817803e-04 -2.07836002e-01] [ 1.27348265e-02 -6.14358195e-04 9.99918720e-01 -1.07567213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.461193817 meters Centerline goodness [0,1] 0.9195388022935684 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.21, Z:-1.08 [[ 9.99869700e-01 -9.65788409e-03 -1.29347820e-02 5.25534191e+00] [ 9.67459074e-03 9.99952444e-01 1.22965652e-03 -2.11420858e-01] [ 1.29222910e-02 -1.35463502e-03 9.99915586e-01 -1.07605041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.491193817 meters Centerline goodness [0,1] 0.9029538487032894 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.21, Z:-1.08 [[ 9.99845315e-01 -1.15846185e-02 -1.32341223e-02 5.25803929e+00] [ 1.15905500e-02 9.99932758e-01 3.71589521e-04 -2.13732964e-01] [ 1.32289277e-02 -5.24922798e-04 9.99912356e-01 -1.07840180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.521193817 meters Centerline goodness [0,1] 0.8801721829753053 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.21, Z:-1.08 [[ 9.99823355e-01 -1.26954680e-02 -1.38594229e-02 5.26069885e+00] [ 1.26891974e-02 9.99919343e-01 -5.40291469e-04 -2.13111033e-01] [ 1.38651643e-02 3.64331076e-04 9.99903808e-01 -1.08003343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.551193817 meters Centerline goodness [0,1] 0.8754458670955239 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.21, Z:-1.08 [[ 9.99816348e-01 -1.28879908e-02 -1.41834581e-02 5.26165990e+00] [ 1.28822339e-02 9.99916897e-01 -4.97176640e-04 -2.13252118e-01] [ 1.41886870e-02 3.14370708e-04 9.99899286e-01 -1.08035199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.581193817 meters Centerline goodness [0,1] 0.8607262500516978 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.21, Z:-1.08 [[ 9.99808926e-01 -1.30605406e-02 -1.45441683e-02 5.26275170e+00] [ 1.30560880e-02 9.99914685e-01 -4.01054835e-04 -2.13818506e-01] [ 1.45481655e-02 2.11088263e-04 9.99894148e-01 -1.08075135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.61119381700001 meters Centerline goodness [0,1] 0.8415506834539835 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.22, Z:-1.08 [[ 9.99797273e-01 -1.36318299e-02 -1.48184370e-02 5.26383527e+00] [ 1.36262547e-02 9.99907044e-01 -4.77138254e-04 -2.15046067e-01] [ 1.48235638e-02 2.75121728e-04 9.99890087e-01 -1.08133881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64119381700002 meters Centerline goodness [0,1] 0.8410059147123299 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.21, Z:-1.09 [[ 0.99987248 -0.01302931 -0.00923338 5.27660843] [ 0.01294932 0.99987856 -0.00867077 -0.2127315 ] [ 0.00934523 0.0085501 0.99991978 -1.085291 ] [ 0. 0. 0. 1. ]] SLAMing on 133.67119381700002 meters Centerline goodness [0,1] 0.8473937184055689 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.21, Z:-1.08 [[ 0.99990288 -0.0106672 -0.00896923 5.27475249] [ 0.01061021 0.99992337 -0.0063776 -0.20901307] [ 0.00903658 0.00628182 0.99993944 -1.0833398 ] [ 0. 0. 0. 1. ]] SLAMing on 133.70119381700002 meters Centerline goodness [0,1] 0.795950543523359 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.21, Z:-1.08 [[ 9.99932284e-01 -7.24121251e-03 -9.11002504e-03 5.27443374e+00] [ 7.21578954e-03 9.99969988e-01 -2.82043963e-03 -2.07765157e-01] [ 9.13017503e-03 2.75451261e-03 9.99954525e-01 -1.08239671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.73119381700002 meters Centerline goodness [0,1] 0.8532400604342157 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.21, Z:-1.08 [[ 9.99947676e-01 -4.14812138e-03 -9.35081270e-03 5.27515532e+00] [ 4.15015758e-03 9.99991368e-01 1.98362034e-04 -2.05953470e-01] [ 9.34990916e-03 -2.37159001e-04 9.99956261e-01 -1.08249318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76119381700002 meters Centerline goodness [0,1] 0.8504184967266097 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.20, Z:-1.08 [[ 9.99955146e-01 -2.82935772e-03 -9.03884796e-03 5.27467729e+00] [ 2.84038149e-03 9.99995238e-01 1.20699451e-03 -2.02424986e-01] [ 9.03538990e-03 -1.23261415e-03 9.99958420e-01 -1.08248237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79119381700002 meters Centerline goodness [0,1] 0.8777385892116183 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.20, Z:-1.08 [[ 9.99955288e-01 -2.58824093e-03 -9.09516992e-03 5.27477059e+00] [ 2.59282161e-03 9.99996518e-01 4.91883232e-04 -1.98330129e-01] [ 9.09386514e-03 -5.15443392e-04 9.99958517e-01 -1.08247728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82119381700002 meters Centerline goodness [0,1] 0.8565690861662043 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.19, Z:-1.08 [[ 9.99956849e-01 4.06107287e-05 -9.28970065e-03 5.27522207e+00] [-2.35756523e-05 9.99998318e-01 1.83386161e-03 -1.91176304e-01] [ 9.28975950e-03 -1.83356347e-03 9.99955168e-01 -1.08251768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85119381700002 meters Centerline goodness [0,1] 0.8778183023872679 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.19, Z:-1.08 [[ 9.99956690e-01 -7.34884438e-05 -9.30658415e-03 5.27489163e+00] [ 8.11546296e-05 9.99999658e-01 8.23362895e-04 -1.87371214e-01] [ 9.30652045e-03 -8.24082508e-04 9.99956354e-01 -1.08200559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88119381700002 meters Centerline goodness [0,1] 0.8889556693125531 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.18, Z:-1.08 [[ 9.99955054e-01 -2.75216421e-04 -9.47707065e-03 5.27525995e+00] [ 2.73913240e-04 9.99999953e-01 -1.38806495e-04 -1.84024942e-01] [ 9.47710840e-03 1.36204361e-04 9.99955082e-01 -1.08203039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91119381700003 meters Centerline goodness [0,1] 0.8978258163561678 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.18, Z:-1.08 [[ 9.99953356e-01 -4.72932446e-04 -9.64683598e-03 5.27580855e+00] [ 4.62910038e-04 9.99999351e-01 -1.04113856e-03 -1.80760305e-01] [ 9.64732211e-03 1.03662438e-03 9.99952926e-01 -1.08228617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94119381700003 meters Centerline goodness [0,1] 0.8948749741682166 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.17, Z:-1.08 [[ 9.99947818e-01 1.39816766e-03 -1.01196514e-02 5.27755622e+00] [-1.39895631e-03 9.99999019e-01 -7.08543900e-05 -1.74343430e-01] [ 1.01195424e-02 8.50076428e-05 9.99948793e-01 -1.08322008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97119381700003 meters Centerline goodness [0,1] 0.9048838938930667 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.17, Z:-1.08 [[ 9.99947159e-01 1.07624972e-03 -1.02235742e-02 5.27778849e+00] [-1.08989725e-03 9.99998522e-01 -1.32943061e-03 -1.70068942e-01] [ 1.02221283e-02 1.34050301e-03 9.99946854e-01 -1.08316449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00119381700003 meters Centerline goodness [0,1] 0.9245822795306605 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.16, Z:-1.08 [[ 9.99942130e-01 3.86883900e-03 -1.00383543e-02 5.27619144e+00] [-3.86752738e-03 9.99992510e-01 1.50069102e-04 -1.63636541e-01] [ 1.00388597e-02 -1.11236807e-04 9.99949603e-01 -1.08147932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03119381700003 meters Centerline goodness [0,1] 0.922992572362568 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.16, Z:-1.08 [[ 9.99939707e-01 3.89002171e-03 -1.02688438e-02 5.27636173e+00] [-3.90064220e-03 9.99991878e-01 -1.01441854e-03 -1.59303818e-01] [ 1.02648143e-02 1.05441246e-03 9.99946759e-01 -1.08100270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06119381700003 meters Centerline goodness [0,1] 0.9334614510363068 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.15, Z:-1.08 [[ 9.99935646e-01 4.13923442e-03 -1.05626773e-02 5.27702927e+00] [-4.16038787e-03 9.99989382e-01 -1.98147367e-03 -1.54748444e-01] [ 1.05543634e-02 2.02529099e-03 9.99942250e-01 -1.08106123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09119381700003 meters Centerline goodness [0,1] 0.9311002404444075 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.15, Z:-1.08 [[ 9.99913234e-01 7.58618811e-03 -1.07691491e-02 5.27771546e+00] [-7.57553329e-03 9.99970775e-01 1.02983178e-03 -1.52282247e-01] [ 1.07766468e-02 -9.48160374e-04 9.99941481e-01 -1.08130251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12119381700003 meters Centerline goodness [0,1] 0.9343558027561016 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.15, Z:-1.08 [[ 9.99872246e-01 1.16195081e-02 -1.09762517e-02 5.27871029e+00] [-1.15831288e-02 9.99927227e-01 3.37214786e-03 -1.46219183e-01] [ 1.10146356e-02 -3.24457772e-03 9.99934073e-01 -1.08211166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15119381700003 meters Centerline goodness [0,1] 0.9330553481038918 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.14, Z:-1.08 [[ 9.99865867e-01 1.17847590e-02 -1.13739426e-02 5.27983542e+00] [-1.17570566e-02 9.99927760e-01 2.49940338e-03 -1.43241393e-01] [ 1.14025758e-02 -2.36534404e-03 9.99932191e-01 -1.08256516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.181193817 meters Centerline goodness [0,1] 0.9326310987621043 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.14, Z:-1.08 [[ 9.99860148e-01 1.19245127e-02 -1.17256639e-02 5.28094531e+00] [-1.19038634e-02 9.99927473e-01 1.82926073e-03 -1.40927039e-01] [ 1.17466265e-02 -1.68942420e-03 9.99929579e-01 -1.08310281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.211193817 meters Centerline goodness [0,1] 0.9313849536412852 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.14, Z:-1.08 [[ 9.99856351e-01 1.19828095e-02 -1.19870918e-02 5.28175521e+00] [-1.19697297e-02 9.99927685e-01 1.16230976e-03 -1.38745758e-01] [ 1.20001527e-02 -1.01866054e-03 9.99927477e-01 -1.08346447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.241193817 meters Centerline goodness [0,1] 0.9310001864859825 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.13, Z:-1.08 [[ 9.99847474e-01 1.25426735e-02 -1.21535645e-02 5.28239952e+00] [-1.25374417e-02 9.99921275e-01 5.06572554e-04 -1.34562858e-01] [ 1.21589615e-02 -3.54120683e-04 9.99926014e-01 -1.08392330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.271193817 meters Centerline goodness [0,1] 0.9273829725590829 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.13, Z:-1.08 [[ 9.99845081e-01 1.24250193e-02 -1.24673018e-02 5.28337166e+00] [-1.24264997e-02 9.99922787e-01 -4.12768392e-05 -1.32746311e-01] [ 1.24658263e-02 1.96195367e-04 9.99922279e-01 -1.08431116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.301193817 meters Centerline goodness [0,1] 0.9263751529099542 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.13, Z:-1.08 [[ 9.99845234e-01 1.22308783e-02 -1.26457167e-02 5.28405761e+00] [-1.22351942e-02 9.99925112e-01 -2.63985308e-04 -1.32542037e-01] [ 1.26415409e-02 4.18667252e-04 9.99920005e-01 -1.08471931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.331193817 meters Centerline goodness [0,1] 0.9250767993732346 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.13, Z:-1.09 [[ 9.99840876e-01 1.20543993e-02 -1.31497143e-02 5.28556754e+00] [-1.20570564e-02 9.99927304e-01 -1.22807949e-04 -1.33937988e-01] [ 1.31472780e-02 2.81335254e-04 9.99913531e-01 -1.08533686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36119381700001 meters Centerline goodness [0,1] 0.9231596583035142 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.14, Z:-1.08 [[ 9.99881025e-01 7.96356903e-03 -1.32104825e-02 5.28464284e+00] [-8.01030632e-03 9.99961831e-01 -3.48876170e-03 -1.37024105e-01] [ 1.31821953e-02 3.59416663e-03 9.99906651e-01 -1.08400992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.39119381700002 meters Centerline goodness [0,1] 0.9231596583035142 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.14, Z:-1.08 [[ 9.99881025e-01 7.96356903e-03 -1.32104825e-02 5.28464284e+00] [-8.01030632e-03 9.99961831e-01 -3.48876170e-03 -1.37024105e-01] [ 1.31821953e-02 3.59416663e-03 9.99906651e-01 -1.08400992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42119381700002 meters Centerline goodness [0,1] 0.9245102921646746 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.14, Z:-1.08 [[ 9.99904107e-01 4.07695098e-03 -1.32346161e-02 5.28387522e+00] [-4.17118184e-03 9.99966093e-01 -7.10025170e-03 -1.37968225e-01] [ 1.32052200e-02 7.15477483e-03 9.99887209e-01 -1.08294377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.45119381700002 meters Centerline goodness [0,1] 0.9307366463477632 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.14, Z:-1.08 [[ 9.99962474e-01 -4.24408348e-04 -8.65280902e-03 5.29201116e+00] [ 4.20102873e-04 9.99999787e-01 -4.99392588e-04 -1.41330201e-01] [ 8.65301913e-03 4.95738777e-04 9.99962439e-01 -1.08338613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48119381700002 meters Centerline goodness [0,1] 0.9302599983439596 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.14, Z:-1.08 [[ 9.99947279e-01 -5.98019157e-03 -8.34729503e-03 5.29101361e+00] [ 5.94386922e-03 9.99972789e-01 -4.36943893e-03 -1.44296298e-01] [ 8.37319798e-03 4.31959333e-03 9.99955614e-01 -1.08246442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.51119381700002 meters Centerline goodness [0,1] 0.919524330573735 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.15, Z:-1.08 [[ 9.99941335e-01 -6.74027104e-03 -8.47916069e-03 5.29148915e+00] [ 6.70440495e-03 9.99968488e-01 -4.25124817e-03 -1.45795951e-01] [ 8.50754806e-03 4.19415104e-03 9.99955014e-01 -1.08254362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54119381700002 meters Centerline goodness [0,1] 0.9140654070368379 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.15, Z:-1.08 [[ 9.99937264e-01 -7.18164794e-03 -8.59605858e-03 5.29157364e+00] [ 7.14588947e-03 9.99965717e-01 -4.18337781e-03 -1.46556616e-01] [ 8.62580743e-03 4.12168887e-03 9.99954303e-01 -1.08223990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57119381700002 meters Centerline goodness [0,1] 0.9116003875729276 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.15, Z:-1.08 [[ 9.99934476e-01 -7.37773035e-03 -8.75282589e-03 5.29202057e+00] [ 7.34286118e-03 9.99965004e-01 -4.00923133e-03 -1.47411634e-01] [ 8.78209861e-03 3.94469785e-03 9.99953656e-01 -1.08230238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60119381700002 meters Centerline goodness [0,1] 0.9038922898742554 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.15, Z:-1.08 [[ 9.99935522e-01 -6.96517997e-03 -8.96872188e-03 5.29298918e+00] [ 6.93252763e-03 9.99969247e-01 -3.66664698e-03 -1.48010098e-01] [ 8.99398493e-03 3.60423465e-03 9.99953058e-01 -1.08305182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63119381700002 meters Centerline goodness [0,1] 0.9098498187467633 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.15, Z:-1.08 [[ 9.99952740e-01 -3.33391133e-03 -9.13254219e-03 5.29378217e+00] [ 3.33619764e-03 9.99994407e-01 2.35124305e-04 -1.48681311e-01] [ 9.13170723e-03 -2.65581158e-04 9.99958270e-01 -1.08360604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66119381700003 meters Centerline goodness [0,1] 0.9199560494236669 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.15, Z:-1.08 [[ 9.99955201e-01 -2.33064320e-03 -9.17411706e-03 5.29398336e+00] [ 2.33483973e-03 9.99997174e-01 4.46747430e-04 -1.45590468e-01] [ 9.17304993e-03 -4.68147509e-04 9.99957817e-01 -1.08375388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69119381700003 meters Centerline goodness [0,1] 0.9249015135807589 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.14, Z:-1.08 [[ 9.99954056e-01 1.15793702e-03 -9.51553839e-03 5.29513236e+00] [-1.12527227e-03 9.99993459e-01 3.43741724e-03 -1.42950840e-01] [ 9.51945647e-03 -3.42655173e-03 9.99948818e-01 -1.08429521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72119381700003 meters Centerline goodness [0,1] 0.9275434345944379 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.14, Z:-1.08 [[ 9.99935821e-01 5.24662314e-03 -1.00413011e-02 5.29663057e+00] [-5.18606477e-03 9.99968266e-01 6.04749404e-03 -1.37918583e-01] [ 1.00727114e-02 -5.99503108e-03 9.99931298e-01 -1.08496392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75119381700003 meters Centerline goodness [0,1] 0.9281037626388198 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.14, Z:-1.08 [[ 0.99993191 0.00545335 -0.01031651 5.29723481] [-0.005398 0.99997093 0.00538479 -0.13526755] [ 0.01034557 -0.00532874 0.99993228 -1.08499148] [ 0. 0. 0. 1. ]] SLAMing on 134.78119381700003 meters Centerline goodness [0,1] 0.9256618089098033 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.13, Z:-1.08 [[ 9.99930084e-01 5.50179057e-03 -1.04669408e-02 5.29729581e+00] [-5.45264477e-03 9.99974004e-01 4.71809354e-03 -1.33037711e-01] [ 1.04926266e-02 -4.66069116e-03 9.99934089e-01 -1.08465081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81119381700003 meters Centerline goodness [0,1] 0.925056274910683 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.13, Z:-1.08 [[ 9.99924766e-01 5.71162953e-03 -1.08554184e-02 5.29810477e+00] [-5.66638141e-03 9.99975149e-01 4.19444799e-03 -1.30737483e-01] [ 1.08791058e-02 -4.13262148e-03 9.99932281e-01 -1.08459982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84119381700003 meters Centerline goodness [0,1] 0.9228869146462969 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.13, Z:-1.08 [[ 9.99921485e-01 5.76530583e-03 -1.11258810e-02 5.29863318e+00] [-5.72534138e-03 9.99977056e-01 3.62053927e-03 -1.28463750e-01] [ 1.11464992e-02 -3.55655554e-03 9.99931551e-01 -1.08456864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87119381700003 meters Centerline goodness [0,1] 0.9203725213639757 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.13, Z:-1.09 [[ 9.99918184e-01 5.88172566e-03 -1.13591521e-02 5.29958899e+00] [-5.84870951e-03 9.99978581e-01 2.93760357e-03 -1.25626536e-01] [ 1.13761869e-02 -2.87092685e-03 9.99931168e-01 -1.08526775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90119381700003 meters Centerline goodness [0,1] 0.922288571605678 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.13, Z:-1.09 [[ 9.99916548e-01 5.80402885e-03 -1.15416899e-02 5.30060614e+00] [-5.77297723e-03 9.99979632e-01 2.72188626e-03 -1.25062055e-01] [ 1.15572527e-02 -2.65502920e-03 9.99929688e-01 -1.08605022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.931193817 meters Centerline goodness [0,1] 0.92238558707807 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.12, Z:-1.09 [[ 9.99914488e-01 5.76157167e-03 -1.17396768e-02 5.30121496e+00] [-5.73160753e-03 9.99980235e-01 2.58443017e-03 -1.24886680e-01] [ 1.17543351e-02 -2.51692196e-03 9.99927748e-01 -1.08633412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.961193817 meters Centerline goodness [0,1] 0.9208239592148445 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.13, Z:-1.09 [[ 9.99909779e-01 5.98464267e-03 -1.20257074e-02 5.30229679e+00] [-5.95316863e-03 9.99978765e-01 2.65132463e-03 -1.25200128e-01] [ 1.20413193e-02 -2.57949436e-03 9.99924174e-01 -1.08703692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.991193817 meters Centerline goodness [0,1] 0.9205005291664072 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.13, Z:-1.09 [[ 9.99906675e-01 6.04355792e-03 -1.22521902e-02 5.30278912e+00] [-6.01073753e-03 9.99978253e-01 2.71379309e-03 -1.25923691e-01] [ 1.22683247e-02 -2.63989513e-03 9.99921256e-01 -1.08705191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.021193817 meters Centerline goodness [0,1] 0.9181376099327471 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.13, Z:-1.09 [[ 9.99902093e-01 6.07633332e-03 -1.26048379e-02 5.30399069e+00] [-6.04119779e-03 9.99977765e-01 2.82366976e-03 -1.26713815e-01] [ 1.26217152e-02 -2.74724499e-03 9.99916569e-01 -1.08767074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.051193817 meters Centerline goodness [0,1] 0.9206899414670596 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.13, Z:-1.09 [[ 9.99900887e-01 5.96920838e-03 -1.27509056e-02 5.30433540e+00] [-5.93390784e-03 9.99978461e-01 2.80451490e-03 -1.27234834e-01] [ 1.27673717e-02 -2.72857424e-03 9.99914771e-01 -1.08768836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.081193817 meters Centerline goodness [0,1] 0.920103305785124 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.13, Z:-1.09 [[ 9.99897591e-01 5.49717410e-03 -1.32131794e-02 5.30539785e+00] [-5.46207818e-03 9.99981463e-01 2.69075085e-03 -1.28076495e-01] [ 1.32277259e-02 -2.61830388e-03 9.99909082e-01 -1.08782812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.11119381700001 meters Centerline goodness [0,1] 0.9181178521762594 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.13, Z:-1.09 [[ 9.99907053e-01 3.40905356e-03 -1.32008697e-02 5.30437496e+00] [-3.39700973e-03 9.99993793e-01 9.34666403e-04 -1.28258499e-01] [ 1.32039741e-02 -8.89736046e-04 9.99912428e-01 -1.08667988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14119381700002 meters Centerline goodness [0,1] 0.9187516870496875 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.13, Z:-1.09 [[ 9.99909027e-01 2.46213339e-03 -1.32618427e-02 5.30447297e+00] [-2.45015865e-03 9.99996576e-01 9.19118599e-04 -1.30414970e-01] [ 1.32640603e-02 -8.86541365e-04 9.99911635e-01 -1.08652088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.17119381700002 meters Centerline goodness [0,1] 0.9194984742490606 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.13, Z:-1.09 [[ 9.99909533e-01 -1.26952634e-03 -1.33907952e-02 5.30449423e+00] [ 1.23593107e-03 9.99996069e-01 -2.51680973e-03 -1.31800082e-01] [ 1.33939377e-02 2.50003195e-03 9.99907172e-01 -1.08615544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20119381700002 meters Centerline goodness [0,1] 0.9202583968593565 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.14, Z:-1.09 [[ 0.99986503 -0.00949081 -0.01341069 5.30410708] [ 0.00936363 0.99991089 -0.0095147 -0.13577354] [ 0.0134998 0.00938785 0.9998648 -1.08533345] [ 0. 0. 0. 1. ]] SLAMing on 135.23119381700002 meters Centerline goodness [0,1] 0.9161149735394832 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.14, Z:-1.09 [[ 0.99981898 -0.0133227 -0.01358332 5.30440891] [ 0.01314996 0.99983252 -0.01272807 -0.13818721] [ 0.01375062 0.01254715 0.99982673 -1.08510469] [ 0. 0. 0. 1. ]] SLAMing on 135.26119381700002 meters Centerline goodness [0,1] 0.8863108085671593 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.14, Z:-1.08 [[ 0.99980765 -0.01403636 -0.01369802 5.30450515] [ 0.01387153 0.99983111 -0.01205531 -0.14214147] [ 0.01386492 0.01186297 0.9998335 -1.08473785] [ 0. 0. 0. 1. ]] SLAMing on 135.29119381700002 meters Centerline goodness [0,1] 0.8517726668880771 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.14, Z:-1.08 [[ 0.9997343 -0.01853606 -0.01370233 5.30439786] [ 0.01832 0.99970845 -0.01572903 -0.14360506] [ 0.01398989 0.01547382 0.9997824 -1.08426884] [ 0. 0. 0. 1. ]] SLAMing on 135.32119381700002 meters Centerline goodness [0,1] 0.8078352398945337 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.14, Z:-1.08 [[ 0.99972397 -0.01889899 -0.01395784 5.30487786] [ 0.0186817 0.99970476 -0.01553694 -0.14445502] [ 0.01424735 0.0152719 0.99978187 -1.08413301] [ 0. 0. 0. 1. ]] SLAMing on 135.35119381700002 meters Centerline goodness [0,1] 0.8128685217751113 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.15, Z:-1.08 [[ 9.99747283e-01 -1.98950930e-02 -1.04668250e-02 5.31343736e+00] [ 1.98433625e-02 9.99790482e-01 -5.02318948e-03 -1.48151510e-01] [ 1.05645689e-02 4.81422304e-03 9.99932604e-01 -1.08412105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38119381700002 meters Centerline goodness [0,1] 0.780810040873622 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.15, Z:-1.08 [[ 9.99745873e-01 -1.97718517e-02 -1.08287842e-02 5.31413135e+00] [ 1.97247008e-02 9.99795573e-01 -4.44385065e-03 -1.49968683e-01] [ 1.09144337e-02 4.22912682e-03 9.99931492e-01 -1.08401654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41119381700003 meters Centerline goodness [0,1] 0.8051445339326965 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.15, Z:-1.08 [[ 9.99744543e-01 -1.98002710e-02 -1.08994359e-02 5.31432720e+00] [ 1.97564099e-02 9.99796346e-01 -4.11723271e-03 -1.51657138e-01] [ 1.09787385e-02 3.90084721e-03 9.99932123e-01 -1.08406076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44119381700003 meters Centerline goodness [0,1] 0.7960530385828882 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.15, Z:-1.09 [[ 0.99983598 -0.01724806 -0.00552514 5.32657147] [ 0.01719025 0.99979871 -0.01034542 -0.14981168] [ 0.00570246 0.01024875 0.99993122 -1.08796431] [ 0. 0. 0. 1. ]] SLAMing on 135.47119381700003 meters Centerline goodness [0,1] 0.8097924140934447 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.15, Z:-1.09 [[ 0.99989098 -0.01366257 -0.0056002 5.32651892] [ 0.01362611 0.99988605 -0.00649739 -0.14960824] [ 0.00568833 0.00642037 0.99996321 -1.08774041] [ 0. 0. 0. 1. ]] SLAMing on 135.50119381700003 meters Centerline goodness [0,1] 0.8175300791721214 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.15, Z:-1.09 [[ 9.99933673e-01 -9.95853834e-03 -5.78589494e-03 5.32676890e+00] [ 9.94285258e-03 9.99946832e-01 -2.73350340e-03 -1.48637455e-01] [ 5.81280902e-03 2.67579380e-03 9.99979525e-01 -1.08764593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53119381700003 meters Centerline goodness [0,1] 0.8303255081532437 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.14, Z:-1.09 [[ 9.99964775e-01 -5.55519648e-03 -6.29197223e-03 5.32959517e+00] [ 5.56136159e-03 9.99984072e-01 9.62765147e-04 -1.44829159e-01] [ 6.28652367e-03 -9.97723167e-04 9.99979742e-01 -1.08994849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56119381700003 meters Centerline goodness [0,1] 0.8363352745424293 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.14, Z:-1.09 [[ 9.99963279e-01 -5.45066086e-03 -6.61294715e-03 5.33020193e+00] [ 5.45338179e-03 9.99985053e-01 3.93494434e-04 -1.42179815e-01] [ 6.61070350e-03 -4.29542910e-04 9.99978057e-01 -1.08995528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59119381700003 meters Centerline goodness [0,1] 0.8287299681146217 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.14, Z:-1.09 [[ 9.99972170e-01 -2.85176519e-03 -6.89397383e-03 5.33067629e+00] [ 2.86836966e-03 9.99993007e-01 2.39986122e-03 -1.38178997e-01] [ 6.88708178e-03 -2.41956889e-03 9.99973357e-01 -1.08976111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62119381700003 meters Centerline goodness [0,1] 0.8284778915088475 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.13, Z:-1.09 [[ 9.99972142e-01 -2.93137429e-03 -6.86457191e-03 5.33032773e+00] [ 2.94179047e-03 9.99994536e-01 1.50777801e-03 -1.34839079e-01] [ 6.86011454e-03 -1.52793014e-03 9.99975302e-01 -1.08931324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65119381700003 meters Centerline goodness [0,1] 0.8570894592574134 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.13, Z:-1.09 [[ 9.99970364e-01 -3.18886631e-03 -7.00723427e-03 5.33021575e+00] [ 3.19237291e-03 9.99994785e-01 4.89297244e-04 -1.31332143e-01] [ 7.00563742e-03 -5.11652448e-04 9.99975329e-01 -1.08878331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.681193817 meters Centerline goodness [0,1] 0.8344210330039157 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.13, Z:-1.09 [[ 9.99967433e-01 -3.58463526e-03 -7.23067035e-03 5.33092000e+00] [ 3.58016499e-03 9.99993392e-01 -6.31085967e-04 -1.27407428e-01] [ 7.23288478e-03 6.05178422e-04 9.99973659e-01 -1.08907153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.711193817 meters Centerline goodness [0,1] 0.8340805313408053 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.12, Z:-1.09 [[ 9.99973505e-01 -2.38968515e-03 -6.87591273e-03 5.32974505e+00] [ 2.39103632e-03 9.99997124e-01 1.88294328e-04 -1.20999976e-01] [ 6.87544299e-03 -2.04729896e-04 9.99976343e-01 -1.08827307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.741193817 meters Centerline goodness [0,1] 0.8141824526420738 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.12, Z:-1.09 [[ 9.99971556e-01 -2.88185672e-03 -6.97006205e-03 5.32944103e+00] [ 2.87822394e-03 9.99995717e-01 -5.31173337e-04 -1.19154291e-01] [ 6.97156296e-03 5.11096829e-04 9.99975568e-01 -1.08751721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.771193817 meters Centerline goodness [0,1] 0.7797926927277599 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.12, Z:-1.09 [[ 9.99992315e-01 -3.78970070e-03 -1.00433977e-03 5.34225549e+00] [ 3.78047082e-03 9.99952011e-01 -9.03785357e-03 -1.15903847e-01] [ 1.03854233e-03 9.03398723e-03 9.99958653e-01 -1.09082685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.801193817 meters Centerline goodness [0,1] 0.8022191458148232 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.11, Z:-1.09 [[ 9.99990341e-01 -4.27634467e-03 -1.01528213e-03 5.34189800e+00] [ 4.26643515e-03 9.99945107e-01 -9.56974396e-03 -1.14883972e-01] [ 1.05614993e-03 9.56531989e-03 9.99953694e-01 -1.09024863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.831193817 meters Centerline goodness [0,1] 0.7758403144068673 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.11, Z:-1.09 [[ 9.99997361e-01 -2.14737663e-03 -8.16327112e-04 5.34129029e+00] [ 2.14094479e-03 9.99967289e-01 -7.79986869e-03 -1.09293241e-01] [ 8.33049665e-04 7.79810039e-03 9.99969247e-01 -1.08983327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86119381700001 meters Centerline goodness [0,1] 0.7810542905727677 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.11, Z:-1.09 [[ 9.99999259e-01 8.26216959e-04 -8.93724594e-04 5.34175496e+00] [-8.30660746e-04 9.99987238e-01 -4.98331978e-03 -1.06298010e-01] [ 8.89595885e-04 4.98405847e-03 9.99987184e-01 -1.09016494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.89119381700002 meters Centerline goodness [0,1] 0.7853048894038775 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.10, Z:-1.09 [[ 9.99995682e-01 2.51544984e-03 -1.51950973e-03 5.34431230e+00] [-2.52069239e-03 9.99990844e-01 -3.45815181e-03 -1.03262152e-01] [ 1.51079701e-03 3.46196709e-03 9.99992866e-01 -1.09176996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92119381700002 meters Centerline goodness [0,1] 0.7749595586710357 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.10, Z:-1.09 [[ 9.99995888e-01 2.30939410e-03 -1.70026606e-03 5.34481930e+00] [-2.31688542e-03 9.99987560e-01 -4.41726757e-03 -9.97947053e-02] [ 1.69004370e-03 4.42118872e-03 9.99988798e-01 -1.09193632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.95119381700002 meters Centerline goodness [0,1] 0.7635234447779733 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.09, Z:-1.09 [[ 9.99997865e-01 9.46960107e-04 -1.83641794e-03 5.34577376e+00] [-9.59534961e-04 9.99976018e-01 -6.85874126e-03 -9.27899765e-02] [ 1.82987894e-03 6.86048873e-03 9.99974792e-01 -1.09270108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98119381700002 meters Centerline goodness [0,1] 0.7569988801791714 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.09, Z:-1.09 [[ 9.99997755e-01 7.52909828e-06 -2.11895657e-03 5.34701356e+00] [-2.51405110e-05 9.99965459e-01 -8.31145697e-03 -8.89833376e-02] [ 2.11882080e-03 8.31149158e-03 9.99963214e-01 -1.09354581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.01119381700002 meters Centerline goodness [0,1] 0.7320520768753875 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.08, Z:-1.09 [[ 9.99996170e-01 -1.17642433e-03 -2.50530616e-03 5.34864592e+00] [ 1.15135833e-03 9.99949504e-01 -9.98321191e-03 -8.48241545e-02] [ 2.51692415e-03 9.98028917e-03 9.99947028e-01 -1.09458710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04119381700002 meters Centerline goodness [0,1] 0.7270199609909948 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.08, Z:-1.10 [[ 9.99993701e-01 -2.21121878e-03 -2.77658389e-03 5.34985292e+00] [ 2.17877643e-03 9.99929956e-01 -1.16334317e-02 -8.05792322e-02] [ 2.80211346e-03 1.16273088e-02 9.99928474e-01 -1.09537336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07119381700002 meters Centerline goodness [0,1] 0.7119907254057636 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.07, Z:-1.10 [[ 9.99992272e-01 -2.13100598e-03 -3.30372087e-03 5.35256026e+00] [ 2.09038829e-03 9.99922786e-01 -1.22496122e-02 -7.07473665e-02] [ 3.32956977e-03 1.22426115e-02 9.99919513e-01 -1.09733621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10119381700002 meters Centerline goodness [0,1] 0.7065873229799498 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.07, Z:-1.10 [[ 9.99994311e-01 -4.41362372e-05 -3.37285417e-03 5.35271816e+00] [ 9.10000097e-06 9.99946053e-01 -1.03870210e-02 -6.59306926e-02] [ 3.37313066e-03 1.03869312e-02 9.99940365e-01 -1.09725438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13119381700002 meters Centerline goodness [0,1] 0.6964414945309431 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.06, Z:-1.10 [[ 9.99992365e-01 1.70611005e-03 -3.51557522e-03 5.35330011e+00] [-1.73671417e-03 9.99960466e-01 -8.72070901e-03 -6.14968966e-02] [ 3.50055775e-03 8.72674797e-03 9.99955794e-01 -1.09751794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16119381700003 meters Centerline goodness [0,1] 0.6787154407659381 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.05, Z:-1.10 [[ 9.99993579e-01 1.71742385e-03 -3.14528742e-03 5.35242865e+00] [-1.74739116e-03 9.99952872e-01 -9.54985192e-03 -5.13938925e-02] [ 3.12873805e-03 9.55528665e-03 9.99949452e-01 -1.09708297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19119381700003 meters Centerline goodness [0,1] 0.671859161339705 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.05, Z:-1.10 [[ 9.99988458e-01 3.74214404e-03 -3.01336931e-03 5.35254966e+00] [-3.76519256e-03 9.99963422e-01 -7.67975873e-03 -4.73595370e-02] [ 2.98452032e-03 7.69101601e-03 9.99965970e-01 -1.09738865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22119381700003 meters Centerline goodness [0,1] 0.6642756447466622 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.04, Z:-1.10 [[ 9.99982833e-01 5.13135187e-03 -2.82909864e-03 5.35248507e+00] [-5.15039385e-03 9.99963853e-01 -6.76506557e-03 -4.18253912e-02] [ 2.79428244e-03 6.77952040e-03 9.99973115e-01 -1.09758305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25119381700003 meters Centerline goodness [0,1] 0.6578517523002171 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.04, Z:-1.10 [[ 9.99976592e-01 5.90416761e-03 -3.45766547e-03 5.35511823e+00] [-5.92675231e-03 9.99960930e-01 -6.55836869e-03 -3.52468178e-02] [ 3.41880867e-03 6.57870790e-03 9.99972516e-01 -1.09918517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28119381700003 meters Centerline goodness [0,1] 0.6527129220215712 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.02, Z:-1.10 [[ 9.99968946e-01 6.99276610e-03 -3.63440618e-03 5.35717656e+00] [-7.01895151e-03 9.99949137e-01 -7.24275434e-03 -2.09071316e-02] [ 3.58357444e-03 7.26803914e-03 9.99967166e-01 -1.10085309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31119381700003 meters Centerline goodness [0,1] 0.6527129220215712 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.02, Z:-1.10 [[ 9.99968946e-01 6.99276610e-03 -3.63440618e-03 5.35717656e+00] [-7.01895151e-03 9.99949137e-01 -7.24275434e-03 -2.09071316e-02] [ 3.58357444e-03 7.26803914e-03 9.99967166e-01 -1.10085309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34119381700003 meters Centerline goodness [0,1] 0.6702359459627716 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.01, Z:-1.10 [[ 9.99949715e-01 9.36364667e-03 -3.59009680e-03 5.35729905e+00] [-9.38480922e-03 9.99938415e-01 -5.92387922e-03 -1.45718954e-02] [ 3.53440659e-03 5.95727371e-03 9.99976009e-01 -1.10083122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37119381700003 meters Centerline goodness [0,1] 0.6773207165141216 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.01, Z:-1.10 [[ 9.99922755e-01 1.18091583e-02 -3.87656163e-03 5.35857367e+00] [-1.18270361e-02 9.99919377e-01 -4.62168257e-03 -8.04259407e-03] [ 3.82167091e-03 4.66717380e-03 9.99981806e-01 -1.10136378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40119381700003 meters Centerline goodness [0,1] 0.6793795243019649 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.00, Z:-1.10 [[ 9.99890414e-01 1.42415992e-02 -4.04176402e-03 5.35917052e+00] [-1.42561897e-02 9.99891879e-01 -3.60439062e-03 -5.20067285e-04] [ 3.98999474e-03 3.66161578e-03 9.99985336e-01 -1.10126153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.431193817 meters Centerline goodness [0,1] 0.6888103213000869 Centerline is valid? [False, False] Translation: X:5.36, Y:0.02, Z:-1.10 [[ 9.99804911e-01 1.92503654e-02 -4.42293719e-03 5.36030712e+00] [-1.92591705e-02 9.99812610e-01 -1.95687633e-03 1.57384307e-02] [ 4.38443779e-03 2.04167667e-03 9.99988304e-01 -1.10026054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.461193817 meters Centerline goodness [0,1] 0.7095014771811665 Centerline is valid? [False, False] Translation: X:5.36, Y:0.02, Z:-1.10 [[ 9.99748623e-01 2.19039828e-02 -4.78607021e-03 5.36129225e+00] [-2.19071454e-02 9.99759824e-01 -6.09355402e-04 2.27581407e-02] [ 4.77157340e-03 7.14051360e-04 9.99988361e-01 -1.10007949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.491193817 meters Centerline goodness [0,1] 0.7142768389662029 Centerline is valid? [False, False] Translation: X:5.36, Y:0.03, Z:-1.10 [[ 9.99688602e-01 2.44743024e-02 -4.86903788e-03 5.36135693e+00] [-2.44707661e-02 9.99700238e-01 7.84546523e-04 2.91893784e-02] [ 4.88677956e-03 -6.65153130e-04 9.99987838e-01 -1.09949975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.521193817 meters Centerline goodness [0,1] 0.717298877989091 Centerline is valid? [False, False] Translation: X:5.36, Y:0.04, Z:-1.10 [[ 9.99618953e-01 2.71525837e-02 -4.96845007e-03 5.36149538e+00] [-2.71410600e-02 9.99628799e-01 2.37228951e-03 3.51723034e-02] [ 5.03101956e-03 -2.23653656e-03 9.99984843e-01 -1.09889852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.551193817 meters Centerline goodness [0,1] 0.7235977030625832 Centerline is valid? [False, False] Translation: X:5.36, Y:0.05, Z:-1.10 [[ 9.99561931e-01 2.91361313e-02 -5.19916685e-03 5.36198053e+00] [-2.91304776e-02 9.99574945e-01 1.15987388e-03 4.93822236e-02] [ 5.23075115e-03 -1.00791156e-03 9.99985812e-01 -1.09747500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.581193817 meters Centerline goodness [0,1] 0.7287057062052903 Centerline is valid? [False, False] Translation: X:5.36, Y:0.06, Z:-1.10 [[ 9.99587332e-01 2.81650369e-02 -5.64769444e-03 5.36307447e+00] [-2.81725205e-02 9.99602294e-01 -1.24990116e-03 5.65183443e-02] [ 5.61024481e-03 1.40849515e-03 9.99983271e-01 -1.09737114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.61119381700001 meters Centerline goodness [0,1] 0.7215087113090901 Centerline is valid? [False, False] Translation: X:5.36, Y:0.06, Z:-1.10 [[ 9.99620798e-01 2.68965131e-02 -5.90232215e-03 5.36321739e+00] [-2.69189494e-02 9.99630566e-01 -3.75530543e-03 6.29579477e-02] [ 5.79913700e-03 3.91276572e-03 9.99975530e-01 -1.09658749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64119381700002 meters Centerline goodness [0,1] 0.7037951057652426 Centerline is valid? [False, False] Translation: X:5.36, Y:0.07, Z:-1.10 [[ 9.99616594e-01 2.70754624e-02 -5.79514214e-03 5.36273302e+00] [-2.71035627e-02 9.99620979e-01 -4.82660921e-03 7.38978213e-02] [ 5.66226298e-03 4.98182765e-03 9.99971560e-01 -1.09561035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.67119381700002 meters Centerline goodness [0,1] 0.6891290791935148 Centerline is valid? [False, False] Translation: X:5.36, Y:0.08, Z:-1.09 [[ 0.99964826 0.02585744 -0.00589547 5.36242808] [-0.02589933 0.99963904 -0.00714287 0.08015287] [ 0.00570864 0.00729304 0.99995711 -1.09457742] [ 0. 0. 0. 1. ]] SLAMing on 136.70119381700002 meters Centerline goodness [0,1] 0.6875830564784053 Centerline is valid? [False, False] Translation: X:5.36, Y:0.08, Z:-1.09 [[ 0.99966374 0.02515226 -0.00630673 5.36358166] [-0.02520629 0.99964494 -0.00863947 0.08485531] [ 0.00608719 0.00879553 0.99994279 -1.09473405] [ 0. 0. 0. 1. ]] SLAMing on 136.73119381700002 meters Centerline goodness [0,1] 0.6999855015430501 Centerline is valid? [False, False] Translation: X:5.37, Y:0.09, Z:-1.10 [[ 0.99967691 0.02451137 -0.0067288 5.36505424] [-0.02457704 0.99964935 -0.00985637 0.08889564] [ 0.00648485 0.01001856 0.99992879 -1.09534449] [ 0. 0. 0. 1. ]] SLAMing on 136.76119381700002 meters Centerline goodness [0,1] 0.7136326802003033 Centerline is valid? [False, False] Translation: X:5.37, Y:0.10, Z:-1.10 [[ 0.99968776 0.023969 -0.00706162 5.36647159] [-0.02404813 0.99964645 -0.01134258 0.09674859] [ 0.00678725 0.01150886 0.99991074 -1.09592493] [ 0. 0. 0. 1. ]] SLAMing on 136.79119381700002 meters Centerline goodness [0,1] 0.6572277392279886 Centerline is valid? [False, False] Translation: X:5.37, Y:0.10, Z:-1.10 [[ 0.99969597 0.02353948 -0.00733963 5.36724707] [-0.02362924 0.99964399 -0.01239144 0.10021871] [ 0.00704532 0.01256111 0.99989629 -1.0959552 ] [ 0. 0. 0. 1. ]] SLAMing on 136.82119381700002 meters Centerline goodness [0,1] 0.6612919982546179 Centerline is valid? [False, False] Translation: X:5.37, Y:0.10, Z:-1.10 [[ 0.99969832 0.02335122 -0.00761526 5.36815945] [-0.02345017 0.9996382 -0.01317442 0.10317374] [ 0.00730487 0.01334902 0.99988421 -1.09617065] [ 0. 0. 0. 1. ]] SLAMing on 136.85119381700002 meters Centerline goodness [0,1] 0.6571855976397748 Centerline is valid? [False, False] Translation: X:5.37, Y:0.11, Z:-1.10 [[ 0.99968639 0.02372728 -0.00800903 5.37020358] [-0.0238323 0.99962774 -0.01328148 0.10579652] [ 0.00769091 0.01346819 0.99987972 -1.09748797] [ 0. 0. 0. 1. ]] SLAMing on 136.88119381700002 meters Centerline goodness [0,1] 0.6998088748545788 Centerline is valid? [False, False] Translation: X:5.37, Y:0.11, Z:-1.10 [[ 0.99962508 0.02612132 -0.00820839 5.37202079] [-0.02621807 0.99958532 -0.0119082 0.11240347] [ 0.00789393 0.01211895 0.9998954 -1.09870265] [ 0. 0. 0. 1. ]] SLAMing on 136.91119381700003 meters Centerline goodness [0,1] 0.7121825314887467 Centerline is valid? [False, False] Translation: X:5.37, Y:0.12, Z:-1.10 [[ 0.99957496 0.02780427 -0.00876451 5.37427727] [-0.02789519 0.99955646 -0.01042749 0.11580312] [ 0.0084707 0.01066755 0.99990722 -1.09986723] [ 0. 0. 0. 1. ]] SLAMing on 136.94119381700003 meters Centerline goodness [0,1] 0.716205566385997 Centerline is valid? [False, False] Translation: X:5.37, Y:0.12, Z:-1.10 [[ 0.99948813 0.03081445 -0.00859976 5.37380119] [-0.03088096 0.99949333 -0.00771099 0.11844464] [ 0.00835779 0.00797261 0.99993329 -1.09938023] [ 0. 0. 0. 1. ]] SLAMing on 136.97119381700003 meters Centerline goodness [0,1] 0.7267150491796461 Centerline is valid? [False, False] Translation: X:5.37, Y:0.13, Z:-1.10 [[ 0.99937741 0.03418056 -0.00874507 5.37458727] [-0.03423217 0.99939695 -0.0058216 0.12541736] [ 0.00854081 0.00611734 0.99994481 -1.09921647] [ 0. 0. 0. 1. ]] SLAMing on 137.00119381700003 meters Centerline goodness [0,1] 0.7294756848324588 Centerline is valid? [False, False] Translation: X:5.38, Y:0.13, Z:-1.10 [[ 9.99234564e-01 3.80855775e-02 -8.93169156e-03 5.37604294e+00] [-3.81080565e-02 9.99270837e-01 -2.36017015e-03 1.27261758e-01] [ 8.83529046e-03 2.69873300e-03 9.99957326e-01 -1.10014862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03119381700003 meters Centerline goodness [0,1] 0.7548279277048775 Centerline is valid? [False, False] Translation: X:5.38, Y:0.13, Z:-1.10 [[ 9.99167808e-01 3.96994914e-02 -9.36174019e-03 5.37889326e+00] [-3.97187425e-02 9.99209132e-01 -1.87940419e-03 1.30426346e-01] [ 9.27972490e-03 2.24967671e-03 9.99954412e-01 -1.10197270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06119381700003 meters Centerline goodness [0,1] 0.7860704787234043 Centerline is valid? [False, False] Translation: X:5.38, Y:0.13, Z:-1.10 [[ 9.98993618e-01 4.38523066e-02 -9.41951394e-03 5.38015087e+00] [-4.38373919e-02 9.99037086e-01 1.78415008e-03 1.31939584e-01] [ 9.48868286e-03 -1.36942762e-03 9.99954044e-01 -1.10292178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09119381700003 meters Centerline goodness [0,1] 0.8458854318115732 Centerline is valid? [False, False] Translation: X:5.38, Y:0.14, Z:-1.10 [[ 0.9985781 0.05248812 -0.00931554 5.38144139] [-0.05240479 0.9985856 0.00897406 0.13591515] [ 0.0097734 -0.00847312 0.99991634 -1.10341227] [ 0. 0. 0. 1. ]] SLAMing on 137.12119381700003 meters Centerline goodness [0,1] 0.8888427779968046 Centerline is valid? [False, False] Translation: X:5.38, Y:0.14, Z:-1.10 [[ 0.99836585 0.05639587 -0.00922688 5.3815637 ] [-0.05628252 0.99834138 0.012115 0.13885938] [ 0.00989481 -0.01157589 0.99988404 -1.10297049] [ 0. 0. 0. 1. ]] SLAMing on 137.15119381700003 meters Centerline goodness [0,1] 0.896437054631829 Centerline is valid? [False, False] Translation: X:5.38, Y:0.14, Z:-1.10 [[ 0.99814228 0.06025017 -0.00904999 5.38123124] [-0.06010676 0.99807376 0.0153606 0.14138833] [ 0.00995804 -0.0147881 0.99984106 -1.10211528] [ 0. 0. 0. 1. ]] SLAMing on 137.181193817 meters Centerline goodness [0,1] 0.9126788049909689 Centerline is valid? [False, False] Translation: X:5.38, Y:0.14, Z:-1.10 [[ 0.99792452 0.06380485 -0.00869413 5.37945893] [-0.06363814 0.9978059 0.01826407 0.14376453] [ 0.00984039 -0.01767289 0.9997954 -1.09988852] [ 0. 0. 0. 1. ]] SLAMing on 137.211193817 meters Centerline goodness [0,1] 0.9138584536360059 Centerline is valid? [False, False] Translation: X:5.38, Y:0.15, Z:-1.10 [[ 0.99815536 0.06003567 -0.00903335 5.37939698] [-0.05990792 0.99810846 0.01380364 0.14550886] [ 0.00984497 -0.013237 0.99986392 -1.0990934 ] [ 0. 0. 0. 1. ]] SLAMing on 137.241193817 meters Centerline goodness [0,1] 0.9099087893864013 Centerline is valid? [False, False] Translation: X:5.38, Y:0.15, Z:-1.10 [[ 0.99838773 0.05599139 -0.00932264 5.37895979] [-0.0559032 0.99839132 0.00946554 0.14611372] [ 0.00983763 -0.00892911 0.99991174 -1.09818194] [ 0. 0. 0. 1. ]] SLAMing on 137.271193817 meters Centerline goodness [0,1] 0.906075181140722 Centerline is valid? [False, False] Translation: X:5.38, Y:0.15, Z:-1.10 [[ 9.98598312e-01 5.19998289e-02 -9.87066029e-03 5.37928059e+00] [-5.19481026e-02 9.98635042e-01 5.42656335e-03 1.46163348e-01] [ 1.01393676e-02 -4.90619492e-03 9.99936559e-01 -1.09759147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.301193817 meters Centerline goodness [0,1] 0.892274031415774 Centerline is valid? [False, False] Translation: X:5.38, Y:0.15, Z:-1.10 [[ 9.98812246e-01 4.76536660e-02 -1.01599687e-02 5.37891708e+00] [-4.76445129e-02 9.98863703e-01 1.14117828e-03 1.46161514e-01] [ 1.02028053e-02 -6.55756084e-04 9.99947735e-01 -1.09681771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.331193817 meters Centerline goodness [0,1] 0.887748146005908 Centerline is valid? [False, False] Translation: X:5.38, Y:0.15, Z:-1.10 [[ 9.98952948e-01 4.44421065e-02 -1.08584467e-02 5.38022079e+00] [-4.44723317e-02 9.99007341e-01 -2.55802930e-03 1.47265157e-01] [ 1.07339837e-02 3.03825136e-03 9.99937773e-01 -1.09681924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36119381700001 meters Centerline goodness [0,1] 0.898924151655231 Centerline is valid? [False, False] Translation: X:5.38, Y:0.15, Z:-1.10 [[ 9.99029933e-01 4.25495887e-02 -1.13457106e-02 5.38230119e+00] [-4.26069540e-02 9.99080075e-01 -4.86316740e-03 1.47307609e-01] [ 1.11283476e-02 5.34185597e-03 9.99923809e-01 -1.09807609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.39119381700002 meters Centerline goodness [0,1] 0.9110682990491579 Centerline is valid? [False, False] Translation: X:5.38, Y:0.15, Z:-1.10 [[ 9.98951973e-01 4.42499946e-02 -1.17001777e-02 5.38403333e+00] [-4.42929444e-02 9.99012672e-01 -3.43745512e-03 1.45143370e-01] [ 1.15365184e-02 3.95208789e-03 9.99925642e-01 -1.09915249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42119381700002 meters Centerline goodness [0,1] 0.9144663212435233 Centerline is valid? [False, False] Translation: X:5.38, Y:0.15, Z:-1.10 [[ 9.98907801e-01 4.52003723e-02 -1.18376963e-02 5.38442185e+00] [-4.52422664e-02 9.98970609e-01 -3.29535394e-03 1.46210913e-01] [ 1.16765595e-02 3.82731897e-03 9.99924502e-01 -1.09876474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.45119381700002 meters Centerline goodness [0,1] 0.9092208572434796 Centerline is valid? [False, False] Translation: X:5.38, Y:0.15, Z:-1.10 [[ 9.98837924e-01 4.66946335e-02 -1.19337164e-02 5.38494887e+00] [-4.67321171e-02 9.98903302e-01 -2.88151740e-03 1.47615653e-01] [ 1.17860773e-02 3.43585668e-03 9.99924639e-01 -1.09845577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48119381700002 meters Centerline goodness [0,1] 0.9060442972469468 Centerline is valid? [False, False] Translation: X:5.39, Y:0.15, Z:-1.10 [[ 9.98591043e-01 5.17061432e-02 -1.19332628e-02 5.38556614e+00] [-5.16881871e-02 9.98661635e-01 1.80846102e-03 1.46754375e-01] [ 1.20108003e-02 -1.18910425e-03 9.99927161e-01 -1.09860132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.51119381700002 meters Centerline goodness [0,1] 0.9109268090400165 Centerline is valid? [False, False] Translation: X:5.39, Y:0.14, Z:-1.10 [[ 0.99795604 0.06279989 -0.01182869 5.3883245 ] [-0.06264923 0.99795475 0.01270374 0.14137678] [ 0.01260229 -0.01193672 0.99984934 -1.10102035] [ 0. 0. 0. 1. ]] SLAMing on 137.54119381700002 meters Centerline goodness [0,1] 0.9161062681610627 Centerline is valid? [False, False] Translation: X:5.39, Y:0.14, Z:-1.10 [[ 0.99781201 0.06500314 -0.01207437 5.39037452] [-0.06482573 0.99779058 0.0145457 0.1391643 ] [ 0.01299321 -0.01373114 0.9998213 -1.10259825] [ 0. 0. 0. 1. ]] SLAMing on 137.57119381700002 meters Centerline goodness [0,1] 0.9207358760280926 Centerline is valid? [False, False] Translation: X:5.39, Y:0.14, Z:-1.10 [[ 0.99771512 0.06642073 -0.01236248 5.39167608] [-0.06621933 0.99767608 0.01604489 0.1360525 ] [ 0.01339946 -0.01518959 0.99979484 -1.103383 ] [ 0. 0. 0. 1. ]] SLAMing on 137.60119381700002 meters Centerline goodness [0,1] 0.9231232603547838 Centerline is valid? [False, False] Translation: X:5.39, Y:0.13, Z:-1.10 [[ 0.99784067 0.06446212 -0.01259498 5.39205967] [-0.06428804 0.99783638 0.01376964 0.13324885] [ 0.01345535 -0.0129302 0.99982587 -1.10345026] [ 0. 0. 0. 1. ]] SLAMing on 137.63119381700002 meters Centerline goodness [0,1] 0.9255440532746925 Centerline is valid? [False, False] Translation: X:5.39, Y:0.12, Z:-1.10 [[ 0.99788816 0.06360813 -0.01316157 5.39253439] [-0.06342677 0.99789153 0.01376702 0.12202504] [ 0.01400951 -0.01290315 0.9998186 -1.1031313 ] [ 0. 0. 0. 1. ]] SLAMing on 137.66119381700003 meters Centerline goodness [0,1] 0.9270027581344228 Centerline is valid? [False, False] Translation: X:5.39, Y:0.12, Z:-1.10 [[ 0.99804713 0.06098588 -0.01351468 5.3928122 ] [-0.06082833 0.99807876 0.0117776 0.11669443] [ 0.01420698 -0.01093252 0.99983931 -1.10318729] [ 0. 0. 0. 1. ]] SLAMing on 137.69119381700003 meters Centerline goodness [0,1] 0.9259842846184148 Centerline is valid? [False, False] Translation: X:5.39, Y:0.11, Z:-1.10 [[ 0.99820543 0.05826003 -0.01384545 5.39301617] [-0.05812701 0.99826087 0.00982295 0.11093327] [ 0.01439366 -0.00900053 0.9998559 -1.10321393] [ 0. 0. 0. 1. ]] SLAMing on 137.72119381700003 meters Centerline goodness [0,1] 0.9249663456560009 Centerline is valid? [False, False] Translation: X:5.39, Y:0.10, Z:-1.10 [[ 9.98503281e-01 5.26433472e-02 -1.48282379e-02 5.39344565e+00] [-5.25598703e-02 9.98599963e-01 5.96440545e-03 9.61069330e-02] [ 1.51214641e-02 -5.17610815e-03 9.99872266e-01 -1.10260736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75119381700003 meters Centerline goodness [0,1] 0.9210400812822692 Centerline is valid? [False, False] Translation: X:5.39, Y:0.09, Z:-1.10 [[ 9.98761129e-01 4.73302722e-02 -1.53640316e-02 5.39354008e+00] [-4.73131678e-02 9.98879016e-01 1.47506079e-03 8.92210605e-02] [ 1.54166238e-02 -7.46312372e-04 9.99880878e-01 -1.10226541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78119381700003 meters Centerline goodness [0,1] 0.9186022568157483 Centerline is valid? [False, False] Translation: X:5.41, Y:0.08, Z:-1.11 [[ 9.99049597e-01 4.22890171e-02 -1.05613598e-02 5.40721093e+00] [-4.22319469e-02 9.99092309e-01 5.56956561e-03 7.77318200e-02] [ 1.07873048e-02 -5.11824549e-03 9.99928716e-01 -1.10539684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81119381700003 meters Centerline goodness [0,1] 0.9144108773814936 Centerline is valid? [False, False] Translation: X:5.41, Y:0.07, Z:-1.11 [[ 9.99292365e-01 3.59817324e-02 -1.09582717e-02 5.40729905e+00] [-3.59785738e-02 9.99352444e-01 4.85305435e-04 6.99833632e-02] [ 1.09686377e-02 -9.06990287e-05 9.99939839e-01 -1.10536179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84119381700003 meters Centerline goodness [0,1] 0.908606387391124 Centerline is valid? [False, False] Translation: X:5.41, Y:0.05, Z:-1.11 [[ 9.99573824e-01 2.68963373e-02 -1.13471499e-02 5.40707462e+00] [-2.69253336e-02 9.99634541e-01 -2.41037471e-03 5.05555379e-02] [ 1.12781728e-02 2.71487327e-03 9.99932714e-01 -1.10639376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87119381700003 meters Centerline goodness [0,1] 0.9066569888013273 Centerline is valid? [False, False] Translation: X:5.41, Y:0.04, Z:-1.11 [[ 9.99649079e-01 2.37338258e-02 -1.17653509e-02 5.40750242e+00] [-2.37780999e-02 9.99710643e-01 -3.63758067e-03 4.11047151e-02] [ 1.16756128e-02 3.91606185e-03 9.99924169e-01 -1.10638325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90119381700003 meters Centerline goodness [0,1] 0.9086877227886927 Centerline is valid? [False, False] Translation: X:5.41, Y:0.03, Z:-1.11 [[ 9.99716421e-01 2.05153055e-02 -1.20912987e-02 5.40758206e+00] [-2.05762533e-02 9.99776092e-01 -4.93796029e-03 3.21237886e-02] [ 1.19872876e-02 5.18535362e-03 9.99914705e-01 -1.10608087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93119381700004 meters Centerline goodness [0,1] 0.908644319682959 Centerline is valid? [False, False] Translation: X:5.41, Y:0.02, Z:-1.11 [[ 9.99865841e-01 1.33283469e-02 -9.52135016e-03 5.41475884e+00] [-1.33184540e-02 9.99910699e-01 1.10167895e-03 2.33333415e-02] [ 9.53518345e-03 -9.74721490e-04 9.99954064e-01 -1.10563312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.961193817 meters Centerline goodness [0,1] 0.9073693817020305 Centerline is valid? [False, False] Translation: X:5.41, Y:0.01, Z:-1.10 [[ 9.99936085e-01 6.44542149e-03 -9.28885489e-03 5.41228646e+00] [-6.47285313e-03 9.99974770e-01 -2.92614548e-03 8.59613744e-03] [ 9.26976029e-03 2.98608385e-03 9.99952576e-01 -1.10310414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.991193817 meters Centerline goodness [0,1] 0.9081761789174498 Centerline is valid? [False, False] Translation: X:5.41, Y:0.00, Z:-1.10 [[ 9.99950021e-01 3.63771605e-03 -9.31249210e-03 5.41192182e+00] [-3.67818366e-03 9.99983852e-01 -4.33208594e-03 1.20541888e-03] [ 9.29658282e-03 4.36612248e-03 9.99947254e-01 -1.10262945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.021193817 meters Centerline goodness [0,1] 0.906154834165441 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.01, Z:-1.10 [[ 9.99956314e-01 -1.22361054e-03 -9.26672393e-03 5.41073154e+00] [ 1.15570294e-03 9.99972468e-01 -7.32992502e-03 -1.17459429e-02] [ 9.27543777e-03 7.31889523e-03 9.99930198e-01 -1.10122572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.051193817 meters Centerline goodness [0,1] 0.9069098881098633 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.02, Z:-1.10 [[ 9.99955974e-01 -3.09202829e-04 -9.37839962e-03 5.41121593e+00] [ 2.61709932e-04 9.99987139e-01 -5.06487712e-03 -1.82206544e-02] [ 9.37984508e-03 5.06219971e-03 9.99943195e-01 -1.10157554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.081193817 meters Centerline goodness [0,1] 0.907350024789291 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.02, Z:-1.10 [[ 9.99955260e-01 4.83041711e-04 -9.44698053e-03 5.41166198e+00] [-5.13358860e-04 9.99994726e-01 -3.20702778e-03 -2.33368885e-02] [ 9.44538157e-03 3.21173399e-03 9.99950234e-01 -1.10195454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.11119381700001 meters Centerline goodness [0,1] 0.9068954822702368 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.03, Z:-1.10 [[ 9.99953437e-01 1.12382782e-03 -9.58436640e-03 5.41182864e+00] [-1.13914008e-03 9.99998083e-01 -1.59232020e-03 -2.80820938e-02] [ 9.58255853e-03 1.60316399e-03 9.99952801e-01 -1.10184582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14119381700002 meters Centerline goodness [0,1] 0.9092563111212191 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.03, Z:-1.10 [[ 9.99953361e-01 1.38365837e-03 -9.55835419e-03 5.41159242e+00] [-1.38636014e-03 9.99999001e-01 -2.76041236e-04 -3.26459019e-02] [ 9.55796269e-03 2.89279683e-04 9.99954280e-01 -1.10157321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.17119381700002 meters Centerline goodness [0,1] 0.9091003038257239 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.04, Z:-1.10 [[ 9.99952360e-01 -9.31132583e-04 -9.71648833e-03 5.41115014e+00] [ 9.18133581e-04 9.99998678e-01 -1.34220405e-03 -3.98019829e-02] [ 9.71772525e-03 1.33321908e-03 9.99951893e-01 -1.10061517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20119381700002 meters Centerline goodness [0,1] 0.9091003038257239 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.04, Z:-1.10 [[ 9.99952360e-01 -9.31132583e-04 -9.71648833e-03 5.41115014e+00] [ 9.18133581e-04 9.99998678e-01 -1.34220405e-03 -3.98019829e-02] [ 9.71772525e-03 1.33321908e-03 9.99951893e-01 -1.10061517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.23119381700002 meters Centerline goodness [0,1] 0.9073724399809101 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.04, Z:-1.10 [[ 9.99951670e-01 -8.12768630e-04 -9.79779204e-03 5.41107856e+00] [ 8.09848009e-04 9.99999626e-01 -3.02053446e-04 -4.37562172e-02] [ 9.79803388e-03 2.94104125e-04 9.99951955e-01 -1.10028211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26119381700002 meters Centerline goodness [0,1] 0.9067198907940185 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.05, Z:-1.10 [[ 9.99949136e-01 -8.45461220e-04 -1.00504352e-02 5.41206049e+00] [ 8.50956647e-04 9.99999491e-01 5.42521242e-04 -4.72884725e-02] [ 1.00499714e-02 -5.51046132e-04 9.99949346e-01 -1.10083544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29119381700002 meters Centerline goodness [0,1] 0.9083208769307424 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.05, Z:-1.10 [[ 9.99939961e-01 -3.68937979e-03 -1.03180897e-02 5.41295565e+00] [ 3.67286487e-03 9.99991944e-01 -1.61907012e-03 -5.13947494e-02] [ 1.03239799e-02 1.58107596e-03 9.99945456e-01 -1.10124717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32119381700002 meters Centerline goodness [0,1] 0.8994292095793522 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.05, Z:-1.10 [[ 9.99937073e-01 -3.63545688e-03 -1.06128496e-02 5.41431691e+00] [ 3.62518595e-03 9.99992942e-01 -9.86859754e-04 -5.37463372e-02] [ 1.06163624e-02 9.48324101e-04 9.99943195e-01 -1.10222411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35119381700002 meters Centerline goodness [0,1] 0.9060088316619207 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.06, Z:-1.10 [[ 9.99935743e-01 -3.30832426e-03 -1.08426993e-02 5.41533809e+00] [ 3.30557963e-03 9.99994500e-01 -2.71042867e-04 -5.53601282e-02] [ 1.08435363e-02 2.35184045e-04 9.99941179e-01 -1.10290846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38119381700002 meters Centerline goodness [0,1] 0.9049399642693922 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.06, Z:-1.10 [[ 9.99936503e-01 -3.17243847e-03 -1.08131960e-02 5.41593881e+00] [ 3.17160579e-03 9.99994966e-01 -9.41534764e-05 -5.50281867e-02] [ 1.08134403e-02 5.98523030e-05 9.99941531e-01 -1.10376428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41119381700003 meters Centerline goodness [0,1] 0.9045338178214551 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.06, Z:-1.10 [[ 9.99935306e-01 -2.78634733e-03 -1.10281174e-02 5.41685792e+00] [ 2.78870664e-03 9.99996092e-01 1.98563988e-04 -5.51452599e-02] [ 1.10275210e-02 -2.29305326e-04 9.99939169e-01 -1.10434916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44119381700003 meters Centerline goodness [0,1] 0.9059130326800091 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.06, Z:-1.10 [[ 9.99935930e-01 -2.45925293e-03 -1.10493095e-02 5.41696161e+00] [ 2.46404205e-03 9.99996876e-01 4.19838990e-04 -5.52511942e-02] [ 1.10482425e-02 -4.47038054e-04 9.99938866e-01 -1.10439002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47119381700003 meters Centerline goodness [0,1] 0.9058275540834282 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.06, Z:-1.10 [[ 9.99936706e-01 -2.19282127e-03 -1.10351796e-02 5.41709402e+00] [ 2.19907860e-03 9.99997428e-01 5.54933156e-04 -5.52573101e-02] [ 1.10339343e-02 -5.79165260e-04 9.99938957e-01 -1.10454390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50119381700003 meters Centerline goodness [0,1] 0.9037530516820458 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-1.11 [[ 9.99934467e-01 -1.09616568e-03 -1.13956056e-02 5.41970197e+00] [ 1.11026993e-03 9.99998625e-01 1.23143889e-03 -5.45676132e-02] [ 1.13942400e-02 -1.24401039e-03 9.99934310e-01 -1.10688861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53119381700003 meters Centerline goodness [0,1] 0.9012235771516117 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-1.11 [[ 9.99932070e-01 -1.06829781e-03 -1.16066001e-02 5.42096683e+00] [ 1.08083628e-03 9.99998839e-01 1.07406883e-03 -5.39732234e-02] [ 1.16054392e-02 -1.08654070e-03 9.99932064e-01 -1.10795187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56119381700003 meters Centerline goodness [0,1] 0.9005278956629749 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-1.11 [[ 9.99929074e-01 -9.58204096e-04 -1.18713505e-02 5.42187934e+00] [ 9.69233329e-04 9.99999104e-01 9.23344610e-04 -5.32580300e-02] [ 1.18704551e-02 -9.34785230e-04 9.99929107e-01 -1.10843200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59119381700003 meters Centerline goodness [0,1] 0.901985111662531 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-1.11 [[ 9.99925874e-01 -7.56799662e-04 -1.21521412e-02 5.42273403e+00] [ 7.65751132e-04 9.99999439e-01 7.31980648e-04 -5.21989788e-02] [ 1.21515805e-02 -7.41231904e-04 9.99925892e-01 -1.10872846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62119381700003 meters Centerline goodness [0,1] 0.9057670483854328 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-1.11 [[ 9.99927040e-01 1.95174300e-03 -1.19207597e-02 5.41984052e+00] [-1.91501246e-03 9.99993387e-01 3.09186279e-03 -5.12463989e-02] [ 1.19267154e-02 -3.06880880e-03 9.99924165e-01 -1.10561949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65119381700003 meters Centerline goodness [0,1] 0.9089704847456224 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-1.10 [[ 9.99926800e-01 2.06775346e-03 -1.19213905e-02 5.41894443e+00] [-2.03263308e-03 9.99993561e-01 2.95736116e-03 -5.07360538e-02] [ 1.19274289e-02 -2.93291287e-03 9.99924564e-01 -1.10438060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68119381700004 meters Centerline goodness [0,1] 0.910860103626943 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-1.10 [[ 9.99926379e-01 2.04563077e-03 -1.19603980e-02 5.41805085e+00] [-2.01311659e-03 9.99994248e-01 2.72989358e-03 -5.02258983e-02] [ 1.19659135e-02 -2.70561493e-03 9.99924745e-01 -1.10306857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.711193817 meters Centerline goodness [0,1] 0.9122817903532721 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-1.10 [[ 9.99925225e-01 2.05730376e-03 -1.20545120e-02 5.41769911e+00] [-2.02699827e-03 9.99994756e-01 2.52571503e-03 -4.95654765e-02] [ 1.20596450e-02 -2.50109170e-03 9.99924152e-01 -1.10228676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.741193817 meters Centerline goodness [0,1] 0.9140300614515862 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-1.10 [[ 9.99924629e-01 2.44301054e-03 -1.20319868e-02 5.41687305e+00] [-2.41065091e-03 9.99993441e-01 2.70323610e-03 -4.94525798e-02] [ 1.20385119e-02 -2.67402743e-03 9.99923959e-01 -1.10118883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.771193817 meters Centerline goodness [0,1] 0.9134470284237726 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-1.10 [[ 9.99921652e-01 2.46781154e-03 -1.22719088e-02 5.41774396e+00] [-2.43470717e-03 9.99993359e-01 2.71178201e-03 -4.97143025e-02] [ 1.22785194e-02 -2.68169105e-03 9.99921020e-01 -1.10167162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.801193817 meters Centerline goodness [0,1] 0.9138095435512624 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-1.10 [[ 9.99918910e-01 2.54182169e-03 -1.24784861e-02 5.41829579e+00] [-2.50590937e-03 9.99992676e-01 2.89273076e-03 -5.04597559e-02] [ 1.24857476e-02 -2.86122623e-03 9.99917956e-01 -1.10186637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.831193817 meters Centerline goodness [0,1] 0.9122945539925613 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-1.10 [[ 9.99916110e-01 2.47510439e-03 -1.27140711e-02 5.41898527e+00] [-2.43673416e-03 9.99992433e-01 3.03253900e-03 -5.13667349e-02] [ 1.27214807e-02 -3.00130379e-03 9.99914574e-01 -1.10216763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86119381700001 meters Centerline goodness [0,1] 0.9126451586098012 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-1.10 [[ 9.99915728e-01 -8.87885490e-05 -1.29818848e-02 5.42033345e+00] [ 9.67667599e-05 9.99999807e-01 6.13938073e-04 -5.30419631e-02] [ 1.29818278e-02 -6.15142550e-04 9.99915543e-01 -1.10313661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.89119381700002 meters Centerline goodness [0,1] 0.908354011579818 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-1.10 [[ 9.99906063e-01 -2.49359144e-03 -1.34776581e-02 5.42258374e+00] [ 2.47241023e-03 9.99995683e-01 -1.58801269e-03 -5.46438692e-02] [ 1.34815598e-02 1.55454122e-03 9.99907911e-01 -1.10454302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92119381700002 meters Centerline goodness [0,1] 0.9123729553343172 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.06, Z:-1.11 [[ 9.99901645e-01 -3.42317787e-03 -1.36008078e-02 5.42319248e+00] [ 3.40388995e-03 9.99993168e-01 -1.44104112e-03 -5.77134387e-02] [ 1.36056478e-02 1.39460374e-03 9.99906466e-01 -1.10501393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.95119381700002 meters Centerline goodness [0,1] 0.903882585614656 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.06, Z:-1.11 [[ 9.99896961e-01 -4.15587055e-03 -1.37402781e-02 5.42393973e+00] [ 4.14273614e-03 9.99990934e-01 -9.84230327e-04 -6.10463847e-02] [ 1.37442439e-02 9.27206567e-04 9.99905114e-01 -1.10556612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98119381700002 meters Centerline goodness [0,1] 0.896409298464093 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.07, Z:-1.11 [[ 9.99869521e-01 -1.25343218e-02 -1.01898175e-02 5.43379434e+00] [ 1.25629896e-02 9.99917289e-01 2.75424715e-03 -6.56374627e-02] [ 1.01544520e-02 -2.88190235e-03 9.99944289e-01 -1.10724310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01119381700002 meters Centerline goodness [0,1] 0.887636484410678 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.07, Z:-1.11 [[ 9.99858030e-01 -1.33833846e-02 -1.02374201e-02 5.43365145e+00] [ 1.34151541e-02 9.99905389e-01 3.04092623e-03 -6.82761228e-02] [ 1.01957536e-02 -3.17783108e-03 9.99942972e-01 -1.10681785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04119381700002 meters Centerline goodness [0,1] 0.7748440446830117 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.07, Z:-1.11 [[ 9.99851738e-01 -1.38477347e-02 -1.02343758e-02 5.43369070e+00] [ 1.38827485e-02 9.99897991e-01 3.35810736e-03 -7.03026239e-02] [ 1.01868296e-02 -3.49969075e-03 9.99941989e-01 -1.10671026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07119381700002 meters Centerline goodness [0,1] 0.8728883736336536 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.07, Z:-1.11 [[ 9.99844826e-01 -1.41913730e-02 -1.04369423e-02 5.43384770e+00] [ 1.42262843e-02 9.99893427e-01 3.27837193e-03 -7.10549370e-02] [ 1.03893054e-02 -3.42634212e-03 9.99940159e-01 -1.10629361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10119381700002 meters Centerline goodness [0,1] 0.8943225486550143 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.07, Z:-1.11 [[ 9.99860748e-01 -1.27672124e-02 -1.07463004e-02 5.43412400e+00] [ 1.28046830e-02 9.99912150e-01 3.42528552e-03 -6.86135435e-02] [ 1.07016249e-02 -3.56241151e-03 9.99936390e-01 -1.10572133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13119381700002 meters Centerline goodness [0,1] 0.9087005882960058 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.07, Z:-1.11 [[ 0.99990536 -0.00828837 -0.01098018 5.43458833] [ 0.00836606 0.99994016 0.00704839 -0.06623084] [ 0.01092111 -0.00713958 0.99991487 -1.10576207] [ 0. 0. 0. 1. ]] SLAMing on 139.16119381700003 meters Centerline goodness [0,1] 0.9144784639335755 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.06, Z:-1.11 [[ 9.99935202e-01 -3.27424387e-03 -1.09027630e-02 5.43413933e+00] [ 3.39316351e-03 9.99934763e-01 1.09067193e-02 -6.33259867e-02] [ 1.08663405e-02 -1.09430075e-02 9.99881080e-01 -1.10531153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19119381700003 meters Centerline goodness [0,1] 0.9186523900889192 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.06, Z:-1.11 [[ 9.99968715e-01 3.00339740e-03 -7.31762717e-03 5.44320612e+00] [-2.96455995e-03 9.99981494e-01 5.31246256e-03 -5.93182536e-02] [ 7.33344719e-03 -5.29060282e-03 9.99959114e-01 -1.10597512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22119381700003 meters Centerline goodness [0,1] 0.9194205897568546 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.06, Z:-1.11 [[ 0.99990273 0.01193328 -0.0072196 5.44275961] [-0.01183883 0.99984559 0.01298624 -0.05693244] [ 0.00737345 -0.0128995 0.99988961 -1.1053623 ] [ 0. 0. 0. 1. ]] SLAMing on 139.25119381700003 meters Centerline goodness [0,1] 0.9192685194751524 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.06, Z:-1.11 [[ 0.99989543 0.01234852 -0.00752656 5.44377128] [-0.01225283 0.99984517 0.01262931 -0.0550306 ] [ 0.00768135 -0.01253576 0.99989192 -1.10583605] [ 0. 0. 0. 1. ]] SLAMing on 139.28119381700003 meters Centerline goodness [0,1] 0.9190109595261192 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.05, Z:-1.11 [[ 0.99989463 0.01227227 -0.00775415 5.44470591] [-0.01217521 0.99984847 0.01244215 -0.05465352] [ 0.00790567 -0.01234643 0.99989253 -1.10644816] [ 0. 0. 0. 1. ]] SLAMing on 139.31119381700003 meters Centerline goodness [0,1] 0.9203139522875142 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.06, Z:-1.11 [[ 0.99993658 0.00812301 -0.00780061 5.44441574] [-0.00805658 0.99993134 0.00850976 -0.05574185] [ 0.0078692 -0.00844638 0.99993336 -1.10602906] [ 0. 0. 0. 1. ]] SLAMing on 139.34119381700003 meters Centerline goodness [0,1] 0.9205278774925819 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.06, Z:-1.11 [[ 9.99959373e-01 4.53150053e-03 -7.79222205e-03 5.44416499e+00] [-4.49552785e-03 9.99979187e-01 4.62782044e-03 -5.53717816e-02] [ 7.81303084e-03 -4.59260227e-03 9.99958931e-01 -1.10569144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37119381700003 meters Centerline goodness [0,1] 0.92119031370846 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.06, Z:-1.11 [[ 9.99961903e-01 2.47108444e-03 -8.37169687e-03 5.44669273e+00] [-2.45021662e-03 9.99993868e-01 2.50200247e-03 -5.57264556e-02] [ 8.37782820e-03 -2.48139468e-03 9.99961827e-01 -1.10725790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40119381700003 meters Centerline goodness [0,1] 0.9219352311846798 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.06, Z:-1.11 [[ 9.99959677e-01 2.22230512e-03 -8.70092386e-03 5.44791829e+00] [-2.19937045e-03 9.99994084e-01 2.64457042e-03 -5.68680244e-02] [ 8.70674944e-03 -2.62532723e-03 9.99958649e-01 -1.10797499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43119381700004 meters Centerline goodness [0,1] 0.919140584650346 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.06, Z:-1.11 [[ 9.99957205e-01 2.12221603e-03 -9.00473569e-03 5.44888697e+00] [-2.09248922e-03 9.99992335e-01 3.30937945e-03 -5.97679005e-02] [ 9.01168989e-03 -3.29039551e-03 9.99953980e-01 -1.10846565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.461193817 meters Centerline goodness [0,1] 0.9192420669397212 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.06, Z:-1.11 [[ 9.99955315e-01 2.11809713e-03 -9.21308231e-03 5.44956356e+00] [-2.08300604e-03 9.99990547e-01 3.81676320e-03 -6.19342435e-02] [ 9.22107949e-03 -3.79740175e-03 9.99950274e-01 -1.10881282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.491193817 meters Centerline goodness [0,1] 0.9180872490189157 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.06, Z:-1.11 [[ 9.99955693e-01 -1.15763686e-03 -9.34189326e-03 5.45011131e+00] [ 1.16178516e-03 9.99999229e-01 4.38638212e-04 -6.27555112e-02] [ 9.34137827e-03 -4.49472050e-04 9.99956267e-01 -1.10914953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.521193817 meters Centerline goodness [0,1] 0.9166908382712469 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.07, Z:-1.11 [[ 9.99953527e-01 -1.13848466e-03 -9.57328201e-03 5.45079997e+00] [ 1.14964796e-03 9.99998666e-01 1.16066739e-03 -6.57344720e-02] [ 9.57194784e-03 -1.17161935e-03 9.99953501e-01 -1.10939904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.551193817 meters Centerline goodness [0,1] 0.9180188581494145 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.07, Z:-1.11 [[ 9.99954263e-01 -1.25321666e-03 -9.48164871e-03 5.45099215e+00] [ 1.27227763e-03 9.99997182e-01 2.00453691e-03 -7.04768518e-02] [ 9.47910987e-03 -2.01650852e-03 9.99953039e-01 -1.10975848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.581193817 meters Centerline goodness [0,1] 0.9176184740623832 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.07, Z:-1.11 [[ 9.99954399e-01 -8.53930929e-04 -9.51161062e-03 5.45097950e+00] [ 8.78441603e-04 9.99996304e-01 2.57304181e-03 -7.18981992e-02] [ 9.50937827e-03 -2.58127987e-03 9.99951453e-01 -1.10961012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.61119381700001 meters Centerline goodness [0,1] 0.9186140543678852 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.07, Z:-1.11 [[ 9.99954000e-01 7.69108661e-04 -9.56068038e-03 5.45118864e+00] [-7.31730681e-04 9.99992079e-01 3.91243571e-03 -7.40196253e-02] [ 9.56361374e-03 -3.90525989e-03 9.99946642e-01 -1.10968238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64119381700002 meters Centerline goodness [0,1] 0.919246827332479 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.07, Z:-1.11 [[ 9.99951349e-01 1.39941798e-03 -9.76426677e-03 5.45217623e+00] [-1.35709661e-03 9.99989663e-01 4.33959090e-03 -7.45794659e-02] [ 9.77023874e-03 -4.32612872e-03 9.99942912e-01 -1.11036639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.67119381700002 meters Centerline goodness [0,1] 0.9199081353968386 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.08, Z:-1.11 [[ 9.99949070e-01 2.04661033e-03 -9.88270479e-03 5.45252802e+00] [-1.99792544e-03 9.99985834e-01 4.93363417e-03 -7.56195063e-02] [ 9.89266202e-03 -4.91363799e-03 9.99938994e-01 -1.11047639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70119381700002 meters Centerline goodness [0,1] 0.9192128860843574 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.08, Z:-1.11 [[ 9.99946994e-01 2.54655503e-03 -9.97616415e-03 5.45270037e+00] [-2.49149110e-03 9.99981616e-01 5.52809484e-03 -7.72815631e-02] [ 9.99005835e-03 -5.50294629e-03 9.99934956e-01 -1.11044681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.73119381700002 meters Centerline goodness [0,1] 0.9221585482330468 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.08, Z:-1.11 [[ 9.99949618e-01 1.38639821e-04 -1.00370292e-02 5.45294151e+00] [-1.13414900e-04 9.99996834e-01 2.51371162e-03 -7.77600231e-02] [ 1.00373459e-02 -2.51244663e-03 9.99946468e-01 -1.11051704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76119381700002 meters Centerline goodness [0,1] 0.9190108704671811 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.08, Z:-1.11 [[ 9.99946754e-01 1.34928101e-03 -1.02308125e-02 5.45289994e+00] [-1.30496561e-03 9.99989744e-01 4.33700127e-03 -8.40285131e-02] [ 1.02365594e-02 -4.32341948e-03 9.99938259e-01 -1.10995146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79119381700002 meters Centerline goodness [0,1] 0.9239960172585463 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.09, Z:-1.11 [[ 9.99944643e-01 2.00480161e-03 -1.03291603e-02 5.45277153e+00] [-1.94879133e-03 9.99983360e-01 5.42975342e-03 -8.73462258e-02] [ 1.03398740e-02 -5.40932347e-03 9.99931911e-01 -1.10945662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82119381700002 meters Centerline goodness [0,1] 0.9247683269899056 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.09, Z:-1.11 [[ 9.99941351e-01 2.71001424e-03 -1.04857563e-02 5.45283601e+00] [-2.64189020e-03 9.99975351e-01 6.50522349e-03 -9.03910341e-02] [ 1.05031271e-02 -6.47713974e-03 9.99923863e-01 -1.10903039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85119381700002 meters Centerline goodness [0,1] 0.9279245674023417 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.09, Z:-1.11 [[ 9.99937550e-01 3.51327956e-03 -1.06091039e-02 5.45232507e+00] [-3.43199922e-03 9.99964696e-01 7.66988778e-03 -9.34217039e-02] [ 1.06356758e-02 -7.63299836e-03 9.99914306e-01 -1.10796358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88119381700002 meters Centerline goodness [0,1] 0.9314327032331371 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.10, Z:-1.11 [[ 0.99992876 0.00569845 -0.01048821 5.45009579] [-0.0055834 0.99992428 0.01096624 -0.10177302] [ 0.01054991 -0.0109069 0.99988486 -1.1053128 ] [ 0. 0. 0. 1. ]] SLAMing on 139.91119381700003 meters Centerline goodness [0,1] 0.9312150693438211 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.10, Z:-1.10 [[ 9.99939161e-01 3.16550101e-03 -1.05666242e-02 5.44996874e+00] [-3.07522292e-03 9.99958728e-01 8.54904390e-03 -1.04885897e-01] [ 1.05932501e-02 -8.51602906e-03 9.99907626e-01 -1.10494451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94119381700003 meters Centerline goodness [0,1] 0.9305452138661372 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.11, Z:-1.11 [[ 9.99944475e-01 3.73532942e-04 -1.05312472e-02 5.45015876e+00] [-3.09805887e-04 9.99981637e-01 6.05221740e-03 -1.08482626e-01] [ 1.05333145e-02 -6.04861871e-03 9.99926229e-01 -1.10520439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97119381700003 meters Centerline goodness [0,1] 0.9272006933267303 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.12, Z:-1.11 [[ 9.99934714e-01 -1.44783854e-03 -1.13344877e-02 5.45504394e+00] [ 1.51007213e-03 9.99983823e-01 5.48400875e-03 -1.20019168e-01] [ 1.13263644e-02 -5.50076661e-03 9.99920724e-01 -1.10901010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00119381700003 meters Centerline goodness [0,1] 0.9254570734845498 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.13, Z:-1.11 [[ 9.99926919e-01 -3.36975570e-03 -1.16104382e-02 5.45691051e+00] [ 3.41770794e-03 9.99985702e-01 4.11273461e-03 -1.25202589e-01] [ 1.15964133e-02 -4.15211513e-03 9.99924139e-01 -1.11051601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03119381700003 meters Centerline goodness [0,1] 0.9237731958762887 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.13, Z:-1.11 [[ 9.99918712e-01 -3.76685328e-03 -1.21811787e-02 5.46016369e+00] [ 3.82004437e-03 9.99983258e-01 4.34634661e-03 -1.30878733e-01] [ 1.21646027e-02 -4.39252595e-03 9.99916361e-01 -1.11297180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06119381700003 meters Centerline goodness [0,1] 0.9243626296434032 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.14, Z:-1.11 [[ 9.99918691e-01 -3.16160961e-03 -1.23537540e-02 5.46078518e+00] [ 3.23446790e-03 9.99977469e-01 5.88214235e-03 -1.36675843e-01] [ 1.23348786e-02 -5.92162190e-03 9.99906388e-01 -1.11320279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09119381700003 meters Centerline goodness [0,1] 0.9249033112034911 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.15, Z:-1.11 [[ 9.99917693e-01 -3.91327136e-03 -1.22185352e-02 5.46002086e+00] [ 3.99257780e-03 9.99971079e-01 6.47303463e-03 -1.48160259e-01] [ 1.21928511e-02 -6.52128531e-03 9.99904399e-01 -1.11245366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12119381700003 meters Centerline goodness [0,1] 0.9249033112034911 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.15, Z:-1.11 [[ 9.99917693e-01 -3.91327136e-03 -1.22185352e-02 5.46002086e+00] [ 3.99257780e-03 9.99971079e-01 6.47303463e-03 -1.48160259e-01] [ 1.21928511e-02 -6.52128531e-03 9.99904399e-01 -1.11245366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15119381700003 meters Centerline goodness [0,1] 0.9262046013601505 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.15, Z:-1.11 [[ 9.99907296e-01 -6.08159176e-03 -1.21825169e-02 5.45937481e+00] [ 6.14176650e-03 9.99969094e-01 4.90812561e-03 -1.53185434e-01] [ 1.21522912e-02 -4.98249279e-03 9.99913745e-01 -1.11161776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18119381700004 meters Centerline goodness [0,1] 0.9299300960401584 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.16, Z:-1.11 [[ 9.99893801e-01 -8.11516932e-03 -1.21049911e-02 5.45877072e+00] [ 8.15809753e-03 9.99960593e-01 3.50116895e-03 -1.58394570e-01] [ 1.20761015e-02 -3.59955083e-03 9.99920602e-01 -1.11093843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.211193817 meters Centerline goodness [0,1] 0.9326747468039183 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.17, Z:-1.11 [[ 9.99886613e-01 -9.21445241e-03 -1.19102680e-02 5.45751447e+00] [ 9.26279464e-03 9.99949059e-01 4.01009903e-03 -1.69599902e-01] [ 1.18727104e-02 -4.11996670e-03 9.99921029e-01 -1.10960445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.241193817 meters Centerline goodness [0,1] 0.9321320449550036 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.18, Z:-1.11 [[ 9.99889287e-01 -8.84119407e-03 -1.19685722e-02 5.45723482e+00] [ 8.90362368e-03 9.99946982e-01 5.17293267e-03 -1.76377593e-01] [ 1.19222027e-02 -5.27892362e-03 9.99914993e-01 -1.10890017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.271193817 meters Centerline goodness [0,1] 0.9345407074328105 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.18, Z:-1.11 [[ 9.99864148e-01 -1.13428120e-02 -1.19593617e-02 5.45674561e+00] [ 1.13842687e-02 9.99929403e-01 3.40409866e-03 -1.81677123e-01] [ 1.19199054e-02 -3.53978480e-03 9.99922690e-01 -1.10811143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.301193817 meters Centerline goodness [0,1] 0.9375207641196013 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.19, Z:-1.11 [[ 9.99794388e-01 -1.64863115e-02 -1.18060687e-02 5.45622983e+00] [ 1.64887492e-02 9.99864045e-01 1.09166693e-04 -1.92466946e-01] [ 1.18026639e-02 -3.03811553e-04 9.99930300e-01 -1.10728408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.331193817 meters Centerline goodness [0,1] 0.9361472982209059 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.20, Z:-1.11 [[ 9.99734957e-01 -1.96125899e-02 -1.20566129e-02 5.45700954e+00] [ 1.95890074e-02 9.99805972e-01 -2.07098618e-03 -1.97203227e-01] [ 1.20948910e-02 1.83426020e-03 9.99925172e-01 -1.10732241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36119381700001 meters Centerline goodness [0,1] 0.9360648635266448 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.20, Z:-1.11 [[ 9.99666677e-01 -2.27154624e-02 -1.22695763e-02 5.45811878e+00] [ 2.26682120e-02 9.99735135e-01 -3.97647950e-03 -2.02769038e-01] [ 1.23566541e-02 3.69702469e-03 9.99916819e-01 -1.10777639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.39119381700002 meters Centerline goodness [0,1] 0.935078642384106 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.21, Z:-1.11 [[ 0.99944876 -0.03079944 -0.01239243 5.46015978] [ 0.03068099 0.99948276 -0.00963814 -0.21303441] [ 0.01268287 0.00925261 0.99987676 -1.10913545] [ 0. 0. 0. 1. ]] SLAMing on 140.42119381700002 meters Centerline goodness [0,1] 0.9325805380272335 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.22, Z:-1.11 [[ 0.9993184 -0.03470899 -0.01257091 5.46148215] [ 0.0345543 0.99932688 -0.01232018 -0.21774626] [ 0.01299007 0.0118774 0.99984508 -1.10990346] [ 0. 0. 0. 1. ]] SLAMing on 140.45119381700002 meters Centerline goodness [0,1] 0.9292430311961644 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.22, Z:-1.11 [[ 0.99916731 -0.03869153 -0.01294799 5.46369729] [ 0.03849675 0.9991466 -0.01496887 -0.22255661] [ 0.01351611 0.01445795 0.99980412 -1.11125065] [ 0. 0. 0. 1. ]] SLAMing on 140.48119381700002 meters Centerline goodness [0,1] 0.9253021555841675 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.23, Z:-1.11 [[ 0.99896306 -0.04353063 -0.01333742 5.46640202] [ 0.04327896 0.99888967 -0.01861065 -0.22669129] [ 0.01413274 0.01801412 0.99973784 -1.11303218] [ 0. 0. 0. 1. ]] SLAMing on 140.51119381700002 meters Centerline goodness [0,1] 0.9228920654650922 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.23, Z:-1.12 [[ 0.99852491 -0.05257295 -0.01356781 5.46961308] [ 0.05221144 0.99830402 -0.02574981 -0.23312803] [ 0.01489854 0.02500343 0.99957634 -1.1152039 ] [ 0. 0. 0. 1. ]] SLAMing on 140.54119381700002 meters Centerline goodness [0,1] 0.918859649122807 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.24, Z:-1.12 [[ 0.99848995 -0.05319987 -0.01369642 5.47019509] [ 0.05284521 0.99828797 -0.02507035 -0.23659142] [ 0.01500671 0.0243087 0.99959186 -1.11526181] [ 0. 0. 0. 1. ]] SLAMing on 140.57119381700002 meters Centerline goodness [0,1] 0.9109491167394951 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.24, Z:-1.11 [[ 0.99845687 -0.05376251 -0.01390927 5.47065391] [ 0.0534097 0.99826956 -0.02460259 -0.23894414] [ 0.01520789 0.02382173 0.99960054 -1.11497298] [ 0. 0. 0. 1. ]] SLAMing on 140.60119381700002 meters Centerline goodness [0,1] 0.8967356605910823 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.24, Z:-1.12 [[ 0.99837887 -0.05504158 -0.01449314 5.47263228] [ 0.05466627 0.99818839 -0.02513041 -0.24006373] [ 0.0158501 0.02429739 0.99957912 -1.11571289] [ 0. 0. 0. 1. ]] SLAMing on 140.63119381700002 meters Centerline goodness [0,1] 0.8334650089400807 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.24, Z:-1.12 [[ 0.9981198 -0.05959493 -0.01432856 5.47271419] [ 0.05915652 0.99781897 -0.02928832 -0.24048491] [ 0.01604274 0.02838563 0.9994683 -1.11552492] [ 0. 0. 0. 1. ]] SLAMing on 140.66119381700003 meters Centerline goodness [0,1] 0.8269858991853781 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.24, Z:-1.12 [[ 0.99803132 -0.06092196 -0.01489986 5.47494014] [ 0.06044971 0.99771061 -0.030321 -0.24012159] [ 0.01671297 0.02936062 0.99942915 -1.11663126] [ 0. 0. 0. 1. ]] SLAMing on 140.69119381700003 meters Centerline goodness [0,1] 0.8317547357926222 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.24, Z:-1.12 [[ 0.9979957 -0.06145742 -0.01508532 5.47571713] [ 0.06097083 0.99766311 -0.03083623 -0.23906745] [ 0.01694518 0.02985466 0.99941061 -1.11701484] [ 0. 0. 0. 1. ]] SLAMing on 140.72119381700003 meters Centerline goodness [0,1] 0.7856979571479041 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.24, Z:-1.12 [[ 0.99815579 -0.05870266 -0.01546044 5.47653002] [ 0.05826384 0.99792376 -0.02744997 -0.23907151] [ 0.01703973 0.02649856 0.99950361 -1.1173106 ] [ 0. 0. 0. 1. ]] SLAMing on 140.75119381700003 meters Centerline goodness [0,1] 0.8261457207019879 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.23, Z:-1.12 [[ 0.99828935 -0.05629168 -0.01579927 5.4774245 ] [ 0.05587723 0.99811067 -0.02555043 -0.23373854] [ 0.0172077 0.0246239 0.99954868 -1.11795692] [ 0. 0. 0. 1. ]] SLAMing on 140.78119381700003 meters Centerline goodness [0,1] 0.8066254819851569 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.23, Z:-1.12 [[ 0.99841606 -0.05378717 -0.01650193 5.47908015] [ 0.05339672 0.9983026 -0.02325309 -0.23067426] [ 0.01772464 0.02233511 0.99959341 -1.11853137] [ 0. 0. 0. 1. ]] SLAMing on 140.81119381700003 meters Centerline goodness [0,1] 0.8131546742444671 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.23, Z:-1.12 [[ 0.99858455 -0.05047736 -0.01676115 5.47913126] [ 0.05013533 0.99853742 -0.02023525 -0.22772663] [ 0.01775806 0.01936628 0.99965474 -1.11829447] [ 0. 0. 0. 1. ]] SLAMing on 140.84119381700003 meters Centerline goodness [0,1] 0.767222383902216 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.22, Z:-1.12 [[ 0.99874251 -0.04716211 -0.01700398 5.47917 ] [ 0.0468677 0.99875101 -0.0173156 -0.22463129] [ 0.01779938 0.01649688 0.99970547 -1.11802748] [ 0. 0. 0. 1. ]] SLAMing on 140.87119381700003 meters Centerline goodness [0,1] 0.8335894347771917 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.22, Z:-1.12 [[ 0.9988831 -0.04395777 -0.01732792 5.47929102] [ 0.04371019 0.99894022 -0.01441689 -0.22159288] [ 0.01794329 0.01364338 0.99974592 -1.1176074 ] [ 0. 0. 0. 1. ]] SLAMing on 140.90119381700003 meters Centerline goodness [0,1] 0.8344657067464523 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.21, Z:-1.12 [[ 0.99897229 -0.04178744 -0.01755511 5.47869743] [ 0.04155346 0.99904523 -0.01348835 -0.21156886] [ 0.01810199 0.01274502 0.99975491 -1.11659194] [ 0. 0. 0. 1. ]] SLAMing on 140.93119381700004 meters Centerline goodness [0,1] 0.804659238894516 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.21, Z:-1.12 [[ 0.99903159 -0.04009391 -0.01812086 5.48035115] [ 0.03987982 0.99913212 -0.01202533 -0.20703339] [ 0.01858727 0.01129103 0.99976349 -1.11733935] [ 0. 0. 0. 1. ]] SLAMing on 140.961193817 meters Centerline goodness [0,1] 0.7928214070706442 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.20, Z:-1.12 [[ 0.99911539 -0.03783924 -0.01834745 5.48042495] [ 0.03766646 0.99924355 -0.009673 -0.20365938] [ 0.01869959 0.00897336 0.99978488 -1.11697498] [ 0. 0. 0. 1. ]] SLAMing on 140.991193817 meters Centerline goodness [0,1] 0.7995019196845492 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.20, Z:-1.12 [[ 0.99918596 -0.0358452 -0.018508 5.4809179 ] [ 0.03571426 0.99933496 -0.00735777 -0.20074321] [ 0.01875943 0.00669078 0.99980164 -1.11716991] [ 0. 0. 0. 1. ]] SLAMing on 141.021193817 meters Centerline goodness [0,1] 0.7440353827944932 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.19, Z:-1.12 [[ 0.99907149 -0.03897262 -0.01836543 5.48056821] [ 0.03877721 0.99918866 -0.01087897 -0.18890016] [ 0.01877451 0.01015671 0.99977215 -1.11677914] [ 0. 0. 0. 1. ]] SLAMing on 141.051193817 meters Centerline goodness [0,1] 0.7594095787747306 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.18, Z:-1.12 [[ 0.99910911 -0.03789468 -0.0185739 5.48152541] [ 0.03772193 0.9992425 -0.00956445 -0.18452097] [ 0.01892227 0.00885528 0.99978174 -1.11732335] [ 0. 0. 0. 1. ]] SLAMing on 141.081193817 meters Centerline goodness [0,1] 0.7224887338275912 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.18, Z:-1.12 [[ 0.99913672 -0.03701062 -0.01886892 5.48269426] [ 0.03685426 0.99928392 -0.00856811 -0.17989407] [ 0.01917252 0.00786531 0.99978525 -1.11796827] [ 0. 0. 0. 1. ]] SLAMing on 141.11119381700001 meters Centerline goodness [0,1] 0.7314726297851116 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.17, Z:-1.12 [[ 0.99912563 -0.03705084 -0.01937062 5.48441051] [ 0.0368716 0.99927457 -0.00952972 -0.16826368] [ 0.01970965 0.00880716 0.99976695 -1.11874532] [ 0. 0. 0. 1. ]] SLAMing on 141.14119381700002 meters Centerline goodness [0,1] 0.7029831924086747 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.16, Z:-1.12 [[ 0.99926633 -0.03507551 -0.01537872 5.50011328] [ 0.03483822 0.99927376 -0.01543534 -0.16030124] [ 0.01590896 0.01488825 0.99976259 -1.12294892] [ 0. 0. 0. 1. ]] SLAMing on 141.17119381700002 meters Centerline goodness [0,1] 0.7059807180164743 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.15, Z:-1.12 [[ 0.9993507 -0.03244271 -0.01567318 5.50186472] [ 0.03222424 0.99938266 -0.01399622 -0.15283446] [ 0.01611758 0.01348207 0.9997792 -1.12445441] [ 0. 0. 0. 1. ]] SLAMing on 141.20119381700002 meters Centerline goodness [0,1] 0.7382896076109762 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.14, Z:-1.13 [[ 0.99958587 -0.02405357 -0.01579633 5.50258895] [ 0.02392701 0.99968047 -0.0081526 -0.13744959] [ 0.01598738 0.00777126 0.99984199 -1.12560889] [ 0. 0. 0. 1. ]] SLAMing on 141.23119381700002 meters Centerline goodness [0,1] 0.7480667312808034 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.13, Z:-1.13 [[ 0.9997745 -0.01876016 -0.00994988 5.51514104] [ 0.0186474 0.99976218 -0.0113073 -0.12859498] [ 0.01015964 0.01111921 0.99988657 -1.12912565] [ 0. 0. 0. 1. ]] SLAMing on 141.26119381700002 meters Centerline goodness [0,1] 0.7840339614827087 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.12, Z:-1.13 [[ 0.99987261 -0.01240413 -0.01004475 5.51449272] [ 0.01234544 0.99990648 -0.00588424 -0.12200076] [ 0.0101168 0.00575949 0.99993224 -1.12817935] [ 0. 0. 0. 1. ]] SLAMing on 141.29119381700002 meters Centerline goodness [0,1] 0.7809397199950148 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.11, Z:-1.13 [[ 9.99927749e-01 -6.99088484e-03 -9.77880403e-03 5.51295224e+00] [ 6.97734407e-03 9.99974652e-01 -1.41813780e-03 -1.14828957e-01] [ 9.78847020e-03 1.34980526e-03 9.99951181e-01 -1.12684610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32119381700002 meters Centerline goodness [0,1] 0.8256622516556291 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.10, Z:-1.13 [[ 9.99984241e-01 -2.82220198e-03 -4.85315115e-03 5.52648057e+00] [ 2.79484079e-03 9.99980215e-01 -5.63538954e-03 -9.71938034e-02] [ 4.86895934e-03 5.62173695e-03 9.99972344e-01 -1.12960512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35119381700002 meters Centerline goodness [0,1] 0.8260039827414537 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.09, Z:-1.13 [[ 9.99987610e-01 -6.48040902e-05 -4.97743667e-03 5.52723189e+00] [ 4.58973243e-05 9.99992785e-01 -3.79851483e-03 -9.11440422e-02] [ 4.97764692e-03 3.79823931e-03 9.99980398e-01 -1.13011178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38119381700002 meters Centerline goodness [0,1] 0.8438457715563654 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.08, Z:-1.13 [[ 9.99984459e-01 1.93036493e-03 -5.23032891e-03 5.52908671e+00] [-1.94472708e-03 9.99994349e-01 -2.74224282e-03 -8.49535714e-02] [ 5.22500582e-03 2.75237176e-03 9.99982562e-01 -1.13149780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41119381700003 meters Centerline goodness [0,1] 0.8564576411960133 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.08, Z:-1.13 [[ 9.99975407e-01 4.53208857e-03 -5.35215513e-03 5.52964432e+00] [-4.53799435e-03 9.99989107e-01 -1.09181153e-03 -7.90240044e-02] [ 5.34714865e-03 1.11607273e-03 9.99985081e-01 -1.13171876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44119381700003 meters Centerline goodness [0,1] 0.8840573711116171 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.07, Z:-1.13 [[ 9.99936822e-01 9.89972834e-03 -5.32425814e-03 5.52924554e+00] [-9.88838378e-03 9.99948791e-01 2.15285161e-03 -6.73749294e-02] [ 5.34529814e-03 -2.10006729e-03 9.99983509e-01 -1.13087185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47119381700003 meters Centerline goodness [0,1] 0.892750683116668 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.06, Z:-1.13 [[ 9.99904189e-01 1.26583667e-02 -5.60159470e-03 5.53031131e+00] [-1.26365844e-02 9.99912522e-01 3.90704855e-03 -6.19045508e-02] [ 5.65056154e-03 -3.83588919e-03 9.99976678e-01 -1.13126157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50119381700003 meters Centerline goodness [0,1] 0.9056463134356171 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.06, Z:-1.13 [[ 0.99985999 0.01569576 -0.00580076 5.53080765] [-0.01566057 0.99985899 0.00606205 -0.05701978] [ 0.00589509 -0.00597036 0.9999648 -1.13109375] [ 0. 0. 0. 1. ]] SLAMing on 141.53119381700003 meters Centerline goodness [0,1] 0.9207552656723859 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.05, Z:-1.13 [[ 0.99975181 0.02149372 -0.00585979 5.53013041] [-0.02143326 0.99971832 0.01019257 -0.04803037] [ 0.00607721 -0.01006445 0.99993088 -1.1295724 ] [ 0. 0. 0. 1. ]] SLAMing on 141.56119381700003 meters Centerline goodness [0,1] 0.9242587824931484 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.04, Z:-1.13 [[ 0.99975208 0.02140273 -0.00614012 5.53052256] [-0.02134946 0.99973497 0.00861394 -0.04245676] [ 0.00632285 -0.00848072 0.99994405 -1.12911262] [ 0. 0. 0. 1. ]] SLAMing on 141.59119381700003 meters Centerline goodness [0,1] 0.9256172647552708 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.04, Z:-1.13 [[ 0.99975398 0.02124299 -0.00638029 5.5310096 ] [-0.02119784 0.99975035 0.00706253 -0.03719605] [ 0.00652872 -0.00692554 0.99995471 -1.12887961] [ 0. 0. 0. 1. ]] SLAMing on 141.62119381700003 meters Centerline goodness [0,1] 0.9271161825726141 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.03, Z:-1.13 [[ 9.99755803e-01 2.10943346e-02 -6.58510792e-03 5.53110058e+00] [-2.10572863e-02 9.99762331e-01 5.64560530e-03 -3.24136910e-02] [ 6.70263313e-03 -5.50556216e-03 9.99962381e-01 -1.12819301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65119381700003 meters Centerline goodness [0,1] 0.9271616444030237 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.03, Z:-1.13 [[ 0.999686 0.02412056 -0.0067903 5.53163049] [-0.02407027 0.99968293 0.00739386 -0.02631485] [ 0.0069665 -0.0072281 0.99994961 -1.12799163] [ 0. 0. 0. 1. ]] SLAMing on 141.68119381700004 meters Centerline goodness [0,1] 0.9255321345252596 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.02, Z:-1.13 [[ 0.99968442 0.02405135 -0.0072519 5.53319486] [-0.02400402 0.99969044 0.0065449 -0.02326973] [ 0.00740707 -0.00636876 0.99995229 -1.12872361] [ 0. 0. 0. 1. ]] SLAMing on 141.711193817 meters Centerline goodness [0,1] 0.9239968658501382 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.02, Z:-1.13 [[ 0.99968553 0.02388597 -0.00763561 5.53429844] [-0.0238424 0.99969921 0.00574776 -0.02085016] [ 0.0077706 -0.0055639 0.99995433 -1.12904746] [ 0. 0. 0. 1. ]] SLAMing on 141.741193817 meters Centerline goodness [0,1] 0.9199190517490604 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.02, Z:-1.13 [[ 9.99689023e-01 2.36171187e-02 -8.00553581e-03 5.53518198e+00] [-2.35770254e-02 9.99709187e-01 5.06612316e-03 -1.90753101e-02] [ 8.12285493e-03 -4.87580099e-03 9.99955122e-01 -1.12912477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.771193817 meters Centerline goodness [0,1] 0.9228153125129609 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.02, Z:-1.13 [[ 9.99682306e-01 2.38301084e-02 -8.21048404e-03 5.53524159e+00] [-2.37921515e-02 9.99705925e-01 4.69005334e-03 -1.76963846e-02] [ 8.31983403e-03 -4.49321826e-03 9.99955295e-01 -1.12857710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.801193817 meters Centerline goodness [0,1] 0.921902476363862 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.02, Z:-1.13 [[ 9.99674874e-01 2.40208171e-02 -8.55256402e-03 5.53584771e+00] [-2.39815368e-02 9.99701512e-01 4.66613369e-03 -1.77147370e-02] [ 8.66209553e-03 -4.45951298e-03 9.99952539e-01 -1.12839780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.831193817 meters Centerline goodness [0,1] 0.9215114475398647 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.02, Z:-1.13 [[ 9.99666933e-01 2.42610838e-02 -8.79901552e-03 5.53656039e+00] [-2.42199775e-02 9.99695376e-01 4.74856173e-03 -1.80181319e-02] [ 8.91154038e-03 -4.53386819e-03 9.99950013e-01 -1.12856891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86119381700001 meters Centerline goodness [0,1] 0.9237945188440648 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.02, Z:-1.13 [[ 9.99646459e-01 2.50464384e-02 -8.92370651e-03 5.53617385e+00] [-2.49975572e-02 9.99672118e-01 5.54776197e-03 -1.96093357e-02] [ 9.05973227e-03 -5.32272975e-03 9.99944793e-01 -1.12765167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.89119381700002 meters Centerline goodness [0,1] 0.9241212572066207 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.02, Z:-1.13 [[ 9.99699129e-01 2.27254185e-02 -9.23076093e-03 5.53659581e+00] [-2.27027228e-02 9.99738992e-01 2.55610382e-03 -1.94089159e-02] [ 9.28644016e-03 -2.34577135e-03 9.99954129e-01 -1.12730584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92119381700002 meters Centerline goodness [0,1] 0.9241681659325434 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.02, Z:-1.13 [[ 9.99757310e-01 1.99254384e-02 -9.39673105e-03 5.53650721e+00] [-1.99326895e-02 9.99801094e-01 -6.78626801e-04 -1.98282916e-02] [ 9.38134005e-03 8.65764227e-04 9.99955619e-01 -1.12674450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.95119381700002 meters Centerline goodness [0,1] 0.9239983477901693 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.02, Z:-1.13 [[ 9.99800612e-01 1.74637889e-02 -9.68256606e-03 5.53668575e+00] [-1.74872978e-02 9.99844327e-01 -2.34863710e-03 -2.47750533e-02] [ 9.64004265e-03 2.51749073e-03 9.99950365e-01 -1.12643691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98119381700002 meters Centerline goodness [0,1] 0.9232930482388183 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.03, Z:-1.13 [[ 9.99835190e-01 1.50393395e-02 -1.01691186e-02 5.53847385e+00] [-1.50838203e-02 9.99876936e-01 -4.31164746e-03 -2.77318619e-02] [ 1.01030228e-02 4.46432602e-03 9.99938998e-01 -1.12745280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01119381700002 meters Centerline goodness [0,1] 0.9232930482388183 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.03, Z:-1.13 [[ 9.99835190e-01 1.50393395e-02 -1.01691186e-02 5.53847385e+00] [-1.50838203e-02 9.99876936e-01 -4.31164746e-03 -2.77318619e-02] [ 1.01030228e-02 4.46432602e-03 9.99938998e-01 -1.12745280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04119381700002 meters Centerline goodness [0,1] 0.9217071558420096 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.03, Z:-1.13 [[ 0.99987341 0.01191217 -0.0105485 5.53988639] [-0.01198404 0.99990522 -0.00677718 -0.03108393] [ 0.01046677 0.00690274 0.9999214 -1.12833938] [ 0. 0. 0. 1. ]] SLAMing on 142.07119381700002 meters Centerline goodness [0,1] 0.9184223623092236 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.03, Z:-1.13 [[ 0.99990749 0.00823468 -0.01082641 5.5406461 ] [-0.00833905 0.99991885 -0.0096306 -0.03466162] [ 0.01074623 0.00971999 0.99989501 -1.12871559] [ 0. 0. 0. 1. ]] SLAMing on 142.10119381700002 meters Centerline goodness [0,1] 0.9123626772994413 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.04, Z:-1.13 [[ 9.99935652e-01 9.46554587e-04 -1.13047249e-02 5.54208325e+00] [-1.11603258e-03 9.99886947e-01 -1.49948971e-02 -4.23889115e-02] [ 1.12892534e-02 1.50065486e-02 9.99823663e-01 -1.12956297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13119381700002 meters Centerline goodness [0,1] 0.9079083426396989 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.05, Z:-1.13 [[ 9.99969461e-01 -2.90879753e-03 -7.25362031e-03 5.55191385e+00] [ 2.85713900e-03 9.99970557e-01 -7.12197858e-03 -4.76481379e-02] [ 7.27412313e-03 7.10103649e-03 9.99948330e-01 -1.13158791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16119381700003 meters Centerline goodness [0,1] 0.895151729445288 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.05, Z:-1.13 [[ 9.99966863e-01 -3.59024410e-03 -7.30641093e-03 5.55191165e+00] [ 3.54173463e-03 9.99971673e-01 -6.64144564e-03 -5.09328218e-02] [ 7.33004837e-03 6.61534819e-03 9.99951253e-01 -1.13138187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19119381700003 meters Centerline goodness [0,1] 0.9140373804634182 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.05, Z:-1.13 [[ 9.99963586e-01 -3.92885162e-03 -7.57567864e-03 5.55236049e+00] [ 3.88269620e-03 9.99973871e-01 -6.09769119e-03 -5.34220647e-02] [ 7.59943762e-03 6.06805509e-03 9.99952713e-01 -1.13121354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22119381700003 meters Centerline goodness [0,1] 0.9032002996379375 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.05, Z:-1.13 [[ 0.9999389 -0.00805246 -0.00757297 5.55141287] [ 0.00797825 0.99992036 -0.00977859 -0.054759 ] [ 0.00765111 0.00971758 0.99992351 -1.12979462] [ 0. 0. 0. 1. ]] SLAMing on 142.25119381700003 meters Centerline goodness [0,1] 0.8889304646086685 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.06, Z:-1.13 [[ 0.99993553 -0.00825052 -0.00780114 5.55196833] [ 0.00817775 0.99992318 -0.00931479 -0.05682431] [ 0.00787739 0.0092504 0.99992619 -1.12990192] [ 0. 0. 0. 1. ]] SLAMing on 142.28119381700003 meters Centerline goodness [0,1] 0.8680252405089479 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.06, Z:-1.13 [[ 0.99993172 -0.0084073 -0.00811674 5.55306464] [ 0.00833549 0.99992617 -0.00884164 -0.05892941] [ 0.00819047 0.00877338 0.99992797 -1.13056001] [ 0. 0. 0. 1. ]] SLAMing on 142.31119381700003 meters Centerline goodness [0,1] 0.8493338030211981 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.06, Z:-1.13 [[ 0.99992887 -0.00860957 -0.00825467 5.55389743] [ 0.00853936 0.99992738 -0.00850334 -0.06049642] [ 0.00832728 0.00843225 0.99992977 -1.13127245] [ 0. 0. 0. 1. ]] SLAMing on 142.34119381700003 meters Centerline goodness [0,1] 0.8228113516992257 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.06, Z:-1.13 [[ 0.99992656 -0.00870642 -0.00843004 5.55465574] [ 0.0086369 0.99992868 -0.00824798 -0.06136699] [ 0.00850125 0.00817456 0.99993045 -1.1318178 ] [ 0. 0. 0. 1. ]] SLAMing on 142.37119381700003 meters Centerline goodness [0,1] 0.7999418978647466 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.06, Z:-1.13 [[ 9.99944726e-01 -6.20299244e-03 -8.48928126e-03 5.55501893e+00] [ 6.16337491e-03 9.99970031e-01 -4.68500325e-03 -6.23881511e-02] [ 8.51808788e-03 4.63242167e-03 9.99952990e-01 -1.13220338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40119381700003 meters Centerline goodness [0,1] 0.8274665447593716 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.06, Z:-1.13 [[ 9.99959631e-01 -3.09550827e-03 -8.43531920e-03 5.55475336e+00] [ 3.08897266e-03 9.99994919e-01 -7.87710208e-04 -6.39218110e-02] [ 8.43771470e-03 7.61621939e-04 9.99964112e-01 -1.13196326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43119381700004 meters Centerline goodness [0,1] 0.7955527976005792 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.06, Z:-1.13 [[ 9.99958403e-01 -3.16044708e-03 -8.55591410e-03 5.55512260e+00] [ 3.15308667e-03 9.99994647e-01 -8.73623427e-04 -6.33759344e-02] [ 8.55862934e-03 8.46609548e-04 9.99963016e-01 -1.13200989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.461193817 meters Centerline goodness [0,1] 0.840595089471494 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.06, Z:-1.13 [[ 9.99958084e-01 -3.24430958e-03 -8.56179197e-03 5.55480289e+00] [ 3.23641654e-03 9.99994325e-01 -9.35585542e-04 -6.29671942e-02] [ 8.56477871e-03 9.07836801e-04 9.99962910e-01 -1.13152933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.491193817 meters Centerline goodness [0,1] 0.8209259297756897 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.06, Z:-1.13 [[ 9.99955778e-01 -3.63359929e-03 -8.67404845e-03 5.55516920e+00] [ 3.62272567e-03 9.99992633e-01 -1.26896406e-03 -6.21515509e-02] [ 8.67859546e-03 1.23748425e-03 9.99961575e-01 -1.13163715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.521193817 meters Centerline goodness [0,1] 0.8170209225905745 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.06, Z:-1.13 [[ 9.99954220e-01 -3.69213918e-03 -8.82754228e-03 5.55583988e+00] [ 3.68049334e-03 9.99992336e-01 -1.33514380e-03 -6.17337735e-02] [ 8.83240416e-03 1.30259297e-03 9.99960145e-01 -1.13207457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.551193817 meters Centerline goodness [0,1] 0.7554339973165445 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.06, Z:-1.13 [[ 9.99950396e-01 -3.96013900e-03 -9.13910920e-03 5.55728752e+00] [ 3.94458236e-03 9.99990742e-01 -1.71960374e-03 -6.06390390e-02] [ 9.14583445e-03 1.68346847e-03 9.99956759e-01 -1.13310093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.581193817 meters Centerline goodness [0,1] 0.747260060309868 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.06, Z:-1.13 [[ 9.99947597e-01 -4.36429368e-03 -9.26047805e-03 5.55812991e+00] [ 4.34092433e-03 9.99987347e-01 -2.54215880e-03 -5.80404011e-02] [ 9.27145560e-03 2.50182655e-03 9.99953889e-01 -1.13385382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.61119381700001 meters Centerline goodness [0,1] 0.7813307961197179 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.06, Z:-1.13 [[ 9.99943821e-01 -4.59910741e-03 -9.55006431e-03 5.55943506e+00] [ 4.57029890e-03 9.99984947e-01 -3.03621380e-03 -5.66019227e-02] [ 9.56388442e-03 2.99239658e-03 9.99949788e-01 -1.13473354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64119381700002 meters Centerline goodness [0,1] 0.7789436575907762 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.06, Z:-1.14 [[ 9.99952896e-01 -1.68552043e-03 -9.55845333e-03 5.55998081e+00] [ 1.68597180e-03 9.99998578e-01 3.91638793e-05 -5.58072759e-02] [ 9.55837373e-03 -5.52773173e-05 9.99954316e-01 -1.13538418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.67119381700002 meters Centerline goodness [0,1] 0.793564961567945 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.05, Z:-1.14 [[ 9.99952853e-01 -1.27260443e-03 -9.62660738e-03 5.56054033e+00] [ 1.26656647e-03 9.99998997e-01 -6.33285536e-04 -5.15776257e-02] [ 9.62740365e-03 6.21062941e-04 9.99953463e-01 -1.13570456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70119381700002 meters Centerline goodness [0,1] 0.8255429699677855 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.05, Z:-1.14 [[ 9.99949636e-01 2.30859499e-03 -9.76712959e-03 5.56072449e+00] [-2.28809004e-03 9.99995156e-01 2.11003705e-03 -4.76849236e-02] [ 9.77195350e-03 -2.08758271e-03 9.99950074e-01 -1.13543235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.73119381700002 meters Centerline goodness [0,1] 0.8905361536711949 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.04, Z:-1.13 [[ 0.99987458 0.01132462 -0.01107127 5.56257584] [-0.01123864 0.99990644 0.0077977 -0.04012309] [ 0.01115854 -0.0076723 0.99990831 -1.1338868 ] [ 0. 0. 0. 1. ]] SLAMing on 142.76119381700002 meters Centerline goodness [0,1] 0.9086788372769992 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.04, Z:-1.13 [[ 0.99981366 0.01575147 -0.01115925 5.56252996] [-0.01562993 0.99981848 0.01089568 -0.03675828] [ 0.01132884 -0.01071923 0.99987837 -1.13328739] [ 0. 0. 0. 1. ]] SLAMing on 142.79119381700002 meters Centerline goodness [0,1] 0.9191203876257921 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.03, Z:-1.13 [[ 0.99958406 0.02783674 -0.007538 5.56763922] [-0.02776037 0.99956406 0.0100524 -0.02872362] [ 0.00781454 -0.00983896 0.99992106 -1.12990231] [ 0. 0. 0. 1. ]] SLAMing on 142.82119381700002 meters Centerline goodness [0,1] 0.9223783023356849 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.02, Z:-1.13 [[ 0.9994787 0.03140399 -0.00749091 5.56702541] [-0.03130769 0.99942982 0.01264371 -0.02449586] [ 0.0078837 -0.0124026 0.99989201 -1.12877455] [ 0. 0. 0. 1. ]] SLAMing on 142.85119381700002 meters Centerline goodness [0,1] 0.9228020161956701 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.02, Z:-1.13 [[ 0.99947353 0.03153078 -0.00764716 5.56704208] [-0.03144142 0.99943901 0.01153707 -0.01982714] [ 0.00800664 -0.01129056 0.9999042 -1.12811994] [ 0. 0. 0. 1. ]] SLAMing on 142.88119381700002 meters Centerline goodness [0,1] 0.9216267169404794 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.02, Z:-1.13 [[ 0.9994843 0.03112811 -0.00788536 5.56715109] [-0.03104322 0.99946111 0.01066792 -0.01766719] [ 0.00821319 -0.01041763 0.999912 -1.12759737] [ 0. 0. 0. 1. ]] SLAMing on 142.91119381700003 meters Centerline goodness [0,1] 0.9210624148044115 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.02, Z:-1.13 [[ 0.99960984 0.02671256 -0.00816083 5.56753764] [-0.02666307 0.99962578 0.00611334 -0.01694717] [ 0.00832108 -0.00589336 0.99994801 -1.12764239] [ 0. 0. 0. 1. ]] SLAMing on 142.94119381700003 meters Centerline goodness [0,1] 0.921607623782888 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.02, Z:-1.13 [[ 9.99713105e-01 2.24394935e-02 -8.37712559e-03 5.56791497e+00] [-2.24250945e-02 9.99746890e-01 1.80885422e-03 -1.66578912e-02] [ 8.41559502e-03 -1.62047743e-03 9.99963275e-01 -1.12779928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97119381700003 meters Centerline goodness [0,1] 0.9213992792344974 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.02, Z:-1.13 [[ 9.99793363e-01 1.83743209e-02 -8.69573718e-03 5.56844541e+00] [-1.83944718e-02 9.99828291e-01 -2.24304089e-03 -1.64813070e-02] [ 8.65302969e-03 2.40253089e-03 9.99959676e-01 -1.12781572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00119381700003 meters Centerline goodness [0,1] 0.9222979269782757 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.02, Z:-1.13 [[ 9.99807206e-01 1.75227345e-02 -8.86027455e-03 5.56862986e+00] [-1.75453235e-02 9.99842998e-01 -2.47819687e-03 -1.74092723e-02] [ 8.81545868e-03 2.63317547e-03 9.99957676e-01 -1.12771510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03119381700003 meters Centerline goodness [0,1] 0.9183106187898024 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.02, Z:-1.13 [[ 9.99823674e-01 1.64248536e-02 -9.10195443e-03 5.56899250e+00] [-1.64539759e-02 9.99859713e-01 -3.13396863e-03 -1.67526542e-02] [ 9.04920256e-03 3.28317936e-03 9.99953665e-01 -1.12759677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06119381700003 meters Centerline goodness [0,1] 0.9193508218495766 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.02, Z:-1.13 [[ 9.99820874e-01 1.63991819e-02 -9.44913295e-03 5.57027046e+00] [-1.64307840e-02 9.99859637e-01 -3.27658028e-03 -1.61629506e-02] [ 9.39407340e-03 3.43125003e-03 9.99949988e-01 -1.12831324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09119381700003 meters Centerline goodness [0,1] 0.917298828003886 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.02, Z:-1.13 [[ 9.99804145e-01 1.71032494e-02 -9.95740348e-03 5.57251548e+00] [-1.71311601e-02 9.99849539e-01 -2.72449755e-03 -1.62505929e-02] [ 9.90930751e-03 2.89454582e-03 9.99946712e-01 -1.12976862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12119381700003 meters Centerline goodness [0,1] 0.9144570837642192 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.02, Z:-1.13 [[ 9.99762892e-01 1.90608249e-02 -1.05283000e-02 5.57542478e+00] [-1.90794935e-02 9.99816566e-01 -1.67558649e-03 -1.62362771e-02] [ 1.04944307e-02 1.87606383e-03 9.99943172e-01 -1.13186868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15119381700003 meters Centerline goodness [0,1] 0.9114559561843907 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.01, Z:-1.13 [[ 9.99752924e-01 1.95149876e-02 -1.06422034e-02 5.57592758e+00] [-1.95368440e-02 9.99807229e-01 -1.95365866e-03 -1.45958810e-02] [ 1.06020263e-02 2.16109102e-03 9.99941462e-01 -1.13205671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18119381700004 meters Centerline goodness [0,1] 0.9137602912581192 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.01, Z:-1.13 [[ 9.99721818e-01 2.08413942e-02 -1.10418801e-02 5.57782848e+00] [-2.08576344e-02 9.99781534e-01 -1.35765454e-03 -1.27300320e-02] [ 1.10111724e-02 1.58758436e-03 9.99938115e-01 -1.13310583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.211193817 meters Centerline goodness [0,1] 0.9143961632281804 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.01, Z:-1.13 [[ 9.99718502e-01 2.09858727e-02 -1.10683975e-02 5.57773845e+00] [-2.10112126e-02 9.99776868e-01 -2.17808629e-03 -9.50455726e-03] [ 1.10202187e-02 2.41003362e-03 9.99936371e-01 -1.13263806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.241193817 meters Centerline goodness [0,1] 0.9175805984356247 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.01, Z:-1.13 [[ 9.99632295e-01 2.48104450e-02 -1.09414976e-02 5.57688681e+00] [-2.48038965e-02 9.99692067e-01 7.33818135e-04 -5.92418369e-03] [ 1.09563347e-02 -4.62156531e-04 9.99939871e-01 -1.13136661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.271193817 meters Centerline goodness [0,1] 0.9205639401279424 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.00, Z:-1.13 [[ 9.99627570e-01 2.49272636e-02 -1.11064307e-02 5.57678019e+00] [-2.49264503e-02 9.99689265e-01 2.11671375e-04 -4.03277643e-03] [ 1.11082560e-02 6.52513516e-05 9.99938299e-01 -1.13063586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.301193817 meters Centerline goodness [0,1] 0.9194139194139194 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.00, Z:-1.13 [[ 9.99621404e-01 2.50791320e-02 -1.13175063e-02 5.57715564e+00] [-2.50806947e-02 9.99685430e-01 3.84751336e-06 -3.24674297e-03] [ 1.13140426e-02 2.80004863e-04 9.99935955e-01 -1.13044734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.331193817 meters Centerline goodness [0,1] 0.9224648792010277 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.00, Z:-1.13 [[ 9.99613618e-01 2.53288842e-02 -1.14482325e-02 5.57753671e+00] [-2.53295314e-02 9.99679152e-01 8.84818521e-05 -3.69001028e-03] [ 1.14468005e-02 2.01530701e-04 9.99934463e-01 -1.13054538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36119381700001 meters Centerline goodness [0,1] 0.9213714662490727 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.01, Z:-1.13 [[ 9.99593687e-01 2.59981881e-02 -1.16856721e-02 5.57853054e+00] [-2.59860329e-02 9.99661597e-01 1.19083918e-03 -6.94532072e-03] [ 1.17126773e-02 -8.86691065e-04 9.99931011e-01 -1.13125448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.39119381700002 meters Centerline goodness [0,1] 0.9216933402168301 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.01, Z:-1.13 [[ 9.99664662e-01 2.30951392e-02 -1.17122654e-02 5.57834337e+00] [-2.31218144e-02 9.99730349e-01 -2.14725446e-03 -6.75330998e-03] [ 1.16595161e-02 2.41734323e-03 9.99929104e-01 -1.13093407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42119381700002 meters Centerline goodness [0,1] 0.9220287033777207 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.01, Z:-1.13 [[ 9.99662518e-01 2.31158747e-02 -1.18535237e-02 5.57848130e+00] [-2.31357930e-02 9.99731136e-01 -1.54598722e-03 -9.12783737e-03] [ 1.18145999e-02 1.81970614e-03 9.99928549e-01 -1.13081050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.45119381700002 meters Centerline goodness [0,1] 0.918962990484447 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.01, Z:-1.13 [[ 9.99656129e-01 2.31495471e-02 -1.23175977e-02 5.57945632e+00] [-2.31603071e-02 9.99731496e-01 -7.31602090e-04 -1.23017069e-02] [ 1.22973542e-02 1.01662986e-03 9.99923868e-01 -1.13092724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48119381700002 meters Centerline goodness [0,1] 0.9211928462269217 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.02, Z:-1.13 [[ 9.99697643e-01 2.08991415e-02 -1.29556691e-02 5.58010263e+00] [-2.09236346e-02 9.99779531e-01 -1.75786118e-03 -2.00469545e-02] [ 1.29160750e-02 2.02840937e-03 9.99914527e-01 -1.13053128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51119381700002 meters Centerline goodness [0,1] 0.9169701233137466 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.02, Z:-1.13 [[ 9.99748488e-01 1.82490022e-02 -1.30359318e-02 5.57942701e+00] [-1.83033008e-02 9.99824245e-01 -4.05820303e-03 -2.34896471e-02] [ 1.29595825e-02 4.29578292e-03 9.99906793e-01 -1.12963337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54119381700002 meters Centerline goodness [0,1] 0.9202888086642599 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.03, Z:-1.13 [[ 9.99845209e-01 1.56587543e-02 -8.02261949e-03 5.58730714e+00] [-1.56212873e-02 9.99866879e-01 4.71174196e-03 -2.85533424e-02] [ 8.09533151e-03 -4.58568898e-03 9.99956718e-01 -1.13052381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57119381700002 meters Centerline goodness [0,1] 0.9210303618237734 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.03, Z:-1.13 [[ 9.99891703e-01 1.22344863e-02 -8.17926815e-03 5.58692782e+00] [-1.22252604e-02 9.99924576e-01 1.17701887e-03 -2.92738725e-02] [ 8.19305146e-03 -1.07689771e-03 9.99965857e-01 -1.12959644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60119381700002 meters Centerline goodness [0,1] 0.9218982630272953 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.03, Z:-1.13 [[ 9.99925249e-01 9.01649357e-03 -8.25832593e-03 5.58663319e+00] [-9.03395095e-03 9.99957032e-01 -2.07905410e-03 -3.04170893e-02] [ 8.23922531e-03 2.15350400e-03 9.99963738e-01 -1.12900216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63119381700002 meters Centerline goodness [0,1] 0.9194950331125827 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.04, Z:-1.13 [[ 9.99943176e-01 6.54623491e-03 -8.41378980e-03 5.58764443e+00] [-6.57509096e-03 9.99972581e-01 -3.40654051e-03 -3.79343417e-02] [ 8.39125909e-03 3.46166837e-03 9.99958801e-01 -1.13001381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66119381700003 meters Centerline goodness [0,1] 0.9170779046478496 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.04, Z:-1.13 [[ 9.99947562e-01 4.98174323e-03 -8.94734704e-03 5.59073532e+00] [-5.02327323e-03 9.99976687e-01 -4.62513935e-03 -4.14342094e-02] [ 8.92409719e-03 4.66984179e-03 9.99949275e-01 -1.13250253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69119381700003 meters Centerline goodness [0,1] 0.9190197785794253 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.05, Z:-1.13 [[ 9.99946299e-01 4.89190808e-03 -9.13608489e-03 5.59205133e+00] [-4.92634489e-03 9.99980832e-01 -3.75062573e-03 -4.55106913e-02] [ 9.11756205e-03 3.79543183e-03 9.99951231e-01 -1.13382381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72119381700003 meters Centerline goodness [0,1] 0.9124093639941993 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.05, Z:-1.14 [[ 9.99952338e-01 2.07227857e-03 -9.54080467e-03 5.59474850e+00] [-2.11837664e-03 9.99986120e-01 -4.82410719e-03 -5.33935641e-02] [ 9.53067535e-03 4.84408828e-03 9.99942849e-01 -1.13658631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75119381700003 meters Centerline goodness [0,1] 0.9092699307657228 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.06, Z:-1.14 [[ 9.99952079e-01 1.61253954e-03 -9.65603193e-03 5.59526456e+00] [-1.65104717e-03 9.99990712e-01 -3.98129158e-03 -5.81310266e-02] [ 9.64952225e-03 3.99704336e-03 9.99945454e-01 -1.13697215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78119381700003 meters Centerline goodness [0,1] 0.9139680505900101 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.06, Z:-1.14 [[ 9.99950289e-01 1.14967923e-03 -9.90439235e-03 5.59605153e+00] [-1.18095000e-03 9.99994335e-01 -3.15199358e-03 -6.27445385e-02] [ 9.90071247e-03 3.16353349e-03 9.99945983e-01 -1.13734510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81119381700003 meters Centerline goodness [0,1] 0.9130236321762766 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.07, Z:-1.14 [[ 9.99948653e-01 -2.60702253e-03 -9.79262315e-03 5.59469911e+00] [ 2.55487973e-03 9.99982513e-01 -5.33344339e-03 -6.84801926e-02] [ 9.80635632e-03 5.30815056e-03 9.99937828e-01 -1.13578946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84119381700003 meters Centerline goodness [0,1] 0.9190703465449264 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.07, Z:-1.13 [[ 9.99947758e-01 -2.52964141e-03 -9.90362148e-03 5.59425784e+00] [ 2.48743325e-03 9.99987782e-01 -4.27189159e-03 -7.19718747e-02] [ 9.91430683e-03 4.24703383e-03 9.99941833e-01 -1.13484980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87119381700003 meters Centerline goodness [0,1] 0.912850506056081 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.08, Z:-1.13 [[ 9.99947084e-01 -2.45518142e-03 -9.99004749e-03 5.59380333e+00] [ 2.42253151e-03 9.99991690e-01 -3.27903377e-03 -7.52463842e-02] [ 9.99801509e-03 3.25465906e-03 9.99944722e-01 -1.13396173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90119381700003 meters Centerline goodness [0,1] 0.9141080128537369 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.08, Z:-1.13 [[ 9.99946583e-01 -2.19170671e-03 -1.01008830e-02 5.59333786e+00] [ 2.16881945e-03 9.99995057e-01 -2.27626407e-03 -7.83764223e-02] [ 1.01058220e-02 2.25423549e-03 9.99946394e-01 -1.13300600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93119381700004 meters Centerline goodness [0,1] 0.9141080128537369 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.08, Z:-1.13 [[ 9.99946583e-01 -2.19170671e-03 -1.01008830e-02 5.59333786e+00] [ 2.16881945e-03 9.99995057e-01 -2.27626407e-03 -7.83764223e-02] [ 1.01058220e-02 2.25423549e-03 9.99946394e-01 -1.13300600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.961193817 meters Centerline goodness [0,1] 0.922121080768675 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.08, Z:-1.13 [[ 9.99944554e-01 -2.04922396e-03 -1.03290800e-02 5.59339990e+00] [ 2.03302178e-03 9.99996687e-01 -1.57885404e-03 -8.09330482e-02] [ 1.03322812e-02 1.55776725e-03 9.99945407e-01 -1.13237427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.991193817 meters Centerline goodness [0,1] 0.9215637860082304 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.09, Z:-1.13 [[ 9.99943569e-01 -1.70295919e-03 -1.04861285e-02 5.59293391e+00] [ 1.70104964e-03 9.99998535e-01 -1.91018339e-04 -8.57160369e-02] [ 1.04864384e-02 1.73170134e-04 9.99945001e-01 -1.13121536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.021193817 meters Centerline goodness [0,1] 0.9154376833147436 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.09, Z:-1.13 [[ 9.99943026e-01 -1.41161697e-03 -1.05807107e-02 5.59294495e+00] [ 1.41639853e-03 9.99998898e-01 4.44433054e-04 -8.75379893e-02] [ 1.05800716e-02 -4.59394237e-04 9.99943924e-01 -1.13095793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.051193817 meters Centerline goodness [0,1] 0.9194441563828684 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.09, Z:-1.13 [[ 9.99942542e-01 -1.23529575e-03 -1.06483635e-02 5.59307214e+00] [ 1.24448148e-03 9.99998859e-01 8.56059544e-04 -8.86518761e-02] [ 1.06472939e-02 -8.69262048e-04 9.99942938e-01 -1.13089088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.081193817 meters Centerline goodness [0,1] 0.9251666873731726 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.09, Z:-1.13 [[ 9.99940900e-01 -1.33234372e-03 -1.07898817e-02 5.59357799e+00] [ 1.34422901e-03 9.99998498e-01 1.09434493e-03 -8.96788238e-02] [ 1.07884075e-02 -1.10878432e-03 9.99941189e-01 -1.13109816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.11119381700001 meters Centerline goodness [0,1] 0.9261703187250996 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.09, Z:-1.13 [[ 9.99939195e-01 -1.42205458e-03 -1.09354278e-02 5.59382134e+00] [ 1.43595971e-03 9.99998170e-01 1.26382060e-03 -9.04884249e-02] [ 1.09336106e-02 -1.27944659e-03 9.99939408e-01 -1.13099954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14119381700002 meters Centerline goodness [0,1] 0.9142567958357433 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.09, Z:-1.13 [[ 9.99929074e-01 -2.57892516e-03 -1.16274240e-02 5.59664783e+00] [ 2.58458104e-03 9.99996549e-01 4.71425215e-04 -9.10308813e-02] [ 1.16261681e-02 -5.01443798e-04 9.99932288e-01 -1.13280861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.17119381700002 meters Centerline goodness [0,1] 0.9048863447818152 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.09, Z:-1.13 [[ 9.99928160e-01 -2.55637868e-03 -1.17106416e-02 5.59723981e+00] [ 2.56135588e-03 9.99996636e-01 4.10037098e-04 -9.04617297e-02] [ 1.17095539e-02 -4.40002761e-04 9.99931344e-01 -1.13334046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20119381700002 meters Centerline goodness [0,1] 0.9070274535864102 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.09, Z:-1.13 [[ 9.99925960e-01 -2.35547756e-03 -1.19384535e-02 5.59815023e+00] [ 2.35771924e-03 9.99997205e-01 1.73699284e-04 -8.87243033e-02] [ 1.19380110e-02 -2.01833945e-04 9.99928719e-01 -1.13390183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.23119381700002 meters Centerline goodness [0,1] 0.9179055170135447 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.09, Z:-1.14 [[ 9.99921699e-01 -1.09704940e-03 -1.24656799e-02 5.60079307e+00] [ 1.10876197e-03 9.99998950e-01 9.32713541e-04 -8.71411670e-02] [ 1.24646436e-02 -9.46461980e-04 9.99921865e-01 -1.13567262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26119381700002 meters Centerline goodness [0,1] 0.9253691163985007 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.09, Z:-1.13 [[ 9.99914904e-01 3.23048688e-03 -1.26392009e-02 5.60062840e+00] [-3.17637406e-03 9.99985714e-01 4.29908241e-03 -8.50533329e-02] [ 1.26529085e-02 -4.25856974e-03 9.99910880e-01 -1.13494331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29119381700002 meters Centerline goodness [0,1] 0.9224714923153198 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.08, Z:-1.13 [[ 9.99910968e-01 3.37046915e-03 -1.29110814e-02 5.60114206e+00] [-3.32446818e-03 9.99988056e-01 3.58271287e-03 -8.25555185e-02] [ 1.29230026e-02 -3.53947141e-03 9.99910230e-01 -1.13483978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32119381700002 meters Centerline goodness [0,1] 0.9272065514103731 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.08, Z:-1.13 [[ 9.99910141e-01 3.52122789e-03 -1.29349091e-02 5.60098118e+00] [-3.48500951e-03 9.99989947e-01 2.82152323e-03 -7.96041857e-02] [ 1.29447143e-02 -2.77619141e-03 9.99912360e-01 -1.13442229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35119381700002 meters Centerline goodness [0,1] 0.9280918435013262 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.07, Z:-1.13 [[ 9.99907162e-01 3.70213561e-03 -1.31133876e-02 5.60086835e+00] [-3.67978115e-03 9.99991736e-01 1.72842388e-03 -7.47116715e-02] [ 1.31196781e-02 -1.68000902e-03 9.99912522e-01 -1.13370625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38119381700002 meters Centerline goodness [0,1] 0.9288166439177731 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.07, Z:-1.13 [[ 9.99905656e-01 3.34592172e-03 -1.33223367e-02 5.60142705e+00] [-3.33145252e-03 9.99993837e-01 1.10812963e-03 -7.33035800e-02] [ 1.33259623e-02 -1.06364236e-03 9.99910640e-01 -1.13383780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41119381700003 meters Centerline goodness [0,1] 0.9271898713295942 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.07, Z:-1.13 [[ 9.99904375e-01 2.95736127e-03 -1.35090875e-02 5.60218963e+00] [-2.94923578e-03 9.99995458e-01 6.21365920e-04 -7.22289737e-02] [ 1.35108638e-02 -5.81465018e-04 9.99908555e-01 -1.13426853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44119381700003 meters Centerline goodness [0,1] 0.9271634912143534 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.07, Z:-1.13 [[ 9.99902649e-01 2.45927734e-03 -1.37347980e-02 5.60292664e+00] [-2.45780969e-03 9.99996972e-01 1.23735029e-04 -7.14495875e-02] [ 1.37350607e-02 -8.99654637e-05 9.99905666e-01 -1.13455458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47119381700003 meters Centerline goodness [0,1] 0.9245775347912525 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.07, Z:-1.13 [[ 9.99903375e-01 1.50648268e-03 -1.38192287e-02 5.60332957e+00] [-1.51016594e-03 9.99998827e-01 -2.56100664e-04 -7.24266066e-02] [ 1.38188267e-02 2.76945246e-04 9.99904477e-01 -1.13489236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50119381700003 meters Centerline goodness [0,1] 0.9229166236820929 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.07, Z:-1.14 [[ 9.99899189e-01 1.14030826e-03 -1.41531437e-02 5.60435028e+00] [-1.14502000e-03 9.99999292e-01 -3.24812540e-04 -7.33504349e-02] [ 1.41527633e-02 3.40985428e-04 9.99899786e-01 -1.13532263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53119381700003 meters Centerline goodness [0,1] 0.9223678227439958 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.07, Z:-1.14 [[ 9.99896848e-01 1.01704742e-03 -1.43268779e-02 5.60470050e+00] [-1.02152316e-03 9.99999432e-01 -3.05087014e-04 -7.37721891e-02] [ 1.43265594e-02 3.19690781e-04 9.99897318e-01 -1.13528569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56119381700003 meters Centerline goodness [0,1] 0.9267651684463207 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.07, Z:-1.13 [[ 9.99894737e-01 1.53571495e-03 -1.44276112e-02 5.60473332e+00] [-1.54018966e-03 9.99998769e-01 -2.99042685e-04 -7.27373323e-02] [ 1.44271342e-02 3.21232465e-04 9.99895872e-01 -1.13494416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59119381700003 meters Centerline goodness [0,1] 0.9225977358802955 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.07, Z:-1.13 [[ 9.99891369e-01 2.20813808e-03 -1.45730939e-02 5.60496629e+00] [-2.21052033e-03 9.99997546e-01 -1.47363117e-04 -7.19765755e-02] [ 1.45727328e-02 1.79561229e-04 9.99893796e-01 -1.13474894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62119381700003 meters Centerline goodness [0,1] 0.926647078298295 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.07, Z:-1.13 [[ 9.99887367e-01 2.89798374e-03 -1.47259941e-02 5.60501396e+00] [-2.90001240e-03 9.99995788e-01 -1.16408506e-04 -7.09274579e-02] [ 1.47255948e-02 1.59100960e-04 9.99891560e-01 -1.13429168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65119381700003 meters Centerline goodness [0,1] 0.9226703411965531 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.07, Z:-1.14 [[ 9.99931269e-01 7.42170990e-03 -9.07612543e-03 5.61583036e+00] [-7.46665960e-03 9.99959978e-01 -4.92870520e-03 -7.02301188e-02] [ 9.03918276e-03 4.99613478e-03 9.99946664e-01 -1.13734008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68119381700004 meters Centerline goodness [0,1] 0.9252263213247273 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.07, Z:-1.14 [[ 9.99880790e-01 1.23533143e-02 -9.26290060e-03 5.61627461e+00] [-1.23570935e-02 9.99923587e-01 -3.50869665e-04 -7.06360000e-02] [ 9.25785838e-03 4.65290366e-04 9.99957037e-01 -1.13726737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.711193817 meters Centerline goodness [0,1] 0.92520035618878 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.07, Z:-1.14 [[ 9.99873608e-01 1.28113639e-02 -9.41475834e-03 5.61681252e+00] [-1.28139845e-02 9.99917874e-01 -2.18077610e-04 -7.02447582e-02] [ 9.41119127e-03 3.38690615e-04 9.99955656e-01 -1.13754047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.741193817 meters Centerline goodness [0,1] 0.9252560786342473 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.07, Z:-1.14 [[ 9.99866889e-01 1.31721288e-02 -9.62802831e-03 5.61773513e+00] [-1.31727967e-02 9.99913235e-01 -5.95443864e-06 -7.03710579e-02] [ 9.62711450e-03 1.32781706e-04 9.99953649e-01 -1.13815101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.771193817 meters Centerline goodness [0,1] 0.9251870324189526 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.07, Z:-1.14 [[ 9.99858658e-01 1.36362984e-02 -9.83439695e-03 5.61862470e+00] [-1.36306364e-02 9.99906892e-01 6.42536362e-04 -7.17461755e-02] [ 9.84224311e-03 -5.08396455e-04 9.99951435e-01 -1.13868725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.801193817 meters Centerline goodness [0,1] 0.9249289450920625 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.08, Z:-1.14 [[ 9.99893081e-01 1.09204503e-02 -9.72477483e-03 5.61771206e+00] [-1.09374196e-02 9.99938751e-01 -1.69348746e-03 -7.59667015e-02] [ 9.70568555e-03 1.79967034e-03 9.99951279e-01 -1.13784564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.831193817 meters Centerline goodness [0,1] 0.9246326564305762 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.08, Z:-1.14 [[ 9.99920807e-01 8.03522521e-03 -9.68577282e-03 5.61712075e+00] [-8.07808101e-03 9.99957719e-01 -4.39364089e-03 -7.84341425e-02] [ 9.65005941e-03 4.47153541e-03 9.99943439e-01 -1.13721458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86119381700001 meters Centerline goodness [0,1] 0.9254003438917777 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.08, Z:-1.14 [[ 9.99940858e-01 4.87748075e-03 -9.72067474e-03 5.61684477e+00] [-4.94825647e-03 9.99961328e-01 -7.27024527e-03 -8.08528399e-02] [ 9.68483834e-03 7.31791568e-03 9.99926323e-01 -1.13680233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.89119381700002 meters Centerline goodness [0,1] 0.9233915953886203 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.09, Z:-1.14 [[ 9.99967895e-01 1.33742150e-03 -7.90065327e-03 5.62449769e+00] [-1.33315464e-03 9.99998963e-01 5.45305663e-04 -8.52420759e-02] [ 7.90137438e-03 -5.34755363e-04 9.99968641e-01 -1.13536128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92119381700002 meters Centerline goodness [0,1] 0.923680559869143 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.09, Z:-1.13 [[ 9.99969380e-01 5.27448932e-04 -7.80770970e-03 5.62314718e+00] [-5.23526245e-04 9.99999736e-01 5.04447268e-04 -8.86853356e-02] [ 7.80797371e-03 -5.00344281e-04 9.99969392e-01 -1.13384652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.95119381700002 meters Centerline goodness [0,1] 0.9242768595041322 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.09, Z:-1.13 [[ 9.99967688e-01 -1.36811781e-04 -8.03764829e-03 5.62256075e+00] [ 1.41387535e-04 9.99999828e-01 5.68724671e-04 -9.49521104e-02] [ 8.03756910e-03 -5.69842718e-04 9.99967536e-01 -1.13239114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98119381700002 meters Centerline goodness [0,1] 0.9279084158415841 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.10, Z:-1.13 [[ 9.99966651e-01 3.95992090e-04 -8.15725946e-03 5.62256213e+00] [-3.83654714e-04 9.99998780e-01 1.51395068e-03 -9.78573302e-02] [ 8.15784902e-03 -1.51077062e-03 9.99965583e-01 -1.13194195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01119381700002 meters Centerline goodness [0,1] 0.9292400082832885 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.10, Z:-1.13 [[ 9.99965891e-01 1.11733880e-03 -8.18345852e-03 5.62211478e+00] [-1.09620527e-03 9.99996054e-01 2.58649970e-03 -1.00555905e-01] [ 8.18631623e-03 -2.57744073e-03 9.99963170e-01 -1.13121148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04119381700002 meters Centerline goodness [0,1] 0.9327215858483335 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.11, Z:-1.13 [[ 9.99962116e-01 2.38475712e-03 -8.37140794e-03 5.62223266e+00] [-2.34633128e-03 9.99986681e-01 4.59695355e-03 -1.06081292e-01] [ 8.38225906e-03 -4.57713731e-03 9.99954393e-01 -1.13084429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07119381700002 meters Centerline goodness [0,1] 0.9320231357671497 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.11, Z:-1.13 [[ 9.99960099e-01 1.04753234e-03 -8.87144702e-03 5.62471375e+00] [-1.01859842e-03 9.99994150e-01 3.26535557e-03 -1.08809632e-01] [ 8.87481569e-03 -3.25618884e-03 9.99955316e-01 -1.13262282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10119381700002 meters Centerline goodness [0,1] 0.9331318942858917 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.11, Z:-1.13 [[ 9.99957045e-01 -1.03266879e-04 -9.26806513e-03 5.62725758e+00] [ 1.25380706e-04 9.99997147e-01 2.38547481e-03 -1.12646214e-01] [ 9.26779234e-03 -2.38653438e-03 9.99954205e-01 -1.13469619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13119381700002 meters Centerline goodness [0,1] 0.9320352071742921 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.12, Z:-1.14 [[ 9.99955054e-01 2.25089749e-04 -9.47831550e-03 5.62842538e+00] [-1.92556660e-04 9.99994088e-01 3.43314308e-03 -1.17056926e-01] [ 9.47903223e-03 -3.43116366e-03 9.99949186e-01 -1.13561791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16119381700003 meters Centerline goodness [0,1] 0.9315374588790267 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.12, Z:-1.14 [[ 9.99950800e-01 -3.45183623e-04 -9.91354775e-03 5.63135318e+00] [ 3.76857170e-04 9.99994830e-01 3.19328568e-03 -1.19984920e-01] [ 9.91239423e-03 -3.19686456e-03 9.99945761e-01 -1.13800997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19119381700003 meters Centerline goodness [0,1] 0.9315330286663897 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.13, Z:-1.14 [[ 9.99948872e-01 6.86475264e-04 -1.00886916e-02 5.63252255e+00] [-6.33826767e-04 9.99986170e-01 5.22083652e-03 -1.26643918e-01] [ 1.00921360e-02 -5.21417510e-03 9.99935479e-01 -1.13897056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22119381700003 meters Centerline goodness [0,1] 0.9337898122211847 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.13, Z:-1.14 [[ 9.99945602e-01 -1.35437311e-03 -1.03420957e-02 5.63372479e+00] [ 1.38880909e-03 9.99993514e-01 3.32323519e-03 -1.29427399e-01] [ 1.03375277e-02 -3.33741761e-03 9.99940997e-01 -1.13974710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25119381700003 meters Centerline goodness [0,1] 0.932351597225107 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.14, Z:-1.14 [[ 9.99941678e-01 -3.20463313e-03 -1.03136761e-02 5.63284183e+00] [ 3.23652163e-03 9.99990029e-01 3.07666193e-03 -1.38797810e-01] [ 1.03037137e-02 -3.10986293e-03 9.99942079e-01 -1.13845615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28119381700003 meters Centerline goodness [0,1] 0.9360377005958189 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.14, Z:-1.14 [[ 9.99930625e-01 -5.77967190e-03 -1.02635120e-02 5.63197337e+00] [ 5.79283437e-03 9.99982436e-01 1.25318783e-03 -1.43324253e-01] [ 1.02560888e-02 -1.31255571e-03 9.99946543e-01 -1.13737557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31119381700003 meters Centerline goodness [0,1] 0.9362709471104927 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.15, Z:-1.14 [[ 9.99910782e-01 -8.57983434e-03 -1.02378916e-02 5.63139661e+00] [ 8.57354159e-03 9.99963030e-01 -6.58383990e-04 -1.48096230e-01] [ 1.02431619e-02 5.70550260e-04 9.99947375e-01 -1.13654870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34119381700003 meters Centerline goodness [0,1] 0.9365003630328804 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.15, Z:-1.14 [[ 9.99875814e-01 -1.19098031e-02 -1.03204808e-02 5.63143119e+00] [ 1.18785930e-02 9.99924703e-01 -3.08012969e-03 -1.52246814e-01] [ 1.03563874e-02 2.95715439e-03 9.99941999e-01 -1.13613929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37119381700003 meters Centerline goodness [0,1] 0.9394328828455352 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.16, Z:-1.13 [[ 0.99977486 -0.01875305 -0.00992715 5.62912537] [ 0.01867367 0.99979339 -0.00802903 -0.15945093] [ 0.01007566 0.00784185 0.99991849 -1.1334882 ] [ 0. 0. 0. 1. ]] SLAMing on 145.40119381700003 meters Centerline goodness [0,1] 0.9420265917912296 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.17, Z:-1.13 [[ 9.99733513e-01 -2.24351976e-02 -5.43729634e-03 5.63625660e+00] [ 2.24338574e-02 9.99748282e-01 -3.07361977e-04 -1.65279017e-01] [ 5.44282340e-03 1.85300538e-04 9.99985171e-01 -1.13312906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43119381700004 meters Centerline goodness [0,1] 0.9439637327150783 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.17, Z:-1.13 [[ 9.99646087e-01 -2.60730538e-02 -5.28173001e-03 5.63577844e+00] [ 2.60557711e-02 9.99654994e-01 -3.31498613e-03 -1.68296537e-01] [ 5.36633959e-03 3.17619337e-03 9.99980557e-01 -1.13251829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.461193817 meters Centerline goodness [0,1] 0.9428335056876939 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.17, Z:-1.13 [[ 9.99627681e-01 -2.67622808e-02 -5.31785222e-03 5.63611950e+00] [ 2.67482227e-02 9.99638563e-01 -2.69734613e-03 -1.72624915e-01] [ 5.38811729e-03 2.55409876e-03 9.99982222e-01 -1.13250572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.491193817 meters Centerline goodness [0,1] 0.9333526035429657 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.18, Z:-1.13 [[ 9.99492687e-01 -3.14000473e-02 -5.32976416e-03 5.63753077e+00] [ 3.13682956e-02 9.99490243e-01 -5.94002571e-03 -1.76555074e-01] [ 5.51356436e-03 5.76982664e-03 9.99968154e-01 -1.13382353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.521193817 meters Centerline goodness [0,1] 0.9388620982262972 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.18, Z:-1.13 [[ 9.99479376e-01 -3.17917831e-02 -5.50094728e-03 5.63858836e+00] [ 3.17609055e-02 9.99479738e-01 -5.61231772e-03 -1.78352969e-01] [ 5.67651093e-03 5.43468075e-03 9.99969120e-01 -1.13462749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.551193817 meters Centerline goodness [0,1] 0.9337489935379978 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.18, Z:-1.14 [[ 9.99463678e-01 -3.22441111e-02 -5.71604733e-03 5.63977381e+00] [ 3.22118819e-02 9.99465130e-01 -5.64353890e-03 -1.79082356e-01] [ 5.89496088e-03 5.45638751e-03 9.99967738e-01 -1.13543846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.581193817 meters Centerline goodness [0,1] 0.9267289487826051 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.18, Z:-1.14 [[ 0.99943937 -0.03293345 -0.00602853 5.64133601] [ 0.03289654 0.99944 -0.00612357 -0.17860815] [ 0.00622682 0.00592182 0.99996308 -1.13659069] [ 0. 0. 0. 1. ]] SLAMing on 145.61119381700001 meters Centerline goodness [0,1] 0.9260373443983403 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.18, Z:-1.14 [[ 9.99531926e-01 -2.99456176e-02 -6.26012751e-03 5.64198737e+00] [ 2.99307955e-02 9.99548975e-01 -2.44815068e-03 -1.79887586e-01] [ 6.33061542e-03 2.25963417e-03 9.99977408e-01 -1.13686523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64119381700002 meters Centerline goodness [0,1] 0.9243937823834197 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.18, Z:-1.14 [[ 9.99524761e-01 -3.01414979e-02 -6.46080530e-03 5.64286968e+00] [ 3.01237506e-02 9.99542179e-01 -2.82688147e-03 -1.78759649e-01] [ 6.54305385e-03 2.63091433e-03 9.99975133e-01 -1.13741872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.67119381700002 meters Centerline goodness [0,1] 0.920578811369509 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.18, Z:-1.14 [[ 9.99515635e-01 -3.03976031e-02 -6.66939028e-03 5.64358774e+00] [ 3.03762906e-02 9.99533172e-01 -3.27395129e-03 -1.77208000e-01] [ 6.76579709e-03 3.06977417e-03 9.99972400e-01 -1.13775452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70119381700002 meters Centerline goodness [0,1] 0.9137286490282339 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.18, Z:-1.14 [[ 9.99595572e-01 -2.75927417e-02 -6.87991475e-03 5.64417721e+00] [ 2.75943427e-02 9.99619194e-01 1.37882767e-04 -1.77231896e-01] [ 6.87349027e-03 -3.27673729e-04 9.99976324e-01 -1.13800275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.73119381700002 meters Centerline goodness [0,1] 0.887449726719604 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.17, Z:-1.14 [[ 9.99551890e-01 -2.91146776e-02 -6.95378473e-03 5.64473226e+00] [ 2.91059605e-02 9.99575418e-01 -1.35152018e-03 -1.73438254e-01] [ 6.99018135e-03 1.14851797e-03 9.99974909e-01 -1.13835295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76119381700002 meters Centerline goodness [0,1] 0.8623847534187241 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.17, Z:-1.14 [[ 9.99528425e-01 -2.98707764e-02 -7.11783695e-03 5.64551948e+00] [ 2.98580826e-02 9.99552374e-01 -1.88303407e-03 -1.72472156e-01] [ 7.17089851e-03 1.66962111e-03 9.99972895e-01 -1.13885509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79119381700002 meters Centerline goodness [0,1] 0.837290935370638 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.17, Z:-1.14 [[ 9.99500739e-01 -3.07306599e-02 -7.34154771e-03 5.64652624e+00] [ 3.07128906e-02 9.99525069e-01 -2.52101209e-03 -1.71608271e-01] [ 7.41553335e-03 2.29427330e-03 9.99969873e-01 -1.13944807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82119381700002 meters Centerline goodness [0,1] 0.837290935370638 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.17, Z:-1.14 [[ 9.99500739e-01 -3.07306599e-02 -7.34154771e-03 5.64652624e+00] [ 3.07128906e-02 9.99525069e-01 -2.52101209e-03 -1.71608271e-01] [ 7.41553335e-03 2.29427330e-03 9.99969873e-01 -1.13944807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85119381700002 meters Centerline goodness [0,1] 0.7988193770769263 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.17, Z:-1.14 [[ 9.99442854e-01 -3.25415827e-02 -7.41804442e-03 5.64756136e+00] [ 3.25106240e-02 9.99462326e-01 -4.25651586e-03 -1.68581758e-01] [ 7.55256970e-03 4.01297911e-03 9.99963427e-01 -1.14035479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88119381700002 meters Centerline goodness [0,1] 0.7882961124896609 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.17, Z:-1.14 [[ 9.99515536e-01 -3.02137620e-02 -7.47135367e-03 5.64787885e+00] [ 3.02034063e-02 9.99542655e-01 -1.49504926e-03 -1.67278477e-01] [ 7.51310774e-03 1.26866463e-03 9.99970971e-01 -1.14063337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91119381700003 meters Centerline goodness [0,1] 0.7747164030802351 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.16, Z:-1.14 [[ 9.99590048e-01 -2.76198049e-02 -7.54205786e-03 5.64814445e+00] [ 2.76301412e-02 9.99617408e-01 1.26972830e-03 -1.64981744e-01] [ 7.50410268e-03 -1.47759590e-03 9.99970752e-01 -1.14088711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94119381700003 meters Centerline goodness [0,1] 0.7661912025394731 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.16, Z:-1.14 [[ 9.99622180e-01 -2.62886675e-02 -8.02511138e-03 5.65035873e+00] [ 2.63095584e-02 9.99650696e-01 2.50879914e-03 -1.60806877e-01] [ 7.95635519e-03 -2.71898841e-03 9.99964651e-01 -1.14244135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97119381700003 meters Centerline goodness [0,1] 0.7564022874191945 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.15, Z:-1.14 [[ 9.99650101e-01 -2.53357460e-02 -7.60098080e-03 5.64911960e+00] [ 2.53544026e-02 9.99675720e-01 2.36824903e-03 -1.50642261e-01] [ 7.53851460e-03 -2.56013871e-03 9.99968308e-01 -1.14205355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00119381700003 meters Centerline goodness [0,1] 0.7379536727362814 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.15, Z:-1.14 [[ 9.99632876e-01 -2.59429813e-02 -7.81507771e-03 5.64982640e+00] [ 2.59493337e-02 9.99663005e-01 7.12523315e-04 -1.45003226e-01] [ 7.79395909e-03 -9.15057790e-04 9.99969208e-01 -1.14240621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03119381700003 meters Centerline goodness [0,1] 0.7418493448425759 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.14, Z:-1.14 [[ 9.99694347e-01 -2.34610857e-02 -7.79673411e-03 5.64995762e+00] [ 2.34827154e-02 9.99720612e-01 2.69431268e-03 -1.40714389e-01] [ 7.73134430e-03 -2.87657765e-03 9.99965975e-01 -1.14268049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06119381700003 meters Centerline goodness [0,1] 0.7292467767473423 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.13, Z:-1.14 [[ 9.99674810e-01 -2.41995916e-02 -8.04074645e-03 5.65095825e+00] [ 2.42049907e-02 9.99706851e-01 5.74808769e-04 -1.33253555e-01] [ 8.02447918e-03 -7.69248040e-04 9.99967507e-01 -1.14331132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09119381700003 meters Centerline goodness [0,1] 0.7306739345887017 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.12, Z:-1.14 [[ 9.99741633e-01 -2.14070452e-02 -7.64232116e-03 5.64874624e+00] [ 2.14172655e-02 9.99769833e-01 1.25799468e-03 -1.19021345e-01] [ 7.61363220e-03 -1.42134728e-03 9.99970006e-01 -1.14166690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12119381700003 meters Centerline goodness [0,1] 0.7353099062641946 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.11, Z:-1.14 [[ 9.99792462e-01 -1.87747443e-02 -7.90832006e-03 5.64910352e+00] [ 1.87973327e-02 9.99819417e-01 2.79168840e-03 -1.12519663e-01] [ 7.85447871e-03 -2.93976434e-03 9.99964832e-01 -1.14161473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15119381700003 meters Centerline goodness [0,1] 0.7471940138963121 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.11, Z:-1.14 [[ 9.99835723e-01 -1.61393825e-02 -8.24911669e-03 5.64987133e+00] [ 1.61742667e-02 9.99860452e-01 4.17975895e-03 -1.05609879e-01] [ 8.18050682e-03 -4.31249572e-03 9.99957240e-01 -1.14175685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18119381700004 meters Centerline goodness [0,1] 0.7613859138653294 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.10, Z:-1.14 [[ 0.99988051 -0.01301061 -0.00834831 5.64966049] [ 0.01306102 0.99989662 0.00601266 -0.09880679] [ 0.00826922 -0.00612098 0.99994708 -1.14135899] [ 0. 0. 0. 1. ]] SLAMing on 146.211193817 meters Centerline goodness [0,1] 0.8131057907381327 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.09, Z:-1.14 [[ 0.99991372 -0.00999962 -0.00851783 5.64993443] [ 0.01006428 0.99992061 0.0075823 -0.09133415] [ 0.00844134 -0.00766737 0.99993498 -1.14131405] [ 0. 0. 0. 1. ]] SLAMing on 146.241193817 meters Centerline goodness [0,1] 0.8342524319970258 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.08, Z:-1.14 [[ 9.99954826e-01 -1.75946182e-03 -9.34073931e-03 5.65252060e+00] [ 1.87935410e-03 9.99915769e-01 1.28421935e-02 -7.76995656e-02] [ 9.31735718e-03 -1.28591679e-02 9.99873906e-01 -1.14295086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.271193817 meters Centerline goodness [0,1] 0.8693985787979863 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.07, Z:-1.14 [[ 9.99951429e-01 1.17091379e-03 -9.78612312e-03 5.65453671e+00] [-1.03004495e-03 9.99895965e-01 1.43874192e-02 -7.15710205e-02] [ 9.80195145e-03 -1.43766403e-02 9.99848606e-01 -1.14435123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.301193817 meters Centerline goodness [0,1] 0.9170350079893752 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.07, Z:-1.15 [[ 9.99937762e-01 4.15903599e-03 -1.03525440e-02 5.65697991e+00] [-3.99205904e-03 9.99862452e-01 1.60978154e-02 -6.61959125e-02] [ 1.04180714e-02 -1.60554855e-02 9.99816826e-01 -1.14598442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.331193817 meters Centerline goodness [0,1] 0.918654446904028 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.06, Z:-1.15 [[ 0.99988633 0.01059788 -0.01072437 5.65908804] [-0.01037671 0.99973656 0.02047267 -0.05654611] [ 0.01093851 -0.02035905 0.99973289 -1.14763002] [ 0. 0. 0. 1. ]] SLAMing on 146.36119381700001 meters Centerline goodness [0,1] 0.9296160308668866 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.05, Z:-1.15 [[ 0.99988583 0.01043985 -0.01092375 5.65944183] [-0.01023043 0.99976611 0.01905439 -0.05048048] [ 0.01112012 -0.01894046 0.99975877 -1.14747537] [ 0. 0. 0. 1. ]] SLAMing on 146.39119381700002 meters Centerline goodness [0,1] 0.9317865814431279 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.05, Z:-1.15 [[ 0.99988864 0.0099314 -0.01113932 5.65958949] [-0.00973595 0.99980007 0.01746488 -0.04503192] [ 0.01131054 -0.01735448 0.99978542 -1.14703552] [ 0. 0. 0. 1. ]] SLAMing on 146.42119381700002 meters Centerline goodness [0,1] 0.9371237597044049 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.04, Z:-1.15 [[ 0.99989337 0.00923896 -0.01130877 5.65948093] [-0.00905753 0.99983112 0.01599059 -0.04064748] [ 0.01145459 -0.01588645 0.99980819 -1.14639042] [ 0. 0. 0. 1. ]] SLAMing on 146.45119381700002 meters Centerline goodness [0,1] 0.9372609819121447 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.03, Z:-1.15 [[ 9.99970585e-01 6.14125362e-03 -4.59508497e-03 5.66691983e+00] [-6.12616657e-03 9.99975822e-01 3.29020451e-03 -3.22799501e-02] [ 4.61517985e-03 -3.26195747e-03 9.99984030e-01 -1.14741226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48119381700002 meters Centerline goodness [0,1] 0.9360168965088831 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.03, Z:-1.15 [[ 9.99981104e-01 4.21060828e-03 -4.47900985e-03 5.66552222e+00] [-4.20491500e-03 9.99990340e-01 1.27976045e-03 -3.03228142e-02] [ 4.48435515e-03 -1.26090241e-03 9.99989150e-01 -1.14590464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51119381700002 meters Centerline goodness [0,1] 0.9246909496837143 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.03, Z:-1.15 [[ 9.99985509e-01 1.99308855e-03 -5.00101920e-03 5.66772709e+00] [-1.99744179e-03 9.99997630e-01 -8.65626540e-04 -2.89781120e-02] [ 4.99928208e-03 8.75603241e-04 9.99987120e-01 -1.14724252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54119381700002 meters Centerline goodness [0,1] 0.9011922565636424 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.03, Z:-1.15 [[ 9.99986855e-01 3.49160184e-04 -5.11555428e-03 5.66814545e+00] [-3.62720674e-04 9.99996423e-01 -2.65014700e-03 -2.60642673e-02] [ 5.11461065e-03 2.65196768e-03 9.99983404e-01 -1.14747945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57119381700002 meters Centerline goodness [0,1] 0.8954471242275818 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.02, Z:-1.15 [[ 9.99985194e-01 -8.75380074e-05 -5.44099735e-03 5.66945565e+00] [ 6.85659271e-05 9.99993918e-01 -3.48696423e-03 -2.31617639e-02] [ 5.44126950e-03 3.48653953e-03 9.99979118e-01 -1.14823366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60119381700002 meters Centerline goodness [0,1] 0.886460886543974 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.02, Z:-1.15 [[ 9.99984262e-01 -2.94043069e-04 -5.60253876e-03 5.67039442e+00] [ 2.70986699e-04 9.99991494e-01 -4.11565799e-03 -2.06539211e-02] [ 5.60370128e-03 4.11407501e-03 9.99975836e-01 -1.14897372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63119381700002 meters Centerline goodness [0,1] 0.8843200960205285 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.02, Z:-1.15 [[ 9.99981940e-01 2.43205580e-04 -6.00511238e-03 5.67281032e+00] [-2.66197322e-04 9.99992637e-01 -3.82819233e-03 -1.91731253e-02] [ 6.00413713e-03 3.82972173e-03 9.99974641e-01 -1.15084287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66119381700003 meters Centerline goodness [0,1] 0.8672398115235183 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.02, Z:-1.15 [[ 9.99980180e-01 1.04024601e-03 -6.20953739e-03 5.67494826e+00] [-1.06259892e-03 9.99992964e-01 -3.59755776e-03 -1.54900834e-02] [ 6.20575135e-03 3.60408470e-03 9.99974249e-01 -1.15274592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69119381700003 meters Centerline goodness [0,1] 0.8763415191082141 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.01, Z:-1.15 [[ 9.99978967e-01 7.94337593e-04 -6.43698691e-03 5.67538814e+00] [-8.21995988e-04 9.99990437e-01 -4.29528628e-03 -1.30939687e-02] [ 6.43351345e-03 4.30048711e-03 9.99970057e-01 -1.15264528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72119381700003 meters Centerline goodness [0,1] 0.84560574991197 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.01, Z:-1.15 [[ 9.99976654e-01 5.86623963e-04 -6.80785320e-03 5.67645932e+00] [-6.19107450e-04 9.99988430e-01 -4.77034682e-03 -1.14394142e-02] [ 6.80497604e-03 4.77445025e-03 9.99965448e-01 -1.15299200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75119381700003 meters Centerline goodness [0,1] 0.9001614973704916 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.01, Z:-1.15 [[ 9.99974986e-01 4.11994531e-04 -7.06094461e-03 5.67734560e+00] [-4.47116733e-04 9.99987533e-01 -4.97329415e-03 -1.07738714e-02] [ 7.05880761e-03 4.97632682e-03 9.99962704e-01 -1.15344853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78119381700003 meters Centerline goodness [0,1] 0.8018648018648018 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.01, Z:-1.15 [[ 9.99973594e-01 -3.86760365e-04 -7.25680170e-03 5.67762649e+00] [ 3.44908742e-04 9.99983308e-01 -5.76759253e-03 -9.02345340e-03] [ 7.25891124e-03 5.76493729e-03 9.99957036e-01 -1.15323333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81119381700003 meters Centerline goodness [0,1] 0.8430284329764542 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.01, Z:-1.15 [[ 9.99972439e-01 -8.15289859e-04 -7.37945318e-03 5.67759371e+00] [ 7.69638745e-04 9.99980564e-01 -6.18697331e-03 -7.80019615e-03] [ 7.38435393e-03 6.18112328e-03 9.99953631e-01 -1.15277569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84119381700003 meters Centerline goodness [0,1] 0.8337990272172203 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.01, Z:-1.15 [[ 9.99971392e-01 -1.22071245e-03 -7.46492127e-03 5.67797836e+00] [ 1.17330105e-03 9.99979136e-01 -6.35231026e-03 -7.45796601e-03] [ 7.47251986e-03 6.34336994e-03 9.99951960e-01 -1.15296128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87119381700003 meters Centerline goodness [0,1] 0.8302376797141195 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.01, Z:-1.15 [[ 9.99969432e-01 -1.75876487e-03 -7.61857309e-03 5.67856477e+00] [ 1.70987175e-03 9.99977934e-01 -6.41938930e-03 -8.31756449e-03] [ 7.62969517e-03 6.40616628e-03 9.99950373e-01 -1.15330918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90119381700003 meters Centerline goodness [0,1] 0.784317389138017 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.01, Z:-1.15 [[ 0.99994813 -0.00663769 -0.00772506 5.67862489] [ 0.00655488 0.99992131 -0.01069621 -0.00918359] [ 0.00779545 0.01064501 0.99991295 -1.15310105] [ 0. 0. 0. 1. ]] SLAMing on 146.93119381700004 meters Centerline goodness [0,1] 0.6790887270319483 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.01, Z:-1.15 [[ 0.9999408 -0.00753331 -0.00785159 5.67866672] [ 0.00744809 0.99991364 -0.01082728 -0.01041815] [ 0.00793248 0.01076816 0.99991056 -1.15280341] [ 0. 0. 0. 1. ]] SLAMing on 146.961193817 meters Centerline goodness [0,1] 0.7325134353038445 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.01, Z:-1.15 [[ 0.99993283 -0.00850377 -0.00787542 5.67833514] [ 0.00841561 0.9999023 -0.01116079 -0.0108279 ] [ 0.00796956 0.01109376 0.9999067 -1.15229902] [ 0. 0. 0. 1. ]] SLAMing on 146.991193817 meters Centerline goodness [0,1] 0.7137405367493863 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.01, Z:-1.15 [[ 0.99992438 -0.00943699 -0.00788567 5.67813694] [ 0.00934543 0.99988941 -0.01156846 -0.01054866] [ 0.00799397 0.01149389 0.99990199 -1.15195341] [ 0. 0. 0. 1. ]] SLAMing on 147.021193817 meters Centerline goodness [0,1] 0.6789603600987367 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.01, Z:-1.15 [[ 0.99990171 -0.01194803 -0.00733611 5.67654564] [ 0.01184672 0.99983595 -0.01370115 -0.00723917] [ 0.00749861 0.01361289 0.99987922 -1.15117092] [ 0. 0. 0. 1. ]] SLAMing on 147.051193817 meters Centerline goodness [0,1] 0.7010398972531797 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.01, Z:-1.15 [[ 0.9999277 -0.00950269 -0.00736846 5.67673132] [ 0.00942472 0.99989998 -0.01054526 -0.00759679] [ 0.00746793 0.01047505 0.99991725 -1.1514874 ] [ 0. 0. 0. 1. ]] SLAMing on 147.081193817 meters Centerline goodness [0,1] 0.6744959510824657 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.01, Z:-1.15 [[ 0.99994757 -0.00704257 -0.00743308 5.67709061] [ 0.00698714 0.99994779 -0.00745614 -0.00802073] [ 0.0074852 0.00740381 0.99994458 -1.15186363] [ 0. 0. 0. 1. ]] SLAMing on 147.11119381700001 meters Centerline goodness [0,1] 0.6990001863006894 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.01, Z:-1.15 [[ 9.99963965e-01 -4.26657568e-03 -7.33928623e-03 5.67695911e+00] [ 4.23578174e-03 9.99982183e-01 -4.20620683e-03 -8.25593436e-03] [ 7.35710156e-03 4.17496765e-03 9.99964221e-01 -1.15206471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14119381700002 meters Centerline goodness [0,1] 0.6858308144590286 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.00, Z:-1.15 [[ 9.99972110e-01 -2.15549275e-03 -7.15068371e-03 5.67786638e+00] [ 2.13524635e-03 9.99993694e-01 -2.83782084e-03 -2.61041695e-03] [ 7.15675552e-03 2.82247323e-03 9.99970407e-01 -1.15350887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.17119381700002 meters Centerline goodness [0,1] 0.6907912447453977 Centerline is valid? [False, False] Translation: X:5.68, Y:0.00, Z:-1.15 [[ 9.99974095e-01 2.92649583e-04 -7.19190329e-03 5.67884325e+00] [-2.98628725e-04 9.99999611e-01 -8.30311499e-04 9.71668618e-04] [ 7.19165750e-03 8.32437699e-04 9.99973793e-01 -1.15442849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20119381700002 meters Centerline goodness [0,1] 0.690522283548892 Centerline is valid? [False, False] Translation: X:5.68, Y:0.01, Z:-1.16 [[ 9.99969849e-01 9.88067951e-04 -7.70228763e-03 5.68163790e+00] [-9.94945226e-04 9.99999110e-01 -8.89106625e-04 5.50017146e-03] [ 7.70140227e-03 8.96743172e-04 9.99969942e-01 -1.15634592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.23119381700002 meters Centerline goodness [0,1] 0.6887222406363938 Centerline is valid? [False, False] Translation: X:5.68, Y:0.01, Z:-1.16 [[ 9.99963695e-01 3.77343723e-03 -7.64005740e-03 5.68146148e+00] [-3.76289586e-03 9.99991949e-01 1.39365456e-03 9.19301159e-03] [ 7.64525476e-03 -1.36485522e-03 9.99969843e-01 -1.15616288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26119381700002 meters Centerline goodness [0,1] 0.7219366605869673 Centerline is valid? [False, False] Translation: X:5.68, Y:0.02, Z:-1.16 [[ 9.99953900e-01 6.03257458e-03 -7.47029113e-03 5.68094166e+00] [-6.02150829e-03 9.99980741e-01 1.50298045e-03 2.02024837e-02] [ 7.47921411e-03 -1.45792874e-03 9.99970967e-01 -1.15531774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29119381700002 meters Centerline goodness [0,1] 0.7077531907840212 Centerline is valid? [False, False] Translation: X:5.68, Y:0.03, Z:-1.16 [[ 9.99954318e-01 5.72855925e-03 -7.65152497e-03 5.68132722e+00] [-5.72984278e-03 9.99983574e-01 -1.45837627e-04 2.60595261e-02] [ 7.65056385e-03 1.89673000e-04 9.99970716e-01 -1.15500773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32119381700002 meters Centerline goodness [0,1] 0.6948802215745851 Centerline is valid? [False, False] Translation: X:5.68, Y:0.03, Z:-1.16 [[ 9.99953866e-01 5.35243233e-03 -7.97603251e-03 5.68243154e+00] [-5.36577626e-03 9.99984239e-01 -1.65254375e-03 3.12609603e-02] [ 7.96706167e-03 1.69526512e-03 9.99966825e-01 -1.15527514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35119381700002 meters Centerline goodness [0,1] 0.7220601923673595 Centerline is valid? [False, False] Translation: X:5.68, Y:0.04, Z:-1.16 [[ 9.99943563e-01 7.01195615e-03 -7.98137754e-03 5.68299610e+00] [-7.02055007e-03 9.99974805e-01 -1.04923866e-03 3.85883587e-02] [ 7.97381924e-03 1.10521310e-03 9.99967598e-01 -1.15570147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38119381700002 meters Centerline goodness [0,1] 0.6905764783614139 Centerline is valid? [False, False] Translation: X:5.68, Y:0.04, Z:-1.16 [[ 9.99948366e-01 6.23636279e-03 -8.02329222e-03 5.68328957e+00] [-6.25654990e-03 9.99977319e-01 -2.49342877e-03 4.24891096e-02] [ 8.00756032e-03 2.54349815e-03 9.99964704e-01 -1.15575127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41119381700003 meters Centerline goodness [0,1] 0.6815881344378112 Centerline is valid? [False, False] Translation: X:5.68, Y:0.05, Z:-1.16 [[ 9.99953537e-01 5.35455042e-03 -8.01577183e-03 5.68318757e+00] [-5.38579794e-03 9.99977962e-01 -3.88175766e-03 4.61277228e-02] [ 7.99481011e-03 3.92474863e-03 9.99960339e-01 -1.15549721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44119381700003 meters Centerline goodness [0,1] 0.6709804327570141 Centerline is valid? [False, False] Translation: X:5.68, Y:0.05, Z:-1.16 [[ 9.99957885e-01 4.48894812e-03 -8.00482455e-03 5.68341784e+00] [-4.52997018e-03 9.99976663e-01 -5.11392091e-03 4.91967049e-02] [ 7.98168162e-03 5.14996715e-03 9.99954884e-01 -1.15572055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47119381700003 meters Centerline goodness [0,1] 0.6882422189636299 Centerline is valid? [False, False] Translation: X:5.68, Y:0.05, Z:-1.16 [[ 9.99957444e-01 3.97403085e-03 -8.32572725e-03 5.68468438e+00] [-4.02257406e-03 9.99974962e-01 -5.82189669e-03 5.12370202e-02] [ 8.30238239e-03 5.85513979e-03 9.99948393e-01 -1.15639007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50119381700003 meters Centerline goodness [0,1] 0.6434370210827155 Centerline is valid? [False, False] Translation: X:5.68, Y:0.06, Z:-1.16 [[ 9.99965786e-01 1.52006502e-03 -8.13121242e-03 5.68484356e+00] [-1.58871628e-03 9.99963094e-01 -8.44314430e-03 5.60615090e-02] [ 8.11807820e-03 8.45577361e-03 9.99931296e-01 -1.15703845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53119381700003 meters Centerline goodness [0,1] 0.639866586563361 Centerline is valid? [False, False] Translation: X:5.69, Y:0.06, Z:-1.16 [[ 9.99966287e-01 8.87625135e-04 -8.16315094e-03 5.68535368e+00] [-9.63352830e-04 9.99956499e-01 -9.27752414e-03 5.85829083e-02] [ 8.15456087e-03 9.28507536e-03 9.99923642e-01 -1.15748823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56119381700003 meters Centerline goodness [0,1] 0.6434142114384749 Centerline is valid? [False, False] Translation: X:5.69, Y:0.06, Z:-1.16 [[ 9.99989223e-01 -2.41983416e-03 -3.96203857e-03 5.69338821e+00] [ 2.41701112e-03 9.99996822e-01 -7.17154818e-04 6.02827395e-02] [ 3.96376137e-03 7.07570798e-04 9.99991894e-01 -1.15871969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59119381700003 meters Centerline goodness [0,1] 0.6292659734998036 Centerline is valid? [False, False] Translation: X:5.69, Y:0.06, Z:-1.16 [[ 9.99986661e-01 -3.34029282e-03 -3.93962738e-03 5.69307549e+00] [ 3.33173193e-03 9.99992079e-01 -2.17758640e-03 6.46441389e-02] [ 3.94686995e-03 2.16443157e-03 9.99989869e-01 -1.15818934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62119381700003 meters Centerline goodness [0,1] 0.6199059398761058 Centerline is valid? [False, False] Translation: X:5.69, Y:0.07, Z:-1.16 [[ 9.99990700e-01 -2.87883338e-03 -3.21118394e-03 5.69042688e+00] [ 2.87141513e-03 9.99993204e-01 -2.31235136e-03 7.33200033e-02] [ 3.21781899e-03 2.30310922e-03 9.99992171e-01 -1.15658980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65119381700003 meters Centerline goodness [0,1] 0.6102926003879328 Centerline is valid? [False, False] Translation: X:5.69, Y:0.08, Z:-1.16 [[ 9.99990915e-01 -2.31077603e-03 -3.58198429e-03 5.69224869e+00] [ 2.30251323e-03 9.99994683e-01 -2.30917551e-03 7.81969777e-02] [ 3.58730124e-03 2.30090697e-03 9.99990919e-01 -1.15771511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68119381700004 meters Centerline goodness [0,1] 0.6357802343394195 Centerline is valid? [False, False] Translation: X:5.69, Y:0.08, Z:-1.16 [[ 9.99994397e-01 -1.38355520e-04 -3.34471435e-03 5.69133294e+00] [ 1.35359123e-04 9.99999589e-01 -8.96070303e-04 8.37922728e-02] [ 3.34483696e-03 8.95612545e-04 9.99994005e-01 -1.15701846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.711193817 meters Centerline goodness [0,1] 0.637382598823408 Centerline is valid? [False, False] Translation: X:5.69, Y:0.09, Z:-1.16 [[ 9.99992405e-01 1.94974870e-03 -3.37470514e-03 5.69207943e+00] [-1.94878012e-03 9.99998059e-01 2.90276285e-04 8.98413806e-02] [ 3.37526456e-03 -2.83697522e-04 9.99994264e-01 -1.15759291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.741193817 meters Centerline goodness [0,1] 0.637382598823408 Centerline is valid? [False, False] Translation: X:5.69, Y:0.09, Z:-1.16 [[ 9.99992405e-01 1.94974870e-03 -3.37470514e-03 5.69207943e+00] [-1.94878012e-03 9.99998059e-01 2.90276285e-04 8.98413806e-02] [ 3.37526456e-03 -2.83697522e-04 9.99994264e-01 -1.15759291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.771193817 meters Centerline goodness [0,1] 0.6641879155705616 Centerline is valid? [False, False] Translation: X:5.69, Y:0.10, Z:-1.16 [[ 9.99987738e-01 3.92503459e-03 -3.01948920e-03 5.69179258e+00] [-3.92762361e-03 9.99991924e-01 -8.51985939e-04 1.03616579e-01] [ 3.01612074e-03 8.63834909e-04 9.99995078e-01 -1.15687075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.801193817 meters Centerline goodness [0,1] 0.6430196954650778 Centerline is valid? [False, False] Translation: X:5.69, Y:0.11, Z:-1.16 [[ 9.99972111e-01 6.77342964e-03 -3.14615858e-03 5.69224719e+00] [-6.77120544e-03 9.99976818e-01 7.17069852e-04 1.10160858e-01] [ 3.15094267e-03 -6.95746567e-04 9.99994794e-01 -1.15668907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.831193817 meters Centerline goodness [0,1] 0.6566843150231635 Centerline is valid? [False, False] Translation: X:5.69, Y:0.12, Z:-1.16 [[ 9.99947858e-01 9.67629814e-03 -3.26360481e-03 5.69260277e+00] [-9.66955985e-03 9.99951098e-01 2.07417666e-03 1.17826925e-01] [ 3.28351556e-03 -2.04251089e-03 9.99992523e-01 -1.15626353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86119381700001 meters Centerline goodness [0,1] 0.68696769380608 Centerline is valid? [False, False] Translation: X:5.69, Y:0.13, Z:-1.16 [[ 9.99912458e-01 1.27879972e-02 -3.39765313e-03 5.69283976e+00] [-1.27758724e-02 9.99912024e-01 3.56661731e-03 1.25497549e-01] [ 3.44296411e-03 -3.52289710e-03 9.99987868e-01 -1.15558055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.89119381700002 meters Centerline goodness [0,1] 0.6655612770339856 Centerline is valid? [False, False] Translation: X:5.69, Y:0.14, Z:-1.15 [[ 9.99801706e-01 1.95675739e-02 -3.69590547e-03 5.69392409e+00] [-1.95442048e-02 9.99789417e-01 6.25667237e-03 1.38910030e-01] [ 3.81755508e-03 -6.18319817e-03 9.99973597e-01 -1.15371960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92119381700002 meters Centerline goodness [0,1] 0.7189926895437695 Centerline is valid? [False, False] Translation: X:5.70, Y:0.14, Z:-1.15 [[ 9.99724270e-01 2.31460825e-02 -3.95514812e-03 5.69508960e+00] [-2.31110665e-02 9.99695215e-01 8.68079617e-03 1.44151163e-01] [ 4.15486908e-03 -8.58699492e-03 9.99954499e-01 -1.15401826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.95119381700002 meters Centerline goodness [0,1] 0.7118878234869574 Centerline is valid? [False, False] Translation: X:5.70, Y:0.15, Z:-1.15 [[ 9.99634418e-01 2.66996691e-02 -4.26132877e-03 5.69630786e+00] [-2.66504267e-02 9.99581824e-01 1.12218968e-02 1.48736390e-01] [ 4.55916772e-03 -1.11042281e-02 9.99927952e-01 -1.15424636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98119381700002 meters Centerline goodness [0,1] 0.7403719008264462 Centerline is valid? [False, False] Translation: X:5.70, Y:0.16, Z:-1.15 [[ 9.99445449e-01 3.30263099e-02 -4.24929662e-03 5.69735982e+00] [-3.29549123e-02 9.99330381e-01 1.58985552e-02 1.57057636e-01] [ 4.77152182e-03 -1.57497034e-02 9.99864581e-01 -1.15454712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01119381700002 meters Centerline goodness [0,1] 0.7542233209723939 Centerline is valid? [False, False] Translation: X:5.70, Y:0.16, Z:-1.15 [[ 9.99447667e-01 3.29050881e-02 -4.64924212e-03 5.69829811e+00] [-3.28347198e-02 9.99355930e-01 1.44778098e-02 1.62376639e-01] [ 5.12264129e-03 -1.43171566e-02 9.99884382e-01 -1.15411753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04119381700002 meters Centerline goodness [0,1] 0.759224902082045 Centerline is valid? [False, False] Translation: X:5.70, Y:0.17, Z:-1.15 [[ 9.99452917e-01 3.27026143e-02 -4.94021201e-03 5.69888998e+00] [-3.26354483e-02 9.99381282e-01 1.31141383e-02 1.67501861e-01] [ 5.36602202e-03 -1.29457378e-02 9.99901802e-01 -1.15357968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07119381700002 meters Centerline goodness [0,1] 0.7976656099468895 Centerline is valid? [False, False] Translation: X:5.70, Y:0.17, Z:-1.15 [[ 9.99461256e-01 3.23936398e-02 -5.27725307e-03 5.69947916e+00] [-3.23302651e-02 9.99408972e-01 1.16816221e-02 1.72597220e-01] [ 5.65254432e-03 -1.15047137e-02 9.99917842e-01 -1.15296489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10119381700002 meters Centerline goodness [0,1] 0.8128968417580605 Centerline is valid? [False, False] Translation: X:5.70, Y:0.18, Z:-1.15 [[ 9.99368466e-01 3.51264148e-02 -5.36691959e-03 5.69995905e+00] [-3.50519006e-02 9.99295671e-01 1.33987585e-02 1.79091075e-01] [ 5.83378987e-03 -1.32021760e-02 9.99895829e-01 -1.15270977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13119381700002 meters Centerline goodness [0,1] 0.820542388237959 Centerline is valid? [False, False] Translation: X:5.70, Y:0.18, Z:-1.15 [[ 0.99937369 0.03490187 -0.00583781 5.70132883] [-0.03482744 0.99931641 0.0124002 0.18256603] [ 0.00626661 -0.01218912 0.99990607 -1.15296599] [ 0. 0. 0. 1. ]] SLAMing on 148.16119381700003 meters Centerline goodness [0,1] 0.7856671614712188 Centerline is valid? [False, False] Translation: X:5.70, Y:0.18, Z:-1.15 [[ 0.99937421 0.03481493 -0.00625428 5.70290994] [-0.03473969 0.9993272 0.01176044 0.18473863] [ 0.00665951 -0.01153581 0.99991128 -1.15367871] [ 0. 0. 0. 1. ]] SLAMing on 148.19119381700003 meters Centerline goodness [0,1] 0.7904975144817387 Centerline is valid? [False, False] Translation: X:5.70, Y:0.19, Z:-1.15 [[ 0.99937756 0.03464143 -0.00666837 5.70443405] [-0.03456526 0.99933949 0.01121731 0.18618293] [ 0.00705255 -0.01097983 0.99991485 -1.15441443] [ 0. 0. 0. 1. ]] SLAMing on 148.22119381700003 meters Centerline goodness [0,1] 0.7837536632682545 Centerline is valid? [False, False] Translation: X:5.71, Y:0.19, Z:-1.15 [[ 9.99512650e-01 3.04010331e-02 -7.08803813e-03 5.70512896e+00] [-3.03606091e-02 9.99522514e-01 5.74265934e-03 1.92201426e-01] [ 7.25923647e-03 -5.52466350e-03 9.99958390e-01 -1.15380990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25119381700003 meters Centerline goodness [0,1] 0.7716367550559937 Centerline is valid? [False, False] Translation: X:5.71, Y:0.20, Z:-1.15 [[ 9.99624551e-01 2.63353349e-02 -7.56349429e-03 5.70585310e+00] [-2.63309716e-02 9.99653051e-01 6.75911144e-04 1.96468787e-01] [ 7.57867049e-03 -4.76503221e-04 9.99971168e-01 -1.15314863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28119381700003 meters Centerline goodness [0,1] 0.7610732714138286 Centerline is valid? [False, False] Translation: X:5.71, Y:0.20, Z:-1.15 [[ 9.99634821e-01 2.58388514e-02 -7.91070854e-03 5.70678619e+00] [-2.58391123e-02 9.99666112e-01 6.92396880e-05 1.97962148e-01] [ 7.90985632e-03 1.35191283e-04 9.99968707e-01 -1.15332863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31119381700003 meters Centerline goodness [0,1] 0.7590436203437506 Centerline is valid? [False, False] Translation: X:5.71, Y:0.20, Z:-1.15 [[ 9.99658594e-01 2.47458927e-02 -8.38664298e-03 5.70774705e+00] [-2.47596845e-02 9.99692239e-01 -1.54466147e-03 2.02163876e-01] [ 8.34583787e-03 1.75178475e-03 9.99963638e-01 -1.15319890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34119381700003 meters Centerline goodness [0,1] 0.7597922572368557 Centerline is valid? [False, False] Translation: X:5.71, Y:0.20, Z:-1.15 [[ 9.99660278e-01 2.45369113e-02 -8.79030673e-03 5.70874660e+00] [-2.45571827e-02 9.99695994e-01 -2.20563600e-03 2.03748854e-01] [ 8.73351493e-03 2.42075186e-03 9.99958932e-01 -1.15320456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37119381700003 meters Centerline goodness [0,1] 0.7618565435721518 Centerline is valid? [False, False] Translation: X:5.71, Y:0.21, Z:-1.15 [[ 9.99657634e-01 2.44869893e-02 -9.21960726e-03 5.70985417e+00] [-2.45131858e-02 9.99695754e-01 -2.73917132e-03 2.05237313e-01] [ 9.14972818e-03 2.96423547e-03 9.99953747e-01 -1.15325821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40119381700003 meters Centerline goodness [0,1] 0.7687365724673607 Centerline is valid? [False, False] Translation: X:5.71, Y:0.21, Z:-1.15 [[ 9.99651892e-01 2.45261829e-02 -9.72424941e-03 5.71093556e+00] [-2.45590746e-02 9.99693008e-01 -3.27757274e-03 2.06930892e-01] [ 9.64087779e-03 3.51525036e-03 9.99947347e-01 -1.15302064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43119381700004 meters Centerline goodness [0,1] 0.7634768937983534 Centerline is valid? [False, False] Translation: X:5.71, Y:0.21, Z:-1.15 [[ 9.99663923e-01 2.41278646e-02 -9.48090879e-03 5.70992825e+00] [-2.41745259e-02 9.99696046e-01 -4.83821173e-03 2.11277405e-01] [ 9.36129131e-03 5.06578219e-03 9.99943350e-01 -1.15154993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.461193817 meters Centerline goodness [0,1] 0.7811724822225897 Centerline is valid? [False, False] Translation: X:5.71, Y:0.21, Z:-1.15 [[ 9.99655971e-01 2.42643707e-02 -9.95891073e-03 5.71098507e+00] [-2.43153408e-02 9.99691688e-01 -5.02925908e-03 2.12562353e-01] [ 9.83380847e-03 5.26968317e-03 9.99937761e-01 -1.15135731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.491193817 meters Centerline goodness [0,1] 0.7687142092036419 Centerline is valid? [False, False] Translation: X:5.71, Y:0.21, Z:-1.15 [[ 9.99651275e-01 2.42830130e-02 -1.03760937e-02 5.71203109e+00] [-2.43369639e-02 9.99690776e-01 -5.10528149e-03 2.12904484e-01] [ 1.02489135e-02 5.35602377e-03 9.99933134e-01 -1.15149297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.521193817 meters Centerline goodness [0,1] 0.7712250476269361 Centerline is valid? [False, False] Translation: X:5.71, Y:0.21, Z:-1.15 [[ 9.99657548e-01 2.39743356e-02 -1.04889690e-02 5.71209803e+00] [-2.40306552e-02 9.99697296e-01 -5.27672075e-03 2.12326550e-01] [ 1.03592881e-02 5.52697052e-03 9.99931066e-01 -1.15132879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.551193817 meters Centerline goodness [0,1] 0.7387028943679392 Centerline is valid? [False, False] Translation: X:5.71, Y:0.21, Z:-1.15 [[ 0.99972686 0.02066776 -0.01091099 5.71364746] [-0.02076066 0.99974859 -0.00847089 0.21150342] [ 0.01073318 0.00869509 0.99990459 -1.15222725] [ 0. 0. 0. 1. ]] SLAMing on 148.581193817 meters Centerline goodness [0,1] 0.7514696141745322 Centerline is valid? [False, False] Translation: X:5.71, Y:0.21, Z:-1.15 [[ 0.9997252 0.02052414 -0.01132632 5.71449214] [-0.02061944 0.99975242 -0.00836277 0.21099702] [ 0.01115188 0.00859401 0.99990088 -1.15226975] [ 0. 0. 0. 1. ]] SLAMing on 148.61119381700001 meters Centerline goodness [0,1] 0.7014674791692576 Centerline is valid? [False, False] Translation: X:5.71, Y:0.21, Z:-1.15 [[ 0.99974066 0.01954297 -0.01169141 5.71434065] [-0.0196451 0.99976929 -0.00868578 0.21054468] [ 0.01151896 0.00891321 0.99989393 -1.15144402] [ 0. 0. 0. 1. ]] SLAMing on 148.64119381700002 meters Centerline goodness [0,1] 0.7014674791692576 Centerline is valid? [False, False] Translation: X:5.71, Y:0.21, Z:-1.15 [[ 0.99974066 0.01954297 -0.01169141 5.71434065] [-0.0196451 0.99976929 -0.00868578 0.21054468] [ 0.01151896 0.00891321 0.99989393 -1.15144402] [ 0. 0. 0. 1. ]] SLAMing on 148.67119381700002 meters Centerline goodness [0,1] 0.7216735537190082 Centerline is valid? [False, False] Translation: X:5.72, Y:0.21, Z:-1.15 [[ 9.99834961e-01 1.42351705e-02 -1.12876049e-02 5.72310471e+00] [-1.42504941e-02 9.99897639e-01 -1.27828490e-03 2.09431321e-01] [ 1.12682529e-02 1.43892788e-03 9.99935476e-01 -1.15096436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70119381700002 meters Centerline goodness [0,1] 0.7001053131517542 Centerline is valid? [False, False] Translation: X:5.72, Y:0.21, Z:-1.15 [[ 9.99837792e-01 1.38163746e-02 -1.15540985e-02 5.72322160e+00] [-1.38307757e-02 9.99903669e-01 -1.16743387e-03 2.07649656e-01] [ 1.15368557e-02 1.32704665e-03 9.99932568e-01 -1.15058829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.73119381700002 meters Centerline goodness [0,1] 0.7123608063915221 Centerline is valid? [False, False] Translation: X:5.72, Y:0.21, Z:-1.15 [[ 9.99843518e-01 1.33281806e-02 -1.16317994e-02 5.72290235e+00] [-1.33483696e-02 9.99909529e-01 -1.65977061e-03 2.07874463e-01] [ 1.16086253e-02 1.81477644e-03 9.99930971e-01 -1.14992836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76119381700002 meters Centerline goodness [0,1] 0.7014716187806587 Centerline is valid? [False, False] Translation: X:5.73, Y:0.21, Z:-1.15 [[ 0.99991817 0.01091565 -0.00667097 5.73483165] [-0.0108712 0.99991871 0.00666307 0.20585892] [ 0.00674316 -0.00659 0.99995555 -1.15376997] [ 0. 0. 0. 1. ]] SLAMing on 148.79119381700002 meters Centerline goodness [0,1] 0.7024932683809171 Centerline is valid? [False, False] Translation: X:5.74, Y:0.21, Z:-1.15 [[ 9.99944195e-01 7.65160524e-03 -7.28422503e-03 5.73650537e+00] [-7.63492647e-03 9.99968174e-01 2.31477197e-03 2.09844059e-01] [ 7.30170493e-03 -2.25902827e-03 9.99970791e-01 -1.15361347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82119381700002 meters Centerline goodness [0,1] 0.6947844871926756 Centerline is valid? [False, False] Translation: X:5.74, Y:0.21, Z:-1.15 [[ 9.99946216e-01 7.23729968e-03 -7.42876881e-03 5.73674836e+00] [-7.22670916e-03 9.99972834e-01 1.45146331e-03 2.11800414e-01] [ 7.43907167e-03 -1.39769969e-03 9.99971353e-01 -1.15327623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85119381700002 meters Centerline goodness [0,1] 0.7136853381677345 Centerline is valid? [False, False] Translation: X:5.74, Y:0.21, Z:-1.15 [[ 9.99946178e-01 6.95307299e-03 -7.70041433e-03 5.73720807e+00] [-6.94913161e-03 9.99975710e-01 5.38478171e-04 2.14337729e-01] [ 7.70397136e-03 -4.84937996e-04 9.99970206e-01 -1.15287029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88119381700002 meters Centerline goodness [0,1] 0.710172388935802 Centerline is valid? [False, False] Translation: X:5.74, Y:0.22, Z:-1.15 [[ 9.99944947e-01 6.77817137e-03 -8.00991148e-03 5.73766414e+00] [-6.78242482e-03 9.99976872e-01 -5.03978632e-04 2.17460033e-01] [ 8.00631018e-03 5.58277509e-04 9.99967793e-01 -1.15218216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91119381700003 meters Centerline goodness [0,1] 0.7158295594895019 Centerline is valid? [False, False] Translation: X:5.74, Y:0.22, Z:-1.15 [[ 9.99916379e-01 1.01483703e-02 -8.01535058e-03 5.73753614e+00] [-1.01341691e-02 9.99947009e-01 1.81037949e-03 2.21824995e-01] [ 8.03329824e-03 -1.72899918e-03 9.99966238e-01 -1.15147967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94119381700003 meters Centerline goodness [0,1] 0.7280881228429124 Centerline is valid? [False, False] Translation: X:5.74, Y:0.23, Z:-1.15 [[ 9.99913427e-01 1.02446144e-02 -8.25746880e-03 5.73772309e+00] [-1.02394716e-02 9.99947354e-01 6.64846039e-04 2.25320812e-01] [ 8.26384517e-03 -5.80236364e-04 9.99965686e-01 -1.15033068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97119381700003 meters Centerline goodness [0,1] 0.7419628274307924 Centerline is valid? [False, False] Translation: X:5.74, Y:0.23, Z:-1.15 [[ 9.99909135e-01 1.05254122e-02 -8.42239978e-03 5.73808333e+00] [-1.05274510e-02 9.99944565e-01 -1.97772366e-04 2.28789305e-01] [ 8.41985125e-03 2.86420797e-04 9.99964511e-01 -1.14967195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00119381700003 meters Centerline goodness [0,1] 0.7486077145969051 Centerline is valid? [False, False] Translation: X:5.76, Y:0.23, Z:-1.15 [[ 9.99898241e-01 1.03658496e-02 -9.80088492e-03 5.75760412e+00] [-1.03227636e-02 9.99936877e-01 4.43654504e-03 2.30178739e-01] [ 9.84625482e-03 -4.33492136e-03 9.99942128e-01 -1.14954581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03119381700003 meters Centerline goodness [0,1] 0.7793066512863822 Centerline is valid? [False, False] Translation: X:5.76, Y:0.23, Z:-1.15 [[ 0.9998407 0.01479359 -0.00998668 5.75864609] [-0.01471435 0.99986003 0.00796251 0.23280778] [ 0.01010308 -0.00781429 0.99991843 -1.1498064 ] [ 0. 0. 0. 1. ]] SLAMing on 149.06119381700003 meters Centerline goodness [0,1] 0.8279598745046235 Centerline is valid? [False, False] Translation: X:5.76, Y:0.23, Z:-1.15 [[ 0.99983321 0.0151061 -0.01026416 5.75932505] [-0.01502908 0.99985863 0.00753986 0.23456584] [ 0.01037661 -0.00738434 0.9999189 -1.14951769] [ 0. 0. 0. 1. ]] SLAMing on 149.09119381700003 meters Centerline goodness [0,1] 0.8357219339428383 Centerline is valid? [False, False] Translation: X:5.76, Y:0.24, Z:-1.15 [[ 0.99982058 0.01565427 -0.01066503 5.76046354] [-0.01557581 0.99985131 0.00739971 0.23594671] [ 0.01077928 -0.00723227 0.99991575 -1.14948612] [ 0. 0. 0. 1. ]] SLAMing on 149.12119381700003 meters Centerline goodness [0,1] 0.8218540043691521 Centerline is valid? [False, False] Translation: X:5.76, Y:0.24, Z:-1.15 [[ 0.99980562 0.01633472 -0.01104048 5.7616952 ] [-0.01625548 0.99984174 0.00722927 0.23763867] [ 0.01115682 -0.00704839 0.99991292 -1.14949586] [ 0. 0. 0. 1. ]] SLAMing on 149.15119381700003 meters Centerline goodness [0,1] 0.8920897528694034 Centerline is valid? [False, False] Translation: X:5.76, Y:0.24, Z:-1.15 [[ 0.99978661 0.01721333 -0.01142065 5.76295542] [-0.01713121 0.99982697 0.00724978 0.23918871] [ 0.01154346 -0.00705258 0.9999085 -1.14953169] [ 0. 0. 0. 1. ]] SLAMing on 149.18119381700004 meters Centerline goodness [0,1] 0.913776363899275 Centerline is valid? [False, False] Translation: X:5.76, Y:0.24, Z:-1.15 [[ 0.99976599 0.01812257 -0.01181297 5.76415481] [-0.01803725 0.99981074 0.00728961 0.24055602] [ 0.01194284 -0.00707483 0.99990365 -1.14946741] [ 0. 0. 0. 1. ]] SLAMing on 149.211193817 meters Centerline goodness [0,1] 0.9442767971559671 Centerline is valid? [False, False] Translation: X:5.77, Y:0.24, Z:-1.15 [[ 0.99963512 0.02413879 -0.0121225 5.76652716] [-0.02398475 0.99963171 0.01269584 0.23929536] [ 0.0124245 -0.01240045 0.99984592 -1.15100132] [ 0. 0. 0. 1. ]] SLAMing on 149.241193817 meters Centerline goodness [0,1] 0.9487110522613481 Centerline is valid? [False, False] Translation: X:5.77, Y:0.24, Z:-1.15 [[ 0.9995979 0.0253663 -0.0126725 5.76858968] [-0.02519742 0.99959384 0.01331313 0.23907244] [ 0.01300506 -0.01298846 0.99983107 -1.15177752] [ 0. 0. 0. 1. ]] SLAMing on 149.271193817 meters Centerline goodness [0,1] 0.9499041770560719 Centerline is valid? [False, False] Translation: X:5.78, Y:0.24, Z:-1.15 [[ 0.99941705 0.03057665 -0.0151866 5.77591027] [-0.03035608 0.99943326 0.01454847 0.23674632] [ 0.01562283 -0.01407899 0.99977883 -1.15052115] [ 0. 0. 0. 1. ]] SLAMing on 149.301193817 meters Centerline goodness [0,1] 0.952370123829409 Centerline is valid? [False, True] Translation: X:5.78, Y:0.24, Z:-1.15 [[ 0.99938755 0.03134818 -0.01555054 5.7766478 ] [-0.03111502 0.99940301 0.0150159 0.23595472] [ 0.01601198 -0.01452285 0.99976632 -1.15018853] [ 0. 0. 0. 1. ]] SLAMing on 149.331193817 meters Centerline goodness [0,1] 0.954488068381729 Centerline is valid? [True, True] Translation: X:5.81, Y:0.24, Z:-1.15 [[ 9.99271033e-01 3.43803133e-02 -1.65950874e-02 5.80588954e+00] [-3.43704715e-02 9.99408775e-01 8.77986876e-04 2.40924667e-01] [ 1.66154614e-02 -3.06965874e-04 9.99861907e-01 -1.14506067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36119381700001 meters Centerline goodness [0,1] 0.9509501850741331 Centerline is valid? [True, True] Translation: X:5.83, Y:0.24, Z:-1.15 [[ 9.99178480e-01 3.67219117e-02 -1.71425254e-02 5.83341302e+00] [-3.67117886e-02 9.99325485e-01 9.04944631e-04 2.38773033e-01] [ 1.71641938e-02 -2.74868433e-04 9.99852647e-01 -1.14693557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.39119381700002 meters Centerline goodness [0,1] 0.9497809374225015 Centerline is valid? [True, False] Translation: X:5.83, Y:0.23, Z:-1.15 [[ 9.99121171e-01 3.80536023e-02 -1.75729795e-02 5.83408790e+00] [-3.80144981e-02 9.99273924e-01 2.55407403e-03 2.34407688e-01] [ 1.76574119e-02 -1.88380144e-03 9.99842321e-01 -1.14654651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42119381700002 meters Centerline goodness [0,1] 0.9479653517791488 Centerline is valid? [False, False] Translation: X:5.83, Y:0.23, Z:-1.15 [[ 9.99108833e-01 3.83500571e-02 -1.76298616e-02 5.83338950e+00] [-3.83026812e-02 9.99261628e-01 3.01722650e-03 2.31914126e-01] [ 1.77325550e-02 -2.33926668e-03 9.99840029e-01 -1.14536520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.45119381700002 meters Centerline goodness [0,1] 0.9534355714256229 Centerline is valid? [False, True] Translation: X:5.85, Y:0.23, Z:-1.15 [[ 0.99925977 0.036196 -0.01302954 5.84878036] [-0.03611178 0.99932569 0.00664184 0.22764035] [ 0.01326116 -0.0061664 0.99989305 -1.14558208] [ 0. 0. 0. 1. ]] SLAMing on 149.48119381700002 meters Centerline goodness [0,1] 0.9565109034267912 Centerline is valid? [True, True] Translation: X:5.88, Y:0.22, Z:-1.14 [[ 9.99244637e-01 3.70262280e-02 -1.17989322e-02 5.87717626e+00] [-3.70226099e-02 9.99314290e-01 5.24996444e-04 2.24640649e-01] [ 1.18102802e-02 -8.77726162e-05 9.99930252e-01 -1.14109566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51119381700002 meters Centerline goodness [0,1] 0.9576100707190112 Centerline is valid? [True, True] Translation: X:5.91, Y:0.21, Z:-1.14 [[ 9.99291850e-01 3.66498673e-02 -8.51967673e-03 5.90537764e+00] [-3.66479762e-02 9.99328166e-01 3.78036280e-04 2.11339258e-01] [ 8.52780789e-03 -6.55396640e-05 9.99963635e-01 -1.14059160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54119381700002 meters Centerline goodness [0,1] 0.9583895403133755 Centerline is valid? [True, True] Translation: X:5.93, Y:0.20, Z:-1.14 [[ 9.99368319e-01 3.47167997e-02 -7.59643693e-03 5.93425777e+00] [-3.47152467e-02 9.99397188e-01 3.36247461e-04 2.02305004e-01] [ 7.60353114e-03 -7.23228783e-05 9.99971090e-01 -1.13993160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57119381700002 meters Centerline goodness [0,1] 0.9544315852673858 Centerline is valid? [True, True] Translation: X:5.96, Y:0.19, Z:-1.14 [[ 9.99443847e-01 3.21420566e-02 -8.88167321e-03 5.96149495e+00] [-3.21398408e-02 9.99483305e-01 3.92135879e-04 1.90646772e-01] [ 8.88968814e-03 -1.06462229e-04 9.99960480e-01 -1.14410480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60119381700002 meters Centerline goodness [0,1] 0.9550782868030818 Centerline is valid? [True, True] Translation: X:5.99, Y:0.17, Z:-1.14 [[ 9.99585590e-01 2.73349497e-02 -9.02487501e-03 5.98911635e+00] [-2.73324746e-02 9.99626319e-01 3.97507078e-04 1.71207963e-01] [ 9.03236842e-03 -1.50670181e-04 9.99959196e-01 -1.14251882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63119381700002 meters Centerline goodness [0,1] 0.9550782868030818 Centerline is valid? [True, True] Translation: X:6.02, Y:0.17, Z:-1.14 [[ 9.99588967e-01 2.72111764e-02 -9.02494018e-03 6.01656269e+00] [-2.72087096e-02 9.99629696e-01 3.96029586e-04 1.70138972e-01] [ 9.03237464e-03 -1.50309828e-04 9.99959196e-01 -1.14300671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66119381700003 meters Centerline goodness [0,1] 0.9511508527901971 Centerline is valid? [True, True] Translation: X:6.04, Y:0.16, Z:-1.15 [[ 9.99664871e-01 2.41792930e-02 -9.24697290e-03 6.04405848e+00] [-2.41765783e-02 9.99707622e-01 4.05261837e-04 1.55922958e-01] [ 9.25406823e-03 -1.81565858e-04 9.99957164e-01 -1.14719157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69119381700003 meters Centerline goodness [0,1] 0.9506292752485069 Centerline is valid? [True, True] Translation: X:6.07, Y:0.15, Z:-1.15 [[ 9.99715218e-01 2.17530896e-02 -9.81252128e-03 6.07274496e+00] [-2.17499192e-02 9.99763350e-01 4.29707380e-04 1.46968450e-01] [ 9.81954661e-03 -2.16163463e-04 9.99951764e-01 -1.14553913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72119381700003 meters Centerline goodness [0,1] 0.9496706463565253 Centerline is valid? [True, False] Translation: X:6.08, Y:0.14, Z:-1.15 [[ 9.99755054e-01 1.94149470e-02 -1.06250906e-02 6.07506908e+00] [-1.94221017e-02 9.99811210e-01 -5.70598289e-04 1.38934159e-01] [ 1.06120066e-02 7.76820113e-04 9.99943389e-01 -1.14685344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75119381700003 meters Centerline goodness [0,1] 0.9448480571238791 Centerline is valid? [False, False] Translation: X:6.08, Y:0.13, Z:-1.15 [[ 9.99802702e-01 1.65475945e-02 -1.09879087e-02 6.07590965e+00] [-1.65737215e-02 9.99860022e-01 -2.29101050e-03 1.31674151e-01] [ 1.09484600e-02 2.47266902e-03 9.99937007e-01 -1.14738512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78119381700003 meters Centerline goodness [0,1] 0.9454662060119577 Centerline is valid? [False, False] Translation: X:6.09, Y:0.11, Z:-1.15 [[ 9.99882726e-01 1.38072789e-02 -6.62513099e-03 6.09037398e+00] [-1.37730920e-02 9.99891737e-01 5.17836240e-03 1.14442566e-01] [ 6.69591283e-03 -5.08650658e-03 9.99964645e-01 -1.15101143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81119381700003 meters Centerline goodness [0,1] 0.9450196062158966 Centerline is valid? [False, False] Translation: X:6.09, Y:0.11, Z:-1.15 [[ 9.99916395e-01 1.08300749e-02 -7.06491259e-03 6.09057117e+00] [-1.08105728e-02 9.99937664e-01 2.79277852e-03 1.10042448e-01] [ 7.09471819e-03 -2.71616928e-03 9.99971143e-01 -1.15019070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84119381700003 meters Centerline goodness [0,1] 0.9427539223781999 Centerline is valid? [False, False] Translation: X:6.10, Y:0.10, Z:-1.15 [[ 9.99954832e-01 9.28432165e-03 -2.03347544e-03 6.10406599e+00] [-9.26203396e-03 9.99899767e-01 1.07084790e-02 1.01251256e-01] [ 2.13269258e-03 -1.06891612e-02 9.99940595e-01 -1.15341132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87119381700003 meters Centerline goodness [0,1] 0.9413150390544283 Centerline is valid? [False, False] Translation: X:6.10, Y:0.10, Z:-1.15 [[ 9.99974168e-01 6.72670425e-03 -2.53289419e-03 6.10498249e+00] [-6.70455120e-03 9.99940065e-01 8.65535092e-03 9.62699523e-02] [ 2.59096436e-03 -8.63814541e-03 9.99959334e-01 -1.15324238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90119381700003 meters Centerline goodness [0,1] 0.9390034186263337 Centerline is valid? [False, False] Translation: X:6.11, Y:0.08, Z:-1.15 [[ 9.99983478e-01 4.83613483e-03 -3.10731873e-03 6.10553246e+00] [-4.81219272e-03 9.99959030e-01 7.66689271e-03 8.47995416e-02] [ 3.14426955e-03 -7.65181302e-03 9.99965781e-01 -1.15235489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93119381700004 meters Centerline goodness [0,1] 0.938434185772467 Centerline is valid? [False, False] Translation: X:6.11, Y:0.08, Z:-1.15 [[ 9.99991691e-01 2.02809222e-03 -3.53627434e-03 6.10605497e+00] [-2.00949861e-03 9.99984181e-01 5.25361527e-03 8.06910727e-02] [ 3.54687321e-03 -5.24646548e-03 9.99979947e-01 -1.15167960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.961193817 meters Centerline goodness [0,1] 0.9385906735751295 Centerline is valid? [False, False] Translation: X:6.11, Y:0.08, Z:-1.15 [[ 9.99993993e-01 3.25232048e-05 -3.46592278e-03 6.10508504e+00] [-2.08301563e-05 9.99994309e-01 3.37370139e-03 7.68947448e-02] [ 3.46601278e-03 -3.37360892e-03 9.99988303e-01 -1.15035781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.991193817 meters Centerline goodness [0,1] 0.9387376237623762 Centerline is valid? [False, False] Translation: X:6.11, Y:0.07, Z:-1.15 [[ 9.99991055e-01 -6.82981859e-04 -4.17418622e-03 6.10772809e+00] [ 6.93582527e-04 9.99996537e-01 2.53865739e-03 7.32487442e-02] [ 4.17243791e-03 -2.54152983e-03 9.99988066e-01 -1.15147235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.021193817 meters Centerline goodness [0,1] 0.935917590600695 Centerline is valid? [False, False] Translation: X:6.11, Y:0.06, Z:-1.15 [[ 9.99987567e-01 2.23605069e-03 -4.45715638e-03 6.10857655e+00] [-2.20885327e-03 9.99978970e-01 6.09757869e-03 6.29795150e-02] [ 4.47069714e-03 -6.08765767e-03 9.99971476e-01 -1.15163430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.051193817 meters Centerline goodness [0,1] 0.9357678445668834 Centerline is valid? [False, False] Translation: X:6.11, Y:0.06, Z:-1.15 [[ 9.99989459e-01 7.71280152e-04 -4.52629102e-03 6.10830856e+00] [-7.50658990e-04 9.99989341e-01 4.55579471e-03 5.86574528e-02] [ 4.52975656e-03 -4.55234898e-03 9.99979378e-01 -1.15079028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.081193817 meters Centerline goodness [0,1] 0.9339488489994435 Centerline is valid? [False, False] Translation: X:6.11, Y:0.05, Z:-1.15 [[ 9.99987676e-01 1.60051691e-03 -4.69962208e-03 6.10808285e+00] [-1.57243030e-03 9.99980919e-01 5.97398209e-03 5.31054214e-02] [ 4.70909387e-03 -5.96651864e-03 9.99971112e-01 -1.14996676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.11119381700001 meters Centerline goodness [0,1] 0.9378014096698405 Centerline is valid? [False, False] Translation: X:6.11, Y:0.05, Z:-1.15 [[ 9.99985245e-01 2.60982928e-03 -4.76437900e-03 6.10759539e+00] [-2.57304409e-03 9.99966961e-01 7.71074756e-03 4.78521266e-02] [ 4.78434533e-03 -7.69837483e-03 9.99958922e-01 -1.14910280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14119381700002 meters Centerline goodness [0,1] 0.939185004747946 Centerline is valid? [False, False] Translation: X:6.11, Y:0.04, Z:-1.15 [[ 9.99981975e-01 3.55220588e-03 -4.84053346e-03 6.10727143e+00] [-3.50768904e-03 9.99951763e-01 9.17434392e-03 4.35669064e-02] [ 4.87288913e-03 -9.15719947e-03 9.99946199e-01 -1.14835973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.17119381700002 meters Centerline goodness [0,1] 0.9380935703837993 Centerline is valid? [False, False] Translation: X:6.11, Y:0.03, Z:-1.15 [[ 9.99966104e-01 6.45922849e-03 -5.10576225e-03 6.10808412e+00] [-6.39192563e-03 9.99893893e-01 1.30899452e-02 3.26690027e-02] [ 5.18977144e-03 -1.30568659e-02 9.99901287e-01 -1.14852131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20119381700002 meters Centerline goodness [0,1] 0.9376041473801148 Centerline is valid? [False, False] Translation: X:6.11, Y:0.03, Z:-1.15 [[ 9.99972860e-01 4.72029058e-03 -5.65661721e-03 6.11027840e+00] [-4.65392048e-03 9.99920846e-01 1.16894561e-02 2.75411360e-02] [ 5.71134709e-03 -1.16628134e-02 9.99915676e-01 -1.14977201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.23119381700002 meters Centerline goodness [0,1] 0.9316278204041114 Centerline is valid? [False, False] Translation: X:6.12, Y:0.01, Z:-1.15 [[ 9.99966874e-01 4.03886219e-03 -7.06667780e-03 6.11597995e+00] [-3.95911748e-03 9.99928739e-01 1.12624410e-02 1.16679072e-02] [ 7.11166167e-03 -1.12340901e-02 9.99911606e-01 -1.15245150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26119381700002 meters Centerline goodness [0,1] 0.9291252526085702 Centerline is valid? [False, False] Translation: X:6.12, Y:0.01, Z:-1.15 [[ 9.99969496e-01 2.07448755e-03 -7.53019026e-03 6.11782712e+00] [-1.99864006e-03 9.99947339e-01 1.00660421e-02 5.07426174e-03] [ 7.55067559e-03 -1.00506849e-02 9.99920982e-01 -1.15356175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29119381700002 meters Centerline goodness [0,1] 0.9275254559348989 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.00, Z:-1.15 [[ 9.99969020e-01 -3.95427395e-05 -7.87127634e-03 6.11891366e+00] [ 1.08170405e-04 9.99961987e-01 8.71851202e-03 -9.95764640e-04] [ 7.87063238e-03 -8.71909336e-03 9.99931013e-01 -1.15394680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32119381700002 meters Centerline goodness [0,1] 0.9259450633486969 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.01, Z:-1.15 [[ 9.99964827e-01 -2.20958733e-03 -8.09085455e-03 6.11960639e+00] [ 2.26977995e-03 9.99969762e-01 7.43797785e-03 -7.18587096e-03] [ 8.07417503e-03 -7.45608069e-03 9.99939605e-01 -1.15410233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35119381700002 meters Centerline goodness [0,1] 0.9245695883737253 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.01, Z:-1.15 [[ 9.99957395e-01 -3.98585872e-03 -8.32588009e-03 6.12078797e+00] [ 4.04180106e-03 9.99969299e-01 6.71310552e-03 -1.46340081e-02] [ 8.29886698e-03 -6.74647106e-03 9.99942805e-01 -1.15472535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38119381700002 meters Centerline goodness [0,1] 0.9228025794679329 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.02, Z:-1.16 [[ 9.99948104e-01 -5.62875091e-03 -8.49154862e-03 6.12156319e+00] [ 5.68282478e-03 9.99963644e-01 6.35733281e-03 -2.32280449e-02] [ 8.45545606e-03 -6.40525887e-03 9.99943737e-01 -1.15510078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41119381700003 meters Centerline goodness [0,1] 0.9245255745761662 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.04, Z:-1.15 [[ 9.99924208e-01 -5.06805506e-03 -1.12202220e-02 6.12888033e+00] [ 5.13027085e-03 9.99971587e-01 5.52314912e-03 -4.30094810e-02] [ 1.11919116e-02 -5.58029329e-03 9.99921798e-01 -1.15482041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44119381700003 meters Centerline goodness [0,1] 0.9239674205151528 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.05, Z:-1.15 [[ 9.99914070e-01 -6.70949741e-03 -1.12620721e-02 6.12886480e+00] [ 6.76859222e-03 9.99963482e-01 5.21735298e-03 -5.16426783e-02] [ 1.12266550e-02 -5.29313303e-03 9.99922970e-01 -1.15446184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47119381700003 meters Centerline goodness [0,1] 0.9244741083605406 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.06, Z:-1.15 [[ 9.99903064e-01 -8.24707884e-03 -1.12182486e-02 6.12871807e+00] [ 8.30369519e-03 9.99952975e-01 5.00962673e-03 -6.02509395e-02] [ 1.11764062e-02 -5.10229403e-03 9.99924524e-01 -1.15406605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50119381700003 meters Centerline goodness [0,1] 0.9262376442367344 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.07, Z:-1.15 [[ 9.99886591e-01 -9.87479675e-03 -1.13707541e-02 6.12927668e+00] [ 9.92825576e-03 9.99939880e-01 4.65463618e-03 -6.84440995e-02] [ 1.13241069e-02 -4.76700006e-03 9.99924517e-01 -1.15411118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53119381700003 meters Centerline goodness [0,1] 0.9274628599883807 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.08, Z:-1.15 [[ 9.99846800e-01 -1.34003934e-02 -1.12607825e-02 6.12951340e+00] [ 1.34382943e-02 9.99904267e-01 3.29684488e-03 -8.48881890e-02] [ 1.12155255e-02 -3.44766552e-03 9.99931160e-01 -1.15420798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56119381700003 meters Centerline goodness [0,1] 0.9282319391634981 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.09, Z:-1.15 [[ 9.99807926e-01 -1.57460875e-02 -1.16692738e-02 6.13086792e+00] [ 1.57776262e-02 9.99872104e-01 2.61559396e-03 -9.37452453e-02] [ 1.16265960e-02 -2.79920501e-03 9.99928491e-01 -1.15456991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59119381700003 meters Centerline goodness [0,1] 0.9284989962956065 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.10, Z:-1.15 [[ 9.99768125e-01 -1.80191104e-02 -1.17901933e-02 6.13134752e+00] [ 1.80455494e-02 9.99834876e-01 2.13992243e-03 -1.03082326e-01] [ 1.17496870e-02 -2.35218675e-03 9.99928203e-01 -1.15445233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62119381700003 meters Centerline goodness [0,1] 0.9277589344804765 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.11, Z:-1.15 [[ 9.99717457e-01 -2.05023002e-02 -1.20275459e-02 6.13231154e+00] [ 2.05204037e-02 9.99788477e-01 1.38367924e-03 -1.11812697e-01] [ 1.19966332e-02 -1.63009839e-03 9.99926709e-01 -1.15468911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65119381700003 meters Centerline goodness [0,1] 0.9235074626865671 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.13, Z:-1.15 [[ 9.99583690e-01 -2.63506640e-02 -1.17510983e-02 6.13196872e+00] [ 2.63586123e-02 9.99652415e-01 5.21995132e-04 -1.28067566e-01] [ 1.17332588e-02 -8.31520463e-04 9.99930817e-01 -1.15315648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68119381700004 meters Centerline goodness [0,1] 0.9206611912199765 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.14, Z:-1.15 [[ 9.99500714e-01 -2.92360536e-02 -1.19823178e-02 6.13233737e+00] [ 2.92301395e-02 9.99572485e-01 -6.68436776e-04 -1.35507405e-01] [ 1.19967376e-02 3.17858214e-04 9.99927986e-01 -1.15248147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.711193817 meters Centerline goodness [0,1] 0.9180406063999669 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.14, Z:-1.15 [[ 9.99411282e-01 -3.20860099e-02 -1.21481654e-02 6.13271608e+00] [ 3.20666049e-02 9.99484133e-01 -1.78883885e-03 -1.43220925e-01] [ 1.21992952e-02 1.39823531e-03 9.99924608e-01 -1.15193663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.741193817 meters Centerline goodness [0,1] 0.915560991790364 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.16, Z:-1.15 [[ 9.99223093e-01 -3.74959074e-02 -1.21353380e-02 6.13282788e+00] [ 3.74484004e-02 9.99290075e-01 -4.11867885e-03 -1.57898594e-01] [ 1.22811564e-02 3.66103003e-03 9.99917882e-01 -1.15075015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.771193817 meters Centerline goodness [0,1] 0.9179456418317958 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.16, Z:-1.15 [[ 9.99133467e-01 -3.97693225e-02 -1.22766654e-02 6.13347169e+00] [ 3.97047077e-02 9.99196524e-01 -5.46292384e-03 -1.63948817e-01] [ 1.24840582e-02 4.97074862e-03 9.99909716e-01 -1.15068264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.801193817 meters Centerline goodness [0,1] 0.9189417509735643 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.17, Z:-1.15 [[ 9.99168770e-01 -3.87752234e-02 -1.25797643e-02 6.13414326e+00] [ 3.87388611e-02 9.99244493e-01 -3.12154571e-03 -1.70673304e-01] [ 1.26912988e-02 2.63162525e-03 9.99915999e-01 -1.15047923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.831193817 meters Centerline goodness [0,1] 0.9233391879326377 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.18, Z:-1.15 [[ 9.99218569e-01 -3.73770482e-02 -1.28533477e-02 6.13446420e+00] [ 3.73728546e-02 9.99301230e-01 -5.66389137e-04 -1.76971600e-01] [ 1.28655361e-02 8.55802470e-05 9.99917232e-01 -1.15000910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86119381700001 meters Centerline goodness [0,1] 0.9204820774057277 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.18, Z:-1.15 [[ 9.99262881e-01 -3.61139411e-02 -1.30183625e-02 6.13459214e+00] [ 3.61394469e-02 9.99345261e-01 1.72924323e-03 -1.82701705e-01] [ 1.29473890e-02 -2.19844499e-03 9.99913762e-01 -1.14954915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.89119381700002 meters Centerline goodness [0,1] 0.9261890951276102 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.19, Z:-1.15 [[ 9.99353388e-01 -3.35535933e-02 -1.29213676e-02 6.13425058e+00] [ 3.36345510e-02 9.99415584e-01 6.09985605e-03 -1.94691343e-01] [ 1.27091441e-02 -6.53051621e-03 9.99897910e-01 -1.14884052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92119381700002 meters Centerline goodness [0,1] 0.9297980946082788 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.20, Z:-1.15 [[ 0.99937998 -0.0325888 -0.01332767 6.13577879] [ 0.03269735 0.9994332 0.00800957 -0.19991582] [ 0.0130591 -0.00844038 0.9998791 -1.14952821] [ 0. 0. 0. 1. ]] SLAMing on 150.95119381700002 meters Centerline goodness [0,1] 0.9303438276719138 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.21, Z:-1.15 [[ 0.99939739 -0.03188774 -0.01371272 6.13689215] [ 0.03202147 0.99944063 0.00964597 -0.20503832] [ 0.01339746 -0.01007926 0.99985945 -1.14972362] [ 0. 0. 0. 1. ]] SLAMing on 150.98119381700002 meters Centerline goodness [0,1] 0.9318671305500331 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.21, Z:-1.15 [[ 0.99937009 -0.03246354 -0.01433679 6.13906112] [ 0.03260232 0.99942273 0.00955458 -0.21011753] [ 0.01401834 -0.01001597 0.99985157 -1.1505356 ] [ 0. 0. 0. 1. ]] SLAMing on 151.01119381700002 meters Centerline goodness [0,1] 0.9333264270175075 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.22, Z:-1.15 [[ 0.9993098 -0.03426065 -0.01435735 6.13918548] [ 0.03439553 0.99936545 0.00925489 -0.2210393 ] [ 0.01403117 -0.00974233 0.9998541 -1.14982434] [ 0. 0. 0. 1. ]] SLAMing on 151.04119381700002 meters Centerline goodness [0,1] 0.929889298892989 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.22, Z:-1.15 [[ 0.99923079 -0.0363443 -0.01472801 6.14120567] [ 0.0364618 0.99930469 0.00778976 -0.22489151] [ 0.01443466 -0.00832078 0.99986119 -1.15091811] [ 0. 0. 0. 1. ]] SLAMing on 151.07119381700002 meters Centerline goodness [0,1] 0.9308564465830941 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.23, Z:-1.15 [[ 0.99914493 -0.03848424 -0.01511181 6.14321114] [ 0.03858274 0.99923566 0.00628175 -0.22862851] [ 0.01485851 -0.00685944 0.99986608 -1.15188695] [ 0. 0. 0. 1. ]] SLAMing on 151.10119381700002 meters Centerline goodness [0,1] 0.9311453643964068 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.23, Z:-1.15 [[ 0.99914155 -0.03852977 -0.01521919 6.14322104] [ 0.03864767 0.99922453 0.00752981 -0.23330839] [ 0.01491726 -0.00811154 0.99985583 -1.15113885] [ 0. 0. 0. 1. ]] SLAMing on 151.13119381700002 meters Centerline goodness [0,1] 0.9316055756324213 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.24, Z:-1.15 [[ 9.98869543e-01 -4.51252561e-02 -1.49448132e-02 6.14317979e+00] [ 4.51616596e-02 9.98977469e-01 2.10723254e-03 -2.39544228e-01] [ 1.48344423e-02 -2.77978297e-03 9.99886100e-01 -1.15066554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16119381700003 meters Centerline goodness [0,1] 0.9310944912884046 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.24, Z:-1.15 [[ 9.98687093e-01 -4.89369832e-02 -1.51414292e-02 6.14439967e+00] [ 4.89265887e-02 9.98801819e-01 -1.05638546e-03 -2.42088731e-01] [ 1.51749833e-02 3.14180046e-04 9.99884804e-01 -1.15107563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19119381700003 meters Centerline goodness [0,1] 0.9337903326015823 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.24, Z:-1.15 [[ 9.98481274e-01 -5.29225704e-02 -1.53084062e-02 6.14617776e+00] [ 5.28607750e-02 9.98592137e-01 -4.41383492e-03 -2.44179628e-01] [ 1.55204455e-02 3.59791730e-03 9.99873077e-01 -1.15224277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22119381700003 meters Centerline goodness [0,1] 0.9259397405611505 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.25, Z:-1.16 [[ 0.99799576 -0.06132372 -0.01561636 6.15036333] [ 0.06115153 0.9980648 -0.01127552 -0.24866737] [ 0.0162776 0.01029796 0.99981448 -1.15530102] [ 0. 0. 0. 1. ]] SLAMing on 151.25119381700003 meters Centerline goodness [0,1] 0.8965252407837927 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.25, Z:-1.16 [[ 0.99772011 -0.06561305 -0.01579605 6.15214892] [ 0.06537736 0.99774784 -0.01500174 -0.25028627] [ 0.01674479 0.01393483 0.99976269 -1.15635198] [ 0. 0. 0. 1. ]] SLAMing on 151.28119381700003 meters Centerline goodness [0,1] 0.8849328135368282 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.25, Z:-1.16 [[ 0.99758369 -0.06755527 -0.01621927 6.15513701] [ 0.0672953 0.99760364 -0.01607241 -0.25255241] [ 0.01726618 0.0149421 0.99973927 -1.15838618] [ 0. 0. 0. 1. ]] SLAMing on 151.31119381700003 meters Centerline goodness [0,1] 0.8361382855247885 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.25, Z:-1.16 [[ 0.99753001 -0.06821694 -0.01674287 6.15720784] [ 0.06795288 0.9975624 -0.01586421 -0.25444513] [ 0.01778427 0.0146873 0.99973397 -1.15945245] [ 0. 0. 0. 1. ]] SLAMing on 151.34119381700003 meters Centerline goodness [0,1] 0.8303706937774173 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.26, Z:-1.16 [[ 0.99749535 -0.06861231 -0.01718656 6.15877743] [ 0.06834546 0.99753878 -0.01566123 -0.25565247] [ 0.01821881 0.01444738 0.99972964 -1.16013089] [ 0. 0. 0. 1. ]] SLAMing on 151.37119381700003 meters Centerline goodness [0,1] 0.822016140743968 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.26, Z:-1.16 [[ 0.99747236 -0.06885958 -0.01752833 6.15983178] [ 0.06858837 0.99752259 -0.01563092 -0.25596209] [ 0.01856125 0.01438918 0.99972418 -1.16043386] [ 0. 0. 0. 1. ]] SLAMing on 151.40119381700003 meters Centerline goodness [0,1] 0.8211251007876946 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.26, Z:-1.16 [[ 0.99766409 -0.06587846 -0.01806642 6.16048097] [ 0.06566363 0.99776677 -0.01223807 -0.25614156] [ 0.0188323 0.01102318 0.99976189 -1.16003451] [ 0. 0. 0. 1. ]] SLAMing on 151.43119381700004 meters Centerline goodness [0,1] 0.8233456110582296 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.26, Z:-1.16 [[ 0.99788447 -0.06229329 -0.01860434 6.16112746] [ 0.06214576 0.99803169 -0.00840581 -0.25619356] [ 0.01909134 0.00723185 0.99979159 -1.15987839] [ 0. 0. 0. 1. ]] SLAMing on 151.461193817 meters Centerline goodness [0,1] 0.8274222883597884 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.26, Z:-1.16 [[ 9.98082537e-01 -5.88520581e-02 -1.91751108e-02 6.16192568e+00] [ 5.87698761e-02 9.98259911e-01 -4.82204457e-03 -2.55526143e-01] [ 1.94255317e-02 3.68587959e-03 9.99804512e-01 -1.15981942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.491193817 meters Centerline goodness [0,1] 0.808504507471288 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.25, Z:-1.16 [[ 0.99836944 -0.05556058 -0.01309484 6.17392382] [ 0.05543157 0.99841223 -0.01001766 -0.25165797] [ 0.01363064 0.00927546 0.99986408 -1.16306772] [ 0. 0. 0. 1. ]] SLAMing on 151.521193817 meters Centerline goodness [0,1] 0.8790965822209365 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.25, Z:-1.16 [[ 9.98710522e-01 -4.90204272e-02 -1.32019662e-02 6.17205618e+00] [ 4.89719942e-02 9.98792272e-01 -3.96743729e-03 -2.46636889e-01] [ 1.33805072e-02 3.31579475e-03 9.99904979e-01 -1.16125561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.551193817 meters Centerline goodness [0,1] 0.8790965822209365 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.25, Z:-1.16 [[ 9.98710522e-01 -4.90204272e-02 -1.32019662e-02 6.17205618e+00] [ 4.89719942e-02 9.98792272e-01 -3.96743729e-03 -2.46636889e-01] [ 1.33805072e-02 3.31579475e-03 9.99904979e-01 -1.16125561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.581193817 meters Centerline goodness [0,1] 0.855597609149759 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.24, Z:-1.16 [[ 9.98875328e-01 -4.53606994e-02 -1.38016342e-02 6.17249966e+00] [ 4.53551275e-02 9.98970670e-01 -7.16612582e-04 -2.44080613e-01] [ 1.38199338e-02 8.98317485e-05 9.99904496e-01 -1.16070266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.61119381700001 meters Centerline goodness [0,1] 0.9052311887938514 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.24, Z:-1.16 [[ 9.99015311e-01 -4.19851699e-02 -1.43406722e-02 6.17289797e+00] [ 4.20207221e-02 9.99114346e-01 2.18672947e-03 -2.41560390e-01] [ 1.42361611e-02 -2.78718163e-03 9.99894776e-01 -1.16016258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64119381700002 meters Centerline goodness [0,1] 0.9221912144702842 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.24, Z:-1.16 [[ 0.99925065 -0.03592336 -0.01440983 6.1710428 ] [ 0.0360263 0.99932668 0.00694863 -0.23538023] [ 0.01415051 -0.00746256 0.99987203 -1.15844948] [ 0. 0. 0. 1. ]] SLAMing on 151.67119381700002 meters Centerline goodness [0,1] 0.9279036504218403 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.23, Z:-1.16 [[ 0.99935325 -0.03273763 -0.01487686 6.17201738] [ 0.03288165 0.99941371 0.00954162 -0.23207407] [ 0.01455576 -0.01002462 0.99984381 -1.15879429] [ 0. 0. 0. 1. ]] SLAMing on 151.70119381700002 meters Centerline goodness [0,1] 0.9269491245457548 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.23, Z:-1.16 [[ 0.99944521 -0.02956588 -0.01533391 6.17314653] [ 0.02975366 0.99948322 0.01216627 -0.22904275] [ 0.01496628 -0.01261576 0.99980841 -1.15935342] [ 0. 0. 0. 1. ]] SLAMing on 151.73119381700002 meters Centerline goodness [0,1] 0.9285580893490756 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.22, Z:-1.16 [[ 0.99944449 -0.0293734 -0.01574522 6.17413852] [ 0.02955066 0.99950114 0.01114614 -0.2242019 ] [ 0.01540997 -0.01160523 0.99981391 -1.15988763] [ 0. 0. 0. 1. ]] SLAMing on 151.76119381700002 meters Centerline goodness [0,1] 0.9337854091493509 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.22, Z:-1.16 [[ 0.99953178 -0.02594053 -0.0162268 6.17520148] [ 0.02614864 0.99957679 0.01274708 -0.21607931] [ 0.01588926 -0.01316542 0.99978708 -1.16066817] [ 0. 0. 0. 1. ]] SLAMing on 151.79119381700002 meters Centerline goodness [0,1] 0.9323709463931171 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.21, Z:-1.16 [[ 0.99951922 -0.02609777 -0.01674 6.17649576] [ 0.02629274 0.99958773 0.01153494 -0.21144177] [ 0.01643206 -0.01196953 0.99979334 -1.16125101] [ 0. 0. 0. 1. ]] SLAMing on 151.82119381700002 meters Centerline goodness [0,1] 0.9247822480298631 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.21, Z:-1.16 [[ 0.99950094 -0.02650837 -0.01718044 6.17760665] [ 0.02668647 0.9995916 0.01022122 -0.20738209] [ 0.01690247 -0.01067461 0.99980016 -1.16169217] [ 0. 0. 0. 1. ]] SLAMing on 151.85119381700002 meters Centerline goodness [0,1] 0.9263808772876292 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.20, Z:-1.16 [[ 0.99947649 -0.02712403 -0.01763587 6.17867039] [ 0.02728522 0.99958749 0.00896452 -0.20423336] [ 0.01738545 -0.00944102 0.99980429 -1.1619243 ] [ 0. 0. 0. 1. ]] SLAMing on 151.88119381700002 meters Centerline goodness [0,1] 0.9252831907887925 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.20, Z:-1.16 [[ 0.99944942 -0.02789494 -0.01796452 6.17959031] [ 0.02803796 0.99957674 0.00775924 -0.20185017] [ 0.01774047 -0.00825866 0.99980852 -1.16222028] [ 0. 0. 0. 1. ]] SLAMing on 151.91119381700003 meters Centerline goodness [0,1] 0.9310817262782056 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.20, Z:-1.16 [[ 0.99942595 -0.02878804 -0.01786124 6.17925639] [ 0.02890519 0.99956208 0.00633522 -0.19862079] [ 0.01767104 -0.00684786 0.9998204 -1.16195672] [ 0. 0. 0. 1. ]] SLAMing on 151.94119381700003 meters Centerline goodness [0,1] 0.9289016023049976 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.20, Z:-1.16 [[ 9.99385322e-01 -2.98344361e-02 -1.84088040e-02 6.18124035e+00] [ 2.99329695e-02 9.99538896e-01 5.10033663e-03 -1.96416068e-01] [ 1.82481499e-02 -5.64823173e-03 9.99817535e-01 -1.16303854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97119381700003 meters Centerline goodness [0,1] 0.9273054412342564 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.19, Z:-1.16 [[ 9.99340888e-01 -3.09623826e-02 -1.89504712e-02 6.18361546e+00] [ 3.10401722e-02 9.99510821e-01 3.82453619e-03 -1.93989803e-01] [ 1.88227843e-02 -4.41024128e-03 9.99813109e-01 -1.16462991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00119381700003 meters Centerline goodness [0,1] 0.9268040383978815 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.19, Z:-1.17 [[ 9.99311865e-01 -3.16688783e-02 -1.93100474e-02 6.18487788e+00] [ 3.17339309e-02 9.99491632e-01 3.07170598e-03 -1.92066214e-01] [ 1.92029533e-02 -3.68237594e-03 9.99808825e-01 -1.16529441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03119381700003 meters Centerline goodness [0,1] 0.913867676579541 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.19, Z:-1.16 [[ 9.99270198e-01 -3.29535656e-02 -1.93166557e-02 6.18472842e+00] [ 3.30001007e-02 9.99453152e-01 2.09519893e-03 -1.90102275e-01] [ 1.92370481e-02 -2.73112143e-03 9.99811221e-01 -1.16487824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06119381700003 meters Centerline goodness [0,1] 0.9244724865535788 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.19, Z:-1.17 [[ 9.99243419e-01 -3.35511291e-02 -1.96700703e-02 6.18567304e+00] [ 3.35940926e-02 9.99433833e-01 1.85776466e-03 -1.90386352e-01] [ 1.95966037e-02 -2.51715727e-03 9.99804799e-01 -1.16504952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09119381700003 meters Centerline goodness [0,1] 0.9119681235419205 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.19, Z:-1.17 [[ 9.99214722e-01 -3.41878729e-02 -2.00282091e-02 6.18700678e+00] [ 3.42267967e-02 9.99412805e-01 1.60379547e-03 -1.90799692e-01] [ 1.99616182e-02 -2.28803748e-03 9.99798129e-01 -1.16569320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12119381700003 meters Centerline goodness [0,1] 0.911533922693112 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.19, Z:-1.17 [[ 9.99187585e-01 -3.48771848e-02 -2.01928923e-02 6.18788559e+00] [ 3.49082311e-02 9.99389817e-01 1.18694366e-03 -1.90656700e-01] [ 2.01391737e-02 -1.89087752e-03 9.99795398e-01 -1.16627511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15119381700003 meters Centerline goodness [0,1] 0.8544218533026591 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.19, Z:-1.17 [[ 9.99116709e-01 -3.67469796e-02 -2.03828568e-02 6.18916498e+00] [ 3.67446441e-02 9.99324568e-01 -4.89215339e-04 -1.87556585e-01] [ 2.03870667e-02 -2.60177598e-04 9.99792128e-01 -1.16726633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18119381700004 meters Centerline goodness [0,1] 0.86445421002446 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.19, Z:-1.17 [[ 9.99073542e-01 -3.77063558e-02 -2.07434162e-02 6.19014489e+00] [ 3.76862244e-02 9.99288696e-01 -1.36069487e-03 -1.85435662e-01] [ 2.07799682e-02 5.77693205e-04 9.99783906e-01 -1.16752242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21119381700004 meters Centerline goodness [0,1] 0.787096108186229 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.18, Z:-1.17 [[ 9.99021235e-01 -3.88200302e-02 -2.12032152e-02 6.19122701e+00] [ 3.87794841e-02 9.99245099e-01 -2.32024981e-03 -1.83588857e-01] [ 2.12772810e-02 1.49572909e-03 9.99772494e-01 -1.16760086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.241193817 meters Centerline goodness [0,1] 0.8260114531434124 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.18, Z:-1.17 [[ 9.98981944e-01 -3.96831186e-02 -2.14552143e-02 6.19164209e+00] [ 3.96303359e-02 9.99210259e-01 -2.87991586e-03 -1.82603596e-01] [ 2.15525543e-02 2.02670659e-03 9.99765662e-01 -1.16735501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.271193817 meters Centerline goodness [0,1] 0.7543535948254416 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.18, Z:-1.17 [[ 0.99874345 -0.04528522 -0.02146563 6.19214124] [ 0.04510974 0.9989451 -0.00859029 -0.17886474] [ 0.021832 0.00761119 0.99973268 -1.16733351] [ 0. 0. 0. 1. ]] SLAMing on 152.301193817 meters Centerline goodness [0,1] 0.7533080698266758 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.18, Z:-1.17 [[ 0.9986828 -0.04648657 -0.02171794 6.19301271] [ 0.04629136 0.99888369 -0.0094064 -0.17795104] [ 0.02213097 0.00838866 0.99971989 -1.16760527] [ 0. 0. 0. 1. ]] SLAMing on 152.331193817 meters Centerline goodness [0,1] 0.7054406670676816 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.18, Z:-1.17 [[ 0.99862402 -0.04762102 -0.02196136 6.19375173] [ 0.0474014 0.99882162 -0.01041493 -0.17597726] [ 0.02243145 0.0093596 0.99970457 -1.16778855] [ 0. 0. 0. 1. ]] SLAMing on 152.36119381700001 meters Centerline goodness [0,1] 0.6815282680042107 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.17, Z:-1.17 [[ 0.99850202 -0.05003321 -0.0221447 6.19477785] [ 0.04974379 0.99867167 -0.01343355 -0.16833099] [ 0.02278741 0.01231186 0.99966452 -1.16834014] [ 0. 0. 0. 1. ]] SLAMing on 152.39119381700002 meters Centerline goodness [0,1] 0.7052393594955613 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.17, Z:-1.17 [[ 0.99862462 -0.0473751 -0.0224602 6.19518759] [ 0.04714597 0.99883151 -0.01062376 -0.16626324] [ 0.02293726 0.00955024 0.99969129 -1.16833863] [ 0. 0. 0. 1. ]] SLAMing on 152.42119381700002 meters Centerline goodness [0,1] 0.696809721963439 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.16, Z:-1.17 [[ 0.99875789 -0.04431764 -0.0227734 6.19570008] [ 0.04415709 0.99899641 -0.00750558 -0.16450847] [ 0.02308317 0.00649065 0.99971248 -1.16845252] [ 0. 0. 0. 1. ]] SLAMing on 152.45119381700002 meters Centerline goodness [0,1] 0.6711910839922794 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.16, Z:-1.17 [[ 9.98891165e-01 -4.10977378e-02 -2.29655343e-02 6.19589015e+00] [ 4.10086155e-02 9.99149374e-01 -4.33846701e-03 -1.62856002e-01] [ 2.31243004e-02 3.39187160e-03 9.99726844e-01 -1.16850913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48119381700002 meters Centerline goodness [0,1] 0.693155500413565 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.16, Z:-1.17 [[ 9.98955727e-01 -3.91747215e-02 -2.35116144e-02 6.19810599e+00] [ 3.91192208e-02 9.99230582e-01 -2.81606156e-03 -1.59523026e-01] [ 2.36038426e-02 1.89336479e-03 9.99719598e-01 -1.16996205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51119381700002 meters Centerline goodness [0,1] 0.7182584153073507 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.15, Z:-1.17 [[ 9.99162799e-01 -3.34622941e-02 -2.35367127e-02 6.19763146e+00] [ 3.35141014e-02 9.99436606e-01 1.81000965e-03 -1.52663038e-01] [ 2.34628852e-02 -2.59730608e-03 9.99721335e-01 -1.16991700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54119381700002 meters Centerline goodness [0,1] 0.7167985745659471 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.15, Z:-1.17 [[ 9.99161206e-01 -3.32463767e-02 -2.39073669e-02 6.19852616e+00] [ 3.32790160e-02 9.99445631e-01 9.68566405e-04 -1.48168433e-01] [ 2.38619120e-02 -1.76336762e-03 9.99713709e-01 -1.17018861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57119381700002 meters Centerline goodness [0,1] 0.7492844995644781 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.15, Z:-1.17 [[ 9.99256639e-01 -3.01013294e-02 -2.40848334e-02 6.19850873e+00] [ 3.02007549e-02 9.99536725e-01 3.77501383e-03 -1.45518609e-01] [ 2.39600425e-02 -4.49958778e-03 9.99702791e-01 -1.16989026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60119381700002 meters Centerline goodness [0,1] 0.7231205615023085 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.14, Z:-1.17 [[ 9.99399668e-01 -2.63842086e-02 -2.24539001e-02 6.20704878e+00] [ 2.63120603e-02 9.99647641e-01 -3.50262293e-03 -1.40974776e-01] [ 2.25384023e-02 2.90971182e-03 9.99741744e-01 -1.16910607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63119381700002 meters Centerline goodness [0,1] 0.7090275328339939 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.13, Z:-1.17 [[ 9.99454397e-01 -2.44060806e-02 -2.22542605e-02 6.20519739e+00] [ 2.43609621e-02 9.99700590e-01 -2.29630073e-03 -1.34029719e-01] [ 2.23036411e-02 1.75291267e-03 9.99749706e-01 -1.16739662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66119381700003 meters Centerline goodness [0,1] 0.7416659773347671 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.13, Z:-1.17 [[ 0.99957151 -0.02401543 -0.01673472 6.21854706] [ 0.02385793 0.99966975 -0.00954898 -0.12986941] [ 0.01695852 0.00914563 0.99981437 -1.17082292] [ 0. 0. 0. 1. ]] SLAMing on 152.69119381700003 meters Centerline goodness [0,1] 0.7332339791356185 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.13, Z:-1.17 [[ 9.99636471e-01 -2.10121518e-02 -1.68942647e-02 6.21856586e+00] [ 2.09110455e-02 9.99762491e-01 -6.13921387e-03 -1.29718265e-01] [ 1.70192503e-02 5.78370534e-03 9.99838434e-01 -1.17057529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72119381700003 meters Centerline goodness [0,1] 0.7237532400207362 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.13, Z:-1.17 [[ 9.99691921e-01 -1.81372745e-02 -1.69441215e-02 6.21849409e+00] [ 1.80895735e-02 9.99831976e-01 -2.96424864e-03 -1.28819960e-01] [ 1.69950378e-02 2.65682349e-03 9.99852044e-01 -1.17041176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75119381700003 meters Centerline goodness [0,1] 0.6871831856583557 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.12, Z:-1.17 [[ 0.99970413 -0.01899628 -0.01519186 6.23690836] [ 0.01886942 0.99978625 -0.00845025 -0.11844525] [ 0.01534913 0.00816109 0.99984889 -1.17174982] [ 0. 0. 0. 1. ]] SLAMing on 152.78119381700003 meters Centerline goodness [0,1] 0.7220967574847198 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.12, Z:-1.17 [[ 9.99752101e-01 -1.61589360e-02 -1.53174707e-02 6.23731591e+00] [ 1.60725390e-02 9.99854313e-01 -5.74684999e-03 -1.15219444e-01] [ 1.54081021e-02 5.49923471e-03 9.99866165e-01 -1.17207127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81119381700003 meters Centerline goodness [0,1] 0.7140580370079066 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.11, Z:-1.17 [[ 9.99790438e-01 -1.31751350e-02 -1.56682948e-02 6.23844452e+00] [ 1.31320981e-02 9.99909719e-01 -2.84647155e-03 -1.12532959e-01] [ 1.57043829e-02 2.64011745e-03 9.99873193e-01 -1.17272083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84119381700003 meters Centerline goodness [0,1] 0.7229538845035314 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.11, Z:-1.17 [[ 9.99808420e-01 -1.09537680e-02 -1.62215170e-02 6.24075668e+00] [ 1.09272565e-02 9.99938813e-01 -1.72207604e-03 -1.05903539e-01] [ 1.62393877e-02 1.54448945e-03 9.99866940e-01 -1.17443067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87119381700003 meters Centerline goodness [0,1] 0.7223837813136139 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.10, Z:-1.18 [[ 9.99825539e-01 -8.59618374e-03 -1.65830104e-02 6.24245602e+00] [ 8.60589447e-03 9.99962836e-01 5.14310002e-04 -1.03499694e-01] [ 1.65779731e-02 -6.56931913e-04 9.99862360e-01 -1.17568233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90119381700003 meters Centerline goodness [0,1] 0.7284432630004984 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.10, Z:-1.18 [[ 9.99834979e-01 -6.60237986e-03 -1.69240596e-02 6.24381872e+00] [ 6.64235220e-03 9.99975279e-01 2.30674141e-03 -1.00474456e-01] [ 1.69084112e-02 -2.41877631e-03 9.99854117e-01 -1.17650724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93119381700004 meters Centerline goodness [0,1] 0.7252717616795287 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.10, Z:-1.18 [[ 9.99828823e-01 -7.22432164e-03 -1.70332952e-02 6.24437020e+00] [ 7.23747784e-03 9.99973556e-01 7.10863578e-04 -9.54883903e-02] [ 1.70277093e-02 -8.34019991e-04 9.99854670e-01 -1.17680479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96119381700004 meters Centerline goodness [0,1] 0.7368322788092522 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.09, Z:-1.18 [[ 9.99841019e-01 -5.70763487e-03 -1.68925879e-02 6.24364307e+00] [ 5.72369822e-03 9.99983212e-01 9.02715623e-04 -8.65923720e-02] [ 1.68871520e-02 -9.99260183e-04 9.99856903e-01 -1.17607093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.991193817 meters Centerline goodness [0,1] 0.7137110152621102 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.08, Z:-1.18 [[ 9.99833471e-01 -6.29422584e-03 -1.71292855e-02 6.24400159e+00] [ 6.28697153e-03 9.99980123e-01 -4.77320126e-04 -8.19429479e-02] [ 1.71319494e-02 3.69549308e-04 9.99853169e-01 -1.17581350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.021193817 meters Centerline goodness [0,1] 0.7048888152031998 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.08, Z:-1.18 [[ 9.99823007e-01 -6.88161306e-03 -1.75099554e-02 6.24474642e+00] [ 6.85247810e-03 9.99975036e-01 -1.72336319e-03 -7.78441418e-02] [ 1.75213778e-02 1.60307158e-03 9.99845204e-01 -1.17570171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.051193817 meters Centerline goodness [0,1] 0.699414187832495 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.07, Z:-1.18 [[ 9.99831270e-01 -5.35820634e-03 -1.75704443e-02 6.24562796e+00] [ 5.34287254e-03 9.99985304e-01 -9.19530559e-04 -7.09392640e-02] [ 1.75751131e-02 8.25498763e-04 9.99845205e-01 -1.17652925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.081193817 meters Centerline goodness [0,1] 0.7259057297475937 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.07, Z:-1.18 [[ 9.99826116e-01 -4.69443147e-03 -1.80471740e-02 6.24819852e+00] [ 4.68244240e-03 9.99988788e-01 -7.06517433e-04 -6.69663193e-02] [ 1.80502884e-02 6.21889728e-04 9.99836887e-01 -1.17827808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.11119381700001 meters Centerline goodness [0,1] 0.7264960792406108 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.06, Z:-1.18 [[ 9.99827327e-01 -2.95962850e-03 -1.83454671e-02 6.24951067e+00] [ 2.97235347e-03 9.99995361e-01 6.66402282e-04 -6.29451315e-02] [ 1.83434097e-02 -7.20816425e-04 9.99831486e-01 -1.17905500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14119381700002 meters Centerline goodness [0,1] 0.7323929095910812 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.06, Z:-1.18 [[ 9.99825942e-01 -3.13264946e-03 -1.83922035e-02 6.24936962e+00] [ 3.12243436e-03 9.99994955e-01 -5.84094252e-04 -5.81808215e-02] [ 1.83939404e-02 5.26564138e-04 9.99830679e-01 -1.17857347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.17119381700002 meters Centerline goodness [0,1] 0.6993074935400516 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.05, Z:-1.18 [[ 9.99821719e-01 -3.17767175e-03 -1.86127073e-02 6.24983962e+00] [ 3.14820531e-03 9.99993745e-01 -1.61222232e-03 -5.40111470e-02] [ 1.86177140e-02 1.55333827e-03 9.99825469e-01 -1.17844523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20119381700002 meters Centerline goodness [0,1] 0.7131079625486785 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.05, Z:-1.18 [[ 9.99828870e-01 -8.03390165e-04 -1.84820084e-02 6.24986673e+00] [ 7.98078112e-04 9.99999638e-01 -2.94791426e-04 -4.78990551e-02] [ 1.84822385e-02 2.79990892e-04 9.99829150e-01 -1.17878254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.23119381700002 meters Centerline goodness [0,1] 0.7421521874352063 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.04, Z:-1.18 [[ 9.99825040e-01 -1.43205008e-03 -1.86504294e-02 6.25053031e+00] [ 1.40263425e-03 9.99997752e-01 -1.59020596e-03 -4.39819603e-02] [ 1.86526648e-02 1.56376800e-03 9.99824801e-01 -1.17909824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26119381700002 meters Centerline goodness [0,1] 0.735632183908046 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.04, Z:-1.18 [[ 9.99765589e-01 -2.92021535e-03 -2.14531726e-02 6.25610187e+00] [ 2.89039898e-03 9.99994814e-01 -1.42071159e-03 -3.97458340e-02] [ 2.14572101e-02 1.35837033e-03 9.99768845e-01 -1.17901582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29119381700002 meters Centerline goodness [0,1] 0.7213634479900539 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.04, Z:-1.18 [[ 9.99760596e-01 -3.72849573e-03 -2.15603346e-02 6.25639066e+00] [ 3.66897508e-03 9.99989351e-01 -2.79955361e-03 -3.54319562e-02] [ 2.15705431e-02 2.71977906e-03 9.99763629e-01 -1.17898623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32119381700002 meters Centerline goodness [0,1] 0.6958040512608517 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.03, Z:-1.18 [[ 9.99824402e-01 -7.54573980e-03 -1.71530674e-02 6.26566108e+00] [ 7.61001688e-03 9.99964253e-01 3.68508472e-03 -2.88947800e-02] [ 1.71246476e-02 -3.81497276e-03 9.99846084e-01 -1.18078667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35119381700002 meters Centerline goodness [0,1] 0.6879202267414196 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.03, Z:-1.18 [[ 9.99815308e-01 -8.48179941e-03 -1.72455693e-02 6.26535422e+00] [ 8.52161582e-03 9.99961189e-01 2.23661652e-03 -2.53375199e-02] [ 1.72259295e-02 -2.38316355e-03 9.99848783e-01 -1.18007942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38119381700002 meters Centerline goodness [0,1] 0.6807638989468456 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.02, Z:-1.18 [[ 9.99808143e-01 -9.21505774e-03 -1.72847003e-02 6.26545318e+00] [ 9.23054425e-03 9.99957064e-01 8.16398914e-04 -2.14344393e-02] [ 1.72764350e-02 -9.75789472e-04 9.99850275e-01 -1.17998885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41119381700003 meters Centerline goodness [0,1] 0.6729385493342155 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.02, Z:-1.18 [[ 9.99815700e-01 -7.79485875e-03 -1.75443893e-02 6.26640701e+00] [ 7.82924870e-03 9.99967560e-01 1.89233631e-03 -1.73460203e-02] [ 1.75290696e-02 -2.02934693e-03 9.99844295e-01 -1.18049895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44119381700003 meters Centerline goodness [0,1] 0.6729385493342155 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.02, Z:-1.18 [[ 9.99815700e-01 -7.79485875e-03 -1.75443893e-02 6.26640701e+00] [ 7.82924870e-03 9.99967560e-01 1.89233631e-03 -1.73460203e-02] [ 1.75290696e-02 -2.02934693e-03 9.99844295e-01 -1.18049895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47119381700003 meters Centerline goodness [0,1] 0.6776643967462174 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.01, Z:-1.18 [[ 9.99829954e-01 -5.67863249e-03 -1.75446975e-02 6.26660543e+00] [ 5.71306012e-03 9.99981851e-01 1.91278357e-03 -6.48128816e-03] [ 1.75335171e-02 -2.01269222e-03 9.99844250e-01 -1.18054642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50119381700003 meters Centerline goodness [0,1] 0.6740785049813329 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.00, Z:-1.18 [[ 9.99836030e-01 -3.09953729e-03 -1.78411273e-02 6.26755983e+00] [ 3.16645924e-03 9.99988053e-01 3.72396741e-03 -1.53445683e-03] [ 1.78293716e-02 -3.77984999e-03 9.99833899e-01 -1.18093054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53119381700003 meters Centerline goodness [0,1] 0.6848221670802316 Centerline is valid? [False, False] Translation: X:6.27, Y:0.00, Z:-1.18 [[ 9.99839305e-01 -1.66340752e-04 -1.79258863e-02 6.26773183e+00] [ 2.71809303e-04 9.99982668e-01 5.88131343e-03 2.96778315e-03] [ 1.79245973e-02 -5.88524075e-03 9.99822021e-01 -1.18089458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56119381700003 meters Centerline goodness [0,1] 0.7340529118067497 Centerline is valid? [False, False] Translation: X:6.27, Y:0.01, Z:-1.18 [[ 9.99827832e-01 5.47058260e-03 -1.77307218e-02 6.26673362e+00] [-5.29560722e-03 9.99936967e-01 9.90045918e-03 1.22272142e-02] [ 1.77837655e-02 -9.80485971e-03 9.99793780e-01 -1.17994566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59119381700003 meters Centerline goodness [0,1] 0.709549154016609 Centerline is valid? [False, False] Translation: X:6.27, Y:0.02, Z:-1.18 [[ 9.99827517e-01 5.02351298e-03 -1.78801791e-02 6.26648208e+00] [-4.88323822e-03 9.99957027e-01 7.88029908e-03 1.84611071e-02] [ 1.79189975e-02 -7.79162669e-03 9.99809082e-01 -1.17883541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62119381700003 meters Centerline goodness [0,1] 0.7060438993165252 Centerline is valid? [False, False] Translation: X:6.27, Y:0.02, Z:-1.18 [[ 9.99821090e-01 4.91070473e-03 -1.82667239e-02 6.26710197e+00] [-4.79522267e-03 9.99968275e-01 6.36042775e-03 2.41650460e-02] [ 1.82973786e-02 -6.27169679e-03 9.99812918e-01 -1.17835448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65119381700003 meters Centerline goodness [0,1] 0.714875777038888 Centerline is valid? [False, False] Translation: X:6.27, Y:0.03, Z:-1.18 [[ 9.99818249e-01 4.76474892e-03 -1.84598428e-02 6.26736702e+00] [-4.67707918e-03 9.99977593e-01 4.78947964e-03 2.98452352e-02] [ 1.84822498e-02 -4.70227100e-03 9.99818131e-01 -1.17785935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68119381700004 meters Centerline goodness [0,1] 0.7199801521667217 Centerline is valid? [False, False] Translation: X:6.27, Y:0.04, Z:-1.18 [[ 9.99813508e-01 4.80320587e-03 -1.87050191e-02 6.26798923e+00] [-4.74003089e-03 9.99982917e-01 3.42030661e-03 3.53750096e-02] [ 1.87211280e-02 -3.33100639e-03 9.99819196e-01 -1.17770168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71119381700004 meters Centerline goodness [0,1] 0.7375965860833178 Centerline is valid? [False, False] Translation: X:6.27, Y:0.04, Z:-1.18 [[ 9.99785090e-01 8.48385908e-03 -1.89155576e-02 6.26989547e+00] [-8.37869913e-03 9.99949039e-01 5.63178057e-03 4.19852501e-02] [ 1.89623729e-02 -5.47208248e-03 9.99805223e-01 -1.17939009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.741193817 meters Centerline goodness [0,1] 0.8184299776656465 Centerline is valid? [False, False] Translation: X:6.27, Y:0.05, Z:-1.18 [[ 9.99774066e-01 8.57604378e-03 -1.94491457e-02 6.27180980e+00] [-8.48454950e-03 9.99952572e-01 4.78193122e-03 4.55360406e-02] [ 1.94892333e-02 -4.61583358e-03 9.99799412e-01 -1.18026953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.771193817 meters Centerline goodness [0,1] 0.8406340654786573 Centerline is valid? [False, False] Translation: X:6.27, Y:0.05, Z:-1.18 [[ 9.99769514e-01 8.51161694e-03 -1.97096987e-02 6.27263244e+00] [-8.44205759e-03 9.99957850e-01 3.60971297e-03 4.97359911e-02] [ 1.97395925e-02 -3.44249056e-03 9.99799229e-01 -1.18041268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.801193817 meters Centerline goodness [0,1] 0.8515663848831427 Centerline is valid? [False, False] Translation: X:6.27, Y:0.06, Z:-1.18 [[ 9.99735084e-01 1.16761942e-02 -1.98350490e-02 6.27279429e+00] [-1.15733901e-02 9.99919034e-01 5.28986580e-03 5.67727573e-02] [ 1.98952085e-02 -5.05890566e-03 9.99789272e-01 -1.17998429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.831193817 meters Centerline goodness [0,1] 0.8490573863989879 Centerline is valid? [False, False] Translation: X:6.27, Y:0.06, Z:-1.18 [[ 9.99735088e-01 1.13001213e-02 -2.00514635e-02 6.27303700e+00] [-1.12219161e-02 9.99928998e-01 4.00846908e-03 6.05997964e-02] [ 2.00953360e-02 -3.78239135e-03 9.99790914e-01 -1.17952667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86119381700001 meters Centerline goodness [0,1] 0.7809407477951223 Centerline is valid? [False, False] Translation: X:6.27, Y:0.06, Z:-1.18 [[ 9.99729863e-01 1.09954440e-02 -2.04768650e-02 6.27403338e+00] [-1.09336519e-02 9.99935336e-01 3.12717202e-03 6.33571564e-02] [ 2.05099255e-02 -2.90244034e-03 9.99785436e-01 -1.17962186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.89119381700002 meters Centerline goodness [0,1] 0.8717108673564601 Centerline is valid? [False, False] Translation: X:6.27, Y:0.07, Z:-1.18 [[ 9.99731599e-01 1.03358292e-02 -2.07340390e-02 6.27440645e+00] [-1.03052759e-02 9.99945651e-01 1.57988882e-03 6.73569932e-02] [ 2.07492416e-02 -1.36579478e-03 9.99783778e-01 -1.17928472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92119381700002 meters Centerline goodness [0,1] 0.8670442286947141 Centerline is valid? [False, False] Translation: X:6.28, Y:0.07, Z:-1.18 [[ 9.99731034e-01 9.76857408e-03 -2.10341190e-02 6.27518939e+00] [-9.75700995e-03 9.99952186e-01 6.52338158e-04 6.94721853e-02] [ 2.10394857e-02 -4.46932592e-04 9.99778546e-01 -1.17944570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.95119381700002 meters Centerline goodness [0,1] 0.8645113217700874 Centerline is valid? [False, False] Translation: X:6.28, Y:0.07, Z:-1.19 [[ 9.99907470e-01 9.78938164e-03 -9.44565183e-03 6.28094748e+00] [-9.79542418e-03 9.99951847e-01 -5.93664773e-04 7.12411258e-02] [ 9.43938539e-03 6.86134007e-04 9.99955213e-01 -1.18500809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98119381700002 meters Centerline goodness [0,1] 0.8608576925463911 Centerline is valid? [False, False] Translation: X:6.28, Y:0.07, Z:-1.18 [[ 9.99909506e-01 9.39290244e-03 -9.63084892e-03 6.28075184e+00] [-9.40669076e-03 9.99954794e-01 -1.38738424e-03 7.30454834e-02] [ 9.61738198e-03 1.47785311e-03 9.99952660e-01 -1.18418084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01119381700002 meters Centerline goodness [0,1] 0.8654276016226509 Centerline is valid? [False, False] Translation: X:6.28, Y:0.08, Z:-1.18 [[ 9.99909309e-01 9.34288851e-03 -9.69975024e-03 6.28021195e+00] [-9.36826776e-03 9.99952803e-01 -2.57435324e-03 7.69313496e-02] [ 9.67524054e-03 2.66498963e-03 9.99949643e-01 -1.18287341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04119381700002 meters Centerline goodness [0,1] 0.8723998758149643 Centerline is valid? [False, False] Translation: X:6.28, Y:0.08, Z:-1.18 [[ 9.99906028e-01 9.30588025e-03 -1.00665863e-02 6.28040287e+00] [-9.33939154e-03 9.99950984e-01 -3.28709092e-03 7.94870165e-02] [ 1.00355036e-02 3.38079781e-03 9.99943928e-01 -1.18197341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07119381700002 meters Centerline goodness [0,1] 0.8975542128786624 Centerline is valid? [False, False] Translation: X:6.28, Y:0.08, Z:-1.18 [[ 9.99902669e-01 9.41145494e-03 -1.02993699e-02 6.28050077e+00] [-9.45104696e-03 9.99948109e-01 -3.80222383e-03 8.14925328e-02] [ 1.02630510e-02 3.89919359e-03 9.99939731e-01 -1.18126666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10119381700002 meters Centerline goodness [0,1] 0.9013664596273292 Centerline is valid? [False, False] Translation: X:6.28, Y:0.08, Z:-1.18 [[ 9.99887577e-01 1.05745233e-02 -1.06307858e-02 6.28107880e+00] [-1.06131764e-02 9.99937248e-01 -3.58613957e-03 8.26131105e-02] [ 1.05921970e-02 3.69856280e-03 9.99937061e-01 -1.18079729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13119381700002 meters Centerline goodness [0,1] 0.9143911592129543 Centerline is valid? [False, False] Translation: X:6.28, Y:0.08, Z:-1.18 [[ 9.99880029e-01 1.09899239e-02 -1.09155840e-02 6.28161031e+00] [-1.10284172e-02 9.99933156e-01 -3.47253725e-03 8.27371694e-02] [ 1.08766915e-02 3.59250226e-03 9.99934394e-01 -1.18068364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16119381700003 meters Centerline goodness [0,1] 0.9212465173872666 Centerline is valid? [False, False] Translation: X:6.28, Y:0.08, Z:-1.18 [[ 9.99864986e-01 1.19147861e-02 -1.13158523e-02 6.28278190e+00] [-1.19459785e-02 9.99925018e-01 -2.69294598e-03 8.21419823e-02] [ 1.12829179e-02 2.82776132e-03 9.99932347e-01 -1.18106311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19119381700003 meters Centerline goodness [0,1] 0.9341244201457919 Centerline is valid? [False, False] Translation: X:6.28, Y:0.08, Z:-1.18 [[ 9.99860177e-01 1.20917635e-02 -1.15505379e-02 6.28297424e+00] [-1.21245233e-02 9.99922657e-01 -2.77040863e-03 8.25771731e-02] [ 1.15161455e-02 2.91006604e-03 9.99929452e-01 -1.18061949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22119381700003 meters Centerline goodness [0,1] 0.9351562014137939 Centerline is valid? [False, False] Translation: X:6.28, Y:0.08, Z:-1.18 [[ 9.99853380e-01 1.24360075e-02 -1.17713666e-02 6.28300571e+00] [-1.24679452e-02 9.99918777e-01 -2.64368456e-03 8.30007023e-02] [ 1.17375336e-02 2.79006169e-03 9.99927220e-01 -1.17996911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25119381700003 meters Centerline goodness [0,1] 0.9442257489744333 Centerline is valid? [False, False] Translation: X:6.28, Y:0.08, Z:-1.18 [[ 9.99845975e-01 1.26254786e-02 -1.21911110e-02 6.28430575e+00] [-1.26531804e-02 9.99917530e-01 -2.19784155e-03 8.19725336e-02] [ 1.21623568e-02 2.35175936e-03 9.99923270e-01 -1.18060158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28119381700003 meters Centerline goodness [0,1] 0.9430478124805703 Centerline is valid? [False, False] Translation: X:6.29, Y:0.08, Z:-1.18 [[ 9.99843862e-01 1.24989737e-02 -1.24910935e-02 6.28508222e+00] [-1.25235011e-02 9.99919797e-01 -1.88730058e-03 8.00851141e-02] [ 1.24665023e-02 2.04343813e-03 9.99920202e-01 -1.18095390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31119381700003 meters Centerline goodness [0,1] 0.9416109889197826 Centerline is valid? [False, False] Translation: X:6.29, Y:0.08, Z:-1.18 [[ 9.99877084e-01 9.19840516e-03 -1.26966634e-02 6.28567111e+00] [-9.25520377e-03 9.99947392e-01 -4.42202098e-03 7.56640636e-02] [ 1.26553199e-02 4.53898765e-03 9.99909616e-01 -1.18137430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34119381700003 meters Centerline goodness [0,1] 0.9340566232692705 Centerline is valid? [False, False] Translation: X:6.30, Y:0.07, Z:-1.18 [[ 9.99952762e-01 5.19642446e-03 -8.21408623e-03 6.29565028e+00] [-5.17065120e-03 9.99981652e-01 3.15581952e-03 7.15517955e-02] [ 8.23033450e-03 -3.11319827e-03 9.99961284e-01 -1.18384400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37119381700003 meters Centerline goodness [0,1] 0.9362845392357452 Centerline is valid? [False, False] Translation: X:6.30, Y:0.07, Z:-1.18 [[ 9.99963490e-01 1.74866992e-03 -8.36423762e-03 6.29555355e+00] [-1.75150016e-03 9.99998411e-01 -3.31060000e-04 7.09126445e-02] [ 8.36364542e-03 3.45697877e-04 9.99964964e-01 -1.18315132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40119381700003 meters Centerline goodness [0,1] 0.9222916537771453 Centerline is valid? [False, False] Translation: X:6.30, Y:0.07, Z:-1.18 [[ 9.99962335e-01 1.47020817e-03 -8.55377135e-03 6.29584217e+00] [-1.46923954e-03 9.99998914e-01 1.19522406e-04 6.85968450e-02] [ 8.55393778e-03 -1.06950365e-04 9.99963409e-01 -1.18309836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43119381700004 meters Centerline goodness [0,1] 0.9289808587687532 Centerline is valid? [False, False] Translation: X:6.30, Y:0.07, Z:-1.18 [[ 9.99962074e-01 8.13516127e-04 -8.67114656e-03 6.29564458e+00] [-8.12302780e-04 9.99999660e-01 1.43450204e-04 6.65988820e-02] [ 8.67126031e-03 -1.36401167e-04 9.99962395e-01 -1.18265605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46119381700004 meters Centerline goodness [0,1] 0.9098822749129498 Centerline is valid? [False, False] Translation: X:6.30, Y:0.06, Z:-1.18 [[ 9.99956115e-01 -2.09764003e-03 -9.13059153e-03 6.29777842e+00] [ 2.07885747e-03 9.99995705e-01 -2.06610715e-03 6.31239880e-02] [ 9.13488626e-03 2.04703528e-03 9.99956181e-01 -1.18421770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.491193817 meters Centerline goodness [0,1] 0.9010804421310218 Centerline is valid? [False, False] Translation: X:6.30, Y:0.06, Z:-1.18 [[ 9.99955569e-01 -1.85468843e-03 -9.24225297e-03 6.29836873e+00] [ 1.84343888e-03 9.99997550e-01 -1.22555735e-03 6.06282195e-02] [ 9.24450335e-03 1.20846537e-03 9.99956538e-01 -1.18476248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.521193817 meters Centerline goodness [0,1] 0.8740726926105516 Centerline is valid? [False, False] Translation: X:6.30, Y:0.06, Z:-1.19 [[ 9.99953776e-01 -1.50971595e-03 -9.49556849e-03 6.29917358e+00] [ 1.50678804e-03 9.99998815e-01 -3.15490901e-04 5.79360642e-02] [ 9.49603354e-03 3.01168508e-04 9.99954866e-01 -1.18523029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.551193817 meters Centerline goodness [0,1] 0.9026048034482044 Centerline is valid? [False, False] Translation: X:6.30, Y:0.06, Z:-1.19 [[ 9.99953899e-01 -1.26774261e-03 -9.51806281e-03 6.29943310e+00] [ 1.27188904e-03 9.99999099e-01 4.29597576e-04 5.55530868e-02] [ 9.51750961e-03 -4.41683690e-04 9.99954610e-01 -1.18548773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.581193817 meters Centerline goodness [0,1] 0.8785543064969417 Centerline is valid? [False, False] Translation: X:6.30, Y:0.05, Z:-1.19 [[ 9.99949929e-01 -3.59739913e-04 -1.00005273e-02 6.30096819e+00] [ 3.76845913e-04 9.99998469e-01 1.70867810e-03 5.28928332e-02] [ 9.99989727e-03 -1.71236120e-03 9.99948534e-01 -1.18616916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.61119381700001 meters Centerline goodness [0,1] 0.8946411601867537 Centerline is valid? [False, False] Translation: X:6.30, Y:0.05, Z:-1.19 [[ 9.99948136e-01 1.06469702e-04 -1.01840506e-02 6.30155990e+00] [-8.63244810e-05 9.99998039e-01 1.97853385e-03 5.28669395e-02] [ 1.01842413e-02 -1.97755211e-03 9.99946184e-01 -1.18635708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64119381700002 meters Centerline goodness [0,1] 0.915564113713067 Centerline is valid? [False, False] Translation: X:6.30, Y:0.05, Z:-1.19 [[ 9.99944440e-01 8.62250496e-04 -1.05058750e-02 6.30229245e+00] [-8.38013822e-04 9.99996978e-01 2.31114766e-03 5.31817638e-02] [ 1.05078361e-02 -2.30221518e-03 9.99942141e-01 -1.18634147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.67119381700002 meters Centerline goodness [0,1] 0.929179702877981 Centerline is valid? [False, False] Translation: X:6.30, Y:0.05, Z:-1.19 [[ 9.99940383e-01 1.65609942e-03 -1.07929465e-02 6.30308355e+00] [-1.62743626e-03 9.99995127e-01 2.66397207e-03 5.33782830e-02] [ 1.07973057e-02 -2.64624842e-03 9.99938206e-01 -1.18644789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70119381700002 meters Centerline goodness [0,1] 0.9307649357900614 Centerline is valid? [False, False] Translation: X:6.30, Y:0.05, Z:-1.19 [[ 9.99931973e-01 3.68346945e-03 -1.10670979e-02 6.30333761e+00] [-3.63936910e-03 9.99985368e-01 4.00231667e-03 5.16122741e-02] [ 1.10816783e-02 -3.96176715e-03 9.99930748e-01 -1.18568577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.73119381700002 meters Centerline goodness [0,1] 0.931780055917987 Centerline is valid? [False, False] Translation: X:6.30, Y:0.05, Z:-1.18 [[ 9.99927981e-01 4.19084918e-03 -1.12458977e-02 6.30312521e+00] [-4.14048401e-03 9.99981312e-01 4.49808814e-03 5.02576482e-02] [ 1.12645383e-02 -4.45120073e-03 9.99926646e-01 -1.18485533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76119381700002 meters Centerline goodness [0,1] 0.9320091040761431 Centerline is valid? [False, False] Translation: X:6.30, Y:0.05, Z:-1.18 [[ 9.99924513e-01 4.59045433e-03 -1.13972082e-02 6.30310246e+00] [-4.53466814e-03 9.99977636e-01 4.91575099e-03 4.91778864e-02] [ 1.14195189e-02 -4.86369736e-03 9.99922967e-01 -1.18432851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79119381700002 meters Centerline goodness [0,1] 0.9320099255583126 Centerline is valid? [False, False] Translation: X:6.30, Y:0.05, Z:-1.18 [[ 9.99920954e-01 5.14148265e-03 -1.14738806e-02 6.30241191e+00] [-5.07365877e-03 9.99969532e-01 5.93245449e-03 4.60217158e-02] [ 1.15040326e-02 -5.87377100e-03 9.99916575e-01 -1.18320332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82119381700002 meters Centerline goodness [0,1] 0.9310295146750093 Centerline is valid? [False, False] Translation: X:6.30, Y:0.04, Z:-1.18 [[ 9.99924294e-01 2.85892046e-03 -1.19680128e-02 6.30462717e+00] [-2.81656417e-03 9.99989716e-01 3.55448423e-03 4.47455992e-02] [ 1.19780517e-02 -3.52050646e-03 9.99922063e-01 -1.18452152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85119381700002 meters Centerline goodness [0,1] 0.9318717196346654 Centerline is valid? [False, False] Translation: X:6.30, Y:0.04, Z:-1.18 [[ 9.99922874e-01 2.80927688e-03 -1.20976918e-02 6.30474847e+00] [-2.75974028e-03 9.99987748e-01 4.10946376e-03 4.21922534e-02] [ 1.21090882e-02 -4.07576033e-03 9.99918376e-01 -1.18443219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88119381700002 meters Centerline goodness [0,1] 0.9307354828028641 Centerline is valid? [False, False] Translation: X:6.30, Y:0.04, Z:-1.18 [[ 9.99930519e-01 2.99690918e-04 -1.17841638e-02 6.30354643e+00] [-2.81894743e-04 9.99998817e-01 1.51180915e-03 4.10301631e-02] [ 1.17846029e-02 -1.50838222e-03 9.99929421e-01 -1.18347761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91119381700003 meters Centerline goodness [0,1] 0.9332409284620795 Centerline is valid? [False, False] Translation: X:6.30, Y:0.04, Z:-1.18 [[ 9.99931656e-01 -1.28934194e-04 -1.16904686e-02 6.30299034e+00] [ 1.50188580e-04 9.99998338e-01 1.81723562e-03 3.86125780e-02] [ 1.16902149e-02 -1.81886719e-03 9.99930013e-01 -1.18298336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94119381700003 meters Centerline goodness [0,1] 0.9347217072467351 Centerline is valid? [False, False] Translation: X:6.30, Y:0.03, Z:-1.18 [[ 9.99922853e-01 -4.06115091e-03 -1.17385790e-02 6.30263865e+00] [ 4.04867980e-03 9.99991214e-01 -1.08597259e-03 3.46150124e-02] [ 1.17428862e-02 1.03836306e-03 9.99930511e-01 -1.18229140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97119381700003 meters Centerline goodness [0,1] 0.9335903494590225 Centerline is valid? [False, False] Translation: X:6.30, Y:0.03, Z:-1.18 [[ 9.99920460e-01 -4.60847354e-03 -1.17403230e-02 6.30231724e+00] [ 4.59952723e-03 9.99989111e-01 -7.88902492e-04 3.19399655e-02] [ 1.17438308e-02 7.34839807e-04 9.99930769e-01 -1.18197154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00119381700003 meters Centerline goodness [0,1] 0.9268755152514427 Centerline is valid? [False, False] Translation: X:6.30, Y:0.03, Z:-1.18 [[ 9.99894368e-01 -8.03330774e-03 -1.21127756e-02 6.30351255e+00] [ 7.98520978e-03 9.99960061e-01 -4.01399420e-03 3.06841607e-02] [ 1.21445375e-02 3.91684714e-03 9.99918581e-01 -1.18238591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03119381700003 meters Centerline goodness [0,1] 0.8978730447736489 Centerline is valid? [False, False] Translation: X:6.30, Y:0.03, Z:-1.18 [[ 0.99985514 -0.01172964 -0.01233353 6.30478387] [ 0.01165018 0.99991104 -0.00649437 0.02600183] [ 0.01240861 0.00634974 0.99990285 -1.18355501] [ 0. 0. 0. 1. ]] SLAMing on 155.06119381700003 meters Centerline goodness [0,1] 0.8764177498137263 Centerline is valid? [False, False] Translation: X:6.31, Y:0.02, Z:-1.18 [[ 9.99852182e-01 -1.16590288e-02 -1.26365314e-02 6.30591192e+00] [ 1.15895998e-02 9.99917415e-01 -5.55368500e-03 2.29505518e-02] [ 1.27002384e-02 5.40641172e-03 9.99904733e-01 -1.18437705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09119381700003 meters Centerline goodness [0,1] 0.8589645551307223 Centerline is valid? [False, False] Translation: X:6.31, Y:0.02, Z:-1.19 [[ 9.99851088e-01 -1.15300682e-02 -1.28397312e-02 6.30680390e+00] [ 1.14688672e-02 9.99922565e-01 -4.83000805e-03 2.08374153e-02] [ 1.28944273e-02 4.68203163e-03 9.99905902e-01 -1.18503620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12119381700003 meters Centerline goodness [0,1] 0.8431830875204269 Centerline is valid? [False, False] Translation: X:6.31, Y:0.02, Z:-1.18 [[ 9.99848708e-01 -1.16665101e-02 -1.29016920e-02 6.30680169e+00] [ 1.16145902e-02 9.99924176e-01 -4.09190477e-03 1.80489661e-02] [ 1.29484519e-02 3.94143783e-03 9.99908397e-01 -1.18492808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15119381700003 meters Centerline goodness [0,1] 0.8352664382713502 Centerline is valid? [False, False] Translation: X:6.31, Y:0.02, Z:-1.19 [[ 9.99848653e-01 -1.14398813e-02 -1.31072795e-02 6.30745538e+00] [ 1.13956699e-02 9.99929140e-01 -3.44278057e-03 1.65169374e-02] [ 1.31457357e-02 3.29289328e-03 9.99908169e-01 -1.18520873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18119381700004 meters Centerline goodness [0,1] 0.8501632029087303 Centerline is valid? [False, False] Translation: X:6.31, Y:0.02, Z:-1.19 [[ 9.99849845e-01 -1.11959079e-02 -1.32264456e-02 6.30793802e+00] [ 1.11568910e-02 9.99933199e-01 -3.02002953e-03 1.57554284e-02] [ 1.32593741e-02 2.87201005e-03 9.99907966e-01 -1.18550612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21119381700004 meters Centerline goodness [0,1] 0.8595092788641175 Centerline is valid? [False, False] Translation: X:6.31, Y:0.02, Z:-1.19 [[ 9.99850784e-01 -1.09527529e-02 -1.33583786e-02 6.30829211e+00] [ 1.09181376e-02 9.99936853e-01 -2.66146389e-03 1.51973246e-02] [ 1.33866854e-02 2.51521814e-03 9.99907231e-01 -1.18563962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.241193817 meters Centerline goodness [0,1] 0.8050873682256101 Centerline is valid? [False, False] Translation: X:6.31, Y:0.01, Z:-1.19 [[ 9.99845827e-01 -1.08383847e-02 -1.38149048e-02 6.30986118e+00] [ 1.08082262e-02 9.99939045e-01 -2.25584014e-03 1.41637448e-02] [ 1.38385124e-02 2.10617773e-03 9.99902025e-01 -1.18653483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.271193817 meters Centerline goodness [0,1] 0.8102871307581079 Centerline is valid? [False, False] Translation: X:6.31, Y:0.01, Z:-1.19 [[ 9.99843708e-01 -1.07533815e-02 -1.40329790e-02 6.31042572e+00] [ 1.07258123e-02 9.99940399e-01 -2.03838741e-03 1.39986822e-02] [ 1.40540622e-02 1.88755373e-03 9.99899455e-01 -1.18671734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.301193817 meters Centerline goodness [0,1] 0.8009268837671204 Centerline is valid? [False, False] Translation: X:6.31, Y:0.01, Z:-1.19 [[ 9.99840520e-01 -1.08395328e-02 -1.41929508e-02 6.31086440e+00] [ 1.08154591e-02 9.99939941e-01 -1.77183252e-03 1.32205431e-02] [ 1.42113043e-02 1.61804666e-03 9.99897705e-01 -1.18690195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.331193817 meters Centerline goodness [0,1] 0.7676041795729567 Centerline is valid? [False, False] Translation: X:6.31, Y:0.01, Z:-1.19 [[ 9.99833473e-01 -1.11654139e-02 -1.44346884e-02 6.31154713e+00] [ 1.11434957e-02 9.99936632e-01 -1.59798118e-03 1.20103800e-02] [ 1.44516158e-02 1.43686218e-03 9.99894538e-01 -1.18718914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36119381700001 meters Centerline goodness [0,1] 0.7676041795729567 Centerline is valid? [False, False] Translation: X:6.31, Y:0.01, Z:-1.19 [[ 9.99833473e-01 -1.11654139e-02 -1.44346884e-02 6.31154713e+00] [ 1.11434957e-02 9.99936632e-01 -1.59798118e-03 1.20103800e-02] [ 1.44516158e-02 1.43686218e-03 9.99894538e-01 -1.18718914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.39119381700002 meters Centerline goodness [0,1] 0.7662259739722344 Centerline is valid? [False, False] Translation: X:6.31, Y:0.01, Z:-1.19 [[ 9.99773683e-01 -1.55563416e-02 -1.45114704e-02 6.31172473e+00] [ 1.54764904e-02 9.99864557e-01 -5.59880183e-03 1.13333530e-02] [ 1.45966018e-02 5.37294810e-03 9.99879028e-01 -1.18704241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42119381700002 meters Centerline goodness [0,1] 0.797780032719667 Centerline is valid? [False, False] Translation: X:6.31, Y:0.01, Z:-1.19 [[ 9.99764728e-01 -1.60249678e-02 -1.46180781e-02 6.31171018e+00] [ 1.59427055e-02 9.99856507e-01 -5.72672821e-03 1.08661161e-02] [ 1.47077512e-02 5.49232916e-03 9.99876751e-01 -1.18674265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.45119381700002 meters Centerline goodness [0,1] 0.7583582213373155 Centerline is valid? [False, False] Translation: X:6.31, Y:0.01, Z:-1.19 [[ 9.99759222e-01 -1.62712687e-02 -1.47221915e-02 6.31178471e+00] [ 1.61859544e-02 9.99851617e-01 -5.89566926e-03 1.14576881e-02] [ 1.48159370e-02 5.65595699e-03 9.99874241e-01 -1.18654463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48119381700002 meters Centerline goodness [0,1] 0.7731481481481481 Centerline is valid? [False, False] Translation: X:6.31, Y:0.01, Z:-1.19 [[ 9.99774122e-01 -1.49449873e-02 -1.51113049e-02 6.31348587e+00] [ 1.48763399e-02 9.99878552e-01 -4.64503345e-03 1.42619650e-02] [ 1.51788896e-02 4.41918333e-03 9.99875028e-01 -1.18758085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51119381700002 meters Centerline goodness [0,1] 0.7882886615021335 Centerline is valid? [False, False] Translation: X:6.31, Y:0.01, Z:-1.19 [[ 9.99821632e-01 -1.15714569e-02 -1.49266866e-02 6.31261717e+00] [ 1.15581140e-02 9.99932723e-01 -9.79857031e-04 1.39041319e-02] [ 1.49370207e-02 8.07157911e-04 9.99888111e-01 -1.18703694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54119381700002 meters Centerline goodness [0,1] 0.7955038984137489 Centerline is valid? [False, False] Translation: X:6.31, Y:0.01, Z:-1.19 [[ 9.99826034e-01 -1.11439074e-02 -1.49570855e-02 6.31240992e+00] [ 1.11314841e-02 9.99937626e-01 -9.13596341e-04 1.47603546e-02] [ 1.49663336e-02 7.46942848e-04 9.99887719e-01 -1.18643471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57119381700002 meters Centerline goodness [0,1] 0.7989767596006463 Centerline is valid? [False, False] Translation: X:6.31, Y:0.02, Z:-1.19 [[ 9.99826895e-01 -1.11242465e-02 -1.49140954e-02 6.31172068e+00] [ 1.11088132e-02 9.99937671e-01 -1.11726112e-03 1.54493613e-02] [ 1.49255945e-02 9.51389821e-04 9.99888154e-01 -1.18552850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60119381700002 meters Centerline goodness [0,1] 0.7814068267595703 Centerline is valid? [False, False] Translation: X:6.31, Y:0.02, Z:-1.19 [[ 9.99827355e-01 -1.13258058e-02 -1.47304306e-02 6.31132392e+00] [ 1.13079964e-02 9.99935228e-01 -1.29175283e-03 1.60680496e-02] [ 1.47441067e-02 1.12495816e-03 9.99890667e-01 -1.18540905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63119381700002 meters Centerline goodness [0,1] 0.8007804392046163 Centerline is valid? [False, False] Translation: X:6.31, Y:0.02, Z:-1.19 [[ 9.99826246e-01 -1.12598950e-02 -1.48557060e-02 6.31222103e+00] [ 1.12448715e-02 9.99936175e-01 -1.09443825e-03 1.59506365e-02] [ 1.48670811e-02 9.27197586e-04 9.99889049e-01 -1.18623840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66119381700003 meters Centerline goodness [0,1] 0.7610165636179408 Centerline is valid? [False, False] Translation: X:6.31, Y:0.02, Z:-1.19 [[ 9.99823250e-01 -1.12083266e-02 -1.50944738e-02 6.31344956e+00] [ 1.11962928e-02 9.99936931e-01 -8.81501391e-04 1.57569330e-02] [ 1.51034020e-02 7.12343436e-04 9.99885683e-01 -1.18721368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69119381700003 meters Centerline goodness [0,1] 0.7484081700157116 Centerline is valid? [False, False] Translation: X:6.31, Y:0.02, Z:-1.19 [[ 9.99819249e-01 -1.12782796e-02 -1.53058808e-02 6.31436278e+00] [ 1.12689502e-02 9.99936261e-01 -6.95639178e-04 1.52884453e-02] [ 1.53127509e-02 5.23032231e-04 9.99882616e-01 -1.18786401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72119381700003 meters Centerline goodness [0,1] 0.7648969626748324 Centerline is valid? [False, False] Translation: X:6.32, Y:0.01, Z:-1.19 [[ 9.99816272e-01 -1.13965452e-02 -1.54123436e-02 6.31500875e+00] [ 1.13919907e-02 9.99935036e-01 -3.83274407e-04 1.40019566e-02] [ 1.54157104e-02 2.07626714e-04 9.99881149e-01 -1.18846199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75119381700003 meters Centerline goodness [0,1] 0.7264387334589658 Centerline is valid? [False, False] Translation: X:6.31, Y:0.01, Z:-1.19 [[ 9.99804984e-01 -1.23854731e-02 -1.53816009e-02 6.31488395e+00] [ 1.23773682e-02 9.99923204e-01 -6.22010376e-04 1.32999451e-02] [ 1.53881235e-02 4.31505336e-04 9.99881503e-01 -1.18839081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78119381700003 meters Centerline goodness [0,1] 0.7015479747675963 Centerline is valid? [False, False] Translation: X:6.31, Y:0.01, Z:-1.19 [[ 9.99801702e-01 -1.25964783e-02 -1.54235021e-02 6.31492493e+00] [ 1.25873619e-02 9.99920539e-01 -6.88009265e-04 1.35069020e-02] [ 1.54309431e-02 4.93731632e-04 9.99880814e-01 -1.18828554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81119381700003 meters Centerline goodness [0,1] 0.7295793870714256 Centerline is valid? [False, False] Translation: X:6.32, Y:0.01, Z:-1.19 [[ 9.99797457e-01 -1.26488074e-02 -1.56541341e-02 6.31575328e+00] [ 1.26401731e-02 9.99919898e-01 -6.50389546e-04 1.36437733e-02] [ 1.56611069e-02 4.52386850e-04 9.99877255e-01 -1.18872012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84119381700003 meters Centerline goodness [0,1] 0.7282906195571037 Centerline is valid? [False, False] Translation: X:6.32, Y:0.01, Z:-1.19 [[ 9.99796506e-01 -1.25653205e-02 -1.57816341e-02 6.31611319e+00] [ 1.25578138e-02 9.99920982e-01 -5.74671114e-04 1.36442277e-02] [ 1.57876080e-02 3.76371350e-04 9.99875297e-01 -1.18885355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87119381700003 meters Centerline goodness [0,1] 0.7265608773314502 Centerline is valid? [False, False] Translation: X:6.32, Y:0.01, Z:-1.19 [[ 9.99834850e-01 -9.10369768e-03 -1.57288235e-02 6.31649615e+00] [ 9.14922795e-03 9.99954154e-01 2.82517276e-03 1.44062639e-02] [ 1.57023829e-02 -2.96861278e-03 9.99872303e-01 -1.18955730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90119381700003 meters Centerline goodness [0,1] 0.7363026462914648 Centerline is valid? [False, False] Translation: X:6.32, Y:0.02, Z:-1.19 [[ 9.99833547e-01 -8.33083177e-03 -1.62319199e-02 6.31841901e+00] [ 8.37806105e-03 9.99960860e-01 2.84382861e-03 1.68144698e-02] [ 1.62075931e-02 -2.97934726e-03 9.99864209e-01 -1.19055791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93119381700004 meters Centerline goodness [0,1] 0.7498804300359749 Centerline is valid? [False, False] Translation: X:6.32, Y:0.02, Z:-1.19 [[ 9.99856499e-01 -4.49110130e-03 -1.63343488e-02 6.31873709e+00] [ 4.59713454e-03 9.99968569e-01 6.45968265e-03 1.77844635e-02] [ 1.63048243e-02 -6.53384688e-03 9.99845719e-01 -1.19079163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96119381700004 meters Centerline goodness [0,1] 0.7664248747739696 Centerline is valid? [False, False] Translation: X:6.32, Y:0.02, Z:-1.19 [[ 9.99855708e-01 -3.90620292e-03 -1.65319433e-02 6.31951374e+00] [ 4.00481792e-03 9.99974361e-01 5.93622192e-03 2.09843107e-02] [ 1.65083313e-02 -6.00157279e-03 9.99845716e-01 -1.19104430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.991193817 meters Centerline goodness [0,1] 0.7999543748314979 Centerline is valid? [False, False] Translation: X:6.32, Y:0.02, Z:-1.19 [[ 9.99853238e-01 1.54757169e-03 -1.70619005e-02 6.32174329e+00] [-1.36947455e-03 9.99944511e-01 1.04450415e-02 2.26353084e-02] [ 1.70771183e-02 -1.04201428e-02 9.99799876e-01 -1.19235722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.021193817 meters Centerline goodness [0,1] 0.8200305873599801 Centerline is valid? [False, False] Translation: X:6.32, Y:0.02, Z:-1.19 [[ 9.99840174e-01 2.87282699e-03 -1.76457586e-02 6.32389289e+00] [-2.67794939e-03 9.99935277e-01 1.10575953e-02 2.38811088e-02] [ 1.76763831e-02 -1.10085736e-02 9.99783155e-01 -1.19339644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.051193817 meters Centerline goodness [0,1] 0.8438129660788102 Centerline is valid? [False, False] Translation: X:6.32, Y:0.03, Z:-1.19 [[ 9.99835179e-01 3.81770911e-03 -1.77493845e-02 6.32431100e+00] [-3.62283170e-03 9.99932951e-01 1.09986096e-02 2.62655180e-02] [ 1.77901839e-02 -1.09324937e-02 9.99781971e-01 -1.19341710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.081193817 meters Centerline goodness [0,1] 0.9102710088818037 Centerline is valid? [False, False] Translation: X:6.32, Y:0.03, Z:-1.19 [[ 0.99976587 0.01244508 -0.01770099 6.32434816] [-0.01211399 0.99975192 0.0186907 0.0282029 ] [ 0.01792921 -0.0184719 0.99966861 -1.19319301] [ 0. 0. 0. 1. ]] SLAMing on 156.11119381700001 meters Centerline goodness [0,1] 0.925772981946462 Centerline is valid? [False, False] Translation: X:6.32, Y:0.03, Z:-1.19 [[ 0.99974646 0.01379951 -0.017793 6.32441114] [-0.01346205 0.99972984 0.01894805 0.03037545] [ 0.01804967 -0.01870372 0.99966213 -1.19266365] [ 0. 0. 0. 1. ]] SLAMing on 156.14119381700002 meters Centerline goodness [0,1] 0.9328392293638931 Centerline is valid? [False, False] Translation: X:6.32, Y:0.03, Z:-1.19 [[ 0.99972905 0.01483835 -0.01793444 6.32488647] [-0.01449468 0.99971169 0.01914283 0.03164943] [ 0.01821332 -0.01887769 0.99965589 -1.19265353] [ 0. 0. 0. 1. ]] SLAMing on 156.17119381700002 meters Centerline goodness [0,1] 0.9353529497028554 Centerline is valid? [False, False] Translation: X:6.33, Y:0.03, Z:-1.19 [[ 0.99969552 0.01630814 -0.01851811 6.32684952] [-0.01593665 0.99967228 0.02003393 0.03195272] [ 0.01883876 -0.01973272 0.99962779 -1.19350983] [ 0. 0. 0. 1. ]] SLAMing on 156.20119381700002 meters Centerline goodness [0,1] 0.9359734605017624 Centerline is valid? [False, False] Translation: X:6.33, Y:0.03, Z:-1.19 [[ 0.99961111 0.02095388 -0.01840031 6.32640998] [-0.02050195 0.99949165 0.0244153 0.03161161] [ 0.01890255 -0.02402856 0.99953255 -1.19294166] [ 0. 0. 0. 1. ]] SLAMing on 156.23119381700002 meters Centerline goodness [0,1] 0.9388210500216947 Centerline is valid? [False, False] Translation: X:6.33, Y:0.03, Z:-1.19 [[ 0.99958244 0.02191869 -0.01882852 6.32725912] [-0.02144977 0.99946339 0.02475572 0.03245018] [ 0.01936103 -0.02434152 0.9995162 -1.19274466] [ 0. 0. 0. 1. ]] SLAMing on 156.26119381700002 meters Centerline goodness [0,1] 0.9363737348802765 Centerline is valid? [False, False] Translation: X:6.33, Y:0.03, Z:-1.19 [[ 0.9995471 0.02308453 -0.01930539 6.32843262] [-0.02258994 0.99942067 0.02545635 0.03227194] [ 0.01988185 -0.02500871 0.99948951 -1.1929024 ] [ 0. 0. 0. 1. ]] SLAMing on 156.29119381700002 meters Centerline goodness [0,1] 0.9420145791915175 Centerline is valid? [False, False] Translation: X:6.33, Y:0.03, Z:-1.19 [[ 0.99952254 0.02409068 -0.01934787 6.32899143] [-0.02358217 0.99938131 0.02609368 0.03145891] [ 0.01996451 -0.02562496 0.99947225 -1.19333637] [ 0. 0. 0. 1. ]] SLAMing on 156.32119381700002 meters Centerline goodness [0,1] 0.9463110853643398 Centerline is valid? [False, False] Translation: X:6.33, Y:0.03, Z:-1.20 [[ 0.99939309 0.03072229 -0.01641955 6.33106365] [-0.03050625 0.99944675 0.01324984 0.03025907] [ 0.01681753 -0.0127409 0.9997774 -1.19530093] [ 0. 0. 0. 1. ]] SLAMing on 156.35119381700002 meters Centerline goodness [0,1] 0.9473335541570056 Centerline is valid? [False, False] Translation: X:6.33, Y:0.03, Z:-1.20 [[ 0.99936659 0.03143442 -0.01668239 6.33194884] [-0.0312045 0.99941681 0.01386803 0.02904667] [ 0.01710859 -0.01333868 0.99976466 -1.19567762] [ 0. 0. 0. 1. ]] SLAMing on 156.38119381700002 meters Centerline goodness [0,1] 0.9500030977015055 Centerline is valid? [False, True] Translation: X:6.33, Y:0.03, Z:-1.20 [[ 0.99932053 0.03276463 -0.01688089 6.3323435 ] [-0.03250124 0.99934919 0.01564812 0.02515838] [ 0.01738261 -0.01508884 0.99973505 -1.1956297 ] [ 0. 0. 0. 1. ]] SLAMing on 156.41119381700003 meters Centerline goodness [0,1] 0.9491265833264343 Centerline is valid? [True, False] Translation: X:6.33, Y:0.02, Z:-1.19 [[ 0.99941628 0.02957256 -0.01710441 6.33203538] [-0.02936037 0.99949039 0.01252674 0.0232857 ] [ 0.01746615 -0.01201724 0.99977523 -1.19484546] [ 0. 0. 0. 1. ]] SLAMing on 156.44119381700003 meters Centerline goodness [0,1] 0.9517980107115531 Centerline is valid? [False, True] Translation: X:6.33, Y:0.02, Z:-1.19 [[ 0.99949587 0.026493 -0.01749663 6.33243927] [-0.02632025 0.99960323 0.01003127 0.01932135] [ 0.01775545 -0.0095657 0.9997966 -1.19459139] [ 0. 0. 0. 1. ]] SLAMing on 156.47119381700003 meters Centerline goodness [0,1] 0.949058122021169 Centerline is valid? [True, False] Translation: X:6.34, Y:0.01, Z:-1.20 [[ 0.99968833 0.02204895 -0.01170811 6.3448378 ] [-0.02187891 0.99965608 0.01445786 0.01248755] [ 0.01202287 -0.01419719 0.99982693 -1.19797078] [ 0. 0. 0. 1. ]] SLAMing on 156.50119381700003 meters Centerline goodness [0,1] 0.9437302684522213 Centerline is valid? [False, False] Translation: X:6.34, Y:0.01, Z:-1.20 [[ 0.99981285 0.01519083 -0.01197969 6.34491487] [-0.01509874 0.99985604 0.0077408 0.00968682] [ 0.01209555 -0.00755848 0.99989828 -1.19755139] [ 0. 0. 0. 1. ]] SLAMing on 156.53119381700003 meters Centerline goodness [0,1] 0.9363938624207505 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.00, Z:-1.20 [[ 9.99907845e-01 5.63311076e-03 -1.23519219e-02 6.34487278e+00] [-5.62934695e-03 9.99984097e-01 3.39461329e-04 -1.11378691e-03] [ 1.23536377e-02 -2.69896791e-04 9.99923654e-01 -1.19697785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56119381700003 meters Centerline goodness [0,1] 0.932829053134919 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.01, Z:-1.20 [[ 9.99920619e-01 2.05384777e-03 -1.24313115e-02 6.34495994e+00] [-2.07406608e-03 9.99996547e-01 -1.61372848e-03 -7.49082796e-03] [ 1.24279543e-02 1.63938374e-03 9.99921426e-01 -1.19694005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59119381700003 meters Centerline goodness [0,1] 0.9313073299727295 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.01, Z:-1.20 [[ 9.99920427e-01 -1.56599560e-03 -1.25174809e-02 6.34480146e+00] [ 1.52077472e-03 9.99992287e-01 -3.62132101e-03 -1.38578628e-02] [ 1.25230554e-02 3.60199658e-03 9.99915096e-01 -1.19655192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62119381700003 meters Centerline goodness [0,1] 0.9309353410830266 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.02, Z:-1.20 [[ 0.99984525 -0.01237169 -0.01250702 6.34484443] [ 0.01222458 0.99985599 -0.01177107 -0.02390212] [ 0.01265085 0.01161636 0.9998525 -1.19662768] [ 0. 0. 0. 1. ]] SLAMing on 156.65119381700003 meters Centerline goodness [0,1] 0.9232837611434008 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.03, Z:-1.20 [[ 0.99979013 -0.0159917 -0.01280447 6.34595119] [ 0.01581453 0.99977943 -0.01382001 -0.02980352] [ 0.01302265 0.01361461 0.99982251 -1.19727702] [ 0. 0. 0. 1. ]] SLAMing on 156.68119381700004 meters Centerline goodness [0,1] 0.9058494668185112 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.04, Z:-1.20 [[ 0.99972368 -0.01952227 -0.01309336 6.3474281 ] [ 0.01931579 0.99968992 -0.01571532 -0.03604009] [ 0.01339609 0.01545807 0.99979077 -1.19840555] [ 0. 0. 0. 1. ]] SLAMing on 156.71119381700004 meters Centerline goodness [0,1] 0.8180481947664789 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.05, Z:-1.20 [[ 0.99945838 -0.02994369 -0.01364977 6.3507041 ] [ 0.02961096 0.9992743 -0.02395975 -0.0451842 ] [ 0.01435731 0.02354259 0.99961973 -1.20085739] [ 0. 0. 0. 1. ]] SLAMing on 156.741193817 meters Centerline goodness [0,1] 0.8238835717399879 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.05, Z:-1.20 [[ 0.99935672 -0.03297883 -0.01409025 6.35302843] [ 0.03260289 0.99912688 -0.02612539 -0.04890918] [ 0.01493954 0.0256492 0.99955937 -1.20250752] [ 0. 0. 0. 1. ]] SLAMing on 156.771193817 meters Centerline goodness [0,1] 0.8045056631954528 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.05, Z:-1.20 [[ 0.99935092 -0.03296293 -0.01453246 6.35434931] [ 0.03259179 0.99915413 -0.02507594 -0.05230379] [ 0.01534674 0.02458603 0.99957991 -1.20321739] [ 0. 0. 0. 1. ]] SLAMing on 156.801193817 meters Centerline goodness [0,1] 0.7579137587238285 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.05, Z:-1.20 [[ 0.99935415 -0.03268057 -0.014942 6.35532293] [ 0.0323138 0.99918567 -0.02416221 -0.05472975] [ 0.01571947 0.02366378 0.99959638 -1.20352649] [ 0. 0. 0. 1. ]] SLAMing on 156.831193817 meters Centerline goodness [0,1] 0.7641247618258636 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.06, Z:-1.20 [[ 0.99948832 -0.03023998 -0.01042344 6.36232848] [ 0.03014021 0.99949958 -0.00959972 -0.06153492] [ 0.01070852 0.00928064 0.99989959 -1.20351993] [ 0. 0. 0. 1. ]] SLAMing on 156.86119381700001 meters Centerline goodness [0,1] 0.8423200414293113 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.06, Z:-1.20 [[ 9.99608607e-01 -2.58865721e-02 -1.06074776e-02 6.36169490e+00] [ 2.58384608e-02 9.99655326e-01 -4.64784789e-03 -6.42828452e-02] [ 1.07241383e-02 4.37194786e-03 9.99932937e-01 -1.20251471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.89119381700002 meters Centerline goodness [0,1] 0.7984939137610894 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.07, Z:-1.20 [[ 9.99704584e-01 -2.17198125e-02 -1.09084574e-02 6.36154640e+00] [ 2.17189839e-02 9.99764096e-01 -1.94435348e-04 -6.58456620e-02] [ 1.09101072e-02 -4.25427020e-05 9.99940482e-01 -1.20172486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92119381700002 meters Centerline goodness [0,1] 0.8995381779775095 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.07, Z:-1.20 [[ 9.99789362e-01 -1.73060079e-02 -1.10333367e-02 6.36122815e+00] [ 1.73543439e-02 9.99840154e-01 4.30031054e-03 -6.67398967e-02] [ 1.09571519e-02 -4.49088105e-03 9.99929884e-01 -1.20115702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.95119381700002 meters Centerline goodness [0,1] 0.9181570922278085 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.06, Z:-1.20 [[ 9.99917473e-01 -8.92869020e-03 -9.23718320e-03 6.36829958e+00] [ 8.94479217e-03 9.99958544e-01 1.70332502e-03 -6.46485524e-02] [ 9.22159180e-03 -1.78580914e-03 9.99955886e-01 -1.19912595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98119381700002 meters Centerline goodness [0,1] 0.9321368827574813 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.07, Z:-1.20 [[ 9.99945727e-01 -4.80034430e-03 -9.24660100e-03 6.36768888e+00] [ 4.85441806e-03 9.99971197e-01 5.83442035e-03 -6.51499360e-02] [ 9.21832744e-03 -5.87899056e-03 9.99940228e-01 -1.19834296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01119381700002 meters Centerline goodness [0,1] 0.9342554115239099 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.06, Z:-1.20 [[ 9.99953056e-01 -3.62033671e-03 -8.98765955e-03 6.36671834e+00] [ 3.67760728e-03 9.99972988e-01 6.36380536e-03 -6.45295435e-02] [ 8.96437766e-03 -6.39655971e-03 9.99939360e-01 -1.19753412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04119381700002 meters Centerline goodness [0,1] 0.9380167845433738 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.06, Z:-1.20 [[ 9.99961650e-01 6.30639582e-04 -8.73497731e-03 6.36575001e+00] [-5.41997962e-04 9.99948376e-01 1.01465460e-02 -6.34293419e-02] [ 8.74092519e-03 -1.01414225e-02 9.99910370e-01 -1.19678032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07119381700002 meters Centerline goodness [0,1] 0.9383684308034336 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.06, Z:-1.20 [[ 9.99960034e-01 8.27205798e-04 -8.90198680e-03 6.36627381e+00] [-7.40913632e-04 9.99952752e-01 9.69252094e-03 -6.12939814e-02] [ 8.90958391e-03 -9.68553797e-03 9.99913401e-01 -1.19693396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10119381700002 meters Centerline goodness [0,1] 0.935090860447408 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.06, Z:-1.20 [[ 9.99956700e-01 1.08325474e-03 -9.24257717e-03 6.36728417e+00] [-9.96970964e-04 9.99955931e-01 9.33497277e-03 -5.94644470e-02] [ 9.25228201e-03 -9.32535398e-03 9.99913713e-01 -1.19735122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13119381700002 meters Centerline goodness [0,1] 0.933177359110126 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.06, Z:-1.20 [[ 9.99952276e-01 1.50455056e-03 -9.65307437e-03 6.36875109e+00] [-1.41400923e-03 9.99955012e-01 9.37951177e-03 -5.88623730e-02] [ 9.66675205e-03 -9.36541461e-03 9.99909417e-01 -1.19816486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16119381700003 meters Centerline goodness [0,1] 0.9355324193382125 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.06, Z:-1.20 [[ 9.99949849e-01 1.85003973e-03 -9.84262167e-03 6.36953940e+00] [-1.75757740e-03 9.99954327e-01 9.39444635e-03 -5.86321085e-02] [ 9.85955222e-03 -9.37667604e-03 9.99907429e-01 -1.19865931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19119381700003 meters Centerline goodness [0,1] 0.9359975152707319 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.06, Z:-1.20 [[ 9.99946952e-01 2.58259068e-03 -9.97113192e-03 6.37049651e+00] [-2.48671926e-03 9.99950679e-01 9.61535343e-03 -5.87480958e-02] [ 9.99547266e-03 -9.59004795e-03 9.99904056e-01 -1.19956238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22119381700003 meters Centerline goodness [0,1] 0.931323283082077 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.06, Z:-1.20 [[ 9.99947566e-01 -3.26709424e-04 -1.02351337e-02 6.37153628e+00] [ 3.86543447e-04 9.99982846e-01 5.84451170e-03 -5.72170319e-02] [ 1.02330487e-02 -5.84816157e-03 9.99930539e-01 -1.20007410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25119381700003 meters Centerline goodness [0,1] 0.931323283082077 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.06, Z:-1.20 [[ 9.99947566e-01 -3.26709424e-04 -1.02351337e-02 6.37153628e+00] [ 3.86543447e-04 9.99982846e-01 5.84451170e-03 -5.72170319e-02] [ 1.02330487e-02 -5.84816157e-03 9.99930539e-01 -1.20007410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28119381700003 meters Centerline goodness [0,1] 0.9366092452596356 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.06, Z:-1.20 [[ 9.99944904e-01 -4.15882966e-04 -1.04888721e-02 6.37245228e+00] [ 4.78000245e-04 9.99982360e-01 5.92039623e-03 -5.80601802e-02] [ 1.04862249e-02 -5.92508372e-03 9.99927464e-01 -1.20060140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31119381700003 meters Centerline goodness [0,1] 0.9301444715817362 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.06, Z:-1.20 [[ 9.99943051e-01 -5.23637394e-04 -1.06593255e-02 6.37281453e+00] [ 5.89842352e-04 9.99980551e-01 6.20879356e-03 -5.94462917e-02] [ 1.06558670e-02 -6.21472729e-03 9.99923912e-01 -1.20062704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34119381700003 meters Centerline goodness [0,1] 0.9352284473847426 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.06, Z:-1.20 [[ 9.99933658e-01 -3.80081816e-03 -1.08734754e-02 6.37340032e+00] [ 3.83556788e-03 9.99987598e-01 3.17675855e-03 -6.09744795e-02] [ 1.08612663e-02 -3.21825376e-03 9.99935836e-01 -1.20073481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37119381700003 meters Centerline goodness [0,1] 0.9346095135937951 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.06, Z:-1.20 [[ 9.99929073e-01 -3.81320569e-03 -1.12830786e-02 6.37454267e+00] [ 3.85652498e-03 9.99985267e-01 3.82005051e-03 -6.33356687e-02] [ 1.12683457e-02 -3.86329304e-03 9.99929047e-01 -1.20113443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40119381700003 meters Centerline goodness [0,1] 0.9329075463508402 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.07, Z:-1.20 [[ 9.99925290e-01 -3.65979883e-03 -1.16627960e-02 6.37557821e+00] [ 3.71449546e-03 9.99982189e-01 4.67163237e-03 -6.65374391e-02] [ 1.16454910e-02 -4.71460476e-03 9.99921074e-01 -1.20149162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43119381700004 meters Centerline goodness [0,1] 0.9321489282308554 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.07, Z:-1.20 [[ 9.99923791e-01 -3.34713796e-03 -1.18831412e-02 6.37637647e+00] [ 3.41422660e-03 9.99978323e-01 5.62990844e-03 -7.01481384e-02] [ 1.18640395e-02 -5.67005113e-03 9.99913544e-01 -1.20193581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46119381700004 meters Centerline goodness [0,1] 0.930028369675509 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.08, Z:-1.20 [[ 9.99920653e-01 -2.90792478e-03 -1.22568750e-02 6.37881115e+00] [ 2.98661288e-03 9.99975018e-01 6.40650789e-03 -7.64626314e-02] [ 1.22379391e-02 -6.44260610e-03 9.99904358e-01 -1.20385629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.491193817 meters Centerline goodness [0,1] 0.9312366627302298 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.08, Z:-1.20 [[ 9.99920320e-01 -2.26995301e-03 -1.24177438e-02 6.37926001e+00] [ 2.36264286e-03 9.99969422e-01 7.45473652e-03 -7.91622812e-02] [ 1.24004422e-02 -7.48348123e-03 9.99895108e-01 -1.20398614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.521193817 meters Centerline goodness [0,1] 0.9327068057420221 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.08, Z:-1.20 [[ 9.99919001e-01 -1.65821815e-03 -1.26191023e-02 6.37966033e+00] [ 1.76602388e-03 9.99962002e-01 8.53671571e-03 -8.19750581e-02] [ 1.26044671e-02 -8.55830988e-03 9.99883935e-01 -1.20390237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.551193817 meters Centerline goodness [0,1] 0.9337500258708116 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.09, Z:-1.20 [[ 9.99918001e-01 -9.08853685e-04 -1.27736044e-02 6.37947568e+00] [ 1.03522633e-03 9.99950556e-01 9.89013646e-03 -8.56872257e-02] [ 1.27639842e-02 -9.90254905e-03 9.99869502e-01 -1.20321732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.581193817 meters Centerline goodness [0,1] 0.9373466146961167 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.09, Z:-1.20 [[ 9.99915461e-01 1.13189788e-03 -1.29534003e-02 6.37916167e+00] [-9.64197363e-04 9.99915740e-01 1.29453772e-02 -9.44215765e-02] [ 1.29669617e-02 -1.29317932e-02 9.99832299e-01 -1.20220055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.61119381700001 meters Centerline goodness [0,1] 0.9394714583376312 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.10, Z:-1.20 [[ 9.99918342e-01 -3.73443897e-04 -1.27738177e-02 6.37797043e+00] [ 5.17202218e-04 9.99936553e-01 1.12526878e-02 -9.69029442e-02] [ 1.27688049e-02 -1.12583755e-02 9.99855093e-01 -1.20108335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64119381700002 meters Centerline goodness [0,1] 0.9397525662473925 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.10, Z:-1.20 [[ 9.99918100e-01 -2.14280971e-03 -1.26174842e-02 6.37668933e+00] [ 2.26168641e-03 9.99953121e-01 9.41486606e-03 -9.95032662e-02] [ 1.25967184e-02 -9.44263178e-03 9.99876072e-01 -1.19976254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.67119381700002 meters Centerline goodness [0,1] 0.9452656317644876 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.11, Z:-1.20 [[ 9.99916091e-01 -3.24102292e-03 -1.25421597e-02 6.37515724e+00] [ 3.35689942e-03 9.99951778e-01 9.22896224e-03 -1.08027912e-01] [ 1.25116436e-02 -9.27029062e-03 9.99878753e-01 -1.19776017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70119381700002 meters Centerline goodness [0,1] 0.94791215589236 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.11, Z:-1.20 [[ 9.99909693e-01 -5.49450299e-03 -1.22644528e-02 6.37384192e+00] [ 5.58418893e-03 9.99957832e-01 7.29044712e-03 -1.11664215e-01] [ 1.22238783e-02 -7.35827577e-03 9.99898211e-01 -1.19666884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.73119381700002 meters Centerline goodness [0,1] 0.9501499638018409 Centerline is valid? [False, True] Translation: X:6.37, Y:-0.12, Z:-1.20 [[ 9.99901909e-01 -7.34586009e-03 -1.19252094e-02 6.37206932e+00] [ 7.41533093e-03 9.99955733e-01 5.79181827e-03 -1.15264971e-01] [ 1.18821356e-02 -5.87967952e-03 9.99912118e-01 -1.19514955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76119381700002 meters Centerline goodness [0,1] 0.9494393602110643 Centerline is valid? [True, False] Translation: X:6.37, Y:-0.12, Z:-1.20 [[ 9.99881960e-01 -9.06992158e-03 -1.24017175e-02 6.37414924e+00] [ 9.12660917e-03 9.99948127e-01 4.52201647e-03 -1.18550676e-01] [ 1.23600599e-02 -4.63466832e-03 9.99912871e-01 -1.19631499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79119381700002 meters Centerline goodness [0,1] 0.9447762736385243 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.13, Z:-1.20 [[ 9.99843415e-01 -1.26414194e-02 -1.23830762e-02 6.37441603e+00] [ 1.26753410e-02 9.99916114e-01 2.66470480e-03 -1.25063275e-01] [ 1.23483518e-02 -2.82124726e-03 9.99919776e-01 -1.19641062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82119381700002 meters Centerline goodness [0,1] 0.941930556128979 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.13, Z:-1.20 [[ 9.99788079e-01 -1.62171957e-02 -1.26806711e-02 6.37516494e+00] [ 1.62184443e-02 9.99868472e-01 -4.37411753e-06 -1.28856874e-01] [ 1.26790742e-02 -2.01287567e-04 9.99919597e-01 -1.19643073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85119381700002 meters Centerline goodness [0,1] 0.9370210480656023 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.13, Z:-1.20 [[ 9.99714192e-01 -2.01008740e-02 -1.29417276e-02 6.37631752e+00] [ 2.00669496e-02 9.99794868e-01 -2.74587554e-03 -1.33342599e-01] [ 1.29942674e-02 2.48538975e-03 9.99912482e-01 -1.19695069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88119381700002 meters Centerline goodness [0,1] 0.9339946269890473 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.14, Z:-1.20 [[ 9.99619023e-01 -2.42841381e-02 -1.31182972e-02 6.37726134e+00] [ 2.42115907e-02 9.99690828e-01 -5.66106357e-03 -1.37652153e-01] [ 1.32517154e-02 5.34129200e-03 9.99897926e-01 -1.19736241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91119381700003 meters Centerline goodness [0,1] 0.9281140260276802 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.14, Z:-1.20 [[ 0.9992539 -0.03640702 -0.01289055 6.37767768] [ 0.03619985 0.99921719 -0.01595536 -0.14297685] [ 0.01346134 0.01547682 0.99978961 -1.19739343] [ 0. 0. 0. 1. ]] SLAMing on 157.94119381700003 meters Centerline goodness [0,1] 0.9246588108600658 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.15, Z:-1.20 [[ 0.99908925 -0.0406819 -0.01287097 6.37784497] [ 0.04043091 0.99899796 -0.0191943 -0.14603671] [ 0.01363893 0.01865643 0.99973292 -1.19712715] [ 0. 0. 0. 1. ]] SLAMing on 157.97119381700003 meters Centerline goodness [0,1] 0.9145371537174376 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.15, Z:-1.20 [[ 0.9989121 -0.04484522 -0.01278729 6.37776369] [ 0.04455106 0.9987553 -0.0224287 -0.14871182] [ 0.01377719 0.02183462 0.99966666 -1.19663483] [ 0. 0. 0. 1. ]] SLAMing on 158.00119381700003 meters Centerline goodness [0,1] 0.8969773403903407 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.15, Z:-1.20 [[ 0.99872308 -0.04892739 -0.01258221 6.37731824] [ 0.04859061 0.99848533 -0.02580709 -0.15080867] [ 0.01382582 0.02516275 0.99958776 -1.19597282] [ 0. 0. 0. 1. ]] SLAMing on 158.03119381700003 meters Centerline goodness [0,1] 0.8732701812191104 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.15, Z:-1.20 [[ 0.99857613 -0.0525928 -0.00892771 6.38459468] [ 0.05243021 0.99847017 -0.01756099 -0.1542445 ] [ 0.00983764 0.0170679 0.99980593 -1.19534269] [ 0. 0. 0. 1. ]] SLAMing on 158.06119381700003 meters Centerline goodness [0,1] 0.7918614468996479 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.16, Z:-1.19 [[ 0.99832823 -0.05716063 -0.00856735 6.38397923] [ 0.05696587 0.99814517 -0.02147343 -0.1552285 ] [ 0.00977889 0.02094949 0.99973271 -1.19461161] [ 0. 0. 0. 1. ]] SLAMing on 158.09119381700003 meters Centerline goodness [0,1] 0.798009090722116 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.16, Z:-1.19 [[ 0.99830666 -0.05751082 -0.00873641 6.38461324] [ 0.05731403 0.99812865 -0.02131426 -0.15620968] [ 0.00994586 0.02077745 0.99973465 -1.19490982] [ 0. 0. 0. 1. ]] SLAMing on 158.12119381700003 meters Centerline goodness [0,1] 0.7851623832741096 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.15, Z:-1.20 [[ 0.99825546 -0.05837755 -0.00883754 6.38558992] [ 0.05816975 0.99806022 -0.02218285 -0.1542036 ] [ 0.01011538 0.02163008 0.99971487 -1.19580917] [ 0. 0. 0. 1. ]] SLAMing on 158.15119381700003 meters Centerline goodness [0,1] 0.7253057191089883 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.15, Z:-1.20 [[ 0.99841622 -0.05550945 -0.00915137 6.38653391] [ 0.05532953 0.99828996 -0.01886287 -0.15345669] [ 0.01018279 0.01832666 0.9997802 -1.19663777] [ 0. 0. 0. 1. ]] SLAMing on 158.18119381700004 meters Centerline goodness [0,1] 0.7700570106585144 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.15, Z:-1.20 [[ 0.99857737 -0.05248738 -0.00939707 6.3872165 ] [ 0.05233628 0.9985067 -0.01566177 -0.15198808] [ 0.01020508 0.01514768 0.99983319 -1.19731552] [ 0. 0. 0. 1. ]] SLAMing on 158.21119381700004 meters Centerline goodness [0,1] 0.7641020366179798 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.15, Z:-1.20 [[ 0.99871436 -0.04973668 -0.00979257 6.3884513 ] [ 0.0496089 0.99868559 -0.01288582 -0.14965498] [ 0.01042059 0.01238345 0.99986902 -1.19827273] [ 0. 0. 0. 1. ]] SLAMing on 158.241193817 meters Centerline goodness [0,1] 0.7597905282331512 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.14, Z:-1.20 [[ 0.99880588 -0.04778861 -0.01015216 6.39119044] [ 0.04766611 0.99879143 -0.01198439 -0.14216292] [ 0.01071261 0.01148617 0.99987665 -1.20117841] [ 0. 0. 0. 1. ]] SLAMing on 158.271193817 meters Centerline goodness [0,1] 0.7656311280833935 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.14, Z:-1.20 [[ 0.99891044 -0.0454443 -0.01061809 6.39311407] [ 0.04534113 0.99892385 -0.0097635 -0.1393173 ] [ 0.01105036 0.00927142 0.99989596 -1.20278887] [ 0. 0. 0. 1. ]] SLAMing on 158.301193817 meters Centerline goodness [0,1] 0.7574506728308429 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.14, Z:-1.20 [[ 0.99902796 -0.04270543 -0.01092644 6.39431938] [ 0.04262942 0.99906574 -0.00709778 -0.13677962] [ 0.01121935 0.00662509 0.99991511 -1.20391915] [ 0. 0. 0. 1. ]] SLAMing on 158.331193817 meters Centerline goodness [0,1] 0.7575738724727838 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.13, Z:-1.20 [[ 9.99137950e-01 -3.99702552e-02 -1.12131841e-02 6.39533483e+00] [ 3.99207027e-02 9.99192222e-01 -4.60877874e-03 -1.33460586e-01] [ 1.13883404e-02 4.15716756e-03 9.99926509e-01 -1.20487769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36119381700001 meters Centerline goodness [0,1] 0.7515332989158492 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.13, Z:-1.21 [[ 9.99226433e-01 -3.75450433e-02 -1.17006787e-02 6.39722830e+00] [ 3.75182582e-02 9.99292814e-01 -2.50042284e-03 -1.29500442e-01] [ 1.17862826e-02 2.05949952e-03 9.99928418e-01 -1.20636973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.39119381700002 meters Centerline goodness [0,1] 0.7415811384526607 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.12, Z:-1.21 [[ 9.99373234e-01 -3.31296017e-02 -1.24726910e-02 6.39927262e+00] [ 3.31429525e-02 9.99450247e-01 8.65169837e-04 -1.20408631e-01] [ 1.24371713e-02 -1.27800938e-03 9.99921839e-01 -1.20757041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42119381700002 meters Centerline goodness [0,1] 0.7645344631600702 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.12, Z:-1.21 [[ 9.99478673e-01 -2.97016225e-02 -1.26568857e-02 6.39930242e+00] [ 2.97484624e-02 9.99551188e-01 3.52864906e-03 -1.16460427e-01] [ 1.25463985e-02 -3.90333237e-03 9.99913672e-01 -1.20742874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.45119381700002 meters Centerline goodness [0,1] 0.7858875230612964 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.11, Z:-1.21 [[ 9.99574012e-01 -2.62240017e-02 -1.28099987e-02 6.39916298e+00] [ 2.63032746e-02 9.99635643e-01 6.05955308e-03 -1.12236091e-01] [ 1.26464255e-02 -6.39391670e-03 9.99899588e-01 -1.20711045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48119381700002 meters Centerline goodness [0,1] 0.850047735668922 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.10, Z:-1.21 [[ 0.99979515 -0.01576337 -0.01269564 6.39706249] [ 0.01594492 0.9997702 0.01432879 -0.10357271] [ 0.01246685 -0.01452829 0.99981674 -1.20511051] [ 0. 0. 0. 1. ]] SLAMing on 158.51119381700002 meters Centerline goodness [0,1] 0.9013678158533801 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.10, Z:-1.20 [[ 0.9998749 -0.00995863 -0.01228856 6.40314579] [ 0.010065 0.99991215 0.00862504 -0.09659587] [ 0.01220159 -0.00874764 0.99988729 -1.20130177] [ 0. 0. 0. 1. ]] SLAMing on 158.54119381700002 meters Centerline goodness [0,1] 0.9258599254040614 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.09, Z:-1.20 [[ 9.99936580e-01 -3.61599840e-03 -1.06658678e-02 6.40937286e+00] [ 3.64963889e-03 9.99988422e-01 3.13625678e-03 -8.95348213e-02] [ 1.06544036e-02 -3.17498445e-03 9.99938200e-01 -1.19836005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57119381700002 meters Centerline goodness [0,1] 0.931496926674807 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.08, Z:-1.20 [[ 9.99943534e-01 8.74519415e-05 -1.06264744e-02 6.40849274e+00] [-3.00160468e-05 9.99985392e-01 5.40502053e-03 -8.39956270e-02] [ 1.06267918e-02 -5.40439636e-03 9.99928929e-01 -1.19716644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60119381700002 meters Centerline goodness [0,1] 0.929912546110167 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.08, Z:-1.20 [[ 9.99935450e-01 4.46723332e-03 -1.04469840e-02 6.40738802e+00] [-4.38731093e-03 9.99961032e-01 7.66072863e-03 -7.81051037e-02] [ 1.04807992e-02 -7.61439996e-03 9.99916083e-01 -1.19570443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63119381700002 meters Centerline goodness [0,1] 0.9327694508364948 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.08, Z:-1.20 [[ 9.99936028e-01 4.31823600e-03 -1.04543092e-02 6.40724119e+00] [-4.24806223e-03 9.99968361e-01 6.72535070e-03 -7.54823538e-02] [ 1.04830201e-02 -6.68050991e-03 9.99922736e-01 -1.19544884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66119381700003 meters Centerline goodness [0,1] 0.9356428467893898 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.07, Z:-1.20 [[ 9.99937527e-01 3.79912979e-03 -1.05123506e-02 6.40740208e+00] [-3.73972304e-03 9.99976961e-01 5.66503666e-03 -7.27501624e-02] [ 1.05336306e-02 -5.62536947e-03 9.99928696e-01 -1.19546869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69119381700003 meters Centerline goodness [0,1] 0.9350740855869858 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.07, Z:-1.20 [[ 9.99939513e-01 3.11069579e-03 -1.05495931e-02 6.40735018e+00] [-3.06264189e-03 9.99984876e-01 4.56814752e-03 -7.00048352e-02] [ 1.05636436e-02 -4.53556158e-03 9.99933917e-01 -1.19529229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72119381700003 meters Centerline goodness [0,1] 0.9363591105210753 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.07, Z:-1.19 [[ 9.99945055e-01 1.00314533e-03 -1.04345722e-02 6.40648894e+00] [-9.77059471e-04 9.99996386e-01 2.50474217e-03 -6.70355282e-02] [ 1.04370471e-02 -2.49440935e-03 9.99942421e-01 -1.19450912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75119381700003 meters Centerline goodness [0,1] 0.9360596335024329 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.07, Z:-1.20 [[ 9.99942617e-01 -5.57531578e-04 -1.06981917e-02 6.40810985e+00] [ 5.71353609e-04 9.99999006e-01 1.28898421e-03 -6.71374078e-02] [ 1.06974624e-02 -1.29502270e-03 9.99941942e-01 -1.19579144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78119381700003 meters Centerline goodness [0,1] 0.9367389551590829 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.07, Z:-1.20 [[ 9.99939566e-01 -1.45939790e-03 -1.08965725e-02 6.40935602e+00] [ 1.47008138e-03 9.99998447e-01 9.72499035e-04 -6.81689272e-02] [ 1.08951363e-02 -9.88459111e-04 9.99940158e-01 -1.19687707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81119381700003 meters Centerline goodness [0,1] 0.9273559125538258 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.07, Z:-1.20 [[ 9.99922174e-01 -5.21965691e-03 -1.13314130e-02 6.41189338e+00] [ 5.19402561e-03 9.99983888e-01 -2.29022068e-03 -6.94542279e-02] [ 1.13431846e-02 2.23118679e-03 9.99933175e-01 -1.19898366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84119381700003 meters Centerline goodness [0,1] 0.9197895171275279 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.07, Z:-1.20 [[ 9.99914795e-01 -5.67736354e-03 -1.17545893e-02 6.41319870e+00] [ 5.65253334e-03 9.99981725e-01 -2.14453008e-03 -7.07281865e-02] [ 1.17665498e-02 2.07790415e-03 9.99928613e-01 -1.19966880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87119381700003 meters Centerline goodness [0,1] 0.9064600872928863 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.07, Z:-1.20 [[ 9.99910670e-01 -6.12048831e-03 -1.18824016e-02 6.41365107e+00] [ 6.09708026e-03 9.99979402e-01 -2.00520351e-03 -7.18177032e-02] [ 1.18944297e-02 1.93257643e-03 9.99927391e-01 -1.19996468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90119381700003 meters Centerline goodness [0,1] 0.8956002982848621 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.07, Z:-1.20 [[ 9.99907412e-01 -6.43858957e-03 -1.19880340e-02 6.41405613e+00] [ 6.41783584e-03 9.99977841e-01 -1.76887006e-03 -7.30233496e-02] [ 1.19991573e-02 1.69176905e-03 9.99926576e-01 -1.20021282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93119381700004 meters Centerline goodness [0,1] 0.8759654608328329 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.07, Z:-1.20 [[ 9.99902567e-01 -6.66147355e-03 -1.22670665e-02 6.41483290e+00] [ 6.64474386e-03 9.99976938e-01 -1.40404270e-03 -7.44894894e-02] [ 1.22761366e-02 1.32239439e-03 9.99923771e-01 -1.20056026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96119381700004 meters Centerline goodness [0,1] 0.8338541774457253 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:-1.20 [[ 9.99894807e-01 -7.32027257e-03 -1.25215360e-02 6.41578131e+00] [ 7.30955277e-03 9.99972878e-01 -9.01661248e-04 -7.73730497e-02] [ 1.25277968e-02 8.10039571e-04 9.99921196e-01 -1.20116566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.991193817 meters Centerline goodness [0,1] 0.8348874232431203 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:-1.20 [[ 9.99891853e-01 -7.51992422e-03 -1.26385209e-02 6.41615322e+00] [ 7.51232268e-03 9.99971572e-01 -6.48824981e-04 -7.85536498e-02] [ 1.26430408e-02 5.53810165e-04 9.99919920e-01 -1.20135920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.021193817 meters Centerline goodness [0,1] 0.8239405944701417 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:-1.20 [[ 9.99890056e-01 -7.64706737e-03 -1.27042733e-02 6.41648198e+00] [ 7.64289719e-03 9.99970722e-01 -3.76769214e-04 -7.96411802e-02] [ 1.27067825e-02 2.79630336e-04 9.99919226e-01 -1.20163836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.051193817 meters Centerline goodness [0,1] 0.8070106422626195 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:-1.20 [[ 9.99883009e-01 -8.17653574e-03 -1.29272247e-02 6.41728589e+00] [ 8.17532349e-03 9.99966571e-01 -1.46617500e-04 -8.13516281e-02] [ 1.29279914e-02 4.09161028e-05 9.99916429e-01 -1.20214342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.081193817 meters Centerline goodness [0,1] 0.7894292190397691 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:-1.20 [[ 9.99875230e-01 -8.61814991e-03 -1.32383110e-02 6.41799168e+00] [ 8.61609645e-03 9.99962858e-01 -2.12141700e-04 -8.19900538e-02] [ 1.32396475e-02 9.80526668e-05 9.99912347e-01 -1.20224765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.11119381700001 meters Centerline goodness [0,1] 0.783736845369777 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:-1.20 [[ 9.99872368e-01 -8.85547977e-03 -1.32977052e-02 6.41772525e+00] [ 8.85545751e-03 9.99960788e-01 -6.05563759e-05 -8.29104076e-02] [ 1.32977201e-02 -5.72086167e-05 9.99911580e-01 -1.20173765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14119381700002 meters Centerline goodness [0,1] 0.7584767650887452 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:-1.20 [[ 9.99870378e-01 -9.03660309e-03 -1.33254281e-02 6.41740800e+00] [ 9.03882817e-03 9.99959143e-01 1.06762204e-04 -8.35427315e-02] [ 1.33239189e-02 -2.27194620e-04 9.99911207e-01 -1.20123232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.17119381700002 meters Centerline goodness [0,1] 0.7584767650887452 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:-1.20 [[ 9.99870378e-01 -9.03660309e-03 -1.33254281e-02 6.41740800e+00] [ 9.03882817e-03 9.99959143e-01 1.06762204e-04 -8.35427315e-02] [ 1.33239189e-02 -2.27194620e-04 9.99911207e-01 -1.20123232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20119381700002 meters Centerline goodness [0,1] 0.7616772386522778 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:-1.21 [[ 9.99944004e-01 -9.64998262e-03 -4.34361898e-03 6.42060109e+00] [ 9.65837989e-03 9.99951520e-01 1.91643480e-03 -8.45290014e-02] [ 4.32491484e-03 -1.95827981e-03 9.99988730e-01 -1.20752819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.23119381700002 meters Centerline goodness [0,1] 0.7453045316970024 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:-1.21 [[ 9.99919842e-01 -1.20521517e-02 -3.88005750e-03 6.41793299e+00] [ 1.20522746e-02 9.99927369e-01 8.31590215e-06 -8.37249534e-02] [ 3.87967546e-03 -5.50787542e-05 9.99992473e-01 -1.20524779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26119381700002 meters Centerline goodness [0,1] 0.7237383873704248 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:-1.21 [[ 9.99912688e-01 -1.26196310e-02 -3.91924949e-03 6.41805386e+00] [ 1.26189381e-02 9.99920358e-01 -2.01471731e-04 -8.36565828e-02] [ 3.92147985e-03 1.51997373e-04 9.99992299e-01 -1.20522820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29119381700002 meters Centerline goodness [0,1] 0.6844666224946165 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:-1.21 [[ 9.99903738e-01 -1.33058048e-02 -3.93311047e-03 6.41804109e+00] [ 1.33037148e-02 9.99911346e-01 -5.57056848e-04 -8.34333940e-02] [ 3.94017387e-03 5.04678244e-04 9.99992110e-01 -1.20516101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32119381700002 meters Centerline goodness [0,1] 0.693847110006215 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:-1.21 [[ 9.99896758e-01 -1.38020163e-02 -3.99718260e-03 6.41820484e+00] [ 1.37994332e-02 9.99904557e-01 -6.73100820e-04 -8.39347188e-02] [ 4.00609124e-03 6.17872473e-04 9.99991785e-01 -1.20521409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35119381700002 meters Centerline goodness [0,1] 0.651414498872126 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:-1.21 [[ 9.99884368e-01 -1.46897374e-02 -3.93225556e-03 6.41826366e+00] [ 1.46854662e-02 9.99891543e-01 -1.11288188e-03 -8.43644382e-02] [ 3.94817702e-03 1.05500619e-03 9.99991649e-01 -1.20540525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38119381700002 meters Centerline goodness [0,1] 0.6662598767219625 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:-1.21 [[ 9.99917794e-01 -1.21813191e-02 -4.00263463e-03 6.41901333e+00] [ 1.21895778e-02 9.99923612e-01 2.04544189e-03 -8.47205761e-02] [ 3.97741269e-03 -2.09406416e-03 9.99989897e-01 -1.20625591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41119381700003 meters Centerline goodness [0,1] 0.6615276223631315 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:-1.21 [[ 9.99915088e-01 -1.23512360e-02 -4.15485150e-03 6.41979941e+00] [ 1.23577026e-02 9.99922463e-01 1.53435450e-03 -8.25223393e-02] [ 4.13557817e-03 -1.58556864e-03 9.99990191e-01 -1.20685421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44119381700003 meters Centerline goodness [0,1] 0.660577915376677 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:-1.21 [[ 9.99933296e-01 -1.04487071e-02 -4.92225490e-03 6.42361504e+00] [ 1.04636061e-02 9.99940722e-01 3.01089697e-03 -7.88705826e-02] [ 4.89050313e-03 -3.06220066e-03 9.99983353e-01 -1.20984902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47119381700003 meters Centerline goodness [0,1] 0.6312197543119493 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:-1.21 [[ 9.99934101e-01 -1.03196597e-02 -5.02968136e-03 6.42443383e+00] [ 1.03327711e-02 9.99943267e-01 2.58781349e-03 -7.68953096e-02] [ 5.00269066e-03 -2.63961350e-03 9.99984003e-01 -1.21061500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50119381700003 meters Centerline goodness [0,1] 0.6936661221282492 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.08, Z:-1.21 [[ 9.99944348e-01 -9.07853936e-03 -5.37419472e-03 6.42630802e+00] [ 9.09730542e-03 9.99952571e-01 3.47779730e-03 -7.54887562e-02] [ 5.34236651e-03 -3.52649444e-03 9.99979511e-01 -1.21205262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53119381700003 meters Centerline goodness [0,1] 0.6413180456564405 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.07, Z:-1.21 [[ 9.99970246e-01 -5.46016035e-03 -5.44928240e-03 6.42649379e+00] [ 5.49369671e-03 9.99965946e-01 6.15839681e-03 -7.13528722e-02] [ 5.41547099e-03 -6.18815027e-03 9.99966189e-01 -1.21209720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56119381700003 meters Centerline goodness [0,1] 0.7188171154799273 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.07, Z:-1.21 [[ 9.99970703e-01 -5.31930219e-03 -5.50431357e-03 6.42634860e+00] [ 5.34895656e-03 9.99971185e-01 5.38685502e-03 -6.81895289e-02] [ 5.47550066e-03 -5.41613954e-03 9.99970342e-01 -1.21160711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59119381700003 meters Centerline goodness [0,1] 0.6984546731675068 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.07, Z:-1.21 [[ 9.99971522e-01 -5.04564882e-03 -5.61215872e-03 6.42637941e+00] [ 5.07279482e-03 9.99975453e-01 4.83332681e-03 -6.54724290e-02] [ 5.58763369e-03 -4.86165850e-03 9.99972571e-01 -1.21128228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62119381700003 meters Centerline goodness [0,1] 0.7363726666942594 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.06, Z:-1.21 [[ 9.99972743e-01 -4.65458992e-03 -5.73124244e-03 6.42654447e+00] [ 4.68023008e-03 9.99979064e-01 4.46849738e-03 -6.29917877e-02] [ 5.71032342e-03 -4.49519911e-03 9.99973592e-01 -1.21113538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65119381700003 meters Centerline goodness [0,1] 0.7064504859955202 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.06, Z:-1.21 [[ 9.99971825e-01 -4.34868525e-03 -6.11863799e-03 6.42770242e+00] [ 4.37418036e-03 9.99981782e-01 4.15960084e-03 -6.07841548e-02] [ 6.10043772e-03 -4.18624767e-03 9.99972630e-01 -1.21158425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68119381700004 meters Centerline goodness [0,1] 0.7162746632615232 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.06, Z:-1.21 [[ 9.99973014e-01 -3.97003162e-03 -6.18150028e-03 6.42827252e+00] [ 3.99169754e-03 9.99985920e-01 3.49657871e-03 -5.71026776e-02] [ 6.16753171e-03 -3.52115903e-03 9.99974781e-01 -1.21205746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71119381700004 meters Centerline goodness [0,1] 0.7437413145832037 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.06, Z:-1.21 [[ 9.99971537e-01 -4.02567924e-03 -6.38119270e-03 6.42897516e+00] [ 4.04558270e-03 9.99986983e-01 3.10924843e-03 -5.58173400e-02] [ 6.36859280e-03 -3.13497557e-03 9.99974806e-01 -1.21245037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.741193817 meters Centerline goodness [0,1] 0.7365223680132245 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.05, Z:-1.21 [[ 9.99969249e-01 -4.06663164e-03 -6.70543132e-03 6.43041209e+00] [ 4.08383999e-03 9.99988398e-01 2.55463768e-03 -5.34772912e-02] [ 6.69496475e-03 -2.58194303e-03 9.99974255e-01 -1.21346299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.771193817 meters Centerline goodness [0,1] 0.7253951484266568 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.05, Z:-1.21 [[ 9.99967462e-01 -4.28805539e-03 -6.83286080e-03 6.43065574e+00] [ 4.30142232e-03 9.99988862e-01 1.94277852e-03 -5.13042628e-02] [ 6.82445395e-03 -1.97210632e-03 9.99974768e-01 -1.21341493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.801193817 meters Centerline goodness [0,1] 0.7185013742224794 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.05, Z:-1.21 [[ 9.99964945e-01 -4.55844562e-03 -7.02343591e-03 6.43120476e+00] [ 4.56732601e-03 9.99988790e-01 1.24887421e-03 -4.87825106e-02] [ 7.01766425e-03 -1.28090875e-03 9.99974556e-01 -1.21355427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.831193817 meters Centerline goodness [0,1] 0.7087525046995393 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.05, Z:-1.21 [[ 9.99962230e-01 -4.78807410e-03 -7.25345771e-03 6.43179946e+00] [ 4.79260994e-03 9.99988330e-01 6.08081675e-04 -4.65554436e-02] [ 7.25046153e-03 -6.42821701e-04 9.99973508e-01 -1.21367933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86119381700001 meters Centerline goodness [0,1] 0.7498809844141329 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.04, Z:-1.21 [[ 9.99958455e-01 -5.53657070e-03 -7.24121766e-03 6.43136335e+00] [ 5.52957470e-03 9.99984226e-01 -9.85800263e-04 -4.20798526e-02] [ 7.24656139e-03 9.45718454e-04 9.99973296e-01 -1.21300429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.89119381700002 meters Centerline goodness [0,1] 0.6857974244675582 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.04, Z:-1.21 [[ 9.99954433e-01 -5.95950536e-03 -7.45760212e-03 6.43147933e+00] [ 5.94735224e-03 9.99980952e-01 -1.65074557e-03 -4.02264114e-02] [ 7.46729769e-03 1.60631736e-03 9.99970829e-01 -1.21254458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92119381700002 meters Centerline goodness [0,1] 0.6672098011715205 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.04, Z:-1.21 [[ 9.99951100e-01 -6.46800741e-03 -7.48078955e-03 6.43143201e+00] [ 6.45107892e-03 9.99976581e-01 -2.28484967e-03 -3.85849107e-02] [ 7.49539278e-03 2.23647878e-03 9.99969408e-01 -1.21235978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.95119381700002 meters Centerline goodness [0,1] 0.7131046142427117 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.04, Z:-1.21 [[ 9.99947415e-01 -6.98341959e-03 -7.50995435e-03 6.43155031e+00] [ 6.96177805e-03 9.99971550e-01 -2.90400494e-03 -3.69679607e-02] [ 7.53002058e-03 2.85156960e-03 9.99967583e-01 -1.21238286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98119381700002 meters Centerline goodness [0,1] 0.7124318069102331 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.03, Z:-1.21 [[ 9.99956456e-01 -6.10928968e-03 -7.05425238e-03 6.42902395e+00] [ 6.09625269e-03 9.99979673e-01 -1.86813016e-03 -3.30197775e-02] [ 7.06552193e-03 1.82504431e-03 9.99973373e-01 -1.21039941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01119381700002 meters Centerline goodness [0,1] 0.6294946249845546 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.03, Z:-1.21 [[ 9.99953354e-01 -6.50532999e-03 -7.13940620e-03 6.42894265e+00] [ 6.48622877e-03 9.99975332e-01 -2.69536500e-03 -3.02162717e-02] [ 7.15676432e-03 2.64893145e-03 9.99970882e-01 -1.20991249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04119381700002 meters Centerline goodness [0,1] 0.6572298576248868 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.03, Z:-1.21 [[ 9.99966508e-01 -3.95993537e-03 -7.16252806e-03 6.42912417e+00] [ 3.96138112e-03 9.99992136e-01 1.87673259e-04 -2.91149849e-02] [ 7.16172856e-03 -2.16040476e-04 9.99974331e-01 -1.21013657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07119381700002 meters Centerline goodness [0,1] 0.6881647291615137 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.02, Z:-1.21 [[ 9.99967565e-01 -2.99023922e-03 -7.47846386e-03 6.43132729e+00] [ 2.99620000e-03 9.99995202e-01 7.85983853e-04 -2.40290342e-02] [ 7.47607771e-03 -8.08365333e-04 9.99971727e-01 -1.21212419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10119381700002 meters Centerline goodness [0,1] 0.6087207981327329 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.02, Z:-1.21 [[ 9.99964987e-01 -3.25944727e-03 -7.70716957e-03 6.43249642e+00] [ 3.25830683e-03 9.99994679e-01 -1.60523066e-04 -2.04572963e-02] [ 7.70765177e-03 1.35405122e-04 9.99970286e-01 -1.21295543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13119381700002 meters Centerline goodness [0,1] 0.6815183906382452 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.02, Z:-1.21 [[ 9.99963674e-01 -3.25488771e-03 -7.87753549e-03 6.43378120e+00] [ 3.24722738e-03 9.99994243e-01 -9.85022255e-04 -1.62213280e-02] [ 7.88069628e-03 9.59406325e-04 9.99968487e-01 -1.21400060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16119381700003 meters Centerline goodness [0,1] 0.6742526119788973 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.01, Z:-1.21 [[ 9.99967465e-01 -4.94658714e-04 -8.05138732e-03 6.43461663e+00] [ 5.05445958e-04 9.99998977e-01 1.33781979e-03 -1.28549129e-02] [ 8.05071732e-03 -1.34184581e-03 9.99966692e-01 -1.21461573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19119381700003 meters Centerline goodness [0,1] 0.6782829639116693 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.01, Z:-1.22 [[ 9.99966553e-01 -5.38092283e-04 -8.16104606e-03 6.43572527e+00] [ 5.39440631e-04 9.99999841e-01 1.63017200e-04 -7.44366254e-03] [ 8.16095704e-03 -1.67414147e-04 9.99966685e-01 -1.21548914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22119381700003 meters Centerline goodness [0,1] 0.6858404328089049 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.00, Z:-1.22 [[ 9.99963643e-01 2.47933110e-03 -8.15874264e-03 6.43565554e+00] [-2.45848313e-03 9.99993690e-01 2.56432981e-03 -3.72281700e-03] [ 8.16504898e-03 -2.54417845e-03 9.99963429e-01 -1.21533915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25119381700003 meters Centerline goodness [0,1] 0.6831521851217852 Centerline is valid? [False, False] Translation: X:6.44, Y:0.01, Z:-1.22 [[ 9.99954777e-01 4.56105156e-03 -8.34510835e-03 6.43616811e+00] [-4.53931917e-03 9.99986262e-01 2.62129705e-03 6.04223659e-03] [ 8.35694958e-03 -2.58329739e-03 9.99961743e-01 -1.21506301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28119381700003 meters Centerline goodness [0,1] 0.6834622923759415 Centerline is valid? [False, False] Translation: X:6.44, Y:0.01, Z:-1.21 [[ 9.99955192e-01 3.89770928e-03 -8.62681121e-03 6.43683704e+00] [-3.89130681e-03 9.99992141e-01 7.58820531e-04 1.17267796e-02] [ 8.62970107e-03 -7.25216961e-04 9.99962500e-01 -1.21499287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31119381700003 meters Centerline goodness [0,1] 0.6770250459416489 Centerline is valid? [False, False] Translation: X:6.44, Y:0.02, Z:-1.21 [[ 9.99955780e-01 3.15232014e-03 -8.86006631e-03 6.43729455e+00] [-3.16203354e-03 9.99994415e-01 -1.08251789e-03 1.70792721e-02] [ 8.85660438e-03 1.11048585e-03 9.99960163e-01 -1.21483331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34119381700003 meters Centerline goodness [0,1] 0.6727084840343082 Centerline is valid? [False, False] Translation: X:6.44, Y:0.02, Z:-1.21 [[ 9.99957197e-01 2.44608174e-03 -8.92309208e-03 6.43764449e+00] [-2.46986783e-03 9.99993424e-01 -2.65563291e-03 2.19497095e-02] [ 8.91653750e-03 2.67755810e-03 9.99956662e-01 -1.21492104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37119381700003 meters Centerline goodness [0,1] 0.6556714633241248 Centerline is valid? [False, False] Translation: X:6.44, Y:0.03, Z:-1.22 [[ 9.99955771e-01 1.89909256e-03 -9.21142696e-03 6.43867881e+00] [-1.93517302e-03 9.99990485e-01 -3.90959340e-03 3.05638941e-02] [ 9.20391463e-03 3.92724618e-03 9.99949931e-01 -1.21540208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40119381700003 meters Centerline goodness [0,1] 0.6551966002393035 Centerline is valid? [False, False] Translation: X:6.44, Y:0.03, Z:-1.22 [[ 9.99956810e-01 1.15040222e-03 -9.22251958e-03 6.43871114e+00] [-1.19787164e-03 9.99986056e-01 -5.14325035e-03 3.42400813e-02] [ 9.21647417e-03 5.15407561e-03 9.99944244e-01 -1.21528819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43119381700004 meters Centerline goodness [0,1] 0.645611797856805 Centerline is valid? [False, False] Translation: X:6.44, Y:0.04, Z:-1.22 [[ 9.99955885e-01 3.50688230e-04 -9.38645346e-03 6.43908601e+00] [-4.10351816e-04 9.99979721e-01 -6.35517934e-03 3.76124094e-02] [ 9.38403443e-03 6.35875073e-03 9.99935751e-01 -1.21522437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46119381700004 meters Centerline goodness [0,1] 0.6563076221849297 Centerline is valid? [False, False] Translation: X:6.44, Y:0.04, Z:-1.21 [[ 9.99955186e-01 -1.48266627e-03 -9.35027578e-03 6.43835075e+00] [ 1.39810244e-03 9.99958124e-01 -9.04405411e-03 4.45658313e-02] [ 9.36329354e-03 9.03057617e-03 9.99915385e-01 -1.21421485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.491193817 meters Centerline goodness [0,1] 0.6073485395809681 Centerline is valid? [False, False] Translation: X:6.45, Y:0.05, Z:-1.22 [[ 9.99986878e-01 -3.25187283e-03 -3.95848890e-03 6.44751007e+00] [ 3.25345867e-03 9.99994630e-01 3.94244006e-04 4.53589914e-02] [ 3.95718561e-03 -4.07117612e-04 9.99992087e-01 -1.21705668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.521193817 meters Centerline goodness [0,1] 0.6537562328016056 Centerline is valid? [False, False] Translation: X:6.45, Y:0.05, Z:-1.22 [[ 9.99984200e-01 -3.87515118e-03 -4.07210414e-03 6.44762526e+00] [ 3.87206302e-03 9.99992210e-01 -7.65978735e-04 4.89649042e-02] [ 4.07504071e-03 7.50199189e-04 9.99991416e-01 -1.21681622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.551193817 meters Centerline goodness [0,1] 0.6260473776766318 Centerline is valid? [False, False] Translation: X:6.45, Y:0.05, Z:-1.22 [[ 9.99982302e-01 -4.19043754e-03 -4.22331214e-03 6.44824910e+00] [ 4.18360702e-03 9.99989929e-01 -1.62487603e-03 5.24372171e-02] [ 4.23007855e-03 1.60717859e-03 9.99989762e-01 -1.21705563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.581193817 meters Centerline goodness [0,1] 0.638384839289032 Centerline is valid? [False, False] Translation: X:6.45, Y:0.06, Z:-1.22 [[ 9.99987385e-01 -2.27344744e-03 -4.47896509e-03 6.44988621e+00] [ 2.27157042e-03 9.99997330e-01 -4.24117261e-04 5.81558012e-02] [ 4.47991733e-03 4.13937626e-04 9.99989879e-01 -1.21832306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.61119381700001 meters Centerline goodness [0,1] 0.6289475310549411 Centerline is valid? [False, False] Translation: X:6.45, Y:0.06, Z:-1.22 [[ 9.99986390e-01 -1.74040828e-03 -4.91837716e-03 6.45216927e+00] [ 1.73799157e-03 9.99998367e-01 -4.95594789e-04 6.10484900e-02] [ 4.91923166e-03 4.87039946e-04 9.99987782e-01 -1.21990442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64119381700002 meters Centerline goodness [0,1] 0.6848452198416974 Centerline is valid? [False, False] Translation: X:6.45, Y:0.06, Z:-1.22 [[ 9.99987127e-01 1.41100705e-03 -4.87392606e-03 6.45230182e+00] [-1.39899451e-03 9.99995978e-01 2.46718275e-03 6.30141920e-02] [ 4.87738767e-03 -2.46033240e-03 9.99985079e-01 -1.22024147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.67119381700002 meters Centerline goodness [0,1] 0.6503151434732128 Centerline is valid? [False, False] Translation: X:6.45, Y:0.07, Z:-1.22 [[ 9.99980052e-01 3.73997710e-03 -5.08992879e-03 6.45297102e+00] [-3.72345620e-03 9.99987782e-01 3.25141613e-03 7.13070746e-02] [ 5.10202682e-03 -3.23239914e-03 9.99981760e-01 -1.22020325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70119381700002 meters Centerline goodness [0,1] 0.6380411345165036 Centerline is valid? [False, False] Translation: X:6.45, Y:0.08, Z:-1.22 [[ 9.99980417e-01 3.26897075e-03 -5.33653059e-03 6.45330025e+00] [-3.25986372e-03 9.99993217e-01 1.71435079e-03 7.59901130e-02] [ 5.34209855e-03 -1.69692085e-03 9.99984291e-01 -1.21975316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.73119381700002 meters Centerline goodness [0,1] 0.6554886253079136 Centerline is valid? [False, False] Translation: X:6.45, Y:0.08, Z:-1.22 [[ 9.99980252e-01 2.81565746e-03 -5.61857362e-03 6.45379803e+00] [-2.81429599e-03 9.99996009e-01 2.50207982e-04 8.05253297e-02] [ 5.61925570e-03 -2.34390712e-04 9.99984184e-01 -1.21942554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76119381700002 meters Centerline goodness [0,1] 0.6748753245682727 Centerline is valid? [False, False] Translation: X:6.45, Y:0.09, Z:-1.22 [[ 9.99968584e-01 5.51267283e-03 -5.69577438e-03 6.45352808e+00] [-5.50252504e-03 9.99983249e-01 1.79577274e-03 8.62265242e-02] [ 5.70557848e-03 -1.76437518e-03 9.99982167e-01 -1.21860299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79119381700002 meters Centerline goodness [0,1] 0.6948434432158728 Centerline is valid? [False, False] Translation: X:6.45, Y:0.09, Z:-1.22 [[ 9.99969973e-01 5.05965922e-03 -5.86974172e-03 6.45340467e+00] [-5.05779129e-03 9.99987154e-01 3.33030452e-04 9.03552986e-02] [ 5.87135134e-03 -3.03332523e-04 9.99982717e-01 -1.21772931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82119381700002 meters Centerline goodness [0,1] 0.6436420072426281 Centerline is valid? [False, False] Translation: X:6.45, Y:0.09, Z:-1.22 [[ 9.99971026e-01 4.64238404e-03 -6.03283276e-03 6.45334060e+00] [-4.64891260e-03 9.99988623e-01 -1.06859869e-03 9.46867877e-02] [ 6.02780328e-03 1.09661384e-03 9.99981231e-01 -1.21695133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85119381700002 meters Centerline goodness [0,1] 0.6575053291665804 Centerline is valid? [False, False] Translation: X:6.45, Y:0.10, Z:-1.22 [[ 9.99971859e-01 4.24259188e-03 -6.18721124e-03 6.45316391e+00] [-4.25786060e-03 9.99987918e-01 -2.45670645e-03 9.92476966e-02] [ 6.17671368e-03 2.48298160e-03 9.99977841e-01 -1.21603784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88119381700002 meters Centerline goodness [0,1] 0.6865788713206457 Centerline is valid? [False, False] Translation: X:6.45, Y:0.10, Z:-1.22 [[ 9.99970632e-01 4.18770290e-03 -6.41859691e-03 6.45394638e+00] [-4.20874767e-03 9.99985801e-01 -3.26872611e-03 1.03347629e-01] [ 6.40481732e-03 3.29564437e-03 9.99974058e-01 -1.21614329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91119381700003 meters Centerline goodness [0,1] 0.6784792883531816 Centerline is valid? [False, False] Translation: X:6.45, Y:0.11, Z:-1.22 [[ 9.99972962e-01 3.67432705e-03 -6.36981700e-03 6.45385894e+00] [-3.70433795e-03 9.99982065e-01 -4.70604406e-03 1.09620801e-01] [ 6.35241122e-03 4.72951277e-03 9.99968639e-01 -1.21584642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94119381700003 meters Centerline goodness [0,1] 0.6689417683932696 Centerline is valid? [False, False] Translation: X:6.45, Y:0.11, Z:-1.22 [[ 9.99974630e-01 3.30882498e-03 -6.30796721e-03 6.45413380e+00] [-3.34177622e-03 9.99980790e-01 -5.22038491e-03 1.11326696e-01] [ 6.29057269e-03 5.24133228e-03 9.99966478e-01 -1.21630114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97119381700003 meters Centerline goodness [0,1] 0.66536417953648 Centerline is valid? [False, False] Translation: X:6.45, Y:0.11, Z:-1.22 [[ 9.99976613e-01 2.67986491e-03 -6.29214186e-03 6.45411643e+00] [-2.71839131e-03 9.99977563e-01 -6.12239178e-03 1.13390545e-01] [ 6.27559350e-03 6.13935310e-03 9.99961462e-01 -1.21626569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00119381700003 meters Centerline goodness [0,1] 0.6491833781269382 Centerline is valid? [False, False] Translation: X:6.45, Y:0.12, Z:-1.22 [[ 9.99977876e-01 1.66625639e-03 -6.43979889e-03 6.45492261e+00] [-1.71625074e-03 9.99968374e-01 -7.76562605e-03 1.18456120e-01] [ 6.42665570e-03 7.77650656e-03 9.99949111e-01 -1.21682708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03119381700003 meters Centerline goodness [0,1] 0.6316656711499249 Centerline is valid? [False, False] Translation: X:6.46, Y:0.12, Z:-1.22 [[ 9.99975454e-01 1.73196718e-03 -6.78903692e-03 6.45674610e+00] [-1.78567377e-03 9.99967100e-01 -7.91271869e-03 1.20750656e-01] [ 6.77510899e-03 7.92464747e-03 9.99945647e-01 -1.21814586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06119381700003 meters Centerline goodness [0,1] 0.6316656711499249 Centerline is valid? [False, False] Translation: X:6.46, Y:0.12, Z:-1.22 [[ 9.99975454e-01 1.73196718e-03 -6.78903692e-03 6.45674610e+00] [-1.78567377e-03 9.99967100e-01 -7.91271869e-03 1.20750656e-01] [ 6.77510899e-03 7.92464747e-03 9.99945647e-01 -1.21814586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09119381700003 meters Centerline goodness [0,1] 0.6637532879067167 Centerline is valid? [False, False] Translation: X:6.46, Y:0.12, Z:-1.22 [[ 9.99971977e-01 3.59515501e-03 -6.56662303e-03 6.45563155e+00] [-3.63360734e-03 9.99976268e-01 -5.85321084e-03 1.22612118e-01] [ 6.54542400e-03 5.87690734e-03 9.99961309e-01 -1.21749109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12119381700003 meters Centerline goodness [0,1] 0.6635434939634712 Centerline is valid? [False, False] Translation: X:6.46, Y:0.13, Z:-1.22 [[ 9.99971684e-01 3.17904290e-03 -6.82096131e-03 6.45683907e+00] [-3.22411036e-03 9.99972980e-01 -6.60640869e-03 1.25439858e-01] [ 6.79977495e-03 6.62821315e-03 9.99954914e-01 -1.21830116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15119381700003 meters Centerline goodness [0,1] 0.6432652892219783 Centerline is valid? [False, False] Translation: X:6.46, Y:0.13, Z:-1.22 [[ 9.99972604e-01 2.59086514e-03 -6.93384270e-03 6.45745514e+00] [-2.64380243e-03 9.99967347e-01 -7.63638087e-03 1.28559047e-01] [ 6.91383146e-03 7.65450337e-03 9.99946802e-01 -1.21872201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18119381700004 meters Centerline goodness [0,1] 0.6759612804689275 Centerline is valid? [False, False] Translation: X:6.46, Y:0.14, Z:-1.22 [[ 9.99973656e-01 1.45149384e-03 -7.11206431e-03 6.45845043e+00] [-1.51983158e-03 9.99952642e-01 -9.61274289e-03 1.35208106e-01] [ 7.09777465e-03 9.62329878e-03 9.99928504e-01 -1.21926955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21119381700004 meters Centerline goodness [0,1] 0.6709856356335637 Centerline is valid? [False, False] Translation: X:6.46, Y:0.14, Z:-1.22 [[ 9.99970297e-01 3.79939111e-03 -6.70595563e-03 6.45718691e+00] [-3.84860375e-03 9.99965648e-01 -7.34106242e-03 1.38060996e-01] [ 6.67783370e-03 7.36665293e-03 9.99950568e-01 -1.21873128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.241193817 meters Centerline goodness [0,1] 0.6528638730473593 Centerline is valid? [False, False] Translation: X:6.46, Y:0.14, Z:-1.22 [[ 9.99968339e-01 3.75519116e-03 -7.01572708e-03 6.45830653e+00] [-3.81165548e-03 9.99960315e-01 -8.05228894e-03 1.42188237e-01] [ 6.98521078e-03 8.07877553e-03 9.99942968e-01 -1.21907715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.271193817 meters Centerline goodness [0,1] 0.6524152788134892 Centerline is valid? [False, False] Translation: X:6.46, Y:0.14, Z:-1.22 [[ 9.99958928e-01 6.16445134e-03 -6.64390120e-03 6.45653937e+00] [-6.20357433e-03 9.99963446e-01 -5.88412374e-03 1.44992294e-01] [ 6.60738594e-03 5.92509800e-03 9.99960617e-01 -1.21773164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.301193817 meters Centerline goodness [0,1] 0.6571458117890383 Centerline is valid? [False, False] Translation: X:6.45, Y:0.15, Z:-1.21 [[ 9.99949556e-01 7.93084713e-03 -6.16341505e-03 6.45378006e+00] [-7.96458448e-03 9.99953328e-01 -5.46867791e-03 1.52234119e-01] [ 6.11975615e-03 5.51749108e-03 9.99966052e-01 -1.21478336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.331193817 meters Centerline goodness [0,1] 0.667577809529726 Centerline is valid? [False, False] Translation: X:6.45, Y:0.16, Z:-1.21 [[ 9.99953048e-01 7.35880028e-03 -6.30480883e-03 6.45335262e+00] [-7.40241360e-03 9.99948642e-01 -6.92228751e-03 1.56360000e-01] [ 6.25354529e-03 6.96863330e-03 9.99956165e-01 -1.21351238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36119381700001 meters Centerline goodness [0,1] 0.6452199425607967 Centerline is valid? [False, False] Translation: X:6.45, Y:0.16, Z:-1.21 [[ 0.99994716 0.0079265 -0.00654556 6.45468785] [-0.00797184 0.99994421 -0.00692996 0.15974142] [ 0.00649026 0.00698178 0.99995456 -1.21426252] [ 0. 0. 0. 1. ]] SLAMing on 161.39119381700002 meters Centerline goodness [0,1] 0.6579083159611138 Centerline is valid? [False, False] Translation: X:6.46, Y:0.17, Z:-1.21 [[ 9.99918201e-01 1.09908869e-02 -6.54146571e-03 6.45503109e+00] [-1.10246381e-02 9.99925985e-01 -5.14607072e-03 1.66631787e-01] [ 6.48442166e-03 5.21776707e-03 9.99965363e-01 -1.21417955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42119381700002 meters Centerline goodness [0,1] 0.6707140792136456 Centerline is valid? [False, False] Translation: X:6.46, Y:0.17, Z:-1.22 [[ 9.99904858e-01 1.19321709e-02 -6.92085651e-03 6.45702534e+00] [-1.19684633e-02 9.99914717e-01 -5.22641919e-03 1.71041164e-01] [ 6.85790374e-03 5.30875396e-03 9.99962392e-01 -1.21521906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.45119381700002 meters Centerline goodness [0,1] 0.680981214738887 Centerline is valid? [False, False] Translation: X:6.46, Y:0.17, Z:-1.22 [[ 9.99850296e-01 1.57933203e-02 -7.06805838e-03 6.45800005e+00] [-1.58073978e-02 9.99873173e-01 -1.94028058e-03 1.73821356e-01] [ 7.03651848e-03 2.05171773e-03 9.99973139e-01 -1.21585503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48119381700002 meters Centerline goodness [0,1] 0.7322901378754367 Centerline is valid? [False, False] Translation: X:6.46, Y:0.18, Z:-1.22 [[ 9.99777511e-01 1.98094361e-02 -7.24665447e-03 6.45928011e+00] [-1.97995895e-02 9.99802949e-01 1.42801607e-03 1.76461078e-01] [ 7.27351471e-03 -1.28421757e-03 9.99972723e-01 -1.21676332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51119381700002 meters Centerline goodness [0,1] 0.8373321230375673 Centerline is valid? [False, False] Translation: X:6.46, Y:0.18, Z:-1.22 [[ 0.99956352 0.02863191 -0.0072793 6.46120093] [-0.02856991 0.9995558 0.00848319 0.18171985] [ 0.00751895 -0.00827152 0.99993752 -1.21801144] [ 0. 0. 0. 1. ]] SLAMing on 161.54119381700002 meters Centerline goodness [0,1] 0.8927472799719223 Centerline is valid? [False, False] Translation: X:6.46, Y:0.18, Z:-1.22 [[ 0.99943332 0.03284241 -0.00737687 6.46190156] [-0.03275503 0.99939529 0.01166866 0.18489255] [ 0.00775564 -0.01142042 0.99990471 -1.21803565] [ 0. 0. 0. 1. ]] SLAMing on 161.57119381700002 meters Centerline goodness [0,1] 0.9417670267925385 Centerline is valid? [False, False] Translation: X:6.46, Y:0.19, Z:-1.22 [[ 0.99894003 0.04549006 -0.00703352 6.46280028] [-0.04531849 0.99871049 0.02288198 0.18915152] [ 0.00806535 -0.02253898 0.99971343 -1.21842106] [ 0. 0. 0. 1. ]] SLAMing on 161.60119381700002 meters Centerline goodness [0,1] 0.9511672028375815 Centerline is valid? [False, True] Translation: X:6.46, Y:0.19, Z:-1.22 [[ 0.99872697 0.04994976 -0.00703318 6.46370543] [-0.04974706 0.99840944 0.02652945 0.19149688] [ 0.00834714 -0.0261458 0.99962329 -1.21879523] [ 0. 0. 0. 1. ]] SLAMing on 161.63119381700002 meters Centerline goodness [0,1] 0.9527941328375168 Centerline is valid? [True, True] Translation: X:6.50, Y:0.20, Z:-1.21 [[ 9.98347914e-01 5.66862332e-02 -9.38687710e-03 6.49574465e+00] [-5.66801782e-02 9.98391972e-01 9.10045836e-04 2.04390383e-01] [ 9.42336981e-03 -3.76492495e-04 9.99955528e-01 -1.20982083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66119381700003 meters Centerline goodness [0,1] 0.952734415383025 Centerline is valid? [True, True] Translation: X:6.53, Y:0.21, Z:-1.21 [[ 9.98025077e-01 6.22182618e-02 -8.65059071e-03 6.52637474e+00] [-6.22133300e-02 9.98062523e-01 8.38303332e-04 2.07069210e-01] [ 8.68598816e-03 -2.98465693e-04 9.99962232e-01 -1.20915515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69119381700003 meters Centerline goodness [0,1] 0.9523691391714215 Centerline is valid? [True, True] Translation: X:6.56, Y:0.21, Z:-1.21 [[ 9.97719133e-01 6.70684193e-02 -7.63923963e-03 6.55583548e+00] [-6.70647167e-02 9.97748353e-01 7.40100703e-04 2.05937202e-01] [ 7.67167615e-03 -2.26089191e-04 9.99970547e-01 -1.21060108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72119381700003 meters Centerline goodness [0,1] 0.9486167641164439 Centerline is valid? [True, False] Translation: X:6.56, Y:0.21, Z:-1.21 [[ 9.97682643e-01 6.75910775e-02 -7.79678351e-03 6.55628935e+00] [-6.75868920e-02 9.97713072e-01 7.99368059e-04 2.06231886e-01] [ 7.83298297e-03 -2.70555273e-04 9.99969285e-01 -1.21046721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75119381700003 meters Centerline goodness [0,1] 0.9470665625128479 Centerline is valid? [False, False] Translation: X:6.56, Y:0.20, Z:-1.21 [[ 9.97596843e-01 6.88111370e-02 -8.09725515e-03 6.55760918e+00] [-6.87950160e-02 9.97628272e-01 2.25321436e-03 2.02811507e-01] [ 8.23309690e-03 -1.69074874e-03 9.99964678e-01 -1.21139843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78119381700003 meters Centerline goodness [0,1] 0.9462637135168702 Centerline is valid? [False, False] Translation: X:6.56, Y:0.20, Z:-1.21 [[ 9.97796325e-01 6.58045099e-02 -8.50061985e-03 6.55828042e+00] [-6.58158731e-02 9.97831218e-01 -1.06368902e-03 2.01957259e-01] [ 8.41218833e-03 1.62082072e-03 9.99963303e-01 -1.21149000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81119381700003 meters Centerline goodness [0,1] 0.9455240061951471 Centerline is valid? [False, False] Translation: X:6.56, Y:0.20, Z:-1.21 [[ 9.97942297e-01 6.34450269e-02 -9.26825042e-03 6.56036718e+00] [-6.34786794e-02 9.97977462e-01 -3.38275496e-03 2.00090170e-01] [ 9.03488605e-03 3.96413055e-03 9.99951327e-01 -1.21250873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84119381700003 meters Centerline goodness [0,1] 0.9472355570269823 Centerline is valid? [False, False] Translation: X:6.56, Y:0.19, Z:-1.21 [[ 9.98100801e-01 6.08413342e-02 -9.65004143e-03 6.56039155e+00] [-6.08904458e-02 9.98132528e-01 -4.87956992e-03 1.93568280e-01] [ 9.33514070e-03 5.45789797e-03 9.99941532e-01 -1.21253757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87119381700003 meters Centerline goodness [0,1] 0.9465815936732124 Centerline is valid? [False, False] Translation: X:6.56, Y:0.19, Z:-1.21 [[ 0.99826471 0.05800131 -0.01016915 6.5614674 ] [-0.05807508 0.99828687 -0.00711464 0.18996469] [ 0.00973907 0.00769287 0.99992298 -1.2131596 ] [ 0. 0. 0. 1. ]] SLAMing on 161.90119381700003 meters Centerline goodness [0,1] 0.9474846727081312 Centerline is valid? [False, False] Translation: X:6.56, Y:0.19, Z:-1.21 [[ 0.99842834 0.05502484 -0.01063569 6.56205803] [-0.05512549 0.99843506 -0.00941342 0.18590052] [ 0.01010107 0.00998492 0.99989913 -1.2133858 ] [ 0. 0. 0. 1. ]] SLAMing on 161.93119381700004 meters Centerline goodness [0,1] 0.9493409789402034 Centerline is valid? [False, False] Translation: X:6.56, Y:0.18, Z:-1.21 [[ 0.99857466 0.05218144 -0.01121365 6.56335355] [-0.05230906 0.99856581 -0.01140541 0.18137025] [ 0.01060241 0.01197573 0.99987208 -1.21425823] [ 0. 0. 0. 1. ]] SLAMing on 161.96119381700004 meters Centerline goodness [0,1] 0.9497148034511871 Centerline is valid? [False, False] Translation: X:6.56, Y:0.17, Z:-1.22 [[ 0.99872238 0.04912239 -0.01185701 6.56451592] [-0.04926227 0.99871607 -0.01180837 0.17057635] [ 0.01126173 0.01237739 0.99985998 -1.2161597 ] [ 0. 0. 0. 1. ]] SLAMing on 161.991193817 meters Centerline goodness [0,1] 0.9500958110976037 Centerline is valid? [False, True] Translation: X:6.57, Y:0.17, Z:-1.22 [[ 0.9988503 0.04632804 -0.01232054 6.5657982 ] [-0.04649701 0.99882308 -0.0138015 0.1662342 ] [ 0.01166664 0.0143585 0.99982885 -1.21720215] [ 0. 0. 0. 1. ]] SLAMing on 162.021193817 meters Centerline goodness [0,1] 0.9507303788066354 Centerline is valid? [True, True] Translation: X:6.59, Y:0.15, Z:-1.22 [[ 9.99002335e-01 4.33457250e-02 -1.07463269e-02 6.59385658e+00] [-4.33391311e-02 9.99060060e-01 8.45826518e-04 1.53683346e-01] [ 1.07728890e-02 -3.79246194e-04 9.99941899e-01 -1.22045989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.051193817 meters Centerline goodness [0,1] 0.9501217046907876 Centerline is valid? [True, True] Translation: X:6.62, Y:0.14, Z:-1.22 [[ 9.99259367e-01 3.70632809e-02 -1.03455944e-02 6.62259870e+00] [-3.70567987e-02 9.99312826e-01 8.17616785e-04 1.36958400e-01] [ 1.03687887e-02 -4.33636623e-04 9.99946149e-01 -1.21888196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.081193817 meters Centerline goodness [0,1] 0.9316336439329767 Centerline is valid? [True, False] Translation: X:6.62, Y:0.13, Z:-1.22 [[ 9.99386010e-01 3.33680370e-02 -1.06853393e-02 6.62264592e+00] [-3.33928807e-02 9.99439979e-01 -2.15505946e-03 1.33433329e-01] [ 1.06074452e-02 2.51055054e-03 9.99940588e-01 -1.21856538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.11119381700001 meters Centerline goodness [0,1] 0.8947857703590464 Centerline is valid? [False, False] Translation: X:6.62, Y:0.13, Z:-1.22 [[ 9.99497830e-01 2.96894423e-02 -1.10736358e-02 6.62280314e+00] [-2.97467284e-02 9.99544737e-01 -5.04484158e-03 1.29676676e-01] [ 1.09188159e-02 5.37171264e-03 9.99925959e-01 -1.21827085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14119381700002 meters Centerline goodness [0,1] 0.8954816850195235 Centerline is valid? [False, False] Translation: X:6.62, Y:0.12, Z:-1.22 [[ 0.99966626 0.02307076 -0.01162387 6.62310143] [-0.02318804 0.99968053 -0.0100579 0.12207898] [ 0.01138811 0.01032407 0.99988186 -1.21822224] [ 0. 0. 0. 1. ]] SLAMing on 162.17119381700002 meters Centerline goodness [0,1] 0.874868146187098 Centerline is valid? [False, False] Translation: X:6.62, Y:0.12, Z:-1.22 [[ 0.99972317 0.02015122 -0.01214534 6.62479203] [-0.02030066 0.99971815 -0.01230887 0.11861344] [ 0.01189388 0.01255202 0.99985048 -1.21928871] [ 0. 0. 0. 1. ]] SLAMing on 162.20119381700002 meters Centerline goodness [0,1] 0.9140515028566697 Centerline is valid? [False, False] Translation: X:6.63, Y:0.11, Z:-1.22 [[ 0.9997251 0.01990725 -0.0123867 6.6251625 ] [-0.02004897 0.99973373 -0.01142359 0.11440113] [ 0.01215599 0.01166879 0.99985803 -1.21958205] [ 0. 0. 0. 1. ]] SLAMing on 162.23119381700002 meters Centerline goodness [0,1] 0.8561745743098033 Centerline is valid? [False, False] Translation: X:6.63, Y:0.11, Z:-1.22 [[ 9.99820747e-01 1.47680178e-02 -1.18481817e-02 6.63329631e+00] [-1.48097724e-02 9.99884397e-01 -3.44416858e-03 1.10464224e-01] [ 1.17959484e-02 3.61902008e-03 9.99923876e-01 -1.21904325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26119381700002 meters Centerline goodness [0,1] 0.8133868365531791 Centerline is valid? [False, False] Translation: X:6.63, Y:0.10, Z:-1.22 [[ 9.99850090e-01 1.22853199e-02 -1.22012062e-02 6.63402347e+00] [-1.23451641e-02 9.99912074e-01 -4.84162989e-03 1.04169759e-01] [ 1.21406525e-02 4.99152997e-03 9.99913841e-01 -1.21935410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29119381700002 meters Centerline goodness [0,1] 0.8673249699830249 Centerline is valid? [False, False] Translation: X:6.63, Y:0.10, Z:-1.22 [[ 9.99846174e-01 1.24922171e-02 -1.23115226e-02 6.63420885e+00] [-1.25399032e-02 9.99914138e-01 -3.80373306e-03 1.00421873e-01] [ 1.22629484e-02 3.95753324e-03 9.99916976e-01 -1.21954323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32119381700002 meters Centerline goodness [0,1] 0.7968086422298273 Centerline is valid? [False, False] Translation: X:6.65, Y:0.10, Z:-1.22 [[ 9.99926702e-01 9.86693185e-03 -7.01667999e-03 6.64555710e+00] [-9.83726506e-03 9.99942581e-01 4.25005627e-03 9.52486419e-02] [ 7.05821211e-03 -4.18071981e-03 9.99966351e-01 -1.22322680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35119381700002 meters Centerline goodness [0,1] 0.8776046516440086 Centerline is valid? [False, False] Translation: X:6.65, Y:0.09, Z:-1.22 [[ 9.99918037e-01 1.05791657e-02 -7.21113492e-03 6.64578865e+00] [-1.05390279e-02 9.99928885e-01 5.58153844e-03 9.12003370e-02] [ 7.26967012e-03 -5.50508261e-03 9.99958422e-01 -1.22311798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38119381700002 meters Centerline goodness [0,1] 0.8814306104296382 Centerline is valid? [False, False] Translation: X:6.65, Y:0.09, Z:-1.22 [[ 9.99910546e-01 1.10363366e-02 -7.55636830e-03 6.64664160e+00] [-1.09906181e-02 9.99921206e-01 6.06534695e-03 9.03760653e-02] [ 7.62271211e-03 -5.98175523e-03 9.99953055e-01 -1.22328416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41119381700003 meters Centerline goodness [0,1] 0.9037888198757764 Centerline is valid? [False, False] Translation: X:6.65, Y:0.09, Z:-1.22 [[ 9.99900251e-01 1.16610444e-02 -7.96917721e-03 6.64770649e+00] [-1.16091634e-02 9.99911317e-01 6.52573894e-03 8.96922288e-02] [ 8.04456741e-03 -6.43257252e-03 9.99946952e-01 -1.22347647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44119381700003 meters Centerline goodness [0,1] 0.9207744657964959 Centerline is valid? [False, False] Translation: X:6.65, Y:0.09, Z:-1.22 [[ 0.99988713 0.01249432 -0.00834339 6.64906607] [-0.01243472 0.99989707 0.00715762 0.08884333] [ 0.00843196 -0.00705306 0.99993958 -1.22415599] [ 0. 0. 0. 1. ]] SLAMing on 162.47119381700003 meters Centerline goodness [0,1] 0.9309180545198442 Centerline is valid? [False, False] Translation: X:6.65, Y:0.09, Z:-1.22 [[ 0.99987361 0.01326756 -0.0087598 6.65044608] [-0.01320045 0.99988342 0.00767456 0.08827842] [ 0.00886061 -0.00755796 0.99993218 -1.22469807] [ 0. 0. 0. 1. ]] SLAMing on 162.50119381700003 meters Centerline goodness [0,1] 0.9387480600103466 Centerline is valid? [False, False] Translation: X:6.65, Y:0.09, Z:-1.22 [[ 0.99985797 0.01418069 -0.00910714 6.65149959] [-0.01410575 0.99986654 0.00824141 0.08787219] [ 0.00922279 -0.00811178 0.99992457 -1.2249358 ] [ 0. 0. 0. 1. ]] SLAMing on 162.53119381700003 meters Centerline goodness [0,1] 0.9509726821192053 Centerline is valid? [False, True] Translation: X:6.65, Y:0.09, Z:-1.22 [[ 0.99977031 0.01937153 -0.00916943 6.65153446] [-0.01925077 0.99972913 0.01307961 0.08642081] [ 0.00942032 -0.01290009 0.99987241 -1.22441898] [ 0. 0. 0. 1. ]] SLAMing on 162.56119381700003 meters Centerline goodness [0,1] 0.954140179971931 Centerline is valid? [True, True] Translation: X:6.68, Y:0.09, Z:-1.22 [[ 9.99669572e-01 2.39463811e-02 -9.34440444e-03 6.68147971e+00] [-2.39424235e-02 9.99713196e-01 5.35185908e-04 9.23381532e-02] [ 9.35454020e-03 -3.11281379e-04 9.99956197e-01 -1.22130837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59119381700003 meters Centerline goodness [0,1] 0.9528301886792453 Centerline is valid? [True, True] Translation: X:6.71, Y:0.09, Z:-1.22 [[ 9.99605340e-01 2.65903714e-02 -9.06182010e-03 6.70917287e+00] [-2.65867757e-02 9.99646375e-01 5.17052726e-04 9.05888681e-02] [ 9.07236424e-03 -2.75924088e-04 9.99958807e-01 -1.22350249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62119381700003 meters Centerline goodness [0,1] 0.9520494174035203 Centerline is valid? [True, True] Translation: X:6.74, Y:0.09, Z:-1.22 [[ 9.99524280e-01 2.92608632e-02 -9.74758527e-03 6.73769626e+00] [-2.92568322e-02 9.99571773e-01 5.55907282e-04 9.10239625e-02] [ 9.75967741e-03 -2.70459359e-04 9.99952337e-01 -1.22315587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65119381700003 meters Centerline goodness [0,1] 0.9521077935744795 Centerline is valid? [True, True] Translation: X:6.77, Y:0.09, Z:-1.22 [[ 9.99425006e-01 3.27476768e-02 -8.78901449e-03 6.76537545e+00] [-3.27445461e-02 9.99463629e-01 4.99909864e-04 8.80436223e-02] [ 8.80067120e-03 -2.11830128e-04 9.99961251e-01 -1.22430724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68119381700004 meters Centerline goodness [0,1] 0.9527409033487274 Centerline is valid? [True, True] Translation: X:6.79, Y:0.09, Z:-1.22 [[ 9.99418796e-01 3.29773618e-02 -8.63504652e-03 6.79412096e+00] [-3.29743517e-02 9.99456078e-01 4.90768155e-04 8.51345706e-02] [ 8.64653396e-03 -2.05747858e-04 9.99962597e-01 -1.22356005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71119381700004 meters Centerline goodness [0,1] 0.9508663366336634 Centerline is valid? [True, True] Translation: X:6.82, Y:0.08, Z:-1.23 [[ 9.99457395e-01 3.18688379e-02 -8.32422823e-03 6.82199141e+00] [-3.18660205e-02 9.99492038e-01 4.70904108e-04 7.91068185e-02] [ 8.33500701e-03 -2.05388566e-04 9.99965242e-01 -1.22561857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.741193817 meters Centerline goodness [0,1] 0.9515839808726838 Centerline is valid? [True, True] Translation: X:6.85, Y:0.07, Z:-1.23 [[ 9.99501726e-01 3.05160612e-02 -8.06654101e-03 6.85060430e+00] [-3.05133685e-02 9.99534254e-01 4.56693023e-04 7.43258679e-02] [ 8.07672053e-03 -2.10328127e-04 9.99967361e-01 -1.22608470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.771193817 meters Centerline goodness [0,1] 0.9497044466871254 Centerline is valid? [True, False] Translation: X:6.85, Y:0.07, Z:-1.23 [[ 9.99595132e-01 2.70868574e-02 -8.71054351e-03 6.85166554e+00] [-2.71077759e-02 9.99629888e-01 -2.29246702e-03 7.08399739e-02] [ 8.64522391e-03 2.52766233e-03 9.99959435e-01 -1.22619176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.801193817 meters Centerline goodness [0,1] 0.9517117191704267 Centerline is valid? [False, True] Translation: X:6.85, Y:0.07, Z:-1.23 [[ 9.99679800e-01 2.36206967e-02 -9.07523800e-03 6.85215727e+00] [-2.36725460e-02 9.99703806e-01 -5.64895982e-03 6.94995649e-02] [ 8.93911760e-03 5.86198501e-03 9.99942863e-01 -1.22605461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.831193817 meters Centerline goodness [0,1] 0.9502702926617096 Centerline is valid? [True, True] Translation: X:6.88, Y:0.06, Z:-1.23 [[ 9.99725874e-01 2.13647779e-02 -9.57719920e-03 6.88039021e+00] [-2.13608448e-02 9.99771700e-01 5.12788647e-04 5.99466390e-02] [ 9.58596833e-03 -3.08071013e-04 9.99954006e-01 -1.22929077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86119381700001 meters Centerline goodness [0,1] 0.9486132415737324 Centerline is valid? [True, False] Translation: X:6.88, Y:0.05, Z:-1.23 [[ 9.99801845e-01 1.71904473e-02 -1.00379079e-02 6.88103608e+00] [-1.72122578e-02 9.99849673e-01 -2.09047494e-03 5.32145298e-02] [ 1.00004627e-02 2.26283576e-03 9.99947434e-01 -1.22956127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.89119381700002 meters Centerline goodness [0,1] 0.9421800359823811 Centerline is valid? [False, False] Translation: X:6.88, Y:0.05, Z:-1.23 [[ 9.99845351e-01 1.40961176e-02 -1.05153788e-02 6.88246559e+00] [-1.41465988e-02 9.99888688e-01 -4.74185918e-03 5.06789823e-02] [ 1.04473665e-02 4.88988270e-03 9.99933469e-01 -1.23021533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92119381700002 meters Centerline goodness [0,1] 0.9130650154798762 Centerline is valid? [False, False] Translation: X:6.88, Y:0.05, Z:-1.23 [[ 9.99856469e-01 1.27366494e-02 -1.11722781e-02 6.88380509e+00] [-1.27943813e-02 9.99905085e-01 -5.11125361e-03 4.75922166e-02] [ 1.11061174e-02 5.25346237e-03 9.99924525e-01 -1.23063946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.95119381700002 meters Centerline goodness [0,1] 0.9260838958134913 Centerline is valid? [False, False] Translation: X:6.88, Y:0.04, Z:-1.23 [[ 9.99866410e-01 1.20130636e-02 -1.10837290e-02 6.88297538e+00] [-1.20689008e-02 9.99914744e-01 -4.98470584e-03 4.45610561e-02] [ 1.10229024e-02 5.11780836e-03 9.99926149e-01 -1.22997232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98119381700002 meters Centerline goodness [0,1] 0.9260838958134913 Centerline is valid? [False, False] Translation: X:6.88, Y:0.04, Z:-1.23 [[ 9.99866410e-01 1.20130636e-02 -1.10837290e-02 6.88297538e+00] [-1.20689008e-02 9.99914744e-01 -4.98470584e-03 4.45610561e-02] [ 1.10229024e-02 5.11780836e-03 9.99926149e-01 -1.22997232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01119381700002 meters Centerline goodness [0,1] 0.8951714717387255 Centerline is valid? [False, False] Translation: X:6.88, Y:0.04, Z:-1.23 [[ 9.99892080e-01 9.14232480e-03 -1.14998060e-02 6.88392956e+00] [-9.22170378e-03 9.99933889e-01 -6.86865365e-03 3.94516184e-02] [ 1.14362503e-02 6.97396019e-03 9.99910284e-01 -1.23032856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04119381700002 meters Centerline goodness [0,1] 0.9285640313995154 Centerline is valid? [False, False] Translation: X:6.88, Y:0.04, Z:-1.23 [[ 9.99891678e-01 9.27264473e-03 -1.14302797e-02 6.88381418e+00] [-9.34241543e-03 9.99937961e-01 -6.06581593e-03 3.65299091e-02] [ 1.13733244e-02 6.17194529e-03 9.99916274e-01 -1.23036389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07119381700002 meters Centerline goodness [0,1] 0.8808879151768183 Centerline is valid? [False, False] Translation: X:6.88, Y:0.03, Z:-1.23 [[ 9.99886180e-01 9.54580387e-03 -1.16835502e-02 6.88456344e+00] [-9.60820480e-03 9.99939813e-01 -5.29649448e-03 3.42336479e-02] [ 1.16322877e-02 5.40814957e-03 9.99917718e-01 -1.23073985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10119381700002 meters Centerline goodness [0,1] 0.9214985328759764 Centerline is valid? [False, False] Translation: X:6.88, Y:0.03, Z:-1.23 [[ 9.99881694e-01 9.75873215e-03 -1.18897490e-02 6.88497853e+00] [-9.81243990e-03 9.99941878e-01 -4.46721536e-03 3.17779562e-02] [ 1.18454636e-02 4.58335430e-03 9.99919336e-01 -1.23081513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13119381700002 meters Centerline goodness [0,1] 0.9129361490270921 Centerline is valid? [False, False] Translation: X:6.89, Y:0.03, Z:-1.23 [[ 9.99878839e-01 9.80473128e-03 -1.20902267e-02 6.88535054e+00] [-9.85643749e-03 9.99942500e-01 -4.22454987e-03 3.08588284e-02] [ 1.20481109e-02 4.34320458e-03 9.99917986e-01 -1.23076803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16119381700003 meters Centerline goodness [0,1] 0.9281624694021491 Centerline is valid? [False, False] Translation: X:6.89, Y:0.03, Z:-1.23 [[ 9.99876973e-01 9.80373550e-03 -1.22444214e-02 6.88591954e+00] [-9.85283910e-03 9.99943633e-01 -3.95641776e-03 2.95793522e-02] [ 1.22049436e-02 4.07657332e-03 9.99917207e-01 -1.23115875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19119381700003 meters Centerline goodness [0,1] 0.9005285521815732 Centerline is valid? [False, False] Translation: X:6.89, Y:0.03, Z:-1.23 [[ 9.99873520e-01 9.91170165e-03 -1.24379361e-02 6.88672215e+00] [-9.95479772e-03 9.99944643e-01 -3.40777397e-03 2.76279526e-02] [ 1.24034707e-02 3.53116009e-03 9.99916839e-01 -1.23175407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22119381700003 meters Centerline goodness [0,1] 0.9275512530834767 Centerline is valid? [False, False] Translation: X:6.89, Y:0.03, Z:-1.23 [[ 9.99876475e-01 9.69986417e-03 -1.23671900e-02 6.88598774e+00] [-9.73924799e-03 9.99947679e-01 -3.12830019e-03 2.50718577e-02] [ 1.23361989e-02 3.24836090e-03 9.99918630e-01 -1.23107081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25119381700003 meters Centerline goodness [0,1] 0.9261286192226674 Centerline is valid? [False, False] Translation: X:6.90, Y:0.02, Z:-1.23 [[ 9.99950323e-01 7.23500823e-03 -6.85615237e-03 6.89571196e+00] [-7.20067886e-03 9.99961481e-01 5.01861570e-03 2.38279909e-02] [ 6.89219800e-03 -4.96899744e-03 9.99963903e-01 -1.23369222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28119381700003 meters Centerline goodness [0,1] 0.9232121801369438 Centerline is valid? [False, False] Translation: X:6.90, Y:0.02, Z:-1.23 [[ 9.99952015e-01 6.85614512e-03 -6.99728193e-03 6.89514880e+00] [-6.82419835e-03 9.99966230e-01 4.57930595e-03 2.46544265e-02] [ 7.02844202e-03 -4.53133537e-03 9.99965033e-01 -1.23249217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31119381700003 meters Centerline goodness [0,1] 0.9142249478618183 Centerline is valid? [False, False] Translation: X:6.89, Y:0.03, Z:-1.23 [[ 9.99969095e-01 2.94370044e-03 -7.28998146e-03 6.89465755e+00] [-2.94191405e-03 9.99995640e-01 2.55757975e-04 2.64851564e-02] [ 7.29070255e-03 -2.34303572e-04 9.99973395e-01 -1.23075764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34119381700003 meters Centerline goodness [0,1] 0.8888314481275461 Centerline is valid? [False, False] Translation: X:6.89, Y:0.03, Z:-1.23 [[ 9.99970248e-01 2.34511265e-03 -7.34866273e-03 6.89436987e+00] [-2.34463962e-03 9.99997249e-01 7.29834098e-05 2.54436315e-02] [ 7.34881367e-03 -5.57512726e-05 9.99972996e-01 -1.23025891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37119381700003 meters Centerline goodness [0,1] 0.8791156518861681 Centerline is valid? [False, False] Translation: X:6.89, Y:0.02, Z:-1.23 [[ 9.99971250e-01 1.95334541e-03 -7.32687137e-03 6.89440702e+00] [-1.95264206e-03 9.99998088e-01 1.03148729e-04 2.41573905e-02] [ 7.32705885e-03 -8.88390066e-05 9.99973153e-01 -1.23040198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40119381700003 meters Centerline goodness [0,1] 0.8615035109458902 Centerline is valid? [False, False] Translation: X:6.90, Y:0.02, Z:-1.23 [[ 9.99970368e-01 1.71931955e-03 -7.50379937e-03 6.89502017e+00] [-1.71899707e-03 9.99998521e-01 4.94244828e-05 2.35141042e-02] [ 7.50387325e-03 -3.65240091e-05 9.99971845e-01 -1.23068878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43119381700004 meters Centerline goodness [0,1] 0.9123304103242885 Centerline is valid? [False, False] Translation: X:6.89, Y:0.03, Z:-1.23 [[ 9.99969617e-01 1.99558150e-03 -7.53547255e-03 6.89497137e+00] [-1.99755608e-03 9.99997972e-01 -2.54520564e-04 2.50516965e-02] [ 7.53494936e-03 2.69565360e-04 9.99971576e-01 -1.23026113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46119381700004 meters Centerline goodness [0,1] 0.9189479556207516 Centerline is valid? [False, False] Translation: X:6.90, Y:0.03, Z:-1.23 [[ 9.99968014e-01 2.22987173e-03 -7.68106297e-03 6.89531049e+00] [-2.23515106e-03 9.99997272e-01 -6.78802707e-04 2.70144036e-02] [ 7.67952837e-03 6.95949331e-04 9.99970270e-01 -1.23006548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.491193817 meters Centerline goodness [0,1] 0.9148000578046616 Centerline is valid? [False, False] Translation: X:6.90, Y:0.03, Z:-1.23 [[ 9.99966065e-01 2.64577147e-03 -7.80182287e-03 6.89565338e+00] [-2.65346396e-03 9.99996003e-01 -9.75800255e-04 2.89576525e-02] [ 7.79920995e-03 9.96468997e-04 9.99969089e-01 -1.22991877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.521193817 meters Centerline goodness [0,1] 0.936502700696821 Centerline is valid? [False, False] Translation: X:6.90, Y:0.03, Z:-1.23 [[ 9.99962246e-01 3.23413863e-03 -8.06515687e-03 6.89641129e+00] [-3.24325820e-03 9.99994116e-01 -1.11791411e-03 3.07073883e-02] [ 8.06149392e-03 1.14402929e-03 9.99966851e-01 -1.22999497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.551193817 meters Centerline goodness [0,1] 0.9430648838498983 Centerline is valid? [False, False] Translation: X:6.90, Y:0.03, Z:-1.23 [[ 9.99933754e-01 8.19829093e-03 -8.07930397e-03 6.89658410e+00] [-8.17566924e-03 9.99962577e-01 2.82901618e-03 3.24602975e-02] [ 8.10219471e-03 -2.76277505e-03 9.99963360e-01 -1.22973437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.581193817 meters Centerline goodness [0,1] 0.9457879515106763 Centerline is valid? [False, False] Translation: X:6.90, Y:0.03, Z:-1.23 [[ 9.99922423e-01 9.27549536e-03 -8.31344007e-03 6.89758922e+00] [-9.25224108e-03 9.99953189e-01 2.83130055e-03 3.45425230e-02] [ 8.33931262e-03 -2.75416295e-03 9.99961434e-01 -1.23005704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.61119381700001 meters Centerline goodness [0,1] 0.9434832756632064 Centerline is valid? [False, False] Translation: X:6.90, Y:0.03, Z:-1.23 [[ 9.99870083e-01 1.36611936e-02 -8.55503367e-03 6.89884663e+00] [-1.36014704e-02 9.99882988e-01 7.00075603e-03 3.45802475e-02] [ 8.64967132e-03 -6.88348548e-03 9.99938899e-01 -1.23089783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64119381700002 meters Centerline goodness [0,1] 0.9368587700721673 Centerline is valid? [False, False] Translation: X:6.90, Y:0.03, Z:-1.23 [[ 0.99970399 0.02267248 -0.00882563 6.90234029] [-0.02253508 0.99962792 0.01536858 0.03437908] [ 0.00917079 -0.01516514 0.99984295 -1.23394977] [ 0. 0. 0. 1. ]] SLAMing on 163.67119381700002 meters Centerline goodness [0,1] 0.9370593222091268 Centerline is valid? [False, False] Translation: X:6.90, Y:0.04, Z:-1.23 [[ 0.99966762 0.02413916 -0.00905247 6.90326472] [-0.02399514 0.99958888 0.01569384 0.03613413] [ 0.00942758 -0.01547141 0.99983586 -1.23417606] [ 0. 0. 0. 1. ]] SLAMing on 163.70119381700002 meters Centerline goodness [0,1] 0.9354711906485983 Centerline is valid? [False, False] Translation: X:6.90, Y:0.04, Z:-1.23 [[ 0.99963096 0.02554394 -0.00924395 6.90419152] [-0.02539392 0.9995495 0.0159982 0.03787227] [ 0.00964844 -0.01575755 0.99982929 -1.2344445 ] [ 0. 0. 0. 1. ]] SLAMing on 163.73119381700002 meters Centerline goodness [0,1] 0.9353797114648231 Centerline is valid? [False, False] Translation: X:6.91, Y:0.04, Z:-1.23 [[ 0.99959158 0.02697086 -0.00944648 6.90516388] [-0.02681286 0.99950477 0.01647087 0.03876904] [ 0.00988604 -0.01621085 0.99981972 -1.2348122 ] [ 0. 0. 0. 1. ]] SLAMing on 163.76119381700002 meters Centerline goodness [0,1] 0.9378708623648355 Centerline is valid? [False, False] Translation: X:6.91, Y:0.04, Z:-1.24 [[ 0.99940758 0.03311474 -0.00937577 6.90648746] [-0.03289709 0.99920574 0.02248719 0.03513996] [ 0.01011298 -0.02216543 0.99970317 -1.2361233 ] [ 0. 0. 0. 1. ]] SLAMing on 163.79119381700002 meters Centerline goodness [0,1] 0.9387082737614223 Centerline is valid? [False, False] Translation: X:6.91, Y:0.03, Z:-1.24 [[ 0.99948549 0.03060067 -0.00960986 6.90709516] [-0.03040972 0.99934875 0.01942479 0.03412149] [ 0.01019801 -0.01912257 0.99976514 -1.23626468] [ 0. 0. 0. 1. ]] SLAMing on 163.82119381700002 meters Centerline goodness [0,1] 0.938486098729086 Centerline is valid? [False, False] Translation: X:6.91, Y:0.03, Z:-1.24 [[ 0.99956903 0.02762501 -0.0099302 6.9079269 ] [-0.0274589 0.99948687 0.01649283 0.03172504] [ 0.01038072 -0.01621305 0.99981467 -1.2366515 ] [ 0. 0. 0. 1. ]] SLAMing on 163.85119381700002 meters Centerline goodness [0,1] 0.9366970382515929 Centerline is valid? [False, False] Translation: X:6.91, Y:0.03, Z:-1.24 [[ 0.99965059 0.02436923 -0.01023861 6.90835867] [-0.02422778 0.99961233 0.0137191 0.02814909] [ 0.01056896 -0.01346625 0.99985347 -1.23662579] [ 0. 0. 0. 1. ]] SLAMing on 163.88119381700002 meters Centerline goodness [0,1] 0.937264794673504 Centerline is valid? [False, False] Translation: X:6.92, Y:0.02, Z:-1.24 [[ 9.99835623e-01 1.75884750e-02 -4.40137470e-03 6.92063019e+00] [-1.75164690e-02 9.99720206e-01 1.58959846e-02 1.66709302e-02] [ 4.67972935e-03 -1.58162751e-02 9.99863964e-01 -1.23903929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91119381700003 meters Centerline goodness [0,1] 0.9351612168402742 Centerline is valid? [False, False] Translation: X:6.92, Y:0.01, Z:-1.24 [[ 9.99930826e-01 1.08067109e-02 -4.64303142e-03 6.92043629e+00] [-1.07626049e-02 9.99897694e-01 9.42162185e-03 1.31764969e-02] [ 4.74437316e-03 -9.37099901e-03 9.99944836e-01 -1.23829672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94119381700003 meters Centerline goodness [0,1] 0.9338622146733502 Centerline is valid? [False, False] Translation: X:6.92, Y:0.01, Z:-1.24 [[ 9.99979065e-01 4.16135856e-03 -4.95497123e-03 6.92087186e+00] [-4.14521262e-03 9.99986080e-01 3.26435680e-03 8.90056704e-03] [ 4.96848642e-03 -3.24374905e-03 9.99982396e-01 -1.23804558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97119381700003 meters Centerline goodness [0,1] 0.9267298460519782 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.01, Z:-1.24 [[ 9.99975574e-01 -3.01554093e-03 -6.30541280e-03 6.92280676e+00] [ 3.04027435e-03 9.99987708e-01 3.91667057e-03 -9.24279157e-03] [ 6.29352442e-03 -3.93574508e-03 9.99972450e-01 -1.24038426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00119381700003 meters Centerline goodness [0,1] 0.9240480175210232 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.02, Z:-1.24 [[ 9.99935694e-01 -9.30562950e-03 -6.48171876e-03 6.92364469e+00] [ 9.29946049e-03 9.99956278e-01 -9.81244865e-04 -1.68505403e-02] [ 6.49056646e-03 9.20905278e-04 9.99978512e-01 -1.24081895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03119381700003 meters Centerline goodness [0,1] 0.9248447589379655 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.02, Z:-1.24 [[ 9.99847024e-01 -1.62468078e-02 -6.47847747e-03 6.92365772e+00] [ 1.62050228e-02 9.99847879e-01 -6.45097980e-03 -2.33223880e-02] [ 6.58229979e-03 6.34500908e-03 9.99958206e-01 -1.24057382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06119381700003 meters Centerline goodness [0,1] 0.9286008909420888 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.03, Z:-1.24 [[ 9.99771636e-01 -2.03274411e-02 -6.59324754e-03 6.92367313e+00] [ 2.02713147e-02 9.99758632e-01 -8.47068287e-03 -3.08806061e-02] [ 6.76384345e-03 8.33509468e-03 9.99942387e-01 -1.24012426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09119381700003 meters Centerline goodness [0,1] 0.9307358412567177 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.05, Z:-1.24 [[ 9.99620695e-01 -2.70655660e-02 -5.09135825e-03 6.92126573e+00] [ 2.70549656e-02 9.99631658e-01 -2.13952874e-03 -4.83633197e-02] [ 5.14739045e-03 2.00097069e-03 9.99984750e-01 -1.24006164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12119381700003 meters Centerline goodness [0,1] 0.9238761486878053 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.05, Z:-1.24 [[ 9.99527335e-01 -3.03133057e-02 -5.11957893e-03 6.92134136e+00] [ 3.02926184e-02 9.99532782e-01 -4.07115531e-03 -5.44547757e-02] [ 5.24059715e-03 3.91414557e-03 9.99978608e-01 -1.23974642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15119381700003 meters Centerline goodness [0,1] 0.9103509532957386 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.06, Z:-1.24 [[ 9.99422675e-01 -3.35691201e-02 -5.23736533e-03 6.92180974e+00] [ 3.35359813e-02 9.99417706e-01 -6.29187132e-03 -5.96341741e-02] [ 5.44552822e-03 6.11259868e-03 9.99966491e-01 -1.23968220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18119381700004 meters Centerline goodness [0,1] 0.9102409888423411 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.07, Z:-1.24 [[ 9.99307760e-01 -3.68296135e-02 -5.25166292e-03 6.92246316e+00] [ 3.67886799e-02 9.99293487e-01 -7.68891596e-03 -6.78952965e-02] [ 5.53113236e-03 7.49039164e-03 9.99956649e-01 -1.24019299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21119381700004 meters Centerline goodness [0,1] 0.9068276746205699 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.07, Z:-1.24 [[ 9.99312643e-01 -3.66608825e-02 -5.49737166e-03 6.92314906e+00] [ 3.66240531e-02 9.99306942e-01 -6.65683654e-03 -7.10617328e-02] [ 5.73760717e-03 6.45092488e-03 9.99962732e-01 -1.24043802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.241193817 meters Centerline goodness [0,1] 0.8937162036173784 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.07, Z:-1.24 [[ 9.99320092e-01 -3.64307241e-02 -5.67068273e-03 6.92367316e+00] [ 3.63979249e-02 9.99320640e-01 -5.78357871e-03 -7.33989305e-02] [ 5.87753025e-03 5.57324532e-03 9.99967196e-01 -1.24069120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.271193817 meters Centerline goodness [0,1] 0.9017148070582869 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.08, Z:-1.24 [[ 9.99322291e-01 -3.63219485e-02 -5.97280068e-03 6.92484953e+00] [ 3.62949721e-02 9.99330696e-01 -4.56459705e-03 -7.74823991e-02] [ 6.13459812e-03 4.34472095e-03 9.99971745e-01 -1.24157407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.301193817 meters Centerline goodness [0,1] 0.8857024793388429 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.08, Z:-1.24 [[ 9.99323456e-01 -3.62450151e-02 -6.23934550e-03 6.92589019e+00] [ 3.62218572e-02 9.99336604e-01 -3.78545645e-03 -8.03045859e-02] [ 6.37241026e-03 3.55689474e-03 9.99973370e-01 -1.24224676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.331193817 meters Centerline goodness [0,1] 0.8670222701894938 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.08, Z:-1.24 [[ 9.99320662e-01 -3.62990411e-02 -6.37142501e-03 6.92643282e+00] [ 3.62798162e-02 9.99336839e-01 -3.10748033e-03 -8.28355948e-02] [ 6.47999829e-03 2.87421517e-03 9.99974874e-01 -1.24261634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36119381700001 meters Centerline goodness [0,1] 0.8594427244582044 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.08, Z:-1.24 [[ 9.99309804e-01 -3.65638954e-02 -6.55716100e-03 6.92704405e+00] [ 3.65466009e-02 9.99328198e-01 -2.73823965e-03 -8.43960122e-02] [ 6.65287659e-03 2.49670779e-03 9.99974753e-01 -1.24288747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.39119381700002 meters Centerline goodness [0,1] 0.8361887895885671 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.09, Z:-1.24 [[ 9.99299121e-01 -3.68333797e-02 -6.67601096e-03 6.92714437e+00] [ 3.68170973e-02 9.99318778e-01 -2.54568705e-03 -8.50023739e-02] [ 6.76522938e-03 2.29811149e-03 9.99974475e-01 -1.24269161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42119381700002 meters Centerline goodness [0,1] 0.8317621464829587 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.09, Z:-1.24 [[ 9.99292301e-01 -3.69943389e-02 -6.80564228e-03 6.92727488e+00] [ 3.69790942e-02 9.99313271e-01 -2.35240572e-03 -8.56780307e-02] [ 6.88799434e-03 2.09907444e-03 9.99974074e-01 -1.24250838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.45119381700002 meters Centerline goodness [0,1] 0.8082530778907426 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.09, Z:-1.24 [[ 9.99283787e-01 -3.71840518e-02 -7.01856648e-03 6.92803918e+00] [ 3.71707714e-02 9.99306900e-01 -2.01329175e-03 -8.69310053e-02] [ 7.08856426e-03 1.75096428e-03 9.99973343e-01 -1.24291161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48119381700002 meters Centerline goodness [0,1] 0.8145427533839551 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.09, Z:-1.24 [[ 9.99407059e-01 -3.36883625e-02 -7.11511441e-03 6.92830678e+00] [ 3.37042389e-02 9.99429595e-01 2.12333296e-03 -8.85057231e-02] [ 7.03952430e-03 -2.36188346e-03 9.99972433e-01 -1.24330267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51119381700002 meters Centerline goodness [0,1] 0.7742488384099122 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.09, Z:-1.24 [[ 9.99516670e-01 -3.02275229e-02 -7.26113827e-03 6.92892849e+00] [ 3.02708788e-02 9.99524099e-01 5.93714218e-03 -8.91330895e-02] [ 7.07821758e-03 -6.15407362e-03 9.99956012e-01 -1.24397714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54119381700002 meters Centerline goodness [0,1] 0.860438197602315 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.09, Z:-1.24 [[ 0.99963147 -0.02613351 -0.00734551 6.92954502] [ 0.0261993 0.99961615 0.00900807 -0.08556115] [ 0.00710728 -0.0091972 0.99993245 -1.24481148] [ 0. 0. 0. 1. ]] SLAMing on 164.57119381700002 meters Centerline goodness [0,1] 0.8781552594554333 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.08, Z:-1.25 [[ 0.99972017 -0.02239182 -0.0076276 6.93020095] [ 0.02248545 0.99967003 0.0124193 -0.08391317] [ 0.00734699 -0.01258733 0.99989378 -1.24522998] [ 0. 0. 0. 1. ]] SLAMing on 164.60119381700002 meters Centerline goodness [0,1] 0.8989311016282057 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.08, Z:-1.25 [[ 0.99973408 -0.02164653 -0.00794927 6.93088926] [ 0.02174066 0.99969219 0.01195269 -0.08015075] [ 0.00768809 -0.01212234 0.99989697 -1.24530279] [ 0. 0. 0. 1. ]] SLAMing on 164.63119381700002 meters Centerline goodness [0,1] 0.9272070211667527 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.07, Z:-1.24 [[ 0.99982066 -0.01725341 -0.00780754 6.92941508] [ 0.01736386 0.99974688 0.0143065 -0.07444898] [ 0.00755873 -0.0144395 0.99986717 -1.24339481] [ 0. 0. 0. 1. ]] SLAMing on 164.66119381700003 meters Centerline goodness [0,1] 0.9291296258011164 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.07, Z:-1.24 [[ 0.99982842 -0.01670004 -0.00801472 6.92945186] [ 0.01680753 0.9997671 0.01353678 -0.07062191] [ 0.00778679 -0.01366916 0.99987625 -1.24279206] [ 0. 0. 0. 1. ]] SLAMing on 164.69119381700003 meters Centerline goodness [0,1] 0.9340903938500855 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.07, Z:-1.24 [[ 0.99983669 -0.01603672 -0.00833207 6.92983377] [ 0.0161433 0.99978665 0.01288586 -0.06655172] [ 0.00812365 -0.01301826 0.99988226 -1.24239356] [ 0. 0. 0. 1. ]] SLAMing on 164.72119381700003 meters Centerline goodness [0,1] 0.9334994645357937 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.06, Z:-1.24 [[ 0.99983813 -0.01574517 -0.00870683 6.93032315] [ 0.01584956 0.99980173 0.01205389 -0.06267587] [ 0.00851532 -0.01218994 0.99988944 -1.24206806] [ 0. 0. 0. 1. ]] SLAMing on 164.75119381700003 meters Centerline goodness [0,1] 0.9297552295628064 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.06, Z:-1.24 [[ 0.99988001 -0.01268447 -0.00889255 6.93108334] [ 0.01280944 0.99981798 0.0141398 -0.0577504 ] [ 0.00871158 -0.01425202 0.99986048 -1.24276418] [ 0. 0. 0. 1. ]] SLAMing on 164.78119381700003 meters Centerline goodness [0,1] 0.9267490903076414 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.06, Z:-1.24 [[ 0.99987652 -0.01266685 -0.00930006 6.93242094] [ 0.0127922 0.99982643 0.01354501 -0.05533186] [ 0.00912688 -0.0136623 0.99986501 -1.24351218] [ 0. 0. 0. 1. ]] SLAMing on 164.81119381700003 meters Centerline goodness [0,1] 0.9276529661455637 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.05, Z:-1.24 [[ 0.9998696 -0.01296387 -0.0096292 6.93332966] [ 0.01308554 0.99983395 0.01268208 -0.05297384] [ 0.0094632 -0.01280643 0.99987321 -1.24391619] [ 0. 0. 0. 1. ]] SLAMing on 164.84119381700003 meters Centerline goodness [0,1] 0.9252892561983471 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.05, Z:-1.24 [[ 0.99986581 -0.01304261 -0.00991215 6.93408851] [ 0.0131626 0.99983969 0.01213838 -0.05131934] [ 0.00975224 -0.01226722 0.9998772 -1.24417057] [ 0. 0. 0. 1. ]] SLAMing on 164.87119381700003 meters Centerline goodness [0,1] 0.9252892561983471 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.05, Z:-1.24 [[ 0.99986581 -0.01304261 -0.00991215 6.93408851] [ 0.0131626 0.99983969 0.01213838 -0.05131934] [ 0.00975224 -0.01226722 0.9998772 -1.24417057] [ 0. 0. 0. 1. ]] SLAMing on 164.90119381700003 meters Centerline goodness [0,1] 0.9258975685463011 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.05, Z:-1.24 [[ 0.9998697 -0.01251801 -0.01019266 6.93488017] [ 0.01263835 0.99985016 0.0118289 -0.04902961] [ 0.01004306 -0.01195618 0.99987809 -1.24445567] [ 0. 0. 0. 1. ]] SLAMing on 164.93119381700004 meters Centerline goodness [0,1] 0.925513293107354 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.05, Z:-1.24 [[ 0.99986941 -0.01228131 -0.01050426 6.93582166] [ 0.0124041 0.99985456 0.01170496 -0.04791785] [ 0.01035898 -0.01183372 0.99987632 -1.24487047] [ 0. 0. 0. 1. ]] SLAMing on 164.96119381700004 meters Centerline goodness [0,1] 0.9250613997069325 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.05, Z:-1.25 [[ 0.99986772 -0.01210914 -0.01085867 6.93662851] [ 0.01223429 0.99985864 0.01153388 -0.04696435] [ 0.01071747 -0.0116652 0.99987452 -1.24506718] [ 0. 0. 0. 1. ]] SLAMing on 164.991193817 meters Centerline goodness [0,1] 0.9242048227654382 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.05, Z:-1.25 [[ 0.99986779 -0.01190153 -0.01107982 6.93714731] [ 0.01202865 0.99986177 0.01147832 -0.04634292] [ 0.01094168 -0.01161008 0.99987273 -1.24518167] [ 0. 0. 0. 1. ]] SLAMing on 165.021193817 meters Centerline goodness [0,1] 0.9267939215767463 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.05, Z:-1.25 [[ 0.99988868 -0.00937087 -0.01161099 6.93933402] [ 0.0095284 0.99986229 0.0135873 -0.04753039] [ 0.01148207 -0.01369643 0.99984027 -1.24646937] [ 0. 0. 0. 1. ]] SLAMing on 165.051193817 meters Centerline goodness [0,1] 0.9268951579642003 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.05, Z:-1.25 [[ 0.99989339 -0.00791663 -0.01226938 6.94160397] [ 0.00809889 0.99985653 0.01487713 -0.04874096] [ 0.01214985 -0.01497491 0.99981405 -1.24768179] [ 0. 0. 0. 1. ]] SLAMing on 165.081193817 meters Centerline goodness [0,1] 0.9269890473238273 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.05, Z:-1.25 [[ 9.99895890e-01 -6.79003597e-03 -1.27319955e-02 6.94331390e+00] [ 6.99350963e-03 9.99847446e-01 1.60054575e-02 -5.03860343e-02] [ 1.26213755e-02 -1.60928325e-02 9.99790839e-01 -1.24866945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.11119381700001 meters Centerline goodness [0,1] 0.9284101501812533 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.05, Z:-1.25 [[ 9.99895915e-01 -6.09058021e-03 -1.30791129e-02 6.94435848e+00] [ 6.30999816e-03 9.99838942e-01 1.68009946e-02 -5.21439532e-02] [ 1.29746786e-02 -1.68817751e-02 9.99773306e-01 -1.24908774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14119381700002 meters Centerline goodness [0,1] 0.9310751043690324 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.06, Z:-1.25 [[ 9.99900702e-01 -4.34641889e-03 -1.34050082e-02 6.94531580e+00] [ 4.60342081e-03 9.99805042e-01 1.92011957e-02 -5.80439994e-02] [ 1.33189383e-02 -1.92609979e-02 9.99725772e-01 -1.24934136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.17119381700002 meters Centerline goodness [0,1] 0.9317822128131873 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.06, Z:-1.25 [[ 9.99886495e-01 -5.92704480e-03 -1.38516465e-02 6.94707738e+00] [ 6.16880661e-03 9.99828242e-01 1.74765956e-02 -6.04575061e-02] [ 1.37456828e-02 -1.75600601e-02 9.99751319e-01 -1.25015287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20119381700002 meters Centerline goodness [0,1] 0.9338998469999586 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.07, Z:-1.25 [[ 0.9998813 -0.00720545 -0.01361871 6.94551273] [ 0.0074374 0.99982683 0.01705876 -0.06721264] [ 0.01349343 -0.01715802 0.99976174 -1.24850238] [ 0. 0. 0. 1. ]] SLAMing on 165.23119381700002 meters Centerline goodness [0,1] 0.9309597970255162 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.07, Z:-1.25 [[ 0.99985574 -0.00941575 -0.01413668 6.94739004] [ 0.00962875 0.99984 0.01507543 -0.07032179] [ 0.01399247 -0.01520937 0.99978642 -1.24937315] [ 0. 0. 0. 1. ]] SLAMing on 165.26119381700002 meters Centerline goodness [0,1] 0.9298929521688014 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.07, Z:-1.25 [[ 0.99982464 -0.01167573 -0.01464099 6.94935545] [ 0.01186778 0.99984376 0.01310029 -0.07371666] [ 0.01448575 -0.01327174 0.99980699 -1.25038119] [ 0. 0. 0. 1. ]] SLAMing on 165.29119381700002 meters Centerline goodness [0,1] 0.9285625594967095 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.08, Z:-1.25 [[ 0.99978699 -0.01450173 -0.01468615 6.94972472] [ 0.01465944 0.99983542 0.01068823 -0.07725121] [ 0.01452874 -0.01090125 0.99983503 -1.25051516] [ 0. 0. 0. 1. ]] SLAMing on 165.32119381700002 meters Centerline goodness [0,1] 0.9280541301109088 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.08, Z:-1.25 [[ 0.99973987 -0.01723328 -0.01494031 6.95069563] [ 0.01736266 0.9998125 0.00857392 -0.0813745 ] [ 0.01478975 -0.00883109 0.99985163 -1.25081163] [ 0. 0. 0. 1. ]] SLAMing on 165.35119381700002 meters Centerline goodness [0,1] 0.9249906859295443 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.09, Z:-1.25 [[ 9.99618598e-01 -2.30613067e-02 -1.51932194e-02 6.95182978e+00] [ 2.31325386e-02 9.99722146e-01 4.52943718e-03 -9.02822946e-02] [ 1.50845432e-02 -4.87916738e-03 9.99874317e-01 -1.25112379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38119381700002 meters Centerline goodness [0,1] 0.9219063372273338 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.10, Z:-1.25 [[ 9.99534137e-01 -2.64005605e-02 -1.53140202e-02 6.95244393e+00] [ 2.64394829e-02 9.99647666e-01 2.34471577e-03 -9.54017483e-02] [ 1.52467228e-02 -2.74851823e-03 9.99879984e-01 -1.25123612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41119381700003 meters Centerline goodness [0,1] 0.9212102437009501 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.10, Z:-1.25 [[ 9.99425134e-01 -3.02033843e-02 -1.53999327e-02 6.95266813e+00] [ 3.02068786e-02 9.99543668e-01 -5.70950131e-06 -1.00913179e-01] [ 1.53930776e-02 -4.59477677e-04 9.99881414e-01 -1.25091283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44119381700003 meters Centerline goodness [0,1] 0.9197792430600054 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.11, Z:-1.25 [[ 9.99294315e-01 -3.42996383e-02 -1.53103697e-02 6.95242534e+00] [ 3.42656311e-02 9.99409689e-01 -2.47809270e-03 -1.06788797e-01] [ 1.53863295e-02 1.95172447e-03 9.99879719e-01 -1.25026224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47119381700003 meters Centerline goodness [0,1] 0.9225001549170677 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.12, Z:-1.25 [[ 0.99874355 -0.04796159 -0.01452578 6.94972023] [ 0.04776577 0.99876678 -0.01354057 -0.11611894] [ 0.01515729 0.01282972 0.99980281 -1.24690958] [ 0. 0. 0. 1. ]] SLAMing on 165.50119381700003 meters Centerline goodness [0,1] 0.8924256792974065 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.12, Z:-1.25 [[ 0.99851506 -0.0525446 -0.01437834 6.94971058] [ 0.052308 0.99849691 -0.01636472 -0.1214554 ] [ 0.01521661 0.01558832 0.9997627 -1.24652753] [ 0. 0. 0. 1. ]] SLAMing on 165.53119381700003 meters Centerline goodness [0,1] 0.7721821061943261 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.13, Z:-1.25 [[ 0.99769334 -0.0664578 -0.01383322 6.95232008] [ 0.0663193 0.99774589 -0.01024163 -0.13216461] [ 0.01448267 0.0093006 0.99985186 -1.24766528] [ 0. 0. 0. 1. ]] SLAMing on 165.56119381700003 meters Centerline goodness [0,1] 0.7959870363107157 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.14, Z:-1.25 [[ 0.99741134 -0.07057695 -0.01376613 6.95309191] [ 0.07039404 0.99742995 -0.01334797 -0.13540359] [ 0.01467281 0.01234436 0.99981615 -1.24802322] [ 0. 0. 0. 1. ]] SLAMing on 165.59119381700003 meters Centerline goodness [0,1] 0.7749008486940797 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.14, Z:-1.25 [[ 0.99712175 -0.07456214 -0.01373683 6.95407191] [ 0.07433171 0.99709565 -0.01658492 -0.13780462] [ 0.01493354 0.0155161 0.99976809 -1.2485124 ] [ 0. 0. 0. 1. ]] SLAMing on 165.62119381700003 meters Centerline goodness [0,1] 0.7492396218660091 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.14, Z:-1.25 [[ 0.99708209 -0.07507581 -0.01381741 6.95475981] [ 0.07485282 0.99706614 -0.01600507 -0.14084155] [ 0.01497846 0.0149241 0.99977643 -1.24900187] [ 0. 0. 0. 1. ]] SLAMing on 165.65119381700003 meters Centerline goodness [0,1] 0.7408756870252577 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.14, Z:-1.25 [[ 0.99702977 -0.07578517 -0.01372019 6.9552974 ] [ 0.07556906 0.99701792 -0.01563931 -0.14355402] [ 0.01486451 0.01455604 0.99978356 -1.24976695] [ 0. 0. 0. 1. ]] SLAMing on 165.68119381700004 meters Centerline goodness [0,1] 0.745854874255937 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.15, Z:-1.25 [[ 0.99725702 -0.07269647 -0.01391589 6.95561911] [ 0.07253588 0.99729698 -0.01171684 -0.14508248] [ 0.01473005 0.0106753 0.99983452 -1.25023214] [ 0. 0. 0. 1. ]] SLAMing on 165.71119381700004 meters Centerline goodness [0,1] 0.7138155864991054 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.15, Z:-1.25 [[ 9.97484622e-01 -6.94423367e-02 -1.42193750e-02 6.95593478e+00] [ 6.93351831e-02 9.97562175e-01 -7.89552571e-03 -1.45589347e-01] [ 1.47329945e-02 6.88976250e-03 9.99867726e-01 -1.25046979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.741193817 meters Centerline goodness [0,1] 0.7087900766504575 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.15, Z:-1.25 [[ 9.97703011e-01 -6.61688690e-02 -1.45045907e-02 6.95613492e+00] [ 6.61127877e-02 9.97802835e-01 -4.31296673e-03 -1.45086263e-01] [ 1.47581058e-02 3.34412097e-03 9.99885501e-01 -1.25060130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.771193817 meters Centerline goodness [0,1] 0.7293004812160515 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.14, Z:-1.25 [[ 9.97896637e-01 -6.31572115e-02 -1.46105822e-02 6.95611982e+00] [ 6.31375011e-02 9.98003202e-01 -1.80685911e-03 -1.41006277e-01] [ 1.46955240e-02 8.80582978e-04 9.99891627e-01 -1.25103237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.801193817 meters Centerline goodness [0,1] 0.743510914868155 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.14, Z:-1.25 [[ 9.98098234e-01 -5.98202446e-02 -1.48813443e-02 6.95649743e+00] [ 5.98490962e-02 9.98206308e-01 1.50064628e-03 -1.39501851e-01] [ 1.47648827e-02 -2.38842741e-03 9.99888141e-01 -1.25142237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.831193817 meters Centerline goodness [0,1] 0.7446205998470411 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.14, Z:-1.25 [[ 9.98281170e-01 -5.66544060e-02 -1.49994652e-02 6.95655775e+00] [ 5.67284584e-02 9.98379239e-01 4.55809900e-03 -1.37595409e-01] [ 1.47169183e-02 -5.40116094e-03 9.99877112e-01 -1.25176036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86119381700001 meters Centerline goodness [0,1] 0.7417025928752656 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.13, Z:-1.25 [[ 9.98366028e-01 -5.50556460e-02 -1.53019436e-02 6.95796167e+00] [ 5.51420322e-02 9.98464551e-01 5.28173117e-03 -1.30667396e-01] [ 1.49876591e-02 -6.11688124e-03 9.99868968e-01 -1.25325712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.89119381700002 meters Centerline goodness [0,1] 0.7356578566406089 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.13, Z:-1.25 [[ 9.98336876e-01 -5.54996030e-02 -1.55972788e-02 6.95885859e+00] [ 5.55712620e-02 9.98445895e-01 4.19876741e-03 -1.27165912e-01] [ 1.53400091e-02 -5.05854481e-03 9.99869539e-01 -1.25375402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92119381700002 meters Centerline goodness [0,1] 0.7341602344491682 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.12, Z:-1.26 [[ 9.98354218e-01 -5.50694257e-02 -1.60066750e-02 6.96128547e+00] [ 5.51450503e-02 9.98469000e-01 4.32189247e-03 -1.24934092e-01] [ 1.57441646e-02 -5.19746847e-03 9.99862544e-01 -1.25582148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.95119381700002 meters Centerline goodness [0,1] 0.7289298557433969 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.12, Z:-1.26 [[ 9.98324069e-01 -5.55731908e-02 -1.61453833e-02 6.96200721e+00] [ 5.56352981e-02 9.98445290e-01 3.42305906e-03 -1.22317751e-01] [ 1.59300516e-02 -4.31557546e-03 9.99863795e-01 -1.25642749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98119381700002 meters Centerline goodness [0,1] 0.705895762097192 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.12, Z:-1.26 [[ 9.98240154e-01 -5.70655355e-02 -1.61282363e-02 6.96211131e+00] [ 5.70893681e-02 9.98368550e-01 1.02079575e-03 -1.15649469e-01] [ 1.60436716e-02 -1.93975012e-03 9.99869410e-01 -1.25666585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01119381700002 meters Centerline goodness [0,1] 0.6935915244749445 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.11, Z:-1.26 [[ 9.98391166e-01 -5.43829320e-02 -1.60492025e-02 6.96162018e+00] [ 5.44501675e-02 9.98509326e-01 3.78220361e-03 -1.13481366e-01] [ 1.58195910e-02 -4.65000044e-03 9.99864050e-01 -1.25665235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04119381700002 meters Centerline goodness [0,1] 0.6682907613202853 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.11, Z:-1.26 [[ 9.98532250e-01 -5.17385278e-02 -1.60147023e-02 6.96116920e+00] [ 5.18446967e-02 9.98635372e-01 6.28657743e-03 -1.10657805e-01] [ 1.56675899e-02 -7.10762769e-03 9.99851993e-01 -1.25656579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07119381700002 meters Centerline goodness [0,1] 0.6979768786127167 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.11, Z:-1.26 [[ 9.98511991e-01 -5.20546154e-02 -1.62517846e-02 6.96169173e+00] [ 5.21419124e-02 9.98627195e-01 4.99453714e-03 -1.06021746e-01] [ 1.59694854e-02 -5.83450435e-03 9.99855457e-01 -1.25666610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10119381700002 meters Centerline goodness [0,1] 0.7058021887259962 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.10, Z:-1.25 [[ 9.98654731e-01 -4.92735919e-02 -1.61505688e-02 6.95962951e+00] [ 4.93689483e-02 9.98765137e-01 5.55943351e-03 -9.61184145e-02] [ 1.58566918e-02 -6.34929118e-03 9.99854115e-01 -1.25468830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13119381700002 meters Centerline goodness [0,1] 0.697413031417593 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.09, Z:-1.25 [[ 0.99879479 -0.0463055 -0.01627188 6.95859318] [ 0.0464315 0.99889367 0.00745275 -0.09097973] [ 0.01590878 -0.00819929 0.99983983 -1.25351172] [ 0. 0. 0. 1. ]] SLAMing on 166.16119381700003 meters Centerline goodness [0,1] 0.7262938591967656 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.09, Z:-1.25 [[ 0.99893019 -0.04328823 -0.01626688 6.9571209 ] [ 0.04344292 0.99901282 0.00927943 -0.08537928] [ 0.01584913 -0.00997619 0.99982463 -1.2521064 ] [ 0. 0. 0. 1. ]] SLAMing on 166.19119381700003 meters Centerline goodness [0,1] 0.7487240944686654 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.08, Z:-1.25 [[ 0.9990543 -0.04027157 -0.01639196 6.95613023] [ 0.04045439 0.99912107 0.01097843 -0.07948936] [ 0.01593544 -0.01163117 0.99980537 -1.25094713] [ 0. 0. 0. 1. ]] SLAMing on 166.22119381700003 meters Centerline goodness [0,1] 0.8012018234562786 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.07, Z:-1.25 [[ 0.99927795 -0.0342821 -0.01638011 6.95481863] [ 0.03451829 0.99930088 0.01436081 -0.06802007] [ 0.01587633 -0.01491585 0.9997627 -1.24978529] [ 0. 0. 0. 1. ]] SLAMing on 166.25119381700003 meters Centerline goodness [0,1] 0.8117042570314273 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.06, Z:-1.25 [[ 0.99936615 -0.03146058 -0.01665928 6.95528313] [ 0.03173085 0.9993649 0.01621545 -0.0627631 ] [ 0.01613855 -0.01673378 0.99972973 -1.25002175] [ 0. 0. 0. 1. ]] SLAMing on 166.28119381700003 meters Centerline goodness [0,1] 0.8283608356280668 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.06, Z:-1.25 [[ 0.99936293 -0.03153073 -0.01671954 6.95539789] [ 0.03177924 0.99938516 0.01481187 -0.05629895] [ 0.01624223 -0.01533377 0.9997505 -1.25004359] [ 0. 0. 0. 1. ]] SLAMing on 166.31119381700003 meters Centerline goodness [0,1] 0.8772279282083204 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.05, Z:-1.25 [[ 0.99943063 -0.02923143 -0.01685071 6.9560197 ] [ 0.02948315 0.99945438 0.0148888 -0.0455343 ] [ 0.01640629 -0.01537714 0.99974716 -1.25072936] [ 0. 0. 0. 1. ]] SLAMing on 166.34119381700003 meters Centerline goodness [0,1] 0.8952720193840993 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.04, Z:-1.25 [[ 0.99950772 -0.02632198 -0.0170727 6.95680956] [ 0.02661271 0.99950073 0.01703122 -0.04126684] [ 0.01661588 -0.01747719 0.99970919 -1.25146003] [ 0. 0. 0. 1. ]] SLAMing on 166.37119381700003 meters Centerline goodness [0,1] 0.8776490066225165 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.04, Z:-1.25 [[ 0.99958098 -0.02317704 -0.01734042 6.95752866] [ 0.0235114 0.99953661 0.01933324 -0.03686174] [ 0.0168843 -0.01973284 0.99966271 -1.25196343] [ 0. 0. 0. 1. ]] SLAMing on 166.40119381700003 meters Centerline goodness [0,1] 0.9296760473231062 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.03, Z:-1.25 [[ 0.99970628 -0.01640523 -0.0178389 6.959561 ] [ 0.01683363 0.99956694 0.02413616 -0.02829257] [ 0.01743522 -0.02442936 0.99954951 -1.25363707] [ 0. 0. 0. 1. ]] SLAMing on 166.43119381700004 meters Centerline goodness [0,1] 0.9334851464651692 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.02, Z:-1.25 [[ 0.99969899 -0.01051049 -0.02216893 6.95784132] [ 0.01083701 0.9998338 0.01466042 -0.022079 ] [ 0.02201115 -0.01489625 0.99964674 -1.25417929] [ 0. 0. 0. 1. ]] SLAMing on 166.46119381700004 meters Centerline goodness [0,1] 0.9334871361773127 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.02, Z:-1.26 [[ 9.99725662e-01 -5.79050453e-03 -2.26951547e-02 6.96028376e+00] [ 6.20955743e-03 9.99810729e-01 1.84376519e-02 -1.87783004e-02] [ 2.25840958e-02 -1.85735207e-02 9.99572400e-01 -1.25589107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49119381700004 meters Centerline goodness [0,1] 0.9314955260275671 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.01, Z:-1.25 [[ 9.99593962e-01 5.78055586e-03 -2.79015533e-02 6.95800818e+00] [-5.43662500e-03 9.99908502e-01 1.23867450e-02 -1.13402377e-02] [ 2.79706026e-02 -1.22300252e-02 9.99533927e-01 -1.25374908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.521193817 meters Centerline goodness [0,1] 0.931191144886833 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.01, Z:-1.25 [[ 0.99955164 0.01024454 -0.02813465 6.95879918] [-0.00978747 0.99981865 0.01633596 -0.0104979 ] [ 0.02829691 -0.01605327 0.99947065 -1.25404196] [ 0. 0. 0. 1. ]] SLAMing on 166.551193817 meters Centerline goodness [0,1] 0.932617794538146 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.01, Z:-1.25 [[ 0.99953765 0.01132291 -0.02821844 6.95891421] [-0.01086259 0.99980629 0.01641309 -0.00894339] [ 0.02839882 -0.01609898 0.99946702 -1.25368878] [ 0. 0. 0. 1. ]] SLAMing on 166.581193817 meters Centerline goodness [0,1] 0.9359069844422376 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.01, Z:-1.25 [[ 0.99945863 0.01671059 -0.02834075 6.95914743] [-0.0161096 0.99964327 0.02130301 -0.00998532] [ 0.02868663 -0.02083492 0.99937129 -1.25340367] [ 0. 0. 0. 1. ]] SLAMing on 166.61119381700001 meters Centerline goodness [0,1] 0.9366406540319584 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.01, Z:-1.25 [[ 0.99944137 0.01726559 -0.02861558 6.95975889] [-0.01664887 0.99962694 0.02165181 -0.01025057] [ 0.02897873 -0.0211633 0.99935597 -1.25339982] [ 0. 0. 0. 1. ]] SLAMing on 166.64119381700002 meters Centerline goodness [0,1] 0.9377589085138394 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.01, Z:-1.25 [[ 0.99942636 0.01772418 -0.02885832 6.96040793] [-0.01708477 0.99960634 0.02225476 -0.01171838] [ 0.02924141 -0.02174896 0.99933574 -1.25359696] [ 0. 0. 0. 1. ]] SLAMing on 166.67119381700002 meters Centerline goodness [0,1] 0.9385216407936671 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.01, Z:-1.25 [[ 0.99944075 0.01578521 -0.02947922 6.96259042] [-0.01519703 0.99968305 0.02007097 -0.01361504] [ 0.0297867 -0.01961175 0.99936386 -1.25463249] [ 0. 0. 0. 1. ]] SLAMing on 166.70119381700002 meters Centerline goodness [0,1] 0.9389477575160178 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.02, Z:-1.26 [[ 0.99945921 0.01341806 -0.03002063 6.96427122] [-0.01288834 0.99975904 0.01776954 -0.01645011] [ 0.03025182 -0.01737301 0.99939132 -1.25534622] [ 0. 0. 0. 1. ]] SLAMing on 166.73119381700002 meters Centerline goodness [0,1] 0.9387524870264394 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.02, Z:-1.25 [[ 0.9994832 0.01058065 -0.03035424 6.96454231] [-0.01009717 0.99982041 0.01603731 -0.02451431] [ 0.03051848 -0.01572253 0.99941054 -1.25493781] [ 0. 0. 0. 1. ]] SLAMing on 166.76119381700002 meters Centerline goodness [0,1] 0.9373928844287513 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.03, Z:-1.26 [[ 9.99504200e-01 7.18275283e-03 -3.06555444e-02 6.96522076e+00] [-6.78058505e-03 9.99889849e-01 1.32027801e-02 -2.77169832e-02] [ 3.07470000e-02 -1.29883717e-02 9.99442807e-01 -1.25511317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79119381700002 meters Centerline goodness [0,1] 0.9373928844287513 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.03, Z:-1.26 [[ 9.99504200e-01 7.18275283e-03 -3.06555444e-02 6.96522076e+00] [-6.78058505e-03 9.99889849e-01 1.32027801e-02 -2.77169832e-02] [ 3.07470000e-02 -1.29883717e-02 9.99442807e-01 -1.25511317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82119381700002 meters Centerline goodness [0,1] 0.9350077200205867 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.03, Z:-1.26 [[ 9.99506023e-01 4.02863258e-03 -3.11685893e-02 6.96684479e+00] [-3.69420022e-03 9.99935071e-01 1.07799436e-02 -3.15559228e-02] [ 3.12099940e-02 -1.06594756e-02 9.99456008e-01 -1.25586410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85119381700002 meters Centerline goodness [0,1] 0.9287901357166501 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.04, Z:-1.26 [[ 9.99499576e-01 -2.86737353e-03 -3.15019822e-02 6.96747984e+00] [ 3.05763176e-03 9.99977367e-01 5.99305220e-03 -4.02125312e-02] [ 3.14840849e-02 -6.08637460e-03 9.99485722e-01 -1.25592933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88119381700002 meters Centerline goodness [0,1] 0.928322291705364 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.05, Z:-1.26 [[ 0.9996282 -0.00904839 -0.02572153 6.9780694 ] [ 0.00931149 0.99990536 0.01012726 -0.04618628] [ 0.02562746 -0.010363 0.99961785 -1.25857744] [ 0. 0. 0. 1. ]] SLAMing on 166.91119381700003 meters Centerline goodness [0,1] 0.9276622039134912 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.05, Z:-1.26 [[ 0.99969322 -0.01543382 -0.01937187 6.98874013] [ 0.0156956 0.99978655 0.01343479 -0.05268718] [ 0.01916038 -0.01373472 0.99972208 -1.26118507] [ 0. 0. 0. 1. ]] SLAMing on 166.94119381700003 meters Centerline goodness [0,1] 0.9259458341947489 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.06, Z:-1.26 [[ 0.99958505 -0.02155167 -0.01911166 6.98708727] [ 0.02171097 0.99973093 0.00816768 -0.05763175] [ 0.01893049 -0.00857922 0.99978399 -1.2594046 ] [ 0. 0. 0. 1. ]] SLAMing on 166.97119381700003 meters Centerline goodness [0,1] 0.926849920489044 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.06, Z:-1.26 [[ 9.99498158e-01 -2.52865422e-02 -1.90793854e-02 6.98662308e+00] [ 2.54045229e-02 9.99659446e-01 5.96681022e-03 -6.39347287e-02] [ 1.89220078e-02 -6.44851850e-03 9.99800167e-01 -1.25855278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00119381700003 meters Centerline goodness [0,1] 0.9202118922470434 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.08, Z:-1.26 [[ 0.99933331 -0.03403547 -0.01321097 6.99730186] [ 0.03414973 0.9993804 0.00852177 -0.07544162] [ 0.01291274 -0.00896724 0.99987642 -1.2609994 ] [ 0. 0. 0. 1. ]] SLAMing on 167.03119381700003 meters Centerline goodness [0,1] 0.9221004039238315 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.08, Z:-1.26 [[ 9.99213825e-01 -3.73539041e-02 -1.32822566e-02 6.99780640e+00] [ 3.74345679e-02 9.99281798e-01 5.87710833e-03 -7.88067027e-02] [ 1.30531843e-02 -6.36970343e-03 9.99894515e-01 -1.26104561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06119381700003 meters Centerline goodness [0,1] 0.9184975048143623 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.08, Z:-1.26 [[ 9.99085519e-01 -4.06024941e-02 -1.34000980e-02 6.99871653e+00] [ 4.06485608e-02 9.99168434e-01 3.18340836e-03 -8.18588991e-02] [ 1.32597006e-02 -3.72519189e-03 9.99905147e-01 -1.26147778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09119381700003 meters Centerline goodness [0,1] 0.913177556553594 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.09, Z:-1.26 [[ 9.99095586e-01 -4.03048362e-02 -1.35472972e-02 6.99950359e+00] [ 4.03709750e-02 9.99173965e-01 4.64446391e-03 -8.65171537e-02] [ 1.33489124e-02 -5.18718099e-03 9.99897445e-01 -1.26206951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12119381700003 meters Centerline goodness [0,1] 0.9049439874333429 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.09, Z:-1.26 [[ 9.98976341e-01 -4.30847036e-02 -1.37832749e-02 7.00067631e+00] [ 4.31287780e-02 9.99065265e-01 2.91643447e-03 -9.16427076e-02] [ 1.36447375e-02 -3.50790484e-03 9.99900753e-01 -1.26250634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15119381700003 meters Centerline goodness [0,1] 0.8773579071061909 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.09, Z:-1.26 [[ 9.98981890e-01 -4.28864729e-02 -1.39976696e-02 7.00136341e+00] [ 4.29448802e-02 9.99069835e-01 3.89894291e-03 -9.46103104e-02] [ 1.38174375e-02 -4.49610160e-03 9.99894426e-01 -1.26281340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18119381700004 meters Centerline goodness [0,1] 0.839160117979498 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.10, Z:-1.26 [[ 9.98991911e-01 -4.26113138e-02 -1.41222567e-02 7.00171709e+00] [ 4.26842432e-02 9.99076579e-01 4.90346884e-03 -9.74766195e-02] [ 1.39002726e-02 -5.50132355e-03 9.99888253e-01 -1.26292198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21119381700004 meters Centerline goodness [0,1] 0.8565239921235361 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.10, Z:-1.26 [[ 9.98846691e-01 -4.58922085e-02 -1.41136002e-02 7.00164213e+00] [ 4.59244888e-02 9.98942969e-01 1.97147830e-03 -9.99404231e-02] [ 1.40082062e-02 -2.61736445e-03 9.99898455e-01 -1.26233654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24119381700004 meters Centerline goodness [0,1] 0.8555880776683019 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.10, Z:-1.26 [[ 9.98839646e-01 -4.60242664e-02 -1.41819790e-02 7.00138680e+00] [ 4.60589873e-02 9.98936448e-01 2.13124774e-03 -1.00631565e-01] [ 1.40688066e-02 -2.78198233e-03 9.99897159e-01 -1.26180276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.271193817 meters Centerline goodness [0,1] 0.8629850499026794 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.10, Z:-1.26 [[ 9.98839439e-01 -4.60155767e-02 -1.42247113e-02 7.00093447e+00] [ 4.60515637e-02 9.98936614e-01 2.21260356e-03 -1.00577397e-01] [ 1.41077707e-02 -2.86510590e-03 9.99896376e-01 -1.26109715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.301193817 meters Centerline goodness [0,1] 0.8338082848056829 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.10, Z:-1.26 [[ 9.98834741e-01 -4.61151654e-02 -1.42320584e-02 7.00092420e+00] [ 4.61508375e-02 9.98932086e-01 2.18812076e-03 -1.00206951e-01] [ 1.41159542e-02 -2.84239245e-03 9.99896325e-01 -1.26102218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.331193817 meters Centerline goodness [0,1] 0.8380168025493523 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.10, Z:-1.26 [[ 9.98834809e-01 -4.60950067e-02 -1.42924420e-02 7.00114176e+00] [ 4.61296537e-02 9.98933245e-01 2.10385185e-03 -9.97441202e-02] [ 1.41802185e-02 -2.76070586e-03 9.99895645e-01 -1.26114606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36119381700001 meters Centerline goodness [0,1] 0.8293777134587554 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.10, Z:-1.26 [[ 9.98831364e-01 -4.60959968e-02 -1.45280779e-02 7.00207099e+00] [ 4.61267207e-02 9.98933999e-01 1.78667486e-03 -9.84934270e-02] [ 1.44302324e-02 -2.45471948e-03 9.99892866e-01 -1.26178804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.39119381700002 meters Centerline goodness [0,1] 0.854571783202317 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.10, Z:-1.26 [[ 9.98960900e-01 -4.31752871e-02 -1.45950081e-02 7.00267031e+00] [ 4.32474114e-02 9.99053513e-01 4.66260635e-03 -9.67359160e-02] [ 1.43798847e-02 -5.28895776e-03 9.99882616e-01 -1.26273463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42119381700002 meters Centerline goodness [0,1] 0.8291708911833475 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.09, Z:-1.26 [[ 9.98959591e-01 -4.31570420e-02 -1.47378874e-02 7.00327807e+00] [ 4.32237811e-02 9.99056418e-01 4.24015169e-03 -9.48021487e-02] [ 1.45409885e-02 -4.87276742e-03 9.99882401e-01 -1.26316193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.45119381700002 meters Centerline goodness [0,1] 0.8330334801579916 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.09, Z:-1.26 [[ 9.99052243e-01 -4.08709838e-02 -1.49725691e-02 7.00445162e+00] [ 4.09703778e-02 9.99139910e-01 6.39280748e-03 -9.31235709e-02] [ 1.46984110e-02 -7.00018047e-03 9.99867468e-01 -1.26422586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48119381700002 meters Centerline goodness [0,1] 0.8791215602016362 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.09, Z:-1.26 [[ 0.99919019 -0.03724237 -0.01523052 7.00491629] [ 0.03739343 0.99925299 0.00975693 -0.09153147] [ 0.01485577 -0.01031855 0.9998364 -1.26456871] [ 0. 0. 0. 1. ]] SLAMing on 167.51119381700002 meters Centerline goodness [0,1] 0.9020631369624659 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.09, Z:-1.26 [[ 0.99931703 -0.03348603 -0.01562529 7.00555299] [ 0.03369036 0.99934774 0.01300233 -0.08944751] [ 0.01517971 -0.01351987 0.99979337 -1.26477256] [ 0. 0. 0. 1. ]] SLAMing on 167.54119381700002 meters Centerline goodness [0,1] 0.9293588627792283 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.08, Z:-1.26 [[ 9.99666756e-01 -2.27696585e-02 -1.21622238e-02 7.00341030e+00] [ 2.28331611e-02 9.99726239e-01 5.10819809e-03 -8.40092636e-02] [ 1.20425823e-02 -5.38419783e-03 9.99912990e-01 -1.26396040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57119381700002 meters Centerline goodness [0,1] 0.9266881560459542 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.08, Z:-1.26 [[ 9.99686658e-01 -2.17891176e-02 -1.23215683e-02 7.00348401e+00] [ 2.18506069e-02 9.99749347e-01 4.87795982e-03 -8.12317924e-02] [ 1.22121934e-02 -5.14566509e-03 9.99912188e-01 -1.26350286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60119381700002 meters Centerline goodness [0,1] 0.9275421984355702 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.08, Z:-1.26 [[ 9.99707050e-01 -2.07078300e-02 -1.25299542e-02 7.00371428e+00] [ 2.07691934e-02 9.99772836e-01 4.78718107e-03 -7.81581131e-02] [ 1.24279757e-02 -5.04601570e-03 9.99910038e-01 -1.26316110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63119381700002 meters Centerline goodness [0,1] 0.9292110433254058 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.08, Z:-1.26 [[ 0.99977847 -0.01682642 -0.01264435 7.00348785] [ 0.01693214 0.99982218 0.00830132 -0.0765316 ] [ 0.01250242 -0.00851357 0.9998856 -1.26277254] [ 0. 0. 0. 1. ]] SLAMing on 167.66119381700003 meters Centerline goodness [0,1] 0.9279541883734392 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.08, Z:-1.26 [[ 0.99983368 -0.01293602 -0.01285602 7.0040706 ] [ 0.01308985 0.99984286 0.01195455 -0.0753453 ] [ 0.01269936 -0.01212084 0.99984589 -1.26317193] [ 0. 0. 0. 1. ]] SLAMing on 167.69119381700003 meters Centerline goodness [0,1] 0.9267854561972209 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.07, Z:-1.26 [[ 0.99985838 -0.01023442 -0.01335943 7.00639795] [ 0.01042579 0.9998429 0.01433475 -0.07370006] [ 0.01321063 -0.014472 0.999808 -1.26488121] [ 0. 0. 0. 1. ]] SLAMing on 167.72119381700003 meters Centerline goodness [0,1] 0.9270693604639164 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.07, Z:-1.27 [[ 0.99982204 -0.01283269 -0.01382822 7.00829405] [ 0.01298886 0.9998522 0.0112633 -0.07343146] [ 0.01368164 -0.01144091 0.99984095 -1.26593039] [ 0. 0. 0. 1. ]] SLAMing on 167.75119381700003 meters Centerline goodness [0,1] 0.9290347905131807 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.08, Z:-1.27 [[ 0.99976686 -0.01670723 -0.01367859 7.00860193] [ 0.016821 0.99982452 0.00824493 -0.07719897] [ 0.01353844 -0.0084731 0.99987245 -1.26656686] [ 0. 0. 0. 1. ]] SLAMing on 167.78119381700003 meters Centerline goodness [0,1] 0.9297106824925816 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.08, Z:-1.27 [[ 9.99693463e-01 -2.05593371e-02 -1.37947210e-02 7.00961462e+00] [ 2.06248732e-02 9.99776585e-01 4.62547515e-03 -7.82061362e-02] [ 1.36965424e-02 -4.90857164e-03 9.99894150e-01 -1.26737117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81119381700003 meters Centerline goodness [0,1] 0.9307100262055589 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.08, Z:-1.27 [[ 9.99687497e-01 -2.08080653e-02 -1.38540037e-02 7.01014849e+00] [ 2.08841543e-02 9.99767479e-01 5.37035597e-03 -8.10929144e-02] [ 1.37390357e-02 -5.65800686e-03 9.99889607e-01 -1.26791645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84119381700003 meters Centerline goodness [0,1] 0.933428200210357 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.08, Z:-1.27 [[ 9.99680292e-01 -2.11044271e-02 -1.39253959e-02 7.01073712e+00] [ 2.11888442e-02 9.99757830e-01 5.94264891e-03 -8.34980755e-02] [ 1.37966073e-02 -6.23581204e-03 9.99885378e-01 -1.26848447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87119381700003 meters Centerline goodness [0,1] 0.9277344960839826 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.09, Z:-1.27 [[ 9.99659233e-01 -2.20737552e-02 -1.39343572e-02 7.01107611e+00] [ 2.21632912e-02 9.99734488e-01 6.30414958e-03 -8.69556700e-02] [ 1.37915012e-02 -6.61083256e-03 9.99883039e-01 -1.26887746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90119381700003 meters Centerline goodness [0,1] 0.9340773100892358 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.09, Z:-1.27 [[ 9.99656378e-01 -2.21245373e-02 -1.40581481e-02 7.01156145e+00] [ 2.22210185e-02 9.99730334e-01 6.74425803e-03 -8.84664540e-02] [ 1.39051435e-02 -7.05432692e-03 9.99878434e-01 -1.26917384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93119381700004 meters Centerline goodness [0,1] 0.9301376954136039 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.09, Z:-1.27 [[ 0.99965365 -0.02215894 -0.01419695 7.01213098] [ 0.02226257 0.99972635 0.007183 -0.09025795] [ 0.01403389 -0.00749657 0.99987342 -1.26956535] [ 0. 0. 0. 1. ]] SLAMing on 167.96119381700004 meters Centerline goodness [0,1] 0.9298006404297077 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.09, Z:-1.27 [[ 0.99964795 -0.02228415 -0.01440133 7.01300646] [ 0.02239529 0.99972028 0.00760297 -0.09252849] [ 0.01422788 -0.00792281 0.99986739 -1.27019375] [ 0. 0. 0. 1. ]] SLAMing on 167.99119381700004 meters Centerline goodness [0,1] 0.9220996529499257 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.09, Z:-1.27 [[ 0.99962393 -0.02339466 -0.014307 7.01285363] [ 0.02349967 0.9996978 0.00721621 -0.09486972] [ 0.01413385 -0.0075497 0.99987161 -1.27012212] [ 0. 0. 0. 1. ]] SLAMing on 168.021193817 meters Centerline goodness [0,1] 0.9209861197431116 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.10, Z:-1.27 [[ 0.99961766 -0.02363556 -0.01434889 7.01273678] [ 0.0237431 0.99969092 0.0073714 -0.09591855] [ 0.01417022 -0.00770927 0.99986988 -1.269872 ] [ 0. 0. 0. 1. ]] SLAMing on 168.051193817 meters Centerline goodness [0,1] 0.9052858415697975 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.10, Z:-1.27 [[ 0.99960848 -0.02398046 -0.01441618 7.01285296] [ 0.02408893 0.99968244 0.00739853 -0.09683585] [ 0.01423418 -0.0077429 0.99986871 -1.26983099] [ 0. 0. 0. 1. ]] SLAMing on 168.081193817 meters Centerline goodness [0,1] 0.8695786355032508 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.10, Z:-1.27 [[ 9.99491296e-01 -2.83932333e-02 -1.45249589e-02 7.01338381e+00] [ 2.84456623e-02 9.99589504e-01 3.41576413e-03 -9.77660563e-02] [ 1.44220119e-02 -3.82719859e-03 9.99888673e-01 -1.26995196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.11119381700001 meters Centerline goodness [0,1] 0.8505673744259324 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.10, Z:-1.27 [[ 9.99479323e-01 -2.88080640e-02 -1.45320004e-02 7.01335745e+00] [ 2.88638518e-02 9.99576710e-01 3.64390656e-03 -9.93009968e-02] [ 1.44208752e-02 -4.06145877e-03 9.99887765e-01 -1.26986698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14119381700002 meters Centerline goodness [0,1] 0.8251943884477723 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.10, Z:-1.27 [[ 9.99469179e-01 -2.91056042e-02 -1.46364280e-02 7.01378478e+00] [ 2.91649688e-02 9.99567163e-01 3.85894813e-03 -1.00449811e-01] [ 1.45177758e-02 -4.28377068e-03 9.99885435e-01 -1.27010656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.17119381700002 meters Centerline goodness [0,1] 0.8080449326835715 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.10, Z:-1.27 [[ 9.99445919e-01 -2.98508461e-02 -1.47235472e-02 7.01380384e+00] [ 2.99020374e-02 9.99547489e-01 3.26897657e-03 -9.91642971e-02] [ 1.46193029e-02 -3.70742934e-03 9.99886259e-01 -1.26989690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20119381700002 meters Centerline goodness [0,1] 0.8181460546203698 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.10, Z:-1.27 [[ 9.99441185e-01 -2.99223267e-02 -1.48987562e-02 7.01384449e+00] [ 2.99700327e-02 9.99546328e-01 2.98905068e-03 -9.78827029e-02] [ 1.48025577e-02 -3.43389657e-03 9.99884540e-01 -1.26949353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.23119381700002 meters Centerline goodness [0,1] 0.8216880939072108 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.10, Z:-1.27 [[ 9.99442213e-01 -2.97472917e-02 -1.51776812e-02 7.01414196e+00] [ 2.97945414e-02 9.99551847e-01 2.89649196e-03 -9.67981277e-02] [ 1.50847165e-02 -3.34708839e-03 9.99880617e-01 -1.26916189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26119381700002 meters Centerline goodness [0,1] 0.8415276919909409 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.09, Z:-1.27 [[ 9.99474100e-01 -2.86212175e-02 -1.52430285e-02 7.01379580e+00] [ 2.86650895e-02 9.99585513e-01 2.66745942e-03 -9.40367303e-02] [ 1.51603645e-02 -3.10299937e-03 9.99880260e-01 -1.26832623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29119381700002 meters Centerline goodness [0,1] 0.8863113377697618 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.09, Z:-1.27 [[ 9.99575955e-01 -2.48188969e-02 -1.52293135e-02 7.01313080e+00] [ 2.49151597e-02 9.99670566e-01 6.16401958e-03 -9.29701745e-02] [ 1.50713123e-02 -6.54084654e-03 9.99865027e-01 -1.26776314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32119381700002 meters Centerline goodness [0,1] 0.9099973164337469 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.09, Z:-1.27 [[ 0.99966151 -0.02099769 -0.01536126 7.01291745] [ 0.02114364 0.99973225 0.00940118 -0.09064126] [ 0.01515975 -0.00972279 0.99983781 -1.26735775] [ 0. 0. 0. 1. ]] SLAMing on 168.35119381700002 meters Centerline goodness [0,1] 0.9132946788387203 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.09, Z:-1.27 [[ 9.99783605e-01 -1.56744443e-02 -1.36767865e-02 7.01996123e+00] [ 1.57289924e-02 9.99868725e-01 3.88996060e-03 -8.64535581e-02] [ 1.36140181e-02 -4.10424091e-03 9.99898902e-01 -1.26523132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38119381700002 meters Centerline goodness [0,1] 0.9339028869766194 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.08, Z:-1.26 [[ 0.99988409 -0.00706351 -0.01348721 7.01922621] [ 0.00721153 0.99991396 0.01095759 -0.08222373] [ 0.01340865 -0.01105358 0.999849 -1.26481414] [ 0. 0. 0. 1. ]] SLAMing on 168.41119381700003 meters Centerline goodness [0,1] 0.9319511994064793 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.08, Z:-1.27 [[ 9.99903865e-01 -2.91469394e-03 -1.35560071e-02 7.01967176e+00] [ 3.11390447e-03 9.99887136e-01 1.46975539e-02 -8.12286126e-02] [ 1.35116382e-02 -1.47383531e-02 9.99800088e-01 -1.26525842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44119381700003 meters Centerline goodness [0,1] 0.9291419631093544 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.08, Z:-1.27 [[ 9.99906082e-01 1.21250490e-03 -1.36512366e-02 7.02059738e+00] [-9.60320360e-04 9.99829050e-01 1.84648074e-02 -8.02693951e-02] [ 1.36712916e-02 -1.84499637e-02 9.99736313e-01 -1.26623622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47119381700003 meters Centerline goodness [0,1] 0.9286186521218132 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.08, Z:-1.27 [[ 9.99900293e-01 1.99717018e-03 -1.39790799e-02 7.02223229e+00] [-1.74164358e-03 9.99831617e-01 1.82675806e-02 -7.78995630e-02] [ 1.40132096e-02 -1.82414126e-02 9.99735405e-01 -1.26751053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50119381700003 meters Centerline goodness [0,1] 0.9275549805950841 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.08, Z:-1.27 [[ 9.99862306e-01 7.18951246e-03 -1.49559332e-02 7.02805666e+00] [-6.84589727e-03 9.99714301e-01 2.29008638e-02 -7.81846529e-02] [ 1.51163063e-02 -2.27953237e-02 9.99625865e-01 -1.27214893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53119381700003 meters Centerline goodness [0,1] 0.9324820529746679 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.08, Z:-1.27 [[ 0.99985677 0.00766288 -0.01509054 7.02897221] [-0.0073159 0.99971062 0.02291609 -0.07757246] [ 0.01526178 -0.02280241 0.99962349 -1.27297054] [ 0. 0. 0. 1. ]] SLAMing on 168.56119381700003 meters Centerline goodness [0,1] 0.933929970718027 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.08, Z:-1.27 [[ 0.99983979 0.00867202 -0.01565847 7.03087056] [-0.00830089 0.99968671 0.02361325 -0.07750567] [ 0.01585834 -0.02347948 0.99959853 -1.27396403] [ 0. 0. 0. 1. ]] SLAMing on 168.59119381700003 meters Centerline goodness [0,1] 0.9365112105773395 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.08, Z:-1.27 [[ 0.99983253 0.00905515 -0.01590366 7.0315741 ] [-0.0086751 0.99967898 0.02380506 -0.07749733] [ 0.01611411 -0.0236631 0.99959011 -1.27424966] [ 0. 0. 0. 1. ]] SLAMing on 168.62119381700003 meters Centerline goodness [0,1] 0.9404798745641724 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.08, Z:-1.27 [[ 0.99980821 0.010952 -0.0162355 7.03276828] [-0.01053034 0.99961081 0.02583293 -0.08114323] [ 0.0165121 -0.02565701 0.99953443 -1.27475952] [ 0. 0. 0. 1. ]] SLAMing on 168.65119381700003 meters Centerline goodness [0,1] 0.9450944722371522 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.08, Z:-1.27 [[ 0.99982973 0.00898378 -0.01611844 7.03260621] [-0.00860833 0.99969347 0.02321335 -0.08202343] [ 0.01632204 -0.02307065 0.99960059 -1.27469566] [ 0. 0. 0. 1. ]] SLAMing on 168.68119381700004 meters Centerline goodness [0,1] 0.9450944722371522 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.08, Z:-1.27 [[ 0.99982973 0.00898378 -0.01611844 7.03260621] [-0.00860833 0.99969347 0.02321335 -0.08202343] [ 0.01632204 -0.02307065 0.99960059 -1.27469566] [ 0. 0. 0. 1. ]] SLAMing on 168.71119381700004 meters Centerline goodness [0,1] 0.9431986504279131 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.08, Z:-1.28 [[ 0.99982166 0.00961327 -0.0162552 7.03340667] [-0.00921783 0.99966393 0.02422941 -0.08483434] [ 0.01648266 -0.02407526 0.99957426 -1.27531765] [ 0. 0. 0. 1. ]] SLAMing on 168.74119381700004 meters Centerline goodness [0,1] 0.9456244340166297 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.09, Z:-1.27 [[ 9.99844453e-01 6.79969895e-03 -1.62736998e-02 7.03306622e+00] [-6.43792217e-03 9.99733246e-01 2.21808401e-02 -9.01944630e-02] [ 1.64201818e-02 -2.20726211e-02 9.99621517e-01 -1.27478928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.771193817 meters Centerline goodness [0,1] 0.9441768147704013 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.09, Z:-1.27 [[ 9.99862043e-01 3.06411937e-03 -1.63250121e-02 7.03267012e+00] [-2.75478511e-03 9.99816876e-01 1.89373941e-02 -9.25616443e-02] [ 1.63800490e-02 -1.88898096e-02 9.99687386e-01 -1.27413924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.801193817 meters Centerline goodness [0,1] 0.9413849228423676 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.10, Z:-1.27 [[ 9.99853606e-01 -3.42557915e-03 -1.67640237e-02 7.03396575e+00] [ 3.63921684e-03 9.99912348e-01 1.27299502e-02 -9.50242133e-02] [ 1.67189468e-02 -1.27890945e-02 9.99778433e-01 -1.27449893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.831193817 meters Centerline goodness [0,1] 0.931753867762791 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.10, Z:-1.27 [[ 9.99751623e-01 -1.47700467e-02 -1.66894392e-02 7.03279565e+00] [ 1.48378053e-02 9.99882137e-01 3.94345724e-03 -1.04751846e-01] [ 1.66292271e-02 -4.19011242e-03 9.99852945e-01 -1.27274085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86119381700001 meters Centerline goodness [0,1] 0.9261260142407683 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.11, Z:-1.27 [[ 9.99677589e-01 -1.91005160e-02 -1.67298720e-02 7.03282761e+00] [ 1.91263227e-02 9.99816117e-01 1.38389565e-03 -1.10400343e-01] [ 1.67003626e-02 -1.70343040e-03 9.99859088e-01 -1.27240106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.89119381700002 meters Centerline goodness [0,1] 0.9271076256320298 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.12, Z:-1.27 [[ 9.99583180e-01 -2.33558816e-02 -1.69696499e-02 7.03339794e+00] [ 2.33373807e-02 9.99726817e-01 -1.28747266e-03 -1.15162872e-01] [ 1.69950842e-02 8.90908837e-04 9.99855176e-01 -1.27225305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92119381700002 meters Centerline goodness [0,1] 0.9297154311930398 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.12, Z:-1.27 [[ 9.99477660e-01 -2.74882389e-02 -1.69942158e-02 7.03355208e+00] [ 2.74192305e-02 9.99614857e-01 -4.28049498e-03 -1.18597598e-01] [ 1.71053339e-02 3.81229078e-03 9.99846425e-01 -1.27207344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.95119381700002 meters Centerline goodness [0,1] 0.927427324384419 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.13, Z:-1.27 [[ 9.99409249e-01 -3.21746795e-02 -1.20807220e-02 7.04137948e+00] [ 3.22141628e-02 9.99476219e-01 3.08799875e-03 -1.26074480e-01] [ 1.19750390e-02 -3.47534486e-03 9.99922257e-01 -1.27274266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98119381700002 meters Centerline goodness [0,1] 0.9270341099028084 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.13, Z:-1.27 [[ 9.99424027e-01 -3.16813639e-02 -1.21616339e-02 7.04138059e+00] [ 3.17317873e-02 9.99488513e-01 3.97573147e-03 -1.28248171e-01] [ 1.20294567e-02 -4.35935193e-03 9.99918141e-01 -1.27249967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01119381700002 meters Centerline goodness [0,1] 0.9309473943575213 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.13, Z:-1.27 [[ 9.99441297e-01 -3.10193872e-02 -1.24455329e-02 7.04192819e+00] [ 3.10800277e-02 9.99505807e-01 4.70896790e-03 -1.29571122e-01] [ 1.22933131e-02 -5.09314449e-03 9.99911463e-01 -1.27248033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04119381700002 meters Centerline goodness [0,1] 0.9331753066062043 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.13, Z:-1.27 [[ 9.99513474e-01 -2.87337495e-02 -1.21320658e-02 7.04019032e+00] [ 2.88177456e-02 9.99561510e-01 6.80633658e-03 -1.31656239e-01] [ 1.19311745e-02 -7.15264391e-03 9.99903239e-01 -1.27111585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07119381700002 meters Centerline goodness [0,1] 0.934009630025927 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.13, Z:-1.27 [[ 0.99952095 -0.02832916 -0.01246308 7.0409746 ] [ 0.02842112 0.99956964 0.00726477 -0.13238954] [ 0.01225192 -0.00761551 0.99989594 -1.27130768] [ 0. 0. 0. 1. ]] SLAMing on 169.10119381700002 meters Centerline goodness [0,1] 0.9336445895136967 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.13, Z:-1.27 [[ 0.99952812 -0.02801073 -0.01260671 7.04125043] [ 0.02811064 0.99957424 0.00781849 -0.1335727 ] [ 0.01238234 -0.00816918 0.99988996 -1.27129547] [ 0. 0. 0. 1. ]] SLAMing on 169.13119381700002 meters Centerline goodness [0,1] 0.9342172885188611 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.13, Z:-1.27 [[ 0.99952053 -0.02815513 -0.01288405 7.04214846] [ 0.02826111 0.9995676 0.00811893 -0.13484769] [ 0.01264989 -0.00847915 0.99988404 -1.27177226] [ 0. 0. 0. 1. ]] SLAMing on 169.16119381700003 meters Centerline goodness [0,1] 0.9340657075724473 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.14, Z:-1.27 [[ 0.99951132 -0.028358 -0.01315091 7.04296656] [ 0.02847215 0.9995578 0.00857546 -0.13689557] [ 0.01290191 -0.0089457 0.99987675 -1.27214683] [ 0. 0. 0. 1. ]] SLAMing on 169.19119381700003 meters Centerline goodness [0,1] 0.918888751085204 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.14, Z:-1.27 [[ 9.99403996e-01 -3.18593929e-02 -1.32903152e-02 7.04528536e+00] [ 3.19438527e-02 9.99470486e-01 6.19181584e-03 -1.40957817e-01] [ 1.30860102e-02 -6.61266936e-03 9.99892509e-01 -1.27441739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22119381700003 meters Centerline goodness [0,1] 0.9270615947269458 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.14, Z:-1.28 [[ 9.99392311e-01 -3.21052692e-02 -1.35742249e-02 7.04660590e+00] [ 3.21975588e-02 9.99459495e-01 6.63585215e-03 -1.42870490e-01] [ 1.33538421e-02 -7.06887652e-03 9.99885846e-01 -1.27539329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25119381700003 meters Centerline goodness [0,1] 0.9225302793111971 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.14, Z:-1.28 [[ 9.99382721e-01 -3.22676224e-02 -1.38916434e-02 7.04774069e+00] [ 3.23640373e-02 9.99453202e-01 6.77250189e-03 -1.43387498e-01] [ 1.36655150e-02 -7.21791104e-03 9.99880571e-01 -1.27605438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28119381700003 meters Centerline goodness [0,1] 0.9229690432487059 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.14, Z:-1.28 [[ 9.99393558e-01 -3.18260394e-02 -1.41287072e-02 7.04831559e+00] [ 3.19260508e-02 9.99466345e-01 6.91034347e-03 -1.42720820e-01] [ 1.39012385e-02 -7.35722657e-03 9.99876306e-01 -1.27619076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31119381700003 meters Centerline goodness [0,1] 0.9285256078634248 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.14, Z:-1.28 [[ 0.99941077 -0.03122386 -0.01425416 7.0484763 ] [ 0.03132888 0.99948316 0.00720508 -0.14272802] [ 0.01402182 -0.0076474 0.99987244 -1.27604747] [ 0. 0. 0. 1. ]] SLAMing on 169.34119381700003 meters Centerline goodness [0,1] 0.9289971441579404 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.14, Z:-1.28 [[ 0.99942529 -0.03058825 -0.01460976 7.04892399] [ 0.03069893 0.99950119 0.00741249 -0.14233488] [ 0.01437574 -0.00785673 0.9998658 -1.27578864] [ 0. 0. 0. 1. ]] SLAMing on 169.37119381700003 meters Centerline goodness [0,1] 0.9321336229186059 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.14, Z:-1.28 [[ 0.99944458 -0.02979923 -0.01491789 7.04942836] [ 0.02991346 0.9995244 0.00749335 -0.14094864] [ 0.0146875 -0.00793543 0.99986064 -1.27570739] [ 0. 0. 0. 1. ]] SLAMing on 169.40119381700003 meters Centerline goodness [0,1] 0.9344553800347366 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.14, Z:-1.27 [[ 9.99637203e-01 -2.27193129e-02 -1.44670357e-02 7.05359074e+00] [ 2.27779035e-02 9.99732950e-01 3.89809970e-03 -1.37486396e-01] [ 1.43746101e-02 -4.22621422e-03 9.99887749e-01 -1.27028111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43119381700004 meters Centerline goodness [0,1] 0.9354108348427466 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.14, Z:-1.27 [[ 9.99647261e-01 -2.20623744e-02 -1.47852955e-02 7.05358701e+00] [ 2.21210919e-02 9.99748002e-01 3.81962475e-03 -1.35637455e-01] [ 1.46972996e-02 -4.14534430e-03 9.99883396e-01 -1.26945943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46119381700004 meters Centerline goodness [0,1] 0.93729883634563 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.14, Z:-1.27 [[ 9.99660536e-01 -2.14194343e-02 -1.48330716e-02 7.05318562e+00] [ 2.14815735e-02 9.99761071e-01 4.04263378e-03 -1.35007538e-01] [ 1.47429366e-02 -4.35989917e-03 9.99881812e-01 -1.26882891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49119381700004 meters Centerline goodness [0,1] 0.9359934013815857 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.14, Z:-1.27 [[ 9.99676695e-01 -2.05094827e-02 -1.50288720e-02 7.05368705e+00] [ 2.05845485e-02 9.99776317e-01 4.85721050e-03 -1.36646910e-01] [ 1.49258915e-02 -5.16500268e-03 9.99875262e-01 -1.26900245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.521193817 meters Centerline goodness [0,1] 0.9333113714509255 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.14, Z:-1.27 [[ 9.99677385e-01 -2.02635859e-02 -1.53137887e-02 7.05465907e+00] [ 2.03468952e-02 9.99778911e-01 5.30404727e-03 -1.37895765e-01] [ 1.52029240e-02 -5.61392416e-03 9.99868669e-01 -1.26953197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.551193817 meters Centerline goodness [0,1] 0.931143476913542 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.14, Z:-1.27 [[ 9.99678316e-01 -2.00303374e-02 -1.55579826e-02 7.05557041e+00] [ 2.01208040e-02 9.99781420e-01 5.68019026e-03 -1.38622334e-01] [ 1.54408058e-02 -5.99140215e-03 9.99862833e-01 -1.27011850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.581193817 meters Centerline goodness [0,1] 0.9301474368201353 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.14, Z:-1.27 [[ 9.99687854e-01 -1.90242742e-02 -1.61948100e-02 7.05815842e+00] [ 1.91361906e-02 9.99793871e-01 6.78393674e-03 -1.39601776e-01] [ 1.60624123e-02 -7.09172613e-03 9.99845841e-01 -1.27175105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.61119381700001 meters Centerline goodness [0,1] 0.9273783288365292 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.14, Z:-1.27 [[ 0.99970893 -0.0175956 -0.01650624 7.05989148] [ 0.01773342 0.99980879 0.00824055 -0.14120568] [ 0.01635809 -0.00853087 0.9998298 -1.27303455] [ 0. 0. 0. 1. ]] SLAMing on 169.64119381700002 meters Centerline goodness [0,1] 0.9289889497056697 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.14, Z:-1.27 [[ 0.99971151 -0.01721497 -0.01674953 7.06046031] [ 0.01736704 0.99980889 0.00897596 -0.14309777] [ 0.0165918 -0.00926426 0.99981943 -1.27312359] [ 0. 0. 0. 1. ]] SLAMing on 169.67119381700002 meters Centerline goodness [0,1] 0.926183239253148 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.15, Z:-1.27 [[ 0.99970878 -0.01712618 -0.01700168 7.06135311] [ 0.01729334 0.99980308 0.00973386 -0.14600181] [ 0.01683163 -0.01002504 0.99980808 -1.27359959] [ 0. 0. 0. 1. ]] SLAMing on 169.70119381700002 meters Centerline goodness [0,1] 0.9270730300032971 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.15, Z:-1.27 [[ 0.9996422 -0.02053243 -0.0171431 7.06168699] [ 0.02065807 0.99976079 0.00718433 -0.15051023] [ 0.01699149 -0.0075359 0.99982723 -1.27331637] [ 0. 0. 0. 1. ]] SLAMing on 169.73119381700002 meters Centerline goodness [0,1] 0.9281342099297212 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.15, Z:-1.27 [[ 0.99963699 -0.02070948 -0.01723412 7.06172684] [ 0.0208458 0.99975252 0.00776818 -0.1533038 ] [ 0.01706898 -0.00812462 0.9998213 -1.27303695] [ 0. 0. 0. 1. ]] SLAMing on 169.76119381700002 meters Centerline goodness [0,1] 0.9283386950424812 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.16, Z:-1.27 [[ 0.99963162 -0.02088476 -0.01733374 7.06167286] [ 0.02103265 0.99974355 0.00839387 -0.15608826] [ 0.01715399 -0.00875536 0.99981452 -1.27261041] [ 0. 0. 0. 1. ]] SLAMing on 169.79119381700002 meters Centerline goodness [0,1] 0.9304228355821679 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.16, Z:-1.27 [[ 9.99552104e-01 -2.43609203e-02 -1.73820707e-02 7.06167330e+00] [ 2.44503836e-02 9.99688775e-01 4.95302827e-03 -1.57120904e-01] [ 1.72560006e-02 -5.37580812e-03 9.99836652e-01 -1.27221104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82119381700002 meters Centerline goodness [0,1] 0.9323838296647964 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.16, Z:-1.27 [[ 9.99482345e-01 -2.72454271e-02 -1.71093451e-02 7.06065622e+00] [ 2.72973662e-02 9.99623409e-01 2.80950561e-03 -1.61287590e-01] [ 1.70263557e-02 -3.27509131e-03 9.99849677e-01 -1.27128975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85119381700002 meters Centerline goodness [0,1] 0.9356272637471189 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.16, Z:-1.27 [[ 9.99484694e-01 -2.71235974e-02 -1.71655806e-02 7.06104757e+00] [ 2.71894415e-02 9.99623765e-01 3.61409990e-03 -1.63782440e-01] [ 1.70610950e-02 -4.07896008e-03 9.99846129e-01 -1.27159299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88119381700002 meters Centerline goodness [0,1] 0.9332727160009092 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.17, Z:-1.27 [[ 9.99479399e-01 -2.71654218e-02 -1.74060317e-02 7.06202900e+00] [ 2.72440135e-02 9.99619590e-01 4.29405581e-03 -1.66130233e-01] [ 1.72827604e-02 -4.76603048e-03 9.99839283e-01 -1.27222805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91119381700003 meters Centerline goodness [0,1] 0.9331098175535306 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.17, Z:-1.27 [[ 9.99432099e-01 -2.84597377e-02 -1.80422504e-02 7.06511587e+00] [ 2.85268614e-02 9.99586990e-01 3.47392451e-03 -1.67761929e-01] [ 1.79359317e-02 -3.98664044e-03 9.99831190e-01 -1.27426397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94119381700003 meters Centerline goodness [0,1] 0.9295663872503364 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.17, Z:-1.28 [[ 9.99311517e-01 -3.23976649e-02 -1.80799028e-02 7.06612486e+00] [ 3.24082098e-02 9.99474674e-01 2.90472110e-04 -1.70542142e-01] [ 1.80609944e-02 -8.76209408e-04 9.99836503e-01 -1.27513499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97119381700003 meters Centerline goodness [0,1] 0.9274919481377488 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.17, Z:-1.28 [[ 9.99296317e-01 -3.26842867e-02 -1.84013043e-02 7.06705310e+00] [ 3.27044205e-02 9.99464752e-01 7.94205993e-04 -1.72927420e-01] [ 1.83654969e-02 -1.39545112e-03 9.99830366e-01 -1.27544889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00119381700003 meters Centerline goodness [0,1] 0.9242296371009242 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.18, Z:-1.28 [[ 9.99285249e-01 -3.28545956e-02 -1.86967019e-02 7.06804476e+00] [ 3.28849658e-02 9.99458273e-01 1.31915593e-03 -1.75151088e-01] [ 1.86432331e-02 -1.93305346e-03 9.99824331e-01 -1.27590809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03119381700003 meters Centerline goodness [0,1] 0.921131013941174 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.18, Z:-1.28 [[ 9.99276741e-01 -3.29712666e-02 -1.89444163e-02 7.06868726e+00] [ 3.30074258e-02 9.99453827e-01 1.59911409e-03 -1.76434280e-01] [ 1.88813445e-02 -2.22326393e-03 9.99819260e-01 -1.27604514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06119381700003 meters Centerline goodness [0,1] 0.9202520956480547 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.18, Z:-1.28 [[ 9.99268918e-01 -3.29947945e-02 -1.93125011e-02 7.06929493e+00] [ 3.30330349e-02 9.99452875e-01 1.66435379e-03 -1.76580284e-01] [ 1.92470197e-02 -2.30108753e-03 9.99812111e-01 -1.27588082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09119381700003 meters Centerline goodness [0,1] 0.922320692497939 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.18, Z:-1.28 [[ 9.99279279e-01 -3.26242142e-02 -1.94057633e-02 7.06905569e+00] [ 3.26668423e-02 9.99464521e-01 1.88366396e-03 -1.76393709e-01] [ 1.93339189e-02 -2.51623137e-03 9.99809916e-01 -1.27533378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12119381700003 meters Centerline goodness [0,1] 0.9294943471238664 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.18, Z:-1.27 [[ 9.99335776e-01 -3.09810902e-02 -1.91880016e-02 7.06702698e+00] [ 3.10520880e-02 9.99511940e-01 3.41322197e-03 -1.76883426e-01] [ 1.90728913e-02 -4.00678234e-03 9.99810067e-01 -1.27349410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15119381700003 meters Centerline goodness [0,1] 0.9331515451991407 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.18, Z:-1.27 [[ 9.99385354e-01 -2.93087046e-02 -1.92331717e-02 7.06633769e+00] [ 2.93962777e-02 9.99558646e-01 4.28635830e-03 -1.76023638e-01] [ 1.90990555e-02 -4.84910736e-03 9.99805837e-01 -1.27249552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18119381700004 meters Centerline goodness [0,1] 0.9348694506218598 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.18, Z:-1.27 [[ 9.99395152e-01 -2.88147343e-02 -1.94689709e-02 7.06669603e+00] [ 2.89083056e-02 9.99571749e-01 4.54190046e-03 -1.75805906e-01] [ 1.93297597e-02 -5.10196826e-03 9.99800145e-01 -1.27240395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21119381700004 meters Centerline goodness [0,1] 0.9330348854001197 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.18, Z:-1.27 [[ 9.99409666e-01 -2.83117714e-02 -1.94618480e-02 7.06659532e+00] [ 2.84126690e-02 9.99584133e-01 4.92751839e-03 -1.76015745e-01] [ 1.93142477e-02 -5.47757255e-03 9.99798458e-01 -1.27228992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24119381700004 meters Centerline goodness [0,1] 0.934656741108354 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.18, Z:-1.27 [[ 9.99422767e-01 -2.79014049e-02 -1.93815256e-02 7.06656065e+00] [ 2.80109032e-02 9.99593025e-01 5.40126254e-03 -1.76712705e-01] [ 1.92229350e-02 -5.94103879e-03 9.99797571e-01 -1.27245128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.271193817 meters Centerline goodness [0,1] 0.9347360178048881 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.18, Z:-1.27 [[ 9.99418958e-01 -2.79556151e-02 -1.94994653e-02 7.06717808e+00] [ 2.80723926e-02 9.99589407e-01 5.74090942e-03 -1.78304737e-01] [ 1.93309683e-02 -6.28497036e-03 9.99793385e-01 -1.27285752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.301193817 meters Centerline goodness [0,1] 0.933517264098499 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.18, Z:-1.27 [[ 9.99417771e-01 -2.79176380e-02 -1.96143827e-02 7.06765400e+00] [ 2.80467504e-02 9.99586516e-01 6.33852585e-03 -1.80400149e-01] [ 1.94293158e-02 -6.88495508e-03 9.99787527e-01 -1.27307542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.331193817 meters Centerline goodness [0,1] 0.9343595881224077 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.18, Z:-1.27 [[ 9.99410930e-01 -2.80560578e-02 -1.97648792e-02 7.06814444e+00] [ 2.81965322e-02 9.99578827e-01 6.86476120e-03 -1.82749538e-01] [ 1.95639567e-02 -7.41801843e-03 9.99781088e-01 -1.27323909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36119381700001 meters Centerline goodness [0,1] 0.9321830519695465 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.18, Z:-1.27 [[ 0.99940086 -0.0284301 -0.01973939 7.06826069] [ 0.02857786 0.99956532 0.00724393 -0.18491317] [ 0.01952487 -0.0078037 0.99977892 -1.27329177] [ 0. 0. 0. 1. ]] SLAMing on 170.39119381700002 meters Centerline goodness [0,1] 0.9283813060971835 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.19, Z:-1.27 [[ 9.99273135e-01 -3.25971080e-02 -1.97643845e-02 7.06850706e+00] [ 3.26747170e-02 9.99459496e-01 3.61649535e-03 -1.86138938e-01] [ 1.96358144e-02 -4.25966231e-03 9.99798125e-01 -1.27313156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42119381700002 meters Centerline goodness [0,1] 0.9173572459286745 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.19, Z:-1.27 [[ 9.99258218e-01 -3.29792388e-02 -1.98842748e-02 7.06876485e+00] [ 3.30606826e-02 9.99446194e-01 3.78108145e-03 -1.87193859e-01] [ 1.97485656e-02 -4.43566441e-03 9.99795139e-01 -1.27310141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.45119381700002 meters Centerline goodness [0,1] 0.8910324969148499 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.19, Z:-1.27 [[ 9.99250526e-01 -3.31671940e-02 -1.99580313e-02 7.06928470e+00] [ 3.32508317e-02 9.99439532e-01 3.87343902e-03 -1.87649899e-01] [ 1.98183743e-02 -4.53415712e-03 9.99793315e-01 -1.27349824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48119381700002 meters Centerline goodness [0,1] 0.9207690247068763 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.19, Z:-1.27 [[ 9.99238413e-01 -3.35497970e-02 -1.99249890e-02 7.06941047e+00] [ 3.36292383e-02 9.99427656e-01 3.66533107e-03 -1.87583035e-01] [ 1.97906139e-02 -4.33260181e-03 9.99794759e-01 -1.27365357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51119381700002 meters Centerline goodness [0,1] 0.8775053392475768 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.19, Z:-1.27 [[ 9.99228138e-01 -3.37464001e-02 -2.01074240e-02 7.07019423e+00] [ 3.38246098e-02 9.99421436e-01 3.56218071e-03 -1.87912041e-01] [ 1.99755798e-02 -4.23955697e-03 9.99791479e-01 -1.27415877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54119381700002 meters Centerline goodness [0,1] 0.8704145909671044 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.19, Z:-1.27 [[ 9.99221329e-01 -3.39151557e-02 -2.01617687e-02 7.07064650e+00] [ 3.39923356e-02 9.99415973e-01 3.49762853e-03 -1.88272611e-01] [ 2.00313711e-02 -4.18025064e-03 9.99790613e-01 -1.27459671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57119381700002 meters Centerline goodness [0,1] 0.908419162418213 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.19, Z:-1.28 [[ 9.99216756e-01 -3.40081103e-02 -2.02317432e-02 7.07122735e+00] [ 3.40838296e-02 9.99413162e-01 3.40952221e-03 -1.88168216e-01] [ 2.01039190e-02 -4.09642701e-03 9.99789504e-01 -1.27515690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60119381700002 meters Centerline goodness [0,1] 0.908419162418213 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.19, Z:-1.28 [[ 9.99216756e-01 -3.40081103e-02 -2.02317432e-02 7.07122735e+00] [ 3.40838296e-02 9.99413162e-01 3.40952221e-03 -1.88168216e-01] [ 2.01039190e-02 -4.09642701e-03 9.99789504e-01 -1.27515690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63119381700002 meters Centerline goodness [0,1] 0.8067894769268683 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.19, Z:-1.28 [[ 9.99149230e-01 -3.56578253e-02 -2.07204082e-02 7.07412936e+00] [ 3.57055856e-02 9.99360470e-01 1.93950268e-03 -1.86714789e-01] [ 2.06379984e-02 -2.67768691e-03 9.99783428e-01 -1.27740299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66119381700003 meters Centerline goodness [0,1] 0.8201836000496217 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.19, Z:-1.28 [[ 9.99133220e-01 -3.60146891e-02 -2.08746564e-02 7.07484336e+00] [ 3.60571144e-02 9.99348353e-01 1.65945674e-03 -1.85960965e-01] [ 2.08012886e-02 -2.41069823e-03 9.99780723e-01 -1.27792762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69119381700003 meters Centerline goodness [0,1] 0.8414409567754351 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.19, Z:-1.28 [[ 9.99111636e-01 -3.64678999e-02 -2.11194257e-02 7.07567157e+00] [ 3.65060630e-02 9.99332417e-01 1.42417622e-03 -1.85585789e-01] [ 2.10533900e-02 -2.19389812e-03 9.99775946e-01 -1.27833704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72119381700003 meters Centerline goodness [0,1] 0.8091505160609759 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.19, Z:-1.28 [[ 9.99084581e-01 -3.70836214e-02 -2.13261675e-02 7.07617392e+00] [ 3.71200381e-02 9.99309950e-01 1.31415572e-03 -1.85972788e-01] [ 2.12627178e-02 -2.10458087e-03 9.99771708e-01 -1.27838486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75119381700003 meters Centerline goodness [0,1] 0.7765417120766589 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.19, Z:-1.28 [[ 9.98911990e-01 -4.14626779e-02 -2.13467129e-02 7.07664878e+00] [ 4.14060902e-02 9.99137633e-01 -3.08627650e-03 -1.85066603e-01] [ 2.14562695e-02 2.19903468e-03 9.99767369e-01 -1.27848712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78119381700003 meters Centerline goodness [0,1] 0.7586862611355698 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.18, Z:-1.28 [[ 0.99866105 -0.04737678 -0.02077395 7.07503497] [ 0.04721262 0.99885018 -0.00832327 -0.18446871] [ 0.0211444 0.00733133 0.99974955 -1.2770772 ] [ 0. 0. 0. 1. ]] SLAMing on 170.81119381700003 meters Centerline goodness [0,1] 0.74622892635315 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.18, Z:-1.28 [[ 0.99862831 -0.04811239 -0.02065666 7.07421829] [ 0.04793841 0.99881121 -0.00883654 -0.18349442] [ 0.02105725 0.00783418 0.99974758 -1.27618716] [ 0. 0. 0. 1. ]] SLAMing on 170.84119381700003 meters Centerline goodness [0,1] 0.6978708464985648 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.18, Z:-1.28 [[ 0.99860185 -0.04872264 -0.02050509 7.07330137] [ 0.0485321 0.99877462 -0.0096899 -0.18091213] [ 0.02095208 0.00868119 0.99974279 -1.27530175] [ 0. 0. 0. 1. ]] SLAMing on 170.87119381700003 meters Centerline goodness [0,1] 0.7160643727362529 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.18, Z:-1.28 [[ 9.98675851e-01 -4.91811033e-02 -1.50918249e-02 7.08079746e+00] [ 4.91907296e-02 9.98789368e-01 2.67080690e-04 -1.79787262e-01] [ 1.50604190e-02 -1.00910492e-03 9.99886076e-01 -1.27629383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90119381700003 meters Centerline goodness [0,1] 0.7427157438911227 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.17, Z:-1.28 [[ 9.98811869e-01 -4.64594083e-02 -1.47096764e-02 7.07923304e+00] [ 4.64892395e-02 9.98917357e-01 1.69241576e-03 -1.72422622e-01] [ 1.46151224e-02 -2.37424662e-03 9.99890375e-01 -1.27567813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93119381700004 meters Centerline goodness [0,1] 0.7139360279749049 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.17, Z:-1.28 [[ 9.98927078e-01 -4.38017050e-02 -1.50367606e-02 7.08059774e+00] [ 4.38618938e-02 9.99030766e-01 3.69644276e-03 -1.68757700e-01] [ 1.48602760e-02 -4.35201757e-03 9.99880109e-01 -1.27688202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96119381700004 meters Centerline goodness [0,1] 0.7879469815839458 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.16, Z:-1.28 [[ 9.99066835e-01 -4.04860330e-02 -1.50446310e-02 7.08180326e+00] [ 4.05617938e-02 9.99165669e-01 4.76506694e-03 -1.59526818e-01] [ 1.48391601e-02 -5.37085756e-03 9.99875469e-01 -1.27886866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99119381700004 meters Centerline goodness [0,1] 0.7629651030810822 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.15, Z:-1.28 [[ 9.99161910e-01 -3.79339793e-02 -1.53782643e-02 7.08379241e+00] [ 3.80351292e-02 9.99256296e-01 6.33912124e-03 -1.54513875e-01] [ 1.51263594e-02 -6.91872275e-03 9.99861653e-01 -1.28084368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.021193817 meters Centerline goodness [0,1] 0.7758677617730818 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.15, Z:-1.28 [[ 0.99924449 -0.03548138 -0.01585938 7.08606439] [ 0.03560641 0.99933644 0.00767175 -0.14870435] [ 0.01557665 -0.00823065 0.9998448 -1.28284364] [ 0. 0. 0. 1. ]] SLAMing on 171.051193817 meters Centerline goodness [0,1] 0.8001897454935445 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.14, Z:-1.28 [[ 0.99932369 -0.03296533 -0.01629234 7.08806263] [ 0.03311713 0.99940971 0.00913695 -0.142917 ] [ 0.01598152 -0.00967033 0.99982552 -1.28457739] [ 0. 0. 0. 1. ]] SLAMing on 171.081193817 meters Centerline goodness [0,1] 0.8172750600115885 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.13, Z:-1.29 [[ 0.99939869 -0.030519 -0.01645727 7.08961587] [ 0.03067972 0.99948313 0.00960335 -0.13188361] [ 0.01615568 -0.01010248 0.99981845 -1.28648247] [ 0. 0. 0. 1. ]] SLAMing on 171.11119381700001 meters Centerline goodness [0,1] 0.816019818331957 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.13, Z:-1.29 [[ 0.99937933 -0.03093399 -0.01685349 7.09062448] [ 0.03107486 0.99948374 0.00816174 -0.12713227] [ 0.01659231 -0.00868039 0.99982466 -1.28687483] [ 0. 0. 0. 1. ]] SLAMing on 171.14119381700002 meters Centerline goodness [0,1] 0.8088454530395892 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.12, Z:-1.29 [[ 9.99360137e-01 -3.15338317e-02 -1.68799789e-02 7.09069686e+00] [ 3.16517369e-02 9.99476072e-01 6.76386624e-03 -1.22966326e-01] [ 1.66578444e-02 -7.29381895e-03 9.99834645e-01 -1.28691455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.17119381700002 meters Centerline goodness [0,1] 0.8199079401611047 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.12, Z:-1.29 [[ 9.99336056e-01 -3.22035567e-02 -1.70404659e-02 7.09122230e+00] [ 3.23005014e-02 9.99463372e-01 5.44470358e-03 -1.19478129e-01] [ 1.68559827e-02 -5.99150420e-03 9.99839976e-01 -1.28714084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20119381700002 meters Centerline goodness [0,1] 0.8170951130229769 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.11, Z:-1.29 [[ 9.99352597e-01 -3.19142559e-02 -1.66092493e-02 7.08922065e+00] [ 3.20034329e-02 9.99474587e-01 5.13123845e-03 -1.14037568e-01] [ 1.64367629e-02 -5.65946947e-03 9.99848890e-01 -1.28589007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23119381700002 meters Centerline goodness [0,1] 0.8120269655486165 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.11, Z:-1.29 [[ 9.99341516e-01 -3.21531854e-02 -1.68138968e-02 7.08959882e+00] [ 3.22296666e-02 9.99471250e-01 4.29760173e-03 -1.11059008e-01] [ 1.66668248e-02 -4.83667812e-03 9.99849400e-01 -1.28587460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26119381700002 meters Centerline goodness [0,1] 0.8060420586836501 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.11, Z:-1.29 [[ 9.99337559e-01 -3.21970853e-02 -1.69643776e-02 7.08986398e+00] [ 3.22617955e-02 9.99473132e-01 3.55464296e-03 -1.07962634e-01] [ 1.68409904e-02 -4.09958950e-03 9.99849776e-01 -1.28584926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29119381700002 meters Centerline goodness [0,1] 0.7816992924771551 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.10, Z:-1.29 [[ 9.99415740e-01 -2.94458934e-02 -1.73527683e-02 7.09135899e+00] [ 2.95437623e-02 9.99548843e-01 5.41080279e-03 -1.02809992e-01] [ 1.71856136e-02 -5.92030754e-03 9.99834789e-01 -1.28699925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32119381700002 meters Centerline goodness [0,1] 0.8163873370577281 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.10, Z:-1.29 [[ 9.99423086e-01 -2.91160166e-02 -1.74857920e-02 7.09174470e+00] [ 2.92041858e-02 9.99561902e-01 4.80827918e-03 -9.93239003e-02] [ 1.73381336e-02 -5.31616354e-03 9.99835550e-01 -1.28714322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35119381700002 meters Centerline goodness [0,1] 0.8244916458929933 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.10, Z:-1.29 [[ 9.99449018e-01 -2.78684021e-02 -1.80280817e-02 7.09386665e+00] [ 2.79670832e-02 9.99595084e-01 5.24493433e-03 -9.61430983e-02] [ 1.78746139e-02 -5.74623733e-03 9.99823724e-01 -1.28839997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38119381700002 meters Centerline goodness [0,1] 0.8375943561159218 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.09, Z:-1.29 [[ 9.99458878e-01 -2.72750593e-02 -1.83853974e-02 7.09476857e+00] [ 2.73668917e-02 9.99614115e-01 4.76185633e-03 -9.25674209e-02] [ 1.82484229e-02 -5.26243076e-03 9.99819635e-01 -1.28863222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41119381700003 meters Centerline goodness [0,1] 0.8935800682311589 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.09, Z:-1.29 [[ 9.99543336e-01 -2.39394000e-02 -1.84397392e-02 7.09375533e+00] [ 2.40685088e-02 9.99687104e-01 6.81181633e-03 -8.73893797e-02] [ 1.82708987e-02 -7.25252265e-03 9.99806769e-01 -1.28741938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44119381700003 meters Centerline goodness [0,1] 0.9007984114507922 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.08, Z:-1.29 [[ 9.99533117e-01 -2.41910361e-02 -1.86639341e-02 7.09388310e+00] [ 2.43005238e-02 9.99688665e-01 5.66192154e-03 -8.35654397e-02] [ 1.85211556e-02 -6.11282145e-03 9.99809782e-01 -1.28695895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47119381700003 meters Centerline goodness [0,1] 0.902280466412135 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.08, Z:-1.29 [[ 9.99520226e-01 -2.44783366e-02 -1.89770686e-02 7.09403859e+00] [ 2.45663574e-02 9.99688434e-01 4.41907681e-03 -7.91617836e-02] [ 1.88629844e-02 -4.88315410e-03 9.99810153e-01 -1.28635481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50119381700003 meters Centerline goodness [0,1] 0.9152987388877404 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.08, Z:-1.28 [[ 9.99573090e-01 -2.23303644e-02 -1.88412615e-02 7.09219041e+00] [ 2.24499286e-02 9.99729001e-01 6.15837831e-03 -7.58729626e-02] [ 1.86986367e-02 -6.57873421e-03 9.99803521e-01 -1.28461907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53119381700003 meters Centerline goodness [0,1] 0.9282953347526819 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.07, Z:-1.28 [[ 0.99962978 -0.01977235 -0.01869105 7.09049357] [ 0.01991486 0.99977378 0.00746896 -0.07053811] [ 0.01853915 -0.00783842 0.99979741 -1.28290827] [ 0. 0. 0. 1. ]] SLAMing on 171.56119381700003 meters Centerline goodness [0,1] 0.9306603095008118 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.07, Z:-1.28 [[ 9.99627174e-01 -1.96960876e-02 -1.89097074e-02 7.09098940e+00] [ 1.98243808e-02 9.99781553e-01 6.62118624e-03 -6.77243362e-02] [ 1.87751652e-02 -6.99359093e-03 9.99799271e-01 -1.28288220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59119381700003 meters Centerline goodness [0,1] 0.9309105103130906 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.06, Z:-1.28 [[ 9.99633112e-01 -1.90049828e-02 -1.92989921e-02 7.09229070e+00] [ 1.91294844e-02 9.99797246e-01 6.28719239e-03 -6.47161092e-02] [ 1.91755912e-02 -6.65406546e-03 9.99793989e-01 -1.28351624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62119381700003 meters Centerline goodness [0,1] 0.9336949598306931 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.06, Z:-1.28 [[ 0.99969055 -0.01536612 -0.01956261 7.09336606] [ 0.01555264 0.99983469 0.00941826 -0.06224936] [ 0.01941465 -0.0097196 0.99976427 -1.28439577] [ 0. 0. 0. 1. ]] SLAMing on 171.65119381700003 meters Centerline goodness [0,1] 0.9342702658081559 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.06, Z:-1.29 [[ 0.99973581 -0.01166595 -0.01980464 7.09435323] [ 0.01191737 0.99984928 0.01262477 -0.059776 ] [ 0.01965438 -0.01285746 0.99972416 -1.28519353] [ 0. 0. 0. 1. ]] SLAMing on 171.68119381700004 meters Centerline goodness [0,1] 0.9282386410488992 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.06, Z:-1.29 [[ 0.99976739 -0.00711857 -0.02035918 7.0976831 ] [ 0.00745023 0.99984002 0.01626129 -0.05633008] [ 0.02024017 -0.01640919 0.99966048 -1.28792072] [ 0. 0. 0. 1. ]] SLAMing on 171.71119381700004 meters Centerline goodness [0,1] 0.9275878393676801 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.06, Z:-1.29 [[ 9.99763124e-01 -6.58225363e-03 -2.07453640e-02 7.09916980e+00] [ 6.92109218e-03 9.99843127e-01 1.63039649e-02 -5.52032101e-02] [ 2.06347928e-02 -1.64436835e-02 9.99651845e-01 -1.28881464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74119381700004 meters Centerline goodness [0,1] 0.9252071837477008 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.05, Z:-1.29 [[ 9.99759388e-01 -6.48054280e-03 -2.09563365e-02 7.09966255e+00] [ 6.82009443e-03 9.99845962e-01 1.61721436e-02 -5.47456293e-02] [ 2.08483042e-02 -1.63111766e-02 9.99649585e-01 -1.28891174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.771193817 meters Centerline goodness [0,1] 0.924297520661157 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.05, Z:-1.29 [[ 0.99972823 -0.00917209 -0.02143211 7.10104543] [ 0.00945404 0.99986961 0.01309154 -0.0549959 ] [ 0.02130924 -0.0132906 0.99968459 -1.28927477] [ 0. 0. 0. 1. ]] SLAMing on 171.801193817 meters Centerline goodness [0,1] 0.9251165861912426 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.06, Z:-1.29 [[ 0.99968955 -0.0120405 -0.02181339 7.10261316] [ 0.01226207 0.99987429 0.01005227 -0.05522735] [ 0.02168962 -0.01031663 0.99971152 -1.29007155] [ 0. 0. 0. 1. ]] SLAMing on 171.831193817 meters Centerline goodness [0,1] 0.9244794874953801 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.06, Z:-1.29 [[ 0.99964274 -0.01462325 -0.02237293 7.10481495] [ 0.01479315 0.99986284 0.00744772 -0.05562911] [ 0.02226095 -0.00777603 0.99972195 -1.29116094] [ 0. 0. 0. 1. ]] SLAMing on 171.86119381700001 meters Centerline goodness [0,1] 0.9246369657328561 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.06, Z:-1.29 [[ 0.99963936 -0.01471336 -0.02246483 7.10530387] [ 0.01489366 0.99985804 0.00787957 -0.05712968] [ 0.0223457 -0.00821132 0.99971658 -1.29153449] [ 0. 0. 0. 1. ]] SLAMing on 171.89119381700002 meters Centerline goodness [0,1] 0.9211089614292183 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.06, Z:-1.29 [[ 9.99584310e-01 -1.77703038e-02 -2.27029251e-02 7.10732529e+00] [ 1.78974327e-02 9.99825198e-01 5.40879202e-03 -5.95648845e-02] [ 2.26028407e-02 -5.81286771e-03 9.99727624e-01 -1.29319580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92119381700002 meters Centerline goodness [0,1] 0.9172255814433415 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.06, Z:-1.29 [[ 9.99512514e-01 -2.12100904e-02 -2.29099576e-02 7.10854963e+00] [ 2.12654593e-02 9.99771497e-01 2.17585943e-03 -6.10749369e-02] [ 2.28585724e-02 -2.66198950e-03 9.99735165e-01 -1.29396261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.95119381700002 meters Centerline goodness [0,1] 0.9151962401055409 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.06, Z:-1.30 [[ 9.99497775e-01 -2.19506813e-02 -2.28553191e-02 7.10967461e+00] [ 2.20074079e-02 9.99755313e-01 2.23339655e-03 -6.45672583e-02] [ 2.28007022e-02 -2.73526121e-03 9.99736288e-01 -1.29527376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98119381700002 meters Centerline goodness [0,1] 0.9054758129286024 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.07, Z:-1.30 [[ 9.99485327e-01 -2.23800809e-02 -2.29829055e-02 7.11019645e+00] [ 2.24502658e-02 9.99744039e-01 2.80029079e-03 -6.78502013e-02] [ 2.29143520e-02 -3.31482189e-03 9.99731936e-01 -1.29561937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01119381700002 meters Centerline goodness [0,1] 0.8594240621384895 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.07, Z:-1.30 [[ 9.99375097e-01 -2.69957973e-02 -2.28176033e-02 7.10998394e+00] [ 2.69846609e-02 9.99635531e-01 -7.95882723e-04 -7.02748264e-02] [ 2.28307725e-02 1.79660085e-04 9.99739328e-01 -1.29541951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04119381700002 meters Centerline goodness [0,1] 0.8445687066376721 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.07, Z:-1.30 [[ 9.99366888e-01 -2.73189710e-02 -2.27924847e-02 7.11014333e+00] [ 2.73192995e-02 9.99626714e-01 -2.97021231e-04 -7.24290912e-02] [ 2.27920909e-02 -3.25841535e-04 9.99740173e-01 -1.29568538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07119381700002 meters Centerline goodness [0,1] 0.8017958372987959 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.07, Z:-1.30 [[ 9.99358051e-01 -2.74328745e-02 -2.30417521e-02 7.11107577e+00] [ 2.74491315e-02 9.99623126e-01 3.89501429e-04 -7.49970870e-02] [ 2.30223831e-02 -1.02172747e-03 9.99734428e-01 -1.29627008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10119381700002 meters Centerline goodness [0,1] 0.8170260269158415 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.08, Z:-1.30 [[ 9.99234232e-01 -3.15520545e-02 -2.31390897e-02 7.11157845e+00] [ 3.14911779e-02 9.99499556e-01 -2.99067778e-03 -7.73602129e-02] [ 2.32218719e-02 2.25971043e-03 9.99727782e-01 -1.29632154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13119381700002 meters Centerline goodness [0,1] 0.8418368400404699 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.08, Z:-1.30 [[ 9.99229326e-01 -3.16416719e-02 -2.32283896e-02 7.11200437e+00] [ 3.15902704e-02 9.99497582e-01 -2.57658815e-03 -7.88669499e-02] [ 2.32982468e-02 1.84081133e-03 9.99726864e-01 -1.29659402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16119381700003 meters Centerline goodness [0,1] 0.7621127139516113 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.08, Z:-1.30 [[ 9.99231181e-01 -3.15745262e-02 -2.32399747e-02 7.11207777e+00] [ 3.15320809e-02 9.99500340e-01 -2.19067399e-03 -7.99167387e-02] [ 2.32975321e-02 1.45618499e-03 9.99727515e-01 -1.29665413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19119381700003 meters Centerline goodness [0,1] 0.7584413983024723 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.08, Z:-1.30 [[ 9.99233247e-01 -3.13404430e-02 -2.34668829e-02 7.11297584e+00] [ 3.13068027e-02 9.99508202e-01 -1.79963153e-03 -8.06578219e-02] [ 2.35117432e-02 1.06357858e-03 9.99722995e-01 -1.29717815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22119381700003 meters Centerline goodness [0,1] 0.8504477673677897 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.08, Z:-1.30 [[ 9.99258675e-01 -3.03986445e-02 -2.36225101e-02 7.11331227e+00] [ 3.03850999e-02 9.99537832e-01 -9.32185125e-04 -8.19666330e-02] [ 2.36399297e-02 2.13721745e-04 9.99720515e-01 -1.29716237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25119381700003 meters Centerline goodness [0,1] 0.8641824938067713 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.08, Z:-1.30 [[ 9.99291407e-01 -2.89239163e-02 -2.40850942e-02 7.11503342e+00] [ 2.89414070e-02 9.99581038e-01 3.77869512e-04 -8.28495112e-02] [ 2.40640740e-02 -1.07465827e-03 9.99709841e-01 -1.29808148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28119381700003 meters Centerline goodness [0,1] 0.8769777668187235 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.08, Z:-1.30 [[ 9.99317853e-01 -2.77673178e-02 -2.43475777e-02 7.11562023e+00] [ 2.77976611e-02 9.99613157e-01 9.08623644e-04 -8.21600559e-02] [ 2.43129290e-02 -1.58480954e-03 9.99703141e-01 -1.29806010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31119381700003 meters Centerline goodness [0,1] 0.9097519775873435 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.08, Z:-1.30 [[ 9.99427401e-01 -2.33970172e-02 -2.44427754e-02 7.11528913e+00] [ 2.35290778e-02 9.99709995e-01 5.12925187e-03 -8.21908135e-02] [ 2.43156777e-02 -5.70143083e-03 9.99688072e-01 -1.29763911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34119381700003 meters Centerline goodness [0,1] 0.9161493885463282 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.08, Z:-1.30 [[ 0.99959157 -0.01432808 -0.02472652 7.11569179] [ 0.01467038 0.99979828 0.01371799 -0.0822084 ] [ 0.02452498 -0.01407514 0.99960013 -1.29775975] [ 0. 0. 0. 1. ]] SLAMing on 172.37119381700003 meters Centerline goodness [0,1] 0.9150986311566933 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.08, Z:-1.30 [[ 0.99963761 -0.00997368 -0.02500368 7.11653067] [ 0.01042322 0.99978521 0.01791338 -0.0826429 ] [ 0.02481965 -0.01816751 0.99952685 -1.29827087] [ 0. 0. 0. 1. ]] SLAMing on 172.40119381700003 meters Centerline goodness [0,1] 0.9169030878664528 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.08, Z:-1.30 [[ 0.99964735 -0.0077181 -0.0254089 7.11837071] [ 0.00821468 0.99977616 0.01949738 -0.08268003] [ 0.02525273 -0.01969923 0.99948699 -1.29938561] [ 0. 0. 0. 1. ]] SLAMing on 172.43119381700004 meters Centerline goodness [0,1] 0.9182923556491402 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.08, Z:-1.30 [[ 9.99680666e-01 -2.25473659e-03 -2.51690674e-02 7.11744209e+00] [ 2.87552874e-03 9.99691859e-01 2.46560059e-02 -8.45211944e-02] [ 2.51057189e-02 -2.47205068e-02 9.99379107e-01 -1.29869135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46119381700004 meters Centerline goodness [0,1] 0.9190238262377669 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.08, Z:-1.30 [[ 9.99676235e-01 -1.49893746e-03 -2.54003494e-02 7.11803602e+00] [ 2.13690733e-03 9.99682459e-01 2.51080791e-02 -8.46425121e-02] [ 2.53546483e-02 -2.51542282e-02 9.99362000e-01 -1.29885035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49119381700004 meters Centerline goodness [0,1] 0.9190238262377669 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.08, Z:-1.30 [[ 9.99676235e-01 -1.49893746e-03 -2.54003494e-02 7.11803602e+00] [ 2.13690733e-03 9.99682459e-01 2.51080791e-02 -8.46425121e-02] [ 2.53546483e-02 -2.51542282e-02 9.99362000e-01 -1.29885035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.521193817 meters Centerline goodness [0,1] 0.9202371883300047 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.08, Z:-1.30 [[ 9.99673038e-01 -8.87892442e-04 -2.55544313e-02 7.11874385e+00] [ 1.54088442e-03 9.99672495e-01 2.55446483e-02 -8.49865650e-02] [ 2.55233812e-02 -2.55756726e-02 9.99347008e-01 -1.29931575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.551193817 meters Centerline goodness [0,1] 0.9201556131900704 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.09, Z:-1.30 [[ 9.99668852e-01 2.58080167e-04 -2.57316836e-02 7.12034488e+00] [ 4.35267412e-04 9.99637064e-01 2.69360445e-02 -8.73757200e-02] [ 2.57292963e-02 -2.69383249e-02 9.99305924e-01 -1.30077162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.581193817 meters Centerline goodness [0,1] 0.9182304526748971 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.09, Z:-1.30 [[ 9.99658016e-01 -1.36925864e-03 -2.61146812e-02 7.12283830e+00] [ 2.02650038e-03 9.99681441e-01 2.51576838e-02 -8.84935165e-02] [ 2.60719147e-02 -2.52020017e-02 9.99342341e-01 -1.30269429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.61119381700001 meters Centerline goodness [0,1] 0.9181583565603386 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.09, Z:-1.30 [[ 9.99646841e-01 -4.49154254e-03 -2.61919753e-02 7.12340097e+00] [ 5.06538142e-03 9.99747686e-01 2.18839272e-02 -8.95567264e-02] [ 2.60870741e-02 -2.20088710e-02 9.99417367e-01 -1.30307747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64119381700002 meters Centerline goodness [0,1] 0.9186800479081485 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.09, Z:-1.30 [[ 9.99623383e-01 -6.58409917e-03 -2.66409850e-02 7.12594659e+00] [ 7.11252565e-03 9.99778875e-01 1.97891963e-02 -9.15422405e-02] [ 2.65047999e-02 -1.99712281e-02 9.99449171e-01 -1.30495508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.67119381700002 meters Centerline goodness [0,1] 0.9186921475250994 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.10, Z:-1.31 [[ 0.99959496 -0.00861337 -0.02712428 7.12909413] [ 0.00911289 0.99979016 0.01834641 -0.09659694] [ 0.02696056 -0.01858616 0.9994637 -1.30740836] [ 0. 0. 0. 1. ]] SLAMing on 172.70119381700002 meters Centerline goodness [0,1] 0.9197342357213601 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.10, Z:-1.31 [[ 0.99955982 -0.0116535 -0.02728287 7.130106 ] [ 0.0120707 0.99981196 0.01517723 -0.09774787] [ 0.02710087 -0.01549987 0.99951253 -1.3081219 ] [ 0. 0. 0. 1. ]] SLAMing on 172.73119381700002 meters Centerline goodness [0,1] 0.9197869793171779 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.10, Z:-1.31 [[ 0.99952338 -0.01427796 -0.02737051 7.13124552] [ 0.01462383 0.9998152 0.01247827 -0.0994162 ] [ 0.02718729 -0.01287258 0.99954747 -1.30905955] [ 0. 0. 0. 1. ]] SLAMing on 172.76119381700002 meters Centerline goodness [0,1] 0.919369155502343 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.10, Z:-1.31 [[ 0.99948137 -0.01674452 -0.02750663 7.13259003] [ 0.01702838 0.99980381 0.01011796 -0.10167146] [ 0.02733181 -0.0105811 0.99957041 -1.3100679 ] [ 0. 0. 0. 1. ]] SLAMing on 172.79119381700002 meters Centerline goodness [0,1] 0.9193152521398371 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.10, Z:-1.31 [[ 0.99942648 -0.01947796 -0.0277007 7.13382421] [ 0.0196994 0.99977596 0.00774368 -0.10432628] [ 0.02754366 -0.00828493 0.99958627 -1.31086944] [ 0. 0. 0. 1. ]] SLAMing on 172.82119381700002 meters Centerline goodness [0,1] 0.9197621358220974 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.11, Z:-1.31 [[ 9.99356146e-01 -2.26225892e-02 -2.78480268e-02 7.13433473e+00] [ 2.27741020e-02 9.99727446e-01 5.13556908e-03 -1.07515096e-01] [ 2.77242569e-02 -5.76647633e-03 9.99598976e-01 -1.31091911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85119381700002 meters Centerline goodness [0,1] 0.9183052531357371 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.12, Z:-1.31 [[ 9.99195518e-01 -2.87980446e-02 -2.79103864e-02 7.13458306e+00] [ 2.88305841e-02 9.99584020e-01 7.64057407e-04 -1.15957435e-01] [ 2.78767729e-02 -1.56811548e-03 9.99610137e-01 -1.31052716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88119381700002 meters Centerline goodness [0,1] 0.9166442592094649 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.12, Z:-1.31 [[ 9.99091990e-01 -3.20273534e-02 -2.80970324e-02 7.13511585e+00] [ 3.19978610e-02 9.99486814e-01 -1.49876401e-03 -1.20603325e-01] [ 2.81306149e-02 5.98358179e-04 9.99604077e-01 -1.31039295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91119381700003 meters Centerline goodness [0,1] 0.9181209436489132 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.13, Z:-1.31 [[ 9.99121546e-01 -3.52867941e-02 -2.26048492e-02 7.14509324e+00] [ 3.54259623e-02 9.99355555e-01 5.78586137e-03 -1.27318848e-01] [ 2.23861171e-02 -6.58157729e-03 9.99727735e-01 -1.31287079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94119381700003 meters Centerline goodness [0,1] 0.9176511896893589 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.13, Z:-1.31 [[ 9.99003517e-01 -3.84840747e-02 -2.26041915e-02 7.14519272e+00] [ 3.85702919e-02 9.99250137e-01 3.39053902e-03 -1.31402886e-01] [ 2.24567597e-02 -4.25901068e-03 9.99738743e-01 -1.31258550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97119381700003 meters Centerline goodness [0,1] 0.9197714853452559 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.14, Z:-1.31 [[ 9.98917284e-01 -4.07101096e-02 -2.25154780e-02 7.14451084e+00] [ 4.07825067e-02 9.99164220e-01 2.76547402e-03 -1.39823214e-01] [ 2.23840773e-02 -3.68071743e-03 9.99742670e-01 -1.31143358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00119381700003 meters Centerline goodness [0,1] 0.9206764978859441 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.14, Z:-1.31 [[ 9.98937700e-01 -4.00720841e-02 -2.27530341e-02 7.14498343e+00] [ 4.01754247e-02 9.99184218e-01 4.10284831e-03 -1.43280752e-01] [ 2.25700630e-02 -5.01260266e-03 9.99732697e-01 -1.31134787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03119381700003 meters Centerline goodness [0,1] 0.9206230993607646 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.15, Z:-1.31 [[ 9.99028753e-01 -3.77586769e-02 -2.27119614e-02 7.14440757e+00] [ 3.79269000e-02 9.99255843e-01 7.02207167e-03 -1.49241058e-01] [ 2.24299160e-02 -7.87664579e-03 9.99717389e-01 -1.31072606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06119381700003 meters Centerline goodness [0,1] 0.9205538906685956 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.15, Z:-1.31 [[ 0.99907593 -0.03618161 -0.02319863 7.14608585] [ 0.0363908 0.99930012 0.00865944 -0.15168238] [ 0.02286908 -0.00949565 0.99969337 -1.31166079] [ 0. 0. 0. 1. ]] SLAMing on 173.09119381700003 meters Centerline goodness [0,1] 0.9225735870866532 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.15, Z:-1.31 [[ 0.99911272 -0.03494846 -0.02350293 7.14687007] [ 0.03518585 0.99933309 0.00976416 -0.15317071] [ 0.02314601 -0.01058247 0.99967608 -1.31193193] [ 0. 0. 0. 1. ]] SLAMing on 173.12119381700003 meters Centerline goodness [0,1] 0.9213186994213702 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.15, Z:-1.31 [[ 0.99915145 -0.03369973 -0.02367913 7.14729892] [ 0.03396398 0.99936419 0.0108476 -0.15456074] [ 0.02329851 -0.01164263 0.99966076 -1.31200721] [ 0. 0. 0. 1. ]] SLAMing on 173.15119381700003 meters Centerline goodness [0,1] 0.9221080747893979 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.16, Z:-1.31 [[ 0.99918405 -0.03260507 -0.02383591 7.14740066] [ 0.03289484 0.99938836 0.01186744 -0.15622165] [ 0.02343439 -0.01264184 0.99964544 -1.31177426] [ 0. 0. 0. 1. ]] SLAMing on 173.18119381700004 meters Centerline goodness [0,1] 0.9243657646889104 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.16, Z:-1.31 [[ 0.99923691 -0.03059312 -0.02428271 7.14815794] [ 0.03093536 0.99942549 0.01384569 -0.15986653] [ 0.02384517 -0.01458632 0.99960925 -1.31163549] [ 0. 0. 0. 1. ]] SLAMing on 173.21119381700004 meters Centerline goodness [0,1] 0.9213731775411023 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.16, Z:-1.31 [[ 0.99924503 -0.03021695 -0.02441947 7.14875188] [ 0.03057557 0.99942803 0.01444802 -0.16152796] [ 0.02396892 -0.01518375 0.99959739 -1.31202331] [ 0. 0. 0. 1. ]] SLAMing on 173.24119381700004 meters Centerline goodness [0,1] 0.9226119249020013 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.16, Z:-1.31 [[ 0.99924787 -0.02990424 -0.02468651 7.14982669] [ 0.03028373 0.99942661 0.01514441 -0.16353657] [ 0.02421947 -0.01588062 0.99958052 -1.31267985] [ 0. 0. 0. 1. ]] SLAMing on 173.271193817 meters Centerline goodness [0,1] 0.9235221421215242 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.17, Z:-1.31 [[ 0.99918788 -0.03142958 -0.02521423 7.15288914] [ 0.03178264 0.99940055 0.01372593 -0.16528932] [ 0.02476772 -0.01451615 0.99958784 -1.31489317] [ 0. 0. 0. 1. ]] SLAMing on 173.301193817 meters Centerline goodness [0,1] 0.9242216971355138 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.17, Z:-1.32 [[ 0.99909209 -0.03432455 -0.02523514 7.15434269] [ 0.03463448 0.99932861 0.01194894 -0.17218794] [ 0.02480806 -0.0128121 0.99961013 -1.31609414] [ 0. 0. 0. 1. ]] SLAMing on 173.331193817 meters Centerline goodness [0,1] 0.9249663735126746 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.18, Z:-1.32 [[ 0.9990016 -0.03657459 -0.02565365 7.1563728 ] [ 0.03684453 0.99926967 0.01012968 -0.17589835] [ 0.02526443 -0.01106476 0.99961957 -1.31720484] [ 0. 0. 0. 1. ]] SLAMing on 173.36119381700001 meters Centerline goodness [0,1] 0.9250310816411107 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.18, Z:-1.32 [[ 0.99900679 -0.03635535 -0.02576296 7.15679063] [ 0.03665573 0.99926424 0.01128472 -0.18032757] [ 0.02533374 -0.01221787 0.99960438 -1.31729975] [ 0. 0. 0. 1. ]] SLAMing on 173.39119381700002 meters Centerline goodness [0,1] 0.9263500757245701 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.18, Z:-1.32 [[ 0.99901402 -0.03605689 -0.02590149 7.15726206] [ 0.03639127 0.99925873 0.01255623 -0.18434924] [ 0.02542955 -0.01348644 0.99958564 -1.31741052] [ 0. 0. 0. 1. ]] SLAMing on 173.42119381700002 meters Centerline goodness [0,1] 0.9259825598214655 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.19, Z:-1.32 [[ 0.99893813 -0.03787615 -0.02622991 7.15932051] [ 0.03820024 0.99919845 0.01196655 -0.19064626] [ 0.02575564 -0.01295583 0.99958431 -1.31867962] [ 0. 0. 0. 1. ]] SLAMing on 173.45119381700002 meters Centerline goodness [0,1] 0.9267504711413009 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.19, Z:-1.32 [[ 0.99889768 -0.03912885 -0.0259297 7.15820216] [ 0.03942766 0.99916061 0.01111433 -0.19449134] [ 0.02547304 -0.01212443 0.99960198 -1.31770326] [ 0. 0. 0. 1. ]] SLAMing on 173.48119381700002 meters Centerline goodness [0,1] 0.9267221738950333 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.20, Z:-1.32 [[ 0.99881065 -0.04090332 -0.02653687 7.16039721] [ 0.04117252 0.99910518 0.00967842 -0.19846657] [ 0.02611725 -0.0107595 0.99960098 -1.31858192] [ 0. 0. 0. 1. ]] SLAMing on 173.51119381700002 meters Centerline goodness [0,1] 0.9283732295204175 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.20, Z:-1.32 [[ 0.99878697 -0.0412975 -0.02681608 7.16110749] [ 0.04156844 0.99908929 0.00962579 -0.2033593 ] [ 0.02639413 -0.01072882 0.99959404 -1.31850391] [ 0. 0. 0. 1. ]] SLAMing on 173.54119381700002 meters Centerline goodness [0,1] 0.930607442878078 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.21, Z:-1.32 [[ 0.99870763 -0.04297269 -0.02713688 7.16261127] [ 0.04323168 0.99902426 0.00903035 -0.21116957] [ 0.02672234 -0.01019186 0.99959094 -1.3190019 ] [ 0. 0. 0. 1. ]] SLAMing on 173.57119381700002 meters Centerline goodness [0,1] 0.9312880639681816 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.21, Z:-1.32 [[ 0.99872766 -0.042469 -0.02719259 7.16281946] [ 0.04276168 0.99903248 0.01027354 -0.2147399 ] [ 0.02672997 -0.01142327 0.99957742 -1.31897373] [ 0. 0. 0. 1. ]] SLAMing on 173.60119381700002 meters Centerline goodness [0,1] 0.9321543075809288 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.22, Z:-1.32 [[ 0.99872843 -0.04229713 -0.02743135 7.16347267] [ 0.04261514 0.99902975 0.01111372 -0.21758962] [ 0.02693466 -0.01226858 0.99956191 -1.31909294] [ 0. 0. 0. 1. ]] SLAMing on 173.63119381700002 meters Centerline goodness [0,1] 0.9328643839867591 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.22, Z:-1.32 [[ 0.99872867 -0.04218407 -0.02759626 7.16385887] [ 0.04252608 0.99902418 0.01192587 -0.22048974] [ 0.02706625 -0.01308427 0.99954801 -1.31905069] [ 0. 0. 0. 1. ]] SLAMing on 173.66119381700003 meters Centerline goodness [0,1] 0.9334448091492744 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.23, Z:-1.32 [[ 0.99858649 -0.04543651 -0.02757816 7.16372659] [ 0.04572588 0.99890443 0.00995406 -0.2263439 ] [ 0.02709567 -0.01120102 0.99957009 -1.31824418] [ 0. 0. 0. 1. ]] SLAMing on 173.69119381700003 meters Centerline goodness [0,1] 0.9329956584659913 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.23, Z:-1.32 [[ 9.98431620e-01 -4.88122532e-02 -2.74164935e-02 7.16350454e+00] [ 4.90237844e-02 9.98772400e-01 7.09665105e-03 -2.29183904e-01] [ 2.70364335e-02 -8.42958108e-03 9.99598906e-01 -1.31786355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72119381700003 meters Centerline goodness [0,1] 0.9345456049980347 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.23, Z:-1.32 [[ 9.98251003e-01 -5.23746073e-02 -2.74196317e-02 7.16405977e+00] [ 5.25042004e-02 9.98612582e-01 4.02736483e-03 -2.31745481e-01] [ 2.71706575e-02 -5.45996681e-03 9.99615898e-01 -1.31799566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75119381700003 meters Centerline goodness [0,1] 0.9332159867467384 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.24, Z:-1.32 [[ 9.98235420e-01 -5.26569571e-02 -2.74461638e-02 7.16469735e+00] [ 5.28064172e-02 9.98593475e-01 4.74901561e-03 -2.35774982e-01] [ 2.71574914e-02 -6.18996917e-03 9.99612002e-01 -1.31843603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78119381700003 meters Centerline goodness [0,1] 0.9336888668402993 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.24, Z:-1.32 [[ 9.98070729e-01 -5.55553709e-02 -2.77204125e-02 7.16748094e+00] [ 5.56598444e-02 9.98445249e-01 3.01096837e-03 -2.40840469e-01] [ 2.75100387e-02 -4.54807324e-03 9.99611181e-01 -1.32054942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81119381700003 meters Centerline goodness [0,1] 0.9328702267981559 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.24, Z:-1.32 [[ 9.98074325e-01 -5.53593839e-02 -2.79817772e-02 7.16820946e+00] [ 5.54898694e-02 9.98451603e-01 3.90784233e-03 -2.43710598e-01] [ 2.77221146e-02 -5.45302226e-03 9.99600795e-01 -1.32069802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84119381700003 meters Centerline goodness [0,1] 0.9323257108687135 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.25, Z:-1.32 [[ 9.98080041e-01 -5.51530443e-02 -2.81846448e-02 7.16890560e+00] [ 5.53063703e-02 9.98458420e-01 4.68917888e-03 -2.46126874e-01] [ 2.78825734e-02 -6.23896625e-03 9.99591735e-01 -1.32089984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87119381700003 meters Centerline goodness [0,1] 0.934733374511015 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.25, Z:-1.32 [[ 9.98074760e-01 -5.50902288e-02 -2.84928173e-02 7.16948198e+00] [ 5.52744463e-02 9.98454826e-01 5.71810270e-03 -2.50040083e-01] [ 2.81337793e-02 -7.28201868e-03 9.99577642e-01 -1.32062736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90119381700003 meters Centerline goodness [0,1] 0.9349380706056921 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.25, Z:-1.32 [[ 9.98083681e-01 -5.48518465e-02 -2.86398324e-02 7.16985189e+00] [ 5.50555483e-02 9.98462958e-01 6.37250437e-03 -2.52004886e-01] [ 2.82462682e-02 -7.93707430e-03 9.99569483e-01 -1.32061325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93119381700004 meters Centerline goodness [0,1] 0.9334711598097994 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.25, Z:-1.32 [[ 9.98088789e-01 -5.47186147e-02 -2.87166017e-02 7.17035450e+00] [ 5.49390955e-02 9.98465553e-01 6.94523070e-03 -2.53846074e-01] [ 2.82925041e-02 -8.50962102e-03 9.99563465e-01 -1.32098358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96119381700004 meters Centerline goodness [0,1] 0.9363221664912172 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.26, Z:-1.32 [[ 9.97887488e-01 -5.83341408e-02 -2.85952823e-02 7.17063596e+00] [ 5.84724710e-02 9.98280908e-01 4.02472359e-03 -2.56528866e-01] [ 2.83113456e-02 -5.68825813e-03 9.99582969e-01 -1.32101119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99119381700004 meters Centerline goodness [0,1] 0.935937984496124 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.26, Z:-1.32 [[ 9.97875202e-01 -5.85066686e-02 -2.86714464e-02 7.17044960e+00] [ 5.86641277e-02 9.98266802e-01 4.68107835e-03 -2.59128687e-01] [ 2.83478788e-02 -6.35311740e-03 9.99577929e-01 -1.32039640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.021193817 meters Centerline goodness [0,1] 0.9350761987362161 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.26, Z:-1.32 [[ 9.97861045e-01 -5.86988390e-02 -2.87711952e-02 7.17057275e+00] [ 5.88711849e-02 9.98252151e-01 5.17947703e-03 -2.61368831e-01] [ 2.84168782e-02 -6.86219271e-03 9.99572604e-01 -1.32008967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.051193817 meters Centerline goodness [0,1] 0.9350799619819001 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.26, Z:-1.32 [[ 9.97853925e-01 -5.87652494e-02 -2.88823447e-02 7.17068805e+00] [ 5.89485439e-02 9.98245675e-01 5.53555710e-03 -2.62537846e-01] [ 2.85063773e-02 -7.22624954e-03 9.99567490e-01 -1.31988351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.081193817 meters Centerline goodness [0,1] 0.9325554981930821 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.26, Z:-1.32 [[ 9.97843346e-01 -5.88368718e-02 -2.91011879e-02 7.17145087e+00] [ 5.90236424e-02 9.98240875e-01 5.60040311e-03 -2.62496824e-01] [ 2.87204850e-02 -7.30598308e-03 9.99560782e-01 -1.32027112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.11119381700001 meters Centerline goodness [0,1] 0.9338431332024387 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.26, Z:-1.32 [[ 9.97843393e-01 -5.88199287e-02 -2.91338120e-02 7.17184435e+00] [ 5.90028204e-02 9.98242898e-01 5.45752290e-03 -2.61480849e-01] [ 2.87616098e-02 -7.16473024e-03 9.99560622e-01 -1.32072177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14119381700002 meters Centerline goodness [0,1] 0.9345274988636834 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.26, Z:-1.32 [[ 9.97862849e-01 -5.83653290e-02 -2.93806483e-02 7.17211103e+00] [ 5.85390184e-02 9.98272166e-01 5.08594367e-03 -2.58946519e-01] [ 2.90330406e-02 -6.79498855e-03 9.99555356e-01 -1.32070485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.17119381700002 meters Centerline goodness [0,1] 0.9379572603645683 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.26, Z:-1.32 [[ 9.97868459e-01 -5.81267832e-02 -2.96616760e-02 7.17232832e+00] [ 5.82921453e-02 9.98288313e-01 4.74028963e-03 -2.57140220e-01] [ 2.93353667e-02 -6.45922824e-03 9.99548756e-01 -1.32045147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20119381700002 meters Centerline goodness [0,1] 0.9397857862385133 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.25, Z:-1.32 [[ 9.97878205e-01 -5.79036785e-02 -2.97699711e-02 7.17231968e+00] [ 5.80530567e-02 9.98304759e-01 4.17743884e-03 -2.54485185e-01] [ 2.94776147e-02 -5.89681299e-03 9.99548047e-01 -1.32031783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23119381700002 meters Centerline goodness [0,1] 0.9402790966516659 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.25, Z:-1.32 [[ 9.97983531e-01 -5.61959034e-02 -2.95108780e-02 7.17033331e+00] [ 5.63771073e-02 9.98395245e-01 5.34385676e-03 -2.52330241e-01] [ 2.91632174e-02 -6.99681897e-03 9.99550174e-01 -1.31890236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26119381700002 meters Centerline goodness [0,1] 0.9406085913920701 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.25, Z:-1.32 [[ 0.99815236 -0.05287762 -0.02993047 7.17133956] [ 0.05312496 0.99855949 0.00752932 -0.24745903] [ 0.02948922 -0.00910546 0.99952362 -1.31983623] [ 0. 0. 0. 1. ]] SLAMing on 174.29119381700002 meters Centerline goodness [0,1] 0.9399275839368005 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.24, Z:-1.32 [[ 9.98150592e-01 -5.27489005e-02 -3.02150609e-02 7.17214702e+00] [ 5.29800842e-02 9.98571717e-01 6.90193105e-03 -2.44817596e-01] [ 2.98078360e-02 -8.48996304e-03 9.99519591e-01 -1.32032259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32119381700002 meters Centerline goodness [0,1] 0.9414757217304988 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.24, Z:-1.32 [[ 9.98158331e-01 -5.26058118e-02 -3.02088654e-02 7.17178293e+00] [ 5.28246880e-02 9.98582692e-01 6.49310338e-03 -2.42653242e-01] [ 2.98244751e-02 -8.07691912e-03 9.99522518e-01 -1.32002008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35119381700002 meters Centerline goodness [0,1] 0.9420766149738112 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.24, Z:-1.32 [[ 9.98428179e-01 -4.98986514e-02 -2.55205160e-02 7.18146179e+00] [ 4.98851743e-02 9.98754280e-01 -1.16486760e-03 -2.39557449e-01] [ 2.55468499e-02 -1.10058749e-04 9.99673620e-01 -1.32213129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38119381700002 meters Centerline goodness [0,1] 0.9408330410744126 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.24, Z:-1.32 [[ 9.98576117e-01 -4.67697759e-02 -2.56578674e-02 7.18085367e+00] [ 4.68304747e-02 9.98901284e-01 1.76960766e-03 -2.37325710e-01] [ 2.55469125e-02 -2.96865806e-03 9.99669216e-01 -1.32150759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41119381700003 meters Centerline goodness [0,1] 0.9408330410744126 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.24, Z:-1.32 [[ 9.98576117e-01 -4.67697759e-02 -2.56578674e-02 7.18085367e+00] [ 4.68304747e-02 9.98901284e-01 1.76960766e-03 -2.37325710e-01] [ 2.55469125e-02 -2.96865806e-03 9.99669216e-01 -1.32150759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44119381700003 meters Centerline goodness [0,1] 0.9424211177562384 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.24, Z:-1.32 [[ 9.98571790e-01 -4.68199270e-02 -2.57346877e-02 7.18130007e+00] [ 4.68724481e-02 9.98899843e-01 1.44111425e-03 -2.35923692e-01] [ 2.56389026e-02 -2.64530385e-03 9.99667769e-01 -1.32188214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47119381700003 meters Centerline goodness [0,1] 0.9418893208702126 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.23, Z:-1.32 [[ 9.98567276e-01 -4.68280671e-02 -2.58945515e-02 7.18195499e+00] [ 4.68764109e-02 9.98899899e-01 1.26275164e-03 -2.34960207e-01] [ 2.58069326e-02 -2.47478610e-03 9.99663882e-01 -1.32237631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50119381700003 meters Centerline goodness [0,1] 0.9416987458090152 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.23, Z:-1.32 [[ 9.98554357e-01 -4.69526852e-02 -2.61656681e-02 7.18350451e+00] [ 4.69985424e-02 9.98894307e-01 1.14001498e-03 -2.34644402e-01] [ 2.60832101e-02 -2.36811519e-03 9.99656970e-01 -1.32368939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53119381700003 meters Centerline goodness [0,1] 0.9399404983265154 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.24, Z:-1.32 [[ 9.98545686e-01 -4.70655731e-02 -2.62934265e-02 7.18431162e+00] [ 4.71144218e-02 9.98888728e-01 1.24108030e-03 -2.35190245e-01] [ 2.62057952e-02 -2.47807497e-03 9.99653498e-01 -1.32433707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56119381700003 meters Centerline goodness [0,1] 0.9393683081302994 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.24, Z:-1.32 [[ 9.98532355e-01 -4.72256678e-02 -2.65117557e-02 7.18489014e+00] [ 4.72759724e-02 9.98881054e-01 1.27351854e-03 -2.35476329e-01] [ 2.64219477e-02 -2.52501849e-03 9.99647690e-01 -1.32447008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59119381700003 meters Centerline goodness [0,1] 0.9400053862567587 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.24, Z:-1.32 [[ 9.98521984e-01 -4.73692518e-02 -2.66458655e-02 7.18505710e+00] [ 4.74219238e-02 9.98874038e-01 1.34795963e-03 -2.35832854e-01] [ 2.65520114e-02 -2.60956553e-03 9.99644027e-01 -1.32431076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62119381700003 meters Centerline goodness [0,1] 0.9416720004955299 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.24, Z:-1.32 [[ 9.98490112e-01 -4.78965099e-02 -2.68964661e-02 7.18555844e+00] [ 4.79445827e-02 9.98849341e-01 1.14492259e-03 -2.36049316e-01] [ 2.68106797e-02 -2.43273373e-03 9.99637569e-01 -1.32423767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65119381700003 meters Centerline goodness [0,1] 0.9404525933267261 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.24, Z:-1.32 [[ 9.98491702e-01 -4.77946059e-02 -2.70184658e-02 7.18554320e+00] [ 4.78505485e-02 9.98853486e-01 1.42742698e-03 -2.36656258e-01] [ 2.69192654e-02 -2.71812241e-03 9.99633915e-01 -1.32385619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68119381700004 meters Centerline goodness [0,1] 0.9389528252980819 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.24, Z:-1.32 [[ 9.98491386e-01 -4.77452069e-02 -2.71172979e-02 7.18557335e+00] [ 4.78052567e-02 9.98855441e-01 1.57011690e-03 -2.37070358e-01] [ 2.70112950e-02 -2.86409759e-03 9.99631025e-01 -1.32361735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71119381700004 meters Centerline goodness [0,1] 0.9370430627921824 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.24, Z:-1.32 [[ 9.98473496e-01 -4.79871847e-02 -2.73478895e-02 7.18624296e+00] [ 4.80420610e-02 9.98844398e-01 1.35272049e-03 -2.37034349e-01] [ 2.72513730e-02 -2.66450454e-03 9.99625061e-01 -1.32377981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74119381700004 meters Centerline goodness [0,1] 0.9416727121981553 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.24, Z:-1.32 [[ 9.98469052e-01 -4.80253728e-02 -2.74429696e-02 7.18635976e+00] [ 4.80793352e-02 9.98842662e-01 1.30951534e-03 -2.36525750e-01] [ 2.73483189e-02 -2.62695027e-03 9.99622513e-01 -1.32374324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.771193817 meters Centerline goodness [0,1] 0.9407422680412371 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.24, Z:-1.32 [[ 9.98451169e-01 -4.82548143e-02 -2.76899903e-02 7.18715121e+00] [ 4.82996946e-02 9.98832433e-01 9.53878555e-04 -2.35513168e-01] [ 2.76116312e-02 -2.28981923e-03 9.99616104e-01 -1.32408651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.801193817 meters Centerline goodness [0,1] 0.940848399402886 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.23, Z:-1.32 [[ 9.98453233e-01 -4.82093561e-02 -2.76947468e-02 7.18686453e+00] [ 4.82517806e-02 9.98834830e-01 8.65229349e-04 -2.34683123e-01] [ 2.76207655e-02 -2.20021189e-03 9.99616052e-01 -1.32373188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.831193817 meters Centerline goodness [0,1] 0.9399689280165717 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.23, Z:-1.32 [[ 9.98452763e-01 -4.81832223e-02 -2.77571019e-02 7.18666602e+00] [ 4.82227185e-02 9.98836323e-01 7.54904076e-04 -2.33891967e-01] [ 2.76884279e-02 -2.09225897e-03 9.99614412e-01 -1.32336130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86119381700001 meters Centerline goodness [0,1] 0.9425118473604701 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.23, Z:-1.32 [[ 9.98452593e-01 -4.81347044e-02 -2.78472458e-02 7.18648943e+00] [ 4.81731164e-02 9.98838749e-01 7.09768066e-04 -2.33437036e-01] [ 2.77807437e-02 -2.05015838e-03 9.99611938e-01 -1.32290176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.89119381700002 meters Centerline goodness [0,1] 0.9421477317513327 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.23, Z:-1.32 [[ 9.98454228e-01 -4.80617841e-02 -2.79144993e-02 7.18634836e+00] [ 4.80983867e-02 9.98842397e-01 6.40881574e-04 -2.32996191e-01] [ 2.78513835e-02 -1.98253330e-03 9.99610109e-01 -1.32255697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92119381700002 meters Centerline goodness [0,1] 0.9436006878975612 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.23, Z:-1.32 [[ 9.98444473e-01 -4.81812585e-02 -2.80570833e-02 7.18680311e+00] [ 4.82074884e-02 9.98837310e-01 2.58819891e-04 -2.31616310e-01] [ 2.80119913e-02 -1.61097881e-03 9.99606289e-01 -1.32280285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.95119381700002 meters Centerline goodness [0,1] 0.9421946238111939 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.23, Z:-1.32 [[ 9.98424057e-01 -4.84977773e-02 -2.82376909e-02 7.18761885e+00] [ 4.85162336e-02 9.98822394e-01 -3.15625688e-05 -2.31067322e-01] [ 2.82059687e-02 -1.33847358e-03 9.99601236e-01 -1.32330573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98119381700002 meters Centerline goodness [0,1] 0.9376896245691524 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.23, Z:-1.32 [[ 9.98373305e-01 -4.95721643e-02 -2.81663738e-02 7.18754677e+00] [ 4.95734919e-02 9.98770266e-01 -6.51587242e-04 -2.30464076e-01] [ 2.81640373e-02 -7.45778194e-04 9.99603037e-01 -1.32324180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01119381700002 meters Centerline goodness [0,1] 0.9342078125644516 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.23, Z:-1.32 [[ 9.98347136e-01 -5.00115934e-02 -2.83167320e-02 7.18794934e+00] [ 5.00083113e-02 9.98748461e-01 -8.24516285e-04 -2.30578841e-01] [ 2.83225279e-02 -5.92918480e-04 9.99598661e-01 -1.32329226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04119381700002 meters Centerline goodness [0,1] 0.929178704085844 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.23, Z:-1.32 [[ 9.98323459e-01 -5.04194027e-02 -2.84280671e-02 7.18829726e+00] [ 5.04130952e-02 9.98728010e-01 -9.39008180e-04 -2.30712559e-01] [ 2.84392511e-02 -4.95712960e-04 9.99595400e-01 -1.32334630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07119381700002 meters Centerline goodness [0,1] 0.9213842314751799 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.23, Z:-1.32 [[ 9.98297360e-01 -5.08567157e-02 -2.85652968e-02 7.18871423e+00] [ 5.08464875e-02 9.98705892e-01 -1.08479133e-03 -2.30956713e-01] [ 2.85834991e-02 -3.69500683e-04 9.99591340e-01 -1.32342342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10119381700002 meters Centerline goodness [0,1] 0.9069080238877524 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.23, Z:-1.32 [[ 9.98230127e-01 -5.21519568e-02 -2.85794921e-02 7.18919525e+00] [ 5.21205449e-02 9.98639099e-01 -1.84345497e-03 -2.30607170e-01] [ 2.86367380e-02 3.50613594e-04 9.99589823e-01 -1.32378848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13119381700002 meters Centerline goodness [0,1] 0.880329867928818 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.23, Z:-1.32 [[ 9.98205516e-01 -5.25309592e-02 -2.87445123e-02 7.19020804e+00] [ 5.24924010e-02 9.98619126e-01 -2.09488018e-03 -2.30282164e-01] [ 2.88148658e-02 5.82252489e-04 9.99584596e-01 -1.32455636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16119381700003 meters Centerline goodness [0,1] 0.8686650185414091 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.23, Z:-1.33 [[ 9.98178885e-01 -5.29181413e-02 -2.89583229e-02 7.19126340e+00] [ 5.28688273e-02 9.98598420e-01 -2.46648152e-03 -2.29299508e-01] [ 2.90482571e-02 9.30997198e-04 9.99577577e-01 -1.32526243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19119381700003 meters Centerline goodness [0,1] 0.8633207983800983 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.23, Z:-1.33 [[ 9.98155249e-01 -5.33359645e-02 -2.90064595e-02 7.19154874e+00] [ 5.32688380e-02 9.98575450e-01 -3.08257074e-03 -2.27218580e-01] [ 2.91295502e-02 1.53174377e-03 9.99574471e-01 -1.32550371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22119381700003 meters Centerline goodness [0,1] 0.8558006029818692 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.23, Z:-1.33 [[ 9.98288310e-01 -5.05833351e-02 -2.93560121e-02 7.19222769e+00] [ 5.06035241e-02 9.98718819e-01 -5.52589294e-05 -2.26225522e-01] [ 2.93211970e-02 -1.43035332e-03 9.99569018e-01 -1.32571181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25119381700003 meters Centerline goodness [0,1] 0.8624206193244109 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.22, Z:-1.33 [[ 9.98432046e-01 -4.75565277e-02 -2.95267007e-02 7.19179005e+00] [ 4.76645709e-02 9.98858995e-01 2.96577393e-03 -2.24459677e-01] [ 2.93519687e-02 -4.36850125e-03 9.99559592e-01 -1.32508193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28119381700003 meters Centerline goodness [0,1] 0.8685806212102463 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.22, Z:-1.32 [[ 9.98557159e-01 -4.45686027e-02 -2.99539683e-02 7.19195572e+00] [ 4.47369314e-02 9.98986426e-01 4.97276138e-03 -2.19677012e-01] [ 2.97019787e-02 -6.30563510e-03 9.99538909e-01 -1.32468309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31119381700003 meters Centerline goodness [0,1] 0.875398572339594 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.22, Z:-1.32 [[ 9.98543895e-01 -4.46369905e-02 -3.02923860e-02 7.19239385e+00] [ 4.47830029e-02 9.98988083e-01 4.15855591e-03 -2.16772262e-01] [ 3.00761072e-02 -5.50908463e-03 9.99532430e-01 -1.32443566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34119381700003 meters Centerline goodness [0,1] 0.9020152169442731 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.21, Z:-1.32 [[ 9.98536394e-01 -4.46080887e-02 -3.05808527e-02 7.19256593e+00] [ 4.47307880e-02 9.98993495e-01 3.33964909e-03 -2.13610374e-01] [ 3.04010975e-02 -4.70266679e-03 9.99526717e-01 -1.32397203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37119381700003 meters Centerline goodness [0,1] 0.9028196342319283 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.21, Z:-1.32 [[ 9.98632049e-01 -4.25803453e-02 -3.03470611e-02 7.19042044e+00] [ 4.27490695e-02 9.99073664e-01 4.93258198e-03 -2.10552762e-01] [ 3.01089185e-02 -6.22314307e-03 9.99527251e-01 -1.32230935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40119381700003 meters Centerline goodness [0,1] 0.9229882691911916 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.20, Z:-1.32 [[ 9.98985346e-01 -3.59082660e-02 -2.71822378e-02 7.19720427e+00] [ 3.59188334e-02 9.99354706e-01 -9.95660817e-05 -2.02066309e-01] [ 2.71682725e-02 -8.76889214e-04 9.99630490e-01 -1.32129528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43119381700004 meters Centerline goodness [0,1] 0.9339529120198266 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.20, Z:-1.32 [[ 9.99108611e-01 -3.21041979e-02 -2.74099324e-02 7.19712511e+00] [ 3.22025325e-02 9.99476389e-01 3.15359254e-03 -1.99414823e-01] [ 2.72943367e-02 -4.03345070e-03 9.99619303e-01 -1.32094111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46119381700004 meters Centerline goodness [0,1] 0.934880270370523 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.20, Z:-1.32 [[ 9.99209743e-01 -2.84636432e-02 -2.77436696e-02 7.19777275e+00] [ 2.86462606e-02 9.99570339e-01 6.20715047e-03 -1.97088031e-01] [ 2.75550711e-02 -6.99699761e-03 9.99595798e-01 -1.32111974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49119381700004 meters Centerline goodness [0,1] 0.9379910677363328 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.19, Z:-1.32 [[ 0.99930517 -0.02451831 -0.02807189 7.19910602] [ 0.02476662 0.99965685 0.00853239 -0.19199453] [ 0.02785306 -0.00922171 0.99956949 -1.32231293] [ 0. 0. 0. 1. ]] SLAMing on 175.521193817 meters Centerline goodness [0,1] 0.9383819863620445 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.19, Z:-1.32 [[ 0.99931351 -0.02351741 -0.02862572 7.20165701] [ 0.0237783 0.99967846 0.00880764 -0.18958174] [ 0.02840939 -0.00948226 0.9995514 -1.32401918] [ 0. 0. 0. 1. ]] SLAMing on 175.551193817 meters Centerline goodness [0,1] 0.9393726349744629 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.19, Z:-1.32 [[ 0.99931426 -0.02344627 -0.02865789 7.2018913 ] [ 0.0236924 0.99968501 0.00827929 -0.18718749] [ 0.02845475 -0.00895259 0.99955499 -1.32426965] [ 0. 0. 0. 1. ]] SLAMing on 175.581193817 meters Centerline goodness [0,1] 0.9394479073909172 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.18, Z:-1.32 [[ 0.99930764 -0.02366571 -0.02870849 7.20204201] [ 0.02389416 0.99968529 0.00764087 -0.18495178] [ 0.02851863 -0.00832154 0.99955862 -1.32433141] [ 0. 0. 0. 1. ]] SLAMing on 175.61119381700001 meters Centerline goodness [0,1] 0.9367085992852864 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.18, Z:-1.32 [[ 9.99286496e-01 -2.43131844e-02 -2.89027270e-02 7.20272996e+00] [ 2.45204061e-02 9.99675951e-01 6.83689955e-03 -1.83173154e-01] [ 2.87271343e-02 -7.54072800e-03 9.99558847e-01 -1.32459881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64119381700002 meters Centerline goodness [0,1] 0.9340768482691552 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.18, Z:-1.32 [[ 9.99269726e-01 -2.48477125e-02 -2.90276795e-02 7.20304357e+00] [ 2.50427563e-02 9.99666054e-01 6.37507247e-03 -1.82403886e-01] [ 2.88595798e-02 -7.09735003e-03 9.99558279e-01 -1.32459365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.67119381700002 meters Centerline goodness [0,1] 0.9282045972250984 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.18, Z:-1.33 [[ 9.99134791e-01 -2.95389609e-02 -2.92765872e-02 7.20434562e+00] [ 2.96023739e-02 9.99560248e-01 1.73485353e-03 -1.81068021e-01] [ 2.92124670e-02 -2.60000900e-03 9.99569843e-01 -1.32530488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70119381700002 meters Centerline goodness [0,1] 0.9203185598440384 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.18, Z:-1.33 [[ 9.99119659e-01 -2.99674815e-02 -2.93573981e-02 7.20477702e+00] [ 3.00318460e-02 9.99547404e-01 1.75388349e-03 -1.82171277e-01] [ 2.92915515e-02 -2.63399634e-03 9.99567440e-01 -1.32553515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73119381700002 meters Centerline goodness [0,1] 0.9099043377865743 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.18, Z:-1.33 [[ 9.99050901e-01 -3.17873560e-02 -2.97802116e-02 7.20724993e+00] [ 3.18058683e-02 9.99494054e-01 1.48019758e-04 -1.81819464e-01] [ 2.97604393e-02 -1.09506476e-03 9.99556460e-01 -1.32719904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76119381700002 meters Centerline goodness [0,1] 0.879576706428098 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.18, Z:-1.33 [[ 9.99008869e-01 -3.31524345e-02 -2.97017888e-02 7.20736383e+00] [ 3.31413952e-02 9.99450300e-01 -8.64015542e-04 -1.80285490e-01] [ 2.97141059e-02 -1.21199530e-04 9.99558431e-01 -1.32741776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79119381700002 meters Centerline goodness [0,1] 0.8559278190509695 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.18, Z:-1.33 [[ 9.98988849e-01 -3.36078226e-02 -2.98629244e-02 7.20794184e+00] [ 3.35867788e-02 9.99435077e-01 -1.20615375e-03 -1.79224414e-01] [ 2.98865903e-02 2.01934713e-04 9.99553276e-01 -1.32764560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82119381700002 meters Centerline goodness [0,1] 0.8318364818829359 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.18, Z:-1.33 [[ 9.98962424e-01 -3.41822287e-02 -3.00940244e-02 7.20886138e+00] [ 3.41464602e-02 9.99415391e-01 -1.70182440e-03 -1.78057721e-01] [ 3.01346033e-02 6.72454225e-04 9.99545624e-01 -1.32810055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85119381700002 meters Centerline goodness [0,1] 0.8376123102344315 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.18, Z:-1.33 [[ 9.98933874e-01 -3.47869764e-02 -3.03476833e-02 7.20985526e+00] [ 3.47392942e-02 9.99394208e-01 -2.09719597e-03 -1.77493376e-01] [ 3.04022540e-02 1.04070300e-03 9.99537203e-01 -1.32858793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88119381700002 meters Centerline goodness [0,1] 0.7309411498135827 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.18, Z:-1.33 [[ 9.98860846e-01 -3.67534793e-02 -3.04333975e-02 7.21030360e+00] [ 3.66614385e-02 9.99321342e-01 -3.57701558e-03 -1.75968760e-01] [ 3.05442114e-02 2.45720868e-03 9.99530396e-01 -1.32868970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91119381700003 meters Centerline goodness [0,1] 0.7642388749123603 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.17, Z:-1.33 [[ 9.98835658e-01 -3.74260521e-02 -3.04404287e-02 7.20987801e+00] [ 3.73122104e-02 9.99294408e-01 -4.29949400e-03 -1.74252415e-01] [ 3.05798632e-02 3.15868824e-03 9.99527336e-01 -1.32801168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94119381700003 meters Centerline goodness [0,1] 0.7585637639290136 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.17, Z:-1.33 [[ 9.98812471e-01 -3.80448418e-02 -3.04341679e-02 7.20936914e+00] [ 3.79053602e-02 9.99268077e-01 -5.14715615e-03 -1.71814143e-01] [ 3.06077151e-02 3.98742565e-03 9.99523521e-01 -1.32729426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97119381700003 meters Centerline goodness [0,1] 0.7431679326287979 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.17, Z:-1.33 [[ 9.98913651e-01 -3.52200756e-02 -3.05133530e-02 7.20910716e+00] [ 3.51764504e-02 9.99379184e-01 -1.96549719e-03 -1.70996575e-01] [ 3.05636348e-02 8.90010521e-04 9.99532427e-01 -1.32693452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00119381700003 meters Centerline goodness [0,1] 0.7087252475247525 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.17, Z:-1.33 [[ 9.98961525e-01 -3.34835249e-02 -3.08986278e-02 7.21029377e+00] [ 3.34984357e-02 9.99438769e-01 -3.50970805e-05 -1.69226093e-01] [ 3.08824617e-02 -9.99995064e-04 9.99522523e-01 -1.32742768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03119381700003 meters Centerline goodness [0,1] 0.6942051925093017 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.17, Z:-1.33 [[ 9.98929932e-01 -3.41136723e-02 -3.12289643e-02 7.21110857e+00] [ 3.40894354e-02 9.99417930e-01 -1.30834838e-03 -1.65412054e-01] [ 3.12554194e-02 2.42370598e-04 9.99511401e-01 -1.32753705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06119381700003 meters Centerline goodness [0,1] 0.7215893876037653 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.16, Z:-1.33 [[ 9.98997238e-01 -3.20320731e-02 -3.12804318e-02 7.21059736e+00] [ 3.20396613e-02 9.99486565e-01 -2.58742055e-04 -1.57999143e-01] [ 3.12726593e-02 -7.43731841e-04 9.99510614e-01 -1.32687766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09119381700003 meters Centerline goodness [0,1] 0.7227450174645572 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.15, Z:-1.33 [[ 9.99033843e-01 -3.03158329e-02 -3.18171460e-02 7.21262325e+00] [ 3.03641029e-02 9.99538369e-01 1.03492094e-03 -1.53937096e-01] [ 3.17710837e-02 -2.00002014e-03 9.99493171e-01 -1.32798470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12119381700003 meters Centerline goodness [0,1] 0.7240513105606687 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.15, Z:-1.33 [[ 9.99114180e-01 -2.74345747e-02 -3.19092439e-02 7.21291839e+00] [ 2.75562981e-02 9.99614535e-01 3.38110508e-03 -1.50364009e-01] [ 3.18041849e-02 -4.25741067e-03 9.99485052e-01 -1.32820844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15119381700003 meters Centerline goodness [0,1] 0.7381918553154675 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.15, Z:-1.33 [[ 9.99186010e-01 -2.45362073e-02 -3.20201840e-02 7.21300474e+00] [ 2.47264283e-02 9.99678803e-01 5.55821048e-03 -1.46091423e-01] [ 3.18735218e-02 -6.34543093e-03 9.99471768e-01 -1.32813780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18119381700004 meters Centerline goodness [0,1] 0.8096261103077876 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.14, Z:-1.33 [[ 9.99250051e-01 -2.15402222e-02 -3.21769158e-02 7.21313499e+00] [ 2.17520978e-02 9.99743864e-01 6.24919710e-03 -1.35721281e-01] [ 3.20340650e-02 -6.94442595e-03 9.99462652e-01 -1.32795062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21119381700004 meters Centerline goodness [0,1] 0.7622438239118321 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.13, Z:-1.33 [[ 0.99930027 -0.01862142 -0.03243788 7.21407843] [ 0.0189012 0.99978657 0.00833982 -0.13103635] [ 0.03227566 -0.0089471 0.99943896 -1.32845607] [ 0. 0. 0. 1. ]] SLAMing on 176.24119381700004 meters Centerline goodness [0,1] 0.823155111147839 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.13, Z:-1.33 [[ 0.99934387 -0.01575156 -0.03261476 7.21445573] [ 0.01609476 0.99981755 0.01028728 -0.1260251 ] [ 0.03244677 -0.01080546 0.99941505 -1.32848608] [ 0. 0. 0. 1. ]] SLAMing on 176.271193817 meters Centerline goodness [0,1] 0.8485878281771275 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.12, Z:-1.33 [[ 0.99941982 -0.01025096 -0.03247979 7.21329472] [ 0.01070874 0.99984532 0.01395188 -0.11541613] [ 0.03233175 -0.0142916 0.99937501 -1.32744928] [ 0. 0. 0. 1. ]] SLAMing on 176.301193817 meters Centerline goodness [0,1] 0.8485878281771275 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.12, Z:-1.33 [[ 0.99941982 -0.01025096 -0.03247979 7.21329472] [ 0.01070874 0.99984532 0.01395188 -0.11541613] [ 0.03233175 -0.0142916 0.99937501 -1.32744928] [ 0. 0. 0. 1. ]] SLAMing on 176.331193817 meters Centerline goodness [0,1] 0.8213716768387297 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.11, Z:-1.33 [[ 9.99515453e-01 -6.64799408e-03 -3.04082848e-02 7.22096265e+00] [ 6.85179020e-03 9.99954728e-01 6.60270974e-03 -1.09076488e-01] [ 3.03630134e-02 -6.80786161e-03 9.99515753e-01 -1.32616666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36119381700001 meters Centerline goodness [0,1] 0.8874657096301797 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.10, Z:-1.33 [[ 9.99636543e-01 -2.76165695e-03 -2.68170812e-02 7.22979648e+00] [ 2.75488525e-03 9.99996163e-01 -2.89456888e-04 -1.03337922e-01] [ 2.68177777e-02 2.15473702e-04 9.99640315e-01 -1.32678051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.39119381700002 meters Centerline goodness [0,1] 0.8909814761335039 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.10, Z:-1.33 [[ 9.99623002e-01 3.62949574e-03 -2.72154533e-02 7.23210548e+00] [-3.51354007e-03 9.99984551e-01 4.30726589e-03 -9.55947977e-02] [ 2.72306661e-02 -4.21001947e-03 9.99620311e-01 -1.32839598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42119381700002 meters Centerline goodness [0,1] 0.9315983132131636 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.09, Z:-1.33 [[ 9.99619445e-01 4.19876691e-03 -2.72641875e-02 7.23262567e+00] [-4.10304194e-03 9.99985224e-01 3.56600979e-03 -9.09110895e-02] [ 2.72787575e-02 -3.45278663e-03 9.99621902e-01 -1.32858503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.45119381700002 meters Centerline goodness [0,1] 0.9373928136041491 Centerline is valid? [False, False] Translation: X:7.24, Y:-0.09, Z:-1.33 [[ 9.99681844e-01 7.86679427e-03 -2.39650848e-02 7.24157550e+00] [-7.94779465e-03 9.99963015e-01 -3.28656006e-03 -8.65538769e-02] [ 2.39383438e-02 3.47598400e-03 9.99707394e-01 -1.32896269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48119381700002 meters Centerline goodness [0,1] 0.9394463667820069 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.08, Z:-1.33 [[ 0.99974411 0.01186267 -0.01926098 7.25275154] [-0.01203194 0.9998898 -0.00869623 -0.08281604] [ 0.0191557 0.00892575 0.99977667 -1.33175992] [ 0. 0. 0. 1. ]] SLAMing on 176.51119381700002 meters Centerline goodness [0,1] 0.9397069172496585 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.08, Z:-1.33 [[ 9.99693291e-01 1.55020378e-02 -1.93135023e-02 7.25311578e+00] [-1.56062936e-02 9.99864384e-01 -5.25909932e-03 -8.16692808e-02] [ 1.92293563e-02 5.55889849e-03 9.99799645e-01 -1.33191043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54119381700002 meters Centerline goodness [0,1] 0.9397615259035771 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.08, Z:-1.33 [[ 9.99661416e-01 1.67395156e-02 -1.99208892e-02 7.25589610e+00] [-1.68325388e-02 9.99848146e-01 -4.51114046e-03 -8.00872445e-02] [ 1.98423498e-02 4.84493220e-03 9.99791382e-01 -1.33352784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57119381700002 meters Centerline goodness [0,1] 0.9346915185666811 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.08, Z:-1.34 [[ 9.99593825e-01 2.00300734e-02 -2.02726845e-02 7.25820521e+00] [-2.00681447e-02 9.99797209e-01 -1.67625058e-03 -7.82539522e-02] [ 2.02349980e-02 2.08240489e-03 9.99793083e-01 -1.33511496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60119381700002 meters Centerline goodness [0,1] 0.9317518474818357 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.08, Z:-1.34 [[ 9.99584092e-01 2.03066954e-02 -2.04763444e-02 7.25896805e+00] [-2.03488392e-02 9.99791226e-01 -1.85189687e-03 -7.70578898e-02] [ 2.04344636e-02 2.26779649e-03 9.99788623e-01 -1.33542704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63119381700002 meters Centerline goodness [0,1] 0.9299487984144025 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.08, Z:-1.34 [[ 9.99548867e-01 2.15089785e-02 -2.09624753e-02 7.26118181e+00] [-2.15325293e-02 9.99767745e-01 -8.98383144e-04 -7.73087371e-02] [ 2.09382833e-02 1.34935297e-03 9.99779860e-01 -1.33669746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66119381700003 meters Centerline goodness [0,1] 0.9326795762992387 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.08, Z:-1.34 [[ 9.99537788e-01 2.19100297e-02 -2.10751492e-02 7.26123071e+00] [-2.19307316e-02 9.99759210e-01 -7.51641347e-04 -7.74539035e-02] [ 2.10536061e-02 1.21348737e-03 9.99777612e-01 -1.33634390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69119381700003 meters Centerline goodness [0,1] 0.9313442081354533 Centerline is valid? [False, False] Translation: X:7.27, Y:-0.08, Z:-1.34 [[ 0.99953213 0.02495383 -0.01768672 7.27126364] [-0.02508918 0.99965729 -0.00747285 -0.07831891] [ 0.01749418 0.0079131 0.99981565 -1.3375891 ] [ 0. 0. 0. 1. ]] SLAMing on 176.72119381700003 meters Centerline goodness [0,1] 0.9314001657000829 Centerline is valid? [False, False] Translation: X:7.27, Y:-0.08, Z:-1.34 [[ 9.99498407e-01 2.62865378e-02 -1.76621743e-02 7.27089741e+00] [-2.63944712e-02 9.99634159e-01 -5.90588293e-03 -8.16451298e-02] [ 1.75004676e-02 6.36910433e-03 9.99826569e-01 -1.33708089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75119381700003 meters Centerline goodness [0,1] 0.9337949565936338 Centerline is valid? [False, False] Translation: X:7.27, Y:-0.08, Z:-1.34 [[ 9.99476788e-01 2.69089485e-02 -1.79460025e-02 7.27170645e+00] [-2.69993858e-02 9.99623848e-01 -4.81627280e-03 -8.41119933e-02] [ 1.78096512e-02 5.29828391e-03 9.99827357e-01 -1.33734644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78119381700003 meters Centerline goodness [0,1] 0.9330252135517683 Centerline is valid? [False, False] Translation: X:7.27, Y:-0.09, Z:-1.34 [[ 9.99464017e-01 2.71346834e-02 -1.83135898e-02 7.27218987e+00] [-2.72077466e-02 9.99622759e-01 -3.75221869e-03 -8.76372521e-02] [ 1.82048659e-02 4.24847908e-03 9.99825251e-01 -1.33710103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81119381700003 meters Centerline goodness [0,1] 0.9370934540963359 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.10, Z:-1.33 [[ 9.99683345e-01 1.94577292e-02 -1.59564083e-02 7.27731576e+00] [-1.94370807e-02 9.99810033e-01 1.44813077e-03 -9.75523063e-02] [ 1.59815544e-02 -1.13752621e-03 9.99871640e-01 -1.33457997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84119381700003 meters Centerline goodness [0,1] 0.9380100568790701 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.10, Z:-1.33 [[ 9.99742148e-01 1.58183495e-02 -1.62916450e-02 7.27752628e+00] [-1.58357969e-02 9.99874162e-01 -9.42484312e-04 -1.02901884e-01] [ 1.62746864e-02 1.20023247e-03 9.99866838e-01 -1.33423233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87119381700003 meters Centerline goodness [0,1] 0.941438193915175 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.11, Z:-1.33 [[ 9.99838767e-01 8.40981894e-03 -1.58655276e-02 7.28544774e+00] [-8.35180289e-03 9.99958206e-01 3.71945733e-03 -1.08424346e-01] [ 1.58961444e-02 -3.58635187e-03 9.99867217e-01 -1.33253307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90119381700003 meters Centerline goodness [0,1] 0.9417638303150583 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.11, Z:-1.33 [[ 9.99864864e-01 4.29129748e-03 -1.58694103e-02 7.28536804e+00] [-4.27789668e-03 9.99990464e-01 8.78292563e-04 -1.13185141e-01] [ 1.58730280e-02 -8.10286176e-04 9.99873687e-01 -1.33239423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93119381700004 meters Centerline goodness [0,1] 0.9391486189904343 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.12, Z:-1.33 [[ 9.99873231e-01 4.73598955e-04 -1.59153326e-02 7.28521810e+00] [-5.02090378e-04 9.99998279e-01 -1.78623904e-03 -1.17572447e-01] [ 1.59144593e-02 1.79400354e-03 9.99871748e-01 -1.33200270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96119381700004 meters Centerline goodness [0,1] 0.9193963476148319 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.13, Z:-1.34 [[ 9.99912638e-01 -7.05861309e-03 -1.11755464e-02 7.29544531e+00] [ 7.09718602e-03 9.99968981e-01 3.41565915e-03 -1.27653540e-01] [ 1.11510899e-02 -3.49467568e-03 9.99931718e-01 -1.33528684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99119381700004 meters Centerline goodness [0,1] 0.916654614574079 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.13, Z:-1.34 [[ 9.99881196e-01 -1.04164327e-02 -1.13618330e-02 7.29629913e+00] [ 1.04241360e-02 9.99945476e-01 6.18980424e-04 -1.30431773e-01] [ 1.13547659e-02 -7.37344179e-04 9.99935261e-01 -1.33577282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.021193817 meters Centerline goodness [0,1] 0.8944574615879072 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.13, Z:-1.34 [[ 9.99878616e-01 -1.05422823e-02 -1.14723341e-02 7.29696849e+00] [ 1.05612604e-02 9.99942956e-01 1.59491572e-03 -1.34333787e-01] [ 1.14548657e-02 -1.71588443e-03 9.99932919e-01 -1.33632839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.051193817 meters Centerline goodness [0,1] 0.8893579341872246 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.14, Z:-1.34 [[ 9.99849328e-01 -1.24213257e-02 -1.21256663e-02 7.29987220e+00] [ 1.24227409e-02 9.99922834e-01 4.13897560e-05 -1.36616649e-01] [ 1.21242165e-02 -1.92017529e-04 9.99926481e-01 -1.33807837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.081193817 meters Centerline goodness [0,1] 0.8909049435965495 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.14, Z:-1.34 [[ 9.99852617e-01 -1.21073192e-02 -1.21719701e-02 7.29986604e+00] [ 1.21204499e-02 9.99926039e-01 1.00557087e-03 -1.39327154e-01] [ 1.21588951e-02 -1.15295242e-03 9.99925413e-01 -1.33784632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.11119381700001 meters Centerline goodness [0,1] 0.900103519668737 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.14, Z:-1.34 [[ 9.99855364e-01 -1.16142135e-02 -1.24242374e-02 7.30038518e+00] [ 1.16335278e-02 9.99931228e-01 1.48342852e-03 -1.39803698e-01] [ 1.24061541e-02 -1.62775168e-03 9.99921716e-01 -1.33780081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14119381700002 meters Centerline goodness [0,1] 0.9060961991811076 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.14, Z:-1.34 [[ 9.99858753e-01 -1.10468751e-02 -1.26665275e-02 7.30089939e+00] [ 1.10736789e-02 9.99936588e-01 2.04793180e-03 -1.40600160e-01] [ 1.26431011e-02 -2.18790759e-03 9.99917679e-01 -1.33773675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.17119381700002 meters Centerline goodness [0,1] 0.9075341045735373 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.14, Z:-1.34 [[ 9.99860162e-01 -1.07743853e-02 -1.27893903e-02 7.30096157e+00] [ 1.08051837e-02 9.99938881e-01 2.34146369e-03 -1.41097472e-01] [ 1.27633808e-02 -2.47932798e-03 9.99915471e-01 -1.33743669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20119381700002 meters Centerline goodness [0,1] 0.9050411288150343 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.14, Z:-1.34 [[ 9.99864103e-01 -1.05944719e-02 -1.26306184e-02 7.30037441e+00] [ 1.06292394e-02 9.99939893e-01 2.68869282e-03 -1.41544850e-01] [ 1.26013739e-02 -2.82258130e-03 9.99916616e-01 -1.33684275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23119381700002 meters Centerline goodness [0,1] 0.9013421432996077 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.14, Z:-1.34 [[ 9.99859895e-01 -1.06558112e-02 -1.29091033e-02 7.30098662e+00] [ 1.06893299e-02 9.99939666e-01 2.53030168e-03 -1.41029387e-01] [ 1.28813621e-02 -2.66793684e-03 9.99913473e-01 -1.33683188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26119381700002 meters Centerline goodness [0,1] 0.9084246815713961 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.14, Z:-1.34 [[ 9.99861625e-01 -1.03753321e-02 -1.30031988e-02 7.30141082e+00] [ 1.04099699e-02 9.99942437e-01 2.59894448e-03 -1.40270303e-01] [ 1.29754854e-02 -2.73394776e-03 9.99912077e-01 -1.33704211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29119381700002 meters Centerline goodness [0,1] 0.9164578457970054 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.14, Z:-1.34 [[ 9.99864021e-01 -9.90042641e-03 -1.31879196e-02 7.30210352e+00] [ 9.93697647e-03 9.99946958e-01 2.70884095e-03 -1.39372970e-01] [ 1.31604014e-02 -2.83952065e-03 9.99909366e-01 -1.33743380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32119381700002 meters Centerline goodness [0,1] 0.924840262218903 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.14, Z:-1.34 [[ 9.99867720e-01 -9.21588316e-03 -1.34018973e-02 7.30278889e+00] [ 9.25561378e-03 9.99952945e-01 2.90555434e-03 -1.38323662e-01] [ 1.33744894e-02 -3.02921277e-03 9.99905969e-01 -1.33772156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35119381700002 meters Centerline goodness [0,1] 0.937595632934949 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.14, Z:-1.34 [[ 9.99896152e-01 -4.19092731e-03 -1.37884762e-02 7.30390185e+00] [ 4.29013465e-03 9.99965069e-01 7.17325201e-03 -1.37124094e-01] [ 1.37579320e-02 -7.23166150e-03 9.99879204e-01 -1.33816225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38119381700002 meters Centerline goodness [0,1] 0.9393870413674648 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.13, Z:-1.34 [[ 9.99899666e-01 -3.16135013e-03 -1.38081187e-02 7.30397978e+00] [ 3.26118403e-03 9.99968664e-01 7.21356467e-03 -1.34927166e-01] [ 1.37848815e-02 -7.25787172e-03 9.99878643e-01 -1.33803973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41119381700003 meters Centerline goodness [0,1] 0.9415330505844626 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.13, Z:-1.34 [[ 9.99898436e-01 -2.41447020e-03 -1.40459077e-02 7.30424830e+00] [ 2.51408799e-03 9.99971783e-01 7.07897152e-03 -1.33179808e-01] [ 1.40284194e-02 -7.11356520e-03 9.99876293e-01 -1.33762328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44119381700003 meters Centerline goodness [0,1] 0.9401887688717239 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.13, Z:-1.34 [[ 9.99897310e-01 -1.86828391e-03 -1.42083899e-02 7.30439365e+00] [ 1.96751926e-03 9.99973749e-01 6.97350980e-03 -1.32100534e-01] [ 1.41949885e-02 -7.00074897e-03 9.99874738e-01 -1.33727496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47119381700003 meters Centerline goodness [0,1] 0.9394165423504061 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.13, Z:-1.34 [[ 9.99900710e-01 -9.20258505e-04 -1.40614340e-02 7.30411777e+00] [ 1.02091374e-03 9.99973898e-01 7.15274773e-03 -1.30903850e-01] [ 1.40544846e-02 -7.16639305e-03 9.99875549e-01 -1.33710825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50119381700003 meters Centerline goodness [0,1] 0.9407942387682884 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.13, Z:-1.34 [[ 9.99897746e-01 -1.18963109e-03 -1.42506780e-02 7.30459952e+00] [ 1.28557582e-03 9.99976558e-01 6.72537603e-03 -1.30017356e-01] [ 1.42423432e-02 -6.74300866e-03 9.99875836e-01 -1.33723231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53119381700003 meters Centerline goodness [0,1] 0.9405924175528055 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.13, Z:-1.34 [[ 9.99895411e-01 -1.55423131e-03 -1.43788397e-02 7.30480743e+00] [ 1.64668962e-03 9.99978032e-01 6.42056187e-03 -1.29790073e-01] [ 1.43685448e-02 -6.44356784e-03 9.99876005e-01 -1.33717672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56119381700003 meters Centerline goodness [0,1] 0.9426861096151457 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.13, Z:-1.34 [[ 9.99890843e-01 -2.01966267e-03 -1.46363704e-02 7.30532353e+00] [ 2.11317451e-03 9.99977438e-01 6.37635799e-03 -1.30703872e-01] [ 1.46231620e-02 -6.40659117e-03 9.99872551e-01 -1.33720497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59119381700003 meters Centerline goodness [0,1] 0.9432629987782909 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.13, Z:-1.34 [[ 9.99872862e-01 -6.44526143e-03 -1.45848767e-02 7.30534515e+00] [ 6.48449631e-03 9.99975479e-01 2.64441745e-03 -1.32488668e-01] [ 1.45674751e-02 -2.73865682e-03 9.99890138e-01 -1.33725429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62119381700003 meters Centerline goodness [0,1] 0.9422575437725071 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.13, Z:-1.34 [[ 9.99866647e-01 -7.24075601e-03 -1.46375847e-02 7.30561892e+00] [ 7.28132815e-03 9.99969790e-01 2.72038744e-03 -1.34279002e-01] [ 1.46174448e-02 -2.82660573e-03 9.99889164e-01 -1.33739643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65119381700003 meters Centerline goodness [0,1] 0.9375245012070068 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.13, Z:-1.34 [[ 9.99824558e-01 -1.14444539e-02 -1.48282464e-02 7.30624490e+00] [ 1.14247858e-02 9.99933740e-01 -1.41043202e-03 -1.33987185e-01] [ 1.48434055e-02 1.24077503e-03 9.99889061e-01 -1.33755706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68119381700004 meters Centerline goodness [0,1] 0.9257061329142715 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.14, Z:-1.34 [[ 9.99813720e-01 -1.22165632e-02 -1.49426046e-02 7.30658951e+00] [ 1.21988316e-02 9.99924776e-01 -1.27722092e-03 -1.35707625e-01] [ 1.49570838e-02 1.09470068e-03 9.99887537e-01 -1.33771196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71119381700004 meters Centerline goodness [0,1] 0.9000061915670856 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.14, Z:-1.34 [[ 9.99799250e-01 -1.30420329e-02 -1.52106753e-02 7.30736762e+00] [ 1.30247043e-02 9.99914409e-01 -1.23775500e-03 -1.37212211e-01] [ 1.52255162e-02 1.03939197e-03 9.99883545e-01 -1.33802116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74119381700004 meters Centerline goodness [0,1] 0.8384673951066939 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.14, Z:-1.34 [[ 9.99719660e-01 -1.80287483e-02 -1.53481668e-02 7.30780708e+00] [ 1.79453320e-02 9.99823536e-01 -5.55543370e-03 -1.37689509e-01] [ 1.54456160e-02 5.27844834e-03 9.99866777e-01 -1.33797941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.771193817 meters Centerline goodness [0,1] 0.866024662844888 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.14, Z:-1.34 [[ 9.99707583e-01 -1.86147557e-02 -1.54349852e-02 7.30783738e+00] [ 1.85329523e-02 9.99813526e-01 -5.42608528e-03 -1.39093838e-01] [ 1.55331123e-02 5.13844275e-03 9.99866150e-01 -1.33774296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.801193817 meters Centerline goodness [0,1] 0.8375815301791076 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.14, Z:-1.34 [[ 9.99697488e-01 -1.91155375e-02 -1.54767165e-02 7.30794271e+00] [ 1.90334924e-02 9.99804095e-01 -5.43126683e-03 -1.39896418e-01] [ 1.55775061e-02 5.13504784e-03 9.99865477e-01 -1.33773881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.831193817 meters Centerline goodness [0,1] 0.7852441766902556 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.14, Z:-1.34 [[ 9.99678615e-01 -1.99253070e-02 -1.56731766e-02 7.30803410e+00] [ 1.98306032e-02 9.99784286e-01 -6.17481143e-03 -1.38173874e-01] [ 1.57928307e-02 5.86201839e-03 9.99858102e-01 -1.33722468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86119381700001 meters Centerline goodness [0,1] 0.7758442310875683 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.14, Z:-1.34 [[ 9.99737144e-01 -1.66015452e-02 -1.58123926e-02 7.30828420e+00] [ 1.65647637e-02 9.99859783e-01 -2.45426589e-03 -1.38115725e-01] [ 1.58509200e-02 2.19169222e-03 9.99871964e-01 -1.33734416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.89119381700002 meters Centerline goodness [0,1] 0.8211723967350977 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.14, Z:-1.34 [[ 9.99754539e-01 -1.50193589e-02 -1.62874368e-02 7.31083651e+00] [ 1.50051009e-02 9.99886920e-01 -9.97255704e-04 -1.37089548e-01] [ 1.63005732e-02 7.52616284e-04 9.99866854e-01 -1.33923207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92119381700002 meters Centerline goodness [0,1] 0.8263380984042553 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.14, Z:-1.34 [[ 9.99799194e-01 -1.14999421e-02 -1.64110899e-02 7.31120609e+00] [ 1.15432503e-02 9.99930131e-01 2.54667464e-03 -1.36605343e-01] [ 1.63806566e-02 -2.73560057e-03 9.99862086e-01 -1.33955297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.95119381700002 meters Centerline goodness [0,1] 0.8646293645360055 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.13, Z:-1.34 [[ 9.99804700e-01 -1.01530656e-02 -1.69551315e-02 7.31356481e+00] [ 1.02076258e-02 9.99942988e-01 3.13447828e-03 -1.34343421e-01] [ 1.69223403e-02 -3.30693776e-03 9.99851338e-01 -1.34107275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98119381700002 meters Centerline goodness [0,1] 0.9159932694904339 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.13, Z:-1.34 [[ 9.99849821e-01 -2.31964469e-03 -1.71742715e-02 7.31430167e+00] [ 2.48445068e-03 9.99951015e-01 9.58098897e-03 -1.29311309e-01] [ 1.71512058e-02 -9.62221873e-03 9.99806606e-01 -1.34150883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01119381700002 meters Centerline goodness [0,1] 0.9321488615371842 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.13, Z:-1.34 [[ 9.99847644e-01 1.57983591e-03 -1.73837148e-02 7.31475369e+00] [-1.36131767e-03 9.99920006e-01 1.25749455e-02 -1.25659948e-01] [ 1.74021905e-02 -1.25493649e-02 9.99769812e-01 -1.34151411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04119381700002 meters Centerline goodness [0,1] 0.9427984563674842 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.12, Z:-1.34 [[ 9.99829555e-01 5.59012251e-03 -1.75957667e-02 7.31519079e+00] [-5.31582639e-03 9.99864227e-01 1.55971142e-02 -1.21982267e-01] [ 1.76805675e-02 -1.55009197e-02 9.99723521e-01 -1.34144501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07119381700002 meters Centerline goodness [0,1] 0.9451339535461948 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.11, Z:-1.34 [[ 9.99777232e-01 1.58778247e-02 -1.39061548e-02 7.31628475e+00] [-1.57855380e-02 9.99852810e-01 6.72120422e-03 -1.14275371e-01] [ 1.40108261e-02 -6.50019081e-03 9.99880715e-01 -1.34257284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10119381700002 meters Centerline goodness [0,1] 0.9414931058755331 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.11, Z:-1.34 [[ 9.99760923e-01 1.67316868e-02 -1.40764771e-02 7.31674716e+00] [-1.66457640e-02 9.99842232e-01 6.19918445e-03 -1.11172050e-01] [ 1.41779791e-02 -5.96338865e-03 9.99881704e-01 -1.34249220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13119381700002 meters Centerline goodness [0,1] 0.9383989089105638 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.11, Z:-1.34 [[ 9.99745910e-01 1.74461304e-02 -1.42739997e-02 7.31734030e+00] [-1.73660679e-02 9.99832872e-01 5.71383862e-03 -1.08514705e-01] [ 1.43712985e-02 -5.46450355e-03 9.99881796e-01 -1.34256469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16119381700003 meters Centerline goodness [0,1] 0.9347457627118644 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.11, Z:-1.34 [[ 9.99727861e-01 1.83461982e-02 -1.44090284e-02 7.31805868e+00] [-1.82693571e-02 9.99818267e-01 5.44650366e-03 -1.05895105e-01] [ 1.45063324e-02 -5.18177778e-03 9.99881351e-01 -1.34294475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19119381700003 meters Centerline goodness [0,1] 0.9335672273243215 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.10, Z:-1.34 [[ 9.99707616e-01 1.92523768e-02 -1.46297050e-02 7.31899653e+00] [-1.91769572e-02 9.99802173e-01 5.27816031e-03 -1.03448493e-01] [ 1.47284280e-02 -4.99606384e-03 9.99879049e-01 -1.34340980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22119381700003 meters Centerline goodness [0,1] 0.9335672273243215 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.10, Z:-1.34 [[ 9.99707616e-01 1.92523768e-02 -1.46297050e-02 7.31899653e+00] [-1.91769572e-02 9.99802173e-01 5.27816031e-03 -1.03448493e-01] [ 1.47284280e-02 -4.99606384e-03 9.99879049e-01 -1.34340980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25119381700003 meters Centerline goodness [0,1] 0.9345605382091339 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.10, Z:-1.34 [[ 0.99959943 0.02438541 -0.01436453 7.31879308] [-0.02424811 0.99965933 0.00965661 -0.102641 ] [ 0.01459512 -0.00930443 0.99985019 -1.34336384] [ 0. 0. 0. 1. ]] SLAMing on 178.28119381700003 meters Centerline goodness [0,1] 0.9346736776987319 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.10, Z:-1.34 [[ 0.99958559 0.0249265 -0.01439864 7.31890567] [-0.02478203 0.99964159 0.01012643 -0.10363154] [ 0.0146459 -0.00976541 0.99984506 -1.34336363] [ 0. 0. 0. 1. ]] SLAMing on 178.31119381700003 meters Centerline goodness [0,1] 0.9346908368512541 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.10, Z:-1.34 [[ 9.99657802e-01 2.18099115e-02 -1.44432540e-02 7.31891902e+00] [-2.17138486e-02 9.99741272e-01 6.77482035e-03 -1.04644289e-01] [ 1.45872754e-02 -6.45888339e-03 9.99872739e-01 -1.34338057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34119381700003 meters Centerline goodness [0,1] 0.9340713711423093 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.11, Z:-1.34 [[ 9.99692355e-01 1.97832001e-02 -1.49606155e-02 7.32089013e+00] [-1.97086259e-02 9.99792678e-01 5.11583098e-03 -1.08400810e-01] [ 1.50587214e-02 -4.81940394e-03 9.99874996e-01 -1.34464928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37119381700003 meters Centerline goodness [0,1] 0.9313142574012139 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.12, Z:-1.35 [[ 9.99789368e-01 1.41503370e-02 -1.48656592e-02 7.32085186e+00] [-1.41382203e-02 9.99899627e-01 9.19860221e-04 -1.17583998e-01] [ 1.48771834e-02 -7.09492504e-04 9.99889077e-01 -1.34508329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40119381700003 meters Centerline goodness [0,1] 0.9274445340446209 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.12, Z:-1.35 [[ 9.99828942e-01 1.09117803e-02 -1.49338761e-02 7.32110224e+00] [-1.09362022e-02 9.99938989e-01 -1.55464674e-03 -1.21665228e-01] [ 1.49160010e-02 1.71770069e-03 9.99887275e-01 -1.34534676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43119381700004 meters Centerline goodness [0,1] 0.926591280259649 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.13, Z:-1.35 [[ 9.99853418e-01 7.96110997e-03 -1.51579268e-02 7.32188651e+00] [-8.01890633e-03 9.99960794e-01 -3.75599256e-03 -1.25685337e-01] [ 1.51274307e-02 3.87699200e-03 9.99878057e-01 -1.34584731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46119381700004 meters Centerline goodness [0,1] 0.9269361104223489 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.13, Z:-1.35 [[ 9.99852885e-01 8.05719262e-03 -1.51423161e-02 7.32192092e+00] [-8.09260345e-03 9.99964658e-01 -2.27871636e-03 -1.31356548e-01] [ 1.51234208e-02 2.40092189e-03 9.99882752e-01 -1.34595747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49119381700004 meters Centerline goodness [0,1] 0.9244676245645138 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.14, Z:-1.35 [[ 9.99935253e-01 4.48554108e-03 -1.04579788e-02 7.33374157e+00] [-4.43809151e-03 9.99979773e-01 4.55596625e-03 -1.43623840e-01] [ 1.04782033e-02 -4.50925780e-03 9.99934935e-01 -1.34891684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.521193817 meters Centerline goodness [0,1] 0.922476319628511 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.15, Z:-1.35 [[ 9.99940162e-01 1.81537578e-03 -1.07878435e-02 7.33562317e+00] [-1.78862436e-03 9.99995303e-01 2.48890578e-03 -1.47955843e-01] [ 1.07923111e-02 -2.46946145e-03 9.99938712e-01 -1.35038374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.551193817 meters Centerline goodness [0,1] 0.9220181593066447 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.15, Z:-1.35 [[ 9.99939719e-01 -1.36265977e-03 -1.08949853e-02 7.33643858e+00] [ 1.36225657e-03 9.99999071e-01 -4.44283101e-05 -1.51764463e-01] [ 1.08950357e-02 2.95838665e-05 9.99940647e-01 -1.35116484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.581193817 meters Centerline goodness [0,1] 0.9216526871699285 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.16, Z:-1.35 [[ 9.99928200e-01 -4.38128731e-03 -1.11534387e-02 7.33791065e+00] [ 4.35557036e-03 9.99987802e-01 -2.32898916e-03 -1.55621043e-01] [ 1.11635066e-02 2.28024235e-03 9.99935086e-01 -1.35234124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.61119381700001 meters Centerline goodness [0,1] 0.9245617287765486 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.17, Z:-1.36 [[ 9.99911563e-01 -1.13148366e-02 -6.98859281e-03 7.34979148e+00] [ 1.13328026e-02 9.99932565e-01 2.53652383e-03 -1.65627238e-01] [ 6.95942118e-03 -2.61549985e-03 9.99972362e-01 -1.35612638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64119381700002 meters Centerline goodness [0,1] 0.9268105892823878 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.17, Z:-1.36 [[ 9.99863739e-01 -1.49488091e-02 -7.00260659e-03 7.35004200e+00] [ 1.49475296e-02 9.99888252e-01 -2.35024602e-04 -1.69398233e-01] [ 7.00533740e-03 1.30320908e-04 9.99975454e-01 -1.35628660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.67119381700002 meters Centerline goodness [0,1] 0.9302071298894207 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.17, Z:-1.36 [[ 9.99799618e-01 -1.87379181e-02 -7.04376676e-03 7.35040785e+00] [ 1.87156496e-02 9.99819681e-01 -3.21417508e-03 -1.72738333e-01] [ 7.10272358e-03 3.08170235e-03 9.99970027e-01 -1.35644321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70119381700002 meters Centerline goodness [0,1] 0.9302821862180417 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.18, Z:-1.36 [[ 9.99720334e-01 -2.25611132e-02 -7.08870695e-03 7.35032125e+00] [ 2.25166397e-02 9.99726667e-01 -6.29225044e-03 -1.75810928e-01] [ 7.22872954e-03 6.13087685e-03 9.99955078e-01 -1.35598289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73119381700002 meters Centerline goodness [0,1] 0.9314986353486064 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.18, Z:-1.36 [[ 9.99625536e-01 -2.64427374e-02 -7.04058172e-03 7.35001411e+00] [ 2.63746483e-02 9.99606086e-01 -9.59427543e-03 -1.78135254e-01] [ 7.29150724e-03 9.40498985e-03 9.99929188e-01 -1.35541544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76119381700002 meters Centerline goodness [0,1] 0.9200372786579684 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.18, Z:-1.35 [[ 9.99500009e-01 -3.08627999e-02 -6.87170788e-03 7.34940902e+00] [ 3.07750870e-02 9.99447872e-01 -1.25238086e-02 -1.82633000e-01] [ 7.25443362e-03 1.23060694e-02 9.99897962e-01 -1.35460144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79119381700002 meters Centerline goodness [0,1] 0.9104754446345033 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.19, Z:-1.36 [[ 9.99492341e-01 -3.10623686e-02 -7.08450870e-03 7.35025042e+00] [ 3.09770006e-02 9.99449765e-01 -1.18571632e-02 -1.85151960e-01] [ 7.44892213e-03 1.16316869e-02 9.99904604e-01 -1.35513555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82119381700002 meters Centerline goodness [0,1] 0.9133802962381474 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.19, Z:-1.36 [[ 9.99490063e-01 -3.10883526e-02 -7.28892639e-03 7.35123789e+00] [ 3.10049420e-02 9.99455466e-01 -1.12900705e-02 -1.87138621e-01] [ 7.63594702e-03 1.10583205e-02 9.99909699e-01 -1.35589443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85119381700002 meters Centerline goodness [0,1] 0.8727104151643144 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.19, Z:-1.36 [[ 0.99948609 -0.03113942 -0.00760846 7.35240594] [ 0.03105585 0.99945859 -0.01086575 -0.18868512] [ 0.00794269 0.01062388 0.99991202 -1.35660536] [ 0. 0. 0. 1. ]] SLAMing on 178.88119381700002 meters Centerline goodness [0,1] 0.8407821804619727 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.19, Z:-1.36 [[ 0.99947291 -0.03148317 -0.00791854 7.35377849] [ 0.03140029 0.99945296 -0.01038264 -0.19101377] [ 0.00824109 0.01012852 0.99991475 -1.35765846] [ 0. 0. 0. 1. ]] SLAMing on 178.91119381700003 meters Centerline goodness [0,1] 0.8257087362591949 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.19, Z:-1.36 [[ 0.99947214 -0.03146852 -0.00807259 7.35438781] [ 0.03138615 0.99945595 -0.01013513 -0.19170514] [ 0.00838713 0.00987641 0.99991605 -1.35803548] [ 0. 0. 0. 1. ]] SLAMing on 178.94119381700003 meters Centerline goodness [0,1] 0.8273320219484419 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.19, Z:-1.36 [[ 9.99569392e-01 -2.81608014e-02 -8.24619573e-03 7.35444438e+00] [ 2.81128640e-02 9.99587505e-01 -5.87262386e-03 -1.94122339e-01] [ 8.40817201e-03 5.63827088e-03 9.99948755e-01 -1.35782956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97119381700003 meters Centerline goodness [0,1] 0.8318244622713493 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.19, Z:-1.36 [[ 9.99660689e-01 -2.46095702e-02 -8.53669554e-03 7.35495856e+00] [ 2.45935495e-02 9.99695579e-01 -1.97662400e-03 -1.94393572e-01] [ 8.58274066e-03 1.76600567e-03 9.99961608e-01 -1.35798912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00119381700003 meters Centerline goodness [0,1] 0.8390538417004383 Centerline is valid? [False, False] Translation: X:7.36, Y:-0.19, Z:-1.36 [[ 9.99744504e-01 -2.08780896e-02 -8.66211096e-03 7.35503151e+00] [ 2.08964213e-02 9.99779583e-01 2.03121824e-03 -1.94596862e-01] [ 8.61779373e-03 -2.21170639e-03 9.99960420e-01 -1.35793135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03119381700003 meters Centerline goodness [0,1] 0.9085720194395616 Centerline is valid? [False, False] Translation: X:7.36, Y:-0.19, Z:-1.36 [[ 9.99809161e-01 -1.73386119e-02 -9.00080545e-03 7.35570673e+00] [ 1.73892570e-02 9.99833229e-01 5.57930080e-03 -1.93880684e-01] [ 8.90256705e-03 -5.73475337e-03 9.99943927e-01 -1.35812172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06119381700003 meters Centerline goodness [0,1] 0.9027792084715384 Centerline is valid? [False, False] Translation: X:7.36, Y:-0.19, Z:-1.36 [[ 9.99816417e-01 -1.67079975e-02 -9.37950750e-03 7.35663917e+00] [ 1.67583927e-02 9.99845414e-01 5.32026489e-03 -1.91155736e-01] [ 9.28916659e-03 -5.47647365e-03 9.99941858e-01 -1.35840487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09119381700003 meters Centerline goodness [0,1] 0.9261517475146229 Centerline is valid? [False, False] Translation: X:7.36, Y:-0.19, Z:-1.36 [[ 9.99831468e-01 -1.57366490e-02 -9.45478551e-03 7.35666422e+00] [ 1.57884496e-02 9.99860614e-01 5.42933458e-03 -1.89122424e-01] [ 9.36802812e-03 -5.57769597e-03 9.99940563e-01 -1.35828074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12119381700003 meters Centerline goodness [0,1] 0.9318191203799298 Centerline is valid? [False, False] Translation: X:7.36, Y:-0.19, Z:-1.36 [[ 0.99989208 -0.01083866 -0.00991688 7.35780333] [ 0.01092941 0.99989847 0.00914302 -0.18611081] [ 0.00981678 -0.00925041 0.99990903 -1.35884414] [ 0. 0. 0. 1. ]] SLAMing on 179.15119381700003 meters Centerline goodness [0,1] 0.9335596307488513 Centerline is valid? [False, False] Translation: X:7.36, Y:-0.18, Z:-1.36 [[ 0.99989739 -0.0102589 -0.00999774 7.35817061] [ 0.01034651 0.99990817 0.00875179 -0.18311231] [ 0.00990703 -0.00885434 0.99991172 -1.35914274] [ 0. 0. 0. 1. ]] SLAMing on 179.18119381700004 meters Centerline goodness [0,1] 0.9331512065896768 Centerline is valid? [False, False] Translation: X:7.36, Y:-0.18, Z:-1.36 [[ 0.99990064 -0.00923197 -0.01065307 7.36024251] [ 0.00932787 0.9999161 0.00898804 -0.18065851] [ 0.0105692 -0.00908652 0.99990286 -1.36024037] [ 0. 0. 0. 1. ]] SLAMing on 179.21119381700004 meters Centerline goodness [0,1] 0.9309125498873012 Centerline is valid? [False, False] Translation: X:7.36, Y:-0.18, Z:-1.36 [[ 0.99989937 -0.00903683 -0.01093597 7.3608959 ] [ 0.00913029 0.99992197 0.0085257 -0.17835732] [ 0.01085807 -0.00862469 0.99990385 -1.36035102] [ 0. 0. 0. 1. ]] SLAMing on 179.24119381700004 meters Centerline goodness [0,1] 0.9316603828007499 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.18, Z:-1.36 [[ 9.99928691e-01 -6.27497938e-03 -1.01606098e-02 7.36784190e+00] [ 6.27849090e-03 9.99980241e-01 3.13740813e-04 -1.75562030e-01] [ 1.01584403e-02 -3.77511737e-04 9.99948330e-01 -1.35757289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.271193817 meters Centerline goodness [0,1] 0.9332467478920569 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.18, Z:-1.36 [[ 9.99928051e-01 -6.24493222e-03 -1.02417189e-02 7.36768601e+00] [ 6.24801602e-03 9.99980445e-01 2.69133453e-04 -1.75113998e-01] [ 1.02398379e-02 -3.33104513e-04 9.99947516e-01 -1.35716029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.301193817 meters Centerline goodness [0,1] 0.9316798382271011 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.18, Z:-1.36 [[ 9.99926437e-01 -6.30358900e-03 -1.03626987e-02 7.36779363e+00] [ 6.30659395e-03 9.99980080e-01 2.57325911e-04 -1.75112641e-01] [ 1.03608702e-02 -3.22660314e-04 9.99946273e-01 -1.35698494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.331193817 meters Centerline goodness [0,1] 0.9321202921145483 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.17, Z:-1.36 [[ 9.99922426e-01 -6.61286335e-03 -1.05552202e-02 7.36849173e+00] [ 6.61373378e-03 9.99978128e-01 4.75601901e-05 -1.74980984e-01] [ 1.05546748e-02 -1.17365917e-04 9.99944291e-01 -1.35735901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36119381700001 meters Centerline goodness [0,1] 0.9360275611668111 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.17, Z:-1.36 [[ 9.99918838e-01 -6.93028309e-03 -1.06906094e-02 7.36899711e+00] [ 6.92941326e-03 9.99975984e-01 -1.18403358e-04 -1.74544838e-01] [ 1.06911732e-02 4.43140976e-05 9.99942847e-01 -1.35767153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.39119381700002 meters Centerline goodness [0,1] 0.9355664251955503 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.17, Z:-1.36 [[ 9.99916739e-01 -6.94667703e-03 -1.08747172e-02 7.36960386e+00] [ 6.94747997e-03 9.99975865e-01 3.60598730e-05 -1.74839662e-01] [ 1.08742043e-02 -1.11608751e-04 9.99940868e-01 -1.35798324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42119381700002 meters Centerline goodness [0,1] 0.9335768230778755 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.18, Z:-1.36 [[ 9.99915041e-01 -6.84277966e-03 -1.10944320e-02 7.37035955e+00] [ 6.84836895e-03 9.99976441e-01 4.65879650e-04 -1.76151495e-01] [ 1.10909827e-02 -5.41818833e-04 9.99938346e-01 -1.35839265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.45119381700002 meters Centerline goodness [0,1] 0.9349188030665238 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.18, Z:-1.36 [[ 9.99891548e-01 -9.04026454e-03 -1.16260689e-02 7.37394551e+00] [ 9.02632954e-03 9.99958480e-01 -1.25051466e-03 -1.79026152e-01] [ 1.16368911e-02 1.14543831e-03 9.99931633e-01 -1.36150724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48119381700002 meters Centerline goodness [0,1] 0.9342473074077119 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.18, Z:-1.36 [[ 9.99890088e-01 -8.48706972e-03 -1.21565192e-02 7.37690032e+00] [ 8.48694357e-03 9.99963983e-01 -6.19656352e-05 -1.81476355e-01] [ 1.21566073e-02 -4.12128683e-05 9.99926105e-01 -1.36385403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51119381700002 meters Centerline goodness [0,1] 0.9328367397192809 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.18, Z:-1.37 [[ 9.99888132e-01 -8.18213916e-03 -1.25210535e-02 7.37900787e+00] [ 8.19343762e-03 9.99966071e-01 8.51325226e-04 -1.83628911e-01] [ 1.25136630e-02 -9.53820460e-04 9.99921246e-01 -1.36553488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54119381700002 meters Centerline goodness [0,1] 0.9312014505594132 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.19, Z:-1.37 [[ 9.99887361e-01 -8.09774990e-03 -1.26369160e-02 7.37978884e+00] [ 8.11743692e-03 9.99965917e-01 1.50738322e-03 -1.85635948e-01] [ 1.26242789e-02 -1.60979280e-03 9.99919015e-01 -1.36622881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57119381700002 meters Centerline goodness [0,1] 0.9274779235784435 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.19, Z:-1.37 [[ 9.99858942e-01 -1.06517985e-02 -1.29859758e-02 7.38191937e+00] [ 1.06479700e-02 9.99943243e-01 -3.63925354e-04 -1.89488645e-01] [ 1.29891152e-02 2.25599738e-04 9.99915612e-01 -1.36785350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60119381700002 meters Centerline goodness [0,1] 0.9191725446520645 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.19, Z:-1.37 [[ 9.99857661e-01 -1.05191810e-02 -1.31911143e-02 7.38254441e+00] [ 1.05268522e-02 9.99944460e-01 5.12245149e-04 -1.92390591e-01] [ 1.31849933e-02 -6.51033147e-04 9.99912862e-01 -1.36811221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63119381700002 meters Centerline goodness [0,1] 0.9113262862333802 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.19, Z:-1.37 [[ 9.99856084e-01 -1.05019366e-02 -1.33237143e-02 7.38277844e+00] [ 1.05194653e-02 9.99943892e-01 1.24620096e-03 -1.94977180e-01] [ 1.33098792e-02 -1.38617997e-03 9.99910459e-01 -1.36803361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66119381700003 meters Centerline goodness [0,1] 0.9076366642554511 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.20, Z:-1.37 [[ 9.99853682e-01 -1.06324285e-02 -1.34002324e-02 7.38279431e+00] [ 1.06584431e-02 9.99941446e-01 1.87142892e-03 -1.97333213e-01] [ 1.33795499e-02 -2.01398071e-03 9.99908462e-01 -1.36779175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69119381700003 meters Centerline goodness [0,1] 0.8915223336371924 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.20, Z:-1.37 [[ 9.99850195e-01 -1.08381113e-02 -1.34952759e-02 7.38260193e+00] [ 1.08722765e-02 9.99937867e-01 2.46084846e-03 -1.99611288e-01] [ 1.34677665e-02 -2.60720418e-03 9.99905906e-01 -1.36722851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72119381700003 meters Centerline goodness [0,1] 0.853937218991049 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.20, Z:-1.37 [[ 9.99834870e-01 -1.71990167e-02 -5.86749505e-03 7.39035574e+00] [ 1.72308581e-02 9.99836847e-01 5.42006398e-03 -2.02715155e-01] [ 5.77331798e-03 -5.52027094e-03 9.99968097e-01 -1.36868893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75119381700003 meters Centerline goodness [0,1] 0.8114901256732495 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.20, Z:-1.37 [[ 9.99825190e-01 -1.77742459e-02 -5.80215775e-03 7.38940605e+00] [ 1.78068685e-02 9.99825650e-01 5.62010708e-03 -2.04539662e-01] [ 5.70125297e-03 -5.72244289e-03 9.99967374e-01 -1.36744002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78119381700003 meters Centerline goodness [0,1] 0.7924465794268676 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.20, Z:-1.37 [[ 9.99791010e-01 -1.97075250e-02 -5.43589374e-03 7.38709084e+00] [ 1.97299062e-02 9.99796961e-01 4.09488247e-03 -2.04667084e-01] [ 5.35409004e-03 -4.20127636e-03 9.99976841e-01 -1.36531672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81119381700003 meters Centerline goodness [0,1] 0.7516082990298492 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.20, Z:-1.36 [[ 9.99777586e-01 -2.03586915e-02 -5.50466166e-03 7.38700673e+00] [ 2.03799999e-02 9.99784920e-01 3.84299960e-03 -2.04781650e-01] [ 5.42523928e-03 -3.95432987e-03 9.99977465e-01 -1.36492322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84119381700003 meters Centerline goodness [0,1] 0.7540908996876228 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.20, Z:-1.37 [[ 9.99749601e-01 -2.16933093e-02 -5.48964931e-03 7.38713972e+00] [ 2.17077780e-02 9.99761004e-01 2.58991911e-03 -2.02434419e-01] [ 5.43215339e-03 -2.70843869e-03 9.99981578e-01 -1.36501447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87119381700003 meters Centerline goodness [0,1] 0.768839019542895 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.20, Z:-1.37 [[ 9.99737952e-01 -2.21849519e-02 -5.64404067e-03 7.38798678e+00] [ 2.21961062e-02 9.99751790e-01 1.92138383e-03 -2.00627521e-01] [ 5.60001396e-03 -2.04615606e-03 9.99982226e-01 -1.36569924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90119381700003 meters Centerline goodness [0,1] 0.7153225806451613 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.20, Z:-1.37 [[ 9.99725390e-01 -2.27139217e-02 -5.76383827e-03 7.38881686e+00] [ 2.27209990e-02 9.99741166e-01 1.16537102e-03 -1.98589141e-01] [ 5.73587625e-03 -1.29601116e-03 9.99982710e-01 -1.36646823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93119381700004 meters Centerline goodness [0,1] 0.676939931373765 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.20, Z:-1.37 [[ 9.99712479e-01 -2.32339139e-02 -5.92828155e-03 7.38957122e+00] [ 2.32363315e-02 9.99729942e-01 3.39242283e-04 -1.96242513e-01] [ 5.91879865e-03 -4.76896259e-04 9.99982370e-01 -1.36698424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96119381700004 meters Centerline goodness [0,1] 0.7422108584036127 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.19, Z:-1.37 [[ 9.99738877e-01 -2.19768329e-02 -6.26074454e-03 7.39123646e+00] [ 2.19851009e-02 9.99757511e-01 1.25486231e-03 -1.92029204e-01] [ 6.23164848e-03 -1.39217774e-03 9.99979614e-01 -1.36826665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99119381700004 meters Centerline goodness [0,1] 0.7268268557062194 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.19, Z:-1.37 [[ 9.99782690e-01 -1.97493627e-02 -6.67353614e-03 7.39269264e+00] [ 1.97725341e-02 9.99798641e-01 3.42416878e-03 -1.90140399e-01] [ 6.60456721e-03 -3.55537739e-03 9.99971869e-01 -1.36915687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.021193817 meters Centerline goodness [0,1] 0.7209407600979444 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.19, Z:-1.37 [[ 9.99813887e-01 -1.79553929e-02 -7.05655932e-03 7.39428086e+00] [ 1.79905437e-02 9.99825905e-01 4.94978953e-03 -1.86938987e-01] [ 6.96645539e-03 -5.07581965e-03 9.99962852e-01 -1.37024659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.051193817 meters Centerline goodness [0,1] 0.7506351862180083 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.18, Z:-1.37 [[ 9.99865541e-01 -1.47424860e-02 -7.18052577e-03 7.39472632e+00] [ 1.47983807e-02 9.99860119e-01 7.79428249e-03 -1.83998540e-01] [ 7.06461425e-03 -7.89949463e-03 9.99943843e-01 -1.37060888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.081193817 meters Centerline goodness [0,1] 0.7697108727550789 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.18, Z:-1.37 [[ 0.9999217 -0.00979132 -0.00779307 7.39824309] [ 0.0098811 0.99988428 0.01156658 -0.17741197] [ 0.00767891 -0.01164268 0.99990274 -1.37369573] [ 0. 0. 0. 1. ]] SLAMing on 180.11119381700001 meters Centerline goodness [0,1] 0.7697108727550789 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.18, Z:-1.37 [[ 0.9999217 -0.00979132 -0.00779307 7.39824309] [ 0.0098811 0.99988428 0.01156658 -0.17741197] [ 0.00767891 -0.01164268 0.99990274 -1.37369573] [ 0. 0. 0. 1. ]] SLAMing on 180.14119381700002 meters Centerline goodness [0,1] 0.8057664067509152 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.17, Z:-1.38 [[ 9.99945259e-01 -6.71123415e-03 -8.02731808e-03 7.39990316e+00] [ 6.82367429e-03 9.99877830e-01 1.40627935e-02 -1.74395043e-01] [ 7.93195869e-03 -1.41167995e-02 9.99868891e-01 -1.37521968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.17119381700002 meters Centerline goodness [0,1] 0.8124715615305067 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.17, Z:-1.38 [[ 9.99959503e-01 -3.56899357e-03 -8.26160485e-03 7.40125299e+00] [ 3.70491650e-03 9.99857068e-01 1.64959495e-02 -1.70627805e-01] [ 8.20155007e-03 -1.65258901e-02 9.99829800e-01 -1.37634038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20119381700002 meters Centerline goodness [0,1] 0.8411668698221184 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.17, Z:-1.38 [[ 9.99964817e-01 -1.12961983e-04 -8.38756631e-03 7.40179563e+00] [ 2.74594864e-04 9.99814242e-01 1.92718838e-02 -1.66990219e-01] [ 8.38383127e-03 -1.92735089e-02 9.99779097e-01 -1.37672376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23119381700002 meters Centerline goodness [0,1] 0.8270572690862545 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.16, Z:-1.38 [[ 9.99958502e-01 3.22879301e-03 -8.51877255e-03 7.40223501e+00] [-3.04157105e-03 9.99755545e-01 2.18997377e-02 -1.63206548e-01] [ 8.58739982e-03 -2.18729185e-02 9.99723878e-01 -1.37692888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26119381700002 meters Centerline goodness [0,1] 0.8994807505326962 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.16, Z:-1.38 [[ 0.99991279 0.01016042 -0.00843728 7.40164068] [-0.00992636 0.99957706 0.02733431 -0.15649988] [ 0.00871143 -0.02724818 0.99959074 -1.37623633] [ 0. 0. 0. 1. ]] SLAMing on 180.29119381700002 meters Centerline goodness [0,1] 0.9176752447436903 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.15, Z:-1.38 [[ 0.99990357 0.01072465 -0.00882183 7.40253347] [-0.01048702 0.99959233 0.02655553 -0.15134194] [ 0.00910303 -0.02646045 0.99960841 -1.37632732] [ 0. 0. 0. 1. ]] SLAMing on 180.32119381700002 meters Centerline goodness [0,1] 0.9258547273554095 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.15, Z:-1.38 [[ 0.99990232 0.01081255 -0.00885649 7.40256139] [-0.01058667 0.99962725 0.0251652 -0.14568468] [ 0.00912529 -0.02506898 0.99964407 -1.37614074] [ 0. 0. 0. 1. ]] SLAMing on 180.35119381700002 meters Centerline goodness [0,1] 0.9288160772500309 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.14, Z:-1.38 [[ 0.99990091 0.01077292 -0.00906198 7.40299642] [-0.01055511 0.99966222 0.02374923 -0.14010359] [ 0.00931477 -0.02365122 0.99967688 -1.37605542] [ 0. 0. 0. 1. ]] SLAMing on 180.38119381700002 meters Centerline goodness [0,1] 0.9359821576077978 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.13, Z:-1.38 [[ 0.99987258 0.01312884 -0.00908027 7.40289281] [-0.01290094 0.99961124 0.02471729 -0.13283048] [ 0.00940124 -0.024597 0.99965324 -1.37576766] [ 0. 0. 0. 1. ]] SLAMing on 180.41119381700003 meters Centerline goodness [0,1] 0.9343567916029588 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.13, Z:-1.38 [[ 0.99987782 0.01256263 -0.00930213 7.40366083] [-0.01234107 0.99964757 0.02350412 -0.12981295] [ 0.00959412 -0.02338645 0.99968046 -1.37618588] [ 0. 0. 0. 1. ]] SLAMing on 180.44119381700003 meters Centerline goodness [0,1] 0.9313873441796043 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.13, Z:-1.38 [[ 0.99988405 0.0119232 -0.00947178 7.40423678] [-0.01171024 0.99968431 0.02222963 -0.12673522] [ 0.00973384 -0.02211614 0.99970802 -1.37649178] [ 0. 0. 0. 1. ]] SLAMing on 180.47119381700003 meters Centerline goodness [0,1] 0.9319594844978796 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.12, Z:-1.38 [[ 0.99988986 0.01121445 -0.00972104 7.40495137] [-0.01100829 0.99971871 0.02100769 -0.12370975] [ 0.00995389 -0.02089836 0.99973205 -1.37676511] [ 0. 0. 0. 1. ]] SLAMing on 180.50119381700003 meters Centerline goodness [0,1] 0.9225285561673103 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.12, Z:-1.38 [[ 0.99990447 0.00943598 -0.01009992 7.40639887] [-0.0092495 0.99978878 0.01835306 -0.11812482] [ 0.01027096 -0.01825789 0.99978055 -1.37761954] [ 0. 0. 0. 1. ]] SLAMing on 180.53119381700003 meters Centerline goodness [0,1] 0.9295122304240845 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.11, Z:-1.38 [[ 9.99930488e-01 5.76695995e-03 -1.02840566e-02 7.40680421e+00] [-5.62687089e-03 9.99891693e-01 1.35992640e-02 -1.14099288e-01] [ 1.03613692e-02 -1.35404517e-02 9.99854639e-01 -1.37757025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56119381700003 meters Centerline goodness [0,1] 0.9134366657699232 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.11, Z:-1.38 [[ 9.99941257e-01 4.03626321e-03 -1.00593499e-02 7.40467637e+00] [-3.92639522e-03 9.99932689e-01 1.09178980e-02 -1.08411745e-01] [ 1.01027403e-02 -1.08777596e-02 9.99889798e-01 -1.37529862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59119381700003 meters Centerline goodness [0,1] 0.9134366657699232 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.11, Z:-1.38 [[ 9.99941257e-01 4.03626321e-03 -1.00593499e-02 7.40467637e+00] [-3.92639522e-03 9.99932689e-01 1.09178980e-02 -1.08411745e-01] [ 1.01027403e-02 -1.08777596e-02 9.99889798e-01 -1.37529862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62119381700003 meters Centerline goodness [0,1] 0.9206823379138425 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.10, Z:-1.37 [[ 9.99971624e-01 4.29965666e-03 -6.18584414e-03 7.41201963e+00] [-4.29567482e-03 9.99990558e-01 6.56844373e-04 -1.04751664e-01] [ 6.18860994e-03 -6.30253359e-04 9.99980652e-01 -1.37454765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65119381700003 meters Centerline goodness [0,1] 0.8959311424100156 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.10, Z:-1.37 [[ 9.99974594e-01 3.64890411e-03 -6.12340615e-03 7.41105995e+00] [-3.65022618e-03 9.99993317e-01 -2.04742032e-04 -1.03580718e-01] [ 6.12261815e-03 2.27088648e-04 9.99981231e-01 -1.37331773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68119381700004 meters Centerline goodness [0,1] 0.926092704288193 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.10, Z:-1.37 [[ 9.99975374e-01 3.39180748e-03 -6.14386950e-03 7.41125895e+00] [-3.39475665e-03 9.99994128e-01 -4.69653363e-04 -1.03497728e-01] [ 6.14224044e-03 4.90498740e-04 9.99981016e-01 -1.37348864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71119381700004 meters Centerline goodness [0,1] 0.9200503424940166 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.10, Z:-1.37 [[ 9.99974872e-01 3.27386817e-03 -6.28790700e-03 7.41206968e+00] [-3.27821215e-03 9.99994395e-01 -6.80663824e-04 -1.03037179e-01] [ 6.28564335e-03 7.01259814e-04 9.99979999e-01 -1.37410577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74119381700004 meters Centerline goodness [0,1] 0.9247457906220411 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.10, Z:-1.38 [[ 9.99971543e-01 3.73646434e-03 -6.55376177e-03 7.41382984e+00] [-3.74229894e-03 9.99992612e-01 -8.78229163e-04 -1.00118125e-01] [ 6.55043187e-03 9.02730307e-04 9.99978138e-01 -1.37550549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77119381700004 meters Centerline goodness [0,1] 0.9300882942867186 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.10, Z:-1.38 [[ 9.99969519e-01 3.93925038e-03 -6.74115969e-03 7.41460538e+00] [-3.94720265e-03 9.99991529e-01 -1.16676120e-03 -9.86041690e-02] [ 6.73650643e-03 1.19333436e-03 9.99976597e-01 -1.37593295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.801193817 meters Centerline goodness [0,1] 0.9301628637566137 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.10, Z:-1.38 [[ 9.99967535e-01 4.00260126e-03 -6.99349559e-03 7.41574585e+00] [-4.01362542e-03 9.99990724e-01 -1.56302166e-03 -9.67312424e-02] [ 6.98717457e-03 1.59104019e-03 9.99974324e-01 -1.37667053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.831193817 meters Centerline goodness [0,1] 0.9312869730691267 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.09, Z:-1.38 [[ 9.99966712e-01 3.98023639e-03 -7.12270131e-03 7.41629250e+00] [-3.99512265e-03 9.99989863e-01 -2.07696654e-03 -9.46002661e-02] [ 7.11436229e-03 2.10535347e-03 9.99972476e-01 -1.37693881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86119381700001 meters Centerline goodness [0,1] 0.9341161391685444 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.09, Z:-1.38 [[ 9.99966410e-01 3.79324317e-03 -7.26565555e-03 7.41684467e+00] [-3.81373992e-03 9.99988782e-01 -2.80927189e-03 -9.20698113e-02] [ 7.25491779e-03 2.83688685e-03 9.99969659e-01 -1.37716901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.89119381700002 meters Centerline goodness [0,1] 0.928673678969316 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.09, Z:-1.38 [[ 9.99966670e-01 3.49158496e-03 -7.38023284e-03 7.41726886e+00] [-3.51607258e-03 9.99988348e-01 -3.30763533e-03 -9.10977584e-02] [ 7.36859796e-03 3.33347452e-03 9.99967295e-01 -1.37740280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92119381700002 meters Centerline goodness [0,1] 0.9241072352758514 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.09, Z:-1.38 [[ 9.99965722e-01 3.30813666e-03 -7.59022273e-03 7.41843298e+00] [-3.33580982e-03 9.99987825e-01 -3.63613729e-03 -9.00660885e-02] [ 7.57810148e-03 3.66133219e-03 9.99964583e-01 -1.37832591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.95119381700002 meters Centerline goodness [0,1] 0.9211037618850765 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.09, Z:-1.38 [[ 9.99964989e-01 3.10030158e-03 -7.77229403e-03 7.41936016e+00] [-3.13225478e-03 9.99986680e-01 -4.10237036e-03 -8.84415142e-02] [ 7.75947192e-03 4.12657154e-03 9.99961380e-01 -1.37898169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98119381700002 meters Centerline goodness [0,1] 0.9019095602413385 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.08, Z:-1.38 [[ 9.99968044e-01 2.05547337e-03 -7.72562002e-03 7.41993815e+00] [-2.10007374e-03 9.99981152e-01 -5.76937542e-03 -8.38206322e-02] [ 7.71361561e-03 5.78541543e-03 9.99953513e-01 -1.37974489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01119381700002 meters Centerline goodness [0,1] 0.8864907248829004 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.08, Z:-1.38 [[ 9.99967071e-01 1.58694093e-03 -7.95854505e-03 7.42102088e+00] [-1.63846310e-03 9.99977717e-01 -6.47148113e-03 -8.18819880e-02] [ 7.94809785e-03 6.48430782e-03 9.99947389e-01 -1.38045406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04119381700002 meters Centerline goodness [0,1] 0.8995811561748361 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.08, Z:-1.38 [[ 9.99966870e-01 1.27013322e-03 -8.04026208e-03 7.42144622e+00] [-1.32662760e-03 9.99974444e-01 -7.02500570e-03 -8.02530909e-02] [ 8.03113391e-03 7.03543940e-03 9.99943000e-01 -1.38076741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07119381700002 meters Centerline goodness [0,1] 0.8553627335116418 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.08, Z:-1.38 [[ 9.99966661e-01 9.97529444e-04 -8.10438973e-03 7.42186949e+00] [-1.05746870e-03 9.99972098e-01 -7.39498484e-03 -7.90293954e-02] [ 8.09678688e-03 7.40330844e-03 9.99939815e-01 -1.38109628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10119381700002 meters Centerline goodness [0,1] 0.8882338287802043 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.08, Z:-1.38 [[ 9.99968261e-01 -3.32545152e-04 -7.96035188e-03 7.42092569e+00] [ 2.62915502e-04 9.99961714e-01 -8.74650574e-03 -7.67753008e-02] [ 7.96295572e-03 8.74413524e-03 9.99930063e-01 -1.38012260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13119381700002 meters Centerline goodness [0,1] 0.8615381423621916 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.08, Z:-1.38 [[ 9.99967861e-01 -7.42921188e-04 -7.98277469e-03 7.42066724e+00] [ 6.69545405e-04 9.99957542e-01 -9.19050844e-03 -7.58219913e-02] [ 7.98926358e-03 9.18486824e-03 9.99925902e-01 -1.37967708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16119381700003 meters Centerline goodness [0,1] 0.8540465424980296 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.08, Z:-1.38 [[ 9.99967142e-01 -1.02634969e-03 -8.04118102e-03 7.42041358e+00] [ 9.50002358e-04 9.99954493e-01 -9.49261537e-03 -7.50133120e-02] [ 8.05055783e-03 9.48466432e-03 9.99922612e-01 -1.37914391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19119381700003 meters Centerline goodness [0,1] 0.7735325772000994 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.08, Z:-1.38 [[ 9.99966741e-01 1.81833475e-03 -7.95047907e-03 7.41993522e+00] [-1.86482476e-03 9.99981185e-01 -5.84394957e-03 -7.59704068e-02] [ 7.93970323e-03 5.85858145e-03 9.99951318e-01 -1.37879502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22119381700003 meters Centerline goodness [0,1] 0.8129561855137192 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.08, Z:-1.38 [[ 9.99966640e-01 1.66629244e-03 -7.99643988e-03 7.41998675e+00] [-1.71406164e-03 9.99980706e-01 -5.97067732e-03 -7.53793228e-02] [ 7.98633671e-03 5.98418453e-03 9.99950203e-01 -1.37867106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25119381700003 meters Centerline goodness [0,1] 0.7882931262392597 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.07, Z:-1.38 [[ 9.99965142e-01 1.22451900e-03 -8.25926496e-03 7.42124786e+00] [-1.27726438e-03 9.99978807e-01 -6.38395846e-03 -7.41372102e-02] [ 8.25127264e-03 6.39428519e-03 9.99945513e-01 -1.37964765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28119381700003 meters Centerline goodness [0,1] 0.7750128852695598 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.07, Z:-1.38 [[ 9.99962480e-01 1.19072911e-03 -8.58029000e-03 7.42248651e+00] [-1.24516356e-03 9.99979117e-01 -6.34157960e-03 -7.39590679e-02] [ 8.57255971e-03 6.35202553e-03 9.99943080e-01 -1.38040609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31119381700003 meters Centerline goodness [0,1] 0.8066961335095836 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.07, Z:-1.38 [[ 9.99962116e-01 1.05180156e-03 -8.64066872e-03 7.42303151e+00] [-1.10764344e-03 9.99978518e-01 -6.46043818e-03 -7.35654251e-02] [ 8.63368800e-03 6.46976421e-03 9.99941799e-01 -1.38091243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34119381700003 meters Centerline goodness [0,1] 0.7584547076642184 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.07, Z:-1.38 [[ 9.99961441e-01 8.41640307e-04 -8.74117657e-03 7.42321683e+00] [-9.00375157e-04 9.99977032e-01 -6.71756976e-03 -7.27195470e-02] [ 8.73532202e-03 6.72518107e-03 9.99939231e-01 -1.38089277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37119381700003 meters Centerline goodness [0,1] 0.7354703601567522 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.07, Z:-1.38 [[ 9.99960803e-01 2.39918848e-04 -8.85065713e-03 7.42336222e+00] [-3.07351227e-04 9.99970933e-01 -7.61833884e-03 -6.98830276e-02] [ 8.84857208e-03 7.62076049e-03 9.99931811e-01 -1.38066265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40119381700003 meters Centerline goodness [0,1] 0.7955853729241728 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.07, Z:-1.38 [[ 9.99959807e-01 -2.97536943e-05 -8.96567477e-03 7.42376429e+00] [-4.27142775e-05 9.99967335e-01 -8.08252417e-03 -6.83415404e-02] [ 8.96562239e-03 8.08258228e-03 9.99927142e-01 -1.38081334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43119381700004 meters Centerline goodness [0,1] 0.742883759445192 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.07, Z:-1.38 [[ 9.99960488e-01 2.35816100e-03 -8.57097673e-03 7.42277465e+00] [-2.40318150e-03 9.99983351e-01 -5.24617159e-03 -6.81729472e-02] [ 8.55846271e-03 5.26656192e-03 9.99949507e-01 -1.38056449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46119381700004 meters Centerline goodness [0,1] 0.788454798474384 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.07, Z:-1.38 [[ 9.99958502e-01 2.34986613e-03 -8.80180906e-03 7.42366290e+00] [-2.39896564e-03 9.99981599e-01 -5.57194588e-03 -6.67054906e-02] [ 8.78855377e-03 5.59282990e-03 9.99945739e-01 -1.38100722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49119381700004 meters Centerline goodness [0,1] 0.7275669435798067 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.06, Z:-1.38 [[ 9.99958855e-01 2.07590378e-03 -8.83062103e-03 7.42393218e+00] [-2.13495991e-03 9.99975386e-01 -6.68349132e-03 -6.23916491e-02] [ 8.81652939e-03 6.70206935e-03 9.99938674e-01 -1.38103858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52119381700004 meters Centerline goodness [0,1] 0.789713151200546 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.06, Z:-1.38 [[ 9.99955216e-01 4.28666204e-03 -8.43740800e-03 7.42225369e+00] [-4.32440342e-03 9.99980704e-01 -4.45995069e-03 -6.09829798e-02] [ 8.41812689e-03 4.49623771e-03 9.99954458e-01 -1.37995170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.551193817 meters Centerline goodness [0,1] 0.7943809563100788 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.06, Z:-1.38 [[ 9.99952819e-01 4.33328822e-03 -8.69386089e-03 7.42300748e+00] [-4.37683472e-03 9.99977941e-01 -4.99612139e-03 -5.85261421e-02] [ 8.67201948e-03 5.03393726e-03 9.99949727e-01 -1.38011522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.581193817 meters Centerline goodness [0,1] 0.7781553098165195 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.05, Z:-1.38 [[ 9.99932085e-01 7.61626223e-03 -8.82139436e-03 7.42343097e+00] [-7.63755246e-03 9.99967996e-01 -2.38230906e-03 -5.49295885e-02] [ 8.80296775e-03 2.44952113e-03 9.99958253e-01 -1.38017641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.61119381700001 meters Centerline goodness [0,1] 0.7818639071550783 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.05, Z:-1.38 [[ 9.99931697e-01 7.51023848e-03 -8.95534250e-03 7.42373039e+00] [-7.53894612e-03 9.99966537e-01 -3.17620660e-03 -5.20701071e-02] [ 8.93118877e-03 3.24350350e-03 9.99954856e-01 -1.38006181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64119381700002 meters Centerline goodness [0,1] 0.8008309905738382 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.05, Z:-1.38 [[ 9.99930812e-01 7.34132116e-03 -9.19114867e-03 7.42405424e+00] [-7.37753073e-03 9.99965134e-01 -3.91192600e-03 -4.95996619e-02] [ 9.16210950e-03 3.97946332e-03 9.99950109e-01 -1.37980343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.67119381700002 meters Centerline goodness [0,1] 0.8115831232695566 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.05, Z:-1.38 [[ 9.99931778e-01 7.23118760e-03 -9.17333248e-03 7.42408933e+00] [-7.27393617e-03 9.99962801e-01 -4.63531763e-03 -4.69792187e-02] [ 9.13947239e-03 4.70172763e-03 9.99947181e-01 -1.37968512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70119381700002 meters Centerline goodness [0,1] 0.7976483739416648 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.05, Z:-1.38 [[ 9.99933076e-01 7.01253825e-03 -9.20156572e-03 7.42419808e+00] [-7.05787102e-03 9.99963071e-01 -4.90344747e-03 -4.65968895e-02] [ 9.16684030e-03 4.96806277e-03 9.99945642e-01 -1.37973912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73119381700002 meters Centerline goodness [0,1] 0.802296998616017 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.05, Z:-1.38 [[ 9.99932275e-01 6.96241351e-03 -9.32576215e-03 7.42464262e+00] [-7.00666793e-03 9.99964308e-01 -4.72115880e-03 -4.72147873e-02] [ 9.29255863e-03 4.78618158e-03 9.99945369e-01 -1.37997234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76119381700002 meters Centerline goodness [0,1] 0.7938041926204913 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.05, Z:-1.38 [[ 9.99936415e-01 6.47223698e-03 -9.23451941e-03 7.42447534e+00] [-6.51749552e-03 9.99966856e-01 -4.87937016e-03 -4.77089806e-02] [ 9.20263291e-03 4.93924584e-03 9.99945456e-01 -1.38002142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79119381700002 meters Centerline goodness [0,1] 0.7517996740991316 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.05, Z:-1.38 [[ 9.99936668e-01 6.18640518e-03 -9.40149162e-03 7.42540464e+00] [-6.23182373e-03 9.99969017e-01 -4.80940262e-03 -4.84540402e-02] [ 9.37144741e-03 4.86768647e-03 9.99944239e-01 -1.38089524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82119381700002 meters Centerline goodness [0,1] 0.7700596577420886 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.05, Z:-1.38 [[ 9.99937297e-01 5.94317463e-03 -9.49106206e-03 7.42614081e+00] [-5.98931378e-03 9.99970349e-01 -4.84032414e-03 -4.86307020e-02] [ 9.46201375e-03 4.89686559e-03 9.99943244e-01 -1.38166232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85119381700002 meters Centerline goodness [0,1] 0.7557557971314016 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.05, Z:-1.38 [[ 9.99938567e-01 5.66274676e-03 -9.52870520e-03 7.42715184e+00] [-5.71243757e-03 9.99970186e-01 -5.19574313e-03 -4.72479784e-02] [ 9.49899893e-03 5.24985607e-03 9.99941102e-01 -1.38289732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88119381700002 meters Centerline goodness [0,1] 0.7475828657791764 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.05, Z:-1.38 [[ 9.99939382e-01 5.37128695e-03 -9.61152305e-03 7.42728313e+00] [-5.42732734e-03 9.99968370e-01 -5.81398980e-03 -4.54933831e-02] [ 9.57999043e-03 5.86580225e-03 9.99936906e-01 -1.38271417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91119381700003 meters Centerline goodness [0,1] 0.7402277432712215 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.04, Z:-1.38 [[ 9.99939513e-01 5.21394931e-03 -9.68428518e-03 7.42728046e+00] [-5.27671612e-03 9.99965166e-01 -6.46710248e-03 -4.32716980e-02] [ 9.65022869e-03 6.51781253e-03 9.99932193e-01 -1.38236783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94119381700003 meters Centerline goodness [0,1] 0.7701301657595762 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.04, Z:-1.38 [[ 9.99937028e-01 5.41707376e-03 -9.82833116e-03 7.42750304e+00] [-5.48503300e-03 9.99961145e-01 -6.90089775e-03 -4.09615970e-02] [ 9.79056661e-03 6.95437190e-03 9.99927888e-01 -1.38207393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97119381700003 meters Centerline goodness [0,1] 0.8185357771564667 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.04, Z:-1.38 [[ 9.99914151e-01 8.84895861e-03 -9.66370371e-03 7.42695142e+00] [-8.89481499e-03 9.99949336e-01 -4.71259208e-03 -3.62606794e-02] [ 9.62151257e-03 4.79814436e-03 9.99942200e-01 -1.38140897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00119381700003 meters Centerline goodness [0,1] 0.7725428824413648 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.03, Z:-1.38 [[ 9.99873944e-01 1.25309053e-02 -9.75056504e-03 7.42734577e+00] [-1.25455012e-02 9.99920269e-01 -1.43720489e-03 -3.42903611e-02] [ 9.73177814e-03 1.55934944e-03 9.99951429e-01 -1.38152326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03119381700003 meters Centerline goodness [0,1] 0.7725428824413648 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.03, Z:-1.38 [[ 9.99873944e-01 1.25309053e-02 -9.75056504e-03 7.42734577e+00] [-1.25455012e-02 9.99920269e-01 -1.43720489e-03 -3.42903611e-02] [ 9.73177814e-03 1.55934944e-03 9.99951429e-01 -1.38152326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06119381700003 meters Centerline goodness [0,1] 0.7877287450227971 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.03, Z:-1.38 [[ 9.99864762e-01 1.31404842e-02 -9.88869932e-03 7.42767096e+00] [-1.31630665e-02 9.99910894e-01 -2.22204110e-03 -2.98577480e-02] [ 9.85861948e-03 2.35190621e-03 9.99948637e-01 -1.38109107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09119381700003 meters Centerline goodness [0,1] 0.8128031237155775 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.03, Z:-1.38 [[ 9.99806140e-01 1.69679119e-02 -9.98858346e-03 7.42821373e+00] [-1.69574254e-02 9.99855570e-01 1.13361619e-03 -2.76727640e-02] [ 1.00063759e-02 -9.64015772e-04 9.99949470e-01 -1.38131261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12119381700003 meters Centerline goodness [0,1] 0.9139978483945713 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.02, Z:-1.38 [[ 9.99728185e-01 2.11127644e-02 -9.88972894e-03 7.42834951e+00] [-2.10786865e-02 9.99771562e-01 3.53745201e-03 -2.12754802e-02] [ 9.96215514e-03 -3.32802798e-03 9.99944838e-01 -1.38101418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15119381700003 meters Centerline goodness [0,1] 0.9258147335293387 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.02, Z:-1.38 [[ 9.99721483e-01 2.13487092e-02 -1.00592788e-02 7.42870897e+00] [-2.13235684e-02 9.99769246e-01 2.59994334e-03 -1.73819577e-02] [ 1.01124630e-02 -2.38471949e-03 9.99946024e-01 -1.38063506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18119381700004 meters Centerline goodness [0,1] 0.936692399785328 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.01, Z:-1.38 [[ 9.99713168e-01 2.15522143e-02 -1.04443324e-02 7.42943149e+00] [-2.15345863e-02 9.99766488e-01 1.79735298e-03 -1.41537319e-02] [ 1.04806305e-02 -1.57192306e-03 9.99943841e-01 -1.38030015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21119381700004 meters Centerline goodness [0,1] 0.9382944969816841 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.01, Z:-1.38 [[ 9.99686746e-01 2.27176664e-02 -1.05031742e-02 7.43010330e+00] [-2.27043252e-02 9.99741260e-01 1.38771379e-03 -1.09017135e-02] [ 1.05319823e-02 -1.14881160e-03 9.99943877e-01 -1.38043065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24119381700004 meters Centerline goodness [0,1] 0.9379308921273171 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.01, Z:-1.38 [[ 9.99669071e-01 2.33574312e-02 -1.07786511e-02 7.43111360e+00] [-2.33452051e-02 9.99726671e-01 1.25872845e-03 -9.41239622e-03] [ 1.08051056e-02 -1.00668208e-03 9.99941116e-01 -1.38079478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27119381700004 meters Centerline goodness [0,1] 0.941149804244797 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.01, Z:-1.38 [[ 9.99638597e-01 2.44961306e-02 -1.10731915e-02 7.43257688e+00] [-2.44824181e-02 9.99699319e-01 1.37223561e-03 -7.50242552e-03] [ 1.11034764e-02 -1.10064117e-03 9.99937749e-01 -1.38151952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.301193817 meters Centerline goodness [0,1] 0.9427380927824419 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.01, Z:-1.38 [[ 9.99513793e-01 2.90891690e-02 -1.12248386e-02 7.43386190e+00] [-2.90281343e-02 9.99563117e-01 5.56264444e-03 -6.85408318e-03] [ 1.13817474e-02 -5.23410372e-03 9.99921527e-01 -1.38242547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.331193817 meters Centerline goodness [0,1] 0.9428977097351688 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.01, Z:-1.38 [[ 9.99359179e-01 3.39244140e-02 -1.14178052e-02 7.43500270e+00] [-3.38124777e-02 9.99379576e-01 9.85797891e-03 -6.03944120e-03] [ 1.17451475e-02 -9.46559742e-03 9.99886221e-01 -1.38292659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36119381700001 meters Centerline goodness [0,1] 0.9453018329264761 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.01, Z:-1.38 [[ 9.98790447e-01 4.72668284e-02 -1.35458763e-02 7.42931797e+00] [-4.71409147e-02 9.98843369e-01 9.46878010e-03 -6.07213658e-03] [ 1.39777680e-02 -8.81876210e-03 9.99863416e-01 -1.38488797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.39119381700002 meters Centerline goodness [0,1] 0.9481181741230877 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.01, Z:-1.39 [[ 9.98661093e-01 4.98233671e-02 -1.39159540e-02 7.43171728e+00] [-4.96676552e-02 9.98701652e-01 1.13196820e-02 -7.01718894e-03] [ 1.44618709e-02 -1.06133532e-02 9.99839093e-01 -1.38646525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42119381700002 meters Centerline goodness [0,1] 0.9493062745910126 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.01, Z:-1.39 [[ 0.99858638 0.05122195 -0.01419689 7.4329897 ] [-0.05104794 0.99861972 0.01235994 -0.00837219] [ 0.0148104 -0.01161774 0.99982282 -1.38719702] [ 0. 0. 0. 1. ]] SLAMing on 182.45119381700002 meters Centerline goodness [0,1] 0.9496340224355652 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.01, Z:-1.39 [[ 0.9985267 0.05229189 -0.01449109 7.4340342 ] [-0.05209816 0.99855154 0.01343916 -0.01062735] [ 0.01517286 -0.0126644 0.99980468 -1.38772483] [ 0. 0. 0. 1. ]] SLAMing on 182.48119381700002 meters Centerline goodness [0,1] 0.9478460869024679 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.02, Z:-1.39 [[ 0.99838803 0.05476118 -0.01491836 7.4354923 ] [-0.05450975 0.99837242 0.01676876 -0.01994227] [ 0.01581236 -0.01592853 0.99974809 -1.38852229] [ 0. 0. 0. 1. ]] SLAMing on 182.51119381700002 meters Centerline goodness [0,1] 0.9485993904082606 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.02, Z:-1.39 [[ 0.99852392 0.05211565 -0.01529488 7.43601594] [-0.05189434 0.99854692 0.01452661 -0.02429671] [ 0.01602972 -0.01371145 0.9997775 -1.38864635] [ 0. 0. 0. 1. ]] SLAMing on 182.54119381700002 meters Centerline goodness [0,1] 0.9445019672810105 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.03, Z:-1.39 [[ 0.99866389 0.04925069 -0.01564613 7.43631334] [-0.04905974 0.99871934 0.01236226 -0.02947413] [ 0.01623494 -0.01157815 0.99980117 -1.38864662] [ 0. 0. 0. 1. ]] SLAMing on 182.57119381700002 meters Centerline goodness [0,1] 0.9458560568501074 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.04, Z:-1.39 [[ 0.99879945 0.04627134 -0.01608147 7.43681487] [-0.04610925 0.99888321 0.0103084 -0.03525894] [ 0.0165405 -0.00955452 0.99981754 -1.38868018] [ 0. 0. 0. 1. ]] SLAMing on 182.60119381700002 meters Centerline goodness [0,1] 0.9491896808334711 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.05, Z:-1.39 [[ 9.99089455e-01 3.93586671e-02 -1.64667996e-02 7.43571328e+00] [-3.92792650e-02 9.99215165e-01 5.11802501e-03 -4.82694994e-02] [ 1.66553145e-02 -4.46656104e-03 9.99851314e-01 -1.38735759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63119381700002 meters Centerline goodness [0,1] 0.9482351967559068 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.05, Z:-1.39 [[ 9.99288479e-01 3.37555877e-02 -1.68254864e-02 7.43559747e+00] [-3.37571201e-02 9.99430047e-01 1.93005376e-04 -5.42258067e-02] [ 1.68224117e-02 3.75111916e-04 9.99858423e-01 -1.38692480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66119381700003 meters Centerline goodness [0,1] 0.9470693595207214 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.06, Z:-1.39 [[ 9.99493991e-01 2.96825202e-02 -1.14328727e-02 7.44720115e+00] [-2.96094052e-02 9.99540331e-01 6.51222927e-03 -6.37486772e-02] [ 1.16209167e-02 -6.17041347e-03 9.99913436e-01 -1.39061975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69119381700003 meters Centerline goodness [0,1] 0.9435754189944134 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.08, Z:-1.39 [[ 9.99667964e-01 2.30940565e-02 -1.14292188e-02 7.44704257e+00] [-2.30733313e-02 9.99731889e-01 1.94191945e-03 -7.79576044e-02] [ 1.14710013e-02 -1.67756451e-03 9.99932799e-01 -1.39113291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72119381700003 meters Centerline goodness [0,1] 0.9421398734438976 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.09, Z:-1.39 [[ 9.99722405e-01 2.03379294e-02 -1.18946252e-02 7.44831789e+00] [-2.03321532e-02 9.99793097e-01 6.06354303e-04 -8.56359588e-02] [ 1.19044961e-02 -3.64342641e-04 9.99929073e-01 -1.39186067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75119381700003 meters Centerline goodness [0,1] 0.940002879532693 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.09, Z:-1.39 [[ 9.99855283e-01 1.52327477e-02 -7.57477267e-03 7.45976469e+00] [-1.51829333e-02 9.99863010e-01 6.59094223e-03 -9.48668744e-02] [ 7.67413316e-03 -6.47498113e-03 9.99949590e-01 -1.39490330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78119381700003 meters Centerline goodness [0,1] 0.9396749344292765 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.10, Z:-1.39 [[ 9.99928054e-01 9.44539036e-03 -7.39404556e-03 7.45834791e+00] [-9.43434389e-03 9.99954329e-01 1.52742499e-03 -1.00594510e-01] [ 7.40813499e-03 -1.45755713e-03 9.99971497e-01 -1.39367771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81119381700003 meters Centerline goodness [0,1] 0.9381289601192695 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.11, Z:-1.39 [[ 9.99972895e-01 1.94043474e-03 -7.10234990e-03 7.45582174e+00] [-1.95999800e-03 9.99994302e-01 -2.74855409e-03 -1.14907669e-01] [ 7.09697604e-03 2.76240018e-03 9.99971001e-01 -1.39089297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84119381700003 meters Centerline goodness [0,1] 0.9376267119036783 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.12, Z:-1.39 [[ 9.99973556e-01 -1.14395686e-03 -7.18182910e-03 7.45552903e+00] [ 1.11489113e-03 9.99991178e-01 -4.04981956e-03 -1.23067255e-01] [ 7.18639856e-03 4.04170551e-03 9.99966010e-01 -1.39030122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87119381700003 meters Centerline goodness [0,1] 0.9361364292489792 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.13, Z:-1.39 [[ 9.99964549e-01 -4.31260572e-03 -7.23198996e-03 7.45536586e+00] [ 4.27347070e-03 9.99976190e-01 -5.41812631e-03 -1.31027769e-01] [ 7.25518401e-03 5.38702853e-03 9.99959170e-01 -1.38993230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90119381700003 meters Centerline goodness [0,1] 0.936048795616665 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.14, Z:-1.39 [[ 9.99943958e-01 -7.75759194e-03 -7.20417704e-03 7.45505508e+00] [ 7.70576139e-03 9.99944428e-01 -7.19461621e-03 -1.38089344e-01] [ 7.25958958e-03 7.13869934e-03 9.99948167e-01 -1.38951947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93119381700004 meters Centerline goodness [0,1] 0.9367075495152067 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.15, Z:-1.39 [[ 9.99894830e-01 -1.37895023e-02 -4.49200879e-03 7.45109281e+00] [ 1.37810509e-02 9.99903218e-01 -1.90697542e-03 -1.53900773e-01] [ 4.51787029e-03 1.84487027e-03 9.99988093e-01 -1.39050669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96119381700004 meters Centerline goodness [0,1] 0.9359504132231405 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.16, Z:-1.39 [[ 9.99842410e-01 -1.71288979e-02 -4.66441363e-03 7.45202387e+00] [ 1.71095321e-02 9.99844965e-01 -4.16053720e-03 -1.58447465e-01] [ 4.73495590e-03 4.08007560e-03 9.99980466e-01 -1.39105512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99119381700004 meters Centerline goodness [0,1] 0.9358841564468015 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.16, Z:-1.39 [[ 9.99835879e-01 -1.74531002e-02 -4.85845754e-03 7.45264649e+00] [ 1.74392052e-02 9.99843755e-01 -2.88779714e-03 -1.63784201e-01] [ 4.90809945e-03 2.80259555e-03 9.99984028e-01 -1.39135754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02119381700004 meters Centerline goodness [0,1] 0.9311404413281089 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.17, Z:-1.39 [[ 9.99828435e-01 -1.77571762e-02 -5.27098704e-03 7.45397878e+00] [ 1.77480108e-02 9.99840906e-01 -1.78056427e-03 -1.68681674e-01] [ 5.30176625e-03 1.68670925e-03 9.99984523e-01 -1.39201273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.051193817 meters Centerline goodness [0,1] 0.9301270229387264 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.17, Z:-1.39 [[ 9.99825851e-01 -1.79009514e-02 -5.27485546e-03 7.45405224e+00] [ 1.78976377e-02 9.99839597e-01 -6.74743831e-04 -1.73091337e-01] [ 5.28608791e-03 5.80218873e-04 9.99985860e-01 -1.39202949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.081193817 meters Centerline goodness [0,1] 0.8964953657729229 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.18, Z:-1.39 [[ 9.99745299e-01 -2.19459913e-02 -5.26406526e-03 7.45438067e+00] [ 2.19286007e-02 9.99753964e-01 -3.33891225e-03 -1.77905667e-01] [ 5.33604584e-03 3.22262825e-03 9.99980570e-01 -1.39225624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.11119381700001 meters Centerline goodness [0,1] 0.8677694462755439 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.18, Z:-1.39 [[ 9.99734641e-01 -2.23484321e-02 -5.58530652e-03 7.45553518e+00] [ 2.23328348e-02 9.99746559e-01 -2.83950588e-03 -1.80176620e-01] [ 5.64734948e-03 2.71401666e-03 9.99980371e-01 -1.39288124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14119381700002 meters Centerline goodness [0,1] 0.8412203333815298 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.18, Z:-1.39 [[ 9.99721741e-01 -2.28842781e-02 -5.72272168e-03 7.45627672e+00] [ 2.28693971e-02 9.99734943e-01 -2.65240643e-03 -1.81505997e-01] [ 5.78190324e-03 2.52079318e-03 9.99980107e-01 -1.39344242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.17119381700002 meters Centerline goodness [0,1] 0.7936806820062904 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.18, Z:-1.39 [[ 9.99691046e-01 -2.42118696e-02 -5.62117304e-03 7.45622807e+00] [ 2.41958464e-02 9.99703028e-01 -2.90124861e-03 -1.82724438e-01] [ 5.68974836e-03 2.76434322e-03 9.99979992e-01 -1.39355665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20119381700002 meters Centerline goodness [0,1] 0.7803136897864592 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.18, Z:-1.39 [[ 9.99679881e-01 -2.46324970e-02 -5.77716989e-03 7.45678244e+00] [ 2.46148327e-02 9.99692175e-01 -3.10904699e-03 -1.82402688e-01] [ 5.85197512e-03 2.96584765e-03 9.99978479e-01 -1.39378836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23119381700002 meters Centerline goodness [0,1] 0.7688244155093786 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.18, Z:-1.39 [[ 9.99669368e-01 -2.50206330e-02 -5.92637208e-03 7.45747016e+00] [ 2.49998765e-02 9.99681148e-01 -3.55097687e-03 -1.81183870e-01] [ 6.01333013e-03 3.40164424e-03 9.99976134e-01 -1.39419930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26119381700002 meters Centerline goodness [0,1] 0.7632465037493028 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.18, Z:-1.39 [[ 9.99741586e-01 -2.19168254e-02 -6.03446077e-03 7.45763935e+00] [ 2.19182065e-02 9.99759754e-01 1.62827256e-04 -1.81539427e-01] [ 6.02944236e-03 -2.95049737e-04 9.99981779e-01 -1.39431577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29119381700002 meters Centerline goodness [0,1] 0.7886012292791954 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.18, Z:-1.39 [[ 9.99803476e-01 -1.89678955e-02 -5.76437265e-03 7.45741990e+00] [ 1.89833142e-02 9.99816336e-01 2.63197269e-03 -1.77658492e-01] [ 5.71339096e-03 -2.74088234e-03 9.99979922e-01 -1.39485772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32119381700002 meters Centerline goodness [0,1] 0.7654672694618195 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.17, Z:-1.40 [[ 9.99853275e-01 -1.60923695e-02 -5.87061503e-03 7.45812225e+00] [ 1.61229918e-02 9.99856459e-01 5.20671363e-03 -1.74806978e-01] [ 5.78598400e-03 -5.30060155e-03 9.99969213e-01 -1.39553395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35119381700002 meters Centerline goodness [0,1] 0.8063127393149125 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.17, Z:-1.40 [[ 9.99900693e-01 -1.27987321e-02 -5.89894208e-03 7.45785173e+00] [ 1.28448182e-02 9.99886750e-01 7.84207480e-03 -1.71236553e-01] [ 5.79790541e-03 -7.91706686e-03 9.99951851e-01 -1.39522419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38119381700002 meters Centerline goodness [0,1] 0.8303351481151799 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.17, Z:-1.40 [[ 9.99937977e-01 -9.34206040e-03 -6.06366718e-03 7.45816412e+00] [ 9.40516411e-03 9.99901028e-01 1.04631371e-02 -1.67374469e-01] [ 5.96531978e-03 -1.05195179e-02 9.99926875e-01 -1.39527063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41119381700003 meters Centerline goodness [0,1] 0.8687545219638243 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.16, Z:-1.40 [[ 9.99990674e-01 3.23538496e-04 -4.30673381e-03 7.45981743e+00] [-3.21667177e-04 9.99999854e-01 4.35195514e-04 -1.55828620e-01] [ 4.30687398e-03 -4.33806120e-04 9.99990631e-01 -1.39604781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44119381700003 meters Centerline goodness [0,1] 0.9227852036058439 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.15, Z:-1.40 [[ 9.99981345e-01 4.18480745e-03 -4.44947865e-03 7.46013598e+00] [-4.17135173e-03 9.99986712e-01 3.02910463e-03 -1.50972367e-01] [ 4.46209574e-03 -3.01048778e-03 9.99985513e-01 -1.39592832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47119381700003 meters Centerline goodness [0,1] 0.9315721809812134 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.15, Z:-1.40 [[ 9.99956435e-01 8.08929154e-03 -4.65747210e-03 7.46082288e+00] [-8.06361784e-03 9.99952335e-01 5.50500854e-03 -1.45522425e-01] [ 4.70178172e-03 -5.46721264e-03 9.99974001e-01 -1.39605852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50119381700003 meters Centerline goodness [0,1] 0.9419830568155927 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.14, Z:-1.40 [[ 9.99815934e-01 1.85653920e-02 -4.83989128e-03 7.46226572e+00] [-1.84935317e-02 9.99723948e-01 1.44919397e-02 -1.37934547e-01] [ 5.10760376e-03 -1.43997656e-02 9.99883273e-01 -1.39696175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53119381700003 meters Centerline goodness [0,1] 0.9395157114153738 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.13, Z:-1.40 [[ 9.99806315e-01 1.90318178e-02 -5.01217720e-03 7.46307520e+00] [-1.89620610e-02 9.99727493e-01 1.36154580e-02 -1.33266353e-01] [ 5.26993827e-03 -1.35177797e-02 9.99894743e-01 -1.39733017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56119381700003 meters Centerline goodness [0,1] 0.9402589880435233 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.13, Z:-1.40 [[ 9.99803905e-01 1.90756256e-02 -5.31723023e-03 7.46399650e+00] [-1.90073704e-02 9.99739890e-01 1.26044366e-02 -1.29619947e-01] [ 5.55628468e-03 -1.25008983e-02 9.99906423e-01 -1.39766267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59119381700003 meters Centerline goodness [0,1] 0.9413323945411999 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.13, Z:-1.40 [[ 9.99806599e-01 1.88748149e-02 -5.52320464e-03 7.46475047e+00] [-1.88090512e-02 9.99754331e-01 1.17258794e-02 -1.26937953e-01] [ 5.74317157e-03 -1.16197254e-02 9.99915995e-01 -1.39806164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62119381700003 meters Centerline goodness [0,1] 0.9410553198500639 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.13, Z:-1.40 [[ 9.99810832e-01 1.85608653e-02 -5.81329515e-03 7.46588542e+00] [-1.84957146e-02 9.99767685e-01 1.10673025e-02 -1.25178047e-01] [ 6.01736335e-03 -1.09576879e-02 9.99921857e-01 -1.39876620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65119381700003 meters Centerline goodness [0,1] 0.9398865236478091 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.12, Z:-1.40 [[ 9.99870845e-01 1.49098542e-02 -5.99918080e-03 7.46640003e+00] [-1.48712009e-02 9.99868698e-01 6.43692138e-03 -1.22254031e-01] [ 6.09436666e-03 -6.34687500e-03 9.99961287e-01 -1.39900090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68119381700004 meters Centerline goodness [0,1] 0.938965096311009 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.12, Z:-1.40 [[ 9.99923962e-01 1.07425462e-02 -6.05547178e-03 7.46639840e+00] [-1.07333701e-02 9.99941201e-01 1.54581280e-03 -1.19513280e-01] [ 6.07172169e-03 -1.48069964e-03 9.99980471e-01 -1.39886173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71119381700004 meters Centerline goodness [0,1] 0.9391388865911159 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.12, Z:-1.40 [[ 9.99926678e-01 1.03734137e-02 -6.24744846e-03 7.46681767e+00] [-1.03669473e-02 9.99945693e-01 1.06654459e-03 -1.18526151e-01] [ 6.25817289e-03 -1.00169942e-03 9.99979916e-01 -1.39886836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74119381700004 meters Centerline goodness [0,1] 0.9382256161917178 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.12, Z:-1.40 [[ 9.99928375e-01 1.00839493e-02 -6.44668093e-03 7.46724820e+00] [-1.00807857e-02 9.99949051e-01 5.23036714e-04 -1.17128021e-01] [ 6.45162675e-03 -4.58011643e-04 9.99979083e-01 -1.39886902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77119381700004 meters Centerline goodness [0,1] 0.9381607201850016 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.12, Z:-1.40 [[ 9.99926478e-01 1.00625414e-02 -6.76636226e-03 7.46809260e+00] [-1.00614996e-02 9.99949364e-01 1.88000966e-04 -1.15951177e-01] [ 6.76791140e-03 -1.19907393e-04 9.99977090e-01 -1.39909960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.801193817 meters Centerline goodness [0,1] 0.9371198845479848 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.12, Z:-1.40 [[ 9.99923179e-01 1.02998744e-02 -6.89555097e-03 7.46852102e+00] [-1.02976485e-02 9.99946914e-01 3.58228470e-04 -1.16760653e-01] [ 6.89887462e-03 -2.87192990e-04 9.99976161e-01 -1.39933636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.831193817 meters Centerline goodness [0,1] 0.9383081896551724 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.12, Z:-1.40 [[ 9.99923783e-01 1.01774424e-02 -6.98910711e-03 7.46839321e+00] [-1.01745539e-02 9.99948137e-01 4.48713993e-04 -1.17874341e-01] [ 6.99331140e-03 -3.77568746e-04 9.99975475e-01 -1.39894504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86119381700001 meters Centerline goodness [0,1] 0.9377979568671964 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.12, Z:-1.40 [[ 9.99926472e-01 9.80930031e-03 -7.12944222e-03 7.46858345e+00] [-9.80556148e-03 9.99951768e-01 5.59187046e-04 -1.19420666e-01] [ 7.13458359e-03 -4.89237746e-04 9.99974429e-01 -1.39884692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.89119381700002 meters Centerline goodness [0,1] 0.9378425897197228 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.12, Z:-1.40 [[ 9.99960421e-01 5.58060237e-03 -6.92917152e-03 7.46774074e+00] [-5.60278916e-03 9.99979227e-01 -3.18666601e-03 -1.21094398e-01] [ 6.91124406e-03 3.22536257e-03 9.99970915e-01 -1.39828153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92119381700002 meters Centerline goodness [0,1] 0.9378425897197228 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.12, Z:-1.40 [[ 9.99960421e-01 5.58060237e-03 -6.92917152e-03 7.46774074e+00] [-5.60278916e-03 9.99979227e-01 -3.18666601e-03 -1.21094398e-01] [ 6.91124406e-03 3.22536257e-03 9.99970915e-01 -1.39828153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.95119381700002 meters Centerline goodness [0,1] 0.9366191344718953 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.12, Z:-1.40 [[ 9.99963766e-01 4.91300033e-03 -6.95187445e-03 7.46743970e+00] [-4.93522863e-03 9.99982753e-01 -3.18391941e-03 -1.22712352e-01] [ 6.93611195e-03 3.21811314e-03 9.99970767e-01 -1.39787328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98119381700002 meters Centerline goodness [0,1] 0.9360249216042251 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.12, Z:-1.40 [[ 9.99964289e-01 4.44594171e-03 -7.18711781e-03 7.46808383e+00] [-4.46730669e-03 9.99985643e-01 -2.95936156e-03 -1.24650516e-01] [ 7.17385747e-03 2.99136293e-03 9.99969793e-01 -1.39816926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01119381700002 meters Centerline goodness [0,1] 0.9346793839547463 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.13, Z:-1.40 [[ 9.99965826e-01 3.92743352e-03 -7.27482509e-03 7.46847645e+00] [-3.94744217e-03 9.99988460e-01 -2.73808172e-03 -1.26608470e-01] [ 7.26398750e-03 2.76670510e-03 9.99969789e-01 -1.39844660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04119381700002 meters Centerline goodness [0,1] 0.9326855343305847 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.13, Z:-1.40 [[ 9.99971404e-01 5.10424763e-04 -7.54523969e-03 7.46969029e+00] [-5.52378125e-04 9.99984395e-01 -5.55920464e-03 -1.29357967e-01] [ 7.54228439e-03 5.56321349e-03 9.99956081e-01 -1.39939212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07119381700002 meters Centerline goodness [0,1] 0.9316182710019247 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.13, Z:-1.40 [[ 9.99970131e-01 7.71674676e-04 -7.69030328e-03 7.47055173e+00] [-8.08177455e-04 9.99988418e-01 -4.74462141e-03 -1.31629973e-01] [ 7.68655290e-03 4.75069483e-03 9.99959173e-01 -1.40014844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10119381700002 meters Centerline goodness [0,1] 0.9312879382252137 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.13, Z:-1.40 [[ 9.99967596e-01 1.20811768e-03 -7.95916837e-03 7.47177079e+00] [-1.23936818e-03 9.99991539e-01 -3.92259010e-03 -1.33566876e-01] [ 7.95436207e-03 3.93232733e-03 9.99960632e-01 -1.40104474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13119381700002 meters Centerline goodness [0,1] 0.9305262286258436 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.14, Z:-1.40 [[ 9.99964248e-01 1.73271869e-03 -8.27655390e-03 7.47305023e+00] [-1.75699285e-03 9.99994174e-01 -2.92651220e-03 -1.35922098e-01] [ 8.27143486e-03 2.94094942e-03 9.99961466e-01 -1.40196424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16119381700003 meters Centerline goodness [0,1] 0.9290262751159196 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.14, Z:-1.40 [[ 9.99961407e-01 2.05107532e-03 -8.54272648e-03 7.47397133e+00] [-2.07146476e-03 9.99995026e-01 -2.37859613e-03 -1.36999366e-01] [ 8.53780530e-03 2.39620029e-03 9.99960681e-01 -1.40241034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19119381700003 meters Centerline goodness [0,1] 0.9266836639512468 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.14, Z:-1.40 [[ 9.99959407e-01 2.19724830e-03 -8.73826816e-03 7.47409114e+00] [-2.21554484e-03 9.99995373e-01 -2.08471169e-03 -1.37748787e-01] [ 8.73364710e-03 2.10398709e-03 9.99959648e-01 -1.40203597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22119381700003 meters Centerline goodness [0,1] 0.9289920046278123 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.14, Z:-1.40 [[ 9.99956259e-01 2.31348435e-03 -9.06248019e-03 7.47477087e+00] [-2.32865192e-03 9.99995905e-01 -1.66347262e-03 -1.38862878e-01] [ 9.05859467e-03 1.68450322e-03 9.99957551e-01 -1.40203523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25119381700003 meters Centerline goodness [0,1] 0.9244566451319944 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.14, Z:-1.40 [[ 9.99957061e-01 2.03987685e-03 -9.03965164e-03 7.47447814e+00] [-2.04813924e-03 9.99997493e-01 -9.04853596e-04 -1.43110171e-01] [ 9.03778319e-03 9.23329208e-04 9.99958732e-01 -1.40168631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28119381700003 meters Centerline goodness [0,1] 0.9257748607631628 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.15, Z:-1.40 [[ 9.99957926e-01 1.80162078e-03 -8.99442501e-03 7.47390898e+00] [-1.80682556e-03 9.99998205e-01 -5.70575132e-04 -1.45397338e-01] [ 8.99338090e-03 5.86802483e-04 9.99959387e-01 -1.40105638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31119381700003 meters Centerline goodness [0,1] 0.9224175324809452 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.15, Z:-1.40 [[ 9.99959132e-01 1.50931284e-03 -8.91378736e-03 7.47344385e+00] [-1.51292955e-03 9.99998776e-01 -3.99014715e-04 -1.46814454e-01] [ 8.91317421e-03 4.12484340e-04 9.99960192e-01 -1.40063880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34119381700003 meters Centerline goodness [0,1] 0.9175777441238098 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.15, Z:-1.40 [[ 9.99960471e-01 1.11670899e-03 -8.82095377e-03 7.47275323e+00] [-1.12096040e-03 9.99999258e-01 -4.77037844e-04 -1.47421239e-01] [ 8.82041451e-03 4.86906927e-04 9.99960981e-01 -1.39989853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37119381700003 meters Centerline goodness [0,1] 0.9104570036741939 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.15, Z:-1.40 [[ 9.99959304e-01 9.32086600e-04 -8.97337258e-03 7.47307566e+00] [-9.38054106e-04 9.99999342e-01 -6.60837906e-04 -1.46897348e-01] [ 8.97275071e-03 6.69228522e-04 9.99959520e-01 -1.39983958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40119381700003 meters Centerline goodness [0,1] 0.9247673645729478 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.15, Z:-1.40 [[ 9.99958089e-01 1.00971221e-03 -9.09948989e-03 7.47307369e+00] [-1.01754289e-03 9.99999116e-01 -8.55974482e-04 -1.45803803e-01] [ 9.09861756e-03 8.65197729e-04 9.99958232e-01 -1.39947884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43119381700004 meters Centerline goodness [0,1] 0.9310731181010872 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.14, Z:-1.40 [[ 9.99944048e-01 5.12468465e-03 -9.25415498e-03 7.47387128e+00] [-5.09978359e-03 9.99983317e-01 2.71239395e-03 -1.44528691e-01] [ 9.26790076e-03 -2.66504800e-03 9.99953501e-01 -1.40010830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46119381700004 meters Centerline goodness [0,1] 0.9282839598373579 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.14, Z:-1.40 [[ 9.99938136e-01 5.57964880e-03 -9.62246229e-03 7.47475604e+00] [-5.55929990e-03 9.99982257e-01 2.14018167e-03 -1.41791302e-01] [ 9.63423302e-03 -2.08655511e-03 9.99951413e-01 -1.40023011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49119381700004 meters Centerline goodness [0,1] 0.933108010035872 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.14, Z:-1.40 [[ 9.99933779e-01 5.91165670e-03 -9.87366716e-03 7.47539832e+00] [-5.89778971e-03 9.99981581e-01 1.43296899e-03 -1.38777529e-01] [ 9.88195652e-03 -1.37464129e-03 9.99950227e-01 -1.40034404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52119381700004 meters Centerline goodness [0,1] 0.9328018223234624 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.14, Z:-1.40 [[ 9.99929428e-01 6.16188597e-03 -1.01572472e-02 7.47575223e+00] [-6.15459250e-03 9.99980780e-01 7.49157465e-04 -1.36110951e-01] [ 1.01616682e-02 -6.86590878e-04 9.99948133e-01 -1.39993463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.551193817 meters Centerline goodness [0,1] 0.9340761952191236 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.13, Z:-1.40 [[ 9.99926887e-01 6.53545749e-03 -1.01739447e-02 7.47509182e+00] [-6.53545824e-03 9.99978643e-01 3.31734754e-05 -1.33121070e-01] [ 1.01739442e-02 3.33203408e-05 9.99948244e-01 -1.39892186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.581193817 meters Centerline goodness [0,1] 0.93335685525715 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.13, Z:-1.40 [[ 9.99926991e-01 6.24513907e-03 -1.03446281e-02 7.47524221e+00] [-6.25047511e-03 9.99980349e-01 -4.83576564e-04 -1.32035376e-01] [ 1.03414048e-02 5.48200098e-04 9.99946376e-01 -1.39864976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.61119381700001 meters Centerline goodness [0,1] 0.932157732236474 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.13, Z:-1.40 [[ 9.99929335e-01 5.64792303e-03 -1.04606973e-02 7.47540189e+00] [-5.65932388e-03 9.99983423e-01 -1.06059481e-03 -1.31488339e-01] [ 1.04545337e-02 1.11972034e-03 9.99944723e-01 -1.39861397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64119381700002 meters Centerline goodness [0,1] 0.9318097207859359 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.13, Z:-1.40 [[ 9.99928902e-01 5.34898934e-03 -1.06573818e-02 7.47611635e+00] [-5.36108527e-03 9.99985017e-01 -1.10673638e-03 -1.32322258e-01] [ 1.06513022e-02 1.16379282e-03 9.99942596e-01 -1.39900001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.67119381700002 meters Centerline goodness [0,1] 0.9322744547257105 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.13, Z:-1.40 [[ 9.99926690e-01 5.17646701e-03 -1.09462063e-02 7.47713547e+00] [-5.18850795e-03 9.99985965e-01 -1.07189823e-03 -1.33233111e-01] [ 1.09405040e-02 1.12861413e-03 9.99939514e-01 -1.39955840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70119381700002 meters Centerline goodness [0,1] 0.9329909715894973 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.13, Z:-1.40 [[ 9.99925320e-01 5.02133409e-03 -1.11418566e-02 7.47794911e+00] [-5.03335289e-03 9.99986780e-01 -1.05092751e-03 -1.33812571e-01] [ 1.11364323e-02 1.10692992e-03 9.99937375e-01 -1.40006244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73119381700002 meters Centerline goodness [0,1] 0.9321722622314851 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.13, Z:-1.40 [[ 9.99921415e-01 4.52063124e-03 -1.16930999e-02 7.48078022e+00] [-4.53792683e-03 9.99988648e-01 -1.45301883e-03 -1.34017516e-01] [ 1.16863986e-02 1.50596708e-03 9.99930578e-01 -1.40211100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76119381700002 meters Centerline goodness [0,1] 0.929553937844136 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.14, Z:-1.40 [[ 9.99917824e-01 4.13164649e-03 -1.21357166e-02 7.48351993e+00] [-4.14930130e-03 9.99990369e-01 -1.42996288e-03 -1.35699792e-01] [ 1.21296916e-02 1.48020011e-03 9.99925337e-01 -1.40439621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79119381700002 meters Centerline goodness [0,1] 0.9311664666694253 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.14, Z:-1.40 [[ 9.99914680e-01 4.36601745e-03 -1.23114379e-02 7.48401049e+00] [-4.38038955e-03 9.99989755e-01 -1.14065402e-03 -1.36557726e-01] [ 1.23063317e-02 1.19448559e-03 9.99923561e-01 -1.40452726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82119381700002 meters Centerline goodness [0,1] 0.929978435763457 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.14, Z:-1.40 [[ 9.99909360e-01 4.78384490e-03 -1.25851477e-02 7.48456273e+00] [-4.79455710e-03 9.99988169e-01 -8.21144614e-04 -1.37028098e-01] [ 1.25810706e-02 8.81410395e-04 9.99920467e-01 -1.40449228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85119381700002 meters Centerline goodness [0,1] 0.9311425074168586 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.14, Z:-1.40 [[ 9.99903514e-01 5.23205069e-03 -1.28681088e-02 7.48496457e+00] [-5.24021515e-03 9.99986089e-01 -6.00836285e-04 -1.37068102e-01] [ 1.28647861e-02 6.68209971e-04 9.99917022e-01 -1.40418379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88119381700002 meters Centerline goodness [0,1] 0.9353702014758312 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.14, Z:-1.40 [[ 9.99892146e-01 7.02870981e-03 -1.28954714e-02 7.48425522e+00] [-7.02518038e-03 9.99975272e-01 3.18973925e-04 -1.37094756e-01] [ 1.28973945e-02 -2.28346510e-04 9.99916799e-01 -1.40293773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91119381700003 meters Centerline goodness [0,1] 0.9360153811167848 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.14, Z:-1.40 [[ 9.99885193e-01 7.57717305e-03 -1.31219782e-02 7.48455665e+00] [-7.57239040e-03 9.99971243e-01 4.14123268e-04 -1.36587008e-01] [ 1.31247387e-02 -3.14710982e-04 9.99913817e-01 -1.40257392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94119381700003 meters Centerline goodness [0,1] 0.9374702952906412 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.14, Z:-1.40 [[ 9.99880281e-01 7.97690249e-03 -1.32587098e-02 7.48460592e+00] [-7.97008309e-03 9.99968078e-01 5.67093287e-04 -1.36598072e-01] [ 1.32628102e-02 -4.61352377e-04 9.99911939e-01 -1.40218743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97119381700003 meters Centerline goodness [0,1] 0.9379390133046855 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.14, Z:-1.40 [[ 9.99876527e-01 8.12972138e-03 -1.34476361e-02 7.48476251e+00] [-8.12193371e-03 9.99966816e-01 6.33623774e-04 -1.36982459e-01] [ 1.34523411e-02 -5.24324729e-04 9.99909376e-01 -1.40186184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00119381700003 meters Centerline goodness [0,1] 0.9394302476914496 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.14, Z:-1.40 [[ 9.99876053e-01 8.08212183e-03 -1.35114230e-02 7.48477322e+00] [-8.07267026e-03 9.99967131e-01 7.53918648e-04 -1.37732758e-01] [ 1.35170722e-02 -6.44751939e-04 9.99908432e-01 -1.40165106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03119381700003 meters Centerline goodness [0,1] 0.938961791613197 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.14, Z:-1.40 [[ 9.99897092e-01 4.74802374e-03 -1.35374194e-02 7.48424898e+00] [-4.77751585e-03 9.99986283e-01 -2.14705633e-03 -1.40518249e-01] [ 1.35270395e-02 2.21151061e-03 9.99906060e-01 -1.40094290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06119381700003 meters Centerline goodness [0,1] 0.9389201326658838 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.14, Z:-1.40 [[ 9.99947591e-01 6.34314606e-04 -1.02182974e-02 7.49482292e+00] [-5.88545006e-04 9.99989785e-01 4.48156511e-03 -1.44090021e-01] [ 1.02210358e-02 -4.47531631e-03 9.99937749e-01 -1.40310398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09119381700003 meters Centerline goodness [0,1] 0.9357104491178779 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.15, Z:-1.40 [[ 9.99942037e-01 -2.54376984e-03 -1.04618943e-02 7.49583140e+00] [ 2.56006730e-03 9.99995530e-01 1.54469507e-03 -1.46246863e-01] [ 1.04579182e-02 -1.57138869e-03 9.99944080e-01 -1.40366255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12119381700003 meters Centerline goodness [0,1] 0.9331707720284345 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.15, Z:-1.40 [[ 9.99923904e-01 -5.59503601e-03 -1.09946406e-02 7.49786985e+00] [ 5.59440417e-03 9.99984347e-01 -8.82223146e-05 -1.52353102e-01] [ 1.09949621e-02 2.67071382e-05 9.99939553e-01 -1.40490371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15119381700003 meters Centerline goodness [0,1] 0.9309612211221122 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.16, Z:-1.41 [[ 9.99921905e-01 -5.39025955e-03 -1.12751868e-02 7.49886107e+00] [ 5.40371252e-03 9.99984724e-01 1.16302397e-03 -1.56311005e-01] [ 1.12687455e-02 -1.22386101e-03 9.99935757e-01 -1.40538506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18119381700004 meters Centerline goodness [0,1] 0.9284071364926749 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.16, Z:-1.41 [[ 9.99918646e-01 -5.23885972e-03 -1.16299332e-02 7.49931476e+00] [ 5.26482448e-03 9.99983714e-01 2.20308844e-03 -1.59815825e-01] [ 1.16182021e-02 -2.26413877e-03 9.99929943e-01 -1.40505943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21119381700004 meters Centerline goodness [0,1] 0.9266028430519292 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.16, Z:-1.40 [[ 9.99917334e-01 -4.98566534e-03 -1.18519664e-02 7.49967890e+00] [ 5.02449419e-03 9.99982100e-01 3.24863646e-03 -1.63299748e-01] [ 1.18355576e-02 -3.30791805e-03 9.99924486e-01 -1.40488149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24119381700004 meters Centerline goodness [0,1] 0.9286245968075428 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.17, Z:-1.40 [[ 9.99899343e-01 -7.38972330e-03 -1.21117845e-02 7.49903556e+00] [ 7.41298224e-03 9.99970763e-01 1.87658806e-03 -1.69465826e-01] [ 1.20975629e-02 -1.96618362e-03 9.99924889e-01 -1.40327199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27119381700004 meters Centerline goodness [0,1] 0.9279504905410441 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.17, Z:-1.40 [[ 9.99901217e-01 -7.15390983e-03 -1.20986763e-02 7.49860397e+00] [ 7.19129393e-03 9.99969493e-01 3.04925633e-03 -1.73657349e-01] [ 1.20764931e-02 -3.13596025e-03 9.99922159e-01 -1.40262995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.301193817 meters Centerline goodness [0,1] 0.9281022802379378 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.18, Z:-1.40 [[ 9.99897631e-01 -7.20085621e-03 -1.23642317e-02 7.49924784e+00] [ 7.24974374e-03 9.99966062e-01 3.91369010e-03 -1.77493658e-01] [ 1.23356301e-02 -4.00292698e-03 9.99915901e-01 -1.40265790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.331193817 meters Centerline goodness [0,1] 0.9301512424223616 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.18, Z:-1.40 [[ 9.99871222e-01 -1.02486824e-02 -1.23492365e-02 7.49894375e+00] [ 1.02718212e-02 9.99945602e-01 1.81173171e-03 -1.82184648e-01] [ 1.23299968e-02 -1.93834755e-03 9.99922104e-01 -1.40213652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36119381700001 meters Centerline goodness [0,1] 0.9305150330043247 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.18, Z:-1.40 [[ 9.99873266e-01 -9.97437438e-03 -1.24081896e-02 7.49881181e+00] [ 1.00095240e-02 9.99946056e-01 2.77390858e-03 -1.84789556e-01] [ 1.23798523e-02 -2.89775710e-03 9.99919168e-01 -1.40172056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.39119381700002 meters Centerline goodness [0,1] 0.9224072125600875 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.19, Z:-1.40 [[ 9.99869249e-01 -1.00711131e-02 -1.26514173e-02 7.49937945e+00] [ 1.01118884e-02 9.99943870e-01 3.16316130e-03 -1.86502390e-01] [ 1.26188506e-02 -3.29067743e-03 9.99914964e-01 -1.40176780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42119381700002 meters Centerline goodness [0,1] 0.9218107841525564 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.19, Z:-1.40 [[ 9.99864647e-01 -1.01654148e-02 -1.29364872e-02 7.49986864e+00] [ 1.02108519e-02 9.99941912e-01 3.45113537e-03 -1.88025169e-01] [ 1.29006535e-02 -3.58276080e-03 9.99910364e-01 -1.40156796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.45119381700002 meters Centerline goodness [0,1] 0.92943832325408 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.19, Z:-1.40 [[ 9.99866561e-01 -9.85757020e-03 -1.30264642e-02 7.49974002e+00] [ 9.91518923e-03 9.99941311e-01 4.36607216e-03 -1.91452881e-01] [ 1.29826609e-02 -4.49464941e-03 9.99905620e-01 -1.40111361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48119381700002 meters Centerline goodness [0,1] 0.9248446307269836 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.19, Z:-1.40 [[ 9.99861749e-01 -9.84650868e-03 -1.33988138e-02 7.50081977e+00] [ 9.90905648e-03 9.99940278e-01 4.60980539e-03 -1.92836381e-01] [ 1.33526231e-02 -4.74193769e-03 9.99899606e-01 -1.40151399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51119381700002 meters Centerline goodness [0,1] 0.926652082387419 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.19, Z:-1.40 [[ 9.99860707e-01 -9.63888767e-03 -1.36256798e-02 7.50151304e+00] [ 9.70767031e-03 9.99940424e-01 4.99092012e-03 -1.94094315e-01] [ 1.35767611e-02 -5.12249852e-03 9.99894710e-01 -1.40170893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54119381700002 meters Centerline goodness [0,1] 0.9251992134947739 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.19, Z:-1.40 [[ 9.99862731e-01 -9.36309847e-03 -1.36693382e-02 7.50160257e+00] [ 9.43663477e-03 9.99941295e-01 5.32510073e-03 -1.94637979e-01] [ 1.36186763e-02 -5.45336231e-03 9.99892390e-01 -1.40160692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57119381700002 meters Centerline goodness [0,1] 0.9237158560271086 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.19, Z:-1.40 [[ 9.99860307e-01 -9.22046649e-03 -1.39408985e-02 7.50228908e+00] [ 9.29645496e-03 9.99942229e-01 5.39581422e-03 -1.94634204e-01] [ 1.38903412e-02 -5.52466140e-03 9.99888262e-01 -1.40171292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60119381700002 meters Centerline goodness [0,1] 0.9284397207201608 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.19, Z:-1.40 [[ 9.99864254e-01 -8.70196039e-03 -1.39910382e-02 7.50186868e+00] [ 8.78221755e-03 9.99945274e-01 5.68515547e-03 -1.94148927e-01] [ 1.39408005e-02 -5.80725607e-03 9.99885958e-01 -1.40095271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63119381700002 meters Centerline goodness [0,1] 0.9317181981535411 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.19, Z:-1.40 [[ 9.99861169e-01 -8.70232894e-03 -1.42095961e-02 7.50248969e+00] [ 8.78240337e-03 9.99945851e-01 5.58259260e-03 -1.93751705e-01] [ 1.41602451e-02 -5.70661196e-03 9.99883454e-01 -1.40106207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66119381700003 meters Centerline goodness [0,1] 0.9261653483136785 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.19, Z:-1.40 [[ 9.99860282e-01 -8.61620706e-03 -1.43240443e-02 7.50275113e+00] [ 8.69799192e-03 9.99946169e-01 5.65715921e-03 -1.93970143e-01] [ 1.42745300e-02 -5.78095922e-03 9.99881402e-01 -1.40100481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69119381700003 meters Centerline goodness [0,1] 0.929946303180504 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.19, Z:-1.40 [[ 9.99860478e-01 -8.51117586e-03 -1.43730200e-02 7.50312199e+00] [ 8.59512656e-03 9.99946303e-01 5.78921619e-03 -1.94679239e-01] [ 1.43229751e-02 -5.91194640e-03 9.99879943e-01 -1.40123416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72119381700003 meters Centerline goodness [0,1] 0.9316903016838652 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.20, Z:-1.40 [[ 9.99861359e-01 -8.26382826e-03 -1.44558417e-02 7.50386680e+00] [ 8.35609446e-03 9.99945027e-01 6.33390906e-03 -1.96601152e-01] [ 1.44027047e-02 -6.45382530e-03 9.99875447e-01 -1.40195859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75119381700003 meters Centerline goodness [0,1] 0.9298347227106303 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.20, Z:-1.40 [[ 9.99857706e-01 -8.30423564e-03 -1.46835709e-02 7.50480962e+00] [ 8.40078805e-03 9.99943417e-01 6.52613103e-03 -1.97563299e-01] [ 1.46285455e-02 -6.64855596e-03 9.99870893e-01 -1.40255629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78119381700003 meters Centerline goodness [0,1] 0.9302653399668325 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.20, Z:-1.40 [[ 9.99857288e-01 -8.25537524e-03 -1.47394957e-02 7.50512657e+00] [ 8.35782727e-03 9.99941247e-01 6.90283400e-03 -1.98884142e-01] [ 1.46816442e-02 -7.02503904e-03 9.99867540e-01 -1.40272070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81119381700003 meters Centerline goodness [0,1] 0.9250392789216902 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.20, Z:-1.40 [[ 9.99843674e-01 -9.07238880e-03 -1.51762862e-02 7.50745899e+00] [ 9.17063201e-03 9.99937362e-01 6.41644942e-03 -1.99856664e-01] [ 1.51171231e-02 -6.55462250e-03 9.99864246e-01 -1.40433067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84119381700003 meters Centerline goodness [0,1] 0.9250392789216902 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.20, Z:-1.40 [[ 9.99843674e-01 -9.07238880e-03 -1.51762862e-02 7.50745899e+00] [ 9.17063201e-03 9.99937362e-01 6.41644942e-03 -1.99856664e-01] [ 1.51171231e-02 -6.55462250e-03 9.99864246e-01 -1.40433067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87119381700003 meters Centerline goodness [0,1] 0.9225065576140612 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.20, Z:-1.41 [[ 9.99824049e-01 -1.06065004e-02 -1.54716657e-02 7.50957102e+00] [ 1.06928700e-02 9.99927646e-01 5.51043575e-03 -2.02640609e-01] [ 1.54120998e-02 -5.67490269e-03 9.99865122e-01 -1.40596294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90119381700003 meters Centerline goodness [0,1] 0.9224349125939459 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.20, Z:-1.41 [[ 9.99819096e-01 -1.08622598e-02 -1.56136959e-02 7.50965301e+00] [ 1.09552442e-02 9.99922688e-01 5.88216356e-03 -2.04899080e-01] [ 1.55485952e-02 -6.05215130e-03 9.99860797e-01 -1.40563554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93119381700004 meters Centerline goodness [0,1] 0.9205503864724289 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.21, Z:-1.41 [[ 9.99784610e-01 -1.30468135e-02 -1.61404495e-02 7.51169353e+00] [ 1.31081476e-02 9.99907239e-01 3.70008285e-03 -2.06103523e-01] [ 1.60906780e-02 -3.91085729e-03 9.99862888e-01 -1.40662465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96119381700004 meters Centerline goodness [0,1] 0.919614281557837 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.21, Z:-1.41 [[ 9.99784771e-01 -1.28609766e-02 -1.62790575e-02 7.51178402e+00] [ 1.29343751e-02 9.99906616e-01 4.41153654e-03 -2.08418542e-01] [ 1.62208006e-02 -4.62114649e-03 9.99857755e-01 -1.40630483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99119381700004 meters Centerline goodness [0,1] 0.9239720071224481 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.21, Z:-1.41 [[ 9.99736851e-01 -1.60020917e-02 -1.64366268e-02 7.51181702e+00] [ 1.60258087e-02 9.99870717e-01 1.31222745e-03 -2.10079278e-01] [ 1.64135035e-02 -1.57529238e-03 9.99864048e-01 -1.40566960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02119381700004 meters Centerline goodness [0,1] 0.9238562904027847 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.21, Z:-1.41 [[ 9.99738535e-01 -1.58583673e-02 -1.64734107e-02 7.51176933e+00] [ 1.58909027e-02 9.99872028e-01 1.84599775e-03 -2.11651067e-01] [ 1.64420280e-02 -2.10729246e-03 9.99862600e-01 -1.40543645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.051193817 meters Centerline goodness [0,1] 0.9190023408530649 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.21, Z:-1.41 [[ 9.99740046e-01 -1.57245080e-02 -1.65100310e-02 7.51207410e+00] [ 1.57651363e-02 9.99872999e-01 2.33356100e-03 -2.12876129e-01] [ 1.64712402e-02 -2.59323727e-03 9.99860977e-01 -1.40559140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.081193817 meters Centerline goodness [0,1] 0.9082663581330964 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.21, Z:-1.41 [[ 9.99734473e-01 -1.58749276e-02 -1.67023850e-02 7.51284319e+00] [ 1.59151433e-02 9.99870752e-01 2.27761630e-03 -2.12778147e-01] [ 1.66640693e-02 -2.54283239e-03 9.99857911e-01 -1.40600671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.11119381700001 meters Centerline goodness [0,1] 0.9222575219585124 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.21, Z:-1.41 [[ 9.99734965e-01 -1.57550037e-02 -1.67863152e-02 7.51293460e+00] [ 1.57976333e-02 9.99872305e-01 2.40996891e-03 -2.12462787e-01] [ 1.67462026e-02 -2.67451423e-03 9.99856195e-01 -1.40588765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14119381700002 meters Centerline goodness [0,1] 0.9236009330553434 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.21, Z:-1.41 [[ 9.99733899e-01 -1.55940829e-02 -1.69987231e-02 7.51338131e+00] [ 1.56343069e-02 9.99875277e-01 2.23597024e-03 -2.11412391e-01] [ 1.69617351e-02 -2.50113849e-03 9.99853011e-01 -1.40580093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.17119381700002 meters Centerline goodness [0,1] 0.9258050523619689 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.21, Z:-1.41 [[ 9.99741146e-01 -1.50089938e-02 -1.70988530e-02 7.51366403e+00] [ 1.50542125e-02 9.99883506e-01 2.51889938e-03 -2.11382985e-01] [ 1.70590549e-02 -2.77565712e-03 9.99850631e-01 -1.40582204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20119381700002 meters Centerline goodness [0,1] 0.9280129414936641 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.21, Z:-1.41 [[ 9.99750770e-01 -1.41328745e-02 -1.72817941e-02 7.51417356e+00] [ 1.41862934e-02 9.99894952e-01 2.97237081e-03 -2.11110372e-01] [ 1.72379705e-02 -3.21679461e-03 9.99846240e-01 -1.40598192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23119381700002 meters Centerline goodness [0,1] 0.9256723107569721 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.21, Z:-1.41 [[ 9.99761412e-01 -1.30612889e-02 -1.75077907e-02 7.51517934e+00] [ 1.31239713e-02 9.99907855e-01 3.47015608e-03 -2.10376637e-01] [ 1.74608527e-02 -3.69909988e-03 9.99840705e-01 -1.40668645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26119381700002 meters Centerline goodness [0,1] 0.9234646450040281 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.21, Z:-1.41 [[ 0.99980401 -0.00817296 -0.01803159 7.51640665] [ 0.00831071 0.99993676 0.00757745 -0.20861989] [ 0.01796852 -0.00772583 0.9998087 -1.40711525] [ 0. 0. 0. 1. ]] SLAMing on 186.29119381700002 meters Centerline goodness [0,1] 0.9243759935586432 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.21, Z:-1.41 [[ 9.99804829e-01 -7.13773071e-03 -1.84216554e-02 7.51687869e+00] [ 7.28468094e-03 9.99942084e-01 7.92229886e-03 -2.07276102e-01] [ 1.83640413e-02 -8.05494853e-03 9.99798920e-01 -1.40671590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32119381700002 meters Centerline goodness [0,1] 0.9244293326145999 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.21, Z:-1.40 [[ 9.99819968e-01 -5.48914216e-03 -1.81631514e-02 7.51488807e+00] [ 5.65522003e-03 9.99942557e-01 9.10497614e-03 -2.07392050e-01] [ 1.81121295e-02 -9.20605357e-03 9.99793578e-01 -1.40480180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35119381700002 meters Centerline goodness [0,1] 0.9288467915768529 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.21, Z:-1.40 [[ 9.99870382e-01 -2.38484597e-03 -1.59226502e-02 7.52137815e+00] [ 2.39785518e-03 9.99996807e-01 7.97984095e-04 -2.06743985e-01] [ 1.59206963e-02 -8.36060871e-04 9.99872908e-01 -1.40238919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38119381700002 meters Centerline goodness [0,1] 0.93858013179162 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.21, Z:-1.40 [[ 9.99880045e-01 6.03329316e-04 -1.54767889e-02 7.51863322e+00] [-5.49589422e-04 9.99993807e-01 3.47630788e-03 -2.09446701e-01] [ 1.54787904e-02 -3.46738501e-03 9.99874184e-01 -1.39987913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41119381700003 meters Centerline goodness [0,1] 0.9417959859300642 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.21, Z:-1.40 [[ 9.99878153e-01 1.19536850e-03 -1.55643971e-02 7.51887997e+00] [-1.13221285e-03 9.99991093e-01 4.06587894e-03 -2.10637936e-01] [ 1.55691187e-02 -4.04776132e-03 9.99870601e-01 -1.39988170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44119381700003 meters Centerline goodness [0,1] 0.9424871964315216 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.21, Z:-1.40 [[ 9.99873495e-01 1.84461819e-03 -1.57984595e-02 7.51969378e+00] [-1.76909716e-03 9.99986949e-01 4.79292012e-03 -2.12238527e-01] [ 1.58070944e-02 -4.76436479e-03 9.99863709e-01 -1.40026969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47119381700003 meters Centerline goodness [0,1] 0.9443276011381913 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.22, Z:-1.40 [[ 9.99867335e-01 3.51414502e-03 -1.59048151e-02 7.52074812e+00] [-3.40419172e-03 9.99970158e-01 6.93501010e-03 -2.16889907e-01] [ 1.59287111e-02 -6.87994703e-03 9.99849460e-01 -1.40126950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50119381700003 meters Centerline goodness [0,1] 0.9451825526375601 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.22, Z:-1.40 [[ 9.99873921e-01 1.40571991e-03 -1.58166641e-02 7.52078502e+00] [-1.33416312e-03 9.99988832e-01 4.53378202e-03 -2.18403976e-01] [ 1.58228607e-02 -4.51210839e-03 9.99864630e-01 -1.40150126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53119381700003 meters Centerline goodness [0,1] 0.9425147225953094 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.22, Z:-1.40 [[ 9.99873892e-01 -8.03534875e-04 -1.58604881e-02 7.52124521e+00] [ 8.40226459e-04 9.99996986e-01 2.30686757e-03 -2.21254260e-01] [ 1.58585867e-02 -2.31990306e-03 9.99871553e-01 -1.40189966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56119381700003 meters Centerline goodness [0,1] 0.943420861743798 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.23, Z:-1.40 [[ 9.99865125e-01 -2.76032021e-03 -1.61899137e-02 7.52243660e+00] [ 2.77145774e-03 9.99995938e-01 6.65534281e-04 -2.25468209e-01] [ 1.61880108e-02 -7.10314178e-04 9.99868713e-01 -1.40252196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59119381700003 meters Centerline goodness [0,1] 0.9420725388601037 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.23, Z:-1.40 [[ 9.99863116e-01 -2.85989622e-03 -1.62963002e-02 7.52302512e+00] [ 2.88144856e-03 9.99995005e-01 1.29920306e-03 -2.31422942e-01] [ 1.62925032e-02 -1.34598217e-03 9.99866362e-01 -1.40290740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62119381700003 meters Centerline goodness [0,1] 0.9420614198682083 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.24, Z:-1.40 [[ 9.99851826e-01 -5.60591854e-03 -1.62757482e-02 7.52348734e+00] [ 5.61679539e-03 9.99984032e-01 6.22650581e-04 -2.41344676e-01] [ 1.62719978e-02 -7.13975868e-04 9.99867347e-01 -1.40332843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65119381700003 meters Centerline goodness [0,1] 0.9384847295929957 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.25, Z:-1.41 [[ 9.99890564e-01 -9.61107793e-03 -1.12466341e-02 7.53421252e+00] [ 9.68923835e-03 9.99929142e-01 6.91594449e-03 -2.47795433e-01] [ 1.11793675e-02 -7.02415896e-03 9.99912838e-01 -1.40599419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68119381700004 meters Centerline goodness [0,1] 0.9343582083359266 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.25, Z:-1.41 [[ 9.99849881e-01 -1.31431093e-02 -1.12904352e-02 7.53436073e+00] [ 1.31958244e-02 9.99902317e-01 4.60726074e-03 -2.53067853e-01] [ 1.12287786e-02 -4.75555571e-03 9.99925647e-01 -1.40582266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71119381700004 meters Centerline goodness [0,1] 0.9325243420916627 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.26, Z:-1.41 [[ 9.99792614e-01 -1.68698607e-02 -1.14077735e-02 7.53488978e+00] [ 1.68964590e-02 9.99854737e-01 2.23924296e-03 -2.58507333e-01] [ 1.13683406e-02 -2.43152955e-03 9.99932422e-01 -1.40582101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74119381700004 meters Centerline goodness [0,1] 0.9319280843149411 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.27, Z:-1.41 [[ 9.99637905e-01 -2.43714658e-02 -1.14057499e-02 7.53590792e+00] [ 2.43420366e-02 9.99700010e-01 -2.71198518e-03 -2.68396979e-01] [ 1.14684234e-02 2.43336400e-03 9.99931275e-01 -1.40638791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77119381700004 meters Centerline goodness [0,1] 0.9289059262329051 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.27, Z:-1.41 [[ 9.99548457e-01 -2.77203317e-02 -1.15959091e-02 7.53707991e+00] [ 2.76632443e-02 9.99604518e-01 -5.05486004e-03 -2.73262998e-01] [ 1.17314455e-02 4.73179709e-03 9.99919988e-01 -1.40704025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.801193817 meters Centerline goodness [0,1] 0.9300039242414855 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.28, Z:-1.41 [[ 9.99451233e-01 -3.09539360e-02 -1.17935360e-02 7.53849952e+00] [ 3.08668869e-02 9.99495418e-01 -7.49300715e-03 -2.77355823e-01] [ 1.20195233e-02 7.12486549e-03 9.99902379e-01 -1.40791687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.831193817 meters Centerline goodness [0,1] 0.9299472788409647 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.28, Z:-1.41 [[ 9.99450484e-01 -3.09564167e-02 -1.18502882e-02 7.53913769e+00] [ 3.08844774e-02 9.99503692e-01 -6.20633326e-03 -2.82594473e-01] [ 1.20365327e-02 5.83693283e-03 9.99910522e-01 -1.40834406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86119381700001 meters Centerline goodness [0,1] 0.9239624167755585 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.29, Z:-1.41 [[ 9.99354914e-01 -3.38600401e-02 -1.19688689e-02 7.54000672e+00] [ 3.37689984e-02 9.99399782e-01 -7.72855962e-03 -2.89133217e-01] [ 1.22233743e-02 7.31939732e-03 9.99898503e-01 -1.40866319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.89119381700002 meters Centerline goodness [0,1] 0.922758592149641 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.29, Z:-1.41 [[ 9.99364573e-01 -3.34912701e-02 -1.21977603e-02 7.54043787e+00] [ 3.34152359e-02 9.99421160e-01 -6.38487013e-03 -2.93266771e-01] [ 1.24045372e-02 5.97322197e-03 9.99905220e-01 -1.40847588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92119381700002 meters Centerline goodness [0,1] 0.9213084848359212 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.30, Z:-1.41 [[ 9.99375331e-01 -3.30475077e-02 -1.25224120e-02 7.54089701e+00] [ 3.29860923e-02 9.99442902e-01 -5.07970053e-03 -2.97111745e-01] [ 1.26833072e-02 4.66346195e-03 9.99908689e-01 -1.40815116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.95119381700002 meters Centerline goodness [0,1] 0.9223248684701106 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.30, Z:-1.41 [[ 9.99375744e-01 -3.29858939e-02 -1.26511810e-02 7.54107334e+00] [ 3.29440081e-02 9.99451053e-01 -3.50510437e-03 -3.02449723e-01] [ 1.27598551e-02 3.08613568e-03 9.99913827e-01 -1.40774652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98119381700002 meters Centerline goodness [0,1] 0.9171311934019934 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.30, Z:-1.41 [[ 9.99377837e-01 -3.28666418e-02 -1.27953899e-02 7.54130074e+00] [ 3.28341546e-02 9.99457056e-01 -2.74088248e-03 -3.04629522e-01] [ 1.28785263e-02 2.31905139e-03 9.99914379e-01 -1.40753587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01119381700002 meters Centerline goodness [0,1] 0.9218487917003169 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.31, Z:-1.41 [[ 9.99378159e-01 -3.27979388e-02 -1.29456668e-02 7.54137465e+00] [ 3.27752916e-02 9.99460828e-01 -1.95775885e-03 -3.07082101e-01] [ 1.30028973e-02 1.53224343e-03 9.99914285e-01 -1.40712905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04119381700002 meters Centerline goodness [0,1] 0.9168755307910599 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.31, Z:-1.41 [[ 9.99378864e-01 -3.27397121e-02 -1.30382899e-02 7.54131679e+00] [ 3.27273194e-02 9.99463641e-01 -1.16277247e-03 -3.09630227e-01] [ 1.30693656e-02 7.35341948e-04 9.99914322e-01 -1.40668767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07119381700002 meters Centerline goodness [0,1] 0.8744778484268576 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.31, Z:-1.41 [[ 9.99292178e-01 -3.70302045e-02 -6.62628509e-03 7.55017307e+00] [ 3.70589779e-02 9.99303942e-01 4.27349409e-03 -3.14148198e-01] [ 6.46342445e-03 -4.51603257e-03 9.99968914e-01 -1.40854165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10119381700002 meters Centerline goodness [0,1] 0.887602758163709 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.32, Z:-1.41 [[ 9.99283416e-01 -3.72696465e-02 -6.60521881e-03 7.55026994e+00] [ 3.73004335e-02 9.99293506e-01 4.60073473e-03 -3.15556509e-01] [ 6.42908451e-03 -4.84381544e-03 9.99967602e-01 -1.40856432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13119381700002 meters Centerline goodness [0,1] 0.8109789908200358 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.32, Z:-1.41 [[ 9.99228619e-01 -3.86403854e-02 -7.00627531e-03 7.55263817e+00] [ 3.86649492e-02 9.99246430e-01 3.40503475e-03 -3.15165433e-01] [ 6.86942374e-03 -3.67330545e-03 9.99969658e-01 -1.41030944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16119381700003 meters Centerline goodness [0,1] 0.7913964726777085 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.31, Z:-1.41 [[ 9.99211957e-01 -3.90608064e-02 -7.05116365e-03 7.55316358e+00] [ 3.90840323e-02 9.99230846e-01 3.18667525e-03 -3.14892244e-01] [ 6.92126611e-03 -3.45975192e-03 9.99970063e-01 -1.41081128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19119381700003 meters Centerline goodness [0,1] 0.7964902874582422 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.31, Z:-1.41 [[ 9.99190329e-01 -3.95776107e-02 -7.23182487e-03 7.55404635e+00] [ 3.95973941e-02 9.99212299e-01 2.61314536e-03 -3.13458811e-01] [ 7.12270630e-03 -2.89739099e-03 9.99970436e-01 -1.41142947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22119381700003 meters Centerline goodness [0,1] 0.8028221314519124 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.31, Z:-1.41 [[ 9.99145024e-01 -4.06968971e-02 -7.27900655e-03 7.55447675e+00] [ 4.07057266e-02 9.99170607e-01 1.06893797e-03 -3.09142211e-01] [ 7.22946694e-03 -1.36432130e-03 9.99972936e-01 -1.41185628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25119381700003 meters Centerline goodness [0,1] 0.7831460208186456 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.31, Z:-1.41 [[ 9.99123362e-01 -4.12070117e-02 -7.38175182e-03 7.55470598e+00] [ 4.12101938e-02 9.99150460e-01 2.79424405e-04 -3.07011149e-01] [ 7.36396649e-03 -5.83382874e-04 9.99972715e-01 -1.41189080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28119381700003 meters Centerline goodness [0,1] 0.7737333581795971 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.31, Z:-1.41 [[ 9.99106406e-01 -4.16063142e-02 -7.43673694e-03 7.55497044e+00] [ 4.16045444e-02 9.99134079e-01 -3.92593207e-04 -3.05069467e-01] [ 7.44663167e-03 8.28403357e-05 9.99972270e-01 -1.41207112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31119381700003 meters Centerline goodness [0,1] 0.7598431730489981 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.30, Z:-1.41 [[ 9.99207918e-01 -3.90843378e-02 -7.47999269e-03 7.55511345e+00] [ 3.91043804e-02 9.99231872e-01 2.55220858e-03 -3.04290211e-01] [ 7.37449571e-03 -2.84268750e-03 9.99968767e-01 -1.41223041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34119381700003 meters Centerline goodness [0,1] 0.7376074572760227 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.30, Z:-1.41 [[ 9.99259732e-01 -3.77422130e-02 -7.45071964e-03 7.55540234e+00] [ 3.77655744e-02 9.99282063e-01 3.02001009e-03 -2.96056381e-01] [ 7.33138863e-03 -3.29915518e-03 9.99967683e-01 -1.41284402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37119381700003 meters Centerline goodness [0,1] 0.7321236892081578 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.29, Z:-1.41 [[ 9.99331199e-01 -3.57188671e-02 -7.83058421e-03 7.55663669e+00] [ 3.57551885e-02 9.99350228e-01 4.54850603e-03 -2.91364967e-01] [ 7.66302863e-03 -4.82544799e-03 9.99958996e-01 -1.41364805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40119381700003 meters Centerline goodness [0,1] 0.7245464336011929 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.29, Z:-1.41 [[ 9.99417786e-01 -3.31863905e-02 -7.92162101e-03 7.55645501e+00] [ 3.32383442e-02 9.99426190e-01 6.51944366e-03 -2.86986797e-01] [ 7.70071870e-03 -6.77894951e-03 9.99947371e-01 -1.41344142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43119381700004 meters Centerline goodness [0,1] 0.7260879443170787 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.28, Z:-1.41 [[ 9.99471769e-01 -3.14568897e-02 -8.16373783e-03 7.55705480e+00] [ 3.15082196e-02 9.99484033e-01 6.23697193e-03 -2.76611317e-01] [ 7.96332987e-03 -6.49090221e-03 9.99947225e-01 -1.41399291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46119381700004 meters Centerline goodness [0,1] 0.7500825150589983 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.27, Z:-1.41 [[ 9.99469143e-01 -3.14918590e-02 -8.34840346e-03 7.55779943e+00] [ 3.15358618e-02 9.99489133e-01 5.19260278e-03 -2.70412984e-01] [ 8.18061381e-03 -5.45312035e-03 9.99951669e-01 -1.41460409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49119381700004 meters Centerline goodness [0,1] 0.7517369343366663 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.27, Z:-1.42 [[ 9.99535650e-01 -2.91966598e-02 -8.72005215e-03 7.55911936e+00] [ 2.92556300e-02 9.99549418e-01 6.71335869e-03 -2.65140972e-01] [ 8.52011540e-03 -6.96535196e-03 9.99939444e-01 -1.41558264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52119381700004 meters Centerline goodness [0,1] 0.7517247060277188 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.26, Z:-1.42 [[ 0.99959562 -0.02698735 -0.00895975 7.56025082] [ 0.02706016 0.99960093 0.00810714 -0.25952381] [ 0.00873738 -0.00834631 0.999927 -1.4165824 ] [ 0. 0. 0. 1. ]] SLAMing on 187.551193817 meters Centerline goodness [0,1] 0.7521968728082842 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.25, Z:-1.42 [[ 0.99965551 -0.02458847 -0.0091799 7.56114974] [ 0.02467758 0.99964817 0.00972335 -0.25419312] [ 0.00893759 -0.00994654 0.99991059 -1.41734172] [ 0. 0. 0. 1. ]] SLAMing on 187.581193817 meters Centerline goodness [0,1] 0.7581473352933868 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.24, Z:-1.42 [[ 0.99969695 -0.02277824 -0.00933589 7.56234909] [ 0.0228664 0.99969388 0.00944832 -0.24238758] [ 0.00911782 -0.00965894 0.99991178 -1.41882629] [ 0. 0. 0. 1. ]] SLAMing on 187.61119381700001 meters Centerline goodness [0,1] 0.7607747984865931 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.24, Z:-1.42 [[ 0.99968479 -0.02317722 -0.00965079 7.56371201] [ 0.02325226 0.99969969 0.00773659 -0.2364449 ] [ 0.00946858 -0.00795856 0.9999235 -1.41985777] [ 0. 0. 0. 1. ]] SLAMing on 187.64119381700002 meters Centerline goodness [0,1] 0.7703293981672583 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.23, Z:-1.42 [[ 9.99684113e-01 -2.32293278e-02 -9.59542087e-03 7.56362159e+00] [ 2.32938278e-02 9.99706439e-01 6.66579077e-03 -2.30598019e-01] [ 9.43776219e-03 -6.88719921e-03 9.99931745e-01 -1.41997742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.67119381700002 meters Centerline goodness [0,1] 0.7851307863685122 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.22, Z:-1.42 [[ 9.99725567e-01 -2.12842499e-02 -9.78629207e-03 7.56507920e+00] [ 2.13510887e-02 9.99749071e-01 6.77684027e-03 -2.19682054e-01] [ 9.63959645e-03 -6.98392847e-03 9.99929149e-01 -1.42150262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70119381700002 meters Centerline goodness [0,1] 0.8353917126957529 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.21, Z:-1.42 [[ 9.99729794e-01 -2.11084270e-02 -9.73513005e-03 7.56500890e+00] [ 2.11667289e-02 9.99758402e-01 5.92516701e-03 -2.13742731e-01] [ 9.60770711e-03 -6.12962686e-03 9.99935058e-01 -1.42161070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73119381700002 meters Centerline goodness [0,1] 0.8353917126957529 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.21, Z:-1.42 [[ 9.99729794e-01 -2.11084270e-02 -9.73513005e-03 7.56500890e+00] [ 2.11667289e-02 9.99758402e-01 5.92516701e-03 -2.13742731e-01] [ 9.60770711e-03 -6.12962686e-03 9.99935058e-01 -1.42161070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76119381700002 meters Centerline goodness [0,1] 0.8621450973918785 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.21, Z:-1.42 [[ 0.99978403 -0.0182659 -0.00991172 7.56558299] [ 0.01834529 0.99979988 0.00797819 -0.20887433] [ 0.00976401 -0.0081583 0.99991905 -1.42203907] [ 0. 0. 0. 1. ]] SLAMing on 187.79119381700002 meters Centerline goodness [0,1] 0.9014043783560513 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.20, Z:-1.42 [[ 0.99988094 -0.01188116 -0.00984609 7.56502364] [ 0.01199958 0.99985531 0.01205709 -0.19793958] [ 0.00970142 -0.0121738 0.99987883 -1.42166483] [ 0. 0. 0. 1. ]] SLAMing on 187.82119381700002 meters Centerline goodness [0,1] 0.9205499906675791 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.19, Z:-1.42 [[ 0.99991736 -0.00812589 -0.00996195 7.56512008] [ 0.00827042 0.99985988 0.01455419 -0.1929975 ] [ 0.00984229 -0.01463538 0.99984446 -1.42160123] [ 0. 0. 0. 1. ]] SLAMing on 187.85119381700002 meters Centerline goodness [0,1] 0.9199042647574638 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.19, Z:-1.42 [[ 9.99969119e-01 -3.26386049e-03 -7.14905371e-03 7.57347023e+00] [ 3.31578079e-03 9.99968128e-01 7.26276970e-03 -1.87002618e-01] [ 7.12512119e-03 -7.28625011e-03 9.99948070e-01 -1.42153738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88119381700002 meters Centerline goodness [0,1] 0.9329245556614326 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.18, Z:-1.42 [[ 9.99973988e-01 6.47390518e-04 -7.18356039e-03 7.57344862e+00] [-5.75325999e-04 9.99949539e-01 1.00294022e-02 -1.82771682e-01] [ 7.18969084e-03 -1.00250084e-02 9.99923901e-01 -1.42138891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91119381700003 meters Centerline goodness [0,1] 0.9282453109575518 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.17, Z:-1.42 [[ 9.99938776e-01 1.04463808e-02 -3.64936963e-03 7.58198236e+00] [-1.04208515e-02 9.99921577e-01 6.94587811e-03 -1.72394475e-01] [ 3.72164273e-03 -6.90742332e-03 9.99969218e-01 -1.42201399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94119381700003 meters Centerline goodness [0,1] 0.9231372549019607 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.17, Z:-1.42 [[ 9.99892018e-01 1.41832269e-02 -3.84562579e-03 7.58232258e+00] [-1.41449346e-02 9.99851850e-01 9.80814324e-03 -1.68739311e-01] [ 3.98416718e-03 -9.75268801e-03 9.99944504e-01 -1.42178098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97119381700003 meters Centerline goodness [0,1] 0.9209261055281567 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.16, Z:-1.42 [[ 9.99883416e-01 1.47522006e-02 -3.94038655e-03 7.58261150e+00] [-1.47159105e-02 9.99850439e-01 9.08523708e-03 -1.64943314e-01] [ 4.07382446e-03 -9.02619151e-03 9.99950965e-01 -1.42177478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00119381700003 meters Centerline goodness [0,1] 0.9162049148248089 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.16, Z:-1.42 [[ 9.99872052e-01 1.55307820e-02 -3.83075730e-03 7.58202671e+00] [-1.54976838e-02 9.99843573e-01 8.52353772e-03 -1.61325370e-01] [ 3.96253528e-03 -8.46307928e-03 9.99956336e-01 -1.42102489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03119381700003 meters Centerline goodness [0,1] 0.9155676635089675 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.16, Z:-1.42 [[ 9.99870606e-01 1.55998635e-02 -3.92631858e-03 7.58186884e+00] [-1.55669137e-02 9.99844485e-01 8.28717348e-03 -1.60328639e-01] [ 4.05498676e-03 -8.22498051e-03 9.99957953e-01 -1.42051634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06119381700003 meters Centerline goodness [0,1] 0.9165911711414924 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.16, Z:-1.42 [[ 9.99913307e-01 1.25472281e-02 -3.99314021e-03 7.58172078e+00] [-1.25301282e-02 9.99912340e-01 4.27890720e-03 -1.57902906e-01] [ 4.04647859e-03 -4.22850169e-03 9.99982873e-01 -1.42008397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09119381700003 meters Centerline goodness [0,1] 0.9115398164073023 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.16, Z:-1.42 [[ 9.99913529e-01 1.25200357e-02 -4.02295604e-03 7.58146528e+00] [-1.25022193e-02 9.99912059e-01 4.42371406e-03 -1.58612535e-01] [ 4.07798732e-03 -4.37303566e-03 9.99982123e-01 -1.41965410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12119381700003 meters Centerline goodness [0,1] 0.9135318973513347 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.16, Z:-1.42 [[ 9.99941822e-01 9.85063333e-03 -4.39527739e-03 7.58291107e+00] [-9.84071982e-03 9.99948999e-01 2.27144625e-03 -1.62458934e-01] [ 4.41742841e-03 -2.22806141e-03 9.99987761e-01 -1.42062718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15119381700003 meters Centerline goodness [0,1] 0.9141038136911304 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.16, Z:-1.42 [[ 9.99967596e-01 6.68011424e-03 -4.49250448e-03 7.58311895e+00] [-6.68435200e-03 9.99977228e-01 -9.28942680e-04 -1.63795535e-01] [ 4.48619673e-03 9.58942060e-04 9.99989477e-01 -1.42071635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18119381700004 meters Centerline goodness [0,1] 0.9130246109974584 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.17, Z:-1.42 [[ 9.99976294e-01 4.71247025e-03 -5.02032655e-03 7.58560540e+00] [-4.72596755e-03 9.99985241e-01 -2.68006894e-03 -1.66166635e-01] [ 5.00762271e-03 2.70373131e-03 9.99983807e-01 -1.42248410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21119381700004 meters Centerline goodness [0,1] 0.9159189580318379 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.17, Z:-1.42 [[ 9.99983489e-01 2.09544727e-03 -5.35081010e-03 7.58741979e+00] [-2.11755491e-03 9.99989232e-01 -4.12932612e-03 -1.71916210e-01] [ 5.34209970e-03 4.14058858e-03 9.99977158e-01 -1.42401196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24119381700004 meters Centerline goodness [0,1] 0.9172198440763488 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.18, Z:-1.42 [[ 9.99982752e-01 2.33856675e-03 -5.38763004e-03 7.58788351e+00] [-2.35442389e-03 9.99992910e-01 -2.93879011e-03 -1.75968866e-01] [ 5.38071928e-03 2.95142418e-03 9.99981168e-01 -1.42454317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27119381700004 meters Centerline goodness [0,1] 0.9174283469126101 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.18, Z:-1.43 [[ 9.99981252e-01 2.56668704e-03 -5.55944663e-03 7.58866559e+00] [-2.57651378e-03 9.99995130e-01 -1.76113356e-03 -1.80207483e-01] [ 5.55489928e-03 1.77542453e-03 9.99982995e-01 -1.42514346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.301193817 meters Centerline goodness [0,1] 0.9165923929940927 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.18, Z:-1.43 [[ 9.99980046e-01 2.63191784e-03 -5.74284154e-03 7.58948648e+00] [-2.63598698e-03 9.99996280e-01 -7.01104806e-04 -1.84529233e-01] [ 5.74097492e-03 7.16228872e-04 9.99983264e-01 -1.42579053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.331193817 meters Centerline goodness [0,1] 0.9182322270959199 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.19, Z:-1.43 [[ 9.99981346e-01 3.77123746e-04 -6.09639721e-03 7.59161377e+00] [-3.85363422e-04 9.99999014e-01 -1.35044680e-03 -1.92346719e-01] [ 6.09588192e-03 1.35277094e-03 9.99980505e-01 -1.42765517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36119381700001 meters Centerline goodness [0,1] 0.9173902257504342 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.20, Z:-1.43 [[ 9.99980586e-01 4.01151891e-04 -6.21830288e-03 7.59251186e+00] [-4.02693322e-04 9.99999889e-01 -2.46636164e-04 -1.96729534e-01] [ 6.21820325e-03 2.49135445e-04 9.99980636e-01 -1.42848237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.39119381700002 meters Centerline goodness [0,1] 0.9188606492806501 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.20, Z:-1.43 [[ 9.99980027e-01 1.50528509e-04 -6.31843700e-03 7.59299222e+00] [-1.47046166e-04 9.99999837e-01 5.51600854e-04 -2.01210066e-01] [ 6.31851901e-03 -5.50660735e-04 9.99979886e-01 -1.42883402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42119381700002 meters Centerline goodness [0,1] 0.9186767603442912 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.21, Z:-1.43 [[ 9.99974864e-01 -2.37219230e-03 -6.68160987e-03 7.59477094e+00] [ 2.36316553e-03 9.99996285e-01 -1.35855788e-03 -2.05177598e-01] [ 6.68480781e-03 1.34273399e-03 9.99976755e-01 -1.43010782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.45119381700002 meters Centerline goodness [0,1] 0.9194078607314905 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.21, Z:-1.43 [[ 9.99941957e-01 -8.29267133e-03 -6.87859947e-03 7.59629932e+00] [ 8.25046834e-03 9.99947106e-01 -6.14125548e-03 -2.12337469e-01] [ 6.92916305e-03 6.08414735e-03 9.99957484e-01 -1.43137202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48119381700002 meters Centerline goodness [0,1] 0.9221228728006923 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.22, Z:-1.43 [[ 9.99940375e-01 -8.34088811e-03 -7.04810170e-03 7.59702857e+00] [ 8.30639603e-03 9.99953452e-01 -4.90899468e-03 -2.17181875e-01] [ 7.08871900e-03 4.85015766e-03 9.99963112e-01 -1.43184097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51119381700002 meters Centerline goodness [0,1] 0.9214558201876482 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.22, Z:-1.43 [[ 9.99901392e-01 -1.21728330e-02 -7.00200280e-03 7.59699855e+00] [ 1.21232518e-02 9.99901443e-01 -7.08038495e-03 -2.23515070e-01] [ 7.08750105e-03 6.99479972e-03 9.99950419e-01 -1.43172386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54119381700002 meters Centerline goodness [0,1] 0.9200896191187453 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.23, Z:-1.43 [[ 9.99897579e-01 -1.24716662e-02 -7.02055350e-03 7.59688080e+00] [ 1.24287321e-02 9.99903993e-01 -6.12624743e-03 -2.27692985e-01] [ 7.09628399e-03 6.03836339e-03 9.99956590e-01 -1.43140710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57119381700002 meters Centerline goodness [0,1] 0.9058775259000923 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.23, Z:-1.43 [[ 9.99883254e-01 -1.52366077e-02 -1.15070337e-03 7.60769845e+00] [ 1.52380211e-02 9.99883138e-01 1.22973323e-03 -2.32610654e-01] [ 1.13183193e-03 -1.24712410e-03 9.99998582e-01 -1.43483680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60119381700002 meters Centerline goodness [0,1] 0.9121779617175375 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.23, Z:-1.43 [[ 9.99816978e-01 -1.90935398e-02 -1.20266897e-03 7.60757646e+00] [ 1.90904156e-02 9.99814490e-01 -2.55772777e-03 -2.32947755e-01] [ 1.25128194e-03 2.53430020e-03 9.99996006e-01 -1.43429850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63119381700002 meters Centerline goodness [0,1] 0.8952294374083181 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.24, Z:-1.43 [[ 9.99812770e-01 -1.93111391e-02 -1.22655431e-03 7.60739516e+00] [ 1.93087312e-02 9.99811676e-01 -1.94560713e-03 -2.35184184e-01] [ 1.26389521e-03 1.92155964e-03 9.99997355e-01 -1.43386815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66119381700003 meters Centerline goodness [0,1] 0.8334191926476953 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.24, Z:-1.43 [[ 9.99794045e-01 -2.02544206e-02 -1.27497215e-03 7.60760497e+00] [ 2.02522051e-02 9.99793411e-01 -1.72724056e-03 -2.37536088e-01] [ 1.30969301e-03 1.70106383e-03 9.99997696e-01 -1.43379714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69119381700003 meters Centerline goodness [0,1] 0.8353324937547743 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.24, Z:-1.43 [[ 9.99791658e-01 -2.03672961e-02 -1.34696944e-03 7.60794760e+00] [ 2.03652916e-02 9.99791502e-01 -1.48546092e-03 -2.38549750e-01] [ 1.37694342e-03 1.45772001e-03 9.99997990e-01 -1.43403511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72119381700003 meters Centerline goodness [0,1] 0.8245820190900283 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.24, Z:-1.43 [[ 9.99788595e-01 -2.05128393e-02 -1.41050747e-03 7.60813684e+00] [ 2.05107767e-02 9.99788564e-01 -1.46159854e-03 -2.38793351e-01] [ 1.44019078e-03 1.43235895e-03 9.99997937e-01 -1.43404171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75119381700003 meters Centerline goodness [0,1] 0.831705951862678 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.24, Z:-1.43 [[ 9.99789152e-01 -2.04861034e-02 -1.40429793e-03 7.60774651e+00] [ 2.04839462e-02 9.99789006e-01 -1.53368214e-03 -2.38160462e-01] [ 1.43542081e-03 1.50459320e-03 9.99997838e-01 -1.43350725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78119381700003 meters Centerline goodness [0,1] 0.8187826874768356 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.24, Z:-1.43 [[ 9.99850756e-01 -1.72141880e-02 -1.46233316e-03 7.60744355e+00] [ 1.72162517e-02 9.99850794e-01 1.41061081e-03 -2.35650750e-01] [ 1.43783245e-03 -1.43557618e-03 9.99997936e-01 -1.43303489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81119381700003 meters Centerline goodness [0,1] 0.8574175142644505 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.23, Z:-1.43 [[ 9.99905695e-01 -1.36490131e-02 -1.51812535e-03 7.60748599e+00] [ 1.36563953e-02 9.99894427e-01 4.96357687e-03 -2.34794648e-01] [ 1.45021715e-03 -4.98384090e-03 9.99986529e-01 -1.43306317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84119381700003 meters Centerline goodness [0,1] 0.8664644964310765 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.23, Z:-1.43 [[ 9.99936157e-01 -1.11254963e-02 -1.97631996e-03 7.60970093e+00] [ 1.11394644e-02 9.99912009e-01 7.20317427e-03 -2.32608191e-01] [ 1.89600718e-03 -7.22472954e-03 9.99972104e-01 -1.43476779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87119381700003 meters Centerline goodness [0,1] 0.913316271774127 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.23, Z:-1.44 [[ 9.99969617e-01 -7.42394076e-03 -2.37689108e-03 7.61167915e+00] [ 7.44652228e-03 9.99925837e-01 9.63689910e-03 -2.27377208e-01] [ 2.30517104e-03 -9.65430587e-03 9.99950739e-01 -1.43646556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90119381700003 meters Centerline goodness [0,1] 0.9043979035899985 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.22, Z:-1.44 [[ 9.99973714e-01 -6.81699004e-03 -2.46992580e-03 7.61203568e+00] [ 6.83919120e-03 9.99935256e-01 9.09450030e-03 -2.23593183e-01] [ 2.40776877e-03 -9.11115353e-03 9.99955594e-01 -1.43669865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93119381700004 meters Centerline goodness [0,1] 0.9143638397481045 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.22, Z:-1.44 [[ 9.99991154e-01 -3.25912822e-03 -2.65881472e-03 7.61298853e+00] [ 3.29149830e-03 9.99919396e-01 1.22624814e-02 -2.21460667e-01] [ 2.61863541e-03 -1.22711244e-02 9.99921278e-01 -1.43747780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96119381700004 meters Centerline goodness [0,1] 0.9282071481880753 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.22, Z:-1.44 [[ 9.99991393e-01 -2.98737560e-03 -2.87921035e-03 7.61356705e+00] [ 3.01979262e-03 9.99931353e-01 1.13211915e-02 -2.17475115e-01] [ 2.84519205e-03 -1.13297887e-02 9.99931768e-01 -1.43768596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99119381700004 meters Centerline goodness [0,1] 0.9288546575598414 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.21, Z:-1.44 [[ 9.99992052e-01 -2.64116702e-03 -2.98662457e-03 7.61378696e+00] [ 2.67234144e-03 9.99941485e-01 1.04826466e-02 -2.13872881e-01] [ 2.95876338e-03 -1.04905446e-02 9.99940595e-01 -1.43766526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02119381700004 meters Centerline goodness [0,1] 0.9277535217068952 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.21, Z:-1.44 [[ 9.99993656e-01 3.48167434e-03 7.52913386e-04 7.62331264e+00] [-3.48494475e-03 9.99984305e-01 4.38689546e-03 -2.07010073e-01] [-7.37627827e-04 -4.38949149e-03 9.99990094e-01 -1.43935746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.051193817 meters Centerline goodness [0,1] 0.9231167862028937 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.20, Z:-1.44 [[ 9.99990548e-01 4.30359570e-03 6.19036544e-04 7.62355453e+00] [-4.30595200e-03 9.99983292e-01 3.85680669e-03 -2.02996384e-01] [-6.02428064e-04 -3.85943578e-03 9.99992371e-01 -1.43928577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.081193817 meters Centerline goodness [0,1] 0.920004148086695 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.20, Z:-1.44 [[ 9.99986095e-01 5.25141617e-03 4.81639205e-04 7.62396707e+00] [-5.25301335e-03 9.99980500e-01 3.37707614e-03 -1.98907335e-01] [-4.63895381e-04 -3.37955924e-03 9.99994182e-01 -1.43940930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.11119381700001 meters Centerline goodness [0,1] 0.9196162135278515 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.20, Z:-1.44 [[ 9.99981109e-01 6.14019347e-03 2.83277794e-04 7.62447183e+00] [-6.14101485e-03 9.99976656e-01 2.99604147e-03 -1.95516987e-01] [-2.64874907e-04 -2.99772449e-03 9.99995472e-01 -1.43950939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14119381700002 meters Centerline goodness [0,1] 0.9169026603551275 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.19, Z:-1.44 [[ 9.99939271e-01 1.10172948e-02 2.72354762e-04 7.62473636e+00] [-1.10188758e-02 9.99916735e-01 6.71615866e-03 -1.92938090e-01] [-1.98338184e-04 -6.71875184e-03 9.99977409e-01 -1.43968191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.17119381700002 meters Centerline goodness [0,1] 0.9182826342853603 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.19, Z:-1.44 [[ 9.99934578e-01 1.14375933e-02 1.48618027e-04 7.62503453e+00] [-1.14383187e-02 9.99913370e-01 6.51282392e-03 -1.91521997e-01] [-7.41141211e-05 -6.51409777e-03 9.99978780e-01 -1.43971796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20119381700002 meters Centerline goodness [0,1] 0.9169534391973133 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.19, Z:-1.44 [[ 9.99931125e-01 1.17364683e-02 2.37252271e-05 7.62509152e+00] [-1.17363765e-02 9.99910245e-01 6.46218224e-03 -1.90915852e-01] [ 5.21200992e-05 -6.46201561e-03 9.99979120e-01 -1.43947822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23119381700002 meters Centerline goodness [0,1] 0.9186540413981725 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.19, Z:-1.44 [[ 9.99962370e-01 8.67421006e-03 -1.28997201e-04 7.62531187e+00] [-8.67385998e-03 9.99959247e-01 2.50369609e-03 -1.89359399e-01] [ 1.50709530e-04 -2.50248297e-03 9.99996857e-01 -1.43942880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26119381700002 meters Centerline goodness [0,1] 0.917015197316659 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.19, Z:-1.44 [[ 9.99985977e-01 5.28791745e-03 -2.90846627e-04 7.62577467e+00] [-5.28814301e-03 9.99985713e-01 -7.80291026e-04 -1.91296888e-01] [ 2.86716357e-04 7.81818122e-04 9.99999653e-01 -1.43973080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29119381700002 meters Centerline goodness [0,1] 0.9169095306008557 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.19, Z:-1.44 [[ 9.99992748e-01 3.73431353e-03 -7.48112730e-04 7.62815549e+00] [-3.73575806e-03 9.99991142e-01 -1.93888740e-03 -1.93199443e-01] [ 7.40865690e-04 1.94166811e-03 9.99997841e-01 -1.44157425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32119381700002 meters Centerline goodness [0,1] 0.918723298353312 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.20, Z:-1.44 [[ 9.99993859e-01 3.42397484e-03 -7.47479283e-04 7.62833548e+00] [-3.42501918e-03 9.99993154e-01 -1.40037569e-03 -1.96018468e-01] [ 7.42679315e-04 1.40292722e-03 9.99998740e-01 -1.44182968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35119381700002 meters Centerline goodness [0,1] 0.9187543997681064 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.20, Z:-1.44 [[ 9.99999130e-01 8.26587329e-04 -1.02846330e-03 7.62975831e+00] [-8.29609346e-04 9.99995330e-01 -2.94143177e-03 -2.01497099e-01] [ 1.02602715e-03 2.94228243e-03 9.99995145e-01 -1.44295481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38119381700002 meters Centerline goodness [0,1] 0.9183863171593233 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.21, Z:-1.44 [[ 9.99998791e-01 9.65169479e-04 -1.21891719e-03 7.63041305e+00] [-9.67340693e-04 9.99997944e-01 -1.78193251e-03 -2.05710077e-01] [ 1.21719482e-03 1.78310947e-03 9.99997669e-01 -1.44332586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41119381700003 meters Centerline goodness [0,1] 0.9181577751146741 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.21, Z:-1.44 [[ 9.99998541e-01 9.66019611e-04 -1.40859458e-03 7.63113734e+00] [-9.67023770e-04 9.99999279e-01 -7.12373569e-04 -2.10065118e-01] [ 1.40790539e-03 7.13734675e-04 9.99998754e-01 -1.44377906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44119381700003 meters Centerline goodness [0,1] 0.9182189913675602 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.21, Z:-1.44 [[ 9.99998680e-01 6.81162701e-04 -1.47510282e-03 7.63146295e+00] [-6.80871097e-04 9.99999749e-01 1.98176880e-04 -2.14445645e-01] [ 1.47523744e-03 -1.97172263e-04 9.99998892e-01 -1.44402171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47119381700003 meters Centerline goodness [0,1] 0.9147000932352637 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.22, Z:-1.44 [[ 9.99994755e-01 -2.74346296e-03 -1.72168124e-03 7.63262837e+00] [ 2.74083709e-03 9.99995080e-01 -1.52568763e-03 -2.21707487e-01] [ 1.72585844e-03 1.52096078e-03 9.99997354e-01 -1.44491110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50119381700003 meters Centerline goodness [0,1] 0.915836354220611 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.23, Z:-1.45 [[ 9.99994367e-01 -2.75401885e-03 -1.91868671e-03 7.63338762e+00] [ 2.75346755e-03 9.99996167e-01 -2.89918490e-04 -2.26484582e-01] [ 1.91947780e-03 2.84633815e-04 9.99998117e-01 -1.44539109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53119381700003 meters Centerline goodness [0,1] 0.9157838106273796 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.23, Z:-1.45 [[ 9.99994357e-01 -2.66317496e-03 -2.04779592e-03 7.63393298e+00] [ 2.66524628e-03 9.99995939e-01 1.00942660e-03 -2.31142929e-01] [ 2.04509932e-03 -1.01487879e-03 9.99997394e-01 -1.44575223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56119381700003 meters Centerline goodness [0,1] 0.9145021421031935 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.24, Z:-1.45 [[ 9.99982046e-01 -5.55984575e-03 -2.23528782e-03 7.63483167e+00] [ 5.55880295e-03 9.99984438e-01 -4.72456922e-04 -2.37790807e-01] [ 2.23787982e-03 4.60022915e-04 9.99997390e-01 -1.44634451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59119381700003 meters Centerline goodness [0,1] 0.9149690909845247 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.24, Z:-1.45 [[ 9.99983709e-01 -5.18304154e-03 -2.39126987e-03 7.63520073e+00] [ 5.18521447e-03 9.99986149e-01 9.03389653e-04 -2.42193488e-01] [ 2.38655444e-03 -9.15774183e-04 9.99996733e-01 -1.44643489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62119381700003 meters Centerline goodness [0,1] 0.9154275285675771 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.25, Z:-1.45 [[ 9.99986282e-01 -4.60934025e-03 -2.48777926e-03 7.63568318e+00] [ 4.61521575e-03 9.99986562e-01 2.36119477e-03 -2.46506644e-01] [ 2.47686228e-03 -2.37264402e-03 9.99994118e-01 -1.44677489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65119381700003 meters Centerline goodness [0,1] 0.9154275285675771 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.25, Z:-1.45 [[ 9.99986282e-01 -4.60934025e-03 -2.48777926e-03 7.63568318e+00] [ 4.61521575e-03 9.99986562e-01 2.36119477e-03 -2.46506644e-01] [ 2.47686228e-03 -2.37264402e-03 9.99994118e-01 -1.44677489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68119381700004 meters Centerline goodness [0,1] 0.9121872677730989 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.25, Z:-1.45 [[ 9.99987234e-01 -4.28448566e-03 -2.67847235e-03 7.63663859e+00] [ 4.29310713e-03 9.99985596e-01 3.22138004e-03 -2.49571865e-01] [ 2.66463181e-03 -3.23283788e-03 9.99991224e-01 -1.44749712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71119381700004 meters Centerline goodness [0,1] 0.9128401448525608 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.25, Z:-1.45 [[ 9.99992756e-01 -2.69040917e-03 -2.69253088e-03 7.63690460e+00] [ 2.70420189e-03 9.99983174e-01 5.13212470e-03 -2.53451944e-01] [ 2.67867806e-03 -5.13936867e-03 9.99983206e-01 -1.44779112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74119381700004 meters Centerline goodness [0,1] 0.9140248069078334 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.25, Z:-1.45 [[ 9.99993697e-01 -2.19863374e-03 -2.78790422e-03 7.63692925e+00] [ 2.21424292e-03 9.99981822e-01 5.60822459e-03 -2.54474268e-01] [ 2.77552311e-03 -5.61436234e-03 9.99980388e-01 -1.44751769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77119381700004 meters Centerline goodness [0,1] 0.9157053941908714 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.26, Z:-1.45 [[ 9.99994890e-01 -1.52970187e-03 -2.80728823e-03 7.63642647e+00] [ 1.54729989e-03 9.99979101e-01 6.27726193e-03 -2.55800009e-01] [ 2.79762722e-03 -6.28157356e-03 9.99976357e-01 -1.44675640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.801193817 meters Centerline goodness [0,1] 0.9170603348251285 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.26, Z:-1.45 [[ 9.99996021e-01 -6.73632448e-05 -2.82026270e-03 7.63577827e+00] [ 8.90190637e-05 9.99970510e-01 7.67923186e-03 -2.58486457e-01] [ 2.81966224e-03 -7.67945236e-03 9.99966537e-01 -1.44581245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.831193817 meters Centerline goodness [0,1] 0.9150088165128099 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.26, Z:-1.45 [[ 9.99995563e-01 4.94243110e-04 -2.93779303e-03 7.63578543e+00] [-4.70043171e-04 9.99966002e-01 8.23244569e-03 -2.59801335e-01] [ 2.94176198e-03 -8.23102827e-03 9.99961797e-01 -1.44552142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.86119381700001 meters Centerline goodness [0,1] 0.914657426235631 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.26, Z:-1.45 [[ 9.99993828e-01 -1.91870018e-03 -2.94320085e-03 7.63567174e+00] [ 1.93347120e-03 9.99985510e-01 5.02408256e-03 -2.59345610e-01] [ 2.93351849e-03 -5.02974214e-03 9.99983048e-01 -1.44537302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.89119381700002 meters Centerline goodness [0,1] 0.9174007220216607 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.26, Z:-1.45 [[ 9.99994068e-01 -1.39480078e-03 -3.14941957e-03 7.63584766e+00] [ 1.41284659e-03 9.99982557e-01 5.73494826e-03 -2.61202497e-01] [ 3.14136553e-03 -5.73936388e-03 9.99978596e-01 -1.44506482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.92119381700002 meters Centerline goodness [0,1] 0.9158859175611673 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.26, Z:-1.44 [[ 9.99993703e-01 -2.19337910e-03 -2.78970242e-03 7.63309552e+00] [ 2.20751645e-03 9.99984687e-01 5.07474839e-03 -2.64182425e-01] [ 2.77852885e-03 -5.08087475e-03 9.99983232e-01 -1.44254099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.95119381700002 meters Centerline goodness [0,1] 0.9178416373785404 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.27, Z:-1.44 [[ 9.99993418e-01 -2.16087703e-03 -2.91460664e-03 7.63313794e+00] [ 2.17752650e-03 9.99981262e-01 5.72139853e-03 -2.66653631e-01] [ 2.90218878e-03 -5.72770751e-03 9.99979385e-01 -1.44219386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98119381700002 meters Centerline goodness [0,1] 0.918414242832005 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.27, Z:-1.44 [[ 9.99986797e-01 -4.41399313e-03 -2.63104028e-03 7.63144121e+00] [ 4.42364721e-03 9.99983463e-01 3.67484647e-03 -2.68872907e-01] [ 2.61477602e-03 -3.68643674e-03 9.99989787e-01 -1.44072719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01119381700002 meters Centerline goodness [0,1] 0.9189267166762839 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.27, Z:-1.44 [[ 9.99966918e-01 -7.65070238e-03 -2.76203373e-03 7.63144941e+00] [ 7.65294603e-03 9.99970394e-01 8.02667877e-04 -2.71686061e-01] [ 2.75581099e-03 -8.23779019e-04 9.99995863e-01 -1.44028118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04119381700002 meters Centerline goodness [0,1] 0.9201026660043053 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.28, Z:-1.44 [[ 9.99901106e-01 -1.38537086e-02 -2.41933076e-03 7.62971093e+00] [ 1.38430261e-02 9.99894597e-01 -4.37776744e-03 -2.78290494e-01] [ 2.47972407e-03 4.34384365e-03 9.99987491e-01 -1.43864654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07119381700002 meters Centerline goodness [0,1] 0.9197187467686899 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.28, Z:-1.44 [[ 9.99899144e-01 -1.39729649e-02 -2.54110634e-03 7.63001762e+00] [ 1.39650973e-02 9.99897715e-01 -3.08798396e-03 -2.82971426e-01] [ 2.58399472e-03 3.05218572e-03 9.99992004e-01 -1.43850427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10119381700002 meters Centerline goodness [0,1] 0.9202825220462196 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.29, Z:-1.44 [[ 9.99896495e-01 -1.41654519e-02 -2.51762022e-03 7.63013506e+00] [ 1.41606614e-02 9.99897908e-01 -1.91051440e-03 -2.87431688e-01] [ 2.54442649e-03 1.87466549e-03 9.99995006e-01 -1.43848552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13119381700002 meters Centerline goodness [0,1] 0.921573483582028 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.29, Z:-1.44 [[ 9.99842688e-01 -1.75739484e-02 -2.39923893e-03 7.63013463e+00] [ 1.75642787e-02 9.99837760e-01 -3.99359846e-03 -2.93351004e-01] [ 2.46903298e-03 3.95082932e-03 9.99989147e-01 -1.43850657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16119381700003 meters Centerline goodness [0,1] 0.921474292793723 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.30, Z:-1.44 [[ 9.99850384e-01 -1.71107593e-02 -2.53607632e-03 7.63059609e+00] [ 1.71039990e-02 9.99850168e-01 -2.66377863e-03 -2.97086243e-01] [ 2.58127561e-03 2.62000304e-03 9.99993236e-01 -1.43864886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19119381700003 meters Centerline goodness [0,1] 0.9226832841549223 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.30, Z:-1.44 [[ 9.99856869e-01 -1.67173326e-02 -2.60248077e-03 7.63114064e+00] [ 1.67132984e-02 9.99859100e-01 -1.56421694e-03 -3.00336120e-01] [ 2.62826361e-03 1.52049702e-03 9.99995390e-01 -1.43909484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22119381700003 meters Centerline goodness [0,1] 0.9220196759259259 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.30, Z:-1.44 [[ 9.99862630e-01 -1.63458711e-02 -2.74460074e-03 7.63162133e+00] [ 1.63444314e-02 9.99866272e-01 -5.46157437e-04 -3.03365025e-01] [ 2.75316113e-03 5.01223473e-04 9.99996084e-01 -1.43929647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25119381700003 meters Centerline goodness [0,1] 0.9214461011775866 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.31, Z:-1.44 [[ 9.99872069e-01 -1.56847878e-02 -3.13585303e-03 7.63441512e+00] [ 1.56880386e-02 9.99876420e-01 1.01476805e-03 -3.08348586e-01] [ 3.11954908e-03 -1.06383361e-03 9.99994568e-01 -1.44168867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28119381700003 meters Centerline goodness [0,1] 0.9212029639441983 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.31, Z:-1.44 [[ 9.99875526e-01 -1.54236222e-02 -3.32321375e-03 7.63555863e+00] [ 1.54292047e-02 9.99879583e-01 1.66079064e-03 -3.10216728e-01] [ 3.29719818e-03 -1.71185846e-03 9.99993099e-01 -1.44268964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31119381700003 meters Centerline goodness [0,1] 0.9194944133501312 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.31, Z:-1.44 [[ 9.99878095e-01 -1.51900879e-02 -3.61328806e-03 7.63707427e+00] [ 1.51984672e-02 9.99881844e-01 2.30298742e-03 -3.12175054e-01] [ 3.57787855e-03 -2.35762312e-03 9.99990820e-01 -1.44385681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34119381700003 meters Centerline goodness [0,1] 0.9211736324460298 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.31, Z:-1.44 [[ 9.99881435e-01 -1.49284409e-02 -3.77588729e-03 7.63800576e+00] [ 1.49398349e-02 9.99883871e-01 3.00756786e-03 -3.14385408e-01] [ 3.73055050e-03 -3.06362240e-03 9.99988349e-01 -1.44456023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37119381700003 meters Centerline goodness [0,1] 0.9192147432575302 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.32, Z:-1.45 [[ 9.99886754e-01 -1.45821667e-02 -3.72006133e-03 7.63843286e+00] [ 1.45982531e-02 9.99884045e-01 4.33436938e-03 -3.18645666e-01] [ 3.65642548e-03 -4.38818492e-03 9.99983687e-01 -1.44515737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40119381700003 meters Centerline goodness [0,1] 0.9206730271735756 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.32, Z:-1.45 [[ 9.99883708e-01 -1.47025147e-02 -4.05059914e-03 7.63977625e+00] [ 1.47220538e-02 9.99879925e-01 4.83694234e-03 -3.21284866e-01] [ 3.97899755e-03 -4.89601297e-03 9.99980098e-01 -1.44596314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43119381700004 meters Centerline goodness [0,1] 0.9187244718127345 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.33, Z:-1.45 [[ 9.99840739e-01 -1.73174456e-02 -4.31306855e-03 7.64197328e+00] [ 1.73305741e-02 9.99845237e-01 3.02534500e-03 -3.25733823e-01] [ 4.26000980e-03 -3.09961113e-03 9.99986122e-01 -1.44781618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46119381700004 meters Centerline goodness [0,1] 0.9160221452713211 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.33, Z:-1.45 [[ 9.99839248e-01 -1.73525914e-02 -4.51275836e-03 7.64282577e+00] [ 1.73695681e-02 9.99842104e-01 3.75035275e-03 -3.28375992e-01] [ 4.44696748e-03 -3.82813454e-03 9.99982785e-01 -1.44831909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49119381700004 meters Centerline goodness [0,1] 0.9171668667466987 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.33, Z:-1.45 [[ 9.99832617e-01 -1.76293101e-02 -4.89335715e-03 7.64399149e+00] [ 1.76501023e-02 9.99835239e-01 4.23890612e-03 -3.30630799e-01] [ 4.81782192e-03 -4.32456486e-03 9.99979043e-01 -1.44873202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52119381700004 meters Centerline goodness [0,1] 0.9146281094014274 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.33, Z:-1.45 [[ 9.99812137e-01 -1.85977353e-02 -5.46029594e-03 7.64608610e+00] [ 1.86195178e-02 9.99818776e-01 3.96589124e-03 -3.32386734e-01] [ 5.38554980e-03 -4.06681427e-03 9.99977228e-01 -1.44980063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.551193817 meters Centerline goodness [0,1] 0.9012752721617419 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.33, Z:-1.45 [[ 9.99719588e-01 -2.30490099e-02 -5.43036339e-03 7.64670157e+00] [ 2.30493471e-02 9.99734329e-01 -4.98503571e-07 -3.33150838e-01] [ 5.42893219e-03 -1.24667967e-04 9.99985255e-01 -1.45032607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.581193817 meters Centerline goodness [0,1] 0.892266224341696 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.33, Z:-1.45 [[ 9.99711243e-01 -2.33558363e-02 -5.65117432e-03 7.64739910e+00] [ 2.33576613e-02 9.99727140e-01 2.57138107e-04 -3.34559760e-01] [ 5.64362666e-03 -3.89062072e-04 9.99983999e-01 -1.45052828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.61119381700001 meters Centerline goodness [0,1] 0.8839269046483168 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.34, Z:-1.45 [[ 9.99703423e-01 -2.36288772e-02 -5.89421801e-03 7.64801212e+00] [ 2.36315351e-02 9.99720663e-01 3.81680841e-04 -3.35658004e-01] [ 5.88355284e-03 -5.20857062e-04 9.99982556e-01 -1.45056832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64119381700002 meters Centerline goodness [0,1] 0.8743848476076258 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.34, Z:-1.45 [[ 9.99696236e-01 -2.38716642e-02 -6.13015318e-03 7.64873472e+00] [ 2.38743230e-02 9.99714903e-01 3.60913358e-04 -3.36116432e-01] [ 6.11978989e-03 -5.07156983e-04 9.99981145e-01 -1.45076549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.67119381700002 meters Centerline goodness [0,1] 0.8673909437717697 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.33, Z:-1.45 [[ 9.99686949e-01 -2.42440000e-02 -6.18319872e-03 7.64818179e+00] [ 2.42425453e-02 9.99706058e-01 -3.10111787e-04 -3.33433980e-01] [ 6.18889957e-03 1.60118231e-04 9.99980836e-01 -1.44993127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70119381700002 meters Centerline goodness [0,1] 0.8580208720042899 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.33, Z:-1.45 [[ 9.99680210e-01 -2.44835960e-02 -6.32698703e-03 7.64822980e+00] [ 2.44780626e-02 9.99699915e-01 -9.50547421e-04 -3.30735236e-01] [ 6.34836122e-03 7.95371061e-04 9.99979533e-01 -1.44960666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73119381700002 meters Centerline goodness [0,1] 0.8650188538515725 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.33, Z:-1.45 [[ 9.99746924e-01 -2.16093637e-02 -6.25485500e-03 7.64729651e+00] [ 2.16241312e-02 9.99763519e-01 2.30303389e-03 -3.30023290e-01] [ 6.20360875e-03 -2.43770686e-03 9.99977786e-01 -1.44855405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76119381700002 meters Centerline goodness [0,1] 0.8832811495635225 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.33, Z:-1.45 [[ 9.99745111e-01 -2.16696504e-02 -6.33550981e-03 7.64681933e+00] [ 2.16790303e-02 9.99763980e-01 1.41561028e-03 -3.26421215e-01] [ 6.30333873e-03 -1.55259717e-03 9.99978928e-01 -1.44781402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79119381700002 meters Centerline goodness [0,1] 0.8774787095170014 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.32, Z:-1.45 [[ 9.99742475e-01 -2.17633558e-02 -6.42968867e-03 7.64681457e+00] [ 2.17695139e-02 9.99762621e-01 8.89332204e-04 -3.24403308e-01] [ 6.40880754e-03 -1.02907438e-03 9.99978934e-01 -1.44755421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82119381700002 meters Centerline goodness [0,1] 0.8859808454425363 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.32, Z:-1.45 [[ 9.99735469e-01 -2.20284982e-02 -6.61335825e-03 7.64743553e+00] [ 2.20298020e-02 9.99757307e-01 1.24350390e-04 -3.21707641e-01] [ 6.60901398e-03 -2.70008469e-04 9.99978124e-01 -1.44786157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85119381700002 meters Centerline goodness [0,1] 0.8808351266346631 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.32, Z:-1.45 [[ 9.99799912e-01 -1.88224734e-02 -6.77133015e-03 7.64768116e+00] [ 1.88467540e-02 9.99816117e-01 3.54003299e-03 -3.20724310e-01] [ 6.70345284e-03 -3.66694227e-03 9.99970808e-01 -1.44782059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88119381700002 meters Centerline goodness [0,1] 0.8848561479147666 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.32, Z:-1.45 [[ 9.99838817e-01 -1.65310332e-02 -7.00462165e-03 7.64902424e+00] [ 1.65667964e-02 9.99849862e-01 5.07877103e-03 -3.15270111e-01] [ 6.91961266e-03 -5.19399656e-03 9.99962570e-01 -1.44910337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91119381700003 meters Centerline goodness [0,1] 0.8324739620781035 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.31, Z:-1.45 [[ 9.99824087e-01 -1.72252542e-02 -7.42196323e-03 7.65069579e+00] [ 1.72536106e-02 9.99844024e-01 3.77365648e-03 -3.11927535e-01] [ 7.35580339e-03 -3.90104831e-03 9.99965336e-01 -1.45012591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94119381700003 meters Centerline goodness [0,1] 0.8788391677675033 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.31, Z:-1.45 [[ 9.99816502e-01 -1.75887688e-02 -7.58936258e-03 7.65143053e+00] [ 1.76114101e-02 9.99840623e-01 2.92683412e-03 -3.09222780e-01] [ 7.53667361e-03 -3.05995642e-03 9.99966917e-01 -1.45060287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97119381700003 meters Centerline goodness [0,1] 0.8767663829435584 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.31, Z:-1.45 [[ 9.99834150e-01 -1.63744837e-02 -7.97172765e-03 7.65361822e+00] [ 1.64077492e-02 9.99856872e-01 4.12556699e-03 -3.07265766e-01] [ 7.90303265e-03 -4.25568087e-03 9.99959715e-01 -1.45223555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00119381700003 meters Centerline goodness [0,1] 0.8537411453708101 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.30, Z:-1.45 [[ 9.99833974e-01 -1.61905276e-02 -8.36011432e-03 7.65533809e+00] [ 1.62230108e-02 9.99861054e-01 3.83240028e-03 -3.00866628e-01] [ 8.29690413e-03 -3.96739023e-03 9.99957710e-01 -1.45340152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03119381700003 meters Centerline goodness [0,1] 0.8587866540190539 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.30, Z:-1.45 [[ 9.99819064e-01 -1.69068647e-02 -8.71763149e-03 7.65646504e+00] [ 1.69307873e-02 9.99853078e-01 2.67770694e-03 -2.97732664e-01] [ 8.67107905e-03 -2.82481881e-03 9.99958416e-01 -1.45385464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06119381700003 meters Centerline goodness [0,1] 0.7714858690483575 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.29, Z:-1.45 [[ 9.99809124e-01 -1.74365599e-02 -8.81370542e-03 7.65681161e+00] [ 1.74521944e-02 9.99846253e-01 1.70008530e-03 -2.94669203e-01] [ 8.78270670e-03 -1.85357930e-03 9.99959713e-01 -1.45399964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09119381700003 meters Centerline goodness [0,1] 0.8122317596566524 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.29, Z:-1.45 [[ 9.99794850e-01 -1.81538176e-02 -8.98319347e-03 7.65744112e+00] [ 1.81598947e-02 9.99834918e-01 5.95385357e-04 -2.91588569e-01] [ 8.97090199e-03 -7.58397061e-04 9.99959473e-01 -1.45427018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12119381700003 meters Centerline goodness [0,1] 0.8067630848286437 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.28, Z:-1.45 [[ 9.99760354e-01 -1.99717591e-02 -8.96459077e-03 7.65683908e+00] [ 1.99555085e-02 9.99799066e-01 -1.89856478e-03 -2.84821768e-01] [ 9.00070716e-03 1.71921683e-03 9.99958015e-01 -1.45350629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15119381700003 meters Centerline goodness [0,1] 0.7916434425383456 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.28, Z:-1.45 [[ 9.99741112e-01 -2.08579619e-02 -9.09143382e-03 7.65734922e+00] [ 2.08292669e-02 9.99777799e-01 -3.23961697e-03 -2.81036655e-01] [ 9.15698550e-03 3.04941037e-03 9.99953424e-01 -1.45366143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18119381700004 meters Centerline goodness [0,1] 0.776694204608982 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.28, Z:-1.45 [[ 9.99783090e-01 -1.87894233e-02 -8.98506064e-03 7.65691910e+00] [ 1.87837348e-02 9.99823313e-01 -7.17076290e-04 -2.79055504e-01] [ 8.99694655e-03 5.48147752e-04 9.99959376e-01 -1.45326502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21119381700004 meters Centerline goodness [0,1] 0.746063032968857 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.28, Z:-1.45 [[ 9.99821482e-01 -1.66675105e-02 -8.89928705e-03 7.65691560e+00] [ 1.66837138e-02 9.99859286e-01 1.74960891e-03 -2.76807970e-01] [ 8.86887317e-03 -1.89776973e-03 9.99958870e-01 -1.45333742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24119381700004 meters Centerline goodness [0,1] 0.7319703064736864 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.27, Z:-1.45 [[ 9.99805603e-01 -1.75075890e-02 -9.06863759e-03 7.65762871e+00] [ 1.75122749e-02 9.99846553e-01 4.37563577e-04 -2.72846275e-01] [ 9.05958534e-03 -5.96290991e-04 9.99958783e-01 -1.45366613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27119381700004 meters Centerline goodness [0,1] 0.7143776200556178 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.27, Z:-1.45 [[ 9.99827301e-01 -1.62961178e-02 -8.93339661e-03 7.65730159e+00] [ 1.63078347e-02 9.99866249e-01 1.24031022e-03 -2.66765732e-01] [ 8.91198951e-03 -1.38578038e-03 9.99959327e-01 -1.45344281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.301193817 meters Centerline goodness [0,1] 0.7417802393843218 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.26, Z:-1.45 [[ 9.99841945e-01 -1.50529824e-02 -9.46006586e-03 7.65944633e+00] [ 1.50742576e-02 9.99883997e-01 2.18167904e-03 -2.62955590e-01] [ 9.42612769e-03 -2.32393769e-03 9.99952873e-01 -1.45471571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.331193817 meters Centerline goodness [0,1] 0.7207548733246328 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.26, Z:-1.46 [[ 9.99863893e-01 -1.32040636e-02 -9.89177505e-03 7.66143632e+00] [ 1.32390668e-02 9.99906299e-01 3.48152658e-03 -2.58057073e-01] [ 9.84487788e-03 -3.61201059e-03 9.99945014e-01 -1.45604267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36119381700001 meters Centerline goodness [0,1] 0.7301390010979223 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.25, Z:-1.46 [[ 9.99882318e-01 -1.16383244e-02 -9.99492734e-03 7.66256770e+00] [ 1.16705047e-02 9.99926881e-01 3.16739552e-03 -2.45546492e-01] [ 9.95733334e-03 -3.28366863e-03 9.99945033e-01 -1.45705596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.39119381700002 meters Centerline goodness [0,1] 0.7282140490390987 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.24, Z:-1.46 [[ 9.99895340e-01 -1.00395924e-02 -1.04170979e-02 7.66483327e+00] [ 1.00843086e-02 9.99940125e-01 4.24896351e-03 -2.40641457e-01] [ 1.03738163e-02 -4.35356804e-03 9.99936713e-01 -1.45873976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42119381700002 meters Centerline goodness [0,1] 0.7399643360703325 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.24, Z:-1.46 [[ 9.99909667e-01 -8.25760787e-03 -1.06051301e-02 7.66599436e+00] [ 8.31665078e-03 9.99950095e-01 5.53540987e-03 -2.35905235e-01] [ 1.05588916e-02 -5.62310900e-03 9.99928443e-01 -1.45961106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.45119381700002 meters Centerline goodness [0,1] 0.7289853270330764 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.23, Z:-1.46 [[ 9.99902564e-01 -9.09945722e-03 -1.05859377e-02 7.66655680e+00] [ 9.13806902e-03 9.99951749e-01 3.60482727e-03 -2.29733906e-01] [ 1.05526250e-02 -3.70121106e-03 9.99937470e-01 -1.46016431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48119381700002 meters Centerline goodness [0,1] 0.7241528836028 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.22, Z:-1.46 [[ 9.99885290e-01 -9.95696903e-03 -1.14133597e-02 7.66987716e+00] [ 9.97543481e-03 9.99949024e-01 1.56212268e-03 -2.17157967e-01] [ 1.13972239e-02 -1.67579672e-03 9.99933645e-01 -1.46187462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51119381700002 meters Centerline goodness [0,1] 0.7009874808907987 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.21, Z:-1.46 [[ 9.99900973e-01 -8.32326747e-03 -1.13475730e-02 7.67057987e+00] [ 8.35430991e-03 9.99961481e-01 2.69094878e-03 -2.11591696e-01] [ 1.13247384e-02 -2.78548344e-03 9.99931993e-01 -1.46276054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54119381700002 meters Centerline goodness [0,1] 0.7009874808907987 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.21, Z:-1.46 [[ 9.99900973e-01 -8.32326747e-03 -1.13475730e-02 7.67057987e+00] [ 8.35430991e-03 9.99961481e-01 2.69094878e-03 -2.11591696e-01] [ 1.13247384e-02 -2.78548344e-03 9.99931993e-01 -1.46276054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57119381700002 meters Centerline goodness [0,1] 0.6965025692027184 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.21, Z:-1.46 [[ 9.99912361e-01 -6.79259117e-03 -1.13636271e-02 7.67128121e+00] [ 6.83439762e-03 9.99970005e-01 3.64419165e-03 -2.05683855e-01] [ 1.13385328e-02 -3.72153582e-03 9.99928791e-01 -1.46342706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60119381700002 meters Centerline goodness [0,1] 0.6876861350099273 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.20, Z:-1.46 [[ 9.99905933e-01 -7.48643835e-03 -1.14925312e-02 7.67300675e+00] [ 7.51026161e-03 9.99969735e-01 2.03117718e-03 -1.98441888e-01] [ 1.14769771e-02 -2.11729803e-03 9.99931896e-01 -1.46491087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63119381700002 meters Centerline goodness [0,1] 0.7065997428132907 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.19, Z:-1.47 [[ 9.99913308e-01 -6.57192200e-03 -1.14098941e-02 7.67358828e+00] [ 6.58475821e-03 9.99977729e-01 1.08780468e-03 -1.85637989e-01] [ 1.14024911e-02 -1.16284177e-03 9.99934313e-01 -1.46563803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66119381700003 meters Centerline goodness [0,1] 0.6957818844783293 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.18, Z:-1.47 [[ 9.99923617e-01 -4.66574296e-03 -1.14451243e-02 7.67455247e+00] [ 4.69025587e-03 9.99986762e-01 2.11587225e-03 -1.79641125e-01] [ 1.14351007e-02 -2.16939119e-03 9.99932264e-01 -1.46643079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69119381700003 meters Centerline goodness [0,1] 0.6957026472356392 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.17, Z:-1.47 [[ 9.99931275e-01 -2.63547034e-03 -1.14236439e-02 7.67424121e+00] [ 2.67153627e-03 9.99991492e-01 3.14302131e-03 -1.72774470e-01] [ 1.14152634e-02 -3.17332398e-03 9.99929808e-01 -1.46591544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72119381700003 meters Centerline goodness [0,1] 0.6984633227022325 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.16, Z:-1.46 [[ 9.99938488e-01 3.64876551e-04 -1.10854763e-02 7.67306218e+00] [-3.12187876e-04 9.99988649e-01 4.75430510e-03 -1.56502623e-01] [ 1.10870852e-02 -4.75055190e-03 9.99927252e-01 -1.46491198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75119381700003 meters Centerline goodness [0,1] 0.6909030681959338 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.15, Z:-1.46 [[ 9.99936025e-01 2.28132694e-03 -1.10788980e-02 7.67292445e+00] [-2.21911217e-03 9.99981719e-01 5.62465972e-03 -1.49341589e-01] [ 1.10915272e-02 -5.59971457e-03 9.99922808e-01 -1.46442479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78119381700003 meters Centerline goodness [0,1] 0.6759915454432426 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.14, Z:-1.46 [[ 9.99937662e-01 1.36983666e-03 -1.10813459e-02 7.67244501e+00] [-1.33609174e-03 9.99994450e-01 3.05203033e-03 -1.41202290e-01] [ 1.10854651e-02 -3.03703438e-03 9.99933942e-01 -1.46330979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81119381700003 meters Centerline goodness [0,1] 0.6932644628099174 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.13, Z:-1.46 [[ 9.99936424e-01 2.39552994e-03 -1.10186321e-02 7.67169298e+00] [-2.38386233e-03 9.99996584e-01 1.07191067e-03 -1.27825723e-01] [ 1.10211622e-02 -1.04557562e-03 9.99938718e-01 -1.46133919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84119381700003 meters Centerline goodness [0,1] 0.7273273646688221 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.12, Z:-1.46 [[ 9.99929619e-01 4.08955871e-03 -1.11369683e-02 7.67283350e+00] [-4.06920165e-03 9.99990010e-01 1.84992836e-03 -1.21834405e-01] [ 1.11444224e-02 -1.80447959e-03 9.99936271e-01 -1.46205986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87119381700003 meters Centerline goodness [0,1] 0.7198391142993386 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.11, Z:-1.46 [[ 9.99929893e-01 3.40080506e-03 -1.13420941e-02 7.67362553e+00] [-3.40503037e-03 9.99994140e-01 -3.53243950e-04 -1.13864435e-01] [ 1.13408263e-02 3.91839360e-04 9.99935614e-01 -1.46206484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90119381700003 meters Centerline goodness [0,1] 0.6972626794752608 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.11, Z:-1.46 [[ 9.99917254e-01 5.58803756e-03 -1.15869783e-02 7.67510029e+00] [-5.57915825e-03 9.99984118e-01 7.98500536e-04 -1.07404603e-01] [ 1.15912563e-02 -7.33788878e-04 9.99932550e-01 -1.46280785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93119381700004 meters Centerline goodness [0,1] 0.7422081679894179 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.09, Z:-1.46 [[ 9.99880048e-01 1.04624403e-02 -1.14204425e-02 7.67574022e+00] [-1.04210730e-02 9.99938943e-01 3.67573649e-03 -9.30331347e-02] [ 1.14582024e-02 -3.55628232e-03 9.99928029e-01 -1.46317867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96119381700004 meters Centerline goodness [0,1] 0.7740077885491756 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.09, Z:-1.46 [[ 9.99844476e-01 1.32982633e-02 -1.15835679e-02 7.67691456e+00] [-1.32387425e-02 9.99898843e-01 5.19999598e-03 -8.64461185e-02] [ 1.16515471e-02 -5.04583539e-03 9.99919387e-01 -1.46375703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99119381700004 meters Centerline goodness [0,1] 0.7740118843040229 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.08, Z:-1.46 [[ 9.99804119e-01 1.59073502e-02 -1.17761986e-02 7.67846359e+00] [-1.58300663e-02 9.99852734e-01 6.62709911e-03 -8.05143429e-02] [ 1.18798840e-02 -6.43938298e-03 9.99908697e-01 -1.46467002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02119381700004 meters Centerline goodness [0,1] 0.7997930677703052 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.07, Z:-1.47 [[ 0.9996863 0.02202163 -0.01193143 7.68035536] [-0.02189859 0.99970666 0.01034657 -0.07037425] [ 0.01215578 -0.01008204 0.99987529 -1.46548539] [ 0. 0. 0. 1. ]] SLAMing on 192.051193817 meters Centerline goodness [0,1] 0.8371987078605152 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.07, Z:-1.47 [[ 0.99961397 0.02496304 -0.01219647 7.68243656] [-0.02481492 0.99961824 0.0121486 -0.06519512] [ 0.01249508 -0.01184126 0.99985182 -1.46683788] [ 0. 0. 0. 1. ]] SLAMing on 192.081193817 meters Centerline goodness [0,1] 0.8655905054361358 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.06, Z:-1.47 [[ 0.99953427 0.0278047 -0.01257508 7.68443236] [-0.02762958 0.99952171 0.01389101 -0.0597435 ] [ 0.0129553 -0.01353709 0.99982444 -1.46781902] [ 0. 0. 0. 1. ]] SLAMing on 192.11119381700001 meters Centerline goodness [0,1] 0.8849652885711325 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.05, Z:-1.47 [[ 0.99943712 0.03109176 -0.01259933 7.68557184] [-0.03088636 0.99939191 0.01618137 -0.05468739] [ 0.01309478 -0.01578311 0.99978969 -1.46856084] [ 0. 0. 0. 1. ]] SLAMing on 192.14119381700002 meters Centerline goodness [0,1] 0.8862014928450658 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.04, Z:-1.47 [[ 9.99394184e-01 3.39640973e-02 -7.59634894e-03 7.69464725e+00] [-3.38990601e-02 9.99388838e-01 8.53254814e-03 -4.36771965e-02] [ 7.88150664e-03 -8.26986990e-03 9.99934743e-01 -1.46906449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.17119381700002 meters Centerline goodness [0,1] 0.9070385126162018 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.04, Z:-1.47 [[ 9.99406705e-01 3.35402464e-02 -7.82882217e-03 7.69502531e+00] [-3.34829434e-02 9.99412341e-01 7.33929610e-03 -4.05811641e-02] [ 8.07038329e-03 -7.07280972e-03 9.99942420e-01 -1.46866742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20119381700002 meters Centerline goodness [0,1] 0.8865508726057814 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.04, Z:-1.47 [[ 9.99417780e-01 3.31412072e-02 -8.10937420e-03 7.69608958e+00] [-3.30891338e-02 9.99431440e-01 6.47347331e-03 -3.86214668e-02] [ 8.31930226e-03 -6.20137216e-03 9.99946165e-01 -1.46904273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23119381700002 meters Centerline goodness [0,1] 0.9007233310534933 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.04, Z:-1.47 [[ 9.99426083e-01 3.28497117e-02 -8.27050892e-03 7.69715536e+00] [-3.28029499e-02 9.99445427e-01 5.72762821e-03 -3.66960840e-02] [ 8.45407325e-03 -5.45304393e-03 9.99949395e-01 -1.46974742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26119381700002 meters Centerline goodness [0,1] 0.8715531707721311 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.03, Z:-1.47 [[ 9.99447083e-01 3.21469832e-02 -8.49119010e-03 7.69801927e+00] [-3.21138811e-02 9.99476186e-01 4.00644122e-03 -3.11587195e-02] [ 8.61553729e-03 -3.73154092e-03 9.99955923e-01 -1.46984350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29119381700002 meters Centerline goodness [0,1] 0.8710278053624627 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.03, Z:-1.47 [[ 9.99455224e-01 3.18101168e-02 -8.79616975e-03 7.69886448e+00] [-3.17844640e-02 9.99490120e-01 3.04097360e-03 -2.81976816e-02] [ 8.88841848e-03 -2.75973541e-03 9.99956689e-01 -1.46977755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32119381700002 meters Centerline goodness [0,1] 0.870813100526914 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.03, Z:-1.47 [[ 9.99457314e-01 3.16719785e-02 -9.05330235e-03 7.69968640e+00] [-3.16520870e-02 9.99496226e-01 2.33209325e-03 -2.58670195e-02] [ 9.12260354e-03 -2.04427174e-03 9.99956299e-01 -1.46977613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35119381700002 meters Centerline goodness [0,1] 0.8894364599872158 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.02, Z:-1.47 [[ 9.99459645e-01 3.15572141e-02 -9.19568890e-03 7.69987648e+00] [-3.15477131e-02 9.99501555e-01 1.17647046e-03 -2.20408240e-02] [ 9.22823148e-03 -8.85731790e-04 9.99957027e-01 -1.46899585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38119381700002 meters Centerline goodness [0,1] 0.8998597995958929 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.02, Z:-1.47 [[ 9.99455440e-01 3.16116079e-02 -9.46203527e-03 7.70079593e+00] [-3.16080702e-02 9.99500203e-01 5.23237934e-04 -1.97597140e-02] [ 9.47384657e-03 -2.23876324e-04 9.99955097e-01 -1.46908502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41119381700003 meters Centerline goodness [0,1] 0.9106020969369889 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.02, Z:-1.47 [[ 9.99437436e-01 3.20612131e-02 -9.84328248e-03 7.70231459e+00] [-3.20616407e-02 9.99485887e-01 1.14394210e-04 -1.74504884e-02] [ 9.84188954e-03 2.01261931e-04 9.99951547e-01 -1.46956733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44119381700003 meters Centerline goodness [0,1] 0.9269775617826491 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.01, Z:-1.47 [[ 9.99412904e-01 3.27658819e-02 -1.00121822e-02 7.70349408e+00] [-3.27700139e-02 9.99462888e-01 -2.48884655e-04 -1.48042153e-02] [ 9.99864958e-03 5.76837886e-04 9.99949846e-01 -1.47011143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47119381700003 meters Centerline goodness [0,1] 0.9350903987451499 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.01, Z:-1.47 [[ 9.99138997e-01 4.02806177e-02 -9.93663543e-03 7.70622458e+00] [-4.02196242e-02 9.99171231e-01 6.26363122e-03 -1.22760969e-02] [ 1.01807032e-02 -5.85859047e-03 9.99931013e-01 -1.47235671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50119381700003 meters Centerline goodness [0,1] 0.9330653473510616 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.01, Z:-1.47 [[ 9.99067855e-01 4.19286611e-02 -1.02669023e-02 7.70864736e+00] [-4.18568471e-02 9.99098302e-01 7.11253848e-03 -1.04010380e-02] [ 1.05558639e-02 -6.67616840e-03 9.99921998e-01 -1.47393177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53119381700003 meters Centerline goodness [0,1] 0.9315218740946153 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.01, Z:-1.47 [[ 9.99035635e-01 4.26498934e-02 -1.04300859e-02 7.70954469e+00] [-4.25778254e-02 9.99068372e-01 7.03682572e-03 -8.90255785e-03] [ 1.07204888e-02 -6.58594928e-03 9.99920845e-01 -1.47421811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56119381700003 meters Centerline goodness [0,1] 0.929151717596602 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.01, Z:-1.47 [[ 9.99007362e-01 4.32340770e-02 -1.07286989e-02 7.71062584e+00] [-4.31589812e-02 9.99042738e-01 7.13513503e-03 -8.25833159e-03] [ 1.10269097e-02 -6.66501271e-03 9.99916989e-01 -1.47451092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59119381700003 meters Centerline goodness [0,1] 0.9275089864892782 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.01, Z:-1.47 [[ 9.98972719e-01 4.40707509e-02 -1.05487039e-02 7.71029289e+00] [-4.39909111e-02 9.99002374e-01 7.68481031e-03 -9.40567406e-03] [ 1.08768556e-02 -7.21286876e-03 9.99914831e-01 -1.47408200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62119381700003 meters Centerline goodness [0,1] 0.927793506788733 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.01, Z:-1.47 [[ 9.99103812e-01 4.09217940e-02 -1.08156950e-02 7.71062224e+00] [-4.08805137e-02 9.99155993e-01 4.01071210e-03 -9.09770263e-03] [ 1.09706920e-02 -3.56496658e-03 9.99933465e-01 -1.47368738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65119381700003 meters Centerline goodness [0,1] 0.9295498212920686 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.01, Z:-1.47 [[ 9.99224457e-01 3.77188015e-02 -1.13038170e-02 7.71159525e+00] [-3.77139508e-02 9.99288370e-01 6.42048277e-04 -9.75101115e-03] [ 1.13199902e-02 -2.15238742e-04 9.99935904e-01 -1.47370595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68119381700004 meters Centerline goodness [0,1] 0.9293964501931938 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.02, Z:-1.47 [[ 9.99313022e-01 3.51178494e-02 -1.18414778e-02 7.71319698e+00] [-3.51317002e-02 9.99382227e-01 -9.63643169e-04 -1.59822215e-02] [ 1.18003214e-02 1.37899241e-03 9.99929423e-01 -1.47464830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71119381700004 meters Centerline goodness [0,1] 0.9301624656798992 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.02, Z:-1.48 [[ 9.99392482e-01 3.25794745e-02 -1.23791705e-02 7.71538076e+00] [-3.26197910e-02 9.99463121e-01 -3.06891623e-03 -1.91429420e-02] [ 1.22725407e-02 3.47085776e-03 9.99918666e-01 -1.47618505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74119381700004 meters Centerline goodness [0,1] 0.9298864809081527 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.02, Z:-1.48 [[ 9.99458043e-01 3.02596581e-02 -1.29604229e-02 7.71777411e+00] [-3.03236400e-02 9.99528756e-01 -4.76893991e-03 -2.30122139e-02] [ 1.28100089e-02 5.15936255e-03 9.99904638e-01 -1.47785147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77119381700004 meters Centerline goodness [0,1] 0.9308176100628931 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.03, Z:-1.48 [[ 9.99525002e-01 2.77598438e-02 -1.33851123e-02 7.71973602e+00] [-2.78519039e-02 9.99589330e-01 -6.74112224e-03 -2.63649905e-02] [ 1.31924829e-02 7.11072108e-03 9.99887692e-01 -1.47932052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.801193817 meters Centerline goodness [0,1] 0.9334077842577656 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.03, Z:-1.48 [[ 9.99582990e-01 2.54069330e-02 -1.37234740e-02 7.72105283e+00] [-2.55140864e-02 9.99644883e-01 -7.69019950e-03 -3.37220237e-02] [ 1.35232162e-02 8.03713452e-03 9.99876256e-01 -1.48044171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.831193817 meters Centerline goodness [0,1] 0.9337371893282437 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.04, Z:-1.48 [[ 9.99568093e-01 2.58460496e-02 -1.39860455e-02 7.72216225e+00] [-2.59377274e-02 9.99642986e-01 -6.41371681e-03 -3.77354041e-02] [ 1.38152831e-02 6.77371292e-03 9.99881620e-01 -1.48123549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86119381700001 meters Centerline goodness [0,1] 0.9316784331587338 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.04, Z:-1.48 [[ 9.99550994e-01 2.63610457e-02 -1.42444669e-02 7.72337555e+00] [-2.64361113e-02 9.99637457e-01 -5.10743012e-03 -4.15476684e-02] [ 1.41046655e-02 5.48170517e-03 9.99885498e-01 -1.48209416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.89119381700002 meters Centerline goodness [0,1] 0.934774521555822 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.05, Z:-1.48 [[ 9.99537179e-01 2.67576492e-02 -1.44725936e-02 7.72420668e+00] [-2.68152958e-02 9.99633168e-01 -3.80384502e-03 -4.56651130e-02] [ 1.43655027e-02 4.19017140e-03 9.99888031e-01 -1.48266349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92119381700002 meters Centerline goodness [0,1] 0.9362867715461104 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.05, Z:-1.48 [[ 9.99591904e-01 2.44762362e-02 -1.47288376e-02 7.72447952e+00] [-2.45506173e-02 9.99686626e-01 -4.89056750e-03 -5.26739483e-02] [ 1.46045193e-02 5.25017374e-03 9.99879565e-01 -1.48256115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.95119381700002 meters Centerline goodness [0,1] 0.9379304639185919 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.06, Z:-1.48 [[ 9.99591574e-01 2.43980693e-02 -1.48801761e-02 7.72521635e+00] [-2.44616376e-02 9.99692341e-01 -4.10504843e-03 -5.64328712e-02] [ 1.47754428e-02 4.46736529e-03 9.99880857e-01 -1.48319340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98119381700002 meters Centerline goodness [0,1] 0.9382292097641705 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.06, Z:-1.48 [[ 9.99599358e-01 2.38506646e-02 -1.52404146e-02 7.72614105e+00] [-2.39093468e-02 9.99707358e-01 -3.67987551e-03 -6.02413201e-02] [ 1.51481872e-02 4.04278956e-03 9.99877087e-01 -1.48359597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01119381700002 meters Centerline goodness [0,1] 0.9392379845604715 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.06, Z:-1.48 [[ 9.99668483e-01 2.04876366e-02 -1.55942834e-02 7.72712811e+00] [-2.05918469e-02 9.99766499e-01 -6.55160553e-03 -6.26880132e-02] [ 1.54564152e-02 6.87054865e-03 9.99856937e-01 -1.48403554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04119381700002 meters Centerline goodness [0,1] 0.9335437780362187 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.07, Z:-1.49 [[ 9.99855604e-01 1.31286887e-02 -1.07892929e-02 7.73659174e+00] [-1.31472854e-02 9.99912202e-01 -1.65450934e-03 -7.09666029e-02] [ 1.07666241e-02 1.79612035e-03 9.99940425e-01 -1.48625472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07119381700002 meters Centerline goodness [0,1] 0.9210046419098143 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.07, Z:-1.49 [[ 9.99925944e-01 6.71819439e-03 -1.01475538e-02 7.74552875e+00] [-6.67896288e-03 9.99970110e-01 3.89505884e-03 -7.48403135e-02] [ 1.01734183e-02 -3.82699525e-03 9.99940926e-01 -1.48555623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10119381700002 meters Centerline goodness [0,1] 0.8859185576624184 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.08, Z:-1.49 [[ 9.99942711e-01 2.94288224e-03 -1.02914390e-02 7.74596606e+00] [-2.93657292e-03 9.99995491e-01 6.28122960e-04 -7.73437525e-02] [ 1.02932411e-02 -5.97865414e-04 9.99946844e-01 -1.48570661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13119381700002 meters Centerline goodness [0,1] 0.8663338765238557 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.08, Z:-1.49 [[ 9.99943568e-01 -3.18936577e-04 -1.06187899e-02 7.74732620e+00] [ 2.96652422e-04 9.99997751e-01 -2.10006772e-03 -8.00309982e-02] [ 1.06194358e-02 2.09679912e-03 9.99941414e-01 -1.48649730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16119381700003 meters Centerline goodness [0,1] 0.8216307806752903 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.09, Z:-1.49 [[ 9.99934515e-01 -4.03621212e-03 -1.07086249e-02 7.74734573e+00] [ 3.98975676e-03 9.99982554e-01 -4.35594777e-03 -8.56248948e-02] [ 1.07260196e-02 4.31293771e-03 9.99933173e-01 -1.48624049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19119381700003 meters Centerline goodness [0,1] 0.8085349629999169 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.09, Z:-1.49 [[ 9.99934288e-01 -4.22748601e-03 -1.06559048e-02 7.74709046e+00] [ 4.19051002e-03 9.99985130e-01 -3.48994260e-03 -8.97170054e-02] [ 1.06705001e-02 3.44505959e-03 9.99937134e-01 -1.48608279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22119381700003 meters Centerline goodness [0,1] 0.7898312105208657 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.09, Z:-1.49 [[ 9.99932217e-01 -4.02602917e-03 -1.09248755e-02 7.74823221e+00] [ 4.00253304e-03 9.99989632e-01 -2.17171205e-03 -9.40958652e-02] [ 1.09335056e-02 2.12783767e-03 9.99937963e-01 -1.48696045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25119381700003 meters Centerline goodness [0,1] 0.8310121474246218 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.10, Z:-1.49 [[ 9.99930222e-01 -3.94402206e-03 -1.11353548e-02 7.74909787e+00] [ 3.93270851e-03 9.99991728e-01 -1.03771747e-03 -9.79367412e-02] [ 1.11393555e-02 9.93852951e-04 9.99937462e-01 -1.48764112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28119381700003 meters Centerline goodness [0,1] 0.7403590976944767 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.10, Z:-1.49 [[ 9.99925520e-01 -4.90383000e-03 -1.11761687e-02 7.74930758e+00] [ 4.89981107e-03 9.99987921e-01 -3.86952189e-04 -1.02778655e-01] [ 1.11779312e-02 3.32162254e-04 9.99937470e-01 -1.48789108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31119381700003 meters Centerline goodness [0,1] 0.7249689183588893 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.11, Z:-1.49 [[ 9.99923064e-01 -4.93428239e-03 -1.13806239e-02 7.75013578e+00] [ 4.94009502e-03 9.99987681e-01 4.82692928e-04 -1.05620334e-01] [ 1.13781019e-02 -5.38877155e-04 9.99935122e-01 -1.48846357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34119381700003 meters Centerline goodness [0,1] 0.7394782967316218 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.11, Z:-1.49 [[ 9.99901230e-01 -7.62025594e-03 -1.18094237e-02 7.75264090e+00] [ 7.59910550e-03 9.99969443e-01 -1.83481904e-03 -1.07520032e-01] [ 1.18230446e-02 1.74489675e-03 9.99928583e-01 -1.49031014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37119381700003 meters Centerline goodness [0,1] 0.7641579886321205 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.11, Z:-1.49 [[ 9.99898677e-01 -8.15490400e-03 -1.16675833e-02 7.75271883e+00] [ 8.13974570e-03 9.99965966e-01 -1.34607997e-03 -1.10915275e-01] [ 1.16781634e-02 1.25097242e-03 9.99931025e-01 -1.49083742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40119381700003 meters Centerline goodness [0,1] 0.7614709224253693 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.11, Z:-1.49 [[ 9.99903178e-01 -6.85557748e-03 -1.21093199e-02 7.75526169e+00] [ 6.85399520e-03 9.99976496e-01 -1.72162314e-04 -1.10490397e-01] [ 1.21102156e-02 8.91484240e-05 9.99926665e-01 -1.49257194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43119381700004 meters Centerline goodness [0,1] 0.777379298907523 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.11, Z:-1.49 [[ 9.99919687e-01 -3.25360496e-03 -1.22488181e-02 7.75553531e+00] [ 3.29326670e-03 9.99989395e-01 3.21922889e-03 -1.09024098e-01] [ 1.22382141e-02 -3.25930897e-03 9.99919798e-01 -1.49244390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46119381700004 meters Centerline goodness [0,1] 0.777379298907523 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.11, Z:-1.49 [[ 9.99919687e-01 -3.25360496e-03 -1.22488181e-02 7.75553531e+00] [ 3.29326670e-03 9.99989395e-01 3.21922889e-03 -1.09024098e-01] [ 1.22382141e-02 -3.25930897e-03 9.99919798e-01 -1.49244390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49119381700004 meters Centerline goodness [0,1] 0.7870831259333002 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.10, Z:-1.49 [[ 9.99921067e-01 -2.35748047e-03 -1.23410505e-02 7.75577314e+00] [ 2.39435493e-03 9.99992711e-01 2.97402982e-03 -1.04811475e-01] [ 1.23339494e-02 -3.00334393e-03 9.99919424e-01 -1.49210769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52119381700004 meters Centerline goodness [0,1] 0.781202836527528 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.10, Z:-1.49 [[ 9.99919501e-01 -1.63901217e-03 -1.25819671e-02 7.75669453e+00] [ 1.66977555e-03 9.99995641e-01 2.43492206e-03 -1.00925801e-01] [ 1.25779214e-02 -2.45573511e-03 9.99917879e-01 -1.49222041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.551193817 meters Centerline goodness [0,1] 0.8397538180989287 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.10, Z:-1.49 [[ 9.99919850e-01 2.65604345e-03 -1.23789815e-02 7.75615803e+00] [-2.59481658e-03 9.99984335e-01 4.95947363e-03 -9.54819223e-02] [ 1.23919602e-02 -4.92695494e-03 9.99911078e-01 -1.49139138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.581193817 meters Centerline goodness [0,1] 0.8558021533765109 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.09, Z:-1.49 [[ 9.99961716e-01 5.28938766e-03 -6.97062405e-03 7.76504969e+00] [-5.30605161e-03 9.99983104e-01 -2.37427508e-03 -9.15478443e-02] [ 6.95794782e-03 2.41117067e-03 9.99972886e-01 -1.49314100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.61119381700001 meters Centerline goodness [0,1] 0.8783808913775647 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.09, Z:-1.49 [[ 9.99965092e-01 4.93082252e-03 -6.74546344e-03 7.76471393e+00] [-4.95747105e-03 9.99979951e-01 -3.93958464e-03 -8.59651588e-02] [ 6.72590281e-03 3.97288756e-03 9.99969489e-01 -1.49284877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64119381700002 meters Centerline goodness [0,1] 0.8764410715766775 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.08, Z:-1.49 [[ 9.99967536e-01 4.35979647e-03 -6.77633093e-03 7.76512483e+00] [-4.39276275e-03 9.99978553e-01 -4.85766926e-03 -8.37459194e-02] [ 6.75500715e-03 4.88727838e-03 9.99965242e-01 -1.49320420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.67119381700002 meters Centerline goodness [0,1] 0.8577349497461403 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.08, Z:-1.49 [[ 9.99967810e-01 3.94141725e-03 -6.98890583e-03 7.76622232e+00] [-3.97947513e-03 9.99977285e-01 -5.43995029e-03 -8.18648353e-02] [ 6.96730596e-03 5.46758736e-03 9.99960780e-01 -1.49400863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70119381700002 meters Centerline goodness [0,1] 0.8298368779682015 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.08, Z:-1.49 [[ 9.99967509e-01 3.16484565e-03 -7.41380095e-03 7.76783080e+00] [-3.21164523e-03 9.99974940e-01 -6.30911702e-03 -7.98573213e-02] [ 7.39364778e-03 6.33272253e-03 9.99952614e-01 -1.49497311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73119381700002 meters Centerline goodness [0,1] 0.8210434818601379 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.08, Z:-1.50 [[ 9.99968256e-01 2.55268355e-03 -7.54792245e-03 7.76865623e+00] [-2.60534829e-03 9.99972275e-01 -6.97580200e-03 -7.82051312e-02] [ 7.52990617e-03 6.99524553e-03 9.99947182e-01 -1.49562911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76119381700002 meters Centerline goodness [0,1] 0.7794926048084303 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.08, Z:-1.50 [[ 9.99969188e-01 1.23018080e-03 -7.75310873e-03 7.76911291e+00] [-1.29523094e-03 9.99963958e-01 -8.39077283e-03 -7.50245823e-02] [ 7.74250713e-03 8.40055635e-03 9.99934740e-01 -1.49571708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79119381700002 meters Centerline goodness [0,1] 0.7860032782123368 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.07, Z:-1.50 [[ 9.99963674e-01 3.61504031e-03 -7.71890883e-03 7.76904170e+00] [-3.65744193e-03 9.99978262e-01 -5.48618334e-03 -7.49644981e-02] [ 7.69890827e-03 5.51421552e-03 9.99955159e-01 -1.49576269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82119381700002 meters Centerline goodness [0,1] 0.7880216734913348 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.07, Z:-1.50 [[ 9.99957436e-01 4.31051579e-03 -8.15749532e-03 7.77141152e+00] [-4.35179113e-03 9.99977785e-01 -5.04883845e-03 -7.32426572e-02] [ 8.13555100e-03 5.08412327e-03 9.99953981e-01 -1.49734604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85119381700002 meters Centerline goodness [0,1] 0.7976811594202898 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.07, Z:-1.50 [[ 9.99954971e-01 4.58689034e-03 -8.30764366e-03 7.77206067e+00] [-4.63294016e-03 9.99973964e-01 -5.53232953e-03 -7.03241018e-02] [ 8.28205117e-03 5.57056923e-03 9.99950187e-01 -1.49754002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88119381700002 meters Centerline goodness [0,1] 0.8267333898550425 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.07, Z:-1.50 [[ 9.99919701e-01 9.29451092e-03 -8.61418002e-03 7.77331220e+00] [-9.31606503e-03 9.99953565e-01 -2.46542586e-03 -6.52170483e-02] [ 8.59086509e-03 2.54547815e-03 9.99959858e-01 -1.49783855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91119381700003 meters Centerline goodness [0,1] 0.8674771155200265 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.06, Z:-1.50 [[ 9.99871018e-01 1.34270573e-02 -8.81252501e-03 7.77430126e+00] [-1.34195361e-02 9.99909538e-01 9.12039530e-04 -6.26506156e-02] [ 8.82397382e-03 -7.93661896e-04 9.99960753e-01 -1.49831784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94119381700003 meters Centerline goodness [0,1] 0.9042957455596861 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.06, Z:-1.50 [[ 9.99799987e-01 1.78563578e-02 -9.00759051e-03 7.77524530e+00] [-1.78172685e-02 9.99831572e-01 4.40134835e-03 -5.95953516e-02] [ 9.08466544e-03 -4.23997736e-03 9.99949744e-01 -1.49862788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97119381700003 meters Centerline goodness [0,1] 0.9280466858431803 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.06, Z:-1.50 [[ 9.99708161e-01 2.23337732e-02 -9.20841823e-03 7.77623909e+00] [-2.22617064e-02 9.99721313e-01 7.85579871e-03 -5.63761154e-02] [ 9.38130158e-03 -7.64851098e-03 9.99926743e-01 -1.49896894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00119381700003 meters Centerline goodness [0,1] 0.9354486677922826 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.05, Z:-1.50 [[ 0.99956367 0.02789199 -0.00972117 7.77879734] [-0.02776898 0.99953537 0.0125671 -0.05462495] [ 0.01006717 -0.01229166 0.99987378 -1.50034252] [ 0. 0. 0. 1. ]] SLAMing on 194.03119381700003 meters Centerline goodness [0,1] 0.9334573258937797 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.05, Z:-1.50 [[ 9.99152156e-01 3.99805935e-02 -9.82456921e-03 7.77709733e+00] [-3.99397286e-02 9.99192747e-01 4.32111764e-03 -4.96964941e-02] [ 9.98939914e-03 -3.92506337e-03 9.99942401e-01 -1.49915218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06119381700003 meters Centerline goodness [0,1] 0.9331046312178388 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.05, Z:-1.50 [[ 9.99106626e-01 4.10350776e-02 -1.01031182e-02 7.77813648e+00] [-4.09903793e-02 9.99148988e-01 4.59231456e-03 -4.86796636e-02] [ 1.02829663e-02 -4.17408126e-03 9.99938417e-01 -1.49947957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09119381700003 meters Centerline goodness [0,1] 0.93204443803203 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.05, Z:-1.50 [[ 9.99081760e-01 4.15519629e-02 -1.04437160e-02 7.77922447e+00] [-4.15054046e-02 9.99127524e-01 4.63600070e-03 -4.79288737e-02] [ 1.06272390e-02 -4.19827308e-03 9.99934716e-01 -1.49984364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12119381700003 meters Centerline goodness [0,1] 0.9320636491054497 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.05, Z:-1.50 [[ 9.99017677e-01 4.29836593e-02 -1.07743064e-02 7.78072558e+00] [-4.29195160e-02 9.99059815e-01 6.11561494e-03 -5.05951887e-02] [ 1.10270481e-02 -5.64717941e-03 9.99923254e-01 -1.50075767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15119381700003 meters Centerline goodness [0,1] 0.931507413509061 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.05, Z:-1.50 [[ 9.99138490e-01 3.99521056e-02 -1.12297094e-02 7.78173336e+00] [-3.99233505e-02 9.99198896e-01 2.77332619e-03 -5.12487971e-02] [ 1.13315135e-02 -2.32260932e-03 9.99933099e-01 -1.50106198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18119381700004 meters Centerline goodness [0,1] 0.9315153010858835 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.05, Z:-1.50 [[ 9.99232216e-01 3.73816006e-02 -1.17301007e-02 7.78321347e+00] [-3.73844838e-02 9.99300956e-01 -2.65428630e-05 -5.27352580e-02] [ 1.17209087e-02 4.65046244e-04 9.99931200e-01 -1.50177453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21119381700004 meters Centerline goodness [0,1] 0.9317731958762887 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.05, Z:-1.50 [[ 9.99326579e-01 3.46749232e-02 -1.20016083e-02 7.78392552e+00] [-3.47138962e-02 9.99392624e-01 -3.05430693e-03 -5.39357792e-02] [ 1.18884109e-02 3.46887268e-03 9.99923313e-01 -1.50209846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24119381700004 meters Centerline goodness [0,1] 0.9328612424386317 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.06, Z:-1.50 [[ 9.99344309e-01 3.40334630e-02 -1.23561902e-02 7.78563854e+00] [-3.40816232e-02 9.99412173e-01 -3.70817590e-03 -5.94212469e-02] [ 1.22227248e-02 4.12686351e-03 9.99916784e-01 -1.50335941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27119381700004 meters Centerline goodness [0,1] 0.9325761486835312 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.06, Z:-1.50 [[ 9.99314623e-01 3.47910593e-02 -1.26438676e-02 7.78645228e+00] [-3.48252147e-02 9.99390313e-01 -2.49121261e-03 -6.30158781e-02] [ 1.25494869e-02 2.92983059e-03 9.99916960e-01 -1.50368662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.301193817 meters Centerline goodness [0,1] 0.9324832603124742 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.07, Z:-1.50 [[ 9.99372077e-01 3.29244571e-02 -1.30932321e-02 7.78825960e+00] [-3.29847481e-02 9.99446101e-01 -4.41571403e-03 -6.56318049e-02] [ 1.29405948e-02 4.84481826e-03 9.99904530e-01 -1.50489397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.331193817 meters Centerline goodness [0,1] 0.9354545266596374 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.08, Z:-1.50 [[ 9.99416778e-01 3.12917722e-02 -1.36722190e-02 7.78884305e+00] [-3.13533526e-02 9.99499057e-01 -4.31311550e-03 -7.65773008e-02] [ 1.35304050e-02 4.73926990e-03 9.99897228e-01 -1.50472858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36119381700001 meters Centerline goodness [0,1] 0.9317793029534821 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.08, Z:-1.50 [[ 9.99628855e-01 2.47529163e-02 -1.13774389e-02 7.79717642e+00] [-2.47381440e-02 9.99692932e-01 1.43730853e-03 -8.30720761e-02] [ 1.14095228e-02 -1.15531835e-03 9.99934242e-01 -1.50473876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.39119381700002 meters Centerline goodness [0,1] 0.9304403187381911 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.09, Z:-1.51 [[ 9.99803177e-01 1.89720311e-02 -5.80260058e-03 7.80773899e+00] [-1.89333507e-02 9.99798633e-01 6.64987854e-03 -9.08565972e-02] [ 5.92759383e-03 -6.53870702e-03 9.99961054e-01 -1.50793203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42119381700002 meters Centerline goodness [0,1] 0.9304238734755157 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.10, Z:-1.51 [[ 9.99914344e-01 1.15702641e-02 -6.11826681e-03 7.80775910e+00] [-1.15701242e-02 9.99933062e-01 5.82582409e-05 -9.50384099e-02] [ 6.11853133e-03 1.25358564e-05 9.99981282e-01 -1.50742975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.45119381700002 meters Centerline goodness [0,1] 0.927545826954111 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.11, Z:-1.51 [[ 9.99990176e-01 1.42647249e-03 -4.19680036e-03 7.80382413e+00] [-1.42192015e-03 9.99998398e-01 1.08750072e-03 -1.11682352e-01] [ 4.19834492e-03 -1.08152253e-03 9.99990602e-01 -1.50870952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48119381700002 meters Centerline goodness [0,1] 0.9245707445930329 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.12, Z:-1.51 [[ 9.99987389e-01 -2.28513327e-03 -4.47211004e-03 7.80472645e+00] [ 2.28215654e-03 9.99997171e-01 -6.70612292e-04 -1.19311053e-01] [ 4.47362983e-03 6.60397779e-04 9.99989775e-01 -1.50921037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51119381700002 meters Centerline goodness [0,1] 0.9199462865406466 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.13, Z:-1.51 [[ 9.99971934e-01 -5.86135795e-03 -4.66639267e-03 7.80520659e+00] [ 5.84946217e-03 9.99979618e-01 -2.55882453e-03 -1.26287623e-01] [ 4.68129575e-03 2.53145683e-03 9.99985838e-01 -1.50928883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54119381700002 meters Centerline goodness [0,1] 0.9054678157601749 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.14, Z:-1.51 [[ 9.99913781e-01 -1.22181585e-02 -4.81105685e-03 7.80567302e+00] [ 1.21857183e-02 9.99903201e-01 -6.71538897e-03 -1.36263777e-01] [ 4.89264083e-03 6.65618379e-03 9.99965878e-01 -1.50930056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57119381700002 meters Centerline goodness [0,1] 0.8931500041414727 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.14, Z:-1.51 [[ 9.99914004e-01 -1.21225082e-02 -5.00290534e-03 7.80604707e+00] [ 1.20965500e-02 9.99913382e-01 -5.18668290e-03 -1.41652377e-01] [ 5.06534761e-03 5.12571897e-03 9.99974034e-01 -1.50934020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60119381700002 meters Centerline goodness [0,1] 0.887773061393519 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.15, Z:-1.51 [[ 9.99918038e-01 -1.16957311e-02 -5.20834220e-03 7.80660707e+00] [ 1.16772178e-02 9.99925443e-01 -3.57087774e-03 -1.46593124e-01] [ 5.24971790e-03 3.50976612e-03 9.99980061e-01 -1.50953856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63119381700002 meters Centerline goodness [0,1] 0.8792721092665133 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.15, Z:-1.51 [[ 9.99922116e-01 -1.12418424e-02 -5.42066083e-03 7.80715934e+00] [ 1.12303998e-02 9.99934654e-01 -2.13675759e-03 -1.50794927e-01] [ 5.44432770e-03 2.07571498e-03 9.99983025e-01 -1.50972325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66119381700003 meters Centerline goodness [0,1] 0.877647448916152 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.16, Z:-1.51 [[ 9.99931025e-01 -1.03769300e-02 -5.50132231e-03 7.80762260e+00] [ 1.03766475e-02 9.99946158e-01 -7.98992077e-05 -1.56678601e-01] [ 5.50185522e-03 2.28084144e-05 9.99984864e-01 -1.51009369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69119381700003 meters Centerline goodness [0,1] 0.882332250522439 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.16, Z:-1.51 [[ 9.99933231e-01 -1.00092337e-02 -5.77486202e-03 7.80851210e+00] [ 1.00133172e-02 9.99949635e-01 6.78653465e-04 -1.58534066e-01] [ 5.76777837e-03 -7.36433678e-04 9.99983095e-01 -1.51051564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72119381700003 meters Centerline goodness [0,1] 0.8852098959844183 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.16, Z:-1.51 [[ 9.99937428e-01 -9.51558919e-03 -5.88171980e-03 7.80877987e+00] [ 9.52381542e-03 9.99953706e-01 1.37218550e-03 -1.59834712e-01] [ 5.86839036e-03 -1.42811605e-03 9.99981761e-01 -1.51056818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75119381700003 meters Centerline goodness [0,1] 0.9035060630391369 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.16, Z:-1.51 [[ 9.99939852e-01 -9.05948325e-03 -6.18209554e-03 7.80971657e+00] [ 9.07091020e-03 9.99957197e-01 1.82286497e-03 -1.60424020e-01] [ 6.16531671e-03 -1.87883256e-03 9.99979229e-01 -1.51089247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78119381700003 meters Centerline goodness [0,1] 0.9074960127591707 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.16, Z:-1.51 [[ 9.99961382e-01 -6.63902130e-03 -5.75836546e-03 7.80825582e+00] [ 6.66143244e-03 9.99970279e-01 3.88151840e-03 -1.60954715e-01] [ 5.73242484e-03 -3.91972746e-03 9.99975887e-01 -1.51008687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81119381700003 meters Centerline goodness [0,1] 0.9123891981034838 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.16, Z:-1.51 [[ 9.99963619e-01 -5.77324769e-03 -6.27943201e-03 7.81047693e+00] [ 5.80254259e-03 9.99972321e-01 4.65704504e-03 -1.61292006e-01] [ 6.25237193e-03 -4.69331228e-03 9.99969440e-01 -1.51149983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84119381700003 meters Centerline goodness [0,1] 0.9100575069297919 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.16, Z:-1.51 [[ 9.99964368e-01 -5.49951034e-03 -6.40446721e-03 7.81087922e+00] [ 5.53039473e-03 9.99973117e-01 4.81463652e-03 -1.61332851e-01] [ 6.37781689e-03 -4.84988420e-03 9.99967901e-01 -1.51167654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87119381700003 meters Centerline goodness [0,1] 0.9189878668464171 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.16, Z:-1.51 [[ 9.99964431e-01 -5.34339066e-03 -6.52572771e-03 7.81111342e+00] [ 5.37579364e-03 9.99973259e-01 4.95801523e-03 -1.61536352e-01] [ 6.49906060e-03 -4.99291984e-03 9.99966416e-01 -1.51162836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90119381700003 meters Centerline goodness [0,1] 0.9067884360503645 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.16, Z:-1.51 [[ 9.99963702e-01 -5.77441442e-03 -6.26508185e-03 7.81012950e+00] [ 5.80478480e-03 9.99971438e-01 4.84025687e-03 -1.62202511e-01] [ 6.23695326e-03 -4.87644863e-03 9.99968660e-01 -1.51074057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93119381700004 meters Centerline goodness [0,1] 0.8984018028821303 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.16, Z:-1.51 [[ 9.99960004e-01 -6.23848767e-03 -6.40877819e-03 7.81043550e+00] [ 6.26950724e-03 9.99968674e-01 4.83153544e-03 -1.62997175e-01] [ 6.37843596e-03 -4.87152208e-03 9.99967791e-01 -1.51067162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96119381700004 meters Centerline goodness [0,1] 0.8833049757231191 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.16, Z:-1.51 [[ 9.99952301e-01 -7.70050599e-03 -6.00813781e-03 7.80861450e+00] [ 7.72338350e-03 9.99962977e-01 3.79388910e-03 -1.62950473e-01] [ 5.97870051e-03 -3.84011128e-03 9.99974754e-01 -1.50928780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99119381700004 meters Centerline goodness [0,1] 0.8628654364503421 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.16, Z:-1.51 [[ 9.99947633e-01 -8.24502966e-03 -6.06222256e-03 7.80859807e+00] [ 8.26893368e-03 9.99958094e-01 3.92867637e-03 -1.64267247e-01] [ 6.02957647e-03 -3.97859875e-03 9.99973907e-01 -1.50902689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02119381700004 meters Centerline goodness [0,1] 0.907104051756314 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.17, Z:-1.51 [[ 9.99942628e-01 -8.85196713e-03 -6.03187882e-03 7.80849377e+00] [ 8.87701167e-03 9.99952037e-01 4.13798461e-03 -1.66031992e-01] [ 5.99496020e-03 -4.19129227e-03 9.99973246e-01 -1.50885150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.051193817 meters Centerline goodness [0,1] 0.7788225083176623 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.17, Z:-1.51 [[ 9.99893879e-01 -1.32099431e-02 -6.14226218e-03 7.80906359e+00] [ 1.32122346e-02 9.99912659e-01 3.32641947e-04 -1.67244951e-01] [ 6.13733153e-03 -4.13759656e-04 9.99981081e-01 -1.50909519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.081193817 meters Centerline goodness [0,1] 0.8754972650422675 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.17, Z:-1.51 [[ 9.99890854e-01 -1.33628608e-02 -6.30197966e-03 7.80972043e+00] [ 1.33657943e-02 9.99910584e-01 4.23594324e-04 -1.67629404e-01] [ 6.29575573e-03 -5.07779054e-04 9.99980053e-01 -1.50952567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.11119381700001 meters Centerline goodness [0,1] 0.8579238354581837 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.17, Z:-1.51 [[ 9.99888003e-01 -1.34225171e-02 -6.61940586e-03 7.81079158e+00] [ 1.34244190e-02 9.99909859e-01 2.42973926e-04 -1.66713920e-01] [ 6.61554785e-03 -3.31808392e-04 9.99978062e-01 -1.51003770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14119381700002 meters Centerline goodness [0,1] 0.8865210111825379 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.16, Z:-1.51 [[ 9.99934842e-01 -9.12229892e-03 -6.86253966e-03 7.81180465e+00] [ 9.14947353e-03 9.99950385e-01 3.93892878e-03 -1.64669321e-01] [ 6.82626709e-03 -4.00146076e-03 9.99968695e-01 -1.51077029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.17119381700002 meters Centerline goodness [0,1] 0.9011794509738776 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.16, Z:-1.51 [[ 9.99961307e-01 -5.16498388e-03 -7.12087981e-03 7.81274798e+00] [ 5.21875116e-03 9.99957859e-01 7.55286039e-03 -1.63577528e-01] [ 7.08156932e-03 -7.58973025e-03 9.99946122e-01 -1.51139715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20119381700002 meters Centerline goodness [0,1] 0.913376376127804 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.16, Z:-1.51 [[ 9.99971712e-01 -9.73635526e-04 -7.45831516e-03 7.81418215e+00] [ 1.05712239e-03 9.99936741e-01 1.11980455e-02 -1.61953846e-01] [ 7.44694054e-03 -1.12056131e-02 9.99909485e-01 -1.51242116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23119381700002 meters Centerline goodness [0,1] 0.913547532295462 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.16, Z:-1.51 [[ 9.99964792e-01 3.20538222e-03 -7.75495629e-03 7.81541666e+00] [-3.09163908e-03 9.99888124e-01 1.46349486e-02 -1.59610332e-01] [ 7.80099930e-03 -1.46104578e-02 9.99862830e-01 -1.51321682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26119381700002 meters Centerline goodness [0,1] 0.915738118371819 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.15, Z:-1.51 [[ 9.99850383e-01 1.50423025e-02 -8.54054030e-03 7.81748558e+00] [-1.49929432e-02 9.99870694e-01 5.81432422e-03 -1.52580694e-01] [ 8.62689679e-03 -5.68540646e-03 9.99946625e-01 -1.51417247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29119381700002 meters Centerline goodness [0,1] 0.9173309041220679 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.15, Z:-1.51 [[ 9.99832794e-01 1.61367497e-02 -8.60169846e-03 7.81783814e+00] [-1.60896483e-02 9.99855331e-01 5.51718984e-03 -1.49217474e-01] [ 8.68948358e-03 -5.37786903e-03 9.99947784e-01 -1.51425328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32119381700002 meters Centerline goodness [0,1] 0.9151906085369395 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.15, Z:-1.51 [[ 9.99819835e-01 1.69002802e-02 -8.64160259e-03 7.81797847e+00] [-1.68556211e-02 9.99844334e-01 5.21490596e-03 -1.46853256e-01] [ 8.72839076e-03 -5.06830684e-03 9.99949062e-01 -1.51414695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35119381700002 meters Centerline goodness [0,1] 0.9151906085369395 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.15, Z:-1.51 [[ 9.99819835e-01 1.69002802e-02 -8.64160259e-03 7.81797847e+00] [-1.68556211e-02 9.99844334e-01 5.21490596e-03 -1.46853256e-01] [ 8.72839076e-03 -5.06830684e-03 9.99949062e-01 -1.51414695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38119381700002 meters Centerline goodness [0,1] 0.9197665031360616 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.15, Z:-1.51 [[ 9.99790330e-01 1.85735729e-02 -8.62075770e-03 7.81818349e+00] [-1.85256224e-02 9.99812652e-01 5.60913443e-03 -1.45177216e-01] [ 8.72332429e-03 -5.44825347e-03 9.99947109e-01 -1.51418294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41119381700003 meters Centerline goodness [0,1] 0.922296741277156 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.14, Z:-1.51 [[ 9.99783140e-01 1.88838422e-02 -8.77915480e-03 7.81882687e+00] [-1.88343670e-02 9.99806458e-01 5.68446271e-03 -1.44931042e-01] [ 8.88480016e-03 -5.51788015e-03 9.99945305e-01 -1.51456341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44119381700003 meters Centerline goodness [0,1] 0.9204620598446024 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.15, Z:-1.52 [[ 9.99779466e-01 1.90124710e-02 -8.91880559e-03 7.81951569e+00] [-1.89611450e-02 9.99803372e-01 5.80449412e-03 -1.45369872e-01] [ 9.02740968e-03 -5.63410327e-03 9.99943380e-01 -1.51504574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47119381700003 meters Centerline goodness [0,1] 0.9219905017551104 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.14, Z:-1.52 [[ 9.99833625e-01 1.57541057e-02 -9.19401842e-03 7.82013118e+00] [-1.57359795e-02 9.99874100e-01 2.04054480e-03 -1.44872208e-01] [ 9.22500785e-03 -1.89552842e-03 9.99955652e-01 -1.51522246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50119381700003 meters Centerline goodness [0,1] 0.9218675658343849 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.15, Z:-1.51 [[ 9.99893665e-01 1.16679475e-02 -8.74740174e-03 7.81686468e+00] [-1.16772882e-02 9.99931300e-01 -1.01751622e-03 -1.50622328e-01] [ 8.73492847e-03 1.11955396e-03 9.99961223e-01 -1.51236460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53119381700003 meters Centerline goodness [0,1] 0.919664268585132 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.15, Z:-1.51 [[ 9.99925823e-01 8.33852941e-03 -8.87787858e-03 7.81670651e+00] [-8.37135214e-03 9.99958238e-01 -3.66641673e-03 -1.54063783e-01] [ 8.84693529e-03 3.74046461e-03 9.99953869e-01 -1.51185818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56119381700003 meters Centerline goodness [0,1] 0.9230212405120887 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.16, Z:-1.51 [[ 9.99946064e-01 5.05780023e-03 -9.07130402e-03 7.81631495e+00] [-5.11371354e-03 9.99968006e-01 -6.15118992e-03 -1.58011820e-01] [ 9.03990230e-03 6.19724620e-03 9.99939935e-01 -1.51091551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59119381700003 meters Centerline goodness [0,1] 0.9205230972646888 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.16, Z:-1.51 [[ 9.99956114e-01 1.79455307e-03 -9.19505402e-03 7.81596368e+00] [-1.87293657e-03 9.99961924e-01 -8.52302054e-03 -1.62333684e-01] [ 9.17940890e-03 8.53986826e-03 9.99921401e-01 -1.51017885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62119381700003 meters Centerline goodness [0,1] 0.9219076808382861 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.17, Z:-1.51 [[ 9.99946709e-01 -4.69151250e-03 -9.19616432e-03 7.81514190e+00] [ 4.57244464e-03 9.99906000e-01 -1.29260989e-02 -1.71559517e-01] [ 9.25594284e-03 1.28833611e-02 9.99874165e-01 -1.50909431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65119381700003 meters Centerline goodness [0,1] 0.921270746780761 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.18, Z:-1.51 [[ 9.99945869e-01 -4.89696673e-03 -9.18030656e-03 7.81517136e+00] [ 4.79065575e-03 9.99921627e-01 -1.15667723e-02 -1.77372090e-01] [ 9.23622916e-03 1.15221665e-02 9.99890960e-01 -1.50910893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68119381700004 meters Centerline goodness [0,1] 0.9217259683171601 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.18, Z:-1.51 [[ 9.99947165e-01 -4.57142625e-03 -9.20704875e-03 7.81493166e+00] [ 4.48042619e-03 9.99941152e-01 -9.88023106e-03 -1.82814747e-01] [ 9.25167368e-03 9.83845753e-03 9.99908801e-01 -1.50871524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71119381700004 meters Centerline goodness [0,1] 0.9206487473037995 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.19, Z:-1.51 [[ 9.99939281e-01 -5.85174552e-03 -9.33766070e-03 7.81536334e+00] [ 5.75831347e-03 9.99933402e-01 -1.00016463e-02 -1.91325959e-01] [ 9.39556592e-03 9.94726981e-03 9.99906383e-01 -1.50887468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74119381700004 meters Centerline goodness [0,1] 0.9201912924663065 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.20, Z:-1.51 [[ 9.99943858e-01 -4.18932539e-03 -9.73293699e-03 7.81761740e+00] [ 4.11472510e-03 9.99962103e-01 -7.67214873e-03 -1.96072557e-01] [ 9.76470927e-03 7.63166965e-03 9.99923201e-01 -1.51077840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77119381700004 meters Centerline goodness [0,1] 0.9186020012844683 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.20, Z:-1.51 [[ 9.99944748e-01 -2.20470617e-03 -1.02781549e-02 7.81998023e+00] [ 2.15074021e-03 9.99983860e-01 -5.25864874e-03 -2.00061111e-01] [ 1.02895828e-02 5.23625255e-03 9.99933351e-01 -1.51242489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80119381700004 meters Centerline goodness [0,1] 0.9160051535680146 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.20, Z:-1.51 [[ 9.99943491e-01 -5.89659542e-04 -1.06144456e-02 7.82177761e+00] [ 5.52983593e-04 9.99993869e-01 -3.45788967e-03 -2.02838825e-01] [ 1.06164195e-02 3.45182466e-03 9.99937686e-01 -1.51388654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.831193817 meters Centerline goodness [0,1] 0.9122617389677607 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.21, Z:-1.52 [[ 9.99933273e-01 2.34993086e-03 -1.13104740e-02 7.82490863e+00] [-2.35042633e-03 9.99997237e-01 -3.05140348e-05 -2.08791885e-01] [ 1.13103711e-02 5.70964347e-05 9.99936034e-01 -1.51619198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86119381700001 meters Centerline goodness [0,1] 0.9138389334219379 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.21, Z:-1.52 [[ 9.99930116e-01 2.93900545e-03 -1.14510094e-02 7.82563037e+00] [-2.92707649e-03 9.99995156e-01 1.05835918e-03 -2.12014105e-01] [ 1.14540645e-02 -1.02476724e-03 9.99933875e-01 -1.51676631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.89119381700002 meters Centerline goodness [0,1] 0.916828773643475 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.22, Z:-1.52 [[ 9.99925873e-01 3.56665447e-03 -1.16416604e-02 7.82616438e+00] [-3.54002346e-03 9.99991072e-01 2.30736682e-03 -2.15742801e-01] [ 1.16497861e-02 -2.26598403e-03 9.99929571e-01 -1.51693515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92119381700002 meters Centerline goodness [0,1] 0.9225134366764199 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.22, Z:-1.52 [[ 9.99934865e-01 2.43187577e-03 -1.11513413e-02 7.82379033e+00] [-2.41153114e-03 9.99995404e-01 1.83749394e-03 -2.22658214e-01] [ 1.11557586e-02 -1.81048245e-03 9.99936134e-01 -1.51507369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.95119381700002 meters Centerline goodness [0,1] 0.9220287033777207 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.23, Z:-1.51 [[ 9.99932022e-01 2.95945169e-03 -1.12779754e-02 7.82381421e+00] [-2.92586197e-03 9.99991239e-01 2.99368269e-03 -2.26424704e-01] [ 1.12867363e-02 -2.96048139e-03 9.99931920e-01 -1.51470244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98119381700002 meters Centerline goodness [0,1] 0.9246189529489728 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.23, Z:-1.51 [[ 9.99936817e-01 1.37459505e-03 -1.11567372e-02 7.82291510e+00] [-1.35900241e-03 9.99998089e-01 1.40505958e-03 -2.29051013e-01] [ 1.11586472e-02 -1.38980877e-03 9.99936775e-01 -1.51383481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01119381700002 meters Centerline goodness [0,1] 0.9283958268773886 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.24, Z:-1.51 [[ 9.99937446e-01 4.26518785e-04 -1.11768789e-02 7.82292674e+00] [-4.13227296e-04 9.99999205e-01 1.19147742e-03 -2.36324628e-01] [ 1.11773782e-02 -1.18678430e-03 9.99936827e-01 -1.51363539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04119381700002 meters Centerline goodness [0,1] 0.9301786896095301 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.24, Z:-1.51 [[ 9.99936050e-01 1.06563028e-03 -1.12588250e-02 7.82317566e+00] [-1.03747447e-03 9.99996321e-01 2.50632110e-03 -2.40274619e-01] [ 1.12614544e-02 -2.49448008e-03 9.99933476e-01 -1.51365347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07119381700002 meters Centerline goodness [0,1] 0.933207492376942 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.24, Z:-1.51 [[ 9.99933684e-01 1.77587160e-03 -1.13786412e-02 7.82301985e+00] [-1.73125636e-03 9.99990780e-01 3.92961516e-03 -2.44344953e-01] [ 1.13855148e-02 -3.90965522e-03 9.99927540e-01 -1.51307428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10119381700002 meters Centerline goodness [0,1] 0.935082387479584 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.25, Z:-1.51 [[ 9.99933361e-01 -2.29799096e-04 -1.15421079e-02 7.82371362e+00] [ 2.53977678e-04 9.99997777e-01 2.09339303e-03 -2.47667844e-01] [ 1.15416012e-02 -2.09618496e-03 9.99931196e-01 -1.51338254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13119381700002 meters Centerline goodness [0,1] 0.9360698473124509 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.26, Z:-1.51 [[ 9.99936233e-01 -1.72694142e-03 -1.11600790e-02 7.82238405e+00] [ 1.75266311e-03 9.99995830e-01 2.29542528e-03 -2.58244852e-01] [ 1.11560684e-02 -2.31483876e-03 9.99935090e-01 -1.51238366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16119381700003 meters Centerline goodness [0,1] 0.9365282831624214 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.26, Z:-1.51 [[ 9.99934209e-01 -1.93191838e-03 -1.13068586e-02 7.82335194e+00] [ 1.96611182e-03 9.99993526e-01 3.01379811e-03 -2.63656247e-01] [ 1.13009630e-02 -3.03583037e-03 9.99931534e-01 -1.51300887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19119381700003 meters Centerline goodness [0,1] 0.9346055821470752 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.27, Z:-1.51 [[ 9.99925820e-01 -3.69205207e-03 -1.16070599e-02 7.82500929e+00] [ 3.71410606e-03 9.99991337e-01 1.87906858e-03 -2.68020628e-01] [ 1.16000217e-02 -1.92203904e-03 9.99930870e-01 -1.51421337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22119381700003 meters Centerline goodness [0,1] 0.932556064975209 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.28, Z:-1.51 [[ 9.99917221e-01 -5.18883487e-03 -1.17740033e-02 7.82607143e+00] [ 5.21510118e-03 9.99983978e-01 2.20126833e-03 -2.79003667e-01] [ 1.17623927e-02 -2.26248873e-03 9.99928261e-01 -1.51490330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25119381700003 meters Centerline goodness [0,1] 0.9365820405296535 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.28, Z:-1.52 [[ 9.99909342e-01 -5.47655291e-03 -1.23009906e-02 7.82842264e+00] [ 5.50860427e-03 9.99981517e-01 2.57322248e-03 -2.84743982e-01] [ 1.22866709e-02 -2.64075049e-03 9.99921029e-01 -1.51636126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28119381700003 meters Centerline goodness [0,1] 0.938101731333416 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.29, Z:-1.52 [[ 9.99911717e-01 -4.64741298e-03 -1.24483187e-02 7.82871781e+00] [ 4.70197278e-03 9.99979453e-01 4.35722955e-03 -2.90350751e-01] [ 1.24278131e-02 -4.41537653e-03 9.99913023e-01 -1.51622169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31119381700003 meters Centerline goodness [0,1] 0.9379464101399612 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.30, Z:-1.52 [[ 9.99913097e-01 -3.93564795e-03 -1.25821003e-02 7.82924356e+00] [ 4.00946410e-03 9.99974869e-01 5.84692722e-03 -2.95163623e-01] [ 1.25587726e-02 -5.89686659e-03 9.99903747e-01 -1.51637495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34119381700003 meters Centerline goodness [0,1] 0.9382516380525836 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.30, Z:-1.52 [[ 9.99915099e-01 -2.31517317e-03 -1.28231938e-02 7.83014313e+00] [ 2.42577275e-03 9.99959938e-01 8.61613652e-03 -3.03244887e-01] [ 1.28027322e-02 -8.64651116e-03 9.99880657e-01 -1.51671608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37119381700003 meters Centerline goodness [0,1] 0.939439802624759 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.31, Z:-1.52 [[ 9.99912455e-01 -1.81908889e-03 -1.31062180e-02 7.83134351e+00] [ 1.94604140e-03 9.99951252e-01 9.68020058e-03 -3.06657989e-01] [ 1.30879700e-02 -9.70485838e-03 9.99867252e-01 -1.51745463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40119381700003 meters Centerline goodness [0,1] 0.9400263982841115 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.31, Z:-1.52 [[ 9.99904794e-01 -2.26026036e-03 -1.36122999e-02 7.83376825e+00] [ 2.39250329e-03 9.99950028e-01 9.70652269e-03 -3.10110985e-01] [ 1.35896804e-02 -9.73816604e-03 9.99860235e-01 -1.51906536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43119381700004 meters Centerline goodness [0,1] 0.9367057270176596 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.31, Z:-1.52 [[ 9.99894466e-01 -5.14141926e-03 -1.35876135e-02 7.83401997e+00] [ 5.23940480e-03 9.99960457e-01 7.18565544e-03 -3.13526726e-01] [ 1.35501318e-02 -7.25608811e-03 9.99881865e-01 -1.51936072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46119381700004 meters Centerline goodness [0,1] 0.9373224689515042 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.32, Z:-1.52 [[ 9.99873715e-01 -8.13316886e-03 -1.36530670e-02 7.83397126e+00] [ 8.20049919e-03 9.99954454e-01 4.88279772e-03 -3.17832996e-01] [ 1.36127326e-02 -4.99414306e-03 9.99894870e-01 -1.51899823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49119381700004 meters Centerline goodness [0,1] 0.9329172196416722 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.33, Z:-1.52 [[ 9.99797728e-01 -1.45049842e-02 -1.39322499e-02 7.83555103e+00] [ 1.45130188e-02 9.99894567e-01 4.75753410e-04 -3.27295409e-01] [ 1.39238802e-02 -6.77856182e-04 9.99902828e-01 -1.51984182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52119381700004 meters Centerline goodness [0,1] 0.9298682435937338 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.33, Z:-1.52 [[ 9.99733089e-01 -1.83039365e-02 -1.40967028e-02 7.83635481e+00] [ 1.82765035e-02 9.99830823e-01 -2.07244416e-03 -3.32319166e-01] [ 1.41322519e-02 1.81425257e-03 9.99898489e-01 -1.52010780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55119381700004 meters Centerline goodness [0,1] 0.9266850040328418 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.34, Z:-1.52 [[ 9.99648705e-01 -2.22967118e-02 -1.43290792e-02 7.83711193e+00] [ 2.22330499e-02 9.99742293e-01 -4.58691449e-03 -3.37605799e-01] [ 1.44276596e-02 4.26672400e-03 9.99886812e-01 -1.52004474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.581193817 meters Centerline goodness [0,1] 0.9223104275200529 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.34, Z:-1.52 [[ 9.99542735e-01 -2.65841972e-02 -1.44084119e-02 7.83751943e+00] [ 2.64811885e-02 9.99622705e-01 -7.29348046e-03 -3.42644193e-01] [ 1.45968670e-02 6.90859353e-03 9.99869593e-01 -1.51973983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.61119381700001 meters Centerline goodness [0,1] 0.9213287798820242 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.35, Z:-1.52 [[ 9.99119585e-01 -4.02180980e-02 -1.19398410e-02 7.83244809e+00] [ 4.01912844e-02 9.99188933e-01 -2.47733957e-03 -3.53438719e-01] [ 1.20297909e-02 1.99528094e-03 9.99925649e-01 -1.51888016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64119381700002 meters Centerline goodness [0,1] 0.9215353401515465 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.36, Z:-1.52 [[ 9.98933674e-01 -4.46059732e-02 -1.19089190e-02 7.83293484e+00] [ 4.45422364e-02 9.98992003e-01 -5.56479510e-03 -3.57085747e-01] [ 1.21451379e-02 5.02841133e-03 9.99913602e-01 -1.51884648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.67119381700002 meters Centerline goodness [0,1] 0.9010032335627228 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.36, Z:-1.52 [[ 0.99873131 -0.04892245 -0.01193137 7.83344451] [ 0.04881881 0.99876864 -0.00882821 -0.36016938] [ 0.01234858 0.00823453 0.99988985 -1.51875502] [ 0. 0. 0. 1. ]] SLAMing on 196.70119381700002 meters Centerline goodness [0,1] 0.8620931190770499 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.36, Z:-1.52 [[ 0.99849499 -0.05346297 -0.01222563 7.83507078] [ 0.05330918 0.99849884 -0.01257756 -0.3625221 ] [ 0.01287971 0.01190689 0.99984616 -1.51943711] [ 0. 0. 0. 1. ]] SLAMing on 196.73119381700002 meters Centerline goodness [0,1] 0.7872876282487975 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.37, Z:-1.52 [[ 0.99804809 -0.06126853 -0.01209005 7.83778103] [ 0.06102763 0.99794793 -0.01937928 -0.36511749] [ 0.01325258 0.01860363 0.9997391 -1.52178488] [ 0. 0. 0. 1. ]] SLAMing on 196.76119381700002 meters Centerline goodness [0,1] 0.7650342133008083 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.37, Z:-1.52 [[ 0.99801718 -0.06171185 -0.01238375 7.83885464] [ 0.06146851 0.99792526 -0.0191522 -0.36679469] [ 0.01353998 0.01835301 0.99973988 -1.52225013] [ 0. 0. 0. 1. ]] SLAMing on 196.79119381700002 meters Centerline goodness [0,1] 0.7786084075377925 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.37, Z:-1.52 [[ 0.99799952 -0.0619414 -0.01265808 7.83993192] [ 0.06169256 0.9979108 -0.0191848 -0.36715488] [ 0.01381996 0.01836552 0.99973582 -1.5228664 ] [ 0. 0. 0. 1. ]] SLAMing on 196.82119381700002 meters Centerline goodness [0,1] 0.7742330016583748 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.37, Z:-1.52 [[ 0.99819462 -0.05861905 -0.01308841 7.84082659] [ 0.05841962 0.99817741 -0.01513289 -0.36874462] [ 0.01395163 0.01434095 0.99979982 -1.52321119] [ 0. 0. 0. 1. ]] SLAMing on 196.85119381700002 meters Centerline goodness [0,1] 0.7838413059200331 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.37, Z:-1.52 [[ 0.99840245 -0.0548182 -0.01369335 7.84213791] [ 0.05465732 0.99843475 -0.01185894 -0.36635055] [ 0.014322 0.01109156 0.99983592 -1.5240006 ] [ 0. 0. 0. 1. ]] SLAMing on 196.88119381700002 meters Centerline goodness [0,1] 0.7990230574988616 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.37, Z:-1.52 [[ 9.98606663e-01 -5.08291150e-02 -1.41821734e-02 7.84255313e+00] [ 5.07213094e-02 9.98681911e-01 -7.86059110e-03 -3.66183090e-01] [ 1.45630269e-02 7.13030025e-03 9.99868530e-01 -1.52375082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91119381700003 meters Centerline goodness [0,1] 0.8121067073799748 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.37, Z:-1.52 [[ 9.98784541e-01 -4.70545551e-02 -1.46734485e-02 7.84332375e+00] [ 4.69991120e-02 9.98886513e-01 -4.10087444e-03 -3.66053661e-01] [ 1.48500746e-02 3.40625094e-03 9.99883930e-01 -1.52386089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94119381700003 meters Centerline goodness [0,1] 0.846484042884101 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.36, Z:-1.52 [[ 9.98990035e-01 -4.23732996e-02 -1.49470072e-02 7.84311085e+00] [ 4.23690182e-02 9.99101848e-01 -6.03122199e-04 -3.62265117e-01] [ 1.49591388e-02 -3.07769528e-05 9.99888105e-01 -1.52363267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97119381700003 meters Centerline goodness [0,1] 0.8663158112840064 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.36, Z:-1.52 [[ 9.99140754e-01 -3.84710676e-02 -1.54185316e-02 7.84400925e+00] [ 3.85168185e-02 9.99254355e-01 2.68127243e-03 -3.59429203e-01] [ 1.53038834e-02 -3.27284134e-03 9.99877532e-01 -1.52411103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00119381700003 meters Centerline goodness [0,1] 0.8911024503503462 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.36, Z:-1.52 [[ 9.99276942e-01 -3.45523472e-02 -1.58659660e-02 7.84470340e+00] [ 3.46482495e-02 9.99382682e-01 5.80987804e-03 -3.56156429e-01] [ 1.56554267e-02 -6.35540510e-03 9.99857248e-01 -1.52434258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03119381700003 meters Centerline goodness [0,1] 0.9082456721610205 Centerline is valid? [False, False] Translation: X:7.85, Y:-0.35, Z:-1.52 [[ 9.99482346e-01 -2.81555591e-02 -1.55661071e-02 7.85241594e+00] [ 2.81589152e-02 9.99603459e-01 -3.56929786e-06 -3.52740815e-01] [ 1.55600350e-02 -4.34757239e-04 9.99878841e-01 -1.52244206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06119381700003 meters Centerline goodness [0,1] 0.9154669543210389 Centerline is valid? [False, False] Translation: X:7.86, Y:-0.35, Z:-1.52 [[ 9.99664132e-01 -1.97487607e-02 -1.67812329e-02 7.85734269e+00] [ 1.96894208e-02 9.99799320e-01 -3.69399170e-03 -3.47755009e-01] [ 1.68508170e-02 3.36233825e-03 9.99852361e-01 -1.51709540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09119381700003 meters Centerline goodness [0,1] 0.9188920630977518 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.34, Z:-1.52 [[ 0.99981929 -0.01611466 -0.01008472 7.86855041] [ 0.01602578 0.99983256 -0.00883307 -0.34397785] [ 0.01022538 0.00866986 0.99991013 -1.52048681] [ 0. 0. 0. 1. ]] SLAMing on 197.12119381700003 meters Centerline goodness [0,1] 0.9214840201503014 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.34, Z:-1.52 [[ 9.99869889e-01 -1.25448073e-02 -1.01406516e-02 7.86810441e+00] [ 1.24941436e-02 9.99909223e-01 -5.04410580e-03 -3.43030376e-01] [ 1.02030084e-02 4.91675075e-03 9.99935860e-01 -1.51965177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15119381700003 meters Centerline goodness [0,1] 0.922857909179063 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.34, Z:-1.52 [[ 9.99868335e-01 -1.28715858e-02 -9.88103440e-03 7.86544971e+00] [ 1.28175472e-02 9.99902654e-01 -5.51290280e-03 -3.38378863e-01] [ 9.95103232e-03 5.38552631e-03 9.99935984e-01 -1.51691455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18119381700004 meters Centerline goodness [0,1] 0.9174649810680515 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.34, Z:-1.52 [[ 9.99853320e-01 -1.39636644e-02 -9.91734665e-03 7.86534762e+00] [ 1.39021696e-02 9.99883872e-01 -6.24283559e-03 -3.37344640e-01] [ 1.00033678e-02 6.10404726e-03 9.99931334e-01 -1.51651092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21119381700004 meters Centerline goodness [0,1] 0.890700557966522 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.34, Z:-1.52 [[ 9.99833853e-01 -1.53076386e-02 -9.89664395e-03 7.86534206e+00] [ 1.52400085e-02 9.99860240e-01 -6.87331370e-03 -3.37149600e-01] [ 1.00004750e-02 6.72134678e-03 9.99927404e-01 -1.51617281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24119381700004 meters Centerline goodness [0,1] 0.909535805732221 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.34, Z:-1.52 [[ 9.99807541e-01 -1.69000587e-02 -9.96333451e-03 7.86595471e+00] [ 1.68236915e-02 9.99828826e-01 -7.69945621e-03 -3.37146172e-01] [ 1.00917503e-02 7.53035431e-03 9.99920722e-01 -1.51647831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27119381700004 meters Centerline goodness [0,1] 0.909535805732221 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.34, Z:-1.52 [[ 9.99807541e-01 -1.69000587e-02 -9.96333451e-03 7.86595471e+00] [ 1.68236915e-02 9.99828826e-01 -7.69945621e-03 -3.37146172e-01] [ 1.00917503e-02 7.53035431e-03 9.99920722e-01 -1.51647831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30119381700004 meters Centerline goodness [0,1] 0.8131013221327926 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.33, Z:-1.52 [[ 0.99964043 -0.024772 -0.01026414 7.86910666] [ 0.0246151 0.99958234 -0.01514072 -0.33320606] [ 0.01063492 0.01488262 0.99983269 -1.5190885 ] [ 0. 0. 0. 1. ]] SLAMing on 197.331193817 meters Centerline goodness [0,1] 0.7364417784923629 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.33, Z:-1.52 [[ 0.99958917 -0.02663268 -0.01059251 7.87125159] [ 0.02645361 0.99951053 -0.01670024 -0.3314318 ] [ 0.0110321 0.01641317 0.99980443 -1.52074575] [ 0. 0. 0. 1. ]] SLAMing on 197.36119381700001 meters Centerline goodness [0,1] 0.7703587109601524 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.33, Z:-1.52 [[ 0.99955397 -0.02781727 -0.01086522 7.87275398] [ 0.02761975 0.99945778 -0.01792454 -0.32910618] [ 0.01135794 0.01761645 0.9997803 -1.52187184] [ 0. 0. 0. 1. ]] SLAMing on 197.39119381700002 meters Centerline goodness [0,1] 0.7537579195825914 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.33, Z:-1.52 [[ 0.99952716 -0.02869851 -0.01103865 7.87379667] [ 0.02848419 0.99941163 -0.0191062 -0.32615388] [ 0.01158047 0.01878274 0.99975652 -1.52266205] [ 0. 0. 0. 1. ]] SLAMing on 197.42119381700002 meters Centerline goodness [0,1] 0.7349688940330281 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.32, Z:-1.52 [[ 0.9995766 -0.02680757 -0.01131271 7.87530244] [ 0.02660466 0.99948895 -0.01772112 -0.32046738] [ 0.01178199 0.01741264 0.99977897 -1.52384418] [ 0. 0. 0. 1. ]] SLAMing on 197.45119381700002 meters Centerline goodness [0,1] 0.7340573252367826 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.32, Z:-1.52 [[ 0.99965512 -0.02355595 -0.01160889 7.87623872] [ 0.02338693 0.99962153 -0.0144861 -0.31893453] [ 0.01194573 0.01420961 0.99982768 -1.52442111] [ 0. 0. 0. 1. ]] SLAMing on 197.48119381700002 meters Centerline goodness [0,1] 0.7457433554817277 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.32, Z:-1.53 [[ 0.99972209 -0.02027672 -0.01202475 7.8775961 ] [ 0.02013977 0.99973214 -0.01140314 -0.31686126] [ 0.01225275 0.0111578 0.99986268 -1.52523902] [ 0. 0. 0. 1. ]] SLAMing on 197.51119381700002 meters Centerline goodness [0,1] 0.7417217175887696 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.31, Z:-1.53 [[ 0.99977454 -0.01718822 -0.01246701 7.87932539] [ 0.01707905 0.99981532 -0.00881129 -0.31363872] [ 0.01261616 0.00859638 0.99988346 -1.52637158] [ 0. 0. 0. 1. ]] SLAMing on 197.54119381700002 meters Centerline goodness [0,1] 0.7517235650801561 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.31, Z:-1.53 [[ 9.99827584e-01 -1.35343954e-02 -1.27130488e-02 7.87999099e+00] [ 1.34611120e-02 9.99892385e-01 -5.83241374e-03 -3.10113511e-01] [ 1.27906189e-02 5.66027637e-03 9.99902176e-01 -1.52672010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57119381700002 meters Centerline goodness [0,1] 0.8167683812845103 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.30, Z:-1.53 [[ 9.99895696e-01 -5.72013115e-03 -1.32618666e-02 7.88163647e+00] [ 5.71762674e-03 9.99983629e-01 -2.26750155e-04 -3.01136992e-01] [ 1.32629466e-02 1.50900101e-04 9.99912032e-01 -1.52773136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60119381700002 meters Centerline goodness [0,1] 0.8525573192239859 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.30, Z:-1.53 [[ 9.99910610e-01 -1.66390606e-03 -1.32665909e-02 7.88165333e+00] [ 1.69603236e-03 9.99995656e-01 2.41071087e-03 -2.96072063e-01] [ 1.32625221e-02 -2.43299594e-03 9.99909089e-01 -1.52772417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63119381700002 meters Centerline goodness [0,1] 0.8835152544479195 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.29, Z:-1.53 [[ 9.99908118e-01 2.41462549e-03 -1.33388942e-02 7.88158820e+00] [-2.34696411e-03 9.99984313e-01 5.08581498e-03 -2.91113177e-01] [ 1.33509653e-02 -5.05404178e-03 9.99898099e-01 -1.52741514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66119381700003 meters Centerline goodness [0,1] 0.9017366226113659 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.28, Z:-1.52 [[ 0.99985552 0.01089039 -0.0130511 7.87920733] [-0.01073949 0.99987531 0.01157745 -0.28313072] [ 0.01317556 -0.01143561 0.9998478 -1.52496323] [ 0. 0. 0. 1. ]] SLAMing on 197.69119381700003 meters Centerline goodness [0,1] 0.9124624469076971 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.28, Z:-1.52 [[ 0.99985495 0.01090675 -0.01308101 7.87880558] [-0.01077169 0.9998884 0.01035169 -0.27828281] [ 0.01319245 -0.01020928 0.99986086 -1.52427691] [ 0. 0. 0. 1. ]] SLAMing on 197.72119381700003 meters Centerline goodness [0,1] 0.9137995126182313 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.27, Z:-1.53 [[ 9.99906638e-01 1.12922419e-02 -7.69420365e-03 7.88665225e+00] [-1.12960596e-02 9.99936095e-01 -4.52898078e-04 -2.72797319e-01] [ 7.68859772e-03 5.39769977e-04 9.99970297e-01 -1.52540428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75119381700003 meters Centerline goodness [0,1] 0.9085140795421557 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.27, Z:-1.52 [[ 9.99914785e-01 1.05576072e-02 -7.67848231e-03 7.88606534e+00] [-1.05700483e-02 9.99942885e-01 -1.58147663e-03 -2.69921561e-01] [ 7.66134714e-03 1.66250379e-03 9.99969269e-01 -1.52458144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78119381700003 meters Centerline goodness [0,1] 0.9094413522984952 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.27, Z:-1.52 [[ 9.99989073e-01 3.55158316e-03 -3.03968473e-03 7.89265893e+00] [-3.54655635e-03 9.99992337e-01 1.65752260e-03 -2.65689158e-01] [ 3.04554827e-03 -1.64672408e-03 9.99994006e-01 -1.52372940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81119381700003 meters Centerline goodness [0,1] 0.9014023330851328 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.26, Z:-1.52 [[ 9.99994504e-01 -1.01171738e-03 -3.15735897e-03 7.89256490e+00] [ 1.00137772e-03 9.99994137e-01 -3.27464415e-03 -2.63282455e-01] [ 3.16065347e-03 3.27146445e-03 9.99989654e-01 -1.52329887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84119381700003 meters Centerline goodness [0,1] 0.8762274115025992 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.26, Z:-1.52 [[ 9.99991448e-01 -2.47440656e-03 -3.31390349e-03 7.89314706e+00] [ 2.46066346e-03 9.99988383e-01 -4.14478044e-03 -2.62985799e-01] [ 3.32412086e-03 4.13659059e-03 9.99985919e-01 -1.52353075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87119381700003 meters Centerline goodness [0,1] 0.8360798277575356 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.26, Z:-1.52 [[ 9.99987614e-01 -3.72589757e-03 -3.29982424e-03 7.89344772e+00] [ 3.70911643e-03 9.99980233e-01 -5.07706734e-03 -2.61907541e-01] [ 3.31867564e-03 5.06476502e-03 9.99981667e-01 -1.52384238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90119381700003 meters Centerline goodness [0,1] 0.8139415050394707 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.26, Z:-1.53 [[ 9.99974057e-01 -6.32579441e-03 -3.44511394e-03 7.89486879e+00] [ 6.29884718e-03 9.99949917e-01 -7.77734152e-03 -2.56867721e-01] [ 3.49413927e-03 7.75543951e-03 9.99963821e-01 -1.52511511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93119381700004 meters Centerline goodness [0,1] 0.7583357435028716 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.26, Z:-1.53 [[ 9.99987356e-01 -3.58523581e-03 -3.52620129e-03 7.89534440e+00] [ 3.56882980e-03 9.99982830e-01 -4.64794040e-03 -2.55874271e-01] [ 3.54280471e-03 4.63529721e-03 9.99982981e-01 -1.52545513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96119381700004 meters Centerline goodness [0,1] 0.7933701885391311 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.25, Z:-1.53 [[ 9.99992182e-01 -1.14529718e-03 -3.78470216e-03 7.89686442e+00] [ 1.13730159e-03 9.99997119e-01 -2.11408451e-03 -2.54364735e-01] [ 3.78711251e-03 2.10976363e-03 9.99990603e-01 -1.52659343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99119381700004 meters Centerline goodness [0,1] 0.8153544120686093 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.25, Z:-1.53 [[ 9.99990290e-01 1.83481286e-03 -4.00677725e-03 7.89829819e+00] [-1.83700512e-03 9.99998165e-01 -5.43526927e-04 -2.48234216e-01] [ 4.00577263e-03 5.50882120e-04 9.99991825e-01 -1.52782099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02119381700004 meters Centerline goodness [0,1] 0.8546423608950828 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.24, Z:-1.53 [[ 9.99988347e-01 2.45387174e-03 -4.15738231e-03 7.89870813e+00] [-2.45921954e-03 9.99996155e-01 -1.28171617e-03 -2.43592201e-01] [ 4.15422116e-03 1.29192515e-03 9.99990537e-01 -1.52795704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05119381700004 meters Centerline goodness [0,1] 0.8749483172083024 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.24, Z:-1.53 [[ 9.99970245e-01 6.26620784e-03 -4.49929676e-03 7.90001449e+00] [-6.25845029e-03 9.99978909e-01 1.73618382e-03 -2.40508804e-01] [ 4.51008116e-03 -1.70797353e-03 9.99988371e-01 -1.52871375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.081193817 meters Centerline goodness [0,1] 0.8946456920190504 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.24, Z:-1.53 [[ 9.99938817e-01 9.95852343e-03 -4.81561175e-03 7.90148811e+00] [-9.93637772e-03 9.99940048e-01 4.60099595e-03 -2.37261043e-01] [ 4.86114217e-03 -4.55286471e-03 9.99977820e-01 -1.52971479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.11119381700001 meters Centerline goodness [0,1] 0.907624025219844 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.23, Z:-1.53 [[ 9.99828840e-01 1.78696904e-02 -4.79226327e-03 7.90196360e+00] [-1.78147687e-02 9.99777806e-01 1.12682299e-02 -2.32315822e-01] [ 4.99255823e-03 -1.11809281e-02 9.99925028e-01 -1.53006961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14119381700002 meters Centerline goodness [0,1] 0.9124019424729175 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.23, Z:-1.53 [[ 9.99825775e-01 1.80034052e-02 -4.92911031e-03 7.90239113e+00] [-1.79521115e-02 9.99786205e-01 1.02599373e-02 -2.28367175e-01] [ 5.11277029e-03 -1.01696618e-02 9.99935217e-01 -1.53022602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.17119381700002 meters Centerline goodness [0,1] 0.9125090532850492 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.23, Z:-1.53 [[ 9.99823060e-01 1.80806110e-02 -5.19044099e-03 7.90292832e+00] [-1.80308294e-02 9.99792462e-01 9.48272570e-03 -2.25298708e-01] [ 5.36081725e-03 -9.38745987e-03 9.99941567e-01 -1.53019427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20119381700002 meters Centerline goodness [0,1] 0.9139560371388986 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.22, Z:-1.53 [[ 9.99822470e-01 1.80607346e-02 -5.37006668e-03 7.90339984e+00] [-1.80129568e-02 9.99798884e-01 8.81616124e-03 -2.22905069e-01] [ 5.52821302e-03 -8.71786533e-03 9.99946717e-01 -1.53035082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23119381700002 meters Centerline goodness [0,1] 0.9118732633848962 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.22, Z:-1.53 [[ 9.99823469e-01 1.79809672e-02 -5.45112028e-03 7.90383358e+00] [-1.79353955e-02 9.99804724e-01 8.29675582e-03 -2.21212491e-01] [ 5.59923950e-03 -8.19752319e-03 9.99950723e-01 -1.53071754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26119381700002 meters Centerline goodness [0,1] 0.9143901021340197 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.22, Z:-1.53 [[ 9.99820065e-01 1.81330073e-02 -5.57055604e-03 7.90403229e+00] [-1.80897109e-02 9.99806510e-01 7.72684657e-03 -2.18970422e-01] [ 5.70958916e-03 -7.62468649e-03 9.99954631e-01 -1.53063223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29119381700002 meters Centerline goodness [0,1] 0.9142284071876099 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.22, Z:-1.53 [[ 9.99820358e-01 1.80608498e-02 -5.74962372e-03 7.90454661e+00] [-1.80190859e-02 9.99811469e-01 7.23453314e-03 -2.17435060e-01] [ 5.87920155e-03 -7.12963054e-03 9.99957301e-01 -1.53077089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32119381700002 meters Centerline goodness [0,1] 0.9155037634520082 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.22, Z:-1.53 [[ 9.99821546e-01 1.79502908e-02 -5.88752918e-03 7.90485408e+00] [-1.79099359e-02 9.99816229e-01 6.83687634e-03 -2.16257841e-01] [ 6.00917114e-03 -6.73021100e-03 9.99959296e-01 -1.53080581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35119381700002 meters Centerline goodness [0,1] 0.9136474056848618 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.21, Z:-1.53 [[ 9.99878550e-01 1.43125729e-02 -6.16721598e-03 7.90515739e+00] [-1.42982784e-02 9.99894999e-01 2.35571077e-03 -2.13929392e-01] [ 6.20028470e-03 -2.26724410e-03 9.99978208e-01 -1.53060077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38119381700002 meters Centerline goodness [0,1] 0.9132436187198043 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.21, Z:-1.53 [[ 9.99929761e-01 1.00027668e-02 -6.35756807e-03 7.90568379e+00] [-1.00164139e-02 9.99947591e-01 -2.11838064e-03 -2.13061831e-01] [ 6.33604521e-03 2.18191188e-03 9.99977547e-01 -1.53089728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41119381700003 meters Centerline goodness [0,1] 0.9120562375580624 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.21, Z:-1.53 [[ 9.99944968e-01 8.49320167e-03 -6.15844390e-03 7.90428315e+00] [-8.51460070e-03 9.99957775e-01 -3.45689251e-03 -2.12523895e-01] [ 6.12882378e-03 3.50913896e-03 9.99975061e-01 -1.52957284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44119381700003 meters Centerline goodness [0,1] 0.9143423415983649 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.21, Z:-1.53 [[ 9.99947506e-01 7.94885192e-03 -6.46543761e-03 7.90467128e+00] [-7.97333752e-03 9.99961105e-01 -3.77023445e-03 -2.12629875e-01] [ 6.43521710e-03 3.82158765e-03 9.99971991e-01 -1.52928583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47119381700003 meters Centerline goodness [0,1] 0.9136358006852991 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.21, Z:-1.53 [[ 9.99949198e-01 7.70155042e-03 -6.50282579e-03 7.90398894e+00] [-7.72905427e-03 9.99961247e-01 -4.21503902e-03 -2.11818569e-01] [ 6.47011145e-03 4.26508558e-03 9.99969973e-01 -1.52812806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50119381700003 meters Centerline goodness [0,1] 0.91566140626291 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.21, Z:-1.53 [[ 9.99947756e-01 7.83771487e-03 -6.56161741e-03 7.90416235e+00] [-7.86805848e-03 9.99958413e-01 -4.61143847e-03 -2.10215783e-01] [ 6.52520140e-03 4.66282475e-03 9.99967839e-01 -1.52812566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53119381700003 meters Centerline goodness [0,1] 0.914354394181155 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.21, Z:-1.53 [[ 9.99943888e-01 8.24389560e-03 -6.65279018e-03 7.90451777e+00] [-8.27615095e-03 9.99954060e-01 -4.83551752e-03 -2.08658895e-01] [ 6.61262106e-03 4.89030568e-03 9.99966179e-01 -1.52832218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56119381700003 meters Centerline goodness [0,1] 0.9136174872419991 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.21, Z:-1.53 [[ 9.99928178e-01 9.58016652e-03 -7.20133762e-03 7.90695302e+00] [-9.60921577e-03 9.99945789e-01 -4.01014894e-03 -2.07996672e-01] [ 7.16252933e-03 4.07906013e-03 9.99966029e-01 -1.52993247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59119381700003 meters Centerline goodness [0,1] 0.9132104296125023 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.21, Z:-1.53 [[ 9.99871330e-01 1.42060381e-02 -7.45065196e-03 7.90810270e+00] [-1.42049125e-02 9.99899084e-01 2.03970671e-04 -2.07791297e-01] [ 7.45279769e-03 -9.81085664e-05 9.99972223e-01 -1.53068734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62119381700003 meters Centerline goodness [0,1] 0.9169785571017969 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.21, Z:-1.53 [[ 9.99862180e-01 1.47763914e-02 -7.56836911e-03 7.90859212e+00] [-1.47755096e-02 9.99890821e-01 1.72416368e-04 -2.06720733e-01] [ 7.57009050e-03 -6.05660951e-05 9.99971345e-01 -1.53094063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65119381700003 meters Centerline goodness [0,1] 0.9184796095624121 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.21, Z:-1.53 [[ 9.99850881e-01 1.54402822e-02 -7.73388636e-03 7.90915330e+00] [-1.54374418e-02 9.99880744e-01 4.26831319e-04 -2.06486081e-01] [ 7.73955445e-03 -3.07376249e-04 9.99970002e-01 -1.53122047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68119381700004 meters Centerline goodness [0,1] 0.9201538207079061 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.21, Z:-1.53 [[ 9.99836567e-01 1.61945009e-02 -8.03606361e-03 7.91009479e+00] [-1.61869937e-02 9.99868484e-01 9.98353868e-04 -2.07498903e-01] [ 8.05117458e-03 -8.68110992e-04 9.99967212e-01 -1.53164187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71119381700004 meters Centerline goodness [0,1] 0.9256022037654564 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.21, Z:-1.53 [[ 9.99798600e-01 1.83174594e-02 -8.19938330e-03 7.91053104e+00] [-1.82901319e-02 9.99826956e-01 3.39554979e-03 -2.12624334e-01] [ 8.26016229e-03 -3.24489813e-03 9.99960619e-01 -1.53175448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74119381700004 meters Centerline goodness [0,1] 0.9244582685329186 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.21, Z:-1.53 [[ 9.99843415e-01 1.56770932e-02 -8.20823961e-03 7.91014305e+00] [-1.56743302e-02 9.99877070e-01 4.00837551e-04 -2.13594240e-01] [ 8.21351453e-03 -2.72116128e-04 9.99966231e-01 -1.53131243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77119381700004 meters Centerline goodness [0,1] 0.9261201143946616 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.22, Z:-1.53 [[ 9.99882834e-01 1.28350024e-02 -8.34156619e-03 7.90989417e+00] [-1.28555364e-02 9.99914453e-01 -2.41270812e-03 -2.15293212e-01] [ 8.30988549e-03 2.51966074e-03 9.99962298e-01 -1.53073534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80119381700004 meters Centerline goodness [0,1] 0.9271509488568239 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.22, Z:-1.53 [[ 9.99874816e-01 1.31943742e-02 -8.73274586e-03 7.91033795e+00] [-1.32036360e-02 9.99912324e-01 -1.00376978e-03 -2.19979676e-01] [ 8.71873609e-03 1.11894812e-03 9.99961365e-01 -1.53035005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.831193817 meters Centerline goodness [0,1] 0.9256040651249611 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.23, Z:-1.53 [[ 9.99900559e-01 1.12727488e-02 -8.47334002e-03 7.90921757e+00] [-1.12868047e-02 9.99935001e-01 -1.61284317e-03 -2.28390764e-01] [ 8.45460809e-03 1.70831972e-03 9.99962800e-01 -1.52967416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86119381700001 meters Centerline goodness [0,1] 0.9258370235484005 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.23, Z:-1.53 [[ 9.99892363e-01 1.18116182e-02 -8.70337751e-03 7.90979929e+00] [-1.18138746e-02 9.99930192e-01 -2.07894200e-04 -2.32877034e-01] [ 8.70031438e-03 3.10692433e-04 9.99962103e-01 -1.52984151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.89119381700002 meters Centerline goodness [0,1] 0.9286587007392988 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.24, Z:-1.53 [[ 9.99920240e-01 9.26454584e-03 -8.58384853e-03 7.90944078e+00] [-9.28837507e-03 9.99953107e-01 -2.74035915e-03 -2.35473708e-01] [ 8.55805783e-03 2.81987059e-03 9.99959403e-01 -1.52969875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92119381700002 meters Centerline goodness [0,1] 0.9311708205680218 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.24, Z:-1.53 [[ 9.99935005e-01 7.88933449e-03 -8.23069629e-03 7.90803553e+00] [-7.91564764e-03 9.99963648e-01 -3.16929009e-03 -2.43654300e-01] [ 8.20539350e-03 3.23423540e-03 9.99961105e-01 -1.52884695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.95119381700002 meters Centerline goodness [0,1] 0.9300264440955293 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.25, Z:-1.53 [[ 9.99933800e-01 7.95427732e-03 -8.31410491e-03 7.90838420e+00] [-7.97247594e-03 9.99965891e-01 -2.15803834e-03 -2.48419182e-01] [ 8.29665569e-03 2.22417948e-03 9.99963109e-01 -1.52900802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98119381700002 meters Centerline goodness [0,1] 0.9309228950152467 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.25, Z:-1.53 [[ 9.99954010e-01 4.68555921e-03 -8.36805470e-03 7.90843342e+00] [-4.72762278e-03 9.99976254e-01 -5.01399698e-03 -2.51226302e-01] [ 8.34436262e-03 5.05332739e-03 9.99952417e-01 -1.52904829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01119381700002 meters Centerline goodness [0,1] 0.924477173530811 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.25, Z:-1.53 [[ 9.99962583e-01 1.25923384e-03 -8.55838913e-03 7.90926604e+00] [-1.32650416e-03 9.99968237e-01 -7.85903620e-03 -2.54210462e-01] [ 8.54822093e-03 7.87009488e-03 9.99932492e-01 -1.52965016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04119381700002 meters Centerline goodness [0,1] 0.9230228616313201 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.26, Z:-1.53 [[ 9.99958873e-01 -2.26010881e-03 -8.78313733e-03 7.91007172e+00] [ 2.16658258e-03 9.99941011e-01 -1.06433515e-02 -2.57676119e-01] [ 8.80667435e-03 1.06238844e-02 9.99904783e-01 -1.53011494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07119381700002 meters Centerline goodness [0,1] 0.9152907542831099 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.27, Z:-1.53 [[ 0.99991545 -0.00935903 -0.00902794 7.9114564 ] [ 0.00921538 0.99983233 -0.01582371 -0.2662767 ] [ 0.00917452 0.01573918 0.99983404 -1.53117867] [ 0. 0. 0. 1. ]] SLAMing on 199.10119381700002 meters Centerline goodness [0,1] 0.9142526311436429 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.27, Z:-1.53 [[ 0.99987376 -0.01294378 -0.00921484 7.91224997] [ 0.01277015 0.99974437 -0.0186581 -0.26961351] [ 0.00945399 0.01853807 0.99978346 -1.53161186] [ 0. 0. 0. 1. ]] SLAMing on 199.13119381700002 meters Centerline goodness [0,1] 0.9127694859038142 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.27, Z:-1.53 [[ 0.99986853 -0.0132592 -0.0093332 7.91262674] [ 0.01309432 0.99976092 -0.01751106 -0.27441027] [ 0.00956315 0.01738655 0.99980311 -1.53170411] [ 0. 0. 0. 1. ]] SLAMing on 199.16119381700003 meters Centerline goodness [0,1] 0.9127694859038142 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.27, Z:-1.53 [[ 0.99986853 -0.0132592 -0.0093332 7.91262674] [ 0.01309432 0.99976092 -0.01751106 -0.27441027] [ 0.00956315 0.01738655 0.99980311 -1.53170411] [ 0. 0. 0. 1. ]] SLAMing on 199.19119381700003 meters Centerline goodness [0,1] 0.9127758781473423 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.28, Z:-1.53 [[ 0.99986486 -0.01341319 -0.00950533 7.91302924] [ 0.0132579 0.99978062 -0.01621539 -0.27934842] [ 0.00972075 0.01608718 0.99982334 -1.53166627] [ 0. 0. 0. 1. ]] SLAMing on 199.22119381700003 meters Centerline goodness [0,1] 0.9138495318584804 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.28, Z:-1.53 [[ 0.99986027 -0.0136063 -0.00971113 7.91352042] [ 0.01345935 0.99979629 -0.0150409 -0.28417428] [ 0.0099138 0.01490809 0.99983972 -1.53166848] [ 0. 0. 0. 1. ]] SLAMing on 199.25119381700003 meters Centerline goodness [0,1] 0.916866275708268 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.29, Z:-1.53 [[ 9.99832046e-01 -1.73102757e-02 -6.01954848e-03 7.92356177e+00] [ 1.72688655e-02 9.99827317e-01 -6.86454130e-03 -2.93997663e-01] [ 6.13733611e-03 6.75943759e-03 9.99958321e-01 -1.53336905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28119381700003 meters Centerline goodness [0,1] 0.9151960986899202 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.30, Z:-1.53 [[ 9.99831935e-01 -1.71821350e-02 -6.39342159e-03 7.92499247e+00] [ 1.71465089e-02 9.99837384e-01 -5.58601916e-03 -2.98545638e-01] [ 6.48836165e-03 5.47545549e-03 9.99963960e-01 -1.53418254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31119381700003 meters Centerline goodness [0,1] 0.9125398864531101 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.30, Z:-1.53 [[ 9.99830113e-01 -1.71833899e-02 -6.66901784e-03 7.92584292e+00] [ 1.71543129e-02 9.99843203e-01 -4.39300413e-03 -3.02964293e-01] [ 6.74345887e-03 4.27785540e-03 9.99968112e-01 -1.53452585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34119381700003 meters Centerline goodness [0,1] 0.9131279317256628 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.31, Z:-1.53 [[ 9.99826198e-01 -1.73214919e-02 -6.89494790e-03 7.92646502e+00] [ 1.72999581e-02 9.99845317e-01 -3.17062812e-03 -3.07691046e-01] [ 6.94880138e-03 3.05079474e-03 9.99971203e-01 -1.53456259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37119381700003 meters Centerline goodness [0,1] 0.9022804001574118 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.31, Z:-1.53 [[ 9.99748822e-01 -2.12995905e-02 -6.97286846e-03 7.92704361e+00] [ 2.12596770e-02 9.99757458e-01 -5.74904954e-03 -3.12300801e-01] [ 7.09362964e-03 5.59936457e-03 9.99959163e-01 -1.53477903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40119381700003 meters Centerline goodness [0,1] 0.9039715960696887 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.31, Z:-1.53 [[ 9.99745011e-01 -2.13844673e-02 -7.25383155e-03 7.92779204e+00] [ 2.13476315e-02 9.99759013e-01 -5.11810415e-03 -3.14360132e-01] [ 7.36153140e-03 4.96194697e-03 9.99960593e-01 -1.53494738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43119381700004 meters Centerline goodness [0,1] 0.899356807124598 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.32, Z:-1.53 [[ 9.99754880e-01 -2.08971780e-02 -7.31352728e-03 7.92772140e+00] [ 2.08687925e-02 9.99774474e-01 -3.93626891e-03 -3.17436849e-01] [ 7.39413480e-03 3.78267957e-03 9.99965508e-01 -1.53456996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46119381700004 meters Centerline goodness [0,1] 0.9018576428438296 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.32, Z:-1.53 [[ 9.99826940e-01 -1.70481282e-02 -7.44655460e-03 7.92766331e+00] [ 1.70533753e-02 9.99854375e-01 6.41693107e-04 -3.20171961e-01] [ 7.43453053e-03 -7.68570945e-04 9.99972068e-01 -1.53416286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49119381700004 meters Centerline goodness [0,1] 0.9084664404535298 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.32, Z:-1.54 [[ 9.99856478e-01 -1.49343780e-02 -7.99923259e-03 7.92941900e+00] [ 1.49541922e-02 9.99885244e-01 2.42295283e-03 -3.20176217e-01] [ 7.96212934e-03 -2.54222714e-03 9.99965070e-01 -1.53506899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52119381700004 meters Centerline goodness [0,1] 0.9122930463576159 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.32, Z:-1.53 [[ 9.99866067e-01 -1.41799978e-02 -8.17159594e-03 7.92950335e+00] [ 1.41991740e-02 9.99896556e-01 2.29347724e-03 -3.17681422e-01] [ 8.13822914e-03 -2.40919998e-03 9.99963982e-01 -1.53484332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55119381700004 meters Centerline goodness [0,1] 0.9190202500875513 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.31, Z:-1.53 [[ 9.99957423e-01 -7.92997456e-03 -4.71879694e-03 7.93606520e+00] [ 7.91201585e-03 9.99961432e-01 -3.81235581e-03 -3.12965670e-01] [ 4.74884684e-03 3.77485830e-03 9.99981599e-01 -1.53421510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.581193817 meters Centerline goodness [0,1] 0.9176308028625049 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.31, Z:-1.53 [[ 9.99979315e-01 -4.32087868e-03 -4.76438286e-03 7.93583783e+00] [ 4.32109515e-03 9.99990663e-01 3.51430264e-05 -3.13185800e-01] [ 4.76418653e-03 -5.57296512e-05 9.99988650e-01 -1.53374148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.61119381700001 meters Centerline goodness [0,1] 0.9177756653992395 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.31, Z:-1.53 [[ 9.99980441e-01 -4.15640038e-03 -4.67361998e-03 7.93518766e+00] [ 4.15520310e-03 9.99991332e-01 -2.65859964e-04 -3.11662406e-01] [ 4.67468449e-03 2.46434924e-04 9.99989043e-01 -1.53313896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64119381700002 meters Centerline goodness [0,1] 0.9199390168527751 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.31, Z:-1.53 [[ 9.99979518e-01 -4.30823438e-03 -4.73324868e-03 7.93515505e+00] [ 4.30429201e-03 9.99990381e-01 -8.42781822e-04 -3.09725929e-01] [ 4.73683406e-03 8.22391275e-04 9.99988443e-01 -1.53294288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.67119381700002 meters Centerline goodness [0,1] 0.9197315436241611 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.31, Z:-1.53 [[ 9.99978172e-01 -4.55939458e-03 -4.78201563e-03 7.93524619e+00] [ 4.55253417e-03 9.99988594e-01 -1.44453247e-03 -3.07705538e-01] [ 4.78854728e-03 1.42273065e-03 9.99987523e-01 -1.53296363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70119381700002 meters Centerline goodness [0,1] 0.9178910976663786 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.30, Z:-1.53 [[ 9.99971658e-01 -5.63986009e-03 -4.98757328e-03 7.93641263e+00] [ 5.62534580e-03 9.99979916e-01 -2.91934828e-03 -3.04090579e-01] [ 5.00393783e-03 2.89120872e-03 9.99983301e-01 -1.53395730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73119381700002 meters Centerline goodness [0,1] 0.9163880978911312 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.30, Z:-1.53 [[ 9.99968396e-01 -6.05987814e-03 -5.14638038e-03 7.93708955e+00] [ 6.04323949e-03 9.99976482e-01 -3.24249800e-03 -3.03414245e-01] [ 5.16590849e-03 3.21129471e-03 9.99981500e-01 -1.53444372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76119381700002 meters Centerline goodness [0,1] 0.9132411598156529 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.30, Z:-1.54 [[ 9.99964079e-01 -6.53102250e-03 -5.40252485e-03 7.93824119e+00] [ 6.51127649e-03 9.99972087e-01 -3.66450867e-03 -3.02571748e-01] [ 5.42630704e-03 3.62919970e-03 9.99978692e-01 -1.53526647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79119381700002 meters Centerline goodness [0,1] 0.9084611885364542 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.30, Z:-1.54 [[ 9.99959827e-01 -6.97127999e-03 -5.63434720e-03 7.93910814e+00] [ 6.94896803e-03 9.99967975e-01 -3.96991444e-03 -3.02049353e-01] [ 5.66184215e-03 3.93060206e-03 9.99976247e-01 -1.53576872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82119381700002 meters Centerline goodness [0,1] 0.9005992973754908 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.30, Z:-1.54 [[ 9.99954423e-01 -7.47711169e-03 -5.93664749e-03 7.93998292e+00] [ 7.45186951e-03 9.99963149e-01 -4.26272220e-03 -3.01805193e-01] [ 5.96830157e-03 4.21828879e-03 9.99973292e-01 -1.53610047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85119381700002 meters Centerline goodness [0,1] 0.8618059288047298 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.30, Z:-1.54 [[ 9.99941687e-01 -8.94515947e-03 -6.05040744e-03 7.94074974e+00] [ 8.91448422e-03 9.99947371e-01 -5.07805638e-03 -3.01498596e-01] [ 6.09551303e-03 5.02382400e-03 9.99968802e-01 -1.53667514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88119381700002 meters Centerline goodness [0,1] 0.844488107549121 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.30, Z:-1.54 [[ 9.99936683e-01 -9.34604996e-03 -6.26745834e-03 7.94148330e+00] [ 9.31240930e-03 9.99942190e-01 -5.37538586e-03 -3.00788874e-01] [ 6.31733465e-03 5.31668037e-03 9.99965912e-01 -1.53705306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.91119381700003 meters Centerline goodness [0,1] 0.829602605326078 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.30, Z:-1.54 [[ 9.99953133e-01 -7.09050782e-03 -6.59215251e-03 7.94298911e+00] [ 7.07112861e-03 9.99970623e-01 -2.95841401e-03 -2.98559244e-01] [ 6.61293551e-03 2.91166140e-03 9.99973895e-01 -1.53802761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94119381700003 meters Centerline goodness [0,1] 0.8769135291683906 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.30, Z:-1.54 [[ 9.99970599e-01 -3.54746378e-03 -6.79820851e-03 7.94325434e+00] [ 3.55234779e-03 9.99993441e-01 7.06485351e-04 -2.98102745e-01] [ 6.79565769e-03 -7.30614181e-04 9.99976642e-01 -1.53784657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97119381700003 meters Centerline goodness [0,1] 0.8822394218727545 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.30, Z:-1.54 [[ 9.99991334e-01 1.38407652e-03 -3.92646711e-03 7.95528589e+00] [-1.40201830e-03 9.99988573e-01 -4.57037865e-03 -2.96552324e-01] [ 3.92009648e-03 4.57584402e-03 9.99981847e-01 -1.54114552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00119381700003 meters Centerline goodness [0,1] 0.8952809081869406 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.30, Z:-1.54 [[ 9.99978912e-01 5.06886945e-03 -4.05985710e-03 7.95577127e+00] [-5.07317108e-03 9.99986580e-01 -1.04995735e-03 -2.95387114e-01] [ 4.05448052e-03 1.07053156e-03 9.99991208e-01 -1.54139289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03119381700003 meters Centerline goodness [0,1] 0.9108282886717216 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.29, Z:-1.54 [[ 9.99948368e-01 9.23241207e-03 -4.24548974e-03 7.95659714e+00] [-9.22548636e-03 9.99956086e-01 1.64800998e-03 -2.90284169e-01] [ 4.26051841e-03 -1.60875818e-03 9.99989630e-01 -1.54198196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06119381700003 meters Centerline goodness [0,1] 0.9140147697118055 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.29, Z:-1.54 [[ 9.99944112e-01 9.53677910e-03 -4.56308291e-03 7.95739338e+00] [-9.53301929e-03 9.99954203e-01 8.45005379e-04 -2.86727021e-01] [ 4.57093256e-03 -8.01458196e-04 9.99989232e-01 -1.54222900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09119381700003 meters Centerline goodness [0,1] 0.9143840587222924 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.29, Z:-1.54 [[ 9.99902189e-01 1.32141670e-02 -4.58243815e-03 7.95746430e+00] [-1.31947254e-02 9.99903925e-01 4.24723365e-03 -2.85239791e-01] [ 4.63812155e-03 -4.18635421e-03 9.99980481e-01 -1.54212750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12119381700003 meters Centerline goodness [0,1] 0.9159208422451565 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.28, Z:-1.54 [[ 9.99895450e-01 1.36249848e-02 -4.84232949e-03 7.95800436e+00] [-1.36082874e-02 9.99901401e-01 3.46460337e-03 -2.81471627e-01] [ 4.88905721e-03 -3.39834533e-03 9.99982274e-01 -1.54220827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15119381700003 meters Centerline goodness [0,1] 0.9151212258890586 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.28, Z:-1.54 [[ 9.99885583e-01 1.42028569e-02 -5.20578326e-03 7.95882094e+00] [-1.41883454e-02 9.99895381e-01 2.81397659e-03 -2.77751368e-01] [ 5.24520514e-03 -2.73979317e-03 9.99982491e-01 -1.54235591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18119381700004 meters Centerline goodness [0,1] 0.9177566225165563 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.27, Z:-1.54 [[ 9.99814014e-01 1.85673192e-02 -5.21462359e-03 7.95868306e+00] [-1.85381044e-02 9.99812494e-01 5.59602696e-03 -2.72723527e-01] [ 5.31754904e-03 -5.49831694e-03 9.99970746e-01 -1.54195341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21119381700004 meters Centerline goodness [0,1] 0.9183161647356313 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.27, Z:-1.54 [[ 9.99808148e-01 1.88597711e-02 -5.28924080e-03 7.95884504e+00] [-1.88345783e-02 9.99811220e-01 4.77306661e-03 -2.69245993e-01] [ 5.37826125e-03 -4.67253027e-03 9.99974621e-01 -1.54194324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24119381700004 meters Centerline goodness [0,1] 0.9191701244813278 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.27, Z:-1.54 [[ 9.99806110e-01 1.89127407e-02 -5.48187548e-03 7.95939024e+00] [-1.88914298e-02 9.99813882e-01 3.91357156e-03 -2.66216467e-01] [ 5.55487157e-03 -3.80925229e-03 9.99977316e-01 -1.54215180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27119381700004 meters Centerline goodness [0,1] 0.9222178480409423 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.26, Z:-1.54 [[ 9.99794342e-01 1.94353683e-02 -5.79145855e-03 7.95998908e+00] [-1.94158484e-02 9.99805687e-01 3.40784192e-03 -2.63778195e-01] [ 5.85656585e-03 -3.29469498e-03 9.99977423e-01 -1.54219689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30119381700004 meters Centerline goodness [0,1] 0.9219915464942815 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.26, Z:-1.54 [[ 9.99847999e-01 1.63088408e-02 -6.16443837e-03 7.96076989e+00] [-1.63126790e-02 9.99866775e-01 -5.72862330e-04 -2.61834840e-01] [ 6.15427439e-03 6.73333758e-04 9.99980836e-01 -1.54246867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.331193817 meters Centerline goodness [0,1] 0.9224130777528836 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.26, Z:-1.54 [[ 9.99849414e-01 1.61377336e-02 -6.38146294e-03 7.96128931e+00] [-1.61417997e-02 9.99869541e-01 -5.86182324e-04 -2.62324227e-01] [ 6.37117077e-03 6.89102349e-04 9.99979466e-01 -1.54258915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36119381700001 meters Centerline goodness [0,1] 0.9204934176427905 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.26, Z:-1.54 [[ 9.99886701e-01 1.34604066e-02 -6.73808968e-03 7.96283245e+00] [-1.34844571e-02 9.99902826e-01 -3.53671472e-03 -2.62332342e-01] [ 6.68982929e-03 3.62717349e-03 9.99971044e-01 -1.54372722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.39119381700002 meters Centerline goodness [0,1] 0.9190151044899648 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.27, Z:-1.54 [[ 9.99914191e-01 1.09585762e-02 -7.17774826e-03 7.96423765e+00] [-1.09978379e-02 9.99924651e-01 -5.45348586e-03 -2.66402598e-01] [ 7.11744498e-03 5.53195761e-03 9.99959369e-01 -1.54452788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42119381700002 meters Centerline goodness [0,1] 0.9205568867223003 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.27, Z:-1.54 [[ 9.99911991e-01 1.09502942e-02 -7.49009063e-03 7.96504197e+00] [-1.09868507e-02 9.99927847e-01 -4.85703142e-03 -2.68932106e-01] [ 7.43636427e-03 4.93889646e-03 9.99960153e-01 -1.54476996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45119381700002 meters Centerline goodness [0,1] 0.9200572352867986 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.27, Z:-1.54 [[ 9.99910798e-01 1.09797802e-02 -7.60531150e-03 7.96521878e+00] [-1.10125267e-02 9.99930212e-01 -4.27732629e-03 -2.71032143e-01] [ 7.55781664e-03 4.36069844e-03 9.99961931e-01 -1.54465775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48119381700002 meters Centerline goodness [0,1] 0.9190512751343611 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.27, Z:-1.54 [[ 9.99909061e-01 1.10319367e-02 -7.75664376e-03 7.96519216e+00] [-1.10598844e-02 9.99932467e-01 -3.56944869e-03 -2.73699423e-01] [ 7.71674199e-03 3.65491168e-03 9.99963546e-01 -1.54423400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51119381700002 meters Centerline goodness [0,1] 0.9206487473037995 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.28, Z:-1.54 [[ 9.99937372e-01 8.07489315e-03 -7.74903240e-03 7.96471578e+00] [-8.11850028e-03 9.99951293e-01 -5.61256976e-03 -2.78452094e-01] [ 7.70333407e-03 5.67512878e-03 9.99954225e-01 -1.54370122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54119381700002 meters Centerline goodness [0,1] 0.9164413252141603 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.28, Z:-1.54 [[ 9.99938879e-01 7.32656952e-03 -8.28012809e-03 7.96605913e+00] [-7.37149065e-03 9.99958208e-01 -5.40773848e-03 -2.81579823e-01] [ 8.24016187e-03 5.46844483e-03 9.99951097e-01 -1.54409431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57119381700002 meters Centerline goodness [0,1] 0.9181083483185548 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.29, Z:-1.54 [[ 9.99945872e-01 6.44257735e-03 -8.16979578e-03 7.96560837e+00] [-6.48523007e-03 9.99965424e-01 -5.20508102e-03 -2.85106996e-01] [ 8.13597916e-03 5.25778229e-03 9.99953080e-01 -1.54364226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60119381700002 meters Centerline goodness [0,1] 0.9169024848697664 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.29, Z:-1.54 [[ 9.99961820e-01 2.68879480e-03 -8.31432971e-03 7.96553561e+00] [-2.75874250e-03 9.99960805e-01 -8.41291528e-03 -2.87188562e-01] [ 8.29138323e-03 8.43553118e-03 9.99930045e-01 -1.54319789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.63119381700002 meters Centerline goodness [0,1] 0.9160593009773066 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.29, Z:-1.54 [[ 9.99963499e-01 -1.20700022e-03 -8.45830512e-03 7.96576388e+00] [ 1.10760882e-03 9.99930405e-01 -1.17455954e-02 -2.89277521e-01] [ 8.47189340e-03 1.17357982e-02 9.99895244e-01 -1.54314521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66119381700003 meters Centerline goodness [0,1] 0.8990204402841344 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.29, Z:-1.54 [[ 0.99991667 -0.00988446 -0.00830346 7.96552176] [ 0.00972332 0.99976785 -0.01922788 -0.29228082] [ 0.00849159 0.01914554 0.99978065 -1.54302713] [ 0. 0. 0. 1. ]] SLAMing on 200.69119381700003 meters Centerline goodness [0,1] 0.8682660715392723 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.29, Z:-1.54 [[ 0.99986133 -0.01430089 -0.00853314 7.96653649] [ 0.0140992 0.99963036 -0.02324566 -0.29287926] [ 0.00886242 0.02312213 0.99969337 -1.54357826] [ 0. 0. 0. 1. ]] SLAMing on 200.72119381700003 meters Centerline goodness [0,1] 0.8327973613687899 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.29, Z:-1.54 [[ 0.99978945 -0.0185616 -0.00874803 7.96743227] [ 0.0183174 0.99946178 -0.0272143 -0.29328728] [ 0.00924846 0.02704833 0.99959134 -1.54398413] [ 0. 0. 0. 1. ]] SLAMing on 200.75119381700003 meters Centerline goodness [0,1] 0.779074074074074 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.30, Z:-1.54 [[ 9.99639888e-01 -2.62307159e-02 -5.66065335e-03 7.96743139e+00] [ 2.61407820e-02 9.99539395e-01 -1.54161406e-02 -2.96301362e-01] [ 6.06242242e-03 1.52626151e-02 9.99865141e-01 -1.54469721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78119381700003 meters Centerline goodness [0,1] 0.758484804720543 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.30, Z:-1.54 [[ 9.99629732e-01 -2.65774322e-02 -5.83430680e-03 7.96801337e+00] [ 2.64840730e-02 9.99528521e-01 -1.55347885e-02 -2.96140766e-01] [ 6.24443083e-03 1.53745203e-02 9.99862306e-01 -1.54492397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81119381700003 meters Centerline goodness [0,1] 0.7811405236209863 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.30, Z:-1.54 [[ 9.99698642e-01 -2.38029762e-02 -6.00357865e-03 7.96822210e+00] [ 2.37299748e-02 9.99646967e-01 -1.19511025e-02 -2.97113500e-01] [ 6.28593100e-03 1.18050362e-02 9.99910560e-01 -1.54482539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84119381700003 meters Centerline goodness [0,1] 0.7577990767383609 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.29, Z:-1.55 [[ 9.99760845e-01 -2.09795666e-02 -6.17338633e-03 7.96892607e+00] [ 2.09226454e-02 9.99739273e-01 -9.14488971e-03 -2.94621729e-01] [ 6.36363258e-03 9.01353909e-03 9.99939128e-01 -1.54541519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87119381700003 meters Centerline goodness [0,1] 0.745773597414436 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.29, Z:-1.55 [[ 9.99825906e-01 -1.75539244e-02 -6.32589431e-03 7.96911300e+00] [ 1.75179747e-02 9.99830334e-01 -5.69424211e-03 -2.93453874e-01] [ 6.42477731e-03 5.58243392e-03 9.99963779e-01 -1.54537851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90119381700003 meters Centerline goodness [0,1] 0.7458595441889244 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.29, Z:-1.55 [[ 9.99873825e-01 -1.44175849e-02 -6.66834072e-03 7.96990838e+00] [ 1.44001566e-02 9.99892789e-01 -2.65425475e-03 -2.91883056e-01] [ 6.70589374e-03 2.55789470e-03 9.99974244e-01 -1.54557415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93119381700004 meters Centerline goodness [0,1] 0.7699537304800463 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.29, Z:-1.55 [[ 9.99918635e-01 -1.08309015e-02 -6.73906537e-03 7.96993846e+00] [ 1.08359890e-02 9.99941031e-01 7.18875698e-04 -2.90258943e-01] [ 6.73088190e-03 -7.91841645e-04 9.99977034e-01 -1.54548859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96119381700004 meters Centerline goodness [0,1] 0.7947930408970976 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.28, Z:-1.55 [[ 9.99947259e-01 -7.47612369e-03 -7.04185982e-03 7.97043366e+00] [ 7.49165033e-03 9.99969558e-01 2.18111499e-03 -2.81434053e-01] [ 7.02533917e-03 -2.23375511e-03 9.99972827e-01 -1.54546612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99119381700004 meters Centerline goodness [0,1] 0.8060662525879917 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.28, Z:-1.54 [[ 9.99964792e-01 -4.40394089e-03 -7.14280287e-03 7.97014631e+00] [ 4.43686459e-03 9.99979577e-01 4.60007500e-03 -2.77203919e-01] [ 7.12239853e-03 -4.63160469e-03 9.99963909e-01 -1.54489185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02119381700004 meters Centerline goodness [0,1] 0.8430717174218041 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.27, Z:-1.54 [[ 9.99978111e-01 1.52287233e-04 -6.61476615e-03 7.97856026e+00] [-1.67257193e-04 9.99997426e-01 -2.26261824e-03 -2.71806365e-01] [ 6.61440456e-03 2.26367508e-03 9.99975562e-01 -1.54370713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05119381700004 meters Centerline goodness [0,1] 0.849015951937021 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.27, Z:-1.54 [[ 9.99972548e-01 3.18988058e-03 -6.68796242e-03 7.97884187e+00] [-3.18840548e-03 9.99994890e-01 2.31210692e-04 -2.68075384e-01] [ 6.68866579e-03 -2.09880409e-04 9.99977609e-01 -1.54382285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.081193817 meters Centerline goodness [0,1] 0.849015951937021 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.27, Z:-1.54 [[ 9.99972548e-01 3.18988058e-03 -6.68796242e-03 7.97884187e+00] [-3.18840548e-03 9.99994890e-01 2.31210692e-04 -2.68075384e-01] [ 6.68866579e-03 -2.09880409e-04 9.99977609e-01 -1.54382285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.11119381700001 meters Centerline goodness [0,1] 0.8633954169502712 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.26, Z:-1.54 [[ 9.99963993e-01 4.94229505e-03 -6.89835028e-03 7.98015864e+00] [-4.93719711e-03 9.99987526e-01 7.55842457e-04 -2.60454499e-01] [ 6.90199983e-03 -7.21756726e-04 9.99975920e-01 -1.54486274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14119381700002 meters Centerline goodness [0,1] 0.848892650003096 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.26, Z:-1.55 [[ 9.99967876e-01 3.97006517e-03 -6.96319849e-03 7.98051121e+00] [-3.97650089e-03 9.99991679e-01 -9.10646214e-04 -2.56392611e-01] [ 6.95952522e-03 9.38306126e-04 9.99975342e-01 -1.54510574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.17119381700002 meters Centerline goodness [0,1] 0.8088483898899106 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.25, Z:-1.55 [[ 9.99971467e-01 2.92233682e-03 -6.96596981e-03 7.98108811e+00] [-2.94041822e-03 9.99992331e-01 -2.58684855e-03 -2.51923222e-01] [ 6.95835674e-03 2.60725760e-03 9.99972391e-01 -1.54570363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20119381700002 meters Centerline goodness [0,1] 0.7628541882109617 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.24, Z:-1.55 [[ 9.99976021e-01 2.78663896e-04 -6.91954788e-03 7.98150004e+00] [-3.20185139e-04 9.99981947e-01 -6.00018913e-03 -2.42284640e-01] [ 6.91775093e-03 6.00226079e-03 9.99958058e-01 -1.54616731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23119381700002 meters Centerline goodness [0,1] 0.7343284200066247 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.24, Z:-1.55 [[ 9.99974751e-01 -5.68820970e-04 -7.08329094e-03 7.98232553e+00] [ 5.16975214e-04 9.99973081e-01 -7.31912572e-03 -2.38378690e-01] [ 7.08726354e-03 7.31527903e-03 9.99948127e-01 -1.54674761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26119381700002 meters Centerline goodness [0,1] 0.7559379594541427 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.23, Z:-1.55 [[ 9.99972433e-01 -1.53793160e-03 -7.26413768e-03 7.98361415e+00] [ 1.47443079e-03 9.99960727e-01 -8.73896719e-03 -2.34647766e-01] [ 7.27729233e-03 8.72801582e-03 9.99935429e-01 -1.54786417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29119381700002 meters Centerline goodness [0,1] 0.7101514902025359 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.23, Z:-1.55 [[ 9.99966592e-01 -2.79825918e-03 -7.68017034e-03 7.98566867e+00] [ 2.71660514e-03 9.99939898e-01 -1.06217191e-02 -2.30167258e-01] [ 7.70943107e-03 1.06005003e-02 9.99914093e-01 -1.54927853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32119381700002 meters Centerline goodness [0,1] 0.7367496642215106 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.23, Z:-1.55 [[ 9.99970703e-01 -5.89593601e-04 -7.63191051e-03 7.98594851e+00] [ 5.24996063e-04 9.99964047e-01 -8.46337506e-03 -2.27139783e-01] [ 7.63662608e-03 8.45912038e-03 9.99935061e-01 -1.54961708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35119381700002 meters Centerline goodness [0,1] 0.7331409727947238 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.22, Z:-1.55 [[ 9.99968018e-01 1.53027962e-03 -7.84987841e-03 7.98763210e+00] [-1.59261068e-03 9.99967207e-01 -7.94029039e-03 -2.17271724e-01] [ 7.83747012e-03 7.95253825e-03 9.99937664e-01 -1.55081940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38119381700002 meters Centerline goodness [0,1] 0.7338863147443323 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.21, Z:-1.55 [[ 9.99957613e-01 4.70580412e-03 -7.91369869e-03 7.98778687e+00] [-4.75179286e-03 9.99971875e-01 -5.80255606e-03 -2.12102436e-01] [ 7.88617043e-03 5.83991437e-03 9.99951851e-01 -1.55067203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41119381700003 meters Centerline goodness [0,1] 0.7660984066705193 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.21, Z:-1.55 [[ 9.99935471e-01 7.95182079e-03 -8.11312589e-03 7.98877400e+00] [-7.98450946e-03 9.99960104e-01 -4.00470665e-03 -2.05376619e-01] [ 8.08095750e-03 4.06922756e-03 9.99959069e-01 -1.55111434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44119381700003 meters Centerline goodness [0,1] 0.7734986134679855 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.20, Z:-1.55 [[ 9.99900999e-01 1.14992375e-02 -8.10924039e-03 7.98903179e+00] [-1.15173540e-02 9.99931273e-01 -2.19090146e-03 -1.97840438e-01] [ 8.08348936e-03 2.28408155e-03 9.99964719e-01 -1.55103567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47119381700003 meters Centerline goodness [0,1] 0.815358800132582 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.19, Z:-1.55 [[ 9.99851101e-01 1.51889673e-02 -8.18975274e-03 7.98937216e+00] [-1.51913019e-02 9.99884581e-01 -2.22922622e-04 -1.90854084e-01] [ 8.18542152e-03 3.47302435e-04 9.99966439e-01 -1.55083945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50119381700003 meters Centerline goodness [0,1] 0.8747540032730512 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.18, Z:-1.55 [[ 9.99702469e-01 2.31486885e-02 -7.68845257e-03 7.98776918e+00] [-2.31191695e-02 9.99725084e-01 3.90634247e-03 -1.80363514e-01] [ 7.77676560e-03 -3.72742957e-03 9.99962813e-01 -1.54819480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53119381700003 meters Centerline goodness [0,1] 0.9159206237881101 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.18, Z:-1.55 [[ 9.99612832e-01 2.67576774e-02 -7.62967526e-03 7.98765391e+00] [-2.67093474e-02 9.99622961e-01 6.36755344e-03 -1.75699265e-01] [ 7.79717952e-03 -6.16130448e-03 9.99950620e-01 -1.54768675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56119381700003 meters Centerline goodness [0,1] 0.9231610666226369 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.17, Z:-1.55 [[ 9.99522796e-01 2.99480982e-02 -7.56909138e-03 7.98716352e+00] [-2.98832158e-02 9.99516876e-01 8.54450166e-03 -1.70722590e-01] [ 7.82132614e-03 -8.31423540e-03 9.99934848e-01 -1.54679407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59119381700003 meters Centerline goodness [0,1] 0.9262586214017263 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.17, Z:-1.55 [[ 9.99418515e-01 3.32499062e-02 -7.55488060e-03 7.98702340e+00] [-3.31650241e-02 9.99388294e-01 1.10958558e-02 -1.66548946e-01] [ 7.91919540e-03 -1.08388459e-02 9.99909899e-01 -1.54618486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62119381700003 meters Centerline goodness [0,1] 0.9261343651072811 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.16, Z:-1.55 [[ 9.99307346e-01 3.64510782e-02 -7.49308654e-03 7.98665662e+00] [-3.63503305e-02 9.99252342e-01 1.31685281e-02 -1.61012306e-01] [ 7.96749133e-03 -1.28870307e-02 9.99885215e-01 -1.54541785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65119381700003 meters Centerline goodness [0,1] 0.9257725587144623 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.16, Z:-1.55 [[ 9.99310816e-01 3.63067085e-02 -7.72762217e-03 7.98740653e+00] [-3.62084851e-02 9.99266176e-01 1.24922050e-02 -1.58925373e-01] [ 8.17550230e-03 -1.22037900e-02 9.99892109e-01 -1.54564281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68119381700004 meters Centerline goodness [0,1] 0.9241774851440048 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.16, Z:-1.55 [[ 9.99329373e-01 3.57674689e-02 -7.84164935e-03 7.98783237e+00] [-3.56772429e-02 9.99298809e-01 1.13588704e-02 -1.55693369e-01] [ 8.24242890e-03 -1.10714844e-02 9.99904738e-01 -1.54581361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71119381700004 meters Centerline goodness [0,1] 0.9240838779055339 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.15, Z:-1.55 [[ 0.99933406 0.03557208 -0.00812825 7.9888778 ] [-0.03548155 0.99930954 0.01102275 -0.15473893] [ 0.00851474 -0.010727 0.99990621 -1.5463641 ] [ 0. 0. 0. 1. ]] SLAMing on 201.74119381700004 meters Centerline goodness [0,1] 0.9226843529824996 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.15, Z:-1.55 [[ 9.99449594e-01 3.20698959e-02 -8.48712185e-03 7.98998256e+00] [-3.20140437e-02 9.99465384e-01 6.63685764e-03 -1.52335649e-01] [ 8.69542782e-03 -6.36149758e-03 9.99941959e-01 -1.54697736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77119381700004 meters Centerline goodness [0,1] 0.9219037384529541 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.15, Z:-1.55 [[ 9.99549133e-01 2.86642862e-02 -8.93811854e-03 7.99139231e+00] [-2.86440515e-02 9.99586833e-01 2.38375184e-03 -1.50298997e-01] [ 9.00275414e-03 -2.12665316e-03 9.99957213e-01 -1.54774777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80119381700004 meters Centerline goodness [0,1] 0.9194465189610821 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.15, Z:-1.55 [[ 9.99556163e-01 2.82875035e-02 -9.34317343e-03 7.99294958e+00] [-2.82706308e-02 9.99598437e-01 1.93307527e-03 -1.49564633e-01] [ 9.39410343e-03 -1.66807989e-03 9.99954483e-01 -1.54875499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.831193817 meters Centerline goodness [0,1] 0.9180748840291584 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.15, Z:-1.55 [[ 9.99560468e-01 2.80206632e-02 -9.68060929e-03 7.99420300e+00] [-2.80064748e-02 9.99606464e-01 1.59814357e-03 -1.48969972e-01] [ 9.72158067e-03 -1.32632140e-03 9.99951865e-01 -1.54946263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86119381700001 meters Centerline goodness [0,1] 0.9145458307469481 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.15, Z:-1.55 [[ 9.99562600e-01 2.78006722e-02 -1.00862105e-02 7.99561661e+00] [-2.77878174e-02 9.99612846e-01 1.41243609e-03 -1.48966748e-01] [ 1.01215722e-02 -1.13154451e-03 9.99948135e-01 -1.55024973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.89119381700002 meters Centerline goodness [0,1] 0.9119328775637041 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.15, Z:-1.55 [[ 9.99651470e-01 2.42397892e-02 -1.04580969e-02 7.99681764e+00] [-2.42710724e-02 9.99701281e-01 -2.87479749e-03 -1.46993091e-01] [ 1.03852884e-02 3.12762477e-03 9.99941180e-01 -1.55092020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92119381700002 meters Centerline goodness [0,1] 0.909387738124948 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.15, Z:-1.55 [[ 9.99657423e-01 2.39130986e-02 -1.06396030e-02 7.99750436e+00] [-2.39476286e-02 9.99708315e-01 -3.12991977e-03 -1.47126588e-01] [ 1.05616535e-02 3.38364079e-03 9.99938499e-01 -1.55133344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95119381700002 meters Centerline goodness [0,1] 0.9142940271831747 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.15, Z:-1.55 [[ 9.99661379e-01 2.36054133e-02 -1.09503839e-02 7.99840809e+00] [-2.36435550e-02 9.99714783e-01 -3.36684507e-03 -1.47090589e-01] [ 1.08677849e-02 3.62461099e-03 9.99934375e-01 -1.55168651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98119381700002 meters Centerline goodness [0,1] 0.9071444856675026 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.15, Z:-1.55 [[ 9.99668119e-01 2.31577700e-02 -1.12857871e-02 7.99862368e+00] [-2.32025894e-02 9.99723345e-01 -3.85667660e-03 -1.46183953e-01] [ 1.11933527e-02 4.11725612e-03 9.99928876e-01 -1.55098291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01119381700002 meters Centerline goodness [0,1] 0.9052320868064938 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.15, Z:-1.55 [[ 9.99674924e-01 2.27269406e-02 -1.15556178e-02 7.99882249e+00] [-2.27769693e-02 9.99731680e-01 -4.21635058e-03 -1.46101136e-01] [ 1.14566925e-02 4.47818190e-03 9.99924342e-01 -1.55051595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04119381700002 meters Centerline goodness [0,1] 0.9116651788494675 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.15, Z:-1.55 [[ 9.99674643e-01 2.25768225e-02 -1.18699291e-02 7.99900897e+00] [-2.26272161e-02 9.99735447e-01 -4.12845480e-03 -1.47007222e-01] [ 1.17735815e-02 4.39569503e-03 9.99921027e-01 -1.54994305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07119381700002 meters Centerline goodness [0,1] 0.9111028300519637 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.15, Z:-1.55 [[ 9.99677689e-01 2.23334565e-02 -1.20720390e-02 7.99901109e+00] [-2.23837500e-02 9.99741261e-01 -4.04716154e-03 -1.48135698e-01] [ 1.19785284e-02 4.31607460e-03 9.99918940e-01 -1.54941113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10119381700002 meters Centerline goodness [0,1] 0.9145283214248732 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.15, Z:-1.54 [[ 9.99762576e-01 1.79525448e-02 -1.23489688e-02 8.00336492e+00] [-1.79229544e-02 9.99836239e-01 2.50269841e-03 -1.50338634e-01] [ 1.23918764e-02 -2.28077421e-03 9.99920617e-01 -1.54343200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.13119381700002 meters Centerline goodness [0,1] 0.9151111295062291 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.15, Z:-1.54 [[ 9.99814761e-01 1.45352648e-02 -1.26162835e-02 8.00337536e+00] [-1.45522091e-02 9.99893327e-01 -1.25228519e-03 -1.49530323e-01] [ 1.25967354e-02 1.43564801e-03 9.99919627e-01 -1.54267707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16119381700003 meters Centerline goodness [0,1] 0.9125147359930508 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.15, Z:-1.54 [[ 9.99816595e-01 1.41724247e-02 -1.28809327e-02 8.00366364e+00] [-1.41873025e-02 9.99898789e-01 -1.06437866e-03 -1.51073876e-01] [ 1.28645442e-02 1.24692914e-03 9.99916471e-01 -1.54235516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19119381700003 meters Centerline goodness [0,1] 0.9089818873542305 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.15, Z:-1.54 [[ 9.99823418e-01 1.35202623e-02 -1.30512211e-02 8.00352093e+00] [-1.35296129e-02 9.99908273e-01 -6.28426571e-04 -1.54607591e-01] [ 1.30415274e-02 8.04893572e-04 9.99914632e-01 -1.54180187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22119381700003 meters Centerline goodness [0,1] 0.8995213328083881 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.15, Z:-1.54 [[ 9.99861746e-01 1.00622174e-02 -1.32378180e-02 8.00386466e+00] [-1.01195477e-02 9.99939675e-01 -4.27096637e-03 -1.54594096e-01] [ 1.31940440e-02 4.40433663e-03 9.99903255e-01 -1.54176964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25119381700003 meters Centerline goodness [0,1] 0.8980153556424743 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.16, Z:-1.54 [[ 9.99860877e-01 9.74762497e-03 -1.35355527e-02 8.00490580e+00] [-9.80050871e-03 9.99944577e-01 -3.84620481e-03 -1.56933559e-01] [ 1.34973112e-02 3.97832501e-03 9.99900993e-01 -1.54240957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28119381700003 meters Centerline goodness [0,1] 0.8724744596638829 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.16, Z:-1.54 [[ 9.99864798e-01 9.36911702e-03 -1.35131689e-02 8.00523137e+00] [-9.41824894e-03 9.99949250e-01 -3.57680964e-03 -1.58931547e-01] [ 1.34789715e-02 3.70359644e-03 9.99902296e-01 -1.54291293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31119381700003 meters Centerline goodness [0,1] 0.845246471586441 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.16, Z:-1.55 [[ 9.99880537e-01 6.43471542e-03 -1.40537150e-02 8.00828480e+00] [-6.52007054e-03 9.99960526e-01 -6.03614124e-03 -1.60163462e-01] [ 1.40143194e-02 6.12705135e-03 9.99883022e-01 -1.54535141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34119381700003 meters Centerline goodness [0,1] 0.8442447759955178 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.16, Z:-1.55 [[ 9.99883520e-01 5.97293061e-03 -1.40453357e-02 8.00872955e+00] [-6.05986434e-03 9.99962696e-01 -6.15511756e-03 -1.60698475e-01] [ 1.40080476e-02 6.23951344e-03 9.99882415e-01 -1.54590418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37119381700003 meters Centerline goodness [0,1] 0.8205361952513156 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.16, Z:-1.55 [[ 9.99881625e-01 4.76430492e-03 -1.46300043e-02 8.01117052e+00] [-4.86750821e-03 9.99963466e-01 -7.02673495e-03 -1.60936586e-01] [ 1.45959923e-02 7.09711482e-03 9.99868285e-01 -1.54751158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40119381700003 meters Centerline goodness [0,1] 0.8078853492616559 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.16, Z:-1.55 [[ 9.99887210e-01 3.79535322e-03 -1.45314635e-02 8.01133658e+00] [-3.90506455e-03 9.99964032e-01 -7.52899942e-03 -1.61333734e-01] [ 1.45023656e-02 7.58489653e-03 9.99866066e-01 -1.54805214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43119381700004 meters Centerline goodness [0,1] 0.7958055801868311 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.16, Z:-1.55 [[ 9.99955987e-01 7.83297725e-04 -9.34930770e-03 8.02087981e+00] [-7.82509851e-04 9.99999690e-01 8.79286617e-05 -1.61932976e-01] [ 9.34937368e-03 -8.06088664e-05 9.99956290e-01 -1.55080010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46119381700004 meters Centerline goodness [0,1] 0.7959755793670571 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.16, Z:-1.55 [[ 9.99956127e-01 -1.07055613e-04 -9.36654690e-03 8.02069190e+00] [ 9.87714110e-05 9.99999604e-01 -8.84903776e-04 -1.60247736e-01] [ 9.36663792e-03 8.83939806e-04 9.99955741e-01 -1.55046687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49119381700004 meters Centerline goodness [0,1] 0.781922822126532 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.16, Z:-1.55 [[ 9.99954803e-01 -8.38120837e-04 -9.47050147e-03 8.02097487e+00] [ 8.22429561e-04 9.99998283e-01 -1.66063095e-03 -1.58448795e-01] [ 9.47187702e-03 1.65276707e-03 9.99953775e-01 -1.55049432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52119381700004 meters Centerline goodness [0,1] 0.7541122850631863 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.15, Z:-1.55 [[ 9.99955394e-01 -2.65612264e-03 -9.06399149e-03 8.01865827e+00] [ 2.62082706e-03 9.99988946e-01 -3.90370260e-03 -1.53976364e-01] [ 9.07426001e-03 3.87977332e-03 9.99951301e-01 -1.54827971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55119381700004 meters Centerline goodness [0,1] 0.7518898208553381 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.15, Z:-1.55 [[ 9.99954518e-01 -3.15592997e-03 -9.00015151e-03 8.01821678e+00] [ 3.11463072e-03 9.99984574e-01 -4.59905848e-03 -1.52137829e-01] [ 9.01452698e-03 4.57081715e-03 9.99948922e-01 -1.54774467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.581193817 meters Centerline goodness [0,1] 0.7421306753424374 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.15, Z:-1.55 [[ 9.99952689e-01 -3.65974391e-03 -9.01255970e-03 8.01816797e+00] [ 3.61236489e-03 9.99979601e-01 -5.26767935e-03 -1.50347972e-01] [ 9.03165421e-03 5.23487348e-03 9.99945511e-01 -1.54754389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.61119381700001 meters Centerline goodness [0,1] 0.7429252123472136 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.15, Z:-1.55 [[ 9.99949893e-01 -4.10757093e-03 -9.12905264e-03 8.01879075e+00] [ 4.05335115e-03 9.99974085e-01 -5.94984239e-03 -1.48352088e-01] [ 9.15325546e-03 5.91254101e-03 9.99940628e-01 -1.54795960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64119381700002 meters Centerline goodness [0,1] 0.7336270737660833 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.15, Z:-1.55 [[ 9.99957096e-01 -1.43694923e-03 -9.15104828e-03 8.01920191e+00] [ 1.41082658e-03 9.99994914e-01 -2.86042292e-03 -1.47687429e-01] [ 9.15511202e-03 2.84738965e-03 9.99954037e-01 -1.54843515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.67119381700002 meters Centerline goodness [0,1] 0.7104070525422677 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.14, Z:-1.55 [[ 9.99960618e-01 7.56587206e-04 -8.84248092e-03 8.01862188e+00] [-7.70150166e-04 9.99998532e-01 -1.53053659e-03 -1.41748820e-01] [ 8.84130995e-03 1.53728635e-03 9.99959733e-01 -1.54830543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70119381700002 meters Centerline goodness [0,1] 0.7155377825663551 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.14, Z:-1.55 [[ 9.99958987e-01 1.09279439e-03 -8.99053276e-03 8.01942122e+00] [-1.11240416e-03 9.99997013e-01 -2.17644612e-03 -1.37312765e-01] [ 8.98812749e-03 2.18635797e-03 9.99957216e-01 -1.54869136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73119381700002 meters Centerline goodness [0,1] 0.7457627118644068 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.13, Z:-1.55 [[ 9.99948415e-01 3.78026721e-03 -9.42750090e-03 8.02146755e+00] [-3.78074320e-03 9.99992852e-01 -3.26677671e-05 -1.33785987e-01] [ 9.42731002e-03 6.83090418e-05 9.99955560e-01 -1.55004937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76119381700002 meters Centerline goodness [0,1] 0.7521968728082842 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.13, Z:-1.55 [[ 9.99930195e-01 6.50850434e-03 -9.86126416e-03 8.02376290e+00] [-6.48908138e-03 9.99976945e-01 2.00033949e-03 -1.29750942e-01] [ 9.87405603e-03 -1.93620931e-03 9.99949376e-01 -1.55165677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79119381700002 meters Centerline goodness [0,1] 0.7871941289245294 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.12, Z:-1.55 [[ 9.99869255e-01 1.25783585e-02 -1.01616131e-02 8.02560042e+00] [-1.25098139e-02 9.99898756e-01 6.78108346e-03 -1.22507202e-01] [ 1.02458792e-02 -6.65307697e-03 9.99925376e-01 -1.55290419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82119381700002 meters Centerline goodness [0,1] 0.7814264149382741 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.12, Z:-1.55 [[ 9.99866708e-01 1.26172428e-02 -1.03619966e-02 8.02636650e+00] [-1.25614378e-02 9.99906342e-01 5.43308315e-03 -1.17410853e-01] [ 1.04295767e-02 -5.30219739e-03 9.99931553e-01 -1.55312260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85119381700002 meters Centerline goodness [0,1] 0.8116032051680229 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.11, Z:-1.55 [[ 9.99863802e-01 1.26120050e-02 -1.06449102e-02 8.02708854e+00] [-1.25692142e-02 9.99912692e-01 4.07721116e-03 -1.12275236e-01] [ 1.06954026e-02 -3.94285770e-03 9.99935029e-01 -1.55310272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88119381700002 meters Centerline goodness [0,1] 0.8081227287743641 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.11, Z:-1.55 [[ 9.99861990e-01 1.25294641e-02 -1.09093426e-02 8.02791585e+00] [-1.25006534e-02 9.99918205e-01 2.70511519e-03 -1.07314526e-01] [ 1.09423439e-02 -2.56836795e-03 9.99936832e-01 -1.55323472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.91119381700003 meters Centerline goodness [0,1] 0.8578223554958122 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.10, Z:-1.55 [[ 9.99833073e-01 1.48726693e-02 -1.06127481e-02 8.02636797e+00] [-1.48396707e-02 9.99884825e-01 3.18135054e-03 -9.85554928e-02] [ 1.06588410e-02 -3.02332980e-03 9.99938622e-01 -1.55139949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94119381700003 meters Centerline goodness [0,1] 0.8513521901963624 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.09, Z:-1.55 [[ 9.99841811e-01 1.41596119e-02 -1.07637684e-02 8.02633756e+00] [-1.41460449e-02 9.99899048e-01 1.33553251e-03 -9.31213196e-02] [ 1.07815924e-02 -1.18305649e-03 9.99941177e-01 -1.55076917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97119381700003 meters Centerline goodness [0,1] 0.8513521901963624 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.09, Z:-1.55 [[ 9.99841811e-01 1.41596119e-02 -1.07637684e-02 8.02633756e+00] [-1.41460449e-02 9.99899048e-01 1.33553251e-03 -9.31213196e-02] [ 1.07815924e-02 -1.18305649e-03 9.99941177e-01 -1.55076917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00119381700003 meters Centerline goodness [0,1] 0.8545165026056746 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.09, Z:-1.55 [[ 9.99853278e-01 1.32457265e-02 -1.08615421e-02 8.02648873e+00] [-1.32527051e-02 9.99912016e-01 -5.70776809e-04 -8.78826967e-02] [ 1.08530261e-02 7.14637878e-04 9.99940849e-01 -1.55054997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03119381700003 meters Centerline goodness [0,1] 0.8457562286777629 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.08, Z:-1.55 [[ 9.99867808e-01 1.19969811e-02 -1.09744849e-02 8.02631380e+00] [-1.20265270e-02 9.99924219e-01 -2.63021488e-03 -8.27968105e-02] [ 1.09420986e-02 2.76185212e-03 9.99936319e-01 -1.54991390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06119381700003 meters Centerline goodness [0,1] 0.819297555725728 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.07, Z:-1.55 [[ 9.99892739e-01 9.71601964e-03 -1.09594505e-02 8.02598164e+00] [-9.78142753e-03 9.99934575e-01 -5.93044312e-03 -7.48931528e-02] [ 1.09011132e-02 6.03700608e-03 9.99922357e-01 -1.54931861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09119381700003 meters Centerline goodness [0,1] 0.804028509451503 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.07, Z:-1.55 [[ 9.99895338e-01 9.18007436e-03 -1.11821224e-02 8.02692755e+00] [-9.25812497e-03 9.99933002e-01 -6.94829487e-03 -7.18615408e-02] [ 1.11175873e-02 7.05109314e-03 9.99913337e-01 -1.54985579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12119381700003 meters Centerline goodness [0,1] 0.797565822155986 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.07, Z:-1.55 [[ 0.99989941 0.00859402 -0.0112833 8.02729978] [-0.00868722 0.99992834 -0.00823652 -0.06840108] [ 0.0112117 0.00833372 0.99990242 -1.54993731] [ 0. 0. 0. 1. ]] SLAMing on 203.15119381700003 meters Centerline goodness [0,1] 0.8056851402624867 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.06, Z:-1.55 [[ 0.99989977 0.00830855 -0.01146417 8.02800526] [-0.00841486 0.99992176 -0.00925561 -0.06488683] [ 0.01138637 0.00935115 0.99989145 -1.55023135] [ 0. 0. 0. 1. ]] SLAMing on 203.18119381700004 meters Centerline goodness [0,1] 0.809874449293648 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.06, Z:-1.55 [[ 9.99855969e-01 1.20305657e-02 -1.19710827e-02 8.03041289e+00] [-1.21098640e-02 9.99905063e-01 -6.57386122e-03 -5.81728045e-02] [ 1.18908590e-02 6.71788257e-03 9.99906734e-01 -1.55159937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21119381700004 meters Centerline goodness [0,1] 0.816771471123614 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.06, Z:-1.55 [[ 9.99807998e-01 1.54220539e-02 -1.20883376e-02 8.03103533e+00] [-1.54667572e-02 9.99873854e-01 -3.61332654e-03 -5.51411725e-02] [ 1.20310878e-02 3.79960015e-03 9.99920405e-01 -1.55191317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24119381700004 meters Centerline goodness [0,1] 0.8290346504058341 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.05, Z:-1.55 [[ 9.99746032e-01 1.89640814e-02 -1.21751661e-02 8.03155818e+00] [-1.89707458e-02 9.99819946e-01 -4.32108249e-04 -5.27770513e-02] [ 1.21647793e-02 6.62970487e-04 9.99925787e-01 -1.55214356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27119381700004 meters Centerline goodness [0,1] 0.8328298707436862 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.05, Z:-1.55 [[ 9.99720656e-01 1.99498414e-02 -1.26733136e-02 8.03374830e+00] [-1.99532887e-02 9.99800903e-01 -1.45618998e-04 -4.98185893e-02] [ 1.26678853e-02 3.98452605e-04 9.99919680e-01 -1.55332701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30119381700004 meters Centerline goodness [0,1] 0.8555230810687561 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.05, Z:-1.55 [[ 9.99641048e-01 2.35808687e-02 -1.27168198e-02 8.03403367e+00] [-2.35510492e-02 9.99719536e-01 2.48958208e-03 -4.57503739e-02] [ 1.27719597e-02 -2.18919399e-03 9.99916039e-01 -1.55325842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.331193817 meters Centerline goodness [0,1] 0.8773220374005579 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.04, Z:-1.55 [[ 9.99630722e-01 2.38224448e-02 -1.30733219e-02 8.03537204e+00] [-2.37999776e-02 9.99714989e-01 1.87147328e-03 -4.26934043e-02] [ 1.31141789e-02 -1.55963742e-03 9.99912789e-01 -1.55386653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36119381700001 meters Centerline goodness [0,1] 0.8874889341815412 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.04, Z:-1.56 [[ 9.99593467e-01 2.49629289e-02 -1.37751047e-02 8.03826998e+00] [-2.49338004e-02 9.99686499e-01 2.28230748e-03 -4.01535242e-02] [ 1.38277593e-02 -1.93791393e-03 9.99902514e-01 -1.55547292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.39119381700002 meters Centerline goodness [0,1] 0.899296357615894 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.04, Z:-1.56 [[ 9.99583777e-01 2.51874230e-02 -1.40665192e-02 8.03931690e+00] [-2.51673792e-02 9.99681971e-01 1.60016753e-03 -3.70198118e-02] [ 1.41023497e-02 -1.24548408e-03 9.99899781e-01 -1.55583529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42119381700002 meters Centerline goodness [0,1] 0.9061344242649642 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.03, Z:-1.56 [[ 9.99483571e-01 2.88266521e-02 -1.41991610e-02 8.04051682e+00] [-2.87625504e-02 9.99575231e-01 4.69822797e-03 -3.40616759e-02] [ 1.43285638e-02 -4.28739758e-03 9.99888149e-01 -1.55674407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45119381700002 meters Centerline goodness [0,1] 0.9021450502033026 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.03, Z:-1.56 [[ 9.99491364e-01 2.84381189e-02 -1.44321455e-02 8.04074894e+00] [-2.83820290e-02 9.99588837e-01 4.07655031e-03 -3.26945721e-02] [ 1.45421410e-02 -3.66486326e-03 9.99887541e-01 -1.55646292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48119381700002 meters Centerline goodness [0,1] 0.892285057090163 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.03, Z:-1.56 [[ 9.99544693e-01 2.60391706e-02 -1.52436460e-02 8.04296721e+00] [-2.60166876e-02 9.99660111e-01 1.67139789e-03 -3.11518452e-02] [ 1.52819867e-02 -1.27404771e-03 9.99882412e-01 -1.55736724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51119381700002 meters Centerline goodness [0,1] 0.8699501709014537 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.03, Z:-1.56 [[ 9.99713242e-01 2.19072847e-02 -9.66981431e-03 8.05443402e+00] [-2.18342904e-02 9.99732786e-01 7.59079003e-03 -3.30156109e-02] [ 9.83352400e-03 -7.37747977e-03 9.99924434e-01 -1.56091807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54119381700002 meters Centerline goodness [0,1] 0.8548030193361597 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.03, Z:-1.56 [[ 9.99823760e-01 1.61336094e-02 -9.59976913e-03 8.05237745e+00] [-1.61177428e-02 9.99868608e-01 1.72789471e-03 -3.08019634e-02] [ 9.62638498e-03 -1.57286358e-03 9.99952428e-01 -1.55865743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57119381700002 meters Centerline goodness [0,1] 0.8080851764899708 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.03, Z:-1.56 [[ 9.99835336e-01 1.52951753e-02 -9.76518077e-03 8.05233698e+00] [-1.52847035e-02 9.99882525e-01 1.14609901e-03 -3.03808147e-02] [ 9.78156340e-03 -9.96652398e-04 9.99951663e-01 -1.55828340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60119381700002 meters Centerline goodness [0,1] 0.8448015864818526 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.03, Z:-1.56 [[ 9.99887486e-01 1.11891394e-02 -9.99087626e-03 8.05220788e+00] [-1.12254965e-02 9.99930546e-01 -3.59040269e-03 -2.80060443e-02] [ 9.95000884e-03 3.70215127e-03 9.99943644e-01 -1.55740185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.63119381700002 meters Centerline goodness [0,1] 0.790492374005305 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.03, Z:-1.56 [[ 9.99893970e-01 1.05622555e-02 -1.00243054e-02 8.05178554e+00] [-1.06032737e-02 9.99935592e-01 -4.04758209e-03 -2.81372668e-02] [ 9.98090818e-03 4.15344338e-03 9.99941563e-01 -1.55684250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66119381700003 meters Centerline goodness [0,1] 0.8042806479042661 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.03, Z:-1.56 [[ 9.99910228e-01 8.98734345e-03 -9.93794044e-03 8.05149816e+00] [-9.03748802e-03 9.99946598e-01 -5.01242747e-03 -2.93695683e-02] [ 9.89236133e-03 5.10179152e-03 9.99938055e-01 -1.55701185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69119381700003 meters Centerline goodness [0,1] 0.7202973363617593 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.03, Z:-1.56 [[ 9.99962705e-01 3.73247469e-03 -7.78834011e-03 8.06125788e+00] [-3.72050368e-03 9.99991876e-01 1.55096499e-03 -2.97319728e-02] [ 7.79406578e-03 -1.52193060e-03 9.99968468e-01 -1.55843847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72119381700003 meters Centerline goodness [0,1] 0.7225847755152617 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.03, Z:-1.56 [[ 9.99964980e-01 2.84465707e-03 -7.87060850e-03 8.06115331e+00] [-2.83815397e-03 9.99995622e-01 8.37297922e-04 -2.89674581e-02] [ 7.87295587e-03 -8.14930602e-04 9.99968676e-01 -1.55816113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75119381700003 meters Centerline goodness [0,1] 0.7507155597959099 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.03, Z:-1.56 [[ 9.99966091e-01 2.12945568e-03 -7.95501593e-03 8.06105917e+00] [-2.12860001e-03 9.99997728e-01 1.16028864e-04 -2.78300162e-02] [ 7.95524493e-03 -9.90918824e-05 9.99968352e-01 -1.55783873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78119381700003 meters Centerline goodness [0,1] 0.743221493128637 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.03, Z:-1.56 [[ 9.99964884e-01 1.76648798e-03 -8.19214495e-03 8.06155756e+00] [-1.76882430e-03 9.99998397e-01 -2.77954065e-04 -2.68750403e-02] [ 8.19164082e-03 2.92434769e-04 9.99966405e-01 -1.55783875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81119381700003 meters Centerline goodness [0,1] 0.7267497206241463 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.02, Z:-1.56 [[ 9.99966293e-01 1.02803020e-03 -8.14595956e-03 8.06118222e+00] [-1.04060389e-03 9.99998274e-01 -1.53946093e-03 -2.38031083e-02] [ 8.14436288e-03 1.54788576e-03 9.99965636e-01 -1.55732216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84119381700003 meters Centerline goodness [0,1] 0.7306217531128886 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.02, Z:-1.56 [[ 9.99964015e-01 1.17535167e-03 -8.40157608e-03 8.06200377e+00] [-1.18991588e-03 9.99997798e-01 -1.72872038e-03 -2.22338624e-02] [ 8.39952572e-03 1.73865534e-03 9.99963212e-01 -1.55763017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87119381700003 meters Centerline goodness [0,1] 0.7621799652000995 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.02, Z:-1.56 [[ 9.99963363e-01 1.04572560e-03 -8.49580837e-03 8.06198610e+00] [-1.06606517e-03 9.99996576e-01 -2.38989502e-03 -2.01264468e-02] [ 8.49328011e-03 2.39886455e-03 9.99961054e-01 -1.55719622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90119381700003 meters Centerline goodness [0,1] 0.7594162153222805 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.02, Z:-1.56 [[ 9.99961994e-01 1.25681795e-03 -8.62731648e-03 8.06249523e+00] [-1.27967696e-03 9.99995684e-01 -2.64460068e-03 -1.83619349e-02] [ 8.62395547e-03 2.65554035e-03 9.99959287e-01 -1.55732861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93119381700004 meters Centerline goodness [0,1] 0.7739150240185523 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.02, Z:-1.56 [[ 9.99951511e-01 4.70721035e-03 -8.64967318e-03 8.06280953e+00] [-4.70415849e-03 9.99988866e-01 3.73140307e-04 -1.57712966e-02] [ 8.65133332e-03 -3.32432780e-04 9.99962521e-01 -1.55765117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96119381700004 meters Centerline goodness [0,1] 0.7960345220108864 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.01, Z:-1.56 [[ 9.99950696e-01 4.47890735e-03 -8.86253148e-03 8.06329726e+00] [-4.48349822e-03 9.99989825e-01 -4.98209150e-04 -1.29297579e-02] [ 8.86020987e-03 5.37919731e-04 9.99960603e-01 -1.55758624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99119381700004 meters Centerline goodness [0,1] 0.7771432118691415 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.01, Z:-1.56 [[ 9.99949594e-01 4.31406913e-03 -9.06636519e-03 8.06387972e+00] [-4.32446852e-03 9.99990014e-01 -1.12773779e-03 -1.07541676e-02] [ 9.06140951e-03 1.16688815e-03 9.99958264e-01 -1.55770446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02119381700004 meters Centerline goodness [0,1] 0.8161799804910446 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.01, Z:-1.56 [[ 9.99950658e-01 3.98492326e-03 -9.09958413e-03 8.06428848e+00] [-4.00568524e-03 9.99989413e-01 -2.26455666e-03 -7.42791128e-03] [ 9.09046371e-03 2.30089499e-03 9.99956034e-01 -1.55795040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05119381700004 meters Centerline goodness [0,1] 0.7961378281499285 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.01, Z:-1.56 [[ 9.99946751e-01 4.17088416e-03 -9.43916891e-03 8.06551923e+00] [-4.19525567e-03 9.99987914e-01 -2.56362915e-03 -5.43015886e-03] [ 9.42836223e-03 2.60309236e-03 9.99952164e-01 -1.55850714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.081193817 meters Centerline goodness [0,1] 0.7953258818406155 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.00, Z:-1.56 [[ 9.99944936e-01 4.25625586e-03 -9.59219727e-03 8.06624980e+00] [-4.28771333e-03 9.99985490e-01 -3.26131037e-03 -2.46027011e-03] [ 9.57817711e-03 3.30225938e-03 9.99948675e-01 -1.55886745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.11119381700001 meters Centerline goodness [0,1] 0.8073521797659728 Centerline is valid? [False, False] Translation: X:8.07, Y:0.00, Z:-1.56 [[ 9.99939760e-01 4.95360367e-03 -9.79482933e-03 8.06759163e+00] [-4.98798032e-03 9.99981476e-01 -3.48836446e-03 8.82202313e-04] [ 9.77736791e-03 3.53701074e-03 9.99945945e-01 -1.55963254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14119381700002 meters Centerline goodness [0,1] 0.8768367452977242 Centerline is valid? [False, False] Translation: X:8.07, Y:0.01, Z:-1.56 [[ 9.99902014e-01 9.81740179e-03 -9.97906448e-03 8.06887754e+00] [-9.82060722e-03 9.99951740e-01 -2.72263201e-04 6.56847405e-03] [ 9.97590997e-03 3.70236995e-04 9.99950171e-01 -1.56013327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.17119381700002 meters Centerline goodness [0,1] 0.8953104564987233 Centerline is valid? [False, False] Translation: X:8.07, Y:0.01, Z:-1.56 [[ 9.99896855e-01 1.02229441e-02 -1.00881308e-02 8.06928127e+00] [-1.02367203e-02 9.99946739e-01 -1.31489581e-03 1.09669882e-02] [ 1.00741514e-02 1.41802956e-03 9.99948249e-01 -1.55973745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20119381700002 meters Centerline goodness [0,1] 0.9102341358484322 Centerline is valid? [False, False] Translation: X:8.07, Y:0.01, Z:-1.56 [[ 9.99850836e-01 1.39485761e-02 -1.01854234e-02 8.06935400e+00] [-1.39307143e-02 9.99901302e-01 1.82251237e-03 1.33871600e-02] [ 1.02098396e-02 -1.68035030e-03 9.99946466e-01 -1.55932298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23119381700002 meters Centerline goodness [0,1] 0.9218652720707259 Centerline is valid? [False, False] Translation: X:8.07, Y:0.02, Z:-1.56 [[ 9.99783312e-01 1.83579703e-02 -9.81393758e-03 8.06838255e+00] [-1.83196970e-02 9.99824276e-01 3.97567911e-03 1.97894600e-02] [ 9.88519843e-03 -3.79502927e-03 9.99943939e-01 -1.55771912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26119381700002 meters Centerline goodness [0,1] 0.9381768391353056 Centerline is valid? [False, False] Translation: X:8.07, Y:0.02, Z:-1.56 [[ 9.99776631e-01 1.86138610e-02 -1.00106580e-02 8.06872262e+00] [-1.85837294e-02 9.99822518e-01 3.09461152e-03 2.29384091e-02] [ 1.00664839e-02 -2.90788492e-03 9.99945104e-01 -1.55724837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29119381700002 meters Centerline goodness [0,1] 0.9396233420656367 Centerline is valid? [False, False] Translation: X:8.07, Y:0.02, Z:-1.56 [[ 9.99749790e-01 1.97311665e-02 -1.05375083e-02 8.07091740e+00] [-1.96944248e-02 9.99799639e-01 3.57921804e-03 2.42669563e-02] [ 1.06060191e-02 -3.37079232e-03 9.99938073e-01 -1.55841060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32119381700002 meters Centerline goodness [0,1] 0.9383553148385496 Centerline is valid? [False, False] Translation: X:8.07, Y:0.03, Z:-1.56 [[ 9.99745769e-01 1.98312529e-02 -1.07293106e-02 8.07145345e+00] [-1.97985242e-02 9.99799034e-01 3.14806795e-03 2.56825702e-02] [ 1.07895845e-02 -2.93484310e-03 9.99937484e-01 -1.55848948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35119381700002 meters Centerline goodness [0,1] 0.9438139650049522 Centerline is valid? [False, False] Translation: X:8.07, Y:0.03, Z:-1.56 [[ 9.99747039e-01 1.96857401e-02 -1.08779222e-02 8.07147977e+00] [-1.96593411e-02 9.99803539e-01 2.52847686e-03 2.76488508e-02] [ 1.09255600e-02 -2.31398448e-03 9.99937637e-01 -1.55796540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38119381700002 meters Centerline goodness [0,1] 0.9438600124249327 Centerline is valid? [False, False] Translation: X:8.07, Y:0.03, Z:-1.56 [[ 9.99813221e-01 1.58576682e-02 -1.10479172e-02 8.07126110e+00] [-1.58795544e-02 9.99872114e-01 -1.89612614e-03 2.92539905e-02] [ 1.10164362e-02 2.07120799e-03 9.99937172e-01 -1.55705863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.41119381700003 meters Centerline goodness [0,1] 0.94277350594735 Centerline is valid? [False, False] Translation: X:8.08, Y:0.03, Z:-1.56 [[ 9.99910102e-01 1.20750779e-02 -5.82929442e-03 8.08109686e+00] [-1.20409231e-02 9.99910339e-01 5.85913526e-03 2.57422859e-02] [ 5.89952128e-03 -5.78841845e-03 9.99965844e-01 -1.56020182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44119381700003 meters Centerline goodness [0,1] 0.9398173025255239 Centerline is valid? [False, False] Translation: X:8.08, Y:0.02, Z:-1.56 [[ 9.99951649e-01 7.86574958e-03 -5.90162144e-03 8.08070092e+00] [-7.85452375e-03 9.99967304e-01 1.92293286e-03 2.43084367e-02] [ 5.91655378e-03 -1.87648546e-03 9.99980736e-01 -1.55959254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47119381700003 meters Centerline goodness [0,1] 0.9382693178543493 Centerline is valid? [False, False] Translation: X:8.08, Y:0.02, Z:-1.56 [[ 9.99972198e-01 4.21311631e-03 -6.15247287e-03 8.08133606e+00] [-4.22089954e-03 9.99990307e-01 -1.25262125e-03 2.21963359e-02] [ 6.14713579e-03 1.27855540e-03 9.99980289e-01 -1.55980450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50119381700003 meters Centerline goodness [0,1] 0.9085455107720853 Centerline is valid? [False, False] Translation: X:8.08, Y:0.02, Z:-1.56 [[ 9.99980441e-01 -3.93821234e-04 -6.24192419e-03 8.08124035e+00] [ 3.68632046e-04 9.99991787e-01 -4.03612145e-03 1.70889840e-02] [ 6.24346244e-03 4.03374154e-03 9.99972374e-01 -1.55995828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53119381700003 meters Centerline goodness [0,1] 0.8480294401842068 Centerline is valid? [False, False] Translation: X:8.08, Y:0.01, Z:-1.56 [[ 9.99978968e-01 -4.76965699e-04 -6.46811309e-03 8.08223795e+00] [ 4.58826434e-04 9.99995959e-01 -2.80560775e-03 1.25827864e-02] [ 6.46942513e-03 2.80258100e-03 9.99975146e-01 -1.56104736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56119381700003 meters Centerline goodness [0,1] 0.8576327205122909 Centerline is valid? [False, False] Translation: X:8.08, Y:0.01, Z:-1.56 [[ 9.99979207e-01 -6.51883532e-04 -6.41572189e-03 8.08244077e+00] [ 6.39923360e-04 9.99998054e-01 -1.86607363e-03 8.28812502e-03] [ 6.41692587e-03 1.86192926e-03 9.99977678e-01 -1.56170986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59119381700003 meters Centerline goodness [0,1] 0.8438843863711545 Centerline is valid? [False, False] Translation: X:8.08, Y:0.01, Z:-1.56 [[ 9.99979585e-01 -4.16514354e-04 -6.37625401e-03 8.08284237e+00] [ 4.11432433e-04 9.99999597e-01 -7.98298356e-04 5.02150360e-03] [ 6.37658395e-03 7.95658660e-04 9.99979353e-01 -1.56248152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62119381700003 meters Centerline goodness [0,1] 0.8471467391304348 Centerline is valid? [False, False] Translation: X:8.08, Y:0.00, Z:-1.56 [[ 9.99978817e-01 1.66458134e-04 -6.50679450e-03 8.08312637e+00] [-1.66709545e-04 9.99999985e-01 -3.80957923e-05 4.03455664e-03] [ 6.50678806e-03 3.91797301e-05 9.99978830e-01 -1.56236208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65119381700003 meters Centerline goodness [0,1] 0.847612200883229 Centerline is valid? [False, False] Translation: X:8.08, Y:0.00, Z:-1.56 [[ 9.99976518e-01 6.65354264e-04 -6.82054191e-03 8.08401889e+00] [-6.64214342e-04 9.99999765e-01 1.69394583e-04 4.58687465e-03] [ 6.82065301e-03 -1.64860304e-04 9.99976725e-01 -1.56253793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68119381700004 meters Centerline goodness [0,1] 0.8668954680780682 Centerline is valid? [False, False] Translation: X:8.08, Y:0.00, Z:-1.56 [[ 9.99975144e-01 1.02138499e-03 -6.97627855e-03 8.08442682e+00] [-1.01984226e-03 9.99999455e-01 2.24693618e-04 4.93325403e-03] [ 6.97650425e-03 -2.17573329e-04 9.99975640e-01 -1.56256312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71119381700004 meters Centerline goodness [0,1] 0.8755748963639738 Centerline is valid? [False, False] Translation: X:8.09, Y:0.00, Z:-1.56 [[ 9.99971429e-01 1.73159679e-03 -7.35823802e-03 8.08621061e+00] [-1.72559857e-03 9.99998174e-01 8.21440843e-04 4.21211609e-03] [ 7.35964699e-03 -8.08720008e-04 9.99972590e-01 -1.56383652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74119381700004 meters Centerline goodness [0,1] 0.8961637886464688 Centerline is valid? [False, False] Translation: X:8.09, Y:0.00, Z:-1.56 [[ 9.99969965e-01 2.29107166e-03 -7.40410155e-03 8.08664926e+00] [-2.28342574e-03 9.99996851e-01 1.04094809e-03 3.90784356e-03] [ 7.40646312e-03 -1.02401011e-03 9.99972047e-01 -1.56420150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77119381700004 meters Centerline goodness [0,1] 0.9268474281814233 Centerline is valid? [False, False] Translation: X:8.09, Y:0.00, Z:-1.56 [[ 9.99969822e-01 2.16848736e-03 -7.46004755e-03 8.08656347e+00] [-2.16277247e-03 9.99997362e-01 7.74048774e-04 4.33712732e-03] [ 7.46170638e-03 -7.57891029e-04 9.99971874e-01 -1.56390788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80119381700004 meters Centerline goodness [0,1] 0.8916534066251989 Centerline is valid? [False, False] Translation: X:8.09, Y:0.00, Z:-1.56 [[ 9.99970508e-01 1.88867200e-03 -7.44418562e-03 8.08629292e+00] [-1.88534701e-03 9.99998120e-01 4.53647472e-04 4.69625264e-03] [ 7.44502842e-03 -4.39599220e-04 9.99972189e-01 -1.56356445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.831193817 meters Centerline goodness [0,1] 0.8765200544127952 Centerline is valid? [False, False] Translation: X:8.09, Y:0.00, Z:-1.56 [[ 9.99970235e-01 1.59866922e-03 -7.54800838e-03 8.08638724e+00] [-1.59462081e-03 9.99998582e-01 5.42342696e-04 3.93969548e-03] [ 7.54886470e-03 -5.30290342e-04 9.99971366e-01 -1.56351826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86119381700001 meters Centerline goodness [0,1] 0.9039412928759895 Centerline is valid? [False, False] Translation: X:8.09, Y:0.00, Z:-1.56 [[ 9.99969807e-01 1.40306599e-03 -7.64303320e-03 8.08658173e+00] [-1.39932624e-03 9.99998899e-01 4.94627199e-04 3.73657765e-03] [ 7.64371877e-03 -4.83917168e-04 9.99970669e-01 -1.56356047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.89119381700002 meters Centerline goodness [0,1] 0.9039412928759895 Centerline is valid? [False, False] Translation: X:8.09, Y:0.00, Z:-1.56 [[ 9.99969807e-01 1.40306599e-03 -7.64303320e-03 8.08658173e+00] [-1.39932624e-03 9.99998899e-01 4.94627199e-04 3.73657765e-03] [ 7.64371877e-03 -4.83917168e-04 9.99970669e-01 -1.56356047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92119381700002 meters Centerline goodness [0,1] 0.9207538601271571 Centerline is valid? [False, False] Translation: X:8.09, Y:0.00, Z:-1.56 [[ 9.99969185e-01 1.27645831e-03 -7.74595528e-03 8.08691546e+00] [-1.27369763e-03 9.99999124e-01 3.61325528e-04 3.83514857e-03] [ 7.74640971e-03 -3.51448389e-04 9.99969934e-01 -1.56369858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95119381700002 meters Centerline goodness [0,1] 0.9199209502439426 Centerline is valid? [False, False] Translation: X:8.09, Y:0.00, Z:-1.56 [[ 9.99965699e-01 2.19286678e-03 -7.98695186e-03 8.08786351e+00] [-2.18535333e-03 9.99997162e-01 9.49321512e-04 3.26610987e-03] [ 7.98901092e-03 -9.31834638e-04 9.99967653e-01 -1.56410073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98119381700002 meters Centerline goodness [0,1] 0.9295410872574746 Centerline is valid? [False, False] Translation: X:8.09, Y:0.00, Z:-1.56 [[ 9.99963450e-01 2.77257935e-03 -8.08771258e-03 8.08799811e+00] [-2.76437611e-03 9.99995653e-01 1.02528638e-03 3.61513330e-03] [ 8.09052011e-03 -1.00289143e-03 9.99966768e-01 -1.56380848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01119381700002 meters Centerline goodness [0,1] 0.9422885778182721 Centerline is valid? [False, False] Translation: X:8.09, Y:0.00, Z:-1.56 [[ 9.99960240e-01 3.53498924e-03 -8.18672320e-03 8.08813136e+00] [-3.52535932e-03 9.99993077e-01 1.19041657e-03 4.17133227e-03] [ 8.19087464e-03 -1.16150810e-03 9.99965780e-01 -1.56344193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04119381700002 meters Centerline goodness [0,1] 0.944570884714061 Centerline is valid? [False, False] Translation: X:8.09, Y:0.00, Z:-1.56 [[ 9.99955893e-01 4.33753401e-03 -8.33058160e-03 8.08855135e+00] [-4.32667980e-03 9.99989768e-01 1.32051602e-03 4.94950498e-03] [ 8.33622414e-03 -1.28441402e-03 9.99964428e-01 -1.56333230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07119381700002 meters Centerline goodness [0,1] 0.9396317849524717 Centerline is valid? [False, False] Translation: X:8.09, Y:0.00, Z:-1.56 [[ 9.99916979e-01 9.81933483e-03 -8.34355747e-03 8.08915812e+00] [-9.76615077e-03 9.99931885e-01 6.39127949e-03 3.81154335e-03] [ 8.40574726e-03 -6.30926445e-03 9.99944767e-01 -1.56378324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10119381700002 meters Centerline goodness [0,1] 0.9387231046408084 Centerline is valid? [False, False] Translation: X:8.09, Y:0.00, Z:-1.56 [[ 9.99906189e-01 1.07594462e-02 -8.47630315e-03 8.08976106e+00] [-1.07018599e-02 9.99919543e-01 6.81011575e-03 4.02358968e-03] [ 8.54889425e-03 -6.71876468e-03 9.99940886e-01 -1.56395977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13119381700002 meters Centerline goodness [0,1] 0.9380516305473833 Centerline is valid? [False, False] Translation: X:8.09, Y:0.00, Z:-1.56 [[ 9.99893787e-01 1.17016613e-02 -8.68822262e-03 8.09041439e+00] [-1.16374064e-02 9.99904829e-01 7.40971656e-03 3.43905467e-03] [ 8.77410174e-03 -7.30782117e-03 9.99934803e-01 -1.56406959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16119381700003 meters Centerline goodness [0,1] 0.9377423879858074 Centerline is valid? [False, False] Translation: X:8.09, Y:0.00, Z:-1.56 [[ 9.99880794e-01 1.25731457e-02 -8.96174645e-03 8.09133777e+00] [-1.25001825e-02 9.99888642e-01 8.15166018e-03 2.15633766e-03] [ 9.06324049e-03 -8.03866499e-03 9.99926616e-01 -1.56443975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19119381700003 meters Centerline goodness [0,1] 0.9377303789604473 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.00, Z:-1.56 [[ 9.99856953e-01 1.42150833e-02 -9.16546075e-03 8.09189269e+00] [-1.41213933e-02 9.99848190e-01 1.02070199e-02 -3.11699536e-03] [ 9.30916298e-03 -1.00761307e-02 9.99905901e-01 -1.56458024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22119381700003 meters Centerline goodness [0,1] 0.9397907386304776 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.00, Z:-1.56 [[ 9.99892404e-01 1.12848966e-02 -9.37180174e-03 8.09210847e+00] [-1.12203642e-02 9.99913173e-01 6.91007811e-03 -4.18343008e-03] [ 9.44896753e-03 -6.80417959e-03 9.99932208e-01 -1.56412857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25119381700003 meters Centerline goodness [0,1] 0.9386679345129817 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.01, Z:-1.56 [[ 9.99920670e-01 8.01834484e-03 -9.71392767e-03 8.09241515e+00] [-7.98365435e-03 9.99961633e-01 3.60474137e-03 -5.88768409e-03] [ 9.74245903e-03 -3.52690276e-03 9.99946321e-01 -1.56353192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28119381700003 meters Centerline goodness [0,1] 0.9384523392234891 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.01, Z:-1.56 [[ 9.99936958e-01 4.96082413e-03 -1.00732581e-02 8.09323063e+00] [-4.95252393e-03 9.99987376e-01 8.48761302e-04 -8.56076468e-03] [ 1.00773415e-02 -7.98819743e-04 9.99948903e-01 -1.56357268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31119381700003 meters Centerline goodness [0,1] 0.9386705763313854 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.01, Z:-1.56 [[ 9.99945846e-01 1.75157385e-03 -1.02584765e-02 8.09320352e+00] [-1.77060753e-03 9.99996727e-01 -1.84662212e-03 -1.19498156e-02] [ 1.02552084e-02 1.86468586e-03 9.99945675e-01 -1.56303185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34119381700003 meters Centerline goodness [0,1] 0.9399697778881781 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.02, Z:-1.56 [[ 9.99936310e-01 -4.12901403e-03 -1.05036730e-02 8.09258386e+00] [ 4.06608644e-03 9.99973701e-01 -6.00532484e-03 -2.18387648e-02] [ 1.05281928e-02 5.96223352e-03 9.99926802e-01 -1.56179407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37119381700003 meters Centerline goodness [0,1] 0.9403347676597147 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.03, Z:-1.57 [[ 9.99958755e-01 -7.22691793e-03 -5.50085555e-03 8.10473075e+00] [ 7.23859645e-03 9.99971583e-01 2.10609787e-03 -3.03633049e-02] [ 5.48547864e-03 -2.14582948e-03 9.99982652e-01 -1.56580611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40119381700003 meters Centerline goodness [0,1] 0.9409372818006325 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.04, Z:-1.57 [[ 9.99932472e-01 -9.99679955e-03 -5.92584993e-03 8.10651767e+00] [ 9.99898126e-03 9.99949952e-01 3.38655179e-04 -3.58642762e-02] [ 5.92216788e-03 -3.97884772e-04 9.99982385e-01 -1.56689731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43119381700004 meters Centerline goodness [0,1] 0.9398406210000413 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.04, Z:-1.57 [[ 9.99896898e-01 -1.29012369e-02 -6.30490012e-03 8.10820778e+00] [ 1.28909501e-02 9.99915515e-01 -1.66948453e-03 -4.07181559e-02] [ 6.32590586e-03 1.58803625e-03 9.99978730e-01 -1.56799888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46119381700004 meters Centerline goodness [0,1] 0.9356786829641579 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.05, Z:-1.57 [[ 9.99805387e-01 -1.84017779e-02 -7.11071262e-03 8.11195394e+00] [ 1.83642832e-02 9.99817300e-01 -5.30279306e-03 -5.05979172e-02] [ 7.20699432e-03 5.17117793e-03 9.99960658e-01 -1.57075989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49119381700004 meters Centerline goodness [0,1] 0.9380403160913612 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.06, Z:-1.57 [[ 9.99749280e-01 -2.11082405e-02 -7.47116616e-03 8.11366280e+00] [ 2.10550316e-02 9.99752892e-01 -7.13032241e-03 -5.57319726e-02] [ 7.61982853e-03 6.97122906e-03 9.99946669e-01 -1.57183327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52119381700004 meters Centerline goodness [0,1] 0.9327514872069328 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.06, Z:-1.57 [[ 9.99677540e-01 -2.41756831e-02 -7.76869033e-03 8.11493214e+00] [ 2.41039733e-02 9.99667166e-01 -9.19536938e-03 -6.09499907e-02] [ 7.98840898e-03 9.00514793e-03 9.99927544e-01 -1.57250911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55119381700004 meters Centerline goodness [0,1] 0.9397909551898996 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.07, Z:-1.57 [[ 9.99591665e-01 -2.74593892e-02 -7.90471972e-03 8.11536290e+00] [ 2.73685945e-02 9.99560701e-01 -1.13738854e-02 -6.62708830e-02] [ 8.21356713e-03 1.11529000e-02 9.99904070e-01 -1.57248210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.581193817 meters Centerline goodness [0,1] 0.9279409636810881 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.08, Z:-1.57 [[ 9.99359506e-01 -3.48855056e-02 -7.97366778e-03 8.11531457e+00] [ 3.47521357e-02 9.99263127e-01 -1.62939170e-02 -7.67760243e-02] [ 8.53621373e-03 1.60063789e-02 9.99835451e-01 -1.57189811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.61119381700001 meters Centerline goodness [0,1] 0.9151036932991821 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.08, Z:-1.57 [[ 0.99923413 -0.03825688 -0.00821998 8.11641349] [ 0.0381007 0.99910478 -0.01838428 -0.08210206] [ 0.00891595 0.01805701 0.9997972 -1.57240815] [ 0. 0. 0. 1. ]] SLAMing on 205.64119381700002 meters Centerline goodness [0,1] 0.897345936352004 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.09, Z:-1.57 [[ 0.99909445 -0.04171199 -0.00838991 8.11727094] [ 0.04153048 0.99892162 -0.02075627 -0.08670757] [ 0.00924664 0.02038903 0.99974936 -1.57269935] [ 0. 0. 0. 1. ]] SLAMing on 205.67119381700002 meters Centerline goodness [0,1] 0.8738783545746555 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.09, Z:-1.57 [[ 0.99894434 -0.04511255 -0.00866429 8.11829236] [ 0.0449007 0.99872061 -0.02326109 -0.09074774] [ 0.00970258 0.02284751 0.99969188 -1.57289122] [ 0. 0. 0. 1. ]] SLAMing on 205.70119381700002 meters Centerline goodness [0,1] 0.8270577026635185 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.10, Z:-1.57 [[ 0.99877053 -0.04878398 -0.0088059 8.1186666 ] [ 0.04855375 0.99851515 -0.02469875 -0.09963201] [ 0.00999773 0.02424082 0.99965615 -1.57281392] [ 0. 0. 0. 1. ]] SLAMing on 205.73119381700002 meters Centerline goodness [0,1] 0.8253472150352907 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.10, Z:-1.57 [[ 0.9987846 -0.04845535 -0.0090226 8.1189247 ] [ 0.04823413 0.99856415 -0.02330479 -0.10413295] [ 0.01013889 0.02284127 0.99968769 -1.57264136] [ 0. 0. 0. 1. ]] SLAMing on 205.76119381700002 meters Centerline goodness [0,1] 0.8414669481352706 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.11, Z:-1.57 [[ 0.99889114 -0.04622088 -0.00895114 8.11757703] [ 0.04603007 0.99873043 -0.02046387 -0.1090445 ] [ 0.00988563 0.02002916 0.99975052 -1.57120177] [ 0. 0. 0. 1. ]] SLAMing on 205.79119381700002 meters Centerline goodness [0,1] 0.8488879693803661 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.11, Z:-1.57 [[ 0.99909331 -0.04153519 -0.00934852 8.1177541 ] [ 0.0413871 0.99902274 -0.01551381 -0.11092097] [ 0.00998375 0.01511284 0.99983595 -1.57088706] [ 0. 0. 0. 1. ]] SLAMing on 205.82119381700002 meters Centerline goodness [0,1] 0.9019312818187439 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.11, Z:-1.57 [[ 9.99398584e-01 -3.32472425e-02 -9.85351839e-03 8.11831744e+00] [ 3.31839713e-02 9.99428015e-01 -6.51662287e-03 -1.13923771e-01] [ 1.00645421e-02 6.18572480e-03 9.99930218e-01 -1.57111180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85119381700002 meters Centerline goodness [0,1] 0.9299811543479611 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.11, Z:-1.57 [[ 9.99549754e-01 -2.82565978e-02 -1.00922808e-02 8.11850788e+00] [ 2.82396625e-02 9.99599530e-01 -1.81665085e-03 -1.14174702e-01] [ 1.01395715e-02 1.53083030e-03 9.99947421e-01 -1.57102653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88119381700002 meters Centerline goodness [0,1] 0.9401273095523499 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.11, Z:-1.57 [[ 9.99670194e-01 -2.33620086e-02 -1.06639693e-02 8.11943759e+00] [ 2.33923856e-02 9.99722626e-01 2.73276210e-03 -1.14186558e-01] [ 1.05971686e-02 -2.98131649e-03 9.99939404e-01 -1.57105096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.91119381700003 meters Centerline goodness [0,1] 0.942536314000206 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.11, Z:-1.57 [[ 9.99918298e-01 -1.17214479e-02 -5.09951217e-03 8.12013630e+00] [ 1.17182510e-02 9.99931124e-01 -6.56322577e-04 -1.14386920e-01] [ 5.10685398e-03 5.96511590e-04 9.99986782e-01 -1.57179269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94119381700003 meters Centerline goodness [0,1] 0.9428063722958034 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.12, Z:-1.57 [[ 9.99957603e-01 -7.69964084e-03 -5.05044737e-03 8.12002488e+00] [ 7.71845651e-03 9.99963305e-01 3.71669357e-03 -1.16244032e-01] [ 5.02164484e-03 -3.75551766e-03 9.99980339e-01 -1.57185396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97119381700003 meters Centerline goodness [0,1] 0.9396076975434688 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.12, Z:-1.57 [[ 9.99962487e-01 -6.80797511e-03 -5.35504761e-03 8.12107714e+00] [ 6.83085980e-03 9.99967566e-01 4.26686201e-03 -1.16385817e-01] [ 5.32582524e-03 -4.30328153e-03 9.99976558e-01 -1.57237787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00119381700003 meters Centerline goodness [0,1] 0.9363733640628858 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.12, Z:-1.57 [[ 9.99971369e-01 -4.63029178e-03 -5.98508642e-03 8.12418537e+00] [ 4.66663074e-03 9.99970677e-01 6.07194645e-03 -1.17251018e-01] [ 5.95679604e-03 -6.09970280e-03 9.99963654e-01 -1.57465750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03119381700003 meters Centerline goodness [0,1] 0.9372959655066215 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.12, Z:-1.58 [[ 9.99970189e-01 -4.41279658e-03 -6.33624192e-03 8.12524644e+00] [ 4.45242322e-03 9.99970534e-01 6.25354046e-03 -1.17496617e-01] [ 6.30845962e-03 -6.28156567e-03 9.99960372e-01 -1.57509226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06119381700003 meters Centerline goodness [0,1] 0.9345825115055885 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.12, Z:-1.58 [[ 9.99970357e-01 -4.24546360e-03 -6.42355765e-03 8.12549718e+00] [ 4.28736323e-03 9.99969533e-01 6.52315796e-03 -1.18257963e-01] [ 6.39566811e-03 -6.55050471e-03 9.99958092e-01 -1.57512644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09119381700003 meters Centerline goodness [0,1] 0.9380780718920589 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.12, Z:-1.57 [[ 9.99968922e-01 -4.93716120e-03 -6.14653494e-03 8.12359020e+00] [ 4.97486514e-03 9.99968811e-01 6.13407590e-03 -1.22343426e-01] [ 6.11605832e-03 -6.16446344e-03 9.99962296e-01 -1.57331674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12119381700003 meters Centerline goodness [0,1] 0.938464402432466 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.13, Z:-1.57 [[ 9.99969833e-01 -4.63377082e-03 -6.23394976e-03 8.12362689e+00] [ 4.67783003e-03 9.99964054e-01 7.07170661e-03 -1.25714039e-01] [ 6.20095701e-03 -7.10065464e-03 9.99955563e-01 -1.57311998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15119381700003 meters Centerline goodness [0,1] 0.9383084782071353 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.13, Z:-1.57 [[ 9.99959011e-01 -5.85374453e-03 -6.90719939e-03 8.12632146e+00] [ 5.89385436e-03 9.99965805e-01 5.80096415e-03 -1.28009914e-01] [ 6.87300584e-03 -5.84143640e-03 9.99959319e-01 -1.57459701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18119381700004 meters Centerline goodness [0,1] 0.9366067550518108 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.13, Z:-1.57 [[ 9.99962233e-01 -5.25019838e-03 -6.92586687e-03 8.12664683e+00] [ 5.29811672e-03 9.99962030e-01 6.91864163e-03 -1.31148431e-01] [ 6.88927965e-03 -6.95507438e-03 9.99952081e-01 -1.57491271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21119381700004 meters Centerline goodness [0,1] 0.936676116962937 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.14, Z:-1.58 [[ 9.99969610e-01 -3.24379492e-03 -7.08924699e-03 8.12740420e+00] [ 3.31312953e-03 9.99946583e-01 9.79048927e-03 -1.38748931e-01] [ 7.05710996e-03 -9.81367933e-03 9.99926942e-01 -1.57530937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24119381700004 meters Centerline goodness [0,1] 0.9347987157322796 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.14, Z:-1.58 [[ 9.99970506e-01 -2.17212686e-03 -7.36679088e-03 8.12838707e+00] [ 2.25634284e-03 9.99931983e-01 1.14428630e-02 -1.42850670e-01] [ 7.34143446e-03 -1.14591475e-02 9.99907391e-01 -1.57577671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27119381700004 meters Centerline goodness [0,1] 0.9358228057138139 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.15, Z:-1.58 [[ 9.99969935e-01 -1.44164282e-03 -7.61915610e-03 8.12920889e+00] [ 1.53920906e-03 9.99916699e-01 1.28150743e-02 -1.46718165e-01] [ 7.60004666e-03 -1.28264165e-02 9.99888855e-01 -1.57614620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30119381700004 meters Centerline goodness [0,1] 0.9354605086183707 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.15, Z:-1.58 [[ 9.99965643e-01 -3.44479494e-03 -7.53966714e-03 8.12894549e+00] [ 3.52618842e-03 9.99935366e-01 1.08088301e-02 -1.49554848e-01] [ 7.50194561e-03 -1.08350450e-02 9.99913158e-01 -1.57582110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.331193817 meters Centerline goodness [0,1] 0.9341049287202657 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.16, Z:-1.58 [[ 9.99955589e-01 -5.02113811e-03 -7.97551865e-03 8.12993860e+00] [ 5.10485096e-03 9.99931730e-01 1.05107815e-02 -1.58955197e-01] [ 7.92219807e-03 -1.05510286e-02 9.99912953e-01 -1.57575078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36119381700001 meters Centerline goodness [0,1] 0.9325654493568799 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.16, Z:-1.58 [[ 9.99936261e-01 -7.78985734e-03 -8.17259404e-03 8.13046780e+00] [ 7.85808616e-03 9.99934263e-01 8.34986228e-03 -1.63327084e-01] [ 8.10701256e-03 -8.41355102e-03 9.99931742e-01 -1.57576131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.39119381700002 meters Centerline goodness [0,1] 0.9292093809946165 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.17, Z:-1.58 [[ 9.99907961e-01 -1.04690898e-02 -8.62947693e-03 8.13203396e+00] [ 1.05249371e-02 9.99923797e-01 6.45188689e-03 -1.68153676e-01] [ 8.56127395e-03 -6.54211776e-03 9.99941951e-01 -1.57639415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42119381700002 meters Centerline goodness [0,1] 0.9313029114185423 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.18, Z:-1.58 [[ 9.99831641e-01 -1.60733273e-02 -8.85082727e-03 8.13313789e+00] [ 1.60975210e-02 9.99866864e-01 2.66907353e-03 -1.78347348e-01] [ 8.80674801e-03 -2.81110055e-03 9.99957269e-01 -1.57685929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45119381700002 meters Centerline goodness [0,1] 0.9276603648972179 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.18, Z:-1.58 [[ 9.99778423e-01 -1.90038719e-02 -9.05303900e-03 8.13397462e+00] [ 1.90108669e-02 9.99819041e-01 6.87233984e-04 -1.83365001e-01] [ 9.03834067e-03 -8.59187828e-04 9.99958784e-01 -1.57714449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48119381700002 meters Centerline goodness [0,1] 0.9302368883831592 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.19, Z:-1.58 [[ 9.99714980e-01 -2.20267635e-02 -9.20768430e-03 8.13463136e+00] [ 2.20139294e-02 9.99756549e-01 -1.49289012e-03 -1.87755345e-01] [ 9.23832622e-03 1.28976730e-03 9.99956494e-01 -1.57730952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51119381700002 meters Centerline goodness [0,1] 0.9305848315767721 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.20, Z:-1.58 [[ 9.99564179e-01 -2.80669332e-02 -9.14868344e-03 8.13435888e+00] [ 2.80115165e-02 9.99588803e-01 -6.13025003e-03 -1.95625335e-01] [ 9.31697884e-03 5.87130984e-03 9.99939359e-01 -1.57652363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54119381700002 meters Centerline goodness [0,1] 0.9338315525085953 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.20, Z:-1.58 [[ 9.99556793e-01 -2.82082227e-02 -9.51391329e-03 8.13526568e+00] [ 2.81627592e-02 9.99591442e-01 -4.87924977e-03 -2.01428183e-01] [ 9.64766127e-03 4.60914920e-03 9.99942838e-01 -1.57662185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57119381700002 meters Centerline goodness [0,1] 0.9337622700651654 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.21, Z:-1.58 [[ 9.99460076e-01 -3.13962112e-02 -9.68676473e-03 8.13612084e+00] [ 3.13264124e-02 9.99482731e-01 -7.27511530e-03 -2.05715240e-01] [ 9.91016512e-03 6.96773570e-03 9.99926617e-01 -1.57687649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60119381700002 meters Centerline goodness [0,1] 0.9330011530225663 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.21, Z:-1.58 [[ 0.99935733 -0.03444494 -0.00992337 8.13733283] [ 0.03435028 0.99936416 -0.00955696 -0.20996919] [ 0.01024625 0.00920994 0.99990509 -1.57741725] [ 0. 0. 0. 1. ]] SLAMing on 206.63119381700002 meters Centerline goodness [0,1] 0.9343630139811111 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.22, Z:-1.58 [[ 9.99352510e-01 -3.45342917e-02 -1.00967481e-02 8.13812026e+00] [ 3.44519256e-02 9.99372544e-01 -8.22093203e-03 -2.15727410e-01] [ 1.03743169e-02 7.86775664e-03 9.99915232e-01 -1.57784472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66119381700003 meters Centerline goodness [0,1] 0.9366805905951445 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.22, Z:-1.58 [[ 0.99925935 -0.03711626 -0.01015557 8.13902828] [ 0.03702129 0.99927041 -0.0093843 -0.22292654] [ 0.01049647 0.00900138 0.9999044 -1.578446 ] [ 0. 0. 0. 1. ]] SLAMing on 206.69119381700003 meters Centerline goodness [0,1] 0.935445936745683 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.23, Z:-1.58 [[ 9.99280791e-01 -3.64560839e-02 -1.04333407e-02 8.13974141e+00] [ 3.63752451e-02 9.99307481e-01 -7.83580619e-03 -2.26983558e-01] [ 1.07117782e-02 7.45065528e-03 9.99914869e-01 -1.57857924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72119381700003 meters Centerline goodness [0,1] 0.9377179048129887 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.23, Z:-1.58 [[ 9.99304351e-01 -3.57658249e-02 -1.05650231e-02 8.14008141e+00] [ 3.57005025e-02 9.99342625e-01 -6.30815942e-03 -2.31076424e-01] [ 1.07836944e-02 5.92659452e-03 9.99924291e-01 -1.57858420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75119381700003 meters Centerline goodness [0,1] 0.9374226293637039 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.24, Z:-1.58 [[ 9.99323698e-01 -3.51657847e-02 -1.07477997e-02 8.14046338e+00] [ 3.51158597e-02 9.99371725e-01 -4.79913552e-03 -2.35373927e-01] [ 1.09098125e-02 4.41847163e-03 9.99930724e-01 -1.57852400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78119381700003 meters Centerline goodness [0,1] 0.9374226293637039 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.24, Z:-1.58 [[ 9.99323698e-01 -3.51657847e-02 -1.07477997e-02 8.14046338e+00] [ 3.51158597e-02 9.99371725e-01 -4.79913552e-03 -2.35373927e-01] [ 1.09098125e-02 4.41847163e-03 9.99930724e-01 -1.57852400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81119381700003 meters Centerline goodness [0,1] 0.937881286067601 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.24, Z:-1.58 [[ 9.99239112e-01 -3.74991165e-02 -1.07244128e-02 8.14057913e+00] [ 3.74343970e-02 9.99280019e-01 -6.17321984e-03 -2.41211821e-01] [ 1.09481818e-02 5.76706079e-03 9.99923436e-01 -1.57834262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84119381700003 meters Centerline goodness [0,1] 0.9384339509862523 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.24, Z:-1.58 [[ 9.99247632e-01 -3.72118384e-02 -1.09292764e-02 8.14106803e+00] [ 3.71586643e-02 9.99296725e-01 -5.02877971e-03 -2.44511343e-01] [ 1.11087203e-02 4.61887891e-03 9.99927629e-01 -1.57837823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87119381700003 meters Centerline goodness [0,1] 0.9381277123372598 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.25, Z:-1.58 [[ 9.99250208e-01 -3.70949958e-02 -1.10897966e-02 8.14131771e+00] [ 3.70515577e-02 9.99304956e-01 -4.09713723e-03 -2.47414252e-01] [ 1.12340719e-02 3.68317099e-03 9.99930112e-01 -1.57817779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90119381700003 meters Centerline goodness [0,1] 0.9379742659188387 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.25, Z:-1.58 [[ 9.99249826e-01 -3.70142962e-02 -1.13897607e-02 8.14188968e+00] [ 3.69793084e-02 9.99310690e-01 -3.26735269e-03 -2.50055471e-01] [ 1.15028484e-02 2.84371614e-03 9.99929796e-01 -1.57803268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93119381700004 meters Centerline goodness [0,1] 0.9396918227254817 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.25, Z:-1.58 [[ 9.99248574e-01 -3.70233539e-02 -1.14698786e-02 8.14180393e+00] [ 3.69957645e-02 9.99312018e-01 -2.60835965e-03 -2.52277371e-01] [ 1.15585577e-02 2.18206273e-03 9.99930817e-01 -1.57761882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96119381700004 meters Centerline goodness [0,1] 0.9345209834238177 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.26, Z:-1.58 [[ 9.99230103e-01 -3.74541965e-02 -1.16783636e-02 8.14223330e+00] [ 3.74335567e-02 9.99297155e-01 -1.98103950e-03 -2.55223588e-01] [ 1.17443537e-02 1.54235162e-03 9.99929843e-01 -1.57749413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99119381700004 meters Centerline goodness [0,1] 0.9263839322765375 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.26, Z:-1.58 [[ 9.99229394e-01 -3.74658155e-02 -1.17017589e-02 8.14224043e+00] [ 3.74481859e-02 9.99297087e-01 -1.72215142e-03 -2.56109001e-01] [ 1.17580554e-02 1.28261467e-03 9.99930049e-01 -1.57737596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02119381700004 meters Centerline goodness [0,1] 0.9359902129512514 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.26, Z:-1.58 [[ 9.99235195e-01 -3.72549278e-02 -1.18783433e-02 8.14270946e+00] [ 3.72414580e-02 9.99305380e-01 -1.35324023e-03 -2.56879371e-01] [ 1.19205072e-02 9.09838446e-04 9.99928534e-01 -1.57749248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05119381700004 meters Centerline goodness [0,1] 0.9401631537537787 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.26, Z:-1.58 [[ 9.99350859e-01 -3.39216127e-02 -1.21319538e-02 8.14350544e+00] [ 3.39519500e-02 9.99420812e-01 2.30340208e-03 -2.56702088e-01] [ 1.20467920e-02 -2.71381033e-03 9.99923752e-01 -1.57819771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.081193817 meters Centerline goodness [0,1] 0.9356484733297525 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.26, Z:-1.58 [[ 9.99418548e-01 -3.16275508e-02 -1.27382841e-02 8.14571803e+00] [ 3.16895257e-02 9.99486743e-01 4.69310647e-03 -2.56140035e-01] [ 1.25833146e-02 -5.09404784e-03 9.99907851e-01 -1.57956928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.11119381700001 meters Centerline goodness [0,1] 0.9377731958762887 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.25, Z:-1.58 [[ 9.99420689e-01 -3.14308824e-02 -1.30531653e-02 8.14645777e+00] [ 3.14901512e-02 9.99494552e-01 4.36008485e-03 -2.54228216e-01] [ 1.29095263e-02 -4.76860516e-03 9.99905298e-01 -1.57976059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14119381700002 meters Centerline goodness [0,1] 0.9410731989424983 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.25, Z:-1.58 [[ 9.99428503e-01 -3.11336805e-02 -1.31666895e-02 8.14649620e+00] [ 3.11897812e-02 9.99505165e-01 4.07710238e-03 -2.52203963e-01] [ 1.30332390e-02 -4.48543849e-03 9.99905003e-01 -1.57956005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.17119381700002 meters Centerline goodness [0,1] 0.9411655607303301 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.25, Z:-1.58 [[ 9.99459902e-01 -2.99840649e-02 -1.34483932e-02 8.14676162e+00] [ 3.00405017e-02 9.99540621e-01 4.01430831e-03 -2.48983234e-01] [ 1.33218500e-02 -4.41613667e-03 9.99901508e-01 -1.57934517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20119381700002 meters Centerline goodness [0,1] 0.9425384870054627 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.25, Z:-1.58 [[ 9.99477740e-01 -2.93558737e-02 -1.35084839e-02 8.14685367e+00] [ 2.94120865e-02 9.99559441e-01 3.98157924e-03 -2.47561123e-01] [ 1.33856499e-02 -4.37681252e-03 9.99900829e-01 -1.57937974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23119381700002 meters Centerline goodness [0,1] 0.9436590693648765 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.25, Z:-1.58 [[ 9.99512744e-01 -2.77195188e-02 -1.43493273e-02 8.14954678e+00] [ 2.77937430e-02 9.99601178e-01 4.99930338e-03 -2.46564464e-01] [ 1.42050262e-02 -5.39568896e-03 9.99884545e-01 -1.58076246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26119381700002 meters Centerline goodness [0,1] 0.9433849081581995 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.25, Z:-1.58 [[ 0.99960879 -0.02381583 -0.01466563 8.15031635] [ 0.02394659 0.99967445 0.00880641 -0.24634063] [ 0.01445112 -0.00915416 0.99985367 -1.58116939] [ 0. 0. 0. 1. ]] SLAMing on 207.29119381700002 meters Centerline goodness [0,1] 0.9420292852415619 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.24, Z:-1.58 [[ 0.99970323 -0.01913271 -0.01507925 8.15139087] [ 0.01932467 0.99973274 0.01268854 -0.24415318] [ 0.01483246 -0.01297618 0.99980579 -1.58186547] [ 0. 0. 0. 1. ]] SLAMing on 207.32119381700002 meters Centerline goodness [0,1] 0.9399259672849846 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.24, Z:-1.58 [[ 0.99970867 -0.01848632 -0.01551881 8.1527484 ] [ 0.01868763 0.99974178 0.01292848 -0.24327888] [ 0.0152758 -0.01321473 0.99979599 -1.58256444] [ 0. 0. 0. 1. ]] SLAMing on 207.35119381700002 meters Centerline goodness [0,1] 0.9393456861609728 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.24, Z:-1.58 [[ 0.99973544 -0.01639022 -0.01613751 8.15572278] [ 0.01662788 0.99975361 0.01470493 -0.24411492] [ 0.01589251 -0.01496937 0.99976164 -1.58475879] [ 0. 0. 0. 1. ]] SLAMing on 207.38119381700002 meters Centerline goodness [0,1] 0.9382279106136056 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.25, Z:-1.59 [[ 0.99973768 -0.01560268 -0.01676709 8.1579524 ] [ 0.01586256 0.99975434 0.0154802 -0.24508782] [ 0.01652143 -0.01574211 0.99973958 -1.58596554] [ 0. 0. 0. 1. ]] SLAMing on 207.41119381700003 meters Centerline goodness [0,1] 0.9380556529631386 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.25, Z:-1.59 [[ 0.99973627 -0.01518948 -0.01722402 8.15960009] [ 0.01546388 0.99975382 0.01591127 -0.24606163] [ 0.0169781 -0.01617343 0.99972504 -1.58689963] [ 0. 0. 0. 1. ]] SLAMing on 207.44119381700003 meters Centerline goodness [0,1] 0.9369685461900438 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.25, Z:-1.59 [[ 0.9997371 -0.01469732 -0.01759882 8.16093597] [ 0.01498939 0.99975017 0.01658076 -0.24802785] [ 0.01735073 -0.0168402 0.99970764 -1.58755045] [ 0. 0. 0. 1. ]] SLAMing on 207.47119381700003 meters Centerline goodness [0,1] 0.9389009624340267 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.25, Z:-1.59 [[ 0.99973909 -0.01418037 -0.01790711 8.16191585] [ 0.0144911 0.99974457 0.01734359 -0.25026455] [ 0.0176566 -0.01759856 0.99968922 -1.58794174] [ 0. 0. 0. 1. ]] SLAMing on 207.50119381700003 meters Centerline goodness [0,1] 0.9410681399631676 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.25, Z:-1.59 [[ 0.99974108 -0.01352472 -0.0182992 8.16304361] [ 0.01385626 0.99973991 0.01811394 -0.25217394] [ 0.01804945 -0.01836281 0.99966846 -1.58829889] [ 0. 0. 0. 1. ]] SLAMing on 207.53119381700003 meters Centerline goodness [0,1] 0.9457988994909631 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.25, Z:-1.59 [[ 0.99975574 -0.01179556 -0.01869003 8.16367424] [ 0.01216702 0.99972819 0.01988764 -0.25480865] [ 0.01845036 -0.02011018 0.99962751 -1.58806205] [ 0. 0. 0. 1. ]] SLAMing on 207.56119381700003 meters Centerline goodness [0,1] 0.9459974718693661 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.26, Z:-1.59 [[ 0.99975146 -0.01156375 -0.01906017 8.16461192] [ 0.01195279 0.99971993 0.02042526 -0.25662989] [ 0.01881864 -0.02064801 0.99960968 -1.58824123] [ 0. 0. 0. 1. ]] SLAMing on 207.59119381700003 meters Centerline goodness [0,1] 0.9445951823698764 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.26, Z:-1.59 [[ 0.99971288 -0.0135901 -0.01973511 8.1665766 ] [ 0.01395327 0.99973366 0.01838252 -0.25891872] [ 0.01948003 -0.01865261 0.99963624 -1.58886744] [ 0. 0. 0. 1. ]] SLAMing on 207.62119381700003 meters Centerline goodness [0,1] 0.9450076550668267 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.26, Z:-1.59 [[ 0.99965714 -0.01681945 -0.02006757 8.16722145] [ 0.01713313 0.99973209 0.01556261 -0.26205967] [ 0.01980044 -0.0159011 0.9996775 -1.58860224] [ 0. 0. 0. 1. ]] SLAMing on 207.65119381700003 meters Centerline goodness [0,1] 0.9438297696005304 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.27, Z:-1.59 [[ 0.99952392 -0.02367463 -0.01978488 8.16565362] [ 0.02388201 0.9996616 0.01031205 -0.27138426] [ 0.01953405 -0.01077964 0.99975108 -1.58660963] [ 0. 0. 0. 1. ]] SLAMing on 207.68119381700004 meters Centerline goodness [0,1] 0.9421175885437175 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.28, Z:-1.59 [[ 9.99434313e-01 -2.72605411e-02 -1.96955844e-02 8.16544806e+00] [ 2.74181014e-02 9.99593820e-01 7.77447912e-03 -2.75830567e-01] [ 1.94756479e-02 -8.31009673e-03 9.99775796e-01 -1.58607945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71119381700004 meters Centerline goodness [0,1] 0.9401363928445577 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.28, Z:-1.59 [[ 9.99324883e-01 -3.10342181e-02 -1.96635379e-02 8.16544570e+00] [ 3.11369963e-02 9.99502907e-01 4.94234428e-03 -2.79303244e-01] [ 1.95003815e-02 -5.55127113e-03 9.99794438e-01 -1.58570679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74119381700004 meters Centerline goodness [0,1] 0.9393318854069708 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.28, Z:-1.59 [[ 9.99197591e-01 -3.48549462e-02 -1.97308412e-02 8.16582204e+00] [ 3.48991261e-02 9.99389035e-01 1.89914110e-03 -2.82091334e-01] [ 1.96525919e-02 -2.58620633e-03 9.99803524e-01 -1.58555092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77119381700004 meters Centerline goodness [0,1] 0.9383456462189756 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.29, Z:-1.59 [[ 9.98914282e-01 -4.23042443e-02 -1.95091645e-02 8.16590490e+00] [ 4.22308475e-02 9.99099223e-01 -4.15911559e-03 -2.87195777e-01] [ 1.96675394e-02 3.33071141e-03 9.99801027e-01 -1.58521669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80119381700004 meters Centerline goodness [0,1] 0.9373612925974322 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.29, Z:-1.59 [[ 9.98898571e-01 -4.25406550e-02 -1.97973904e-02 8.16667247e+00] [ 4.24882721e-02 9.99092282e-01 -3.05927767e-03 -2.92123559e-01] [ 1.99095637e-02 2.21475118e-03 9.99799332e-01 -1.58514346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.831193817 meters Centerline goodness [0,1] 0.9344095615545827 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.30, Z:-1.58 [[ 9.98899351e-01 -4.24553832e-02 -1.99405894e-02 8.16705156e+00] [ 4.24291038e-02 9.99097966e-01 -1.73930427e-03 -2.97062555e-01] [ 1.99964452e-02 8.91328571e-04 9.99799654e-01 -1.58496530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86119381700001 meters Centerline goodness [0,1] 0.929582720092867 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.30, Z:-1.58 [[ 9.98765798e-01 -4.55383316e-02 -1.98278059e-02 8.16692684e+00] [ 4.54757864e-02 9.98958975e-01 -3.59419905e-03 -3.03011356e-01] [ 1.99708385e-02 2.68807802e-03 9.99796949e-01 -1.58445124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.89119381700002 meters Centerline goodness [0,1] 0.9224777294385746 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.31, Z:-1.58 [[ 9.98762513e-01 -4.54208988e-02 -2.02579270e-02 8.16809221e+00] [ 4.53756041e-02 9.98966374e-01 -2.69021762e-03 -3.06185397e-01] [ 2.03591800e-02 1.76767284e-03 9.99791168e-01 -1.58473247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92119381700002 meters Centerline goodness [0,1] 0.9166303105848136 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.31, Z:-1.59 [[ 9.98759324e-01 -4.53161717e-02 -2.06459976e-02 8.16939904e+00] [ 4.52866064e-02 9.98972233e-01 -1.89755231e-03 -3.08674748e-01] [ 2.07107681e-02 9.60210894e-04 9.99785048e-01 -1.58533248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95119381700002 meters Centerline goodness [0,1] 0.9070134290873617 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.31, Z:-1.59 [[ 9.98749375e-01 -4.53165368e-02 -2.11210414e-02 8.17101736e+00] [ 4.53005889e-02 9.98972640e-01 -1.23316055e-03 -3.10732571e-01] [ 2.11552251e-02 2.74822708e-04 9.99776165e-01 -1.58612085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98119381700002 meters Centerline goodness [0,1] 0.8706266939771998 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.31, Z:-1.59 [[ 9.98586814e-01 -4.86829985e-02 -2.13152851e-02 8.17301649e+00] [ 4.86106287e-02 9.98810188e-01 -3.90058703e-03 -3.13191519e-01] [ 2.14798162e-02 2.85892536e-03 9.99765194e-01 -1.58761967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01119381700002 meters Centerline goodness [0,1] 0.8547192898770144 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.32, Z:-1.59 [[ 9.98584927e-01 -4.86295383e-02 -2.15246536e-02 8.17365815e+00] [ 4.85723608e-02 9.98814631e-01 -3.17156881e-03 -3.15621522e-01] [ 2.16533709e-02 2.12157757e-03 9.99763287e-01 -1.58776546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04119381700002 meters Centerline goodness [0,1] 0.8421640402034992 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.32, Z:-1.59 [[ 9.98586045e-01 -4.84543119e-02 -2.18652601e-02 8.17485246e+00] [ 4.84119960e-02 9.98824421e-01 -2.46081570e-03 -3.17799206e-01] [ 2.19587928e-02 1.39879534e-03 9.99757898e-01 -1.58827742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07119381700002 meters Centerline goodness [0,1] 0.8391722710812208 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.32, Z:-1.59 [[ 9.98597616e-01 -4.80770989e-02 -2.21674073e-02 8.17572467e+00] [ 4.80472766e-02 9.98843300e-01 -1.87628012e-03 -3.19111478e-01] [ 2.22319724e-02 8.08565307e-04 9.99752512e-01 -1.58858300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10119381700002 meters Centerline goodness [0,1] 0.875229850622921 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.32, Z:-1.59 [[ 9.98788426e-01 -4.36610230e-02 -2.27023081e-02 8.17678567e+00] [ 4.37283774e-02 9.99040382e-01 2.47869526e-03 -3.20045284e-01] [ 2.25723002e-02 -3.46842724e-03 9.99739197e-01 -1.58903003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.13119381700002 meters Centerline goodness [0,1] 0.8955830791892284 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.32, Z:-1.59 [[ 9.98959971e-01 -3.93912327e-02 -2.29631729e-02 8.17706957e+00] [ 3.95524723e-02 9.99195631e-01 6.61010598e-03 -3.20190750e-01] [ 2.26843218e-02 -7.51148154e-03 9.99714459e-01 -1.58909637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16119381700003 meters Centerline goodness [0,1] 0.9122051666042681 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.32, Z:-1.59 [[ 0.99910669 -0.03518942 -0.02339943 8.17774243] [ 0.03544022 0.99931778 0.01039084 -0.31918928] [ 0.02301781 -0.01121084 0.99967219 -1.58924967] [ 0. 0. 0. 1. ]] SLAMing on 208.19119381700003 meters Centerline goodness [0,1] 0.9220583374648819 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.32, Z:-1.59 [[ 9.99385485e-01 -2.94042496e-02 -1.90798859e-02 8.18743606e+00] [ 2.95039041e-02 9.99552346e-01 4.96265195e-03 -3.16490978e-01] [ 1.89254216e-02 -5.52253345e-03 9.99805646e-01 -1.59134985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22119381700003 meters Centerline goodness [0,1] 0.9286733828427215 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.31, Z:-1.59 [[ 9.99423534e-01 -2.78441148e-02 -1.94243195e-02 8.18725256e+00] [ 2.79571886e-02 9.99593580e-01 5.57414040e-03 -3.14447349e-01] [ 1.92612181e-02 -6.11397647e-03 9.99795792e-01 -1.59052443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25119381700003 meters Centerline goodness [0,1] 0.942500672446256 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.31, Z:-1.59 [[ 9.99560023e-01 -2.28552327e-02 -1.89050014e-02 8.19426923e+00] [ 2.28386741e-02 9.99738568e-01 -1.09134964e-03 -3.12670569e-01] [ 1.89250021e-02 6.59104301e-04 9.99820689e-01 -1.58749545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28119381700003 meters Centerline goodness [0,1] 0.9457760314341846 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.31, Z:-1.58 [[ 9.99697480e-01 -1.69635637e-02 -1.78096903e-02 8.20097136e+00] [ 1.68388372e-02 9.99832794e-01 -7.13006452e-03 -3.10389706e-01] [ 1.79276637e-02 6.82801306e-03 9.99815972e-01 -1.58468835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31119381700003 meters Centerline goodness [0,1] 0.9382380408840926 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.31, Z:-1.58 [[ 9.99748871e-01 -1.33182532e-02 -1.80227615e-02 8.20120910e+00] [ 1.32660990e-02 9.99907470e-01 -3.01026903e-03 -3.11491980e-01] [ 1.80611854e-02 2.77042133e-03 9.99833045e-01 -1.58450046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34119381700003 meters Centerline goodness [0,1] 0.9476795682534451 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.31, Z:-1.59 [[ 0.99984538 -0.01210265 -0.01275687 8.21497842] [ 0.01197792 0.99988015 -0.0098086 -0.30915474] [ 0.01287405 0.00965428 0.99987052 -1.58858841] [ 0. 0. 0. 1. ]] SLAMing on 208.37119381700003 meters Centerline goodness [0,1] 0.9468283196093847 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.31, Z:-1.59 [[ 0.99984328 -0.01207057 -0.01295022 8.2152786 ] [ 0.01195055 0.99988529 -0.00930587 -0.31080905] [ 0.01306106 0.00914964 0.99987284 -1.58840279] [ 0. 0. 0. 1. ]] SLAMing on 208.40119381700003 meters Centerline goodness [0,1] 0.9445808995025697 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.31, Z:-1.59 [[ 0.99984014 -0.01181879 -0.01341672 8.21629973] [ 0.01170294 0.99989384 -0.00868059 -0.31270079] [ 0.01351789 0.00852219 0.99987231 -1.5885146 ] [ 0. 0. 0. 1. ]] SLAMing on 208.43119381700004 meters Centerline goodness [0,1] 0.9440134069890137 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.31, Z:-1.59 [[ 9.99839279e-01 -1.15566530e-02 -1.37061871e-02 8.21736401e+00] [ 1.14461447e-02 9.99901570e-01 -8.11388327e-03 -3.14159868e-01] [ 1.37986074e-02 7.95569620e-03 9.99873145e-01 -1.58913486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46119381700004 meters Centerline goodness [0,1] 0.9416050860752178 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.32, Z:-1.59 [[ 9.99851658e-01 -9.50470264e-03 -1.43639266e-02 8.22103964e+00] [ 9.42609577e-03 9.99940280e-01 -5.53034938e-03 -3.16846398e-01] [ 1.44156331e-02 5.39413325e-03 9.99881539e-01 -1.59211408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49119381700004 meters Centerline goodness [0,1] 0.9341870777902109 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.32, Z:-1.59 [[ 9.99873292e-01 -5.90605188e-03 -1.47823643e-02 8.22246209e+00] [ 5.89075599e-03 9.99982068e-01 -1.07806733e-03 -3.20159304e-01] [ 1.47884663e-02 9.90851434e-04 9.99890154e-01 -1.59278340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52119381700004 meters Centerline goodness [0,1] 0.9319608490955645 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.32, Z:-1.59 [[ 9.99869919e-01 -5.34152487e-03 -1.52188494e-02 8.22401667e+00] [ 5.33752505e-03 9.99985709e-01 -3.03426023e-04 -3.21970400e-01] [ 1.52202527e-02 2.22155563e-04 9.99884141e-01 -1.59366938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55119381700004 meters Centerline goodness [0,1] 0.9334115999340913 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.32, Z:-1.59 [[ 9.99864166e-01 -4.90656753e-03 -1.57345377e-02 8.22523511e+00] [ 4.91365822e-03 9.99987843e-01 4.12017094e-04 -3.23998938e-01] [ 1.57323248e-02 -4.89275268e-04 9.99876120e-01 -1.59386779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.581193817 meters Centerline goodness [0,1] 0.9346135501130213 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.33, Z:-1.59 [[ 9.99864485e-01 -4.19724798e-03 -1.59183844e-02 8.22537610e+00] [ 4.23063138e-03 9.99988921e-01 2.06406567e-03 -3.29662315e-01] [ 1.59095446e-02 -2.13113077e-03 9.99871164e-01 -1.59349412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.61119381700001 meters Centerline goodness [0,1] 0.9338831018518519 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.33, Z:-1.59 [[ 9.99858230e-01 -3.99522649e-03 -1.63571768e-02 8.22651715e+00] [ 4.04255005e-03 9.99987736e-01 2.86109584e-03 -3.32638383e-01] [ 1.63455455e-02 -2.92681493e-03 9.99862119e-01 -1.59378060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.64119381700002 meters Centerline goodness [0,1] 0.9346901516566046 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.34, Z:-1.59 [[ 9.99857738e-01 -3.55255663e-03 -1.64888539e-02 8.22690783e+00] [ 3.61832114e-03 9.99985612e-01 3.96030376e-03 -3.35797944e-01] [ 1.64745475e-02 -4.01940233e-03 9.99856207e-01 -1.59386009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.67119381700002 meters Centerline goodness [0,1] 0.9335391244898382 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.34, Z:-1.59 [[ 9.99851302e-01 -3.31014868e-03 -1.69238290e-02 8.22818505e+00] [ 3.39053425e-03 9.99983097e-01 4.72336112e-03 -3.38380142e-01] [ 1.69079079e-02 -4.78003959e-03 9.99845625e-01 -1.59431514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70119381700002 meters Centerline goodness [0,1] 0.9335391244898382 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.34, Z:-1.59 [[ 9.99851302e-01 -3.31014868e-03 -1.69238290e-02 8.22818505e+00] [ 3.39053425e-03 9.99983097e-01 4.72336112e-03 -3.38380142e-01] [ 1.69079079e-02 -4.78003959e-03 9.99845625e-01 -1.59431514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73119381700002 meters Centerline goodness [0,1] 0.9283745414602806 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.34, Z:-1.59 [[ 9.99849715e-01 -2.46916876e-03 -1.71595702e-02 8.22880127e+00] [ 2.57860999e-03 9.99976459e-01 6.35865774e-03 -3.43205379e-01] [ 1.71434656e-02 -6.40194997e-03 9.99832544e-01 -1.59440171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76119381700002 meters Centerline goodness [0,1] 0.9310394709650754 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.34, Z:-1.60 [[ 9.99917490e-01 -2.87021150e-04 -1.28425013e-02 8.23794789e+00] [ 2.53709692e-04 9.99996600e-01 -2.59539903e-03 -3.43965665e-01] [ 1.28432026e-02 2.59192662e-03 9.99914163e-01 -1.59626996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79119381700002 meters Centerline goodness [0,1] 0.9339470417873397 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.35, Z:-1.60 [[ 9.99916308e-01 5.07351956e-04 -1.29275110e-02 8.23735822e+00] [-5.24801256e-04 9.99998956e-01 -1.34642377e-03 -3.46840915e-01] [ 1.29268144e-02 1.35309546e-03 9.99915530e-01 -1.59518738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82119381700002 meters Centerline goodness [0,1] 0.9341534008683068 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.35, Z:-1.59 [[ 9.99914620e-01 1.12122365e-03 -1.30190549e-02 8.23667236e+00] [-1.12465332e-03 9.99999335e-01 -2.56116449e-04 -3.49787367e-01] [ 1.30187590e-02 2.70736505e-04 9.99915216e-01 -1.59394063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85119381700002 meters Centerline goodness [0,1] 0.9373588814085966 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.35, Z:-1.59 [[ 9.99919427e-01 1.13155192e-03 -1.26435543e-02 8.23307643e+00] [-1.12694471e-03 9.99999296e-01 3.71510736e-04 -3.54935899e-01] [ 1.26439658e-02 -3.57232216e-04 9.99919998e-01 -1.59026281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88119381700002 meters Centerline goodness [0,1] 0.9387721261866269 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.36, Z:-1.59 [[ 9.99919480e-01 1.25452264e-03 -1.26277129e-02 8.23229863e+00] [-1.24101355e-03 9.99998649e-01 1.07757644e-03 -3.57140886e-01] [ 1.26290477e-02 -1.06181851e-03 9.99919687e-01 -1.58912868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.91119381700003 meters Centerline goodness [0,1] 0.9392735175411363 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.36, Z:-1.59 [[ 9.99918647e-01 1.14226540e-03 -1.27041030e-02 8.23214735e+00] [-1.12187884e-03 9.99998072e-01 1.61173296e-03 -3.59377704e-01] [ 1.27059196e-02 -1.59734938e-03 9.99918001e-01 -1.58853995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94119381700003 meters Centerline goodness [0,1] 0.93845324933687 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.36, Z:-1.59 [[ 9.99918143e-01 8.93346267e-04 -1.27635596e-02 8.23193580e+00] [-8.64884880e-04 9.99997128e-01 2.23523990e-03 -3.62324406e-01] [ 1.27655198e-02 -2.22401792e-03 9.99916044e-01 -1.58790663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97119381700003 meters Centerline goodness [0,1] 0.9341484607745779 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.37, Z:-1.59 [[ 9.99912276e-01 -2.82747920e-03 -1.29401043e-02 8.23280473e+00] [ 2.82853865e-03 9.99995998e-01 6.35727604e-05 -3.68233495e-01] [ 1.29398728e-02 -1.00168769e-04 9.99916271e-01 -1.58844398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00119381700003 meters Centerline goodness [0,1] 0.9332932443080496 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.37, Z:-1.59 [[ 9.99908373e-01 -3.19569959e-03 -1.31541781e-02 8.23368048e+00] [ 3.20750592e-03 9.99994472e-01 8.76535477e-04 -3.72501939e-01] [ 1.31513043e-02 -9.18647267e-04 9.99913096e-01 -1.58883841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03119381700003 meters Centerline goodness [0,1] 0.9307235767313936 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.38, Z:-1.59 [[ 9.99896636e-01 -4.26911582e-03 -1.37292690e-02 8.23647477e+00] [ 4.27934102e-03 9.99990588e-01 7.15482204e-04 -3.76284997e-01] [ 1.37260853e-02 -7.74160473e-04 9.99905493e-01 -1.59067537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06119381700003 meters Centerline goodness [0,1] 0.928667815399946 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.38, Z:-1.59 [[ 9.99893000e-01 -4.33832996e-03 -1.39702520e-02 8.23762466e+00] [ 4.36114379e-03 9.99989205e-01 1.60297888e-03 -3.79870378e-01] [ 1.39631470e-02 -1.66373364e-03 9.99901126e-01 -1.59143624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09119381700003 meters Centerline goodness [0,1] 0.9265562488339794 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.38, Z:-1.59 [[ 9.99886845e-01 -4.73973508e-03 -1.42770119e-02 8.23974855e+00] [ 4.77333458e-03 9.99985916e-01 2.32024200e-03 -3.84723902e-01] [ 1.42658135e-02 -2.38812841e-03 9.99895386e-01 -1.59315803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12119381700003 meters Centerline goodness [0,1] 0.9255120269203606 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.39, Z:-1.59 [[ 9.99886044e-01 -4.39353523e-03 -1.44428784e-02 8.24027267e+00] [ 4.43853120e-03 9.99985391e-01 3.08486672e-03 -3.86759486e-01] [ 1.44291139e-02 -3.14862034e-03 9.99890937e-01 -1.59335703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15119381700003 meters Centerline goodness [0,1] 0.921433178668775 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.39, Z:-1.59 [[ 9.99885514e-01 -4.11094974e-03 -1.45622739e-02 8.24063839e+00] [ 4.16651623e-03 9.99984147e-01 3.78750289e-03 -3.88909287e-01] [ 1.45464729e-02 -3.84774322e-03 9.99886791e-01 -1.59346806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18119381700004 meters Centerline goodness [0,1] 0.922128676852718 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.39, Z:-1.59 [[ 9.99881705e-01 -4.04110628e-03 -1.48406685e-02 8.24139837e+00] [ 4.10553104e-03 9.99982270e-01 4.31319817e-03 -3.91322364e-01] [ 1.48229753e-02 -4.37361676e-03 9.99880568e-01 -1.59361173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21119381700004 meters Centerline goodness [0,1] 0.9220571428571429 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.39, Z:-1.59 [[ 9.99881381e-01 -3.87563271e-03 -1.49065141e-02 8.24161150e+00] [ 3.95207744e-03 9.99979174e-01 5.10224215e-03 -3.94488219e-01] [ 1.48864293e-02 -5.16054862e-03 9.99875874e-01 -1.59357115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24119381700004 meters Centerline goodness [0,1] 0.923558272005322 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.40, Z:-1.59 [[ 9.99879322e-01 -3.91132955e-03 -1.50347115e-02 8.24230378e+00] [ 3.99089556e-03 9.99978172e-01 5.26579931e-03 -3.95348217e-01] [ 1.50137870e-02 -5.32516581e-03 9.99873106e-01 -1.59409522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27119381700004 meters Centerline goodness [0,1] 0.9183402489626556 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.40, Z:-1.59 [[ 9.99873164e-01 -4.06649545e-03 -1.53986802e-02 8.24334693e+00] [ 4.15085943e-03 9.99976530e-01 5.45065850e-03 -3.96791919e-01] [ 1.53761537e-02 -5.51388492e-03 9.99866577e-01 -1.59442827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30119381700004 meters Centerline goodness [0,1] 0.9197742223328975 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.40, Z:-1.59 [[ 9.99856939e-01 -7.25004732e-03 -1.52819785e-02 8.24229565e+00] [ 7.29341381e-03 9.99969527e-01 2.78393381e-03 -3.99477905e-01] [ 1.52613291e-02 -2.89499333e-03 9.99879348e-01 -1.59330546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.331193817 meters Centerline goodness [0,1] 0.9197674418604651 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.40, Z:-1.59 [[ 9.99852742e-01 -7.43338127e-03 -1.54673427e-02 8.24258442e+00] [ 7.48425166e-03 9.99966764e-01 3.23360848e-03 -4.01522900e-01] [ 1.54427919e-02 -3.34889379e-03 9.99875145e-01 -1.59301649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36119381700001 meters Centerline goodness [0,1] 0.927995867768595 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.40, Z:-1.59 [[ 9.99832831e-01 -8.78522315e-03 -1.60352897e-02 8.24529900e+00] [ 8.82327056e-03 9.99958421e-01 2.30352667e-03 -4.02399831e-01] [ 1.60143859e-02 -2.44462529e-03 9.99868773e-01 -1.59479764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.39119381700002 meters Centerline goodness [0,1] 0.9178884412509865 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.40, Z:-1.59 [[ 9.99827881e-01 -9.05317151e-03 -1.61940709e-02 8.24581312e+00] [ 9.09771130e-03 9.99955027e-01 2.67882346e-03 -4.04143964e-01] [ 1.61690908e-02 -2.82569136e-03 9.99865279e-01 -1.59492004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42119381700002 meters Centerline goodness [0,1] 0.9268115490794362 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.41, Z:-1.59 [[ 9.99783092e-01 -1.31592831e-02 -1.61431965e-02 8.24558385e+00] [ 1.31489099e-02 9.99913269e-01 -7.48548519e-04 -4.05881002e-01] [ 1.61516467e-02 5.36120716e-04 9.99869410e-01 -1.59449062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45119381700002 meters Centerline goodness [0,1] 0.9061079633895772 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.41, Z:-1.59 [[ 9.99779734e-01 -1.33915091e-02 -1.61601764e-02 8.24544860e+00] [ 1.33878712e-02 9.99910323e-01 -3.33277935e-04 -4.07651543e-01] [ 1.61631903e-02 1.16854165e-04 9.99869360e-01 -1.59406075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48119381700002 meters Centerline goodness [0,1] 0.9227466921066821 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.41, Z:-1.59 [[ 9.99769577e-01 -1.38163940e-02 -1.64286106e-02 8.24607159e+00] [ 1.38148708e-02 9.99904549e-01 -2.06201842e-04 -4.08861994e-01] [ 1.64298915e-02 -2.08048055e-05 9.99865020e-01 -1.59400214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51119381700002 meters Centerline goodness [0,1] 0.9153184094012496 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.41, Z:-1.59 [[ 9.99756901e-01 -1.43099940e-02 -1.67738546e-02 8.24721065e+00] [ 1.43064384e-02 9.99897603e-01 -3.31958349e-04 -4.09362959e-01] [ 1.67768873e-02 9.19035331e-05 9.99859254e-01 -1.59444344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54119381700002 meters Centerline goodness [0,1] 0.8991365777080063 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.41, Z:-1.60 [[ 9.99735767e-01 -1.52659639e-02 -1.71856585e-02 8.24913029e+00] [ 1.52474125e-02 9.99883019e-01 -1.20999147e-03 -4.08342527e-01] [ 1.72021198e-02 9.47634931e-04 9.99851584e-01 -1.59579061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57119381700002 meters Centerline goodness [0,1] 0.8963920949929419 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.41, Z:-1.60 [[ 9.99733669e-01 -1.51947648e-02 -1.73697844e-02 8.24943314e+00] [ 1.51775342e-02 9.99884184e-01 -1.12339257e-03 -4.08381404e-01] [ 1.73848423e-02 8.59462877e-04 9.99848503e-01 -1.59568875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60119381700002 meters Centerline goodness [0,1] 0.894201846281506 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.41, Z:-1.60 [[ 9.99729382e-01 -1.51651856e-02 -1.76403159e-02 8.25003685e+00] [ 1.51472959e-02 9.99884615e-01 -1.14731483e-03 -4.08373440e-01] [ 1.76556797e-02 8.79801259e-04 9.99843739e-01 -1.59573462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.63119381700002 meters Centerline goodness [0,1] 0.8923096098716191 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.41, Z:-1.60 [[ 9.99726298e-01 -1.51165340e-02 -1.78555143e-02 8.25049410e+00] [ 1.50942373e-02 9.99885119e-01 -1.38284297e-03 -4.07265939e-01] [ 1.78743668e-02 1.11294911e-03 9.99839621e-01 -1.59581639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66119381700003 meters Centerline goodness [0,1] 0.9061378580762928 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.40, Z:-1.60 [[ 9.99755767e-01 -1.26610247e-02 -1.81136463e-02 8.25187449e+00] [ 1.26764212e-02 9.99919380e-01 7.35422811e-04 -4.03670398e-01] [ 1.81028748e-02 -9.64859406e-04 9.99835664e-01 -1.59689802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.69119381700003 meters Centerline goodness [0,1] 0.8959712111184646 Centerline is valid? [False, False] Translation: X:8.26, Y:-0.40, Z:-1.60 [[ 9.99854365e-01 -1.05394339e-02 -1.34227345e-02 8.26494406e+00] [ 1.04523126e-02 9.99923958e-01 -6.54427843e-03 -4.01559787e-01] [ 1.34906868e-02 6.40302673e-03 9.99888495e-01 -1.60113327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72119381700003 meters Centerline goodness [0,1] 0.8885272410647649 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.40, Z:-1.60 [[ 9.99849243e-01 -1.06407193e-02 -1.37210198e-02 8.26560233e+00] [ 1.05516588e-02 9.99922897e-01 -6.54695198e-03 -4.01721572e-01] [ 1.37896261e-02 6.40118547e-03 9.99884429e-01 -1.60120165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75119381700003 meters Centerline goodness [0,1] 0.8802797899499782 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.40, Z:-1.60 [[ 9.99845420e-01 -1.08129160e-02 -1.38642496e-02 8.26590532e+00] [ 1.07258250e-02 9.99922373e-01 -6.34074118e-03 -4.02834366e-01] [ 1.39317352e-02 6.19105551e-03 9.99883782e-01 -1.60113890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78119381700003 meters Centerline goodness [0,1] 0.8613658899355479 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.40, Z:-1.60 [[ 9.99833533e-01 -1.13672063e-02 -1.42720895e-02 8.26688044e+00] [ 1.12726306e-02 9.99914084e-01 -6.68967171e-03 -4.02976923e-01] [ 1.43469062e-02 6.52767411e-03 9.99875770e-01 -1.60129293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81119381700003 meters Centerline goodness [0,1] 0.8656536970626645 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.40, Z:-1.60 [[ 9.99821406e-01 -1.21397824e-02 -1.44838148e-02 8.26801162e+00] [ 1.20293233e-02 9.99898080e-01 -7.68928558e-03 -4.00300588e-01] [ 1.45756849e-02 7.51368183e-03 9.99865538e-01 -1.60222654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84119381700003 meters Centerline goodness [0,1] 0.8624218895970437 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.40, Z:-1.60 [[ 9.99851735e-01 -8.91063022e-03 -1.47346149e-02 8.26884688e+00] [ 8.85535635e-03 9.99953523e-01 -3.81229284e-03 -4.01129239e-01] [ 1.47679000e-02 3.68124735e-03 9.99884172e-01 -1.60256367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87119381700003 meters Centerline goodness [0,1] 0.8459290880079574 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.40, Z:-1.60 [[ 9.99868679e-01 -6.08466518e-03 -1.50200443e-02 8.26996135e+00] [ 6.08075131e-03 9.99981465e-01 -3.06232478e-04 -4.01887448e-01] [ 1.50216293e-02 2.14859109e-04 9.99887146e-01 -1.60301378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90119381700003 meters Centerline goodness [0,1] 0.8297240620393248 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.40, Z:-1.60 [[ 9.99864362e-01 -6.81081642e-03 -1.49956532e-02 8.26943531e+00] [ 6.79622600e-03 9.99976381e-01 -1.02372226e-03 -3.99925774e-01] [ 1.50022714e-02 9.21669561e-04 9.99887035e-01 -1.60226051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93119381700004 meters Centerline goodness [0,1] 0.8147271859369487 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.40, Z:-1.60 [[ 9.99862089e-01 -7.12180874e-03 -1.50027323e-02 8.26871328e+00] [ 7.10530578e-03 9.99974092e-01 -1.15301306e-03 -3.99474224e-01] [ 1.50105551e-02 1.04625505e-03 9.99886788e-01 -1.60113398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96119381700004 meters Centerline goodness [0,1] 0.799473007178721 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.40, Z:-1.60 [[ 9.99859831e-01 -7.56823278e-03 -1.49345519e-02 8.26782242e+00] [ 7.54705123e-03 9.99970434e-01 -1.47414207e-03 -3.98549504e-01] [ 1.49452670e-02 1.36122362e-03 9.99887387e-01 -1.59992625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99119381700004 meters Centerline goodness [0,1] 0.7796293606159338 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.40, Z:-1.60 [[ 9.99856550e-01 -8.00685056e-03 -1.49254748e-02 8.26722482e+00] [ 7.97692719e-03 9.99966055e-01 -2.06330930e-03 -3.96865811e-01] [ 1.49414888e-02 1.94395389e-03 9.99886480e-01 -1.59910255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02119381700004 meters Centerline goodness [0,1] 0.7645875251509054 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.39, Z:-1.60 [[ 9.99871891e-01 -6.19565119e-03 -1.47585527e-02 8.26667590e+00] [ 6.18630918e-03 9.99980634e-01 -6.78559218e-04 -3.91553516e-01] [ 1.47624711e-02 5.87171318e-04 9.99890856e-01 -1.59863118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05119381700004 meters Centerline goodness [0,1] 0.7659090439062726 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.39, Z:-1.60 [[ 9.99873457e-01 -4.57341322e-03 -1.52365642e-02 8.26915956e+00] [ 4.58451488e-03 9.99989250e-01 6.93770942e-04 -3.88377562e-01] [ 1.52332275e-02 -7.63535406e-04 9.99883676e-01 -1.60037969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08119381700004 meters Centerline goodness [0,1] 0.7660978951301531 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.39, Z:-1.60 [[ 9.99879655e-01 -1.62714399e-03 -1.54281433e-02 8.26979894e+00] [ 1.67656188e-03 9.99993504e-01 3.19070782e-03 -3.85073823e-01] [ 1.54228513e-02 -3.21619007e-03 9.99875888e-01 -1.60069753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.11119381700001 meters Centerline goodness [0,1] 0.7853721253343839 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.38, Z:-1.60 [[ 9.99875674e-01 -1.77785259e-03 -1.56676911e-02 8.27068599e+00] [ 1.80281259e-03 9.99997128e-01 1.57910717e-03 -3.78901509e-01] [ 1.56648387e-02 -1.60715676e-03 9.99876007e-01 -1.60131463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.14119381700002 meters Centerline goodness [0,1] 0.8478513115908997 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.37, Z:-1.60 [[ 9.99861783e-01 4.92783034e-03 -1.58786340e-02 8.27164083e+00] [-4.84084706e-03 9.99973093e-01 5.51179541e-03 -3.67943414e-01] [ 1.59053679e-02 -5.43416755e-03 9.99858735e-01 -1.60229594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.17119381700002 meters Centerline goodness [0,1] 0.8502001617888034 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.36, Z:-1.60 [[ 9.99835252e-01 8.22789557e-03 -1.61793272e-02 8.27283412e+00] [-8.10923796e-03 9.99939843e-01 7.38588304e-03 -3.62004059e-01] [ 1.62391242e-02 -7.25346421e-03 9.99841827e-01 -1.60304763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20119381700002 meters Centerline goodness [0,1] 0.8886021594169987 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.35, Z:-1.61 [[ 9.99852351e-01 1.22281010e-02 -1.20727097e-02 8.28490471e+00] [-1.22323446e-02 9.99925144e-01 -2.77720188e-04 -3.54651717e-01] [ 1.20684100e-02 4.25356728e-04 9.99927084e-01 -1.60675074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23119381700002 meters Centerline goodness [0,1] 0.9075004150755437 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.35, Z:-1.61 [[ 9.99802300e-01 1.56367507e-02 -1.22822611e-02 8.28562599e+00] [-1.56130140e-02 9.99876057e-01 2.02612420e-03 -3.49848132e-01] [ 1.23124208e-02 -1.83396052e-03 9.99922517e-01 -1.60700991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26119381700002 meters Centerline goodness [0,1] 0.9126296319388159 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.34, Z:-1.61 [[ 9.99660112e-01 2.28892623e-02 -1.24796335e-02 8.28637033e+00] [-2.28015948e-02 9.99714638e-01 7.12246981e-03 -3.41365600e-01] [ 1.26391004e-02 -6.83549342e-03 9.99896759e-01 -1.60710596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29119381700002 meters Centerline goodness [0,1] 0.9100605002182998 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.34, Z:-1.61 [[ 0.99956843 0.02650626 -0.01266406 8.28702079] [-0.02638355 0.99960424 0.00976084 -0.33719872] [ 0.01291777 -0.0094225 0.99987217 -1.60722299] [ 0. 0. 0. 1. ]] SLAMing on 210.32119381700002 meters Centerline goodness [0,1] 0.9058642935673242 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.33, Z:-1.61 [[ 0.99946565 0.03004661 -0.01286923 8.28793704] [-0.02988683 0.99947596 0.01243299 -0.33334512] [ 0.01323605 -0.01204173 0.99983989 -1.60762337] [ 0. 0. 0. 1. ]] SLAMing on 210.35119381700002 meters Centerline goodness [0,1] 0.9039960205604377 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.33, Z:-1.61 [[ 0.99932547 0.03427865 -0.01317499 8.28899972] [-0.03408078 0.9993071 0.01496041 -0.32734278] [ 0.01367869 -0.01450131 0.99980128 -1.60798195] [ 0. 0. 0. 1. ]] SLAMing on 210.38119381700002 meters Centerline goodness [0,1] 0.9059237051586891 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.33, Z:-1.61 [[ 0.99931747 0.03438869 -0.01349101 8.2898268 ] [-0.03419255 0.99930994 0.0145091 -0.32567031] [ 0.01398065 -0.01403791 0.99980372 -1.60832411] [ 0. 0. 0. 1. ]] SLAMing on 210.41119381700003 meters Centerline goodness [0,1] 0.9035193168628751 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.32, Z:-1.61 [[ 0.99931778 0.03429132 -0.01371389 8.29041975] [-0.0340971 0.9993183 0.01415391 -0.32482886] [ 0.0141899 -0.01367665 0.99980578 -1.60856776] [ 0. 0. 0. 1. ]] SLAMing on 210.44119381700003 meters Centerline goodness [0,1] 0.902149509396308 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.32, Z:-1.61 [[ 0.99941662 0.03117861 -0.01393986 8.29048746] [-0.03103778 0.99946609 0.01020778 -0.32265115] [ 0.01425068 -0.00976916 0.99985073 -1.60846753] [ 0. 0. 0. 1. ]] SLAMing on 210.47119381700003 meters Centerline goodness [0,1] 0.9033880690085221 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.32, Z:-1.61 [[ 9.99513492e-01 2.78043604e-02 -1.41313997e-02 8.29057199e+00] [-2.77210062e-02 9.99597326e-01 6.06059083e-03 -3.20399444e-01] [ 1.42942202e-02 -5.66590568e-03 9.99881779e-01 -1.60841162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50119381700003 meters Centerline goodness [0,1] 0.903859765999084 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.32, Z:-1.61 [[ 9.99595798e-01 2.46242082e-02 -1.42087383e-02 8.29001986e+00] [-2.45907205e-02 9.99694409e-01 2.52678235e-03 -3.20178084e-01] [ 1.42666163e-02 -2.17635791e-03 9.99895858e-01 -1.60774766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53119381700003 meters Centerline goodness [0,1] 0.904896090172596 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.32, Z:-1.61 [[ 9.99591035e-01 2.47133343e-02 -1.43879759e-02 8.29023203e+00] [-2.46744879e-02 9.99691415e-01 2.87123416e-03 -3.21463019e-01] [ 1.44544937e-02 -2.51504399e-03 9.99892365e-01 -1.60753009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56119381700003 meters Centerline goodness [0,1] 0.9051496707451339 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.32, Z:-1.61 [[ 9.99587261e-01 2.48398539e-02 -1.44322119e-02 8.28978055e+00] [-2.47945427e-02 9.99687088e-01 3.31010164e-03 -3.22912471e-01] [ 1.45099183e-02 -2.95089534e-03 9.99890371e-01 -1.60680463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59119381700003 meters Centerline goodness [0,1] 0.9051496707451339 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.32, Z:-1.61 [[ 9.99587261e-01 2.48398539e-02 -1.44322119e-02 8.28978055e+00] [-2.47945427e-02 9.99687088e-01 3.31010164e-03 -3.22912471e-01] [ 1.45099183e-02 -2.95089534e-03 9.99890371e-01 -1.60680463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62119381700003 meters Centerline goodness [0,1] 0.9047074716824275 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.32, Z:-1.61 [[ 9.99662061e-01 2.15964533e-02 -1.44691801e-02 8.28925813e+00] [-2.16047461e-02 9.99766503e-01 -4.17052341e-04 -3.22495820e-01] [ 1.44567947e-02 7.29514364e-04 9.99895229e-01 -1.60622999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65119381700003 meters Centerline goodness [0,1] 0.9031735145582642 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.32, Z:-1.61 [[ 9.99719982e-01 1.85811690e-02 -1.46525997e-02 8.28950225e+00] [-1.86338739e-02 9.99820357e-01 -3.46866685e-03 -3.24109864e-01] [ 1.45855155e-02 3.74073025e-03 9.99886628e-01 -1.60626595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68119381700004 meters Centerline goodness [0,1] 0.9031198347107439 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.33, Z:-1.61 [[ 9.99724857e-01 1.78337801e-02 -1.52370241e-02 8.29183996e+00] [-1.78948556e-02 9.99832340e-01 -3.88145685e-03 -3.25571848e-01] [ 1.51652484e-02 4.15305324e-03 9.99876376e-01 -1.60774211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71119381700004 meters Centerline goodness [0,1] 0.903442694390836 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.33, Z:-1.61 [[ 9.99724634e-01 1.76928208e-02 -1.54149652e-02 8.29237926e+00] [-1.77490704e-02 9.99836277e-01 -3.51987726e-03 -3.27522111e-01] [ 1.53501648e-02 3.79250931e-03 9.99874987e-01 -1.60800370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74119381700004 meters Centerline goodness [0,1] 0.8991988346686088 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.33, Z:-1.61 [[ 9.99772676e-01 1.44511444e-02 -1.56767725e-02 8.29353051e+00] [-1.45534360e-02 9.99873414e-01 -6.43069808e-03 -3.29796992e-01] [ 1.55818571e-02 6.65738713e-03 9.99856432e-01 -1.60902858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77119381700004 meters Centerline goodness [0,1] 0.898541072654998 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.33, Z:-1.61 [[ 9.99771750e-01 1.43519444e-02 -1.58262404e-02 8.29386677e+00] [-1.44472174e-02 9.99878096e-01 -5.92212476e-03 -3.31948205e-01] [ 1.57393171e-02 6.14941817e-03 9.99857219e-01 -1.60906870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80119381700004 meters Centerline goodness [0,1] 0.900247457838591 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.33, Z:-1.61 [[ 9.99771823e-01 1.40727522e-02 -1.60704693e-02 8.29461387e+00] [-1.41631236e-02 9.99884442e-01 -5.52354586e-03 -3.34166879e-01] [ 1.59908808e-02 5.74989355e-03 9.99855605e-01 -1.60942418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83119381700004 meters Centerline goodness [0,1] 0.9014839497485357 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.34, Z:-1.61 [[ 9.99769362e-01 1.37919167e-02 -1.64622338e-02 8.29571674e+00] [-1.38788462e-02 9.99890277e-01 -5.17802049e-03 -3.36296871e-01] [ 1.63890127e-02 5.40530306e-03 9.99851080e-01 -1.60985879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.86119381700001 meters Centerline goodness [0,1] 0.9005618792892538 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.34, Z:-1.61 [[ 9.99773840e-01 1.33002427e-02 -1.65943394e-02 8.29653118e+00] [-1.33787522e-02 9.99899785e-01 -4.62908806e-03 -3.40680563e-01] [ 1.65311085e-02 4.85005270e-03 9.99851589e-01 -1.61048633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.89119381700002 meters Centerline goodness [0,1] 0.9000765459172063 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.34, Z:-1.61 [[ 9.99767307e-01 1.34566906e-02 -1.68596941e-02 8.29699242e+00] [-1.35262969e-02 9.99900429e-01 -4.02134782e-03 -3.42679673e-01] [ 1.68039013e-02 4.24846131e-03 9.99849778e-01 -1.61042966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92119381700002 meters Centerline goodness [0,1] 0.9009580017040377 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.34, Z:-1.61 [[ 9.99763686e-01 1.37360216e-02 -1.68491443e-02 8.29675441e+00] [-1.37950356e-02 9.99899093e-01 -3.39127932e-03 -3.44512273e-01] [ 1.68008615e-02 3.62291246e-03 9.99852292e-01 -1.61013274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95119381700002 meters Centerline goodness [0,1] 0.9003054418517672 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.35, Z:-1.61 [[ 9.99757938e-01 1.40271510e-02 -1.69500403e-02 8.29670176e+00] [-1.40772272e-02 9.99896882e-01 -2.83864427e-03 -3.46007508e-01] [ 1.69084743e-02 3.07656672e-03 9.99852308e-01 -1.60979841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98119381700002 meters Centerline goodness [0,1] 0.900002064793211 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.35, Z:-1.61 [[ 9.99842065e-01 1.40674185e-02 -1.08606511e-02 8.30520774e+00] [-1.39982085e-02 9.99881394e-01 6.42248285e-03 -3.50717315e-01] [ 1.09497107e-02 -6.26943885e-03 9.99920396e-01 -1.61143933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01119381700002 meters Centerline goodness [0,1] 0.8987402195795198 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.35, Z:-1.61 [[ 9.99836222e-01 1.44360818e-02 -1.09146254e-02 8.30492225e+00] [-1.43604792e-02 9.99872564e-01 6.97365502e-03 -3.52045893e-01] [ 1.10139068e-02 -6.81577364e-03 9.99916116e-01 -1.61089859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04119381700002 meters Centerline goodness [0,1] 0.8979909187037383 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.35, Z:-1.61 [[ 9.99870186e-01 1.16172268e-02 -1.11647640e-02 8.30494806e+00] [-1.15787822e-02 9.99926832e-01 3.50188177e-03 -3.51548307e-01] [ 1.12046292e-02 -3.37215281e-03 9.99931540e-01 -1.61054244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07119381700002 meters Centerline goodness [0,1] 0.898727640765068 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.35, Z:-1.61 [[ 9.99871835e-01 1.16908398e-02 -1.09378632e-02 8.30174721e+00] [-1.16499299e-02 9.99924930e-01 3.79647702e-03 -3.54618274e-01] [ 1.09814261e-02 -3.66856511e-03 9.99932973e-01 -1.60725830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10119381700002 meters Centerline goodness [0,1] 0.8979203310915675 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.36, Z:-1.61 [[ 9.99867287e-01 1.20695102e-02 -1.09423176e-02 8.30112967e+00] [-1.20215795e-02 9.99917900e-01 4.43555385e-03 -3.56272873e-01] [ 1.09949542e-02 -4.30342126e-03 9.99930293e-01 -1.60639097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.13119381700002 meters Centerline goodness [0,1] 0.8955208505027197 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.36, Z:-1.61 [[ 9.99864688e-01 1.22525392e-02 -1.09763889e-02 8.30118233e+00] [-1.22003190e-02 9.99913995e-01 4.81189969e-03 -3.57427988e-01] [ 1.10344029e-02 -4.67733313e-03 9.99928180e-01 -1.60630998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16119381700003 meters Centerline goodness [0,1] 0.8947487550928022 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.36, Z:-1.61 [[ 9.99896148e-01 9.38738680e-03 -1.09348387e-02 8.30089213e+00] [-9.37464227e-03 9.99955318e-01 1.21617247e-03 -3.56243478e-01] [ 1.09457667e-02 -1.11353596e-03 9.99939473e-01 -1.60627242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.19119381700003 meters Centerline goodness [0,1] 0.893888279487551 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.36, Z:-1.61 [[ 9.99888170e-01 1.03794322e-02 -1.07663775e-02 8.30005242e+00] [-1.03546748e-02 9.99943621e-01 2.35271012e-03 -3.58896423e-01] [ 1.07901903e-02 -2.24096467e-03 9.99939273e-01 -1.60558722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22119381700003 meters Centerline goodness [0,1] 0.8932923686001196 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.36, Z:-1.61 [[ 9.99883285e-01 1.06746975e-02 -1.09301052e-02 8.30061779e+00] [-1.06459636e-02 9.99939729e-01 2.68369592e-03 -3.60054372e-01] [ 1.09580941e-02 -2.56702119e-03 9.99936663e-01 -1.60592191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25119381700003 meters Centerline goodness [0,1] 0.8905579843772662 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.36, Z:-1.61 [[ 9.99879315e-01 1.10043596e-02 -1.09662871e-02 8.30089816e+00] [-1.09719448e-02 9.99935271e-01 3.01165418e-03 -3.61044024e-01] [ 1.09987186e-02 -2.89096923e-03 9.99935333e-01 -1.60620633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28119381700003 meters Centerline goodness [0,1] 0.8907906474969399 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.36, Z:-1.61 [[ 9.99871241e-01 1.16007929e-02 -1.10870317e-02 8.30168117e+00] [-1.15619058e-02 9.99926803e-01 3.56512373e-03 -3.62592893e-01] [ 1.11275784e-02 -3.43647747e-03 9.99932182e-01 -1.60695168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31119381700003 meters Centerline goodness [0,1] 0.8916932578486876 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.36, Z:-1.61 [[ 9.99868038e-01 1.16658833e-02 -1.13054706e-02 8.30276068e+00] [-1.16255695e-02 9.99925850e-01 3.62505187e-03 -3.63051100e-01] [ 1.13469217e-02 -3.49314096e-03 9.99929520e-01 -1.60782625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34119381700003 meters Centerline goodness [0,1] 0.8899797025806719 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.36, Z:-1.61 [[ 9.99865583e-01 1.17817889e-02 -1.14019955e-02 8.30333657e+00] [-1.17377924e-02 9.99923434e-01 3.91792948e-03 -3.64045475e-01] [ 1.14472827e-02 -3.78356859e-03 9.99927320e-01 -1.60833511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37119381700003 meters Centerline goodness [0,1] 0.8885573994654733 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.36, Z:-1.61 [[ 9.99899352e-01 8.40283193e-03 -1.14314368e-02 8.30363392e+00] [-8.40162967e-03 9.99964694e-01 1.53190752e-04 -3.63498907e-01] [ 1.14323205e-02 -5.71326349e-05 9.99934647e-01 -1.60882608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40119381700003 meters Centerline goodness [0,1] 0.8897800136074058 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.37, Z:-1.61 [[ 9.99920160e-01 4.48158445e-03 -1.18148077e-02 8.30479305e+00] [-4.51465308e-03 9.99985962e-01 -2.77373080e-03 -3.67667162e-01] [ 1.18022111e-02 2.82684910e-03 9.99926356e-01 -1.60934746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43119381700004 meters Centerline goodness [0,1] 0.8895934892175493 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.37, Z:-1.61 [[ 9.99929066e-01 7.42256024e-04 -1.18875130e-02 8.30477895e+00] [-8.13044096e-04 9.99981962e-01 -5.95110077e-03 -3.70211890e-01] [ 1.18828814e-02 5.96034370e-03 9.99911632e-01 -1.60916500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46119381700004 meters Centerline goodness [0,1] 0.8915515924618655 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.37, Z:-1.61 [[ 9.99923082e-01 -3.19608616e-03 -1.19839533e-02 8.30508442e+00] [ 3.08555814e-03 9.99952640e-01 -9.23017480e-03 -3.72891492e-01] [ 1.20128862e-02 9.19248765e-03 9.99885588e-01 -1.60928963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49119381700004 meters Centerline goodness [0,1] 0.8912782515108867 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.38, Z:-1.61 [[ 9.99901526e-01 -7.18836914e-03 -1.20525875e-02 8.30533532e+00] [ 7.03651603e-03 9.99895926e-01 -1.25946313e-02 -3.75292483e-01] [ 1.21418680e-02 1.25085828e-02 9.99848044e-01 -1.60935289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52119381700004 meters Centerline goodness [0,1] 0.893003518940178 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.38, Z:-1.61 [[ 9.99896280e-01 -7.78730363e-03 -1.21155733e-02 8.30575150e+00] [ 7.64461952e-03 9.99901403e-01 -1.17789885e-02 -3.79603370e-01] [ 1.22061053e-02 1.16851479e-02 9.99857224e-01 -1.60945474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55119381700004 meters Centerline goodness [0,1] 0.8935574810331246 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.39, Z:-1.61 [[ 0.99985124 -0.01229407 -0.01209742 8.30625127] [ 0.01211791 0.99982101 -0.01452919 -0.38505072] [ 0.01227388 0.01438043 0.99982126 -1.60978794] [ 0. 0. 0. 1. ]] SLAMing on 211.58119381700004 meters Centerline goodness [0,1] 0.8932518125296924 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.39, Z:-1.61 [[ 0.99982662 -0.01394169 -0.01234376 8.30832012] [ 0.01375267 0.99978885 -0.01526814 -0.38793176] [ 0.01255402 0.01509573 0.99980724 -1.61148423] [ 0. 0. 0. 1. ]] SLAMing on 211.61119381700001 meters Centerline goodness [0,1] 0.892447992059225 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.39, Z:-1.61 [[ 0.9998221 -0.01422427 -0.01238683 8.3087019 ] [ 0.01404382 0.99979574 -0.01453446 -0.39091732] [ 0.01259104 0.01435791 0.99981764 -1.61169559] [ 0. 0. 0. 1. ]] SLAMing on 211.64119381700002 meters Centerline goodness [0,1] 0.88102907168814 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.39, Z:-1.61 [[ 0.99982009 -0.01432379 -0.01243439 8.30880544] [ 0.01415024 0.99980278 -0.01393488 -0.39282681] [ 0.01263154 0.01375643 0.99982559 -1.61158049] [ 0. 0. 0. 1. ]] SLAMing on 211.67119381700002 meters Centerline goodness [0,1] 0.882303062891651 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.39, Z:-1.61 [[ 0.99982477 -0.01401406 -0.01241095 8.30826342] [ 0.01384969 0.99981653 -0.01323225 -0.39414733] [ 0.01259411 0.01305804 0.99983542 -1.61082982] [ 0. 0. 0. 1. ]] SLAMing on 211.70119381700002 meters Centerline goodness [0,1] 0.8930029214926548 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.40, Z:-1.61 [[ 0.9998702 -0.01007501 -0.01257314 8.30823386] [ 0.00996619 0.9999126 -0.00868772 -0.3962601 ] [ 0.01265957 0.00856128 0.99988321 -1.61029592] [ 0. 0. 0. 1. ]] SLAMing on 211.73119381700002 meters Centerline goodness [0,1] 0.8906327338722984 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.40, Z:-1.61 [[ 9.99889687e-01 -7.05131330e-03 -1.30725978e-02 8.31023717e+00] [ 6.97985165e-03 9.99960492e-01 -5.50411154e-03 -3.96692970e-01] [ 1.31108925e-02 5.41225957e-03 9.99899401e-01 -1.61137774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76119381700002 meters Centerline goodness [0,1] 0.8903007814929209 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.40, Z:-1.61 [[ 9.99912633e-01 -2.42528650e-03 -1.29940352e-02 8.30947585e+00] [ 2.40593833e-03 9.99995974e-01 -1.50442935e-03 -3.95063661e-01] [ 1.29976316e-02 1.47303506e-03 9.99914442e-01 -1.61066885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79119381700002 meters Centerline goodness [0,1] 0.8889050066312998 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.39, Z:-1.61 [[ 9.99912918e-01 -1.97435381e-03 -1.30482820e-02 8.30940830e+00] [ 1.95322938e-03 9.99996762e-01 -1.63148853e-03 -3.93347729e-01] [ 1.30514609e-02 1.60586017e-03 9.99913537e-01 -1.61052499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82119381700002 meters Centerline goodness [0,1] 0.8867948000248802 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.39, Z:-1.61 [[ 9.99913952e-01 -1.63140523e-03 -1.30164300e-02 8.30947124e+00] [ 1.60827038e-03 9.99997109e-01 -1.78762733e-03 -3.91823708e-01] [ 1.30193087e-02 1.76653957e-03 9.99913685e-01 -1.61072481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85119381700002 meters Centerline goodness [0,1] 0.8848620711127717 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.39, Z:-1.61 [[ 9.99914931e-01 -1.35923025e-03 -1.29724377e-02 8.30937379e+00] [ 1.33511865e-03 9.99997366e-01 -1.86715838e-03 -3.90701464e-01] [ 1.29749414e-02 1.84967980e-03 9.99914111e-01 -1.61073160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88119381700002 meters Centerline goodness [0,1] 0.8861154768798081 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.39, Z:-1.61 [[ 9.99914491e-01 -1.14747077e-03 -1.30266749e-02 8.30952621e+00] [ 1.12096671e-03 9.99997287e-01 -2.04171797e-03 -3.89551069e-01] [ 1.30289824e-02 2.02694092e-03 9.99913065e-01 -1.61083117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.91119381700003 meters Centerline goodness [0,1] 0.8827096399053038 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.39, Z:-1.61 [[ 9.99910563e-01 2.88691561e-03 -1.30587580e-02 8.30989564e+00] [-2.86493307e-03 9.99994448e-01 1.70174986e-03 -3.88434261e-01] [ 1.30635983e-02 -1.66418519e-03 9.99913283e-01 -1.61120799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94119381700003 meters Centerline goodness [0,1] 0.8788325410499658 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.39, Z:-1.61 [[ 9.99908979e-01 3.13648173e-03 -1.31223356e-02 8.31055710e+00] [-3.11900297e-03 9.99994222e-01 1.35223881e-03 -3.86796546e-01] [ 1.31265010e-02 -1.31118712e-03 9.99912984e-01 -1.61196294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97119381700003 meters Centerline goodness [0,1] 0.8766824526420738 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.39, Z:-1.61 [[ 9.99907129e-01 3.40601976e-03 -1.31959236e-02 8.31095562e+00] [-3.39072407e-03 9.99993554e-01 1.18132117e-03 -3.85786787e-01] [ 1.31998621e-02 -1.13646773e-03 9.99912232e-01 -1.61232469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00119381700003 meters Centerline goodness [0,1] 0.8763055371352785 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.39, Z:-1.61 [[ 9.99902136e-01 4.60821395e-03 -1.32092260e-02 8.31068544e+00] [-4.58428878e-03 9.99987798e-01 1.84095374e-03 -3.86176982e-01] [ 1.32175484e-02 -1.78021867e-03 9.99911060e-01 -1.61199127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03119381700003 meters Centerline goodness [0,1] 0.8766058287947449 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.39, Z:-1.61 [[ 9.99900484e-01 5.11378762e-03 -1.31480340e-02 8.31036292e+00] [-5.08582733e-03 9.99984736e-01 2.15913285e-03 -3.86397706e-01] [ 1.31588747e-02 -2.09204936e-03 9.99911230e-01 -1.61172194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06119381700003 meters Centerline goodness [0,1] 0.8756287908584677 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.39, Z:-1.61 [[ 9.99897443e-01 5.46822376e-03 -1.32363688e-02 8.31061046e+00] [-5.43789281e-03 9.99982508e-01 2.32639292e-03 -3.86469451e-01] [ 1.32488586e-02 -2.25417638e-03 9.99909689e-01 -1.61182675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09119381700003 meters Centerline goodness [0,1] 0.8757502128631653 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.39, Z:-1.61 [[ 9.99895647e-01 5.88631467e-03 -1.31926629e-02 8.31063137e+00] [-5.85128899e-03 9.99979258e-01 2.69196450e-03 -3.87021208e-01] [ 1.32082350e-02 -2.61448950e-03 9.99909349e-01 -1.61195395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12119381700003 meters Centerline goodness [0,1] 0.8807828812187377 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.39, Z:-1.61 [[ 9.99888455e-01 6.95071584e-03 -1.32198996e-02 8.31061614e+00] [-6.89884519e-03 9.99968341e-01 3.96524425e-03 -3.90327866e-01] [ 1.32470424e-02 -3.87359991e-03 9.99904751e-01 -1.61185937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15119381700003 meters Centerline goodness [0,1] 0.8783708387576715 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.39, Z:-1.61 [[ 9.99884053e-01 7.31243977e-03 -1.33570045e-02 8.31115324e+00] [-7.25082363e-03 9.99962875e-01 4.65563779e-03 -3.92675361e-01] [ 1.33905527e-02 -4.55824869e-03 9.99899953e-01 -1.61211856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18119381700004 meters Centerline goodness [0,1] 0.8836772595955427 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.39, Z:-1.61 [[ 9.99901588e-01 4.41210012e-03 -1.33171968e-02 8.31143219e+00] [-4.39429512e-03 9.99989412e-01 1.36595864e-03 -3.92965834e-01] [ 1.33230825e-02 -1.30730452e-03 9.99910389e-01 -1.61269215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21119381700004 meters Centerline goodness [0,1] 0.8810338747484805 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.40, Z:-1.61 [[ 9.99901387e-01 4.66973543e-03 -1.32442119e-02 8.31133084e+00] [-4.64195046e-03 9.99986962e-01 2.12786132e-03 -3.95250736e-01] [ 1.32539758e-02 -2.06617251e-03 9.99910027e-01 -1.61269862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24119381700004 meters Centerline goodness [0,1] 0.8783612616541041 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.40, Z:-1.61 [[ 9.99900380e-01 4.71828148e-03 -1.33029383e-02 8.31152522e+00] [-4.67941623e-03 9.99984697e-01 2.95116852e-03 -3.98316103e-01] [ 1.33166591e-02 -2.88862453e-03 9.99907157e-01 -1.61268026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27119381700004 meters Centerline goodness [0,1] 0.8763228198065732 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.41, Z:-1.61 [[ 9.99910640e-01 1.08208322e-03 -1.33244606e-02 8.31150090e+00] [-1.06907070e-03 9.99998945e-01 9.83673459e-04 -4.05483766e-01] [ 1.33255110e-02 -9.69340768e-04 9.99910742e-01 -1.61228463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30119381700004 meters Centerline goodness [0,1] 0.8773207360343263 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.41, Z:-1.61 [[ 9.99906644e-01 -2.82189129e-03 -1.33693757e-02 8.31207901e+00] [ 2.79378369e-03 9.99993849e-01 -2.12059670e-03 -4.08682200e-01] [ 1.33752776e-02 2.08304758e-03 9.99908377e-01 -1.61282750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33119381700004 meters Centerline goodness [0,1] 0.878838071181598 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.41, Z:-1.61 [[ 9.99885074e-01 -6.97468642e-03 -1.34607722e-02 8.31269466e+00] [ 6.90349274e-03 9.99961975e-01 -5.32821291e-03 -4.11860712e-01] [ 1.34974230e-02 5.23467422e-03 9.99895203e-01 -1.61326239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36119381700001 meters Centerline goodness [0,1] 0.8835859733179133 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.42, Z:-1.61 [[ 9.99752241e-01 -1.98192535e-02 -1.01318345e-02 8.31399100e+00] [ 1.98310686e-02 9.99802776e-01 1.06700113e-03 -4.20118798e-01] [ 1.01086891e-02 -1.26766188e-03 9.99948102e-01 -1.61481009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.39119381700002 meters Centerline goodness [0,1] 0.8864268226897382 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.42, Z:-1.61 [[ 9.99657109e-01 -2.41416422e-02 -1.01412620e-02 8.31447196e+00] [ 2.41202224e-02 9.99706580e-01 -2.22918063e-03 -4.23293514e-01] [ 1.01921025e-02 1.98380677e-03 9.99946091e-01 -1.61497498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42119381700002 meters Centerline goodness [0,1] 0.8902393418100224 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.43, Z:-1.62 [[ 9.99546125e-01 -2.83491160e-02 -1.01917895e-02 8.31529538e+00] [ 2.82912532e-02 9.99583026e-01 -5.77746229e-03 -4.25635258e-01] [ 1.03513258e-02 5.48650154e-03 9.99931372e-01 -1.61554135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45119381700002 meters Centerline goodness [0,1] 0.8908505556132517 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.43, Z:-1.62 [[ 9.99529366e-01 -2.88967524e-02 -1.02968513e-02 8.31611389e+00] [ 2.88426330e-02 9.99569560e-01 -5.36624921e-03 -4.28357834e-01] [ 1.04474863e-02 5.06673537e-03 9.99932587e-01 -1.61605374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48119381700002 meters Centerline goodness [0,1] 0.8902866143037739 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.43, Z:-1.62 [[ 9.99524076e-01 -2.90501916e-02 -1.03782283e-02 8.31707714e+00] [ 2.89951753e-02 9.99564896e-01 -5.41286218e-03 -4.28312076e-01] [ 1.05309574e-02 5.10936753e-03 9.99931494e-01 -1.61705502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51119381700002 meters Centerline goodness [0,1] 0.8902866143037739 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.43, Z:-1.62 [[ 9.99524076e-01 -2.90501916e-02 -1.03782283e-02 8.31707714e+00] [ 2.89951753e-02 9.99564896e-01 -5.41286218e-03 -4.28312076e-01] [ 1.05309574e-02 5.10936753e-03 9.99931494e-01 -1.61705502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54119381700002 meters Centerline goodness [0,1] 0.8919210575466412 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.43, Z:-1.62 [[ 9.99631770e-01 -2.49977288e-02 -1.05564484e-02 8.31713022e+00] [ 2.49881156e-02 9.99687206e-01 -1.04157760e-03 -4.29357803e-01] [ 1.05791835e-02 7.77408308e-04 9.99943737e-01 -1.61680355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57119381700002 meters Centerline goodness [0,1] 0.8903802202368585 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.43, Z:-1.62 [[ 9.99718838e-01 -2.10938668e-02 -1.08301982e-02 8.31740365e+00] [ 2.11266295e-02 9.99772545e-01 2.91967464e-03 -4.29841263e-01] [ 1.07661475e-02 -3.14765932e-03 9.99937089e-01 -1.61655869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60119381700002 meters Centerline goodness [0,1] 0.8881568007981376 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.43, Z:-1.62 [[ 9.99736750e-01 -2.01768383e-02 -1.09236215e-02 8.31708556e+00] [ 2.02105861e-02 9.99791281e-01 2.98789787e-03 -4.28194659e-01] [ 1.08610552e-02 -3.20788410e-03 9.99935871e-01 -1.61610394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.63119381700002 meters Centerline goodness [0,1] 0.8857024364955935 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.42, Z:-1.62 [[ 9.99904536e-01 -1.26298434e-02 -5.60407705e-03 8.32548545e+00] [ 1.26221927e-02 9.99919359e-01 -1.39849103e-03 -4.24979365e-01] [ 5.62128785e-03 1.32762179e-03 9.99983319e-01 -1.61817383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66119381700003 meters Centerline goodness [0,1] 0.8837030893634668 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.43, Z:-1.62 [[ 9.99946248e-01 -8.65929200e-03 -5.70238540e-03 8.32577470e+00] [ 8.67527249e-03 9.99958495e-01 2.78367662e-03 -4.25745557e-01] [ 5.67804405e-03 -2.83299674e-03 9.99979867e-01 -1.61828812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69119381700003 meters Centerline goodness [0,1] 0.8852163461538461 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.43, Z:-1.62 [[ 9.99959396e-01 -6.64487842e-03 -6.08702973e-03 8.32778093e+00] [ 6.67354763e-03 9.99966678e-01 4.70174394e-03 -4.26061727e-01] [ 6.05558438e-03 -4.74217511e-03 9.99970420e-01 -1.61978806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72119381700003 meters Centerline goodness [0,1] 0.8847884416924665 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.43, Z:-1.62 [[ 9.99958102e-01 -6.68808099e-03 -6.25010951e-03 8.32857660e+00] [ 6.71533354e-03 9.99967992e-01 4.34956632e-03 -4.25007873e-01] [ 6.22081921e-03 -4.39135565e-03 9.99971008e-01 -1.62047517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75119381700003 meters Centerline goodness [0,1] 0.8871549365829395 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.42, Z:-1.62 [[ 9.99960038e-01 -6.45359854e-03 -6.18657175e-03 8.32888221e+00] [ 6.47926383e-03 9.99970450e-01 4.13751975e-03 -4.22843332e-01] [ 6.15968704e-03 -4.17743884e-03 9.99972303e-01 -1.62115937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78119381700003 meters Centerline goodness [0,1] 0.8888682016591158 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.42, Z:-1.62 [[ 9.99959394e-01 -6.45637243e-03 -6.28696310e-03 8.32959296e+00] [ 6.48144400e-03 9.99971092e-01 3.97569038e-03 -4.22322632e-01] [ 6.26111282e-03 -4.01627754e-03 9.99972334e-01 -1.62183395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81119381700003 meters Centerline goodness [0,1] 0.8881449389523435 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.42, Z:-1.62 [[ 9.99961248e-01 -6.14499929e-03 -6.30407851e-03 8.32984114e+00] [ 6.17216845e-03 9.99971709e-01 4.29941029e-03 -4.22830872e-01] [ 6.27748029e-03 -4.33815352e-03 9.99970886e-01 -1.62211601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84119381700003 meters Centerline goodness [0,1] 0.8856768776757139 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.42, Z:-1.62 [[ 9.99962136e-01 -5.88399587e-03 -6.41131159e-03 8.33015421e+00] [ 5.91350693e-03 9.99971963e-01 4.59377446e-03 -4.23629082e-01] [ 6.38410209e-03 -4.63151385e-03 9.99968896e-01 -1.62224187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87119381700003 meters Centerline goodness [0,1] 0.8881114525371647 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.42, Z:-1.62 [[ 9.99963802e-01 -5.57354756e-03 -6.42893556e-03 8.33000486e+00] [ 5.60553119e-03 9.99971950e-01 4.96770509e-03 -4.24984729e-01] [ 6.40106748e-03 -5.00356287e-03 9.99966995e-01 -1.62188646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90119381700003 meters Centerline goodness [0,1] 0.8920512341450251 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.43, Z:-1.62 [[ 9.99963713e-01 -5.54440056e-03 -6.46785948e-03 8.33029962e+00] [ 5.57718626e-03 9.99971635e-01 5.06204283e-03 -4.25313827e-01] [ 6.43961003e-03 -5.09793160e-03 9.99966271e-01 -1.62214906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93119381700004 meters Centerline goodness [0,1] 0.8924296176427875 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.43, Z:-1.62 [[ 9.99962571e-01 -5.63848314e-03 -6.56237046e-03 8.33067327e+00] [ 5.67174050e-03 9.99971112e-01 5.06036038e-03 -4.25484302e-01] [ 6.53364813e-03 -5.09739104e-03 9.99965663e-01 -1.62234734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96119381700004 meters Centerline goodness [0,1] 0.8931704195991826 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.43, Z:-1.62 [[ 9.99960005e-01 -5.87793614e-03 -6.74073613e-03 8.33137150e+00] [ 5.91108570e-03 9.99970483e-01 4.90846188e-03 -4.25644007e-01] [ 6.71168553e-03 -4.94811064e-03 9.99965234e-01 -1.62277274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99119381700004 meters Centerline goodness [0,1] 0.8929140045075781 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.43, Z:-1.62 [[ 9.99959660e-01 -5.94522358e-03 -6.73300548e-03 8.33148093e+00] [ 5.97988399e-03 9.99968913e-01 5.13945790e-03 -4.26292652e-01] [ 6.70224094e-03 -5.17951317e-03 9.99964126e-01 -1.62284975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02119381700004 meters Centerline goodness [0,1] 0.8933183837880487 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.43, Z:-1.62 [[ 9.99959131e-01 -5.95484896e-03 -6.80265583e-03 8.33180648e+00] [ 5.99132819e-03 9.99967715e-01 5.35476551e-03 -4.27089940e-01] [ 6.77054938e-03 -5.39530361e-03 9.99962524e-01 -1.62306564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05119381700004 meters Centerline goodness [0,1] 0.8931351440874462 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.43, Z:-1.62 [[ 9.99948684e-01 -6.97612494e-03 -7.34598856e-03 8.33398348e+00] [ 7.00873772e-03 9.99965656e-01 4.42319061e-03 -4.27371865e-01] [ 7.31487954e-03 -4.47444973e-03 9.99963235e-01 -1.62439482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08119381700004 meters Centerline goodness [0,1] 0.8937521988369446 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.43, Z:-1.62 [[ 9.99947185e-01 -7.08765085e-03 -7.44266325e-03 8.33423964e+00] [ 7.12182992e-03 9.99964170e-01 4.57590004e-03 -4.28249416e-01] [ 7.40996419e-03 -4.62866374e-03 9.99961833e-01 -1.62440907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.11119381700001 meters Centerline goodness [0,1] 0.8930335865819736 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.43, Z:-1.62 [[ 9.99945745e-01 -7.14757756e-03 -7.57755296e-03 8.33443324e+00] [ 7.18458209e-03 9.99962344e-01 4.86751950e-03 -4.29503536e-01] [ 7.54247665e-03 -4.92169696e-03 9.99959443e-01 -1.62425369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14119381700002 meters Centerline goodness [0,1] 0.8904132334322659 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.43, Z:-1.62 [[ 9.99939523e-01 -7.96966276e-03 -7.57859261e-03 8.33434312e+00] [ 8.00614377e-03 9.99956451e-01 4.79559884e-03 -4.31453968e-01] [ 7.54004326e-03 -4.85598412e-03 9.99959783e-01 -1.62378859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.17119381700002 meters Centerline goodness [0,1] 0.891996182731007 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.43, Z:-1.62 [[ 9.99936669e-01 -8.09846232e-03 -7.81487592e-03 8.33476703e+00] [ 8.13653347e-03 9.99955126e-01 4.85219149e-03 -4.31952781e-01] [ 7.77522994e-03 -4.91547020e-03 9.99957691e-01 -1.62373044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20119381700002 meters Centerline goodness [0,1] 0.8930851504850345 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.43, Z:-1.62 [[ 9.99932339e-01 -8.29836160e-03 -8.15194389e-03 8.33603207e+00] [ 8.33523950e-03 9.99955135e-01 4.50030625e-03 -4.31383629e-01] [ 8.11423298e-03 -4.56795016e-03 9.99956646e-01 -1.62454814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23119381700002 meters Centerline goodness [0,1] 0.8910759519953491 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.43, Z:-1.62 [[ 9.99933216e-01 -8.03242112e-03 -8.30925107e-03 8.33633408e+00] [ 8.07066319e-03 9.99956947e-01 4.57910159e-03 -4.31221921e-01] [ 8.27211207e-03 -4.64585695e-03 9.99954993e-01 -1.62458636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26119381700002 meters Centerline goodness [0,1] 0.8925015492666805 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.43, Z:-1.63 [[ 9.99968517e-01 -3.20623035e-03 -7.25849976e-03 8.34639917e+00] [ 3.18817766e-03 9.99991799e-01 -2.49731673e-03 -4.30978005e-01] [ 7.26644720e-03 2.47409672e-03 9.99970538e-01 -1.62567323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29119381700002 meters Centerline goodness [0,1] 0.8912727423776688 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.43, Z:-1.63 [[ 9.99969813e-01 -2.66197189e-03 -7.29982651e-03 8.34642220e+00] [ 2.64371290e-03 9.99993356e-01 -2.50980026e-03 -4.29589155e-01] [ 7.30645903e-03 2.49042585e-03 9.99970206e-01 -1.62569765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32119381700002 meters Centerline goodness [0,1] 0.8905689336900836 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.43, Z:-1.63 [[ 9.99969788e-01 1.83941434e-03 -7.55241759e-03 8.34720710e+00] [-1.82975244e-03 9.99997499e-01 1.28602278e-03 -4.28162667e-01] [ 7.55476423e-03 -1.27216487e-03 9.99970653e-01 -1.62622229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35119381700002 meters Centerline goodness [0,1] 0.8926712967761998 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.43, Z:-1.63 [[ 9.99967511e-01 2.35795270e-03 -7.70825501e-03 8.34761334e+00] [-2.34887979e-03 9.99996538e-01 1.18587922e-03 -4.26994370e-01] [ 7.71102457e-03 -1.16773493e-03 9.99969588e-01 -1.62649760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38119381700002 meters Centerline goodness [0,1] 0.8927131396267198 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.43, Z:-1.63 [[ 9.99965007e-01 2.85744775e-03 -7.86256310e-03 8.34780574e+00] [-2.84653553e-03 9.99994970e-01 1.39871110e-03 -4.26868236e-01] [ 7.86652030e-03 -1.37628109e-03 9.99968111e-01 -1.62645633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.41119381700003 meters Centerline goodness [0,1] 0.8928615921265728 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.43, Z:-1.63 [[ 9.99962804e-01 3.08523173e-03 -8.05435503e-03 8.34830165e+00] [-3.07242370e-03 9.99993997e-01 1.60208885e-03 -4.27548490e-01] [ 8.05924949e-03 -1.57728287e-03 9.99966280e-01 -1.62662235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44119381700003 meters Centerline goodness [0,1] 0.8949408320620129 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.43, Z:-1.63 [[ 9.99960589e-01 3.09585399e-03 -8.32082049e-03 8.34867823e+00] [-3.07688268e-03 9.99992640e-01 2.29181587e-03 -4.30901657e-01] [ 8.32785438e-03 -2.26612336e-03 9.99962755e-01 -1.62629078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47119381700003 meters Centerline goodness [0,1] 0.8948995042625127 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.43, Z:-1.62 [[ 9.99967337e-01 1.46702119e-03 -7.94814679e-03 8.34678765e+00] [-1.45942639e-03 9.99998473e-01 9.61259261e-04 -4.31155891e-01] [ 7.94954484e-03 -9.49628128e-04 9.99967951e-01 -1.62483986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50119381700003 meters Centerline goodness [0,1] 0.8960424790508588 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.43, Z:-1.62 [[ 9.99966723e-01 1.28873376e-03 -8.05554393e-03 8.34694440e+00] [-1.27998254e-03 9.99998585e-01 1.09142071e-03 -4.31758910e-01] [ 8.05693908e-03 -1.08107344e-03 9.99966958e-01 -1.62471380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53119381700003 meters Centerline goodness [0,1] 0.893683384284888 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.43, Z:-1.62 [[ 9.99965829e-01 1.02519807e-03 -8.20298407e-03 8.34718104e+00] [-1.01647694e-03 9.99998914e-01 1.06726351e-03 -4.32164360e-01] [ 8.20406931e-03 -1.05888889e-03 9.99965785e-01 -1.62457559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56119381700003 meters Centerline goodness [0,1] 0.8928408572731418 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.43, Z:-1.62 [[ 9.99967103e-01 -1.09854953e-03 -8.03651844e-03 8.34476517e+00] [ 1.08892961e-03 9.99998686e-01 -1.20130370e-03 -4.33180006e-01] [ 8.03782757e-03 1.19251298e-03 9.99966985e-01 -1.62208571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59119381700003 meters Centerline goodness [0,1] 0.8926150848757436 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.43, Z:-1.62 [[ 9.99966545e-01 -8.84697501e-04 -8.13182241e-03 8.34467337e+00] [ 8.77693668e-04 9.99999241e-01 -8.64815352e-04 -4.34239414e-01] [ 8.13258134e-03 8.57649171e-04 9.99966562e-01 -1.62165400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62119381700003 meters Centerline goodness [0,1] 0.8945612762871646 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.43, Z:-1.62 [[ 9.99966273e-01 -6.63292629e-04 -8.18618630e-03 8.34473383e+00] [ 6.57520424e-04 9.99999533e-01 -7.07786460e-04 -4.34482902e-01] [ 8.18665195e-03 7.02380004e-04 9.99966242e-01 -1.62154794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65119381700003 meters Centerline goodness [0,1] 0.8950194907522601 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.43, Z:-1.62 [[ 9.99966346e-01 -5.32429483e-04 -8.18681531e-03 8.34480576e+00] [ 5.26156974e-04 9.99999566e-01 -7.68306693e-04 -4.33779990e-01] [ 8.18722083e-03 7.63973286e-04 9.99966192e-01 -1.62163928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68119381700004 meters Centerline goodness [0,1] 0.8967688654898317 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.43, Z:-1.62 [[ 9.99964696e-01 -5.44027445e-04 -8.38514261e-03 8.34560796e+00] [ 5.35424198e-04 9.99999328e-01 -1.02822151e-03 -4.32831326e-01] [ 8.38569636e-03 1.02369560e-03 9.99964315e-01 -1.62224646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71119381700004 meters Centerline goodness [0,1] 0.8961998008629273 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.43, Z:-1.62 [[ 9.99964268e-01 -3.55504934e-04 -8.44608031e-03 8.34616674e+00] [ 3.47670597e-04 9.99999508e-01 -9.29020943e-04 -4.32825080e-01] [ 8.44640643e-03 9.26051293e-04 9.99963900e-01 -1.62288813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74119381700004 meters Centerline goodness [0,1] 0.8955901561171812 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.43, Z:-1.62 [[ 9.99963270e-01 -2.61208415e-04 -8.56681098e-03 8.34657704e+00] [ 2.55527147e-04 9.99999747e-01 -6.64259701e-04 -4.33821645e-01] [ 8.56698232e-03 6.62046250e-04 9.99963084e-01 -1.62308006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77119381700004 meters Centerline goodness [0,1] 0.8964723449262739 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.44, Z:-1.62 [[ 9.99962829e-01 -1.58097721e-04 -8.62064392e-03 8.34686662e+00] [ 1.55371797e-04 9.99999938e-01 -3.16877676e-04 -4.35104049e-01] [ 8.62069348e-03 3.15526493e-04 9.99962791e-01 -1.62327022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80119381700004 meters Centerline goodness [0,1] 0.8972577319587629 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.44, Z:-1.62 [[ 9.99959113e-01 -7.75752144e-04 -9.00943430e-03 8.34872610e+00] [ 7.69031373e-04 9.99999423e-01 -7.49410771e-04 -4.36060861e-01] [ 9.01001046e-03 7.42451593e-04 9.99959133e-01 -1.62458487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83119381700004 meters Centerline goodness [0,1] 0.8963786452067865 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.44, Z:-1.63 [[ 9.99952636e-01 -1.92892794e-03 -9.53963395e-03 8.35171500e+00] [ 1.91966705e-03 9.99997677e-01 -9.79842151e-04 -4.39717003e-01] [ 9.54150184e-03 9.61482821e-04 9.99954017e-01 -1.62687573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86119381700001 meters Centerline goodness [0,1] 0.8964586706522191 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.44, Z:-1.63 [[ 9.99949963e-01 -1.90039277e-03 -9.82136659e-03 8.35281810e+00] [ 1.89699467e-03 9.99998138e-01 -3.55295453e-04 -4.42073957e-01] [ 9.82202350e-03 3.36646595e-04 9.99951706e-01 -1.62756882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.89119381700002 meters Centerline goodness [0,1] 0.8961976476445329 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.44, Z:-1.63 [[ 9.99948114e-01 -1.85680790e-03 -1.00160407e-02 8.35378464e+00] [ 1.86006287e-03 9.99998220e-01 3.15670300e-04 -4.44448848e-01] [ 1.00154367e-02 -3.34284386e-04 9.99949788e-01 -1.62827590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92119381700002 meters Centerline goodness [0,1] 0.8952164479801632 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.45, Z:-1.63 [[ 9.99940177e-01 -3.21600886e-03 -1.04546130e-02 8.35615980e+00] [ 3.21539537e-03 9.99994828e-01 -7.54896387e-05 -4.48971842e-01] [ 1.04548017e-02 4.18694084e-05 9.99945346e-01 -1.62990714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95119381700002 meters Centerline goodness [0,1] 0.8949215181463334 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.45, Z:-1.63 [[ 9.99939016e-01 -2.98672914e-03 -1.06322088e-02 8.35638423e+00] [ 2.99592850e-03 9.99995151e-01 8.49413498e-04 -4.51984375e-01] [ 1.06296203e-02 -8.81215035e-04 9.99943116e-01 -1.62965487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98119381700002 meters Centerline goodness [0,1] 0.8971468827051778 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.45, Z:-1.63 [[ 9.99938596e-01 -2.95242483e-03 -1.06811703e-02 8.35663135e+00] [ 2.96817067e-03 9.99994531e-01 1.45861643e-03 -4.54272519e-01] [ 1.06768054e-02 -1.49023040e-03 9.99941891e-01 -1.62972929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01119381700002 meters Centerline goodness [0,1] 0.8973016595621405 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.46, Z:-1.63 [[ 9.99938447e-01 -2.95759475e-03 -1.06936502e-02 8.35676403e+00] [ 2.97872788e-03 9.99993641e-01 1.96084464e-03 -4.56024050e-01] [ 1.06877828e-02 -1.99257742e-03 9.99940899e-01 -1.62973031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04119381700002 meters Centerline goodness [0,1] 0.8987013525848477 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.46, Z:-1.63 [[ 9.99938869e-01 -3.50285025e-03 -1.04875776e-02 8.35605238e+00] [ 3.53004959e-03 9.99990451e-01 2.57609439e-03 -4.58875902e-01] [ 1.04784538e-02 -2.61295858e-03 9.99941686e-01 -1.62882950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07119381700002 meters Centerline goodness [0,1] 0.8993611548991952 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.46, Z:-1.63 [[ 9.99938194e-01 -3.79157362e-03 -1.04514279e-02 8.35578031e+00] [ 3.82149517e-03 9.99988653e-01 2.84443330e-03 -4.60280798e-01] [ 1.04405244e-02 -2.88419758e-03 9.99941337e-01 -1.62837899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10119381700002 meters Centerline goodness [0,1] 0.9003899767673416 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.46, Z:-1.63 [[ 9.99935669e-01 -4.25893889e-03 -1.05127698e-02 8.35579396e+00] [ 4.29020854e-03 9.99986435e-01 2.95368745e-03 -4.61545323e-01] [ 1.05000476e-02 -2.99859941e-03 9.99940377e-01 -1.62800153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.13119381700002 meters Centerline goodness [0,1] 0.9027034871667289 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.46, Z:-1.63 [[ 9.99904922e-01 -9.15372691e-03 -1.03129447e-02 8.35520328e+00] [ 9.13759020e-03 9.99956954e-01 -1.61073861e-03 -4.60801652e-01] [ 1.03272451e-02 1.51635000e-03 9.99945523e-01 -1.62751625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16119381700003 meters Centerline goodness [0,1] 0.9020551212127497 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.46, Z:-1.63 [[ 9.99898346e-01 -9.78052028e-03 -1.03749374e-02 8.35524746e+00] [ 9.76302982e-03 9.99950835e-01 -1.73514860e-03 -4.61169133e-01] [ 1.03913980e-02 1.63368139e-03 9.99944673e-01 -1.62717932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19119381700003 meters Centerline goodness [0,1] 0.9037076996493558 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.46, Z:-1.63 [[ 9.99889854e-01 -1.05756722e-02 -1.04131829e-02 8.35562374e+00] [ 1.05534669e-02 9.99941923e-01 -2.18506589e-03 -4.60900793e-01] [ 1.04356867e-02 2.07493003e-03 9.99943394e-01 -1.62738474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22119381700003 meters Centerline goodness [0,1] 0.8870934498536626 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.46, Z:-1.63 [[ 9.99868444e-01 -1.20518783e-02 -1.08557141e-02 8.35776850e+00] [ 1.20138317e-02 9.99921483e-01 -3.56317707e-03 -4.59593536e-01] [ 1.08978047e-02 3.43228959e-03 9.99934726e-01 -1.62888746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25119381700003 meters Centerline goodness [0,1] 0.8825603584169917 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.46, Z:-1.63 [[ 9.99849039e-01 -1.35045967e-02 -1.09327511e-02 8.35853215e+00] [ 1.34500706e-02 9.99896813e-01 -5.04566990e-03 -4.56250473e-01] [ 1.09997627e-02 4.89786192e-03 9.99927505e-01 -1.62953066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28119381700003 meters Centerline goodness [0,1] 0.8683230069368684 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.46, Z:-1.63 [[ 9.99866560e-01 -1.24036176e-02 -1.06307346e-02 8.37847135e+00] [ 1.23207627e-02 9.99893484e-01 -7.82427467e-03 -4.55120629e-01] [ 1.07266516e-02 7.69225184e-03 9.99912880e-01 -1.63060308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31119381700003 meters Centerline goodness [0,1] 0.868592132505176 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.45, Z:-1.63 [[ 9.99896032e-01 -9.84468228e-03 -1.05360455e-02 8.37861312e+00] [ 9.79526733e-03 9.99940831e-01 -4.73145811e-03 -4.54790266e-01] [ 1.05820018e-02 4.62776280e-03 9.99933300e-01 -1.63068045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34119381700003 meters Centerline goodness [0,1] 0.8603530633437175 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.45, Z:-1.63 [[ 9.99919114e-01 -7.08814490e-03 -1.05604409e-02 8.37880309e+00] [ 7.07226862e-03 9.99973805e-01 -1.53995949e-03 -4.54167645e-01] [ 1.05710798e-02 1.46514865e-03 9.99943051e-01 -1.63061970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37119381700003 meters Centerline goodness [0,1] 0.8465883134681673 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.45, Z:-1.63 [[ 9.99931330e-01 -4.87413284e-03 -1.06572820e-02 8.37968512e+00] [ 4.87976790e-03 9.99987967e-01 5.02813013e-04 -4.50126031e-01] [ 1.06547030e-02 -5.54783548e-04 9.99943083e-01 -1.63126649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40119381700003 meters Centerline goodness [0,1] 0.8465883134681673 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.45, Z:-1.63 [[ 9.99931330e-01 -4.87413284e-03 -1.06572820e-02 8.37968512e+00] [ 4.87976790e-03 9.99987967e-01 5.02813013e-04 -4.50126031e-01] [ 1.06547030e-02 -5.54783548e-04 9.99943083e-01 -1.63126649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43119381700004 meters Centerline goodness [0,1] 0.826820221725855 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.45, Z:-1.64 [[ 9.99969982e-01 -2.60908403e-03 -7.29573134e-03 8.39571052e+00] [ 2.57113329e-03 9.99983142e-01 -5.20632427e-03 -4.47446122e-01] [ 7.30919208e-03 5.18740969e-03 9.99959832e-01 -1.63593514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46119381700004 meters Centerline goodness [0,1] 0.82489958176322 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.44, Z:-1.64 [[ 9.99967546e-01 -3.11988671e-03 -7.42793262e-03 8.39648082e+00] [ 3.07389115e-03 9.99976082e-01 -6.19562702e-03 -4.44383265e-01] [ 7.44708462e-03 6.17259329e-03 9.99953219e-01 -1.63662682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49119381700004 meters Centerline goodness [0,1] 0.802926628194559 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.44, Z:-1.64 [[ 9.99967701e-01 -1.72640951e-03 -7.84957967e-03 8.39882286e+00] [ 1.68769074e-03 9.99986391e-01 -4.93654247e-03 -4.39572822e-01] [ 7.85799533e-03 4.92313536e-03 9.99957006e-01 -1.63819798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52119381700004 meters Centerline goodness [0,1] 0.8078632549638615 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.44, Z:-1.64 [[ 9.99970098e-01 -1.31347146e-03 -7.62093238e-03 8.39727892e+00] [ 1.27612297e-03 9.99987163e-01 -4.90357111e-03 -4.36429685e-01] [ 7.62727525e-03 4.89369923e-03 9.99958937e-01 -1.63680823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55119381700004 meters Centerline goodness [0,1] 0.7734531143757856 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.43, Z:-1.64 [[ 9.99967025e-01 4.19317953e-04 -8.11008288e-03 8.39943662e+00] [-4.43785357e-04 9.99995355e-01 -3.01534740e-03 -4.34009826e-01] [ 8.10878082e-03 3.01884711e-03 9.99962566e-01 -1.63808354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58119381700004 meters Centerline goodness [0,1] 0.7787426261292851 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.43, Z:-1.64 [[ 9.99967295e-01 -1.09804457e-04 -8.08683567e-03 8.39938803e+00] [ 7.64607165e-05 9.99991496e-01 -4.12340606e-03 -4.30145267e-01] [ 8.08721966e-03 4.12265288e-03 9.99958799e-01 -1.63806471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.61119381700001 meters Centerline goodness [0,1] 0.7486448879566364 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.42, Z:-1.64 [[ 9.99970668e-01 -6.73122534e-04 -7.62958075e-03 8.39822913e+00] [ 6.31405969e-04 9.99984846e-01 -5.46883065e-03 -4.21361226e-01] [ 7.63314633e-03 5.46385287e-03 9.99955940e-01 -1.63738058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64119381700002 meters Centerline goodness [0,1] 0.722306587317874 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.42, Z:-1.64 [[ 9.99967153e-01 1.90937794e-04 -8.10285271e-03 8.40087620e+00] [-2.29733501e-04 9.99988515e-01 -4.78724660e-03 -4.17318666e-01] [ 8.10184558e-03 4.78895086e-03 9.99955712e-01 -1.63922248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.67119381700002 meters Centerline goodness [0,1] 0.7472839020756161 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.41, Z:-1.64 [[ 9.99966735e-01 -6.34032715e-04 -8.13183011e-03 8.40111955e+00] [ 5.80539051e-04 9.99978190e-01 -6.57897990e-03 -4.11301861e-01] [ 8.13582404e-03 6.57404020e-03 9.99945294e-01 -1.63942374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70119381700002 meters Centerline goodness [0,1] 0.7403790688092295 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.41, Z:-1.64 [[ 9.99962565e-01 8.39359953e-04 -8.61187080e-03 8.40345945e+00] [-8.87233312e-04 9.99984168e-01 -5.55668278e-03 -4.05879760e-01] [ 8.60707040e-03 5.56411551e-03 9.99947478e-01 -1.64094426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73119381700002 meters Centerline goodness [0,1] 0.7382157676348547 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.39, Z:-1.64 [[ 9.99987359e-01 2.16117415e-04 -5.02350418e-03 8.39670871e+00] [-2.37418706e-04 9.99990982e-01 -4.24011572e-03 -3.89656206e-01] [ 5.02254251e-03 4.24125479e-03 9.99978393e-01 -1.64166333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76119381700002 meters Centerline goodness [0,1] 0.7616478157102833 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.38, Z:-1.64 [[ 9.99984839e-01 2.25356150e-03 -5.02425580e-03 8.39686754e+00] [-2.27048699e-03 9.99991759e-01 -3.36559976e-03 -3.82429204e-01] [ 5.01662980e-03 3.37695625e-03 9.99981715e-01 -1.64168557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79119381700002 meters Centerline goodness [0,1] 0.7502069022593727 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.38, Z:-1.64 [[ 9.99976834e-01 4.31194265e-03 -5.26671722e-03 8.39798596e+00] [-4.32496761e-03 9.99987611e-01 -2.46418882e-03 -3.75216789e-01] [ 5.25602653e-03 2.48691012e-03 9.99983095e-01 -1.64228636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82119381700002 meters Centerline goodness [0,1] 0.7517311440063026 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.37, Z:-1.64 [[ 9.99964490e-01 6.44621959e-03 -5.42816532e-03 8.39850977e+00] [-6.45471681e-03 9.99977968e-01 -1.54933337e-03 -3.67980971e-01] [ 5.41805838e-03 1.58431562e-03 9.99984067e-01 -1.64241572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85119381700002 meters Centerline goodness [0,1] 0.7865786578657865 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.35, Z:-1.64 [[ 9.99931038e-01 1.01813627e-02 -5.85304773e-03 8.40076682e+00] [-1.01874478e-02 9.99947596e-01 -1.01077959e-03 -3.51520499e-01] [ 5.84244989e-03 1.07033751e-03 9.99982360e-01 -1.64435206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88119381700002 meters Centerline goodness [0,1] 0.7796999007936508 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.34, Z:-1.65 [[ 9.99906292e-01 1.22194141e-02 -6.17200389e-03 8.40260511e+00] [-1.22221183e-02 9.99925227e-01 -4.00618899e-04 -3.43350895e-01] [ 6.16664706e-03 4.76016320e-04 9.99980873e-01 -1.64559718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.91119381700003 meters Centerline goodness [0,1] 0.7994647969132473 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.34, Z:-1.65 [[ 9.99875702e-01 1.44605827e-02 -6.28266131e-03 8.40362822e+00] [-1.44575711e-02 9.99895346e-01 5.24494544e-04 -3.35713593e-01] [ 6.28958830e-03 -4.33597328e-04 9.99980126e-01 -1.64637291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94119381700003 meters Centerline goodness [0,1] 0.7943419230848712 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.33, Z:-1.65 [[ 9.99840806e-01 1.65634025e-02 -6.63448137e-03 8.40549289e+00] [-1.65545213e-02 9.99861996e-01 1.39133578e-03 -3.28232414e-01] [ 6.65661105e-03 -1.28128363e-03 9.99977024e-01 -1.64754927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97119381700003 meters Centerline goodness [0,1] 0.812524542730185 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.31, Z:-1.65 [[ 9.99762741e-01 2.06498369e-02 -6.93146635e-03 8.40677637e+00] [-2.06260959e-02 9.99781205e-01 3.47929319e-03 -3.14343313e-01] [ 7.00179662e-03 -3.33549861e-03 9.99969924e-01 -1.64775415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00119381700003 meters Centerline goodness [0,1] 0.8253362903392957 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.31, Z:-1.65 [[ 9.99777762e-01 1.98376155e-02 -7.13413358e-03 8.40722900e+00] [-1.98301595e-02 9.99802742e-01 1.11434584e-03 -3.06368599e-01] [ 7.15483228e-03 -9.72627186e-04 9.99973931e-01 -1.64772690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03119381700003 meters Centerline goodness [0,1] 0.8221367574385378 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.30, Z:-1.65 [[ 9.99792605e-01 1.89243088e-02 -7.52442171e-03 8.40857884e+00] [-1.89339270e-02 9.99820006e-01 -1.20908071e-03 -2.98403356e-01] [ 7.50018634e-03 1.35129681e-03 9.99970960e-01 -1.64827321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06119381700003 meters Centerline goodness [0,1] 0.8374545904887715 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.29, Z:-1.65 [[ 9.99808031e-01 1.79083814e-02 -7.94926086e-03 8.41029355e+00] [-1.79372905e-02 9.99832703e-01 -3.58042412e-03 -2.90481457e-01] [ 7.88381137e-03 3.72232499e-03 9.99961994e-01 -1.64918636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09119381700003 meters Centerline goodness [0,1] 0.8663351978454527 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.28, Z:-1.65 [[ 9.99764306e-01 2.02494003e-02 -7.82910045e-03 8.40988822e+00] [-2.02755887e-02 9.99789048e-01 -3.28021874e-03 -2.77326430e-01] [ 7.76102642e-03 3.43818523e-03 9.99963972e-01 -1.64835384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12119381700003 meters Centerline goodness [0,1] 0.8579339237198498 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.27, Z:-1.65 [[ 9.99706950e-01 2.28939431e-02 -7.86645733e-03 8.40996305e+00] [-2.29083638e-02 9.99736041e-01 -1.74799098e-03 -2.71073579e-01] [ 7.82436250e-03 1.92768640e-03 9.99967531e-01 -1.64798230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15119381700003 meters Centerline goodness [0,1] 0.873323521485873 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.26, Z:-1.65 [[ 9.99632474e-01 2.59324418e-02 -7.90103503e-03 8.41004533e+00] [-2.59337539e-02 9.99663662e-01 -6.36444505e-05 -2.64412870e-01] [ 7.89672715e-03 2.68524558e-04 9.99968784e-01 -1.64758419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18119381700004 meters Centerline goodness [0,1] 0.8939101566552548 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.26, Z:-1.65 [[ 9.99546559e-01 2.90392880e-02 -7.96217727e-03 8.41048786e+00] [-2.90285082e-02 9.99577509e-01 1.46613993e-03 -2.57064548e-01] [ 8.00138898e-03 -1.23434499e-03 9.99967227e-01 -1.64748502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21119381700004 meters Centerline goodness [0,1] 0.9155922225446707 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.24, Z:-1.65 [[ 9.99224857e-01 3.85920894e-02 -7.76766404e-03 8.41137449e+00] [-3.85247161e-02 9.99220260e-01 8.64400069e-03 -2.44842564e-01] [ 8.09519733e-03 -8.33805330e-03 9.99932470e-01 -1.64777879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24119381700004 meters Centerline goodness [0,1] 0.9159976826946951 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.24, Z:-1.65 [[ 9.99096926e-01 4.17566430e-02 -7.85585705e-03 8.41251483e+00] [-4.16718514e-02 9.99074438e-01 1.06641516e-02 -2.39358985e-01] [ 8.29388513e-03 -1.03271529e-02 9.99912277e-01 -1.64848603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27119381700004 meters Centerline goodness [0,1] 0.915327833260964 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.24, Z:-1.65 [[ 9.98959817e-01 4.48978656e-02 -7.96653703e-03 8.41363693e+00] [-4.47923188e-02 9.98912168e-01 1.29664461e-02 -2.35173180e-01] [ 8.54003653e-03 -1.25961190e-02 9.99884196e-01 -1.64914697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30119381700004 meters Centerline goodness [0,1] 0.915013049422097 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.23, Z:-1.65 [[ 9.98815093e-01 4.79967171e-02 -8.04513774e-03 8.41577208e+00] [-4.78793720e-02 9.98752273e-01 1.41937775e-02 -2.26772620e-01] [ 8.71635433e-03 -1.37917631e-02 9.99866897e-01 -1.65097208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33119381700004 meters Centerline goodness [0,1] 0.914152507252383 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.22, Z:-1.65 [[ 9.98841766e-01 4.73875299e-02 -8.33960023e-03 8.41743836e+00] [-4.72807898e-02 9.98802644e-01 1.25620638e-02 -2.21768823e-01] [ 8.92489994e-03 -1.21532111e-02 9.99886316e-01 -1.65223476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36119381700001 meters Centerline goodness [0,1] 0.9134303035318947 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.22, Z:-1.65 [[ 0.99887674 0.04657898 -0.00869832 8.4190695 ] [-0.04648239 0.99885859 0.01099538 -0.21751742] [ 0.00920054 -0.01057871 0.99990172 -1.65334461] [ 0. 0. 0. 1. ]] SLAMing on 215.39119381700002 meters Centerline goodness [0,1] 0.9132453213404903 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.21, Z:-1.65 [[ 0.99890692 0.0458619 -0.00903571 8.42028158] [-0.04577417 0.99890484 0.00968785 -0.21419982] [ 0.00947012 -0.00926366 0.99991225 -1.65396496] [ 0. 0. 0. 1. ]] SLAMing on 215.42119381700002 meters Centerline goodness [0,1] 0.9126785603539165 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.21, Z:-1.65 [[ 9.98940046e-01 4.50635458e-02 -9.38411831e-03 8.42150437e+00] [-4.49885308e-02 9.98955011e-01 8.05721831e-03 -2.10076389e-01] [ 9.73739883e-03 -7.62650033e-03 9.99923507e-01 -1.65450600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45119381700002 meters Centerline goodness [0,1] 0.9135526588040555 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.21, Z:-1.65 [[ 9.99085804e-01 4.16581272e-02 -9.59981393e-03 8.42141041e+00] [-4.16260934e-02 9.99127083e-01 3.51299350e-03 -2.06536333e-01] [ 9.73777881e-03 -3.11017918e-03 9.99947750e-01 -1.65397830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48119381700002 meters Centerline goodness [0,1] 0.9154021558872305 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.21, Z:-1.65 [[ 9.99107536e-01 4.11064583e-02 -9.71546722e-03 8.42110177e+00] [-4.10817230e-02 9.99152054e-01 2.73205794e-03 -2.05035724e-01] [ 9.81953425e-03 -2.33049154e-03 9.99949071e-01 -1.65323436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51119381700002 meters Centerline goodness [0,1] 0.9165718305779139 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.20, Z:-1.65 [[ 9.99256802e-01 3.72291381e-02 -9.99172779e-03 8.42115767e+00] [-3.72507430e-02 9.99303979e-01 -1.98489762e-03 -2.01959365e-01] [ 9.91087731e-03 2.35562173e-03 9.99948111e-01 -1.65275621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54119381700002 meters Centerline goodness [0,1] 0.9204714332892998 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.20, Z:-1.65 [[ 9.99304741e-01 3.58883588e-02 -1.01025133e-02 8.42066907e+00] [-3.59198901e-02 9.99350297e-01 -2.95713063e-03 -2.00923608e-01] [ 9.98982309e-03 3.31795582e-03 9.99944596e-01 -1.65175065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57119381700002 meters Centerline goodness [0,1] 0.9185959826050942 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.20, Z:-1.65 [[ 9.99325013e-01 3.53067625e-02 -1.01464267e-02 8.42058732e+00] [-3.53428324e-02 9.99369471e-01 -3.39783652e-03 -2.00443974e-01] [ 1.00200624e-02 3.75414648e-03 9.99942751e-01 -1.65151796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60119381700002 meters Centerline goodness [0,1] 0.9195395146235221 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.20, Z:-1.65 [[ 9.99342853e-01 3.47691963e-02 -1.02452694e-02 8.42094279e+00] [-3.48104226e-02 9.99386427e-01 -3.87341559e-03 -2.00006287e-01] [ 1.01043076e-02 4.22751235e-03 9.99940014e-01 -1.65171628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.63119381700002 meters Centerline goodness [0,1] 0.9179267002675627 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.20, Z:-1.65 [[ 9.99392336e-01 3.31921114e-02 -1.06415295e-02 8.42294977e+00] [-3.32519945e-02 9.99431863e-01 -5.50059934e-03 -1.98961564e-01] [ 1.04529071e-02 5.85110890e-03 9.99928248e-01 -1.65321437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66119381700003 meters Centerline goodness [0,1] 0.9179267002675627 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.20, Z:-1.65 [[ 9.99392336e-01 3.31921114e-02 -1.06415295e-02 8.42294977e+00] [-3.32519945e-02 9.99431863e-01 -5.50059934e-03 -1.98961564e-01] [ 1.04529071e-02 5.85110890e-03 9.99928248e-01 -1.65321437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69119381700003 meters Centerline goodness [0,1] 0.9180699548611827 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.20, Z:-1.66 [[ 9.99359444e-01 3.40519490e-02 -1.10075211e-02 8.42557619e+00] [-3.41060172e-02 9.99406875e-01 -4.76205700e-03 -1.98557930e-01] [ 1.08388349e-02 5.13442935e-03 9.99928076e-01 -1.65535126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72119381700003 meters Centerline goodness [0,1] 0.9196386016536461 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.20, Z:-1.66 [[ 9.99361635e-01 3.39322470e-02 -1.11769552e-02 8.42608394e+00] [-3.39926540e-02 9.99408243e-01 -5.25965332e-03 -1.96888675e-01] [ 1.09918693e-02 5.63623011e-03 9.99923703e-01 -1.65549473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75119381700003 meters Centerline goodness [0,1] 0.9214039888875067 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.20, Z:-1.66 [[ 9.99359358e-01 3.39185735e-02 -1.14194951e-02 8.42667652e+00] [-3.39847365e-02 9.99406379e-01 -5.65049153e-03 -1.95395641e-01] [ 1.12210596e-02 6.03496011e-03 9.99918830e-01 -1.65556027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78119381700003 meters Centerline goodness [0,1] 0.9257010217404821 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.19, Z:-1.66 [[ 9.99328435e-01 3.47378952e-02 -1.16601251e-02 8.42756560e+00] [-3.48066335e-02 9.99377554e-01 -5.74486371e-03 -1.93272061e-01] [ 1.14533028e-02 6.14685536e-03 9.99915515e-01 -1.65583720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81119381700003 meters Centerline goodness [0,1] 0.9265626944294661 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.19, Z:-1.66 [[ 9.99324541e-01 3.47893969e-02 -1.18389201e-02 8.42796398e+00] [-3.48632669e-02 9.99373527e-01 -6.09142283e-03 -1.91917556e-01] [ 1.16195864e-02 6.50005175e-03 9.99911363e-01 -1.65580303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84119381700003 meters Centerline goodness [0,1] 0.9268528618766336 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.19, Z:-1.66 [[ 9.99267960e-01 3.61862036e-02 -1.24138026e-02 8.43077594e+00] [-3.62491594e-02 9.99330847e-01 -4.88440857e-03 -1.91340836e-01] [ 1.22287476e-02 5.33082290e-03 9.99911016e-01 -1.65760138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87119381700003 meters Centerline goodness [0,1] 0.9268922492150058 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.19, Z:-1.66 [[ 9.99265619e-01 3.61771285e-02 -1.26269006e-02 8.43154078e+00] [-3.62448037e-02 9.99329555e-01 -5.17247950e-03 -1.90255280e-01] [ 1.24313095e-02 5.62634046e-03 9.99906899e-01 -1.65797911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90119381700003 meters Centerline goodness [0,1] 0.9255613911748893 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.19, Z:-1.66 [[ 9.99253805e-01 3.64004101e-02 -1.29167961e-02 8.43289829e+00] [-3.64683625e-02 9.99321974e-01 -5.06475165e-03 -1.90785342e-01] [ 1.27236792e-02 5.53202676e-03 9.99903748e-01 -1.65894638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93119381700004 meters Centerline goodness [0,1] 0.9258075230424313 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.19, Z:-1.66 [[ 9.99255428e-01 3.62989312e-02 -1.30758100e-02 8.43330151e+00] [-3.63672515e-02 9.99325856e-01 -5.02553908e-03 -1.91551194e-01] [ 1.28845733e-02 5.49732847e-03 9.99901879e-01 -1.65909326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96119381700004 meters Centerline goodness [0,1] 0.9306418005900192 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.19, Z:-1.66 [[ 9.99255539e-01 3.61725007e-02 -1.34133360e-02 8.43432988e+00] [-3.62417766e-02 9.99330752e-01 -4.95802232e-03 -1.92441097e-01] [ 1.32250151e-02 5.44045439e-03 9.99897745e-01 -1.65955889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99119381700004 meters Centerline goodness [0,1] 0.9291149710504549 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.19, Z:-1.66 [[ 9.99259816e-01 3.60336271e-02 -1.34683657e-02 8.43454614e+00] [-3.61029470e-02 9.99335868e-01 -4.93959361e-03 -1.93129858e-01] [ 1.32814295e-02 5.42218510e-03 9.99897096e-01 -1.65970077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02119381700004 meters Centerline goodness [0,1] 0.9310724144372263 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.19, Z:-1.66 [[ 9.99268889e-01 3.57578019e-02 -1.35302578e-02 8.43456818e+00] [-3.58320382e-02 9.99343854e-01 -5.28456255e-03 -1.92255855e-01] [ 1.33324157e-02 5.76551566e-03 9.99894497e-01 -1.65948404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05119381700004 meters Centerline goodness [0,1] 0.9324780134505949 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.19, Z:-1.66 [[ 9.99265528e-01 3.57305587e-02 -1.38466956e-02 8.43536928e+00] [-3.58059805e-02 9.99345034e-01 -5.23775836e-03 -1.92367789e-01] [ 1.36504785e-02 5.72970588e-03 9.99890411e-01 -1.65964911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08119381700004 meters Centerline goodness [0,1] 0.9304907148044403 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.19, Z:-1.66 [[ 9.99263874e-01 3.56866887e-02 -1.40773236e-02 8.43589014e+00] [-3.57611307e-02 9.99347494e-01 -5.07220109e-03 -1.93412355e-01] [ 1.38871280e-02 5.57188832e-03 9.99888045e-01 -1.65974357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.11119381700001 meters Centerline goodness [0,1] 0.929825286881009 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.20, Z:-1.66 [[ 9.99256447e-01 3.58111724e-02 -1.42867866e-02 8.43664191e+00] [-3.58807401e-02 9.99345293e-01 -4.64305473e-03 -1.95120480e-01] [ 1.41111597e-02 5.15222285e-03 9.99887159e-01 -1.66017168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14119381700002 meters Centerline goodness [0,1] 0.9309510515540667 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.20, Z:-1.66 [[ 9.99249065e-01 3.59843863e-02 -1.43676760e-02 8.43644151e+00] [-3.60450628e-02 9.99342214e-01 -3.98666479e-03 -1.97847850e-01] [ 1.42147675e-02 4.50155485e-03 9.99888832e-01 -1.65974052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.17119381700002 meters Centerline goodness [0,1] 0.9314207763217726 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.20, Z:-1.66 [[ 9.99243340e-01 3.60848743e-02 -1.45130739e-02 8.43654840e+00] [-3.61423874e-02 9.99339726e-01 -3.72020433e-03 -1.98861158e-01] [ 1.43692482e-02 4.24192654e-03 9.99887759e-01 -1.65947192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20119381700002 meters Centerline goodness [0,1] 0.9330598545590155 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.20, Z:-1.66 [[ 9.99237792e-01 3.61825146e-02 -1.46513196e-02 8.43631010e+00] [-3.62371768e-02 9.99337149e-01 -3.48265379e-03 -1.99921202e-01] [ 1.45155968e-02 4.01092174e-03 9.99886599e-01 -1.65881502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23119381700002 meters Centerline goodness [0,1] 0.9302128188141768 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.20, Z:-1.66 [[ 9.99197923e-01 3.72202092e-02 -1.47704385e-02 8.43563507e+00] [-3.72575579e-02 9.99303137e-01 -2.26145165e-03 -2.02815793e-01] [ 1.46759739e-02 2.80994826e-03 9.99888354e-01 -1.65756384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26119381700002 meters Centerline goodness [0,1] 0.9321651235526833 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.20, Z:-1.66 [[ 9.99178932e-01 3.76630441e-02 -1.49317699e-02 8.43585236e+00] [-3.76953690e-02 9.99287491e-01 -1.88923784e-03 -2.03631452e-01] [ 1.48499764e-02 2.45054522e-03 9.99886730e-01 -1.65738021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29119381700002 meters Centerline goodness [0,1] 0.9281128324082512 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.20, Z:-1.66 [[ 9.99152674e-01 3.82586461e-02 -1.51726861e-02 8.43650328e+00] [-3.82845166e-02 9.99265873e-01 -1.41819037e-03 -2.04606190e-01] [ 1.51072894e-02 1.99786765e-03 9.99883882e-01 -1.65752234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32119381700002 meters Centerline goodness [0,1] 0.9281128324082512 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.20, Z:-1.66 [[ 9.99152674e-01 3.82586461e-02 -1.51726861e-02 8.43650328e+00] [-3.82845166e-02 9.99265873e-01 -1.41819037e-03 -2.04606190e-01] [ 1.51072894e-02 1.99786765e-03 9.99883882e-01 -1.65752234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35119381700002 meters Centerline goodness [0,1] 0.9275861357966144 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.21, Z:-1.66 [[ 9.99017796e-01 4.15035169e-02 -1.55210285e-02 8.43889192e+00] [-4.14864666e-02 9.99138058e-01 1.41903550e-03 -2.08878121e-01] [ 1.55665453e-02 -7.73729086e-04 9.99878535e-01 -1.65937718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38119381700002 meters Centerline goodness [0,1] 0.9270598922311456 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.21, Z:-1.66 [[ 9.98961499e-01 4.27233360e-02 -1.58315968e-02 8.44039381e+00] [-4.26920220e-02 9.99085608e-01 2.31080609e-03 -2.10278954e-01] [ 1.59158458e-02 -1.63252344e-03 9.99872002e-01 -1.66043344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.41119381700003 meters Centerline goodness [0,1] 0.9280523555885875 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.21, Z:-1.66 [[ 9.98898883e-01 4.40884972e-02 -1.60382842e-02 8.44171677e+00] [-4.40417385e-02 9.99024382e-01 3.25722127e-03 -2.11174460e-01] [ 1.61662429e-02 -2.54728077e-03 9.99866073e-01 -1.66147077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44119381700003 meters Centerline goodness [0,1] 0.9294712928541925 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.21, Z:-1.66 [[ 9.98832532e-01 4.54887976e-02 -1.62585884e-02 8.44293535e+00] [-4.54255442e-02 9.98958733e-01 4.23900663e-03 -2.12220182e-01] [ 1.64344862e-02 -3.49550250e-03 9.99858835e-01 -1.66232593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47119381700003 meters Centerline goodness [0,1] 0.9298625280817824 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.21, Z:-1.66 [[ 9.98748170e-01 4.72253879e-02 -1.64880221e-02 8.44413436e+00] [-4.71371000e-02 9.98872148e-01 5.70306841e-03 -2.14341996e-01] [ 1.67387556e-02 -4.91873160e-03 9.99847798e-01 -1.66312857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50119381700003 meters Centerline goodness [0,1] 0.9326272676499183 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.22, Z:-1.66 [[ 0.99853165 0.05162926 -0.01640024 8.44492356] [-0.05146853 0.99862379 0.0100759 -0.22280315] [ 0.01689788 -0.00921701 0.99981474 -1.66402906] [ 0. 0. 0. 1. ]] SLAMing on 216.53119381700003 meters Centerline goodness [0,1] 0.9295952607813083 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.23, Z:-1.66 [[ 9.98628006e-01 4.96933503e-02 -1.65129205e-02 8.44499710e+00] [-4.95665019e-02 9.98738750e-01 8.00449121e-03 -2.26294404e-01] [ 1.68898636e-02 -7.17502139e-03 9.99831612e-01 -1.66422118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56119381700003 meters Centerline goodness [0,1] 0.9246398379529154 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.23, Z:-1.66 [[ 9.98732721e-01 4.74766662e-02 -1.67008266e-02 8.44532725e+00] [-4.73844883e-02 9.98859461e-01 5.87265565e-03 -2.30045203e-01] [ 1.69605928e-02 -5.07385324e-03 9.99843285e-01 -1.66455837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59119381700003 meters Centerline goodness [0,1] 0.920441371315005 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.23, Z:-1.66 [[ 9.98853152e-01 4.48423017e-02 -1.67794332e-02 8.44521985e+00] [-4.47867347e-02 9.98989818e-01 3.67305260e-03 -2.34077598e-01] [ 1.69271911e-02 -2.91734414e-03 9.99852469e-01 -1.66460444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62119381700003 meters Centerline goodness [0,1] 0.923595227792545 Centerline is valid? [False, False] Translation: X:8.46, Y:-0.25, Z:-1.67 [[ 9.99042723e-01 4.26985607e-02 -9.51159170e-03 8.45542546e+00] [-4.26210977e-02 9.99057631e-01 8.20319035e-03 -2.50235012e-01] [ 9.85289269e-03 -7.78994315e-03 9.99921116e-01 -1.66719687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65119381700003 meters Centerline goodness [0,1] 0.9308140977910151 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.26, Z:-1.67 [[ 9.99266235e-01 3.71411133e-02 -9.35567469e-03 8.45378947e+00] [-3.71140047e-02 9.99306369e-01 3.05475219e-03 -2.55583373e-01] [ 9.46264220e-03 -2.70528417e-03 9.99951569e-01 -1.66617514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68119381700004 meters Centerline goodness [0,1] 0.9327279121242837 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.26, Z:-1.67 [[ 9.99369872e-01 3.41737504e-02 -9.59241603e-03 8.45413495e+00] [-3.41626764e-02 9.99415419e-01 1.31599402e-03 -2.63121674e-01] [ 9.63178094e-03 -9.87462168e-04 9.99953126e-01 -1.66635352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71119381700004 meters Centerline goodness [0,1] 0.9344279244814823 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.27, Z:-1.67 [[ 9.99468830e-01 3.11004507e-02 -9.73750558e-03 8.45435821e+00] [-3.11070005e-02 9.99515924e-01 -5.21868120e-04 -2.70645428e-01] [ 9.71656155e-03 8.24495510e-04 9.99952453e-01 -1.66660466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74119381700004 meters Centerline goodness [0,1] 0.9363490297861822 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.29, Z:-1.67 [[ 9.99610794e-01 2.60947729e-02 -9.86526432e-03 8.45433830e+00] [-2.61253477e-02 9.99654224e-01 -2.98315500e-03 -2.85499954e-01] [ 9.78400840e-03 3.23972740e-03 9.99946887e-01 -1.66669073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77119381700004 meters Centerline goodness [0,1] 0.9359998348915444 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.29, Z:-1.67 [[ 9.99680390e-01 2.32655280e-02 -9.89102087e-03 8.45420735e+00] [-2.33120910e-02 9.99717567e-01 -4.61865013e-03 -2.92007300e-01] [ 9.78077199e-03 4.84775434e-03 9.99940416e-01 -1.66666272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80119381700004 meters Centerline goodness [0,1] 0.9341806627326373 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.30, Z:-1.67 [[ 9.99733952e-01 2.07297675e-02 -1.01144150e-02 8.45467934e+00] [-2.07914161e-02 9.99765660e-01 -6.02851611e-03 -2.98300875e-01] [ 9.98707502e-03 6.23720525e-03 9.99930675e-01 -1.66683735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83119381700004 meters Centerline goodness [0,1] 0.9350882626200062 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.31, Z:-1.67 [[ 0.99982264 0.01589339 -0.01010369 8.45471149] [-0.01598081 0.99983504 -0.00863118 -0.31167944] [ 0.00996485 0.00879111 0.99991171 -1.66723953] [ 0. 0. 0. 1. ]] SLAMing on 216.86119381700001 meters Centerline goodness [0,1] 0.9332549553451726 Centerline is valid? [False, False] Translation: X:8.46, Y:-0.32, Z:-1.67 [[ 0.99985885 0.0133415 -0.01021243 8.4551732 ] [-0.01344452 0.99985875 -0.01008607 -0.31798751] [ 0.01007642 0.01022195 0.99989698 -1.66765644] [ 0. 0. 0. 1. ]] SLAMing on 216.89119381700002 meters Centerline goodness [0,1] 0.9348131033913689 Centerline is valid? [False, False] Translation: X:8.46, Y:-0.32, Z:-1.67 [[ 0.99988651 0.01089918 -0.01040056 8.45545158] [-0.01101995 0.9998717 -0.01162542 -0.32379898] [ 0.01027252 0.01173871 0.99987833 -1.66762802] [ 0. 0. 0. 1. ]] SLAMing on 216.92119381700002 meters Centerline goodness [0,1] 0.9335771249121937 Centerline is valid? [False, False] Translation: X:8.46, Y:-0.33, Z:-1.67 [[ 0.99987872 0.01155794 -0.01043809 8.45541077] [-0.01165697 0.99988714 -0.00947708 -0.331217 ] [ 0.01032738 0.0095976 0.99990061 -1.66739401] [ 0. 0. 0. 1. ]] SLAMing on 216.95119381700002 meters Centerline goodness [0,1] 0.9341098855788064 Centerline is valid? [False, False] Translation: X:8.46, Y:-0.34, Z:-1.67 [[ 9.99868972e-01 1.21113987e-02 -1.07402016e-02 8.45663561e+00] [-1.21938339e-02 9.99896439e-01 -7.64340993e-03 -3.38440369e-01] [ 1.06465170e-02 7.77337267e-03 9.99913109e-01 -1.66808889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98119381700002 meters Centerline goodness [0,1] 0.9336251361403941 Centerline is valid? [False, False] Translation: X:8.46, Y:-0.35, Z:-1.67 [[ 9.99872199e-01 1.15600088e-02 -1.10431431e-02 8.45869685e+00] [-1.16332001e-02 9.99910638e-01 -6.58667968e-03 -3.50588821e-01] [ 1.09660141e-02 6.71430499e-03 9.99917329e-01 -1.66989908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01119381700002 meters Centerline goodness [0,1] 0.935030638139842 Centerline is valid? [False, False] Translation: X:8.46, Y:-0.36, Z:-1.67 [[ 9.99861583e-01 1.23642612e-02 -1.11328241e-02 8.45936078e+00] [-1.24179362e-02 9.99911540e-01 -4.76517929e-03 -3.56173929e-01] [ 1.10729214e-02 4.90276641e-03 9.99926674e-01 -1.67042768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04119381700002 meters Centerline goodness [0,1] 0.9332573559883962 Centerline is valid? [False, False] Translation: X:8.46, Y:-0.37, Z:-1.67 [[ 9.99862822e-01 1.23637194e-02 -1.10215893e-02 8.46046554e+00] [-1.24071035e-02 9.99915514e-01 -3.87663305e-03 -3.66061907e-01] [ 1.09727286e-02 4.01284726e-03 9.99931746e-01 -1.67229604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07119381700002 meters Centerline goodness [0,1] 0.9345709383333678 Centerline is valid? [False, False] Translation: X:8.46, Y:-0.37, Z:-1.67 [[ 9.99850932e-01 1.28437975e-02 -1.15390627e-02 8.46243322e+00] [-1.28740753e-02 9.99913865e-01 -2.55350004e-03 -3.71407272e-01] [ 1.15052721e-02 2.70167416e-03 9.99930162e-01 -1.67341170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10119381700002 meters Centerline goodness [0,1] 0.9317658767182933 Centerline is valid? [False, False] Translation: X:8.46, Y:-0.38, Z:-1.67 [[ 9.99874975e-01 1.09179929e-02 -1.14381320e-02 8.46198999e+00] [-1.09664407e-02 9.99931124e-01 -4.18152092e-03 -3.75677958e-01] [ 1.13916904e-02 4.30643372e-03 9.99925839e-01 -1.67324609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.13119381700002 meters Centerline goodness [0,1] 0.9337354392073954 Centerline is valid? [False, False] Translation: X:8.46, Y:-0.38, Z:-1.67 [[ 9.99866818e-01 1.16063478e-02 -1.14734021e-02 8.46199660e+00] [-1.16333442e-02 9.99929710e-01 -2.28902220e-03 -3.81872456e-01] [ 1.14460284e-02 2.42219138e-03 9.99931558e-01 -1.67293707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16119381700003 meters Centerline goodness [0,1] 0.9349450821702866 Centerline is valid? [False, False] Translation: X:8.46, Y:-0.39, Z:-1.67 [[ 9.99890059e-01 9.71521653e-03 -1.12019500e-02 8.46055241e+00] [-9.73666535e-03 9.99950864e-01 -1.86179410e-03 -3.94154741e-01] [ 1.11833119e-02 1.97065905e-03 9.99935523e-01 -1.67120448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19119381700003 meters Centerline goodness [0,1] 0.9353126554984242 Centerline is valid? [False, False] Translation: X:8.46, Y:-0.40, Z:-1.67 [[ 9.99916088e-01 6.82831881e-03 -1.10086460e-02 8.45944591e+00] [-6.87066426e-03 9.99969126e-01 -3.81334293e-03 -3.99346005e-01] [ 1.09822674e-02 3.88865966e-03 9.99932132e-01 -1.67024918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22119381700003 meters Centerline goodness [0,1] 0.9368732295349751 Centerline is valid? [False, False] Translation: X:8.46, Y:-0.40, Z:-1.67 [[ 9.99932026e-01 3.80519471e-03 -1.10210360e-02 8.45883698e+00] [-3.86982740e-03 9.99975406e-01 -5.84910778e-03 -4.04436779e-01] [ 1.09985080e-02 5.89135970e-03 9.99922159e-01 -1.66934106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25119381700003 meters Centerline goodness [0,1] 0.9356368984732666 Centerline is valid? [False, False] Translation: X:8.46, Y:-0.41, Z:-1.67 [[ 9.99939989e-01 8.96537227e-04 -1.09185883e-02 8.45791398e+00] [-9.81230719e-04 9.99969456e-01 -7.75393199e-03 -4.09349791e-01] [ 1.09113031e-02 7.76418032e-03 9.99910326e-01 -1.66832825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28119381700003 meters Centerline goodness [0,1] 0.9332615938579972 Centerline is valid? [False, False] Translation: X:8.46, Y:-0.42, Z:-1.67 [[ 9.99927753e-01 -5.50958566e-03 -1.06832854e-02 8.45779638e+00] [ 5.37863055e-03 9.99910522e-01 -1.22481714e-02 -4.18371492e-01] [ 1.07498119e-02 1.21898250e-02 9.99867916e-01 -1.66837370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31119381700003 meters Centerline goodness [0,1] 0.9302763689059104 Centerline is valid? [False, False] Translation: X:8.46, Y:-0.42, Z:-1.67 [[ 0.99990058 -0.00908958 -0.01077976 8.45846041] [ 0.00892829 0.99984886 -0.01491775 -0.42256902] [ 0.01091373 0.01482003 0.99983061 -1.66881726] [ 0. 0. 0. 1. ]] SLAMing on 217.34119381700003 meters Centerline goodness [0,1] 0.9300165494414564 Centerline is valid? [False, False] Translation: X:8.46, Y:-0.43, Z:-1.67 [[ 0.99985866 -0.0127945 -0.0109073 8.4592389 ] [ 0.01260086 0.99976498 -0.01764109 -0.42673514] [ 0.01113044 0.01750116 0.99978489 -1.6692523 ] [ 0. 0. 0. 1. ]] SLAMing on 217.37119381700003 meters Centerline goodness [0,1] 0.930138282986254 Centerline is valid? [False, False] Translation: X:8.46, Y:-0.43, Z:-1.67 [[ 0.99973108 -0.02037345 -0.01107614 8.46161565] [ 0.02010996 0.99952386 -0.02340156 -0.43462692] [ 0.01154763 0.02317253 0.99966479 -1.67120123] [ 0. 0. 0. 1. ]] SLAMing on 217.40119381700003 meters Centerline goodness [0,1] 0.9311985437094038 Centerline is valid? [False, False] Translation: X:8.46, Y:-0.44, Z:-1.67 [[ 0.99964318 -0.02421633 -0.01127351 8.46312784] [ 0.02390939 0.99935996 -0.02660855 -0.43758861] [ 0.01191065 0.02632951 0.99958236 -1.67237316] [ 0. 0. 0. 1. ]] SLAMing on 217.43119381700004 meters Centerline goodness [0,1] 0.9323275594462035 Centerline is valid? [False, False] Translation: X:8.47, Y:-0.44, Z:-1.67 [[ 0.99956818 -0.02697311 -0.01165812 8.46565284] [ 0.0266292 0.99923297 -0.02871167 -0.44099013] [ 0.01242362 0.02838883 0.99951975 -1.67429979] [ 0. 0. 0. 1. ]] SLAMing on 217.46119381700004 meters Centerline goodness [0,1] 0.931985105026025 Centerline is valid? [False, False] Translation: X:8.47, Y:-0.44, Z:-1.68 [[ 0.99953087 -0.02806708 -0.01225916 8.46877028] [ 0.02770223 0.99919602 -0.02898094 -0.44406232] [ 0.01306272 0.02862774 0.99950479 -1.67643638] [ 0. 0. 0. 1. ]] SLAMing on 217.49119381700004 meters Centerline goodness [0,1] 0.9310907027138582 Centerline is valid? [False, False] Translation: X:8.47, Y:-0.45, Z:-1.68 [[ 0.9993897 -0.03053827 -0.01695976 8.46746804] [ 0.03028665 0.99943019 -0.0149001 -0.45103727] [ 0.01740512 0.01437736 0.99974514 -1.67601668] [ 0. 0. 0. 1. ]] SLAMing on 217.52119381700004 meters Centerline goodness [0,1] 0.9302065422303246 Centerline is valid? [False, False] Translation: X:8.47, Y:-0.45, Z:-1.68 [[ 0.99939379 -0.03021377 -0.01729678 8.46853807] [ 0.02997011 0.99945026 -0.01417673 -0.45297096] [ 0.0177156 0.01364975 0.99974989 -1.67645302] [ 0. 0. 0. 1. ]] SLAMing on 217.55119381700004 meters Centerline goodness [0,1] 0.9283695405500196 Centerline is valid? [False, False] Translation: X:8.47, Y:-0.45, Z:-1.68 [[ 0.99939487 -0.02995594 -0.01767882 8.46960548] [ 0.0297168 0.99946531 -0.01363846 -0.45458485] [ 0.01807792 0.01310485 0.99975069 -1.67678348] [ 0. 0. 0. 1. ]] SLAMing on 217.58119381700004 meters Centerline goodness [0,1] 0.9282949726190967 Centerline is valid? [False, False] Translation: X:8.47, Y:-0.46, Z:-1.68 [[ 0.99948941 -0.02637159 -0.01804044 8.47045462] [ 0.02621095 0.99961516 -0.00908372 -0.45829114] [ 0.01827305 0.00860623 0.99979599 -1.67673683] [ 0. 0. 0. 1. ]] SLAMing on 217.61119381700001 meters Centerline goodness [0,1] 0.9279978531469975 Centerline is valid? [False, False] Translation: X:8.47, Y:-0.46, Z:-1.68 [[ 9.99602486e-01 -2.15836952e-02 -1.81387481e-02 8.46954957e+00] [ 2.15260645e-02 9.99762619e-01 -3.36649412e-03 -4.62836718e-01] [ 1.82071037e-02 2.97470003e-03 9.99829812e-01 -1.67515469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64119381700002 meters Centerline goodness [0,1] 0.9299219749824547 Centerline is valid? [False, False] Translation: X:8.48, Y:-0.46, Z:-1.68 [[ 0.99975407 -0.01772434 -0.01332857 8.48018492] [ 0.01758482 0.99979011 -0.01051242 -0.46212726] [ 0.0135121 0.01027546 0.99985591 -1.67833245] [ 0. 0. 0. 1. ]] SLAMing on 217.67119381700002 meters Centerline goodness [0,1] 0.9289611817672566 Centerline is valid? [False, False] Translation: X:8.48, Y:-0.46, Z:-1.68 [[ 9.99820195e-01 -1.32590476e-02 -1.35563394e-02 8.47995247e+00] [ 1.31848988e-02 9.99897703e-01 -5.54450316e-03 -4.64361639e-01] [ 1.36284674e-02 5.36476727e-03 9.99892736e-01 -1.67740911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70119381700002 meters Centerline goodness [0,1] 0.9297867094069782 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.46, Z:-1.68 [[ 9.99957220e-01 -5.69743741e-03 -7.28678743e-03 8.49085213e+00] [ 5.64444229e-03 9.99957623e-01 -7.27277214e-03 -4.64249012e-01] [ 7.32791480e-03 7.23133116e-03 9.99947003e-01 -1.68003723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73119381700002 meters Centerline goodness [0,1] 0.9345051222736286 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.47, Z:-1.68 [[ 9.99971167e-01 -1.45620448e-03 -7.45286481e-03 8.49086424e+00] [ 1.43744911e-03 9.99995788e-01 -2.52127040e-03 -4.66207984e-01] [ 7.45650491e-03 2.51048459e-03 9.99969049e-01 -1.67944621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76119381700002 meters Centerline goodness [0,1] 0.9312061740176756 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.47, Z:-1.68 [[ 9.99970245e-01 -8.92766606e-04 -7.66235844e-03 8.49095510e+00] [ 8.76850728e-04 9.99997452e-01 -2.08025946e-03 -4.66322586e-01] [ 7.66419610e-03 2.07347881e-03 9.99968480e-01 -1.67908935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79119381700002 meters Centerline goodness [0,1] 0.9330828154357567 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.47, Z:-1.68 [[ 9.99967757e-01 -9.27285837e-04 -7.97651154e-03 8.49167956e+00] [ 9.11320713e-04 9.99997575e-01 -2.00491889e-03 -4.66939147e-01] [ 7.97835133e-03 1.99758509e-03 9.99966177e-01 -1.67915259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82119381700002 meters Centerline goodness [0,1] 0.9338781880159349 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.47, Z:-1.68 [[ 9.99965455e-01 -1.18286335e-03 -8.22734370e-03 8.49225698e+00] [ 1.16823937e-03 9.99997730e-01 -1.78206301e-03 -4.68488880e-01] [ 8.22943296e-03 1.77238994e-03 9.99964567e-01 -1.67902882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85119381700002 meters Centerline goodness [0,1] 0.9330833454183844 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.47, Z:-1.68 [[ 9.99951148e-01 -5.92582112e-03 -7.91114225e-03 8.49121104e+00] [ 5.88261842e-03 9.99967719e-01 -5.47313942e-03 -4.70402598e-01] [ 7.94331972e-03 5.42633381e-03 9.99953728e-01 -1.67789789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88119381700002 meters Centerline goodness [0,1] 0.9336125393929342 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.47, Z:-1.68 [[ 9.99944027e-01 -6.86900863e-03 -8.04731177e-03 8.49178571e+00] [ 6.82696173e-03 9.99962962e-01 -5.24083283e-03 -4.72827233e-01] [ 8.08301304e-03 5.18560079e-03 9.99953886e-01 -1.67778391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.91119381700003 meters Centerline goodness [0,1] 0.9287671797407843 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.47, Z:-1.68 [[ 0.99982966 -0.016376 -0.0085134 8.49451928] [ 0.01625346 0.99976608 -0.01426934 -0.4730478 ] [ 0.00874508 0.01412854 0.99986194 -1.67984884] [ 0. 0. 0. 1. ]] SLAMing on 217.94119381700003 meters Centerline goodness [0,1] 0.9287671797407843 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.47, Z:-1.68 [[ 0.99982966 -0.016376 -0.0085134 8.49451928] [ 0.01625346 0.99976608 -0.01426934 -0.4730478 ] [ 0.00874508 0.01412854 0.99986194 -1.67984884] [ 0. 0. 0. 1. ]] SLAMing on 217.97119381700003 meters Centerline goodness [0,1] 0.8971475987968053 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.47, Z:-1.68 [[ 9.99653193e-01 -2.53184312e-02 -7.24368072e-03 8.48881297e+00] [ 2.52454456e-02 9.99631308e-01 -9.99577550e-03 -4.74456271e-01] [ 7.49408738e-03 9.80943895e-03 9.99923804e-01 -1.68410674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00119381700003 meters Centerline goodness [0,1] 0.887954658694569 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.47, Z:-1.68 [[ 9.99630104e-01 -2.61270627e-02 -7.55190175e-03 8.48991814e+00] [ 2.60490720e-02 9.99608141e-01 -1.02474852e-02 -4.74818147e-01] [ 7.81667915e-03 1.00469746e-02 9.99918976e-01 -1.68457803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03119381700003 meters Centerline goodness [0,1] 0.8529496878746538 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.47, Z:-1.69 [[ 9.99606927e-01 -2.69040486e-02 -7.88434061e-03 8.49109621e+00] [ 2.68195197e-02 9.99583691e-01 -1.06375980e-02 -4.74750318e-01] [ 8.16725274e-03 1.04219625e-02 9.99912335e-01 -1.68503480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06119381700003 meters Centerline goodness [0,1] 0.8299595980524189 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.47, Z:-1.69 [[ 9.99551721e-01 -2.87964130e-02 -8.19294197e-03 8.49315135e+00] [ 2.86943398e-02 9.99512372e-01 -1.23147831e-02 -4.72571057e-01] [ 8.54356844e-03 1.20741716e-02 9.99890605e-01 -1.68659458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09119381700003 meters Centerline goodness [0,1] 0.8112337716034069 Centerline is valid? [False, False] Translation: X:8.50, Y:-0.47, Z:-1.69 [[ 0.99959804 -0.02699962 -0.00864793 8.49547201] [ 0.02691257 0.99958749 -0.01002804 -0.47153487] [ 0.00891512 0.00979127 0.99991232 -1.68814809] [ 0. 0. 0. 1. ]] SLAMing on 218.12119381700003 meters Centerline goodness [0,1] 0.8199945881814208 Centerline is valid? [False, False] Translation: X:8.50, Y:-0.47, Z:-1.69 [[ 9.99666908e-01 -2.41817099e-02 -9.01759285e-03 8.49649601e+00] [ 2.41212146e-02 9.99686198e-01 -6.75808113e-03 -4.70847040e-01] [ 9.17818508e-03 6.53831478e-03 9.99936504e-01 -1.68849879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15119381700003 meters Centerline goodness [0,1] 0.7951010966769243 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.47, Z:-1.69 [[ 0.99969419 -0.02308617 -0.00886282 8.51650881] [ 0.02299346 0.99968127 -0.01042406 -0.46854194] [ 0.00910065 0.01021709 0.99990639 -1.68947042] [ 0. 0. 0. 1. ]] SLAMing on 218.18119381700004 meters Centerline goodness [0,1] 0.7910973084886128 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.46, Z:-1.69 [[ 9.99753084e-01 -2.02750888e-02 -9.09347620e-03 8.51674576e+00] [ 2.02005896e-02 9.99762230e-01 -8.21097087e-03 -4.63834355e-01] [ 9.25779220e-03 8.02524987e-03 9.99924942e-01 -1.68922944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21119381700004 meters Centerline goodness [0,1] 0.7910973084886128 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.46, Z:-1.69 [[ 9.99753084e-01 -2.02750888e-02 -9.09347620e-03 8.51674576e+00] [ 2.02005896e-02 9.99762230e-01 -8.21097087e-03 -4.63834355e-01] [ 9.25779220e-03 8.02524987e-03 9.99924942e-01 -1.68922944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24119381700004 meters Centerline goodness [0,1] 0.7977805434557146 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.46, Z:-1.69 [[ 9.99816110e-01 -1.67939381e-02 -9.25796189e-03 8.51684786e+00] [ 1.67469068e-02 9.99846578e-01 -5.13442599e-03 -4.60627854e-01] [ 9.34276874e-03 4.97843959e-03 9.99943962e-01 -1.68902312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27119381700004 meters Centerline goodness [0,1] 0.8063195094065065 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.46, Z:-1.69 [[ 9.99870556e-01 -1.31146901e-02 -9.32075597e-03 8.51678223e+00] [ 1.30949599e-02 9.99911893e-01 -2.17468473e-03 -4.56398187e-01] [ 9.34845506e-03 2.05234831e-03 9.99954196e-01 -1.68893512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30119381700004 meters Centerline goodness [0,1] 0.8313445204060493 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.44, Z:-1.69 [[ 9.99973242e-01 -5.69751901e-03 -4.58844082e-03 8.53002618e+00] [ 5.67126602e-03 9.99967591e-01 -5.71438021e-03 -4.43866306e-01] [ 4.62084990e-03 5.68820504e-03 9.99973146e-01 -1.69289907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33119381700004 meters Centerline goodness [0,1] 0.8833002152674284 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.44, Z:-1.69 [[ 9.99986013e-01 -2.15717754e-03 -4.82914570e-03 8.53042608e+00] [ 2.14233197e-03 9.99992971e-01 -3.07722582e-03 -4.39219853e-01] [ 4.83574987e-03 3.06683715e-03 9.99983605e-01 -1.69285755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36119381700001 meters Centerline goodness [0,1] 0.8991882746164546 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.43, Z:-1.69 [[ 9.99987230e-01 1.05857531e-03 -4.94154857e-03 8.53063174e+00] [-1.06166165e-03 9.99999243e-01 -6.21988916e-04 -4.34966740e-01] [ 4.94088640e-03 6.27227226e-04 9.99987597e-01 -1.69279775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.39119381700002 meters Centerline goodness [0,1] 0.845771861864337 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.42, Z:-1.69 [[ 9.99979593e-01 3.39776643e-03 -5.41009512e-03 8.53178932e+00] [-3.39832296e-03 9.99994221e-01 -9.36786082e-05 -4.23423141e-01] [ 5.40974556e-03 1.12061947e-04 9.99985361e-01 -1.69313141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42119381700002 meters Centerline goodness [0,1] 0.845771861864337 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.42, Z:-1.69 [[ 9.99979593e-01 3.39776643e-03 -5.41009512e-03 8.53178932e+00] [-3.39832296e-03 9.99994221e-01 -9.36786082e-05 -4.23423141e-01] [ 5.40974556e-03 1.12061947e-04 9.99985361e-01 -1.69313141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45119381700002 meters Centerline goodness [0,1] 0.9014148790506618 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.41, Z:-1.69 [[ 9.99970689e-01 5.30910864e-03 -5.51672494e-03 8.53129135e+00] [-5.30934116e-03 9.99985905e-01 -2.75034728e-05 -4.12414381e-01] [ 5.51650117e-03 5.67928415e-05 9.99984782e-01 -1.69232444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48119381700002 meters Centerline goodness [0,1] 0.8980837679000083 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.41, Z:-1.69 [[ 9.99972640e-01 4.49709659e-03 -5.87324275e-03 8.53225061e+00] [-4.50992165e-03 9.99987471e-01 -2.17222668e-03 -4.06098599e-01] [ 5.86340045e-03 2.19865511e-03 9.99980393e-01 -1.69276401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51119381700002 meters Centerline goodness [0,1] 0.9056107660455487 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.40, Z:-1.69 [[ 9.99973734e-01 4.52673852e-03 -5.66030295e-03 8.53144765e+00] [-4.54466499e-03 9.99984686e-01 -3.15821014e-03 -3.99627095e-01] [ 5.64591987e-03 3.18385137e-03 9.99978993e-01 -1.69217332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54119381700002 meters Centerline goodness [0,1] 0.9110112452627002 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.39, Z:-1.69 [[ 9.99941381e-01 9.25863873e-03 -5.61364462e-03 8.53119796e+00] [-9.25885193e-03 9.99957136e-01 -1.19911601e-05 -3.88618301e-01] [ 5.61329298e-03 6.39663615e-05 9.99984243e-01 -1.69171094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57119381700002 meters Centerline goodness [0,1] 0.9162817671547814 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.38, Z:-1.69 [[ 9.99909226e-01 1.21484843e-02 -5.82693975e-03 8.53235744e+00] [-1.21376080e-02 9.99924535e-01 1.89828835e-03 -3.83579167e-01] [ 5.84956134e-03 -1.82739093e-03 9.99981221e-01 -1.69252638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60119381700002 meters Centerline goodness [0,1] 0.9195889875007722 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.38, Z:-1.69 [[ 9.99864473e-01 1.52488320e-02 -6.20553088e-03 8.53408645e+00] [-1.52244862e-02 9.99876292e-01 3.95174470e-03 -3.78693717e-01] [ 6.26502270e-03 -3.85673311e-03 9.99972937e-01 -1.69367535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.63119381700002 meters Centerline goodness [0,1] 0.9192441283493219 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.37, Z:-1.69 [[ 9.99726223e-01 2.25308232e-02 -6.31203969e-03 8.53452635e+00] [-2.24744334e-02 9.99708100e-01 8.86654484e-03 -3.69647749e-01] [ 6.50996775e-03 -8.72225786e-03 9.99940770e-01 -1.69381843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66119381700003 meters Centerline goodness [0,1] 0.919433927130532 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.37, Z:-1.69 [[ 9.99644658e-01 2.58592541e-02 -6.46970674e-03 8.53560181e+00] [-2.57848280e-02 9.99603260e-01 1.13342209e-02 -3.65633826e-01] [ 6.76023445e-03 -1.11633731e-02 9.99914836e-01 -1.69455671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69119381700003 meters Centerline goodness [0,1] 0.9194303027804687 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.36, Z:-1.70 [[ 9.99637747e-01 2.60410413e-02 -6.79993922e-03 8.53696484e+00] [-2.59712953e-02 9.99611146e-01 1.01512664e-02 -3.60418125e-01] [ 7.06164458e-03 -9.97098584e-03 9.99925354e-01 -1.69561777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72119381700003 meters Centerline goodness [0,1] 0.9166597544790975 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.36, Z:-1.70 [[ 9.99642386e-01 2.58163121e-02 -6.97273800e-03 8.53782127e+00] [-2.57547989e-02 9.99629801e-01 8.77220610e-03 -3.56105105e-01] [ 7.19662271e-03 -8.58948756e-03 9.99937213e-01 -1.69641576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75119381700003 meters Centerline goodness [0,1] 0.9158758709090533 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.35, Z:-1.70 [[ 9.99649994e-01 2.53757580e-02 -7.48070095e-03 8.53982617e+00] [-2.53241017e-02 9.99655336e-01 6.92097641e-03 -3.50402785e-01] [ 7.65374764e-03 -6.72911199e-03 9.99948068e-01 -1.69792651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78119381700003 meters Centerline goodness [0,1] 0.9142305856967987 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.35, Z:-1.70 [[ 9.99659183e-01 2.49129848e-02 -7.80132222e-03 8.54111228e+00] [-2.48654296e-02 9.99671985e-01 6.13458891e-03 -3.48695451e-01] [ 7.95159419e-03 -5.93851491e-03 9.99950752e-01 -1.69881347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81119381700003 meters Centerline goodness [0,1] 0.9123890869889709 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.35, Z:-1.70 [[ 9.99664190e-01 2.46464368e-02 -8.00380226e-03 8.54208044e+00] [-2.46023011e-02 9.99681818e-01 5.56676740e-03 -3.47392891e-01] [ 8.13845658e-03 -5.36798607e-03 9.99952474e-01 -1.69961078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84119381700003 meters Centerline goodness [0,1] 0.9150025813113062 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.35, Z:-1.70 [[ 9.99664856e-01 2.45477600e-02 -8.22095496e-03 8.54289844e+00] [-2.45053179e-02 9.99686049e-01 5.22423142e-03 -3.46489567e-01] [ 8.34661716e-03 -5.02102344e-03 9.99952561e-01 -1.70014727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87119381700003 meters Centerline goodness [0,1] 0.9141446485012499 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.35, Z:-1.70 [[ 9.99661789e-01 2.46609933e-02 -8.25486649e-03 8.54283623e+00] [-2.46190455e-02 9.99683665e-01 5.14522204e-03 -3.46405622e-01] [ 8.37914147e-03 -4.94025494e-03 9.99952691e-01 -1.70000796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90119381700003 meters Centerline goodness [0,1] 0.9119225529455476 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.35, Z:-1.70 [[ 9.99737875e-01 2.12474965e-02 -8.52793037e-03 8.54317696e+00] [-2.12390326e-02 9.99773841e-01 1.08183740e-03 -3.45159211e-01] [ 8.54898804e-03 -9.00428827e-04 9.99963051e-01 -1.70004900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93119381700004 meters Centerline goodness [0,1] 0.911870168093353 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.35, Z:-1.70 [[ 9.99790187e-01 1.87799633e-02 -8.17894299e-03 8.54113823e+00] [-1.87930262e-02 9.99822235e-01 -1.52321384e-03 -3.45280981e-01] [ 8.14888317e-03 1.67660134e-03 9.99965392e-01 -1.69853547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96119381700004 meters Centerline goodness [0,1] 0.9144362922393303 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.35, Z:-1.70 [[ 9.99862905e-01 1.42856270e-02 -8.37204650e-03 8.54127906e+00] [-1.43255363e-02 9.99886213e-01 -4.72654597e-03 -3.49334304e-01] [ 8.30357220e-03 4.84583204e-03 9.99953783e-01 -1.69834527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99119381700004 meters Centerline goodness [0,1] 0.9169808194208542 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.35, Z:-1.70 [[ 9.99912862e-01 1.01451171e-02 -8.44656390e-03 8.54131351e+00] [-1.02147136e-02 9.99913897e-01 -8.23766070e-03 -3.51358346e-01] [ 8.36226459e-03 8.32322212e-03 9.99930396e-01 -1.69833278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02119381700004 meters Centerline goodness [0,1] 0.9139622171992617 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.36, Z:-1.70 [[ 9.99985420e-01 -1.58443607e-03 -5.16223488e-03 8.54008752e+00] [ 1.58586983e-03 9.99998705e-01 2.73658830e-04 -3.56980614e-01] [ 5.16179460e-03 -2.81841472e-04 9.99986638e-01 -1.69885220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05119381700004 meters Centerline goodness [0,1] 0.8841706827724575 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.36, Z:-1.70 [[ 9.99982472e-01 -2.62329547e-03 -5.30793299e-03 8.54087984e+00] [ 2.62566400e-03 9.99996456e-01 4.39306852e-04 -3.59338864e-01] [ 5.30676175e-03 -4.53236000e-04 9.99985816e-01 -1.69927262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08119381700004 meters Centerline goodness [0,1] 0.8880512002651146 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.36, Z:-1.70 [[ 9.99980268e-01 -3.28694013e-03 -5.35344858e-03 8.54101626e+00] [ 3.29085524e-03 9.99994324e-01 7.22679994e-04 -3.61427992e-01] [ 5.35104279e-03 -7.40283158e-04 9.99985409e-01 -1.69910022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.11119381700001 meters Centerline goodness [0,1] 0.8889210297946196 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.36, Z:-1.70 [[ 9.99978593e-01 -3.57827151e-03 -5.47814271e-03 8.54153323e+00] [ 3.58446313e-03 9.99992948e-01 1.12084151e-03 -3.63990974e-01] [ 5.47409340e-03 -1.14045372e-03 9.99984367e-01 -1.69925826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14119381700002 meters Centerline goodness [0,1] 0.8795727913728744 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.36, Z:-1.70 [[ 9.99980048e-01 -3.03822596e-03 -5.53827959e-03 8.54164506e+00] [ 3.04557790e-03 9.99994492e-01 1.31952662e-03 -3.63549974e-01] [ 5.53424006e-03 -1.33636756e-03 9.99983793e-01 -1.69933216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.17119381700002 meters Centerline goodness [0,1] 0.8989710397477387 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.36, Z:-1.70 [[ 9.99981478e-01 -2.21392783e-03 -5.66946290e-03 8.54207290e+00] [ 2.22141546e-03 9.99996668e-01 1.31473827e-03 -3.61787816e-01] [ 5.66653328e-03 -1.32730815e-03 9.99983064e-01 -1.69965170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20119381700002 meters Centerline goodness [0,1] 0.9139228987425546 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.36, Z:-1.70 [[ 9.99980719e-01 1.82810546e-03 -5.93460075e-03 8.54307694e+00] [-1.79822801e-03 9.99985703e-01 5.03588697e-03 -3.61057035e-01] [ 5.94372203e-03 -5.02511811e-03 9.99969710e-01 -1.70027840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23119381700002 meters Centerline goodness [0,1] 0.9160674951165787 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.36, Z:-1.70 [[ 9.99919245e-01 1.11597057e-02 -6.07977888e-03 8.54340172e+00] [-1.10794041e-02 9.99853000e-01 1.30853083e-02 -3.58795630e-01] [ 6.22491335e-03 -1.30168913e-02 9.99895900e-01 -1.70038030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26119381700002 meters Centerline goodness [0,1] 0.9104656943984091 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.36, Z:-1.70 [[ 9.99858773e-01 1.56218332e-02 -6.19618736e-03 8.54377804e+00] [-1.55156052e-02 9.99737859e-01 1.68368273e-02 -3.57084407e-01] [ 6.45758520e-03 -1.67383119e-02 9.99839051e-01 -1.70049503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29119381700002 meters Centerline goodness [0,1] 0.9073078599447915 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.36, Z:-1.70 [[ 9.99778562e-01 2.01044178e-02 -6.21607857e-03 8.54387327e+00] [-1.99708371e-02 9.99583081e-01 2.08525537e-02 -3.56222191e-01] [ 6.63271543e-03 -2.07237959e-02 9.99763238e-01 -1.70041976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32119381700002 meters Centerline goodness [0,1] 0.9077858679463843 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.35, Z:-1.70 [[ 9.99754592e-01 2.12160491e-02 -6.37459240e-03 8.54407735e+00] [-2.10778264e-02 9.99556846e-01 2.10199225e-02 -3.54897418e-01] [ 6.81772718e-03 -2.08804014e-02 9.99758735e-01 -1.70042196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35119381700002 meters Centerline goodness [0,1] 0.9041149873480732 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.36, Z:-1.70 [[ 9.99737647e-01 2.19672189e-02 -6.48674579e-03 8.54416930e+00] [-2.18237768e-02 9.99532503e-01 2.14125922e-02 -3.55337330e-01] [ 6.95408836e-03 -2.12654093e-02 9.99749680e-01 -1.70030933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38119381700002 meters Centerline goodness [0,1] 0.910901141708626 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.36, Z:-1.70 [[ 9.99784934e-01 1.96102489e-02 -6.74712542e-03 8.54422454e+00] [-1.94845568e-02 9.99644202e-01 1.82159602e-02 -3.55083622e-01] [ 7.10194432e-03 -1.80805778e-02 9.99811310e-01 -1.70015478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.41119381700003 meters Centerline goodness [0,1] 0.9129653348758419 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.36, Z:-1.70 [[ 9.99826979e-01 1.73243205e-02 -6.77343668e-03 8.54420008e+00] [-1.72146759e-02 9.99725006e-01 1.59238264e-02 -3.58182950e-01] [ 7.04744349e-03 -1.58044687e-02 9.99850265e-01 -1.70034470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44119381700003 meters Centerline goodness [0,1] 0.911827158966747 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.36, Z:-1.70 [[ 9.99878399e-01 1.39774744e-02 -6.91507353e-03 8.54452147e+00] [-1.38894596e-02 9.99823940e-01 1.26163384e-02 -3.59461076e-01] [ 7.09020061e-03 -1.25187576e-02 9.99896500e-01 -1.70062989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47119381700003 meters Centerline goodness [0,1] 0.9101339221229442 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.36, Z:-1.70 [[ 9.99921482e-01 1.03808104e-02 -7.01915419e-03 8.54486745e+00] [-1.03151749e-02 9.99903332e-01 9.32334574e-03 -3.61567725e-01] [ 7.11525954e-03 -9.25020989e-03 9.99931901e-01 -1.70096170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50119381700003 meters Centerline goodness [0,1] 0.9000888374687519 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.37, Z:-1.70 [[ 9.99969992e-01 3.81410563e-03 -6.74298742e-03 8.54423548e+00] [-3.78846378e-03 9.99985560e-01 3.81143423e-03 -3.67953100e-01] [ 6.75742726e-03 -3.78577430e-03 9.99970002e-01 -1.70097919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53119381700003 meters Centerline goodness [0,1] 0.9025341939768788 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.37, Z:-1.70 [[ 9.99977276e-01 5.21015227e-04 -6.72137098e-03 8.54404829e+00] [-5.13592983e-04 9.99999257e-01 1.10595405e-03 -3.71345406e-01] [ 6.72194220e-03 -1.10247687e-03 9.99976800e-01 -1.70083836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56119381700003 meters Centerline goodness [0,1] 0.9002859037043176 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.37, Z:-1.70 [[ 9.99972311e-01 -2.85486139e-03 -6.87226247e-03 8.54457914e+00] [ 2.84288835e-03 9.99994425e-01 -1.75136492e-03 -3.74414427e-01] [ 6.87722407e-03 1.73177935e-03 9.99974852e-01 -1.70112516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59119381700003 meters Centerline goodness [0,1] 0.9046595722698626 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.38, Z:-1.70 [[ 9.99958887e-01 -5.77605907e-03 -6.99015051e-03 8.54513246e+00] [ 5.75468360e-03 9.99978716e-01 -3.07420142e-03 -3.82759369e-01] [ 7.00775851e-03 3.03384892e-03 9.99970843e-01 -1.70131916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62119381700003 meters Centerline goodness [0,1] 0.9056046588468528 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.39, Z:-1.70 [[ 9.99959456e-01 -5.40464729e-03 -7.20257681e-03 8.54542888e+00] [ 5.39329583e-03 9.99984185e-01 -1.59451951e-03 -3.87881845e-01] [ 7.21108072e-03 1.55560923e-03 9.99972790e-01 -1.70093686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65119381700003 meters Centerline goodness [0,1] 0.9058370272173661 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.39, Z:-1.70 [[ 9.99960279e-01 -5.11573803e-03 -7.29854159e-03 8.54529503e+00] [ 5.11333058e-03 9.99986866e-01 -3.48476302e-04 -3.91973189e-01] [ 7.30022844e-03 3.11142605e-04 9.99973305e-01 -1.70037266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68119381700004 meters Centerline goodness [0,1] 0.9076530823763526 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.39, Z:-1.70 [[ 9.99961833e-01 -4.75709282e-03 -7.32822382e-03 8.54505730e+00] [ 4.76245649e-03 9.99988404e-01 7.14643079e-04 -3.94950733e-01] [ 7.32473922e-03 -7.49516150e-04 9.99972893e-01 -1.69988403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71119381700004 meters Centerline goodness [0,1] 0.9069223766964581 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.40, Z:-1.70 [[ 9.99962685e-01 -4.28618568e-03 -7.50052702e-03 8.54542401e+00] [ 4.30276159e-03 9.99988334e-01 2.19522648e-03 -3.99708647e-01] [ 7.49103036e-03 -2.22741754e-03 9.99969461e-01 -1.69974913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74119381700004 meters Centerline goodness [0,1] 0.9079283356515602 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.40, Z:-1.70 [[ 9.99963413e-01 -3.87414754e-03 -7.62645682e-03 8.54548469e+00] [ 3.89913239e-03 9.99987072e-01 3.26393736e-03 -4.02908680e-01] [ 7.61371324e-03 -3.29355451e-03 9.99965591e-01 -1.69943443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77119381700004 meters Centerline goodness [0,1] 0.9072827035789999 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.41, Z:-1.70 [[ 9.99963920e-01 -3.59809300e-03 -7.69501333e-03 8.54566077e+00] [ 3.63009220e-03 9.99984806e-01 4.14851650e-03 -4.06073768e-01] [ 7.67996966e-03 -4.17630043e-03 9.99961788e-01 -1.69936428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80119381700004 meters Centerline goodness [0,1] 0.9082990213320643 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.41, Z:-1.70 [[ 9.99957464e-01 -4.43546829e-03 -8.08679885e-03 8.54770637e+00] [ 4.46598792e-03 9.99982959e-01 3.75986252e-03 -4.08483677e-01] [ 8.06998429e-03 -3.79581814e-03 9.99960233e-01 -1.70082409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83119381700004 meters Centerline goodness [0,1] 0.910366991499067 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.41, Z:-1.70 [[ 9.99941243e-01 -7.15424264e-03 -8.14410569e-03 8.54767181e+00] [ 7.17002269e-03 9.99972471e-01 1.91005902e-03 -4.13907610e-01] [ 8.13021646e-03 -1.96834021e-03 9.99965012e-01 -1.70054918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86119381700001 meters Centerline goodness [0,1] 0.916063615816866 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.42, Z:-1.70 [[ 9.99941677e-01 -6.92573196e-03 -8.28709118e-03 8.54802882e+00] [ 6.95157150e-03 9.99971053e-01 3.09331543e-03 -4.17963261e-01] [ 8.26542782e-03 -3.15074332e-03 9.99960877e-01 -1.70046345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.89119381700002 meters Centerline goodness [0,1] 0.9163126152825848 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.42, Z:-1.70 [[ 9.99942651e-01 -6.71545884e-03 -8.34247525e-03 8.54845825e+00] [ 6.75025367e-03 9.99968607e-01 4.14967079e-03 -4.21576250e-01] [ 8.31434641e-03 -4.20574663e-03 9.99956591e-01 -1.70070592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92119381700002 meters Centerline goodness [0,1] 0.9200256978840694 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.42, Z:-1.70 [[ 9.99942388e-01 -6.53397460e-03 -8.51628757e-03 8.54911219e+00] [ 6.57675768e-03 9.99965846e-01 5.00539079e-03 -4.24488611e-01] [ 8.48329160e-03 -5.06111198e-03 9.99951208e-01 -1.70100441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95119381700002 meters Centerline goodness [0,1] 0.9207096680917859 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.43, Z:-1.70 [[ 9.99934439e-01 -7.17494545e-03 -8.92403477e-03 8.55106897e+00] [ 7.22203858e-03 9.99960107e-01 5.25612880e-03 -4.29068151e-01] [ 8.88596633e-03 -5.32023393e-03 9.99946366e-01 -1.70225319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98119381700002 meters Centerline goodness [0,1] 0.918940243345376 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.43, Z:-1.70 [[ 9.99915897e-01 -9.63055667e-03 -8.68624765e-03 8.54953315e+00] [ 9.65569842e-03 9.99949301e-01 2.85715263e-03 -4.30505305e-01] [ 8.65829129e-03 -2.94078413e-03 9.99958192e-01 -1.70095894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01119381700002 meters Centerline goodness [0,1] 0.9217378675021267 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.43, Z:-1.70 [[ 9.99916259e-01 -9.48946029e-03 -8.79916421e-03 8.54969866e+00] [ 9.52314861e-03 9.99947454e-01 3.79461886e-03 -4.33647947e-01] [ 8.76269296e-03 -3.87809684e-03 9.99954087e-01 -1.70068345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04119381700002 meters Centerline goodness [0,1] 0.9266555947685281 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.44, Z:-1.70 [[ 9.99873293e-01 -1.32571972e-02 -8.81161719e-03 8.54995605e+00] [ 1.32637190e-02 9.99911800e-01 6.82099625e-04 -4.36358130e-01] [ 8.80179728e-03 -7.98888013e-04 9.99960944e-01 -1.70077737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07119381700002 meters Centerline goodness [0,1] 0.9301258357905229 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.44, Z:-1.70 [[ 9.99867829e-01 -1.35202631e-02 -9.02925115e-03 8.55039806e+00] [ 1.35310798e-02 9.99907803e-01 1.13794267e-03 -4.38312857e-01] [ 9.01303339e-03 -1.25996778e-03 9.99958588e-01 -1.70066351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10119381700002 meters Centerline goodness [0,1] 0.9316907672893523 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.44, Z:-1.70 [[ 9.99844881e-01 -1.48128395e-02 -9.52855277e-03 8.55262045e+00] [ 1.48164633e-02 9.99890182e-01 3.09824567e-04 -4.39015140e-01] [ 9.52291698e-03 -4.50955960e-04 9.99954554e-01 -1.70204786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.13119381700002 meters Centerline goodness [0,1] 0.9316907672893523 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.44, Z:-1.70 [[ 9.99844881e-01 -1.48128395e-02 -9.52855277e-03 8.55262045e+00] [ 1.48164633e-02 9.99890182e-01 3.09824567e-04 -4.39015140e-01] [ 9.52291698e-03 -4.50955960e-04 9.99954554e-01 -1.70204786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16119381700003 meters Centerline goodness [0,1] 0.9302296658651853 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.44, Z:-1.70 [[ 9.99835066e-01 -1.54040773e-02 -9.62053180e-03 8.55308874e+00] [ 1.54086183e-02 9.99881201e-01 3.98070378e-04 -4.40298136e-01] [ 9.61325698e-03 -5.46243826e-04 9.99953642e-01 -1.70221554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.19119381700003 meters Centerline goodness [0,1] 0.9238341433150656 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.44, Z:-1.70 [[ 9.99814005e-01 -1.64521559e-02 -1.00638902e-02 8.55452917e+00] [ 1.64531096e-02 9.99864638e-01 1.19695916e-05 -4.41437311e-01] [ 1.00623310e-02 -1.77549654e-04 9.99949358e-01 -1.70276665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22119381700003 meters Centerline goodness [0,1] 0.8907390935605982 Centerline is valid? [False, False] Translation: X:8.56, Y:-0.44, Z:-1.70 [[ 9.99710316e-01 -2.18568118e-02 -1.00778747e-02 8.55542619e+00] [ 2.18086054e-02 9.99750309e-01 -4.86873311e-03 -4.40960584e-01] [ 1.01817733e-02 4.64753832e-03 9.99937364e-01 -1.70348750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25119381700003 meters Centerline goodness [0,1] 0.8521820448877806 Centerline is valid? [False, False] Translation: X:8.56, Y:-0.44, Z:-1.70 [[ 9.99685998e-01 -2.29252269e-02 -1.01162555e-02 8.55613988e+00] [ 2.28716931e-02 9.99723953e-01 -5.37620248e-03 -4.40995231e-01] [ 1.02367136e-02 5.14313845e-03 9.99934377e-01 -1.70407477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28119381700003 meters Centerline goodness [0,1] 0.8234890395574227 Centerline is valid? [False, False] Translation: X:8.56, Y:-0.44, Z:-1.70 [[ 9.99660391e-01 -2.39496691e-02 -1.02721435e-02 8.55717964e+00] [ 2.38866960e-02 9.99695385e-01 -6.20997846e-03 -4.39758171e-01] [ 1.04177414e-02 5.96250192e-03 9.99927957e-01 -1.70490907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31119381700003 meters Centerline goodness [0,1] 0.8045874230577275 Centerline is valid? [False, False] Translation: X:8.56, Y:-0.44, Z:-1.71 [[ 9.99637673e-01 -2.48029317e-02 -1.04564091e-02 8.55833823e+00] [ 2.47288468e-02 9.99668584e-01 -7.15586518e-03 -4.37806719e-01] [ 1.06304301e-02 6.89469748e-03 9.99919725e-01 -1.70586753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34119381700003 meters Centerline goodness [0,1] 0.7841439040639574 Centerline is valid? [False, False] Translation: X:8.56, Y:-0.43, Z:-1.71 [[ 9.99683402e-01 -2.26372134e-02 -1.09841931e-02 8.56072934e+00] [ 2.25790452e-02 9.99730525e-01 -5.39106506e-03 -4.33948546e-01] [ 1.11032718e-02 5.14134567e-03 9.99925139e-01 -1.70767911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37119381700003 meters Centerline goodness [0,1] 0.8170992747147696 Centerline is valid? [False, False] Translation: X:8.56, Y:-0.43, Z:-1.71 [[ 9.99740002e-01 -1.96137855e-02 -1.16287854e-02 8.56311056e+00] [ 1.95806886e-02 9.99803918e-01 -2.95318766e-03 -4.31166760e-01] [ 1.16844284e-02 2.72472021e-03 9.99928022e-01 -1.70929512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40119381700003 meters Centerline goodness [0,1] 0.8398012845829262 Centerline is valid? [False, False] Translation: X:8.56, Y:-0.43, Z:-1.71 [[ 9.99793722e-01 -1.62670537e-02 -1.21612568e-02 8.56490802e+00] [ 1.62613034e-02 9.99867613e-01 -5.71584285e-04 -4.27033157e-01] [ 1.21689448e-02 3.73708493e-04 9.99925886e-01 -1.71052823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43119381700004 meters Centerline goodness [0,1] 0.9062402593354529 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.42, Z:-1.71 [[ 9.99846961e-01 -1.21337698e-02 -1.26026464e-02 8.56563237e+00] [ 1.21641405e-02 9.99923285e-01 2.33601152e-03 -4.22698084e-01] [ 1.25733349e-02 -2.48895438e-03 9.99917855e-01 -1.71071836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46119381700004 meters Centerline goodness [0,1] 0.9191661481020535 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.41, Z:-1.71 [[ 9.99965419e-01 8.83428883e-04 -8.26923051e-03 8.57025758e+00] [-9.02448562e-04 9.99996956e-01 -2.29660555e-03 -4.12236908e-01] [ 8.26717645e-03 2.30398869e-03 9.99963172e-01 -1.71393691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49119381700004 meters Centerline goodness [0,1] 0.9265004770002904 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.41, Z:-1.71 [[ 9.99952772e-01 4.89151200e-03 -8.39808120e-03 8.57035807e+00] [-4.88575879e-03 9.99987816e-01 7.05441405e-04 -4.08360974e-01] [ 8.40142955e-03 -6.64377089e-04 9.99964487e-01 -1.71372955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52119381700004 meters Centerline goodness [0,1] 0.9260481326431709 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.41, Z:-1.71 [[ 9.99924064e-01 8.86100545e-03 -8.56434223e-03 8.57056730e+00] [-8.82812870e-03 9.99953546e-01 3.86900627e-03 -4.05413487e-01] [ 8.59822767e-03 -3.79310536e-03 9.99955840e-01 -1.71350426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55119381700004 meters Centerline goodness [0,1] 0.9222118863049096 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.40, Z:-1.71 [[ 9.99815383e-01 1.72415684e-02 -8.48102647e-03 8.56962566e+00] [-1.71460755e-02 9.99790193e-01 1.12062982e-02 -4.02066782e-01] [ 8.67246125e-03 -1.10588130e-02 9.99901241e-01 -1.71227240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58119381700004 meters Centerline goodness [0,1] 0.9205524634096063 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.40, Z:-1.71 [[ 0.99980106 0.01796236 -0.00867124 8.57007028] [-0.01786866 0.9997824 0.01076417 -0.39871205] [ 0.00886271 -0.01060709 0.99990447 -1.71263416] [ 0. 0. 0. 1. ]] SLAMing on 220.61119381700001 meters Centerline goodness [0,1] 0.9232138422054805 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.40, Z:-1.71 [[ 0.99979459 0.01831179 -0.00868601 8.57013969] [-0.01822354 0.99978259 0.01013265 -0.39549304] [ 0.00886967 -0.00997228 0.99991094 -1.71284999] [ 0. 0. 0. 1. ]] SLAMing on 220.64119381700002 meters Centerline goodness [0,1] 0.9225232678386763 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.39, Z:-1.71 [[ 0.99979134 0.01842683 -0.00881596 8.57064715] [-0.0183432 0.99978685 0.00947519 -0.39286419] [ 0.00898868 -0.0093115 0.99991625 -1.71331325] [ 0. 0. 0. 1. ]] SLAMing on 220.67119381700002 meters Centerline goodness [0,1] 0.9248395777271786 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.39, Z:-1.71 [[ 0.99978005 0.01888004 -0.00913233 8.57161451] [-0.01879544 0.99978044 0.00926251 -0.39135362] [ 0.0093052 -0.00908882 0.9999154 -1.71396253] [ 0. 0. 0. 1. ]] SLAMing on 220.70119381700002 meters Centerline goodness [0,1] 0.9241178912411789 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.39, Z:-1.71 [[ 0.99978034 0.01873669 -0.00939158 8.57251552] [-0.01865297 0.99978619 0.00892384 -0.39062992] [ 0.00955678 -0.00874669 0.99991608 -1.71451848] [ 0. 0. 0. 1. ]] SLAMing on 220.73119381700002 meters Centerline goodness [0,1] 0.9240781359930472 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.39, Z:-1.72 [[ 9.99828556e-01 1.58008156e-02 -9.65368401e-03 8.57325503e+00] [-1.57521132e-02 9.99862919e-01 5.10033327e-03 -3.88397854e-01] [ 9.73295010e-03 -4.94739292e-03 9.99940395e-01 -1.71520423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76119381700002 meters Centerline goodness [0,1] 0.9228502044459204 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.39, Z:-1.72 [[ 9.99876233e-01 1.23593007e-02 -9.73483289e-03 8.57324451e+00] [-1.23487404e-02 9.99923097e-01 1.14416196e-03 -3.87688917e-01] [ 9.74822529e-03 -1.02380743e-03 9.99951961e-01 -1.71528658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79119381700002 meters Centerline goodness [0,1] 0.9224592843987335 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.39, Z:-1.72 [[ 9.99876538e-01 1.21500360e-02 -9.96421000e-03 8.57403980e+00] [-1.21395096e-02 9.99925690e-01 1.11622306e-03 -3.88588489e-01] [ 9.97703171e-03 -9.95124630e-04 9.99949733e-01 -1.71566846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82119381700002 meters Centerline goodness [0,1] 0.92346631812618 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.39, Z:-1.72 [[ 9.99875489e-01 1.21174633e-02 -1.01081099e-02 8.57423832e+00] [-1.21060950e-02 9.99926016e-01 1.18510176e-03 -3.89238187e-01] [ 1.01217225e-02 -1.06258446e-03 9.99948209e-01 -1.71552963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85119381700002 meters Centerline goodness [0,1] 0.925244642635947 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.39, Z:-1.72 [[ 9.99873915e-01 1.20720270e-02 -1.03159910e-02 8.57468112e+00] [-1.20605567e-02 9.99926580e-01 1.17338887e-03 -3.89830104e-01] [ 1.03293988e-02 -1.04882433e-03 9.99946100e-01 -1.71555703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88119381700002 meters Centerline goodness [0,1] 0.9263190629211153 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.39, Z:-1.72 [[ 9.99867529e-01 1.27247008e-02 -1.01491843e-02 8.57402578e+00] [-1.27077019e-02 9.99917744e-01 1.73764261e-03 -3.90693108e-01] [ 1.01704605e-02 -1.60843962e-03 9.99946986e-01 -1.71512009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.91119381700003 meters Centerline goodness [0,1] 0.927145092226614 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.39, Z:-1.72 [[ 9.99860780e-01 1.30630830e-02 -1.03815246e-02 8.57480178e+00] [-1.30427603e-02 9.99912893e-01 2.02288763e-03 -3.91158695e-01] [ 1.04070454e-02 -1.88720226e-03 9.99944064e-01 -1.71555316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94119381700003 meters Centerline goodness [0,1] 0.9270872216000996 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.39, Z:-1.72 [[ 9.99855045e-01 1.33670582e-02 -1.05456643e-02 8.57497019e+00] [-1.33406960e-02 9.99907716e-01 2.56621426e-03 -3.92845184e-01] [ 1.05789938e-02 -2.42515577e-03 9.99941100e-01 -1.71537191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97119381700003 meters Centerline goodness [0,1] 0.9276658435872429 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.39, Z:-1.72 [[ 9.99891007e-01 1.02862010e-02 -1.05909309e-02 8.57492947e+00] [-1.02952164e-02 9.99946685e-01 -7.97072119e-04 -3.93611639e-01] [ 1.05821674e-02 9.06021170e-04 9.99943597e-01 -1.71547311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00119381700003 meters Centerline goodness [0,1] 0.9242163350828787 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.40, Z:-1.72 [[ 9.99908997e-01 8.34496627e-03 -1.05999558e-02 8.57592492e+00] [-8.36708388e-03 9.99962906e-01 -2.04394450e-03 -3.99812455e-01] [ 1.05825060e-02 2.13244921e-03 9.99941730e-01 -1.71671529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03119381700003 meters Centerline goodness [0,1] 0.926213511605697 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.40, Z:-1.72 [[ 9.99905692e-01 8.58294100e-03 -1.07210590e-02 8.57661503e+00] [-8.59479296e-03 9.99962502e-01 -1.05989900e-03 -4.03473283e-01] [ 1.07115599e-02 1.15194433e-03 9.99941966e-01 -1.71722987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06119381700003 meters Centerline goodness [0,1] 0.926147455867082 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.41, Z:-1.72 [[ 9.99900444e-01 8.95959056e-03 -1.09008354e-02 8.57742640e+00] [-8.95971802e-03 9.99959860e-01 3.71433546e-05 -4.07221027e-01] [ 1.09007306e-02 6.05287546e-05 9.99940583e-01 -1.71776033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09119381700003 meters Centerline goodness [0,1] 0.9271253377676159 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.42, Z:-1.72 [[ 9.99917331e-01 7.20432255e-03 -1.06503427e-02 8.57676254e+00] [-7.21246358e-03 9.99973726e-01 -7.26179380e-04 -4.15131431e-01] [ 1.06448313e-02 8.02934556e-04 9.99943020e-01 -1.71755885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12119381700003 meters Centerline goodness [0,1] 0.9288256227758007 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.42, Z:-1.72 [[ 9.99914147e-01 6.93693184e-03 -1.11165665e-02 8.57868695e+00] [-6.94106585e-03 9.99975855e-01 -3.33339796e-04 -4.20217082e-01] [ 1.11139858e-02 4.10471998e-04 9.99938154e-01 -1.71871918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15119381700003 meters Centerline goodness [0,1] 0.9287140658152016 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.42, Z:-1.72 [[ 9.99928596e-01 4.97985407e-03 -1.08629417e-02 8.57747120e+00] [-5.00130370e-03 9.99985595e-01 -1.94829844e-03 -4.24503927e-01] [ 1.08530830e-02 2.00248819e-03 9.99939098e-01 -1.71793411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18119381700004 meters Centerline goodness [0,1] 0.9290784545021833 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.43, Z:-1.72 [[ 9.99923468e-01 5.13327565e-03 -1.12564274e-02 8.57937704e+00] [-5.14547544e-03 9.99986205e-01 -1.05511342e-03 -4.29391293e-01] [ 1.12508559e-02 1.11295234e-03 9.99936088e-01 -1.71921599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21119381700004 meters Centerline goodness [0,1] 0.929818355839454 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.44, Z:-1.72 [[ 9.99933276e-01 3.94212401e-03 -1.08583569e-02 8.57832759e+00] [-3.95254403e-03 9.99991748e-01 -9.38338615e-04 -4.38438250e-01] [ 1.08545683e-02 9.81194139e-04 9.99940606e-01 -1.71877572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24119381700004 meters Centerline goodness [0,1] 0.931534926090017 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.44, Z:-1.72 [[ 9.99929317e-01 4.33737608e-03 -1.10701526e-02 8.57851737e+00] [-4.32885155e-03 9.99990315e-01 7.93892181e-04 -4.44241641e-01] [ 1.10734888e-02 -7.45915019e-04 9.99938409e-01 -1.71815552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27119381700004 meters Centerline goodness [0,1] 0.9332823037775663 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.45, Z:-1.72 [[ 9.99939531e-01 1.41844693e-03 -1.09051290e-02 8.57733301e+00] [-1.43225173e-03 9.99998183e-01 -1.25819434e-03 -4.48869033e-01] [ 1.09033246e-02 1.27373715e-03 9.99939746e-01 -1.71699108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30119381700004 meters Centerline goodness [0,1] 0.9331575586544998 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.45, Z:-1.72 [[ 9.99939409e-01 -1.97903148e-03 -1.08287031e-02 8.57692452e+00] [ 1.93703345e-03 9.99990568e-01 -3.88751361e-03 -4.52784332e-01] [ 1.08362944e-02 3.86630250e-03 9.99933811e-01 -1.71657373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33119381700004 meters Centerline goodness [0,1] 0.9303096886530409 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.46, Z:-1.72 [[ 9.99907597e-01 -8.53564018e-03 -1.05802183e-02 8.57591882e+00] [ 8.44119524e-03 9.99924415e-01 -8.93930145e-03 -4.60790241e-01] [ 1.06557213e-02 8.84916574e-03 9.99904069e-01 -1.71558459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36119381700001 meters Centerline goodness [0,1] 0.9281026748629341 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.46, Z:-1.72 [[ 0.99986974 -0.01217175 -0.01059998 8.57604088] [ 0.01204583 0.99985708 -0.01186272 -0.46434707] [ 0.01074286 0.01173349 0.99987345 -1.71552387] [ 0. 0. 0. 1. ]] SLAMing on 221.39119381700002 meters Centerline goodness [0,1] 0.9264824923721954 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.47, Z:-1.72 [[ 0.99981738 -0.01590441 -0.01059541 8.57622436] [ 0.01574466 0.99976362 -0.01499377 -0.4670726 ] [ 0.01083137 0.01482421 0.99983145 -1.71560945] [ 0. 0. 0. 1. ]] SLAMing on 221.42119381700002 meters Centerline goodness [0,1] 0.9204746171269456 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.47, Z:-1.72 [[ 0.99965651 -0.02412462 -0.01024038 8.57652037] [ 0.02389597 0.9994747 -0.02189297 -0.47109495] [ 0.01076316 0.02164074 0.99970787 -1.71635481] [ 0. 0. 0. 1. ]] SLAMing on 221.45119381700002 meters Centerline goodness [0,1] 0.9171780412969566 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.47, Z:-1.72 [[ 0.99953936 -0.02854405 -0.01031021 8.57740389] [ 0.02827216 0.99927191 -0.02561908 -0.47303865] [ 0.01103397 0.02531578 0.99961861 -1.71695352] [ 0. 0. 0. 1. ]] SLAMing on 221.48119381700002 meters Centerline goodness [0,1] 0.9159216599442804 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.48, Z:-1.72 [[ 0.99940282 -0.03294923 -0.01040915 8.57827153] [ 0.03263225 0.99903844 -0.02928011 -0.4753496 ] [ 0.01136389 0.02892295 0.99951705 -1.71738667] [ 0. 0. 0. 1. ]] SLAMing on 221.51119381700002 meters Centerline goodness [0,1] 0.9156909639180617 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.48, Z:-1.72 [[ 0.99924939 -0.0372994 -0.01046023 8.57890303] [ 0.03693588 0.99877182 -0.03302403 -0.4773176 ] [ 0.01167916 0.03261288 0.99939982 -1.71761907] [ 0. 0. 0. 1. ]] SLAMing on 221.54119381700002 meters Centerline goodness [0,1] 0.9104821628805183 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.48, Z:-1.71 [[ 0.99874455 -0.04819139 -0.0136717 8.57434451] [ 0.04780623 0.99848557 -0.02722384 -0.48081068] [ 0.01496295 0.02653607 0.99953587 -1.71496767] [ 0. 0. 0. 1. ]] SLAMing on 221.57119381700002 meters Centerline goodness [0,1] 0.9004210482649908 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.48, Z:-1.71 [[ 0.99870134 -0.04901457 -0.01389994 8.57503964] [ 0.04862047 0.99844144 -0.02739965 -0.4816178 ] [ 0.01522126 0.02668825 0.99952791 -1.71497925] [ 0. 0. 0. 1. ]] SLAMing on 221.60119381700002 meters Centerline goodness [0,1] 0.8764037972327356 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.48, Z:-1.72 [[ 0.99866255 -0.04974397 -0.01409403 8.57563778] [ 0.04933868 0.99839579 -0.02777656 -0.48158445] [ 0.01545314 0.02704403 0.99951479 -1.71504237] [ 0. 0. 0. 1. ]] SLAMing on 221.63119381700002 meters Centerline goodness [0,1] 0.8707962771458118 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.48, Z:-1.72 [[ 0.99864496 -0.05004556 -0.01427195 8.57606125] [ 0.04963226 0.99837568 -0.02797566 -0.48097954] [ 0.01564882 0.0272294 0.99950672 -1.71507911] [ 0. 0. 0. 1. ]] SLAMing on 221.66119381700003 meters Centerline goodness [0,1] 0.8651429517835332 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.48, Z:-1.72 [[ 0.998792 -0.04699174 -0.01436345 8.57623838] [ 0.04663472 0.99861749 -0.02425517 -0.48127407] [ 0.01548338 0.02355603 0.99960261 -1.71508145] [ 0. 0. 0. 1. ]] SLAMing on 221.69119381700003 meters Centerline goodness [0,1] 0.8490171303104999 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.48, Z:-1.72 [[ 0.99891964 -0.04411444 -0.0146107 8.57706222] [ 0.04379322 0.99880664 -0.02162035 -0.47750474] [ 0.01554703 0.02095714 0.99965949 -1.7158083 ] [ 0. 0. 0. 1. ]] SLAMing on 221.72119381700003 meters Centerline goodness [0,1] 0.8721597950921259 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.48, Z:-1.72 [[ 0.99902875 -0.04134734 -0.01522992 8.57880073] [ 0.04105955 0.9989808 -0.01874792 -0.47626241] [ 0.01598957 0.01810438 0.99970824 -1.71661504] [ 0. 0. 0. 1. ]] SLAMing on 221.75119381700003 meters Centerline goodness [0,1] 0.8495955093280502 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.48, Z:-1.72 [[ 0.99915538 -0.03807365 -0.0154569 8.57918125] [ 0.03783655 0.999166 -0.01535281 -0.47502766] [ 0.01602854 0.01475501 0.99976266 -1.71666703] [ 0. 0. 0. 1. ]] SLAMing on 221.78119381700003 meters Centerline goodness [0,1] 0.8657238694715919 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.47, Z:-1.72 [[ 0.99926502 -0.03497441 -0.01569097 8.57962184] [ 0.03478509 0.99932059 -0.01218023 -0.47314764] [ 0.0161063 0.01162547 0.9998027 -1.71675029] [ 0. 0. 0. 1. ]] SLAMing on 221.81119381700003 meters Centerline goodness [0,1] 0.8236622402684841 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.46, Z:-1.72 [[ 0.99930599 -0.0335798 -0.01612245 8.5811869 ] [ 0.03339634 0.99937583 -0.01151663 -0.46391647] [ 0.01649911 0.01097021 0.9998037 -1.71770208] [ 0. 0. 0. 1. ]] SLAMing on 221.84119381700003 meters Centerline goodness [0,1] 0.8185202804724181 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.46, Z:-1.72 [[ 9.99384534e-01 -3.10423941e-02 -1.63377678e-02 8.58171555e+00] [ 3.08973898e-02 9.99481551e-01 -9.05427785e-03 -4.60365630e-01] [ 1.66103639e-02 8.54391087e-03 9.99825533e-01 -1.71786854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87119381700003 meters Centerline goodness [0,1] 0.7985803567733123 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.46, Z:-1.72 [[ 9.99455017e-01 -2.85811743e-02 -1.65162059e-02 8.58195017e+00] [ 2.84738389e-02 9.99572098e-01 -6.69785912e-03 -4.56539548e-01] [ 1.67005712e-02 6.22392912e-03 9.99841164e-01 -1.71770009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90119381700003 meters Centerline goodness [0,1] 0.7662426452307947 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.44, Z:-1.72 [[ 9.99421698e-01 -2.91318475e-02 -1.75386806e-02 8.58441286e+00] [ 2.90004577e-02 9.99549742e-01 -7.69977547e-03 -4.43035332e-01] [ 1.77550924e-02 7.18669290e-03 9.99816537e-01 -1.71780165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93119381700004 meters Centerline goodness [0,1] 0.7450200029019753 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.44, Z:-1.72 [[ 9.99466591e-01 -2.73217622e-02 -1.78900990e-02 8.58582281e+00] [ 2.72098982e-02 9.99608825e-01 -6.46673106e-03 -4.36698513e-01] [ 1.80597833e-02 5.97649387e-03 9.99819047e-01 -1.71875772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96119381700004 meters Centerline goodness [0,1] 0.7286930354308798 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.43, Z:-1.72 [[ 9.99470434e-01 -2.66435304e-02 -1.86808495e-02 8.58907468e+00] [ 2.65291013e-02 9.99627893e-01 -6.34680974e-03 -4.29349474e-01] [ 1.88429996e-02 5.84786254e-03 9.99805353e-01 -1.72075088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99119381700004 meters Centerline goodness [0,1] 0.705266431681526 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.41, Z:-1.72 [[ 9.99442858e-01 -2.72860642e-02 -1.92209597e-02 8.59153013e+00] [ 2.71382549e-02 9.99600399e-01 -7.90936793e-03 -4.11739860e-01] [ 1.94290945e-02 7.38333798e-03 9.99783975e-01 -1.72203070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02119381700004 meters Centerline goodness [0,1] 0.705266431681526 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.41, Z:-1.72 [[ 9.99442858e-01 -2.72860642e-02 -1.92209597e-02 8.59153013e+00] [ 2.71382549e-02 9.99600399e-01 -7.90936793e-03 -4.11739860e-01] [ 1.94290945e-02 7.38333798e-03 9.99783975e-01 -1.72203070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05119381700004 meters Centerline goodness [0,1] 0.697442360135526 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.40, Z:-1.73 [[ 0.99953897 -0.02618929 -0.01536151 8.60813701] [ 0.02596378 0.99955479 -0.01470057 -0.40086724] [ 0.01573967 0.01429495 0.99977393 -1.72557957] [ 0. 0. 0. 1. ]] SLAMing on 222.08119381700004 meters Centerline goodness [0,1] 0.686626746506986 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.39, Z:-1.73 [[ 0.99957108 -0.02470506 -0.01572642 8.60930899] [ 0.02447866 0.99959621 -0.01442944 -0.39144673] [ 0.01607655 0.01403829 0.99977221 -1.72610334] [ 0. 0. 0. 1. ]] SLAMing on 222.11119381700001 meters Centerline goodness [0,1] 0.7074909090909092 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.38, Z:-1.73 [[ 0.99961516 -0.02279013 -0.01581592 8.60906808] [ 0.02257295 0.99965027 -0.01377699 -0.38155777] [ 0.01612437 0.01341468 0.99978 -1.72566061] [ 0. 0. 0. 1. ]] SLAMing on 222.14119381700002 meters Centerline goodness [0,1] 0.6761105136901315 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.36, Z:-1.73 [[ 0.99972244 -0.02120462 -0.01026656 8.62364095] [ 0.02101235 0.99960827 -0.01848744 -0.35874008] [ 0.01065456 0.01826659 0.99977638 -1.72903208] [ 0. 0. 0. 1. ]] SLAMing on 222.17119381700002 meters Centerline goodness [0,1] 0.7042408627173935 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.35, Z:-1.73 [[ 0.99975856 -0.01931677 -0.0104727 8.62409083] [ 0.01912708 0.99965645 -0.01792047 -0.34962127] [ 0.01081526 0.01771583 0.99978457 -1.72904852] [ 0. 0. 0. 1. ]] SLAMing on 222.20119381700002 meters Centerline goodness [0,1] 0.6683713449086485 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.34, Z:-1.73 [[ 0.99978579 -0.01768436 -0.01075322 8.62518778] [ 0.01749393 0.9996929 -0.01755189 -0.3409074 ] [ 0.01106031 0.01736001 0.99978813 -1.72963245] [ 0. 0. 0. 1. ]] SLAMing on 222.23119381700002 meters Centerline goodness [0,1] 0.6970603510958762 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.33, Z:-1.73 [[ 0.99982047 -0.01547029 -0.01094088 8.62564728] [ 0.01528961 0.99974845 -0.01640955 -0.33348392] [ 0.01119199 0.01623933 0.99980549 -1.72971915] [ 0. 0. 0. 1. ]] SLAMing on 222.26119381700002 meters Centerline goodness [0,1] 0.6925542098472552 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.32, Z:-1.73 [[ 0.99985887 -0.01215226 -0.01160038 8.62763844] [ 0.01199058 0.9998314 -0.01390697 -0.31685028] [ 0.01176742 0.01376591 0.999836 -1.72998025] [ 0. 0. 0. 1. ]] SLAMing on 222.29119381700002 meters Centerline goodness [0,1] 0.689922158796056 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.31, Z:-1.73 [[ 9.99906377e-01 -6.70727719e-03 -1.19268320e-02 8.62900803e+00] [ 6.60010301e-03 9.99937693e-01 -9.00274209e-03 -3.10078039e-01] [ 1.19864728e-02 8.92318091e-03 9.99888344e-01 -1.73075024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32119381700002 meters Centerline goodness [0,1] 0.6969315272156604 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.30, Z:-1.73 [[ 9.99919047e-01 -3.94115034e-03 -1.20982227e-02 8.62987024e+00] [ 3.85162782e-03 9.99965098e-01 -7.41404476e-03 -3.01503911e-01] [ 1.21270203e-02 7.36684672e-03 9.99899327e-01 -1.73120060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35119381700002 meters Centerline goodness [0,1] 0.7180951589790451 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.29, Z:-1.73 [[ 9.99929166e-01 2.01347864e-03 -1.17306872e-02 8.62832656e+00] [-2.05346590e-03 9.99992119e-01 -3.39772697e-03 -2.86435885e-01] [ 1.17237535e-02 3.42157486e-03 9.99925420e-01 -1.72992373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38119381700002 meters Centerline goodness [0,1] 0.7309801162814756 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.28, Z:-1.73 [[ 9.99917983e-01 4.58137136e-03 -1.19598884e-02 8.62920796e+00] [-4.60665064e-03 9.99987212e-01 -2.08697919e-03 -2.79609594e-01] [ 1.19501743e-02 2.14190305e-03 9.99926300e-01 -1.73027145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.41119381700003 meters Centerline goodness [0,1] 0.7415180423060971 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.27, Z:-1.73 [[ 9.99903091e-01 7.10155685e-03 -1.19740148e-02 8.62905656e+00] [-7.11245084e-03 9.99974330e-01 -8.67463899e-04 -2.72318787e-01] [ 1.19675471e-02 9.52544425e-04 9.99927933e-01 -1.72990947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44119381700003 meters Centerline goodness [0,1] 0.7454012428515391 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.26, Z:-1.73 [[ 9.99882425e-01 9.48741187e-03 -1.20467775e-02 8.62982312e+00] [-9.48558118e-03 9.99954989e-01 2.09094530e-04 -2.64181263e-01] [ 1.20482190e-02 -9.47992602e-05 9.99927413e-01 -1.73038110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47119381700003 meters Centerline goodness [0,1] 0.7514471254590345 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.25, Z:-1.73 [[ 9.99834215e-01 1.37786974e-02 -1.19033261e-02 8.62953948e+00] [-1.37422907e-02 9.99900656e-01 3.13492959e-03 -2.48407615e-01] [ 1.19453388e-02 -2.97083090e-03 9.99924239e-01 -1.72994342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50119381700003 meters Centerline goodness [0,1] 0.7513833910178027 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.24, Z:-1.73 [[ 9.99843510e-01 1.28829606e-02 -1.21236941e-02 8.63044508e+00] [-1.28770751e-02 9.99916928e-01 5.63390594e-04 -2.40181439e-01] [ 1.21299451e-02 -4.07184709e-04 9.99926347e-01 -1.73035546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53119381700003 meters Centerline goodness [0,1] 0.7527901439072368 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.23, Z:-1.73 [[ 9.99851723e-01 1.19286217e-02 -1.24193468e-02 8.63153279e+00] [-1.19538105e-02 9.99926638e-01 -1.95592935e-03 -2.32943830e-01] [ 1.23951041e-02 2.10409784e-03 9.99920964e-01 -1.73076217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56119381700003 meters Centerline goodness [0,1] 0.8124158780775682 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.22, Z:-1.73 [[ 9.99843159e-01 1.27601329e-02 -1.22815794e-02 8.63133100e+00] [-1.28013731e-02 9.99912662e-01 -3.28515323e-03 -2.18448703e-01] [ 1.22385878e-02 3.44185906e-03 9.99919182e-01 -1.73049166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59119381700003 meters Centerline goodness [0,1] 0.8062991146405689 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.21, Z:-1.73 [[ 9.99816656e-01 1.46956868e-02 -1.22756255e-02 8.63103430e+00] [-1.47261305e-02 9.99888700e-01 -2.39330665e-03 -2.11452688e-01] [ 1.22390879e-02 2.57364032e-03 9.99921787e-01 -1.72989096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62119381700003 meters Centerline goodness [0,1] 0.8032610272028509 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.20, Z:-1.73 [[ 9.99786784e-01 1.66115074e-02 -1.22655357e-02 8.63091933e+00] [-1.66310968e-02 9.99860573e-01 -1.49683786e-03 -2.04540434e-01] [ 1.22389608e-02 1.70050802e-03 9.99923655e-01 -1.72946729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65119381700003 meters Centerline goodness [0,1] 0.7394579563376774 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.19, Z:-1.73 [[ 9.99778311e-01 1.74668526e-02 -1.17574959e-02 8.62958565e+00] [-1.74928953e-02 9.99844749e-01 -2.11579861e-03 -1.89297420e-01] [ 1.17187142e-02 2.32100221e-03 9.99928640e-01 -1.72873189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68119381700004 meters Centerline goodness [0,1] 0.7355966009432591 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.18, Z:-1.73 [[ 9.99795707e-01 1.64492320e-02 -1.17459706e-02 8.62933606e+00] [-1.65036339e-02 9.99853454e-01 -4.54971694e-03 -1.81465030e-01] [ 1.16694100e-02 4.74263866e-03 9.99920663e-01 -1.72817385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71119381700004 meters Centerline goodness [0,1] 0.8096385542168675 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.18, Z:-1.73 [[ 9.99804029e-01 1.57890183e-02 -1.19419554e-02 8.62965910e+00] [-1.58661395e-02 9.99853699e-01 -6.39106256e-03 -1.75023231e-01] [ 1.18392997e-02 6.57928283e-03 9.99908268e-01 -1.72784878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74119381700004 meters Centerline goodness [0,1] 0.8079899040052962 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.17, Z:-1.73 [[ 9.99780722e-01 1.67907121e-02 -1.25132058e-02 8.63174502e+00] [-1.68652681e-02 9.99840501e-01 -5.87666361e-03 -1.70423953e-01] [ 1.24125365e-02 6.08641355e-03 9.99904438e-01 -1.72882488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77119381700004 meters Centerline goodness [0,1] 0.7889317089341953 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.16, Z:-1.73 [[ 9.99788272e-01 1.63151774e-02 -1.25390014e-02 8.63199238e+00] [-1.64104226e-02 9.99836978e-01 -7.53093276e-03 -1.64757410e-01] [ 1.24140888e-02 7.73510856e-03 9.99893024e-01 -1.72881045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80119381700004 meters Centerline goodness [0,1] 0.8008850476803856 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.15, Z:-1.73 [[ 9.99758644e-01 1.81004189e-02 -1.24510457e-02 8.63224181e+00] [-1.81936364e-02 9.99806989e-01 -7.41463410e-03 -1.54665372e-01] [ 1.23144345e-02 7.63937433e-03 9.99894992e-01 -1.72884870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83119381700004 meters Centerline goodness [0,1] 0.7907585004359198 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.15, Z:-1.73 [[ 9.99732565e-01 1.91096296e-02 -1.30238651e-02 8.63479362e+00] [-1.92028720e-02 9.99790594e-01 -7.07228440e-03 -1.49702174e-01] [ 1.28859891e-02 7.32048864e-03 9.99890175e-01 -1.73039332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.86119381700001 meters Centerline goodness [0,1] 0.8074129260569939 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.15, Z:-1.73 [[ 9.99694421e-01 2.06221409e-02 -1.36305560e-02 8.63759437e+00] [-2.07055983e-02 9.99767550e-01 -6.01030665e-03 -1.45771694e-01] [ 1.35034422e-02 6.29069885e-03 9.99889036e-01 -1.73215466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.89119381700002 meters Centerline goodness [0,1] 0.8259569253774741 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.14, Z:-1.73 [[ 9.99701004e-01 2.02929483e-02 -1.36418292e-02 8.63762348e+00] [-2.03958673e-02 9.99764240e-01 -7.44804534e-03 -1.40966936e-01] [ 1.34874702e-02 7.72405534e-03 9.99879206e-01 -1.73190808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92119381700002 meters Centerline goodness [0,1] 0.8643119971727335 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.13, Z:-1.73 [[ 9.99659045e-01 2.25394019e-02 -1.31821200e-02 8.63573690e+00] [-2.26270691e-02 9.99722587e-01 -6.53955190e-03 -1.33363932e-01] [ 1.30310655e-02 6.83559495e-03 9.99891727e-01 -1.73015450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95119381700002 meters Centerline goodness [0,1] 0.8600480450629556 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.13, Z:-1.73 [[ 9.99616955e-01 2.40449207e-02 -1.37035037e-02 8.63744784e+00] [-2.41183950e-02 9.99695471e-01 -5.22189355e-03 -1.29897487e-01] [ 1.35737706e-02 5.55039984e-03 9.99892467e-01 -1.73083484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98119381700002 meters Centerline goodness [0,1] 0.8451793489529339 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.13, Z:-1.73 [[ 9.99623174e-01 2.36567345e-02 -1.39237104e-02 8.63769936e+00] [-2.37463994e-02 9.99698101e-01 -6.30999608e-03 -1.26031595e-01] [ 1.37702329e-02 6.63825629e-03 9.99883150e-01 -1.73043289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01119381700002 meters Centerline goodness [0,1] 0.8449713716704008 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.12, Z:-1.73 [[ 9.99631083e-01 2.32365318e-02 -1.40627825e-02 8.63821149e+00] [-2.33413716e-02 9.99700626e-01 -7.33746412e-03 -1.22594065e-01] [ 1.38880752e-02 7.66300183e-03 9.99874192e-01 -1.73058293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04119381700002 meters Centerline goodness [0,1] 0.8199755181642773 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.12, Z:-1.73 [[ 9.99635844e-01 2.28722080e-02 -1.43192761e-02 8.63897803e+00] [-2.29932841e-02 9.99700759e-01 -8.34869897e-03 -1.19106578e-01] [ 1.41240380e-02 8.67490592e-03 9.99862619e-01 -1.73076233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07119381700002 meters Centerline goodness [0,1] 0.8578182345988762 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.11, Z:-1.73 [[ 9.99587053e-01 2.48179614e-02 -1.44841788e-02 8.64144827e+00] [-2.49285527e-02 9.99661061e-01 -7.50535821e-03 -1.12394707e-01] [ 1.42930018e-02 7.86332851e-03 9.99866930e-01 -1.73298511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10119381700002 meters Centerline goodness [0,1] 0.8848805815160955 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.11, Z:-1.74 [[ 9.99519965e-01 2.72437048e-02 -1.47519542e-02 8.64392541e+00] [-2.73317892e-02 9.99609575e-01 -5.80267208e-03 -1.08600987e-01] [ 1.45881083e-02 6.20308389e-03 9.99874347e-01 -1.73503897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.13119381700002 meters Centerline goodness [0,1] 0.8911172408071841 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.10, Z:-1.74 [[ 9.99416421e-01 3.06378086e-02 -1.51043803e-02 8.64608094e+00] [-3.06916464e-02 9.99523302e-01 -3.34550513e-03 -1.04451612e-01] [ 1.49946811e-02 3.80713106e-03 9.99880325e-01 -1.73639307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16119381700003 meters Centerline goodness [0,1] 0.911987198137911 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.10, Z:-1.74 [[ 9.99114266e-01 3.91221550e-02 -1.54964482e-02 8.65037504e+00] [-3.90810523e-02 9.99231700e-01 2.94651781e-03 -9.61670006e-02] [ 1.55998164e-02 -2.33829047e-03 9.99875581e-01 -1.73979911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19119381700003 meters Centerline goodness [0,1] 0.9100936870313052 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.09, Z:-1.74 [[ 9.98968799e-01 4.25988790e-02 -1.57058788e-02 8.65242102e+00] [-4.25145679e-02 9.99079794e-01 5.66363538e-03 -9.28725329e-02] [ 1.59326907e-02 -4.99006638e-03 9.99860615e-01 -1.74134722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22119381700003 meters Centerline goodness [0,1] 0.9076479375881816 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.09, Z:-1.74 [[ 9.98949470e-01 4.29213650e-02 -1.60534663e-02 8.65387394e+00] [-4.28487398e-02 9.99069842e-01 4.84104004e-03 -8.92986224e-02] [ 1.62463180e-02 -4.14808358e-03 9.99859415e-01 -1.74208347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25119381700003 meters Centerline goodness [0,1] 0.9095120380564615 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.09, Z:-1.74 [[ 9.98945043e-01 4.29401052e-02 -1.62772453e-02 8.65464625e+00] [-4.28793135e-02 9.99071987e-01 4.06571301e-03 -8.67314059e-02] [ 1.64367219e-02 -3.36346675e-03 9.99859251e-01 -1.74236537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28119381700003 meters Centerline goodness [0,1] 0.9116606311433005 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.08, Z:-1.74 [[ 9.98934687e-01 4.31703461e-02 -1.63037415e-02 8.65473602e+00] [-4.31248433e-02 9.99064781e-01 3.13243811e-03 -8.30461365e-02] [ 1.64237224e-02 -2.42600479e-03 9.99862178e-01 -1.74202717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31119381700003 meters Centerline goodness [0,1] 0.9086041588843232 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.08, Z:-1.74 [[ 9.98933938e-01 4.31426910e-02 -1.64223877e-02 8.65455658e+00] [-4.31076134e-02 9.99067346e-01 2.48415973e-03 -8.07646153e-02] [ 1.65142446e-02 -1.77358152e-03 9.99862058e-01 -1.74129158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34119381700003 meters Centerline goodness [0,1] 0.9082107614969279 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.08, Z:-1.74 [[ 9.98907548e-01 4.36367079e-02 -1.67196888e-02 8.65505719e+00] [-4.36011718e-02 9.99045928e-01 2.48423646e-03 -7.96843738e-02] [ 1.68121409e-02 -1.75252453e-03 9.99857130e-01 -1.74096214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37119381700003 meters Centerline goodness [0,1] 0.9082528897543191 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.08, Z:-1.74 [[ 9.98892169e-01 4.39305740e-02 -1.68683235e-02 8.65483881e+00] [-4.38934101e-02 9.99032921e-01 2.56730178e-03 -8.00280045e-02] [ 1.69647935e-02 -1.82404940e-03 9.99854424e-01 -1.74026857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40119381700003 meters Centerline goodness [0,1] 0.914153036051164 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.08, Z:-1.74 [[ 9.98843574e-01 4.50408637e-02 -1.68177314e-02 8.65414787e+00] [-4.49834165e-02 9.98980587e-01 3.77886433e-03 -8.35880221e-02] [ 1.69707905e-02 -3.01797533e-03 9.99851431e-01 -1.73947436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43119381700004 meters Centerline goodness [0,1] 0.9146527863841037 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.09, Z:-1.74 [[ 9.98815785e-01 4.56001074e-02 -1.69604759e-02 8.65444787e+00] [-4.55275994e-02 9.98952319e-01 4.63713867e-03 -8.58370333e-02] [ 1.71541607e-02 -3.85947755e-03 9.99845408e-01 -1.73952567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46119381700004 meters Centerline goodness [0,1] 0.9165397439591652 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.09, Z:-1.74 [[ 9.98788660e-01 4.61259891e-02 -1.71349167e-02 8.65467391e+00] [-4.60332411e-02 9.98923252e-01 5.76856514e-03 -8.91539813e-02] [ 1.73825475e-02 -4.97280170e-03 9.99836546e-01 -1.73943877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49119381700004 meters Centerline goodness [0,1] 0.9115713754185787 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.10, Z:-1.74 [[ 9.98979930e-01 4.18663457e-02 -1.69206842e-02 8.65208478e+00] [-4.18299900e-02 9.99121623e-01 2.49698974e-03 -9.68709699e-02] [ 1.70103612e-02 -1.78665059e-03 9.99853717e-01 -1.73750549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52119381700004 meters Centerline goodness [0,1] 0.9092016182298547 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.10, Z:-1.74 [[ 9.99096840e-01 3.88378170e-02 -1.72374024e-02 8.65271969e+00] [-3.88367437e-02 9.99245490e-01 3.97137927e-04 -1.02089965e-01] [ 1.72398206e-02 2.72665332e-04 9.99851346e-01 -1.73793392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55119381700004 meters Centerline goodness [0,1] 0.9079421634834487 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.11, Z:-1.74 [[ 9.99222055e-01 3.54106721e-02 -1.73599645e-02 8.65269013e+00] [-3.54498140e-02 9.99369551e-01 -1.95210785e-03 -1.07391313e-01] [ 1.72798945e-02 2.56599673e-03 9.99847399e-01 -1.73810635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58119381700004 meters Centerline goodness [0,1] 0.9047944496220358 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.12, Z:-1.74 [[ 9.99389846e-01 2.99804400e-02 -1.79194978e-02 8.65453133e+00] [-3.00629323e-02 9.99538534e-01 -4.35191842e-03 -1.21223929e-01] [ 1.77807561e-02 4.88797573e-03 9.99829962e-01 -1.74049156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.61119381700001 meters Centerline goodness [0,1] 0.9011923276308969 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.13, Z:-1.74 [[ 9.99450769e-01 2.76165992e-02 -1.83162412e-02 8.65612657e+00] [-2.77225282e-02 9.99600223e-01 -5.55481859e-03 -1.27896267e-01] [ 1.81555136e-02 6.05954022e-03 9.99816813e-01 -1.74185333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.64119381700002 meters Centerline goodness [0,1] 0.9029492171319692 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.13, Z:-1.74 [[ 9.99495858e-01 2.55801385e-02 -1.88065713e-02 8.65831793e+00] [-2.57102226e-02 9.99646931e-01 -6.70797904e-03 -1.33734892e-01] [ 1.86283403e-02 7.18811840e-03 9.99800638e-01 -1.74359980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.67119381700002 meters Centerline goodness [0,1] 0.9058083473006808 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.14, Z:-1.75 [[ 9.99479234e-01 2.57930225e-02 -1.93902104e-02 8.66108581e+00] [-2.59036715e-02 9.99649439e-01 -5.47705541e-03 -1.40590708e-01] [ 1.92421431e-02 5.97648079e-03 9.99796990e-01 -1.74572443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70119381700002 meters Centerline goodness [0,1] 0.9104079140710694 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.15, Z:-1.75 [[ 9.99488518e-01 2.51427471e-02 -1.97622084e-02 8.66327842e+00] [-2.52363756e-02 9.99671372e-01 -4.50269451e-03 -1.52452360e-01] [ 1.96425039e-02 4.99911798e-03 9.99794569e-01 -1.74791489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73119381700002 meters Centerline goodness [0,1] 0.9086637966719099 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.16, Z:-1.75 [[ 9.99459580e-01 2.60419504e-02 -2.00590292e-02 8.66425103e+00] [-2.60984642e-02 9.99656097e-01 -2.56072330e-03 -1.58145972e-01] [ 1.99854446e-02 3.08284929e-03 9.99795518e-01 -1.74847761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76119381700002 meters Centerline goodness [0,1] 0.9107622392067755 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.16, Z:-1.75 [[ 9.99433178e-01 2.69149580e-02 -2.02214911e-02 8.66476693e+00] [-2.69330375e-02 9.99637046e-01 -6.22212571e-04 -1.63678682e-01] [ 2.01974048e-02 1.16648606e-03 9.99795331e-01 -1.74876915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79119381700002 meters Centerline goodness [0,1] 0.9077737415672029 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.17, Z:-1.75 [[ 9.99489357e-01 2.49492564e-02 -1.99639812e-02 8.66315581e+00] [-2.50005094e-02 9.99684742e-01 -2.32178451e-03 -1.67603124e-01] [ 1.98997606e-02 2.81970861e-03 9.99798004e-01 -1.74758141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82119381700002 meters Centerline goodness [0,1] 0.9082656078747647 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.18, Z:-1.75 [[ 9.99630350e-01 2.42397190e-02 -1.23125679e-02 8.67356039e+00] [-2.42038142e-02 9.99702371e-01 3.05681951e-03 -1.80802633e-01] [ 1.23829998e-02 -2.75767845e-03 9.99919525e-01 -1.75014751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85119381700002 meters Centerline goodness [0,1] 0.9080852650549996 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.18, Z:-1.75 [[ 9.99700450e-01 2.10944300e-02 -1.24111177e-02 8.67348139e+00] [-2.10950514e-02 9.99777471e-01 8.08585707e-05 -1.83240556e-01] [ 1.24100615e-02 1.80978816e-04 9.99922976e-01 -1.74997949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88119381700002 meters Centerline goodness [0,1] 0.9069608735213831 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.19, Z:-1.75 [[ 9.99696775e-01 2.11390667e-02 -1.26292270e-02 8.67393571e+00] [-2.11271809e-02 9.99776220e-01 1.07382271e-03 -1.87465356e-01] [ 1.26491004e-02 -8.06677141e-04 9.99919672e-01 -1.75005440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.91119381700003 meters Centerline goodness [0,1] 0.9040154472219916 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.19, Z:-1.75 [[ 9.99769150e-01 1.74820735e-02 -1.24909317e-02 8.67310422e+00] [-1.74978450e-02 9.99846235e-01 -1.15445610e-03 -1.93511978e-01] [ 1.24688287e-02 1.37275398e-03 9.99921319e-01 -1.74957612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94119381700003 meters Centerline goodness [0,1] 0.9040154472219916 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.19, Z:-1.75 [[ 9.99769150e-01 1.74820735e-02 -1.24909317e-02 8.67310422e+00] [-1.74978450e-02 9.99846235e-01 -1.15445610e-03 -1.93511978e-01] [ 1.24688287e-02 1.37275398e-03 9.99921319e-01 -1.74957612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97119381700003 meters Centerline goodness [0,1] 0.9055281383486087 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.20, Z:-1.75 [[ 9.99822321e-01 1.38971937e-02 -1.27355928e-02 8.67368308e+00] [-1.39506107e-02 9.99894218e-01 -4.11510865e-03 -1.96695573e-01] [ 1.26770571e-02 4.29204677e-03 9.99910431e-01 -1.74986075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00119381700003 meters Centerline goodness [0,1] 0.9061975855714078 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.20, Z:-1.75 [[ 9.99861548e-01 1.03784608e-02 -1.30065946e-02 8.67442897e+00] [-1.04681645e-02 9.99921760e-01 -6.84778498e-03 -2.00493570e-01] [ 1.29345075e-02 6.98299206e-03 9.99891962e-01 -1.75027127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03119381700003 meters Centerline goodness [0,1] 0.9078835946052006 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.21, Z:-1.75 [[ 9.99934654e-01 5.09545997e-03 -1.02334763e-02 8.68264482e+00] [-5.09778544e-03 9.99986986e-01 -2.01169469e-04 -2.05267394e-01] [ 1.02323181e-02 2.53324390e-04 9.99947616e-01 -1.75025688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06119381700003 meters Centerline goodness [0,1] 0.9011436889166147 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.21, Z:-1.75 [[ 9.99949646e-01 7.77692739e-04 -1.00050350e-02 8.68180640e+00] [-8.08947665e-04 9.99994805e-01 -3.12025225e-03 -2.09845200e-01] [ 1.00025564e-02 3.12818868e-03 9.99945080e-01 -1.74969072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09119381700003 meters Centerline goodness [0,1] 0.8931962353331399 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.21, Z:-1.75 [[ 9.99947099e-01 7.27810285e-04 -1.02600817e-02 8.68238130e+00] [-7.50347478e-04 9.99997314e-01 -2.19291180e-03 -2.13332805e-01] [ 1.02584582e-02 2.20049442e-03 9.99944959e-01 -1.74976265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12119381700003 meters Centerline goodness [0,1] 0.8891655255404789 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.22, Z:-1.75 [[ 9.99948318e-01 6.87685263e-04 -1.01433795e-02 8.68212193e+00] [-7.02516277e-04 9.99998689e-01 -1.45864678e-03 -2.16363883e-01] [ 1.01423631e-02 1.46569729e-03 9.99947491e-01 -1.74970851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15119381700003 meters Centerline goodness [0,1] 0.8967107860452552 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.22, Z:-1.75 [[ 9.99947482e-01 8.67092324e-04 -1.02118308e-02 8.68248779e+00] [-8.75309733e-04 9.99999297e-01 -8.00253154e-04 -2.18589718e-01] [ 1.02111297e-02 8.09149641e-04 9.99947538e-01 -1.74999615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18119381700004 meters Centerline goodness [0,1] 0.8860459803534714 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.22, Z:-1.75 [[ 9.99945573e-01 1.16127293e-03 -1.03683738e-02 8.68391402e+00] [-1.16252450e-03 9.99999318e-01 -1.14684527e-04 -2.20156883e-01] [ 1.03682335e-02 1.26731774e-04 9.99946240e-01 -1.75144663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21119381700004 meters Centerline goodness [0,1] 0.8918477136354231 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.22, Z:-1.75 [[ 9.99943254e-01 1.26806232e-03 -1.05773438e-02 8.68515246e+00] [-1.26703606e-03 9.99999192e-01 1.03725543e-04 -2.20713714e-01] [ 1.05774668e-02 -9.03177811e-05 9.99944053e-01 -1.75247977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24119381700004 meters Centerline goodness [0,1] 0.8992650417306813 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.22, Z:-1.75 [[ 9.99942442e-01 1.35092601e-03 -1.06436796e-02 8.68527440e+00] [-1.34777983e-03 9.99999046e-01 3.02758860e-04 -2.21496148e-01] [ 1.06440785e-02 -2.88396097e-04 9.99943309e-01 -1.75247660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27119381700004 meters Centerline goodness [0,1] 0.8944993064612964 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.22, Z:-1.75 [[ 9.99940431e-01 1.64481633e-03 -1.07902245e-02 8.68578340e+00] [-1.63966478e-03 9.99998538e-01 4.86256125e-04 -2.21794465e-01] [ 1.07910085e-02 -4.68534808e-04 9.99941666e-01 -1.75270439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30119381700004 meters Centerline goodness [0,1] 0.8992179094595713 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.22, Z:-1.75 [[ 9.99939241e-01 1.71020435e-03 -1.08898554e-02 8.68648215e+00] [-1.70764938e-03 9.99998512e-01 2.43913001e-04 -2.20822969e-01] [ 1.08902564e-02 -2.25302126e-04 9.99940674e-01 -1.75327019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33119381700004 meters Centerline goodness [0,1] 0.9040248318675633 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.22, Z:-1.75 [[ 9.99937725e-01 1.81594677e-03 -1.10113064e-02 8.68733868e+00] [-1.81821247e-03 9.99998328e-01 -1.95754242e-04 -2.18994438e-01] [ 1.10109325e-02 2.15762946e-04 9.99939355e-01 -1.75397121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36119381700004 meters Centerline goodness [0,1] 0.9067400560805898 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.22, Z:-1.75 [[ 9.99935198e-01 2.67311983e-03 -1.10659083e-02 8.68802926e+00] [-2.67723968e-03 9.99996352e-01 -3.57505037e-04 -2.16364475e-01] [ 1.10649123e-02 3.87107959e-04 9.99938707e-01 -1.75470639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.39119381700002 meters Centerline goodness [0,1] 0.9086001411901499 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.22, Z:-1.76 [[ 9.99933252e-01 2.61635440e-03 -1.12537175e-02 8.68879901e+00] [-2.62513069e-03 9.99996262e-01 -7.65156178e-04 -2.15018867e-01] [ 1.12516735e-02 7.94647585e-04 9.99936382e-01 -1.75517423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42119381700002 meters Centerline goodness [0,1] 0.9082620254216167 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.21, Z:-1.75 [[ 9.99932594e-01 2.36165389e-03 -1.13678983e-02 8.68884453e+00] [-2.37637029e-03 9.99996356e-01 -1.28122420e-03 -2.13474423e-01] [ 1.13648310e-02 1.30815217e-03 9.99934563e-01 -1.75486088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45119381700002 meters Centerline goodness [0,1] 0.9060968802332072 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.21, Z:-1.75 [[ 9.99931977e-01 1.87211455e-03 -1.15124595e-02 8.68925939e+00] [-1.89349658e-03 9.99996502e-01 -1.84667611e-03 -2.12197575e-01] [ 1.15089621e-02 1.86834930e-03 9.99932024e-01 -1.75499139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48119381700002 meters Centerline goodness [0,1] 0.9004742280850712 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.21, Z:-1.75 [[ 9.99932460e-01 1.18923264e-03 -1.15612189e-02 8.68910136e+00] [-1.21570330e-03 9.99996655e-01 -2.28284991e-03 -2.12017195e-01] [ 1.15584654e-02 2.29675074e-03 9.99930561e-01 -1.75462630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51119381700002 meters Centerline goodness [0,1] 0.8833546893729591 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.21, Z:-1.75 [[ 9.99933929e-01 -2.47825697e-04 -1.14924697e-02 8.68907198e+00] [ 2.13012454e-04 9.99995386e-01 -3.03034720e-03 -2.12353254e-01] [ 1.14931677e-02 3.02769894e-03 9.99929368e-01 -1.75467072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54119381700002 meters Centerline goodness [0,1] 0.8791272606603617 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.21, Z:-1.75 [[ 9.99932186e-01 -6.44003308e-04 -1.16279426e-02 8.68916857e+00] [ 6.02634308e-04 9.99993478e-01 -3.56087646e-03 -2.10963228e-01] [ 1.16301600e-02 3.55362758e-03 9.99926053e-01 -1.75439968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57119381700002 meters Centerline goodness [0,1] 0.8709490261085785 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.21, Z:-1.75 [[ 9.99929522e-01 -6.84823568e-04 -1.18524939e-02 8.68941984e+00] [ 6.37343018e-04 9.99991760e-01 -4.00926811e-03 -2.08717437e-01] [ 1.18551419e-02 4.00143144e-03 9.99921719e-01 -1.75403022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60119381700002 meters Centerline goodness [0,1] 0.8746622109453968 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.21, Z:-1.75 [[ 9.99922876e-01 9.83529976e-04 -1.23803881e-02 8.69144455e+00] [-1.01404121e-03 9.99996464e-01 -2.45844483e-03 -2.07286421e-01] [ 1.23779264e-02 2.47080945e-03 9.99920338e-01 -1.75497624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.63119381700002 meters Centerline goodness [0,1] 0.8985719592224194 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.20, Z:-1.75 [[ 9.99908293e-01 5.26630637e-03 -1.24768535e-02 8.69104965e+00] [-5.25596246e-03 9.99985816e-01 8.61693455e-04 -2.04738078e-01] [ 1.24812145e-02 -7.96036558e-04 9.99921790e-01 -1.75407793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66119381700003 meters Centerline goodness [0,1] 0.9103306557070802 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.20, Z:-1.75 [[ 9.99899930e-01 6.22718236e-03 -1.27024383e-02 8.69158718e+00] [-6.21710069e-03 9.99980327e-01 8.33013070e-04 -2.02390256e-01] [ 1.27073757e-02 -7.53957372e-04 9.99918974e-01 -1.75408658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69119381700003 meters Centerline goodness [0,1] 0.9144203737390442 Centerline is valid? [False, False] Translation: X:8.70, Y:-0.20, Z:-1.76 [[ 9.99877756e-01 1.18138756e-02 -1.02423144e-02 8.70231265e+00] [-1.18578324e-02 9.99920697e-01 -4.24162761e-03 -2.00476623e-01] [ 1.01913921e-02 4.36256075e-03 9.99938550e-01 -1.75565242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72119381700003 meters Centerline goodness [0,1] 0.9146121467227901 Centerline is valid? [False, False] Translation: X:8.70, Y:-0.20, Z:-1.76 [[ 9.99819600e-01 1.59586198e-02 -1.02999618e-02 8.70253239e+00] [-1.59616646e-02 9.99872582e-01 -2.13468679e-04 -2.00273906e-01] [ 1.02952427e-02 3.77834704e-04 9.99946931e-01 -1.75561543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75119381700003 meters Centerline goodness [0,1] 0.9145976916050818 Centerline is valid? [False, False] Translation: X:8.70, Y:-0.20, Z:-1.76 [[ 9.99722623e-01 2.10098084e-02 -1.06425689e-02 8.70389309e+00] [-2.09635751e-02 9.99770393e-01 4.43728554e-03 -2.00674137e-01] [ 1.07333518e-02 -4.21294844e-03 9.99933521e-01 -1.75631246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78119381700003 meters Centerline goodness [0,1] 0.9144625541572107 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.20, Z:-1.76 [[ 9.99695375e-01 2.19771097e-02 -1.12323101e-02 8.70608444e+00] [-2.19200906e-02 9.99746335e-01 5.17450666e-03 -2.00817654e-01] [ 1.13431816e-02 -4.92671712e-03 9.99923527e-01 -1.75751038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81119381700003 meters Centerline goodness [0,1] 0.9147492686570261 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.20, Z:-1.76 [[ 9.99689562e-01 2.21570272e-02 -1.13949754e-02 8.70659865e+00] [-2.20974870e-02 9.99741641e-01 5.32476502e-03 -2.00910942e-01] [ 1.15100123e-02 -5.07131169e-03 9.99920898e-01 -1.75773636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84119381700003 meters Centerline goodness [0,1] 0.914656656366012 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.20, Z:-1.76 [[ 9.99750194e-01 1.90402000e-02 -1.17056038e-02 8.70723816e+00] [-1.90240291e-02 9.99817915e-01 1.49127581e-03 -1.99557195e-01] [ 1.17318665e-02 -1.26821553e-03 9.99930375e-01 -1.75784185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87119381700003 meters Centerline goodness [0,1] 0.915373298244887 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.20, Z:-1.76 [[ 9.99789609e-01 1.65842768e-02 -1.20705999e-02 8.70864972e+00] [-1.65999190e-02 9.99861496e-01 -1.19685557e-03 -2.01566218e-01] [ 1.20490791e-02 1.39697475e-03 9.99926431e-01 -1.75884368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90119381700003 meters Centerline goodness [0,1] 0.9156449341396736 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.20, Z:-1.76 [[ 9.99781291e-01 1.68315463e-02 -1.24124533e-02 8.71012248e+00] [-1.68413957e-02 9.99857936e-01 -6.89402573e-04 -2.03325688e-01] [ 1.23990862e-02 8.98294832e-04 9.99922725e-01 -1.75986782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93119381700004 meters Centerline goodness [0,1] 0.9152549410396944 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.20, Z:-1.76 [[ 9.99773246e-01 1.70824225e-02 -1.27140317e-02 8.71160372e+00] [-1.70871538e-02 9.99853969e-01 -2.63583967e-04 -2.04643805e-01] [ 1.27076724e-02 4.80770814e-04 9.99919139e-01 -1.76100559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96119381700004 meters Centerline goodness [0,1] 0.9129126636648476 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.21, Z:-1.76 [[ 9.99763482e-01 1.73952856e-02 -1.30531371e-02 8.71313446e+00] [-1.73947039e-02 9.99848688e-01 1.58096822e-04 -2.05883238e-01] [ 1.30539121e-02 6.89960257e-05 9.99914792e-01 -1.76209737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99119381700004 meters Centerline goodness [0,1] 0.9149492559616462 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.21, Z:-1.76 [[ 9.99736032e-01 1.87241462e-02 -1.33143763e-02 8.71458723e+00] [-1.87061469e-02 9.99823937e-01 1.47512841e-03 -2.08526699e-01] [ 1.33396527e-02 -1.22567835e-03 9.99910272e-01 -1.76330899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02119381700004 meters Centerline goodness [0,1] 0.9133894255739067 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.21, Z:-1.76 [[ 9.99731469e-01 1.88074923e-02 -1.35376259e-02 8.71513704e+00] [-1.87875787e-02 9.99822223e-01 1.59667326e-03 -2.09174429e-01] [ 1.35652487e-02 -1.34190529e-03 9.99907087e-01 -1.76341548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05119381700004 meters Centerline goodness [0,1] 0.9148446728700806 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.21, Z:-1.76 [[ 9.99724758e-01 1.89318117e-02 -1.38562171e-02 8.71577003e+00] [-1.89056355e-02 9.99819237e-01 2.01769214e-03 -2.10749812e-01] [ 1.38919110e-02 -1.75517620e-03 9.99901962e-01 -1.76340393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08119381700004 meters Centerline goodness [0,1] 0.9131190269331017 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.21, Z:-1.76 [[ 9.99776204e-01 1.60253281e-02 -1.38105450e-02 8.71399707e+00] [-1.60270181e-02 9.99871559e-01 -1.16983510e-05 -2.14891962e-01] [ 1.38085837e-02 2.33037587e-04 9.99904630e-01 -1.76144324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11119381700004 meters Centerline goodness [0,1] 0.9150867326896438 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.22, Z:-1.76 [[ 9.99786121e-01 1.50259575e-02 -1.42102731e-02 8.71444342e+00] [-1.50262306e-02 9.99887096e-01 8.75580589e-05 -2.18805654e-01] [ 1.42099843e-02 1.25987507e-04 9.99899025e-01 -1.76103846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14119381700002 meters Centerline goodness [0,1] 0.9150968755815636 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.22, Z:-1.76 [[ 9.99828998e-01 1.15036568e-02 -1.44789422e-02 8.71463426e+00] [-1.15465149e-02 9.99929190e-01 -2.87991982e-03 -2.21540927e-01] [ 1.44447873e-02 3.04660867e-03 9.99891027e-01 -1.76068676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.17119381700002 meters Centerline goodness [0,1] 0.9168480626904658 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.22, Z:-1.76 [[ 9.99860312e-01 8.04461124e-03 -1.46505943e-02 8.71437027e+00] [-8.13074598e-03 9.99949954e-01 -5.82922200e-03 -2.24226844e-01] [ 1.46029673e-02 5.94752799e-03 9.99875682e-01 -1.75999101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20119381700002 meters Centerline goodness [0,1] 0.9167479202539262 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.23, Z:-1.76 [[ 9.99877102e-01 5.77609405e-03 -1.45745282e-02 8.71302857e+00] [-5.88044100e-03 9.99957313e-01 -7.12687348e-03 -2.30182695e-01] [ 1.45327406e-02 7.21170225e-03 9.99868387e-01 -1.75856149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23119381700002 meters Centerline goodness [0,1] 0.9157724989145941 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.23, Z:-1.76 [[ 9.99928836e-01 4.47149670e-03 -1.10602576e-02 8.72351605e+00] [-4.44921647e-03 9.99988025e-01 2.03822641e-03 -2.34356796e-01] [ 1.10692391e-02 -1.98887189e-03 9.99936756e-01 -1.76060606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26119381700002 meters Centerline goodness [0,1] 0.9163417669017005 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.24, Z:-1.76 [[ 9.99922295e-01 5.17455375e-03 -1.13413984e-02 8.72435960e+00] [-5.14200931e-03 9.99982584e-01 2.89681009e-03 -2.36297760e-01] [ 1.13561906e-02 -2.83826742e-03 9.99931488e-01 -1.76095181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29119381700002 meters Centerline goodness [0,1] 0.9127458482410605 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.24, Z:-1.76 [[ 9.99913494e-01 5.90025608e-03 -1.17555186e-02 8.72582245e+00] [-5.85658430e-03 9.99975834e-01 3.74597041e-03 -2.38105023e-01] [ 1.17773367e-02 -3.67679917e-03 9.99923885e-01 -1.76173716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32119381700002 meters Centerline goodness [0,1] 0.9135168702132064 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.24, Z:-1.76 [[ 9.99900505e-01 7.32277987e-03 -1.20564395e-02 8.72717887e+00] [-7.24890006e-03 9.99954752e-01 6.16016871e-03 -2.44469420e-01] [ 1.21010035e-02 -6.07215988e-03 9.99908343e-01 -1.76266232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35119381700002 meters Centerline goodness [0,1] 0.9106880496637351 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.25, Z:-1.76 [[ 9.99914292e-01 4.29040974e-03 -1.23693245e-02 8.72810703e+00] [-4.24943792e-03 9.99985404e-01 3.33675521e-03 -2.47251359e-01] [ 1.23834600e-02 -3.28390654e-03 9.99917930e-01 -1.76308943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38119381700002 meters Centerline goodness [0,1] 0.9105050295551177 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.25, Z:-1.76 [[ 9.99920606e-01 1.43474277e-03 -1.25189415e-02 8.72867029e+00] [-1.42357800e-03 9.99998581e-01 9.00695428e-04 -2.50905993e-01] [ 1.25202160e-02 -8.82802228e-04 9.99921229e-01 -1.76345085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.41119381700003 meters Centerline goodness [0,1] 0.9078775298391282 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.26, Z:-1.77 [[ 9.99916920e-01 -4.16199380e-04 -1.28833540e-02 8.73076872e+00] [ 4.25124435e-04 9.99999672e-01 6.90027755e-04 -2.60284769e-01] [ 1.28830626e-02 -6.95447455e-04 9.99916768e-01 -1.76521434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44119381700003 meters Centerline goodness [0,1] 0.9080066376270484 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.26, Z:-1.77 [[ 9.99913993e-01 -2.43219604e-04 -1.31128877e-02 8.73178466e+00] [ 2.67590901e-04 9.99998240e-01 1.85685342e-03 -2.64874586e-01] [ 1.31124130e-02 -1.86020261e-03 9.99912298e-01 -1.76578530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47119381700003 meters Centerline goodness [0,1] 0.909613277939687 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.27, Z:-1.77 [[ 9.99904576e-01 -1.14548330e-03 -1.37668536e-02 8.73470560e+00] [ 1.16695434e-03 9.99998115e-01 1.55168635e-03 -2.68450033e-01] [ 1.37650502e-02 -1.56760357e-03 9.99904028e-01 -1.76758034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50119381700003 meters Centerline goodness [0,1] 0.9118477313296526 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.28, Z:-1.77 [[ 9.99903804e-01 -3.53975497e-03 -1.34109469e-02 8.73252501e+00] [ 3.55009943e-03 9.99993419e-01 7.47616795e-04 -2.76517800e-01] [ 1.34082123e-02 -7.95155072e-04 9.99909790e-01 -1.76546841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53119381700003 meters Centerline goodness [0,1] 0.9122821594001205 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.28, Z:-1.76 [[ 9.99885153e-01 -6.92475751e-03 -1.34806484e-02 8.73201685e+00] [ 6.89820978e-03 9.99974177e-01 -2.01482524e-03 -2.79685378e-01] [ 1.34942525e-02 1.92160150e-03 9.99907102e-01 -1.76452797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56119381700003 meters Centerline goodness [0,1] 0.9139869878816853 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.28, Z:-1.76 [[ 9.99880043e-01 -7.38167541e-03 -1.36165769e-02 8.73224530e+00] [ 7.36877842e-03 9.99972353e-01 -9.97082014e-04 -2.84591474e-01] [ 1.36235606e-02 8.96624868e-04 9.99906793e-01 -1.76421087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59119381700003 meters Centerline goodness [0,1] 0.9148379595988955 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.29, Z:-1.76 [[ 9.99870360e-01 -8.03789524e-03 -1.39518841e-02 8.73325967e+00] [ 8.03604761e-03 9.99967693e-01 -1.88486536e-04 -2.88911140e-01] [ 1.39529484e-02 7.63440958e-05 9.99902650e-01 -1.76443818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62119381700003 meters Centerline goodness [0,1] 0.9135725558601213 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.29, Z:-1.76 [[ 9.99816122e-01 -1.31836286e-02 -1.39253310e-02 8.73363353e+00] [ 1.31370316e-02 9.99907814e-01 -3.43239705e-03 -2.93837702e-01] [ 1.39692988e-02 3.24882839e-03 9.99897147e-01 -1.76457454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65119381700003 meters Centerline goodness [0,1] 0.9047125197046378 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.30, Z:-1.76 [[ 9.99802828e-01 -1.40597585e-02 -1.40224537e-02 8.73413631e+00] [ 1.40198143e-02 9.99897387e-01 -2.94284064e-03 -2.97359938e-01] [ 1.40623905e-02 2.74566819e-03 9.99897350e-01 -1.76469086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68119381700004 meters Centerline goodness [0,1] 0.8846931616524287 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.30, Z:-1.77 [[ 9.99799863e-01 -1.81158178e-02 -8.48824994e-03 8.74465523e+00] [ 1.81446811e-02 9.99829807e-01 3.33579910e-03 -3.01657120e-01] [ 8.42637457e-03 -3.48914807e-03 9.99958410e-01 -1.76766885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71119381700004 meters Centerline goodness [0,1] 0.8668518825675899 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.30, Z:-1.77 [[ 9.99781529e-01 -1.91154175e-02 -8.45553047e-03 8.74476481e+00] [ 1.91451194e-02 9.99810777e-01 3.44582280e-03 -3.04117479e-01] [ 8.38806215e-03 -3.60695213e-03 9.99958314e-01 -1.76760036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74119381700004 meters Centerline goodness [0,1] 0.8294028581502915 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.30, Z:-1.77 [[ 9.99756354e-01 -2.03862819e-02 -8.46354455e-03 8.74523662e+00] [ 2.04140400e-02 9.99786470e-01 3.20638921e-03 -3.04933591e-01] [ 8.39637098e-03 -3.37838312e-03 9.99959043e-01 -1.76793179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77119381700004 meters Centerline goodness [0,1] 0.8297912083350629 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.30, Z:-1.77 [[ 9.99752897e-01 -2.03993354e-02 -8.83246498e-03 8.74624228e+00] [ 2.04270009e-02 9.99786684e-01 3.05344243e-03 -3.04031478e-01] [ 8.76829268e-03 -3.23310868e-03 9.99956331e-01 -1.76824263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80119381700004 meters Centerline goodness [0,1] 0.8342120557954168 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.30, Z:-1.77 [[ 9.99754739e-01 -2.00664490e-02 -9.37015217e-03 8.74764212e+00] [ 2.00953529e-02 9.99793565e-01 3.00078284e-03 -3.03154516e-01] [ 9.30800278e-03 -3.18834338e-03 9.99951597e-01 -1.76867664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83119381700004 meters Centerline goodness [0,1] 0.8342120557954168 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.30, Z:-1.77 [[ 9.99754739e-01 -2.00664490e-02 -9.37015217e-03 8.74764212e+00] [ 2.00953529e-02 9.99793565e-01 3.00078284e-03 -3.03154516e-01] [ 9.30800278e-03 -3.18834338e-03 9.99951597e-01 -1.76867664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86119381700004 meters Centerline goodness [0,1] 0.8807824752105547 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.30, Z:-1.77 [[ 9.99832258e-01 -1.53364755e-02 -1.00123643e-02 8.74923166e+00] [ 1.54065043e-02 9.99857124e-01 6.95497693e-03 -3.02225457e-01] [ 9.90426889e-03 -7.10806582e-03 9.99925688e-01 -1.76942423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.89119381700002 meters Centerline goodness [0,1] 0.8948077241836565 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.30, Z:-1.77 [[ 0.99988297 -0.01122578 -0.01039391 8.75025906] [ 0.01133654 0.99987893 0.01065911 -0.30093059] [ 0.010273 -0.0107757 0.99988917 -1.76989578] [ 0. 0. 0. 1. ]] SLAMing on 225.92119381700002 meters Centerline goodness [0,1] 0.91036303904853 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.30, Z:-1.77 [[ 9.99915865e-01 -7.09170209e-03 -1.08614028e-02 8.75129687e+00] [ 7.24609176e-03 9.99872325e-01 1.42417567e-02 -2.98983683e-01] [ 1.07590178e-02 -1.43192612e-02 9.99839588e-01 -1.77011834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95119381700002 meters Centerline goodness [0,1] 0.9143980200902606 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.30, Z:-1.77 [[ 9.99957238e-01 -1.51039602e-03 -9.12365146e-03 8.75984780e+00] [ 1.57940512e-03 9.99970166e-01 7.56129525e-03 -2.95731881e-01] [ 9.11195871e-03 -7.57538186e-03 9.99929790e-01 -1.76944727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98119381700002 meters Centerline goodness [0,1] 0.9140485206608131 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.29, Z:-1.77 [[ 9.99956603e-01 -3.76179695e-04 -9.30857847e-03 8.75984678e+00] [ 4.45674062e-04 9.99972040e-01 7.46467833e-03 -2.93092396e-01] [ 9.30551014e-03 -7.46850298e-03 9.99928812e-01 -1.76898072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01119381700002 meters Centerline goodness [0,1] 0.9086425405281668 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.29, Z:-1.77 [[ 9.99946600e-01 4.80587182e-03 -9.14877538e-03 8.75884074e+00] [-4.69875161e-03 9.99920578e-01 1.16943988e-02 -2.91551242e-01] [ 9.20425055e-03 -1.16507865e-02 9.99889764e-01 -1.76800646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04119381700002 meters Centerline goodness [0,1] 0.9065670158585566 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.29, Z:-1.77 [[ 9.99954649e-01 7.15652880e-03 -6.28357726e-03 8.76807310e+00] [-7.14439137e-03 9.99972573e-01 1.95193864e-03 -2.88742308e-01] [ 6.29737403e-03 -1.90695779e-03 9.99978353e-01 -1.76870028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07119381700002 meters Centerline goodness [0,1] 0.9070482841761759 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.29, Z:-1.77 [[ 9.99951368e-01 7.48949741e-03 -6.41637601e-03 8.76828683e+00] [-7.47663390e-03 9.99969996e-01 2.02644043e-03 -2.88448844e-01] [ 6.43136051e-03 -1.97836898e-03 9.99977362e-01 -1.76859326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10119381700002 meters Centerline goodness [0,1] 0.9054624908958485 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.29, Z:-1.77 [[ 9.99948163e-01 7.76193135e-03 -6.58971212e-03 8.76861994e+00] [-7.74751089e-03 9.99967543e-01 2.21104526e-03 -2.88743716e-01] [ 6.60666022e-03 -2.15987678e-03 9.99975843e-01 -1.76855709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.13119381700002 meters Centerline goodness [0,1] 0.9039173285648937 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.29, Z:-1.77 [[ 9.99939572e-01 8.68877408e-03 -6.73484239e-03 8.76914359e+00] [-8.66995474e-03 9.99958443e-01 2.81850179e-03 -2.89352743e-01] [ 6.75905183e-03 -2.75994069e-03 9.99973349e-01 -1.76888898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16119381700003 meters Centerline goodness [0,1] 0.9062967270310682 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.29, Z:-1.77 [[ 9.99933583e-01 9.12668520e-03 -7.03802984e-03 8.77004862e+00] [-9.10585321e-03 9.99954082e-01 2.98630455e-03 -2.89192438e-01] [ 7.06496173e-03 -2.92201894e-03 9.99970774e-01 -1.76922849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19119381700003 meters Centerline goodness [0,1] 0.9051781275890638 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.29, Z:-1.77 [[ 9.99925654e-01 9.71524331e-03 -7.36890301e-03 8.77089156e+00] [-9.69135595e-03 9.99947690e-01 3.27045558e-03 -2.89427892e-01] [ 7.40029081e-03 -3.19879777e-03 9.99967501e-01 -1.76944602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22119381700003 meters Centerline goodness [0,1] 0.9075316153414872 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.29, Z:-1.77 [[ 9.99916708e-01 1.04580225e-02 -7.56357433e-03 8.77110355e+00] [-1.04290014e-02 9.99938142e-01 3.86627912e-03 -2.90596473e-01] [ 7.60354010e-03 -3.78707656e-03 9.99963921e-01 -1.76919121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25119381700003 meters Centerline goodness [0,1] 0.9102201911092647 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.29, Z:-1.77 [[ 9.99901575e-01 1.17885548e-02 -7.60729937e-03 8.77098606e+00] [-1.17483144e-02 9.99916872e-01 5.31290305e-03 -2.94233550e-01] [ 7.66929843e-03 -5.22300718e-03 9.99956950e-01 -1.76885795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28119381700003 meters Centerline goodness [0,1] 0.9139900662251655 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.29, Z:-1.77 [[ 9.99928627e-01 8.91026806e-03 -7.95918390e-03 8.77161028e+00] [-8.89510118e-03 9.99958558e-01 1.93895346e-03 -2.94318624e-01] [ 7.97613065e-03 -1.86801732e-03 9.99966445e-01 -1.76888414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31119381700003 meters Centerline goodness [0,1] 0.913951562823432 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.30, Z:-1.77 [[ 9.99950754e-01 5.76810748e-03 -8.07580741e-03 8.77149838e+00] [-5.77925972e-03 9.99982377e-01 -1.35828858e-03 -2.95356842e-01] [ 8.06783034e-03 1.40489388e-03 9.99966468e-01 -1.76851241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34119381700003 meters Centerline goodness [0,1] 0.9115027752464584 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.30, Z:-1.77 [[ 9.99962155e-01 2.79788770e-03 -8.23776687e-03 8.77129928e+00] [-2.83083689e-03 9.99988030e-01 -3.99083207e-03 -2.98202000e-01] [ 8.22650236e-03 4.01400081e-03 9.99958105e-01 -1.76783410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37119381700003 meters Centerline goodness [0,1] 0.9104694338996411 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.30, Z:-1.77 [[ 9.99964442e-01 -3.30243220e-04 -8.42651606e-03 8.77147454e+00] [ 2.75446911e-04 9.99978816e-01 -6.50317488e-03 -3.02126821e-01] [ 8.42848519e-03 6.50062258e-03 9.99943350e-01 -1.76753920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40119381700003 meters Centerline goodness [0,1] 0.9042879654972216 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.31, Z:-1.77 [[ 9.99939211e-01 -6.75608731e-03 -8.71380586e-03 8.77303984e+00] [ 6.65772306e-03 9.99914346e-01 -1.12683570e-02 -3.10492962e-01] [ 8.78918949e-03 1.12096579e-02 9.99898542e-01 -1.76862798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43119381700004 meters Centerline goodness [0,1] 0.905721259256195 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.31, Z:-1.77 [[ 0.99990859 -0.01007873 -0.00901231 8.77487924] [ 0.00995461 0.99985642 -0.0137133 -0.31448762] [ 0.00914923 0.01362233 0.99986535 -1.77005008] [ 0. 0. 0. 1. ]] SLAMing on 226.46119381700004 meters Centerline goodness [0,1] 0.907451077737785 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.32, Z:-1.77 [[ 0.9998657 -0.01341751 -0.00941016 8.7767856 ] [ 0.01326627 0.99978472 -0.01595383 -0.31939823] [ 0.00962219 0.01582685 0.99982845 -1.77126211] [ 0. 0. 0. 1. ]] SLAMing on 226.49119381700004 meters Centerline goodness [0,1] 0.9103932234356185 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.33, Z:-1.77 [[ 0.99969398 -0.02252075 -0.01023534 8.78151047] [ 0.02228361 0.99949349 -0.0227203 -0.32935476] [ 0.01074184 0.02248526 0.99968946 -1.77484906] [ 0. 0. 0. 1. ]] SLAMing on 226.52119381700004 meters Centerline goodness [0,1] 0.9129939760283189 Centerline is valid? [False, False] Translation: X:8.79, Y:-0.33, Z:-1.78 [[ 0.99957659 -0.02691602 -0.01105284 8.78583541] [ 0.02662125 0.99930736 -0.02600199 -0.33375859] [ 0.01174505 0.02569674 0.99960079 -1.7778041 ] [ 0. 0. 0. 1. ]] SLAMing on 226.55119381700004 meters Centerline goodness [0,1] 0.9111051123385523 Centerline is valid? [False, False] Translation: X:8.79, Y:-0.34, Z:-1.78 [[ 0.99931506 -0.03330334 -0.01613381 8.78616189] [ 0.03305159 0.99933147 -0.01562693 -0.34118499] [ 0.01664345 0.01508298 0.99974772 -1.77806871] [ 0. 0. 0. 1. ]] SLAMing on 226.58119381700004 meters Centerline goodness [0,1] 0.9073113846025698 Centerline is valid? [False, False] Translation: X:8.79, Y:-0.35, Z:-1.78 [[ 0.99917861 -0.03698792 -0.01655294 8.78832555] [ 0.03668672 0.99916208 -0.01814426 -0.34605288] [ 0.01721019 0.01752209 0.99969835 -1.77927356] [ 0. 0. 0. 1. ]] SLAMing on 226.61119381700004 meters Centerline goodness [0,1] 0.8729148967032057 Centerline is valid? [False, False] Translation: X:8.80, Y:-0.35, Z:-1.78 [[ 0.99880899 -0.04665238 -0.01428832 8.79889623] [ 0.04642575 0.99879674 -0.01580277 -0.35480678] [ 0.01500837 0.01512061 0.99977303 -1.77981805] [ 0. 0. 0. 1. ]] SLAMing on 226.64119381700002 meters Centerline goodness [0,1] 0.8499252739953504 Centerline is valid? [False, False] Translation: X:8.80, Y:-0.36, Z:-1.78 [[ 0.99878494 -0.04711458 -0.01445227 8.79923485] [ 0.04689713 0.9987866 -0.01503297 -0.35818206] [ 0.01514301 0.01433694 0.99978255 -1.77946539] [ 0. 0. 0. 1. ]] SLAMing on 226.67119381700002 meters Centerline goodness [0,1] 0.8323475887170155 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.36, Z:-1.78 [[ 9.98752269e-01 -4.87624440e-02 -1.07763264e-02 8.80751117e+00] [ 4.87058224e-02 9.98798266e-01 -5.45583240e-03 -3.62058482e-01] [ 1.10294158e-02 4.92415515e-03 9.99927050e-01 -1.77941534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70119381700002 meters Centerline goodness [0,1] 0.822350762572564 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.36, Z:-1.78 [[ 9.98740699e-01 -4.89470348e-02 -1.10092641e-02 8.80756456e+00] [ 4.88938497e-02 9.98791217e-01 -5.04945106e-03 -3.63504301e-01] [ 1.12431119e-02 4.50480698e-03 9.99926647e-01 -1.77868418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73119381700002 meters Centerline goodness [0,1] 0.7901559777648718 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.36, Z:-1.78 [[ 9.98707049e-01 -4.95705530e-02 -1.12689956e-02 8.80798940e+00] [ 4.95159587e-02 9.98760448e-01 -5.07327799e-03 -3.64393504e-01] [ 1.15065123e-02 4.50872337e-03 9.99923633e-01 -1.77820313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76119381700002 meters Centerline goodness [0,1] 0.789231629756997 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.36, Z:-1.78 [[ 9.98695436e-01 -4.97543391e-02 -1.14861719e-02 8.80795360e+00] [ 4.96977830e-02 9.98750983e-01 -5.15803313e-03 -3.64100528e-01] [ 1.17284600e-02 4.58046687e-03 9.99920728e-01 -1.77749484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79119381700002 meters Centerline goodness [0,1] 0.790267760921827 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.36, Z:-1.78 [[ 9.98822460e-01 -4.70880061e-02 -1.16795795e-02 8.80768268e+00] [ 4.70710728e-02 9.98890061e-01 -1.72065281e-03 -3.64631357e-01] [ 1.17476380e-02 1.16885634e-03 9.99930311e-01 -1.77657592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82119381700002 meters Centerline goodness [0,1] 0.7755495644960597 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.36, Z:-1.78 [[ 9.98799624e-01 -4.75592908e-02 -1.17228758e-02 8.80709741e+00] [ 4.75332724e-02 9.98866556e-01 -2.48833265e-03 -3.61974387e-01] [ 1.18279319e-02 1.92811907e-03 9.99928189e-01 -1.77569333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85119381700002 meters Centerline goodness [0,1] 0.7601204068922566 Centerline is valid? [False, False] Translation: X:8.80, Y:-0.36, Z:-1.77 [[ 9.98768234e-01 -4.83174359e-02 -1.12889144e-02 8.80366311e+00] [ 4.82768838e-02 9.98826619e-01 -3.83767132e-03 -3.55656235e-01] [ 1.14610947e-02 3.28795059e-03 9.99928914e-01 -1.77236487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88119381700002 meters Centerline goodness [0,1] 0.7525316324628797 Centerline is valid? [False, False] Translation: X:8.80, Y:-0.35, Z:-1.77 [[ 9.98733955e-01 -4.89556981e-02 -1.15683646e-02 8.80355119e+00] [ 4.88995250e-02 9.98790734e-01 -5.08988303e-03 -3.52288646e-01] [ 1.18035541e-02 4.51775147e-03 9.99920130e-01 -1.77144185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.91119381700003 meters Centerline goodness [0,1] 0.7490345887140306 Centerline is valid? [False, False] Translation: X:8.80, Y:-0.35, Z:-1.77 [[ 9.98774668e-01 -4.81520765e-02 -1.14253803e-02 8.80140174e+00] [ 4.80989631e-02 9.98830659e-01 -4.87899324e-03 -3.49012302e-01] [ 1.16469538e-02 4.32346591e-03 9.99922825e-01 -1.76925482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94119381700003 meters Centerline goodness [0,1] 0.7775892395240559 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.34, Z:-1.77 [[ 9.99012608e-01 -4.41774726e-02 -4.70746600e-03 8.81328383e+00] [ 4.41349603e-02 9.98986983e-01 -8.78142530e-03 -3.37249247e-01] [ 5.09063843e-03 8.56499077e-03 9.99950362e-01 -1.77196044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97119381700003 meters Centerline goodness [0,1] 0.7624756294852117 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.33, Z:-1.77 [[ 9.99243036e-01 -3.85720397e-02 -5.05505900e-03 8.81419260e+00] [ 3.85563115e-02 9.99251392e-01 -3.17277334e-03 -3.33456830e-01] [ 5.17365508e-03 2.97546723e-03 9.99982190e-01 -1.77274388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00119381700003 meters Centerline goodness [0,1] 0.7690637664378464 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.33, Z:-1.77 [[ 9.99356098e-01 -3.54712741e-02 -5.40169749e-03 8.81553577e+00] [ 3.54652875e-02 9.99370188e-01 -1.20009026e-03 -3.27508546e-01] [ 5.44086417e-03 1.00774476e-03 9.99984691e-01 -1.77400892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03119381700003 meters Centerline goodness [0,1] 0.8060103626943005 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.32, Z:-1.77 [[ 9.99470295e-01 -3.20467203e-02 -5.66899818e-03 8.81616810e+00] [ 3.20533539e-02 9.99485572e-01 1.08317096e-03 -3.21981332e-01] [ 5.63136981e-03 -1.26430761e-03 9.99983344e-01 -1.77458370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06119381700003 meters Centerline goodness [0,1] 0.8174989682212134 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.32, Z:-1.78 [[ 9.99558285e-01 -2.90423465e-02 -6.30691013e-03 8.81792031e+00] [ 2.90613246e-02 9.99573311e-01 2.93856898e-03 -3.16472474e-01] [ 6.21887610e-03 -3.12055813e-03 9.99975794e-01 -1.77556220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09119381700003 meters Centerline goodness [0,1] 0.8348916761687571 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.31, Z:-1.78 [[ 9.99649560e-01 -2.56627430e-02 -6.49468405e-03 8.81849402e+00] [ 2.56983016e-02 9.99654876e-01 5.45209269e-03 -3.12340318e-01] [ 6.35252693e-03 -5.61708441e-03 9.99964046e-01 -1.77612389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12119381700003 meters Centerline goodness [0,1] 0.8527114113429619 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.30, Z:-1.78 [[ 9.99746655e-01 -2.12590979e-02 -7.39431040e-03 8.82222841e+00] [ 2.13188207e-02 9.99739963e-01 8.09405087e-03 -3.02198677e-01] [ 7.22031539e-03 -8.24963826e-03 9.99939903e-01 -1.77926731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15119381700003 meters Centerline goodness [0,1] 0.8562384922523119 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.30, Z:-1.78 [[ 9.99781819e-01 -1.92527650e-02 -8.10215846e-03 8.82538412e+00] [ 1.93286421e-02 9.99769058e-01 9.39332781e-03 -2.97005279e-01] [ 7.91943980e-03 -9.54788209e-03 9.99923057e-01 -1.78166410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18119381700004 meters Centerline goodness [0,1] 0.8525638364127051 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.29, Z:-1.78 [[ 9.99769634e-01 -1.97204091e-02 -8.47253349e-03 8.82740878e+00] [ 1.97863082e-02 9.99774071e-01 7.76585091e-03 -2.91010925e-01] [ 8.31747354e-03 -7.93170209e-03 9.99933952e-01 -1.78341875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21119381700004 meters Centerline goodness [0,1] 0.8385985304495828 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.28, Z:-1.79 [[ 9.99788006e-01 -1.85276674e-02 -8.98158358e-03 8.82968338e+00] [ 1.85981537e-02 9.99796388e-01 7.82891860e-03 -2.83200493e-01] [ 8.83470322e-03 -7.99429979e-03 9.99929017e-01 -1.78526415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24119381700004 meters Centerline goodness [0,1] 0.8351273845642326 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.28, Z:-1.79 [[ 9.99774705e-01 -1.90646757e-02 -9.33150274e-03 8.83031046e+00] [ 1.91254591e-02 9.99796167e-01 6.46846889e-03 -2.79267955e-01] [ 9.20628141e-03 -6.64548085e-03 9.99935539e-01 -1.78523818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27119381700004 meters Centerline goodness [0,1] 0.8285809018567639 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.28, Z:-1.79 [[ 9.99762220e-01 -1.95646829e-02 -9.62944716e-03 8.83105515e+00] [ 1.96153487e-02 9.99794101e-01 5.19551927e-03 -2.75398746e-01] [ 9.52581578e-03 -5.38316885e-03 9.99940138e-01 -1.78545236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30119381700004 meters Centerline goodness [0,1] 0.828215527230591 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.27, Z:-1.79 [[ 9.99750732e-01 -1.99567342e-02 -1.00101652e-02 8.83176013e+00] [ 1.99972309e-02 9.99792185e-01 3.96190657e-03 -2.71340417e-01] [ 9.92901825e-03 -4.16109457e-03 9.99942048e-01 -1.78543919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33119381700004 meters Centerline goodness [0,1] 0.8249170124481328 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.27, Z:-1.79 [[ 9.99749296e-01 -1.99550103e-02 -1.01558772e-02 8.83166241e+00] [ 1.99871783e-02 9.99795505e-01 3.07583572e-03 -2.67190111e-01] [ 1.00924220e-02 -3.27805193e-03 9.99943697e-01 -1.78500874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36119381700004 meters Centerline goodness [0,1] 0.847811181982506 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.26, Z:-1.78 [[ 9.99807212e-01 -1.68136890e-02 -1.01409725e-02 8.83024743e+00] [ 1.68603414e-02 9.99847581e-01 4.53255957e-03 -2.58603648e-01] [ 1.00632177e-02 -4.70266600e-03 9.99938306e-01 -1.78340854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.39119381700002 meters Centerline goodness [0,1] 0.8752266358991264 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.25, Z:-1.79 [[ 9.99917592e-01 -1.20888219e-02 -4.32081154e-03 8.84085931e+00] [ 1.20865317e-02 9.99926801e-01 -5.55741005e-04 -2.53818798e-01] [ 4.32721351e-03 5.03471581e-04 9.99990511e-01 -1.78637140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42119381700002 meters Centerline goodness [0,1] 0.9035131535131535 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.25, Z:-1.79 [[ 9.99977587e-01 -5.01401587e-03 -4.43680064e-03 8.84057960e+00] [ 5.03786529e-03 9.99972834e-01 5.38061577e-03 -2.48508400e-01] [ 4.40970162e-03 -5.40284717e-03 9.99975682e-01 -1.78587675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45119381700002 meters Centerline goodness [0,1] 0.9094663803072857 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.25, Z:-1.79 [[ 9.99998097e-01 2.06387847e-04 -1.93974771e-03 8.85104534e+00] [-2.07513010e-04 9.99999810e-01 -5.79873324e-04 -2.45092231e-01] [ 1.93962766e-03 5.80274744e-04 9.99997951e-01 -1.78763928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48119381700002 meters Centerline goodness [0,1] 0.9102902374670184 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.24, Z:-1.79 [[ 9.99990919e-01 3.66591797e-03 -2.17308316e-03 8.85185023e+00] [-3.66031720e-03 9.99989984e-01 2.57573700e-03 -2.43438365e-01] [ 2.18250384e-03 -2.56775944e-03 9.99994322e-01 -1.78807975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51119381700002 meters Centerline goodness [0,1] 0.9174695661221517 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.24, Z:-1.79 [[ 9.99990159e-01 3.68816680e-03 -2.46549966e-03 8.85276626e+00] [-3.68437473e-03 9.99992026e-01 1.54083084e-03 -2.39857603e-01] [ 2.47116284e-03 -1.53173185e-03 9.99995774e-01 -1.78853033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54119381700002 meters Centerline goodness [0,1] 0.9086999875358345 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.24, Z:-1.79 [[ 9.99987767e-01 4.01682520e-03 -2.88641635e-03 8.85389244e+00] [-4.01579971e-03 9.99991871e-01 3.60988601e-04 -2.35324148e-01] [ 2.88784291e-03 -3.49392915e-04 9.99995769e-01 -1.78890050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57119381700002 meters Centerline goodness [0,1] 0.9088261602146736 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.23, Z:-1.79 [[ 9.99988002e-01 3.78160354e-03 -3.11361129e-03 8.85401498e+00] [-3.78295555e-03 9.99992753e-01 -4.28450599e-04 -2.33085230e-01] [ 3.11196850e-03 4.40224112e-04 9.99995061e-01 -1.78844421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60119381700002 meters Centerline goodness [0,1] 0.9096613338873883 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.23, Z:-1.79 [[ 9.99988096e-01 3.56063130e-03 -3.33601703e-03 8.85444241e+00] [-3.56414663e-03 9.99993099e-01 -1.04839861e-03 -2.31230420e-01] [ 3.33226105e-03 1.06027618e-03 9.99993886e-01 -1.78836192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.63119381700002 meters Centerline goodness [0,1] 0.9086108685709534 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.23, Z:-1.79 [[ 9.99988255e-01 3.38469388e-03 -3.46901855e-03 8.85449584e+00] [-3.38970972e-03 9.99993217e-01 -1.44103865e-03 -2.30247460e-01] [ 3.46411755e-03 1.45278069e-03 9.99992945e-01 -1.78804855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66119381700003 meters Centerline goodness [0,1] 0.9070744028438975 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.23, Z:-1.79 [[ 9.99988586e-01 3.06332542e-03 -3.66649319e-03 8.85484794e+00] [-3.06867714e-03 9.99994233e-01 -1.45489406e-03 -2.31138578e-01] [ 3.66201524e-03 1.46612873e-03 9.99992220e-01 -1.78798786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69119381700003 meters Centerline goodness [0,1] 0.9139679900228643 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.23, Z:-1.79 [[ 9.99988159e-01 2.90832734e-03 -3.90163779e-03 8.85552715e+00] [-2.91327225e-03 9.99994960e-01 -1.26230992e-03 -2.32426860e-01] [ 3.89794692e-03 1.27366151e-03 9.99991592e-01 -1.78826469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72119381700003 meters Centerline goodness [0,1] 0.9142922317614367 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.23, Z:-1.79 [[ 9.99987721e-01 2.20371778e-03 -4.43859109e-03 8.85791758e+00] [-2.21079035e-03 9.99996293e-01 -1.58915257e-03 -2.33716387e-01] [ 4.43507259e-03 1.59894585e-03 9.99988887e-01 -1.78987942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75119381700003 meters Centerline goodness [0,1] 0.9142922317614367 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.23, Z:-1.79 [[ 9.99987721e-01 2.20371778e-03 -4.43859109e-03 8.85791758e+00] [-2.21079035e-03 9.99996293e-01 -1.58915257e-03 -2.33716387e-01] [ 4.43507259e-03 1.59894585e-03 9.99988887e-01 -1.78987942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78119381700003 meters Centerline goodness [0,1] 0.9132460939938003 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.24, Z:-1.79 [[ 9.99986749e-01 2.22648776e-03 -4.64159246e-03 8.85858943e+00] [-2.23153525e-03 9.99996924e-01 -1.08255213e-03 -2.35771910e-01] [ 4.63916789e-03 1.09289566e-03 9.99988642e-01 -1.79025629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81119381700003 meters Centerline goodness [0,1] 0.9091570976868031 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.24, Z:-1.79 [[ 9.99986307e-01 2.26397736e-03 -4.71809138e-03 8.85927286e+00] [-2.26555727e-03 9.99997379e-01 -3.29543665e-04 -2.38809439e-01] [ 4.71733293e-03 3.40228259e-04 9.99988815e-01 -1.79100119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84119381700003 meters Centerline goodness [0,1] 0.9084813526851717 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.24, Z:-1.79 [[ 9.99985023e-01 2.46842289e-03 -4.88472335e-03 8.85992384e+00] [-2.46760185e-03 9.99996940e-01 1.74102765e-04 -2.40406478e-01] [ 4.88513816e-03 -1.62046605e-04 9.99988055e-01 -1.79139710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87119381700003 meters Centerline goodness [0,1] 0.9146295756465248 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.24, Z:-1.79 [[ 9.99983378e-01 2.67176732e-03 -5.10930300e-03 8.86050288e+00] [-2.66825948e-03 9.99996200e-01 6.93252096e-04 -2.42173358e-01] [ 5.11113580e-03 -6.79607627e-04 9.99986707e-01 -1.79155603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90119381700003 meters Centerline goodness [0,1] 0.9093768879815004 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.24, Z:-1.79 [[ 9.99981865e-01 2.87424013e-03 -5.29231906e-03 8.86080916e+00] [-2.86739828e-03 9.99995044e-01 1.29992259e-03 -2.44313196e-01] [ 5.29602912e-03 -1.28472382e-03 9.99985151e-01 -1.79147407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93119381700004 meters Centerline goodness [0,1] 0.9088943856658838 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.25, Z:-1.79 [[ 9.99982128e-01 1.88612756e-03 -5.67321497e-03 8.86316490e+00] [-1.88300548e-03 9.99998073e-01 5.55610133e-04 -2.47773154e-01] [ 5.67425199e-03 -5.44917508e-04 9.99983753e-01 -1.79341012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96119381700004 meters Centerline goodness [0,1] 0.908442256783587 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.25, Z:-1.79 [[ 9.99980130e-01 1.89999985e-03 -6.01083957e-03 8.86402182e+00] [-1.89370325e-03 9.99997652e-01 1.05305903e-03 -2.49861041e-01] [ 6.01282627e-03 -1.04165535e-03 9.99981380e-01 -1.79362874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99119381700004 meters Centerline goodness [0,1] 0.9107641057672288 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.25, Z:-1.79 [[ 9.99979839e-01 1.91955921e-03 -6.05281195e-03 8.86370353e+00] [-1.91023347e-03 9.99996980e-01 1.54613477e-03 -2.51806810e-01] [ 6.05576157e-03 -1.53454131e-03 9.99980486e-01 -1.79306598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02119381700004 meters Centerline goodness [0,1] 0.9167619008041225 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.25, Z:-1.79 [[ 9.99978779e-01 1.79090094e-03 -6.26377011e-03 8.86383444e+00] [-1.77869730e-03 9.99996510e-01 1.95331753e-03 -2.53826297e-01] [ 6.26724645e-03 -1.94213473e-03 9.99978475e-01 -1.79257980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05119381700004 meters Centerline goodness [0,1] 0.9119946764265513 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.26, Z:-1.79 [[ 9.99981992e-01 4.97444395e-04 -5.98072575e-03 8.86187259e+00] [-4.90557219e-04 9.99999215e-01 1.15297367e-03 -2.55023099e-01] [ 5.98129459e-03 -1.15001901e-03 9.99981451e-01 -1.79074713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08119381700004 meters Centerline goodness [0,1] 0.9189788893036374 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.26, Z:-1.79 [[ 9.99978081e-01 -3.10475764e-03 -5.84789130e-03 8.85988031e+00] [ 3.09538649e-03 9.99993912e-01 -1.61085229e-03 -2.57713062e-01] [ 5.85285701e-03 1.59271550e-03 9.99981603e-01 -1.78834254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11119381700004 meters Centerline goodness [0,1] 0.9166822536733379 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.26, Z:-1.79 [[ 9.99975736e-01 -3.63412049e-03 -5.94313677e-03 8.85961502e+00] [ 3.62671664e-03 9.99992635e-01 -1.25608430e-03 -2.60071021e-01] [ 5.94765776e-03 1.23449975e-03 9.99981551e-01 -1.78767867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.14119381700002 meters Centerline goodness [0,1] 0.9141209896513822 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.26, Z:-1.79 [[ 9.99972907e-01 -4.14568184e-03 -6.08265478e-03 8.85998463e+00] [ 4.14036387e-03 9.99991036e-01 -8.86616731e-04 -2.62426470e-01] [ 6.08627588e-03 8.61408306e-04 9.99981107e-01 -1.78773750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.17119381700002 meters Centerline goodness [0,1] 0.8912930945232426 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.26, Z:-1.79 [[ 9.99944537e-01 -8.74799275e-03 -5.86472575e-03 8.85922144e+00] [ 8.71832307e-03 9.99949164e-01 -5.06562618e-03 -2.62676062e-01] [ 5.90874167e-03 5.01421465e-03 9.99969972e-01 -1.78712260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20119381700002 meters Centerline goodness [0,1] 0.8673748291713257 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.26, Z:-1.79 [[ 9.99940565e-01 -9.17802362e-03 -5.88467853e-03 8.85892982e+00] [ 9.14933888e-03 9.99946221e-01 -4.88301097e-03 -2.63888208e-01] [ 5.92917845e-03 4.82887983e-03 9.99970763e-01 -1.78662436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23119381700002 meters Centerline goodness [0,1] 0.8440564805407536 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.27, Z:-1.79 [[ 9.99935910e-01 -9.65335468e-03 -5.91516080e-03 8.85876594e+00] [ 9.62558982e-03 9.99942606e-01 -4.70447416e-03 -2.65307582e-01] [ 5.96023527e-03 4.64723574e-03 9.99971439e-01 -1.78624817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26119381700002 meters Centerline goodness [0,1] 0.8141796139603202 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.27, Z:-1.79 [[ 9.99929241e-01 -1.02076469e-02 -6.10872723e-03 8.85925346e+00] [ 1.01787681e-02 9.99936960e-01 -4.74001790e-03 -2.66226673e-01] [ 6.15672656e-03 4.67750318e-03 9.99970107e-01 -1.78633733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29119381700002 meters Centerline goodness [0,1] 0.7611474834259279 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.26, Z:-1.79 [[ 9.99882974e-01 -1.39066784e-02 -6.37520780e-03 8.86207967e+00] [ 1.38549878e-02 9.99871354e-01 -8.08176743e-03 -2.64313379e-01] [ 6.48677819e-03 7.99249323e-03 9.99947019e-01 -1.78908203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32119381700002 meters Centerline goodness [0,1] 0.7503478062252124 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.26, Z:-1.79 [[ 9.99869238e-01 -1.47432867e-02 -6.64396463e-03 8.86347521e+00] [ 1.46855788e-02 9.99854724e-01 -8.65241553e-03 -2.63429432e-01] [ 6.77056447e-03 8.55371366e-03 9.99940495e-01 -1.79019624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35119381700002 meters Centerline goodness [0,1] 0.7142708766098878 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.26, Z:-1.79 [[ 9.99851378e-01 -1.57769863e-02 -6.95047523e-03 8.86532666e+00] [ 1.57116485e-02 9.99832783e-01 -9.35687621e-03 -2.62626838e-01] [ 7.09693630e-03 9.24628214e-03 9.99932068e-01 -1.79177708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38119381700002 meters Centerline goodness [0,1] 0.694001534346555 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.26, Z:-1.79 [[ 9.99831837e-01 -1.68371481e-02 -7.26693701e-03 8.86696696e+00] [ 1.67634729e-02 9.99808642e-01 -1.00829650e-02 -2.61764326e-01] [ 7.43531480e-03 9.95945033e-03 9.99922760e-01 -1.79308632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.41119381700003 meters Centerline goodness [0,1] 0.6766401487756999 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.26, Z:-1.79 [[ 9.99812979e-01 -1.78298151e-02 -7.49036888e-03 8.86806123e+00] [ 1.77473770e-02 9.99782739e-01 -1.09318352e-02 -2.60285186e-01] [ 7.68365412e-03 1.07968563e-02 9.99912191e-01 -1.79382488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44119381700003 meters Centerline goodness [0,1] 0.6835923720196717 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.26, Z:-1.79 [[ 9.99797050e-01 -1.87071249e-02 -7.47672484e-03 8.86800814e+00] [ 1.86170288e-02 9.99755350e-01 -1.19434292e-02 -2.58047512e-01] [ 7.69832289e-03 1.18018108e-02 9.99900722e-01 -1.79368445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47119381700003 meters Centerline goodness [0,1] 0.6730909317959498 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.25, Z:-1.79 [[ 9.99752025e-01 -2.11555353e-02 -6.95212785e-03 8.86541273e+00] [ 2.10475028e-02 9.99661985e-01 -1.52616387e-02 -2.50892755e-01] [ 7.27264607e-03 1.51115292e-02 9.99859365e-01 -1.79137354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50119381700003 meters Centerline goodness [0,1] 0.6642224768253306 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.25, Z:-1.79 [[ 9.99805684e-01 -1.84759230e-02 -6.87278317e-03 8.86482123e+00] [ 1.83882512e-02 9.99751424e-01 -1.26080380e-02 -2.48111055e-01] [ 7.10401990e-03 1.24792096e-02 9.99896896e-01 -1.79080570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53119381700003 meters Centerline goodness [0,1] 0.6597529231913399 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.25, Z:-1.79 [[ 9.99827470e-01 -1.85741278e-02 1.76302488e-04 8.87416293e+00] [ 1.85746470e-02 9.99820840e-01 -3.64282274e-03 -2.45322427e-01] [-1.08608647e-04 3.64546900e-03 9.99993349e-01 -1.79411167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56119381700003 meters Centerline goodness [0,1] 0.6788640653846951 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.23, Z:-1.79 [[ 9.99870455e-01 -1.60653150e-02 9.89289600e-04 8.87112534e+00] [ 1.60670839e-02 9.99869284e-01 -1.80684460e-03 -2.32359060e-01] [-9.60132756e-04 1.82250553e-03 9.99997878e-01 -1.79244412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59119381700003 meters Centerline goodness [0,1] 0.6823600265824887 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.23, Z:-1.79 [[ 9.99910058e-01 -1.33718916e-02 1.03408301e-03 8.87094201e+00] [ 1.33715657e-02 9.99910545e-01 3.21383313e-04 -2.27480967e-01] [-1.03828801e-03 -3.07527098e-04 9.99999414e-01 -1.79233905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62119381700003 meters Centerline goodness [0,1] 0.6421443538515799 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.22, Z:-1.79 [[ 9.99938532e-01 -1.10547740e-02 8.51557439e-04 8.87180614e+00] [ 1.10530480e-02 9.99936902e-01 2.00555337e-03 -2.22270048e-01] [-8.73674647e-04 -1.99601778e-03 9.99997626e-01 -1.79302094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65119381700003 meters Centerline goodness [0,1] 0.661586443497245 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.21, Z:-1.80 [[ 9.99946590e-01 -1.02830582e-02 1.03695563e-03 8.87361016e+00] [ 1.02822444e-02 9.99946827e-01 7.87144431e-04 -2.07023912e-01] [-1.04499474e-03 -7.76440159e-04 9.99999153e-01 -1.79588755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68119381700004 meters Centerline goodness [0,1] 0.654521282120526 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.20, Z:-1.80 [[ 9.99966442e-01 -8.16840378e-03 6.26119377e-04 8.87575284e+00] [ 8.16716521e-03 9.99964735e-01 1.95584446e-03 -1.99872641e-01] [-6.42073425e-04 -1.95066520e-03 9.99997891e-01 -1.79764999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71119381700004 meters Centerline goodness [0,1] 0.616931982633864 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.19, Z:-1.80 [[ 9.99976204e-01 -6.89854222e-03 4.78977912e-05 8.87868632e+00] [ 6.89841732e-03 9.99973686e-01 2.24495257e-03 -1.91754434e-01] [-6.33834309e-05 -2.24456873e-03 9.99997479e-01 -1.79988213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74119381700004 meters Centerline goodness [0,1] 0.6439296794208893 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.18, Z:-1.80 [[ 9.99986545e-01 -5.18477853e-03 -1.68786070e-04 8.88014265e+00] [ 5.18524783e-03 9.99982322e-01 2.91012193e-03 -1.83872283e-01] [ 1.53694748e-04 -2.91095798e-03 9.99995751e-01 -1.80109786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77119381700004 meters Centerline goodness [0,1] 0.6499398165442245 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.18, Z:-1.80 [[ 9.99993311e-01 -3.64855159e-03 -2.56193301e-04 8.88089882e+00] [ 3.64940422e-03 9.99987525e-01 3.41048857e-03 -1.75975314e-01] [ 2.43746762e-04 -3.41140071e-03 9.99994151e-01 -1.80180519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80119381700004 meters Centerline goodness [0,1] 0.6290349383075069 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.16, Z:-1.80 [[ 9.99992634e-01 -3.81710734e-03 -4.02372867e-04 8.88159548e+00] [ 3.81726170e-03 9.99992641e-01 3.83569037e-04 -1.57537313e-01] [ 4.00905782e-04 -3.85102174e-04 9.99999845e-01 -1.80180177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83119381700004 meters Centerline goodness [0,1] 0.6374111454210101 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.15, Z:-1.80 [[ 9.99997178e-01 -2.32010439e-03 -5.11232357e-04 8.88233327e+00] [ 2.32043076e-03 9.99997104e-01 6.38734448e-04 -1.48854415e-01] [ 5.09748945e-04 -6.39918925e-04 9.99999665e-01 -1.80221337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86119381700004 meters Centerline goodness [0,1] 0.6703744516289998 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.14, Z:-1.80 [[ 9.99999522e-01 -9.10161599e-04 -3.58436918e-04 8.88212268e+00] [ 9.10381109e-04 9.99999398e-01 6.12723698e-04 -1.39303956e-01] [ 3.57879024e-04 -6.13049719e-04 9.99999748e-01 -1.80211751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.89119381700002 meters Centerline goodness [0,1] 0.6425117765465147 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.12, Z:-1.80 [[ 9.99999562e-01 2.97827436e-04 -8.87362630e-04 8.88328408e+00] [-2.98320579e-04 9.99999801e-01 -5.55659514e-04 -1.19042269e-01] [ 8.87196963e-04 5.55923989e-04 9.99999452e-01 -1.80119046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92119381700002 meters Centerline goodness [0,1] 0.6697827080476961 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.11, Z:-1.80 [[ 9.99997179e-01 2.12346411e-03 -1.06426808e-03 8.88387679e+00] [-2.12368518e-03 9.99997724e-01 -2.06633057e-04 -1.10188451e-01] [ 1.06382688e-03 2.08892645e-04 9.99999412e-01 -1.80118264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95119381700002 meters Centerline goodness [0,1] 0.6404654329392833 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.10, Z:-1.80 [[ 9.99991539e-01 3.93253151e-03 -1.20684406e-03 8.88485559e+00] [-3.93225960e-03 9.99992243e-01 2.27598173e-04 -1.01403767e-01] [ 1.20772973e-03 -2.22850624e-04 9.99999246e-01 -1.80166184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98119381700002 meters Centerline goodness [0,1] 0.6691064856210102 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.08, Z:-1.80 [[ 9.99985410e-01 5.30393865e-03 1.02378234e-03 8.87909722e+00] [-5.30550239e-03 9.99984754e-01 1.53079151e-03 -8.05285402e-02] [-1.01564751e-03 -1.53620086e-03 9.99998304e-01 -1.80107554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01119381700002 meters Centerline goodness [0,1] 0.6738995274807262 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.07, Z:-1.80 [[ 9.99973784e-01 7.17694560e-03 9.60956743e-04 8.87944026e+00] [-7.17878267e-03 9.99972385e-01 1.92211380e-03 -7.14069848e-02] [-9.47135300e-04 -1.92896191e-03 9.99997691e-01 -1.80091091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04119381700002 meters Centerline goodness [0,1] 0.6728697966482305 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.06, Z:-1.80 [[ 9.99957259e-01 9.19590982e-03 9.56508759e-04 8.87950033e+00] [-9.19834849e-03 9.99954373e-01 2.57718507e-03 -6.30554864e-02] [-9.32765555e-04 -2.58587322e-03 9.99996222e-01 -1.80061813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07119381700002 meters Centerline goodness [0,1] 0.6808466357260297 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.06, Z:-1.80 [[ 9.99935267e-01 1.13408183e-02 9.20327609e-04 8.88014248e+00] [-1.13438996e-02 9.99929825e-01 3.41487019e-03 -5.53819380e-02] [-8.81535602e-04 -3.42508924e-03 9.99993746e-01 -1.80093076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10119381700002 meters Centerline goodness [0,1] 0.6734778722431247 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.05, Z:-1.80 [[ 9.99906109e-01 1.36782433e-02 8.24234685e-04 8.88082707e+00] [-1.36817908e-02 9.99896435e-01 4.46404309e-03 -4.81568826e-02] [-7.63089055e-04 -4.47490096e-03 9.99989696e-01 -1.80109278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.13119381700002 meters Centerline goodness [0,1] 0.6855135427276695 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.04, Z:-1.80 [[ 9.99871957e-01 1.59793202e-02 8.55420401e-04 8.88111783e+00] [-1.59838214e-02 9.99856887e-01 5.54290706e-03 -4.10872861e-02] [-7.66726092e-04 -5.55587022e-03 9.99984272e-01 -1.80106994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16119381700003 meters Centerline goodness [0,1] 0.6982633564056866 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.02, Z:-1.80 [[ 9.99830057e-01 1.83985891e-02 1.16173541e-03 8.88103807e+00] [-1.84004620e-02 9.99829381e-01 1.62259129e-03 -2.30634702e-02] [-1.13168381e-03 -1.64369201e-03 9.99998009e-01 -1.79711246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19119381700003 meters Centerline goodness [0,1] 0.7237831996342325 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.02, Z:-1.80 [[ 9.99777072e-01 2.10804308e-02 1.19244406e-03 8.88082978e+00] [-2.10838997e-02 9.99773282e-01 2.97542198e-03 -1.58872130e-02] [-1.12945054e-03 -2.99990005e-03 9.99994862e-01 -1.79634244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22119381700003 meters Centerline goodness [0,1] 0.7049159951109362 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.01, Z:-1.80 [[ 9.99709646e-01 2.40703250e-02 1.11461304e-03 8.88143143e+00] [-2.40754041e-02 9.99698657e-01 4.79274859e-03 -9.54800976e-03] [-9.98914147e-04 -4.81819176e-03 9.99987894e-01 -1.79636096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25119381700003 meters Centerline goodness [0,1] 0.6933172737467292 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.00, Z:-1.80 [[ 9.99635306e-01 2.69867517e-02 9.85166672e-04 8.88241275e+00] [-2.69926734e-02 9.99613870e-01 6.59589651e-03 -3.58038896e-03] [-8.06784448e-04 -6.62008331e-03 9.99977762e-01 -1.79674811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28119381700003 meters Centerline goodness [0,1] 0.7639436270969606 Centerline is valid? [False, False] Translation: X:8.88, Y:0.01, Z:-1.80 [[ 9.99432490e-01 3.36703005e-02 1.00476288e-03 8.88463597e+00] [-3.36794856e-02 9.99369337e-01 1.12526149e-02 5.80541160e-03] [-6.25250286e-04 -1.12800688e-02 9.99936183e-01 -1.79848116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31119381700003 meters Centerline goodness [0,1] 0.7752297375610564 Centerline is valid? [False, False] Translation: X:8.89, Y:0.01, Z:-1.80 [[ 9.99297897e-01 3.74553124e-02 9.01981316e-04 8.88598038e+00] [-3.74642891e-02 9.99199392e-01 1.40357282e-02 1.02152017e-02] [-3.75546597e-04 -1.40596658e-02 9.99901087e-01 -1.79936174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34119381700003 meters Centerline goodness [0,1] 0.8340685513099306 Centerline is valid? [False, False] Translation: X:8.89, Y:0.02, Z:-1.80 [[ 9.99141033e-01 4.14308957e-02 8.22377761e-04 8.88733572e+00] [-4.14388542e-02 9.99001419e-01 1.67028763e-02 1.54067515e-02] [-1.29541426e-04 -1.67226074e-02 9.99860159e-01 -1.80012804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37119381700003 meters Centerline goodness [0,1] 0.8754477132978613 Centerline is valid? [False, False] Translation: X:8.89, Y:0.03, Z:-1.80 [[ 9.98616897e-01 5.25683980e-02 9.25509437e-04 8.88884712e+00] [-5.25751402e-02 9.98306836e-01 2.48860421e-02 2.62148823e-02] [ 3.84276971e-04 -2.49002810e-02 9.99689866e-01 -1.79976863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40119381700003 meters Centerline goodness [0,1] 0.9191887804776997 Centerline is valid? [False, False] Translation: X:8.89, Y:0.03, Z:-1.80 [[ 9.98403276e-01 5.64808927e-02 8.98711808e-04 8.88951879e+00] [-5.64843110e-02 9.98028110e-01 2.73754442e-02 3.17815131e-02] [ 6.49249879e-04 -2.73824963e-02 9.99624818e-01 -1.79952407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43119381700004 meters Centerline goodness [0,1] 0.9352013283520133 Centerline is valid? [False, False] Translation: X:8.89, Y:0.04, Z:-1.80 [[ 9.98179046e-01 6.03144416e-02 8.71949895e-04 8.89036135e+00] [-6.03131508e-02 9.97719759e-01 3.02920301e-02 3.55652753e-02] [ 9.57085245e-04 -3.02894598e-02 9.99540711e-01 -1.79971801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46119381700004 meters Centerline goodness [0,1] 0.936927982772187 Centerline is valid? [False, False] Translation: X:8.89, Y:0.04, Z:-1.80 [[ 9.98167686e-01 6.05070000e-02 4.16026865e-04 8.89167980e+00] [-6.04931886e-02 9.97738355e-01 2.93044172e-02 3.93507276e-02] [ 1.35803641e-03 -2.92758891e-02 9.99570447e-01 -1.79986182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49119381700004 meters Centerline goodness [0,1] 0.9391915641476274 Centerline is valid? [False, False] Translation: X:8.89, Y:0.04, Z:-1.80 [[ 9.98172148e-01 6.04341531e-02 2.74878728e-04 8.89252815e+00] [-6.04179543e-02 9.97776639e-01 2.81327100e-02 4.28938913e-02] [ 1.42590893e-03 -2.80978952e-02 9.99604159e-01 -1.80030449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52119381700004 meters Centerline goodness [0,1] 0.9393907912234043 Centerline is valid? [False, False] Translation: X:8.89, Y:0.04, Z:-1.80 [[ 9.98195203e-01 6.00527473e-02 6.38222101e-05 8.89289800e+00] [-6.00319352e-02 9.97820137e-01 2.74069615e-02 4.45819136e-02] [ 1.58218025e-03 -2.73613289e-02 9.99624357e-01 -1.80019760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55119381700004 meters Centerline goodness [0,1] 0.9381809126564153 Centerline is valid? [False, False] Translation: X:8.89, Y:0.05, Z:-1.80 [[ 9.98201932e-01 5.99405632e-02 -1.79458763e-04 8.89364041e+00] [-5.99136514e-02 9.97834972e-01 2.71242094e-02 4.54755843e-02] [ 1.80491062e-03 -2.70646862e-02 9.99632055e-01 -1.80048216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58119381700004 meters Centerline goodness [0,1] 0.9378513493890929 Centerline is valid? [False, False] Translation: X:8.89, Y:0.05, Z:-1.80 [[ 9.98403568e-01 5.64767634e-02 -8.30835068e-04 8.89482231e+00] [-5.64430840e-02 9.98144319e-01 2.28494377e-02 4.74955917e-02] [ 2.11975559e-03 -2.27660653e-02 9.99738572e-01 -1.80044117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61119381700004 meters Centerline goodness [0,1] 0.9396297066777616 Centerline is valid? [False, False] Translation: X:8.90, Y:0.05, Z:-1.80 [[ 9.98598101e-01 5.29144067e-02 -1.37778338e-03 8.89571527e+00] [-5.28794899e-02 9.98425908e-01 1.86940047e-02 4.86536706e-02] [ 2.36479678e-03 -1.85949411e-02 9.99824303e-01 -1.80038286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.64119381700002 meters Centerline goodness [0,1] 0.9396297066777616 Centerline is valid? [False, False] Translation: X:8.90, Y:0.05, Z:-1.80 [[ 9.98598101e-01 5.29144067e-02 -1.37778338e-03 8.89571527e+00] [-5.28794899e-02 9.98425908e-01 1.86940047e-02 4.86536706e-02] [ 2.36479678e-03 -1.85949411e-02 9.99824303e-01 -1.80038286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.67119381700002 meters Centerline goodness [0,1] 0.933960894897261 Centerline is valid? [False, False] Translation: X:8.90, Y:0.05, Z:-1.80 [[ 9.98951656e-01 4.57245281e-02 -2.20393202e-03 8.89647767e+00] [-4.56972098e-02 9.98892949e-01 1.11643045e-02 4.80108811e-02] [ 2.71197472e-03 -1.10518869e-02 9.99935248e-01 -1.79980606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70119381700002 meters Centerline goodness [0,1] 0.9304741719652578 Centerline is valid? [False, False] Translation: X:8.90, Y:0.05, Z:-1.80 [[ 9.99131490e-01 4.15901302e-02 -2.55475462e-03 8.89601364e+00] [-4.15710344e-02 9.99110174e-01 7.12108241e-03 4.70870524e-02] [ 2.84864808e-03 -7.00869389e-03 9.99971381e-01 -1.79867645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73119381700002 meters Centerline goodness [0,1] 0.9160946794791797 Centerline is valid? [False, False] Translation: X:8.90, Y:0.05, Z:-1.80 [[ 9.99292874e-01 3.74890968e-02 -2.88428516e-03 8.89559704e+00] [-3.74801787e-02 9.99292605e-01 3.08627493e-03 4.62725953e-02] [ 2.99794649e-03 -2.97598902e-03 9.99991078e-01 -1.79755901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76119381700002 meters Centerline goodness [0,1] 0.9102401232896682 Centerline is valid? [False, False] Translation: X:8.90, Y:0.04, Z:-1.80 [[ 9.99429250e-01 3.36386831e-02 -3.10054060e-03 8.89517183e+00] [-3.36394060e-02 9.99434019e-01 -1.81306635e-04 4.31944360e-02] [ 3.09268684e-03 2.85503499e-04 9.99995177e-01 -1.79689740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79119381700002 meters Centerline goodness [0,1] 0.9075396495889728 Centerline is valid? [False, False] Translation: X:8.90, Y:0.04, Z:-1.80 [[ 9.99522089e-01 3.06736229e-02 -3.83689526e-03 8.89676162e+00] [-3.06861275e-02 9.99523806e-01 -3.24375675e-03 4.21399956e-02] [ 3.73557038e-03 3.35994598e-03 9.99987378e-01 -1.79717714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82119381700002 meters Centerline goodness [0,1] 0.890639943448792 Centerline is valid? [False, False] Translation: X:8.90, Y:0.04, Z:-1.80 [[ 9.99613050e-01 2.74981524e-02 -4.19535347e-03 8.89750482e+00] [-2.75252403e-02 9.99599704e-01 -6.54163080e-03 4.09552584e-02] [ 4.01379132e-03 6.65457764e-03 9.99969803e-01 -1.79731359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85119381700002 meters Centerline goodness [0,1] 0.9186868476859744 Centerline is valid? [False, False] Translation: X:8.90, Y:0.04, Z:-1.80 [[ 9.99605780e-01 2.77412021e-02 -4.32564662e-03 8.89790945e+00] [-2.77658594e-02 9.99597926e-01 -5.74836377e-03 3.81072360e-02] [ 4.16444087e-03 5.86620294e-03 9.99974122e-01 -1.79770285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88119381700002 meters Centerline goodness [0,1] 0.905191358792553 Centerline is valid? [False, False] Translation: X:8.90, Y:0.03, Z:-1.80 [[ 9.99587905e-01 2.83429833e-02 -4.54916787e-03 8.89849041e+00] [-2.83631237e-02 9.99587889e-01 -4.42555069e-03 3.43718823e-02] [ 4.42185980e-03 4.55275556e-03 9.99979860e-01 -1.79811877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.91119381700003 meters Centerline goodness [0,1] 0.9155317869950045 Centerline is valid? [False, False] Translation: X:8.90, Y:0.03, Z:-1.80 [[ 9.99585337e-01 2.84090419e-02 -4.69904656e-03 8.89863528e+00] [-2.84280387e-02 9.99587732e-01 -4.02652968e-03 3.26319058e-02] [ 4.58271944e-03 4.15844470e-03 9.99980853e-01 -1.79801067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94119381700003 meters Centerline goodness [0,1] 0.9067432146017244 Centerline is valid? [False, False] Translation: X:8.90, Y:0.03, Z:-1.80 [[ 9.99578376e-01 2.85898511e-02 -5.06855444e-03 8.89943342e+00] [-2.86073205e-02 9.99584916e-01 -3.40826949e-03 3.04703427e-02] [ 4.96900865e-03 3.55183024e-03 9.99981347e-01 -1.79823594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97119381700003 meters Centerline goodness [0,1] 0.920639534883721 Centerline is valid? [False, False] Translation: X:8.90, Y:0.03, Z:-1.80 [[ 9.99577845e-01 2.86054410e-02 -5.08524888e-03 8.89926923e+00] [-2.86210842e-02 9.99585739e-01 -3.03048906e-03 2.84255880e-02] [ 4.99645378e-03 3.17475506e-03 9.99982478e-01 -1.79811521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00119381700003 meters Centerline goodness [0,1] 0.9118465307478304 Centerline is valid? [False, False] Translation: X:8.90, Y:0.03, Z:-1.80 [[ 9.99573674e-01 2.87134189e-02 -5.29249550e-03 8.89979143e+00] [-2.87268541e-02 9.99584222e-01 -2.48024279e-03 2.62886224e-02] [ 5.21907875e-03 2.63122215e-03 9.99982919e-01 -1.79842273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03119381700003 meters Centerline goodness [0,1] 0.9112241719447617 Centerline is valid? [False, False] Translation: X:8.90, Y:0.02, Z:-1.80 [[ 9.99650034e-01 2.57596828e-02 -6.02064002e-03 8.90163779e+00] [-2.57904256e-02 9.99654435e-01 -5.08562781e-03 2.35777162e-02] [ 5.88755534e-03 5.23912288e-03 9.99968944e-01 -1.79924383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06119381700003 meters Centerline goodness [0,1] 0.8931397323832801 Centerline is valid? [False, False] Translation: X:8.90, Y:0.02, Z:-1.80 [[ 9.99711006e-01 2.30950643e-02 -6.67256896e-03 8.90389430e+00] [-2.31460234e-02 9.99702721e-01 -7.66358093e-03 2.23180069e-02] [ 6.49359445e-03 7.81580964e-03 9.99948372e-01 -1.80053713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09119381700003 meters Centerline goodness [0,1] 0.8950385246412328 Centerline is valid? [False, False] Translation: X:8.90, Y:0.02, Z:-1.80 [[ 9.99713693e-01 2.28852667e-02 -6.98540046e-03 8.90450762e+00] [-2.29349511e-02 9.99711624e-01 -7.11733474e-03 1.97154098e-02] [ 6.82050394e-03 7.27550681e-03 9.99950273e-01 -1.80085750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12119381700003 meters Centerline goodness [0,1] 0.8757589619895201 Centerline is valid? [False, False] Translation: X:8.90, Y:0.02, Z:-1.80 [[ 9.99718605e-01 2.26072004e-02 -7.18503354e-03 8.90482321e+00] [-2.26553392e-02 9.99720947e-01 -6.69061759e-03 1.73925942e-02] [ 7.03177240e-03 6.85151426e-03 9.99951804e-01 -1.80102897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15119381700003 meters Centerline goodness [0,1] 0.8636787661435767 Centerline is valid? [False, False] Translation: X:8.91, Y:0.01, Z:-1.80 [[ 9.99720320e-01 2.24500089e-02 -7.43491444e-03 8.90519154e+00] [-2.24953923e-02 9.99728472e-01 -6.07777151e-03 1.45819169e-02] [ 7.29644963e-03 6.24332300e-03 9.99953890e-01 -1.80117249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18119381700004 meters Centerline goodness [0,1] 0.8332157090667552 Centerline is valid? [False, False] Translation: X:8.91, Y:0.01, Z:-1.80 [[ 9.99782330e-01 1.92938805e-02 -7.93968875e-03 8.90650365e+00] [-1.93610973e-02 9.99776611e-01 -8.47798162e-03 1.05729964e-02] [ 7.77434194e-03 8.62985730e-03 9.99932540e-01 -1.80191780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21119381700004 meters Centerline goodness [0,1] 0.8337620845608066 Centerline is valid? [False, False] Translation: X:8.91, Y:0.01, Z:-1.80 [[ 9.99778165e-01 1.94056901e-02 -8.18774297e-03 8.90700649e+00] [-1.94693032e-02 9.99780321e-01 -7.76248513e-03 8.01888540e-03] [ 8.03530791e-03 7.92017280e-03 9.99936350e-01 -1.80211124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24119381700004 meters Centerline goodness [0,1] 0.8041920272544091 Centerline is valid? [False, False] Translation: X:8.91, Y:0.01, Z:-1.80 [[ 9.99772571e-01 1.95901468e-02 -8.42802099e-03 8.90741079e+00] [-1.96506443e-02 9.99781296e-01 -7.15621849e-03 6.10258498e-03] [ 8.28598638e-03 7.32020701e-03 9.99938877e-01 -1.80209792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27119381700004 meters Centerline goodness [0,1] 0.8423227038697891 Centerline is valid? [False, False] Translation: X:8.91, Y:0.00, Z:-1.80 [[ 9.99759677e-01 2.01046768e-02 -8.74015948e-03 8.90725686e+00] [-2.01577486e-02 9.99778645e-01 -6.02709529e-03 2.91215667e-03] [ 8.61705200e-03 6.20182878e-03 9.99943640e-01 -1.80122121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30119381700004 meters Centerline goodness [0,1] 0.8278264825076503 Centerline is valid? [False, False] Translation: X:8.91, Y:0.00, Z:-1.80 [[ 9.99749998e-01 2.05076419e-02 -8.90949145e-03 8.90768674e+00] [-2.05546381e-02 9.99775126e-01 -5.21567943e-03 5.09720639e-04] [ 8.80052666e-03 5.39750687e-03 9.99946707e-01 -1.80141445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33119381700004 meters Centerline goodness [0,1] 0.849268121477383 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.00, Z:-1.80 [[ 9.99738865e-01 2.09015371e-02 -9.23729964e-03 8.90836782e+00] [-2.09422747e-02 9.99771286e-01 -4.33560563e-03 -2.33739359e-03] [ 9.14456611e-03 4.52792352e-03 9.99947936e-01 -1.80160260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36119381700004 meters Centerline goodness [0,1] 0.8432715385252008 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.01, Z:-1.80 [[ 9.99732065e-01 2.11375271e-02 -9.43419368e-03 8.90880423e+00] [-2.11720268e-02 9.99769466e-01 -3.57209813e-03 -5.02200431e-03] [ 9.35651346e-03 3.77088204e-03 9.99949117e-01 -1.80183569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.39119381700002 meters Centerline goodness [0,1] 0.8327168275092476 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.01, Z:-1.80 [[ 9.99773714e-01 1.87882438e-02 -9.97613414e-03 8.91090368e+00] [-1.88429079e-02 9.99807798e-01 -5.41405307e-03 -8.70676252e-03] [ 9.87249616e-03 5.60080732e-03 9.99935580e-01 -1.80329928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42119381700002 meters Centerline goodness [0,1] 0.818215806418112 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.01, Z:-1.80 [[ 9.99770162e-01 1.88400911e-02 -1.02310655e-02 8.91139865e+00] [-1.88884024e-02 9.99810803e-01 -4.64610079e-03 -1.14393244e-02] [ 1.01415968e-02 4.83828142e-03 9.99936868e-01 -1.80348652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45119381700002 meters Centerline goodness [0,1] 0.8140975347896107 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.01, Z:-1.80 [[ 9.99771103e-01 1.86514597e-02 -1.04816396e-02 8.91188422e+00] [-1.86939939e-02 9.99817351e-01 -3.97474266e-03 -1.43644682e-02] [ 1.04055904e-02 4.16977656e-03 9.99937166e-01 -1.80375878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48119381700002 meters Centerline goodness [0,1] 0.7918338642286848 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.02, Z:-1.80 [[ 9.99774541e-01 1.83197070e-02 -1.07356848e-02 8.91215891e+00] [-1.83574166e-02 9.99825624e-01 -3.42458678e-03 -1.72897282e-02] [ 1.06710753e-02 3.62089411e-03 9.99936507e-01 -1.80374300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51119381700002 meters Centerline goodness [0,1] 0.79315794946449 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.02, Z:-1.80 [[ 9.99848022e-01 1.37675087e-02 -1.06952804e-02 8.91133184e+00] [-1.38421118e-02 9.99880158e-01 -6.93290253e-03 -2.05631026e-02] [ 1.05985498e-02 7.07989414e-03 9.99918770e-01 -1.80319547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54119381700002 meters Centerline goodness [0,1] 0.7545205706702057 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.02, Z:-1.80 [[ 9.99916800e-01 7.99321968e-03 -1.01243424e-02 8.92031853e+00] [-7.99500187e-03 9.99968030e-01 -1.35569124e-04 -2.30645176e-02] [ 1.01229351e-02 2.16501981e-04 9.99948738e-01 -1.80282804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57119381700002 meters Centerline goodness [0,1] 0.7464358452138493 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.02, Z:-1.80 [[ 9.99928279e-01 6.72483555e-03 -9.91029055e-03 8.91890741e+00] [-6.73503971e-03 9.99976823e-01 -9.96638217e-04 -2.35912829e-02] [ 9.90335863e-03 1.06331294e-03 9.99950395e-01 -1.80173303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60119381700002 meters Centerline goodness [0,1] 0.7384356077158374 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.02, Z:-1.80 [[ 9.99942716e-01 5.27060903e-03 -9.31583314e-03 8.91624256e+00] [-5.29336636e-03 9.99983062e-01 -2.41989955e-03 -2.21835398e-02] [ 9.30292100e-03 2.46907305e-03 9.99953679e-01 -1.79977412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.63119381700002 meters Centerline goodness [0,1] 0.735882855297965 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.02, Z:-1.80 [[ 9.99946192e-01 4.83080106e-03 -9.18026322e-03 8.91529723e+00] [-4.86041299e-03 9.99983049e-01 -3.20603876e-03 -2.06587544e-02] [ 9.16461987e-03 3.25048612e-03 9.99952721e-01 -1.79874621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66119381700003 meters Centerline goodness [0,1] 0.734366882104782 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.02, Z:-1.80 [[ 9.99945582e-01 4.81173913e-03 -9.25635468e-03 8.91544012e+00] [-4.84497109e-03 9.99981887e-01 -3.57111084e-03 -1.93152347e-02] [ 9.23900377e-03 3.61576328e-03 9.99950782e-01 -1.79857739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69119381700003 meters Centerline goodness [0,1] 0.7307516989888945 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.02, Z:-1.80 [[ 9.99943693e-01 4.91896268e-03 -9.40288134e-03 8.91600846e+00] [-4.95639493e-03 9.99979869e-01 -3.96178443e-03 -1.72698201e-02] [ 9.38320418e-03 4.00816575e-03 9.99947944e-01 -1.79870017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72119381700003 meters Centerline goodness [0,1] 0.7534229550303457 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.01, Z:-1.80 [[ 9.99944255e-01 4.78026614e-03 -9.41466674e-03 8.91593335e+00] [-4.82509401e-03 9.99977104e-01 -4.74454917e-03 -1.43074157e-02] [ 9.39177097e-03 4.78971133e-03 9.99944425e-01 -1.79834462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75119381700003 meters Centerline goodness [0,1] 0.7500311035540994 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.01, Z:-1.80 [[ 9.99943169e-01 5.18782186e-03 -9.31375540e-03 8.91630843e+00] [-5.23724792e-03 9.99972292e-01 -5.29025730e-03 -9.74685922e-03] [ 9.28605242e-03 5.33873509e-03 9.99942632e-01 -1.79867413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78119381700003 meters Centerline goodness [0,1] 0.7469166357299014 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.01, Z:-1.80 [[ 9.99934624e-01 5.88102502e-03 -9.80621458e-03 8.91865115e+00] [-5.92829936e-03 9.99970913e-01 -4.79877690e-03 -8.93558689e-03] [ 9.77770762e-03 4.85659735e-03 9.99940403e-01 -1.80026014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81119381700003 meters Centerline goodness [0,1] 0.7875272840661054 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.01, Z:-1.80 [[ 9.99911191e-01 9.07559599e-03 -9.75929630e-03 8.91879212e+00] [-9.08781717e-03 9.99957974e-01 -1.20864333e-03 -9.20685834e-03] [ 9.74791700e-03 1.29722669e-03 9.99951646e-01 -1.80075670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84119381700003 meters Centerline goodness [0,1] 0.7826158974677516 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.01, Z:-1.80 [[ 9.99900360e-01 9.68520093e-03 -1.02696652e-02 8.92125966e+00] [-9.69382512e-03 9.99952701e-01 -7.90326868e-04 -8.02341068e-03] [ 1.02615250e-02 8.89800459e-04 9.99946953e-01 -1.80246614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87119381700003 meters Centerline goodness [0,1] 0.7692739287643905 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.00, Z:-1.80 [[ 9.99902254e-01 9.25495925e-03 -1.04798922e-02 8.92212502e+00] [-9.27583220e-03 9.99955087e-01 -1.94486137e-03 -4.10479365e-03] [ 1.04614219e-02 2.04188099e-03 9.99943193e-01 -1.80289171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90119381700003 meters Centerline goodness [0,1] 0.7179285994507649 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.00, Z:-1.80 [[ 9.99890870e-01 9.88836447e-03 -1.09758520e-02 8.92461584e+00] [-9.90542773e-03 9.99949813e-01 -1.50134488e-03 -2.99356321e-03] [ 1.09604553e-02 1.60990154e-03 9.99938636e-01 -1.80466839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93119381700004 meters Centerline goodness [0,1] 0.7702713883832534 Centerline is valid? [False, False] Translation: X:8.93, Y:-0.00, Z:-1.81 [[ 9.99889487e-01 9.79938822e-03 -1.11796669e-02 8.92543340e+00] [-9.82199658e-03 9.99949824e-01 -1.96916406e-03 -1.24362259e-03] [ 1.11598093e-02 2.07875309e-03 9.99935567e-01 -1.80510158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96119381700004 meters Centerline goodness [0,1] 0.7817197835237523 Centerline is valid? [False, False] Translation: X:8.93, Y:0.00, Z:-1.81 [[ 9.99888383e-01 9.73374069e-03 -1.13347157e-02 8.92617620e+00] [-9.76103372e-03 9.99949587e-01 -2.35508744e-03 5.39822763e-05] [ 1.13112205e-02 2.46546312e-03 9.99932987e-01 -1.80557883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99119381700004 meters Centerline goodness [0,1] 0.7952501347038587 Centerline is valid? [False, False] Translation: X:8.93, Y:0.00, Z:-1.81 [[ 9.99872014e-01 1.10009021e-02 -1.16162203e-02 8.92855945e+00] [-1.10265232e-02 9.99936908e-01 -2.14389501e-03 3.59175705e-03] [ 1.15919026e-02 2.27170715e-03 9.99930231e-01 -1.80745171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02119381700004 meters Centerline goodness [0,1] 0.8045562056516868 Centerline is valid? [False, False] Translation: X:8.93, Y:0.01, Z:-1.81 [[ 9.99866844e-01 1.11849515e-02 -1.18824263e-02 8.92932419e+00] [-1.12202454e-02 9.99932823e-01 -2.90776270e-03 6.98777674e-03] [ 1.18491049e-02 3.04069926e-03 9.99925174e-01 -1.80741007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05119381700004 meters Centerline goodness [0,1] 0.813727114572115 Centerline is valid? [False, False] Translation: X:8.93, Y:0.01, Z:-1.81 [[ 9.99851283e-01 1.20434958e-02 -1.23436987e-02 8.93172389e+00] [-1.20793878e-02 9.99923016e-01 -2.83729442e-03 1.03571901e-02] [ 1.23085775e-02 2.98597679e-03 9.99919788e-01 -1.80890047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08119381700004 meters Centerline goodness [0,1] 0.8221554404145077 Centerline is valid? [False, False] Translation: X:8.93, Y:0.01, Z:-1.81 [[ 9.99846680e-01 1.21472010e-02 -1.26119640e-02 8.93253452e+00] [-1.21948015e-02 9.99918780e-01 -3.70420787e-03 1.42037685e-02] [ 1.25659439e-02 3.85744034e-03 9.99913605e-01 -1.80890409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11119381700004 meters Centerline goodness [0,1] 0.8436028786527573 Centerline is valid? [False, False] Translation: X:8.93, Y:0.02, Z:-1.81 [[ 9.99797232e-01 1.55450749e-02 -1.28001792e-02 8.93297499e+00] [-1.55636459e-02 9.99877964e-01 -1.35249482e-03 1.91769924e-02] [ 1.27775925e-02 1.55143803e-03 9.99917160e-01 -1.80865490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14119381700002 meters Centerline goodness [0,1] 0.8411490812338904 Centerline is valid? [False, False] Translation: X:8.93, Y:0.02, Z:-1.81 [[ 9.99799261e-01 1.53015856e-02 -1.29344476e-02 8.93315367e+00] [-1.53355385e-02 9.99879203e-01 -2.52990342e-03 2.27537150e-02] [ 1.28941736e-02 2.72775229e-03 9.99913146e-01 -1.80824393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17119381700002 meters Centerline goodness [0,1] 0.8667288750648005 Centerline is valid? [False, False] Translation: X:8.94, Y:0.02, Z:-1.81 [[ 9.99778696e-01 1.61780324e-02 -1.34473330e-02 8.93544763e+00] [-1.62085231e-02 9.99866297e-01 -2.16152837e-03 2.49239256e-02] [ 1.34105658e-02 2.37901143e-03 9.99907244e-01 -1.80959315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20119381700002 meters Centerline goodness [0,1] 0.8655627629370195 Centerline is valid? [False, False] Translation: X:8.94, Y:0.03, Z:-1.81 [[ 9.99780600e-01 1.60204760e-02 -1.34942752e-02 8.93583821e+00] [-1.60718409e-02 9.99863969e-01 -3.70660866e-03 3.13339768e-02] [ 1.34330579e-02 3.92267328e-03 9.99902078e-01 -1.80946099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23119381700002 meters Centerline goodness [0,1] 0.7769803516028956 Centerline is valid? [False, False] Translation: X:8.94, Y:0.03, Z:-1.81 [[ 9.99774346e-01 1.61365094e-02 -1.38155698e-02 8.93673055e+00] [-1.61952849e-02 9.99860223e-01 -4.15303254e-03 3.40553257e-02] [ 1.37466232e-02 4.37584248e-03 9.99895936e-01 -1.80951048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26119381700002 meters Centerline goodness [0,1] 0.8922987600049765 Centerline is valid? [False, False] Translation: X:8.94, Y:0.04, Z:-1.81 [[ 9.99780648e-01 1.56018559e-02 -1.39727581e-02 8.93635001e+00] [-1.56768361e-02 9.99863208e-01 -5.27281178e-03 3.69339846e-02] [ 1.38885811e-02 5.49070382e-03 9.99888474e-01 -1.80843442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29119381700002 meters Centerline goodness [0,1] 0.8814111205591388 Centerline is valid? [False, False] Translation: X:8.94, Y:0.04, Z:-1.81 [[ 9.99778267e-01 1.55050516e-02 -1.42481655e-02 8.93663253e+00] [-1.55877342e-02 9.99862197e-01 -5.71041074e-03 3.86746040e-02] [ 1.41576619e-02 5.93124117e-03 9.99882184e-01 -1.80792977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32119381700002 meters Centerline goodness [0,1] 0.8307446654086225 Centerline is valid? [False, False] Translation: X:8.94, Y:0.04, Z:-1.81 [[ 9.99844476e-01 1.16514543e-02 -1.32388389e-02 8.94312376e+00] [-1.16153477e-02 9.99928617e-01 2.80094635e-03 4.01677645e-02] [ 1.32705290e-02 -2.64673702e-03 9.99908440e-01 -1.80580946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35119381700002 meters Centerline goodness [0,1] 0.8240859591735332 Centerline is valid? [False, False] Translation: X:8.94, Y:0.04, Z:-1.81 [[ 9.99874434e-01 8.48361550e-03 -1.33844794e-02 8.94376261e+00] [-8.49803095e-03 9.99963370e-01 -1.02052104e-03 4.29409101e-02] [ 1.33753314e-02 1.13413462e-03 9.99909903e-01 -1.80581701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38119381700002 meters Centerline goodness [0,1] 0.8473779085427761 Centerline is valid? [False, False] Translation: X:8.94, Y:0.04, Z:-1.81 [[ 9.99879769e-01 7.91260156e-03 -1.33355703e-02 8.94320725e+00] [-7.93485137e-03 9.99967212e-01 -1.61637132e-03 4.36285519e-02] [ 1.33223433e-02 1.72199275e-03 9.99909771e-01 -1.80522284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.41119381700003 meters Centerline goodness [0,1] 0.842706611570248 Centerline is valid? [False, False] Translation: X:8.94, Y:0.04, Z:-1.81 [[ 9.99877329e-01 7.84619799e-03 -1.35559274e-02 8.94386069e+00] [-7.86916561e-03 9.99967690e-01 -1.64177744e-03 4.38839809e-02] [ 1.35426077e-02 1.74824988e-03 9.99906766e-01 -1.80548373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44119381700003 meters Centerline goodness [0,1] 0.8080952380952381 Centerline is valid? [False, False] Translation: X:8.94, Y:0.05, Z:-1.80 [[ 9.99890866e-01 6.32860673e-03 -1.33493481e-02 8.94253834e+00] [-6.37058721e-03 9.99974888e-01 -3.10458215e-03 4.59804639e-02] [ 1.33293652e-02 3.18928652e-03 9.99906074e-01 -1.80444457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47119381700003 meters Centerline goodness [0,1] 0.8184001822210258 Centerline is valid? [False, False] Translation: X:8.94, Y:0.05, Z:-1.80 [[ 9.99893881e-01 5.87908200e-03 -1.33289984e-02 8.94247062e+00] [-5.92655099e-03 9.99976226e-01 -3.52463433e-03 4.70511653e-02] [ 1.33079599e-02 3.60325529e-03 9.99904953e-01 -1.80438165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50119381700003 meters Centerline goodness [0,1] 0.7730472956183219 Centerline is valid? [False, False] Translation: X:8.94, Y:0.05, Z:-1.80 [[ 9.99896581e-01 5.41332388e-03 -1.33237680e-02 8.94250010e+00] [-5.46666871e-03 9.99977175e-01 -3.97057598e-03 4.79023100e-02] [ 1.33019699e-02 4.04300197e-03 9.99903351e-01 -1.80444230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53119381700003 meters Centerline goodness [0,1] 0.7731090698444224 Centerline is valid? [False, False] Translation: X:8.94, Y:0.05, Z:-1.81 [[ 9.99893762e-01 5.47761595e-03 -1.35077675e-02 8.94352037e+00] [-5.52764211e-03 9.99977992e-01 -3.66896045e-03 4.73821950e-02] [ 1.34873731e-02 3.74323677e-03 9.99902035e-01 -1.80533325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56119381700003 meters Centerline goodness [0,1] 0.7731090698444224 Centerline is valid? [False, False] Translation: X:8.94, Y:0.05, Z:-1.81 [[ 9.99893762e-01 5.47761595e-03 -1.35077675e-02 8.94352037e+00] [-5.52764211e-03 9.99977992e-01 -3.66896045e-03 4.73821950e-02] [ 1.34873731e-02 3.74323677e-03 9.99902035e-01 -1.80533325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59119381700003 meters Centerline goodness [0,1] 0.761255002799494 Centerline is valid? [False, False] Translation: X:8.94, Y:0.05, Z:-1.81 [[ 9.99895705e-01 5.10069169e-03 -1.35115464e-02 8.94371030e+00] [-5.15092902e-03 9.99979941e-01 -3.68591661e-03 4.63586022e-02] [ 1.34924746e-02 3.75512921e-03 9.99901921e-01 -1.80575920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62119381700003 meters Centerline goodness [0,1] 0.7387226625721044 Centerline is valid? [False, False] Translation: X:8.94, Y:0.05, Z:-1.81 [[ 9.99901322e-01 4.17565185e-03 -1.34130931e-02 8.94376040e+00] [-4.22857847e-03 9.99983376e-01 -3.91995872e-03 4.56711613e-02] [ 1.33965017e-02 3.97629022e-03 9.99902357e-01 -1.80650637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65119381700003 meters Centerline goodness [0,1] 0.7305153828647094 Centerline is valid? [False, False] Translation: X:8.95, Y:0.04, Z:-1.81 [[ 9.99966904e-01 1.19233808e-03 -8.04789952e-03 8.95491294e+00] [-1.15884821e-03 9.99990656e-01 4.16469902e-03 4.40251342e-02] [ 8.05279005e-03 -4.15523489e-03 9.99958942e-01 -1.81056107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68119381700004 meters Centerline goodness [0,1] 0.7156619018023618 Centerline is valid? [False, False] Translation: X:8.95, Y:0.04, Z:-1.81 [[ 9.99967452e-01 4.94885678e-04 -8.05300084e-03 8.95447387e+00] [-4.67117241e-04 9.99993941e-01 3.44972547e-03 4.49721004e-02] [ 8.05465926e-03 -3.44585150e-03 9.99961624e-01 -1.80996598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71119381700004 meters Centerline goodness [0,1] 0.7314398258525967 Centerline is valid? [False, False] Translation: X:8.95, Y:0.05, Z:-1.81 [[ 9.99970371e-01 -9.80582332e-04 -7.63520040e-03 8.95257215e+00] [ 9.95861418e-04 9.99997509e-01 1.99759285e-03 4.66593740e-02] [ 7.63322257e-03 -2.00513727e-03 9.99968856e-01 -1.80863094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74119381700004 meters Centerline goodness [0,1] 0.7200738558566034 Centerline is valid? [False, False] Translation: X:8.95, Y:0.05, Z:-1.81 [[ 9.99970130e-01 -1.76214022e-03 -7.52561272e-03 8.95183442e+00] [ 1.77129018e-03 9.99997700e-01 1.20935000e-03 4.76158539e-02] [ 7.52346437e-03 -1.22264392e-03 9.99970951e-01 -1.80796944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77119381700004 meters Centerline goodness [0,1] 0.6939375737867899 Centerline is valid? [False, False] Translation: X:8.95, Y:0.05, Z:-1.81 [[ 9.99968978e-01 -2.08453167e-03 -7.59594335e-03 8.95204440e+00] [ 2.09224790e-03 9.99997303e-01 1.00803150e-03 4.79550652e-02] [ 7.59382159e-03 -1.02389282e-03 9.99970642e-01 -1.80809324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80119381700004 meters Centerline goodness [0,1] 0.6950617795837134 Centerline is valid? [False, False] Translation: X:8.95, Y:0.05, Z:-1.81 [[ 9.99968261e-01 -2.69829716e-03 -7.49644584e-03 8.95152405e+00] [ 2.70137468e-03 9.99996271e-01 4.00435512e-04 4.89767708e-02] [ 7.49533740e-03 -4.20673511e-04 9.99971821e-01 -1.80768146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83119381700004 meters Centerline goodness [0,1] 0.7107431156487996 Centerline is valid? [False, False] Translation: X:8.95, Y:0.05, Z:-1.81 [[ 9.99965310e-01 -4.16803533e-03 -7.21156285e-03 8.95014913e+00] [ 4.15900547e-03 9.99990549e-01 -1.26668029e-03 5.25016956e-02] [ 7.21677426e-03 1.23664342e-03 9.99973194e-01 -1.80668696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86119381700004 meters Centerline goodness [0,1] 0.6548209652309289 Centerline is valid? [False, False] Translation: X:8.95, Y:0.05, Z:-1.81 [[ 9.99962848e-01 -4.73449175e-03 -7.20333544e-03 8.94991295e+00] [ 4.71997254e-03 9.99986798e-01 -2.03129054e-03 5.45951755e-02] [ 7.21285747e-03 1.99721553e-03 9.99971993e-01 -1.80634275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.89119381700002 meters Centerline goodness [0,1] 0.6957812564879791 Centerline is valid? [False, False] Translation: X:8.95, Y:0.06, Z:-1.81 [[ 9.99960039e-01 -5.18950994e-03 -7.27937088e-03 8.95042193e+00] [ 5.16987557e-03 9.99982955e-01 -2.71349010e-03 5.70453057e-02] [ 7.29332848e-03 2.67574822e-03 9.99969823e-01 -1.80676520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92119381700002 meters Centerline goodness [0,1] 0.6862802092849432 Centerline is valid? [False, False] Translation: X:8.95, Y:0.06, Z:-1.81 [[ 9.99956889e-01 -5.45768566e-03 -7.51219832e-03 8.95154191e+00] [ 5.43285337e-03 9.99979724e-01 -3.32204172e-03 5.98314865e-02] [ 7.53017666e-03 3.28108583e-03 9.99966265e-01 -1.80756734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95119381700002 meters Centerline goodness [0,1] 0.7241314788249236 Centerline is valid? [False, False] Translation: X:8.95, Y:0.07, Z:-1.81 [[ 9.99969780e-01 -3.17833130e-03 -7.09489525e-03 8.95103586e+00] [ 3.16653141e-03 9.99993586e-01 -1.67376615e-03 6.65184341e-02] [ 7.10016953e-03 1.65124936e-03 9.99973430e-01 -1.80800347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98119381700002 meters Centerline goodness [0,1] 0.6995589057549338 Centerline is valid? [False, False] Translation: X:8.95, Y:0.07, Z:-1.81 [[ 9.99968961e-01 -2.58413131e-03 -7.44305384e-03 8.95272550e+00] [ 2.57091259e-03 9.99995102e-01 -1.78500177e-03 7.05136390e-02] [ 7.44763006e-03 1.76581093e-03 9.99970707e-01 -1.80892961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01119381700002 meters Centerline goodness [0,1] 0.6965243420779113 Centerline is valid? [False, False] Translation: X:8.95, Y:0.07, Z:-1.81 [[ 9.99974778e-01 1.43527143e-05 -7.10233557e-03 8.95105119e+00] [-1.12067655e-05 9.99999902e-01 4.42985278e-04 7.35288906e-02] [ 7.10234123e-03 -4.42894511e-04 9.99974680e-01 -1.80774168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04119381700002 meters Centerline goodness [0,1] 0.6723373394115209 Centerline is valid? [False, False] Translation: X:8.95, Y:0.08, Z:-1.81 [[ 9.99972734e-01 1.46761132e-04 -7.38307557e-03 8.95199556e+00] [-1.49350432e-04 9.99999928e-01 -3.50157347e-04 7.74357965e-02] [ 7.38302364e-03 3.51250465e-04 9.99972683e-01 -1.80778170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07119381700002 meters Centerline goodness [0,1] 0.7136830292198346 Centerline is valid? [False, False] Translation: X:8.95, Y:0.08, Z:-1.81 [[ 9.99969264e-01 2.94783112e-03 -7.26501956e-03 8.95170152e+00] [-2.93807410e-03 9.99994768e-01 1.35331968e-03 8.34066011e-02] [ 7.26897090e-03 -1.33193292e-03 9.99972694e-01 -1.80750300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10119381700002 meters Centerline goodness [0,1] 0.7182214834822356 Centerline is valid? [False, False] Translation: X:8.95, Y:0.09, Z:-1.81 [[ 9.99968255e-01 2.67750665e-03 -7.50460415e-03 8.95248270e+00] [-2.67542951e-03 9.99996380e-01 2.86807328e-04 8.72066294e-02] [ 7.50534491e-03 -2.66720184e-04 9.99971799e-01 -1.80764723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.13119381700002 meters Centerline goodness [0,1] 0.7142886756078854 Centerline is valid? [False, False] Translation: X:8.95, Y:0.09, Z:-1.81 [[ 9.99967680e-01 2.39625823e-03 -7.67446934e-03 8.95301088e+00] [-2.40295491e-03 9.99996740e-01 -8.63490010e-04 9.17524490e-02] [ 7.67237518e-03 8.81903505e-04 9.99970178e-01 -1.80756971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16119381700003 meters Centerline goodness [0,1] 0.7277812305779987 Centerline is valid? [False, False] Translation: X:8.95, Y:0.10, Z:-1.81 [[ 9.99962627e-01 4.42780619e-03 -7.42552878e-03 8.95244090e+00] [-4.42536989e-03 9.99990149e-01 3.44496674e-04 9.91264324e-02] [ 7.42698099e-03 -3.11623087e-04 9.99972371e-01 -1.80726508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19119381700003 meters Centerline goodness [0,1] 0.7162016051898366 Centerline is valid? [False, False] Translation: X:8.95, Y:0.10, Z:-1.81 [[ 9.99965224e-01 3.74282525e-03 -7.45271209e-03 8.95225425e+00] [-3.74945783e-03 9.99992587e-01 -8.76182934e-04 1.02256736e-01] [ 7.44937744e-03 9.04096093e-04 9.99971844e-01 -1.80683978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22119381700003 meters Centerline goodness [0,1] 0.6708508250550729 Centerline is valid? [False, False] Translation: X:8.95, Y:0.10, Z:-1.81 [[ 9.99967779e-01 3.19761752e-03 -7.36317110e-03 8.95215939e+00] [-3.21102183e-03 9.99993208e-01 -1.80935197e-03 1.04754630e-01] [ 7.35733547e-03 1.83293698e-03 9.99971255e-01 -1.80685121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25119381700003 meters Centerline goodness [0,1] 0.7040246005526813 Centerline is valid? [False, False] Translation: X:8.95, Y:0.11, Z:-1.81 [[ 9.99969803e-01 2.62565980e-03 -7.31434048e-03 8.95205871e+00] [-2.64588340e-03 9.99992700e-01 -2.75662207e-03 1.07587413e-01] [ 7.30704914e-03 2.77589172e-03 9.99969450e-01 -1.80675780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28119381700003 meters Centerline goodness [0,1] 0.7136799218408963 Centerline is valid? [False, False] Translation: X:8.95, Y:0.11, Z:-1.81 [[ 9.99973271e-01 1.55353735e-03 -7.14443654e-03 8.95198414e+00] [-1.58648044e-03 9.99988126e-01 -4.60766099e-03 1.14060687e-01] [ 7.13719353e-03 4.61887234e-03 9.99963863e-01 -1.80694673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31119381700003 meters Centerline goodness [0,1] 0.690250036372706 Centerline is valid? [False, False] Translation: X:8.95, Y:0.12, Z:-1.81 [[ 9.99971854e-01 1.54182919e-03 -7.34265413e-03 8.95295822e+00] [-1.57888959e-03 9.99986032e-01 -5.04415600e-03 1.16226492e-01] [ 7.33477434e-03 5.05560727e-03 9.99960320e-01 -1.80754135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34119381700003 meters Centerline goodness [0,1] 0.6992616865071135 Centerline is valid? [False, False] Translation: X:8.95, Y:0.12, Z:-1.81 [[ 9.99968004e-01 1.96888441e-03 -7.75333534e-03 8.95493827e+00] [-2.00848558e-03 9.99984962e-01 -5.10316129e-03 1.18663364e-01] [ 7.74317121e-03 5.11857047e-03 9.99956921e-01 -1.80881414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37119381700003 meters Centerline goodness [0,1] 0.6963699796486273 Centerline is valid? [False, False] Translation: X:8.95, Y:0.12, Z:-1.81 [[ 9.99957066e-01 5.15323937e-03 -7.70128605e-03 8.95492588e+00] [-5.16954657e-03 9.99984435e-01 -2.09906082e-03 1.20718006e-01] [ 7.69034921e-03 2.13878285e-03 9.99968142e-01 -1.80896765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40119381700003 meters Centerline goodness [0,1] 0.680742295463519 Centerline is valid? [False, False] Translation: X:8.96, Y:0.13, Z:-1.81 [[ 9.99934109e-01 8.46660055e-03 -7.75202068e-03 8.95518576e+00] [-8.46866088e-03 9.99964113e-01 -2.32992478e-04 1.28224218e-01] [ 7.74976983e-03 2.98626360e-04 9.99969925e-01 -1.80854469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43119381700004 meters Centerline goodness [0,1] 0.6867050335710414 Centerline is valid? [False, False] Translation: X:8.96, Y:0.13, Z:-1.81 [[ 9.99928940e-01 8.77259624e-03 -8.07201783e-03 8.95647241e+00] [-8.78078877e-03 9.99960968e-01 -9.80049799e-04 1.32517510e-01] [ 8.06310518e-03 1.05085884e-03 9.99966940e-01 -1.80883853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46119381700004 meters Centerline goodness [0,1] 0.7561987801555197 Centerline is valid? [False, False] Translation: X:8.96, Y:0.14, Z:-1.81 [[ 9.99917368e-01 9.61406611e-03 -8.53390540e-03 8.95885131e+00] [-9.62369285e-03 9.99953100e-01 -1.08770984e-03 1.36074655e-01] [ 8.52304784e-03 1.16974765e-03 9.99962994e-01 -1.81017759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49119381700004 meters Centerline goodness [0,1] 0.7017079473120312 Centerline is valid? [False, False] Translation: X:8.96, Y:0.14, Z:-1.81 [[ 9.99888974e-01 1.17922729e-02 -9.10943827e-03 8.96171745e+00] [-1.17872802e-02 9.99930347e-01 6.01571107e-04 1.38903317e-01] [ 9.11589766e-03 -4.94128815e-04 9.99958327e-01 -1.81200350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52119381700004 meters Centerline goodness [0,1] 0.7121340687314383 Centerline is valid? [False, False] Translation: X:8.96, Y:0.15, Z:-1.81 [[ 9.99850700e-01 1.48474208e-02 -8.83917168e-03 8.96037201e+00] [-1.48316302e-02 9.99888295e-01 1.84930986e-03 1.46182084e-01] [ 8.86564179e-03 -1.71793443e-03 9.99959224e-01 -1.80994279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55119381700004 meters Centerline goodness [0,1] 0.7774745038297152 Centerline is valid? [False, False] Translation: X:8.96, Y:0.15, Z:-1.81 [[ 9.99836381e-01 1.55161161e-02 -9.29846076e-03 8.96182654e+00] [-1.55020205e-02 9.99878579e-01 1.58606839e-03 1.49494247e-01] [ 9.32194135e-03 -1.44166395e-03 9.99955511e-01 -1.80995839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58119381700004 meters Centerline goodness [0,1] 0.7884173824304788 Centerline is valid? [False, False] Translation: X:8.96, Y:0.15, Z:-1.81 [[ 9.99839700e-01 1.51798589e-02 -9.49456510e-03 8.96161599e+00] [-1.51781539e-02 9.99884774e-01 2.51616144e-04 1.53182353e-01] [ 9.49729057e-03 -1.07465840e-04 9.99954894e-01 -1.80863806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61119381700004 meters Centerline goodness [0,1] 0.7911923945943642 Centerline is valid? [False, False] Translation: X:8.96, Y:0.16, Z:-1.81 [[ 9.99835430e-01 1.53084210e-02 -9.73477924e-03 8.96252414e+00] [-1.53197037e-02 9.99882057e-01 -1.08548999e-03 1.58846059e-01] [ 9.71701395e-03 1.23444528e-03 9.99952027e-01 -1.80827115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64119381700002 meters Centerline goodness [0,1] 0.7933195047366508 Centerline is valid? [False, False] Translation: X:8.96, Y:0.16, Z:-1.81 [[ 9.99833610e-01 1.52687497e-02 -9.98084683e-03 8.96338220e+00] [-1.52861150e-02 9.99881773e-01 -1.66589420e-03 1.61285132e-01] [ 9.95423070e-03 1.81818538e-03 9.99948802e-01 -1.80847167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67119381700002 meters Centerline goodness [0,1] 0.7878476459631318 Centerline is valid? [False, False] Translation: X:8.97, Y:0.16, Z:-1.81 [[ 9.99820469e-01 1.57775152e-02 -1.04928384e-02 8.96547196e+00] [-1.57946299e-02 9.99874055e-01 -1.55022468e-03 1.62802943e-01] [ 1.04670582e-02 1.71567686e-03 9.99943747e-01 -1.80957694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70119381700002 meters Centerline goodness [0,1] 0.7978824137040544 Centerline is valid? [False, False] Translation: X:8.97, Y:0.16, Z:-1.81 [[ 9.99808246e-01 1.62107656e-02 -1.09855532e-02 8.96753026e+00] [-1.62270642e-02 9.99867358e-01 -1.39613135e-03 1.64025620e-01] [ 1.09614637e-02 1.57412691e-03 9.99938682e-01 -1.81076725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73119381700002 meters Centerline goodness [0,1] 0.7958981642886349 Centerline is valid? [False, False] Translation: X:8.97, Y:0.16, Z:-1.81 [[ 9.99797408e-01 1.65678296e-02 -1.14302630e-02 8.96940649e+00] [-1.65826432e-02 9.99861775e-01 -1.20243856e-03 1.64796232e-01] [ 1.14087612e-02 1.39173892e-03 9.99933949e-01 -1.81190655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76119381700002 meters Centerline goodness [0,1] 0.756217291639635 Centerline is valid? [False, False] Translation: X:8.97, Y:0.17, Z:-1.81 [[ 9.99803222e-01 1.61161234e-02 -1.15666908e-02 8.97011157e+00] [-1.61382915e-02 9.99868102e-01 -1.82576830e-03 1.67308374e-01] [ 1.15357409e-02 2.01207566e-03 9.99931437e-01 -1.81246350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79119381700002 meters Centerline goodness [0,1] 0.7906150479863082 Centerline is valid? [False, False] Translation: X:8.97, Y:0.17, Z:-1.81 [[ 9.99804416e-01 1.58175665e-02 -1.18715750e-02 8.97078641e+00] [-1.58444966e-02 9.99872096e-01 -2.17783007e-03 1.68416322e-01] [ 1.18356086e-02 2.36550325e-03 9.99927159e-01 -1.81250857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82119381700002 meters Centerline goodness [0,1] 0.7430149447693307 Centerline is valid? [False, False] Translation: X:8.98, Y:0.17, Z:-1.82 [[ 9.99902421e-01 1.24570032e-02 -6.32234079e-03 8.98224950e+00] [-1.24198862e-02 9.99905602e-01 5.87646417e-03 1.66989949e-01] [ 6.39494711e-03 -5.79736799e-03 9.99962747e-01 -1.81727103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85119381700002 meters Centerline goodness [0,1] 0.7449939056242383 Centerline is valid? [False, False] Translation: X:8.98, Y:0.17, Z:-1.82 [[ 9.99945888e-01 7.94007671e-03 -6.72127452e-03 8.98244101e+00] [-7.93631615e-03 9.99968335e-01 5.85988726e-04 1.70396903e-01] [ 6.72571449e-03 -5.32614858e-04 9.99977240e-01 -1.81609892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88119381700002 meters Centerline goodness [0,1] 0.7071110529072813 Centerline is valid? [False, False] Translation: X:8.98, Y:0.17, Z:-1.82 [[ 9.99972501e-01 2.79294547e-03 -6.86993083e-03 8.98253739e+00] [-2.82510641e-03 9.99985076e-01 -4.67616567e-03 1.73949523e-01] [ 6.85676803e-03 4.69544537e-03 9.99965468e-01 -1.81591046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.91119381700003 meters Centerline goodness [0,1] 0.6902213173967295 Centerline is valid? [False, False] Translation: X:8.98, Y:0.18, Z:-1.82 [[ 9.99974851e-01 2.08313114e-03 -6.77916505e-03 8.98243878e+00] [-2.11777343e-03 9.99984717e-01 -5.10695097e-03 1.75126019e-01] [ 6.76842300e-03 5.12117928e-03 9.99963980e-01 -1.81626460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94119381700003 meters Centerline goodness [0,1] 0.6522480010486302 Centerline is valid? [False, False] Translation: X:8.99, Y:0.17, Z:-1.82 [[ 9.99998317e-01 -1.25124878e-03 -1.34186445e-03 8.99400418e+00] [ 1.25522739e-03 9.99994807e-01 2.96825091e-03 1.74430635e-01] [ 1.33814346e-03 -2.96993026e-03 9.99994694e-01 -1.82122714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97119381700003 meters Centerline goodness [0,1] 0.6445815094840164 Centerline is valid? [False, False] Translation: X:8.99, Y:0.18, Z:-1.82 [[ 9.99997624e-01 -1.50147856e-03 -1.58029960e-03 8.99499582e+00] [ 1.50420709e-03 9.99997378e-01 1.72682140e-03 1.80321022e-01] [ 1.57770267e-03 -1.72919440e-03 9.99997260e-01 -1.82145538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00119381700003 meters Centerline goodness [0,1] 0.6503017126630579 Centerline is valid? [False, False] Translation: X:9.00, Y:0.18, Z:-1.82 [[ 9.99997356e-01 -9.37708141e-04 -2.09989999e-03 8.99670547e+00] [ 9.40777685e-04 9.99998490e-01 1.46124702e-03 1.84091928e-01] [ 2.09852659e-03 -1.46321869e-03 9.99996728e-01 -1.82184568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03119381700003 meters Centerline goodness [0,1] 0.6559053895138565 Centerline is valid? [False, False] Translation: X:9.00, Y:0.19, Z:-1.82 [[ 9.99996683e-01 7.91368338e-05 -2.57431718e-03 8.99871073e+00] [-7.56329309e-05 9.99999071e-01 1.36116879e-03 1.88207738e-01] [ 2.57442251e-03 -1.36096957e-03 9.99995760e-01 -1.82234020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06119381700003 meters Centerline goodness [0,1] 0.6655917590415408 Centerline is valid? [False, False] Translation: X:9.00, Y:0.19, Z:-1.82 [[ 9.99990698e-01 3.55333790e-03 -2.44483258e-03 8.99829363e+00] [-3.54289479e-03 9.99984639e-01 4.26265681e-03 1.91299818e-01] [ 2.45994168e-03 -4.25395537e-03 9.99987926e-01 -1.82191497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09119381700003 meters Centerline goodness [0,1] 0.6771011235955056 Centerline is valid? [False, False] Translation: X:9.00, Y:0.20, Z:-1.82 [[ 9.99986027e-01 4.39362090e-03 -2.93955359e-03 8.99981535e+00] [-4.38379780e-03 9.99984814e-01 3.33983664e-03 1.96278278e-01] [ 2.95418293e-03 -3.32690357e-03 9.99990102e-01 -1.82130075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12119381700003 meters Centerline goodness [0,1] 0.7115005774064262 Centerline is valid? [False, False] Translation: X:9.00, Y:0.20, Z:-1.82 [[ 9.99909392e-01 1.30966927e-02 -3.11204741e-03 9.00150535e+00] [-1.30645488e-02 9.99863301e-01 1.01339461e-02 2.02670620e-01] [ 3.24434318e-03 -1.00923704e-02 9.99943808e-01 -1.82179850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15119381700003 meters Centerline goodness [0,1] 0.7911350512404994 Centerline is valid? [False, False] Translation: X:9.00, Y:0.21, Z:-1.82 [[ 9.99837652e-01 1.76569936e-02 -3.59172329e-03 9.00341890e+00] [-1.76064433e-02 9.99751816e-01 1.36498603e-02 2.05964157e-01] [ 3.83184738e-03 -1.35844068e-02 9.99900385e-01 -1.82227325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18119381700004 meters Centerline goodness [0,1] 0.8217027615446316 Centerline is valid? [False, False] Translation: X:9.01, Y:0.21, Z:-1.82 [[ 9.99740753e-01 2.24153545e-02 -3.99738635e-03 9.00551348e+00] [-2.23427644e-02 9.99599582e-01 1.73630584e-02 2.09143402e-01] [ 4.38498484e-03 -1.72692444e-02 9.99841260e-01 -1.82314632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21119381700004 meters Centerline goodness [0,1] 0.8448689000506889 Centerline is valid? [False, False] Translation: X:9.01, Y:0.21, Z:-1.82 [[ 9.99616638e-01 2.73140981e-02 -4.52953514e-03 9.00818375e+00] [-2.72113306e-02 9.99401050e-01 2.13795556e-02 2.11656889e-01] [ 5.11078545e-03 -2.12481048e-02 9.99761170e-01 -1.82449249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24119381700004 meters Centerline goodness [0,1] 0.9098529582030798 Centerline is valid? [False, False] Translation: X:9.01, Y:0.21, Z:-1.83 [[ 9.99289563e-01 3.73702988e-02 -4.88162767e-03 9.01258906e+00] [-3.72056530e-02 9.98847555e-01 3.03199943e-02 2.14158090e-01] [ 6.00906911e-03 -3.01168297e-02 9.99528323e-01 -1.82796325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27119381700004 meters Centerline goodness [0,1] 0.9218520846427823 Centerline is valid? [False, False] Translation: X:9.02, Y:0.22, Z:-1.83 [[ 9.99214753e-01 3.92206933e-02 -5.62265784e-03 9.01596282e+00] [-3.90302828e-02 9.98766055e-01 3.07083777e-02 2.16864011e-01] [ 6.82012365e-03 -3.04648101e-02 9.99512572e-01 -1.82908906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30119381700004 meters Centerline goodness [0,1] 0.9258879463037196 Centerline is valid? [False, False] Translation: X:9.02, Y:0.22, Z:-1.83 [[ 9.99142736e-01 4.09066819e-02 -6.35904548e-03 9.01925179e+00] [-4.06899148e-02 9.98686879e-01 3.11263290e-02 2.18974592e-01] [ 7.62397012e-03 -3.08408965e-02 9.99495230e-01 -1.83029096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33119381700004 meters Centerline goodness [0,1] 0.9242328488167966 Centerline is valid? [False, False] Translation: X:9.02, Y:0.22, Z:-1.83 [[ 9.99085042e-01 4.21568972e-02 -7.20235280e-03 9.02214744e+00] [-4.19117022e-02 9.98629477e-01 3.13460748e-02 2.20705123e-01] [ 8.51393506e-03 -3.10155316e-02 9.99482641e-01 -1.83095835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36119381700004 meters Centerline goodness [0,1] 0.9263278796118326 Centerline is valid? [False, False] Translation: X:9.02, Y:0.22, Z:-1.83 [[ 9.99042391e-01 4.30272298e-02 -7.93460845e-03 9.02427317e+00] [-4.27592773e-02 9.98594679e-01 3.13099318e-02 2.22302221e-01] [ 9.27063740e-03 -3.09406710e-02 9.99478229e-01 -1.83107095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.39119381700002 meters Centerline goodness [0,1] 0.9282590903776453 Centerline is valid? [False, False] Translation: X:9.03, Y:0.22, Z:-1.83 [[ 9.98983060e-01 4.42323292e-02 -8.73766065e-03 9.02633055e+00] [-4.39368288e-02 9.98536776e-01 3.15255693e-02 2.22836482e-01] [ 1.01193249e-02 -3.11096046e-02 9.99464753e-01 -1.83063561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42119381700002 meters Centerline goodness [0,1] 0.9244459995334733 Centerline is valid? [False, False] Translation: X:9.03, Y:0.22, Z:-1.83 [[ 0.99910614 0.04116089 -0.00962829 9.02787797] [-0.04088599 0.99879376 0.02719121 0.22436526] [ 0.01073589 -0.02677324 0.99958388 -1.82937126] [ 0. 0. 0. 1. ]] SLAMing on 233.45119381700002 meters Centerline goodness [0,1] 0.9244459995334733 Centerline is valid? [False, False] Translation: X:9.03, Y:0.22, Z:-1.83 [[ 0.99910614 0.04116089 -0.00962829 9.02787797] [-0.04088599 0.99879376 0.02719121 0.22436526] [ 0.01073589 -0.02677324 0.99958388 -1.82937126] [ 0. 0. 0. 1. ]] SLAMing on 233.48119381700002 meters Centerline goodness [0,1] 0.9255430363573005 Centerline is valid? [False, False] Translation: X:9.03, Y:0.22, Z:-1.83 [[ 0.99921842 0.03814618 -0.01036465 9.02873494] [-0.03789217 0.99900103 0.02368793 0.2223537 ] [ 0.0112579 -0.02327668 0.99966567 -1.82815202] [ 0. 0. 0. 1. ]] SLAMing on 233.51119381700002 meters Centerline goodness [0,1] 0.9269099149093599 Centerline is valid? [False, False] Translation: X:9.03, Y:0.22, Z:-1.83 [[ 0.99932959 0.03484729 -0.01122633 9.03024738] [-0.03461861 0.9992013 0.01995776 0.22148501] [ 0.01191283 -0.01955574 0.99973779 -1.82766422] [ 0. 0. 0. 1. ]] SLAMing on 233.54119381700002 meters Centerline goodness [0,1] 0.9292569801616458 Centerline is valid? [False, False] Translation: X:9.03, Y:0.22, Z:-1.83 [[ 0.99943075 0.03155081 -0.0119466 9.03163611] [-0.03135505 0.99937648 0.01623324 0.22076282] [ 0.01245132 -0.01584942 0.99979686 -1.82733118] [ 0. 0. 0. 1. ]] SLAMing on 233.57119381700002 meters Centerline goodness [0,1] 0.9295207594647146 Centerline is valid? [False, False] Translation: X:9.03, Y:0.22, Z:-1.83 [[ 0.99951792 0.02827957 -0.01281355 9.0329665 ] [-0.02811977 0.99952659 0.01248487 0.22015051] [ 0.01316055 -0.01211854 0.99983996 -1.82642454] [ 0. 0. 0. 1. ]] SLAMing on 233.60119381700002 meters Centerline goodness [0,1] 0.931751617663753 Centerline is valid? [False, False] Translation: X:9.03, Y:0.22, Z:-1.83 [[ 0.99958945 0.02524444 -0.0135518 9.03352312] [-0.02511594 0.99963873 0.00957029 0.21556148] [ 0.0137885 -0.009226 0.99986237 -1.82500738] [ 0. 0. 0. 1. ]] SLAMing on 233.63119381700002 meters Centerline goodness [0,1] 0.9330896950009023 Centerline is valid? [False, False] Translation: X:9.03, Y:0.21, Z:-1.82 [[ 9.99655249e-01 2.20734910e-02 -1.42177292e-02 9.03428712e+00] [-2.19913749e-02 9.99740714e-01 5.90631200e-03 2.14036559e-01] [ 1.43444157e-02 -5.59160838e-03 9.99881479e-01 -1.82370609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66119381700003 meters Centerline goodness [0,1] 0.9355467437327778 Centerline is valid? [False, False] Translation: X:9.04, Y:0.21, Z:-1.82 [[ 9.99704449e-01 1.92806894e-02 -1.48077397e-02 9.03517272e+00] [-1.92454964e-02 9.99811624e-01 2.51550783e-03 2.12444289e-01] [ 1.48534510e-02 -2.22978207e-03 9.99887195e-01 -1.82262819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69119381700003 meters Centerline goodness [0,1] 0.9394925033974202 Centerline is valid? [False, False] Translation: X:9.04, Y:0.21, Z:-1.82 [[ 9.99743676e-01 1.65899148e-02 -1.54064139e-02 9.03616176e+00] [-1.66054261e-02 9.99861734e-01 -8.79424113e-04 2.11137011e-01] [ 1.53896942e-02 1.13502876e-03 9.99880927e-01 -1.82159383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72119381700003 meters Centerline goodness [0,1] 0.9435033201113279 Centerline is valid? [False, False] Translation: X:9.04, Y:0.20, Z:-1.82 [[ 9.99694564e-01 1.84980337e-02 -1.63890616e-02 9.03773137e+00] [-1.84803584e-02 9.99828468e-01 1.22928624e-03 2.01605766e-01] [ 1.64089897e-02 -9.26035035e-04 9.99864935e-01 -1.82053081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75119381700003 meters Centerline goodness [0,1] 0.9427205562798783 Centerline is valid? [False, False] Translation: X:9.04, Y:0.20, Z:-1.82 [[ 9.99730321e-01 1.58422774e-02 -1.69795921e-02 9.03905689e+00] [-1.58709193e-02 9.99872842e-01 -1.55341548e-03 1.98419145e-01] [ 1.69528234e-02 1.82247829e-03 9.99854630e-01 -1.82032168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78119381700003 meters Centerline goodness [0,1] 0.9447771124417831 Centerline is valid? [False, False] Translation: X:9.04, Y:0.19, Z:-1.82 [[ 9.99759037e-01 1.31234902e-02 -1.75966675e-02 9.04061681e+00] [-1.31974850e-02 9.99904522e-01 -4.09553581e-03 1.94621341e-01] [ 1.75412397e-02 4.32678069e-03 9.99836779e-01 -1.82053377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81119381700003 meters Centerline goodness [0,1] 0.9472243442831678 Centerline is valid? [False, False] Translation: X:9.04, Y:0.18, Z:-1.82 [[ 9.99785956e-01 1.02402708e-02 -1.79771901e-02 9.04048364e+00] [-1.03441498e-02 9.99930281e-01 -5.69493035e-03 1.82168170e-01] [ 1.79176191e-02 5.87967013e-03 9.99822178e-01 -1.81953839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84119381700003 meters Centerline goodness [0,1] 0.9469118081648161 Centerline is valid? [False, False] Translation: X:9.04, Y:0.18, Z:-1.82 [[ 9.99805821e-01 7.27483613e-03 -1.83138491e-02 9.04117790e+00] [-7.41634192e-03 9.99943078e-01 -7.67068601e-03 1.75670892e-01] [ 1.82570037e-02 7.80501829e-03 9.99802862e-01 -1.81977240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87119381700003 meters Centerline goodness [0,1] 0.9457005072962986 Centerline is valid? [False, False] Translation: X:9.06, Y:0.17, Z:-1.82 [[ 9.99895205e-01 4.09430342e-03 -1.38858441e-02 9.05504626e+00] [-4.08841209e-03 9.99991540e-01 4.52629348e-04 1.65707708e-01] [ 1.38875798e-02 -3.95810862e-04 9.99903485e-01 -1.82457060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90119381700003 meters Centerline goodness [0,1] 0.941651200133464 Centerline is valid? [False, False] Translation: X:9.06, Y:0.16, Z:-1.82 [[ 9.99899592e-01 9.21343297e-04 -1.41405868e-02 9.05566329e+00] [-9.43966450e-04 9.99998285e-01 -1.59328266e-03 1.59084694e-01] [ 1.41390946e-02 1.60647093e-03 9.99898748e-01 -1.82487174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93119381700004 meters Centerline goodness [0,1] 0.944044597911553 Centerline is valid? [False, False] Translation: X:9.06, Y:0.14, Z:-1.83 [[ 9.99878941e-01 -4.28083212e-03 -1.49592142e-02 9.05746951e+00] [ 4.23109219e-03 9.99985420e-01 -3.35510454e-03 1.44202932e-01] [ 1.49733587e-02 3.29140456e-03 9.99882476e-01 -1.82673941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96119381700004 meters Centerline goodness [0,1] 0.9444640594820245 Centerline is valid? [False, False] Translation: X:9.07, Y:0.13, Z:-1.83 [[ 9.99923323e-01 -7.61342836e-03 -9.76649172e-03 9.07062450e+00] [ 7.65523924e-03 9.99961663e-01 4.25083807e-03 1.34220827e-01] [ 9.73375385e-03 -4.32527695e-03 9.99943271e-01 -1.83098961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99119381700004 meters Centerline goodness [0,1] 0.9414997304135042 Centerline is valid? [False, False] Translation: X:9.07, Y:0.13, Z:-1.83 [[ 9.99892093e-01 -1.06880569e-02 -1.00780640e-02 9.07132076e+00] [ 1.07131051e-02 9.99939649e-01 2.43471184e-03 1.27423869e-01] [ 1.00514335e-02 -2.54241648e-03 9.99946251e-01 -1.83107776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02119381700004 meters Centerline goodness [0,1] 0.9433476573041871 Centerline is valid? [False, False] Translation: X:9.07, Y:0.12, Z:-1.83 [[ 9.99851621e-01 -1.38878984e-02 -1.01913295e-02 9.07146160e+00] [ 1.38933725e-02 9.99903374e-01 4.66521703e-04 1.20844277e-01] [ 1.01838658e-02 -6.08044418e-04 9.99947958e-01 -1.83093544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05119381700004 meters Centerline goodness [0,1] 0.9337328236388056 Centerline is valid? [False, False] Translation: X:9.07, Y:0.11, Z:-1.83 [[ 9.99724074e-01 -2.09845205e-02 -1.05558076e-02 9.07161354e+00] [ 2.09427453e-02 9.99772463e-01 -4.05266125e-03 1.10084536e-01] [ 1.06384489e-02 3.83047542e-03 9.99936073e-01 -1.83062020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08119381700004 meters Centerline goodness [0,1] 0.9138405512218337 Centerline is valid? [False, False] Translation: X:9.07, Y:0.11, Z:-1.83 [[ 9.99640243e-01 -2.45713115e-02 -1.07533484e-02 9.07236841e+00] [ 2.45014794e-02 9.99678150e-01 -6.57826691e-03 1.05501424e-01] [ 1.09115241e-02 6.31242739e-03 9.99920543e-01 -1.83097068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11119381700004 meters Centerline goodness [0,1] 0.8912198751601835 Centerline is valid? [False, False] Translation: X:9.07, Y:0.10, Z:-1.83 [[ 9.99543246e-01 -2.81718800e-02 -1.09381769e-02 9.07312312e+00] [ 2.80724796e-02 9.99564130e-01 -9.13710551e-03 1.00926568e-01] [ 1.11908187e-02 8.82587035e-03 9.99898430e-01 -1.83135881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14119381700002 meters Centerline goodness [0,1] 0.8641393145953549 Centerline is valid? [False, False] Translation: X:9.07, Y:0.10, Z:-1.83 [[ 0.99943077 -0.03187569 -0.01104903 9.07359336] [ 0.03174345 0.99942468 -0.0119438 0.09671021] [ 0.01142339 0.01158626 0.99986762 -1.83142615] [ 0. 0. 0. 1. ]] SLAMing on 234.17119381700002 meters Centerline goodness [0,1] 0.8359957841658228 Centerline is valid? [False, False] Translation: X:9.07, Y:0.09, Z:-1.83 [[ 0.99930266 -0.03564642 -0.01111417 9.07379409] [ 0.03547757 0.99925734 -0.01503699 0.09328433] [ 0.01164193 0.0146322 0.99982517 -1.83116965] [ 0. 0. 0. 1. ]] SLAMing on 234.20119381700002 meters Centerline goodness [0,1] 0.8526614590887429 Centerline is valid? [False, False] Translation: X:9.07, Y:0.09, Z:-1.83 [[ 0.99911544 -0.04064494 -0.01078508 9.07191847] [ 0.04043865 0.999007 -0.01870125 0.08772436] [ 0.01153448 0.01824858 0.99976695 -1.82937673] [ 0. 0. 0. 1. ]] SLAMing on 234.23119381700002 meters Centerline goodness [0,1] 0.7808485148923865 Centerline is valid? [False, False] Translation: X:9.07, Y:0.08, Z:-1.83 [[ 0.99911159 -0.04069119 -0.01096594 9.07215613] [ 0.04049087 0.99901939 -0.01790939 0.08476063] [ 0.01168395 0.01744946 0.99977948 -1.82941401] [ 0. 0. 0. 1. ]] SLAMing on 234.26119381700002 meters Centerline goodness [0,1] 0.8282208588957055 Centerline is valid? [False, False] Translation: X:9.07, Y:0.08, Z:-1.83 [[ 0.99911454 -0.04054425 -0.01123861 9.07292027] [ 0.04034789 0.99903799 -0.01717989 0.08275546] [ 0.01192434 0.01671122 0.99978925 -1.82983593] [ 0. 0. 0. 1. ]] SLAMing on 234.29119381700002 meters Centerline goodness [0,1] 0.8106382102097153 Centerline is valid? [False, False] Translation: X:9.07, Y:0.08, Z:-1.83 [[ 0.99910286 -0.04082143 -0.01127347 9.07257359] [ 0.04063134 0.99903622 -0.01660493 0.08024796] [ 0.01194044 0.01613198 0.99979857 -1.82948797] [ 0. 0. 0. 1. ]] SLAMing on 234.32119381700002 meters Centerline goodness [0,1] 0.8023506042046019 Centerline is valid? [False, False] Translation: X:9.07, Y:0.08, Z:-1.83 [[ 0.99909776 -0.04095388 -0.01124465 9.07205819] [ 0.04076704 0.99903456 -0.01637061 0.07911667] [ 0.01190423 0.01589743 0.99980276 -1.82895839] [ 0. 0. 0. 1. ]] SLAMing on 234.35119381700002 meters Centerline goodness [0,1] 0.7886520129856702 Centerline is valid? [False, False] Translation: X:9.07, Y:0.08, Z:-1.83 [[ 0.99909439 -0.0410202 -0.01130228 9.072005 ] [ 0.04083604 0.99903662 -0.01607037 0.07792653] [ 0.0119506 0.01559428 0.99980698 -1.82876659] [ 0. 0. 0. 1. ]] SLAMing on 234.38119381700002 meters Centerline goodness [0,1] 0.8100319065180458 Centerline is valid? [False, False] Translation: X:9.07, Y:0.08, Z:-1.83 [[ 0.99908678 -0.04116728 -0.01143906 9.07195732] [ 0.04098353 0.99903395 -0.01585917 0.07685396] [ 0.01208089 0.01537588 0.9998088 -1.82843945] [ 0. 0. 0. 1. ]] SLAMing on 234.41119381700003 meters Centerline goodness [0,1] 0.7990871352155146 Centerline is valid? [False, False] Translation: X:9.07, Y:0.08, Z:-1.83 [[ 0.99905743 -0.04186849 -0.01145755 9.07150524] [ 0.0416847 0.99900532 -0.01583501 0.07557272] [ 0.01210914 0.01534248 0.99980897 -1.82802457] [ 0. 0. 0. 1. ]] SLAMing on 234.44119381700003 meters Centerline goodness [0,1] 0.7881590355476653 Centerline is valid? [False, False] Translation: X:9.07, Y:0.08, Z:-1.83 [[ 0.99904972 -0.0420497 -0.01146639 9.07137084] [ 0.04186684 0.99899911 -0.01574623 0.07521762] [ 0.01211704 0.01525121 0.99981027 -1.82788473] [ 0. 0. 0. 1. ]] SLAMing on 234.47119381700003 meters Centerline goodness [0,1] 0.7680686163067066 Centerline is valid? [False, False] Translation: X:9.07, Y:0.07, Z:-1.83 [[ 0.99916419 -0.03920252 -0.01157904 9.0710696 ] [ 0.03906454 0.99916569 -0.01191162 0.07364237] [ 0.01203635 0.01144934 0.99986201 -1.82809987] [ 0. 0. 0. 1. ]] SLAMing on 234.50119381700003 meters Centerline goodness [0,1] 0.7483993556115494 Centerline is valid? [False, False] Translation: X:9.07, Y:0.07, Z:-1.83 [[ 9.99262694e-01 -3.65667450e-02 -1.17022153e-02 9.07066069e+00] [ 3.64706146e-02 9.99300046e-01 -8.32537667e-03 7.25255546e-02] [ 1.19984562e-02 7.89245133e-03 9.99896868e-01 -1.82812979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53119381700003 meters Centerline goodness [0,1] 0.7578171885023695 Centerline is valid? [False, False] Translation: X:9.07, Y:0.07, Z:-1.83 [[ 9.99356379e-01 -3.38878137e-02 -1.17662450e-02 9.07010545e+00] [ 3.38331845e-02 9.99415913e-01 -4.81135365e-03 7.18798830e-02] [ 1.19224188e-02 4.41016742e-03 9.99919200e-01 -1.82801477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56119381700003 meters Centerline goodness [0,1] 0.7349282693423999 Centerline is valid? [False, False] Translation: X:9.07, Y:0.07, Z:-1.83 [[ 9.99321434e-01 -3.49269906e-02 -1.16951691e-02 9.07037134e+00] [ 3.48605648e-02 9.99375144e-01 -5.83631358e-03 7.46512528e-02] [ 1.18917061e-02 5.42465305e-03 9.99914577e-01 -1.82869299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59119381700003 meters Centerline goodness [0,1] 0.7327935222672064 Centerline is valid? [False, False] Translation: X:9.07, Y:0.07, Z:-1.83 [[ 9.99422006e-01 -3.19471480e-02 -1.16204077e-02 9.07028384e+00] [ 3.19235288e-02 9.99487866e-01 -2.21245574e-03 7.43618709e-02] [ 1.16851381e-02 1.84021254e-03 9.99930033e-01 -1.82950388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62119381700003 meters Centerline goodness [0,1] 0.7217277649841289 Centerline is valid? [False, False] Translation: X:9.07, Y:0.08, Z:-1.83 [[ 9.99516700e-01 -2.88817324e-02 -1.14983708e-02 9.07021876e+00] [ 2.88967623e-02 9.99581748e-01 1.14311271e-03 7.52285942e-02] [ 1.14605465e-02 -1.47482593e-03 9.99933238e-01 -1.83022024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65119381700003 meters Centerline goodness [0,1] 0.7260103368827449 Centerline is valid? [False, False] Translation: X:9.07, Y:0.08, Z:-1.83 [[ 9.99602336e-01 -2.57703484e-02 -1.14481092e-02 9.07009922e+00] [ 2.58205518e-02 9.99657520e-01 4.25933531e-03 7.70181044e-02] [ 1.13344239e-02 -4.55323802e-03 9.99925397e-01 -1.83064250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68119381700004 meters Centerline goodness [0,1] 0.7362995229205559 Centerline is valid? [False, False] Translation: X:9.07, Y:0.09, Z:-1.83 [[ 9.99665364e-01 -2.32566796e-02 -1.13264081e-02 9.07063890e+00] [ 2.33186333e-02 9.99713668e-01 5.36882607e-03 8.54518756e-02] [ 1.11983040e-02 -5.63114583e-03 9.99921441e-01 -1.83158262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71119381700004 meters Centerline goodness [0,1] 0.7368563066896365 Centerline is valid? [False, False] Translation: X:9.07, Y:0.09, Z:-1.83 [[ 9.99737186e-01 -1.97998548e-02 -1.15553245e-02 9.07135974e+00] [ 1.98940243e-02 9.99769345e-01 8.09220173e-03 8.95486434e-02] [ 1.13924348e-02 -8.31995689e-03 9.99900490e-01 -1.83211821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74119381700004 meters Centerline goodness [0,1] 0.7488952052947156 Centerline is valid? [False, False] Translation: X:9.07, Y:0.09, Z:-1.83 [[ 0.99980135 -0.01591597 -0.01199791 9.07291888] [ 0.01605016 0.99980876 0.01117282 0.09358375] [ 0.01181779 -0.01136317 0.9998656 -1.83314474] [ 0. 0. 0. 1. ]] SLAMing on 234.77119381700004 meters Centerline goodness [0,1] 0.7900527255365966 Centerline is valid? [False, False] Translation: X:9.07, Y:0.10, Z:-1.83 [[ 0.99985211 -0.01206645 -0.01225409 9.0739508 ] [ 0.0122383 0.99982643 0.01404724 0.09787118] [ 0.01208246 -0.01419513 0.99982624 -1.83387404] [ 0. 0. 0. 1. ]] SLAMing on 234.80119381700004 meters Centerline goodness [0,1] 0.7925927460281293 Centerline is valid? [False, False] Translation: X:9.08, Y:0.11, Z:-1.83 [[ 9.99912430e-01 -4.15765110e-03 -1.25637012e-02 9.07514286e+00] [ 4.39921879e-03 9.99804804e-01 1.92613629e-02 1.08258002e-01] [ 1.24811668e-02 -1.93149467e-02 9.99735542e-01 -1.83397678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83119381700004 meters Centerline goodness [0,1] 0.8415420667344103 Centerline is valid? [False, False] Translation: X:9.08, Y:0.11, Z:-1.83 [[ 9.99919334e-01 -5.12650350e-04 -1.26910169e-02 9.07503300e+00] [ 7.87344604e-04 9.99765317e-01 2.16492543e-02 1.13557266e-01] [ 1.26769400e-02 -2.16575002e-02 9.99685074e-01 -1.83327387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86119381700004 meters Centerline goodness [0,1] 0.8750569428914565 Centerline is valid? [False, False] Translation: X:9.08, Y:0.12, Z:-1.83 [[ 9.99911531e-01 3.28210601e-03 -1.28902583e-02 9.07539718e+00] [-2.96750370e-03 9.99699091e-01 2.43499564e-02 1.18150226e-01] [ 1.29662987e-02 -2.43095503e-02 9.99620388e-01 -1.83301886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.89119381700002 meters Centerline goodness [0,1] 0.9282993084599777 Centerline is valid? [False, False] Translation: X:9.07, Y:0.13, Z:-1.83 [[ 0.99978661 0.01315271 -0.01592893 9.07208625] [-0.01293204 0.99982006 0.01387813 0.12903891] [ 0.0161086 -0.01366917 0.99977681 -1.8284598 ] [ 0. 0. 0. 1. ]] SLAMing on 234.92119381700002 meters Centerline goodness [0,1] 0.9328641713894252 Centerline is valid? [False, False] Translation: X:9.07, Y:0.13, Z:-1.83 [[ 0.99976245 0.01446158 -0.01630641 9.07416644] [-0.0142334 0.99980036 0.01402306 0.13262034] [ 0.01650595 -0.01378764 0.9997687 -1.82951643] [ 0. 0. 0. 1. ]] SLAMing on 234.95119381700002 meters Centerline goodness [0,1] 0.9368995497271388 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.83 [[ 0.99975188 0.01493139 -0.0165297 9.0749253 ] [-0.01471103 0.99980234 0.01337375 0.13587319] [ 0.01672612 -0.01312727 0.99977393 -1.82937013] [ 0. 0. 0. 1. ]] SLAMing on 234.98119381700002 meters Centerline goodness [0,1] 0.9423600008305475 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.83 [[ 0.9997457 0.01517134 -0.01668414 9.07492512] [-0.0149595 0.99980681 0.01274949 0.13812045] [ 0.01687435 -0.01249666 0.99977952 -1.82852793] [ 0. 0. 0. 1. ]] SLAMing on 235.01119381700002 meters Centerline goodness [0,1] 0.9489318328375596 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.83 [[ 0.99972351 0.01682509 -0.01642649 9.07468707] [-0.01661389 0.99977862 0.01291054 0.13991181] [ 0.01664008 -0.01263406 0.99978172 -1.82763704] [ 0. 0. 0. 1. ]] SLAMing on 235.04119381700002 meters Centerline goodness [0,1] 0.9513031550068587 Centerline is valid? [False, True] Translation: X:9.08, Y:0.14, Z:-1.83 [[ 0.99970682 0.01759357 -0.01663527 9.07528649] [-0.01737836 0.99976455 0.01299406 0.14077401] [ 0.01685996 -0.01270116 0.99977719 -1.82740523] [ 0. 0. 0. 1. ]] SLAMing on 235.07119381700002 meters Centerline goodness [0,1] 0.9510207475780633 Centerline is valid? [True, True] Translation: X:9.11, Y:0.15, Z:-1.82 [[ 9.99601417e-01 2.27203654e-02 -1.67568582e-02 9.10503444e+00] [-2.27136993e-02 9.99741838e-01 5.88049544e-04 1.49219285e-01] [ 1.67658929e-02 -2.07204919e-04 9.99859421e-01 -1.82122717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10119381700002 meters Centerline goodness [0,1] 0.9516501821967726 Centerline is valid? [True, True] Translation: X:9.13, Y:0.15, Z:-1.82 [[ 9.99480991e-01 2.79061177e-02 -1.60933932e-02 9.13272890e+00] [-2.79006273e-02 9.99610542e-01 5.65629274e-04 1.51030876e-01] [ 1.61029100e-02 -1.16319943e-04 9.99870333e-01 -1.82172233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.13119381700002 meters Centerline goodness [0,1] 0.9440408035807224 Centerline is valid? [True, False] Translation: X:9.13, Y:0.15, Z:-1.82 [[ 9.99295911e-01 3.38584003e-02 -1.61644793e-02 9.13359108e+00] [-3.37570447e-02 9.99408915e-01 6.50255265e-03 1.46993831e-01] [ 1.63750908e-02 -5.95230922e-03 9.99848202e-01 -1.82205775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16119381700003 meters Centerline goodness [0,1] 0.9407739206171457 Centerline is valid? [False, False] Translation: X:9.14, Y:0.14, Z:-1.82 [[ 9.99219441e-01 3.57459424e-02 -1.68147752e-02 9.13623279e+00] [-3.56080036e-02 9.99330256e-01 8.43260323e-03 1.44127601e-01] [ 1.71049449e-02 -7.82728051e-03 9.99823062e-01 -1.82354293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19119381700003 meters Centerline goodness [0,1] 0.9362186788154897 Centerline is valid? [False, False] Translation: X:9.14, Y:0.14, Z:-1.82 [[ 9.99272176e-01 3.40046777e-02 -1.72858329e-02 9.13829419e+00] [-3.39026851e-02 9.99406157e-01 6.15962887e-03 1.42328934e-01] [ 1.74850241e-02 -5.56910959e-03 9.99831615e-01 -1.82455842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22119381700003 meters Centerline goodness [0,1] 0.9227378576180971 Centerline is valid? [False, False] Translation: X:9.14, Y:0.13, Z:-1.83 [[ 9.99296022e-01 3.28170866e-02 -1.81796632e-02 9.14068646e+00] [-3.27196559e-02 9.99448705e-01 5.63116909e-03 1.32637392e-01] [ 1.83544394e-02 -5.03237254e-03 9.99818878e-01 -1.82538513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25119381700003 meters Centerline goodness [0,1] 0.9289261005962646 Centerline is valid? [False, False] Translation: X:9.16, Y:0.12, Z:-1.83 [[ 0.99945625 0.02989721 -0.01390557 9.15612022] [-0.02972923 0.99948434 0.01213338 0.12483367] [ 0.01426115 -0.01171339 0.99982969 -1.82959232] [ 0. 0. 0. 1. ]] SLAMing on 235.28119381700003 meters Centerline goodness [0,1] 0.9280747772503956 Centerline is valid? [False, False] Translation: X:9.16, Y:0.12, Z:-1.83 [[ 0.99954207 0.0267161 -0.01420945 9.15652049] [-0.02657943 0.99959943 0.00972153 0.11955563] [ 0.01446348 -0.0093394 0.99985178 -1.82962282] [ 0. 0. 0. 1. ]] SLAMing on 235.31119381700003 meters Centerline goodness [0,1] 0.9284242512539804 Centerline is valid? [False, False] Translation: X:9.16, Y:0.11, Z:-1.83 [[ 9.99601746e-01 2.40148250e-02 -1.48201852e-02 9.15792540e+00] [-2.38987799e-02 9.99682707e-01 7.95827663e-03 1.13483862e-01] [ 1.50065994e-02 -7.60092287e-03 9.99858504e-01 -1.83012962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34119381700003 meters Centerline goodness [0,1] 0.9259066168957104 Centerline is valid? [False, False] Translation: X:9.16, Y:0.10, Z:-1.83 [[ 9.99700290e-01 1.89924247e-02 -1.54472348e-02 9.15857274e+00] [-1.89178665e-02 9.99808745e-01 4.95853327e-03 1.00117132e-01] [ 1.55384551e-02 -4.66481842e-03 9.99868389e-01 -1.82993976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37119381700003 meters Centerline goodness [0,1] 0.9259066168957104 Centerline is valid? [False, False] Translation: X:9.16, Y:0.10, Z:-1.83 [[ 9.99700290e-01 1.89924247e-02 -1.54472348e-02 9.15857274e+00] [-1.89178665e-02 9.99808745e-01 4.95853327e-03 1.00117132e-01] [ 1.55384551e-02 -4.66481842e-03 9.99868389e-01 -1.82993976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40119381700003 meters Centerline goodness [0,1] 0.9241429613420861 Centerline is valid? [False, False] Translation: X:9.17, Y:0.09, Z:-1.83 [[ 0.99983468 0.01486915 -0.01046494 9.17307421] [-0.01476011 0.99983676 0.01042096 0.09081911] [ 0.01061819 -0.01026477 0.99989094 -1.8340462 ] [ 0. 0. 0. 1. ]] SLAMing on 235.43119381700004 meters Centerline goodness [0,1] 0.9286845285220218 Centerline is valid? [False, False] Translation: X:9.17, Y:0.08, Z:-1.83 [[ 9.99897341e-01 9.34482553e-03 -1.08619299e-02 9.17380701e+00] [-9.28822462e-03 9.99943083e-01 5.24976165e-03 8.47014082e-02] [ 1.09103697e-02 -5.14833467e-03 9.99927227e-01 -1.83376814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46119381700004 meters Centerline goodness [0,1] 0.9238967214482356 Centerline is valid? [False, False] Translation: X:9.17, Y:0.08, Z:-1.83 [[ 9.99920120e-01 6.17876242e-03 -1.10261791e-02 9.17344903e+00] [-6.14464379e-03 9.99976237e-01 3.12552817e-03 7.67709843e-02] [ 1.10452290e-02 -3.05752656e-03 9.99934325e-01 -1.83296500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49119381700004 meters Centerline goodness [0,1] 0.9224270672936868 Centerline is valid? [False, False] Translation: X:9.18, Y:0.06, Z:-1.84 [[ 9.99990439e-01 3.38087240e-03 -2.77325468e-03 9.18337725e+00] [-3.35858198e-03 9.99962333e-01 8.00329770e-03 5.52711810e-02] [ 2.80020835e-03 -7.99390698e-03 9.99964127e-01 -1.83776372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52119381700004 meters Centerline goodness [0,1] 0.9232463888600229 Centerline is valid? [False, False] Translation: X:9.18, Y:0.05, Z:-1.84 [[ 9.99994851e-01 7.35335987e-04 -3.12364220e-03 9.18359757e+00] [-7.15185854e-04 9.99978962e-01 6.44707176e-03 4.73705519e-02] [ 3.12831725e-03 -6.44480458e-03 9.99974339e-01 -1.83712017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55119381700004 meters Centerline goodness [0,1] 0.9245544677416017 Centerline is valid? [False, False] Translation: X:9.18, Y:0.04, Z:-1.84 [[ 9.99992622e-01 -1.19437677e-03 -3.65086939e-03 9.18437800e+00] [ 1.21532455e-03 9.99982782e-01 5.74092729e-03 3.88761345e-02] [ 3.64394970e-03 -5.74532193e-03 9.99976856e-01 -1.83672273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58119381700004 meters Centerline goodness [0,1] 0.924804263846138 Centerline is valid? [False, False] Translation: X:9.19, Y:0.03, Z:-1.84 [[ 9.99986411e-01 -3.19071040e-03 -4.12279466e-03 9.18548232e+00] [ 3.21171399e-03 9.99981848e-01 5.09796557e-03 3.00824032e-02] [ 4.10645369e-03 -5.11113753e-03 9.99978506e-01 -1.83687956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61119381700004 meters Centerline goodness [0,1] 0.9295581545108955 Centerline is valid? [False, False] Translation: X:9.18, Y:0.01, Z:-1.84 [[ 9.99988783e-01 -4.71457439e-03 -4.54227025e-04 9.17876488e+00] [ 4.71594838e-03 9.99984159e-01 3.07286648e-03 7.47715597e-03] [ 4.39732572e-04 -3.07497413e-03 9.99995176e-01 -1.83857039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64119381700002 meters Centerline goodness [0,1] 0.9320346141106326 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.00, Z:-1.84 [[ 9.99976282e-01 -6.84145645e-03 -7.93748034e-04 9.17972328e+00] [ 6.84354631e-03 9.99973043e-01 2.66075673e-03 -3.22002447e-03] [ 7.75523185e-04 -2.66612567e-03 9.99996145e-01 -1.83895737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67119381700002 meters Centerline goodness [0,1] 0.9333595724406513 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.01, Z:-1.84 [[ 9.99958953e-01 -9.01322048e-03 -9.23778256e-04 9.17981527e+00] [ 9.01532974e-03 9.99956704e-01 2.30515048e-03 -1.31714763e-02] [ 9.02961430e-04 -2.31338403e-03 9.99996916e-01 -1.83877157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70119381700002 meters Centerline goodness [0,1] 0.9336084098778743 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.02, Z:-1.84 [[ 9.99934218e-01 -1.14182272e-02 -1.08793108e-03 9.17985884e+00] [ 1.14199922e-02 9.99933461e-01 1.63020723e-03 -2.21128906e-02] [ 1.06924462e-03 -1.64252416e-03 9.99998079e-01 -1.83840166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73119381700002 meters Centerline goodness [0,1] 0.9325747212204121 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.04, Z:-1.84 [[ 9.99857734e-01 -1.67987718e-02 -1.52105500e-03 9.18021749e+00] [ 1.68013200e-02 9.99857439e-01 1.67826634e-03 -4.15041073e-02] [ 1.49264534e-03 -1.70358331e-03 9.99997435e-01 -1.83827667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76119381700002 meters Centerline goodness [0,1] 0.9317424508971998 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.05, Z:-1.84 [[ 9.99811770e-01 -1.93231374e-02 -1.74393224e-03 9.18110001e+00] [ 1.93247167e-02 9.99812861e-01 8.93292247e-04 -5.06983823e-02] [ 1.72634467e-03 -9.26825098e-04 9.99998080e-01 -1.83872405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79119381700002 meters Centerline goodness [0,1] 0.9326555493563119 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.06, Z:-1.84 [[ 9.99762051e-01 -2.17256158e-02 -1.95934788e-03 9.18228420e+00] [ 2.17255000e-02 9.99763970e-01 -8.03285915e-05 -5.87101892e-02] [ 1.96063060e-03 3.77416650e-05 9.99998077e-01 -1.83950439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82119381700002 meters Centerline goodness [0,1] 0.9316673579427623 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.06, Z:-1.84 [[ 9.99700433e-01 -2.43814230e-02 -2.14268351e-03 9.18306958e+00] [ 2.43779158e-02 9.99701456e-01 -1.64801449e-03 -6.49920746e-02] [ 2.18222476e-03 1.59528665e-03 9.99996346e-01 -1.83983255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85119381700002 meters Centerline goodness [0,1] 0.9331770952153805 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.08, Z:-1.84 [[ 9.99662202e-01 -2.58526884e-02 -2.66841711e-03 9.18483439e+00] [ 2.58501037e-02 9.99665331e-01 -9.98591064e-04 -7.83947439e-02] [ 2.69334033e-03 9.29274883e-04 9.99995941e-01 -1.84061344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88119381700002 meters Centerline goodness [0,1] 0.9305558420129937 Centerline is valid? [False, False] Translation: X:9.19, Y:-0.09, Z:-1.84 [[ 9.99670619e-01 -2.54816291e-02 -3.05614036e-03 9.18715247e+00] [ 2.54828649e-02 9.99675192e-01 3.66086293e-04 -8.51885607e-02] [ 3.04581923e-03 -4.43844923e-04 9.99995263e-01 -1.84240177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.91119381700003 meters Centerline goodness [0,1] 0.9309192778584768 Centerline is valid? [False, False] Translation: X:9.19, Y:-0.09, Z:-1.84 [[ 9.99694144e-01 -2.45336487e-02 -3.11729984e-03 9.18758017e+00] [ 2.45411245e-02 9.99695981e-01 2.38297658e-03 -9.10457203e-02] [ 3.05788901e-03 -2.45874978e-03 9.99992302e-01 -1.84282385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94119381700003 meters Centerline goodness [0,1] 0.930802229913166 Centerline is valid? [False, False] Translation: X:9.19, Y:-0.10, Z:-1.84 [[ 9.99722240e-01 -2.33269366e-02 -3.36101693e-03 9.18877402e+00] [ 2.33419771e-02 9.99717377e-01 4.50749979e-03 -9.60803251e-02] [ 3.25492087e-03 -4.58470056e-03 9.99984193e-01 -1.84371003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97119381700003 meters Centerline goodness [0,1] 0.928467998841587 Centerline is valid? [False, False] Translation: X:9.19, Y:-0.11, Z:-1.85 [[ 9.99763580e-01 -2.13964741e-02 -3.86982024e-03 9.19094878e+00] [ 2.14259066e-02 9.99740546e-01 7.73120858e-03 -1.05927857e-01] [ 3.70339560e-03 -7.81229517e-03 9.99962626e-01 -1.84504968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00119381700003 meters Centerline goodness [0,1] 0.9278020798943546 Centerline is valid? [False, False] Translation: X:9.19, Y:-0.11, Z:-1.85 [[ 9.99784133e-01 -2.03394240e-02 -4.24200467e-03 9.19190074e+00] [ 2.03793455e-02 9.99746322e-01 9.59026689e-03 -1.11062900e-01] [ 4.04586806e-03 -9.67464595e-03 9.99945015e-01 -1.84528934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03119381700003 meters Centerline goodness [0,1] 0.9293520847939951 Centerline is valid? [False, False] Translation: X:9.19, Y:-0.12, Z:-1.85 [[ 9.99800910e-01 -1.94568285e-02 -4.42414655e-03 9.19235733e+00] [ 1.95054303e-02 9.99746776e-01 1.12214745e-02 -1.16247955e-01] [ 4.20469195e-03 -1.13055353e-02 9.99927250e-01 -1.84532892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06119381700003 meters Centerline goodness [0,1] 0.9257190322915585 Centerline is valid? [False, False] Translation: X:9.19, Y:-0.12, Z:-1.85 [[ 9.99816862e-01 -1.85877282e-02 -4.55395925e-03 9.19270789e+00] [ 1.86447013e-02 9.99744170e-01 1.28050910e-02 -1.20914775e-01] [ 4.31477665e-03 -1.28876531e-02 9.99907641e-01 -1.84538875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09119381700003 meters Centerline goodness [0,1] 0.9234804518887214 Centerline is valid? [False, False] Translation: X:9.19, Y:-0.13, Z:-1.85 [[ 9.99859105e-01 -1.60286611e-02 -4.98517991e-03 9.19409323e+00] [ 1.61091898e-02 9.99733156e-01 1.65563088e-02 -1.29514846e-01] [ 4.71847418e-03 -1.66342833e-02 9.99850507e-01 -1.84588915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12119381700003 meters Centerline goodness [0,1] 0.9241741585864668 Centerline is valid? [False, False] Translation: X:9.19, Y:-0.13, Z:-1.85 [[ 9.99872873e-01 -1.51298751e-02 -5.03240174e-03 9.19402078e+00] [ 1.52190106e-02 9.99719030e-01 1.81725877e-02 -1.34110777e-01] [ 4.75603880e-03 -1.82468657e-02 9.99822200e-01 -1.84559022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15119381700003 meters Centerline goodness [0,1] 0.925542723257791 Centerline is valid? [False, False] Translation: X:9.19, Y:-0.14, Z:-1.85 [[ 9.99852958e-01 -1.63089716e-02 -5.29908336e-03 9.19489706e+00] [ 1.63972208e-02 9.99719997e-01 1.70604414e-02 -1.38519739e-01] [ 5.01936134e-03 -1.71448230e-02 9.99840418e-01 -1.84570562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18119381700004 meters Centerline goodness [0,1] 0.9231056519213212 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.14, Z:-1.85 [[ 9.99831912e-01 -1.74364149e-02 -5.66740621e-03 9.19589012e+00] [ 1.75254051e-02 9.99717569e-01 1.60512615e-02 -1.43372931e-01] [ 5.38592910e-03 -1.61478870e-02 9.99855108e-01 -1.84573769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21119381700004 meters Centerline goodness [0,1] 0.9246000415541242 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.15, Z:-1.85 [[ 9.99804380e-01 -1.88640360e-02 -5.94557123e-03 9.19648614e+00] [ 1.89509490e-02 9.99709123e-01 1.49174676e-02 -1.48440906e-01] [ 5.66243816e-03 -1.50272236e-02 9.99871051e-01 -1.84549659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24119381700004 meters Centerline goodness [0,1] 0.9262998275897883 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.16, Z:-1.84 [[ 9.99910556e-01 -1.33576460e-02 -6.73791971e-04 9.19582851e+00] [ 1.33623413e-02 9.99882396e-01 7.52605221e-03 -1.58971983e-01] [ 5.73182389e-04 -7.53438249e-03 9.99971452e-01 -1.84334800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27119381700004 meters Centerline goodness [0,1] 0.9252117722593873 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.16, Z:-1.84 [[ 9.99925072e-01 -1.22089833e-02 -8.89700407e-04 9.19610560e+00] [ 1.22169654e-02 9.99879293e-01 9.59927364e-03 -1.64319029e-01] [ 7.72395642e-04 -9.60942382e-03 9.99953530e-01 -1.84308390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30119381700004 meters Centerline goodness [0,1] 0.926399568885112 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.17, Z:-1.84 [[ 9.99938248e-01 -1.10636115e-02 -1.04728559e-03 9.19652234e+00] [ 1.10751687e-02 9.99869502e-01 1.17609650e-02 -1.70640291e-01] [ 9.17030173e-04 -1.17718376e-02 9.99930289e-01 -1.84312996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33119381700004 meters Centerline goodness [0,1] 0.92559141566889 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.18, Z:-1.84 [[ 9.99926718e-01 -1.19899939e-02 -1.67299359e-03 9.19885480e+00] [ 1.20079283e-02 9.99865659e-01 1.11567434e-02 -1.76326805e-01] [ 1.53899955e-03 -1.11760150e-02 9.99936362e-01 -1.84436802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36119381700004 meters Centerline goodness [0,1] 0.9239715074865533 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.19, Z:-1.85 [[ 9.99920744e-01 -1.24841814e-02 -1.62828256e-03 9.20073036e+00] [ 1.25026280e-02 9.99851516e-01 1.18587781e-02 -1.88836706e-01] [ 1.47999365e-03 -1.18781961e-02 9.99928356e-01 -1.84646615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.39119381700002 meters Centerline goodness [0,1] 0.9121599272306293 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.19, Z:-1.85 [[ 9.99898013e-01 -1.41228912e-02 -2.12308577e-03 9.20330456e+00] [ 1.41452585e-02 9.99840343e-01 1.09178476e-02 -1.94754296e-01] [ 1.96855523e-03 -1.09467658e-02 9.99938145e-01 -1.84832562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42119381700002 meters Centerline goodness [0,1] 0.9223833464910458 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.20, Z:-1.85 [[ 9.99857956e-01 -1.67099202e-02 -2.20159051e-03 9.20405767e+00] [ 1.67294617e-02 9.99817922e-01 9.17867889e-03 -2.00379910e-01] [ 2.04781466e-03 -9.21420654e-03 9.99955451e-01 -1.84887861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45119381700002 meters Centerline goodness [0,1] 0.9195818004198624 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.21, Z:-1.85 [[ 9.99765246e-01 -2.15274796e-02 -2.45373233e-03 9.20565221e+00] [ 2.15430876e-02 9.99746643e-01 6.52264211e-03 -2.13155096e-01] [ 2.31269462e-03 -6.57397186e-03 9.99975717e-01 -1.84971859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48119381700002 meters Centerline goodness [0,1] 0.9185923607800874 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.22, Z:-1.85 [[ 9.99703918e-01 -2.41741596e-02 -2.77230829e-03 9.20740453e+00] [ 2.41880811e-02 9.99694401e-01 5.10315615e-03 -2.19622405e-01] [ 2.64809657e-03 -5.16870202e-03 9.99983136e-01 -1.85080768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51119381700002 meters Centerline goodness [0,1] 0.9226927478930392 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.23, Z:-1.85 [[ 9.99635847e-01 -2.68286233e-02 -2.89801424e-03 9.20817475e+00] [ 2.68390391e-02 9.99633224e-01 3.61710647e-03 -2.26041386e-01] [ 2.79990934e-03 -3.69356920e-03 9.99989259e-01 -1.85111513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54119381700002 meters Centerline goodness [0,1] 0.9222247625381913 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.23, Z:-1.85 [[ 9.99569741e-01 -2.91654333e-02 -3.11625991e-03 9.20969244e+00] [ 2.91725528e-02 9.99571826e-01 2.26413233e-03 -2.32052835e-01] [ 3.04889121e-03 -2.35406742e-03 9.99992581e-01 -1.85210236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57119381700002 meters Centerline goodness [0,1] 0.9194672770783477 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.24, Z:-1.85 [[ 9.99533015e-01 -3.03683010e-02 -3.39390429e-03 9.21140409e+00] [ 3.03787759e-02 9.99533717e-01 3.07865603e-03 -2.44564611e-01] [ 3.29882822e-03 -3.18032100e-03 9.99989502e-01 -1.85309192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60119381700002 meters Centerline goodness [0,1] 0.9189498191493785 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.25, Z:-1.85 [[ 9.99571551e-01 -2.90326298e-02 -3.71766757e-03 9.21224551e+00] [ 2.90530323e-02 9.99562425e-01 5.55689710e-03 -2.51146635e-01] [ 3.55470947e-03 -5.66252577e-03 9.99977650e-01 -1.85319288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.63119381700002 meters Centerline goodness [0,1] 0.9203753406986663 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.26, Z:-1.85 [[ 9.99611875e-01 -2.75863193e-02 -3.88521517e-03 9.21231386e+00] [ 2.76168583e-02 9.99586255e-01 8.03916094e-03 -2.57980092e-01] [ 3.66183682e-03 -8.14333817e-03 9.99960138e-01 -1.85271269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66119381700003 meters Centerline goodness [0,1] 0.9188560992819491 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.26, Z:-1.85 [[ 9.99645451e-01 -2.62981270e-02 -4.16911127e-03 9.21288895e+00] [ 2.63396904e-02 9.99600506e-01 1.02493162e-02 -2.64587554e-01] [ 3.89790791e-03 -1.03554955e-02 9.99938783e-01 -1.85253867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.69119381700003 meters Centerline goodness [0,1] 0.9159262642198788 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.28, Z:-1.85 [[ 9.99693107e-01 -2.43778644e-02 -4.40591589e-03 9.21389494e+00] [ 2.44343183e-02 9.99613640e-01 1.32489441e-02 -2.76715676e-01] [ 4.08123266e-03 -1.33525337e-02 9.99902522e-01 -1.85288512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72119381700003 meters Centerline goodness [0,1] 0.9135987042920326 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.28, Z:-1.85 [[ 9.99709015e-01 -2.36730445e-02 -4.63387146e-03 9.21479749e+00] [ 2.37402345e-02 9.99605237e-01 1.50257149e-02 -2.82469258e-01] [ 4.27633776e-03 -1.51313518e-02 9.99876370e-01 -1.85325077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75119381700003 meters Centerline goodness [0,1] 0.9167702635504724 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.29, Z:-1.85 [[ 9.99672035e-01 -2.50593641e-02 -5.27735145e-03 9.21671665e+00] [ 2.51322238e-02 9.99582928e-01 1.42246915e-02 -2.87977905e-01] [ 4.91868869e-03 -1.43526579e-02 9.99884897e-01 -1.85379325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78119381700003 meters Centerline goodness [0,1] 0.9186309733961912 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.29, Z:-1.85 [[ 9.99608612e-01 -2.74765025e-02 -5.25964864e-03 9.21628848e+00] [ 2.75412773e-02 9.99540408e-01 1.26669015e-02 -2.93692037e-01] [ 4.90918919e-03 -1.28068013e-02 9.99905938e-01 -1.85290121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81119381700003 meters Centerline goodness [0,1] 0.9241815167840862 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.31, Z:-1.85 [[ 9.99459008e-01 -3.25210685e-02 -4.90626753e-03 9.21478165e+00] [ 3.25678380e-02 9.99421730e-01 9.77453640e-03 -3.06933929e-01] [ 4.58555201e-03 -9.92903498e-03 9.99940192e-01 -1.85070555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84119381700003 meters Centerline goodness [0,1] 0.924834498931247 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.31, Z:-1.85 [[ 9.99366522e-01 -3.52622678e-02 -4.80909720e-03 9.21377818e+00] [ 3.53014656e-02 9.99342033e-01 8.32516976e-03 -3.13465297e-01] [ 4.51236861e-03 -8.48966413e-03 9.99953781e-01 -1.84908795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87119381700003 meters Centerline goodness [0,1] 0.9275166950101622 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.32, Z:-1.85 [[ 9.99259862e-01 -3.81823659e-02 -4.67279102e-03 9.21296987e+00] [ 3.82127991e-02 9.99247784e-01 6.60672453e-03 -3.19415768e-01] [ 4.41701570e-03 -6.78039507e-03 9.99967258e-01 -1.84780815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90119381700003 meters Centerline goodness [0,1] 0.927332988089073 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.32, Z:-1.85 [[ 9.99135080e-01 -4.13169532e-02 -4.69062819e-03 9.21290227e+00] [ 4.13381013e-02 9.99135060e-01 4.50484808e-03 -3.24519397e-01] [ 4.50044448e-03 -4.69485341e-03 9.99978852e-01 -1.84708066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93119381700004 meters Centerline goodness [0,1] 0.928748000581649 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.33, Z:-1.85 [[ 9.98993854e-01 -4.46056403e-02 -4.64930946e-03 9.21320916e+00] [ 4.46155736e-02 9.99002116e-01 2.05510285e-03 -3.28635099e-01] [ 4.55300081e-03 -2.26046673e-03 9.99987080e-01 -1.84703924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96119381700004 meters Centerline goodness [0,1] 0.928372305899975 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.34, Z:-1.85 [[ 9.98685998e-01 -5.10465742e-02 -4.53036963e-03 9.21435862e+00] [ 5.10338869e-02 9.98692789e-01 -2.87333561e-03 -3.36083861e-01] [ 4.67112142e-03 2.63835768e-03 9.99985610e-01 -1.84759630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99119381700004 meters Centerline goodness [0,1] 0.9283384915771763 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.34, Z:-1.85 [[ 9.98498905e-01 -5.45817125e-02 -4.55781478e-03 9.21518711e+00] [ 5.45552109e-02 9.98494202e-01 -5.74950167e-03 -3.39578844e-01] [ 4.86476929e-03 5.49221857e-03 9.99973084e-01 -1.84795815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02119381700004 meters Centerline goodness [0,1] 0.9283743126880382 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.34, Z:-1.85 [[ 9.98300751e-01 -5.80918007e-02 -4.57738192e-03 9.21614028e+00] [ 5.80509301e-02 9.98276526e-01 -8.60620354e-03 -3.43138594e-01] [ 5.06944278e-03 8.32585818e-03 9.99952489e-01 -1.84844786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05119381700004 meters Centerline goodness [0,1] 0.9267684636958554 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.35, Z:-1.85 [[ 9.98115362e-01 -6.11829600e-02 -4.72957107e-03 9.21819631e+00] [ 6.11317845e-02 9.98076576e-01 -1.02981887e-02 -3.50438859e-01] [ 5.35054776e-03 9.98965321e-03 9.99935787e-01 -1.84978564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08119381700004 meters Centerline goodness [0,1] 0.9257697261810778 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.35, Z:-1.85 [[ 9.98130309e-01 -6.09162914e-02 -5.00911510e-03 9.21928468e+00] [ 6.08671740e-02 9.98101288e-01 -9.43432941e-03 -3.52971600e-01] [ 5.57430859e-03 9.11179945e-03 9.99942949e-01 -1.85038857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11119381700004 meters Centerline goodness [0,1] 0.9249318125464915 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.35, Z:-1.85 [[ 9.98138324e-01 -6.07532130e-02 -5.37891801e-03 9.22061223e+00] [ 6.07039793e-02 9.98116252e-01 -8.88674717e-03 -3.54593616e-01] [ 5.90868393e-03 8.54368120e-03 9.99946045e-01 -1.85111483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14119381700002 meters Centerline goodness [0,1] 0.9226165824567216 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.36, Z:-1.85 [[ 9.98154092e-01 -6.04609453e-02 -5.73435199e-03 9.22196084e+00] [ 6.04126699e-02 9.98139407e-01 -8.24825922e-03 -3.56350739e-01] [ 6.22238024e-03 7.88660618e-03 9.99949540e-01 -1.85190337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17119381700002 meters Centerline goodness [0,1] 0.9203105163478948 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.36, Z:-1.85 [[ 9.98173204e-01 -6.01135638e-02 -6.05101881e-03 9.22315905e+00] [ 6.00677693e-02 9.98166237e-01 -7.48503056e-03 -3.58442519e-01] [ 6.48987454e-03 7.10788573e-03 9.99953679e-01 -1.85261498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20119381700002 meters Centerline goodness [0,1] 0.9170808809766445 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.36, Z:-1.85 [[ 9.98194657e-01 -5.97240520e-02 -6.36111067e-03 9.22428700e+00] [ 5.96849063e-02 9.98198163e-01 -6.17570252e-03 -3.62881727e-01] [ 6.71848696e-03 5.78489097e-03 9.99960698e-01 -1.85303368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23119381700002 meters Centerline goodness [0,1] 0.9162831197910188 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.36, Z:-1.85 [[ 9.98210600e-01 -5.94282400e-02 -6.62434833e-03 9.22485429e+00] [ 5.93924353e-02 9.98219687e-01 -5.47686000e-03 -3.64990403e-01] [ 6.93803506e-03 5.07362353e-03 9.99963060e-01 -1.85295649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26119381700002 meters Centerline goodness [0,1] 0.9162831197910188 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.36, Z:-1.85 [[ 9.98210600e-01 -5.94282400e-02 -6.62434833e-03 9.22485429e+00] [ 5.93924353e-02 9.98219687e-01 -5.47686000e-03 -3.64990403e-01] [ 6.93803506e-03 5.07362353e-03 9.99963060e-01 -1.85295649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29119381700002 meters Centerline goodness [0,1] 0.9151795868571783 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.37, Z:-1.85 [[ 9.98228646e-01 -5.90967691e-02 -6.86596648e-03 9.22534896e+00] [ 5.90642607e-02 9.98242425e-01 -4.84493407e-03 -3.66599750e-01] [ 7.14021898e-03 4.43081874e-03 9.99964692e-01 -1.85288562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32119381700002 meters Centerline goodness [0,1] 0.9133058642360677 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.37, Z:-1.85 [[ 9.98434676e-01 -5.54498056e-02 -7.31552838e-03 9.22603224e+00] [ 5.54500335e-02 9.98461449e-01 -1.71826914e-04 -3.69862903e-01] [ 7.31380083e-03 -2.34088345e-04 9.99973226e-01 -1.85279407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35119381700002 meters Centerline goodness [0,1] 0.9153828561924364 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.37, Z:-1.85 [[ 9.98474188e-01 -5.47084497e-02 -7.50212110e-03 9.22668096e+00] [ 5.47173848e-02 9.98501390e-01 9.90822603e-04 -3.72589225e-01] [ 7.43667198e-03 -1.39980724e-03 9.99971368e-01 -1.85308604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38119381700002 meters Centerline goodness [0,1] 0.9145193004242989 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.37, Z:-1.85 [[ 9.98475646e-01 -5.46542496e-02 -7.70048004e-03 9.22729120e+00] [ 5.46672890e-02 9.98503510e-01 1.49298319e-03 -3.74222785e-01] [ 7.60735847e-03 -1.91167172e-03 9.99969236e-01 -1.85321941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.41119381700003 meters Centerline goodness [0,1] 0.9120309670974589 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.38, Z:-1.85 [[ 9.98477542e-01 -5.46106889e-02 -7.76340714e-03 9.22746246e+00] [ 5.46290193e-02 9.98504365e-01 2.16885241e-03 -3.76362945e-01] [ 7.63335339e-03 -2.58965774e-03 9.99967512e-01 -1.85308241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44119381700003 meters Centerline goodness [0,1] 0.9176693057373813 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.38, Z:-1.85 [[ 9.98463612e-01 -5.48272428e-02 -8.02426205e-03 9.22801220e+00] [ 5.48513207e-02 9.98490574e-01 2.81179598e-03 -3.78674060e-01] [ 7.85798700e-03 -3.24761735e-03 9.99963852e-01 -1.85286352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47119381700003 meters Centerline goodness [0,1] 0.921165523387147 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.38, Z:-1.85 [[ 9.98204424e-01 -5.93692910e-02 -7.95080244e-03 9.22826035e+00] [ 5.93666592e-02 9.98236084e-01 -5.66815255e-04 -3.81459080e-01] [ 7.97042930e-03 9.37849159e-05 9.99968231e-01 -1.85241761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50119381700003 meters Centerline goodness [0,1] 0.9204187396351575 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.38, Z:-1.85 [[ 9.98158397e-01 -6.01216020e-02 -8.07513838e-03 9.22871724e+00] [ 6.01225453e-02 9.98190996e-01 -1.26113329e-04 -3.84427876e-01] [ 8.06811256e-03 -3.59616794e-04 9.99967388e-01 -1.85218409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53119381700003 meters Centerline goodness [0,1] 0.9172886994490071 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.39, Z:-1.85 [[ 9.98106996e-01 -6.09442299e-02 -8.25984800e-03 9.22944234e+00] [ 6.09477681e-02 9.98140941e-01 1.77096145e-04 -3.87215526e-01] [ 8.23369947e-03 -6.80180202e-04 9.99965871e-01 -1.85217124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56119381700003 meters Centerline goodness [0,1] 0.8961944900035294 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.39, Z:-1.85 [[ 9.97766973e-01 -6.62847551e-02 -8.20964477e-03 9.23102190e+00] [ 6.62501659e-02 9.97793272e-01 -4.41616342e-03 -3.87702973e-01] [ 8.48425262e-03 3.86241168e-03 9.99956549e-01 -1.85341229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59119381700003 meters Centerline goodness [0,1] 0.8836289871871831 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.39, Z:-1.85 [[ 9.97669655e-01 -6.76868425e-02 -8.58781214e-03 9.23306339e+00] [ 6.76435541e-02 9.97695817e-01 -5.23513281e-03 -3.87610009e-01] [ 8.92237386e-03 4.64202301e-03 9.99949420e-01 -1.85474019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62119381700003 meters Centerline goodness [0,1] 0.8519429516329061 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.39, Z:-1.86 [[ 9.97606121e-01 -6.85747801e-02 -8.91778668e-03 9.23456852e+00] [ 6.85255396e-02 9.97632993e-01 -5.71502708e-03 -3.87287822e-01] [ 9.28858494e-03 5.09024985e-03 9.99943904e-01 -1.85565057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65119381700003 meters Centerline goodness [0,1] 0.817589644336226 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.39, Z:-1.86 [[ 9.97548143e-01 -6.93944624e-02 -9.06155825e-03 9.23532272e+00] [ 6.93400361e-02 9.97573887e-01 -6.18871016e-03 -3.86789974e-01] [ 9.46903610e-03 5.54520755e-03 9.99939792e-01 -1.85613115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68119381700004 meters Centerline goodness [0,1] 0.7900664043797747 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.38, Z:-1.86 [[ 9.97401563e-01 -7.14687284e-02 -9.07432724e-03 9.23660659e+00] [ 7.13972816e-02 9.97416133e-01 -7.96780277e-03 -3.84403768e-01] [ 9.62032912e-03 7.29921663e-03 9.99927083e-01 -1.85736522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71119381700004 meters Centerline goodness [0,1] 0.7749031371078615 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.38, Z:-1.86 [[ 9.97588258e-01 -6.87779225e-02 -9.34161053e-03 9.23695117e+00] [ 6.87378219e-02 9.97624390e-01 -4.54835631e-03 -3.84914855e-01] [ 9.63224500e-03 3.89526488e-03 9.99946022e-01 -1.85733314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74119381700004 meters Centerline goodness [0,1] 0.7721934011205644 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.38, Z:-1.86 [[ 9.97703769e-01 -6.69829712e-02 -1.00234800e-02 9.23918736e+00] [ 6.69600827e-02 9.97752262e-01 -2.60230542e-03 -3.83090024e-01] [ 1.01752599e-02 1.92515688e-03 9.99946377e-01 -1.85862843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77119381700004 meters Centerline goodness [0,1] 0.7633573481031108 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.38, Z:-1.86 [[ 9.97906736e-01 -6.38530363e-02 -1.02438214e-02 9.23901372e+00] [ 6.38631726e-02 9.97958442e-01 6.65132869e-04 -3.81582664e-01] [ 1.01804373e-02 -1.31794351e-03 9.99947309e-01 -1.85830548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80119381700004 meters Centerline goodness [0,1] 0.7594607526993571 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.38, Z:-1.86 [[ 9.98036501e-01 -6.16668945e-02 -1.09698054e-02 9.24075286e+00] [ 6.17014618e-02 9.98090607e-01 2.84079222e-03 -3.78851949e-01] [ 1.07736769e-02 -3.51206736e-03 9.99935795e-01 -1.85908750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83119381700004 meters Centerline goodness [0,1] 0.7684805888835748 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.37, Z:-1.86 [[ 9.98136711e-01 -5.99256638e-02 -1.14900423e-02 9.24118687e+00] [ 5.99726899e-02 9.98192814e-01 3.79254338e-03 -3.71932141e-01] [ 1.12420070e-02 -4.47456552e-03 9.99926795e-01 -1.85896286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86119381700004 meters Centerline goodness [0,1] 0.7611539262653614 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.37, Z:-1.86 [[ 9.98101124e-01 -6.05152088e-02 -1.14915607e-02 9.24102730e+00] [ 6.05476895e-02 9.98162176e-01 2.49962082e-03 -3.67898629e-01] [ 1.13191762e-02 -3.19066180e-03 9.99930846e-01 -1.85887906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.89119381700002 meters Centerline goodness [0,1] 0.7759015574248356 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.36, Z:-1.86 [[ 9.98171023e-01 -5.92642650e-02 -1.19312941e-02 9.24262997e+00] [ 5.93118934e-02 9.98232724e-01 3.67811454e-03 -3.64427848e-01] [ 1.16922274e-02 -4.37905499e-03 9.99922055e-01 -1.85998831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92119381700002 meters Centerline goodness [0,1] 0.7740171722001622 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.36, Z:-1.86 [[ 9.98124900e-01 -6.00119176e-02 -1.20521651e-02 9.24293577e+00] [ 6.00397678e-02 9.98194057e-01 1.96211782e-03 -3.58703857e-01] [ 1.19126492e-02 -2.68204785e-03 9.99925445e-01 -1.86029485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95119381700002 meters Centerline goodness [0,1] 0.7698487024203451 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.35, Z:-1.86 [[ 9.98276444e-01 -5.73648910e-02 -1.23858738e-02 9.24339892e+00] [ 5.74208249e-02 9.98341194e-01 4.20827987e-03 -3.54616432e-01] [ 1.21239206e-02 -4.91223375e-03 9.99914437e-01 -1.86060238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98119381700002 meters Centerline goodness [0,1] 0.7677565528279532 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.34, Z:-1.86 [[ 9.98356551e-01 -5.59157984e-02 -1.25547146e-02 9.24281513e+00] [ 5.59642739e-02 9.98426484e-01 3.54333093e-03 -3.41825785e-01] [ 1.23368313e-02 -4.24012313e-03 9.99914908e-01 -1.86038224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01119381700002 meters Centerline goodness [0,1] 0.7726819541375872 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.34, Z:-1.86 [[ 9.98492161e-01 -5.33545094e-02 -1.29112625e-02 9.24333366e+00] [ 5.34254726e-02 9.98558222e-01 5.21495052e-03 -3.36370876e-01] [ 1.26144062e-02 -5.89687751e-03 9.99903047e-01 -1.86067578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04119381700002 meters Centerline goodness [0,1] 0.7577322782587137 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.32, Z:-1.86 [[ 9.98591884e-01 -5.13864501e-02 -1.31788298e-02 9.24259124e+00] [ 5.14517767e-02 9.98664577e-01 4.66651448e-03 -3.22064330e-01] [ 1.29214348e-02 -5.33801769e-03 9.99902266e-01 -1.86001837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07119381700002 meters Centerline goodness [0,1] 0.8035858974092618 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.32, Z:-1.86 [[ 9.98717458e-01 -4.88537858e-02 -1.32945928e-02 9.24235452e+00] [ 4.89392220e-02 9.98782648e-01 6.17859068e-03 -3.15474688e-01] [ 1.29765611e-02 -6.82129341e-03 9.99892534e-01 -1.86000400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10119381700002 meters Centerline goodness [0,1] 0.8029739003847354 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.31, Z:-1.86 [[ 9.98814915e-01 -4.67924093e-02 -1.33879211e-02 9.24256057e+00] [ 4.68908757e-02 9.98874515e-01 7.13784018e-03 -3.08171474e-01] [ 1.30388565e-02 -7.75715258e-03 9.99884901e-01 -1.86055299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.13119381700002 meters Centerline goodness [0,1] 0.8060946437857515 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.30, Z:-1.86 [[ 9.98903098e-01 -4.47632476e-02 -1.37423537e-02 9.24334574e+00] [ 4.48773154e-02 9.98959608e-01 8.10727779e-03 -3.00939199e-01] [ 1.33651482e-02 -8.71510484e-03 9.99872702e-01 -1.86116174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16119381700003 meters Centerline goodness [0,1] 0.7927678775654489 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.29, Z:-1.86 [[ 9.98985441e-01 -4.28211553e-02 -1.39440838e-02 9.24369510e+00] [ 4.29505850e-02 9.99035584e-01 9.11865357e-03 -2.94129115e-01] [ 1.35401646e-02 -9.70830872e-03 9.99861197e-01 -1.86153557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19119381700003 meters Centerline goodness [0,1] 0.8066514238204116 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.28, Z:-1.86 [[ 9.99027104e-01 -4.17791381e-02 -1.41191312e-02 9.24342466e+00] [ 4.18947088e-02 9.99090074e-01 7.99110806e-03 -2.81352656e-01] [ 1.37724222e-02 -8.57485043e-03 9.99868388e-01 -1.86136392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22119381700003 meters Centerline goodness [0,1] 0.7479597332118149 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.28, Z:-1.86 [[ 9.98990022e-01 -4.25427627e-02 -1.44585487e-02 9.24414477e+00] [ 4.26312761e-02 9.99073632e-01 5.86967531e-03 -2.75257234e-01] [ 1.41954426e-02 -6.48013345e-03 9.99878241e-01 -1.86159493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25119381700003 meters Centerline goodness [0,1] 0.8281573928186416 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.27, Z:-1.86 [[ 9.98974924e-01 -4.28190502e-02 -1.46843635e-02 9.24458611e+00] [ 4.28833466e-02 9.99071707e-01 4.09186317e-03 -2.68639478e-01] [ 1.44955224e-02 -4.71738335e-03 9.99883806e-01 -1.86181874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28119381700003 meters Centerline goodness [0,1] 0.8359342488555972 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.26, Z:-1.86 [[ 9.99097144e-01 -3.98394316e-02 -1.47551890e-02 9.24448122e+00] [ 3.99321606e-02 9.99184113e-01 6.04400568e-03 -2.62963988e-01] [ 1.45023607e-02 -6.62775540e-03 9.99872869e-01 -1.86197616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31119381700003 meters Centerline goodness [0,1] 0.8472352194979932 Centerline is valid? [False, False] Translation: X:9.25, Y:-0.26, Z:-1.86 [[ 9.99195371e-01 -3.71815583e-02 -1.50380315e-02 9.24547629e+00] [ 3.72980998e-02 9.99275701e-01 7.54493197e-03 -2.56459652e-01] [ 1.47466071e-02 -8.09975110e-03 9.99858456e-01 -1.86300496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34119381700003 meters Centerline goodness [0,1] 0.8616457634835879 Centerline is valid? [False, False] Translation: X:9.25, Y:-0.25, Z:-1.86 [[ 0.99937894 -0.0316192 -0.01555495 9.24668447] [ 0.03179394 0.99943261 0.01111768 -0.24512135] [ 0.01519459 -0.01160532 0.9998172 -1.86410582] [ 0. 0. 0. 1. ]] SLAMing on 238.37119381700003 meters Centerline goodness [0,1] 0.8669134313460458 Centerline is valid? [False, False] Translation: X:9.25, Y:-0.24, Z:-1.86 [[ 0.99946921 -0.02847999 -0.01581742 9.24689747] [ 0.02869499 0.99949655 0.01353652 -0.24103519] [ 0.01542394 -0.01398322 0.99978326 -1.86409845] [ 0. 0. 0. 1. ]] SLAMing on 238.40119381700003 meters Centerline goodness [0,1] 0.8887780133882167 Centerline is valid? [False, False] Translation: X:9.25, Y:-0.24, Z:-1.86 [[ 0.99946304 -0.02854022 -0.01609635 9.24742669] [ 0.02873788 0.99951271 0.01218524 -0.23566273] [ 0.01574074 -0.01264127 0.99979619 -1.86422582] [ 0. 0. 0. 1. ]] SLAMing on 238.43119381700004 meters Centerline goodness [0,1] 0.879708156647543 Centerline is valid? [False, False] Translation: X:9.25, Y:-0.23, Z:-1.86 [[ 0.9994534 -0.02874971 -0.0163202 9.24749818] [ 0.02892772 0.9995234 0.01077784 -0.23066432] [ 0.01600257 -0.01124405 0.99980873 -1.86385952] [ 0. 0. 0. 1. ]] SLAMing on 238.46119381700004 meters Centerline goodness [0,1] 0.9048660695860333 Centerline is valid? [False, False] Translation: X:9.26, Y:-0.22, Z:-1.86 [[ 9.99661906e-01 -2.32229101e-02 -1.16948843e-02 9.25513843e+00] [ 2.32743676e-02 9.99719939e-01 4.28328002e-03 -2.21424258e-01] [ 1.15921388e-02 -4.55402291e-03 9.99922439e-01 -1.86450418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49119381700004 meters Centerline goodness [0,1] 0.9272715928706612 Centerline is valid? [False, False] Translation: X:9.26, Y:-0.22, Z:-1.86 [[ 9.99738252e-01 -1.96016700e-02 -1.17984110e-02 9.25501013e+00] [ 1.96870348e-02 9.99780531e-01 7.16314201e-03 -2.17788720e-01] [ 1.16554120e-02 -7.39354280e-03 9.99904739e-01 -1.86432849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52119381700004 meters Centerline goodness [0,1] 0.9298965208519853 Centerline is valid? [False, False] Translation: X:9.26, Y:-0.21, Z:-1.86 [[ 0.99979982 -0.01594043 -0.01209239 9.25580716] [ 0.01606138 0.99982128 0.00997204 -0.21384737] [ 0.01193127 -0.01016427 0.99987716 -1.8648599 ] [ 0. 0. 0. 1. ]] SLAMing on 238.55119381700004 meters Centerline goodness [0,1] 0.9233715677498595 Centerline is valid? [False, False] Translation: X:9.26, Y:-0.20, Z:-1.87 [[ 9.99930524e-01 -5.45465762e-03 -1.04495854e-02 9.25969795e+00] [ 5.47991291e-03 9.99982130e-01 2.38976418e-03 -2.04997565e-01] [ 1.04363633e-02 -2.44686097e-03 9.99942546e-01 -1.86711018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58119381700004 meters Centerline goodness [0,1] 0.9209082976690074 Centerline is valid? [False, False] Translation: X:9.26, Y:-0.20, Z:-1.87 [[ 9.99941808e-01 -1.52571947e-03 -1.06795867e-02 9.26043815e+00] [ 1.58888968e-03 9.99981279e-01 5.90905918e-03 -2.03354017e-01] [ 1.06703712e-02 -5.92568400e-03 9.99925512e-01 -1.86755743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61119381700004 meters Centerline goodness [0,1] 0.9190422839121956 Centerline is valid? [False, False] Translation: X:9.26, Y:-0.20, Z:-1.87 [[ 9.99939805e-01 -1.08664181e-03 -1.09181630e-02 9.26100406e+00] [ 1.14358869e-03 9.99985769e-01 5.21090459e-03 -2.00292702e-01] [ 1.09123452e-02 -5.22307680e-03 9.99926817e-01 -1.86766883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64119381700004 meters Centerline goodness [0,1] 0.9162887455793635 Centerline is valid? [False, False] Translation: X:9.26, Y:-0.20, Z:-1.87 [[ 9.99937582e-01 -7.80963574e-04 -1.11454742e-02 9.26126293e+00] [ 8.34024809e-04 9.99988338e-01 4.75693395e-03 -1.98266716e-01] [ 1.11416292e-02 -4.76593264e-03 9.99926572e-01 -1.86742942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67119381700002 meters Centerline goodness [0,1] 0.9147653092943736 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.20, Z:-1.87 [[ 9.99960679e-01 3.03836344e-03 -8.33118427e-03 9.27042452e+00] [-3.05985466e-03 9.99992021e-01 -2.56808004e-03 -1.96281624e-01] [ 8.32331504e-03 2.59347127e-03 9.99961997e-01 -1.86785394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70119381700002 meters Centerline goodness [0,1] 0.9137130539319321 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.20, Z:-1.87 [[ 9.99958495e-01 3.33971415e-03 -8.47671069e-03 9.27077172e+00] [-3.36250207e-03 9.99990768e-01 -2.67547131e-03 -1.95140594e-01] [ 8.46769712e-03 2.70386323e-03 9.99960493e-01 -1.86790275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73119381700002 meters Centerline goodness [0,1] 0.9098709771249299 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.19, Z:-1.87 [[ 9.99955195e-01 3.78886840e-03 -8.67487078e-03 9.27127534e+00] [-3.81194289e-03 9.99989237e-01 -2.64493625e-03 -1.94216599e-01] [ 8.66475610e-03 2.67788585e-03 9.99958875e-01 -1.86805207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76119381700002 meters Centerline goodness [0,1] 0.9070895522388059 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.19, Z:-1.87 [[ 9.99949731e-01 4.35774809e-03 -9.03022507e-03 9.27238699e+00] [-4.37870322e-03 9.99987764e-01 -2.30208463e-03 -1.94402077e-01] [ 9.02008267e-03 2.34150958e-03 9.99956577e-01 -1.86856761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79119381700002 meters Centerline goodness [0,1] 0.9021865405360551 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.20, Z:-1.87 [[ 9.99940475e-01 5.90314381e-03 -9.17600413e-03 9.27290488e+00] [-5.91128199e-03 9.99982158e-01 -8.60029017e-04 -1.97546393e-01] [ 9.17076354e-03 9.14219772e-04 9.99957530e-01 -1.86887304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82119381700002 meters Centerline goodness [0,1] 0.9021833879872152 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.20, Z:-1.87 [[ 9.99936024e-01 6.54027069e-03 -9.22892110e-03 9.27281107e+00] [-6.54086209e-03 9.99978608e-01 -3.38998425e-05 -1.99755499e-01] [ 9.22850196e-03 9.42627739e-05 9.99957412e-01 -1.86858653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85119381700002 meters Centerline goodness [0,1] 0.9008110182323537 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.20, Z:-1.87 [[ 9.99930276e-01 7.17607117e-03 -9.37797408e-03 9.27272098e+00] [-7.16774721e-03 9.99973887e-01 9.20916504e-04 -2.02499614e-01] [ 9.38433775e-03 -8.53633347e-04 9.99955602e-01 -1.86805255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88119381700002 meters Centerline goodness [0,1] 0.9037797829431578 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.21, Z:-1.87 [[ 9.99924275e-01 7.83797485e-03 -9.48735847e-03 9.27234020e+00] [-7.81792712e-03 9.99967132e-01 2.14834468e-03 -2.06084278e-01] [ 9.50388531e-03 -2.07401052e-03 9.99952686e-01 -1.86723757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.91119381700003 meters Centerline goodness [0,1] 0.9058799085809266 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.21, Z:-1.86 [[ 9.99937591e-01 6.38459746e-03 -9.16788680e-03 9.26957576e+00] [-6.36933256e-03 9.99978282e-01 1.69327308e-03 -2.14569975e-01] [ 9.17849856e-03 -1.63477409e-03 9.99956540e-01 -1.86441640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94119381700003 meters Centerline goodness [0,1] 0.9062985439406805 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.22, Z:-1.86 [[ 9.99950281e-01 3.65869164e-03 -9.27627070e-03 9.26937928e+00] [-3.66389983e-03 9.99993140e-01 -5.44520999e-04 -2.18734308e-01] [ 9.27421483e-03 5.78481253e-04 9.99956826e-01 -1.86385894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97119381700003 meters Centerline goodness [0,1] 0.9065521167580995 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.22, Z:-1.86 [[ 9.99956383e-01 1.14503295e-03 -9.26933994e-03 9.26899758e+00] [-1.16786221e-03 9.99996298e-01 -2.45784081e-03 -2.23347371e-01] [ 9.26649131e-03 2.46855891e-03 9.99954018e-01 -1.86341663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00119381700003 meters Centerline goodness [0,1] 0.9061275015473489 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.23, Z:-1.86 [[ 9.99953000e-01 -7.11851054e-04 -9.66904958e-03 9.27086400e+00] [ 6.76694057e-04 9.99993151e-01 -3.63881940e-03 -2.28482685e-01] [ 9.67157365e-03 3.63210539e-03 9.99946633e-01 -1.86468679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03119381700003 meters Centerline goodness [0,1] 0.9065453490300116 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.23, Z:-1.86 [[ 9.99952841e-01 -1.26401790e-04 -9.71082016e-03 9.27119946e+00] [ 1.09792206e-04 9.99998530e-01 -1.71093435e-03 -2.34898883e-01] [ 9.71102215e-03 1.70978749e-03 9.99951385e-01 -1.86497372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06119381700003 meters Centerline goodness [0,1] 0.9039956758554738 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.25, Z:-1.87 [[ 9.99950644e-01 -1.46111327e-03 -9.82726227e-03 9.27192627e+00] [ 1.44954728e-03 9.99998249e-01 -1.18394827e-03 -2.46553926e-01] [ 9.82897494e-03 1.16964476e-03 9.99951010e-01 -1.86553545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09119381700003 meters Centerline goodness [0,1] 0.9032593331670409 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.25, Z:-1.87 [[ 9.99949885e-01 -8.15749252e-04 -9.97803870e-03 9.27253037e+00] [ 8.23261934e-04 9.99999381e-01 7.48837501e-04 -2.52756958e-01] [ 9.97742166e-03 -7.57014512e-04 9.99949938e-01 -1.86581743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12119381700003 meters Centerline goodness [0,1] 0.9019265540245651 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.26, Z:-1.87 [[ 9.99948483e-01 -1.69218822e-04 -1.01490717e-02 9.27317655e+00] [ 1.94907406e-04 9.99996780e-01 2.53019080e-03 -2.58992777e-01] [ 1.01486109e-02 -2.53203858e-03 9.99945296e-01 -1.86611261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15119381700003 meters Centerline goodness [0,1] 0.90153871676828 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.27, Z:-1.87 [[ 9.99946971e-01 -1.19088490e-03 -1.02292443e-02 9.27462905e+00] [ 1.21860087e-03 9.99995603e-01 2.70367739e-03 -2.72126170e-01] [ 1.02259796e-02 -2.71599938e-03 9.99944025e-01 -1.86747244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18119381700004 meters Centerline goodness [0,1] 0.90153871676828 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.27, Z:-1.87 [[ 9.99946971e-01 -1.19088490e-03 -1.02292443e-02 9.27462905e+00] [ 1.21860087e-03 9.99995603e-01 2.70367739e-03 -2.72126170e-01] [ 1.02259796e-02 -2.71599938e-03 9.99944025e-01 -1.86747244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21119381700004 meters Centerline goodness [0,1] 0.9007120089415076 Centerline is valid? [False, False] Translation: X:9.28, Y:-0.28, Z:-1.87 [[ 9.99939684e-01 -2.12592113e-03 -1.07754150e-02 9.27678344e+00] [ 2.15128418e-03 9.99994942e-01 2.34274440e-03 -2.78288073e-01] [ 1.07703801e-02 -2.36578407e-03 9.99939199e-01 -1.86877156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24119381700004 meters Centerline goodness [0,1] 0.8997227165500973 Centerline is valid? [False, False] Translation: X:9.28, Y:-0.28, Z:-1.87 [[ 9.99939168e-01 -1.45761126e-03 -1.09332494e-02 9.27773875e+00] [ 1.50097842e-03 9.99991035e-01 3.95938246e-03 -2.84655493e-01] [ 1.09273801e-02 -3.97555218e-03 9.99932391e-01 -1.86947146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27119381700004 meters Centerline goodness [0,1] 0.8993143569499273 Centerline is valid? [False, False] Translation: X:9.28, Y:-0.29, Z:-1.87 [[ 9.99938702e-01 -3.11975956e-03 -1.06235174e-02 9.27621382e+00] [ 3.14939465e-03 9.99991193e-01 2.77398884e-03 -2.89226348e-01] [ 1.06147696e-02 -2.80727645e-03 9.99939721e-01 -1.86830553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30119381700004 meters Centerline goodness [0,1] 0.8998380129589633 Centerline is valid? [False, False] Translation: X:9.28, Y:-0.30, Z:-1.87 [[ 9.99939575e-01 -2.54754430e-03 -1.06937359e-02 9.27648170e+00] [ 2.59535000e-03 9.99986691e-01 4.45894560e-03 -2.95004130e-01] [ 1.06822342e-02 -4.48643016e-03 9.99932879e-01 -1.86831248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33119381700004 meters Centerline goodness [0,1] 0.9004943225299386 Centerline is valid? [False, False] Translation: X:9.28, Y:-0.30, Z:-1.87 [[ 9.99931729e-01 -3.45894761e-03 -1.11612497e-02 9.27899547e+00] [ 3.50640802e-03 9.99984883e-01 4.23548582e-03 -2.99960511e-01] [ 1.11464306e-02 -4.27433256e-03 9.99928741e-01 -1.87011832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36119381700004 meters Centerline goodness [0,1] 0.8989408099688474 Centerline is valid? [False, False] Translation: X:9.28, Y:-0.31, Z:-1.87 [[ 9.99923527e-01 -5.44367012e-03 -1.11043740e-02 9.27950220e+00] [ 5.49051149e-03 9.99976140e-01 4.19216541e-03 -3.11620954e-01] [ 1.10812883e-02 -4.25281351e-03 9.99929557e-01 -1.87063069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39119381700004 meters Centerline goodness [0,1] 0.8984532336759057 Centerline is valid? [False, False] Translation: X:9.28, Y:-0.32, Z:-1.87 [[ 9.99903284e-01 -8.30390815e-03 -1.11564710e-02 9.27951267e+00] [ 8.33126853e-03 9.99962395e-01 2.40818905e-03 -3.17553550e-01] [ 1.11360541e-02 -2.50090370e-03 9.99934865e-01 -1.87035154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42119381700002 meters Centerline goodness [0,1] 0.9014429565036852 Centerline is valid? [False, False] Translation: X:9.28, Y:-0.32, Z:-1.87 [[ 9.99871581e-01 -1.14494558e-02 -1.12130040e-02 9.27947776e+00] [ 1.14544148e-02 9.99934325e-01 3.78132962e-04 -3.23309539e-01] [ 1.12079382e-02 -5.06522801e-04 9.99937061e-01 -1.86993563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45119381700002 meters Centerline goodness [0,1] 0.9015690982859982 Centerline is valid? [False, False] Translation: X:9.28, Y:-0.33, Z:-1.87 [[ 9.99831120e-01 -1.45705684e-02 -1.11995852e-02 9.27942896e+00] [ 1.45532084e-02 9.99892768e-01 -1.62999770e-03 -3.29083881e-01] [ 1.12221343e-02 1.46673253e-03 9.99935954e-01 -1.86966239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48119381700002 meters Centerline goodness [0,1] 0.906834749018712 Centerline is valid? [False, False] Translation: X:9.28, Y:-0.34, Z:-1.87 [[ 9.99724267e-01 -2.09625304e-02 -1.05811847e-02 9.27755570e+00] [ 2.09010671e-02 9.99764221e-01 -5.88627840e-03 -3.38968515e-01] [ 1.07020811e-02 5.66349731e-03 9.99926692e-01 -1.86808394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51119381700002 meters Centerline goodness [0,1] 0.9068386185699748 Centerline is valid? [False, False] Translation: X:9.28, Y:-0.34, Z:-1.87 [[ 9.99717701e-01 -2.12950335e-02 -1.05375604e-02 9.27762734e+00] [ 2.12479779e-02 9.99763848e-01 -4.55750019e-03 -3.44850554e-01] [ 1.06321241e-02 4.33231176e-03 9.99934092e-01 -1.86789701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54119381700002 meters Centerline goodness [0,1] 0.9079946868125026 Centerline is valid? [False, False] Translation: X:9.28, Y:-0.35, Z:-1.87 [[ 9.99632333e-01 -2.49532035e-02 -1.06082879e-02 9.27827224e+00] [ 2.48739488e-02 9.99662172e-01 -7.53845960e-03 -3.47866001e-01] [ 1.07928128e-02 7.27181795e-03 9.99915314e-01 -1.86830372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57119381700002 meters Centerline goodness [0,1] 0.9106875623545061 Centerline is valid? [False, False] Translation: X:9.28, Y:-0.35, Z:-1.87 [[ 0.99953298 -0.02860226 -0.01075773 9.27902907] [ 0.02848951 0.99953903 -0.01049131 -0.35101206] [ 0.01105285 0.01017993 0.9998871 -1.86862343] [ 0. 0. 0. 1. ]] SLAMing on 239.60119381700002 meters Centerline goodness [0,1] 0.9135212613473483 Centerline is valid? [False, False] Translation: X:9.28, Y:-0.36, Z:-1.87 [[ 0.99928646 -0.03628438 -0.01048874 9.27912933] [ 0.03610317 0.99920382 -0.01697876 -0.3558869 ] [ 0.01109645 0.01658797 0.99980083 -1.86865518] [ 0. 0. 0. 1. ]] SLAMing on 239.63119381700002 meters Centerline goodness [0,1] 0.9141877856252597 Centerline is valid? [False, False] Translation: X:9.28, Y:-0.36, Z:-1.87 [[ 0.99926414 -0.03687839 -0.01054313 9.27918965] [ 0.03670469 0.99919452 -0.01621979 -0.35941726] [ 0.0111328 0.01582087 0.99981286 -1.86822052] [ 0. 0. 0. 1. ]] SLAMing on 239.66119381700003 meters Centerline goodness [0,1] 0.9137792269434757 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.36, Z:-1.87 [[ 9.99166307e-01 -4.03654953e-02 -6.10889157e-03 9.28712483e+00] [ 4.03114117e-02 9.99149012e-01 -8.73160959e-03 -3.63412385e-01] [ 6.45614873e-03 8.47807206e-03 9.99943219e-01 -1.86859817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.69119381700003 meters Centerline goodness [0,1] 0.9128000661075073 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.37, Z:-1.87 [[ 9.98934984e-01 -4.57883516e-02 -5.68539449e-03 9.28664288e+00] [ 4.57144136e-02 9.98876127e-01 -1.25170233e-02 -3.67498436e-01] [ 6.25213869e-03 1.22437880e-02 9.99905496e-01 -1.86796195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72119381700003 meters Centerline goodness [0,1] 0.8954268607411996 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.37, Z:-1.87 [[ 9.98904952e-01 -4.64124882e-02 -5.89719797e-03 9.28754020e+00] [ 4.63380467e-02 9.98851455e-01 -1.21883416e-02 -3.69716460e-01] [ 6.45611604e-03 1.19017302e-02 9.99908329e-01 -1.86836946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75119381700003 meters Centerline goodness [0,1] 0.8862389499617 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.37, Z:-1.87 [[ 9.98874047e-01 -4.70427995e-02 -6.13289085e-03 9.28872473e+00] [ 4.69651010e-02 9.98821401e-01 -1.22510415e-02 -3.70388916e-01] [ 6.70198592e-03 1.19492156e-02 9.99906145e-01 -1.86923421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78119381700003 meters Centerline goodness [0,1] 0.866704021915079 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.37, Z:-1.87 [[ 9.98849335e-01 -4.75371149e-02 -6.34264938e-03 9.28973519e+00] [ 4.74565432e-02 9.98797564e-01 -1.23005358e-02 -3.70846025e-01] [ 6.91975473e-03 1.19853817e-02 9.99904229e-01 -1.86996118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81119381700003 meters Centerline goodness [0,1] 0.8266550160196396 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.37, Z:-1.87 [[ 9.98825236e-01 -4.80163867e-02 -6.52490246e-03 9.29063162e+00] [ 4.79327633e-02 9.98773355e-01 -1.24191869e-02 -3.71095091e-01] [ 7.11322320e-03 1.20918407e-02 9.99901590e-01 -1.87062823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84119381700003 meters Centerline goodness [0,1] 0.7886798707218032 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.37, Z:-1.87 [[ 9.98725580e-01 -5.00290436e-02 -6.65659196e-03 9.29252850e+00] [ 4.99323056e-02 9.98654734e-01 -1.39816769e-02 -3.69429218e-01] [ 7.34712699e-03 1.36314794e-02 9.99880094e-01 -1.87245052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87119381700003 meters Centerline goodness [0,1] 0.7681213477558125 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.37, Z:-1.87 [[ 9.98697375e-01 -5.05751686e-02 -6.76051524e-03 9.29324845e+00] [ 5.04718324e-02 9.98617743e-01 -1.46696158e-02 -3.67732868e-01] [ 7.49308876e-03 1.43092912e-02 9.99869540e-01 -1.87312531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90119381700003 meters Centerline goodness [0,1] 0.7672593271152565 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.37, Z:-1.87 [[ 9.98826387e-01 -4.79368311e-02 -6.92163049e-03 9.29387096e+00] [ 4.78555364e-02 9.98788428e-01 -1.14683494e-02 -3.67420658e-01] [ 7.46300076e-03 1.11236516e-02 9.99910280e-01 -1.87362704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93119381700004 meters Centerline goodness [0,1] 0.7584003982411018 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.36, Z:-1.87 [[ 9.98796803e-01 -4.85251691e-02 -7.08897487e-03 9.29456243e+00] [ 4.84335699e-02 9.98747342e-01 -1.25672517e-02 -3.64608500e-01] [ 7.68992282e-03 1.22087865e-02 9.99895900e-01 -1.87412385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96119381700004 meters Centerline goodness [0,1] 0.7438541666666667 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.36, Z:-1.87 [[ 9.98891429e-01 -4.65212218e-02 -7.18946895e-03 9.29521712e+00] [ 4.64399866e-02 9.98859621e-01 -1.10808421e-02 -3.59002986e-01] [ 7.69676454e-03 1.07346794e-02 9.99912759e-01 -1.87491434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99119381700004 meters Centerline goodness [0,1] 0.7529521635363703 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.36, Z:-1.88 [[ 9.99013064e-01 -4.38028750e-02 -7.36252595e-03 9.29574767e+00] [ 4.37391671e-02 9.99005950e-01 -8.60213400e-03 -3.55523770e-01] [ 7.73200544e-03 8.27161349e-03 9.99935896e-01 -1.87543686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02119381700004 meters Centerline goodness [0,1] 0.7251627394297361 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.35, Z:-1.88 [[ 9.99136046e-01 -4.08852908e-02 -7.45355610e-03 9.29542477e+00] [ 4.08397964e-02 9.99146737e-01 -6.15708978e-03 -3.51170567e-01] [ 7.69893066e-03 5.84736862e-03 9.99953266e-01 -1.87512642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05119381700004 meters Centerline goodness [0,1] 0.7322482747152241 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.35, Z:-1.87 [[ 9.99261700e-01 -3.76647843e-02 -7.57750915e-03 9.29518861e+00] [ 3.76381944e-02 9.99284869e-01 -3.62163520e-03 -3.46589244e-01] [ 7.70849835e-03 3.33375759e-03 9.99964732e-01 -1.87485965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08119381700004 meters Centerline goodness [0,1] 0.7580306464020625 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.34, Z:-1.87 [[ 9.99434487e-01 -3.28331080e-02 -7.25904753e-03 9.29313075e+00] [ 3.28272223e-02 9.99460610e-01 -9.28517302e-04 -3.35438499e-01] [ 7.28561818e-03 6.89697847e-04 9.99973222e-01 -1.87357357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11119381700004 meters Centerline goodness [0,1] 0.7863189201555708 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.33, Z:-1.87 [[ 9.99527980e-01 -2.98045398e-02 -7.45020955e-03 9.29348306e+00] [ 2.98138453e-02 9.99554817e-01 1.14108152e-03 -3.30054338e-01] [ 7.41288343e-03 -1.36266230e-03 9.99971596e-01 -1.87391164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14119381700004 meters Centerline goodness [0,1] 0.7897219463753724 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.32, Z:-1.88 [[ 9.99594477e-01 -2.74030065e-02 -7.74311816e-03 9.29473138e+00] [ 2.74228563e-02 9.99620873e-01 2.46909318e-03 -3.23369314e-01] [ 7.67252196e-03 -2.68043033e-03 9.99966973e-01 -1.87504493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17119381700002 meters Centerline goodness [0,1] 0.7642717963600183 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.31, Z:-1.88 [[ 9.99675020e-01 -2.43089146e-02 -7.67659957e-03 9.29594236e+00] [ 2.43423233e-02 9.99694481e-01 4.28897716e-03 -3.09950990e-01] [ 7.56999385e-03 -4.47444960e-03 9.99961336e-01 -1.87710742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20119381700002 meters Centerline goodness [0,1] 0.763698347107438 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.30, Z:-1.88 [[ 9.99663422e-01 -2.46334841e-02 -8.13843148e-03 9.29916346e+00] [ 2.46618994e-02 9.99690034e-01 3.40977433e-03 -3.04639905e-01] [ 8.05191422e-03 -3.60933586e-03 9.99961069e-01 -1.87989113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23119381700002 meters Centerline goodness [0,1] 0.7387409751960115 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.30, Z:-1.88 [[ 9.99628642e-01 -2.59654522e-02 -8.26878537e-03 9.29993144e+00] [ 2.59771849e-02 9.99661672e-01 1.31467439e-03 -2.99435434e-01] [ 8.23185169e-03 -1.52898594e-03 9.99964949e-01 -1.88059569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26119381700002 meters Centerline goodness [0,1] 0.717926386728875 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.29, Z:-1.88 [[ 9.99593679e-01 -2.72522359e-02 -8.35419091e-03 9.30038605e+00] [ 2.72476387e-02 9.99628494e-01 -6.63640057e-04 -2.94239438e-01] [ 8.36917295e-03 4.35738431e-04 9.99964883e-01 -1.88097792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29119381700002 meters Centerline goodness [0,1] 0.6876099782631198 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.28, Z:-1.88 [[ 9.99504980e-01 -3.02779056e-02 -8.54657631e-03 9.30170513e+00] [ 3.02392083e-02 9.99532007e-01 -4.62131774e-03 -2.82373676e-01] [ 8.68250040e-03 4.36058840e-03 9.99952799e-01 -1.88196280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32119381700002 meters Centerline goodness [0,1] 0.7288609798557573 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.28, Z:-1.88 [[ 9.99571963e-01 -2.79419858e-02 -8.66811984e-03 9.30215650e+00] [ 2.79220002e-02 9.99607180e-01 -2.41819067e-03 -2.78751240e-01] [ 8.73228388e-03 2.17512435e-03 9.99959507e-01 -1.88236656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35119381700002 meters Centerline goodness [0,1] 0.6728923529777575 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.27, Z:-1.88 [[ 9.99640179e-01 -2.53417170e-02 -8.79263817e-03 9.30256098e+00] [ 2.53403175e-02 9.99678846e-01 -2.70552895e-04 -2.74456477e-01] [ 8.79667065e-03 4.76473014e-05 9.99961307e-01 -1.88273526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38119381700002 meters Centerline goodness [0,1] 0.6741542681406367 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.27, Z:-1.88 [[ 9.99704482e-01 -2.25946601e-02 -8.96825715e-03 9.30311953e+00] [ 2.26102404e-02 9.99743011e-01 1.63968695e-03 -2.69046579e-01] [ 8.92890424e-03 -1.84197685e-03 9.99958440e-01 -1.88325400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.41119381700003 meters Centerline goodness [0,1] 0.7431484096005315 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.26, Z:-1.88 [[ 9.99757620e-01 -1.99769652e-02 -9.25326100e-03 9.30408298e+00] [ 2.00071728e-02 9.99794768e-01 3.18354673e-03 -2.62660624e-01] [ 9.18776433e-03 -3.36790669e-03 9.99952120e-01 -1.88395956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44119381700003 meters Centerline goodness [0,1] 0.7282038522941676 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.25, Z:-1.88 [[ 9.99843584e-01 -1.49878094e-02 -9.39003129e-03 9.30403919e+00] [ 1.50461906e-02 9.99867714e-01 6.17787287e-03 -2.50377558e-01] [ 9.29619634e-03 -6.31819075e-03 9.99936829e-01 -1.88383626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47119381700003 meters Centerline goodness [0,1] 0.6895617463961449 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.24, Z:-1.88 [[ 9.99841845e-01 -1.50150565e-02 -9.53059700e-03 9.30428229e+00] [ 1.50601804e-02 9.99875633e-01 4.68065637e-03 -2.43306258e-01] [ 9.45913139e-03 -4.82344862e-03 9.99943628e-01 -1.88376945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50119381700003 meters Centerline goodness [0,1] 0.7853642329097101 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.24, Z:-1.88 [[ 9.99881602e-01 -1.20339314e-02 -9.58994694e-03 9.30409538e+00] [ 1.20981360e-02 9.99904600e-01 6.66533470e-03 -2.38142180e-01] [ 9.50882188e-03 -6.78056602e-03 9.99931801e-01 -1.88351405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53119381700003 meters Centerline goodness [0,1] 0.814569261145173 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.23, Z:-1.88 [[ 9.99912038e-01 -8.95880498e-03 -9.78043162e-03 9.30471237e+00] [ 9.04242828e-03 9.99922652e-01 8.53958775e-03 -2.32487091e-01] [ 9.70317062e-03 -8.62727544e-03 9.99915706e-01 -1.88392819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56119381700003 meters Centerline goodness [0,1] 0.8710853355426678 Centerline is valid? [False, False] Translation: X:9.31, Y:-0.22, Z:-1.89 [[ 9.99979601e-01 2.62680563e-04 -6.38189657e-03 9.31119170e+00] [-2.59384573e-04 9.99999833e-01 5.17281619e-04 -2.17379327e-01] [ 6.38203138e-03 -5.15615702e-04 9.99979502e-01 -1.88768420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59119381700003 meters Centerline goodness [0,1] 0.8957032225830627 Centerline is valid? [False, False] Translation: X:9.31, Y:-0.21, Z:-1.89 [[ 9.99972094e-01 3.90036935e-03 -6.37168227e-03 9.31163277e+00] [-3.88405971e-03 9.99989154e-01 2.57007861e-03 -2.11056070e-01] [ 6.38163742e-03 -2.54525889e-03 9.99976398e-01 -1.88818760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62119381700003 meters Centerline goodness [0,1] 0.9031158411108109 Centerline is valid? [False, False] Translation: X:9.31, Y:-0.20, Z:-1.89 [[ 9.99949335e-01 7.62641745e-03 -6.56996196e-03 9.31275756e+00] [-7.59580000e-03 9.99960234e-01 4.67263191e-03 -2.04919346e-01] [ 6.60533614e-03 -4.62249106e-03 9.99967501e-01 -1.88902232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65119381700003 meters Centerline goodness [0,1] 0.9053462057510641 Centerline is valid? [False, False] Translation: X:9.31, Y:-0.20, Z:-1.89 [[ 9.99911858e-01 1.14184476e-02 -6.77464530e-03 9.31367147e+00] [-1.13714664e-02 9.99911305e-01 6.93331826e-03 -1.99008704e-01] [ 6.85321216e-03 -6.85566949e-03 9.99953016e-01 -1.88952770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68119381700004 meters Centerline goodness [0,1] 0.9039896879353001 Centerline is valid? [False, False] Translation: X:9.31, Y:-0.19, Z:-1.89 [[ 9.99806262e-01 1.87059349e-02 -6.12595447e-03 9.31147087e+00] [-1.86327591e-02 9.99756855e-01 1.17920216e-02 -1.89714596e-01] [ 6.34504576e-03 -1.16755936e-02 9.99911707e-01 -1.88741513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71119381700004 meters Centerline goodness [0,1] 0.9038178996378686 Centerline is valid? [False, False] Translation: X:9.31, Y:-0.18, Z:-1.89 [[ 9.99802843e-01 1.88985542e-02 -6.09254034e-03 9.31103209e+00] [-1.88332235e-02 9.99766365e-01 1.06077872e-02 -1.84922111e-01] [ 6.29158875e-03 -1.04909537e-02 9.99925175e-01 -1.88670547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74119381700004 meters Centerline goodness [0,1] 0.9031488549618321 Centerline is valid? [False, False] Translation: X:9.31, Y:-0.18, Z:-1.89 [[ 9.99805644e-01 1.87258127e-02 -6.16591734e-03 9.31082204e+00] [-1.86666602e-02 9.99780484e-01 9.51518485e-03 -1.81404239e-01] [ 6.34274340e-03 -9.39823844e-03 9.99935719e-01 -1.88618954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77119381700004 meters Centerline goodness [0,1] 0.903067662329603 Centerline is valid? [False, False] Translation: X:9.31, Y:-0.18, Z:-1.89 [[ 9.99815443e-01 1.81893969e-02 -6.18265379e-03 9.31092590e+00] [-1.81403079e-02 9.99804199e-01 7.90525143e-03 -1.76725097e-01] [ 6.32523498e-03 -7.79163722e-03 9.99949640e-01 -1.88617319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80119381700004 meters Centerline goodness [0,1] 0.904331793416337 Centerline is valid? [False, False] Translation: X:9.31, Y:-0.17, Z:-1.89 [[ 9.99875957e-01 1.43953832e-02 -6.39081832e-03 9.31126103e+00] [-1.43754635e-02 9.99891700e-01 3.15199953e-03 -1.73316554e-01] [ 6.43550044e-03 -3.05973757e-03 9.99974611e-01 -1.88615322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83119381700004 meters Centerline goodness [0,1] 0.904499750706332 Centerline is valid? [False, False] Translation: X:9.31, Y:-0.17, Z:-1.89 [[ 9.99922184e-01 1.07056218e-02 -6.40434016e-03 9.31144187e+00] [-1.07145345e-02 9.99941674e-01 -1.35897693e-03 -1.70508067e-01] [ 6.38941793e-03 1.42749070e-03 9.99978569e-01 -1.88634134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86119381700004 meters Centerline goodness [0,1] 0.9062383187274162 Centerline is valid? [False, False] Translation: X:9.31, Y:-0.17, Z:-1.89 [[ 9.99924496e-01 1.03536972e-02 -6.61838960e-03 9.31217055e+00] [-1.03645473e-02 9.99944995e-01 -1.60719264e-03 -1.70399091e-01] [ 6.60138517e-03 1.67566790e-03 9.99976807e-01 -1.88679513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89119381700004 meters Centerline goodness [0,1] 0.9072846305725866 Centerline is valid? [False, False] Translation: X:9.31, Y:-0.17, Z:-1.89 [[ 9.99925501e-01 1.01919764e-02 -6.71681218e-03 9.31277484e+00] [-1.02032086e-02 9.99946601e-01 -1.64010859e-03 -1.70627891e-01] [ 6.69973756e-03 1.70851944e-03 9.99976097e-01 -1.88737002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92119381700002 meters Centerline goodness [0,1] 0.9079957555708134 Centerline is valid? [False, False] Translation: X:9.31, Y:-0.17, Z:-1.89 [[ 9.99926127e-01 1.00396438e-02 -6.85177513e-03 9.31354017e+00] [-1.00506770e-02 9.99948246e-01 -1.57774353e-03 -1.71243800e-01] [ 6.83558054e-03 1.64649196e-03 9.99975282e-01 -1.88806794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95119381700002 meters Centerline goodness [0,1] 0.9074598284905503 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.17, Z:-1.89 [[ 9.99943345e-01 7.77878761e-03 -7.26616372e-03 9.31624680e+00] [-7.80635186e-03 9.99962412e-01 -3.77288012e-03 -1.72741143e-01] [ 7.23654217e-03 3.82938859e-03 9.99966484e-01 -1.89047941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98119381700002 meters Centerline goodness [0,1] 0.9076395385095104 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.17, Z:-1.89 [[ 9.99942304e-01 7.80148235e-03 -7.38418529e-03 9.31673073e+00] [-7.82676487e-03 9.99963586e-01 -3.40119111e-03 -1.74337249e-01] [ 7.35738208e-03 3.45878915e-03 9.99966952e-01 -1.89083300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01119381700002 meters Centerline goodness [0,1] 0.9087927598804384 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.18, Z:-1.89 [[ 9.99941726e-01 7.80479983e-03 -7.45858004e-03 9.31693479e+00] [-7.82751705e-03 9.99964800e-01 -3.02146036e-03 -1.76097875e-01] [ 7.43473560e-03 3.07966645e-03 9.99967620e-01 -1.89095134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04119381700002 meters Centerline goodness [0,1] 0.9101277941972277 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.18, Z:-1.89 [[ 9.99941780e-01 7.78122469e-03 -7.47595034e-03 9.31678605e+00] [-7.80096464e-03 9.99966153e-01 -2.61493784e-03 -1.77819380e-01] [ 7.45534988e-03 2.67310522e-03 9.99968636e-01 -1.89076038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07119381700002 meters Centerline goodness [0,1] 0.9101277941972277 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.18, Z:-1.89 [[ 9.99941780e-01 7.78122469e-03 -7.47595034e-03 9.31678605e+00] [-7.80096464e-03 9.99966153e-01 -2.61493784e-03 -1.77819380e-01] [ 7.45534988e-03 2.67310522e-03 9.99968636e-01 -1.89076038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10119381700002 meters Centerline goodness [0,1] 0.9138900998526084 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.18, Z:-1.89 [[ 9.99942153e-01 7.58543148e-03 -7.62572788e-03 9.31715060e+00] [-7.60181077e-03 9.99968856e-01 -2.12121284e-03 -1.79947913e-01] [ 7.60940007e-03 2.17905947e-03 9.99968674e-01 -1.89092072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.13119381700002 meters Centerline goodness [0,1] 0.9123481150690622 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.18, Z:-1.89 [[ 9.99941922e-01 7.51178116e-03 -7.72819443e-03 9.31730703e+00] [-7.52554164e-03 9.99970146e-01 -1.75301828e-03 -1.81586215e-01] [ 7.71479543e-03 1.81107532e-03 9.99968600e-01 -1.89092260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16119381700003 meters Centerline goodness [0,1] 0.9142322486744984 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.18, Z:-1.89 [[ 9.99942014e-01 7.47812393e-03 -7.74894483e-03 9.31719934e+00] [-7.48801094e-03 9.99971186e-01 -1.24769097e-03 -1.83838562e-01] [ 7.73939117e-03 1.30564280e-03 9.99969198e-01 -1.89080615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.19119381700003 meters Centerline goodness [0,1] 0.9127133937646498 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.19, Z:-1.89 [[ 9.99952152e-01 5.54989216e-03 -8.05556198e-03 9.31902078e+00] [-5.57494681e-03 9.99979682e-01 -3.09111435e-03 -1.85271600e-01] [ 8.03824296e-03 3.13587578e-03 9.99962776e-01 -1.89221520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22119381700003 meters Centerline goodness [0,1] 0.9142928173361785 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.19, Z:-1.89 [[ 9.99953648e-01 5.45697987e-03 -7.93245498e-03 9.31900821e+00] [-5.47580268e-03 9.99982239e-01 -2.35310652e-03 -1.88717236e-01] [ 7.91947324e-03 2.39643401e-03 9.99965769e-01 -1.89254210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25119381700003 meters Centerline goodness [0,1] 0.9160251342016562 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.19, Z:-1.89 [[ 9.99953225e-01 5.48601078e-03 -7.96558535e-03 9.31914467e+00] [-5.50401642e-03 9.99982343e-01 -2.24026936e-03 -1.89107571e-01] [ 7.95315457e-03 2.28400728e-03 9.99965765e-01 -1.89265191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28119381700003 meters Centerline goodness [0,1] 0.9141224150472825 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.19, Z:-1.89 [[ 9.99948445e-01 6.07709570e-03 -8.13486916e-03 9.31996817e+00] [-6.09087594e-03 9.99980056e-01 -1.67027052e-03 -1.90116243e-01] [ 8.12455652e-03 1.71973289e-03 9.99965516e-01 -1.89329371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31119381700003 meters Centerline goodness [0,1] 0.9175120848115185 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.19, Z:-1.89 [[ 9.99944202e-01 6.37011236e-03 -8.42695782e-03 9.32085103e+00] [-6.38173381e-03 9.99978721e-01 -1.35291002e-03 -1.90978639e-01] [ 8.41816032e-03 1.40661313e-03 9.99963577e-01 -1.89370469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34119381700003 meters Centerline goodness [0,1] 0.9142815542058408 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.19, Z:-1.89 [[ 9.99941372e-01 6.64694924e-03 -8.54809075e-03 9.32128029e+00] [-6.65520442e-03 9.99977414e-01 -9.37650875e-04 -1.92262611e-01] [ 8.54166517e-03 9.94485194e-04 9.99963025e-01 -1.89397831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37119381700003 meters Centerline goodness [0,1] 0.9148383611734398 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.19, Z:-1.89 [[ 9.99938113e-01 6.79042314e-03 -8.81251858e-03 9.32185671e+00] [-6.79419706e-03 9.99976840e-01 -3.98377153e-04 -1.94281857e-01] [ 8.80960933e-03 4.58226486e-04 9.99961090e-01 -1.89407006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40119381700003 meters Centerline goodness [0,1] 0.9141373221148852 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.20, Z:-1.89 [[ 9.99936804e-01 6.73580504e-03 -9.00096211e-03 9.32223212e+00] [-6.73444426e-03 9.99977307e-01 1.81483193e-04 -1.96884546e-01] [ 9.00198028e-03 -1.20855247e-04 9.99959474e-01 -1.89411121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43119381700004 meters Centerline goodness [0,1] 0.9146957878315133 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.20, Z:-1.89 [[ 9.99950677e-01 4.77493174e-03 -8.70877761e-03 9.32043160e+00] [-4.78841538e-03 9.99987368e-01 -1.52808784e-03 -1.98246098e-01] [ 8.70137109e-03 1.56971371e-03 9.99960910e-01 -1.89267616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46119381700004 meters Centerline goodness [0,1] 0.914818652849741 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.20, Z:-1.89 [[ 9.99971342e-01 -1.19033993e-03 -7.47651996e-03 9.32613989e+00] [ 1.22283474e-03 9.99989821e-01 4.34318057e-03 -2.03020804e-01] [ 7.47127399e-03 -4.35219865e-03 9.99962619e-01 -1.88890375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49119381700004 meters Centerline goodness [0,1] 0.9154947132262823 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.20, Z:-1.89 [[ 9.99967921e-01 -3.43277576e-03 -7.23692261e-03 9.32406715e+00] [ 3.45002689e-03 9.99991234e-01 2.37263088e-03 -2.04524871e-01] [ 7.22871446e-03 -2.39752235e-03 9.99970998e-01 -1.88690669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52119381700004 meters Centerline goodness [0,1] 0.9116407498910042 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.21, Z:-1.89 [[ 9.99967585e-01 -3.66586896e-03 -7.16868514e-03 9.32393968e+00] [ 3.68753902e-03 9.99988665e-01 3.01200074e-03 -2.07509203e-01] [ 7.15756229e-03 -3.03833791e-03 9.99969768e-01 -1.88681036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55119381700004 meters Centerline goodness [0,1] 0.9042090886516017 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.21, Z:-1.89 [[ 9.99952502e-01 -6.07015841e-03 -7.62536442e-03 9.32620364e+00] [ 6.07652621e-03 9.99981208e-01 8.12190269e-04 -2.09439462e-01] [ 7.62029100e-03 -8.58487419e-04 9.99970597e-01 -1.88840272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58119381700004 meters Centerline goodness [0,1] 0.9022227772227772 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.21, Z:-1.89 [[ 9.99927707e-01 -9.11235101e-03 -7.84515320e-03 9.32806652e+00] [ 9.09822697e-03 9.99956928e-01 -1.83416483e-03 -2.11710322e-01] [ 7.86152885e-03 1.76265525e-03 9.99967544e-01 -1.89013135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61119381700004 meters Centerline goodness [0,1] 0.8970542377814273 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.21, Z:-1.89 [[ 9.99947447e-01 -6.64322231e-03 -7.80840256e-03 9.32840030e+00] [ 6.65428243e-03 9.99976892e-01 1.39131284e-03 -2.13085360e-01] [ 7.79897933e-03 -1.44319904e-03 9.99968546e-01 -1.89062781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64119381700004 meters Centerline goodness [0,1] 0.8887622521085023 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.21, Z:-1.89 [[ 9.99945482e-01 -6.76045362e-03 -7.95803179e-03 9.32881083e+00] [ 6.76925427e-03 9.99976506e-01 1.07946712e-03 -2.11778258e-01] [ 7.95054714e-03 -1.13327821e-03 9.99967752e-01 -1.89071782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67119381700002 meters Centerline goodness [0,1] 0.8969207114361702 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.21, Z:-1.89 [[ 9.99944298e-01 -6.80524470e-03 -8.06783662e-03 9.32879567e+00] [ 6.81107673e-03 9.99976562e-01 6.95619558e-04 -2.10284810e-01] [ 8.06291367e-03 -7.50531464e-04 9.99967213e-01 -1.89040667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70119381700002 meters Centerline goodness [0,1] 0.903544330111215 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.21, Z:-1.89 [[ 9.99957938e-01 -4.85051560e-03 -7.78423636e-03 9.32604844e+00] [ 4.86655011e-03 9.99986073e-01 2.04225137e-03 -2.07774950e-01] [ 7.77422197e-03 -2.08004785e-03 9.99967617e-01 -1.88759772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73119381700002 meters Centerline goodness [0,1] 0.9108964371039784 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.21, Z:-1.89 [[ 9.99958464e-01 -4.72258663e-03 -7.79528493e-03 9.32552034e+00] [ 4.73421577e-03 9.99987707e-01 1.47403965e-03 -2.05474240e-01] [ 7.78822782e-03 -1.51088299e-03 9.99968530e-01 -1.88675122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76119381700002 meters Centerline goodness [0,1] 0.9110331367826593 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.20, Z:-1.89 [[ 9.99958823e-01 -4.59384857e-03 -7.82621460e-03 9.32520612e+00] [ 4.60049649e-03 9.99989072e-01 8.31652006e-04 -2.02696290e-01] [ 7.82230860e-03 -8.67622234e-04 9.99969029e-01 -1.88618423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79119381700002 meters Centerline goodness [0,1] 0.9168732440918856 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.20, Z:-1.89 [[ 9.99967600e-01 -1.52994624e-03 -7.90306094e-03 9.32530548e+00] [ 1.55492156e-03 9.99993814e-01 3.15503143e-03 -1.98302289e-01] [ 7.89818503e-03 -3.16721785e-03 9.99963793e-01 -1.88610575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82119381700002 meters Centerline goodness [0,1] 0.9197252941054422 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.20, Z:-1.89 [[ 9.99966387e-01 -1.81185991e-03 -7.99640337e-03 9.32590354e+00] [ 1.83038015e-03 9.99995658e-01 2.30936038e-03 -1.95497164e-01] [ 7.99218442e-03 -2.32391921e-03 9.99965362e-01 -1.88665667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85119381700002 meters Centerline goodness [0,1] 0.9214929746012751 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.19, Z:-1.89 [[ 9.99963177e-01 -2.07718426e-03 -8.32640291e-03 9.32735845e+00] [ 2.09089652e-03 9.99996472e-01 1.63847384e-03 -1.93168116e-01] [ 8.32297013e-03 -1.65582316e-03 9.99963993e-01 -1.88766550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88119381700002 meters Centerline goodness [0,1] 0.9187409401532408 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.19, Z:-1.89 [[ 9.99961460e-01 -2.27535487e-03 -8.47944993e-03 9.32816226e+00] [ 2.28433347e-03 9.99996840e-01 1.04933039e-03 -1.91347736e-01] [ 8.47703554e-03 -1.06865984e-03 9.99963498e-01 -1.88830654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.91119381700003 meters Centerline goodness [0,1] 0.9206911554478215 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.19, Z:-1.89 [[ 9.99959561e-01 -2.28687023e-03 -8.69753516e-03 9.32907788e+00] [ 2.29167973e-03 9.99997227e-01 5.43046941e-04 -1.89371312e-01] [ 8.69626916e-03 -5.62956946e-04 9.99962028e-01 -1.88889408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94119381700003 meters Centerline goodness [0,1] 0.9294974176017922 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.19, Z:-1.89 [[ 9.99958295e-01 5.24438132e-04 -9.11770220e-03 9.33197872e+00] [-5.00523050e-04 9.99996429e-01 2.62501257e-03 -1.85700570e-01] [ 9.11904630e-03 -2.62033948e-03 9.99954987e-01 -1.89143674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97119381700003 meters Centerline goodness [0,1] 0.9277972354050525 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.18, Z:-1.89 [[ 9.99954898e-01 5.95492190e-04 -9.47875720e-03 9.33365973e+00] [-5.77262389e-04 9.99997979e-01 1.92584668e-03 -1.83055779e-01] [ 9.47988487e-03 -1.92028809e-03 9.99953221e-01 -1.89267838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00119381700003 meters Centerline goodness [0,1] 0.9231232979232065 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.18, Z:-1.89 [[ 9.99952187e-01 8.95123503e-04 -9.73769458e-03 9.33490780e+00] [-8.80658536e-04 9.99998503e-01 1.48964762e-03 -1.80664281e-01] [ 9.73901342e-03 -1.48100082e-03 9.99951478e-01 -1.89358613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03119381700003 meters Centerline goodness [0,1] 0.9244953899825566 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.18, Z:-1.89 [[ 9.99948331e-01 1.14418100e-03 -1.01008291e-02 9.33633665e+00] [-1.13494259e-03 9.99998932e-01 9.20304261e-04 -1.77828603e-01] [ 1.01018714e-02 -9.08792849e-04 9.99948562e-01 -1.89444108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06119381700003 meters Centerline goodness [0,1] 0.9230657630209953 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.18, Z:-1.90 [[ 9.99942889e-01 1.59477370e-03 -1.05676537e-02 9.33796281e+00] [-1.58807408e-03 9.99998533e-01 6.42335330e-04 -1.75806206e-01] [ 1.05686625e-02 -6.25516429e-04 9.99943954e-01 -1.89525834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09119381700003 meters Centerline goodness [0,1] 0.9225992689815584 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.17, Z:-1.89 [[ 9.99939702e-01 2.54115517e-03 -1.06834307e-02 9.33798869e+00] [-2.53568305e-03 9.99996647e-01 5.25719898e-04 -1.73991200e-01] [ 1.06847309e-02 -4.98598404e-04 9.99942792e-01 -1.89484742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12119381700003 meters Centerline goodness [0,1] 0.921876947364048 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.17, Z:-1.89 [[ 9.99938226e-01 2.55118971e-03 -1.08183048e-02 9.33826162e+00] [-2.55048642e-03 9.99996744e-01 7.88049269e-05 -1.72235318e-01] [ 1.08184706e-02 -5.12081194e-05 9.99941477e-01 -1.89476689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15119381700003 meters Centerline goodness [0,1] 0.922428784365684 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.17, Z:-1.89 [[ 9.99934442e-01 2.67775396e-03 -1.11328714e-02 9.33900582e+00] [-2.68135918e-03 9.99996357e-01 -3.08922128e-04 -1.70094846e-01] [ 1.11320037e-02 3.38753103e-04 9.99937980e-01 -1.89481918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18119381700004 meters Centerline goodness [0,1] 0.924174733184413 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.17, Z:-1.89 [[ 9.99933153e-01 2.67806345e-03 -1.12479749e-02 9.33887214e+00] [-2.68733230e-03 9.99996062e-01 -8.09012960e-04 -1.68026078e-01] [ 1.12457640e-02 8.39185927e-04 9.99936412e-01 -1.89419922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21119381700004 meters Centerline goodness [0,1] 0.925783272245346 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.17, Z:-1.89 [[ 9.99931846e-01 3.40997673e-03 -1.11658163e-02 9.33754867e+00] [-3.41904589e-03 9.99993840e-01 -7.93237986e-04 -1.66858414e-01] [ 1.11630426e-02 8.31360362e-04 9.99937346e-01 -1.89246304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24119381700004 meters Centerline goodness [0,1] 0.9245610411072093 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.17, Z:-1.89 [[ 9.99928836e-01 3.76581765e-03 -1.13199237e-02 9.33788258e+00] [-3.77484052e-03 9.99992574e-01 -7.75817617e-04 -1.66530038e-01] [ 1.13169181e-02 8.18493314e-04 9.99935627e-01 -1.89237788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27119381700004 meters Centerline goodness [0,1] 0.9241839824146655 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.17, Z:-1.89 [[ 9.99927043e-01 4.06583925e-03 -1.13743929e-02 9.33763897e+00] [-4.07564088e-03 9.99991343e-01 -8.38679965e-04 -1.65839072e-01] [ 1.13708845e-02 8.84976718e-04 9.99934958e-01 -1.89185195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30119381700004 meters Centerline goodness [0,1] 0.9224645921637548 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.17, Z:-1.89 [[ 9.99922685e-01 4.89829349e-03 -1.14293421e-02 9.33796036e+00] [-4.90341022e-03 9.99987890e-01 -4.19703927e-04 -1.65785816e-01] [ 1.14271478e-02 4.75714231e-04 9.99934595e-01 -1.89198786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33119381700004 meters Centerline goodness [0,1] 0.9212567480919188 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.17, Z:-1.89 [[ 9.99919089e-01 5.32676587e-03 -1.15516967e-02 9.33830901e+00] [-5.32694800e-03 9.99985812e-01 1.50031280e-05 -1.66689444e-01] [ 1.15516127e-02 4.65333733e-05 9.99933277e-01 -1.89207215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36119381700004 meters Centerline goodness [0,1] 0.9216348344864731 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.17, Z:-1.89 [[ 9.99916902e-01 5.63918068e-03 -1.15926001e-02 9.33818052e+00] [-5.63359845e-03 9.99983999e-01 5.14132732e-04 -1.68115654e-01] [ 1.15953139e-02 -4.48781955e-04 9.99932671e-01 -1.89179120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39119381700004 meters Centerline goodness [0,1] 0.921293057327462 Centerline is valid? [False, False] Translation: X:9.35, Y:-0.17, Z:-1.90 [[ 9.99972990e-01 5.17860633e-03 -5.21551144e-03 9.35028915e+00] [-5.13565839e-03 9.99953071e-01 8.21465667e-03 -1.72523906e-01] [ 5.25780716e-03 -8.18764971e-03 9.99952658e-01 -1.89542036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42119381700002 meters Centerline goodness [0,1] 0.9204062254881724 Centerline is valid? [False, False] Translation: X:9.35, Y:-0.17, Z:-1.90 [[ 9.99984707e-01 1.82060642e-03 -5.22214560e-03 9.35006852e+00] [-1.79646340e-03 9.99987695e-01 4.62416968e-03 -1.73095897e-01] [ 5.23050013e-03 -4.61471757e-03 9.99975673e-01 -1.89504976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45119381700002 meters Centerline goodness [0,1] 0.9227404947083944 Centerline is valid? [False, False] Translation: X:9.35, Y:-0.18, Z:-1.90 [[ 9.99985057e-01 -1.35436201e-03 -5.29628566e-03 9.35054338e+00] [ 1.36877542e-03 9.99995367e-01 2.71874279e-03 -1.79401815e-01] [ 5.29257896e-03 -2.72595159e-03 9.99982279e-01 -1.89541917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48119381700002 meters Centerline goodness [0,1] 0.9223316980665375 Centerline is valid? [False, False] Translation: X:9.35, Y:-0.18, Z:-1.90 [[ 9.99974708e-01 -4.34492844e-03 -5.63069794e-03 9.35195333e+00] [ 4.34641866e-03 9.99990522e-01 2.52450658e-04 -1.82692788e-01] [ 5.62954769e-03 -2.76917644e-04 9.99984116e-01 -1.89628550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51119381700002 meters Centerline goodness [0,1] 0.9233209070500278 Centerline is valid? [False, False] Translation: X:9.35, Y:-0.19, Z:-1.90 [[ 9.99973546e-01 -4.43340874e-03 -5.76655653e-03 9.35250837e+00] [ 4.44190556e-03 9.99989067e-01 1.46149326e-03 -1.87513442e-01] [ 5.76001409e-03 -1.48706910e-03 9.99982305e-01 -1.89662218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54119381700002 meters Centerline goodness [0,1] 0.924700536968195 Centerline is valid? [False, False] Translation: X:9.35, Y:-0.19, Z:-1.90 [[ 9.99972761e-01 -4.66506737e-03 -5.71970341e-03 9.35259392e+00] [ 4.67901867e-03 9.99986105e-01 2.42821503e-03 -1.91810454e-01] [ 5.70829615e-03 -2.45491148e-03 9.99980694e-01 -1.89681642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57119381700002 meters Centerline goodness [0,1] 0.925978145928798 Centerline is valid? [False, False] Translation: X:9.35, Y:-0.20, Z:-1.90 [[ 9.99954328e-01 -7.62712197e-03 -5.75931063e-03 9.35294615e+00] [ 7.63176362e-03 9.99970570e-01 7.84390656e-04 -1.98251520e-01] [ 5.75315849e-03 -8.28308528e-04 9.99983107e-01 -1.89708515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60119381700002 meters Centerline goodness [0,1] 0.9242389846249097 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.20, Z:-1.90 [[ 9.99944483e-01 -8.38160594e-03 -6.38596207e-03 9.35620466e+00] [ 8.38541871e-03 9.99964679e-01 5.70512702e-04 -2.01861704e-01] [ 6.38095470e-03 -6.24029994e-04 9.99979447e-01 -1.89942273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.63119381700002 meters Centerline goodness [0,1] 0.9237026764090994 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.21, Z:-1.90 [[ 9.99948683e-01 -7.78235692e-03 -6.48583121e-03 9.35715691e+00] [ 7.79569559e-03 9.99967545e-01 2.03384814e-03 -2.06113373e-01] [ 6.46979258e-03 -2.08430534e-03 9.99976898e-01 -1.90041421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66119381700003 meters Centerline goodness [0,1] 0.92141896783535 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.21, Z:-1.90 [[ 9.99935364e-01 -9.06189675e-03 -6.86651419e-03 9.36044312e+00] [ 9.07309045e-03 9.99957557e-01 1.60079187e-03 -2.11547556e-01] [ 6.85171654e-03 -1.66298891e-03 9.99975144e-01 -1.90349275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.69119381700003 meters Centerline goodness [0,1] 0.9214414489089666 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.21, Z:-1.90 [[ 9.99938542e-01 -8.57769574e-03 -7.02386585e-03 9.36117356e+00] [ 8.59717107e-03 9.99959270e-01 2.74725222e-03 -2.14858075e-01] [ 7.00001467e-03 -2.80746875e-03 9.99971559e-01 -1.90401398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72119381700003 meters Centerline goodness [0,1] 0.9209976197868157 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.22, Z:-1.90 [[ 9.99942525e-01 -8.05208809e-03 -7.07890626e-03 9.36161407e+00] [ 8.07995263e-03 9.99959687e-01 3.91652887e-03 -2.18242488e-01] [ 7.04708465e-03 -3.97350099e-03 9.99967274e-01 -1.90442204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75119381700003 meters Centerline goodness [0,1] 0.9187851937727725 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.22, Z:-1.90 [[ 9.99945624e-01 -7.64319030e-03 -7.09442144e-03 9.36151902e+00] [ 7.67820527e-03 9.99958411e-01 4.92151875e-03 -2.21282507e-01] [ 7.05651029e-03 -4.97572356e-03 9.99962723e-01 -1.90419102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78119381700003 meters Centerline goodness [0,1] 0.9225626972263743 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.22, Z:-1.90 [[ 9.99948577e-01 -7.34160551e-03 -6.99600400e-03 9.36116189e+00] [ 7.38255568e-03 9.99955662e-01 5.84562957e-03 -2.24152344e-01] [ 6.95277751e-03 -5.89697736e-03 9.99958441e-01 -1.90391041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81119381700003 meters Centerline goodness [0,1] 0.9228361148543589 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.23, Z:-1.90 [[ 9.99922401e-01 -1.02335744e-02 -7.10399888e-03 9.36092260e+00] [ 1.02585839e-02 9.99941278e-01 3.49301630e-03 -2.27910186e-01] [ 7.06783568e-03 -3.56562221e-03 9.99968666e-01 -1.90317994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84119381700003 meters Centerline goodness [0,1] 0.9284205731323505 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.23, Z:-1.90 [[ 9.99923550e-01 -1.02124796e-02 -6.97125854e-03 9.36040186e+00] [ 1.02435823e-02 9.99937673e-01 4.44053605e-03 -2.31404087e-01] [ 6.92547516e-03 -4.51160724e-03 9.99965841e-01 -1.90269281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87119381700003 meters Centerline goodness [0,1] 0.9311475409836065 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.23, Z:-1.90 [[ 9.99917148e-01 -1.10125322e-02 -6.66489186e-03 9.35838567e+00] [ 1.10420027e-02 9.99929349e-01 4.40122978e-03 -2.33856594e-01] [ 6.61595230e-03 -4.47445889e-03 9.99968104e-01 -1.90083750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90119381700003 meters Centerline goodness [0,1] 0.9344370998155784 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.24, Z:-1.90 [[ 9.99912596e-01 -1.14249668e-02 -6.65367246e-03 9.35789213e+00] [ 1.14576231e-02 9.99922399e-01 4.89075706e-03 -2.36480880e-01] [ 6.59727939e-03 -4.96656486e-03 9.99965904e-01 -1.90006267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93119381700004 meters Centerline goodness [0,1] 0.9348074565140589 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.24, Z:-1.90 [[ 9.99868244e-01 -1.49877402e-02 -6.23393775e-03 9.35575001e+00] [ 1.50026841e-02 9.99884674e-01 2.35737176e-03 -2.40159259e-01] [ 6.19788714e-03 -2.45058697e-03 9.99977790e-01 -1.89812373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96119381700004 meters Centerline goodness [0,1] 0.9342700593582666 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.24, Z:-1.90 [[ 9.99866642e-01 -1.50580288e-02 -6.32093161e-03 9.35579731e+00] [ 1.50786041e-02 9.99881126e-01 3.22016510e-03 -2.43472794e-01] [ 6.27169088e-03 -3.31504649e-03 9.99974838e-01 -1.89785798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99119381700004 meters Centerline goodness [0,1] 0.9342700593582666 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.24, Z:-1.90 [[ 9.99866642e-01 -1.50580288e-02 -6.32093161e-03 9.35579731e+00] [ 1.50786041e-02 9.99881126e-01 3.22016510e-03 -2.43472794e-01] [ 6.27169088e-03 -3.31504649e-03 9.99974838e-01 -1.89785798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02119381700004 meters Centerline goodness [0,1] 0.9302745439830666 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.25, Z:-1.90 [[ 9.99868549e-01 -1.48839314e-02 -6.43063412e-03 9.35579546e+00] [ 1.49112991e-02 9.99879877e-01 4.22906446e-03 -2.46803556e-01] [ 6.36691655e-03 -4.32439766e-03 9.99970381e-01 -1.89748508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05119381700004 meters Centerline goodness [0,1] 0.92944956981445 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.25, Z:-1.90 [[ 9.99870184e-01 -1.46895301e-02 -6.62057714e-03 9.35620783e+00] [ 1.47230114e-02 9.99878923e-01 5.03711366e-03 -2.49484998e-01] [ 6.54578271e-03 -5.13393460e-03 9.99965397e-01 -1.89748807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08119381700004 meters Centerline goodness [0,1] 0.9276991223712535 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.25, Z:-1.90 [[ 9.99870947e-01 -1.44817041e-02 -6.95486849e-03 9.35734048e+00] [ 1.45214252e-02 9.99878339e-01 5.69513661e-03 -2.51365845e-01] [ 6.87154707e-03 -5.79539624e-03 9.99959597e-01 -1.89814597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11119381700004 meters Centerline goodness [0,1] 0.9296933433059087 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.25, Z:-1.90 [[ 9.99872787e-01 -1.42788906e-02 -7.10792816e-03 9.35797052e+00] [ 1.43213648e-02 9.99879675e-01 5.96101488e-03 -2.51574445e-01] [ 7.02195622e-03 -6.06205180e-03 9.99956971e-01 -1.89859005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14119381700004 meters Centerline goodness [0,1] 0.9293303784097264 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.25, Z:-1.90 [[ 9.99872518e-01 -1.41385625e-02 -7.41954937e-03 9.35937475e+00] [ 1.41844119e-02 9.99880398e-01 6.16373658e-03 -2.51844634e-01] [ 7.33151561e-03 -6.26819275e-03 9.99953478e-01 -1.89962730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17119381700002 meters Centerline goodness [0,1] 0.9298931942374565 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.25, Z:-1.90 [[ 9.99875075e-01 -1.37528499e-02 -7.79056265e-03 9.36098763e+00] [ 1.38051596e-02 9.99882250e-01 6.70098480e-03 -2.52950109e-01] [ 7.69748767e-03 -6.80769764e-03 9.99947201e-01 -1.90079137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20119381700002 meters Centerline goodness [0,1] 0.9289351707509717 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.25, Z:-1.90 [[ 9.99892005e-01 -1.20797017e-02 -8.37013314e-03 9.36423390e+00] [ 1.21487584e-02 9.99892173e-01 8.24923728e-03 -2.54632423e-01] [ 8.26958228e-03 -8.35003313e-03 9.99930943e-01 -1.90354644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23119381700002 meters Centerline goodness [0,1] 0.9258188022805777 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.26, Z:-1.91 [[ 9.99899491e-01 -1.08223005e-02 -9.15895190e-03 9.36778182e+00] [ 1.09080271e-02 9.99896676e-01 9.36224764e-03 -2.55171835e-01] [ 9.05668451e-03 -9.46121274e-03 9.99914227e-01 -1.90604493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26119381700002 meters Centerline goodness [0,1] 0.9229780440777061 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.26, Z:-1.91 [[ 9.99908196e-01 -9.23553189e-03 -9.91482825e-03 9.37119698e+00] [ 9.34189337e-03 9.99898736e-01 1.07353440e-02 -2.55665553e-01] [ 9.81467762e-03 -1.08269817e-02 9.99893219e-01 -1.90845550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29119381700002 meters Centerline goodness [0,1] 0.9211479985004374 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.26, Z:-1.91 [[ 9.99913975e-01 -8.36618566e-03 -1.01019891e-02 9.37204627e+00] [ 8.47891338e-03 9.99901685e-01 1.11681809e-02 -2.55545657e-01] [ 1.00075609e-02 -1.12528740e-02 9.99886604e-01 -1.90911408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32119381700002 meters Centerline goodness [0,1] 0.9170725640972496 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.26, Z:-1.91 [[ 9.99938199e-01 -3.40169926e-03 -1.05842516e-02 9.37330513e+00] [ 3.57090669e-03 9.99865470e-01 1.60091028e-02 -2.56858791e-01] [ 1.05283696e-02 -1.60459087e-02 9.99815824e-01 -1.90959012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35119381700002 meters Centerline goodness [0,1] 0.9189228349064414 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.26, Z:-1.91 [[ 9.99964407e-01 -8.82107799e-04 -8.39089527e-03 9.38079230e+00] [ 9.38761062e-04 9.99976776e-01 6.75021356e-03 -2.55043440e-01] [ 8.38474599e-03 -6.75785034e-03 9.99942012e-01 -1.90825688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38119381700002 meters Centerline goodness [0,1] 0.9207378793199612 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.26, Z:-1.91 [[ 9.99964296e-01 -5.42091277e-04 -8.43290306e-03 9.38009821e+00] [ 6.01409657e-04 9.99975086e-01 7.03321408e-03 -2.55694364e-01] [ 8.42888031e-03 -7.03803459e-03 9.99939708e-01 -1.90717020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.41119381700003 meters Centerline goodness [0,1] 0.9201942231075697 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.26, Z:-1.90 [[ 9.99964421e-01 -1.52784162e-03 -8.29590155e-03 9.37760947e+00] [ 1.57854743e-03 9.99980094e-01 6.10904746e-03 -2.56921093e-01] [ 8.28640275e-03 -6.12192558e-03 9.99946927e-01 -1.90444456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44119381700003 meters Centerline goodness [0,1] 0.9248832139520399 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.26, Z:-1.90 [[ 9.99962176e-01 -3.40067289e-03 -8.00508684e-03 9.37588035e+00] [ 3.43409377e-03 9.99985430e-01 4.16491847e-03 -2.58892923e-01] [ 7.99080668e-03 -4.19225115e-03 9.99959285e-01 -1.90293767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47119381700003 meters Centerline goodness [0,1] 0.9294978383771201 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.26, Z:-1.90 [[ 9.99952702e-01 -5.80412410e-03 -7.80422847e-03 9.37430489e+00] [ 5.82317507e-03 9.99980115e-01 2.42060484e-03 -2.63249029e-01] [ 7.79002380e-03 -2.46593574e-03 9.99966617e-01 -1.90134578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50119381700003 meters Centerline goodness [0,1] 0.9300276398096387 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.27, Z:-1.90 [[ 9.99954199e-01 -5.53504140e-03 -7.80793300e-03 9.37402913e+00] [ 5.56166592e-03 9.99978780e-01 3.39235087e-03 -2.66108502e-01] [ 7.78899051e-03 -3.43562061e-03 9.99963763e-01 -1.90087231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53119381700003 meters Centerline goodness [0,1] 0.9329830536633992 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.27, Z:-1.90 [[ 9.99955825e-01 -5.22012490e-03 -7.81652973e-03 9.37386421e+00] [ 5.25406737e-03 9.99976831e-01 4.32817585e-03 -2.68875200e-01] [ 7.79375501e-03 -4.36905323e-03 9.99960084e-01 -1.90047298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56119381700003 meters Centerline goodness [0,1] 0.9326952955068051 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.27, Z:-1.90 [[ 9.99955033e-01 -5.14133679e-03 -7.96854631e-03 9.37429680e+00] [ 5.18034967e-03 9.99974660e-01 4.88297573e-03 -2.70878359e-01] [ 7.94323936e-03 -4.92403602e-03 9.99956328e-01 -1.90052646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59119381700003 meters Centerline goodness [0,1] 0.9331911722081901 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.28, Z:-1.90 [[ 9.99956337e-01 -4.69611676e-03 -8.07899123e-03 9.37471097e+00] [ 4.74649225e-03 9.99969344e-01 6.22753710e-03 -2.75162375e-01] [ 8.04949832e-03 -6.26561206e-03 9.99947972e-01 -1.90069298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62119381700003 meters Centerline goodness [0,1] 0.9311965723080763 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.28, Z:-1.90 [[ 9.99950324e-01 -6.16284917e-03 -7.83383238e-03 9.37325697e+00] [ 6.19930011e-03 9.99970032e-01 4.63727919e-03 -2.77022829e-01] [ 7.80501876e-03 -4.68561311e-03 9.99958562e-01 -1.89954625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65119381700003 meters Centerline goodness [0,1] 0.9339532368114495 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.28, Z:-1.90 [[ 9.99950845e-01 -5.83525541e-03 -8.01607413e-03 9.37393123e+00] [ 5.88049753e-03 9.99966850e-01 5.63199725e-03 -2.80573512e-01] [ 7.98294425e-03 -5.67885891e-03 9.99952010e-01 -1.89987476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68119381700004 meters Centerline goodness [0,1] 0.9325847360883373 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.28, Z:-1.90 [[ 9.99949401e-01 -5.68603681e-03 -8.29844871e-03 9.37488995e+00] [ 5.73906965e-03 9.99963173e-01 6.38093278e-03 -2.83522189e-01] [ 8.26186088e-03 -6.42823529e-03 9.99945208e-01 -1.90031653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71119381700004 meters Centerline goodness [0,1] 0.9299386808087504 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.29, Z:-1.90 [[ 9.99948366e-01 -5.47190537e-03 -8.56297459e-03 9.37600529e+00] [ 5.53550436e-03 9.99957141e-01 7.42121579e-03 -2.87466884e-01] [ 8.52199940e-03 -7.46823298e-03 9.99935798e-01 -1.90101397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74119381700004 meters Centerline goodness [0,1] 0.9290725512647028 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.29, Z:-1.90 [[ 9.99948876e-01 -5.12398599e-03 -8.71719435e-03 9.37645092e+00] [ 5.19491196e-03 9.99953431e-01 8.13323746e-03 -2.89646543e-01] [ 8.67511380e-03 -8.17810672e-03 9.99928928e-01 -1.90118476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77119381700004 meters Centerline goodness [0,1] 0.930261597053131 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.29, Z:-1.90 [[ 9.99948971e-01 -4.84378085e-03 -8.86531100e-03 9.37703473e+00] [ 4.92136895e-03 9.99949598e-01 8.75108676e-03 -2.91847203e-01] [ 8.82247582e-03 -8.79426966e-03 9.99922409e-01 -1.90149016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80119381700004 meters Centerline goodness [0,1] 0.9298150729099495 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.30, Z:-1.90 [[ 9.99951822e-01 -4.02707713e-03 -8.95187328e-03 9.37719546e+00] [ 4.11954202e-03 9.99938109e-01 1.03347828e-02 -2.96338517e-01] [ 8.90970027e-03 -1.03711625e-02 9.99906524e-01 -1.90136733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83119381700004 meters Centerline goodness [0,1] 0.9326929074917347 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.30, Z:-1.90 [[ 9.99944420e-01 -5.89664386e-03 -8.73993266e-03 9.37601752e+00] [ 5.96780090e-03 9.99949078e-01 8.13800549e-03 -2.97277205e-01] [ 8.69150069e-03 -8.18971136e-03 9.99928691e-01 -1.90042524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86119381700004 meters Centerline goodness [0,1] 0.9323270960405252 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.30, Z:-1.90 [[ 9.99935984e-01 -6.60422720e-03 -9.18757665e-03 9.37813768e+00] [ 6.67657110e-03 9.99946775e-01 7.86583989e-03 -3.00264059e-01] [ 9.13513984e-03 -7.92667787e-03 9.99926856e-01 -1.90182045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89119381700004 meters Centerline goodness [0,1] 0.9315738025415445 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.30, Z:-1.90 [[ 9.99911764e-01 -9.56706025e-03 -9.21601586e-03 9.37823116e+00] [ 9.61431927e-03 9.99940789e-01 5.09734071e-03 -3.02802808e-01] [ 9.16670360e-03 -5.18549666e-03 9.99944540e-01 -1.90183431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92119381700002 meters Centerline goodness [0,1] 0.9244678416113528 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.31, Z:-1.90 [[ 9.99884607e-01 -1.18989843e-02 -9.44384328e-03 9.38028170e+00] [ 1.19403545e-02 9.99919308e-01 4.33643315e-03 -3.10928823e-01] [ 9.39148209e-03 -4.44869560e-03 9.99946003e-01 -1.90365785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95119381700002 meters Centerline goodness [0,1] 0.9228256600028943 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.31, Z:-1.91 [[ 9.99851104e-01 -1.40605794e-02 -1.00035328e-02 9.38336585e+00] [ 1.40886767e-02 9.99896985e-01 2.74383724e-03 -3.14888531e-01] [ 9.96392233e-03 -2.88436523e-03 9.99946199e-01 -1.90596298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98119381700002 meters Centerline goodness [0,1] 0.9173496983565633 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.32, Z:-1.91 [[ 9.99809174e-01 -1.66892526e-02 -1.01530843e-02 9.38473922e+00] [ 1.66970342e-02 9.99860362e-01 6.82138335e-04 -3.18663324e-01] [ 1.01402822e-02 -8.51534562e-04 9.99948223e-01 -1.90713774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01119381700002 meters Centerline goodness [0,1] 0.9174048658764816 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.32, Z:-1.91 [[ 9.99814128e-01 -1.62595844e-02 -1.03602533e-02 9.38546190e+00] [ 1.62839840e-02 9.99864819e-01 2.27511831e-03 -3.23704010e-01] [ 1.03218603e-02 -2.44340163e-03 9.99943743e-01 -1.90735492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04119381700002 meters Centerline goodness [0,1] 0.9168809622563252 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.33, Z:-1.91 [[ 9.99816846e-01 -1.60021614e-02 -1.04979172e-02 9.38591655e+00] [ 1.60382329e-02 9.99865731e-01 3.36091290e-03 -3.27364765e-01] [ 1.04427258e-02 -3.52866538e-03 9.99939247e-01 -1.90739139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07119381700002 meters Centerline goodness [0,1] 0.9183220669348484 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.33, Z:-1.91 [[ 9.99820950e-01 -1.56072689e-02 -1.06995848e-02 9.38620903e+00] [ 1.56549492e-02 9.99867829e-01 4.38709855e-03 -3.30347307e-01] [ 1.06297000e-02 -4.55381450e-03 9.99933134e-01 -1.90718386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10119381700002 meters Centerline goodness [0,1] 0.9189796045655835 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.34, Z:-1.91 [[ 9.99837138e-01 -1.45898272e-02 -1.06223280e-02 9.38498276e+00] [ 1.46621251e-02 9.99869651e-01 6.76045309e-03 -3.37112542e-01] [ 1.05223095e-02 -6.91509797e-03 9.99920728e-01 -1.90547629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.13119381700002 meters Centerline goodness [0,1] 0.9214337511654408 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.34, Z:-1.90 [[ 9.99789469e-01 -1.75638635e-02 -1.06079653e-02 9.38462109e+00] [ 1.76041104e-02 9.99838143e-01 3.71264227e-03 -3.38551175e-01] [ 1.05410400e-02 -3.89860443e-03 9.99936842e-01 -1.90491447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16119381700003 meters Centerline goodness [0,1] 0.9215136213453027 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.34, Z:-1.90 [[ 9.99792620e-01 -1.74236633e-02 -1.05419217e-02 9.38390247e+00] [ 1.74763441e-02 9.99835143e-01 4.92594990e-03 -3.42536990e-01] [ 1.04543557e-02 -5.10916261e-03 9.99932299e-01 -1.90390723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.19119381700003 meters Centerline goodness [0,1] 0.9273906198210142 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.35, Z:-1.90 [[ 9.99702929e-01 -2.21309582e-02 -1.02115075e-02 9.38304350e+00] [ 2.21532734e-02 9.99752428e-01 2.07737249e-03 -3.47738275e-01] [ 1.01630051e-02 -2.30297368e-03 9.99945703e-01 -1.90275372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22119381700003 meters Centerline goodness [0,1] 0.9137344398340249 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.35, Z:-1.90 [[ 9.99683128e-01 -2.30179693e-02 -1.01890243e-02 9.38320952e+00] [ 2.30464351e-02 9.99730789e-01 2.68521150e-03 -3.51604165e-01] [ 1.01244732e-02 -2.91918132e-03 9.99944485e-01 -1.90258672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25119381700003 meters Centerline goodness [0,1] 0.9180232558139535 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.35, Z:-1.90 [[ 9.99575296e-01 -2.72567746e-02 -1.03100273e-02 9.38407984e+00] [ 2.72484727e-02 9.99628245e-01 -9.44859869e-04 -3.53432957e-01] [ 1.03319483e-02 6.63526085e-04 9.99946404e-01 -1.90306296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28119381700003 meters Centerline goodness [0,1] 0.9014778325123153 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.36, Z:-1.90 [[ 9.99449152e-01 -3.15130034e-02 -1.04078638e-02 9.38507335e+00] [ 3.14658709e-02 9.99493956e-01 -4.66170527e-03 -3.55146654e-01] [ 1.05495013e-02 4.33164488e-03 9.99934970e-01 -1.90370991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31119381700003 meters Centerline goodness [0,1] 0.8525128973206857 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.36, Z:-1.90 [[ 9.99289594e-01 -3.62619332e-02 -1.02654306e-02 9.38597926e+00] [ 3.61751286e-02 9.99309154e-01 -8.51909686e-03 -3.57317661e-01] [ 1.05672577e-02 8.14169157e-03 9.99911019e-01 -1.90470584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34119381700003 meters Centerline goodness [0,1] 0.8226735122326384 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.36, Z:-1.91 [[ 9.99275922e-01 -3.65903261e-02 -1.04297869e-02 9.38674548e+00] [ 3.65007327e-02 9.99296147e-01 -8.65488203e-03 -3.57233024e-01] [ 1.07391309e-02 8.26792035e-03 9.99908152e-01 -1.90522203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37119381700003 meters Centerline goodness [0,1] 0.813070319482841 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.36, Z:-1.91 [[ 9.99377685e-01 -3.36401331e-02 -1.06105300e-02 9.38748314e+00] [ 3.35905305e-02 9.99424061e-01 -4.81897065e-03 -3.58659929e-01] [ 1.07665298e-02 4.45955840e-03 9.99932095e-01 -1.90572206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40119381700003 meters Centerline goodness [0,1] 0.819850063846439 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.36, Z:-1.91 [[ 9.99346022e-01 -3.44786878e-02 -1.08971951e-02 9.38929895e+00] [ 3.44151364e-02 9.99389813e-01 -5.96664072e-03 -3.56577027e-01] [ 1.10962677e-02 5.58771021e-03 9.99922822e-01 -1.90726121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43119381700004 meters Centerline goodness [0,1] 0.8292581503659349 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.36, Z:-1.91 [[ 9.99448323e-01 -3.12790035e-02 -1.11656930e-02 9.39052633e+00] [ 3.12548078e-02 9.99508722e-01 -2.33497129e-03 -3.56665797e-01] [ 1.12332431e-02 1.98470155e-03 9.99934935e-01 -1.90831573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46119381700004 meters Centerline goodness [0,1] 0.8070910221853618 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.35, Z:-1.91 [[ 9.99533783e-01 -2.79956652e-02 -1.21844019e-02 9.39608715e+00] [ 2.80056118e-02 9.99607557e-01 6.46450650e-04 -3.53138502e-01] [ 1.21615224e-02 -9.87380893e-04 9.99925558e-01 -1.91298263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49119381700004 meters Centerline goodness [0,1] 0.81883635758282 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.35, Z:-1.91 [[ 9.99617067e-01 -2.47583832e-02 -1.23588743e-02 9.39695490e+00] [ 2.48082725e-02 9.99684621e-01 3.89984073e-03 -3.51838287e-01] [ 1.22584228e-02 -4.20494967e-03 9.99916021e-01 -1.91381637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52119381700004 meters Centerline goodness [0,1] 0.8176409402954026 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.35, Z:-1.91 [[ 9.99610529e-01 -2.48904934e-02 -1.26195575e-02 9.39792739e+00] [ 2.49287213e-02 9.99685080e-01 2.88104093e-03 -3.48079889e-01] [ 1.25438728e-02 -3.19450828e-03 9.99916220e-01 -1.91453857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55119381700004 meters Centerline goodness [0,1] 0.8311178185276302 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.34, Z:-1.92 [[ 9.99745130e-01 -2.11342851e-02 -7.93838866e-03 9.40963752e+00] [ 2.11046250e-02 9.99770045e-01 -3.80166050e-03 -3.43982466e-01] [ 8.01690857e-03 3.63315485e-03 9.99961264e-01 -1.91806796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58119381700004 meters Centerline goodness [0,1] 0.8374037723320814 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.34, Z:-1.92 [[ 9.99815357e-01 -1.74461507e-02 -8.05498614e-03 9.40924980e+00] [ 1.74433857e-02 9.99847767e-01 -4.13397342e-04 -3.41870612e-01] [ 8.06097210e-03 2.72814780e-04 9.99967473e-01 -1.91736593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61119381700004 meters Centerline goodness [0,1] 0.8752129294943704 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.33, Z:-1.91 [[ 9.99877018e-01 -1.36562268e-02 -7.71074028e-03 9.40549933e+00] [ 1.36699893e-02 9.99905056e-01 1.73496815e-03 -3.33628980e-01] [ 7.68631508e-03 -1.84016052e-03 9.99968767e-01 -1.91359770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64119381700004 meters Centerline goodness [0,1] 0.8824163299139985 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.33, Z:-1.91 [[ 9.99876690e-01 -1.35935550e-02 -7.86261469e-03 9.40501780e+00] [ 1.35994725e-02 9.99907278e-01 6.99636549e-04 -3.28974022e-01] [ 7.85237510e-03 -8.06477689e-04 9.99968844e-01 -1.91264410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67119381700002 meters Centerline goodness [0,1] 0.8829787234042553 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.32, Z:-1.91 [[ 9.99909985e-01 -1.13130402e-02 -7.21369019e-03 9.40146686e+00] [ 1.13286175e-02 9.99933577e-01 2.12221269e-03 -3.22352580e-01] [ 7.18920236e-03 -2.20374280e-03 9.99971729e-01 -1.90970115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70119381700002 meters Centerline goodness [0,1] 0.8742073410034494 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.32, Z:-1.91 [[ 9.99899925e-01 -1.20411479e-02 -7.42629789e-03 9.40168092e+00] [ 1.20487988e-02 9.99926924e-01 9.86368673e-04 -3.19204391e-01] [ 7.41387819e-03 -1.07574793e-03 9.99971938e-01 -1.90944178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73119381700002 meters Centerline goodness [0,1] 0.8477115404483935 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.32, Z:-1.91 [[ 9.99891280e-01 -1.27073105e-02 -7.48011014e-03 9.40170148e+00] [ 1.27082639e-02 9.99919244e-01 7.99341654e-05 -3.16864775e-01] [ 7.47849033e-03 -1.74984689e-04 9.99972020e-01 -1.90932398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76119381700002 meters Centerline goodness [0,1] 0.8236716473432947 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.32, Z:-1.91 [[ 9.99881327e-01 -1.33862599e-02 -7.62499992e-03 9.40230196e+00] [ 1.33816797e-02 9.99910249e-01 -6.51385699e-04 -3.15055940e-01] [ 7.63303519e-03 5.49273090e-04 9.99970717e-01 -1.90970330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79119381700002 meters Centerline goodness [0,1] 0.8350541112078617 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.31, Z:-1.91 [[ 9.99870057e-01 -1.41152121e-02 -7.78650695e-03 9.40321328e+00] [ 1.41032398e-02 9.99899280e-01 -1.59035269e-03 -3.12621526e-01] [ 7.80817086e-03 1.48033106e-03 9.99968420e-01 -1.91050386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82119381700002 meters Centerline goodness [0,1] 0.8156922182542978 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.31, Z:-1.91 [[ 9.99855613e-01 -1.50032718e-02 -7.97838167e-03 9.40460720e+00] [ 1.49807818e-02 9.99883659e-01 -2.87119648e-03 -3.09341813e-01] [ 8.02053080e-03 2.75125952e-03 9.99964050e-01 -1.91181807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85119381700002 meters Centerline goodness [0,1] 0.8069359360398712 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.30, Z:-1.91 [[ 9.99882996e-01 -1.28212590e-02 -8.34317915e-03 9.40673254e+00] [ 1.28072704e-02 9.99916491e-01 -1.72792557e-03 -3.01794836e-01] [ 8.36463660e-03 1.62087004e-03 9.99963702e-01 -1.91375354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88119381700002 meters Centerline goodness [0,1] 0.8069359360398712 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.30, Z:-1.91 [[ 9.99882996e-01 -1.28212590e-02 -8.34317915e-03 9.40673254e+00] [ 1.28072704e-02 9.99916491e-01 -1.72792557e-03 -3.01794836e-01] [ 8.36463660e-03 1.62087004e-03 9.99963702e-01 -1.91375354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.91119381700003 meters Centerline goodness [0,1] 0.8343200182796369 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.30, Z:-1.91 [[ 9.99919895e-01 -9.29198728e-03 -8.59433938e-03 9.40770998e+00] [ 9.30276256e-03 9.99955991e-01 1.21463889e-03 -2.98718052e-01] [ 8.58267474e-03 -1.29449269e-03 9.99962330e-01 -1.91445869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94119381700003 meters Centerline goodness [0,1] 0.8677606979642709 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.29, Z:-1.92 [[ 9.99944320e-01 -5.81388801e-03 -8.80652292e-03 9.40853768e+00] [ 5.84800965e-03 9.99975474e-01 3.85380352e-03 -2.94785145e-01] [ 8.78390135e-03 -3.90508957e-03 9.99953796e-01 -1.91505715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97119381700003 meters Centerline goodness [0,1] 0.8926866724774831 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.29, Z:-1.92 [[ 9.99955569e-01 -2.37624061e-03 -9.12217277e-03 9.40968028e+00] [ 2.43339855e-03 9.99977446e-01 6.25984815e-03 -2.90316530e-01] [ 9.10709213e-03 -6.28176790e-03 9.99938798e-01 -1.91578635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00119381700003 meters Centerline goodness [0,1] 0.9179437198017544 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.28, Z:-1.92 [[ 9.99943630e-01 4.74941120e-03 -9.49630622e-03 9.41139559e+00] [-4.64079730e-03 9.99923940e-01 1.14269970e-02 -2.82426077e-01] [ 9.54985544e-03 -1.13822824e-02 9.99889616e-01 -1.91706867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03119381700003 meters Centerline goodness [0,1] 0.9252635073450078 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.28, Z:-1.92 [[ 9.99940985e-01 4.88195563e-03 -9.70535046e-03 9.41227321e+00] [-4.78397632e-03 9.99937619e-01 1.00931032e-02 -2.77073882e-01] [ 9.75401912e-03 -1.00460774e-02 9.99901963e-01 -1.91774476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06119381700003 meters Centerline goodness [0,1] 0.9252546248181251 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.27, Z:-1.92 [[ 9.99939840e-01 4.60965639e-03 -9.95329932e-03 9.41313936e+00] [-4.52437550e-03 9.99953010e-01 8.57368696e-03 -2.72057919e-01] [ 9.99235336e-03 -8.52813870e-03 9.99913708e-01 -1.91829193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09119381700003 meters Centerline goodness [0,1] 0.9279800291241939 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.27, Z:-1.92 [[ 9.99940463e-01 4.14344625e-03 -1.00946695e-02 9.41357746e+00] [-4.07163121e-03 9.99966332e-01 7.12434936e-03 -2.67694612e-01] [ 1.01238490e-02 -7.08282343e-03 9.99923668e-01 -1.91854606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12119381700003 meters Centerline goodness [0,1] 0.9315465033945604 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.26, Z:-1.92 [[ 9.99941774e-01 3.82617983e-03 -1.00899972e-02 9.41357174e+00] [-3.77013918e-03 9.99977396e-01 5.56726410e-03 -2.62132938e-01] [ 1.01110705e-02 -5.52889924e-03 9.99933597e-01 -1.91856797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15119381700003 meters Centerline goodness [0,1] 0.9304009487942406 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.26, Z:-1.92 [[ 9.99941434e-01 3.50835041e-03 -1.02382003e-02 9.41395398e+00] [-3.46019576e-03 9.99982887e-01 4.71735807e-03 -2.59821037e-01] [ 1.02545752e-02 -4.68165562e-03 9.99936461e-01 -1.91866139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18119381700004 meters Centerline goodness [0,1] 0.9311504682017316 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.26, Z:-1.92 [[ 9.99939024e-01 3.41598980e-03 -1.05013494e-02 9.41466212e+00] [-3.37256191e-03 9.99985700e-01 4.15038898e-03 -2.58183544e-01] [ 1.05153769e-02 -4.11471946e-03 9.99936246e-01 -1.91889930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21119381700004 meters Centerline goodness [0,1] 0.9328846474412402 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.26, Z:-1.92 [[ 9.99937126e-01 3.97831447e-03 -1.04840879e-02 9.41495973e+00] [-3.93783382e-03 9.99984723e-01 3.87897007e-03 -2.56453936e-01] [ 1.04993595e-02 -3.83744159e-03 9.99937517e-01 -1.91938619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24119381700004 meters Centerline goodness [0,1] 0.9319819726266382 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.25, Z:-1.92 [[ 9.99934858e-01 3.87210263e-03 -1.07371493e-02 9.41583663e+00] [-3.83736500e-03 9.99987343e-01 3.25399167e-03 -2.54380490e-01] [ 1.07496132e-02 -3.21257734e-03 9.99937061e-01 -1.91987935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27119381700004 meters Centerline goodness [0,1] 0.9329568340842556 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.25, Z:-1.92 [[ 9.99934163e-01 3.54067882e-03 -1.09147794e-02 9.41626760e+00] [-3.51307058e-03 9.99990584e-01 2.54757298e-03 -2.52492439e-01] [ 1.09236968e-02 -2.50906086e-03 9.99937187e-01 -1.91997835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30119381700004 meters Centerline goodness [0,1] 0.9322786393196598 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.25, Z:-1.92 [[ 9.99934060e-01 3.28869150e-03 -1.10027760e-02 9.41627135e+00] [-3.26367298e-03 9.99992050e-01 2.29102037e-03 -2.52060484e-01] [ 1.10102230e-02 -2.25495983e-03 9.99936843e-01 -1.91973026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33119381700004 meters Centerline goodness [0,1] 0.9333805221301578 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.25, Z:-1.92 [[ 9.99938924e-01 -1.55034105e-04 -1.10509411e-02 9.41571301e+00] [ 1.41379220e-04 9.99999226e-01 -1.23640142e-03 -2.52568464e-01] [ 1.10511242e-02 1.23476354e-03 9.99938172e-01 -1.91882043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36119381700004 meters Centerline goodness [0,1] 0.9353698350974236 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.25, Z:-1.92 [[ 9.99937746e-01 -3.28707488e-04 -1.11532545e-02 9.41598969e+00] [ 3.18274410e-04 9.99999510e-01 -9.37191036e-04 -2.54033690e-01] [ 1.11535571e-02 9.33582897e-04 9.99937361e-01 -1.91886336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39119381700004 meters Centerline goodness [0,1] 0.9333444321894575 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.25, Z:-1.92 [[ 9.99936997e-01 -7.30681298e-04 -1.12012621e-02 9.41601646e+00] [ 7.19926933e-04 9.99999276e-01 -9.64105125e-04 -2.54559169e-01] [ 1.12019585e-02 9.55980294e-04 9.99936799e-01 -1.91875320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42119381700002 meters Centerline goodness [0,1] 0.926975035796551 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.25, Z:-1.92 [[ 9.99931274e-01 -2.46047230e-03 -1.14627167e-02 9.41699510e+00] [ 2.44038769e-03 9.99995463e-01 -1.76582601e-03 -2.54356732e-01] [ 1.14670094e-02 1.73773118e-03 9.99932742e-01 -1.91929535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45119381700002 meters Centerline goodness [0,1] 0.9259951410951224 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.26, Z:-1.92 [[ 9.99927236e-01 -3.47326616e-03 -1.15524169e-02 9.41727145e+00] [ 3.45167950e-03 9.99992261e-01 -1.88799790e-03 -2.55521410e-01] [ 1.15588850e-02 1.84798528e-03 9.99931486e-01 -1.91934099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48119381700002 meters Centerline goodness [0,1] 0.8942684672350488 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.26, Z:-1.92 [[ 9.99920839e-01 -4.64265941e-03 -1.16945238e-02 9.41802289e+00] [ 4.62000045e-03 9.99987399e-01 -1.96384119e-03 -2.57364470e-01] [ 1.17034939e-02 1.90965703e-03 9.99929688e-01 -1.91987773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51119381700002 meters Centerline goodness [0,1] 0.8247932510493289 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.26, Z:-1.92 [[ 9.99884394e-01 -9.28307955e-03 -1.20425830e-02 9.41955714e+00] [ 9.20848545e-03 9.99938163e-01 -6.23492678e-03 -2.57548401e-01] [ 1.20997176e-02 6.12331203e-03 9.99908047e-01 -1.92091210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54119381700002 meters Centerline goodness [0,1] 0.8186641245103932 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.26, Z:-1.92 [[ 0.99982387 -0.01402231 -0.01247399 9.4211675 ] [ 0.01389164 0.99984837 -0.01050056 -0.25793458] [ 0.01261934 0.01032542 0.99986706 -1.92178433] [ 0. 0. 0. 1. ]] SLAMing on 245.57119381700002 meters Centerline goodness [0,1] 0.6988767311006374 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.26, Z:-1.93 [[ 0.99963708 -0.02444827 -0.01131345 9.41524073] [ 0.02433326 0.99965193 -0.01019373 -0.2581653 ] [ 0.01155873 0.00991474 0.99988404 -1.9268436 ] [ 0. 0. 0. 1. ]] SLAMing on 245.60119381700002 meters Centerline goodness [0,1] 0.7224348043089465 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.26, Z:-1.93 [[ 0.99961813 -0.02511889 -0.01151653 9.41590451] [ 0.0249959 0.99963027 -0.01070225 -0.25733026] [ 0.0117811 0.0104103 0.99987641 -1.92709954] [ 0. 0. 0. 1. ]] SLAMing on 245.63119381700002 meters Centerline goodness [0,1] 0.714665835152271 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.26, Z:-1.93 [[ 9.99689784e-01 -2.20262986e-02 -1.16265912e-02 9.41578224e+00] [ 2.19446384e-02 9.99733940e-01 -7.10504466e-03 -2.57440067e-01] [ 1.17799957e-02 6.84769923e-03 9.99907166e-01 -1.92674091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66119381700003 meters Centerline goodness [0,1] 0.7412456617967955 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.26, Z:-1.93 [[ 9.99760065e-01 -1.84925171e-02 -1.17404550e-02 9.41558241e+00] [ 1.84530352e-02 9.99823733e-01 -3.46236761e-03 -2.56634655e-01] [ 1.18024134e-02 3.24488984e-03 9.99925084e-01 -1.92625465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.69119381700003 meters Centerline goodness [0,1] 0.7625137771123173 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.25, Z:-1.92 [[ 9.99807668e-01 -1.57521177e-02 -1.16832238e-02 9.41409381e+00] [ 1.57254712e-02 9.99873540e-01 -2.36912730e-03 -2.48515381e-01] [ 1.17190651e-02 2.18494744e-03 9.99928942e-01 -1.92451899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72119381700003 meters Centerline goodness [0,1] 0.7575437725071402 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.24, Z:-1.93 [[ 9.99905651e-01 -1.24801988e-02 -5.73880916e-03 9.42508837e+00] [ 1.24307461e-02 9.99885978e-01 -8.57365634e-03 -2.43461223e-01] [ 5.84515574e-03 8.50150974e-03 9.99946778e-01 -1.92788064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75119381700003 meters Centerline goodness [0,1] 0.7619096913107389 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.24, Z:-1.93 [[ 9.99941611e-01 -9.09665294e-03 -5.83321928e-03 9.42523227e+00] [ 9.06578173e-03 9.99944875e-01 -5.29709227e-03 -2.41473626e-01] [ 5.88108353e-03 5.24390028e-03 9.99968957e-01 -1.92785584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78119381700003 meters Centerline goodness [0,1] 0.7583902368153421 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.24, Z:-1.93 [[ 9.99965263e-01 -5.85555260e-03 -5.93172674e-03 9.42565228e+00] [ 5.84353483e-03 9.99980843e-01 -2.04132373e-03 -2.39812106e-01] [ 5.94356618e-03 2.00659057e-03 9.99980324e-01 -1.92818306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81119381700003 meters Centerline goodness [0,1] 0.765556502046498 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.23, Z:-1.93 [[ 9.99974376e-01 -3.91334513e-03 -5.99439115e-03 9.42699243e+00] [ 3.90885206e-03 9.99992071e-01 -7.61078560e-04 -2.33658786e-01] [ 5.99732199e-03 7.37627871e-04 9.99981744e-01 -1.92975339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84119381700003 meters Centerline goodness [0,1] 0.7639256745571925 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.23, Z:-1.93 [[ 9.99970925e-01 -4.47159710e-03 -6.17681228e-03 9.42792110e+00] [ 4.45918219e-03 9.99988013e-01 -2.02223395e-03 -2.29604561e-01] [ 6.18578085e-03 1.99463162e-03 9.99978879e-01 -1.93040197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87119381700003 meters Centerline goodness [0,1] 0.7244131940854099 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.23, Z:-1.93 [[ 9.99977034e-01 -2.48799171e-03 -6.30414913e-03 9.42910379e+00] [ 2.48897586e-03 9.99996892e-01 1.48271211e-04 -2.27310823e-01] [ 6.30376064e-03 -1.63958681e-04 9.99980118e-01 -1.93144145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90119381700003 meters Centerline goodness [0,1] 0.7476988925595794 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.22, Z:-1.93 [[ 9.99973662e-01 -3.09648265e-03 -6.56401122e-03 9.42989097e+00] [ 3.08899463e-03 9.99994567e-01 -1.15060114e-03 -2.23260686e-01] [ 6.56753838e-03 1.13029464e-03 9.99977795e-01 -1.93176889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93119381700004 meters Centerline goodness [0,1] 0.7136003987290511 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.22, Z:-1.93 [[ 9.99969822e-01 -3.60462331e-03 -6.88200774e-03 9.43113031e+00] [ 3.58858295e-03 9.99990819e-01 -2.34169594e-03 -2.19157591e-01] [ 6.89038549e-03 2.31692862e-03 9.99973577e-01 -1.93248973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96119381700004 meters Centerline goodness [0,1] 0.7253562082000582 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.21, Z:-1.93 [[ 9.99974925e-01 -2.10844776e-03 -6.76048103e-03 9.43099523e+00] [ 2.09731215e-03 9.99996433e-01 -1.65382843e-03 -2.11145628e-01] [ 6.76394392e-03 1.63960812e-03 9.99975780e-01 -1.93246656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99119381700004 meters Centerline goodness [0,1] 0.7231596360628618 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.21, Z:-1.93 [[ 9.99971548e-01 -2.78258195e-03 -7.01145508e-03 9.43152308e+00] [ 2.76095237e-03 9.99991406e-01 -3.09268418e-03 -2.06703586e-01] [ 7.02000047e-03 3.07323790e-03 9.99970637e-01 -1.93239106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02119381700004 meters Centerline goodness [0,1] 0.68536424114706 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.20, Z:-1.93 [[ 9.99975248e-01 -1.37032915e-03 -6.90112122e-03 9.43104111e+00] [ 1.35985913e-03 9.99997918e-01 -1.52161183e-03 -2.03834719e-01] [ 6.90319196e-03 1.51218961e-03 9.99975029e-01 -1.93198429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05119381700004 meters Centerline goodness [0,1] 0.7186060983198507 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.20, Z:-1.93 [[ 9.99973042e-01 -2.14214616e-03 -7.02329458e-03 9.43111366e+00] [ 2.12090531e-03 9.99993159e-01 -3.03039784e-03 -1.99274962e-01] [ 7.02973809e-03 3.01542041e-03 9.99970745e-01 -1.93168225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08119381700004 meters Centerline goodness [0,1] 0.722655601659751 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.19, Z:-1.93 [[ 9.99975827e-01 -6.68774159e-04 -6.92091159e-03 9.43146959e+00] [ 6.49305274e-04 9.99995827e-01 -2.81491685e-03 -1.89641199e-01] [ 6.92276526e-03 2.81035502e-03 9.99972088e-01 -1.93222781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11119381700004 meters Centerline goodness [0,1] 0.7202604350260228 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.18, Z:-1.93 [[ 9.99974488e-01 9.32108698e-05 -7.14244961e-03 9.43304549e+00] [-1.12232415e-04 9.99996448e-01 -2.66281377e-03 -1.84660575e-01] [ 7.14217604e-03 2.66354745e-03 9.99970947e-01 -1.93346354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14119381700004 meters Centerline goodness [0,1] 0.6890108291243167 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.18, Z:-1.93 [[ 9.99970082e-01 2.40757871e-03 -7.35105694e-03 9.43459821e+00] [-2.41420650e-03 9.99996687e-01 -8.92870967e-04 -1.80424550e-01] [ 7.34888293e-03 9.10591224e-04 9.99972582e-01 -1.93481984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.17119381700002 meters Centerline goodness [0,1] 0.7236822969688156 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.18, Z:-1.94 [[ 9.99958608e-01 4.75745731e-03 -7.75557230e-03 9.43694741e+00] [-4.75279382e-03 9.99988513e-01 6.19628086e-04 -1.75445670e-01] [ 7.75843107e-03 -5.82741803e-04 9.99969733e-01 -1.93661142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20119381700002 meters Centerline goodness [0,1] 0.7548259740259741 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.16, Z:-1.94 [[ 9.99911010e-01 1.07851828e-02 -7.85193356e-03 9.43775329e+00] [-1.07570160e-02 9.99935587e-01 3.62068742e-03 -1.60846476e-01] [ 7.89047756e-03 -3.53590183e-03 9.99962618e-01 -1.93681221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.23119381700002 meters Centerline goodness [0,1] 0.7811446409989594 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.15, Z:-1.94 [[ 9.99873615e-01 1.37656716e-02 -7.95367764e-03 9.43784792e+00] [-1.37267999e-02 9.99893672e-01 4.92135193e-03 -1.52938589e-01] [ 8.02057766e-03 -4.81155140e-03 9.99956259e-01 -1.93629678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26119381700002 meters Centerline goodness [0,1] 0.751446885307113 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.15, Z:-1.94 [[ 9.99822342e-01 1.69742742e-02 -8.19508008e-03 9.43814485e+00] [-1.69211023e-02 9.99835605e-01 6.51458984e-03 -1.46007888e-01] [ 8.30431328e-03 -6.37476268e-03 9.99945199e-01 -1.93560419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.29119381700002 meters Centerline goodness [0,1] 0.7743935422127908 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.14, Z:-1.93 [[ 9.99694246e-01 2.33211453e-02 -8.21821635e-03 9.43776411e+00] [-2.32356003e-02 9.99676385e-01 1.03553311e-02 -1.35266919e-01] [ 8.45705499e-03 -1.01612097e-02 9.99912610e-01 -1.93419032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32119381700002 meters Centerline goodness [0,1] 0.8408699441758151 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.13, Z:-1.93 [[ 9.99687362e-01 2.35315746e-02 -8.45236417e-03 9.43834238e+00] [-2.34560399e-02 9.99685010e-01 8.92717365e-03 -1.29055942e-01] [ 8.65977221e-03 -8.72612369e-03 9.99924429e-01 -1.93393390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.35119381700002 meters Centerline goodness [0,1] 0.882355389963158 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.12, Z:-1.93 [[ 9.99686490e-01 2.35020537e-02 -8.63565014e-03 9.43846800e+00] [-2.34401027e-02 9.99699269e-01 7.20640430e-03 -1.22738814e-01] [ 8.80241843e-03 -7.00172450e-03 9.99936745e-01 -1.93315942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38119381700002 meters Centerline goodness [0,1] 0.9031656584072263 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.12, Z:-1.93 [[ 9.99678412e-01 2.37683883e-02 -8.83944213e-03 9.43894052e+00] [-2.37168846e-02 9.99701385e-01 5.88647183e-03 -1.17208176e-01] [ 8.97671448e-03 -5.67493478e-03 9.99943605e-01 -1.93272496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.41119381700003 meters Centerline goodness [0,1] 0.9318167653474603 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.11, Z:-1.93 [[ 9.99556712e-01 2.84510656e-02 -8.77018510e-03 9.43862506e+00] [-2.83769288e-02 9.99561452e-01 8.46490291e-03 -1.10387987e-01] [ 9.00717445e-03 -8.21227960e-03 9.99925712e-01 -1.93157965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44119381700003 meters Centerline goodness [0,1] 0.9336897509221269 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.11, Z:-1.93 [[ 9.99537952e-01 2.89910044e-02 -9.13262390e-03 9.43952479e+00] [-2.89210829e-02 9.99552060e-01 7.69747786e-03 -1.06427889e-01] [ 9.35169064e-03 -7.42979588e-03 9.99928669e-01 -1.93142664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47119381700003 meters Centerline goodness [0,1] 0.9365316718587746 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.10, Z:-1.93 [[ 9.99524906e-01 2.93562971e-02 -9.38988207e-03 9.44007554e+00] [-2.92920842e-02 9.99547048e-01 6.90449257e-03 -1.02859896e-01] [ 9.58831924e-03 -6.62616307e-03 9.99932077e-01 -1.93114724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50119381700003 meters Centerline goodness [0,1] 0.9456753787800278 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.10, Z:-1.93 [[ 9.99515768e-01 2.95862680e-02 -9.63754284e-03 9.44043264e+00] [-2.95272758e-02 9.99544703e-01 6.20694633e-03 -9.99660155e-02] [ 9.81679528e-03 -5.91937034e-03 9.99934294e-01 -1.93072423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53119381700003 meters Centerline goodness [0,1] 0.9452745610758312 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.10, Z:-1.93 [[ 9.99510348e-01 2.97341530e-02 -9.74396174e-03 9.44035154e+00] [-2.96806374e-02 9.99543793e-01 5.59155235e-03 -9.76920871e-02] [ 9.90577655e-03 -5.29960744e-03 9.99936893e-01 -1.93013622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56119381700003 meters Centerline goodness [0,1] 0.9487928712050565 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.10, Z:-1.93 [[ 9.99491055e-01 3.04120931e-02 -9.62994901e-03 9.43984547e+00] [-3.03591698e-02 9.99523395e-01 5.59503109e-03 -9.67505909e-02] [ 9.79551593e-03 -5.29982627e-03 9.99937978e-01 -1.92948361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59119381700003 meters Centerline goodness [0,1] 0.9506592586449955 Centerline is valid? [False, True] Translation: X:9.44, Y:-0.10, Z:-1.93 [[ 9.99559428e-01 2.79418321e-02 -1.00101624e-02 9.44083509e+00] [-2.79215813e-02 9.99607789e-01 2.15712670e-03 -9.57322355e-02] [ 1.00665104e-02 -1.87667677e-03 9.99947570e-01 -1.92972079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62119381700003 meters Centerline goodness [0,1] 0.9515871534904936 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.10, Z:-1.93 [[ 9.99483486e-01 3.00393576e-02 -1.14192114e-02 9.46816835e+00] [-3.00353099e-02 9.99548700e-01 5.25830810e-04 -9.65286228e-02] [ 1.14298536e-02 -1.82579657e-04 9.99934660e-01 -1.93173081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65119381700003 meters Centerline goodness [0,1] 0.9508617300808971 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.10, Z:-1.93 [[ 9.99433486e-01 3.15344298e-02 -1.17595621e-02 9.49564775e+00] [-3.15302637e-02 9.99502652e-01 5.39546852e-04 -9.75850199e-02] [ 1.17707279e-02 -1.68459095e-04 9.99930708e-01 -1.93449615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68119381700004 meters Centerline goodness [0,1] 0.9460263669049882 Centerline is valid? [True, False] Translation: X:9.50, Y:-0.10, Z:-1.94 [[ 9.99370162e-01 3.33640648e-02 -1.20879868e-02 9.49779828e+00] [-3.33401769e-02 9.99441701e-01 2.17238185e-03 -9.94984379e-02] [ 1.21537176e-02 -1.76799798e-03 9.99924578e-01 -1.93623582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71119381700004 meters Centerline goodness [0,1] 0.9411959171866606 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.10, Z:-1.94 [[ 9.99345368e-01 3.39679049e-02 -1.24505772e-02 9.49917046e+00] [-3.39333695e-02 9.99419670e-01 2.97469949e-03 -1.01391246e-01] [ 1.25443961e-02 -2.55026212e-03 9.99918064e-01 -1.93709284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74119381700004 meters Centerline goodness [0,1] 0.9400261296945315 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.10, Z:-1.94 [[ 9.99425452e-01 3.13610082e-02 -1.28551164e-02 9.50029566e+00] [-3.13663421e-02 9.99507932e-01 -2.13465107e-04 -1.01912106e-01] [ 1.28420963e-02 6.16560438e-04 9.99917347e-01 -1.93756358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77119381700004 meters Centerline goodness [0,1] 0.937078325133379 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.10, Z:-1.94 [[ 9.99498145e-01 2.87999546e-02 -1.31916854e-02 9.50130400e+00] [-2.88451576e-02 9.99578611e-01 -3.24923839e-03 -1.02431700e-01] [ 1.30925486e-02 3.62812399e-03 9.99907707e-01 -1.93803153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80119381700004 meters Centerline goodness [0,1] 0.937078325133379 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.10, Z:-1.94 [[ 9.99498145e-01 2.87999546e-02 -1.31916854e-02 9.50130400e+00] [-2.88451576e-02 9.99578611e-01 -3.24923839e-03 -1.02431700e-01] [ 1.30925486e-02 3.62812399e-03 9.99907707e-01 -1.93803153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83119381700004 meters Centerline goodness [0,1] 0.9308791163157676 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.11, Z:-1.94 [[ 9.99540352e-01 2.70006427e-02 -1.37858644e-02 9.50229847e+00] [-2.70648259e-02 9.99623594e-01 -4.49054765e-03 -1.08216949e-01] [ 1.36594277e-02 4.86159560e-03 9.99894887e-01 -1.93808084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86119381700004 meters Centerline goodness [0,1] 0.9300411522633745 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.11, Z:-1.94 [[ 9.99523243e-01 2.74483475e-02 -1.41376988e-02 9.50278310e+00] [-2.74937277e-02 9.99617397e-01 -3.02554182e-03 -1.13385322e-01] [ 1.40492436e-02 3.41279741e-03 9.99895480e-01 -1.93796650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89119381700004 meters Centerline goodness [0,1] 0.9279767466002284 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.12, Z:-1.94 [[ 9.99576492e-01 2.55164276e-02 -1.39910417e-02 9.50165150e+00] [-2.55850670e-02 9.99661368e-01 -4.74908264e-03 -1.17341651e-01] [ 1.38651242e-02 5.10503310e-03 9.99890843e-01 -1.93704672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92119381700002 meters Centerline goodness [0,1] 0.9283047824463893 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.12, Z:-1.94 [[ 9.99552464e-01 2.62594509e-02 -1.43287751e-02 9.50257756e+00] [-2.63053631e-02 9.99649377e-01 -3.02515097e-03 -1.22739175e-01] [ 1.42443123e-02 3.40072073e-03 9.99892762e-01 -1.93752195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95119381700002 meters Centerline goodness [0,1] 0.9242317858912936 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.13, Z:-1.94 [[ 9.99556898e-01 2.55678153e-02 -1.52411995e-02 9.50513325e+00] [-2.56113553e-02 9.99668414e-01 -2.66839116e-03 -1.32096372e-01] [ 1.51679208e-02 3.05755656e-03 9.99880286e-01 -1.93862537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98119381700002 meters Centerline goodness [0,1] 0.92047412450958 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.14, Z:-1.94 [[ 9.99605354e-01 2.33191438e-02 -1.56637484e-02 9.50634723e+00] [-2.33926370e-02 9.99716113e-01 -4.52519077e-03 -1.36245600e-01] [ 1.55537781e-02 4.88982130e-03 9.99867076e-01 -1.93927754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01119381700002 meters Centerline goodness [0,1] 0.9135779397412737 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.14, Z:-1.94 [[ 9.99576859e-01 2.41838371e-02 -1.61630678e-02 9.50811532e+00] [-2.42259575e-02 9.99703591e-01 -2.41524469e-03 -1.42873180e-01] [ 1.60998670e-02 2.80578849e-03 9.99866452e-01 -1.94040680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04119381700002 meters Centerline goodness [0,1] 0.9137369657503194 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.15, Z:-1.94 [[ 9.99704442e-01 2.11933756e-02 -1.19108764e-02 9.51949257e+00] [-2.11283906e-02 9.99761335e-01 5.55556006e-03 -1.50887202e-01] [ 1.20257747e-02 -5.30226042e-03 9.99913630e-01 -1.94335264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07119381700002 meters Centerline goodness [0,1] 0.914437503891091 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.16, Z:-1.94 [[ 9.99811602e-01 1.53342287e-02 -1.19005378e-02 9.51686316e+00] [-1.53167990e-02 9.99881483e-01 1.55438331e-03 -1.64226430e-01] [ 1.19229627e-02 -1.37181232e-03 9.99927978e-01 -1.94057254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10119381700002 meters Centerline goodness [0,1] 0.9241416464640185 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.17, Z:-1.94 [[ 9.99842597e-01 1.27741441e-02 -1.23127104e-02 9.51739477e+00] [-1.27695062e-02 9.99918363e-01 4.55225475e-04 -1.72079564e-01] [ 1.23175203e-02 -2.97926590e-04 9.99924092e-01 -1.94037505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.13119381700002 meters Centerline goodness [0,1] 0.9228242338558776 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.18, Z:-1.94 [[ 9.99879113e-01 9.48638310e-03 -1.23194396e-02 9.51672298e+00] [-9.50376143e-03 9.99953923e-01 -1.35286621e-03 -1.79034909e-01] [ 1.23060381e-02 1.46978368e-03 9.99923198e-01 -1.93964500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16119381700003 meters Centerline goodness [0,1] 0.9343242237565634 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.19, Z:-1.94 [[ 9.99968562e-01 4.75317612e-03 -6.34689185e-03 9.52728981e+00] [-4.72539525e-03 9.99979221e-01 4.38492711e-03 -1.87873916e-01] [ 6.36760230e-03 -4.35479769e-03 9.99970244e-01 -1.94248152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.19119381700003 meters Centerline goodness [0,1] 0.9338002993016296 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.20, Z:-1.94 [[ 9.99977333e-01 -3.19843174e-03 -5.92489601e-03 9.52496375e+00] [ 3.19606163e-03 9.99994809e-01 -4.09450701e-04 -1.99267044e-01] [ 5.92617485e-03 3.90505087e-04 9.99982364e-01 -1.94021730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22119381700003 meters Centerline goodness [0,1] 0.9409173628918852 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.21, Z:-1.94 [[ 9.99958988e-01 -6.70242676e-03 -6.09093555e-03 9.52505393e+00] [ 6.68818993e-03 9.99974861e-01 -2.35475067e-03 -2.05777495e-01] [ 6.10656498e-03 2.31391676e-03 9.99978678e-01 -1.93981750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25119381700003 meters Centerline goodness [0,1] 0.9394730841780154 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.21, Z:-1.94 [[ 9.99930961e-01 -1.00802101e-02 -6.03844708e-03 9.52470541e+00] [ 1.00539658e-02 9.99939948e-01 -4.36090928e-03 -2.12133907e-01] [ 6.08204335e-03 4.29989786e-03 9.99972259e-01 -1.93937202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28119381700003 meters Centerline goodness [0,1] 0.9293541424539267 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.22, Z:-1.94 [[ 9.99889644e-01 -1.35918803e-02 -5.99677850e-03 9.52475526e+00] [ 1.35512629e-02 9.99885308e-01 -6.76263182e-03 -2.17198947e-01] [ 6.08800761e-03 6.68062160e-03 9.99959152e-01 -1.93939265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31119381700003 meters Centerline goodness [0,1] 0.8915657663251578 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.22, Z:-1.94 [[ 9.99772281e-01 -2.04597467e-02 -6.06511106e-03 9.52626326e+00] [ 2.03839697e-02 9.99716525e-01 -1.23029803e-02 -2.23416232e-01] [ 6.31510761e-03 1.21765476e-02 9.99905921e-01 -1.94084193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34119381700003 meters Centerline goodness [0,1] 0.899105471187851 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.23, Z:-1.94 [[ 9.99775842e-01 -2.02034894e-02 -6.33127652e-03 9.52778167e+00] [ 2.01332867e-02 9.99737203e-01 -1.09624473e-02 -2.27397707e-01] [ 6.55109237e-03 1.08325206e-02 9.99919867e-01 -1.94222940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37119381700003 meters Centerline goodness [0,1] 0.8688789795706731 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.23, Z:-1.94 [[ 9.99784713e-01 -1.96192370e-02 -6.75382699e-03 9.52997103e+00] [ 1.95537969e-02 9.99762498e-01 -9.62270758e-03 -2.30564583e-01] [ 6.94101312e-03 9.48857297e-03 9.99930892e-01 -1.94402613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40119381700003 meters Centerline goodness [0,1] 0.8809757114562702 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.23, Z:-1.95 [[ 9.99788471e-01 -1.92706416e-02 -7.18720407e-03 9.53171944e+00] [ 1.92059755e-02 9.99775395e-01 -8.96043197e-03 -2.32074252e-01] [ 7.35826307e-03 8.82049931e-03 9.99934025e-01 -1.94524909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43119381700004 meters Centerline goodness [0,1] 0.8724945013902146 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.23, Z:-1.95 [[ 9.99854086e-01 -1.53037534e-02 -7.58961306e-03 9.53329281e+00] [ 1.52718356e-02 9.99874364e-01 -4.24573780e-03 -2.34645718e-01] [ 7.65363526e-03 4.12921096e-03 9.99962185e-01 -1.94648683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46119381700004 meters Centerline goodness [0,1] 0.8938064166440827 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.24, Z:-1.95 [[ 9.99905548e-01 -1.14068078e-02 -7.66683775e-03 9.53320550e+00] [ 1.14075804e-02 9.99934930e-01 5.70457439e-05 -2.35886859e-01] [ 7.66568816e-03 -1.44500424e-04 9.99970608e-01 -1.94624573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49119381700004 meters Centerline goodness [0,1] 0.9103954544511955 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.23, Z:-1.95 [[ 9.99911101e-01 -1.06355228e-02 -8.04207366e-03 9.53392430e+00] [ 1.06372187e-02 9.99943409e-01 1.68128606e-04 -2.34871532e-01] [ 8.03983042e-03 -2.53658956e-04 9.99967648e-01 -1.94619401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52119381700004 meters Centerline goodness [0,1] 0.9341466450890078 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.23, Z:-1.95 [[ 9.99951975e-01 -5.61057416e-03 -8.03548881e-03 9.53309690e+00] [ 5.64658322e-03 9.99974087e-01 4.46559924e-03 -2.34073910e-01] [ 8.01022601e-03 -4.51075784e-03 9.99957744e-01 -1.94506766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55119381700004 meters Centerline goodness [0,1] 0.9390413086240812 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.23, Z:-1.95 [[ 9.99956182e-01 -4.83150448e-03 -8.01812913e-03 9.53310333e+00] [ 4.86660420e-03 9.99978636e-01 4.36382222e-03 -2.32364063e-01] [ 7.99687401e-03 -4.40265207e-03 9.99958332e-01 -1.94501671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58119381700004 meters Centerline goodness [0,1] 0.9408264394269246 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.23, Z:-1.94 [[ 9.99959398e-01 -4.04630415e-03 -8.05163958e-03 9.53304387e+00] [ 4.08141753e-03 9.99982212e-01 4.34938141e-03 -2.30742262e-01] [ 8.03389744e-03 -4.38206692e-03 9.99958126e-01 -1.94482754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61119381700004 meters Centerline goodness [0,1] 0.9414081120852246 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.23, Z:-1.94 [[ 9.99962449e-01 -3.40153105e-03 -7.97062262e-03 9.53270204e+00] [ 3.43639426e-03 9.99984572e-01 4.36435795e-03 -2.29587699e-01] [ 7.95565414e-03 -4.39158426e-03 9.99958710e-01 -1.94452349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64119381700004 meters Centerline goodness [0,1] 0.9451382416899659 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.23, Z:-1.94 [[ 9.99965670e-01 -2.45591553e-03 -7.91370083e-03 9.53245865e+00] [ 2.49311352e-03 9.99985875e-01 4.69402338e-03 -2.29014446e-01] [ 7.90206092e-03 -4.71359199e-03 9.99957669e-01 -1.94424133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67119381700002 meters Centerline goodness [0,1] 0.9437268989575979 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.23, Z:-1.94 [[ 9.99966048e-01 -2.04526046e-03 -7.98244923e-03 9.53286418e+00] [ 2.08646178e-03 9.99984528e-01 5.15657796e-03 -2.29917132e-01] [ 7.97177918e-03 -5.17305796e-03 9.99954844e-01 -1.94460046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70119381700002 meters Centerline goodness [0,1] 0.9376462063968534 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.23, Z:-1.95 [[ 9.99965147e-01 -1.67371496e-03 -8.17949215e-03 9.53363017e+00] [ 1.72015630e-03 9.99982423e-01 5.67404566e-03 -2.31310235e-01] [ 8.16985164e-03 -5.68791790e-03 9.99950449e-01 -1.94510043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73119381700002 meters Centerline goodness [0,1] 0.9384036113249152 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.23, Z:-1.95 [[ 9.99964665e-01 -1.39040637e-03 -8.29062887e-03 9.53405354e+00] [ 1.44245824e-03 9.99979267e-01 6.27572789e-03 -2.33195504e-01] [ 8.28173117e-03 -6.28746502e-03 9.99945939e-01 -1.94538008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76119381700002 meters Centerline goodness [0,1] 0.9371890932359073 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.24, Z:-1.95 [[ 9.99963175e-01 -8.69103754e-04 -8.53779575e-03 9.53518527e+00] [ 9.32866961e-04 9.99971685e-01 7.46720409e-03 -2.36463800e-01] [ 8.53106423e-03 -7.47489373e-03 9.99935671e-01 -1.94625109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79119381700002 meters Centerline goodness [0,1] 0.9364483266593356 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.24, Z:-1.95 [[ 9.99962518e-01 -6.23151572e-04 -8.63569597e-03 9.53544829e+00] [ 6.92631289e-04 9.99967399e-01 8.04498806e-03 -2.38076460e-01] [ 8.63040119e-03 -8.05066786e-03 9.99930349e-01 -1.94635934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82119381700002 meters Centerline goodness [0,1] 0.9366570974204341 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.24, Z:-1.95 [[ 9.99959536e-01 -2.91299612e-04 -8.99117450e-03 9.53648959e+00] [ 3.70567693e-04 9.99961071e-01 8.81580336e-03 -2.40491916e-01] [ 8.98825645e-03 -8.81877847e-03 9.99920717e-01 -1.94675954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85119381700002 meters Centerline goodness [0,1] 0.932351606649342 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.24, Z:-1.95 [[ 9.99952982e-01 -3.08672657e-03 -9.19273918e-03 9.53716554e+00] [ 3.13875946e-03 9.99979106e-01 5.65117791e-03 -2.41612797e-01] [ 9.17510347e-03 -5.67976600e-03 9.99941777e-01 -1.94707182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88119381700002 meters Centerline goodness [0,1] 0.9322529775490724 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.24, Z:-1.95 [[ 9.99953252e-01 -2.71142444e-03 -9.28128736e-03 9.53723317e+00] [ 2.77208161e-03 9.99974845e-01 6.52881247e-03 -2.44547944e-01] [ 9.26335151e-03 -6.55423574e-03 9.99935614e-01 -1.94689777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.91119381700003 meters Centerline goodness [0,1] 0.9304349632337667 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.25, Z:-1.95 [[ 9.99953693e-01 -2.33082612e-03 -9.33697037e-03 9.53688694e+00] [ 2.39806377e-03 9.99971229e-01 7.19651698e-03 -2.46569829e-01] [ 9.31992791e-03 -7.21857438e-03 9.99930513e-01 -1.94628276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94119381700003 meters Centerline goodness [0,1] 0.9358258928571429 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.25, Z:-1.95 [[ 9.99995740e-01 8.35592017e-04 -2.79668289e-03 9.54366033e+00] [-8.35474003e-04 9.99999650e-01 4.33658152e-05 -2.50055879e-01] [ 2.79671815e-03 -4.10290746e-05 9.99996088e-01 -1.94756152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97119381700003 meters Centerline goodness [0,1] 0.9360715468698244 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.25, Z:-1.95 [[ 9.99995325e-01 1.33878698e-03 -2.74928223e-03 9.54315472e+00] [-1.33625721e-03 9.99998682e-01 9.21787855e-04 -2.52590235e-01] [ 2.75051269e-03 -9.18109798e-04 9.99995796e-01 -1.94700530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00119381700003 meters Centerline goodness [0,1] 0.936649051911719 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.25, Z:-1.95 [[ 9.99994780e-01 1.67558226e-03 -2.76259776e-03 9.54296436e+00] [-1.67110631e-03 9.99997289e-01 1.62171021e-03 -2.54788665e-01] [ 2.76530758e-03 -1.61708515e-03 9.99994869e-01 -1.94669168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03119381700003 meters Centerline goodness [0,1] 0.9354553128409957 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.26, Z:-1.95 [[ 9.99992545e-01 2.57662832e-03 -2.87608451e-03 9.54333672e+00] [-2.56755392e-03 9.99991729e-01 3.15436849e-03 -2.58681343e-01] [ 2.88418836e-03 -3.14696047e-03 9.99990889e-01 -1.94687685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06119381700003 meters Centerline goodness [0,1] 0.934516448182043 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.26, Z:-1.95 [[ 9.99990579e-01 2.96483452e-03 -3.17052652e-03 9.54446212e+00] [-2.95201961e-03 9.99987486e-01 4.03895688e-03 -2.61429375e-01] [ 3.18246169e-03 -4.02955937e-03 9.99986817e-01 -1.94759864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09119381700003 meters Centerline goodness [0,1] 0.9331337119256582 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.26, Z:-1.95 [[ 9.99994267e-01 2.80629292e-04 -3.37455032e-03 9.54515555e+00] [-2.76467834e-04 9.99999201e-01 1.23359215e-03 -2.63552895e-01] [ 3.37489380e-03 -1.23265212e-03 9.99993545e-01 -1.94808193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12119381700003 meters Centerline goodness [0,1] 0.9274491586662538 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.27, Z:-1.95 [[ 9.99992689e-01 -1.06421405e-03 -3.67285017e-03 9.54696222e+00] [ 1.06746169e-03 9.99999041e-01 8.82382314e-04 -2.72396401e-01] [ 3.67190761e-03 -8.86296490e-04 9.99992866e-01 -1.94963734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15119381700003 meters Centerline goodness [0,1] 0.9310966885769383 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.28, Z:-1.95 [[ 9.99992341e-01 -2.66761830e-04 -3.90458690e-03 9.54790125e+00] [ 2.76856549e-04 9.99996620e-01 2.58503676e-03 -2.77396827e-01] [ 3.90388411e-03 -2.58609797e-03 9.99989036e-01 -1.95023319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18119381700004 meters Centerline goodness [0,1] 0.9262999525978443 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.28, Z:-1.95 [[ 9.99989724e-01 -5.46763180e-05 -4.53309624e-03 9.55136107e+00] [ 6.96958609e-05 9.99994509e-01 3.31321599e-03 -2.81840101e-01] [ 4.53289020e-03 -3.31349788e-03 9.99984237e-01 -1.95283608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21119381700004 meters Centerline goodness [0,1] 0.925351209318685 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.29, Z:-1.95 [[ 9.99987957e-01 8.55449842e-04 -4.83266452e-03 9.55266881e+00] [-8.30942136e-04 9.99986797e-01 5.07099528e-03 -2.86893817e-01] [ 4.83693870e-03 -5.06691854e-03 9.99975465e-01 -1.95370032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24119381700004 meters Centerline goodness [0,1] 0.9227209816356463 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.29, Z:-1.96 [[ 9.99985315e-01 -2.14569268e-04 -5.41508040e-03 9.55510287e+00] [ 2.37078365e-04 9.99991334e-01 4.15644330e-03 -2.91150314e-01] [ 5.41414163e-03 -4.15766606e-03 9.99976700e-01 -1.95531153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27119381700004 meters Centerline goodness [0,1] 0.9226488592097941 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.30, Z:-1.96 [[ 9.99983651e-01 -1.41185201e-03 -5.54111193e-03 9.55551009e+00] [ 1.43657549e-03 9.99989021e-01 4.46038627e-03 -3.04363299e-01] [ 5.53475369e-03 -4.46827357e-03 9.99974700e-01 -1.95527128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30119381700004 meters Centerline goodness [0,1] 0.9228041968132253 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.31, Z:-1.95 [[ 9.99978219e-01 -3.66785915e-03 -5.48713480e-03 9.55463839e+00] [ 3.68610155e-03 9.99987701e-01 3.31816587e-03 -3.11298965e-01] [ 5.47489674e-03 -3.33831973e-03 9.99979440e-01 -1.95417258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33119381700004 meters Centerline goodness [0,1] 0.9293917305256163 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.32, Z:-1.95 [[ 9.99965917e-01 -6.25368566e-03 -5.39035166e-03 9.55357156e+00] [ 6.26492819e-03 9.99978230e-01 2.07132117e-03 -3.18216789e-01] [ 5.37728092e-03 -2.10502074e-03 9.99983327e-01 -1.95288576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36119381700004 meters Centerline goodness [0,1] 0.9297749328928351 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.33, Z:-1.95 [[ 9.99942778e-01 -9.25298194e-03 -5.36863373e-03 9.55334792e+00] [ 9.25663999e-03 9.99956941e-01 6.56926434e-04 -3.25332076e-01] [ 5.36232403e-03 -7.06584353e-04 9.99985373e-01 -1.95232486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39119381700004 meters Centerline goodness [0,1] 0.9350805034826282 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.33, Z:-1.95 [[ 9.99909980e-01 -1.23539453e-02 -5.23565702e-03 9.55245949e+00] [ 1.23505447e-02 9.99923497e-01 -6.81352587e-04 -3.32556249e-01] [ 5.24367387e-03 6.16628035e-04 9.99986062e-01 -1.95106606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42119381700002 meters Centerline goodness [0,1] 0.9498183469573115 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.35, Z:-1.95 [[ 9.99782820e-01 -2.03610776e-02 -4.44297771e-03 9.55146625e+00] [ 2.03554220e-02 9.99791943e-01 -1.31445148e-03 -3.48272596e-01] [ 4.46881697e-03 1.22372732e-03 9.99989266e-01 -1.94764389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45119381700002 meters Centerline goodness [0,1] 0.9505489969454305 Centerline is valid? [False, True] Translation: X:9.55, Y:-0.36, Z:-1.95 [[ 9.99696368e-01 -2.42129644e-02 -4.57204143e-03 9.55220912e+00] [ 2.41976600e-02 9.99701502e-01 -3.37354085e-03 -3.55316702e-01] [ 4.65236011e-03 3.26188383e-03 9.99983858e-01 -1.94773132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48119381700002 meters Centerline goodness [0,1] 0.9462112288967413 Centerline is valid? [True, False] Translation: X:9.55, Y:-0.36, Z:-1.95 [[ 9.99591151e-01 -2.81882014e-02 -4.79129341e-03 9.55353481e+00] [ 2.81605555e-02 9.99586917e-01 -5.74276149e-03 -3.61514169e-01] [ 4.95119232e-03 5.60548808e-03 9.99972032e-01 -1.94838377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51119381700002 meters Centerline goodness [0,1] 0.9319727891156463 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.37, Z:-1.95 [[ 9.99468245e-01 -3.22215087e-02 -5.00011653e-03 9.55487031e+00] [ 3.21781251e-02 9.99445775e-01 -8.52708457e-03 -3.66101865e-01] [ 5.27210087e-03 8.36165587e-03 9.99951143e-01 -1.94915881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54119381700002 meters Centerline goodness [0,1] 0.883740591813589 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.37, Z:-1.95 [[ 9.99188965e-01 -3.99499669e-02 -5.04113702e-03 9.55692520e+00] [ 3.98689393e-02 9.99088341e-01 -1.52628362e-02 -3.69692564e-01] [ 5.64629102e-03 1.50494728e-02 9.99870808e-01 -1.95087369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57119381700002 meters Centerline goodness [0,1] 0.8483728421574296 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.37, Z:-1.95 [[ 9.99177460e-01 -4.02248268e-02 -5.13481988e-03 9.55755088e+00] [ 4.01452546e-02 9.99084855e-01 -1.47584106e-02 -3.72002189e-01] [ 5.72377529e-03 1.45401326e-02 9.99877904e-01 -1.95127971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60119381700002 meters Centerline goodness [0,1] 0.8170668652147836 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.37, Z:-1.95 [[ 9.99150192e-01 -4.08837971e-02 -5.23528187e-03 9.55812841e+00] [ 4.08015510e-02 9.99055332e-01 -1.49558170e-02 -3.72610168e-01] [ 5.84178685e-03 1.47294998e-02 9.99874450e-01 -1.95162629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.63119381700002 meters Centerline goodness [0,1] 0.8196403929726279 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.37, Z:-1.95 [[ 9.99263534e-01 -3.79754320e-02 -5.50060596e-03 9.55866277e+00] [ 3.79118397e-02 9.99217901e-01 -1.12373905e-02 -3.73443803e-01] [ 5.92304869e-03 1.10205764e-02 9.99921729e-01 -1.95170032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66119381700003 meters Centerline goodness [0,1] 0.8193110539845758 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.37, Z:-1.95 [[ 9.99368658e-01 -3.50594800e-02 -5.75483090e-03 9.55923059e+00] [ 3.50148174e-02 9.99357234e-01 -7.68639722e-03 -3.73495243e-01] [ 6.02061298e-03 7.48004012e-03 9.99953900e-01 -1.95188325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.69119381700003 meters Centerline goodness [0,1] 0.8193110539845758 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.37, Z:-1.95 [[ 9.99368658e-01 -3.50594800e-02 -5.75483090e-03 9.55923059e+00] [ 3.50148174e-02 9.99357234e-01 -7.68639722e-03 -3.73495243e-01] [ 6.02061298e-03 7.48004012e-03 9.99953900e-01 -1.95188325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72119381700003 meters Centerline goodness [0,1] 0.8631751159708416 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.37, Z:-1.95 [[ 9.99467197e-01 -3.21019673e-02 -5.89802994e-03 9.55947287e+00] [ 3.20768719e-02 9.99476149e-01 -4.30133967e-03 -3.72963090e-01] [ 6.03302172e-03 4.10985755e-03 9.99973356e-01 -1.95190815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75119381700003 meters Centerline goodness [0,1] 0.8050440269729652 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.37, Z:-1.95 [[ 9.99524648e-01 -3.01632968e-02 -6.37603019e-03 9.56144829e+00] [ 3.01501669e-02 9.99543078e-01 -2.14546806e-03 -3.71450959e-01] [ 6.43783123e-03 1.95220983e-03 9.99977371e-01 -1.95319296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78119381700003 meters Centerline goodness [0,1] 0.8348255825975476 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.37, Z:-1.95 [[ 9.99590138e-01 -2.79520337e-02 -6.18388982e-03 9.56032455e+00] [ 2.79491545e-02 9.99609194e-01 -5.51534978e-04 -3.65537798e-01] [ 6.19688964e-03 3.78474433e-04 9.99980727e-01 -1.95246529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81119381700003 meters Centerline goodness [0,1] 0.8366122246968573 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.36, Z:-1.95 [[ 9.99647677e-01 -2.56353698e-02 -6.88111730e-03 9.56265787e+00] [ 2.56482872e-02 9.99669416e-01 1.79558869e-03 -3.63302344e-01] [ 6.83281194e-03 -1.97144493e-03 9.99974713e-01 -1.95380326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84119381700003 meters Centerline goodness [0,1] 0.8388341458354942 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.36, Z:-1.95 [[ 9.99721587e-01 -2.25205342e-02 -7.04081884e-03 9.56327038e+00] [ 2.25561342e-02 9.99732983e-01 5.01838367e-03 -3.61966130e-01] [ 6.92592214e-03 -5.17580015e-03 9.99962621e-01 -1.95432785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87119381700003 meters Centerline goodness [0,1] 0.8438685601741474 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.36, Z:-1.96 [[ 9.99733808e-01 -2.18186922e-02 -7.50051511e-03 9.56577066e+00] [ 2.18584735e-02 9.99747220e-01 5.26338283e-03 -3.59206275e-01] [ 7.38377900e-03 -5.42593157e-03 9.99958019e-01 -1.95635397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90119381700003 meters Centerline goodness [0,1] 0.8349552676708196 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.36, Z:-1.96 [[ 9.99724102e-01 -2.21839888e-02 -7.71944643e-03 9.56683292e+00] [ 2.22162032e-02 9.99744730e-01 4.11272580e-03 -3.55592773e-01] [ 7.62623923e-03 -4.28308790e-03 9.99961747e-01 -1.95734018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93119381700004 meters Centerline goodness [0,1] 0.7893442453551573 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.35, Z:-1.96 [[ 9.99762825e-01 -2.02265241e-02 -8.07345998e-03 9.56870019e+00] [ 2.02713195e-02 9.99779356e-01 5.50575319e-03 -3.50690853e-01] [ 7.96031637e-03 -5.66810705e-03 9.99952252e-01 -1.95899808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96119381700004 meters Centerline goodness [0,1] 0.825663114939923 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.35, Z:-1.96 [[ 9.99753927e-01 -2.05338875e-02 -8.39310478e-03 9.56961231e+00] [ 2.05706434e-02 9.99779083e-01 4.31666932e-03 -3.46586247e-01] [ 8.30261260e-03 -4.48825867e-03 9.99955460e-01 -1.95950067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99119381700004 meters Centerline goodness [0,1] 0.8286529043456698 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.34, Z:-1.96 [[ 9.99750722e-01 -2.06200334e-02 -8.56203845e-03 9.56985853e+00] [ 2.06488952e-02 9.99781355e-01 3.29629503e-03 -3.42454989e-01] [ 8.49219669e-03 -3.47226997e-03 9.99957912e-01 -1.95952511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02119381700004 meters Centerline goodness [0,1] 0.8342332278284614 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.34, Z:-1.96 [[ 9.99747294e-01 -2.07340052e-02 -8.68619488e-03 9.57015132e+00] [ 2.07537378e-02 9.99782224e-01 2.18776954e-03 -3.38237431e-01] [ 8.63894201e-03 -2.36748769e-03 9.99959881e-01 -1.95969425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05119381700004 meters Centerline goodness [0,1] 0.8406698663151173 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.33, Z:-1.96 [[ 9.99791694e-01 -1.81127250e-02 -9.40736384e-03 9.57307468e+00] [ 1.81454601e-02 9.99829556e-01 3.40610453e-03 -3.31312986e-01] [ 9.34406657e-03 -3.57609596e-03 9.99949949e-01 -1.96191466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08119381700004 meters Centerline goodness [0,1] 0.8469769267315279 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.33, Z:-1.96 [[ 9.99842080e-01 -1.49593015e-02 -9.59341629e-03 9.57406026e+00] [ 1.50193783e-02 9.99867849e-01 6.22111809e-03 -3.28581635e-01] [ 9.49908493e-03 -6.36422281e-03 9.99934630e-01 -1.96282201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11119381700004 meters Centerline goodness [0,1] 0.8545680033071517 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.32, Z:-1.96 [[ 9.99840577e-01 -1.48776169e-02 -9.87300587e-03 9.57496295e+00] [ 1.49273111e-02 9.99876185e-01 4.97888698e-03 -3.23167323e-01] [ 9.79770947e-03 -5.12547066e-03 9.99938865e-01 -1.96342938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14119381700004 meters Centerline goodness [0,1] 0.908946017552575 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.31, Z:-1.96 [[ 9.99879302e-01 -1.21418356e-02 -9.69312039e-03 9.57308536e+00] [ 1.21981743e-02 9.99908926e-01 5.77443082e-03 -3.12410122e-01] [ 9.62212541e-03 -5.89197223e-03 9.99936348e-01 -1.96182247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17119381700002 meters Centerline goodness [0,1] 0.9170456424673392 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.31, Z:-1.96 [[ 9.99874751e-01 -1.23157720e-02 -9.94006549e-03 9.57329148e+00] [ 1.23581586e-02 9.99914755e-01 4.21411695e-03 -3.06531528e-01] [ 9.88731804e-03 -4.33643004e-03 9.99941716e-01 -1.96154092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20119381700002 meters Centerline goodness [0,1] 0.8984605847711541 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.30, Z:-1.96 [[ 9.99870409e-01 -1.23811994e-02 -1.02894130e-02 9.57377055e+00] [ 1.24107578e-02 9.99919024e-01 2.81382817e-03 -3.01337112e-01] [ 1.02537413e-02 -2.94116294e-03 9.99943104e-01 -1.96139331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23119381700002 meters Centerline goodness [0,1] 0.9266098680673311 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.30, Z:-1.96 [[ 9.99904511e-01 -8.99412550e-03 -1.04916169e-02 9.57395523e+00] [ 9.05330186e-03 9.99943301e-01 5.60655560e-03 -2.98280747e-01] [ 1.04405960e-02 -5.70100401e-03 9.99929244e-01 -1.96118947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26119381700002 meters Centerline goodness [0,1] 0.9373979876448834 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.29, Z:-1.96 [[ 9.99925999e-01 -5.68185770e-03 -1.07570073e-02 9.57468415e+00] [ 5.76895730e-03 9.99950688e-01 8.08337037e-03 -2.94278807e-01] [ 1.07105482e-02 -8.14482891e-03 9.99909469e-01 -1.96148776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29119381700002 meters Centerline goodness [0,1] 0.9408844578662143 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.28, Z:-1.96 [[ 9.99937464e-01 1.87845362e-03 -1.10244768e-02 9.57551495e+00] [-1.73392195e-03 9.99912622e-01 1.31050184e-02 -2.84897189e-01] [ 1.10481306e-02 -1.30850833e-02 9.99853349e-01 -1.96205636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32119381700002 meters Centerline goodness [0,1] 0.9389152402557228 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.28, Z:-1.96 [[ 9.99935562e-01 7.02520537e-03 -8.91733753e-03 9.58493214e+00] [-6.97537860e-03 9.99959955e-01 5.60648626e-03 -2.78930219e-01] [ 8.95636715e-03 -5.54392318e-03 9.99944523e-01 -1.96246123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35119381700002 meters Centerline goodness [0,1] 0.9361469178648157 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.28, Z:-1.96 [[ 9.99897731e-01 1.10543273e-02 -9.07353316e-03 9.58534102e+00] [-1.09733689e-02 9.99899966e-01 8.92428933e-03 -2.76651201e-01] [ 9.17127752e-03 -8.82380942e-03 9.99919011e-01 -1.96251127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38119381700002 meters Centerline goodness [0,1] 0.9394390667659469 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.27, Z:-1.96 [[ 9.99889653e-01 1.16455884e-02 -9.22289091e-03 9.58540432e+00] [-1.15703445e-02 9.99899683e-01 8.17014059e-03 -2.73068188e-01] [ 9.31711179e-03 -8.06252701e-03 9.99924091e-01 -1.96221205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.41119381700003 meters Centerline goodness [0,1] 0.9356154738237243 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.27, Z:-1.96 [[ 9.99835551e-01 1.56689398e-02 -9.12995786e-03 9.58448854e+00] [-1.55617762e-02 9.99810538e-01 1.16927222e-02 -2.71244731e-01] [ 9.31144064e-03 -1.15487209e-02 9.99889956e-01 -1.96110686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44119381700003 meters Centerline goodness [0,1] 0.9354758552141141 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.27, Z:-1.96 [[ 9.99832776e-01 1.57766923e-02 -9.24751421e-03 9.58439208e+00] [-1.56683620e-02 9.99809113e-01 1.16722010e-02 -2.70977318e-01] [ 9.42989770e-03 -1.15253558e-02 9.99889115e-01 -1.96065132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47119381700003 meters Centerline goodness [0,1] 0.9376253800177858 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.27, Z:-1.96 [[ 9.99875655e-01 1.25488430e-02 -9.54991991e-03 9.58491803e+00] [-1.24766432e-02 9.99893413e-01 7.58263985e-03 -2.69334682e-01] [ 9.64405536e-03 -7.46254604e-03 9.99925649e-01 -1.96077763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50119381700003 meters Centerline goodness [0,1] 0.9320565058222507 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.27, Z:-1.96 [[ 9.99907865e-01 9.40706126e-03 -9.78618157e-03 9.58543690e+00] [-9.37196835e-03 9.99949509e-01 3.62566695e-03 -2.68004287e-01] [ 9.81979433e-03 -3.53361712e-03 9.99945541e-01 -1.96101099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53119381700003 meters Centerline goodness [0,1] 0.9382348070872661 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.27, Z:-1.96 [[ 9.99902885e-01 9.82314131e-03 -9.88570835e-03 9.58556429e+00] [-9.78173410e-03 9.99943218e-01 4.22826460e-03 -2.69502146e-01] [ 9.92668186e-03 -4.13115460e-03 9.99942196e-01 -1.96093365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56119381700003 meters Centerline goodness [0,1] 0.9374948496085702 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.27, Z:-1.96 [[ 9.99879537e-01 1.17992858e-02 -1.00840259e-02 9.58626907e+00] [-1.17360241e-02 9.99911222e-01 6.30977165e-03 -2.73909371e-01] [ 1.01575814e-02 -6.19066518e-03 9.99929247e-01 -1.96133863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59119381700003 meters Centerline goodness [0,1] 0.9347547886393659 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.28, Z:-1.96 [[ 9.99866493e-01 1.27130327e-02 -1.02652707e-02 9.58671308e+00] [-1.26392661e-02 9.99894060e-01 7.21921931e-03 -2.76027304e-01] [ 1.03559614e-02 -7.08851000e-03 9.99921250e-01 -1.96146421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62119381700003 meters Centerline goodness [0,1] 0.9332232087549039 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.28, Z:-1.96 [[ 0.99982246 0.01566226 -0.01047587 9.58826932] [-0.01555466 0.99982622 0.0102751 -0.28158691] [ 0.01063498 -0.01011033 0.99989233 -1.96290773] [ 0. 0. 0. 1. ]] SLAMing on 249.65119381700003 meters Centerline goodness [0,1] 0.9292877187190491 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.28, Z:-1.96 [[ 0.99980863 0.01637575 -0.01070249 9.58948502] [-0.01625376 0.99980305 0.01138739 -0.2846851 ] [ 0.01088685 -0.01121126 0.99987788 -1.96390612] [ 0. 0. 0. 1. ]] SLAMing on 249.68119381700004 meters Centerline goodness [0,1] 0.9219225435201093 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.29, Z:-1.96 [[ 9.99849979e-01 1.34357503e-02 -1.09315911e-02 9.59022435e+00] [-1.33438359e-02 9.99875363e-01 8.43807930e-03 -2.86938977e-01] [ 1.10436006e-02 -8.29094406e-03 9.99904645e-01 -1.96448963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71119381700004 meters Centerline goodness [0,1] 0.9289408636769624 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.29, Z:-1.96 [[ 9.99886652e-01 1.01904183e-02 -1.10832425e-02 9.59055706e+00] [-1.01287690e-02 9.99932997e-01 5.60437484e-03 -2.90156361e-01] [ 1.11396108e-02 -5.49147999e-03 9.99922873e-01 -1.96466657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74119381700004 meters Centerline goodness [0,1] 0.9274560026439725 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.30, Z:-1.97 [[ 9.99976157e-01 4.35596381e-03 -5.35831376e-03 9.59924060e+00] [-4.30070679e-03 9.99937900e-01 1.02810444e-02 -3.01132219e-01] [ 5.40276486e-03 -1.02577547e-02 9.99932792e-01 -1.96627427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77119381700004 meters Centerline goodness [0,1] 0.931806415539771 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.31, Z:-1.97 [[ 9.99985062e-01 1.01263000e-03 -5.37131031e-03 9.59902999e+00] [-9.71159067e-04 9.99969746e-01 7.71781908e-03 -3.05637042e-01] [ 5.37896310e-03 -7.71248740e-03 9.99955791e-01 -1.96592866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80119381700004 meters Centerline goodness [0,1] 0.9328896628933947 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.31, Z:-1.97 [[ 9.99983369e-01 -2.15415756e-03 -5.34981506e-03 9.59893179e+00] [ 2.18272331e-03 9.99983363e-01 5.33949142e-03 -3.10535769e-01] [ 5.33822395e-03 -5.35107978e-03 9.99971434e-01 -1.96580226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83119381700004 meters Centerline goodness [0,1] 0.930386326776729 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.32, Z:-1.97 [[ 9.99971817e-01 -5.14054583e-03 -5.47178060e-03 9.59920867e+00] [ 5.15760212e-03 9.99981871e-01 3.10760371e-03 -3.15272923e-01] [ 5.45570662e-03 -3.13573740e-03 9.99980201e-01 -1.96581196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86119381700004 meters Centerline goodness [0,1] 0.9309403124030206 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.33, Z:-1.97 [[ 9.99953463e-01 -7.77545433e-03 -5.71094377e-03 9.60120635e+00] [ 7.78921642e-03 9.99966804e-01 2.39149913e-03 -3.26093075e-01] [ 5.69215920e-03 -2.43587161e-03 9.99980833e-01 -1.96745119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89119381700004 meters Centerline goodness [0,1] 0.9317224055967284 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.33, Z:-1.97 [[ 9.99928527e-01 -1.04924976e-02 -5.73127026e-03 9.60115721e+00] [ 1.04954105e-02 9.99944807e-01 4.78416713e-04 -3.31081011e-01] [ 5.72593415e-03 -5.38534553e-04 9.99983462e-01 -1.96723514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92119381700002 meters Centerline goodness [0,1] 0.9324898868983736 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.34, Z:-1.97 [[ 9.99892235e-01 -1.34532107e-02 -5.87610323e-03 9.60155418e+00] [ 1.34447046e-02 9.99908514e-01 -1.48470210e-03 -3.36674933e-01] [ 5.89553966e-03 1.40553963e-03 9.99981633e-01 -1.96715930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95119381700002 meters Centerline goodness [0,1] 0.9324789515159055 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.34, Z:-1.97 [[ 9.99849412e-01 -1.63244096e-02 -5.88784694e-03 9.60157823e+00] [ 1.63062350e-02 9.99862171e-01 -3.12171040e-03 -3.43166769e-01] [ 5.93799551e-03 3.02523169e-03 9.99977794e-01 -1.96695775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98119381700002 meters Centerline goodness [0,1] 0.9347011082272484 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.36, Z:-1.97 [[ 9.99766367e-01 -2.16149189e-02 8.41073896e-05 9.61284097e+00] [ 2.16148020e-02 9.99765647e-01 1.20456039e-03 -3.59032569e-01] [-1.10124154e-04 -1.20246100e-03 9.99999271e-01 -1.96973267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01119381700002 meters Centerline goodness [0,1] 0.9337602851872577 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.36, Z:-1.97 [[ 9.99691868e-01 -2.48222916e-02 1.48740640e-04 9.61265987e+00] [ 2.48224120e-02 9.99691497e-01 -8.70931190e-04 -3.64564766e-01] [-1.27076245e-04 8.74354930e-04 9.99999610e-01 -1.96930067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04119381700002 meters Centerline goodness [0,1] 0.9340250506386673 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.37, Z:-1.97 [[ 9.99605682e-01 -2.80798580e-02 3.51025264e-05 9.61322896e+00] [ 2.80798218e-02 9.99600290e-01 -3.28391541e-03 -3.69276458e-01] [ 5.71233828e-05 3.28360618e-03 9.99994607e-01 -1.96937663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07119381700002 meters Centerline goodness [0,1] 0.9375142107112591 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.38, Z:-1.97 [[ 9.99616373e-01 -2.76964192e-02 -1.21523928e-04 9.61359134e+00] [ 2.76962215e-02 9.99615400e-01 -1.40405588e-03 -3.76081047e-01] [ 1.60364510e-04 1.40015149e-03 9.99999007e-01 -1.96908492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10119381700002 meters Centerline goodness [0,1] 0.9307279471186721 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.38, Z:-1.97 [[ 9.99635230e-01 -2.70069615e-02 -1.76843653e-04 9.61337122e+00] [ 2.70070678e-02 9.99635045e-01 6.28773967e-04 -3.82420607e-01] [ 1.59797838e-04 -6.33320637e-04 9.99999787e-01 -1.96836426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.13119381700002 meters Centerline goodness [0,1] 0.9382626829922983 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.39, Z:-1.97 [[ 9.99653299e-01 -2.63260089e-02 -4.72947264e-04 9.61421522e+00] [ 2.63271729e-02 9.99649863e-01 2.65157531e-03 -3.91286732e-01] [ 4.02976273e-04 -2.66310737e-03 9.99996373e-01 -1.96836646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16119381700003 meters Centerline goodness [0,1] 0.939310086551265 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.40, Z:-1.97 [[ 9.99677433e-01 -2.53908992e-02 -5.77074378e-04 9.61396583e+00] [ 2.53931214e-02 9.99668549e-01 4.24044539e-03 -3.95007065e-01] [ 4.69214385e-04 -4.25373128e-03 9.99990843e-01 -1.96770363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.19119381700003 meters Centerline goodness [0,1] 0.9406051783300405 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.40, Z:-1.97 [[ 9.99700470e-01 -2.44602262e-02 -8.16797786e-04 9.61427762e+00] [ 2.44645271e-02 9.99684146e-01 5.75283664e-03 -3.98671910e-01] [ 6.75824111e-04 -5.77109607e-03 9.99983119e-01 -1.96739468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22119381700003 meters Centerline goodness [0,1] 0.9378044988079196 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.41, Z:-1.97 [[ 9.99755384e-01 -2.20887468e-02 -1.12251906e-03 9.61508360e+00] [ 2.20980572e-02 9.99714406e-01 9.09852348e-03 -4.06071603e-01] [ 9.21223492e-04 -9.12110332e-03 9.99957978e-01 -1.96750761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25119381700003 meters Centerline goodness [0,1] 0.9335189768976898 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.41, Z:-1.97 [[ 9.99772402e-01 -2.12858351e-02 -1.43455199e-03 9.61586513e+00] [ 2.12994890e-02 9.99720178e-01 1.02906249e-02 -4.09023547e-01] [ 1.21510602e-03 -1.03188380e-02 9.99946021e-01 -1.96771278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28119381700003 meters Centerline goodness [0,1] 0.9332209246653761 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.41, Z:-1.97 [[ 9.99786182e-01 -2.06194902e-02 -1.55769736e-03 9.61614183e+00] [ 2.06360837e-02 9.99720718e-01 1.15168526e-02 -4.12367248e-01] [ 1.31979069e-03 -1.15465348e-02 9.99932466e-01 -1.96766354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31119381700003 meters Centerline goodness [0,1] 0.9329924650161464 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.42, Z:-1.97 [[ 9.99795968e-01 -2.01193417e-02 -1.79839653e-03 9.61694468e+00] [ 2.01404434e-02 9.99717671e-01 1.26071689e-02 -4.16059162e-01] [ 1.54424085e-03 -1.26408171e-02 9.99918909e-01 -1.96797687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34119381700003 meters Centerline goodness [0,1] 0.9313878647753546 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.42, Z:-1.97 [[ 9.99758606e-01 -2.18976659e-02 -1.79521430e-03 9.61740553e+00] [ 2.19167692e-02 9.99694577e-01 1.14196720e-02 -4.22181280e-01] [ 1.54460183e-03 -1.14562607e-02 9.99933182e-01 -1.96837885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37119381700003 meters Centerline goodness [0,1] 0.929542002205714 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.42, Z:-1.97 [[ 9.99744854e-01 -2.24675658e-02 -2.33128830e-03 9.61982906e+00] [ 2.24924747e-02 9.99683446e-01 1.12736918e-02 -4.24667419e-01] [ 2.07725791e-03 -1.13232518e-02 9.99933732e-01 -1.96996024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40119381700003 meters Centerline goodness [0,1] 0.9279202397802014 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.43, Z:-1.97 [[ 9.99747383e-01 -2.23184387e-02 -2.65646192e-03 9.62088747e+00] [ 2.23488105e-02 9.99678061e-01 1.20127177e-02 -4.27768811e-01] [ 2.38750160e-03 -1.20690519e-02 9.99924316e-01 -1.97035361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43119381700004 meters Centerline goodness [0,1] 0.9275551413482448 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.43, Z:-1.97 [[ 9.99729857e-01 -2.30304262e-02 -3.13240254e-03 9.62322224e+00] [ 2.30657398e-02 9.99664922e-01 1.17480257e-02 -4.30303625e-01] [ 2.86079090e-03 -1.18171032e-02 9.99926083e-01 -1.97192088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46119381700004 meters Centerline goodness [0,1] 0.9259894595432469 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.43, Z:-1.97 [[ 9.99711841e-01 -2.37340442e-02 -3.59574274e-03 9.62563397e+00] [ 2.37739357e-02 9.99651325e-01 1.14903335e-02 -4.32870343e-01] [ 3.32177691e-03 -1.15725075e-02 9.99927519e-01 -1.97358388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49119381700004 meters Centerline goodness [0,1] 0.9263352514697634 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.44, Z:-1.97 [[ 9.99637305e-01 -2.67022461e-02 -3.49971241e-03 9.62557417e+00] [ 2.67331147e-02 9.99601257e-01 9.09215502e-03 -4.36992269e-01] [ 3.25553596e-03 -9.18241556e-03 9.99952541e-01 -1.97346299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52119381700004 meters Centerline goodness [0,1] 0.9232539814200398 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.44, Z:-1.97 [[ 9.99635746e-01 -2.67385558e-02 -3.66397757e-03 9.62611412e+00] [ 2.67731351e-02 9.99594102e-01 9.73811238e-03 -4.39926203e-01] [ 3.40210731e-03 -9.83266141e-03 9.99945871e-01 -1.97349023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55119381700004 meters Centerline goodness [0,1] 0.9283928497020709 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.44, Z:-1.97 [[ 9.99555593e-01 -2.96225000e-02 -3.33531671e-03 9.62464916e+00] [ 2.96450777e-02 9.99536419e-01 6.93654675e-03 -4.41400348e-01] [ 3.12829266e-03 -7.03233982e-03 9.99970380e-01 -1.97226199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58119381700004 meters Centerline goodness [0,1] 0.927695059058393 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.45, Z:-1.97 [[ 9.99437610e-01 -3.33760185e-02 -3.24111856e-03 9.62447918e+00] [ 3.33913050e-02 9.99430911e-01 4.78273439e-03 -4.47668866e-01] [ 3.07964545e-03 -4.88826980e-03 9.99983310e-01 -1.97140456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61119381700004 meters Centerline goodness [0,1] 0.927695059058393 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.45, Z:-1.97 [[ 9.99437610e-01 -3.33760185e-02 -3.24111856e-03 9.62447918e+00] [ 3.33913050e-02 9.99430911e-01 4.78273439e-03 -4.47668866e-01] [ 3.07964545e-03 -4.88826980e-03 9.99983310e-01 -1.97140456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64119381700004 meters Centerline goodness [0,1] 0.926878005120413 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.45, Z:-1.97 [[ 9.99431856e-01 -3.35414297e-02 -3.30730321e-03 9.62467872e+00] [ 3.35603635e-02 9.99419595e-01 5.84593225e-03 -4.51935198e-01] [ 3.10930271e-03 -5.95360522e-03 9.99977443e-01 -1.97102930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67119381700002 meters Centerline goodness [0,1] 0.9267220828755622 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.46, Z:-1.97 [[ 9.99383994e-01 -3.48880345e-02 -3.80235627e-03 9.62655818e+00] [ 3.49072484e-02 9.99377494e-01 5.10967975e-03 -4.55278566e-01] [ 3.62172260e-03 -5.23926195e-03 9.99979716e-01 -1.97178763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70119381700002 meters Centerline goodness [0,1] 0.9288281960168581 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.46, Z:-1.97 [[ 9.99348709e-01 -3.58405271e-02 -4.19695237e-03 9.62793702e+00] [ 3.58615403e-02 9.99344042e-01 5.04335439e-03 -4.58565878e-01] [ 4.01344286e-03 -5.19057888e-03 9.99978475e-01 -1.97212584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73119381700002 meters Centerline goodness [0,1] 0.9269912877925626 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.46, Z:-1.97 [[ 9.99180177e-01 -4.02811601e-02 -4.04991032e-03 9.62813114e+00] [ 4.02900574e-02 9.99185735e-01 2.13983311e-03 -4.63166654e-01] [ 3.96041766e-03 -2.30124994e-03 9.99989510e-01 -1.97180962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76119381700002 meters Centerline goodness [0,1] 0.9230721405922948 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.47, Z:-1.97 [[ 9.99151017e-01 -4.09970658e-02 -4.06037369e-03 9.62874175e+00] [ 4.10080706e-02 9.99155261e-01 2.66512861e-03 -4.66251917e-01] [ 3.94768128e-03 -2.82937405e-03 9.99988205e-01 -1.97204367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79119381700002 meters Centerline goodness [0,1] 0.9166614800522811 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.47, Z:-1.97 [[ 9.99133301e-01 -4.14137219e-02 -4.18943420e-03 9.62917787e+00] [ 4.14279181e-02 9.99135844e-01 3.36049816e-03 -4.69166361e-01] [ 4.04664313e-03 -3.53114515e-03 9.99985578e-01 -1.97184893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82119381700002 meters Centerline goodness [0,1] 0.9084508500548757 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.47, Z:-1.97 [[ 9.99107722e-01 -4.19940435e-02 -4.50115505e-03 9.63036980e+00] [ 4.20107815e-02 9.99110340e-01 3.69084454e-03 -4.71483396e-01] [ 4.34215707e-03 -3.87664832e-03 9.99983058e-01 -1.97224421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85119381700002 meters Centerline goodness [0,1] 0.8775391638136736 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.47, Z:-1.97 [[ 9.98906779e-01 -4.65218784e-02 -4.57838384e-03 9.63160669e+00] [ 4.65208587e-02 9.98917265e-01 -3.29003729e-04 -4.72775500e-01] [ 4.58873253e-03 1.15653707e-04 9.99989465e-01 -1.97305500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88119381700002 meters Centerline goodness [0,1] 0.8617921593030492 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.47, Z:-1.97 [[ 9.98892768e-01 -4.68100813e-02 -4.69627574e-03 9.63189396e+00] [ 4.68092587e-02 9.98903805e-01 -2.84982881e-04 -4.73356218e-01] [ 4.70446778e-03 6.48381528e-05 9.99988932e-01 -1.97298858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.91119381700003 meters Centerline goodness [0,1] 0.8595029330680098 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.47, Z:-1.97 [[ 9.99021242e-01 -4.39636871e-02 -4.87354913e-03 9.63223801e+00] [ 4.39806431e-02 9.99026501e-01 3.42834483e-03 -4.74523832e-01] [ 4.71808206e-03 -3.63933114e-03 9.99982247e-01 -1.97285670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94119381700003 meters Centerline goodness [0,1] 0.8468363877601791 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.47, Z:-1.97 [[ 9.99011475e-01 -4.41778986e-02 -4.93826028e-03 9.63215990e+00] [ 4.41928015e-02 9.99018664e-01 2.95055196e-03 -4.72635736e-01] [ 4.80306500e-03 -3.16587083e-03 9.99983454e-01 -1.97265564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97119381700003 meters Centerline goodness [0,1] 0.8431926834337975 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.47, Z:-1.97 [[ 9.99000883e-01 -4.44072987e-02 -5.02261832e-03 9.63177315e+00] [ 4.44172782e-02 9.99011272e-01 1.89307317e-03 -4.68640798e-01] [ 4.93358605e-03 -2.11427281e-03 9.99985595e-01 -1.97211372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00119381700003 meters Centerline goodness [0,1] 0.8640603992139828 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.47, Z:-1.97 [[ 9.99052349e-01 -4.31538539e-02 -5.67005672e-03 9.63414439e+00] [ 4.31700665e-02 9.99063902e-01 2.76870400e-03 -4.67172967e-01] [ 5.54526874e-03 -3.01085695e-03 9.99980092e-01 -1.97362766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03119381700003 meters Centerline goodness [0,1] 0.8709857755140071 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.47, Z:-1.97 [[ 9.99185419e-01 -3.99058976e-02 -6.00154158e-03 9.63497729e+00] [ 3.99417992e-02 9.99184077e-01 5.98610952e-03 -4.65628079e-01] [ 5.75776371e-03 -6.22094572e-03 9.99964073e-01 -1.97412959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06119381700003 meters Centerline goodness [0,1] 0.8743108004077981 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.46, Z:-1.98 [[ 9.99302367e-01 -3.68173521e-02 -6.26598759e-03 9.63618912e+00] [ 3.68619439e-02 9.99294743e-01 7.15631290e-03 -4.57515905e-01] [ 5.99809197e-03 -7.38229690e-03 9.99954761e-01 -1.97599114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09119381700003 meters Centerline goodness [0,1] 0.8993559110741741 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.45, Z:-1.98 [[ 9.99408216e-01 -3.37297138e-02 -6.74710683e-03 9.63764299e+00] [ 3.37941273e-02 9.99382012e-01 9.67218116e-03 -4.54428866e-01] [ 6.41669729e-03 -9.89446990e-03 9.99930460e-01 -1.97698681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12119381700003 meters Centerline goodness [0,1] 0.9026400939799262 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.45, Z:-1.98 [[ 9.99557986e-01 -2.96636042e-02 -1.97578532e-03 9.64949350e+00] [ 2.96685928e-02 9.99556550e-01 2.54530324e-03 -4.48705058e-01] [ 1.89940629e-03 -2.60279695e-03 9.99994809e-01 -1.98107536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15119381700003 meters Centerline goodness [0,1] 0.9074861540376278 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.44, Z:-1.98 [[ 9.99656854e-01 -2.61166055e-02 -2.02413322e-03 9.64902986e+00] [ 2.61273367e-02 9.99643657e-01 5.47008630e-03 -4.44964651e-01] [ 1.88055184e-03 -5.52109447e-03 9.99982990e-01 -1.98068276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18119381700004 meters Centerline goodness [0,1] 0.9132896428719566 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.44, Z:-1.98 [[ 9.99798149e-01 -1.99832518e-02 -2.08085962e-03 9.64722050e+00] [ 2.00032727e-02 9.99748982e-01 1.00917026e-02 -4.36680430e-01] [ 1.87867226e-03 -1.01312896e-02 9.99946912e-01 -1.97881669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21119381700004 meters Centerline goodness [0,1] 0.9149312050546619 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.43, Z:-1.98 [[ 9.99807584e-01 -1.94705962e-02 -2.38575779e-03 9.64719354e+00] [ 1.94920258e-02 9.99766619e-01 9.31492661e-03 -4.32353150e-01] [ 2.20383382e-03 -9.35963751e-03 9.99953769e-01 -1.97835955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24119381700004 meters Centerline goodness [0,1] 0.9172363936796447 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.43, Z:-1.98 [[ 9.99906079e-01 -1.36922709e-02 -5.96189400e-04 9.65574171e+00] [ 1.36935732e-02 9.99903734e-01 2.23810424e-03 -4.28780490e-01] [ 5.65487278e-04 -2.24605800e-03 9.99997318e-01 -1.97838312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27119381700004 meters Centerline goodness [0,1] 0.9221945137157107 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.43, Z:-1.98 [[ 9.99948599e-01 -1.01111820e-02 -7.50326810e-04 9.65571158e+00] [ 1.01152014e-02 9.99933372e-01 5.56183342e-03 -4.26706144e-01] [ 6.94040108e-04 -5.56913724e-03 9.99984251e-01 -1.97800721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30119381700004 meters Centerline goodness [0,1] 0.921865889212828 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.42, Z:-1.98 [[ 9.99955678e-01 -9.40274105e-03 -4.79107370e-04 9.65436643e+00] [ 9.40520543e-03 9.99941021e-01 5.43113342e-03 -4.22527029e-01] [ 4.28011571e-04 -5.43539881e-03 9.99985137e-01 -1.97716147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33119381700004 meters Centerline goodness [0,1] 0.921535685396055 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.42, Z:-1.98 [[ 9.99977693e-01 -6.65577269e-03 -5.60978382e-04 9.65412187e+00] [ 6.65974215e-03 9.99950450e-01 7.39902700e-03 -4.17037433e-01] [ 5.11704344e-04 -7.40259792e-03 9.99972469e-01 -1.97678532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36119381700004 meters Centerline goodness [0,1] 0.9228500820301955 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.41, Z:-1.98 [[ 9.99977768e-01 -6.64554593e-03 -5.48052595e-04 9.65375300e+00] [ 6.64912595e-03 9.99954692e-01 6.81191802e-03 -4.14545288e-01] [ 5.02758850e-04 -6.81541065e-03 9.99976648e-01 -1.97638276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39119381700004 meters Centerline goodness [0,1] 0.9230641305477602 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.41, Z:-1.98 [[ 9.99976887e-01 -6.77496067e-03 -5.71094994e-04 9.65371602e+00] [ 6.77812045e-03 9.99960637e-01 5.72548973e-03 -4.10745148e-01] [ 5.32282546e-04 -5.72922834e-03 9.99983446e-01 -1.97642646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42119381700002 meters Centerline goodness [0,1] 0.9206207966890844 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.41, Z:-1.98 [[ 9.99977094e-01 -6.72593071e-03 -7.56821767e-04 9.65427523e+00] [ 6.72979268e-03 9.99963722e-01 5.22161001e-03 -4.08851711e-01] [ 7.21674123e-04 -5.22658365e-03 9.99986081e-01 -1.97680692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45119381700002 meters Centerline goodness [0,1] 0.9231692677070829 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.41, Z:-1.98 [[ 9.99977908e-01 -6.60524139e-03 -7.45092041e-04 9.65451478e+00] [ 6.60864402e-03 9.99967302e-01 4.66064905e-03 -4.06619202e-01] [ 7.14282966e-04 -4.66547014e-03 9.99988862e-01 -1.97728830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48119381700002 meters Centerline goodness [0,1] 0.9229397000560061 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.40, Z:-1.98 [[ 9.99979142e-01 -6.42124856e-03 -6.94928684e-04 9.65439541e+00] [ 6.42419143e-03 9.99970038e-01 4.31881470e-03 -4.04756664e-01] [ 6.67175680e-04 -4.32318897e-03 9.99990432e-01 -1.97735784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51119381700002 meters Centerline goodness [0,1] 0.9206440957886044 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.40, Z:-1.98 [[ 9.99982449e-01 -5.84563746e-03 -9.64893405e-04 9.65498617e+00] [ 5.84949823e-03 9.99974698e-01 4.04812775e-03 -4.02493997e-01] [ 9.41205104e-04 -4.05370084e-03 9.99991341e-01 -1.97771723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54119381700002 meters Centerline goodness [0,1] 0.917829745880115 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.40, Z:-1.98 [[ 9.99983377e-01 -5.68060862e-03 -9.87704796e-04 9.65512379e+00] [ 5.68454129e-03 9.99975740e-01 4.02548544e-03 -4.02179339e-01] [ 9.64813628e-04 -4.03103318e-03 9.99991410e-01 -1.97787026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57119381700002 meters Centerline goodness [0,1] 0.9201030927835052 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.40, Z:-1.98 [[ 9.99984045e-01 -5.54907287e-03 -1.05714838e-03 9.65537812e+00] [ 5.55341684e-03 9.99975962e-01 4.15150758e-03 -4.02371072e-01] [ 1.03408595e-03 -4.15731213e-03 9.99990824e-01 -1.97806700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60119381700002 meters Centerline goodness [0,1] 0.9204795287675779 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.40, Z:-1.98 [[ 9.99983259e-01 -5.62410188e-03 -1.36090636e-03 9.65647285e+00] [ 5.62962315e-03 9.99975798e-01 4.08781533e-03 -4.02431787e-01] [ 1.33788313e-03 -4.09540829e-03 9.99990719e-01 -1.97878426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.63119381700002 meters Centerline goodness [0,1] 0.9198286033658325 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.40, Z:-1.98 [[ 9.99983095e-01 -5.63070980e-03 -1.45056879e-03 9.65679933e+00] [ 5.63697630e-03 9.99974639e-01 4.35277805e-03 -4.03441271e-01] [ 1.42602277e-03 -4.36088129e-03 9.99989475e-01 -1.97897390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66119381700003 meters Centerline goodness [0,1] 0.9210362565336431 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.40, Z:-1.98 [[ 9.99983857e-01 -5.48041612e-03 -1.49994678e-03 9.65655473e+00] [ 5.48745941e-03 9.99973745e-01 4.73256723e-03 -4.04354858e-01] [ 1.47397097e-03 -4.74072173e-03 9.99987676e-01 -1.97844791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.69119381700003 meters Centerline goodness [0,1] 0.9204997397188964 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.41, Z:-1.98 [[ 9.99985330e-01 -5.21168062e-03 -1.47604661e-03 9.65633462e+00] [ 5.21934718e-03 9.99972657e-01 5.23864908e-03 -4.05557884e-01] [ 1.44870409e-03 -5.24627623e-03 9.99985189e-01 -1.97819036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72119381700003 meters Centerline goodness [0,1] 0.9206683194100123 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.41, Z:-1.98 [[ 9.99986195e-01 -5.03975155e-03 -1.48654607e-03 9.65640878e+00] [ 5.04801827e-03 9.99971518e-01 5.61070406e-03 -4.06888808e-01] [ 1.45822718e-03 -5.61813072e-03 9.99983155e-01 -1.97817714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75119381700003 meters Centerline goodness [0,1] 0.9210438760657101 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.41, Z:-1.98 [[ 9.99987756e-01 -4.71634039e-03 -1.49782584e-03 9.65677389e+00] [ 4.72538412e-03 9.99970273e-01 6.09288469e-03 -4.08310096e-01] [ 1.46904519e-03 -6.09988790e-03 9.99980316e-01 -1.97866409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78119381700003 meters Centerline goodness [0,1] 0.9215889751359428 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.41, Z:-1.98 [[ 9.99987750e-01 -4.64065001e-03 -1.72195933e-03 9.65768497e+00] [ 4.65116254e-03 9.99970259e-01 6.15204182e-03 -4.08561935e-01] [ 1.69335865e-03 -6.15997556e-03 9.99979593e-01 -1.97933971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81119381700003 meters Centerline goodness [0,1] 0.9203301226640322 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.41, Z:-1.98 [[ 9.99987729e-01 -4.55805679e-03 -1.94047631e-03 9.65866885e+00] [ 4.57028764e-03 9.99969420e-01 6.34594572e-03 -4.09443875e-01] [ 1.91149179e-03 -6.35473638e-03 9.99977982e-01 -1.98005841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84119381700003 meters Centerline goodness [0,1] 0.918295843267337 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.41, Z:-1.98 [[ 9.99988695e-01 -4.29598538e-03 -2.03825121e-03 9.65903458e+00] [ 4.30985974e-03 9.99967236e-01 6.85214595e-03 -4.11131354e-01] [ 2.00874771e-03 -6.86085306e-03 9.99974446e-01 -1.98025421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87119381700003 meters Centerline goodness [0,1] 0.916462018730489 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.41, Z:-1.98 [[ 9.99983001e-01 -5.51798931e-03 -1.88393545e-03 9.65734411e+00] [ 5.52841590e-03 9.99969178e-01 5.57486451e-03 -4.12680387e-01] [ 1.85311534e-03 -5.58518492e-03 9.99982686e-01 -1.97872298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90119381700003 meters Centerline goodness [0,1] 0.9168431983385255 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.41, Z:-1.98 [[ 9.99983321e-01 -5.41336284e-03 -2.01329947e-03 9.65767172e+00] [ 5.42513185e-03 9.99967956e-01 5.88684850e-03 -4.13711390e-01] [ 1.98136731e-03 -5.89767273e-03 9.99980646e-01 -1.97878465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93119381700004 meters Centerline goodness [0,1] 0.9169085330458578 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.41, Z:-1.98 [[ 9.99983127e-01 -5.38374912e-03 -2.18202850e-03 9.65803742e+00] [ 5.39718742e-03 9.99966213e-01 6.20025477e-03 -4.14962855e-01] [ 2.14857416e-03 -6.21192697e-03 9.99978398e-01 -1.97878322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96119381700004 meters Centerline goodness [0,1] 0.9167459956127644 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.42, Z:-1.98 [[ 9.99982669e-01 -5.35362232e-03 -2.44959443e-03 9.65848648e+00] [ 5.37005549e-03 9.99962787e-01 6.75186517e-03 -4.17226789e-01] [ 2.41335634e-03 -6.76490261e-03 9.99974206e-01 -1.97854562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99119381700004 meters Centerline goodness [0,1] 0.9156886326877618 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.42, Z:-1.98 [[ 9.99960547e-01 -8.55679199e-03 -2.38432116e-03 9.65818275e+00] [ 8.56673752e-03 9.99954515e-01 4.19270655e-03 -4.21341761e-01] [ 2.34833659e-03 -4.21296699e-03 9.99988368e-01 -1.97816696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02119381700004 meters Centerline goodness [0,1] 0.9153122859455757 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.42, Z:-1.98 [[ 9.99962848e-01 -8.26988929e-03 -2.43127557e-03 9.65814264e+00] [ 8.28235146e-03 9.99952381e-01 5.16118572e-03 -4.24310173e-01] [ 2.38847737e-03 -5.18113066e-03 9.99983725e-01 -1.97785756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05119381700004 meters Centerline goodness [0,1] 0.916467583820743 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.43, Z:-1.98 [[ 9.99962673e-01 -8.25886925e-03 -2.53847824e-03 9.65847606e+00] [ 8.27311863e-03 9.99949787e-01 5.65507188e-03 -4.26239750e-01] [ 2.49164628e-03 -5.67586193e-03 9.99980788e-01 -1.97790241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08119381700004 meters Centerline goodness [0,1] 0.9165056210128213 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.43, Z:-1.98 [[ 9.99963828e-01 -8.12563572e-03 -2.51333437e-03 9.65821042e+00] [ 8.14129199e-03 9.99947120e-01 6.28307641e-03 -4.28273361e-01] [ 2.46214748e-03 -6.30331092e-03 9.99977103e-01 -1.97751431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11119381700004 meters Centerline goodness [0,1] 0.9230354997721718 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.43, Z:-1.98 [[ 9.99968343e-01 -7.56163048e-03 -2.47673571e-03 9.65815395e+00] [ 7.58050232e-03 9.99941614e-01 7.70100674e-03 -4.32833598e-01] [ 2.41835893e-03 -7.71953785e-03 9.99967280e-01 -1.97736525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14119381700004 meters Centerline goodness [0,1] 0.9206148619253797 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.43, Z:-1.98 [[ 9.99971442e-01 -7.12015446e-03 -2.53348327e-03 9.65825161e+00] [ 7.14126703e-03 9.99939015e-01 8.42431037e-03 -4.34948734e-01] [ 2.47334637e-03 -8.44216207e-03 9.99961305e-01 -1.97730841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17119381700002 meters Centerline goodness [0,1] 0.9209478829376947 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.44, Z:-1.98 [[ 9.99974270e-01 -6.68276061e-03 -2.60753942e-03 9.65848991e+00] [ 6.70618807e-03 9.99936273e-01 9.08165692e-03 -4.36914386e-01] [ 2.54668271e-03 -9.09890990e-03 9.99955361e-01 -1.97737370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20119381700002 meters Centerline goodness [0,1] 0.9240156334455948 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.44, Z:-1.98 [[ 9.99978884e-01 -5.97299995e-03 -2.56007039e-03 9.65833837e+00] [ 5.99809124e-03 9.99932925e-01 9.90803967e-03 -4.38906330e-01] [ 2.50071795e-03 -9.92318599e-03 9.99947637e-01 -1.97729520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23119381700002 meters Centerline goodness [0,1] 0.9275522090024129 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.44, Z:-1.98 [[ 9.99996405e-01 -7.90738476e-04 -2.56219002e-03 9.65850102e+00] [ 8.30423308e-04 9.99879139e-01 1.55247722e-02 -4.43793049e-01] [ 2.54960431e-03 -1.55268441e-02 9.99876201e-01 -1.97736723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26119381700002 meters Centerline goodness [0,1] 0.9263339141979918 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.44, Z:-1.98 [[ 9.99993346e-01 3.60470306e-03 -5.60776969e-04 9.66770099e+00] [-3.60067173e-03 9.99968800e-01 7.03099393e-03 -4.43630626e-01] [ 5.86104118e-04 -7.02892797e-03 9.99975125e-01 -1.97847963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29119381700002 meters Centerline goodness [0,1] 0.9249771271729186 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.44, Z:-1.98 [[ 9.99990548e-01 4.31573774e-03 -5.28164005e-04 9.66768737e+00] [-4.31163015e-03 9.99962235e-01 7.54569721e-03 -4.44410636e-01] [ 5.60709309e-04 -7.54334864e-03 9.99971391e-01 -1.97864899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32119381700002 meters Centerline goodness [0,1] 0.8932872573769813 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.45, Z:-1.98 [[ 9.99986282e-01 5.21382633e-03 -5.02500231e-04 9.66806388e+00] [-5.20912681e-03 9.99946477e-01 8.93914099e-03 -4.48011078e-01] [ 5.49080464e-04 -8.93640078e-03 9.99959919e-01 -1.97922988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35119381700002 meters Centerline goodness [0,1] 0.8944666404454841 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.45, Z:-1.98 [[ 9.99998788e-01 1.46060089e-03 -5.39996826e-04 9.66853337e+00] [-1.45777134e-03 9.99985398e-01 5.20370705e-03 -4.49113379e-01] [ 5.47589480e-04 -5.20291355e-03 9.99986315e-01 -1.97988574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38119381700002 meters Centerline goodness [0,1] 0.9224759615384616 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.45, Z:-1.98 [[ 9.99997500e-01 -2.14182403e-03 -6.42152577e-04 9.66898869e+00] [ 2.14321587e-03 9.99995339e-01 2.17466756e-03 -4.52279181e-01] [ 6.37491828e-04 -2.17603840e-03 9.99997429e-01 -1.98022825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.41119381700003 meters Centerline goodness [0,1] 0.9198910419117192 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.46, Z:-1.98 [[ 9.99981118e-01 -6.07155861e-03 -9.48704579e-04 9.67026031e+00] [ 6.07078843e-03 9.99981242e-01 -8.12596423e-04 -4.56463939e-01] [ 9.53620511e-04 8.06821694e-04 9.99999220e-01 -1.98094219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44119381700003 meters Centerline goodness [0,1] 0.9192604581673307 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.46, Z:-1.98 [[ 9.99948771e-01 -1.00687403e-02 -1.03704007e-03 9.67082153e+00] [ 1.00649195e-02 9.99942774e-01 -3.62583725e-03 -4.60987562e-01] [ 1.07348834e-03 3.61521378e-03 9.99992889e-01 -1.98118309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47119381700003 meters Centerline goodness [0,1] 0.9217725996047019 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.47, Z:-1.98 [[ 9.99812138e-01 -1.93577738e-02 -9.82103734e-04 9.67247420e+00] [ 1.93460954e-02 9.99754931e-01 -1.07613463e-02 -4.67499140e-01] [ 1.19017876e-03 1.07403248e-02 9.99941613e-01 -1.98264842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50119381700003 meters Centerline goodness [0,1] 0.9217725996047019 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.47, Z:-1.98 [[ 9.99812138e-01 -1.93577738e-02 -9.82103734e-04 9.67247420e+00] [ 1.93460954e-02 9.99754931e-01 -1.07613463e-02 -4.67499140e-01] [ 1.19017876e-03 1.07403248e-02 9.99941613e-01 -1.98264842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53119381700003 meters Centerline goodness [0,1] 0.9190212642004079 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.47, Z:-1.98 [[ 9.99726263e-01 -2.33726288e-02 -1.05834441e-03 9.67301607e+00] [ 2.33556902e-02 9.99630717e-01 -1.38903538e-02 -4.70617962e-01] [ 1.38260766e-03 1.38618331e-02 9.99902964e-01 -1.98286487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56119381700003 meters Centerline goodness [0,1] 0.9137726790947066 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.47, Z:-1.98 [[ 9.99623980e-01 -2.74038983e-02 -9.61832189e-04 9.67327132e+00] [ 2.73831815e-02 9.99475360e-01 -1.72964439e-02 -4.72960101e-01] [ 1.43531756e-03 1.72636021e-02 9.99849943e-01 -1.98308834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59119381700003 meters Centerline goodness [0,1] 0.9208130249922224 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.48, Z:-1.98 [[ 9.99613999e-01 -2.77651098e-02 -9.75497787e-04 9.67335530e+00] [ 2.77455593e-02 9.99482335e-01 -1.62863911e-02 -4.77268898e-01] [ 1.42718624e-03 1.62530388e-02 9.99866892e-01 -1.98268192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62119381700003 meters Centerline goodness [0,1] 0.9114496498832945 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.48, Z:-1.98 [[ 9.99613108e-01 -2.77935543e-02 -1.07315611e-03 9.67331384e+00] [ 2.77738962e-02 9.99497054e-01 -1.53052288e-02 -4.80781592e-01] [ 1.49800307e-03 1.52695016e-02 9.99882292e-01 -1.98208387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65119381700003 meters Centerline goodness [0,1] 0.9259820612905905 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.49, Z:-1.98 [[ 9.99631015e-01 -2.71498022e-02 -8.49759522e-04 9.67165369e+00] [ 2.71359364e-02 9.99541323e-01 -1.34456278e-02 -4.85581787e-01] [ 1.21441589e-03 1.34176076e-02 9.99909242e-01 -1.98003588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68119381700004 meters Centerline goodness [0,1] 0.9259351932941323 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.49, Z:-1.98 [[ 9.99731503e-01 -2.31495516e-02 -1.00957933e-03 9.67138733e+00] [ 2.31400778e-02 9.99695601e-01 -8.55816099e-03 -4.88717625e-01] [ 1.20738961e-03 8.53250141e-03 9.99962869e-01 -1.97913289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71119381700004 meters Centerline goodness [0,1] 0.9274006141588513 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.49, Z:-1.98 [[ 9.99817965e-01 -1.90372866e-02 -1.27224684e-03 9.67146056e+00] [ 1.90321175e-02 9.99811036e-01 -3.95856572e-03 -4.90707295e-01] [ 1.34736678e-03 3.93363157e-03 9.99991356e-01 -1.97851559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74119381700004 meters Centerline goodness [0,1] 0.9305673685302355 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.49, Z:-1.98 [[ 9.99889645e-01 -1.47776972e-02 -1.52262538e-03 9.67119929e+00] [ 1.47787170e-02 9.99890571e-01 6.60689845e-04 -4.92322394e-01] [ 1.51269529e-03 -6.83119384e-04 9.99998623e-01 -1.97752019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77119381700004 meters Centerline goodness [0,1] 0.9307985736794095 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.49, Z:-1.98 [[ 9.99950363e-01 -9.81628131e-03 -1.70659618e-03 9.67071550e+00] [ 9.82491868e-03 9.99938582e-01 5.12868098e-03 -4.92247573e-01] [ 1.65614679e-03 -5.14519358e-03 9.99985392e-01 -1.97666136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80119381700004 meters Centerline goodness [0,1] 0.9287380258225739 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.49, Z:-1.98 [[ 9.99962563e-01 -8.52149662e-03 -1.50200655e-03 9.66961172e+00] [ 8.52979734e-03 9.99947887e-01 5.60948405e-03 -4.90353131e-01] [ 1.45412707e-03 -5.62208587e-03 9.99983139e-01 -1.97608391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83119381700004 meters Centerline goodness [0,1] 0.9270911205249606 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.49, Z:-1.98 [[ 9.99996861e-01 -1.24316400e-03 -2.17541729e-03 9.67239866e+00] [ 1.27071000e-03 9.99918453e-01 1.27071666e-02 -4.89805129e-01] [ 2.15944280e-03 -1.27098911e-02 9.99916894e-01 -1.97801734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86119381700004 meters Centerline goodness [0,1] 0.9262178389419605 Centerline is valid? [False, False] Translation: X:9.68, Y:-0.49, Z:-1.98 [[ 9.99996610e-01 2.14571690e-03 1.47524053e-03 9.68413340e+00] [-2.15107560e-03 9.99991060e-01 3.64048426e-03 -4.86988921e-01] [-1.46741589e-03 -3.64364527e-03 9.99992285e-01 -1.98230744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89119381700004 meters Centerline goodness [0,1] 0.9259228432310957 Centerline is valid? [False, False] Translation: X:9.68, Y:-0.49, Z:-1.98 [[ 9.99994181e-01 3.06057584e-03 1.50722385e-03 9.68403596e+00] [-3.06658712e-03 9.99987289e-01 4.00228259e-03 -4.86606605e-01] [-1.49495540e-03 -4.00688134e-03 9.99990855e-01 -1.98244962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92119381700002 meters Centerline goodness [0,1] 0.922511441055269 Centerline is valid? [False, False] Translation: X:9.68, Y:-0.49, Z:-1.98 [[ 9.99992739e-01 3.59689160e-03 1.25909150e-03 9.68495191e+00] [-3.60194247e-03 9.99985382e-01 4.03250257e-03 -4.86304947e-01] [-1.24456862e-03 -4.03700846e-03 9.99991077e-01 -1.98319796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95119381700002 meters Centerline goodness [0,1] 0.9179524452289481 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.49, Z:-1.99 [[ 9.99970079e-01 7.68119052e-03 9.16519899e-04 9.68731859e+00] [-7.68851073e-03 9.99936242e-01 8.27030591e-03 -4.88717221e-01] [-8.52935668e-04 -8.27710513e-03 9.99965380e-01 -1.98537796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98119381700002 meters Centerline goodness [0,1] 0.9191228582148664 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.49, Z:-1.99 [[ 9.99968901e-01 7.85359669e-03 7.19615588e-04 9.68826567e+00] [-7.85931326e-03 9.99934511e-01 8.31898807e-03 -4.88903667e-01] [-6.54234484e-04 -8.32438504e-03 9.99965138e-01 -1.98619681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01119381700002 meters Centerline goodness [0,1] 0.9116227796497358 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.49, Z:-1.99 [[ 9.99986082e-01 5.25323944e-03 4.88211563e-04 9.68869972e+00] [-5.25558146e-03 9.99974054e-01 4.92648997e-03 -4.88240126e-01] [-4.62318864e-04 -4.92898724e-03 9.99987746e-01 -1.98670341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04119381700002 meters Centerline goodness [0,1] 0.905045747274963 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.49, Z:-1.99 [[ 9.99997290e-01 2.27951665e-03 4.72016175e-04 9.68837499e+00] [-2.28020487e-03 9.99996331e-01 1.46266095e-03 -4.88462965e-01] [-4.68680283e-04 -1.46373328e-03 9.99998819e-01 -1.98657692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07119381700002 meters Centerline goodness [0,1] 0.9169556640016613 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.49, Z:-1.99 [[ 9.99999696e-01 -6.36052045e-04 4.50671446e-04 9.68791088e+00] [ 6.36271335e-04 9.99999679e-01 -4.86609247e-04 -4.94371780e-01] [-4.50361793e-04 4.86895849e-04 9.99999780e-01 -1.98577594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10119381700002 meters Centerline goodness [0,1] 0.9187535127708737 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.50, Z:-1.99 [[ 9.99999776e-01 -5.17262267e-04 4.24088395e-04 9.68773047e+00] [ 5.16916384e-04 9.99999534e-01 8.15295268e-04 -4.98874967e-01] [-4.24509919e-04 -8.15075867e-04 9.99999578e-01 -1.98506238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.13119381700002 meters Centerline goodness [0,1] 0.9187527175600969 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.50, Z:-1.99 [[ 9.99999276e-01 -1.19717041e-03 -1.22905711e-04 9.68932066e+00] [ 1.19731744e-03 9.99998559e-01 1.20321662e-03 -5.03114587e-01] [ 1.21465079e-04 -1.20336290e-03 9.99999269e-01 -1.98529424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16119381700003 meters Centerline goodness [0,1] 0.9268216732406062 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.51, Z:-1.98 [[ 9.99989255e-01 -4.63265630e-03 1.70989039e-04 9.68783244e+00] [ 4.63270600e-03 9.99989227e-01 -2.91396624e-04 -5.10265243e-01] [-1.69637257e-04 2.92185635e-04 9.99999943e-01 -1.98327716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.19119381700003 meters Centerline goodness [0,1] 0.9269182155363545 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.52, Z:-1.98 [[ 9.99988027e-01 -4.89334617e-03 3.85556591e-05 9.68802228e+00] [ 4.89331237e-03 9.99987681e-01 8.32647487e-04 -5.15050979e-01] [-4.26296165e-05 -8.32448852e-04 9.99999653e-01 -1.98259742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22119381700003 meters Centerline goodness [0,1] 0.9277395991934488 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.52, Z:-1.98 [[ 9.99964919e-01 -8.37617057e-03 -5.78582065e-06 9.68767615e+00] [ 8.37613549e-03 9.99962310e-01 -2.28443625e-03 -5.17411956e-01] [ 2.49204303e-05 2.28430765e-03 9.99997391e-01 -1.98188635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25119381700003 meters Centerline goodness [0,1] 0.9317400488754505 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.52, Z:-1.98 [[ 9.99965864e-01 -8.26239740e-03 -5.18122743e-05 9.68726151e+00] [ 8.26234607e-03 9.99965440e-01 -9.22953407e-04 -5.22039539e-01] [ 5.94362915e-05 9.22493810e-04 9.99999573e-01 -1.98074413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28119381700003 meters Centerline goodness [0,1] 0.93609679028771 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.53, Z:-1.98 [[ 9.99937982e-01 -1.11286694e-02 4.29554782e-04 9.68501234e+00] [ 1.11296441e-02 9.99935331e-01 -2.33750973e-03 -5.28833230e-01] [-4.03513630e-04 2.34214556e-03 9.99997176e-01 -1.97842095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31119381700003 meters Centerline goodness [0,1] 0.937971918876755 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.53, Z:-1.98 [[ 9.99938982e-01 -1.10416146e-02 3.38336239e-04 9.68521589e+00] [ 1.10420207e-02 9.99938287e-01 -1.22284196e-03 -5.32681452e-01] [-3.24813210e-04 1.22650326e-03 9.99999195e-01 -1.97810814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34119381700003 meters Centerline goodness [0,1] 0.9385598477955166 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.54, Z:-1.98 [[ 9.99932975e-01 -1.15773706e-02 -1.00556117e-04 9.68707318e+00] [ 1.15772809e-02 9.99932620e-01 -8.50231176e-04 -5.35896664e-01] [ 1.10392783e-04 8.49010023e-04 9.99999633e-01 -1.97906792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37119381700003 meters Centerline goodness [0,1] 0.940382869873752 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.54, Z:-1.98 [[ 9.99930704e-01 -1.17662705e-02 -3.77914605e-04 9.68817540e+00] [ 1.17662336e-02 9.99930770e-01 -9.98648144e-05 -5.39109226e-01] [ 3.79063478e-04 9.54112627e-05 9.99999924e-01 -1.97950215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40119381700003 meters Centerline goodness [0,1] 0.9420331830030204 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.54, Z:-1.98 [[ 9.99879160e-01 -1.55384569e-02 -4.70110201e-04 9.68912953e+00] [ 1.55370485e-02 9.99875190e-01 -2.86435602e-03 -5.43553377e-01] [ 5.14559199e-04 2.85670577e-03 9.99995787e-01 -1.98017194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43119381700004 meters Centerline goodness [0,1] 0.9397605387877276 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.55, Z:-1.98 [[ 9.99879247e-01 -1.55195919e-02 -7.95986879e-04 9.68997437e+00] [ 1.55180284e-02 9.99877718e-01 -1.93412420e-03 -5.47052168e-01] [ 8.25906362e-04 1.92153850e-03 9.99997813e-01 -1.98017541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46119381700004 meters Centerline goodness [0,1] 0.9382885126162018 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.55, Z:-1.98 [[ 9.99877722e-01 -1.55986585e-02 -1.10585475e-03 9.69102471e+00] [ 1.55974789e-02 9.99877782e-01 -1.06740154e-03 -5.50662495e-01] [ 1.12236962e-03 1.05002247e-03 9.99998819e-01 -1.98043416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49119381700004 meters Centerline goodness [0,1] 0.9368015094652595 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.55, Z:-1.98 [[ 9.99871279e-01 -1.59786912e-02 -1.45178305e-03 9.69243750e+00] [ 1.59779392e-02 9.99872205e-01 -5.28091273e-04 -5.53592620e-01] [ 1.46003573e-03 5.04826795e-04 9.99998807e-01 -1.98106052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52119381700004 meters Centerline goodness [0,1] 0.9248586273814243 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.55, Z:-1.98 [[ 9.99758449e-01 -2.18923209e-02 -1.94156712e-03 9.69647811e+00] [ 2.18813908e-02 9.99745540e-01 -5.48262507e-03 -5.54713641e-01] [ 2.06110045e-03 5.43881655e-03 9.99983085e-01 -1.98461270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55119381700004 meters Centerline goodness [0,1] 0.9039856955735285 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.56, Z:-1.99 [[ 9.99716844e-01 -2.36800754e-02 -2.34226713e-03 9.69918717e+00] [ 2.36651517e-02 9.99700677e-01 -6.20624287e-03 -5.56497618e-01] [ 2.48853033e-03 6.14905543e-03 9.99977998e-01 -1.98652849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58119381700004 meters Centerline goodness [0,1] 0.8830753910626115 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.56, Z:-1.99 [[ 9.99661897e-01 -2.58751188e-02 -2.56306922e-03 9.70183581e+00] [ 2.58554501e-02 9.99638074e-01 -7.43081699e-03 -5.58057930e-01] [ 2.75441485e-03 7.36203530e-03 9.99969106e-01 -1.98863586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61119381700004 meters Centerline goodness [0,1] 0.8450491150992664 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.56, Z:-1.99 [[ 9.99615962e-01 -2.75608496e-02 -2.88569517e-03 9.70418347e+00] [ 2.75360487e-02 9.99586288e-01 -8.30771864e-03 -5.59224548e-01] [ 3.11346911e-03 8.22506752e-03 9.99961327e-01 -1.99024749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64119381700004 meters Centerline goodness [0,1] 0.8660398552231976 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.56, Z:-1.99 [[ 9.99596087e-01 -2.82507774e-02 -3.09147780e-03 9.70503959e+00] [ 2.82239873e-02 9.99566404e-01 -8.39106143e-03 -5.60169099e-01] [ 3.32719136e-03 8.30041834e-03 9.99960016e-01 -1.99049644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67119381700005 meters Centerline goodness [0,1] 0.8076522969374168 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.56, Z:-1.99 [[ 9.99566184e-01 -2.92880907e-02 -3.10668816e-03 9.70521293e+00] [ 2.92580929e-02 9.99528646e-01 -9.29780364e-03 -5.58176499e-01] [ 3.37753872e-03 9.20287433e-03 9.99951949e-01 -1.99037989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70119381700002 meters Centerline goodness [0,1] 0.8018034864634628 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.56, Z:-1.99 [[ 9.99649144e-01 -2.62657223e-02 -3.42071137e-03 9.70603292e+00] [ 2.62451413e-02 9.99637957e-01 -5.92856894e-03 -5.57084086e-01] [ 3.57519106e-03 5.83671181e-03 9.99976575e-01 -1.99047303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73119381700002 meters Centerline goodness [0,1] 0.8037202535591812 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.56, Z:-1.99 [[ 9.99727950e-01 -2.30234198e-02 -3.73470763e-03 9.70694820e+00] [ 2.30137396e-02 9.99731730e-01 -2.61455688e-03 -5.55347729e-01] [ 3.79390176e-03 2.52789600e-03 9.99989608e-01 -1.99083873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76119381700002 meters Centerline goodness [0,1] 0.8273361864794117 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.55, Z:-1.99 [[ 9.99776181e-01 -2.07092404e-02 -4.32606391e-03 9.70870913e+00] [ 2.07037589e-02 9.99784799e-01 -1.30805457e-03 -5.47435964e-01] [ 4.35222175e-03 1.21819602e-03 9.99989787e-01 -1.99184946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79119381700002 meters Centerline goodness [0,1] 0.8207168013258753 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.54, Z:-1.99 [[ 9.99818423e-01 -1.83987221e-02 -4.96055027e-03 9.71074503e+00] [ 1.84029975e-02 9.99830316e-01 8.17605951e-04 -5.44097813e-01] [ 4.94466564e-03 -9.08746487e-04 9.99987362e-01 -1.99282065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82119381700002 meters Centerline goodness [0,1] 0.8261674466978679 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.54, Z:-1.99 [[ 9.99867070e-01 -1.54708923e-02 -5.14720165e-03 9.71111426e+00] [ 1.54898723e-02 9.99873296e-01 3.66823319e-03 -5.41348141e-01] [ 5.08979864e-03 -3.74747506e-03 9.99980025e-01 -1.99270245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85119381700002 meters Centerline goodness [0,1] 0.8369479413353276 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.53, Z:-1.99 [[ 9.99883463e-01 -1.40832170e-02 -5.89264168e-03 9.71284110e+00] [ 1.41032075e-02 9.99894883e-01 3.36476481e-03 -5.30950653e-01] [ 5.84463555e-03 -3.44747784e-03 9.99976977e-01 -1.99343529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88119381700002 meters Centerline goodness [0,1] 0.8266957515321491 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.52, Z:-1.99 [[ 9.99878104e-01 -1.43996584e-02 -6.03553538e-03 9.71294315e+00] [ 1.44108442e-02 9.99894513e-01 1.81393273e-03 -5.24970518e-01] [ 6.00877870e-03 -1.90068877e-03 9.99980141e-01 -1.99346033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.91119381700003 meters Centerline goodness [0,1] 0.8398826494772943 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.52, Z:-2.00 [[ 9.99934545e-01 -1.14350493e-02 -3.81669702e-04 9.72462560e+00] [ 1.14325213e-02 9.99916201e-01 -6.07352569e-03 -5.18070480e-01] [ 4.51088785e-04 6.06876470e-03 9.99981483e-01 -1.99745377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94119381700003 meters Centerline goodness [0,1] 0.8681441822822635 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.51, Z:-2.00 [[ 9.99967392e-01 -8.04884260e-03 -6.56136250e-04 9.72458039e+00] [ 8.04658250e-03 9.99961922e-01 -3.37735914e-03 -5.13618214e-01] [ 6.83295098e-04 3.37196936e-03 9.99994081e-01 -1.99675880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97119381700003 meters Centerline goodness [0,1] 0.8643330571665286 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.51, Z:-2.00 [[ 9.99987782e-01 -4.82382132e-03 -1.08007177e-03 9.72536784e+00] [ 4.82287683e-03 9.99987987e-01 -8.75366017e-04 -5.09090806e-01] [ 1.08428140e-03 8.70146268e-04 9.99999034e-01 -1.99672402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00119381700003 meters Centerline goodness [0,1] 0.8862549386566854 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.50, Z:-2.00 [[ 9.99997728e-01 -1.69658186e-03 -1.29070408e-03 9.72544457e+00] [ 1.69864952e-03 9.99997273e-01 1.60255621e-03 -5.04685281e-01] [ 1.28798169e-03 -1.60474502e-03 9.99997883e-01 -1.99622599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03119381700003 meters Centerline goodness [0,1] 0.8987131244672668 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.49, Z:-1.99 [[ 9.99998661e-01 8.73599418e-04 -1.38376015e-03 9.72403524e+00] [-8.70465798e-04 9.99997059e-01 2.26355509e-03 -4.93145837e-01] [ 1.38573352e-03 -2.26234754e-03 9.99996481e-01 -1.99431125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06119381700003 meters Centerline goodness [0,1] 0.8959260029099979 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.49, Z:-1.99 [[ 9.99998714e-01 2.21026706e-04 -1.58828431e-03 9.72440009e+00] [-2.20600058e-04 9.99999940e-01 2.68792055e-04 -4.86798845e-01] [ 1.58834362e-03 -2.68441334e-04 9.99998703e-01 -1.99444596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09119381700003 meters Centerline goodness [0,1] 0.8991510965003537 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.48, Z:-1.99 [[ 9.99998504e-01 -1.92037263e-04 -1.71900753e-03 9.72460915e+00] [ 1.89854348e-04 9.99999176e-01 -1.26994218e-03 -4.81602765e-01] [ 1.71924999e-03 1.26961392e-03 9.99997716e-01 -1.99452959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12119381700003 meters Centerline goodness [0,1] 0.8724723979655129 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.48, Z:-2.00 [[ 9.99996261e-01 1.46171957e-03 -2.31129821e-03 9.72704127e+00] [-1.46119171e-03 9.99998906e-01 2.30056822e-04 -4.78505604e-01] [ 2.31163196e-03 -2.26678712e-04 9.99997302e-01 -1.99586299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15119381700003 meters Centerline goodness [0,1] 0.8857593885011632 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.47, Z:-2.00 [[ 9.99995593e-01 2.10822098e-03 -2.09039317e-03 9.72690295e+00] [-2.10862760e-03 9.99997758e-01 -1.92332496e-04 -4.69028591e-01] [ 2.08998301e-03 1.96739509e-04 9.99997797e-01 -1.99604957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18119381700004 meters Centerline goodness [0,1] 0.8802843169761273 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.46, Z:-2.00 [[ 9.99996603e-01 1.19533012e-03 -2.31616162e-03 9.72774660e+00] [-1.20039952e-03 9.99996885e-01 -2.18855536e-03 -4.62822564e-01] [ 2.31353836e-03 2.19132824e-03 9.99994923e-01 -1.99664954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21119381700004 meters Centerline goodness [0,1] 0.8822761194029851 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.46, Z:-2.00 [[ 9.99996931e-01 8.83953519e-04 -2.31446570e-03 9.72750621e+00] [-8.91749222e-04 9.99993926e-01 -3.36938877e-03 -4.56966897e-01] [ 2.31147325e-03 3.37144235e-03 9.99991645e-01 -1.99641582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24119381700004 meters Centerline goodness [0,1] 0.8631014263733522 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.45, Z:-2.00 [[ 9.99996578e-01 1.87143963e-03 -1.82828823e-03 9.72569606e+00] [-1.87652070e-03 9.99994371e-01 -2.78138826e-03 -4.52452957e-01] [ 1.82307274e-03 2.78480956e-03 9.99994461e-01 -1.99516962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27119381700004 meters Centerline goodness [0,1] 0.8913016477602054 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.44, Z:-1.99 [[ 9.99991456e-01 3.65404515e-03 -1.93296406e-03 9.72483840e+00] [-3.65879555e-03 9.99990281e-01 -2.45977087e-03 -4.43639062e-01] [ 1.92395716e-03 2.46682217e-03 9.99995107e-01 -1.99372991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30119381700004 meters Centerline goodness [0,1] 0.8843748051786122 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.44, Z:-1.99 [[ 9.99989616e-01 4.24620190e-03 -1.65455125e-03 9.72308721e+00] [-4.25065875e-03 9.99987322e-01 -2.69955173e-03 -4.38068983e-01] [ 1.64306743e-03 2.70655663e-03 9.99994987e-01 -1.99214522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33119381700004 meters Centerline goodness [0,1] 0.8995832383006075 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.43, Z:-1.99 [[ 9.99973153e-01 7.06161229e-03 -1.95635297e-03 9.72388647e+00] [-7.06271149e-03 9.99974904e-01 -5.55524408e-04 -4.33566026e-01] [ 1.95238098e-03 5.69326650e-04 9.99997932e-01 -1.99228505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36119381700004 meters Centerline goodness [0,1] 0.9050244590000829 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.43, Z:-1.99 [[ 9.99975559e-01 6.58704544e-03 -2.34357127e-03 9.72521598e+00] [-6.59341454e-03 9.99974563e-01 -2.72042288e-03 -4.26198483e-01] [ 2.32559210e-03 2.73580852e-03 9.99993553e-01 -1.99320722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39119381700004 meters Centerline goodness [0,1] 0.920910724985021 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.41, Z:-2.00 [[ 9.99918227e-01 1.23836482e-02 -3.19118339e-03 9.72865595e+00] [-1.23822308e-02 9.99923230e-01 4.63538026e-04 -4.14362115e-01] [ 3.19667869e-03 -4.23986152e-04 9.99994801e-01 -1.99592963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42119381700005 meters Centerline goodness [0,1] 0.920910724985021 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.41, Z:-2.00 [[ 9.99918227e-01 1.23836482e-02 -3.19118339e-03 9.72865595e+00] [-1.23822308e-02 9.99923230e-01 4.63538026e-04 -4.14362115e-01] [ 3.19667869e-03 -4.23986152e-04 9.99994801e-01 -1.99592963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45119381700002 meters Centerline goodness [0,1] 0.9206624899199801 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.41, Z:-2.00 [[ 9.99878113e-01 1.52063787e-02 -3.53905797e-03 9.73046231e+00] [-1.51993120e-02 9.99882453e-01 2.01515660e-03 -4.08133248e-01] [ 3.56928520e-03 -1.96111974e-03 9.99991707e-01 -1.99728620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48119381700002 meters Centerline goodness [0,1] 0.9240482784276444 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.40, Z:-2.00 [[ 9.99826841e-01 1.82069068e-02 -3.84670563e-03 9.73182405e+00] [-1.81919297e-02 9.99826933e-01 3.89326402e-03 -4.02491649e-01] [ 3.91692419e-03 -3.82261086e-03 9.99985023e-01 -1.99806950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51119381700002 meters Centerline goodness [0,1] 0.924239917269907 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.39, Z:-2.00 [[ 9.99766978e-01 2.11487992e-02 -4.32652681e-03 9.73313337e+00] [-2.11287942e-02 9.99766095e-01 4.61842139e-03 -3.92830669e-01] [ 4.42318888e-03 -4.52593090e-03 9.99979975e-01 -1.99861260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54119381700002 meters Centerline goodness [0,1] 0.9244190854213181 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.39, Z:-2.00 [[ 9.99776976e-01 2.05987773e-02 -4.65704563e-03 9.73405383e+00] [-2.05848074e-02 9.99783525e-01 3.02803324e-03 -3.88495209e-01] [ 4.71841127e-03 -2.93149353e-03 9.99984571e-01 -1.99906789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57119381700002 meters Centerline goodness [0,1] 0.9240569262320552 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.38, Z:-2.00 [[ 9.99787559e-01 2.00484194e-02 -4.78507930e-03 9.73455967e+00] [-2.00411749e-02 9.99797943e-01 1.55714403e-03 -3.84349444e-01] [ 4.81533072e-03 -1.46091462e-03 9.99987339e-01 -1.99947176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60119381700002 meters Centerline goodness [0,1] 0.925543108250294 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.38, Z:-2.00 [[ 9.99799461e-01 1.93897495e-02 -5.00746455e-03 9.73529304e+00] [-1.93889502e-02 9.99811995e-01 2.08126874e-04 -3.80683203e-01] [ 5.01055865e-03 -1.10995655e-04 9.99987441e-01 -1.99990187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.63119381700002 meters Centerline goodness [0,1] 0.9200215151640532 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.38, Z:-2.00 [[ 9.99828815e-01 1.77657652e-02 -5.16905240e-03 9.73590440e+00] [-1.77749723e-02 9.99840497e-01 -1.74075186e-03 -3.76605005e-01] [ 5.13730214e-03 1.83233363e-03 9.99985125e-01 -2.00024362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66119381700003 meters Centerline goodness [0,1] 0.9124107179720078 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.37, Z:-2.00 [[ 9.99859581e-01 1.57244870e-02 -5.79302044e-03 9.73836312e+00] [-1.57456735e-02 9.99869440e-01 -3.62997851e-03 -3.74841138e-01] [ 5.73518455e-03 3.72068380e-03 9.99976632e-01 -2.00168381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.69119381700003 meters Centerline goodness [0,1] 0.9078833381461161 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.37, Z:-2.00 [[ 9.99885385e-01 1.37587939e-02 -6.31757796e-03 9.74030663e+00] [-1.37918795e-02 9.99891242e-01 -5.22372679e-03 -3.73495874e-01] [ 6.24501870e-03 5.31025935e-03 9.99966400e-01 -2.00271920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72119381700003 meters Centerline goodness [0,1] 0.8780497890993301 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.37, Z:-2.00 [[ 9.99904167e-01 1.23045611e-02 -6.34464498e-03 9.74054125e+00] [-1.23442502e-02 9.99904244e-01 -6.25477691e-03 -3.72450410e-01] [ 6.26707516e-03 6.33249738e-03 9.99960311e-01 -2.00276794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75119381700003 meters Centerline goodness [0,1] 0.8436835696448104 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.37, Z:-2.00 [[ 9.99924007e-01 1.02345707e-02 -6.87272656e-03 9.74263201e+00] [-1.02888482e-02 9.99915789e-01 -7.90916424e-03 -3.70979387e-01] [ 6.79120090e-03 7.97927564e-03 9.99945104e-01 -2.00393554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78119381700003 meters Centerline goodness [0,1] 0.8179567207657095 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.37, Z:-2.00 [[ 9.99967605e-01 4.01512302e-03 -6.97627507e-03 9.74303302e+00] [-4.11508020e-03 9.99888230e-01 -1.43733782e-02 -3.66241577e-01] [ 6.91778445e-03 1.44016205e-02 9.99872361e-01 -2.00405025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81119381700003 meters Centerline goodness [0,1] 0.7839766057614534 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.36, Z:-2.00 [[ 9.99970076e-01 2.21625219e-03 -7.41181794e-03 9.74458760e+00] [-2.33468468e-03 9.99869129e-01 -1.60085786e-02 -3.64291999e-01] [ 7.37536890e-03 1.60254038e-02 9.99844383e-01 -2.00480417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84119381700003 meters Centerline goodness [0,1] 0.7711850414826433 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.36, Z:-2.00 [[ 9.99970329e-01 9.09068674e-04 -7.64946538e-03 9.74525524e+00] [-1.04252203e-03 9.99847015e-01 -1.74602396e-02 -3.61496784e-01] [ 7.63242257e-03 1.74676962e-02 9.99818296e-01 -2.00490153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87119381700003 meters Centerline goodness [0,1] 0.7367836654123743 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.36, Z:-2.00 [[ 9.99970462e-01 5.47575939e-05 -7.68580179e-03 9.74522506e+00] [-2.00057927e-04 9.99821254e-01 -1.89055372e-02 -3.57175186e-01] [ 7.68339276e-03 1.89065164e-02 9.99791733e-01 -2.00464869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90119381700003 meters Centerline goodness [0,1] 0.7551873228655951 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.35, Z:-2.00 [[ 9.99971758e-01 1.84530140e-03 -7.28549460e-03 9.74311400e+00] [-1.97933913e-03 9.99828125e-01 -1.84337511e-02 -3.45404008e-01] [ 7.25022658e-03 1.84476510e-02 9.99803540e-01 -2.00262247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93119381700004 meters Centerline goodness [0,1] 0.7733556160765866 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.34, Z:-2.00 [[ 9.99960614e-01 4.72227149e-03 -7.51469919e-03 9.74326702e+00] [-4.84428108e-03 9.99855385e-01 -1.63016117e-02 -3.40537479e-01] [ 7.43663181e-03 1.63373729e-02 9.99838880e-01 -2.00201745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96119381700004 meters Centerline goodness [0,1] 0.7698476841778055 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.34, Z:-2.00 [[ 9.99944460e-01 7.45388107e-03 -7.45100435e-03 9.74245893e+00] [-7.56096014e-03 9.99867038e-01 -1.44477444e-02 -3.35272461e-01] [ 7.34232189e-03 1.45032787e-02 9.99867864e-01 -2.00092616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99119381700004 meters Centerline goodness [0,1] 0.7747130233710463 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.32, Z:-2.00 [[ 9.99899047e-01 1.18659513e-02 -7.81627925e-03 9.74307572e+00] [-1.19573542e-02 9.99859436e-01 -1.17528621e-02 -3.22708897e-01] [ 7.67572168e-03 1.18451377e-02 9.99900383e-01 -2.00013713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02119381700004 meters Centerline goodness [0,1] 0.7716904403112936 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.32, Z:-2.00 [[ 9.99868522e-01 1.41026402e-02 -8.00344363e-03 9.74381943e+00] [-1.41850514e-02 9.99845971e-01 -1.03353530e-02 -3.16633907e-01] [ 7.85645510e-03 1.04475234e-02 9.99914559e-01 -2.00028361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05119381700004 meters Centerline goodness [0,1] 0.7689171659768979 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.31, Z:-2.00 [[ 9.99835960e-01 1.61361863e-02 -8.22658032e-03 9.74490876e+00] [-1.62103840e-02 9.99827792e-01 -9.03380264e-03 -3.10848248e-01] [ 8.07939252e-03 9.16567676e-03 9.99925354e-01 -2.00072607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08119381700004 meters Centerline goodness [0,1] 0.7661803140370012 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.30, Z:-2.00 [[ 9.99834987e-01 1.61497761e-02 -8.31768614e-03 9.74543213e+00] [-1.62308545e-02 9.99820496e-01 -9.77424074e-03 -3.03856153e-01] [ 8.15834128e-03 9.90763101e-03 9.99917637e-01 -2.00084418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11119381700004 meters Centerline goodness [0,1] 0.7539639937236766 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.29, Z:-2.00 [[ 9.99807671e-01 1.77287165e-02 -8.38531376e-03 9.74693386e+00] [-1.78110049e-02 9.99792923e-01 -9.84269295e-03 -2.91404918e-01] [ 8.20907905e-03 9.99015078e-03 9.99916400e-01 -2.00199828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14119381700004 meters Centerline goodness [0,1] 0.7923192802162653 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.29, Z:-2.00 [[ 9.99762605e-01 1.99247035e-02 -8.81707083e-03 9.74930861e+00] [-1.99975790e-02 9.99765942e-01 -8.25576944e-03 -2.86741847e-01] [ 8.65051337e-03 8.43012963e-03 9.99927048e-01 -2.00360010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17119381700005 meters Centerline goodness [0,1] 0.8001781718737051 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.28, Z:-2.00 [[ 9.99704114e-01 2.26430489e-02 -8.88686953e-03 9.75027829e+00] [-2.26987928e-02 9.99722983e-01 -6.22267100e-03 -2.82205413e-01] [ 8.74350748e-03 6.42255101e-03 9.99941149e-01 -2.00431512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20119381700002 meters Centerline goodness [0,1] 0.7873472768689169 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.28, Z:-2.01 [[ 9.99637562e-01 2.53218834e-02 -9.14035520e-03 9.75180562e+00] [-2.53619823e-02 9.99669093e-01 -4.29807549e-03 -2.77434865e-01] [ 9.02849523e-03 4.52833523e-03 9.99948989e-01 -2.00522204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23119381700002 meters Centerline goodness [0,1] 0.8141149804244797 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.27, Z:-2.01 [[ 9.99556167e-01 2.82904929e-02 -9.33368474e-03 9.75306866e+00] [-2.83130168e-02 9.99596483e-01 -2.28991642e-03 -2.72210069e-01] [ 9.26513558e-03 2.55316485e-03 9.99953818e-01 -2.00592122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26119381700002 meters Centerline goodness [0,1] 0.8731820706395409 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.26, Z:-2.01 [[ 9.99368572e-01 3.42705585e-02 -9.38007566e-03 9.75359175e+00] [-3.42562831e-02 9.99411672e-01 1.67839096e-03 -2.61990152e-01] [ 9.43207649e-03 -1.35600465e-03 9.99954598e-01 -2.00560557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29119381700002 meters Centerline goodness [0,1] 0.8903812824956673 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.26, Z:-2.01 [[ 9.99241910e-01 3.77468854e-02 -9.52775646e-03 9.75413552e+00] [-3.77070360e-02 9.99279464e-01 4.32806799e-03 -2.58235332e-01] [ 9.68426245e-03 -3.96552347e-03 9.99945243e-01 -2.00549081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32119381700002 meters Centerline goodness [0,1] 0.8908929383083344 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.25, Z:-2.01 [[ 9.99104013e-01 4.12015575e-02 -9.67483683e-03 9.75485517e+00] [-4.11359497e-02 9.99129835e-01 6.88517045e-03 -2.54294582e-01] [ 9.95009787e-03 -6.48101783e-03 9.99929493e-01 -2.00554784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35119381700002 meters Centerline goodness [0,1] 0.9022083981337481 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.25, Z:-2.01 [[ 9.98955312e-01 4.46652315e-02 -9.65925094e-03 9.75519712e+00] [-4.45751820e-02 9.98962321e-01 9.34528628e-03 -2.49740431e-01] [ 1.00666371e-02 -8.90496051e-03 9.99909678e-01 -2.00549541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38119381700002 meters Centerline goodness [0,1] 0.9152395135269298 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.24, Z:-2.01 [[ 9.98659769e-01 5.08876633e-02 -9.43985286e-03 9.75546688e+00] [-5.07554070e-02 9.98616351e-01 1.37575885e-02 -2.40056690e-01] [ 1.01268829e-02 -1.32600266e-02 9.99860799e-01 -2.00522658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.41119381700003 meters Centerline goodness [0,1] 0.9259606568308744 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.23, Z:-2.01 [[ 9.98670996e-01 5.06267150e-02 -9.65284399e-03 9.75590744e+00] [-5.05074547e-02 9.98648890e-01 1.22225799e-02 -2.34797048e-01] [ 1.02585910e-02 -1.17187955e-02 9.99878708e-01 -2.00511918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44119381700003 meters Centerline goodness [0,1] 0.9153167336454406 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.23, Z:-2.01 [[ 0.99868647 0.05023973 -0.01006489 9.75680344] [-0.05012888 0.99868241 0.01097883 -0.23110799] [ 0.0106032 -0.01045987 0.99988908 -2.0051343 ] [ 0. 0. 0. 1. ]] SLAMing on 255.47119381700003 meters Centerline goodness [0,1] 0.9242789700455605 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.23, Z:-2.01 [[ 9.98705356e-01 4.98328214e-02 -1.02128474e-02 9.75739839e+00] [-4.97380931e-02 9.98718728e-01 9.32864841e-03 -2.26314568e-01] [ 1.06646348e-02 -8.80860357e-03 9.99904332e-01 -2.00540388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50119381700003 meters Centerline goodness [0,1] 0.9263770637830672 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.22, Z:-2.00 [[ 9.98724001e-01 4.94428330e-02 -1.02847145e-02 9.75725654e+00] [-4.93579430e-02 9.98746246e-01 8.35040966e-03 -2.23553162e-01] [ 1.06846879e-02 -7.83212219e-03 9.99912244e-01 -2.00495261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53119381700003 meters Centerline goodness [0,1] 0.9291667528385001 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.22, Z:-2.00 [[ 9.98744762e-01 4.90192643e-02 -1.02962272e-02 9.75682549e+00] [-4.89455069e-02 9.98774791e-01 7.29751336e-03 -2.20499072e-01] [ 1.06413309e-02 -6.78439919e-03 9.99920364e-01 -2.00423516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56119381700003 meters Centerline goodness [0,1] 0.9315711156119538 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.22, Z:-2.00 [[ 9.98769871e-01 4.84885202e-02 -1.03734017e-02 9.75624287e+00] [-4.84268778e-02 9.98808022e-01 6.11337534e-03 -2.17369787e-01] [ 1.06574653e-02 -5.60350365e-03 9.99927507e-01 -2.00320343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59119381700003 meters Centerline goodness [0,1] 0.9315653699308637 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.22, Z:-2.00 [[ 9.98785767e-01 4.81325248e-02 -1.05000383e-02 9.75612736e+00] [-4.80783272e-02 9.98829216e-01 5.35456486e-03 -2.15497427e-01] [ 1.07454737e-02 -4.84323890e-03 9.99930537e-01 -2.00269565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62119381700003 meters Centerline goodness [0,1] 0.9320713385273512 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.21, Z:-2.00 [[ 9.98957275e-01 4.43403787e-02 -1.08762778e-02 9.75655905e+00] [-4.43377316e-02 9.99016482e-01 4.84510224e-04 -2.12517215e-01] [ 1.08870642e-02 -1.77552577e-06 9.99940734e-01 -2.00258166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65119381700003 meters Centerline goodness [0,1] 0.9268423995195991 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.21, Z:-2.00 [[ 9.98976251e-01 4.39026887e-02 -1.09088965e-02 9.75668833e+00] [-4.39056757e-02 9.99035680e-01 -3.43635526e-05 -2.11736976e-01] [ 1.08968682e-02 5.13290845e-04 9.99940496e-01 -2.00268502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68119381700004 meters Centerline goodness [0,1] 0.9349516365211293 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.21, Z:-2.00 [[ 9.98994869e-01 4.34481506e-02 -1.10231147e-02 9.75707260e+00] [-4.34564820e-02 9.99055187e-01 -5.17302386e-04 -2.10926804e-01] [ 1.09902241e-02 9.95808216e-04 9.99939110e-01 -2.00290481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71119381700004 meters Centerline goodness [0,1] 0.9196352885231667 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.21, Z:-2.00 [[ 9.99175145e-01 3.90471421e-02 -1.11512121e-02 9.75666419e+00] [-3.91086739e-02 9.99220619e-01 -5.35416172e-03 -2.08907706e-01] [ 1.09334564e-02 5.78585443e-03 9.99923489e-01 -2.00236650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74119381700004 meters Centerline goodness [0,1] 0.9160901261849198 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.21, Z:-2.00 [[ 9.99191306e-01 3.86122035e-02 -1.12174722e-02 9.75680768e+00] [-3.86754229e-02 9.99236829e-01 -5.47454113e-03 -2.09407085e-01] [ 1.09975273e-02 5.90395438e-03 9.99922096e-01 -2.00241217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77119381700004 meters Centerline goodness [0,1] 0.9237277642494531 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.21, Z:-2.00 [[ 9.99207365e-01 3.81832960e-02 -1.12551510e-02 9.75677124e+00] [-3.82481076e-02 9.99252579e-01 -5.60043623e-03 -2.09876369e-01] [ 1.10328956e-02 6.02648536e-03 9.99920975e-01 -2.00231164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80119381700004 meters Centerline goodness [0,1] 0.9226919258769027 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.21, Z:-2.00 [[ 9.99229290e-01 3.76503068e-02 -1.11032154e-02 9.75627540e+00] [-3.77157634e-02 9.99271988e-01 -5.74595646e-03 -2.10507328e-01] [ 1.08787951e-02 6.16029424e-03 9.99921848e-01 -2.00210050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83119381700004 meters Centerline goodness [0,1] 0.9183462318420725 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.21, Z:-2.00 [[ 9.99251926e-01 3.70679431e-02 -1.10252085e-02 9.75587407e+00] [-3.71345885e-02 9.99292840e-01 -5.90274080e-03 -2.11263419e-01] [ 1.07986095e-02 6.30774170e-03 9.99921798e-01 -2.00183503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86119381700004 meters Centerline goodness [0,1] 0.8928062457401326 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.21, Z:-2.00 [[ 9.99281192e-01 3.62824553e-02 -1.09855599e-02 9.75607222e+00] [-3.63519276e-02 9.99319869e-01 -6.19168582e-03 -2.11754693e-01] [ 1.07534387e-02 6.58658146e-03 9.99920487e-01 -2.00229456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89119381700004 meters Centerline goodness [0,1] 0.9157094455003718 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.21, Z:-2.00 [[ 9.99288592e-01 3.60202050e-02 -1.11738130e-02 9.75687828e+00] [-3.60946756e-02 9.99327000e-01 -6.53619679e-03 -2.10898902e-01] [ 1.09308579e-02 6.93486205e-03 9.99916209e-01 -2.00284255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92119381700005 meters Centerline goodness [0,1] 0.8987820764665743 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.21, Z:-2.00 [[ 9.99299283e-01 3.57423092e-02 -1.11099225e-02 9.75697457e+00] [-3.58203910e-02 9.99334352e-01 -6.91036860e-03 -2.10175357e-01] [ 1.08555346e-02 7.30348816e-03 9.99914405e-01 -2.00311969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95119381700002 meters Centerline goodness [0,1] 0.8930335406807333 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.21, Z:-2.00 [[ 9.99304222e-01 3.55532564e-02 -1.12710779e-02 9.75760027e+00] [-3.56339309e-02 9.99340117e-01 -7.03944965e-03 -2.10165311e-01] [ 1.10133649e-02 7.43618457e-03 9.99911701e-01 -2.00355690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98119381700002 meters Centerline goodness [0,1] 0.8945480039590894 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.21, Z:-2.00 [[ 9.99306228e-01 3.54645290e-02 -1.13723090e-02 9.75855343e+00] [-3.55469293e-02 9.99342593e-01 -7.12726458e-03 -2.10274656e-01] [ 1.11120676e-02 7.52657055e-03 9.99909932e-01 -2.00456463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.011193817 meters Centerline goodness [0,1] 0.881311461862656 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.21, Z:-2.00 [[ 9.99313888e-01 3.52411956e-02 -1.13934752e-02 9.75875407e+00] [-3.53303273e-02 9.99345881e-01 -7.71871933e-03 -2.08579035e-01] [ 1.11140056e-02 8.11595863e-03 9.99905301e-01 -2.00473441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.041193817 meters Centerline goodness [0,1] 0.889262714663144 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.21, Z:-2.01 [[ 9.99311747e-01 3.52209771e-02 -1.16411356e-02 9.75963852e+00] [-3.53178513e-02 9.99342295e-01 -8.22355783e-03 -2.06517040e-01] [ 1.13438375e-02 8.62903783e-03 9.99898423e-01 -2.00517296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.071193817 meters Centerline goodness [0,1] 0.8975552246214942 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.20, Z:-2.01 [[ 9.99175640e-01 3.89001989e-02 -1.16109636e-02 9.76014392e+00] [-3.89583175e-02 9.99229202e-01 -4.82192162e-03 -2.04715507e-01] [ 1.14144401e-02 5.27029023e-03 9.99920964e-01 -2.00546907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.101193817 meters Centerline goodness [0,1] 0.9129904746161952 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.20, Z:-2.01 [[ 9.99168702e-01 3.90064401e-02 -1.18491380e-02 9.76082402e+00] [-3.90719969e-02 9.99222063e-01 -5.35235878e-03 -2.02749382e-01] [ 1.16311436e-02 5.81087885e-03 9.99915472e-01 -2.00565056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.131193817 meters Centerline goodness [0,1] 0.9226060431180181 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.20, Z:-2.01 [[ 9.99151612e-01 3.93240579e-02 -1.22341855e-02 9.76186254e+00] [-3.93955596e-02 9.99207667e-01 -5.65928332e-03 -2.01160389e-01] [ 1.20019460e-02 6.13645464e-03 9.99909144e-01 -2.00592824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.161193817 meters Centerline goodness [0,1] 0.9365056377366298 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.20, Z:-2.01 [[ 9.99131428e-01 3.97604188e-02 -1.24699323e-02 9.76256111e+00] [-3.98361216e-02 9.99188912e-01 -5.88227148e-03 -1.99756329e-01] [ 1.22259365e-02 6.37391605e-03 9.99904945e-01 -2.00615760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.191193817 meters Centerline goodness [0,1] 0.9393920582697043 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.20, Z:-2.01 [[ 9.98942246e-01 4.42467568e-02 -1.25145751e-02 9.76357333e+00] [-4.42773227e-02 9.99016909e-01 -2.17586292e-03 -1.97843640e-01] [ 1.24059972e-02 2.72767327e-03 9.99919322e-01 -2.00679775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.221193817 meters Centerline goodness [0,1] 0.9394208526107072 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.20, Z:-2.01 [[ 9.98903074e-01 4.50415186e-02 -1.28027351e-02 9.76451499e+00] [-4.50776564e-02 9.98980236e-01 -2.54810080e-03 -1.95026249e-01] [ 1.26749090e-02 3.12242302e-03 9.99914795e-01 -2.00706523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.251193817 meters Centerline goodness [0,1] 0.9376923235786125 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.19, Z:-2.01 [[ 9.98843528e-01 4.62985252e-02 -1.29634963e-02 9.76513984e+00] [-4.63358908e-02 9.98922540e-01 -2.59685233e-03 -1.92287461e-01] [ 1.28292982e-02 3.19452430e-03 9.99912598e-01 -2.00718344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28119381700003 meters Centerline goodness [0,1] 0.9352387245993722 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.19, Z:-2.01 [[ 9.98771709e-01 4.78012521e-02 -1.30427665e-02 9.76549002e+00] [-4.78374408e-02 9.98852064e-01 -2.47670994e-03 -1.89544583e-01] [ 1.29094044e-02 3.09760039e-03 9.99911872e-01 -2.00706694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.311193817 meters Centerline goodness [0,1] 0.9352387245993722 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.19, Z:-2.01 [[ 9.98771709e-01 4.78012521e-02 -1.30427665e-02 9.76549002e+00] [-4.78374408e-02 9.98852064e-01 -2.47670994e-03 -1.89544583e-01] [ 1.29094044e-02 3.09760039e-03 9.99911872e-01 -2.00706694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.341193817 meters Centerline goodness [0,1] 0.9325438650877301 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.19, Z:-2.01 [[ 9.98298240e-01 5.69506642e-02 -1.25397913e-02 9.76508680e+00] [-5.68798708e-02 9.98363407e-01 5.93186318e-03 -1.89226287e-01] [ 1.28570923e-02 -5.20850686e-03 9.99903779e-01 -2.00661693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.371193817 meters Centerline goodness [0,1] 0.9298144091266068 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.19, Z:-2.01 [[ 9.98251782e-01 5.77322547e-02 -1.26635668e-02 9.76562539e+00] [-5.76629823e-02 9.98319437e-01 5.76908030e-03 -1.87507178e-01] [ 1.29753469e-02 -5.02877567e-03 9.99903171e-01 -2.00684606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.401193817 meters Centerline goodness [0,1] 0.9270169631774927 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.19, Z:-2.01 [[ 9.98228389e-01 5.80808010e-02 -1.29114005e-02 9.76643023e+00] [-5.80108242e-02 9.98299509e-01 5.73009730e-03 -1.86900040e-01] [ 1.32222534e-02 -4.97094481e-03 9.99900226e-01 -2.00724260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.431193817 meters Centerline goodness [0,1] 0.9248992248062016 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.19, Z:-2.01 [[ 9.98408157e-01 5.47371327e-02 -1.36014082e-02 9.76827391e+00] [-5.47027886e-02 9.98498515e-01 2.88465239e-03 -1.90106743e-01] [ 1.37388835e-02 -2.13602552e-03 9.99903336e-01 -2.00857587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.461193817 meters Centerline goodness [0,1] 0.9231470545575102 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.19, Z:-2.01 [[ 9.98621047e-01 5.06271723e-02 -1.38886414e-02 9.76837947e+00] [-5.06406726e-02 9.98716744e-01 -6.21856359e-04 -1.92372151e-01] [ 1.38393359e-02 1.32432899e-03 9.99903355e-01 -2.00863404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.491193817 meters Centerline goodness [0,1] 0.9271212371816077 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.20, Z:-2.01 [[ 9.98816338e-01 4.65154304e-02 -1.42210006e-02 9.76864094e+00] [-4.65748471e-02 9.98907284e-01 -3.87567527e-03 -1.95308357e-01] [ 1.40251824e-02 4.53342871e-03 9.99891365e-01 -2.00875965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.521193817 meters Centerline goodness [0,1] 0.9352418354692021 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.20, Z:-2.01 [[ 9.98992921e-01 4.24442639e-02 -1.45474568e-02 9.76874899e+00] [-4.25506930e-02 9.99069179e-01 -7.08612771e-03 -1.98315740e-01] [ 1.42331502e-02 7.69799579e-03 9.99869071e-01 -2.00862176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.551193817 meters Centerline goodness [0,1] 0.9317843558789483 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.21, Z:-2.01 [[ 9.99443508e-01 3.17148240e-02 -1.03365075e-02 9.76787999e+00] [-3.17241385e-02 9.99496390e-01 -7.38374064e-04 -2.05803709e-01] [ 1.03078845e-02 1.06587996e-03 9.99946304e-01 -2.00819307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.581193817 meters Centerline goodness [0,1] 0.9421274311434117 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.21, Z:-2.01 [[ 9.99551421e-01 2.80763853e-02 -1.04246235e-02 9.76692059e+00] [-2.81189209e-02 9.99596755e-01 -3.95637384e-03 -2.07854891e-01] [ 1.03093391e-02 4.24772826e-03 9.99937835e-01 -2.00703614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.611193817 meters Centerline goodness [0,1] 0.9451488138327576 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.21, Z:-2.01 [[ 9.99648252e-01 2.43565430e-02 -1.04943671e-02 9.76610217e+00] [-2.44339341e-02 9.99674717e-01 -7.31051788e-03 -2.09876782e-01] [ 1.03128945e-02 7.56436509e-03 9.99918209e-01 -2.00609114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.641193817 meters Centerline goodness [0,1] 0.9460936529623649 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.21, Z:-2.01 [[ 9.99651029e-01 2.42084671e-02 -1.05721907e-02 9.76578652e+00] [-2.42764448e-02 9.99685119e-01 -6.34955762e-03 -2.14198196e-01] [ 1.04151486e-02 6.60399701e-03 9.99923953e-01 -2.00564073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.671193817 meters Centerline goodness [0,1] 0.949826560951437 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.22, Z:-2.00 [[ 9.99767335e-01 1.99782883e-02 -8.13290825e-03 9.77174846e+00] [-1.99725547e-02 9.99800220e-01 7.85598801e-04 -2.20857677e-01] [ 8.14697837e-03 -6.22981065e-04 9.99966619e-01 -2.00347859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.701193817 meters Centerline goodness [0,1] 0.9510236935523817 Centerline is valid? [False, True] Translation: X:9.77, Y:-0.22, Z:-2.00 [[ 9.99817179e-01 1.73199419e-02 -8.10114138e-03 9.77151141e+00] [-1.73414377e-02 9.99846269e-01 -2.59074933e-03 -2.19836672e-01] [ 8.05502436e-03 2.73076113e-03 9.99963829e-01 -2.00329406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.731193817 meters Centerline goodness [0,1] 0.9522392992893737 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.22, Z:-2.00 [[ 9.99807442e-01 1.84895735e-02 -6.57374621e-03 9.80010610e+00] [-1.84883119e-02 9.99829045e-01 2.52628053e-04 -2.22565271e-01] [ 6.57729338e-03 -1.31041937e-04 9.99978361e-01 -2.00319045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.761193817 meters Centerline goodness [0,1] 0.9536328181424238 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.22, Z:-2.00 [[ 9.99784242e-01 2.01107142e-02 -5.19884088e-03 9.82869149e+00] [-2.01099508e-02 9.99797755e-01 1.99077611e-04 -2.24948581e-01] [ 5.20179303e-03 -9.44862240e-05 9.99986466e-01 -2.00154682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.791193817 meters Centerline goodness [0,1] 0.9527164228585636 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.23, Z:-2.01 [[ 9.99766662e-01 2.06064298e-02 -6.48044409e-03 9.85684811e+00] [-2.06052501e-02 9.99787658e-01 2.48755882e-04 -2.29363022e-01] [ 6.48419400e-03 -1.15166666e-04 9.99978971e-01 -2.00599533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.821193817 meters Centerline goodness [0,1] 0.9520137280846841 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.23, Z:-2.01 [[ 9.99744551e-01 2.10626389e-02 -8.19740943e-03 9.88616337e+00] [-2.10607759e-02 9.99778148e-01 3.13527244e-04 -2.28008886e-01] [ 8.20219453e-03 -1.40803351e-04 9.99966352e-01 -2.00530614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.851193817 meters Centerline goodness [0,1] 0.9526168514872008 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.23, Z:-2.01 [[ 9.99729439e-01 2.12144332e-02 -9.53917718e-03 9.91491603e+00] [-2.12119229e-02 9.99774935e-01 3.64259429e-04 -2.29532731e-01] [ 9.54475781e-03 -1.61816584e-04 9.99954435e-01 -2.00783756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.881193817 meters Centerline goodness [0,1] 0.9491266465705909 Centerline is valid? [True, False] Translation: X:9.92, Y:-0.23, Z:-2.01 [[ 9.99767805e-01 1.90024732e-02 -1.01608253e-02 9.91799234e+00] [-1.90201237e-02 9.99817751e-01 -1.64330378e-03 -2.31051073e-01] [ 1.01277466e-02 1.83618237e-03 9.99947027e-01 -2.01024117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.911193817 meters Centerline goodness [0,1] 0.9477917459267223 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.23, Z:-2.01 [[ 9.99831222e-01 1.52253119e-02 -1.02818989e-02 9.91847339e+00] [-1.52842153e-02 9.99867086e-01 -5.67477406e-03 -2.30525696e-01] [ 1.01941321e-02 5.83096704e-03 9.99931037e-01 -2.01070121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.941193817 meters Centerline goodness [0,1] 0.9459336194207766 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.23, Z:-2.01 [[ 9.99832691e-01 1.50640212e-02 -1.03761862e-02 9.91895701e+00] [-1.51192508e-02 9.99871836e-01 -5.26500896e-03 -2.32342487e-01] [ 1.02955441e-02 5.42100823e-03 9.99932305e-01 -2.01115802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.971193817 meters Centerline goodness [0,1] 0.9457706494260019 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.23, Z:-2.01 [[ 9.99830743e-01 1.50798535e-02 -1.05396359e-02 9.91964599e+00] [-1.51317654e-02 9.99873682e-01 -4.86313243e-03 -2.33803674e-01] [ 1.04649692e-02 5.02179261e-03 9.99932631e-01 -2.01168417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.001193817 meters Centerline goodness [0,1] 0.9409793334574568 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.24, Z:-2.02 [[ 9.99824173e-01 1.50102115e-02 -1.12391088e-02 9.92376948e+00] [-1.50618111e-02 9.99876345e-01 -4.52059093e-03 -2.36676868e-01] [ 1.11698640e-02 4.68907742e-03 9.99926621e-01 -2.01509836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.03119381700003 meters Centerline goodness [0,1] 0.9429313389425574 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.24, Z:-2.02 [[ 9.99816820e-01 1.53791289e-02 -1.13933444e-02 9.92455496e+00] [-1.54261921e-02 9.99872789e-01 -4.05445751e-03 -2.37874643e-01] [ 1.13295410e-02 4.22947073e-03 9.99926874e-01 -2.01577986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.061193817 meters Centerline goodness [0,1] 0.9420905995253328 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.24, Z:-2.02 [[ 9.99780732e-01 1.71329356e-02 -1.20395773e-02 9.92735748e+00] [-1.71624010e-02 9.99849957e-01 -2.34833215e-03 -2.39258888e-01] [ 1.19975371e-02 2.55444529e-03 9.99924764e-01 -2.01763089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.091193817 meters Centerline goodness [0,1] 0.9423975519993384 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.24, Z:-2.02 [[ 9.99773559e-01 1.75335301e-02 -1.20584094e-02 9.92764852e+00] [-1.75634928e-02 9.99842909e-01 -2.38339433e-03 -2.38268326e-01] [ 1.20147258e-02 2.59464242e-03 9.99924454e-01 -2.01793449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.121193817 meters Centerline goodness [0,1] 0.9409589522176545 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.24, Z:-2.02 [[ 9.99762118e-01 1.79862437e-02 -1.23370019e-02 9.92837560e+00] [-1.80162405e-02 9.99834992e-01 -2.32463170e-03 -2.37422944e-01] [ 1.22931548e-02 2.54634511e-03 9.99921194e-01 -2.01816200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.151193817 meters Centerline goodness [0,1] 0.9410210358993415 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.24, Z:-2.02 [[ 9.99745907e-01 1.87468491e-02 -1.25170394e-02 9.92836318e+00] [-1.87653588e-02 9.99822986e-01 -1.36294186e-03 -2.39687472e-01] [ 1.24892729e-02 1.59748228e-03 9.99920730e-01 -2.01770900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.181193817 meters Centerline goodness [0,1] 0.9395798475553077 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.24, Z:-2.02 [[ 9.99741126e-01 1.89987343e-02 -1.25191732e-02 9.92794318e+00] [-1.90079093e-02 9.99819145e-01 -6.14290724e-04 -2.42432111e-01] [ 1.25052383e-02 8.52095008e-04 9.99921443e-01 -2.01717513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.211193817 meters Centerline goodness [0,1] 0.9422559688831879 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.24, Z:-2.02 [[ 9.99766081e-01 1.77860850e-02 -1.23060664e-02 9.92584186e+00] [-1.78084723e-02 9.99839951e-01 -1.71201907e-03 -2.43620878e-01] [ 1.22736467e-02 1.93077084e-03 9.99922812e-01 -2.01528076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.241193817 meters Centerline goodness [0,1] 0.9443162622059248 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.25, Z:-2.01 [[ 9.99866177e-01 1.48610725e-02 -6.83933654e-03 9.93200617e+00] [-1.48168304e-02 9.99869262e-01 6.47461255e-03 -2.48177044e-01] [ 6.93466207e-03 -6.37240881e-03 9.99955650e-01 -2.01471074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.271193817 meters Centerline goodness [0,1] 0.945540777399732 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.25, Z:-2.01 [[ 9.99911044e-01 1.13697361e-02 -6.97381047e-03 9.93149161e+00] [-1.13526565e-02 9.99932472e-01 2.48382411e-03 -2.47636119e-01] [ 7.00157996e-03 -2.40443188e-03 9.99972598e-01 -2.01381066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.301193817 meters Centerline goodness [0,1] 0.9448681810645001 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.25, Z:-2.01 [[ 9.99929644e-01 9.77736075e-03 -6.71634986e-03 9.92930994e+00] [-9.77193676e-03 9.99951901e-01 8.39921639e-04 -2.48750317e-01] [ 6.72423903e-03 -7.74230800e-04 9.99977092e-01 -2.01188550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.331193817 meters Centerline goodness [0,1] 0.944622859025033 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.25, Z:-2.01 [[ 9.99926440e-01 9.99748900e-03 -6.86761539e-03 9.92963109e+00] [-9.98708916e-03 9.99948931e-01 1.54695962e-03 -2.51025165e-01] [ 6.88273038e-03 -1.47825834e-03 9.99975221e-01 -2.01191103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.361193817 meters Centerline goodness [0,1] 0.9408850794433825 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.25, Z:-2.01 [[ 9.99943763e-01 7.75417214e-03 -7.23489351e-03 9.93144996e+00] [-7.75980027e-03 9.99969611e-01 -7.50168124e-04 -2.53526905e-01] [ 7.22885671e-03 8.06267265e-04 9.99973546e-01 -2.01333117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.391193817 meters Centerline goodness [0,1] 0.944842790621008 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.26, Z:-2.01 [[ 9.99941765e-01 7.98974068e-03 -7.25466033e-03 9.93182831e+00] [-7.99073889e-03 9.99968068e-01 -1.08619398e-04 -2.55685886e-01] [ 7.25356083e-03 1.66583169e-04 9.99973679e-01 -2.01380814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.421193817 meters Centerline goodness [0,1] 0.9429746599975197 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.26, Z:-2.01 [[ 9.99938600e-01 8.24539848e-03 -7.40336477e-03 9.93246783e+00] [-8.24030194e-03 9.99965790e-01 7.18648675e-04 -2.58486113e-01] [ 7.40903705e-03 -6.57598589e-04 9.99972336e-01 -2.01426305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.451193817 meters Centerline goodness [0,1] 0.9412277787007809 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.26, Z:-2.01 [[ 9.99936847e-01 8.39298477e-03 -7.47393414e-03 9.93315073e+00] [-8.38191224e-03 9.99963729e-01 1.51157899e-03 -2.61361308e-01] [ 7.48634971e-03 -1.44883767e-03 9.99970927e-01 -2.01498816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.481193817 meters Centerline goodness [0,1] 0.9393608697442656 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.27, Z:-2.02 [[ 9.99936430e-01 7.85936432e-03 -8.08489157e-03 9.93695768e+00] [-7.84573065e-03 9.99967748e-01 1.71665225e-03 -2.65193867e-01] [ 8.09812261e-03 -1.65311124e-03 9.99965843e-01 -2.01820363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.511193817 meters Centerline goodness [0,1] 0.9387219985547641 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.27, Z:-2.02 [[ 9.99933376e-01 8.16134835e-03 -8.16303570e-03 9.93710528e+00] [-8.14215960e-03 9.99964017e-01 2.38116584e-03 -2.67088871e-01] [ 8.18217549e-03 -2.31454246e-03 9.99963847e-01 -2.01817168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.541193817 meters Centerline goodness [0,1] 0.9383846280447663 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.27, Z:-2.02 [[ 9.99928973e-01 8.51123979e-03 -8.34316981e-03 9.93760246e+00] [-8.48587879e-03 9.99959280e-01 3.07043501e-03 -2.69130279e-01] [ 8.36896329e-03 -2.99941780e-03 9.99960481e-01 -2.01833195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.571193817 meters Centerline goodness [0,1] 0.9352341233793047 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.27, Z:-2.02 [[ 9.99943069e-01 6.41157789e-03 -8.52937233e-03 9.93842856e+00] [-6.40422469e-03 9.99979097e-01 8.89137352e-04 -2.71939846e-01] [ 8.53489482e-03 -8.34462716e-04 9.99963229e-01 -2.01903226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.601193817 meters Centerline goodness [0,1] 0.9335299125776108 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.27, Z:-2.02 [[ 9.99939925e-01 6.70982253e-03 -8.66744439e-03 9.93900198e+00] [-6.69475953e-03 9.99976031e-01 1.76572924e-03 -2.74664172e-01] [ 8.67908436e-03 -1.70759670e-03 9.99960878e-01 -2.01942194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.631193817 meters Centerline goodness [0,1] 0.9340493959510163 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.28, Z:-2.02 [[ 9.99936028e-01 6.97517630e-03 -8.90427101e-03 9.93985915e+00] [-6.95217582e-03 9.99972423e-01 2.61142923e-03 -2.77425867e-01] [ 8.92224064e-03 -2.54935812e-03 9.99956946e-01 -2.01991919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.661193817 meters Centerline goodness [0,1] 0.9338346175297982 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.28, Z:-2.02 [[ 9.99950711e-01 4.39439062e-03 -8.90303382e-03 9.93912145e+00] [-4.38963088e-03 9.99990212e-01 5.54090171e-04 -2.82125185e-01] [ 8.90538156e-03 -5.14981829e-04 9.99960214e-01 -2.01905960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.691193817 meters Centerline goodness [0,1] 0.9348372489146466 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.28, Z:-2.02 [[ 9.99949093e-01 4.72629329e-03 -8.91479742e-03 9.93921838e+00] [-4.71335292e-03 9.99987809e-01 1.47201238e-03 -2.84915576e-01] [ 8.92164590e-03 -1.42991886e-03 9.99959179e-01 -2.01915207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.721193817 meters Centerline goodness [0,1] 0.9334421622515188 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.29, Z:-2.02 [[ 9.99945082e-01 5.04173153e-03 -9.18774099e-03 9.94020546e+00] [-5.02163033e-03 9.99984950e-01 2.20958579e-03 -2.87116475e-01] [ 9.19874286e-03 -2.16332701e-03 9.99955351e-01 -2.01970349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.751193817 meters Centerline goodness [0,1] 0.9358574702202771 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.29, Z:-2.02 [[ 9.99942011e-01 5.26528846e-03 -9.39424490e-03 9.94104815e+00] [-5.23882090e-03 9.99982245e-01 2.83981020e-03 -2.89151653e-01] [ 9.40903053e-03 -2.79043075e-03 9.99951841e-01 -2.02024124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78119381700003 meters Centerline goodness [0,1] 0.9308078616157233 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.29, Z:-2.02 [[ 9.99952492e-01 2.55014456e-03 -9.40797178e-03 9.94097321e+00] [-2.54464730e-03 9.99996585e-01 5.96243595e-04 -2.93314048e-01] [ 9.40946015e-03 -5.72275298e-04 9.99955566e-01 -2.02016912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.811193817 meters Centerline goodness [0,1] 0.9375194797099341 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.30, Z:-2.02 [[ 9.99952072e-01 2.73767180e-03 -9.39989286e-03 9.94080803e+00] [-2.72307387e-03 9.99995067e-01 1.56543720e-03 -2.97008959e-01] [ 9.40413214e-03 -1.53976557e-03 9.99954595e-01 -2.01990684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.841193817 meters Centerline goodness [0,1] 0.9327547013845836 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.30, Z:-2.02 [[ 9.99948812e-01 1.83647927e-03 -9.94986457e-03 9.94310622e+00] [-1.82581079e-03 9.99997749e-01 1.08120120e-03 -2.99669004e-01] [ 9.95182777e-03 -1.06297929e-03 9.99949914e-01 -2.02126560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.871193817 meters Centerline goodness [0,1] 0.9396339061755011 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.30, Z:-2.02 [[ 9.99947156e-01 2.09569142e-03 -1.00644480e-02 9.94327803e+00] [-2.07637128e-03 9.99995982e-01 1.92970747e-03 -3.02564840e-01] [ 1.00684516e-02 -1.90870796e-03 9.99947490e-01 -2.02110304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.901193817 meters Centerline goodness [0,1] 0.9371602838056512 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.31, Z:-2.02 [[ 9.99943284e-01 2.63732515e-03 -1.03186364e-02 9.94385078e+00] [-2.60389872e-03 9.99991324e-01 3.25151776e-03 -3.06849798e-01] [ 1.03271222e-02 -3.22446466e-03 9.99941475e-01 -2.02110317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.931193817 meters Centerline goodness [0,1] 0.9363020248638311 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.31, Z:-2.02 [[ 9.99941574e-01 2.93001586e-03 -1.04049837e-02 9.94390625e+00] [-2.89035612e-03 9.99988509e-01 3.82460457e-03 -3.08548388e-01] [ 1.04160703e-02 -3.79430701e-03 9.99938552e-01 -2.02092316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.961193817 meters Centerline goodness [0,1] 0.936570102366447 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.31, Z:-2.02 [[ 9.99939091e-01 3.15363782e-03 -1.05768469e-02 9.94414922e+00] [-3.11080428e-03 9.99986904e-01 4.06375545e-03 -3.09103246e-01] [ 1.05895240e-02 -4.03060543e-03 9.99935806e-01 -2.02074214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.991193817 meters Centerline goodness [0,1] 0.937820089211961 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.31, Z:-2.02 [[ 9.99934688e-01 4.14844113e-03 -1.06494123e-02 9.94376255e+00] [-4.09356104e-03 9.99978257e-01 5.16997972e-03 -3.11623487e-01] [ 1.06706281e-02 -5.12604804e-03 9.99929928e-01 -2.01997645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.021193817 meters Centerline goodness [0,1] 0.9370223869778616 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.31, Z:-2.02 [[ 9.99931424e-01 4.66521903e-03 -1.07416199e-02 9.94376642e+00] [-4.60232468e-03 9.99972166e-01 5.87249486e-03 -3.13534041e-01] [ 1.07687174e-02 -5.82265572e-03 9.99925063e-01 -2.01972466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.051193817 meters Centerline goodness [0,1] 0.9360076210988465 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.31, Z:-2.02 [[ 9.99938833e-01 2.21221487e-03 -1.08368263e-02 9.94405659e+00] [-2.18367534e-03 9.99994119e-01 2.64469371e-03 -3.13204898e-01] [ 1.08426132e-02 -2.62086783e-03 9.99937782e-01 -2.01997884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.081193817 meters Centerline goodness [0,1] 0.9313867106892282 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.32, Z:-2.02 [[ 9.99935012e-01 2.73955831e-03 -1.10664864e-02 9.94507697e+00] [-2.70206118e-03 9.99990563e-01 3.40188202e-03 -3.15203081e-01] [ 1.10757017e-02 -3.37175862e-03 9.99932978e-01 -2.02072213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.111193817 meters Centerline goodness [0,1] 0.9318205345866374 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.32, Z:-2.02 [[ 9.99932154e-01 3.18638781e-03 -1.12042084e-02 9.94578499e+00] [-3.13875507e-03 9.99985973e-01 4.26634275e-03 -3.17776967e-01] [ 1.12176455e-02 -4.23088603e-03 9.99928129e-01 -2.02126934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.141193817 meters Centerline goodness [0,1] 0.9300963615218475 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.32, Z:-2.02 [[ 9.99937907e-01 7.75279874e-04 -1.11166696e-02 9.94560595e+00] [-7.48114484e-04 9.99996725e-01 2.44761278e-03 -3.22779716e-01] [ 1.11185308e-02 -2.43914426e-03 9.99935212e-01 -2.02131369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.171193817 meters Centerline goodness [0,1] 0.9307104502271788 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.33, Z:-2.02 [[ 9.99935008e-01 1.12500016e-03 -1.13452155e-02 9.94635735e+00] [-1.08465698e-03 9.99993070e-01 3.56148986e-03 -3.26454339e-01] [ 1.13491436e-02 -3.54895273e-03 9.99929298e-01 -2.02162934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.201193817 meters Centerline goodness [0,1] 0.9307104502271788 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.33, Z:-2.02 [[ 9.99935008e-01 1.12500016e-03 -1.13452155e-02 9.94635735e+00] [-1.08465698e-03 9.99993070e-01 3.56148986e-03 -3.26454339e-01] [ 1.13491436e-02 -3.54895273e-03 9.99929298e-01 -2.02162934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.231193817 meters Centerline goodness [0,1] 0.9295136878670085 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.33, Z:-2.02 [[ 9.99933353e-01 1.35503024e-03 -1.14653418e-02 9.94682351e+00] [-1.30255675e-03 9.99988650e-01 4.58293528e-03 -3.29956048e-01] [ 1.14714217e-02 -4.56769558e-03 9.99923768e-01 -2.02184226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.261193817 meters Centerline goodness [0,1] 0.9322948988457243 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.33, Z:-2.02 [[ 9.99933869e-01 -1.39373838e-03 -1.14156085e-02 9.94648742e+00] [ 1.41426225e-03 9.99997398e-01 1.79000226e-03 -3.31894677e-01] [ 1.14130840e-02 -1.80602855e-03 9.99933238e-01 -2.02159236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.291193817 meters Centerline goodness [0,1] 0.9283382881852769 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.34, Z:-2.02 [[ 9.99934316e-01 2.97298693e-06 -1.14613827e-02 9.94652059e+00] [ 4.46817742e-05 9.99991356e-01 4.15759613e-03 -3.39332059e-01] [ 1.14612960e-02 -4.15783516e-03 9.99925673e-01 -2.02144814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.321193817 meters Centerline goodness [0,1] 0.9286332179930796 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.34, Z:-2.03 [[ 9.99974571e-01 3.13693140e-03 -6.40442804e-03 9.95823719e+00] [-3.15459011e-03 9.99991246e-01 -2.74902844e-03 -3.40309191e-01] [ 6.39574846e-03 2.76916188e-03 9.99975713e-01 -2.02545696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.351193817 meters Centerline goodness [0,1] 0.9304067859575258 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.34, Z:-2.02 [[ 9.99971854e-01 3.89293801e-03 -6.41374645e-03 9.95780273e+00] [-3.90403904e-03 9.99990901e-01 -1.71920891e-03 -3.42600702e-01] [ 6.40699532e-03 1.74420004e-03 9.99977954e-01 -2.02484361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.381193817 meters Centerline goodness [0,1] 0.9313985810894909 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.35, Z:-2.02 [[ 9.99968462e-01 4.74446316e-03 -6.36906207e-03 9.95717459e+00] [-4.74680930e-03 9.99988671e-01 -3.53299171e-04 -3.45922456e-01] [ 6.36731370e-03 3.83520751e-04 9.99979655e-01 -2.02406677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.411193817 meters Centerline goodness [0,1] 0.9314909332337441 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.35, Z:-2.02 [[ 9.99976073e-01 3.34881022e-03 -6.05292926e-03 9.95526221e+00] [-3.35454042e-03 9.99993935e-01 -9.36776777e-04 -3.53609878e-01] [ 6.04975545e-03 9.57059159e-04 9.99981242e-01 -2.02238391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.441193817 meters Centerline goodness [0,1] 0.9320281748498032 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.36, Z:-2.02 [[ 9.99975880e-01 3.33299029e-03 -6.09348963e-03 9.95526630e+00] [-3.33275769e-03 9.99994445e-01 4.83255122e-05 -3.58508428e-01] [ 6.09361685e-03 -2.80162221e-05 9.99981433e-01 -2.02207567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.471193817 meters Centerline goodness [0,1] 0.9332283334024123 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.36, Z:-2.02 [[ 9.99981725e-01 1.62611412e-04 -6.04342243e-03 9.95486280e+00] [-1.79218088e-04 9.99996210e-01 -2.74745262e-03 -3.61268586e-01] [ 6.04295276e-03 2.74848550e-03 9.99977964e-01 -2.02173339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.501193817 meters Centerline goodness [0,1] 0.9328284082443506 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.37, Z:-2.02 [[ 9.99976669e-01 -2.87264284e-03 -6.19749808e-03 9.95549458e+00] [ 2.84643002e-03 9.99986984e-01 -4.23426241e-03 -3.68141875e-01] [ 6.20958094e-03 4.21652287e-03 9.99971831e-01 -2.02199936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.53119381700003 meters Centerline goodness [0,1] 0.9322690189257464 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.37, Z:-2.02 [[ 9.99977426e-01 -2.46501025e-03 -6.25068079e-03 9.95569480e+00] [ 2.44817742e-03 9.99993360e-01 -2.69918311e-03 -3.72675832e-01] [ 6.25729281e-03 2.68381941e-03 9.99976821e-01 -2.02197031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.561193817 meters Centerline goodness [0,1] 0.9336637358991373 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.38, Z:-2.02 [[ 9.99978446e-01 -1.81024487e-03 -6.31111493e-03 9.95575620e+00] [ 1.80333483e-03 9.99997769e-01 -1.10041935e-03 -3.77144769e-01] [ 6.31309288e-03 1.08901457e-03 9.99979479e-01 -2.02179259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.591193817 meters Centerline goodness [0,1] 0.9313342025206433 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.38, Z:-2.02 [[ 9.99978556e-01 -1.20640113e-03 -6.43681549e-03 9.95630505e+00] [ 1.20791906e-03 9.99999244e-01 2.31938472e-04 -3.81090298e-01] [ 6.43653082e-03 -2.39708651e-04 9.99979257e-01 -2.02207633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.621193817 meters Centerline goodness [0,1] 0.9314047183917594 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.39, Z:-2.02 [[ 9.99979198e-01 2.34467009e-04 -6.44585784e-03 9.95628680e+00] [-2.17491202e-04 9.99996507e-01 2.63417418e-03 -3.88935375e-01] [ 6.44645295e-03 -2.63271747e-03 9.99975756e-01 -2.02195634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.651193817 meters Centerline goodness [0,1] 0.9299026713605302 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.39, Z:-2.02 [[ 9.99978069e-01 8.03966659e-04 -6.57383780e-03 9.95695006e+00] [-7.79960210e-04 9.99993022e-01 3.65356514e-03 -3.92003078e-01] [ 6.57672927e-03 -3.64835769e-03 9.99971718e-01 -2.02244536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.681193817 meters Centerline goodness [0,1] 0.9275452453510791 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.40, Z:-2.02 [[ 9.99976967e-01 1.28741420e-03 -6.66399884e-03 9.95754390e+00] [-1.25665474e-03 9.99988548e-01 4.61789655e-03 -3.95028785e-01] [ 6.66986767e-03 -4.60941583e-03 9.99967133e-01 -2.02292764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.711193817 meters Centerline goodness [0,1] 0.9237333999417177 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.40, Z:-2.02 [[ 9.99975088e-01 1.83598035e-03 -6.81559921e-03 9.95826113e+00] [-1.79687695e-03 9.99981917e-01 5.73903533e-03 -3.98464885e-01] [ 6.82601272e-03 -5.72664557e-03 9.99960305e-01 -2.02342586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.741193817 meters Centerline goodness [0,1] 0.9224621133485572 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.41, Z:-2.02 [[ 9.99974106e-01 7.44029754e-04 -7.15771513e-03 9.95973870e+00] [-7.07846628e-04 9.99986966e-01 5.05632817e-03 -4.05125260e-01] [ 7.16138390e-03 -5.05113068e-03 9.99961600e-01 -2.02453377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.771193817 meters Centerline goodness [0,1] 0.9242198801405249 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.41, Z:-2.02 [[ 9.99972645e-01 1.35199248e-03 -7.27192251e-03 9.96005872e+00] [-1.30624647e-03 9.99979353e-01 6.29184805e-03 -4.08915618e-01] [ 7.28027890e-03 -6.28217702e-03 9.99953765e-01 -2.02453871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.801193817 meters Centerline goodness [0,1] 0.9185870758018096 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.41, Z:-2.02 [[ 9.99975589e-01 -3.87765875e-04 -6.97640873e-03 9.95849733e+00] [ 4.17181567e-04 9.99991028e-01 4.21549085e-03 -4.10701668e-01] [ 6.97471151e-03 -4.21829837e-03 9.99966779e-01 -2.02353519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.831193817 meters Centerline goodness [0,1] 0.9228083302157376 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.42, Z:-2.02 [[ 9.99976299e-01 1.67408992e-03 -6.67825808e-03 9.95803053e+00] [-1.62693584e-03 9.99973754e-01 7.06003054e-03 -4.17903714e-01] [ 6.68990193e-03 -7.04899811e-03 9.99952777e-01 -2.02363735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.861193817 meters Centerline goodness [0,1] 0.9218591140159768 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.42, Z:-2.02 [[ 9.99973719e-01 2.51138704e-03 -6.80108904e-03 9.95883703e+00] [-2.45457083e-03 9.99962130e-01 8.34948858e-03 -4.21786689e-01] [ 6.82180028e-03 -8.33257539e-03 9.99942014e-01 -2.02430326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.891193817 meters Centerline goodness [0,1] 0.9214299051847549 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.43, Z:-2.02 [[ 9.99970365e-01 3.42366870e-03 -6.89549691e-03 9.95943993e+00] [-3.35633536e-03 9.99946807e-01 9.75284167e-03 -4.25748519e-01] [ 6.92852062e-03 -9.72940904e-03 9.99928665e-01 -2.02478135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.921193817 meters Centerline goodness [0,1] 0.9070971483007849 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.43, Z:-2.02 [[ 9.99974468e-01 1.39697828e-03 -7.00805124e-03 9.95941074e+00] [-1.34618749e-03 9.99972834e-01 7.24698062e-03 -4.27535860e-01] [ 7.01798473e-03 -7.23736143e-03 9.99949183e-01 -2.02478410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.951193817 meters Centerline goodness [0,1] 0.9024168935082075 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.44, Z:-2.02 [[ 9.99974662e-01 1.29294389e-03 -7.00020528e-03 9.95894875e+00] [-1.23869337e-03 9.99969212e-01 7.74864309e-03 -4.36376907e-01] [ 7.01000832e-03 -7.73977565e-03 9.99945476e-01 -2.02431577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.981193817 meters Centerline goodness [0,1] 0.9240159441953164 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.44, Z:-2.02 [[ 9.99976603e-01 -1.11056063e-03 -6.74976088e-03 9.95751517e+00] [ 1.15083049e-03 9.99981546e-01 5.96516428e-03 -4.41286262e-01] [ 6.74301165e-03 -5.97279255e-03 9.99959428e-01 -2.02309311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.011193817 meters Centerline goodness [0,1] 0.9198732551878391 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.45, Z:-2.02 [[ 9.99968967e-01 -4.11058297e-03 -6.72066622e-03 9.95728682e+00] [ 4.13681879e-03 9.99983860e-01 3.89452285e-03 -4.46836339e-01] [ 6.70454899e-03 -3.92220417e-03 9.99969832e-01 -2.02269119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.041193817 meters Centerline goodness [0,1] 0.9243110763273881 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.45, Z:-2.02 [[ 9.99948448e-01 -7.48674001e-03 -6.85934295e-03 9.95766106e+00] [ 7.49826973e-03 9.99970515e-01 1.65670537e-03 -4.52764000e-01] [ 6.84673738e-03 -1.70805317e-03 9.99975102e-01 -2.02251468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.071193817 meters Centerline goodness [0,1] 0.93433871336283 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.46, Z:-2.02 [[ 9.99823514e-01 -1.76355032e-02 -6.47535953e-03 9.95699349e+00] [ 1.75942457e-02 9.99824891e-01 -6.37409234e-03 -4.63274221e-01] [ 6.58663596e-03 6.25903833e-03 9.99958719e-01 -2.02180805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.101193817 meters Centerline goodness [0,1] 0.9302185349219221 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.47, Z:-2.02 [[ 9.99749747e-01 -2.13930835e-02 -6.54053617e-03 9.95749837e+00] [ 2.13352337e-02 9.99733734e-01 -8.79022734e-03 -4.68753296e-01] [ 6.72684472e-03 8.64848369e-03 9.99939975e-01 -2.02184000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.131193817 meters Centerline goodness [0,1] 0.934139035223634 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.47, Z:-2.02 [[ 9.99661523e-01 -2.51388414e-02 -6.69907466e-03 9.95842729e+00] [ 2.50620328e-02 9.99621885e-01 -1.13129192e-02 -4.73810580e-01] [ 6.98093532e-03 1.11411976e-02 9.99913566e-01 -2.02216748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.161193817 meters Centerline goodness [0,1] 0.9322790697674419 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.48, Z:-2.02 [[ 9.99556902e-01 -2.89879949e-02 -6.75984111e-03 9.95940773e+00] [ 2.88909548e-02 9.99484012e-01 -1.40364440e-02 -4.78679062e-01] [ 7.16324148e-03 1.38349262e-02 9.99878634e-01 -2.02280153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.191193817 meters Centerline goodness [0,1] 0.9342704537926466 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.49, Z:-2.02 [[ 9.99306035e-01 -3.66508810e-02 -6.64534377e-03 9.96111158e+00] [ 3.65125536e-02 9.99135788e-01 -1.98622761e-02 -4.87407780e-01] [ 7.36757070e-03 1.96058539e-02 9.99780641e-01 -2.02420488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.221193817 meters Centerline goodness [0,1] 0.932587534505303 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.49, Z:-2.02 [[ 9.99161117e-01 -4.04223001e-02 -6.56507549e-03 9.96150378e+00] [ 4.02607201e-02 9.98921745e-01 -2.31175585e-02 -4.90040907e-01] [ 7.49246155e-03 2.28338509e-02 9.99711197e-01 -2.02448682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.251193817 meters Centerline goodness [0,1] 0.929490616621984 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.49, Z:-2.02 [[ 9.99145516e-01 -4.07460065e-02 -6.92820198e-03 9.96260879e+00] [ 4.05819501e-02 9.98925829e-01 -2.23672586e-02 -4.94054850e-01] [ 7.83213637e-03 2.20669862e-02 9.99725815e-01 -2.02458214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28119381700003 meters Centerline goodness [0,1] 0.9403313084402795 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.50, Z:-2.02 [[ 9.99151766e-01 -4.05751295e-02 -7.02896716e-03 9.96263193e+00] [ 4.04179677e-02 9.98957529e-01 -2.12189479e-02 -4.97957969e-01] [ 7.88260122e-03 2.09168527e-02 9.99750144e-01 -2.02408659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.311193817 meters Centerline goodness [0,1] 0.9403711717709721 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.50, Z:-2.02 [[ 9.99157191e-01 -4.04657012e-02 -6.88731093e-03 9.96236838e+00] [ 4.03234742e-02 9.98993069e-01 -1.96688955e-02 -5.03496567e-01] [ 7.67629153e-03 1.93745980e-02 9.99782826e-01 -2.02358891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.341193817 meters Centerline goodness [0,1] 0.943607144344061 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.51, Z:-2.02 [[ 9.99163588e-01 -4.02863593e-02 -7.00954778e-03 9.96255418e+00] [ 4.01474132e-02 9.99014117e-01 -1.89467607e-02 -5.05721773e-01] [ 7.76593320e-03 1.86494982e-02 9.99795922e-01 -2.02339934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.371193817 meters Centerline goodness [0,1] 0.9408109400004157 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.51, Z:-2.02 [[ 9.99177733e-01 -3.99038509e-02 -7.17924175e-03 9.96273897e+00] [ 3.97682970e-02 9.99044520e-01 -1.81254125e-02 -5.07834591e-01] [ 7.89565588e-03 1.78250023e-02 9.99809946e-01 -2.02314581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.401193817 meters Centerline goodness [0,1] 0.9439693735305744 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.51, Z:-2.02 [[ 9.99306012e-01 -3.65316094e-02 -7.27572427e-03 9.96302019e+00] [ 3.64304352e-02 9.99243863e-01 -1.35840216e-02 -5.11538616e-01] [ 7.76646899e-03 1.33095366e-02 9.99881262e-01 -2.02291978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.431193817 meters Centerline goodness [0,1] 0.9428517815816359 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.52, Z:-2.02 [[ 9.99437600e-01 -3.26771899e-02 -7.52888156e-03 9.96362415e+00] [ 3.26113645e-02 9.99430190e-01 -8.70597207e-03 -5.15302453e-01] [ 7.80907823e-03 8.45554874e-03 9.99933759e-01 -2.02294920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.461193817 meters Centerline goodness [0,1] 0.9425986261854857 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.52, Z:-2.02 [[ 9.99540125e-01 -2.91769794e-02 -8.26091417e-03 9.96549182e+00] [ 2.91397576e-02 9.99564805e-01 -4.59086654e-03 -5.17463913e-01] [ 8.39126668e-03 4.34803428e-03 9.99955340e-01 -2.02347069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.491193817 meters Centerline goodness [0,1] 0.9410771955412022 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.52, Z:-2.02 [[ 9.99648633e-01 -2.50956915e-02 -8.53327177e-03 9.96569784e+00] [ 2.50970691e-02 9.99685017e-01 5.43825631e-05 -5.19501955e-01] [ 8.52921917e-03 -2.68523566e-04 9.99963589e-01 -2.02303207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.521193817 meters Centerline goodness [0,1] 0.9417284258163625 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.52, Z:-2.02 [[ 9.99715201e-01 -2.20437412e-02 -9.14281441e-03 9.96768437e+00] [ 2.20755294e-02 9.99750556e-01 3.39061049e-03 -5.20255068e-01] [ 9.06579205e-03 -3.59147731e-03 9.99952455e-01 -2.02391499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.551193817 meters Centerline goodness [0,1] 0.9391859470510922 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.52, Z:-2.02 [[ 9.99790827e-01 -1.81767209e-02 -9.37600660e-03 9.96870192e+00] [ 1.82437785e-02 9.99808240e-01 7.11678491e-03 -5.19753498e-01] [ 9.24484884e-03 -7.28635006e-03 9.99930719e-01 -2.02484546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.581193817 meters Centerline goodness [0,1] 0.9395633042063773 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.52, Z:-2.03 [[ 9.99784077e-01 -1.83437428e-02 -9.76253272e-03 9.97015595e+00] [ 1.84081473e-02 9.99809109e-01 6.54865011e-03 -5.18350924e-01] [ 9.64054239e-03 -6.72694625e-03 9.99930902e-01 -2.02592653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.611193817 meters Centerline goodness [0,1] 0.933343035948188 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.52, Z:-2.03 [[ 9.99778212e-01 -1.85296120e-02 -1.00090016e-02 9.97115491e+00] [ 1.85917418e-02 9.99808241e-01 6.15042568e-03 -5.17586322e-01] [ 9.89311732e-03 -6.33514637e-03 9.99930994e-01 -2.02665640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.641193817 meters Centerline goodness [0,1] 0.9385364019882211 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.52, Z:-2.03 [[ 9.99775610e-01 -1.85970984e-02 -1.01428801e-02 9.97155455e+00] [ 1.86591215e-02 9.99807569e-01 6.05497435e-03 -5.17400188e-01] [ 1.00283233e-02 -6.24287291e-03 9.99930227e-01 -2.02682875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.671193817 meters Centerline goodness [0,1] 0.9323772615174186 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.52, Z:-2.03 [[ 9.99833971e-01 -1.75915761e-02 -4.75046566e-03 9.98361451e+00] [ 1.75755904e-02 9.99839804e-01 -3.38612316e-03 -5.15274777e-01] [ 4.80927189e-03 3.30206873e-03 9.99982983e-01 -2.03117148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.701193817 meters Centerline goodness [0,1] 0.9370485250952391 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.52, Z:-2.03 [[ 9.99837807e-01 -1.73691558e-02 -4.76150362e-03 9.98297536e+00] [ 1.73548014e-02 9.99844774e-01 -3.03959675e-03 -5.15628690e-01] [ 4.81355974e-03 2.95646880e-03 9.99984044e-01 -2.03022641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.731193817 meters Centerline goodness [0,1] 0.940161033262269 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.52, Z:-2.03 [[ 9.99838025e-01 -1.73116750e-02 -4.92227818e-03 9.98293033e+00] [ 1.72967620e-02 9.99845729e-01 -3.05629765e-03 -5.15233705e-01] [ 4.97442844e-03 2.97066313e-03 9.99983215e-01 -2.02971155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.761193817 meters Centerline goodness [0,1] 0.9384430939683327 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.52, Z:-2.03 [[ 9.99888812e-01 -1.39126484e-02 -5.36667565e-03 9.98382487e+00] [ 1.39169281e-02 9.99902865e-01 7.60946802e-04 -5.16501534e-01] [ 5.35556758e-03 -8.35549833e-04 9.99985310e-01 -2.02954427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.791193817 meters Centerline goodness [0,1] 0.9378010297292808 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.52, Z:-2.03 [[ 9.99893039e-01 -1.36094947e-02 -5.35643755e-03 9.98362416e+00] [ 1.36150262e-02 9.99906814e-01 9.97569848e-04 -5.16543895e-01] [ 5.34236199e-03 -1.07039118e-03 9.99985157e-01 -2.02934373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.821193817 meters Centerline goodness [0,1] 0.9405494140137977 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.52, Z:-2.03 [[ 9.99895910e-01 -1.33939949e-02 -5.36376012e-03 9.98335464e+00] [ 1.34011696e-02 9.99909350e-01 1.30392878e-03 -5.17064123e-01] [ 5.34580908e-03 -1.37567371e-03 9.99984765e-01 -2.02891992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.851193817 meters Centerline goodness [0,1] 0.944666901802942 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.52, Z:-2.03 [[ 9.99893618e-01 -1.35065269e-02 -5.50693186e-03 9.98352835e+00] [ 1.35157239e-02 9.99907320e-01 1.63630283e-03 -5.18720382e-01] [ 5.48432071e-03 -1.71055893e-03 9.99983498e-01 -2.02858510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.881193817 meters Centerline goodness [0,1] 0.9394967018878848 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.52, Z:-2.03 [[ 9.99888978e-01 -1.37376119e-02 -5.77153434e-03 9.98447220e+00] [ 1.37466254e-02 9.99904348e-01 1.52495100e-03 -5.18931888e-01] [ 5.75003309e-03 -1.60412081e-03 9.99982182e-01 -2.02907251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.911193817 meters Centerline goodness [0,1] 0.9371455871050828 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.52, Z:-2.03 [[ 9.99888918e-01 -1.36885786e-02 -5.89705480e-03 9.98496153e+00] [ 1.36985743e-02 9.99904796e-01 1.65798124e-03 -5.19170555e-01] [ 5.87379796e-03 -1.73857831e-03 9.99981238e-01 -2.02941258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.941193817 meters Centerline goodness [0,1] 0.9376738200987921 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.52, Z:-2.03 [[ 9.99889480e-01 -1.35791685e-02 -6.05262903e-03 9.98563400e+00] [ 1.35907042e-02 9.99905896e-01 1.86886647e-03 -5.19981512e-01] [ 6.02668180e-03 -1.95091941e-03 9.99979936e-01 -2.02987226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.971193817 meters Centerline goodness [0,1] 0.9440595810189519 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.52, Z:-2.03 [[ 9.99895042e-01 -1.31037280e-02 -6.18038578e-03 9.98570931e+00] [ 1.31197582e-02 9.99910654e-01 2.56034662e-03 -5.21515999e-01] [ 6.14628350e-03 -2.64116306e-03 9.99977623e-01 -2.02961027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.001193817 meters Centerline goodness [0,1] 0.9395329527763363 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.52, Z:-2.03 [[ 9.99931216e-01 -9.59031136e-03 -6.75202247e-03 9.98794495e+00] [ 9.63340205e-03 9.99933254e-01 6.37855950e-03 -5.24202765e-01] [ 6.69039942e-03 -6.44316570e-03 9.99956861e-01 -2.03091067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.03119381700003 meters Centerline goodness [0,1] 0.9390109547467105 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.52, Z:-2.03 [[ 9.99938035e-01 -8.94589364e-03 -6.62550205e-03 9.98766135e+00] [ 8.99073136e-03 9.99936673e-01 6.76886434e-03 -5.23978832e-01] [ 6.56452893e-03 -6.82801302e-03 9.99955142e-01 -2.03104592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.061193817 meters Centerline goodness [0,1] 0.9369051082754895 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.53, Z:-2.03 [[ 9.99960452e-01 -5.39349566e-03 -7.07133911e-03 9.98978641e+00] [ 5.47005277e-03 9.99926152e-01 1.08521283e-02 -5.26820396e-01] [ 7.01228600e-03 -1.08903797e-02 9.99916110e-01 -2.03252423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.091193817 meters Centerline goodness [0,1] 0.9369051082754895 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.53, Z:-2.03 [[ 9.99960452e-01 -5.39349566e-03 -7.07133911e-03 9.98978641e+00] [ 5.47005277e-03 9.99926152e-01 1.08521283e-02 -5.26820396e-01] [ 7.01228600e-03 -1.08903797e-02 9.99916110e-01 -2.03252423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.121193817 meters Centerline goodness [0,1] 0.9389488990444537 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.53, Z:-2.03 [[ 9.99955027e-01 -5.79727580e-03 -7.50574753e-03 9.99168562e+00] [ 5.87733391e-03 9.99925604e-01 1.06884863e-02 -5.28268547e-01] [ 7.44322503e-03 -1.07321194e-02 9.99914706e-01 -2.03377352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.151193817 meters Centerline goodness [0,1] 0.9376153256069496 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.53, Z:-2.04 [[ 9.99945381e-01 -6.70594754e-03 -8.01656028e-03 9.99391830e+00] [ 6.78804726e-03 9.99924342e-01 1.02583054e-02 -5.30314911e-01] [ 7.94716211e-03 -1.03121619e-02 9.99915247e-01 -2.03511164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.181193817 meters Centerline goodness [0,1] 0.9346711858802133 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.53, Z:-2.04 [[ 9.99910341e-01 -1.05967796e-02 -8.18647957e-03 9.99440324e+00] [ 1.06497729e-02 9.99922442e-01 6.45701675e-03 -5.31105961e-01] [ 8.11742106e-03 -6.54362196e-03 9.99945643e-01 -2.03527641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.211193817 meters Centerline goodness [0,1] 0.9383053090939174 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.54, Z:-2.03 [[ 9.99860997e-01 -1.45654917e-02 -8.11376907e-03 9.99398862e+00] [ 1.45985694e-02 9.99885304e-01 4.03253772e-03 -5.36832446e-01] [ 8.05410255e-03 -4.15042660e-03 9.99958952e-01 -2.03411474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.241193817 meters Centerline goodness [0,1] 0.9361777444611028 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.54, Z:-2.03 [[ 9.99802116e-01 -1.82134483e-02 -7.99994683e-03 9.99370516e+00] [ 1.82189535e-02 9.99833831e-01 6.15810466e-04 -5.38291823e-01] [ 7.98740146e-03 -7.61439266e-04 9.99967810e-01 -2.03390305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.271193817 meters Centerline goodness [0,1] 0.9363316906826358 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.54, Z:-2.03 [[ 9.99793950e-01 -1.84621133e-02 -8.43848319e-03 9.99475412e+00] [ 1.84728486e-02 9.99828647e-01 1.19600058e-03 -5.41138659e-01] [ 8.41495653e-03 -1.35163696e-03 9.99963680e-01 -2.03383342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.301193817 meters Centerline goodness [0,1] 0.9371411991461317 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.54, Z:-2.03 [[ 9.99788546e-01 -1.86300410e-02 -8.70541771e-03 9.99535259e+00] [ 1.86439891e-02 9.99825024e-01 1.52382930e-03 -5.42980993e-01] [ 8.67550548e-03 -1.68581079e-03 9.99960946e-01 -2.03371674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.331193817 meters Centerline goodness [0,1] 0.9433289819937424 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.55, Z:-2.03 [[ 9.99794681e-01 -1.82163830e-02 -8.87467061e-03 9.99530413e+00] [ 1.82391657e-02 9.99830545e-01 2.49301253e-03 -5.45775729e-01] [ 8.82775308e-03 -2.65436725e-03 9.99957512e-01 -2.03305883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.361193817 meters Centerline goodness [0,1] 0.9458892007067873 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.55, Z:-2.03 [[ 9.99804441e-01 -1.76356111e-02 -8.94791048e-03 9.99501209e+00] [ 1.76666706e-02 9.99838137e-01 3.40405475e-03 -5.47822868e-01] [ 8.88642956e-03 -3.56146884e-03 9.99954173e-01 -2.03240014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.391193817 meters Centerline goodness [0,1] 0.9486425479922964 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.55, Z:-2.04 [[ 9.99874650e-01 -1.54093399e-02 -3.63807795e-03 1.00053268e+01] [ 1.53880089e-02 9.99864658e-01 -5.82018593e-03 -5.47604721e-01] [ 3.72727079e-03 5.76347360e-03 9.99976445e-01 -2.03612800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.421193817 meters Centerline goodness [0,1] 0.9503509389428353 Centerline is valid? [False, True] Translation: X:10.00, Y:-0.55, Z:-2.03 [[ 9.99929229e-01 -1.13058051e-02 -3.70345988e-03 1.00047342e+01] [ 1.13035045e-02 9.99935908e-01 -6.41560510e-04 -5.51723732e-01] [ 3.71047587e-03 5.99653030e-04 9.99992936e-01 -2.03472619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.451193817 meters Centerline goodness [0,1] 0.9572103477699848 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.55, Z:-2.03 [[ 9.99945132e-01 -9.96445610e-03 -3.23165058e-03 1.00330864e+01] [ 9.96431769e-03 9.99950353e-01 -5.89296832e-05 -5.51413890e-01] [ 3.23207734e-03 2.67252569e-05 9.99994776e-01 -2.03223347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.481193817 meters Centerline goodness [0,1] 0.9557428435015465 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.55, Z:-2.03 [[ 9.99952402e-01 -9.01203104e-03 -3.73850058e-03 1.00622903e+01] [ 9.01184524e-03 9.99959390e-01 -6.65401959e-05 -5.50783996e-01] [ 3.73894843e-03 3.28462400e-05 9.99993010e-01 -2.03388902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.511193817 meters Centerline goodness [0,1] 0.9500508837151342 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.55, Z:-2.04 [[ 9.99965972e-01 -6.23315572e-03 -5.40403015e-03 1.00903209e+01] [ 6.23277204e-03 9.99980572e-01 -8.78387723e-05 -5.49526341e-01] [ 5.40447268e-03 5.41536953e-05 9.99985394e-01 -2.03833776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.541193817 meters Centerline goodness [0,1] 0.9496770441753722 Centerline is valid? [True, False] Translation: X:10.09, Y:-0.55, Z:-2.04 [[ 9.99967527e-01 -5.92993039e-03 -5.45725711e-03 1.00906076e+01] [ 5.93118737e-03 9.99982387e-01 2.14176006e-04 -5.49904055e-01] [ 5.45589094e-03 -2.46537066e-04 9.99985086e-01 -2.03864605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.571193817 meters Centerline goodness [0,1] 0.9471800208116545 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.55, Z:-2.04 [[ 9.99969327e-01 -5.51439810e-03 -5.56210388e-03 1.00909059e+01] [ 5.51859229e-03 9.99984499e-01 7.38998563e-04 -5.50858420e-01] [ 5.55794253e-03 -7.69670879e-04 9.99984258e-01 -2.03881777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.601193817 meters Centerline goodness [0,1] 0.9422341398519997 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.56, Z:-2.04 [[ 9.99971391e-01 -4.91921190e-03 -5.74624573e-03 1.00913339e+01] [ 4.93223312e-03 9.99985296e-01 2.25407105e-03 -5.56541627e-01] [ 5.73507298e-03 -2.28234838e-03 9.99980950e-01 -2.03868222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.631193817 meters Centerline goodness [0,1] 0.9427266338721012 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.56, Z:-2.04 [[ 9.99963569e-01 -5.77711622e-03 -6.28371065e-03 1.00934507e+01] [ 5.78899254e-03 9.99981489e-01 1.87347340e-03 -5.59044265e-01] [ 6.27277106e-03 -1.90978150e-03 9.99978502e-01 -2.03978836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.661193817 meters Centerline goodness [0,1] 0.9418563558881613 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.56, Z:-2.04 [[ 9.99964025e-01 -5.59101075e-03 -6.37879610e-03 1.00936769e+01] [ 5.60925015e-03 9.99980221e-01 2.84508118e-03 -5.62096423e-01] [ 6.36276305e-03 -2.88075910e-03 9.99975608e-01 -2.03960467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.691193817 meters Centerline goodness [0,1] 0.9429481308800266 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.56, Z:-2.04 [[ 9.99962133e-01 -5.62106859e-03 -6.64356210e-03 1.00944280e+01] [ 5.64522501e-03 9.99977503e-01 3.62292267e-03 -5.64773049e-01] [ 6.62304794e-03 -3.66028988e-03 9.99971368e-01 -2.03964899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.721193817 meters Centerline goodness [0,1] 0.9461416798468326 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.57, Z:-2.04 [[ 9.99927935e-01 -9.86068495e-03 -6.84780043e-03 1.00956953e+01] [ 9.86410861e-03 9.99951240e-01 4.66371158e-04 -5.68732156e-01] [ 6.84286779e-03 -5.33884996e-04 9.99976445e-01 -2.04049419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.751193817 meters Centerline goodness [0,1] 0.9413432275816067 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.57, Z:-2.04 [[ 9.99920851e-01 -1.04067768e-02 -7.07043239e-03 1.00969321e+01] [ 1.04147496e-02 9.99945169e-01 1.09174486e-03 -5.72833412e-01] [ 7.05868316e-03 -1.16529524e-03 9.99974408e-01 -2.04105308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78119381700003 meters Centerline goodness [0,1] 0.9238209897044172 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.58, Z:-2.04 [[ 9.99904162e-01 -1.15839190e-02 -7.58152060e-03 1.00992680e+01] [ 1.15912282e-02 9.99932395e-01 9.20842146e-04 -5.76607267e-01] [ 7.57034109e-03 -1.00863303e-03 9.99970836e-01 -2.04226983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.811193817 meters Centerline goodness [0,1] 0.9169704418105693 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.58, Z:-2.04 [[ 9.99852177e-01 -1.55777170e-02 -7.27729905e-03 1.00983215e+01] [ 1.55669264e-02 9.99877647e-01 -1.53707428e-03 -5.81877700e-01] [ 7.30035276e-03 1.42356188e-03 9.99972339e-01 -2.04089222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.841193817 meters Centerline goodness [0,1] 0.9128421314947875 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.58, Z:-2.04 [[ 9.99843905e-01 -1.59587821e-02 -7.58169499e-03 1.00989879e+01] [ 1.59519187e-02 9.99872294e-01 -9.64878891e-04 -5.84648440e-01] [ 7.59612506e-03 8.43785697e-04 9.99970793e-01 -2.04052479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.871193817 meters Centerline goodness [0,1] 0.9042658935597432 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.59, Z:-2.04 [[ 9.99828456e-01 -1.67148573e-02 -7.97947700e-03 1.01004218e+01] [ 1.67072313e-02 9.99859903e-01 -1.02141460e-03 -5.86437125e-01] [ 7.99543190e-03 8.87924410e-04 9.99967642e-01 -2.04098322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.901193817 meters Centerline goodness [0,1] 0.8928431027704786 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.59, Z:-2.04 [[ 9.99821162e-01 -1.70418838e-02 -8.19865196e-03 1.01010125e+01] [ 1.70363650e-02 9.99854595e-01 -7.42516309e-04 -5.87890544e-01] [ 8.21011371e-03 6.02708292e-04 9.99966115e-01 -2.04089703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.931193817 meters Centerline goodness [0,1] 0.8779879142863035 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.59, Z:-2.04 [[ 9.99804024e-01 -1.78101971e-02 -8.64356594e-03 1.01026720e+01] [ 1.78010283e-02 9.99840903e-01 -1.13654296e-03 -5.88443170e-01] [ 8.66243283e-03 9.82455862e-04 9.99961998e-01 -2.04167592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.961193817 meters Centerline goodness [0,1] 0.8700056157573993 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.59, Z:-2.04 [[ 9.99791119e-01 -1.84720254e-02 -8.74659539e-03 1.01032000e+01] [ 1.84592048e-02 9.99828422e-01 -1.54425658e-03 -5.88030813e-01] [ 8.77362021e-03 1.38247881e-03 9.99960555e-01 -2.04184976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.991193817 meters Centerline goodness [0,1] 0.8833925196768633 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.59, Z:-2.04 [[ 9.99779504e-01 -1.89231604e-02 -9.10262762e-03 1.01040280e+01] [ 1.89053123e-02 9.99819192e-01 -2.04283558e-03 -5.87086304e-01] [ 9.13963869e-03 1.87029712e-03 9.99956484e-01 -2.04194878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.021193817 meters Centerline goodness [0,1] 0.8944876002160096 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.59, Z:-2.04 [[ 9.99772512e-01 -1.91919877e-02 -9.30552656e-03 1.01042180e+01] [ 1.91709733e-02 9.99813476e-01 -2.34224393e-03 -5.86094115e-01] [ 9.34874317e-03 2.16331509e-03 9.99953959e-01 -2.04160077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.051193817 meters Centerline goodness [0,1] 0.8619729432056691 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.59, Z:-2.04 [[ 9.99824153e-01 -1.62848063e-02 -9.29878786e-03 1.01044425e+01] [ 1.62978055e-02 9.99866305e-01 1.32388492e-03 -5.86664980e-01] [ 9.27598546e-03 -1.47520195e-03 9.99955889e-01 -2.04127329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.081193817 meters Centerline goodness [0,1] 0.8522548613984278 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.58, Z:-2.05 [[ 9.99848943e-01 -1.66105837e-02 -5.11652122e-03 1.01201782e+01] [ 1.65671911e-02 9.99827388e-01 -8.40961024e-03 -5.79164692e-01] [ 5.25532658e-03 8.32357353e-03 9.99951549e-01 -2.04604060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.111193817 meters Centerline goodness [0,1] 0.8456593646632965 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.58, Z:-2.05 [[ 9.99892782e-01 -1.36558822e-02 -5.28596271e-03 1.01205680e+01] [ 1.36300287e-02 9.99895118e-01 -4.89648800e-03 -5.78846330e-01] [ 5.35227417e-03 4.82391518e-03 9.99974041e-01 -2.04567088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.141193817 meters Centerline goodness [0,1] 0.8230149024809833 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.58, Z:-2.05 [[ 9.99924344e-01 -1.09068411e-02 -5.68741832e-03 1.01216968e+01] [ 1.08979160e-02 9.99939339e-01 -1.59790869e-03 -5.78507517e-01] [ 5.70450145e-03 1.53580679e-03 9.99982550e-01 -2.04567473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.171193817 meters Centerline goodness [0,1] 0.8140704557685143 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.58, Z:-2.05 [[ 9.99948285e-01 -8.41406666e-03 -5.71230229e-03 1.01222593e+01] [ 8.42290325e-03 9.99963364e-01 1.52464802e-03 -5.77716645e-01] [ 5.69926453e-03 -1.57268334e-03 9.99982522e-01 -2.04571787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.201193817 meters Centerline goodness [0,1] 0.7805202913631634 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.57, Z:-2.05 [[ 9.99934271e-01 -9.94263225e-03 -5.70945463e-03 1.01224672e+01] [ 9.93899801e-03 9.99950386e-01 -6.64552793e-04 -5.70119012e-01] [ 5.71577877e-03 6.07762854e-04 9.99983480e-01 -2.04592828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.231193817 meters Centerline goodness [0,1] 0.7649172360796693 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.57, Z:-2.05 [[ 9.99953564e-01 -7.54432515e-03 -5.99616099e-03 1.01239022e+01] [ 7.55639028e-03 9.99969466e-01 1.99204019e-03 -5.68373805e-01] [ 5.98094930e-03 -2.03725702e-03 9.99980039e-01 -2.04663050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.261193817 meters Centerline goodness [0,1] 0.760483870967742 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.56, Z:-2.05 [[ 9.99944357e-01 -8.47932119e-03 -6.27559181e-03 1.01248411e+01] [ 8.48137853e-03 9.99963987e-01 3.01291315e-04 -5.63916167e-01] [ 6.27281106e-03 -3.54500220e-04 9.99980263e-01 -2.04722730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.291193817 meters Centerline goodness [0,1] 0.7630048265335588 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.55, Z:-2.05 [[ 9.99959612e-01 -6.11898540e-03 -6.58266323e-03 1.01248596e+01] [ 6.12642123e-03 9.99980617e-01 1.11003709e-03 -5.54536517e-01] [ 6.57574334e-03 -1.15032043e-03 9.99977718e-01 -2.04666225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.321193817 meters Centerline goodness [0,1] 0.7934663269322395 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.55, Z:-2.05 [[ 9.99972949e-01 -2.78714616e-03 -6.80691266e-03 1.01251437e+01] [ 2.81173142e-03 9.99989549e-01 3.60491306e-03 -5.49582238e-01] [ 6.79679410e-03 -3.62395476e-03 9.99970335e-01 -2.04649440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.351193817 meters Centerline goodness [0,1] 0.7926097571067985 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.54, Z:-2.05 [[ 9.99974672e-01 2.87135954e-04 -7.11146690e-03 1.01262871e+01] [-2.48568843e-04 9.99985262e-01 5.42351897e-03 -5.43204432e-01] [ 7.11291938e-03 -5.42161391e-03 9.99960005e-01 -2.04733804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.381193817 meters Centerline goodness [0,1] 0.8180894730295618 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.54, Z:-2.05 [[ 9.99966748e-01 3.62337619e-03 -7.30577399e-03 1.01270783e+01] [-3.57065054e-03 9.99967581e-01 7.21715670e-03 -5.36020324e-01] [ 7.33168762e-03 -7.19083035e-03 9.99947268e-01 -2.04810798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.411193817 meters Centerline goodness [0,1] 0.8857624859416003 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.53, Z:-2.05 [[ 9.99947405e-01 6.86886703e-03 -7.61612326e-03 1.01283694e+01] [-6.80195335e-03 9.99938346e-01 8.77715915e-03 -5.28497158e-01] [ 7.67594284e-03 -8.72489301e-03 9.99932476e-01 -2.04925747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.441193817 meters Centerline goodness [0,1] 0.918810239403047 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.51, Z:-2.06 [[ 9.99852922e-01 1.63467781e-02 -5.18813575e-03 1.01407559e+01] [-1.63444244e-02 9.99866298e-01 4.95755189e-04 -5.12480046e-01] [ 5.19554608e-03 -4.10885182e-04 9.99986419e-01 -2.05691327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.471193817 meters Centerline goodness [0,1] 0.9224250191198661 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.51, Z:-2.06 [[ 9.99792718e-01 1.95772930e-02 -5.59019673e-03 1.01424539e+01] [-1.95640837e-02 9.99805705e-01 2.40793109e-03 -5.06600847e-01] [ 5.63625136e-03 -2.29806489e-03 9.99981476e-01 -2.05804681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.501193817 meters Centerline goodness [0,1] 0.9265334052171028 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.50, Z:-2.06 [[ 9.99726794e-01 2.26250832e-02 -5.86881450e-03 1.01440227e+01] [-2.26000601e-02 9.99735358e-01 4.29559044e-03 -5.00885689e-01] [ 5.96444945e-03 -4.16178130e-03 9.99973552e-01 -2.05927714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.53119381700003 meters Centerline goodness [0,1] 0.9260785816366687 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.49, Z:-2.06 [[ 9.99562845e-01 2.89123154e-02 -6.18028625e-03 1.01454247e+01] [-2.88563989e-02 9.99543472e-01 8.95297506e-03 -4.91952594e-01] [ 6.43631602e-03 -8.77072042e-03 9.99940822e-01 -2.05998659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.561193817 meters Centerline goodness [0,1] 0.9181441590720796 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.49, Z:-2.06 [[ 9.99566569e-01 2.87227470e-02 -6.45589826e-03 1.01458696e+01] [-2.86746032e-02 9.99561184e-01 7.43013881e-03 -4.86279496e-01] [ 6.66647930e-03 -7.24179803e-03 9.99951556e-01 -2.06006692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.591193817 meters Centerline goodness [0,1] 0.9297501766637569 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.48, Z:-2.06 [[ 9.99576216e-01 2.83571401e-02 -6.57734346e-03 1.01458974e+01] [-2.83188552e-02 9.99581866e-01 5.84261637e-03 -4.80793021e-01] [ 6.74027313e-03 -5.65387752e-03 9.99961300e-01 -2.05993845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.621193817 meters Centerline goodness [0,1] 0.9216835044716793 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.47, Z:-2.06 [[ 9.99503447e-01 3.08092935e-02 -6.60655465e-03 1.01450497e+01] [-3.07619941e-02 9.99501197e-01 7.14542495e-03 -4.73752103e-01] [ 6.82340477e-03 -6.93864607e-03 9.99952647e-01 -2.05857159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.651193817 meters Centerline goodness [0,1] 0.9378445281134941 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.47, Z:-2.06 [[ 9.99512474e-01 3.04882188e-02 -6.72923894e-03 1.01452647e+01] [-3.04473868e-02 9.99517823e-01 6.08912903e-03 -4.70607558e-01] [ 6.91164096e-03 -5.88127268e-03 9.99958819e-01 -2.05859296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.681193817 meters Centerline goodness [0,1] 0.9404098769537745 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.47, Z:-2.06 [[ 9.99518893e-01 3.02181331e-02 -6.98902610e-03 1.01456022e+01] [-3.01829656e-02 9.99531462e-01 5.08373448e-03 -4.67603848e-01] [ 7.13937244e-03 -4.87033912e-03 9.99962654e-01 -2.05845560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.711193817 meters Centerline goodness [0,1] 0.9223389297824829 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.46, Z:-2.06 [[ 9.99524546e-01 2.99834427e-02 -7.18852791e-03 1.01459279e+01] [-2.99549819e-02 9.99543106e-01 4.03473623e-03 -4.64491092e-01] [ 7.30621879e-03 -3.81748567e-03 9.99966022e-01 -2.05843574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.741193817 meters Centerline goodness [0,1] 0.9412485462701445 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.46, Z:-2.06 [[ 9.99416262e-01 3.34127359e-02 -7.12207899e-03 1.01459566e+01] [-3.33656823e-02 9.99421245e-01 6.62624212e-03 -4.60000516e-01] [ 7.33935793e-03 -6.38474111e-03 9.99952683e-01 -2.05831885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.771193817 meters Centerline goodness [0,1] 0.9413187267465895 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.46, Z:-2.06 [[ 9.99415197e-01 3.33879826e-02 -7.38282982e-03 1.01467113e+01] [-3.33459696e-02 9.99427372e-01 5.74236538e-03 -4.56956623e-01] [ 7.57032820e-03 -5.49281961e-03 9.99956259e-01 -2.05880845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.801193817 meters Centerline goodness [0,1] 0.9429551702044107 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.45, Z:-2.06 [[ 9.99409703e-01 3.35203991e-02 -7.52520734e-03 1.01470468e+01] [-3.34817185e-02 9.99425758e-01 5.20861440e-03 -4.54892191e-01] [ 7.69548088e-03 -4.95358290e-03 9.99958120e-01 -2.05899876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.831193817 meters Centerline goodness [0,1] 0.9413823815737692 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.45, Z:-2.06 [[ 9.99395803e-01 3.39202415e-02 -7.57931081e-03 1.01468155e+01] [-3.38817611e-02 9.99412584e-01 5.14906644e-03 -4.54044188e-01] [ 7.74951618e-03 -4.88915499e-03 9.99958020e-01 -2.05864915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.861193817 meters Centerline goodness [0,1] 0.9395237600083186 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.45, Z:-2.06 [[ 9.99507380e-01 3.04076937e-02 -7.76972703e-03 1.01469673e+01] [-3.04012996e-02 9.99537332e-01 9.39760719e-04 -4.52418775e-01] [ 7.79470818e-03 -7.03087976e-04 9.99969374e-01 -2.05890971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.891193817 meters Centerline goodness [0,1] 0.9393844939010453 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.45, Z:-2.06 [[ 9.99611179e-01 2.67020543e-02 -8.03065062e-03 1.01476385e+01] [-2.67294683e-02 9.99637171e-01 -3.32591484e-03 -4.51013076e-01] [ 7.93892811e-03 3.53927668e-03 9.99962223e-01 -2.05961903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.921193817 meters Centerline goodness [0,1] 0.9322336341944185 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.45, Z:-2.06 [[ 9.99632711e-01 2.57062388e-02 -8.58097372e-03 1.01500229e+01] [-2.57415342e-02 9.99660515e-01 -4.02841617e-03 -4.51525194e-01] [ 8.47450518e-03 4.24782400e-03 9.99955068e-01 -2.06123804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.951193817 meters Centerline goodness [0,1] 0.9273349976273495 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.45, Z:-2.06 [[ 9.99653475e-01 2.46542339e-02 -9.22490498e-03 1.01527504e+01] [-2.46979662e-02 9.99684111e-01 -4.65715011e-03 -4.52699815e-01] [ 9.10717247e-03 4.88337268e-03 9.99946605e-01 -2.06301720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.981193817 meters Centerline goodness [0,1] 0.9297552454823348 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.46, Z:-2.06 [[ 9.99738753e-01 2.08758736e-02 -9.30715874e-03 1.01528948e+01] [-2.09487131e-02 9.99750135e-01 -7.79860011e-03 -4.55551623e-01] [ 9.14203062e-03 7.99153575e-03 9.99926277e-01 -2.06325269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.011193817 meters Centerline goodness [0,1] 0.9297552454823348 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.46, Z:-2.06 [[ 9.99738753e-01 2.08758736e-02 -9.30715874e-03 1.01528948e+01] [-2.09487131e-02 9.99750135e-01 -7.79860011e-03 -4.55551623e-01] [ 9.14203062e-03 7.99153575e-03 9.99926277e-01 -2.06325269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.041193817 meters Centerline goodness [0,1] 0.9252634209320728 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.46, Z:-2.06 [[ 9.99746053e-01 2.03751225e-02 -9.62729913e-03 1.01539907e+01] [-2.04474062e-02 9.99763020e-01 -7.47038207e-03 -4.57879164e-01] [ 9.47280771e-03 7.66533828e-03 9.99925751e-01 -2.06376055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.071193817 meters Centerline goodness [0,1] 0.9246865381834707 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.46, Z:-2.07 [[ 9.99762204e-01 1.91240079e-02 -1.04789517e-02 1.01572671e+01] [-1.92084518e-02 9.99783351e-01 -8.01791868e-03 -4.59799267e-01] [ 1.03233467e-02 8.21729648e-03 9.99912948e-01 -2.06568945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.101193817 meters Centerline goodness [0,1] 0.9209188437675084 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.46, Z:-2.07 [[ 0.99982558 0.01528011 -0.01073927 10.15845394] [-0.0153991 0.99981997 -0.01108561 -0.46325054] [ 0.01056795 0.01124905 0.99988088 -2.06673525] [ 0. 0. 0. 1. ]] SLAMing on 262.131193817 meters Centerline goodness [0,1] 0.923896499238965 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.47, Z:-2.07 [[ 0.99982401 0.01529201 -0.01086761 10.15839436] [-0.01540341 0.99982891 -0.01024141 -0.46648519] [ 0.01070914 0.01040701 0.9998885 -2.0661721 ] [ 0. 0. 0. 1. ]] SLAMing on 262.161193817 meters Centerline goodness [0,1] 0.9226502054180309 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.47, Z:-2.07 [[ 9.99818764e-01 1.54565012e-02 -1.11146216e-02 1.01585930e+01] [-1.55606931e-02 9.99835210e-01 -9.34974029e-03 -4.69287704e-01] [ 1.09682758e-02 9.52099700e-03 9.99894518e-01 -2.06568372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.191193817 meters Centerline goodness [0,1] 0.9206085638971336 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.47, Z:-2.07 [[ 9.99814631e-01 1.54735216e-02 -1.14575174e-02 1.01591514e+01] [-1.55739521e-02 9.99840618e-01 -8.72874569e-03 -4.71620470e-01] [ 1.13206268e-02 8.90556647e-03 9.99896262e-01 -2.06546140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.221193817 meters Centerline goodness [0,1] 0.9224726283016145 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.47, Z:-2.07 [[ 9.99812289e-01 1.54242032e-02 -1.17251750e-02 1.01595868e+01] [-1.55210751e-02 9.99845783e-01 -8.21626252e-03 -4.73547794e-01] [ 1.15966375e-02 8.39670756e-03 9.99897501e-01 -2.06519146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.251193817 meters Centerline goodness [0,1] 0.9234054966349259 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.48, Z:-2.06 [[ 9.99808629e-01 1.58142278e-02 -1.15158875e-02 1.01587898e+01] [-1.58952457e-02 9.99849312e-01 -6.97810637e-03 -4.76950199e-01] [ 1.14037989e-02 7.15981883e-03 9.99909341e-01 -2.06453916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28119381700003 meters Centerline goodness [0,1] 0.9234417063574238 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.48, Z:-2.06 [[ 9.99805992e-01 1.58126018e-02 -1.17448151e-02 1.01592323e+01] [-1.58906547e-02 9.99852069e-01 -6.58240386e-03 -4.78611861e-01] [ 1.16389928e-02 6.76775962e-03 9.99909362e-01 -2.06444247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.311193817 meters Centerline goodness [0,1] 0.9241441962257918 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.48, Z:-2.06 [[ 9.99802620e-01 1.58562114e-02 -1.19708364e-02 1.01594038e+01] [-1.59304695e-02 9.99854289e-01 -6.13358923e-03 -4.80188633e-01] [ 1.18718366e-02 6.32307963e-03 9.99909535e-01 -2.06397006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.341193817 meters Centerline goodness [0,1] 0.9238467780528912 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.48, Z:-2.06 [[ 9.99801527e-01 1.59693640e-02 -1.19115965e-02 1.01590221e+01] [-1.60376247e-02 9.99855385e-01 -5.65726729e-03 -4.81590921e-01] [ 1.18195309e-02 5.84717819e-03 9.99913051e-01 -2.06354074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.371193817 meters Centerline goodness [0,1] 0.9182615214810804 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.48, Z:-2.06 [[ 9.99802054e-01 1.57828676e-02 -1.21142257e-02 1.01588863e+01] [-1.58426976e-02 9.99862691e-01 -4.85884324e-03 -4.84377436e-01] [ 1.20358759e-02 5.04980347e-03 9.99914815e-01 -2.06252277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.401193817 meters Centerline goodness [0,1] 0.9141763245033112 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.49, Z:-2.06 [[ 9.99808388e-01 1.51317305e-02 -1.24184778e-02 1.01600180e+01] [-1.51962595e-02 9.99871430e-01 -5.11839339e-03 -4.85097804e-01] [ 1.23394310e-02 5.30612706e-03 9.99909788e-01 -2.06311789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.431193817 meters Centerline goodness [0,1] 0.9182384728462287 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.49, Z:-2.06 [[ 9.99815336e-01 1.46238895e-02 -1.24673820e-02 1.01602856e+01] [-1.46891493e-02 9.99878799e-01 -5.15903728e-03 -4.85906890e-01] [ 1.23904258e-02 5.34121982e-03 9.99908970e-01 -2.06317584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.461193817 meters Centerline goodness [0,1] 0.8981241579438284 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.49, Z:-2.06 [[ 9.99818434e-01 1.40280356e-02 -1.28962205e-02 1.01613601e+01] [-1.40964454e-02 9.99886967e-01 -5.22912685e-03 -4.86872392e-01] [ 1.28214085e-02 5.40996829e-03 9.99903167e-01 -2.06335497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.491193817 meters Centerline goodness [0,1] 0.9047480216576427 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.49, Z:-2.06 [[ 9.99871518e-01 9.63020644e-03 -1.28143248e-02 1.01609297e+01] [-9.75504148e-03 9.99905222e-01 -9.71525409e-03 -4.85442979e-01] [ 1.27195504e-02 9.83901012e-03 9.99870695e-01 -2.06312615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.521193817 meters Centerline goodness [0,1] 0.8962295490407773 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.48, Z:-2.06 [[ 9.99874172e-01 8.87736912e-03 -1.31465459e-02 1.01617966e+01] [-9.01289875e-03 9.99906478e-01 -1.02860317e-02 -4.84610016e-01] [ 1.30540035e-02 1.04032259e-02 9.99860673e-01 -2.06327103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.551193817 meters Centerline goodness [0,1] 0.8879043804859829 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.48, Z:-2.06 [[ 9.99875645e-01 8.02485558e-03 -1.35756014e-02 1.01628561e+01] [-8.17240780e-03 9.99907756e-01 -1.08485938e-02 -4.84135970e-01] [ 1.34872907e-02 1.09581901e-02 9.99848994e-01 -2.06341833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.581193817 meters Centerline goodness [0,1] 0.8484320557491289 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.48, Z:-2.06 [[ 9.99972213e-01 2.00873903e-04 -7.45207750e-03 1.01605911e+01] [-2.24890864e-04 9.99994784e-01 -3.22215644e-03 -4.83509555e-01] [ 7.45139138e-03 3.22374281e-03 9.99967042e-01 -2.06256670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.611193817 meters Centerline goodness [0,1] 0.8278016074626244 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.48, Z:-2.06 [[ 9.99970622e-01 -5.62189165e-04 -7.64459940e-03 1.01613501e+01] [ 5.32645149e-04 9.99992384e-01 -3.86617816e-03 -4.82395229e-01] [ 7.64671471e-03 3.86199272e-03 9.99963306e-01 -2.06298215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.641193817 meters Centerline goodness [0,1] 0.8016219459213438 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.48, Z:-2.06 [[ 9.99963464e-01 -2.14415677e-03 -8.27486823e-03 1.01641462e+01] [ 2.09913466e-03 9.99982969e-01 -5.44568067e-03 -4.80398374e-01] [ 8.28640370e-03 5.42811164e-03 9.99950934e-01 -2.06488339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.671193817 meters Centerline goodness [0,1] 0.7768778684609474 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.48, Z:-2.07 [[ 9.99959399e-01 -2.89139778e-03 -8.53462217e-03 1.01652838e+01] [ 2.83832947e-03 9.99976605e-01 -6.22358046e-03 -4.78833413e-01] [ 8.55241735e-03 6.19910370e-03 9.99944212e-01 -2.06564571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.701193817 meters Centerline goodness [0,1] 0.7633955448524985 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.48, Z:-2.07 [[ 9.99959970e-01 -1.69746860e-03 -8.78504432e-03 1.01670875e+01] [ 1.65529355e-03 9.99987082e-01 -4.80582484e-03 -4.75554605e-01] [ 8.79308857e-03 4.79109064e-03 9.99949862e-01 -2.06683981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.731193817 meters Centerline goodness [0,1] 0.7401338277640819 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.47, Z:-2.07 [[ 9.99958997e-01 3.29059971e-04 -9.04967707e-03 1.01691230e+01] [-3.54087415e-04 9.99996117e-01 -2.76409893e-03 -4.73383116e-01] [ 9.04873238e-03 2.76718997e-03 9.99955231e-01 -2.06839425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.761193817 meters Centerline goodness [0,1] 0.7458454507685917 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.47, Z:-2.07 [[ 9.99962153e-01 1.86571258e-03 -8.49779277e-03 1.01677398e+01] [-1.87899039e-03 9.99997026e-01 -1.55478594e-03 -4.69318870e-01] [ 8.49486671e-03 1.57069437e-03 9.99962684e-01 -2.06777712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.791193817 meters Centerline goodness [0,1] 0.750893525060261 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.46, Z:-2.07 [[ 9.99961710e-01 2.62799248e-03 -8.34695597e-03 1.01675661e+01] [-2.64142051e-03 9.99995234e-01 -1.59811813e-03 -4.64169475e-01] [ 8.34271635e-03 1.62010476e-03 9.99963887e-01 -2.06788845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.821193817 meters Centerline goodness [0,1] 0.7830494391358538 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.46, Z:-2.07 [[ 9.99921210e-01 9.28567008e-03 -8.44692197e-03 1.01672440e+01] [-9.25614854e-03 9.99950940e-01 3.52735298e-03 -4.56412269e-01] [ 8.47926140e-03 -3.44888909e-03 9.99958103e-01 -2.06717628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.851193817 meters Centerline goodness [0,1] 0.8407493658252588 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.45, Z:-2.07 [[ 9.99882520e-01 1.27700911e-02 -8.47771461e-03 1.01673878e+01] [-1.27196994e-02 9.99901270e-01 5.97157250e-03 -4.51639010e-01] [ 8.55313513e-03 -5.86303698e-03 9.99946233e-01 -2.06719593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.881193817 meters Centerline goodness [0,1] 0.8601902145636927 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.45, Z:-2.07 [[ 9.99829131e-01 1.64024803e-02 -8.52448895e-03 1.01674281e+01] [-1.63305024e-02 9.99830978e-01 8.44577441e-03 -4.46576411e-01] [ 8.66157977e-03 -8.30512211e-03 9.99927998e-01 -2.06702110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.911193817 meters Centerline goodness [0,1] 0.8855590934631954 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.44, Z:-2.07 [[ 9.99761103e-01 2.00862593e-02 -8.61855802e-03 1.01675504e+01] [-1.99922138e-02 9.99741122e-01 1.08628068e-02 -4.41130252e-01] [ 8.83452002e-03 -1.06879077e-02 9.99903855e-01 -2.06683775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.941193817 meters Centerline goodness [0,1] 0.9273331257136925 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.43, Z:-2.07 [[ 9.99500613e-01 3.04670755e-02 -8.38337582e-03 1.01669668e+01] [-3.02979383e-02 9.99348483e-01 1.96123619e-02 -4.32711509e-01] [ 8.97544522e-03 -1.93485687e-02 9.99772511e-01 -2.06608368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.971193817 meters Centerline goodness [0,1] 0.9316999042424747 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.43, Z:-2.07 [[ 9.99379793e-01 3.41608764e-02 -8.54776902e-03 1.01677362e+01] [-3.39645823e-02 9.99177719e-01 2.21425430e-02 -4.28017043e-01] [ 9.29714903e-03 -2.18384886e-02 9.99718282e-01 -2.06646648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.001193817 meters Centerline goodness [0,1] 0.9331343531069933 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.42, Z:-2.07 [[ 9.99249109e-01 3.77390439e-02 -8.77393443e-03 1.01687483e+01] [-3.75125469e-02 9.98991196e-01 2.46860127e-02 -4.23669573e-01] [ 9.69670976e-03 -2.43383436e-02 9.99656751e-01 -2.06695698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.03119381700003 meters Centerline goodness [0,1] 0.9369226928517933 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.42, Z:-2.07 [[ 9.99107258e-01 4.12768474e-02 -8.99496215e-03 1.01696396e+01] [-4.10167327e-02 9.98782629e-01 2.74023238e-02 -4.19888089e-01] [ 1.01150935e-02 -2.70089167e-02 9.99584015e-01 -2.06722384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.061193817 meters Centerline goodness [0,1] 0.9371279916753382 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.41, Z:-2.06 [[ 0.99884277 0.04634046 -0.01287178 10.17465985] [-0.04599396 0.99860269 0.02602366 -0.41240993] [ 0.01405975 -0.02540152 0.99957845 -2.06321889] [ 0. 0. 0. 1. ]] SLAMing on 263.091193817 meters Centerline goodness [0,1] 0.9372118140655507 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.41, Z:-2.06 [[ 0.99886113 0.04589226 -0.01305119 10.17474829] [-0.04555697 0.99865083 0.02492139 -0.40924214] [ 0.01417728 -0.02429843 0.99960422 -2.06294674] [ 0. 0. 0. 1. ]] SLAMing on 263.121193817 meters Centerline goodness [0,1] 0.9402895304463249 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.41, Z:-2.06 [[ 0.998883 0.04539123 -0.0131296 10.17458727] [-0.04506838 0.99869748 0.02392055 -0.40635694] [ 0.01419828 -0.0233021 0.99962764 -2.0625715 ] [ 0. 0. 0. 1. ]] SLAMing on 263.151193817 meters Centerline goodness [0,1] 0.9406897409842185 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.40, Z:-2.06 [[ 0.99891666 0.04462872 -0.01318304 10.17439013] [-0.04432156 0.9987585 0.02273912 -0.40335436] [ 0.01418149 -0.02213019 0.99965451 -2.06221704] [ 0. 0. 0. 1. ]] SLAMing on 263.181193817 meters Centerline goodness [0,1] 0.9450341718772721 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.40, Z:-2.06 [[ 0.99911697 0.03987077 -0.01325162 10.17391515] [-0.0396442 0.99907022 0.0169419 -0.39820602] [ 0.01391478 -0.01640159 0.99976866 -2.06203606] [ 0. 0. 0. 1. ]] SLAMing on 263.211193817 meters Centerline goodness [0,1] 0.9408902842173108 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.40, Z:-2.06 [[ 0.99927818 0.03539623 -0.0137924 10.17520175] [-0.03523158 0.99930708 0.01200389 -0.39642811] [ 0.01420773 -0.01150929 0.99983282 -2.06286083] [ 0. 0. 0. 1. ]] SLAMing on 263.241193817 meters Centerline goodness [0,1] 0.9372948265115313 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.39, Z:-2.06 [[ 9.99418178e-01 3.09580603e-02 -1.43144713e-02 1.01767747e+01] [-3.08578934e-02 9.99498091e-01 7.16635421e-03 -3.94861936e-01] [ 1.45291432e-02 -6.72047024e-03 9.99871861e-01 -2.06403986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.271193817 meters Centerline goodness [0,1] 0.9357632773161483 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.39, Z:-2.07 [[ 9.99536599e-01 2.66082561e-02 -1.47847326e-02 1.01782262e+01] [-2.65781785e-02 9.99644257e-01 2.22717676e-03 -3.92575938e-01] [ 1.48387343e-02 -1.83319342e-03 9.99888219e-01 -2.06516870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.301193817 meters Centerline goodness [0,1] 0.9326947001741727 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.39, Z:-2.07 [[ 9.99565108e-01 2.54363940e-02 -1.49192793e-02 1.01793285e+01] [-2.54274896e-02 9.99676360e-01 7.86259381e-04 -3.89625626e-01] [ 1.49344504e-02 -4.06557625e-04 9.99888392e-01 -2.06628977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.331193817 meters Centerline goodness [0,1] 0.933270950301518 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.39, Z:-2.07 [[ 9.99571824e-01 2.50604768e-02 -1.51043183e-02 1.01798252e+01] [-2.50609035e-02 9.99685913e-01 1.61056428e-04 -3.88244358e-01] [ 1.51036104e-02 2.17540396e-04 9.99885910e-01 -2.06649204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.361193817 meters Centerline goodness [0,1] 0.9264595808383234 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.39, Z:-2.07 [[ 9.99577027e-01 2.46700323e-02 -1.53998961e-02 1.01805409e+01] [-2.46774005e-02 9.99695425e-01 -2.88582914e-04 -3.87723669e-01] [ 1.53880864e-02 6.68490256e-04 9.99881373e-01 -2.06666274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.391193817 meters Centerline goodness [0,1] 0.9276835923720197 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.39, Z:-2.07 [[ 9.99579364e-01 2.43794258e-02 -1.57079355e-02 1.01815464e+01] [-2.43910702e-02 9.99702342e-01 -5.50124597e-04 -3.87691963e-01] [ 1.56898482e-02 9.33026551e-04 9.99876471e-01 -2.06717210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.421193817 meters Centerline goodness [0,1] 0.9266950730153477 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.39, Z:-2.07 [[ 9.99581578e-01 2.41251774e-02 -1.59575829e-02 1.01825596e+01] [-2.41408901e-02 9.99708252e-01 -7.92735759e-04 -3.87833177e-01] [ 1.59338024e-02 1.17763432e-03 9.99872355e-01 -2.06789428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.451193817 meters Centerline goodness [0,1] 0.9272413290889041 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.39, Z:-2.07 [[ 9.99578565e-01 2.42013842e-02 -1.60307467e-02 1.01824813e+01] [-2.42170151e-02 9.99706420e-01 -7.81624153e-04 -3.87792475e-01] [ 1.60071240e-02 1.16951158e-03 9.99871194e-01 -2.06762390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.481193817 meters Centerline goodness [0,1] 0.9276313057919867 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.39, Z:-2.07 [[ 9.99577905e-01 2.40369032e-02 -1.63168347e-02 1.01830167e+01] [-2.40546330e-02 9.99710248e-01 -8.91180002e-04 -3.88016666e-01] [ 1.62906856e-02 1.28329931e-03 9.99866474e-01 -2.06756907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.511193817 meters Centerline goodness [0,1] 0.9317010575987748 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.39, Z:-2.07 [[ 9.99578462e-01 2.38574511e-02 -1.65444788e-02 1.01836843e+01] [-2.38738577e-02 9.99714663e-01 -7.94844986e-04 -3.88969950e-01] [ 1.65207951e-02 1.18949046e-03 9.99862815e-01 -2.06780866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.541193817 meters Centerline goodness [0,1] 0.9287632449986469 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.39, Z:-2.07 [[ 9.99579410e-01 2.37443950e-02 -1.66495266e-02 1.01841148e+01] [-2.37581291e-02 9.99717539e-01 -6.27559515e-04 -3.89925955e-01] [ 1.66299227e-02 1.02285717e-03 9.99861190e-01 -2.06809485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.571193817 meters Centerline goodness [0,1] 0.925205280116412 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.39, Z:-2.07 [[ 9.99587413e-01 2.31087158e-02 -1.70584546e-02 1.01860724e+01] [-2.31309967e-02 9.99731827e-01 -1.10997663e-03 -3.90085449e-01] [ 1.70282298e-02 1.50409773e-03 9.99853878e-01 -2.06957263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.601193817 meters Centerline goodness [0,1] 0.9255546119270046 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.39, Z:-2.07 [[ 9.99578758e-01 2.32414341e-02 -1.73822569e-02 1.01870877e+01] [-2.32623344e-02 9.99728894e-01 -1.00114440e-03 -3.90486076e-01] [ 1.73542764e-02 1.40507455e-03 9.99848416e-01 -2.07004312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.631193817 meters Centerline goodness [0,1] 0.9231520744990438 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.39, Z:-2.07 [[ 9.99566919e-01 2.36856050e-02 -1.74633149e-02 1.01870707e+01] [-2.37015283e-02 9.99718830e-01 -7.05377511e-04 -3.90862855e-01] [ 1.74416975e-02 1.11897928e-03 9.99847256e-01 -2.06985969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.661193817 meters Centerline goodness [0,1] 0.9244746241382175 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.39, Z:-2.07 [[ 9.99511970e-01 2.58946922e-02 -1.74724414e-02 1.01858224e+01] [-2.58834577e-02 9.99664590e-01 8.68853751e-04 -3.92256001e-01] [ 1.74890796e-02 -4.16182526e-04 9.99846968e-01 -2.06838974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.691193817 meters Centerline goodness [0,1] 0.9330630068621335 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.39, Z:-2.07 [[ 9.99490844e-01 2.65632485e-02 -1.76761585e-02 1.01860560e+01] [-2.65464827e-02 9.99646881e-01 1.18250651e-03 -3.92526135e-01] [ 1.77013279e-02 -7.12664596e-04 9.99843065e-01 -2.06823401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.721193817 meters Centerline goodness [0,1] 0.9289669618599249 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.39, Z:-2.07 [[ 9.99466411e-01 2.72472462e-02 -1.80133438e-02 1.01867776e+01] [-2.72262874e-02 9.99628305e-01 1.40777652e-03 -3.92412825e-01] [ 1.80450064e-02 -9.16588875e-04 9.99836755e-01 -2.06838381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.751193817 meters Centerline goodness [0,1] 0.9313099699378166 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.39, Z:-2.07 [[ 9.99338623e-01 3.14876822e-02 -1.81890912e-02 1.01875343e+01] [-3.13848821e-02 9.99489901e-01 5.90988581e-03 -3.94249088e-01] [ 1.83659016e-02 -5.33511466e-03 9.99817098e-01 -2.06849282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78119381700003 meters Centerline goodness [0,1] 0.9342952367151759 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.40, Z:-2.07 [[ 0.99915314 0.03691163 -0.01818074 10.18743947] [-0.0367162 0.99926554 0.0109685 -0.39566586] [ 0.01857225 -0.01029169 0.99977455 -2.06807019] [ 0. 0. 0. 1. ]] SLAMing on 263.811193817 meters Centerline goodness [0,1] 0.9343400772714054 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.40, Z:-2.07 [[ 0.99911761 0.03773784 -0.01843498 10.18777039] [-0.03752961 0.99922918 0.01151399 -0.39638612] [ 0.01885529 -0.01081197 0.99976376 -2.06787725] [ 0. 0. 0. 1. ]] SLAMing on 263.841193817 meters Centerline goodness [0,1] 0.9310459210117135 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.40, Z:-2.07 [[ 0.99907962 0.03862622 -0.01865307 10.18794076] [-0.03839931 0.99918586 0.0123737 -0.39835574] [ 0.01911584 -0.01164605 0.99974945 -2.0675526 ] [ 0. 0. 0. 1. ]] SLAMing on 263.871193817 meters Centerline goodness [0,1] 0.9316408282176672 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.40, Z:-2.07 [[ 9.99163784e-01 3.62771282e-02 -1.88600875e-02 1.01874621e+01] [-3.61069926e-02 9.99304799e-01 9.28463170e-03 -3.98919943e-01] [ 1.91837958e-02 -8.59588670e-03 9.99779022e-01 -2.06698870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.901193817 meters Centerline goodness [0,1] 0.9316408282176672 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.40, Z:-2.07 [[ 9.99163784e-01 3.62771282e-02 -1.88600875e-02 1.01874621e+01] [-3.61069926e-02 9.99304799e-01 9.28463170e-03 -3.98919943e-01] [ 1.91837958e-02 -8.59588670e-03 9.99779022e-01 -2.06698870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.931193817 meters Centerline goodness [0,1] 0.9284001157838151 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.40, Z:-2.07 [[ 9.99183950e-01 3.80376520e-02 -1.35856674e-02 1.01977639e+01] [-3.80419909e-02 9.99276140e-01 -6.09946158e-05 -3.99381707e-01] [ 1.35735132e-02 5.77770676e-04 9.99907709e-01 -2.07053739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.961193817 meters Centerline goodness [0,1] 0.9082403593384529 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.40, Z:-2.07 [[ 9.99140585e-01 3.92419838e-02 -1.33475550e-02 1.01972864e+01] [-3.92187166e-02 9.99228647e-01 2.00058772e-03 -4.04933510e-01] [ 1.34157664e-02 -1.47539441e-03 9.99908916e-01 -2.07052024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.991193817 meters Centerline goodness [0,1] 0.9235202330177884 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.41, Z:-2.07 [[ 9.99258776e-01 3.61401948e-02 -1.32583536e-02 1.01969711e+01] [-3.61558050e-02 9.99345724e-01 -9.39509926e-04 -4.07165788e-01] [ 1.32157249e-02 1.41817999e-03 9.99911663e-01 -2.07082664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.021193817 meters Centerline goodness [0,1] 0.9233226837060703 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.41, Z:-2.07 [[ 9.99353954e-01 3.32407994e-02 -1.36647048e-02 1.01980525e+01] [-3.32876903e-02 9.99440629e-01 -3.21847113e-03 -4.11449071e-01] [ 1.35500766e-02 3.67125831e-03 9.99901454e-01 -2.07155839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.051193817 meters Centerline goodness [0,1] 0.9285655092400762 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.42, Z:-2.07 [[ 9.99453866e-01 3.00042919e-02 -1.38460301e-02 1.01982345e+01] [-3.00816409e-02 9.99532792e-01 -5.41228346e-03 -4.16688991e-01] [ 1.36771694e-02 5.82583893e-03 9.99889491e-01 -2.07162389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.081193817 meters Centerline goodness [0,1] 0.9349141965678627 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.42, Z:-2.07 [[ 9.99551188e-01 2.65190656e-02 -1.39342120e-02 1.01980749e+01] [-2.66268121e-02 9.99616517e-01 -7.60471592e-03 -4.22704111e-01] [ 1.37271985e-02 7.97232647e-03 9.99873995e-01 -2.07138130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.111193817 meters Centerline goodness [0,1] 0.9395554265334052 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.43, Z:-2.07 [[ 0.9997198 0.0193247 -0.01367003 10.19708383] [-0.01948061 0.99974564 -0.01136506 -0.43492771] [ 0.01344692 0.01162818 0.99984197 -2.07017797] [ 0. 0. 0. 1. ]] SLAMing on 264.141193817 meters Centerline goodness [0,1] 0.9447994504922673 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.44, Z:-2.07 [[ 0.99978152 0.015777 -0.01371136 10.19678737] [-0.01596551 0.99977801 -0.01374922 -0.43975642] [ 0.01349139 0.01396513 0.99981146 -2.069769 ] [ 0. 0. 0. 1. ]] SLAMing on 264.171193817 meters Centerline goodness [0,1] 0.938984600677487 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.45, Z:-2.07 [[ 9.99868022e-01 8.74768045e-03 -1.36899972e-02 1.01965148e+01] [-8.99662096e-03 9.99793353e-01 -1.82294293e-02 -4.50675384e-01] [ 1.35277029e-02 1.83501871e-02 9.99740102e-01 -2.06925778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.201193817 meters Centerline goodness [0,1] 0.9231854880554575 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.46, Z:-2.07 [[ 9.99891169e-01 5.29839047e-03 -1.37686785e-02 1.01963739e+01] [-5.57887422e-03 9.99776063e-01 -2.04132227e-02 -4.56395086e-01] [ 1.36574380e-02 2.04878148e-02 9.99696816e-01 -2.06878596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.231193817 meters Centerline goodness [0,1] 0.9405283611708285 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.46, Z:-2.07 [[ 9.99902840e-01 1.72020266e-03 -1.38329906e-02 1.01964257e+01] [-2.03651343e-03 9.99736032e-01 -2.28849277e-02 -4.61179616e-01] [ 1.37899724e-02 2.29108752e-02 9.99642400e-01 -2.06865105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.261193817 meters Centerline goodness [0,1] 0.9351041602019073 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.47, Z:-2.07 [[ 9.99945809e-01 -3.75949070e-03 -9.70802643e-03 1.01944105e+01] [ 3.66382967e-03 9.99944747e-01 -9.85286279e-03 -4.68843670e-01] [ 9.74453178e-03 9.81676030e-03 9.99904333e-01 -2.06793593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.291193817 meters Centerline goodness [0,1] 0.9193195777551063 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.48, Z:-2.07 [[ 9.99884851e-01 -1.18780760e-02 -9.44437404e-03 1.01892298e+01] [ 1.18556017e-02 9.99926762e-01 -2.43209253e-03 -4.76953559e-01] [ 9.47257093e-03 2.31984374e-03 9.99952443e-01 -2.07063870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.321193817 meters Centerline goodness [0,1] 0.9100916290061777 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.48, Z:-2.07 [[ 9.99824917e-01 -1.60325748e-02 -9.64840770e-03 1.01902918e+01] [ 1.59730593e-02 9.99853112e-01 -6.21419758e-03 -4.78415270e-01] [ 9.74662005e-03 6.05899500e-03 9.99934144e-01 -2.07134976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.351193817 meters Centerline goodness [0,1] 0.9058099140889897 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.48, Z:-2.07 [[ 9.99813839e-01 -1.66289638e-02 -9.78592629e-03 1.01910521e+01] [ 1.65743766e-02 9.99846768e-01 -5.63304377e-03 -4.81953468e-01] [ 9.87809846e-03 5.46979949e-03 9.99936250e-01 -2.07155257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.381193817 meters Centerline goodness [0,1] 0.8820024582821191 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.49, Z:-2.07 [[ 9.99804045e-01 -1.71744606e-02 -9.84427650e-03 1.01914891e+01] [ 1.71250244e-02 9.99840429e-01 -5.08431188e-03 -4.85131551e-01] [ 9.93002595e-03 4.91473211e-03 9.99938618e-01 -2.07153276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.411193817 meters Centerline goodness [0,1] 0.876824893634771 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.49, Z:-2.07 [[ 9.99795942e-01 -1.76246441e-02 -9.87145013e-03 1.01916877e+01] [ 1.75801067e-02 9.99834966e-01 -4.58048423e-03 -4.87831805e-01] [ 9.95055041e-03 4.40600840e-03 9.99940785e-01 -2.07133417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.441193817 meters Centerline goodness [0,1] 0.8502317075704994 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.49, Z:-2.07 [[ 9.99784711e-01 -1.81162834e-02 -1.01159657e-02 1.01923643e+01] [ 1.80722928e-02 9.99826899e-01 -4.42324818e-03 -4.89219176e-01] [ 1.01943474e-02 4.23947721e-03 9.99939049e-01 -2.07132870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.471193817 meters Centerline goodness [0,1] 0.8088736496395597 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.49, Z:-2.07 [[ 9.99741969e-01 -2.01237118e-02 -1.05371192e-02 1.01944676e+01] [ 2.00603743e-02 9.99780268e-01 -6.08248173e-03 -4.87295626e-01] [ 1.06572060e-02 5.86953371e-03 9.99925984e-01 -2.07257329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.501193817 meters Centerline goodness [0,1] 0.801521323468285 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.49, Z:-2.07 [[ 9.99795452e-01 -1.73054060e-02 -1.04679280e-02 1.01946060e+01] [ 1.72807053e-02 9.99847687e-01 -2.44552040e-03 -4.88123213e-01] [ 1.05086543e-02 2.26412699e-03 9.99942219e-01 -2.07252549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.53119381700003 meters Centerline goodness [0,1] 0.7900953641836123 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.49, Z:-2.07 [[ 9.99778746e-01 -1.80712076e-02 -1.07652309e-02 1.01956623e+01] [ 1.80329564e-02 9.99830768e-01 -3.63976101e-03 -4.85651720e-01] [ 1.08291840e-02 3.44482676e-03 9.99935429e-01 -2.07315158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.561193817 meters Centerline goodness [0,1] 0.7895282529808191 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.49, Z:-2.07 [[ 9.99831119e-01 -1.48753690e-02 -1.07915342e-02 1.01956578e+01] [ 1.48757738e-02 9.99889349e-01 -4.27630932e-05 -4.85268576e-01] [ 1.07909762e-02 -1.17776551e-04 9.99941769e-01 -2.07286869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.591193817 meters Centerline goodness [0,1] 0.7951559678724862 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.48, Z:-2.07 [[ 9.99864339e-01 -1.24582806e-02 -1.07747570e-02 1.01954311e+01] [ 1.24745884e-02 9.99921141e-01 1.44762875e-03 -4.78176239e-01] [ 1.07558723e-02 -1.58184302e-03 9.99940903e-01 -2.07270018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.621193817 meters Centerline goodness [0,1] 0.7950904714475432 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.47, Z:-2.07 [[ 9.99897947e-01 -9.50230407e-03 -1.06677499e-02 1.01952229e+01] [ 9.54667853e-03 9.99945956e-01 4.11649536e-03 -4.74973574e-01] [ 1.06280572e-02 -4.21791684e-03 9.99934625e-01 -2.07259348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.651193817 meters Centerline goodness [0,1] 0.7807194364206895 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.47, Z:-2.07 [[ 9.99900904e-01 -9.42431634e-03 -1.04577727e-02 1.01939523e+01] [ 9.45911207e-03 9.99949873e-01 3.28280046e-03 -4.70091559e-01] [ 1.04263103e-02 -3.38139639e-03 9.99939927e-01 -2.07165575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.681193817 meters Centerline goodness [0,1] 0.771714528956166 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.46, Z:-2.07 [[ 9.99911110e-01 -8.38650629e-03 -1.03652900e-02 1.01941601e+01] [ 8.41911388e-03 9.99959734e-01 3.10622285e-03 -4.60332764e-01] [ 1.03388223e-02 -3.19321329e-03 9.99941454e-01 -2.07217390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.711193817 meters Centerline goodness [0,1] 0.7600713974388245 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.46, Z:-2.07 [[ 9.99921569e-01 -7.52007783e-03 -1.00151627e-02 1.01946378e+01] [ 7.55852798e-03 9.99964187e-01 3.80689159e-03 -4.55346238e-01] [ 9.98617589e-03 -3.88229290e-03 9.99942600e-01 -2.07330497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.741193817 meters Centerline goodness [0,1] 0.7123707313061535 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.45, Z:-2.08 [[ 9.99951380e-01 -7.75264036e-03 -6.09370681e-03 1.02104370e+01] [ 7.71993327e-03 9.99955768e-01 -5.37267579e-03 -4.47903326e-01] [ 6.13508969e-03 5.32537156e-03 9.99967000e-01 -2.07786876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.771193817 meters Centerline goodness [0,1] 0.7301005077194074 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.44, Z:-2.08 [[ 9.99941931e-01 -8.83825171e-03 -6.16609227e-03 1.02110037e+01] [ 8.79324020e-03 9.99934771e-01 -7.28915834e-03 -4.42386861e-01] [ 6.23011348e-03 7.23451514e-03 9.99954423e-01 -2.07847988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.801193817 meters Centerline goodness [0,1] 0.6987025368927209 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.43, Z:-2.08 [[ 9.99913115e-01 -1.15440515e-02 -6.36370447e-03 1.02116140e+01] [ 1.14727056e-02 9.99872174e-01 -1.11361370e-02 -4.31501186e-01] [ 6.49144716e-03 1.10621606e-02 9.99917741e-01 -2.07858494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.831193817 meters Centerline goodness [0,1] 0.7336817870698774 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.43, Z:-2.08 [[ 9.99937835e-01 -9.11222345e-03 -6.42604363e-03 1.02120917e+01] [ 9.05588638e-03 9.99920779e-01 -8.74225997e-03 -4.28076827e-01] [ 6.50519598e-03 8.68352298e-03 9.99941138e-01 -2.07886794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.861193817 meters Centerline goodness [0,1] 0.681607002115568 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.42, Z:-2.08 [[ 9.99956703e-01 -6.62856715e-03 -6.53098183e-03 1.02126258e+01] [ 6.58547461e-03 9.99956550e-01 -6.59773091e-03 -4.23699857e-01] [ 6.57443156e-03 6.55443564e-03 9.99956907e-01 -2.07916721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.891193817 meters Centerline goodness [0,1] 0.6753230616302187 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.42, Z:-2.08 [[ 9.99967688e-01 -4.40829500e-03 -6.72233029e-03 1.02139140e+01] [ 4.37521429e-03 9.99978287e-01 -4.92781047e-03 -4.17936605e-01] [ 6.74390757e-03 4.89823961e-03 9.99965263e-01 -2.08019160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.921193817 meters Centerline goodness [0,1] 0.6701507952902293 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.40, Z:-2.08 [[ 9.99959568e-01 -3.40741723e-03 -8.32179430e-03 1.02201421e+01] [ 3.37515126e-03 9.99986745e-01 -3.88825667e-03 -4.03500777e-01] [ 8.33493291e-03 3.86001215e-03 9.99957814e-01 -2.08261599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.951193817 meters Centerline goodness [0,1] 0.671850699844479 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.40, Z:-2.08 [[ 9.99962734e-01 -9.50691106e-04 -8.58064929e-03 1.02214869e+01] [ 9.32505625e-04 9.99997311e-01 -2.12311166e-03 -3.98264072e-01] [ 8.58264464e-03 2.11503104e-03 9.99960932e-01 -2.08358826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.981193817 meters Centerline goodness [0,1] 0.6675775831728878 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.39, Z:-2.09 [[ 9.99958650e-01 1.12062167e-03 -9.02452554e-03 1.02237144e+01] [-1.12960757e-03 9.99998871e-01 -9.90683590e-04 -3.92190982e-01] [ 9.02340518e-03 1.00083680e-03 9.99958787e-01 -2.08515270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.011193817 meters Centerline goodness [0,1] 0.7059299694887814 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.39, Z:-2.09 [[ 9.99950779e-01 3.35508494e-03 -9.33721198e-03 1.02248219e+01] [-3.35471257e-03 9.99994371e-01 5.55425490e-05 -3.85048668e-01] [ 9.33734577e-03 -2.42161527e-05 9.99956406e-01 -2.08569162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.041193817 meters Centerline goodness [0,1] 0.6784761432028292 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.38, Z:-2.09 [[ 9.99937918e-01 5.62862076e-03 -9.61659261e-03 1.02259905e+01] [-5.62005368e-03 9.99983786e-01 9.17655951e-04 -3.76967333e-01] [ 9.62160183e-03 -8.63553215e-04 9.99953338e-01 -2.08633502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.071193817 meters Centerline goodness [0,1] 0.714279809878074 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.36, Z:-2.09 [[ 9.99902903e-01 1.02420231e-02 -9.44907215e-03 1.02252191e+01] [-1.02114877e-02 9.99942501e-01 3.27418327e-03 -3.58812468e-01] [ 9.48206310e-03 -3.17737628e-03 9.99949996e-01 -2.08537586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.101193817 meters Centerline goodness [0,1] 0.7228723514425965 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.35, Z:-2.08 [[ 9.99878867e-01 1.23116777e-02 -9.52227460e-03 1.02250298e+01] [-1.22741213e-02 9.99916700e-01 3.99249014e-03 -3.50698376e-01] [ 9.57063564e-03 -3.87512897e-03 9.99946692e-01 -2.08480802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.131193817 meters Centerline goodness [0,1] 0.7189838682853817 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.34, Z:-2.08 [[ 9.99852416e-01 1.43181909e-02 -9.49394930e-03 1.02243455e+01] [-1.42733037e-02 9.99886711e-01 4.77900669e-03 -3.43350508e-01] [ 9.56130046e-03 -4.64279136e-03 9.99943511e-01 -2.08384716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.161193817 meters Centerline goodness [0,1] 0.7312389839294972 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.34, Z:-2.08 [[ 9.99832340e-01 1.57532848e-02 -9.33407627e-03 1.02230290e+01] [-1.57055576e-02 9.99863322e-01 5.16465890e-03 -3.35987641e-01] [ 9.41416085e-03 -5.01719612e-03 9.99943099e-01 -2.08232036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.191193817 meters Centerline goodness [0,1] 0.716051948051948 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.32, Z:-2.08 [[ 9.99854816e-01 1.53871844e-02 -7.31992130e-03 1.02180706e+01] [-1.53566077e-02 9.99873195e-01 4.21521927e-03 -3.18552211e-01] [ 7.38385346e-03 -4.10219813e-03 9.99964325e-01 -2.08117293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.221193817 meters Centerline goodness [0,1] 0.7053744784566447 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.31, Z:-2.08 [[ 9.99877619e-01 1.36715289e-02 -7.60505402e-03 1.02193702e+01] [-1.36641132e-02 9.99906115e-01 1.02621099e-03 -3.08803551e-01] [ 7.61836989e-03 -9.22169082e-04 9.99970555e-01 -2.08194140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.251193817 meters Centerline goodness [0,1] 0.6955773497273425 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.30, Z:-2.08 [[ 9.99897443e-01 1.20303841e-02 -7.77007630e-03 1.02203707e+01] [-1.20459890e-02 9.99925514e-01 -1.96466095e-03 -2.99708044e-01] [ 7.74586191e-03 2.05805771e-03 9.99967882e-01 -2.08270416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28119381700003 meters Centerline goodness [0,1] 0.6746269277133474 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.28, Z:-2.08 [[ 9.99910946e-01 1.07241818e-02 -7.94303667e-03 1.02223546e+01] [-1.07598886e-02 9.99932136e-01 -4.46635068e-03 -2.84009463e-01] [ 7.89459966e-03 4.55141913e-03 9.99958479e-01 -2.08421126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.311193817 meters Centerline goodness [0,1] 0.666916136543179 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.28, Z:-2.08 [[ 9.99922777e-01 9.45233740e-03 -8.06805398e-03 1.02233364e+01] [-9.50800197e-03 9.99931066e-01 -6.88913576e-03 -2.76294563e-01] [ 8.00237938e-03 6.96531484e-03 9.99943722e-01 -2.08495836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.341193817 meters Centerline goodness [0,1] 0.6684201771530752 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.27, Z:-2.09 [[ 9.99927227e-01 9.09068181e-03 -7.93099245e-03 1.02237125e+01] [-9.15399756e-03 9.99926228e-01 -7.98389652e-03 -2.68724086e-01] [ 7.85782831e-03 8.05591579e-03 9.99936676e-01 -2.08547805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.371193817 meters Centerline goodness [0,1] 0.6543512592469454 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.26, Z:-2.09 [[ 9.99911101e-01 1.05239479e-02 -8.18755077e-03 1.02251719e+01] [-1.05841554e-02 9.99917008e-01 -7.34529658e-03 -2.61907095e-01] [ 8.10956974e-03 7.43130190e-03 9.99939503e-01 -2.08643480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.401193817 meters Centerline goodness [0,1] 0.6636988989650685 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.25, Z:-2.09 [[ 9.99858831e-01 1.43715227e-02 -8.70498153e-03 1.02268164e+01] [-1.44158398e-02 9.99883335e-01 -5.04983230e-03 -2.47226999e-01] [ 8.63139218e-03 5.17460905e-03 9.99949360e-01 -2.08642267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.431193817 meters Centerline goodness [0,1] 0.6585815485314221 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.24, Z:-2.09 [[ 9.99819857e-01 1.68164048e-02 -8.80126674e-03 1.02272287e+01] [-1.68516632e-02 9.99850209e-01 -3.94734130e-03 -2.39870592e-01] [ 8.73356830e-03 4.09494619e-03 9.99953477e-01 -2.08638574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.461193817 meters Centerline goodness [0,1] 0.6721294514453617 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.23, Z:-2.09 [[ 9.99770244e-01 1.94674450e-02 -8.97099166e-03 1.02282018e+01] [-1.94929776e-02 9.99806164e-01 -2.76753113e-03 -2.32426669e-01] [ 8.91537600e-03 2.94176661e-03 9.99955930e-01 -2.08680108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.491193817 meters Centerline goodness [0,1] 0.6846179251124964 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.22, Z:-2.09 [[ 9.99711938e-01 2.21793447e-02 -9.17154968e-03 1.02295075e+01] [-2.21956102e-02 9.99752243e-01 -1.67549068e-03 -2.24482181e-01] [ 9.13211608e-03 1.87857617e-03 9.99956537e-01 -2.08747696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.521193817 meters Centerline goodness [0,1] 0.7076222980659841 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.21, Z:-2.09 [[ 9.99559907e-01 2.85410764e-02 -8.08704374e-03 1.02284089e+01] [-2.85550170e-02 9.99590920e-01 -1.61361234e-03 -2.07183931e-01] [ 8.03768126e-03 1.84382787e-03 9.99965997e-01 -2.08691924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.551193817 meters Centerline goodness [0,1] 0.7171637614773976 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.20, Z:-2.09 [[ 9.99470842e-01 3.14932533e-02 -8.13705031e-03 1.02285917e+01] [-3.14945899e-02 9.99503922e-01 -3.61433199e-05 -2.00733454e-01] [ 8.13187542e-03 2.92397257e-04 9.99966893e-01 -2.08651190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.581193817 meters Centerline goodness [0,1] 0.8031774965304389 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.19, Z:-2.09 [[ 9.99382036e-01 3.42073755e-02 -8.08709532e-03 1.02287822e+01] [-3.41961383e-02 9.99413979e-01 1.52378813e-03 -1.94714914e-01] [ 8.13448091e-03 -1.24629906e-03 9.99966138e-01 -2.08638356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.611193817 meters Centerline goodness [0,1] 0.7597714474991719 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.19, Z:-2.09 [[ 9.99291074e-01 3.67737612e-02 -8.06467900e-03 1.02292372e+01] [-3.67495670e-02 9.99319611e-01 3.12802092e-03 -1.88869491e-01] [ 8.17422098e-03 -2.82942992e-03 9.99962588e-01 -2.08654170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.641193817 meters Centerline goodness [0,1] 0.8039845092882142 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.18, Z:-2.09 [[ 9.99303040e-01 3.64003254e-02 -8.27351067e-03 1.02301246e+01] [-3.63916426e-02 9.99336887e-01 1.19765909e-03 -1.81346018e-01] [ 8.31161958e-03 -8.95737723e-04 9.99965057e-01 -2.08679272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.671193817 meters Centerline goodness [0,1] 0.8174789566663203 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.17, Z:-2.09 [[ 9.99241811e-01 3.80485558e-02 -8.25286420e-03 1.02314323e+01] [-3.80435034e-02 9.99275788e-01 7.68383676e-04 -1.69577724e-01] [ 8.27612327e-03 -4.53833229e-04 9.99965649e-01 -2.08779707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.701193817 meters Centerline goodness [0,1] 0.8168300382123277 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.16, Z:-2.09 [[ 9.99265471e-01 3.73453879e-02 -8.59308071e-03 1.02325895e+01] [-3.73577209e-02 9.99301138e-01 -1.27916099e-03 -1.63287202e-01] [ 8.53930457e-03 1.59923932e-03 9.99962261e-01 -2.08816849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.731193817 meters Centerline goodness [0,1] 0.7320679031491015 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.16, Z:-2.09 [[ 9.99248908e-01 3.76574995e-02 -9.13957963e-03 1.02346852e+01] [-3.76766826e-02 9.99288107e-01 -1.93582350e-03 -1.57987120e-01] [ 9.06017495e-03 2.27871856e-03 9.99956359e-01 -2.08905746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.761193817 meters Centerline goodness [0,1] 0.8258751651254954 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.15, Z:-2.09 [[ 9.99133845e-01 4.05925663e-02 -9.15441842e-03 1.02353415e+01] [-4.06040827e-02 9.99174735e-01 -1.07561416e-03 -1.48005945e-01] [ 9.10320166e-03 1.44638928e-03 9.99957519e-01 -2.08895778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.791193817 meters Centerline goodness [0,1] 0.8512729082013434 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.14, Z:-2.09 [[ 9.99121100e-01 4.08834398e-02 -9.25048704e-03 1.02356772e+01] [-4.09065529e-02 9.99160276e-01 -2.32324560e-03 -1.42397438e-01] [ 9.14773691e-03 2.69960924e-03 9.99954514e-01 -2.08870240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.821193817 meters Centerline goodness [0,1] 0.8512729082013434 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.14, Z:-2.09 [[ 9.99121100e-01 4.08834398e-02 -9.25048704e-03 1.02356772e+01] [-4.09065529e-02 9.99160276e-01 -2.32324560e-03 -1.42397438e-01] [ 9.14773691e-03 2.69960924e-03 9.99954514e-01 -2.08870240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.851193817 meters Centerline goodness [0,1] 0.8666168193241531 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.14, Z:-2.09 [[ 9.99110421e-01 4.11097654e-02 -9.39966718e-03 1.02363321e+01] [-4.11448773e-02 9.99146802e-01 -3.57300607e-03 -1.37148905e-01] [ 9.24476197e-03 3.95657576e-03 9.99949439e-01 -2.08875610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.881193817 meters Centerline goodness [0,1] 0.8854222700376546 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.13, Z:-2.09 [[ 9.98952574e-01 4.47689137e-02 -9.46042872e-03 1.02369833e+01] [-4.47743803e-02 9.98997057e-01 -3.66719814e-04 -1.34677982e-01] [ 9.43452280e-03 7.89920535e-04 9.99955182e-01 -2.08894498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.911193817 meters Centerline goodness [0,1] 0.9013392486939216 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.13, Z:-2.09 [[ 9.98820698e-01 4.76481031e-02 -9.32045969e-03 1.02366541e+01] [-4.76407680e-02 9.98864026e-01 1.00756265e-03 -1.27587538e-01] [ 9.35788034e-03 -5.62340576e-04 9.99956056e-01 -2.08817088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.941193817 meters Centerline goodness [0,1] 0.9035690626035111 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.12, Z:-2.09 [[ 9.98851841e-01 4.69529856e-02 -9.50882222e-03 1.02366736e+01] [-4.69604107e-02 9.98896595e-01 -5.58981916e-04 -1.23317522e-01] [ 9.47208426e-03 1.00487831e-03 9.99954634e-01 -2.08753751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.971193817 meters Centerline goodness [0,1] 0.9200058162481045 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.12, Z:-2.09 [[ 9.98884896e-01 4.62419247e-02 -9.52097941e-03 1.02364659e+01] [-4.62629675e-02 9.98927290e-01 -2.00177787e-03 -1.19588434e-01] [ 9.41820010e-03 2.44001444e-03 9.99952671e-01 -2.08709073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.001193817 meters Centerline goodness [0,1] 0.9182357332448573 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.12, Z:-2.09 [[ 9.98910589e-01 4.56580164e-02 -9.64260794e-03 1.02367157e+01] [-4.56895923e-02 9.98950937e-01 -3.08000923e-03 -1.16914457e-01] [ 9.49186513e-03 3.51722066e-03 9.99948766e-01 -2.08703183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.03119381700003 meters Centerline goodness [0,1] 0.9049986534915999 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.11, Z:-2.09 [[ 9.98947894e-01 4.47884684e-02 -9.85387164e-03 1.02377614e+01] [-4.48355933e-02 9.98983722e-01 -4.61449799e-03 -1.13178068e-01] [ 9.63718107e-03 5.05144723e-03 9.99940802e-01 -2.08779845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.061193817 meters Centerline goodness [0,1] 0.8997633185234397 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.11, Z:-2.09 [[ 9.98967844e-01 4.42932166e-02 -1.00676581e-02 1.02385688e+01] [-4.43509073e-02 9.99000425e-01 -5.58104355e-03 -1.10592684e-01] [ 9.81039235e-03 6.02179282e-03 9.99933745e-01 -2.08825194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.091193817 meters Centerline goodness [0,1] 0.893326980049307 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.11, Z:-2.09 [[ 9.98979495e-01 4.39419009e-02 -1.04440062e-02 1.02400447e+01] [-4.40108472e-02 9.99010129e-01 -6.46589334e-03 -1.07828221e-01] [ 1.01495443e-02 6.91894442e-03 9.99924555e-01 -2.08911904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.121193817 meters Centerline goodness [0,1] 0.9129730403356457 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.11, Z:-2.09 [[ 9.98987947e-01 4.36994394e-02 -1.06508552e-02 1.02409216e+01] [-4.37776650e-02 9.99015170e-01 -7.22541739e-03 -1.05470259e-01] [ 1.03246192e-02 7.68437446e-03 9.99917173e-01 -2.08966029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.151193817 meters Centerline goodness [0,1] 0.9102835115642876 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.10, Z:-2.09 [[ 9.98953572e-01 4.43784412e-02 -1.10596086e-02 1.02434758e+01] [-4.44596963e-02 9.98985142e-01 -7.21264201e-03 -1.03332470e-01] [ 1.07282988e-02 7.69680134e-03 9.99912828e-01 -2.09164891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.181193817 meters Centerline goodness [0,1] 0.9169901401141671 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.10, Z:-2.09 [[ 9.98950861e-01 4.43888608e-02 -1.12608500e-02 1.02439440e+01] [-4.44759169e-02 9.98981534e-01 -7.60184668e-03 -1.02202079e-01] [ 1.09119439e-02 8.09470791e-03 9.99907698e-01 -2.09166897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.211193817 meters Centerline goodness [0,1] 0.9238936214419281 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.10, Z:-2.09 [[ 9.98942970e-01 4.45488598e-02 -1.13288374e-02 1.02442014e+01] [-4.46399845e-02 9.98971728e-01 -7.92201721e-03 -1.00914189e-01] [ 1.09642714e-02 8.41936253e-03 9.99904445e-01 -2.09169733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.241193817 meters Centerline goodness [0,1] 0.9267862332378461 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.10, Z:-2.09 [[ 9.98923750e-01 4.48485100e-02 -1.18301367e-02 1.02454522e+01] [-4.49462799e-02 9.98956305e-01 -8.13216693e-03 -9.95144283e-02] [ 1.14530741e-02 8.65513532e-03 9.99896953e-01 -2.09197703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.271193817 meters Centerline goodness [0,1] 0.9356881246508163 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.10, Z:-2.09 [[ 9.98853457e-01 4.62236108e-02 -1.24558804e-02 1.02481154e+01] [-4.63142109e-02 9.98901788e-01 -7.08598431e-03 -9.91725049e-02] [ 1.21146614e-02 7.65474419e-03 9.99897315e-01 -2.09353369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.301193817 meters Centerline goodness [0,1] 0.939855387739035 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.10, Z:-2.09 [[ 9.98810383e-01 4.70769848e-02 -1.27112415e-02 1.02488721e+01] [-4.71633790e-02 9.98865486e-01 -6.58451193e-03 -9.92481481e-02] [ 1.23868415e-02 7.17618399e-03 9.99897529e-01 -2.09377111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.331193817 meters Centerline goodness [0,1] 0.9418407795854323 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.10, Z:-2.09 [[ 9.98788445e-01 4.74835212e-02 -1.29212058e-02 1.02493180e+01] [-4.75606453e-02 9.98851927e-01 -5.72828474e-03 -1.01673572e-01] [ 1.26343722e-02 6.33588550e-03 9.99900110e-01 -2.09393611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.361193817 meters Centerline goodness [0,1] 0.9432541740122369 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.10, Z:-2.09 [[ 9.98785974e-01 4.75438177e-02 -1.28904589e-02 1.02487447e+01] [-4.76107131e-02 9.98853785e-01 -4.93312087e-03 -1.04885174e-01] [ 1.26411442e-02 5.54085587e-03 9.99904746e-01 -2.09348675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.391193817 meters Centerline goodness [0,1] 0.9425592338467279 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.11, Z:-2.09 [[ 9.98787306e-01 4.74674133e-02 -1.30675588e-02 1.02488448e+01] [-4.75237753e-02 9.98861950e-01 -4.03675504e-03 -1.08376376e-01] [ 1.28610729e-02 4.65287942e-03 9.99906467e-01 -2.09343705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.421193817 meters Centerline goodness [0,1] 0.9267675720505909 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.11, Z:-2.09 [[ 9.98956996e-01 4.36220163e-02 -1.34921828e-02 1.02494359e+01] [-4.37098148e-02 9.99024517e-01 -6.28226417e-03 -1.14247841e-01] [ 1.32049763e-02 6.86545255e-03 9.99889241e-01 -2.09398176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.451193817 meters Centerline goodness [0,1] 0.9206116030787056 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.12, Z:-2.10 [[ 9.99080670e-01 4.04896460e-02 -1.40856050e-02 1.02511157e+01] [-4.06168182e-02 9.99135490e-01 -8.86263705e-03 -1.17212766e-01] [ 1.37145829e-02 9.42660182e-03 9.99861515e-01 -2.09505904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.481193817 meters Centerline goodness [0,1] 0.9097115264538151 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.12, Z:-2.10 [[ 9.99094974e-01 4.01756169e-02 -1.39697357e-02 1.02507960e+01] [-4.02885579e-02 9.99156860e-01 -7.89939738e-03 -1.21751037e-01] [ 1.36405941e-02 8.45506872e-03 9.99871215e-01 -2.09526887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.511193817 meters Centerline goodness [0,1] 0.901966906025601 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.13, Z:-2.10 [[ 9.99125303e-01 3.91921021e-02 -1.45810678e-02 1.02519763e+01] [-3.93091299e-02 9.99196436e-01 -7.82779424e-03 -1.25474811e-01] [ 1.42625633e-02 8.39411639e-03 9.99863050e-01 -2.09565490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.541193817 meters Centerline goodness [0,1] 0.871641109704729 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.13, Z:-2.10 [[ 9.99260215e-01 3.54222022e-02 -1.49763437e-02 1.02520592e+01] [-3.55773839e-02 9.99314610e-01 -1.02254676e-02 -1.30855541e-01] [ 1.46038705e-02 1.07507221e-02 9.99835561e-01 -2.09540617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.571193817 meters Centerline goodness [0,1] 0.8610187801229849 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.13, Z:-2.10 [[ 9.99263093e-01 3.52486240e-02 -1.51922840e-02 1.02525597e+01] [-3.53979142e-02 9.99326490e-01 -9.67237852e-03 -1.33137402e-01] [ 1.48411138e-02 1.02030260e-02 9.99837807e-01 -2.09567277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.601193817 meters Centerline goodness [0,1] 0.8436780655730906 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.13, Z:-2.10 [[ 9.99262995e-01 3.51440275e-02 -1.54390260e-02 1.02531387e+01] [-3.52878281e-02 9.99335371e-01 -9.14248199e-03 -1.34978486e-01] [ 1.51074611e-02 9.68055364e-03 9.99839013e-01 -2.09592270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.631193817 meters Centerline goodness [0,1] 0.8530804702754352 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.14, Z:-2.10 [[ 9.99252951e-01 3.53032650e-02 -1.57232356e-02 1.02538113e+01] [-3.54461342e-02 9.99331937e-01 -8.90236891e-03 -1.35373604e-01] [ 1.53984487e-02 9.45304631e-03 9.99836751e-01 -2.09608625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.661193817 meters Centerline goodness [0,1] 0.8651634163022528 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.14, Z:-2.10 [[ 9.99239230e-01 3.55463010e-02 -1.60443391e-02 1.02545149e+01] [-3.56887773e-02 9.99325232e-01 -8.68286722e-03 -1.35738123e-01] [ 1.57248690e-02 9.24886440e-03 9.99833580e-01 -2.09613516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.691193817 meters Centerline goodness [0,1] 0.8747384341268362 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.14, Z:-2.10 [[ 9.99221787e-01 3.58881039e-02 -1.63665746e-02 1.02553332e+01] [-3.60320589e-02 9.99313740e-01 -8.58719220e-03 -1.35532524e-01] [ 1.60471648e-02 9.17023091e-03 9.99829183e-01 -2.09634209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.721193817 meters Centerline goodness [0,1] 0.9144019764569103 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.14, Z:-2.10 [[ 9.99018329e-01 4.11127278e-02 -1.64960973e-02 1.02565712e+01] [-4.11842667e-02 9.99143479e-01 -4.02055485e-03 -1.35812291e-01] [ 1.63166720e-02 4.69598766e-03 9.99855847e-01 -2.09712381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.751193817 meters Centerline goodness [0,1] 0.9276295296438584 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.13, Z:-2.10 [[ 9.98957076e-01 4.25200468e-02 -1.66375042e-02 1.02571776e+01] [-4.25901883e-02 9.99085075e-01 -3.88434547e-03 -1.33536382e-01] [ 1.64571196e-02 4.58888883e-03 9.99854042e-01 -2.09714917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78119381700003 meters Centerline goodness [0,1] 0.9343711083437111 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.13, Z:-2.10 [[ 9.98884465e-01 4.41555975e-02 -1.67364743e-02 1.02576192e+01] [-4.42204880e-02 9.99015570e-01 -3.52697297e-03 -1.31112071e-01] [ 1.65642628e-02 4.26313357e-03 9.99853715e-01 -2.09697096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.811193817 meters Centerline goodness [0,1] 0.9377801759920306 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.13, Z:-2.10 [[ 9.98841759e-01 4.50624729e-02 -1.68675677e-02 1.02576349e+01] [-4.51313071e-02 9.98974128e-01 -3.72250214e-03 -1.28817556e-01] [ 1.66825186e-02 4.47944596e-03 9.99850803e-01 -2.09631100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.841193817 meters Centerline goodness [0,1] 0.9414912371668568 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.13, Z:-2.10 [[ 9.98811813e-01 4.56392654e-02 -1.70886044e-02 1.02573569e+01] [-4.57090310e-02 9.98947891e-01 -3.71429561e-03 -1.28062456e-01] [ 1.69011076e-02 4.49098588e-03 9.99847080e-01 -2.09519217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.871193817 meters Centerline goodness [0,1] 0.9422612287041817 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.13, Z:-2.09 [[ 9.98777880e-01 4.63278143e-02 -1.72186215e-02 1.02571309e+01] [-4.63837690e-02 9.98919587e-01 -2.86441503e-03 -1.29808016e-01] [ 1.70673162e-02 3.65957892e-03 9.99847645e-01 -2.09456957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.901193817 meters Centerline goodness [0,1] 0.9489521206096753 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.14, Z:-2.09 [[ 9.98893447e-01 4.39098252e-02 -1.68466051e-02 1.02543328e+01] [-4.39902541e-02 9.99022123e-01 -4.43351894e-03 -1.35161847e-01] [ 1.66354562e-02 5.16969946e-03 9.99848256e-01 -2.09252051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.931193817 meters Centerline goodness [0,1] 0.9469108780044603 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.14, Z:-2.09 [[ 9.98903749e-01 4.36283726e-02 -1.69665790e-02 1.02543253e+01] [-4.36957420e-02 9.99038325e-01 -3.62030538e-03 -1.39104271e-01] [ 1.67923147e-02 4.35770388e-03 9.99849503e-01 -2.09246707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.961193817 meters Centerline goodness [0,1] 0.9467618792830244 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.14, Z:-2.09 [[ 9.99041814e-01 4.02325099e-02 -1.72278718e-02 1.02548131e+01] [-4.03539385e-02 9.99162583e-01 -6.75959027e-03 -1.40936715e-01] [ 1.69414896e-02 7.44832580e-03 9.99828740e-01 -2.09282838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.991193817 meters Centerline goodness [0,1] 0.9447680423018135 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.14, Z:-2.09 [[ 9.99040621e-01 4.02800354e-02 -1.71859304e-02 1.02547043e+01] [-4.03852921e-02 9.99167220e-01 -5.82199389e-03 -1.44508952e-01] [ 1.69371081e-02 6.51046721e-03 9.99835361e-01 -2.09298689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.021193817 meters Centerline goodness [0,1] 0.9401169155770382 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.15, Z:-2.10 [[ 9.99094328e-01 3.86784729e-02 -1.77341507e-02 1.02575374e+01] [-3.88008375e-02 9.99225111e-01 -6.60845268e-03 -1.50314673e-01] [ 1.74648039e-02 7.29056749e-03 9.99820898e-01 -2.09556465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.051193817 meters Centerline goodness [0,1] 0.9382864487240614 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.15, Z:-2.10 [[ 9.99078076e-01 3.90600519e-02 -1.78132166e-02 1.02583258e+01] [-3.91659610e-02 9.99216826e-01 -5.63581008e-03 -1.53407286e-01] [ 1.75791307e-02 6.32828604e-03 9.99825448e-01 -2.09651902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.081193817 meters Centerline goodness [0,1] 0.9351880666376217 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.16, Z:-2.10 [[ 9.99056398e-01 3.95003299e-02 -1.80565173e-02 1.02596724e+01] [-3.95889159e-02 9.99205578e-01 -4.57506354e-03 -1.56631137e-01] [ 1.78614563e-02 5.28558444e-03 9.99826500e-01 -2.09775872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.111193817 meters Centerline goodness [0,1] 0.9346735742739788 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.16, Z:-2.10 [[ 9.99048121e-01 3.93041061e-02 -1.89219054e-02 1.02642311e+01] [-3.93867626e-02 9.99215972e-01 -4.01548610e-03 -1.62406929e-01] [ 1.87492450e-02 4.75693644e-03 9.99812901e-01 -2.10146627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.141193817 meters Centerline goodness [0,1] 0.9319887235189255 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.17, Z:-2.10 [[ 9.99037551e-01 3.95064883e-02 -1.90580553e-02 1.02647456e+01] [-3.95748862e-02 9.99211403e-01 -3.22508411e-03 -1.65279574e-01] [ 1.89156144e-02 3.97620050e-03 9.99813177e-01 -2.10191154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.171193817 meters Centerline goodness [0,1] 0.929411031732846 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.17, Z:-2.10 [[ 9.99031897e-01 3.96074541e-02 -1.91446746e-02 1.02649874e+01] [-3.96623017e-02 9.99210030e-01 -2.49359890e-03 -1.68002650e-01] [ 1.90307858e-02 3.25050670e-03 9.99813614e-01 -2.10208599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.201193817 meters Centerline goodness [0,1] 0.9270589696355018 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.17, Z:-2.10 [[ 9.99029117e-01 3.95496622e-02 -1.94073961e-02 1.02655009e+01] [-3.95915832e-02 9.99214360e-01 -1.78045852e-03 -1.70778200e-01] [ 1.93217323e-02 2.54709944e-03 9.99810073e-01 -2.10218998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.231193817 meters Centerline goodness [0,1] 0.9305632959729189 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.17, Z:-2.10 [[ 9.99034421e-01 3.93329674e-02 -1.95740547e-02 1.02656524e+01] [-3.93621622e-02 9.99224395e-01 -1.10832181e-03 -1.73959263e-01] [ 1.95152794e-02 1.87772875e-03 9.99807796e-01 -2.10207489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.261193817 meters Centerline goodness [0,1] 0.9274143302180685 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.18, Z:-2.10 [[ 9.99187314e-01 3.52292889e-02 -1.95859254e-02 1.02649263e+01] [-3.53132508e-02 9.99368457e-01 -3.95754296e-03 -1.79127578e-01] [ 1.94341346e-02 4.64596942e-03 9.99800345e-01 -2.10172464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.291193817 meters Centerline goodness [0,1] 0.9209330317305497 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.18, Z:-2.10 [[ 9.99200712e-01 3.47338567e-02 -1.97862751e-02 1.02652805e+01] [-3.48082282e-02 9.99388135e-01 -3.42672882e-03 -1.82523741e-01] [ 1.96551451e-02 4.11271506e-03 9.99798360e-01 -2.10180751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.321193817 meters Centerline goodness [0,1] 0.9189340988517224 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.18, Z:-2.10 [[ 9.99313141e-01 3.10640900e-02 -2.02056480e-02 1.02659255e+01] [-3.12087161e-02 9.99489196e-01 -6.88212303e-03 -1.83805929e-01] [ 1.99815399e-02 7.50798831e-03 9.99772158e-01 -2.10189020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.351193817 meters Centerline goodness [0,1] 0.9078657293789776 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.19, Z:-2.10 [[ 9.99315248e-01 3.07252097e-02 -2.06154346e-02 1.02669090e+01] [-3.08578543e-02 9.99504880e-01 -6.14720094e-03 -1.87591899e-01] [ 2.04163534e-02 6.77913971e-03 9.99768581e-01 -2.10230651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.381193817 meters Centerline goodness [0,1] 0.8734271988020714 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.19, Z:-2.10 [[ 9.99421668e-01 2.68124887e-02 -2.09145951e-02 1.02671456e+01] [-2.70045259e-02 9.99595207e-01 -8.95418780e-03 -1.91755245e-01] [ 2.06660450e-02 9.51379804e-03 9.99741168e-01 -2.10228168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.411193817 meters Centerline goodness [0,1] 0.8633065103029547 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.19, Z:-2.10 [[ 9.99422455e-01 2.65627296e-02 -2.11938020e-02 1.02677429e+01] [-2.67466794e-02 9.99606583e-01 -8.44363073e-03 -1.94119831e-01] [ 2.09611781e-02 9.00561798e-03 9.99739730e-01 -2.10242264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.441193817 meters Centerline goodness [0,1] 0.8399950063461018 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.20, Z:-2.10 [[ 9.99423399e-01 2.62896446e-02 -2.14877440e-02 1.02682915e+01] [-2.64671530e-02 9.99617522e-01 -8.01864916e-03 -1.96170546e-01] [ 2.12687180e-02 8.58274501e-03 9.99736954e-01 -2.10246097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.471193817 meters Centerline goodness [0,1] 0.8218224027858386 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.20, Z:-2.10 [[ 9.99425631e-01 2.59028945e-02 -2.18505672e-02 1.02691122e+01] [-2.60745397e-02 9.99631055e-01 -7.60737896e-03 -1.98618169e-01] [ 2.16454524e-02 8.17275300e-03 9.99732304e-01 -2.10269412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.501193817 meters Centerline goodness [0,1] 0.8348448290207172 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.20, Z:-2.10 [[ 0.99951847 0.02182384 -0.02205804 10.26913976] [-0.02207099 0.99969563 -0.01102369 -0.200696 ] [ 0.02181074 0.01150523 0.99969591 -2.10248231] [ 0. 0. 0. 1. ]] SLAMing on 267.53119381700003 meters Centerline goodness [0,1] 0.7551531456953642 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.20, Z:-2.10 [[ 9.99661568e-01 1.79603097e-02 -1.88195611e-02 1.02778424e+01] [-1.80280285e-02 9.99831582e-01 -3.43485157e-03 -2.03195667e-01] [ 1.87547006e-02 3.77296869e-03 9.99816996e-01 -2.10290140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.561193817 meters Centerline goodness [0,1] 0.7800878233543527 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.20, Z:-2.10 [[ 9.99671354e-01 1.73528004e-02 -1.88696534e-02 1.02777666e+01] [-1.74241329e-02 9.99841626e-01 -3.62244808e-03 -2.03747637e-01] [ 1.88038053e-02 3.95004493e-03 9.99815390e-01 -2.10269034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.591193817 meters Centerline goodness [0,1] 0.7896603945812501 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.20, Z:-2.10 [[ 9.99678233e-01 1.67351019e-02 -1.90621663e-02 1.02780256e+01] [-1.68122046e-02 9.99851091e-01 -3.89174203e-03 -2.03798359e-01] [ 1.89941990e-02 4.21096684e-03 9.99810726e-01 -2.10254250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.621193817 meters Centerline goodness [0,1] 0.7369799243526332 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.20, Z:-2.10 [[ 9.99702970e-01 1.51861319e-02 -1.90618301e-02 1.02773530e+01] [-1.52818647e-02 9.99871284e-01 -4.88663959e-03 -2.03108809e-01] [ 1.89851674e-02 5.17648842e-03 9.99806365e-01 -2.10165655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.651193817 meters Centerline goodness [0,1] 0.7233914487339145 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.20, Z:-2.10 [[ 9.99787096e-01 1.19928081e-02 -1.67909432e-02 1.02843241e+01] [-1.19403567e-02 9.99923525e-01 3.22056838e-03 -2.03950175e-01] [ 1.68282827e-02 -3.01939286e-03 9.99853835e-01 -2.09967395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.681193817 meters Centerline goodness [0,1] 0.7130501673631469 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.20, Z:-2.10 [[ 9.99796376e-01 1.12433809e-02 -1.67568834e-02 1.02838465e+01] [-1.12046697e-02 9.99934340e-01 2.40226332e-03 -2.02666733e-01] [ 1.67827927e-02 -2.21401881e-03 9.99856708e-01 -2.09911937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.711193817 meters Centerline goodness [0,1] 0.7130501673631469 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.20, Z:-2.10 [[ 9.99796376e-01 1.12433809e-02 -1.67568834e-02 1.02838465e+01] [-1.12046697e-02 9.99934340e-01 2.40226332e-03 -2.02666733e-01] [ 1.67827927e-02 -2.21401881e-03 9.99856708e-01 -2.09911937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.741193817 meters Centerline goodness [0,1] 0.72870249017038 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.20, Z:-2.10 [[ 9.99802431e-01 1.05429894e-02 -1.68506612e-02 1.02839662e+01] [-1.05208022e-02 9.99943668e-01 1.40480368e-03 -2.00628219e-01] [ 1.68645228e-02 -1.22724366e-03 9.99857031e-01 -2.09900036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.771193817 meters Centerline goodness [0,1] 0.7200932051762161 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.19, Z:-2.10 [[ 9.99818063e-01 9.01515800e-03 -1.68097502e-02 1.02844714e+01] [-9.03503977e-03 9.99958570e-01 -1.10718179e-03 -1.94505968e-01] [ 1.67990723e-02 1.25885711e-03 9.99858093e-01 -2.09961792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.801193817 meters Centerline goodness [0,1] 0.6827642073778664 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.19, Z:-2.10 [[ 9.99819775e-01 8.33837652e-03 -1.70554667e-02 1.02853512e+01] [-8.38053687e-03 9.99961998e-01 -2.40197745e-03 -1.90905140e-01] [ 1.70347899e-02 2.54447852e-03 9.99851660e-01 -2.10004887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.831193817 meters Centerline goodness [0,1] 0.7103261998753376 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.19, Z:-2.10 [[ 9.99821102e-01 7.77655011e-03 -1.72420673e-02 1.02860757e+01] [-7.84147152e-03 9.99962407e-01 -3.70088657e-03 -1.87191551e-01] [ 1.72126389e-02 3.83542767e-03 9.99844495e-01 -2.10038473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.861193817 meters Centerline goodness [0,1] 0.7247238919278687 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.18, Z:-2.10 [[ 9.99820993e-01 7.31516403e-03 -1.74490707e-02 1.02868021e+01] [-7.40279316e-03 9.99960284e-01 -4.96269966e-03 -1.83429423e-01] [ 1.74120747e-02 5.09098317e-03 9.99835437e-01 -2.10071932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.891193817 meters Centerline goodness [0,1] 0.7285179796300145 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.17, Z:-2.10 [[ 9.99806989e-01 9.19183978e-03 -1.73636015e-02 1.02877076e+01] [-9.27414400e-03 9.99946110e-01 -4.66548089e-03 -1.73739411e-01] [ 1.73197814e-02 4.82561294e-03 9.99838356e-01 -2.10168664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.921193817 meters Centerline goodness [0,1] 0.7231353505167476 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.17, Z:-2.10 [[ 9.99781789e-01 1.15169289e-02 -1.74279884e-02 1.02883020e+01] [-1.15717371e-02 9.99928402e-01 -3.04726524e-03 -1.68273314e-01] [ 1.73916455e-02 3.24827239e-03 9.99843477e-01 -2.10201412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.951193817 meters Centerline goodness [0,1] 0.7212189147673018 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.16, Z:-2.10 [[ 9.99753756e-01 1.37920120e-02 -1.73841317e-02 1.02881200e+01] [-1.38217151e-02 9.99903212e-01 -1.58963922e-03 -1.62370676e-01] [ 1.73605248e-02 1.82952629e-03 9.99847621e-01 -2.10165062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.981193817 meters Centerline goodness [0,1] 0.7407230714982058 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.16, Z:-2.10 [[ 9.99713135e-01 1.63819275e-02 -1.74722401e-02 1.02883497e+01] [-1.63799632e-02 9.99865807e-01 2.55531734e-04 -1.57090002e-01] [ 1.74740815e-02 3.07362181e-05 9.99847316e-01 -2.10142632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.011193817 meters Centerline goodness [0,1] 0.737532591151761 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.15, Z:-2.10 [[ 9.99675124e-01 1.82880027e-02 -1.77537586e-02 1.02899733e+01] [-1.82873592e-02 9.99832753e-01 1.98602495e-04 -1.47176514e-01] [ 1.77544213e-02 1.26131387e-04 9.99842370e-01 -2.10230504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.041193817 meters Centerline goodness [0,1] 0.7369316296050448 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.14, Z:-2.10 [[ 9.99676720e-01 1.79172866e-02 -1.80395767e-02 1.02911721e+01] [-1.79484465e-02 9.99837686e-01 -1.56687318e-03 -1.41497760e-01] [ 1.80085745e-02 1.89014902e-03 9.99836046e-01 -2.10289458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.071193817 meters Centerline goodness [0,1] 0.7281706180764054 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.14, Z:-2.10 [[ 9.99621976e-01 2.04922529e-02 -1.83295723e-02 1.02930605e+01] [-2.04916068e-02 9.99790000e-01 2.23087706e-04 -1.36788852e-01] [ 1.83302947e-02 1.52599016e-04 9.99831974e-01 -2.10419506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.101193817 meters Centerline goodness [0,1] 0.7553482020937642 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.13, Z:-2.10 [[ 9.99552898e-01 2.34628321e-02 -1.85337415e-02 1.02940275e+01] [-2.34243363e-02 9.99722986e-01 2.29145899e-03 -1.31884779e-01] [ 1.85823716e-02 -1.85629388e-03 9.99825610e-01 -2.10454089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.131193817 meters Centerline goodness [0,1] 0.7646851916989096 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.13, Z:-2.10 [[ 9.99468787e-01 2.67341243e-02 -1.86395111e-02 1.02945059e+01] [-2.66539923e-02 9.99634435e-01 4.53434162e-03 -1.26760009e-01] [ 1.87539189e-02 -4.03511553e-03 9.99815987e-01 -2.10448166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.161193817 meters Centerline goodness [0,1] 0.8116156151156984 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.12, Z:-2.10 [[ 9.99261936e-01 3.36909850e-02 -1.84526844e-02 1.02941502e+01] [-3.35304184e-02 9.99397686e-01 8.94296351e-03 -1.16142577e-01] [ 1.87428673e-02 -8.31763680e-03 9.99789739e-01 -2.10332865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.191193817 meters Centerline goodness [0,1] 0.8323811889385659 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.11, Z:-2.10 [[ 9.99177844e-01 3.75433493e-02 -1.53013770e-02 1.03037757e+01] [-3.75276708e-02 9.99294729e-01 1.31059418e-03 -1.09242513e-01] [ 1.53397895e-02 -7.35291628e-04 9.99882068e-01 -2.10373858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.221193817 meters Centerline goodness [0,1] 0.8708327290056566 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.10, Z:-2.10 [[ 9.98886536e-01 4.46338125e-02 -1.52810446e-02 1.03042551e+01] [-4.45304396e-02 9.98983225e-01 7.03966004e-03 -1.02704128e-01] [ 1.55797141e-02 -6.35135000e-03 9.99858456e-01 -2.10332075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.251193817 meters Centerline goodness [0,1] 0.8852313167259787 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.10, Z:-2.10 [[ 9.98877035e-01 4.47278440e-02 -1.56233391e-02 1.03050338e+01] [-4.46383179e-02 9.98984997e-01 6.03292839e-03 -9.91614205e-02] [ 1.58773212e-02 -5.32875405e-03 9.99859748e-01 -2.10317716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28119381700003 meters Centerline goodness [0,1] 0.8985876936477322 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.10, Z:-2.10 [[ 9.98878487e-01 4.46431086e-02 -1.57721670e-02 1.03051937e+01] [-4.45678396e-02 9.98993382e-01 5.09212895e-03 -9.62664442e-02] [ 1.59836189e-02 -4.38348665e-03 9.99862645e-01 -2.10281522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.311193817 meters Centerline goodness [0,1] 0.9032659409020217 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.09, Z:-2.10 [[ 9.98890509e-01 4.43020650e-02 -1.59711729e-02 1.03052804e+01] [-4.42415312e-02 9.99012352e-01 4.12396441e-03 -9.34646260e-02] [ 1.61380991e-02 -3.41279976e-03 9.99863948e-01 -2.10227219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.341193817 meters Centerline goodness [0,1] 0.9050589482876926 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.09, Z:-2.10 [[ 9.98911697e-01 4.37705969e-02 -1.61107748e-02 1.03056570e+01] [-4.37363486e-02 9.99040049e-01 2.47220029e-03 -8.80630338e-02] [ 1.62035189e-02 -1.76488332e-03 9.99867157e-01 -2.10209012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.371193817 meters Centerline goodness [0,1] 0.9082153680102951 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.09, Z:-2.10 [[ 9.98917153e-01 4.35290213e-02 -1.64239511e-02 1.03065357e+01] [-4.35053350e-02 9.99051579e-01 1.79689404e-03 -8.59247712e-02] [ 1.64865913e-02 -1.08041879e-03 9.99863503e-01 -2.10232561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.401193817 meters Centerline goodness [0,1] 0.9040420842516738 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.08, Z:-2.10 [[ 9.98925708e-01 4.32339685e-02 -1.66809165e-02 1.03070592e+01] [-4.32206850e-02 9.99064881e-01 1.15618284e-03 -8.42461373e-02] [ 1.67153042e-02 -4.33980126e-04 9.99860195e-01 -2.10231808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.431193817 meters Centerline goodness [0,1] 0.8956803859992097 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.08, Z:-2.10 [[ 9.98932376e-01 4.30003608e-02 -1.68842044e-02 1.03077072e+01] [-4.29940154e-02 9.99075057e-01 7.38794705e-04 -8.32175423e-02] [ 1.69003559e-02 -1.20862082e-05 9.99857179e-01 -2.10265445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.461193817 meters Centerline goodness [0,1] 0.8869848786972416 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.08, Z:-2.10 [[ 9.98943662e-01 4.26562511e-02 -1.70881326e-02 1.03083615e+01] [-4.26582197e-02 9.99089693e-01 2.49447640e-04 -8.21780065e-02] [ 1.70832177e-02 4.79765178e-04 9.99853956e-01 -2.10297040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.491193817 meters Centerline goodness [0,1] 0.8880834843466849 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.08, Z:-2.10 [[ 9.98964179e-01 4.21394213e-02 -1.71708587e-02 1.03082908e+01] [-4.21530489e-02 9.99111072e-01 -4.32327527e-04 -8.10192260e-02] [ 1.71373770e-02 1.15568376e-03 9.99852476e-01 -2.10268167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.521193817 meters Centerline goodness [0,1] 0.8684303424216625 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.08, Z:-2.10 [[ 9.99000706e-01 4.12256896e-02 -1.72635915e-02 1.03082427e+01] [-4.12575713e-02 9.99147426e-01 -1.49454268e-03 -7.92763527e-02] [ 1.71872595e-02 2.20530306e-03 9.99849856e-01 -2.10243009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.551193817 meters Centerline goodness [0,1] 0.8593053762545289 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.08, Z:-2.10 [[ 9.99025068e-01 4.06052500e-02 -1.73241999e-02 1.03080667e+01] [-4.06488631e-02 9.99171131e-01 -2.17266185e-03 -7.83112156e-02] [ 1.72216189e-02 2.87475269e-03 9.99847564e-01 -2.10209075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.581193817 meters Centerline goodness [0,1] 0.8423004792665139 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.08, Z:-2.10 [[ 9.99053242e-01 3.98696081e-02 -1.74078910e-02 1.03080766e+01] [-3.99263076e-02 9.99198356e-01 -2.92167379e-03 -7.71348680e-02] [ 1.72774501e-02 3.61394048e-03 9.99844202e-01 -2.10193286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.611193817 meters Centerline goodness [0,1] 0.8233428678025121 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.08, Z:-2.10 [[ 9.99076202e-01 3.92102698e-02 -1.75868490e-02 1.03084739e+01] [-3.92775901e-02 9.99222212e-01 -3.49880888e-03 -7.63026379e-02] [ 1.74359809e-02 4.18634573e-03 9.99839218e-01 -2.10204091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.641193817 meters Centerline goodness [0,1] 0.8174923115285513 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.07, Z:-2.10 [[ 9.99244052e-01 3.44949715e-02 -1.79282251e-02 1.03093129e+01] [-3.46489217e-02 9.99364676e-01 -8.34845047e-03 -7.41744152e-02] [ 1.76288554e-02 8.96333314e-03 9.99804422e-01 -2.10253648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.671193817 meters Centerline goodness [0,1] 0.7632087026926031 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.07, Z:-2.10 [[ 0.99934862 0.0309765 -0.01851473 10.31134332] [-0.0312007 0.99944175 -0.01194571 -0.0734916 ] [ 0.01813436 0.0125156 0.99975722 -2.10373532] [ 0. 0. 0. 1. ]] SLAMing on 268.701193817 meters Centerline goodness [0,1] 0.7423555352165412 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.07, Z:-2.10 [[ 0.99938848 0.02923436 -0.01918366 10.31340443] [-0.02948907 0.99947884 -0.01313179 -0.07356166] [ 0.01878976 0.01368947 0.99972974 -2.10488362] [ 0. 0. 0. 1. ]] SLAMing on 268.731193817 meters Centerline goodness [0,1] 0.7254199141416247 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.07, Z:-2.11 [[ 0.99940564 0.02845447 -0.01946056 10.31396975] [-0.02871831 0.99949752 -0.01341522 -0.07415743] [ 0.01906905 0.01396612 0.99972062 -2.10509932] [ 0. 0. 0. 1. ]] SLAMing on 268.761193817 meters Centerline goodness [0,1] 0.7066336613067626 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.08, Z:-2.10 [[ 9.99547864e-01 2.43052432e-02 -1.77008968e-02 1.03221256e+01] [-2.43993728e-02 9.99689173e-01 -5.12134790e-03 -7.63571188e-02] [ 1.75709193e-02 5.55092314e-03 9.99830211e-01 -2.10438942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.791193817 meters Centerline goodness [0,1] 0.7497031930182667 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.08, Z:-2.10 [[ 9.99569658e-01 2.33460650e-02 -1.77612182e-02 1.03221218e+01] [-2.34479510e-02 9.99709654e-01 -5.54994916e-03 -7.65283563e-02] [ 1.76264918e-02 5.96402496e-03 9.99826854e-01 -2.10440425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.821193817 meters Centerline goodness [0,1] 0.7431498292662613 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.08, Z:-2.10 [[ 9.99565362e-01 2.33676391e-02 -1.79733397e-02 1.03226186e+01] [-2.34708653e-02 9.99709094e-01 -5.55393298e-03 -7.61444891e-02] [ 1.78383288e-02 5.97336886e-03 9.99823041e-01 -2.10442861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.851193817 meters Centerline goodness [0,1] 0.6859749760984328 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.08, Z:-2.10 [[ 9.99552290e-01 2.37126957e-02 -1.82463258e-02 1.03232399e+01] [-2.38164687e-02 9.99701267e-01 -5.49117843e-03 -7.53585762e-02] [ 1.81106644e-02 5.92328302e-03 9.99818443e-01 -2.10436820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.881193817 meters Centerline goodness [0,1] 0.7520009979002515 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.07, Z:-2.10 [[ 9.99526757e-01 2.45106726e-02 -1.85873346e-02 1.03242939e+01] [-2.46147400e-02 9.99682476e-01 -5.39084274e-03 -7.36310856e-02] [ 1.84492995e-02 5.84581397e-03 9.99812707e-01 -2.10454067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.911193817 meters Centerline goodness [0,1] 0.7962422057879146 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.07, Z:-2.10 [[ 9.99296916e-01 3.27365964e-02 -1.82753748e-02 1.03238690e+01] [-3.27062108e-02 9.99463089e-01 1.95914820e-03 -7.08765232e-02] [ 1.83296984e-02 -1.36005250e-03 9.99831072e-01 -2.10401783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.941193817 meters Centerline goodness [0,1] 0.8353107403328692 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.07, Z:-2.10 [[ 9.99268899e-01 3.35775472e-02 -1.82815550e-02 1.03235779e+01] [-3.35575049e-02 9.99435805e-01 1.40206865e-03 -6.72932394e-02] [ 1.83183187e-02 -7.87560226e-04 9.99831895e-01 -2.10298181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.971193817 meters Centerline goodness [0,1] 0.8810261314263144 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.06, Z:-2.10 [[ 9.99254672e-01 3.40015364e-02 -1.82755433e-02 1.03231997e+01] [-3.39971727e-02 9.99421778e-01 5.49494668e-04 -6.37993831e-02] [ 1.82836596e-02 7.22316861e-05 9.99832837e-01 -2.10200449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.001193817 meters Centerline goodness [0,1] 0.9152528311278881 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.06, Z:-2.10 [[ 9.99159783e-01 3.94290214e-02 -1.11839281e-02 1.03295985e+01] [-3.94749593e-02 9.99212883e-01 -3.91683198e-03 -5.85767989e-02] [ 1.10206882e-02 4.35502610e-03 9.99929787e-01 -2.10229760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.03119381700003 meters Centerline goodness [0,1] 0.9133403906428379 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.06, Z:-2.10 [[ 9.99168727e-01 3.91633683e-02 -1.13175035e-02 1.03294103e+01] [-3.92213535e-02 9.99218297e-01 -4.94771153e-03 -5.54947002e-02] [ 1.11148876e-02 5.38748643e-03 9.99923714e-01 -2.10147124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.061193817 meters Centerline goodness [0,1] 0.8850924649785037 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.05, Z:-2.10 [[ 9.99162761e-01 3.92369474e-02 -1.15861186e-02 1.03302048e+01] [-3.92978068e-02 9.99214667e-01 -5.07261226e-03 -5.44667816e-02] [ 1.13779858e-02 5.52367432e-03 9.99920012e-01 -2.10171777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.091193817 meters Centerline goodness [0,1] 0.8918857285015341 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.05, Z:-2.10 [[ 9.99179464e-01 3.88097963e-02 -1.15843719e-02 1.03300645e+01] [-3.88760512e-02 9.99228628e-01 -5.54993537e-03 -5.39632730e-02] [ 1.13600441e-02 5.99573609e-03 9.99917497e-01 -2.10163215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.121193817 meters Centerline goodness [0,1] 0.8891261532082513 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.05, Z:-2.10 [[ 9.99190732e-01 3.84643434e-02 -1.17633388e-02 1.03305554e+01] [-3.85361288e-02 9.99239565e-01 -5.93784947e-03 -5.34038775e-02] [ 1.15259981e-02 6.38635769e-03 9.99913179e-01 -2.10182224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.151193817 meters Centerline goodness [0,1] 0.889156077033106 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.05, Z:-2.10 [[ 9.99198869e-01 3.81983418e-02 -1.19376205e-02 1.03311751e+01] [-3.82764008e-02 9.99246821e-01 -6.38023446e-03 -5.22380397e-02] [ 1.16849150e-02 6.83205221e-03 9.99908389e-01 -2.10213775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.181193817 meters Centerline goodness [0,1] 0.8898430190248466 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.05, Z:-2.10 [[ 9.99163927e-01 3.90116546e-02 -1.22285585e-02 1.03332238e+01] [-3.90936482e-02 9.99214154e-01 -6.53924882e-03 -4.88453129e-02] [ 1.19638419e-02 7.01184050e-03 9.99903846e-01 -2.10360960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.211193817 meters Centerline goodness [0,1] 0.9139270399602262 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.05, Z:-2.11 [[ 9.99103809e-01 4.02893754e-02 -1.29747800e-02 1.03364491e+01] [-4.03676460e-02 9.99167897e-01 -5.82810965e-03 -4.76548680e-02] [ 1.27291727e-02 6.34664788e-03 9.99898839e-01 -2.10552170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.241193817 meters Centerline goodness [0,1] 0.9168809622563252 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.05, Z:-2.11 [[ 9.99073018e-01 4.09039534e-02 -1.34153159e-02 1.03380155e+01] [-4.09877468e-02 9.99141443e-01 -6.03167967e-03 -4.56521222e-02] [ 1.31570785e-02 6.57595198e-03 9.99891818e-01 -2.10612419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.271193817 meters Centerline goodness [0,1] 0.932278783595585 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.04, Z:-2.11 [[ 9.99059291e-01 4.11858967e-02 -1.35740517e-02 1.03384209e+01] [-4.12786146e-02 9.99125727e-01 -6.62252389e-03 -4.32535320e-02] [ 1.32894297e-02 7.17661207e-03 9.99885937e-01 -2.10592464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.301193817 meters Centerline goodness [0,1] 0.9374221410181879 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.04, Z:-2.10 [[ 9.98998752e-01 4.25421359e-02 -1.38441715e-02 1.03382459e+01] [-4.26235919e-02 9.99075267e-01 -5.64275930e-03 -4.13945168e-02] [ 1.35913143e-02 6.22719782e-03 9.99888243e-01 -2.10487718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.331193817 meters Centerline goodness [0,1] 0.9392616612621602 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.04, Z:-2.10 [[ 9.99004334e-01 4.23320865e-02 -1.40831259e-02 1.03382965e+01] [-4.24185541e-02 9.99082515e-01 -5.89868706e-03 -4.13622829e-02] [ 1.38205011e-02 6.49019978e-03 9.99883429e-01 -2.10435654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.361193817 meters Centerline goodness [0,1] 0.9393593863377215 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.04, Z:-2.10 [[ 9.98990792e-01 4.25701834e-02 -1.43239756e-02 1.03390288e+01] [-4.26536664e-02 9.99074370e-01 -5.57392803e-03 -4.21731750e-02] [ 1.40734337e-02 6.17927285e-03 9.99881871e-01 -2.10469329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.391193817 meters Centerline goodness [0,1] 0.941386615710547 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.04, Z:-2.11 [[ 9.98981648e-01 4.26746690e-02 -1.46471972e-02 1.03400587e+01] [-4.27588469e-02 9.99070379e-01 -5.48266016e-03 -4.23968793e-02] [ 1.43996101e-02 6.10337414e-03 9.99877693e-01 -2.10519266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.421193817 meters Centerline goodness [0,1] 0.938828741176227 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.04, Z:-2.11 [[ 9.98893855e-01 4.44244689e-02 -1.54120808e-02 1.03441624e+01] [-4.44864596e-02 9.99003125e-01 -3.70279719e-03 -4.42418105e-02] [ 1.52322221e-02 4.38433027e-03 9.99874371e-01 -2.10839001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.451193817 meters Centerline goodness [0,1] 0.9391521197007481 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.05, Z:-2.11 [[ 9.98870931e-01 4.48402023e-02 -1.56913605e-02 1.03452061e+01] [-4.48957151e-02 9.98986543e-01 -3.20342658e-03 -4.53907052e-02] [ 1.55318157e-02 3.90428455e-03 9.99871751e-01 -2.10904840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.481193817 meters Centerline goodness [0,1] 0.9393970850807624 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.05, Z:-2.11 [[ 9.98847315e-01 4.52469946e-02 -1.60234576e-02 1.03460980e+01] [-4.52947199e-02 9.98970211e-01 -2.62799651e-03 -4.67966088e-02] [ 1.58880478e-02 3.35074528e-03 9.99868163e-01 -2.10937030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.511193817 meters Centerline goodness [0,1] 0.9377830404254435 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.05, Z:-2.11 [[ 9.98822180e-01 4.56585044e-02 -1.64180826e-02 1.03467060e+01] [-4.56978630e-02 9.98953244e-01 -2.02996130e-03 -4.85715174e-02] [ 1.63082119e-02 2.77784166e-03 9.99863154e-01 -2.10917724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.541193817 meters Centerline goodness [0,1] 0.9354431427743511 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.05, Z:-2.11 [[ 9.98758292e-01 4.68942336e-02 -1.68168196e-02 1.03473217e+01] [-4.68977810e-02 9.98899677e-01 1.83575566e-04 -5.47959423e-02] [ 1.68069243e-02 6.05323904e-04 9.99858570e-01 -2.10914960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.571193817 meters Centerline goodness [0,1] 0.9393624968871919 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.06, Z:-2.11 [[ 9.98894576e-01 4.37922620e-02 -1.70839962e-02 1.03473113e+01] [-4.38525786e-02 9.99032978e-01 -3.17191641e-03 -5.58583603e-02] [ 1.69285701e-02 3.91758738e-03 9.99849027e-01 -2.10862950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.601193817 meters Centerline goodness [0,1] 0.9364148628698563 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.06, Z:-2.11 [[ 9.98875034e-01 4.41922693e-02 -1.71962299e-02 1.03469875e+01] [-4.42351351e-02 9.99018897e-01 -2.12022907e-03 -5.97496022e-02] [ 1.70856609e-02 2.87852144e-03 9.99849886e-01 -2.10812009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.631193817 meters Centerline goodness [0,1] 0.9364148628698563 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.06, Z:-2.11 [[ 9.98875034e-01 4.41922693e-02 -1.71962299e-02 1.03469875e+01] [-4.42351351e-02 9.99018897e-01 -2.12022907e-03 -5.97496022e-02] [ 1.70856609e-02 2.87852144e-03 9.99849886e-01 -2.10812009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.661193817 meters Centerline goodness [0,1] 0.9315368108286564 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.07, Z:-2.11 [[ 9.98987256e-01 4.34744661e-02 -1.15945452e-02 1.03607258e+01] [-4.34126922e-02 9.99041934e-01 5.52746221e-03 -6.65515093e-02] [ 1.18237403e-02 -5.01851388e-03 9.99917503e-01 -2.11145879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.691193817 meters Centerline goodness [0,1] 0.938279820329396 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.07, Z:-2.11 [[ 9.98962152e-01 4.40064900e-02 -1.17493571e-02 1.03606683e+01] [-4.39308047e-02 9.99012616e-01 6.62397940e-03 -6.99796232e-02] [ 1.20292541e-02 -6.10094600e-03 9.99909034e-01 -2.11104299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.721193817 meters Centerline goodness [0,1] 0.9345619824419401 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.08, Z:-2.11 [[ 9.98891227e-01 4.55662194e-02 -1.18336835e-02 1.03602480e+01] [-4.54600180e-02 9.98924768e-01 9.09369712e-03 -7.70921521e-02] [ 1.22353249e-02 -8.54565481e-03 9.99888628e-01 -2.11041316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.751193817 meters Centerline goodness [0,1] 0.9317459987960061 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.08, Z:-2.11 [[ 9.99004248e-01 4.29251288e-02 -1.21633086e-02 1.03607503e+01] [-4.28533035e-02 9.99062719e-01 6.10554644e-03 -7.87606404e-02] [ 1.24139895e-02 -5.57822888e-03 9.99907384e-01 -2.11037487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78119381700003 meters Centerline goodness [0,1] 0.9317734347474664 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.08, Z:-2.11 [[ 9.99105104e-01 4.03624916e-02 -1.26435998e-02 1.03617898e+01] [-4.03251206e-02 9.99181497e-01 3.19695168e-03 -8.04301480e-02] [ 1.27622879e-02 -2.68423606e-03 9.99914956e-01 -2.11062897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.811193817 meters Centerline goodness [0,1] 0.926888016777757 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.08, Z:-2.11 [[ 9.99205012e-01 3.76668621e-02 -1.30595332e-02 1.03627478e+01] [-3.76663960e-02 9.99290330e-01 2.81740593e-04 -8.22375231e-02] [ 1.30608775e-02 2.10388936e-04 9.99914681e-01 -2.11099105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.841193817 meters Centerline goodness [0,1] 0.9222802237797143 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.09, Z:-2.11 [[ 9.99289158e-01 3.52375930e-02 -1.33973957e-02 1.03633274e+01] [-3.52538069e-02 9.99377915e-01 -9.75919573e-04 -9.04047065e-02] [ 1.33546723e-02 1.44753505e-03 9.99909775e-01 -2.11143828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.871193817 meters Centerline goodness [0,1] 0.9275522090024129 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.09, Z:-2.11 [[ 9.99381905e-01 3.22953582e-02 -1.38858853e-02 1.03640496e+01] [-3.23471216e-02 9.99470499e-01 -3.51941676e-03 -9.42023160e-02] [ 1.37648718e-02 3.96640985e-03 9.99897393e-01 -2.11147347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.901193817 meters Centerline goodness [0,1] 0.9246770536475777 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.10, Z:-2.11 [[ 9.99455862e-01 2.96890211e-02 -1.43715619e-02 1.03649229e+01] [-2.97742419e-02 9.99540095e-01 -5.75258560e-03 -9.80217123e-02] [ 1.41941637e-02 6.17735776e-03 9.99880176e-01 -2.11159390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.931193817 meters Centerline goodness [0,1] 0.9262232018464993 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.10, Z:-2.11 [[ 9.99436293e-01 3.02106968e-02 -1.46427234e-02 1.03652302e+01] [-3.02754375e-02 9.99532686e-01 -4.21998797e-03 -1.03342231e-01] [ 1.45083919e-02 4.66092399e-03 9.99883884e-01 -2.11147141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.961193817 meters Centerline goodness [0,1] 0.9254415056794627 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.11, Z:-2.11 [[ 9.99412650e-01 3.08703426e-02 -1.48787672e-02 1.03656018e+01] [-3.09106450e-02 9.99519059e-01 -2.48634484e-03 -1.08835053e-01] [ 1.47948571e-02 2.94479678e-03 9.99886214e-01 -2.11152654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.991193817 meters Centerline goodness [0,1] 0.917972810044485 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.12, Z:-2.11 [[ 9.99463035e-01 2.90466796e-02 -1.51634997e-02 1.03661362e+01] [-2.90920020e-02 9.99572881e-01 -2.77689336e-03 -1.18376624e-01] [ 1.50763635e-02 3.21653883e-03 9.99881172e-01 -2.11195860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.021193817 meters Centerline goodness [0,1] 0.9172694770100607 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.12, Z:-2.11 [[ 9.99517045e-01 2.67685103e-02 -1.57836269e-02 1.03678688e+01] [-2.68408973e-02 9.99630069e-01 -4.39230819e-03 -1.23224581e-01] [ 1.56602125e-02 4.81383361e-03 9.99865783e-01 -2.11286730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.051193817 meters Centerline goodness [0,1] 0.9169534391973133 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.13, Z:-2.11 [[ 9.99574736e-01 2.42590613e-02 -1.61816069e-02 1.03688347e+01] [-2.43587470e-02 9.99685324e-01 -5.99202370e-03 -1.28787755e-01] [ 1.60311541e-02 6.38363918e-03 9.99851115e-01 -2.11336649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.081193817 meters Centerline goodness [0,1] 0.9224175595547696 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.13, Z:-2.11 [[ 9.99635580e-01 2.14409164e-02 -1.64010428e-02 1.03690482e+01] [-2.15691823e-02 9.99737828e-01 -7.68407671e-03 -1.34619650e-01] [ 1.62319892e-02 8.03503356e-03 9.99835967e-01 -2.11339165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.111193817 meters Centerline goodness [0,1] 0.9275789736027747 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.15, Z:-2.11 [[ 0.9997937 0.01210074 -0.0163136 10.36688978] [-0.01234072 0.99981592 -0.01469109 -0.14633476] [ 0.01613282 0.01488938 0.99975899 -2.11152357] [ 0. 0. 0. 1. ]] SLAMing on 270.141193817 meters Centerline goodness [0,1] 0.926624563736081 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.16, Z:-2.11 [[ 9.99906096e-01 5.50739058e-03 -1.25486374e-02 1.03749256e+01] [-5.60892890e-03 9.99951700e-01 -8.07080666e-03 -1.55245380e-01] [ 1.25035823e-02 8.14043319e-03 9.99888691e-01 -2.11241651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.171193817 meters Centerline goodness [0,1] 0.9116320635118565 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.16, Z:-2.11 [[ 9.99918722e-01 1.64318126e-03 -1.26431339e-02 1.03750585e+01] [-1.77055582e-03 9.99947729e-01 -1.00700151e-02 -1.62351321e-01] [ 1.26259261e-02 1.00915820e-02 9.99869364e-01 -2.11252063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.201193817 meters Centerline goodness [0,1] 0.82837776021957 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.18, Z:-2.12 [[ 9.99933101e-01 -6.55104423e-03 -9.53295797e-03 1.03692991e+01] [ 6.49923601e-03 9.99963998e-01 -5.45551200e-03 -1.76863760e-01] [ 9.56835407e-03 5.39319009e-03 9.99939678e-01 -2.11524703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.231193817 meters Centerline goodness [0,1] 0.8318470013512109 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.18, Z:-2.12 [[ 9.99927422e-01 -7.09928488e-03 -9.73397675e-03 1.03695272e+01] [ 7.05678913e-03 9.99965450e-01 -4.39313060e-03 -1.82158587e-01] [ 9.76482853e-03 4.32412113e-03 9.99942973e-01 -2.11510172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.261193817 meters Centerline goodness [0,1] 0.7824356263216818 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.19, Z:-2.12 [[ 9.99925825e-01 -7.00349191e-03 -9.96471126e-03 1.03700450e+01] [ 6.97504819e-03 9.99971508e-01 -2.88634068e-03 -1.87331981e-01] [ 9.98464182e-03 2.81662225e-03 9.99946185e-01 -2.11525608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.291193817 meters Centerline goodness [0,1] 0.8274341804267354 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.19, Z:-2.12 [[ 9.99926639e-01 -6.66545264e-03 -1.01137555e-02 1.03704071e+01] [ 6.64960358e-03 9.99976611e-01 -1.59989777e-03 -1.91304738e-01] [ 1.01241830e-02 1.53252794e-03 9.99947575e-01 -2.11536790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.321193817 meters Centerline goodness [0,1] 0.7701483852196683 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.19, Z:-2.12 [[ 9.99929181e-01 -6.06077005e-03 -1.02421057e-02 1.03707255e+01] [ 6.05708672e-03 9.99981579e-01 -3.90608007e-04 -1.94271682e-01] [ 1.02442844e-02 3.28543022e-04 9.99947472e-01 -2.11544940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.351193817 meters Centerline goodness [0,1] 0.784845650140318 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.20, Z:-2.12 [[ 9.99935493e-01 -4.58519700e-03 -1.03915862e-02 1.03710759e+01] [ 4.59308663e-03 9.99989181e-01 7.35494347e-04 -1.95164169e-01] [ 1.03881014e-02 -7.83176358e-04 9.99945736e-01 -2.11538811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.381193817 meters Centerline goodness [0,1] 0.8548865167374857 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.19, Z:-2.12 [[ 9.99938656e-01 -2.63813135e-03 -1.07575075e-02 1.03732325e+01] [ 2.66085494e-03 9.99994258e-01 2.09858228e-03 -1.94460084e-01] [ 1.07519094e-02 -2.12707771e-03 9.99939934e-01 -2.11691458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.411193817 meters Centerline goodness [0,1] 0.8340642211368596 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.19, Z:-2.12 [[ 9.99943506e-01 -9.02085440e-04 -1.05910868e-02 1.03725803e+01] [ 9.32625882e-04 9.99995421e-01 2.87901378e-03 -1.92484435e-01] [ 1.05884412e-02 -2.88872865e-03 9.99939768e-01 -2.11634334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.441193817 meters Centerline goodness [0,1] 0.9088059453624512 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.19, Z:-2.12 [[ 9.99942292e-01 8.41060473e-05 -1.07426648e-02 1.03730384e+01] [-5.69942148e-05 9.99996813e-01 2.52403421e-03 -1.89309601e-01] [ 1.07428428e-02 -2.52327629e-03 9.99939110e-01 -2.11633330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.471193817 meters Centerline goodness [0,1] 0.923003407296601 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.19, Z:-2.12 [[ 9.99940636e-01 1.11645474e-03 -1.08387387e-02 1.03731831e+01] [-1.09128746e-03 9.99996696e-01 2.32761214e-03 -1.86567849e-01] [ 1.08413016e-02 -2.31564579e-03 9.99938550e-01 -2.11610370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.501193817 meters Centerline goodness [0,1] 0.9268555111837613 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.19, Z:-2.12 [[ 9.99915136e-01 6.58930923e-03 -1.12383757e-02 1.03742443e+01] [-6.51257205e-03 9.99955323e-01 6.85112097e-03 -1.85870516e-01] [ 1.12830177e-02 -6.77734882e-03 9.99913377e-01 -2.11637866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.53119381700003 meters Centerline goodness [0,1] 0.9253635096623885 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.18, Z:-2.12 [[ 9.99911281e-01 7.03066968e-03 -1.13136786e-02 1.03746106e+01] [-6.95658459e-03 9.99954191e-01 6.57436049e-03 -1.84438790e-01] [ 1.13593825e-02 -6.49507265e-03 9.99914386e-01 -2.11658497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.561193817 meters Centerline goodness [0,1] 0.9238972571475995 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.18, Z:-2.12 [[ 9.99907044e-01 7.21250997e-03 -1.15707528e-02 1.03753940e+01] [-7.14279018e-03 9.99956154e-01 6.05557155e-03 -1.82311494e-01] [ 1.16139213e-02 -5.97236119e-03 9.99914720e-01 -2.11690243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.591193817 meters Centerline goodness [0,1] 0.9247572312980102 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.18, Z:-2.12 [[ 9.99900090e-01 7.87193760e-03 -1.17406180e-02 1.03761590e+01] [-7.80527221e-03 9.99953217e-01 5.71323769e-03 -1.79195668e-01] [ 1.17850430e-02 -5.62102816e-03 9.99914755e-01 -2.11740553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.621193817 meters Centerline goodness [0,1] 0.9240838779055339 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.18, Z:-2.12 [[ 9.99915319e-01 4.96856996e-03 -1.20278280e-02 1.03769450e+01] [-4.94570967e-03 9.99985908e-01 1.92961485e-03 -1.77434238e-01] [ 1.20372459e-02 -1.86996531e-03 9.99925801e-01 -2.11761780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.651193817 meters Centerline goodness [0,1] 0.9217331841352729 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.18, Z:-2.12 [[ 9.99912006e-01 5.20652118e-03 -1.22013571e-02 1.03775154e+01] [-5.17624166e-03 9.99983448e-01 2.51191907e-03 -1.79435569e-01] [ 1.22142335e-02 -2.44854086e-03 9.99922406e-01 -2.11794190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.681193817 meters Centerline goodness [0,1] 0.9203503005845277 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.18, Z:-2.12 [[ 9.99909175e-01 5.41559007e-03 -1.23414814e-02 1.03780473e+01] [-5.37698914e-03 9.99980555e-01 3.15877635e-03 -1.81612804e-01] [ 1.23583481e-02 -3.09212944e-03 9.99918852e-01 -2.11831111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.711193817 meters Centerline goodness [0,1] 0.9176660995144623 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.18, Z:-2.12 [[ 9.99905541e-01 5.58663085e-03 -1.25577809e-02 1.03789443e+01] [-5.54009248e-03 9.99977668e-01 3.73767624e-03 -1.83559521e-01] [ 1.25783815e-02 -3.66775192e-03 9.99914162e-01 -2.11889867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.741193817 meters Centerline goodness [0,1] 0.9163122627222372 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.19, Z:-2.12 [[ 9.99916636e-01 3.04494232e-03 -1.25479021e-02 1.03788194e+01] [-3.02786682e-03 9.99994464e-01 1.37959798e-03 -1.86587342e-01] [ 1.25520335e-02 -1.34148960e-03 9.99920320e-01 -2.11870654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.771193817 meters Centerline goodness [0,1] 0.9151204595231208 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.19, Z:-2.12 [[ 9.99911333e-01 3.46657320e-03 -1.28572284e-02 1.03792835e+01] [-3.43512226e-03 9.99991056e-01 2.46744537e-03 -1.90087032e-01] [ 1.28656670e-02 -2.42306044e-03 9.99914298e-01 -2.11848118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.801193817 meters Centerline goodness [0,1] 0.9163929655344447 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.19, Z:-2.12 [[ 9.99908541e-01 3.90236920e-03 -1.29491525e-02 1.03789542e+01] [-3.85661228e-03 9.99986238e-01 3.55667533e-03 -1.93637739e-01] [ 1.29628538e-02 -3.50641018e-03 9.99909831e-01 -2.11779123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.831193817 meters Centerline goodness [0,1] 0.9178694940876804 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.20, Z:-2.12 [[ 9.99906243e-01 2.19175715e-03 -1.35167358e-02 1.03810186e+01] [-2.16722674e-03 9.99995979e-01 1.82919799e-03 -1.96060328e-01] [ 1.35206906e-02 -1.79973265e-03 9.99906972e-01 -2.11876902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.861193817 meters Centerline goodness [0,1] 0.9219821424872077 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.20, Z:-2.12 [[ 9.99903054e-01 2.59132846e-03 -1.36809169e-02 1.03809385e+01] [-2.55208956e-03 9.99992582e-01 2.88482818e-03 -1.99859245e-01] [ 1.36882909e-02 -2.84963358e-03 9.99902250e-01 -2.11821502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.891193817 meters Centerline goodness [0,1] 0.925834337724949 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.21, Z:-2.12 [[ 9.99909864e-01 1.28421281e-03 -1.33646614e-02 1.03792665e+01] [-1.25481724e-03 9.99996776e-01 2.20765291e-03 -2.06069710e-01] [ 1.33674534e-02 -2.19068371e-03 9.99908252e-01 -2.11681564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.921193817 meters Centerline goodness [0,1] 0.9250574332015646 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.21, Z:-2.12 [[ 9.99906355e-01 1.70432952e-03 -1.35785385e-02 1.03798903e+01] [-1.66092477e-03 9.99993478e-01 3.20720545e-03 -2.09177557e-01] [ 1.35839161e-02 -3.18435218e-03 9.99902664e-01 -2.11702151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.951193817 meters Centerline goodness [0,1] 0.9247461139896374 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.21, Z:-2.12 [[ 9.99904336e-01 1.94619718e-03 -1.36942166e-02 1.03800129e+01] [-1.89237869e-03 9.99990440e-01 3.94187715e-03 -2.11699353e-01] [ 1.37017573e-02 -3.91558541e-03 9.99898460e-01 -2.11686356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.981193817 meters Centerline goodness [0,1] 0.9241711074709188 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.22, Z:-2.12 [[ 9.99906337e-01 -1.75645859e-04 -1.36852832e-02 1.03802953e+01] [ 2.05383674e-04 9.99997621e-01 2.17160253e-03 -2.16063531e-01] [ 1.36848692e-02 -2.17420986e-03 9.99903994e-01 -2.11719954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.011193817 meters Centerline goodness [0,1] 0.9211651856158126 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.22, Z:-2.12 [[ 9.99904694e-01 6.46369705e-05 -1.38057760e-02 1.03806284e+01] [-2.02756302e-05 9.99994837e-01 3.21336077e-03 -2.20135225e-01] [ 1.38059124e-02 -3.21277460e-03 9.99899532e-01 -2.11728461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.041193817 meters Centerline goodness [0,1] 0.9199626672197448 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.22, Z:-2.12 [[ 9.99894206e-01 -2.23729583e-03 -1.43725664e-02 1.03825739e+01] [ 2.25414017e-03 9.99996791e-01 1.15588562e-03 -2.23516260e-01] [ 1.43699342e-02 -1.18816112e-03 9.99896041e-01 -2.11823824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.071193817 meters Centerline goodness [0,1] 0.9190158361661553 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.23, Z:-2.12 [[ 9.99893760e-01 -2.35057491e-03 -1.43855023e-02 1.03830760e+01] [ 2.37613860e-03 9.99995628e-01 1.76021132e-03 -2.28609801e-01] [ 1.43813019e-02 -1.79420626e-03 9.99894974e-01 -2.11870623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.101193817 meters Centerline goodness [0,1] 0.9178028098761327 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.23, Z:-2.12 [[ 9.99892935e-01 -2.13862803e-03 -1.44756778e-02 1.03833299e+01] [ 2.18029763e-03 9.99993524e-01 2.86342532e-03 -2.32791529e-01] [ 1.44694602e-02 -2.89468003e-03 9.99891122e-01 -2.11873634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.131193817 meters Centerline goodness [0,1] 0.9164327448901087 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.24, Z:-2.12 [[ 9.99893058e-01 -2.28998172e-03 -1.44439980e-02 1.03824373e+01] [ 2.33900771e-03 9.99991558e-01 3.37823225e-03 -2.38501690e-01] [ 1.44361400e-02 -3.41165559e-03 9.99889973e-01 -2.11763911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.161193817 meters Centerline goodness [0,1] 0.9173433874709976 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.24, Z:-2.12 [[ 9.99888907e-01 -1.65241592e-03 -1.48136113e-02 1.03833193e+01] [ 1.71988811e-03 9.99988201e-01 4.54316039e-03 -2.41694616e-01] [ 1.48059294e-02 -4.56813343e-03 9.99879951e-01 -2.11777970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.191193817 meters Centerline goodness [0,1] 0.9161963648435555 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.25, Z:-2.12 [[ 9.99886874e-01 -9.91121747e-04 -1.50085411e-02 1.03839852e+01] [ 1.07807837e-03 9.99982675e-01 5.78682752e-03 -2.45400005e-01] [ 1.50025457e-02 -5.80235327e-03 9.99870620e-01 -2.11809883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.221193817 meters Centerline goodness [0,1] 0.9181131135287767 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.25, Z:-2.12 [[ 9.99882533e-01 -3.22849635e-04 -1.53237321e-02 1.03847927e+01] [ 4.31162285e-04 9.99974946e-01 7.06551706e-03 -2.49356827e-01] [ 1.53210671e-02 -7.07129411e-03 9.99857621e-01 -2.11826915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.251193817 meters Centerline goodness [0,1] 0.9206792421609994 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.26, Z:-2.12 [[ 9.99869915e-01 3.86443857e-05 -1.61292248e-02 1.03872681e+01] [ 9.17216336e-05 9.99967338e-01 8.08177870e-03 -2.57641542e-01] [ 1.61290103e-02 -8.08220678e-03 9.99837253e-01 -2.11927063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28119381700003 meters Centerline goodness [0,1] 0.9198244665363338 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.26, Z:-2.12 [[ 9.99864707e-01 -2.48835632e-03 -1.62596555e-02 1.03870517e+01] [ 2.58350392e-03 9.99979648e-01 5.83337739e-03 -2.60907931e-01] [ 1.62448091e-02 -5.87459505e-03 9.99850787e-01 -2.11865981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.311193817 meters Centerline goodness [0,1] 0.920294056740526 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.26, Z:-2.12 [[ 9.99965127e-01 -2.61886048e-03 -7.93006708e-03 1.03981413e+01] [ 2.63301218e-03 9.99994959e-01 1.77464849e-03 -2.64881771e-01] [ 7.92537955e-03 -1.79546657e-03 9.99966982e-01 -2.12097540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.341193817 meters Centerline goodness [0,1] 0.9182281376728709 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.27, Z:-2.12 [[ 9.99952761e-01 -5.48557510e-03 -8.02393889e-03 1.03978939e+01] [ 5.48111819e-03 9.99984812e-01 -5.77336705e-04 -2.68516743e-01] [ 8.02698404e-03 5.33329275e-04 9.99967641e-01 -2.12035065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.371193817 meters Centerline goodness [0,1] 0.9263497347342141 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.28, Z:-2.12 [[ 9.99935608e-01 -8.26781058e-03 -7.77322358e-03 1.03963950e+01] [ 8.26136767e-03 9.99965504e-01 -8.60605094e-04 -2.78629398e-01] [ 7.78007076e-03 7.96332220e-04 9.99969418e-01 -2.11851011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.401193817 meters Centerline goodness [0,1] 0.9257376436900859 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.28, Z:-2.12 [[ 9.99903411e-01 -1.13598562e-02 -8.00759120e-03 1.03967362e+01] [ 1.13355338e-02 9.99931019e-01 -3.07628879e-03 -2.83409070e-01] [ 8.04198502e-03 2.98522133e-03 9.99963207e-01 -2.11813151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.431193817 meters Centerline goodness [0,1] 0.9276023757424195 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.29, Z:-2.12 [[ 9.99860325e-01 -1.46460873e-02 -8.05120914e-03 1.03965123e+01] [ 1.46040047e-02 9.99879515e-01 -5.26104402e-03 -2.88721651e-01] [ 8.12729280e-03 5.14272928e-03 9.99953749e-01 -2.11746159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.461193817 meters Centerline goodness [0,1] 0.9248758709892769 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.29, Z:-2.12 [[ 9.99799468e-01 -1.82695839e-02 -8.20036841e-03 1.03967828e+01] [ 1.82050257e-02 9.99803227e-01 -7.87939143e-03 -2.93152436e-01] [ 8.34270800e-03 7.72852344e-03 9.99935332e-01 -2.11715493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.491193817 meters Centerline goodness [0,1] 0.9243309815054481 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.30, Z:-2.12 [[ 9.99723036e-01 -2.20202308e-02 -8.30421816e-03 1.03972926e+01] [ 2.19292958e-02 9.99700245e-01 -1.08869967e-02 -2.96062081e-01] [ 8.54146311e-03 1.07018757e-02 9.99906252e-01 -2.11731980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.521193817 meters Centerline goodness [0,1] 0.9243309815054481 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.30, Z:-2.12 [[ 9.99723036e-01 -2.20202308e-02 -8.30421816e-03 1.03972926e+01] [ 2.19292958e-02 9.99700245e-01 -1.08869967e-02 -2.96062081e-01] [ 8.54146311e-03 1.07018757e-02 9.99906252e-01 -2.11731980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.551193817 meters Centerline goodness [0,1] 0.919509517595642 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.30, Z:-2.12 [[ 9.99606365e-01 -2.78249550e-02 -3.58986389e-03 1.04059823e+01] [ 2.78071993e-02 9.99601272e-01 -4.90466409e-03 -3.02483425e-01] [ 3.72490457e-03 4.80290939e-03 9.99981528e-01 -2.11832401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.581193817 meters Centerline goodness [0,1] 0.9179321822342418 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.31, Z:-2.12 [[ 9.99605408e-01 -2.78712121e-02 -3.49640258e-03 1.04050230e+01] [ 2.78568510e-02 9.99603551e-01 -4.09096041e-03 -3.05288504e-01] [ 3.60903646e-03 3.99194738e-03 9.99985520e-01 -2.11704357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.611193817 meters Centerline goodness [0,1] 0.9160053184858935 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.31, Z:-2.12 [[ 9.99606635e-01 -2.78162602e-02 -3.58191420e-03 1.04045069e+01] [ 2.78040220e-02 9.99607535e-01 -3.42228906e-03 -3.07692941e-01] [ 3.67570371e-03 3.32135123e-03 9.99987729e-01 -2.11593383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.641193817 meters Centerline goodness [0,1] 0.9135971746130674 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.31, Z:-2.12 [[ 9.99616120e-01 -2.74606866e-02 -3.67742066e-03 1.04041884e+01] [ 2.74506923e-02 9.99619400e-01 -2.74121179e-03 -3.09327859e-01] [ 3.75129659e-03 2.63921175e-03 9.99989481e-01 -2.11521223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.671193817 meters Centerline goodness [0,1] 0.9133232321135765 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.31, Z:-2.12 [[ 9.99704268e-01 -2.39915836e-02 -3.97256147e-03 1.04050389e+01] [ 2.39976569e-02 9.99710907e-01 1.48826342e-03 -3.11188603e-01] [ 3.93570723e-03 -1.58315546e-03 9.99991002e-01 -2.11570428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.701193817 meters Centerline goodness [0,1] 0.9129323776877531 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.31, Z:-2.12 [[ 9.99753000e-01 -2.17602727e-02 -4.51992864e-03 1.04076787e+01] [ 2.17786809e-02 9.99754556e-01 4.06417641e-03 -3.11880275e-01] [ 4.43038166e-03 -4.16161064e-03 9.99981526e-01 -2.11766438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.731193817 meters Centerline goodness [0,1] 0.9118756476683938 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.31, Z:-2.12 [[ 9.99770000e-01 -2.08339276e-02 -5.08872266e-03 1.04102918e+01] [ 2.08586989e-02 9.99770600e-01 4.86430616e-03 -3.11795667e-01] [ 4.98621271e-03 -4.96933151e-03 9.99975221e-01 -2.11956115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.761193817 meters Centerline goodness [0,1] 0.9105414052436946 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.31, Z:-2.12 [[ 9.99772130e-01 -2.06525314e-02 -5.40012600e-03 1.04113479e+01] [ 2.06784619e-02 9.99774699e-01 4.79092245e-03 -3.10977250e-01] [ 5.29996467e-03 -4.90149704e-03 9.99973943e-01 -2.12022090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.791193817 meters Centerline goodness [0,1] 0.9221591735777681 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.31, Z:-2.12 [[ 9.99772875e-01 -2.05205251e-02 -5.75384722e-03 1.04126951e+01] [ 2.05487483e-02 9.99776895e-01 4.88964644e-03 -3.10717050e-01] [ 5.65222540e-03 -5.00677023e-03 9.99971492e-01 -2.12114688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.821193817 meters Centerline goodness [0,1] 0.9084921146134186 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.31, Z:-2.12 [[ 9.99770240e-01 -2.04785670e-02 -6.33211680e-03 1.04143513e+01] [ 2.05115452e-02 9.99776157e-01 5.18774188e-03 -3.11812548e-01] [ 6.22446188e-03 -5.31643145e-03 9.99966495e-01 -2.12181338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.851193817 meters Centerline goodness [0,1] 0.8852598752598753 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.31, Z:-2.12 [[ 9.99768646e-01 -2.03927821e-02 -6.84030028e-03 1.04160043e+01] [ 2.04318090e-02 9.99775086e-01 5.68491687e-03 -3.13460993e-01] [ 6.72283053e-03 -5.82336135e-03 9.99960445e-01 -2.12266968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.881193817 meters Centerline goodness [0,1] 0.8736933797909407 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.31, Z:-2.12 [[ 9.99764011e-01 -2.04705853e-02 -7.27165469e-03 1.04175136e+01] [ 2.05146335e-02 9.99771335e-01 6.03547569e-03 -3.14924175e-01] [ 7.14644220e-03 -6.18322672e-03 9.99955347e-01 -2.12350667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.911193817 meters Centerline goodness [0,1] 0.9063739641529419 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.32, Z:-2.12 [[ 9.99762573e-01 -2.04575277e-02 -7.50241739e-03 1.04178492e+01] [ 2.05057080e-02 9.99769237e-01 6.40226978e-03 -3.15989471e-01] [ 7.36971149e-03 -6.55459209e-03 9.99951361e-01 -2.12330927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.941193817 meters Centerline goodness [0,1] 0.893700136414369 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.32, Z:-2.12 [[ 9.99752807e-01 -2.08240128e-02 -7.79008280e-03 1.04186181e+01] [ 2.08737345e-02 9.99761911e-01 6.35678076e-03 -3.16571806e-01] [ 7.65585439e-03 -6.51781753e-03 9.99949452e-01 -2.12347365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.971193817 meters Centerline goodness [0,1] 0.8597210998528833 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.32, Z:-2.12 [[ 9.99747911e-01 -2.10016419e-02 -7.94014663e-03 1.04188016e+01] [ 2.10567976e-02 9.99754278e-01 6.92783614e-03 -3.18800886e-01] [ 7.79269963e-03 -7.09328377e-03 9.99944478e-01 -2.12319900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.001193817 meters Centerline goodness [0,1] 0.8666652861757641 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.32, Z:-2.12 [[ 9.99743979e-01 -2.10289901e-02 -8.35209548e-03 1.04200267e+01] [ 2.10885737e-02 9.99752321e-01 7.11114239e-03 -3.19370877e-01] [ 8.20048670e-03 -7.28545557e-03 9.99939835e-01 -2.12371209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.03119381700003 meters Centerline goodness [0,1] 0.8520571262506746 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.32, Z:-2.12 [[ 9.99741537e-01 -2.11595460e-02 -8.31460603e-03 1.04207113e+01] [ 2.12198942e-02 9.99748631e-01 7.23816262e-03 -3.20268117e-01] [ 8.15935976e-03 -7.41272688e-03 9.99939236e-01 -2.12463087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.061193817 meters Centerline goodness [0,1] 0.863893434981666 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.32, Z:-2.13 [[ 9.99737190e-01 -2.11960249e-02 -8.73385963e-03 1.04218613e+01] [ 2.12590269e-02 9.99748183e-01 7.18495936e-03 -3.20096190e-01] [ 8.57936773e-03 -7.36874444e-03 9.99936046e-01 -2.12504462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.091193817 meters Centerline goodness [0,1] 0.8638949219153997 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.32, Z:-2.13 [[ 9.99731983e-01 -2.12986284e-02 -9.07362580e-03 1.04225914e+01] [ 2.13616861e-02 9.99747932e-01 6.91026193e-03 -3.19243908e-01] [ 8.92415952e-03 -7.10223781e-03 9.99934957e-01 -2.12507740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.121193817 meters Centerline goodness [0,1] 0.8629920933031731 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.32, Z:-2.12 [[ 9.99730534e-01 -2.13265237e-02 -9.16731265e-03 1.04223797e+01] [ 2.13881150e-02 9.99748972e-01 6.67387923e-03 -3.18367248e-01] [ 9.02268076e-03 -6.86815238e-03 9.99935708e-01 -2.12454444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.151193817 meters Centerline goodness [0,1] 0.837241150350666 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.32, Z:-2.12 [[ 9.99726301e-01 -2.13934935e-02 -9.46795699e-03 1.04229973e+01] [ 2.14532289e-02 9.99750297e-01 6.25327248e-03 -3.17027870e-01] [ 9.33181347e-03 -6.45467921e-03 9.99935625e-01 -2.12457846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.181193817 meters Centerline goodness [0,1] 0.8599374184056199 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.32, Z:-2.12 [[ 9.99721098e-01 -2.14436094e-02 -9.89435123e-03 1.04239075e+01] [ 2.15008042e-02 9.99752520e-01 5.71084358e-03 -3.15164672e-01] [ 9.76944148e-03 -5.92198733e-03 9.99934742e-01 -2.12471298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.211193817 meters Centerline goodness [0,1] 0.8778812838440632 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.31, Z:-2.13 [[ 9.99786357e-01 -1.78540696e-02 -1.04149740e-02 1.04251845e+01] [ 1.79403313e-02 9.99805033e-01 8.24868439e-03 -3.11124674e-01] [ 1.02656709e-02 -8.43377020e-03 9.99911740e-01 -2.12527381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.241193817 meters Centerline goodness [0,1] 0.9072825634623387 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.31, Z:-2.13 [[ 0.99984143 -0.01411907 -0.01085228 10.42578619] [ 0.01424347 0.99983274 0.01147268 -0.30911854] [ 0.01068848 -0.01162544 0.99987529 -2.12502705] [ 0. 0. 0. 1. ]] SLAMing on 272.271193817 meters Centerline goodness [0,1] 0.9146761217549971 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.30, Z:-2.12 [[ 9.99927038e-01 -8.65216552e-03 -8.42963955e-03 1.04340935e+01] [ 8.68716509e-03 9.99953761e-01 4.12423337e-03 -3.04189026e-01] [ 8.39356622e-03 -4.19716213e-03 9.99955965e-01 -2.12485622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.301193817 meters Centerline goodness [0,1] 0.9216793671227757 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.30, Z:-2.12 [[ 9.99952997e-01 -4.45508003e-03 -8.61140236e-03 1.04337478e+01] [ 4.51886757e-03 9.99962393e-01 7.40212593e-03 -3.01191511e-01] [ 8.57810145e-03 -7.44069179e-03 9.99935524e-01 -2.12395431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.331193817 meters Centerline goodness [0,1] 0.9236633271541939 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.30, Z:-2.12 [[ 9.99961213e-01 -3.28029106e-04 -8.80140150e-03 1.04335252e+01] [ 4.22077773e-04 9.99942815e-01 1.06859179e-02 -2.98442584e-01] [ 8.79739290e-03 -1.06892183e-02 9.99904169e-01 -2.12311319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.361193817 meters Centerline goodness [0,1] 0.9223623781716922 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.29, Z:-2.12 [[ 9.99934048e-01 1.03794019e-02 -4.91608020e-03 1.04372821e+01] [-1.03604130e-02 9.99938831e-01 3.87244380e-03 -2.92283501e-01] [ 4.95597314e-03 -3.82125579e-03 9.99980418e-01 -2.12494321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.391193817 meters Centerline goodness [0,1] 0.9228397616288694 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.29, Z:-2.13 [[ 9.99922511e-01 1.12267310e-02 -5.37889859e-03 1.04382709e+01] [-1.12067856e-02 9.99930268e-01 3.72397187e-03 -2.90316257e-01] [ 5.42033153e-03 -3.66340314e-03 9.99978600e-01 -2.12501581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.421193817 meters Centerline goodness [0,1] 0.9226314041351823 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.29, Z:-2.13 [[ 9.99915482e-01 1.17106599e-02 -5.64711033e-03 1.04388780e+01] [-1.16897362e-02 9.99924738e-01 3.72408248e-03 -2.89553451e-01] [ 5.69029678e-03 -3.65775450e-03 9.99977120e-01 -2.12515252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.451193817 meters Centerline goodness [0,1] 0.9206586205466385 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.29, Z:-2.13 [[ 9.99914540e-01 1.15544949e-02 -6.11602249e-03 1.04411237e+01] [-1.15298962e-02 9.99925359e-01 4.04210054e-03 -2.93207030e-01] [ 6.16227041e-03 -3.97123800e-03 9.99973127e-01 -2.12680403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.481193817 meters Centerline goodness [0,1] 0.9150835669054292 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.29, Z:-2.13 [[ 9.99947477e-01 8.05743871e-03 -6.33415509e-03 1.04416442e+01] [-8.05339127e-03 9.99967350e-01 6.64233080e-04 -2.94681593e-01] [ 6.33930030e-03 -6.13186763e-04 9.99979718e-01 -2.12705651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.511193817 meters Centerline goodness [0,1] 0.9110811091494444 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.30, Z:-2.13 [[ 9.99967256e-01 4.72447466e-03 -6.57014452e-03 1.04422479e+01] [-4.73981011e-03 9.99986075e-01 -2.32050386e-03 -2.96829307e-01] [ 6.55908987e-03 2.35156911e-03 9.99975724e-01 -2.12730381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.541193817 meters Centerline goodness [0,1] 0.9101184180509757 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.30, Z:-2.13 [[ 9.99975410e-01 1.40084214e-03 -6.87146637e-03 1.04429024e+01] [-1.43622011e-03 9.99985726e-01 -5.14630291e-03 -2.99676445e-01] [ 6.86415913e-03 5.15604530e-03 9.99963149e-01 -2.12744280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.571193817 meters Centerline goodness [0,1] 0.9200829875518672 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.31, Z:-2.13 [[ 9.99976830e-01 -1.04720740e-03 -6.72620518e-03 1.04410674e+01] [ 1.01203864e-03 9.99985812e-01 -5.22989613e-03 -3.10549259e-01] [ 6.73158653e-03 5.22296778e-03 9.99963703e-01 -2.12507700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.601193817 meters Centerline goodness [0,1] 0.9237388293350474 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.32, Z:-2.12 [[ 9.99976972e-01 -2.27972643e-04 -6.78255680e-03 1.04404441e+01] [ 2.07123268e-04 9.99995252e-01 -3.07451349e-03 -3.16909570e-01] [ 6.78322551e-03 3.07303786e-03 9.99972272e-01 -2.12396084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.631193817 meters Centerline goodness [0,1] 0.9204833811722617 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.32, Z:-2.12 [[ 9.99976966e-01 5.84808897e-04 -6.76210667e-03 1.04399108e+01] [-5.93803281e-04 9.99998942e-01 -1.32818441e-03 -3.21563332e-01] [ 6.76132277e-03 1.33216918e-03 9.99976255e-01 -2.12323358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.661193817 meters Centerline goodness [0,1] 0.9232530070337537 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.33, Z:-2.12 [[ 9.99976563e-01 1.16006082e-03 -6.74741609e-03 1.04398946e+01] [-1.16054135e-03 9.99999324e-01 -6.73015147e-05 -3.25096765e-01] [ 6.74733346e-03 7.51305927e-05 9.99977234e-01 -2.12317474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.691193817 meters Centerline goodness [0,1] 0.9241910822761271 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.33, Z:-2.12 [[ 9.99973074e-01 1.84472673e-03 -7.10267612e-03 1.04408259e+01] [-1.83694878e-03 9.99997706e-01 1.10144169e-03 -3.28418449e-01] [ 7.10469168e-03 -1.08836479e-03 9.99974169e-01 -2.12339604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.721193817 meters Centerline goodness [0,1] 0.9343682370567671 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.34, Z:-2.12 [[ 9.99969295e-01 3.29670888e-03 -7.10919043e-03 1.04407756e+01] [-3.27139085e-03 9.99988276e-01 3.57000253e-03 -3.35756929e-01] [ 7.12087634e-03 -3.54663597e-03 9.99968357e-01 -2.12328677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.751193817 meters Centerline goodness [0,1] 0.9330196110949873 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.34, Z:-2.12 [[ 9.99965818e-01 3.72213057e-03 -7.38293324e-03 1.04415916e+01] [-3.68782458e-03 9.99982366e-01 4.65484440e-03 -3.39506074e-01] [ 7.40012898e-03 -4.62745833e-03 9.99961912e-01 -2.12354764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78119381700003 meters Centerline goodness [0,1] 0.9268231768231768 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.34, Z:-2.12 [[ 9.99971910e-01 6.99556743e-04 -7.46250713e-03 1.04417814e+01] [-6.87705218e-04 9.99998499e-01 1.59059046e-03 -3.40935007e-01] [ 7.46360864e-03 -1.58541377e-03 9.99970890e-01 -2.12367201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.811193817 meters Centerline goodness [0,1] 0.930106183635228 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.34, Z:-2.12 [[ 9.99970064e-01 2.40365082e-04 -7.73391659e-03 1.04430704e+01] [-2.24588611e-04 9.99997893e-01 2.04071085e-03 -3.44941633e-01] [ 7.73439081e-03 -2.03891281e-03 9.99968011e-01 -2.12447634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.841193817 meters Centerline goodness [0,1] 0.9173304494311919 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.35, Z:-2.13 [[ 9.99944731e-01 -6.34553037e-03 -8.38269128e-03 1.04459259e+01] [ 6.31991186e-03 9.99975289e-01 -3.07908167e-03 -3.51561908e-01] [ 8.40202254e-03 3.02593362e-03 9.99960124e-01 -2.12639769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.871193817 meters Centerline goodness [0,1] 0.9175674268457774 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.35, Z:-2.13 [[ 9.99910156e-01 -1.02379034e-02 -8.65248926e-03 1.04470161e+01] [ 1.01853551e-02 9.99929549e-01 -6.09560679e-03 -3.54988988e-01] [ 8.71428592e-03 6.00693046e-03 9.99943987e-01 -2.12700782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.901193817 meters Centerline goodness [0,1] 0.9183431706708787 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.36, Z:-2.13 [[ 9.99859001e-01 -1.42013803e-02 -8.96098612e-03 1.04479497e+01] [ 1.41202269e-02 9.99859299e-01 -9.05549211e-03 -3.58694106e-01] [ 9.08832579e-03 8.92768413e-03 9.99918846e-01 -2.12722174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.931193817 meters Centerline goodness [0,1] 0.9191328071308078 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.36, Z:-2.13 [[ 9.99794836e-01 -1.80748939e-02 -9.14243479e-03 1.04485415e+01] [ 1.79657722e-02 9.99768018e-01 -1.18802656e-02 -3.62635596e-01] [ 9.35504845e-03 1.17135773e-02 9.99887631e-01 -2.12721746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.961193817 meters Centerline goodness [0,1] 0.8911796491811456 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.37, Z:-2.13 [[ 9.99609367e-01 -2.64192014e-02 -9.11808875e-03 1.04488683e+01] [ 2.62496925e-02 9.99489095e-01 -1.82346633e-02 -3.68972355e-01] [ 9.59517551e-03 1.79881932e-02 9.99792157e-01 -2.12691818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.991193817 meters Centerline goodness [0,1] 0.8692042671537088 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.37, Z:-2.13 [[ 9.99588090e-01 -2.71844565e-02 -9.20080499e-03 1.04492339e+01] [ 2.70201379e-02 9.99481073e-01 -1.75356020e-02 -3.73050744e-01] [ 9.67272625e-03 1.72797719e-02 9.99803905e-01 -2.12677816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.021193817 meters Centerline goodness [0,1] 0.8555462885738115 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.38, Z:-2.13 [[ 9.99575636e-01 -2.75812368e-02 -9.37144957e-03 1.04497546e+01] [ 2.74221885e-02 9.99484498e-01 -1.66961453e-02 -3.76640444e-01] [ 9.82711890e-03 1.64320744e-02 9.99816691e-01 -2.12679285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.051193817 meters Centerline goodness [0,1] 0.8177103860275052 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.38, Z:-2.13 [[ 9.99540318e-01 -2.86752659e-02 -9.84289258e-03 1.04517793e+01] [ 2.85059150e-02 9.99450161e-01 -1.69348414e-02 -3.79150432e-01] [ 1.03230917e-02 1.66464761e-02 9.99808146e-01 -2.12788622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.081193817 meters Centerline goodness [0,1] 0.7989917296835615 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.38, Z:-2.13 [[ 9.99412978e-01 -3.27372401e-02 -1.00981461e-02 1.04530254e+01] [ 3.25257002e-02 9.99261751e-01 -2.04458245e-02 -3.80977053e-01] [ 1.07600311e-02 2.01053731e-02 9.99739964e-01 -2.12852333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.111193817 meters Centerline goodness [0,1] 0.7846118787677901 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.38, Z:-2.13 [[ 9.99407738e-01 -3.36594269e-02 -7.15652287e-03 1.04612131e+01] [ 3.35831248e-02 9.99380482e-01 -1.05273858e-02 -3.84995857e-01] [ 7.50643504e-03 1.02808124e-02 9.99918976e-01 -2.12779870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.141193817 meters Centerline goodness [0,1] 0.7749307911662469 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.39, Z:-2.13 [[ 9.99405750e-01 -3.36892028e-02 -7.29270209e-03 1.04610976e+01] [ 3.36143238e-02 9.99383259e-01 -1.01576543e-02 -3.86063002e-01] [ 7.63040766e-03 9.90647890e-03 9.99921816e-01 -2.12717388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.171193817 meters Centerline goodness [0,1] 0.7691058603101905 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.39, Z:-2.13 [[ 9.99407150e-01 -3.36079656e-02 -7.47344907e-03 1.04612812e+01] [ 3.35338656e-02 9.99389251e-01 -9.82873462e-03 -3.86625865e-01] [ 7.79920844e-03 9.57229402e-03 9.99923769e-01 -2.12686623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.201193817 meters Centerline goodness [0,1] 0.7623741741866912 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.39, Z:-2.13 [[ 9.99511292e-01 -3.03009260e-02 -7.68316673e-03 1.04613259e+01] [ 3.02581019e-02 9.99526263e-01 -5.63007663e-03 -3.88582161e-01] [ 7.85012346e-03 5.39484712e-03 9.99954635e-01 -2.12632109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.231193817 meters Centerline goodness [0,1] 0.7721201830493032 Centerline is valid? [False, False] Translation: X:10.47, Y:-0.39, Z:-2.13 [[ 9.99651844e-01 -2.63420801e-02 -1.51186427e-03 1.04734411e+01] [ 2.63249336e-02 9.99599140e-01 -1.04190741e-02 -3.85083052e-01] [ 1.78571831e-03 1.03756469e-02 9.99944577e-01 -2.12962812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.261193817 meters Centerline goodness [0,1] 0.7836628511966701 Centerline is valid? [False, False] Translation: X:10.47, Y:-0.39, Z:-2.13 [[ 9.99749484e-01 -2.23161524e-02 -1.72016533e-03 1.04731163e+01] [ 2.23049062e-02 9.99731358e-01 -6.30106924e-03 -3.85026245e-01] [ 1.86031884e-03 6.26112259e-03 9.99978669e-01 -2.12877311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.291193817 meters Centerline goodness [0,1] 0.8052941054250036 Centerline is valid? [False, False] Translation: X:10.47, Y:-0.38, Z:-2.13 [[ 9.99830330e-01 -1.83081542e-02 -2.03055226e-03 1.04732771e+01] [ 1.83029524e-02 9.99829231e-01 -2.55143293e-03 -3.83562963e-01] [ 2.07691753e-03 2.51383492e-03 9.99994684e-01 -2.12833640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.321193817 meters Centerline goodness [0,1] 0.8553361161298362 Centerline is valid? [False, False] Translation: X:10.47, Y:-0.38, Z:-2.13 [[ 9.99939778e-01 -1.06748540e-02 -2.54708485e-03 1.04739250e+01] [ 1.06838379e-02 9.99936660e-01 3.54000657e-03 -3.76930199e-01] [ 2.50913447e-03 -3.56700602e-03 9.99990490e-01 -2.12834947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.351193817 meters Centerline goodness [0,1] 0.9106458333333334 Centerline is valid? [False, False] Translation: X:10.47, Y:-0.37, Z:-2.13 [[ 9.99973355e-01 -6.79408827e-03 -2.67004478e-03 1.04741262e+01] [ 6.81201035e-03 9.99953938e-01 6.76150662e-03 -3.74027492e-01] [ 2.62398352e-03 -6.77951483e-03 9.99973576e-01 -2.12843623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.381193817 meters Centerline goodness [0,1] 0.9024941899070386 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.37, Z:-2.13 [[ 9.99989556e-01 -3.32693447e-03 -3.13348265e-03 1.04754615e+01] [ 3.35768089e-03 9.99945765e-01 9.85861396e-03 -3.71836326e-01] [ 3.10051375e-03 -9.86903224e-03 9.99946493e-01 -2.12902853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.411193817 meters Centerline goodness [0,1] 0.9217579490594306 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.37, Z:-2.13 [[ 9.99989917e-01 -3.22747809e-03 -3.12228272e-03 1.04758113e+01] [ 3.25498668e-03 9.99955577e-01 8.84582014e-03 -3.67765671e-01] [ 3.09359433e-03 -8.85589394e-03 9.99956000e-01 -2.12964259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.441193817 meters Centerline goodness [0,1] 0.9217579490594306 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.37, Z:-2.13 [[ 9.99989917e-01 -3.22747809e-03 -3.12228272e-03 1.04758113e+01] [ 3.25498668e-03 9.99955577e-01 8.84582014e-03 -3.67765671e-01] [ 3.09359433e-03 -8.85589394e-03 9.99956000e-01 -2.12964259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.471193817 meters Centerline goodness [0,1] 0.9094521773505607 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.36, Z:-2.13 [[ 9.99987195e-01 -3.67466841e-03 -3.47955296e-03 1.04770194e+01] [ 3.70087925e-03 9.99964600e-01 7.55658090e-03 -3.64095717e-01] [ 3.45166186e-03 -7.56936154e-03 9.99965395e-01 -2.13045979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.501193817 meters Centerline goodness [0,1] 0.9048517911593271 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.36, Z:-2.13 [[ 9.99983210e-01 -4.27827825e-03 -3.90833175e-03 1.04784298e+01] [ 4.30356225e-03 9.99969719e-01 6.48391664e-03 -3.61650381e-01] [ 3.88047340e-03 -6.50062753e-03 9.99971341e-01 -2.13126834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.53119381700003 meters Centerline goodness [0,1] 0.8872896690862955 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.36, Z:-2.13 [[ 9.99978146e-01 -5.27747360e-03 -3.98195143e-03 1.04787920e+01] [ 5.29832976e-03 9.99972206e-01 5.24543318e-03 -3.59023501e-01] [ 3.95415812e-03 -5.26641624e-03 9.99978315e-01 -2.13155508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.561193817 meters Centerline goodness [0,1] 0.8728413790237111 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.36, Z:-2.13 [[ 9.99973900e-01 -5.89452957e-03 -4.17772434e-03 1.04798636e+01] [ 5.91350484e-03 9.99972189e-01 4.54430798e-03 -3.57852719e-01] [ 4.15082159e-03 -4.56889436e-03 9.99980948e-01 -2.13242712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.591193817 meters Centerline goodness [0,1] 0.9006429596953744 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.36, Z:-2.13 [[ 9.99970230e-01 -6.31029587e-03 -4.44069511e-03 1.04807235e+01] [ 6.32887110e-03 9.99971230e-01 4.18140880e-03 -3.57255232e-01] [ 4.41418143e-03 -4.20938890e-03 9.99981398e-01 -2.13285092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.621193817 meters Centerline goodness [0,1] 0.8416559612117194 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.36, Z:-2.13 [[ 9.99964041e-01 -6.89937776e-03 -4.93103174e-03 1.04823259e+01] [ 6.91655453e-03 9.99970043e-01 3.47487936e-03 -3.56265623e-01] [ 4.90690952e-03 -3.50886016e-03 9.99981805e-01 -2.13367730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.651193817 meters Centerline goodness [0,1] 0.9046827260823478 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.35, Z:-2.13 [[ 9.99966419e-01 -6.50118119e-03 -4.98953190e-03 1.04820189e+01] [ 6.51643781e-03 9.99974124e-01 3.04758527e-03 -3.53215045e-01] [ 4.96958989e-03 -3.07999690e-03 9.99982908e-01 -2.13319360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.681193817 meters Centerline goodness [0,1] 0.9001351210892838 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.35, Z:-2.13 [[ 9.99969675e-01 -6.02417407e-03 -4.93545158e-03 1.04814190e+01] [ 6.03886679e-03 9.99977363e-01 2.96750148e-03 -3.51668424e-01] [ 4.91746311e-03 -2.99721603e-03 9.99983417e-01 -2.13254196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.711193817 meters Centerline goodness [0,1] 0.9174918864941333 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.35, Z:-2.13 [[ 9.99972548e-01 -5.59288266e-03 -4.86035569e-03 1.04805038e+01] [ 5.60741326e-03 9.99979835e-01 2.98114988e-03 -3.50527395e-01] [ 4.84358446e-03 -3.00832207e-03 9.99983745e-01 -2.13152932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.741193817 meters Centerline goodness [0,1] 0.9167688693953063 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.35, Z:-2.13 [[ 9.99974054e-01 -5.25451745e-03 -4.92770563e-03 1.04801757e+01] [ 5.26945881e-03 9.99981544e-01 3.02404527e-03 -3.49750354e-01] [ 4.91172479e-03 -3.04993315e-03 9.99983286e-01 -2.13091331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.771193817 meters Centerline goodness [0,1] 0.9200406748708158 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.35, Z:-2.13 [[ 9.99975324e-01 -4.93356165e-03 -5.00115398e-03 1.04802217e+01] [ 4.94750903e-03 9.99983896e-01 2.78030730e-03 -3.47998052e-01] [ 4.98735662e-03 -2.80498195e-03 9.99983629e-01 -2.13080232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.801193817 meters Centerline goodness [0,1] 0.9178372537611171 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.35, Z:-2.13 [[ 9.99974961e-01 -4.85750454e-03 -5.14610915e-03 1.04802029e+01] [ 4.87102805e-03 9.99984708e-01 2.61864375e-03 -3.46796636e-01] [ 5.13331038e-03 -2.64364503e-03 9.99983330e-01 -2.13043385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.831193817 meters Centerline goodness [0,1] 0.9193310480939025 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.35, Z:-2.13 [[ 9.99975803e-01 -4.62264769e-03 -5.19852341e-03 1.04799328e+01] [ 4.63649689e-03 9.99985726e-01 2.65517576e-03 -3.45979843e-01] [ 5.18617526e-03 -2.67921445e-03 9.99982963e-01 -2.12991632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.861193817 meters Centerline goodness [0,1] 0.925465063048816 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.35, Z:-2.13 [[ 9.99976541e-01 -4.38727115e-03 -5.26014292e-03 1.04799500e+01] [ 4.40128368e-03 9.99986789e-01 2.65529585e-03 -3.45215683e-01] [ 5.24842393e-03 -2.67838494e-03 9.99982640e-01 -2.12978261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.891193817 meters Centerline goodness [0,1] 0.9212464117818363 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.34, Z:-2.13 [[ 9.99977503e-01 -4.06517057e-03 -5.33560643e-03 1.04800028e+01] [ 4.07936202e-03 9.99988164e-01 2.65158110e-03 -3.44536798e-01] [ 5.32476415e-03 -2.67328732e-03 9.99982250e-01 -2.12967800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.921193817 meters Centerline goodness [0,1] 0.9256253243383498 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.34, Z:-2.13 [[ 9.99977608e-01 -3.74608865e-03 -5.54521637e-03 1.04806299e+01] [ 3.76123762e-03 9.99989216e-01 2.72399522e-03 -3.44408337e-01] [ 5.53495224e-03 -2.74479111e-03 9.99980915e-01 -2.12991798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.951193817 meters Centerline goodness [0,1] 0.9202309977357236 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.34, Z:-2.13 [[ 9.99982503e-01 -2.33297834e-03 -5.43608423e-03 1.04803092e+01] [ 2.35209794e-03 9.99991062e-01 3.51342957e-03 -3.44502770e-01] [ 5.42783889e-03 -3.52615429e-03 9.99979052e-01 -2.12987914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.981193817 meters Centerline goodness [0,1] 0.9194066339320861 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.34, Z:-2.13 [[ 9.99981893e-01 -1.69941302e-03 -5.77292210e-03 1.04812479e+01] [ 1.72049124e-03 9.99991865e-01 3.64822024e-03 -3.43972948e-01] [ 5.76667530e-03 -3.65808644e-03 9.99976682e-01 -2.13031809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.011193817 meters Centerline goodness [0,1] 0.9300260010400416 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.35, Z:-2.13 [[ 9.99974886e-01 3.97470294e-03 -5.86770014e-03 1.04808859e+01] [-3.92019041e-03 9.99949323e-01 9.27272235e-03 -3.46800844e-01] [ 5.90425910e-03 -9.24948697e-03 9.99939792e-01 -2.12957486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.041193817 meters Centerline goodness [0,1] 0.9303001973615872 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.35, Z:-2.13 [[ 9.99968068e-01 5.18297990e-03 -6.08268149e-03 1.04813070e+01] [-5.12244819e-03 9.99937623e-01 9.92522537e-03 -3.47118969e-01] [ 6.13374432e-03 -9.89375022e-03 9.99932243e-01 -2.12966252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.071193817 meters Centerline goodness [0,1] 0.9325044036887369 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.35, Z:-2.13 [[ 9.99959007e-01 6.39319949e-03 -6.41188340e-03 1.04819994e+01] [-6.32458371e-03 9.99923124e-01 1.06651295e-02 -3.47932612e-01] [ 6.47957478e-03 -1.06241398e-02 9.99922568e-01 -2.12984021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.101193817 meters Centerline goodness [0,1] 0.9330727488200927 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.35, Z:-2.13 [[ 9.99949519e-01 7.55781832e-03 -6.62107513e-03 1.04823746e+01] [-7.48050170e-03 9.99904443e-01 1.16253076e-02 -3.49507072e-01] [ 6.70830440e-03 -1.15751918e-02 9.99910503e-01 -2.12982301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.131193817 meters Centerline goodness [0,1] 0.9301636627304745 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.35, Z:-2.13 [[ 9.99937857e-01 8.78531514e-03 -6.86303905e-03 1.04830065e+01] [-8.69698190e-03 9.99880300e-01 1.27963861e-02 -3.51981964e-01] [ 6.97463783e-03 -1.27359031e-02 9.99894570e-01 -2.13003566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.161193817 meters Centerline goodness [0,1] 0.9021660275676235 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.36, Z:-2.13 [[ 9.99897720e-01 1.24101517e-02 -7.10896486e-03 1.04840212e+01] [-1.22885760e-02 9.99781709e-01 1.68974669e-02 -3.60557436e-01] [ 7.31711317e-03 -1.68083796e-02 9.99831955e-01 -2.13067794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.191193817 meters Centerline goodness [0,1] 0.874316714453681 Centerline is valid? [False, False] Translation: X:10.49, Y:-0.36, Z:-2.13 [[ 9.99885216e-01 1.45751174e-02 -4.13783092e-03 1.04942899e+01] [-1.45451886e-02 9.99868483e-01 7.17320862e-03 -3.62742182e-01] [ 4.24183709e-03 -7.11219971e-03 9.99965711e-01 -2.13308964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.221193817 meters Centerline goodness [0,1] 0.8770965936184769 Centerline is valid? [False, False] Translation: X:10.49, Y:-0.37, Z:-2.13 [[ 9.99914924e-01 1.23735087e-02 -4.12809198e-03 1.04938898e+01] [-1.23524338e-02 9.99910739e-01 5.09224461e-03 -3.66784184e-01] [ 4.19073244e-03 -5.04081940e-03 9.99978514e-01 -2.13279063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.251193817 meters Centerline goodness [0,1] 0.8648877857068984 Centerline is valid? [False, False] Translation: X:10.49, Y:-0.37, Z:-2.13 [[ 9.99939908e-01 1.00955865e-02 -4.27305343e-03 1.04943480e+01] [-1.00811620e-02 9.99943458e-01 3.38388440e-03 -3.72413380e-01] [ 4.30697412e-03 -3.34060372e-03 9.99985145e-01 -2.13310725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28119381700003 meters Centerline goodness [0,1] 0.8629698192482892 Centerline is valid? [False, False] Translation: X:10.49, Y:-0.38, Z:-2.13 [[ 9.99961507e-01 7.71990532e-03 -4.16980195e-03 1.04941163e+01] [-7.71171332e-03 9.99968310e-01 1.97712163e-03 -3.79281406e-01] [ 4.18493300e-03 -1.94488921e-03 9.99989352e-01 -2.13305684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.311193817 meters Centerline goodness [0,1] 0.8655500507866752 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.40, Z:-2.13 [[ 9.99982799e-01 3.94587643e-03 -4.33953272e-03 1.04952026e+01] [-3.94281609e-03 9.99991972e-01 7.13551032e-04 -3.96471557e-01] [ 4.34231347e-03 -6.96428778e-04 9.99990330e-01 -2.13354338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.341193817 meters Centerline goodness [0,1] 0.8996404597127834 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.41, Z:-2.13 [[ 9.99989138e-01 1.69403576e-03 -4.34216380e-03 1.04955507e+01] [-1.69373861e-03 9.99998563e-01 7.21090944e-05 -4.05474974e-01] [ 4.34227971e-03 -6.47538206e-05 9.99990570e-01 -2.13370760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.371193817 meters Centerline goodness [0,1] 0.8767744889888015 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.42, Z:-2.13 [[ 9.99990805e-01 -2.32860512e-04 -4.28211240e-03 1.04954461e+01] [ 2.32190902e-04 9.99999961e-01 -1.56870221e-04 -4.15448429e-01] [ 4.28214876e-03 1.55874511e-04 9.99990819e-01 -2.13342438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.401193817 meters Centerline goodness [0,1] 0.8778532155948018 Centerline is valid? [False, False] Translation: X:10.49, Y:-0.43, Z:-2.13 [[ 9.99989626e-01 -1.91048918e-03 -4.13487131e-03 1.04948658e+01] [ 1.90974557e-03 9.99998160e-01 -1.83778677e-04 -4.25723067e-01] [ 4.13521480e-03 1.75880219e-04 9.99991434e-01 -2.13277456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.431193817 meters Centerline goodness [0,1] 0.8698428494423021 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.45, Z:-2.13 [[ 9.99984998e-01 -2.30257622e-03 -4.97001568e-03 1.04964582e+01] [ 2.31134060e-03 9.99995783e-01 1.75842795e-03 -4.46690670e-01] [ 4.96594580e-03 -1.76988897e-03 9.99986103e-01 -2.13161875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.461193817 meters Centerline goodness [0,1] 0.8595005473736393 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.46, Z:-2.13 [[ 9.99981813e-01 -3.30694495e-03 -5.04362556e-03 1.04968068e+01] [ 3.31708581e-03 9.99992491e-01 2.00359007e-03 -4.56357120e-01] [ 5.03696193e-03 -2.02028377e-03 9.99985274e-01 -2.13161653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.491193817 meters Centerline goodness [0,1] 0.899964563400246 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.47, Z:-2.13 [[ 9.99979861e-01 -4.35649891e-03 -4.61492494e-03 1.04953487e+01] [ 4.36674388e-03 9.99988019e-01 2.21221953e-03 -4.66820295e-01] [ 4.60523211e-03 -2.23232717e-03 9.99986904e-01 -2.13067574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.521193817 meters Centerline goodness [0,1] 0.8466905485899946 Centerline is valid? [False, False] Translation: X:10.49, Y:-0.49, Z:-2.13 [[ 9.99989498e-01 -3.61230013e-03 -2.82043080e-03 1.04902323e+01] [ 3.62490684e-03 9.99983406e-01 4.47753677e-03 -4.90853505e-01] [ 2.80420979e-03 -4.48771355e-03 9.99985998e-01 -2.12898044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.551193817 meters Centerline goodness [0,1] 0.8865261533971271 Centerline is valid? [False, False] Translation: X:10.49, Y:-0.50, Z:-2.13 [[ 9.99982767e-01 -5.36457721e-03 -2.38458194e-03 1.04893294e+01] [ 5.37506489e-03 9.99975814e-01 4.41368923e-03 -5.01147242e-01] [ 2.36084668e-03 -4.42643045e-03 9.99987416e-01 -2.12841386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.581193817 meters Centerline goodness [0,1] 0.9118192231594293 Centerline is valid? [False, False] Translation: X:10.49, Y:-0.51, Z:-2.13 [[ 9.99971483e-01 -7.23628865e-03 -2.16096181e-03 1.04886288e+01] [ 7.24608892e-03 9.99963339e-01 4.56228311e-03 -5.12033629e-01] [ 2.12786859e-03 -4.57781153e-03 9.99987258e-01 -2.12732056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.611193817 meters Centerline goodness [0,1] 0.9133377626442987 Centerline is valid? [False, False] Translation: X:10.49, Y:-0.52, Z:-2.13 [[ 9.99951236e-01 -9.60108139e-03 -2.31168246e-03 1.04887630e+01] [ 9.61157178e-03 9.99943363e-01 4.57047098e-03 -5.24265310e-01] [ 2.26767007e-03 -4.59246701e-03 9.99986883e-01 -2.12607362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.641193817 meters Centerline goodness [0,1] 0.9354476447956743 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.55, Z:-2.12 [[ 9.99858968e-01 -1.67929374e-02 2.04419884e-04 1.04837328e+01] [ 1.67919279e-02 9.99850134e-01 4.21191367e-03 -5.50364529e-01] [-2.75119651e-04 -4.20788705e-03 9.99991109e-01 -2.12234423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.671193817 meters Centerline goodness [0,1] 0.9415993370623575 Centerline is valid? [False, False] Translation: X:10.49, Y:-0.56, Z:-2.12 [[ 9.99798745e-01 -2.00579610e-02 -3.84748019e-04 1.04857350e+01] [ 2.00591249e-02 9.99793326e-01 3.30709983e-03 -5.62165217e-01] [ 3.18334823e-04 -3.31415197e-03 9.99994458e-01 -2.12233410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.701193817 meters Centerline goodness [0,1] 0.9470545454545455 Centerline is valid? [False, False] Translation: X:10.49, Y:-0.57, Z:-2.12 [[ 9.99728996e-01 -2.32729880e-02 -5.49523934e-04 1.04874581e+01] [ 2.32740645e-02 9.99727038e-01 2.04133597e-03 -5.73298615e-01] [ 5.01865947e-04 -2.05357242e-03 9.99997765e-01 -2.12323070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.731193817 meters Centerline goodness [0,1] 0.9498993002927558 Centerline is valid? [False, False] Translation: X:10.49, Y:-0.58, Z:-2.12 [[ 9.99659430e-01 -2.60780946e-02 -9.78730056e-04 1.04900379e+01] [ 2.60792802e-02 9.99659135e-01 1.21881329e-03 -5.83825396e-01] [ 9.46612113e-04 -1.24392278e-03 9.99998778e-01 -2.12451973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.761193817 meters Centerline goodness [0,1] 0.9465906470748527 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.60, Z:-2.13 [[ 9.99596413e-01 -2.77064832e-02 -6.27398237e-03 1.05036366e+01] [ 2.76865347e-02 9.99611389e-01 -3.24442601e-03 -6.04384441e-01] [ 6.36143587e-03 3.06941177e-03 9.99975055e-01 -2.12561812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.791193817 meters Centerline goodness [0,1] 0.9439488551888195 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.61, Z:-2.13 [[ 9.99515567e-01 -3.04802441e-02 -6.29173879e-03 1.05049288e+01] [ 3.04519883e-02 9.99525925e-01 -4.53894389e-03 -6.12780521e-01] [ 6.42710415e-03 4.34514912e-03 9.99969906e-01 -2.12646153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.821193817 meters Centerline goodness [0,1] 0.9414621622199876 Centerline is valid? [False, False] Translation: X:10.51, Y:-0.62, Z:-2.13 [[ 9.99423599e-01 -3.32915441e-02 -6.64403770e-03 1.05074884e+01] [ 3.32521359e-02 9.99429246e-01 -5.95623514e-03 -6.20810502e-01] [ 6.83853786e-03 5.73187351e-03 9.99960189e-01 -2.12801734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.851193817 meters Centerline goodness [0,1] 0.9404405589888245 Centerline is valid? [False, False] Translation: X:10.51, Y:-0.63, Z:-2.13 [[ 9.99314027e-01 -3.63727800e-02 -6.96387249e-03 1.05099236e+01] [ 3.63180729e-02 9.99309626e-01 -7.82745772e-03 -6.28384791e-01] [ 7.24377121e-03 7.56917387e-03 9.99945116e-01 -2.12956767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.881193817 meters Centerline goodness [0,1] 0.9390415475928775 Centerline is valid? [False, False] Translation: X:10.51, Y:-0.64, Z:-2.13 [[ 9.99197338e-01 -3.94166270e-02 -7.14206172e-03 1.05117275e+01] [ 3.93472814e-02 9.99179451e-01 -9.60295367e-03 -6.35966730e-01] [ 7.51471735e-03 9.31422504e-03 9.99928385e-01 -2.13063535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.911193817 meters Centerline goodness [0,1] 0.9287838507637544 Centerline is valid? [False, False] Translation: X:10.52, Y:-0.65, Z:-2.13 [[ 0.99910444 -0.04005261 -0.01364176 10.52457578] [ 0.03986624 0.99911151 -0.01366998 -0.65354603] [ 0.01417715 0.0131139 0.9998135 -2.12874762] [ 0. 0. 0. 1. ]] SLAMing on 274.941193817 meters Centerline goodness [0,1] 0.9251996269081147 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.66, Z:-2.13 [[ 0.99908911 -0.04021392 -0.01427524 10.52676891] [ 0.04004026 0.99912298 -0.01224957 -0.66174231] [ 0.01475532 0.01166683 0.99982307 -2.12910402] [ 0. 0. 0. 1. ]] SLAMing on 274.971193817 meters Centerline goodness [0,1] 0.9254718280754926 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.67, Z:-2.13 [[ 9.99089785e-01 -4.00061384e-02 -1.48023666e-02 1.05281872e+01] [ 3.98579951e-02 9.99153583e-01 -1.01713995e-02 -6.70405615e-01] [ 1.51967561e-02 9.57214870e-03 9.99838703e-01 -2.12846189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.001193817 meters Centerline goodness [0,1] 0.9235950865906813 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.68, Z:-2.13 [[ 9.99099451e-01 -3.96537527e-02 -1.50952933e-02 1.05287553e+01] [ 3.95396886e-02 9.99187702e-01 -7.78129361e-03 -6.79513329e-01] [ 1.53915889e-02 7.17742298e-03 9.99855781e-01 -2.12711670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.03119381700003 meters Centerline goodness [0,1] 0.923350061547202 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.70, Z:-2.13 [[ 9.99115077e-01 -3.89975410e-02 -1.57561136e-02 1.05490079e+01] [ 3.89041296e-02 9.99223761e-01 -6.19233710e-03 -6.96223368e-01] [ 1.59853690e-02 5.57387947e-03 9.99856690e-01 -2.12539343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.061193817 meters Centerline goodness [0,1] 0.9244154172526399 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.70, Z:-2.13 [[ 9.99088390e-01 -3.93811870e-02 -1.64776043e-02 1.05515259e+01] [ 3.93036389e-02 9.99214783e-01 -5.00406184e-03 -7.03605103e-01] [ 1.66617317e-02 4.35187028e-03 9.99851713e-01 -2.12572635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.09119381700003 meters Centerline goodness [0,1] 0.9220854313730215 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.71, Z:-2.13 [[ 9.99052654e-01 -3.99532408e-02 -1.72491750e-02 1.05537584e+01] [ 3.98909126e-02 9.99196262e-01 -3.94261642e-03 -7.11347069e-01] [ 1.73928315e-02 3.25079606e-03 9.99843449e-01 -2.12540518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.121193817 meters Centerline goodness [0,1] 0.9211532373925536 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.72, Z:-2.12 [[ 9.99056445e-01 -3.97179838e-02 -1.75698762e-02 1.05543997e+01] [ 3.96894863e-02 9.99210124e-01 -1.96782465e-03 -7.20085188e-01] [ 1.76341563e-02 1.26862854e-03 9.99843701e-01 -2.12419906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.151193817 meters Centerline goodness [0,1] 0.9222090846388806 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.73, Z:-2.12 [[ 9.99043406e-01 -3.97598195e-02 -1.82052108e-02 1.05559075e+01] [ 3.97591594e-02 9.99209213e-01 -3.98341788e-04 -7.27940032e-01] [ 1.82066523e-02 -3.25863141e-04 9.99834192e-01 -2.12336212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.181193817 meters Centerline goodness [0,1] 0.9169711225664381 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.74, Z:-2.12 [[ 9.98952365e-01 -4.21655337e-02 -1.77831617e-02 1.05558203e+01] [ 4.21493574e-02 9.99110496e-01 -1.28363112e-03 -7.38379505e-01] [ 1.78214685e-02 5.32737499e-04 9.99841043e-01 -2.12323420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.211193817 meters Centerline goodness [0,1] 0.9173562033148059 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.74, Z:-2.12 [[ 9.98958957e-01 -4.18657282e-02 -1.81180552e-02 1.05567894e+01] [ 4.18739370e-02 9.99122899e-01 7.37742943e-05 -7.43691486e-01] [ 1.80990752e-02 -8.32371794e-04 9.99835852e-01 -2.12287056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.241193817 meters Centerline goodness [0,1] 0.9175924516816314 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.75, Z:-2.12 [[ 9.98977711e-01 -4.12754712e-02 -1.84354983e-02 1.05573591e+01] [ 4.13115010e-02 9.99145070e-01 1.57767159e-03 -7.48927539e-01] [ 1.83546181e-02 -2.33765686e-03 9.99828807e-01 -2.12223142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.271193817 meters Centerline goodness [0,1] 0.9134970105584531 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.75, Z:-2.12 [[ 9.98994829e-01 -4.06853869e-02 -1.88157273e-02 1.05582240e+01] [ 4.07453189e-02 9.99165606e-01 2.81273199e-03 -7.53731180e-01] [ 1.86855905e-02 -3.57655753e-03 9.99819012e-01 -2.12201000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.301193817 meters Centerline goodness [0,1] 0.911051560205107 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.76, Z:-2.12 [[ 9.99076492e-01 -3.85534110e-02 -1.89683466e-02 1.05582051e+01] [ 3.86672586e-02 9.99236043e-01 5.67214581e-03 -7.62898668e-01] [ 1.87351750e-02 -6.40036150e-03 9.99803995e-01 -2.12158266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.331193817 meters Centerline goodness [0,1] 0.911051560205107 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.76, Z:-2.12 [[ 9.99076492e-01 -3.85534110e-02 -1.89683466e-02 1.05582051e+01] [ 3.86672586e-02 9.99236043e-01 5.67214581e-03 -7.62898668e-01] [ 1.87351750e-02 -6.40036150e-03 9.99803995e-01 -2.12158266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.361193817 meters Centerline goodness [0,1] 0.9075231451466508 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.77, Z:-2.12 [[ 9.99095005e-01 -3.79540120e-02 -1.92006344e-02 1.05590793e+01] [ 3.80881294e-02 9.99252136e-01 6.66812643e-03 -7.66966500e-01] [ 1.89331928e-02 -7.39340806e-03 9.99793415e-01 -2.12199252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.391193817 meters Centerline goodness [0,1] 0.9069164943867271 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.77, Z:-2.12 [[ 9.99096264e-01 -3.76853915e-02 -1.96587317e-02 1.05606895e+01] [ 3.78384056e-02 9.99255947e-01 7.47037577e-03 -7.71142771e-01] [ 1.93625805e-02 -8.20747959e-03 9.99778839e-01 -2.12254522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.421193817 meters Centerline goodness [0,1] 0.9039702821613932 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.78, Z:-2.12 [[ 9.99091937e-01 -3.75474725e-02 -2.01367441e-02 1.05626785e+01] [ 3.77187075e-02 9.99254816e-01 8.19217865e-03 -7.75810055e-01] [ 1.98141429e-02 -8.94427160e-03 9.99763672e-01 -2.12345808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.451193817 meters Centerline goodness [0,1] 0.9045333333333333 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.79, Z:-2.12 [[ 0.99914461 -0.03592211 -0.0204855 10.56388905] [ 0.03615526 0.99928424 0.01112659 -0.78753221] [ 0.02007114 -0.01185773 0.99972823 -2.12339515] [ 0. 0. 0. 1. ]] SLAMing on 275.481193817 meters Centerline goodness [0,1] 0.9036430265143349 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.79, Z:-2.12 [[ 0.99917483 -0.03500768 -0.0205941 10.56365294] [ 0.03528146 0.99929176 0.01308444 -0.79425034] [ 0.02012146 -0.01380023 0.9997023 -2.12202821] [ 0. 0. 0. 1. ]] SLAMing on 275.511193817 meters Centerline goodness [0,1] 0.905006105006105 Centerline is valid? [False, False] Translation: X:10.57, Y:-0.80, Z:-2.13 [[ 9.99333569e-01 -3.35257461e-02 -1.44375337e-02 1.05716542e+01] [ 3.35355118e-02 9.99437432e-01 4.34773587e-04 -7.97120927e-01] [ 1.44148355e-02 -9.18653920e-04 9.99895679e-01 -2.12887461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.541193817 meters Centerline goodness [0,1] 0.9057057713863903 Centerline is valid? [False, False] Translation: X:10.57, Y:-0.80, Z:-2.13 [[ 9.99370279e-01 -3.23759510e-02 -1.45204451e-02 1.05708559e+01] [ 3.24189285e-02 9.99470629e-01 2.73417804e-03 -8.04135510e-01] [ 1.44242368e-02 -3.20319354e-03 9.99890835e-01 -2.12681210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.571193817 meters Centerline goodness [0,1] 0.9071062474026873 Centerline is valid? [False, False] Translation: X:10.57, Y:-0.81, Z:-2.12 [[ 9.99425958e-01 -3.07989620e-02 -1.41130417e-02 1.05688541e+01] [ 3.08739636e-02 9.99510133e-01 5.12759892e-03 -8.11065601e-01] [ 1.39482034e-02 -5.56038100e-03 9.99887259e-01 -2.12495153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.601193817 meters Centerline goodness [0,1] 0.90933056622823 Centerline is valid? [False, False] Translation: X:10.57, Y:-0.82, Z:-2.13 [[ 9.99637046e-01 -2.59064754e-02 -7.39125668e-03 1.05739969e+01] [ 2.58739640e-02 9.99655260e-01 -4.46086701e-03 -8.21524062e-01] [ 7.50427396e-03 4.26800681e-03 9.99962734e-01 -2.13154414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.631193817 meters Centerline goodness [0,1] 0.9110778104501244 Centerline is valid? [False, False] Translation: X:10.57, Y:-0.83, Z:-2.13 [[ 9.99678912e-01 -2.43396649e-02 -7.04649009e-03 1.05725537e+01] [ 2.43273032e-02 9.99702364e-01 -1.83474161e-03 -8.29437324e-01] [ 7.08904979e-03 1.66273040e-03 9.99973490e-01 -2.13005402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.661193817 meters Centerline goodness [0,1] 0.9096621254962443 Centerline is valid? [False, False] Translation: X:10.57, Y:-0.84, Z:-2.13 [[ 9.99717950e-01 -2.27536308e-02 -6.80392985e-03 1.05711221e+01] [ 2.27588734e-02 9.99740742e-01 6.94095799e-04 -8.37679080e-01] [ 6.78637268e-03 -8.48749808e-04 9.99976612e-01 -2.12854778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.691193817 meters Centerline goodness [0,1] 0.9106106738668351 Centerline is valid? [False, False] Translation: X:10.57, Y:-0.85, Z:-2.13 [[ 9.99742270e-01 -2.16504764e-02 -6.83004680e-03 1.05709328e+01] [ 2.16707536e-02 9.99760930e-01 2.90891844e-03 -8.45852496e-01] [ 6.76543447e-03 -3.05618099e-03 9.99972444e-01 -2.12758866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.721193817 meters Centerline goodness [0,1] 0.90308740397159 Centerline is valid? [False, False] Translation: X:10.57, Y:-0.85, Z:-2.13 [[ 9.99758289e-01 -2.08826768e-02 -6.87578420e-03 1.05714510e+01] [ 2.09141578e-02 9.99770972e-01 4.53890979e-03 -8.54082314e-01] [ 6.77942487e-03 -4.68161393e-03 9.99966060e-01 -2.12783284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.751193817 meters Centerline goodness [0,1] 0.8941992619926199 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.87, Z:-2.13 [[ 9.99751543e-01 -1.84961491e-02 -1.24396354e-02 1.05820234e+01] [ 1.84952659e-02 9.99828931e-01 -1.86047579e-04 -8.71893478e-01] [ 1.24409485e-02 -4.40730107e-05 9.99922607e-01 -2.13013415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78119381700003 meters Centerline goodness [0,1] 0.8768387826811983 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.88, Z:-2.13 [[ 9.99756593e-01 -1.80556480e-02 -1.26786942e-02 1.05839173e+01] [ 1.80703558e-02 9.99836170e-01 1.04643246e-03 -8.79128398e-01] [ 1.26577230e-02 -1.27528626e-03 9.99919075e-01 -2.13161339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.811193817 meters Centerline goodness [0,1] 0.9087510927561571 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.89, Z:-2.13 [[ 9.99657404e-01 -2.23530379e-02 -1.36168017e-02 1.05847890e+01] [ 2.23505245e-02 9.99750139e-01 -3.36752282e-04 -8.86692811e-01] [ 1.36209268e-02 3.22942513e-05 9.99907230e-01 -2.12639819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84119381700003 meters Centerline goodness [0,1] 0.9160544381548837 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.89, Z:-2.13 [[ 9.99534920e-01 -2.71427244e-02 -1.39001922e-02 1.05868710e+01] [ 2.70821622e-02 9.99622961e-01 -4.52682139e-03 -8.88463227e-01] [ 1.40178216e-02 4.14826880e-03 9.99893141e-01 -2.12742673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.871193817 meters Centerline goodness [0,1] 0.9157565363901676 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.89, Z:-2.13 [[ 9.99478217e-01 -2.86398252e-02 -1.49349671e-02 1.05915710e+01] [ 2.85657042e-02 9.99578635e-01 -5.15288897e-03 -8.88568143e-01] [ 1.50762519e-02 4.72357242e-03 9.99875189e-01 -2.12934959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.901193817 meters Centerline goodness [0,1] 0.9145245182045038 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.89, Z:-2.13 [[ 9.99504966e-01 -2.69714030e-02 -1.61977183e-02 1.05975674e+01] [ 2.69503175e-02 9.99635621e-01 -1.51867215e-03 -8.88941549e-01] [ 1.62327769e-02 1.08138670e-03 9.99867655e-01 -2.13087974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.931193817 meters Centerline goodness [0,1] 0.9080903245102437 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.89, Z:-2.14 [[ 9.99480508e-01 -2.71187603e-02 -1.74151448e-02 1.06069358e+01] [ 2.71261959e-02 9.99631999e-01 1.90842174e-04 -8.85765810e-01] [ 1.74035607e-02 -6.63149664e-04 9.99848327e-01 -2.13627132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.961193817 meters Centerline goodness [0,1] 0.9084443913225363 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.88, Z:-2.14 [[ 9.99480769e-01 -2.70364891e-02 -1.75277020e-02 1.06066821e+01] [ 2.70481661e-02 9.99634039e-01 4.29441512e-04 -8.84797110e-01] [ 1.75096770e-02 -9.03310729e-04 9.99846286e-01 -2.13530941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.991193817 meters Centerline goodness [0,1] 0.9086503948312994 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.89, Z:-2.13 [[ 9.99467921e-01 -2.71972218e-02 -1.80051612e-02 1.06067566e+01] [ 2.72299646e-02 9.99627954e-01 1.57581848e-03 -8.86588769e-01] [ 1.79556045e-02 -2.06525992e-03 9.99836652e-01 -2.13232303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.021193817 meters Centerline goodness [0,1] 0.9072839728577433 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.89, Z:-2.13 [[ 9.99432662e-01 -2.79230253e-02 -1.88323626e-02 1.06080617e+01] [ 2.79936793e-02 9.99601978e-01 3.49855972e-03 -8.90490742e-01] [ 1.87271765e-02 -4.02376197e-03 9.99816534e-01 -2.12814811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.051193817 meters Centerline goodness [0,1] 0.9061885902590924 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.90, Z:-2.12 [[ 9.99236831e-01 -3.36386839e-02 -1.98543575e-02 1.06108831e+01] [ 3.36865989e-02 9.99430273e-01 2.08373683e-03 -8.95862887e-01] [ 1.97729518e-02 -2.75097236e-03 9.99800711e-01 -2.12269725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.081193817 meters Centerline goodness [0,1] 0.9069374453061347 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.90, Z:-2.12 [[ 9.99180920e-01 -3.47572065e-02 -2.07225915e-02 1.06133463e+01] [ 3.48125071e-02 9.99391183e-01 2.31376167e-03 -8.96859864e-01] [ 2.06295554e-02 -3.03327188e-03 9.99782587e-01 -2.12152853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.111193817 meters Centerline goodness [0,1] 0.9066610225863998 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.90, Z:-2.12 [[ 9.99136978e-01 -3.56307792e-02 -2.13482326e-02 1.06154323e+01] [ 3.56953095e-02 9.99359208e-01 2.64922944e-03 -8.97727702e-01] [ 2.12401587e-02 -3.40897487e-03 9.99768590e-01 -2.12078722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.141193817 meters Centerline goodness [0,1] 0.9055203619909502 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.90, Z:-2.12 [[ 9.99068829e-01 -3.70075155e-02 -2.21792556e-02 1.06189078e+01] [ 3.70657705e-02 9.99310360e-01 2.22109836e-03 -8.97581067e-01] [ 2.20817625e-02 -3.04112134e-03 9.99751543e-01 -2.12149350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.171193817 meters Centerline goodness [0,1] 0.9037438006531995 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.90, Z:-2.12 [[ 9.98979076e-01 -3.89742016e-02 -2.28433334e-02 1.06225412e+01] [ 3.90324435e-02 9.99235718e-01 2.10914725e-03 -8.98276010e-01] [ 2.27436723e-02 -2.99862509e-03 9.99736832e-01 -2.12152071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.201193817 meters Centerline goodness [0,1] 0.8958073198479425 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.90, Z:-2.11 [[ 9.99061673e-01 -3.63357768e-02 -2.35687134e-02 1.06860453e+01] [ 3.65859626e-02 9.99277714e-01 1.02721333e-02 -9.03484821e-01] [ 2.31784441e-02 -1.11247788e-02 9.99669445e-01 -2.11353174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.231193817 meters Centerline goodness [0,1] 0.9044558957259776 Centerline is valid? [False, False] Translation: X:10.65, Y:-0.90, Z:-2.11 [[ 9.98810022e-01 -3.84587913e-02 -2.99910365e-02 1.06460511e+01] [ 3.86085269e-02 9.99244595e-01 4.42946435e-03 -9.03146885e-01] [ 2.97980292e-02 -5.58210312e-03 9.99540353e-01 -2.11227513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.261193817 meters Centerline goodness [0,1] 0.8942407103326644 Centerline is valid? [False, False] Translation: X:10.65, Y:-0.91, Z:-2.11 [[ 9.98720300e-01 -4.04675230e-02 -3.03338462e-02 1.06487415e+01] [ 4.06294788e-02 9.99163031e-01 4.74164251e-03 -9.05289690e-01] [ 3.01165751e-02 -5.96802298e-03 9.99528576e-01 -2.11117250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.291193817 meters Centerline goodness [0,1] 0.8955242033568475 Centerline is valid? [False, False] Translation: X:10.65, Y:-0.90, Z:-2.11 [[ 9.98650897e-01 -4.15646057e-02 -3.11250609e-02 1.06513821e+01] [ 4.17158718e-02 9.99120576e-01 4.22617561e-03 -9.04943663e-01] [ 3.09220295e-02 -5.51888312e-03 9.99506563e-01 -2.11142590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.321193817 meters Centerline goodness [0,1] 0.8841947702834799 Centerline is valid? [False, False] Translation: X:10.65, Y:-0.90, Z:-2.11 [[ 9.98597243e-01 -4.23675331e-02 -3.17575075e-02 1.06533126e+01] [ 4.25221209e-02 9.99086664e-01 4.20799308e-03 -9.04985299e-01] [ 3.15502199e-02 -5.55248686e-03 9.99486745e-01 -2.11102173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.351193817 meters Centerline goodness [0,1] 0.8813987461196664 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.90, Z:-2.11 [[ 9.98530199e-01 -4.33603504e-02 -3.25164817e-02 1.06556512e+01] [ 4.35074732e-02 9.99045759e-01 3.83041850e-03 -9.04312308e-01] [ 3.23193648e-02 -5.23949851e-03 9.99463859e-01 -2.11093389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.381193817 meters Centerline goodness [0,1] 0.8721450077552386 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.90, Z:-2.11 [[ 9.98500387e-01 -4.38270101e-02 -3.28050494e-02 1.06565437e+01] [ 4.39747122e-02 9.99025439e-01 3.79420583e-03 -9.03756018e-01] [ 3.26067902e-02 -5.23110859e-03 9.99454568e-01 -2.11061695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.411193817 meters Centerline goodness [0,1] 0.8552272313573206 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.90, Z:-2.11 [[ 9.98438205e-01 -4.49404859e-02 -3.31889105e-02 1.06584854e+01] [ 4.50521301e-02 9.98981193e-01 2.62339796e-03 -9.00294877e-01] [ 3.30372006e-02 -4.11453186e-03 9.99445653e-01 -2.11175317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.441193817 meters Centerline goodness [0,1] 0.84870469453765 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.90, Z:-2.11 [[ 9.98512426e-01 -4.23509868e-02 -3.43413519e-02 1.06621032e+01] [ 4.26010031e-02 9.99070489e-01 6.58127472e-03 -9.01095598e-01] [ 3.40307078e-02 -8.03446063e-03 9.99388492e-01 -2.11144719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.471193817 meters Centerline goodness [0,1] 0.8440535811259278 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.90, Z:-2.11 [[ 9.98509159e-01 -4.24911987e-02 -3.42630640e-02 1.06620234e+01] [ 4.27237728e-02 9.99068397e-01 6.08423778e-03 -8.98918076e-01] [ 3.39726179e-02 -7.53901451e-03 9.99394329e-01 -2.11186990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.501193817 meters Centerline goodness [0,1] 0.8488985323810385 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.90, Z:-2.11 [[ 9.98479326e-01 -4.29069206e-02 -3.46125876e-02 1.06629543e+01] [ 4.31244113e-02 9.99054231e-01 5.56134631e-03 -8.97024454e-01] [ 3.43412318e-02 -7.04553678e-03 9.99385331e-01 -2.11204187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.53119381700003 meters Centerline goodness [0,1] 0.8408366893069664 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.90, Z:-2.11 [[ 9.98456468e-01 -4.32643477e-02 -3.48263998e-02 1.06638444e+01] [ 4.34591107e-02 9.99043412e-01 4.85460972e-03 -8.95260043e-01] [ 3.45830537e-02 -6.36064084e-03 9.99381586e-01 -2.11291427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.561193817 meters Centerline goodness [0,1] 0.8426983128052983 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.90, Z:-2.11 [[ 9.98543537e-01 -4.01342597e-02 -3.60561516e-02 1.06668679e+01] [ 4.04692142e-02 9.99143704e-01 8.60822326e-03 -8.95331483e-01] [ 3.56797921e-02 -1.00548498e-02 9.99312690e-01 -2.11269149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.59119381700003 meters Centerline goodness [0,1] 0.8455873548078074 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.90, Z:-2.11 [[ 9.98512009e-01 -4.04418084e-02 -3.65818108e-02 1.06684119e+01] [ 4.07677615e-02 9.99134932e-01 8.20833891e-03 -8.95061759e-01] [ 3.62182050e-02 -9.68748351e-03 9.99296950e-01 -2.11329142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.621193817 meters Centerline goodness [0,1] 0.854152316492468 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.90, Z:-2.11 [[ 9.98507313e-01 -4.03487151e-02 -3.68120618e-02 1.06688166e+01] [ 4.06772824e-02 9.99138521e-01 8.22036095e-03 -8.95277721e-01] [ 3.64486679e-02 -9.70550516e-03 9.99288396e-01 -2.11329108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.651193817 meters Centerline goodness [0,1] 0.8752355034540507 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.89, Z:-2.12 [[ 9.98830463e-01 -3.65583850e-02 -3.16416034e-02 1.06797714e+01] [ 3.65005778e-02 9.99330743e-01 -2.40282061e-03 -8.93107981e-01] [ 3.17082702e-02 1.24507361e-03 9.99496391e-01 -2.12148950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.681193817 meters Centerline goodness [0,1] 0.89060723900688 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.90, Z:-2.12 [[ 9.98963330e-01 -3.21962469e-02 -3.21817737e-02 1.06802130e+01] [ 3.23126150e-02 9.99472996e-01 3.10232072e-03 -8.96725945e-01] [ 3.20649307e-02 -4.13898191e-03 9.99477218e-01 -2.11950986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.711193817 meters Centerline goodness [0,1] 0.8980665212324059 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.90, Z:-2.12 [[ 9.98999131e-01 -3.15009268e-02 -3.17557419e-02 1.06790744e+01] [ 3.16221874e-02 9.99494368e-01 3.32345837e-03 -8.97454131e-01] [ 3.16349931e-02 -4.32431805e-03 9.99490134e-01 -2.12001696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.741193817 meters Centerline goodness [0,1] 0.9064471960947732 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.90, Z:-2.12 [[ 9.99430021e-01 -2.19133112e-02 -2.56795521e-02 1.06865637e+01] [ 2.18924231e-02 9.99759733e-01 -1.09430579e-03 -8.95502518e-01] [ 2.56973620e-02 5.31494438e-04 9.99669627e-01 -2.12410730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.771193817 meters Centerline goodness [0,1] 0.907209454243126 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.90, Z:-2.12 [[ 9.99542608e-01 -1.63127881e-02 -2.54650292e-02 1.06835205e+01] [ 1.64152818e-02 9.99857959e-01 3.82102590e-03 -8.95082094e-01] [ 2.53990805e-02 -4.23729382e-03 9.99668411e-01 -2.12179453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.801193817 meters Centerline goodness [0,1] 0.9084283809805955 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.89, Z:-2.12 [[ 9.99618715e-01 -1.11349404e-02 -2.52673134e-02 1.06815356e+01] [ 1.13410755e-02 9.99903448e-01 8.02958375e-03 -8.93810537e-01] [ 2.51754649e-02 -8.31308070e-03 9.99648483e-01 -2.12100117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.831193817 meters Centerline goodness [0,1] 0.9090207943994542 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.89, Z:-2.12 [[ 9.99651139e-01 -8.85489693e-03 -2.48835523e-02 1.06786461e+01] [ 9.05193112e-03 9.99928478e-01 7.81679613e-03 -8.89911253e-01] [ 2.48125557e-02 -8.03931335e-03 9.99659795e-01 -2.12174508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.861193817 meters Centerline goodness [0,1] 0.9135795203766368 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.88, Z:-2.13 [[ 9.99801767e-01 -3.09452607e-04 -1.99080451e-02 1.06884242e+01] [ 3.15732680e-04 9.99999901e-01 3.12311652e-04 -8.84435960e-01] [ 1.99079465e-02 -3.18535362e-04 9.99801766e-01 -2.13060655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.891193817 meters Centerline goodness [0,1] 0.9119813078583893 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.89, Z:-2.13 [[ 9.99800179e-01 -4.07695903e-03 -1.95698622e-02 1.06868924e+01] [ 4.01862783e-03 9.99987368e-01 -3.01906585e-03 -8.85592640e-01] [ 1.95819236e-02 2.93981858e-03 9.99803934e-01 -2.12915099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.921193817 meters Centerline goodness [0,1] 0.9127217616118392 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.89, Z:-2.13 [[ 9.99790807e-01 -4.74755001e-03 -1.98948042e-02 1.06875298e+01] [ 4.71912162e-03 9.99987776e-01 -1.47563978e-03 -8.89659950e-01] [ 1.99015667e-02 1.38144508e-03 9.99800990e-01 -2.12629697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.951193817 meters Centerline goodness [0,1] 0.9116954357093879 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.89, Z:-2.13 [[ 9.99779834e-01 -5.18798695e-03 -2.03314642e-02 1.06886275e+01] [ 5.17083436e-03 9.99986230e-01 -8.96128058e-04 -8.91197039e-01] [ 2.03358334e-02 7.90800127e-04 9.99792893e-01 -2.12525672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.981193817 meters Centerline goodness [0,1] 0.911829232137563 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.89, Z:-2.13 [[ 9.99734929e-01 -7.70299018e-03 -2.16964280e-02 1.06943051e+01] [ 7.67338659e-03 9.99969512e-01 -1.44736892e-03 -8.91729316e-01] [ 2.17069156e-02 1.28050019e-03 9.99763557e-01 -2.12592844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.011193817 meters Centerline goodness [0,1] 0.910041716328963 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.89, Z:-2.13 [[ 9.99710488e-01 -8.65116725e-03 -2.24521322e-02 1.06968565e+01] [ 8.62042709e-03 9.99961769e-01 -1.46556845e-03 -8.92460313e-01] [ 2.24639527e-02 1.27159718e-03 9.99746845e-01 -2.12597087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.041193817 meters Centerline goodness [0,1] 0.9102234058292646 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.89, Z:-2.13 [[ 9.99675272e-01 -9.97068497e-03 -2.34507067e-02 1.07005801e+01] [ 9.92583192e-03 9.99948681e-01 -2.02827818e-03 -8.91878150e-01] [ 2.34697265e-02 1.79485177e-03 9.99722937e-01 -2.12689300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.071193817 meters Centerline goodness [0,1] 0.9076425562214443 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.89, Z:-2.13 [[ 9.99665734e-01 -1.04706573e-02 -2.36386427e-02 1.07021286e+01] [ 1.04136901e-02 9.99942571e-01 -2.53173725e-03 -8.91170945e-01] [ 2.36637941e-02 2.28472548e-03 9.99717362e-01 -2.12828139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.101193817 meters Centerline goodness [0,1] 0.9083246463142219 Centerline is valid? [False, False] Translation: X:10.71, Y:-0.89, Z:-2.13 [[ 9.99636479e-01 -1.18564144e-02 -2.42143706e-02 1.07054714e+01] [ 1.17948003e-02 9.99926832e-01 -2.68576893e-03 -8.92917725e-01] [ 2.42444424e-02 2.39918893e-03 9.99703181e-01 -2.12940742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.131193817 meters Centerline goodness [0,1] 0.9084982955564859 Centerline is valid? [False, False] Translation: X:10.71, Y:-0.90, Z:-2.13 [[ 9.99616596e-01 -1.23877808e-02 -2.47629614e-02 1.07072606e+01] [ 1.23495124e-02 9.99922301e-01 -1.69772538e-03 -8.96622558e-01] [ 2.47820684e-02 1.39126397e-03 9.99691909e-01 -2.12846440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.161193817 meters Centerline goodness [0,1] 0.910327471012973 Centerline is valid? [False, False] Translation: X:10.71, Y:-0.90, Z:-2.13 [[ 9.99592582e-01 -1.31549664e-02 -2.53301670e-02 1.07093145e+01] [ 1.31388722e-02 9.99913360e-01 -8.01713547e-04 -9.00784271e-01] [ 2.53385189e-02 4.68577088e-04 9.99678818e-01 -2.12752163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.191193817 meters Centerline goodness [0,1] 0.910964077464576 Centerline is valid? [False, False] Translation: X:10.71, Y:-0.90, Z:-2.13 [[ 9.99591232e-01 -1.27662377e-02 -2.55810995e-02 1.07088091e+01] [ 1.27874153e-02 9.99918017e-01 6.64439009e-04 -9.03808491e-01] [ 2.55705199e-02 -9.91283549e-04 9.99672529e-01 -2.12506771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.221193817 meters Centerline goodness [0,1] 0.9112208636993314 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.90, Z:-2.13 [[ 9.99722031e-01 -1.25159632e-02 -1.99802598e-02 1.07229176e+01] [ 1.23307191e-02 9.99880092e-01 -9.36778735e-03 -9.01948944e-01] [ 2.00951109e-02 9.11881242e-03 9.99756487e-01 -2.12981199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.251193817 meters Centerline goodness [0,1] 0.9112208636993314 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.90, Z:-2.13 [[ 9.99722031e-01 -1.25159632e-02 -1.99802598e-02 1.07229176e+01] [ 1.23307191e-02 9.99880092e-01 -9.36778735e-03 -9.01948944e-01] [ 2.00951109e-02 9.11881242e-03 9.99756487e-01 -2.12981199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28119381700003 meters Centerline goodness [0,1] 0.9124784671643145 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.90, Z:-2.13 [[ 9.99721430e-01 -1.24223810e-02 -2.00685345e-02 1.07226901e+01] [ 1.22401570e-02 9.99882969e-01 -9.17755109e-03 -9.01334520e-01] [ 2.01801929e-02 8.92935249e-03 9.99756484e-01 -2.12907023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.311193817 meters Centerline goodness [0,1] 0.9124336389961389 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.90, Z:-2.13 [[ 9.99745420e-01 -8.79226352e-03 -2.07795759e-02 1.07241463e+01] [ 8.71457369e-03 9.99954707e-01 -3.82636072e-03 -9.03779878e-01] [ 2.08122771e-02 3.64430146e-03 9.99776759e-01 -2.12681850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34119381700003 meters Centerline goodness [0,1] 0.9116782629558541 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.90, Z:-2.13 [[ 9.99751528e-01 -5.47358105e-03 -2.16083816e-02 1.07263190e+01] [ 5.49418929e-03 9.99984507e-01 8.94462696e-04 -9.04963441e-01] [ 2.16031509e-02 -1.01296099e-03 9.99766112e-01 -2.12541940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.371193817 meters Centerline goodness [0,1] 0.9087752903148569 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.90, Z:-2.13 [[ 9.99754118e-01 -5.63111284e-03 -2.14474646e-02 1.07265684e+01] [ 5.63838701e-03 9.99984065e-01 2.78705280e-04 -9.02980515e-01] [ 2.14455534e-02 -3.99565857e-04 9.99769938e-01 -2.12658582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.401193817 meters Centerline goodness [0,1] 0.9096646824803326 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.90, Z:-2.13 [[ 9.99748079e-01 -5.77479084e-03 -2.16894047e-02 1.07271483e+01] [ 5.78165431e-03 9.99983254e-01 2.53748504e-04 -9.03087579e-01] [ 2.16875761e-02 -3.79085219e-04 9.99764725e-01 -2.12648872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.431193817 meters Centerline goodness [0,1] 0.9093075204765451 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.90, Z:-2.13 [[ 9.99739041e-01 -6.02086281e-03 -2.20363214e-02 1.07279190e+01] [ 6.02292804e-03 9.99981862e-01 2.73503008e-05 -9.02568807e-01] [ 2.20357570e-02 -1.60066341e-04 9.99757170e-01 -2.12638582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.461193817 meters Centerline goodness [0,1] 0.9093833780160858 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.90, Z:-2.13 [[ 9.99736884e-01 -6.03218244e-03 -2.21308947e-02 1.07281508e+01] [ 6.03346130e-03 9.99981798e-01 -8.98505652e-06 -9.02352911e-01] [ 2.21305460e-02 -1.24543204e-04 9.99755082e-01 -2.12640613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.491193817 meters Centerline goodness [0,1] 0.909182944259171 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.90, Z:-2.13 [[ 9.99727302e-01 -6.42676394e-03 -2.24503673e-02 1.07293651e+01] [ 6.42106188e-03 9.99979332e-01 -3.26063422e-04 -9.01932484e-01] [ 2.24519988e-02 1.81819307e-04 9.99747906e-01 -2.12689656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.521193817 meters Centerline goodness [0,1] 0.9118990384615384 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.90, Z:-2.13 [[ 9.99707025e-01 -7.84336387e-03 -2.28986004e-02 1.07320671e+01] [ 7.83731251e-03 9.99969225e-01 -3.54000631e-04 -9.04083178e-01] [ 2.29006723e-02 1.74433430e-04 9.99737730e-01 -2.12727286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.551193817 meters Centerline goodness [0,1] 0.9144036890804424 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.91, Z:-2.13 [[ 9.99693469e-01 -8.37499785e-03 -2.32986386e-02 1.07333270e+01] [ 8.38710560e-03 9.99964739e-01 4.22005634e-04 -9.06613946e-01] [ 2.32942827e-02 -6.17284418e-04 9.99728461e-01 -2.12620238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.581193817 meters Centerline goodness [0,1] 0.9157913854163514 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.91, Z:-2.13 [[ 9.99630937e-01 -1.35446517e-02 -2.35485092e-02 1.07354877e+01] [ 1.34637911e-02 9.99902918e-01 -3.58896046e-03 -9.08234439e-01] [ 2.35948343e-02 3.27058370e-03 9.99716253e-01 -2.12680763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.611193817 meters Centerline goodness [0,1] 0.9112323783537972 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.91, Z:-2.13 [[ 9.99617114e-01 -1.38399881e-02 -2.39599781e-02 1.07363944e+01] [ 1.37798259e-02 9.99901478e-01 -2.67424146e-03 -9.10428672e-01] [ 2.39946290e-02 2.34305320e-03 9.99709342e-01 -2.12537535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.641193817 meters Centerline goodness [0,1] 0.9133746410760163 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.91, Z:-2.12 [[ 9.99637678e-01 -1.03910523e-02 -2.48302025e-02 1.07378290e+01] [ 1.04714572e-02 9.99940335e-01 3.11035957e-03 -9.13255671e-01] [ 2.47964011e-02 -3.36924102e-03 9.99686844e-01 -2.12150897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.671193817 meters Centerline goodness [0,1] 0.9219491551041383 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.91, Z:-2.12 [[ 9.99656785e-01 -9.63246064e-03 -2.43624121e-02 1.07355063e+01] [ 9.71884456e-03 9.99946889e-01 3.42986826e-03 -9.12290646e-01] [ 2.43280801e-02 -3.66546557e-03 9.99697309e-01 -2.12032320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.701193817 meters Centerline goodness [0,1] 0.9208530948856599 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.91, Z:-2.12 [[ 9.99697281e-01 -7.60757495e-03 -2.33980979e-02 1.07303524e+01] [ 7.70841507e-03 9.99961374e-01 4.22258613e-03 -9.09557631e-01] [ 2.33650705e-02 -4.40167012e-03 9.99717309e-01 -2.11788070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.731193817 meters Centerline goodness [0,1] 0.9209908499879605 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.91, Z:-2.12 [[ 9.99701937e-01 -7.28029068e-03 -2.33030947e-02 1.07294874e+01] [ 7.36649789e-03 9.99966330e-01 3.61568529e-03 -9.07107164e-01] [ 2.32759868e-02 -3.78626978e-03 9.99721908e-01 -2.11805917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.761193817 meters Centerline goodness [0,1] 0.9203184847845101 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.91, Z:-2.12 [[ 9.99722831e-01 -6.36000810e-03 -2.26673891e-02 1.07271230e+01] [ 6.43968789e-03 9.99973335e-01 3.44391254e-03 -9.05226067e-01] [ 2.26448814e-02 -3.58892890e-03 9.99737130e-01 -2.11800641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.791193817 meters Centerline goodness [0,1] 0.9189992791926959 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.90, Z:-2.12 [[ 9.99732740e-01 -5.81828151e-03 -2.23740282e-02 1.07258771e+01] [ 5.88199123e-03 9.99978829e-01 2.78272958e-03 -9.02719923e-01] [ 2.23573639e-02 -2.91358970e-03 9.99745797e-01 -2.11857337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.821193817 meters Centerline goodness [0,1] 0.9162099841284101 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.90, Z:-2.12 [[ 9.99750075e-01 -3.49994725e-03 -2.20802736e-02 1.07229956e+01] [ 3.54731167e-03 9.99991490e-01 2.10629813e-03 -8.98841514e-01] [ 2.20727138e-02 -2.18409732e-03 9.99753982e-01 -2.11984218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.851193817 meters Centerline goodness [0,1] 0.9149660880217515 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.90, Z:-2.12 [[ 9.99760167e-01 -2.82481580e-03 -2.17170385e-02 1.07219851e+01] [ 2.85180839e-03 9.99995199e-01 1.21205265e-03 -8.96156970e-01] [ 2.17135104e-02 -1.27369479e-03 9.99763423e-01 -2.12136227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.881193817 meters Centerline goodness [0,1] 0.9141400669808245 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.90, Z:-2.12 [[ 9.99746652e-01 7.21916040e-04 -2.24968987e-02 1.07242309e+01] [-6.13284724e-04 9.99988122e-01 4.83524941e-03 -8.95303420e-01] [ 2.25001221e-02 -4.82022740e-03 9.99735220e-01 -2.12178684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.911193817 meters Centerline goodness [0,1] 0.9148602226960436 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.89, Z:-2.12 [[ 9.99752945e-01 1.45309484e-03 -2.21796653e-02 1.07236842e+01] [-1.37808780e-03 9.99993282e-01 3.39670298e-03 -8.91601678e-01] [ 2.21844521e-02 -3.36529828e-03 9.99748231e-01 -2.12457580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.941193817 meters Centerline goodness [0,1] 0.9129520480999911 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.89, Z:-2.13 [[ 9.99757379e-01 2.20262566e-03 -2.19164862e-02 1.07229671e+01] [-2.15563173e-03 9.99995327e-01 2.16762086e-03 -8.88067467e-01] [ 2.19211582e-02 -2.11985108e-03 9.99757455e-01 -2.12677254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.971193817 meters Centerline goodness [0,1] 0.912040035325287 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.89, Z:-2.13 [[ 9.99728873e-01 6.31900895e-03 -2.24109602e-02 1.07245115e+01] [-6.20806641e-03 9.99968147e-01 5.01649360e-03 -8.85712392e-01] [ 2.24419457e-02 -4.87600476e-03 9.99736257e-01 -2.12881581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.001193817 meters Centerline goodness [0,1] 0.9110228108903605 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.88, Z:-2.13 [[ 9.99728616e-01 6.38270746e-03 -2.24043808e-02 1.07250622e+01] [-6.29642233e-03 9.99972495e-01 3.91969462e-03 -8.83443643e-01] [ 2.24287829e-02 -3.77756343e-03 9.99741306e-01 -2.13085233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.03119381700003 meters Centerline goodness [0,1] 0.9102991012229262 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.88, Z:-2.13 [[ 9.99729024e-01 6.75072026e-03 -2.22779231e-02 1.07246193e+01] [-6.67520463e-03 9.99971727e-01 3.46233271e-03 -8.82168773e-01] [ 2.23006664e-02 -3.31268481e-03 9.99745821e-01 -2.13157055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.061193817 meters Centerline goodness [0,1] 0.9100471420153211 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.88, Z:-2.13 [[ 9.99726847e-01 6.87553786e-03 -2.23373980e-02 1.07245081e+01] [-6.80969365e-03 9.99972246e-01 3.02244148e-03 -8.81107026e-01] [ 2.23575589e-02 -2.86950505e-03 9.99745920e-01 -2.13189817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.09119381700003 meters Centerline goodness [0,1] 0.9114618675320844 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.88, Z:-2.14 [[ 9.99810764e-01 8.73334704e-03 -1.73828661e-02 1.07369971e+01] [-8.86637148e-03 9.99931885e-01 -7.59031792e-03 -8.78413633e-01] [ 1.73153932e-02 7.74300451e-03 9.99820095e-01 -2.13776069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.121193817 meters Centerline goodness [0,1] 0.9112263845088273 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.88, Z:-2.14 [[ 9.99806316e-01 9.15993980e-03 -1.74191142e-02 1.07361599e+01] [-9.28129257e-03 9.99933131e-01 -6.89860847e-03 -8.78767553e-01] [ 1.73547586e-02 7.05894422e-03 9.99824476e-01 -2.13623801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.151193817 meters Centerline goodness [0,1] 0.9107443882530388 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.88, Z:-2.14 [[ 9.99805254e-01 9.62427972e-03 -1.72286949e-02 1.07350515e+01] [-9.73786032e-03 9.99931324e-01 -6.52081521e-03 -8.78568504e-01] [ 1.71647535e-02 6.68731593e-03 9.99830311e-01 -2.13537067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.181193817 meters Centerline goodness [0,1] 0.9108519120035434 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.88, Z:-2.13 [[ 9.99803057e-01 1.06244809e-02 -1.67620887e-02 1.07327915e+01] [-1.07226043e-02 9.99925835e-01 -5.77491294e-03 -8.78301777e-01] [ 1.66994901e-02 5.95350885e-03 9.99842829e-01 -2.13393026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.211193817 meters Centerline goodness [0,1] 0.9122662103958936 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.88, Z:-2.13 [[ 9.99799630e-01 1.08873890e-02 -1.67977827e-02 1.07322263e+01] [-1.09768488e-02 9.99926009e-01 -5.24271216e-03 -8.78473498e-01] [ 1.67394604e-02 5.42604839e-03 9.99845162e-01 -2.13267887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.241193817 meters Centerline goodness [0,1] 0.9137034849379799 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.88, Z:-2.13 [[ 9.99798437e-01 1.13852913e-02 -1.65366385e-02 1.07310215e+01] [-1.14645265e-02 9.99923213e-01 -4.70462324e-03 -8.78950784e-01] [ 1.64818052e-02 4.89325970e-03 9.99852192e-01 -2.13176999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.271193817 meters Centerline goodness [0,1] 0.9118098612341305 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.88, Z:-2.13 [[ 9.99795556e-01 1.17089636e-02 -1.64847160e-02 1.07304333e+01] [-1.17803136e-02 9.99921629e-01 -4.23782082e-03 -8.79476855e-01] [ 1.64338036e-02 4.43114954e-03 9.99855137e-01 -2.13098857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.301193817 meters Centerline goodness [0,1] 0.9130614902053619 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.88, Z:-2.13 [[ 9.99795535e-01 1.19428443e-02 -1.63174035e-02 1.07299513e+01] [-1.20094801e-02 9.99919916e-01 -3.99185565e-03 -8.80337859e-01] [ 1.62684226e-02 4.18700298e-03 9.99858894e-01 -2.13086937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.331193817 meters Centerline goodness [0,1] 0.913780855975848 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.88, Z:-2.13 [[ 9.99794774e-01 1.14921084e-02 -1.66835762e-02 1.07312519e+01] [-1.15627981e-02 9.99924550e-01 -4.14681670e-03 -8.80223232e-01] [ 1.66346617e-02 4.33887449e-03 9.99852220e-01 -2.13113597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.361193817 meters Centerline goodness [0,1] 0.9120859551228778 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.88, Z:-2.13 [[ 9.99794046e-01 1.10212534e-02 -1.70410372e-02 1.07327448e+01] [-1.10910682e-02 9.99930460e-01 -4.00779628e-03 -8.81547787e-01] [ 1.69956812e-02 4.19597416e-03 9.99846759e-01 -2.13147529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.391193817 meters Centerline goodness [0,1] 0.9123504793565047 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.88, Z:-2.13 [[ 9.99791482e-01 1.08710767e-02 -1.72861839e-02 1.07333930e+01] [-1.09373569e-02 9.99933175e-01 -3.74438206e-03 -8.82644107e-01] [ 1.72443233e-02 3.93266645e-03 9.99843571e-01 -2.13123147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.421193817 meters Centerline goodness [0,1] 0.9113833283537496 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.89, Z:-2.13 [[ 9.99789355e-01 9.56111979e-03 -1.81612249e-02 1.07365680e+01] [-9.63073160e-03 9.99946594e-01 -3.74940372e-03 -8.85349119e-01] [ 1.81244065e-02 3.92351981e-03 9.99828041e-01 -2.13145652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.451193817 meters Centerline goodness [0,1] 0.9094144386625994 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.89, Z:-2.13 [[ 9.99786078e-01 7.72728027e-03 -1.91856031e-02 1.07408269e+01] [-7.78951905e-03 9.99964632e-01 -3.17142640e-03 -8.88647406e-01] [ 1.91604180e-02 3.32019459e-03 9.99810909e-01 -2.13116598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.481193817 meters Centerline goodness [0,1] 0.9061777337297654 Centerline is valid? [False, False] Translation: X:10.75, Y:-0.89, Z:-2.13 [[ 9.99800532e-01 1.91973788e-03 -1.98799202e-02 1.07450407e+01] [-2.07150242e-03 9.99968850e-01 -7.61628496e-03 -8.90934141e-01] [ 1.98646796e-02 7.65594705e-03 9.99773365e-01 -2.13336610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.511193817 meters Centerline goodness [0,1] 0.9120326640056065 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.90, Z:-2.13 [[ 9.99627843e-01 -1.92505345e-02 -1.93285545e-02 1.07620104e+01] [ 1.92256281e-02 9.99814085e-01 -1.47358874e-03 -9.01367059e-01] [ 1.93533284e-02 1.10143674e-03 9.99812100e-01 -2.13330282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.541193817 meters Centerline goodness [0,1] 0.909428177219071 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.91, Z:-2.13 [[ 9.99590636e-01 -2.01821174e-02 -2.02791013e-02 1.07645378e+01] [ 2.01762012e-02 9.99796317e-01 -4.96317635e-04 -9.05177951e-01] [ 2.02849875e-02 8.69592333e-05 9.99794235e-01 -2.13155400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.571193817 meters Centerline goodness [0,1] 0.9094235203689469 Centerline is valid? [False, False] Translation: X:10.77, Y:-0.91, Z:-2.13 [[ 9.99557183e-01 -2.09494402e-02 -2.11319194e-02 1.07664259e+01] [ 2.09623209e-02 9.99780191e-01 3.88184907e-04 -9.08337124e-01] [ 2.11191422e-02 -8.30987088e-04 9.99776621e-01 -2.12963623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.601193817 meters Centerline goodness [0,1] 0.9077234774066798 Centerline is valid? [False, False] Translation: X:10.77, Y:-0.91, Z:-2.13 [[ 9.99508188e-01 -2.22052155e-02 -2.21429549e-02 1.07698554e+01] [ 2.22269129e-02 9.99752682e-01 7.34215391e-04 -9.10817960e-01] [ 2.21211751e-02 -1.22602382e-03 9.99754545e-01 -2.12921925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.631193817 meters Centerline goodness [0,1] 0.8971845225330106 Centerline is valid? [False, False] Translation: X:10.77, Y:-0.91, Z:-2.13 [[ 9.99442079e-01 -2.40763732e-02 -2.31486328e-02 1.07740172e+01] [ 2.40753466e-02 9.99710095e-01 -3.23078059e-04 -9.09204072e-01] [ 2.31497004e-02 -2.34413552e-04 9.99731982e-01 -2.13045359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.661193817 meters Centerline goodness [0,1] 0.888048504149187 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.91, Z:-2.13 [[ 9.99375828e-01 -2.60376318e-02 -2.38746116e-02 1.07784933e+01] [ 2.60201691e-02 9.99660875e-01 -1.04184826e-03 -9.08395851e-01] [ 2.38936424e-02 4.19976536e-04 9.99714418e-01 -2.13231960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.691193817 meters Centerline goodness [0,1] 0.8739467578458908 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.91, Z:-2.13 [[ 9.99404653e-01 -2.45473651e-02 -2.42438799e-02 1.07822532e+01] [ 2.46242332e-02 9.99692637e-01 2.87714196e-03 -9.09423293e-01] [ 2.41658019e-02 -3.47241601e-03 9.99701934e-01 -2.13236942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.721193817 meters Centerline goodness [0,1] 0.8634991308590771 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.91, Z:-2.13 [[ 9.99419500e-01 -2.41013662e-02 -2.40787654e-02 1.07803778e+01] [ 2.41814871e-02 9.99702957e-01 3.04179527e-03 -9.07330304e-01] [ 2.39983015e-02 -3.62228986e-03 9.99705437e-01 -2.13055301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.751193817 meters Centerline goodness [0,1] 0.8511443393347574 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.91, Z:-2.13 [[ 9.99398964e-01 -2.45656151e-02 -2.44589804e-02 1.07810373e+01] [ 2.46583844e-02 9.99689814e-01 3.49845122e-03 -9.07531019e-01] [ 2.43654520e-02 -4.09946746e-03 9.99694713e-01 -2.12904148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78119381700003 meters Centerline goodness [0,1] 0.8390622621403563 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.91, Z:-2.13 [[ 9.99375644e-01 -2.54307029e-02 -2.45275823e-02 1.07812032e+01] [ 2.55392564e-02 9.99665319e-01 4.12266705e-03 -9.07175366e-01] [ 2.44145311e-02 -4.74650925e-03 9.99690653e-01 -2.12668781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.811193817 meters Centerline goodness [0,1] 0.801592628752746 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.91, Z:-2.13 [[ 9.99352775e-01 -2.60452066e-02 -2.48128670e-02 1.07821081e+01] [ 2.61627124e-02 9.99647914e-01 4.42282008e-03 -9.07582707e-01] [ 2.46889374e-02 -5.06912942e-03 9.99682330e-01 -2.12577627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84119381700003 meters Centerline goodness [0,1] 0.7965149989319174 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.91, Z:-2.13 [[ 9.99324487e-01 -2.68691366e-02 -2.50722973e-02 1.07838264e+01] [ 2.69894716e-02 9.99625708e-01 4.47346924e-03 -9.08751934e-01] [ 2.49427147e-02 -5.14713541e-03 9.99675631e-01 -2.12612100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.871193817 meters Centerline goodness [0,1] 0.7960520275439938 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.91, Z:-2.13 [[ 9.99294657e-01 -2.76768315e-02 -2.53807440e-02 1.07858570e+01] [ 2.78017472e-02 9.99602955e-01 4.58200934e-03 -9.10372089e-01] [ 2.52438512e-02 -5.28440648e-03 9.99667356e-01 -2.12674431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.901193817 meters Centerline goodness [0,1] 0.7815868909012506 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.92, Z:-2.13 [[ 9.99252283e-01 -2.98409931e-02 -2.45843530e-02 1.07871676e+01] [ 2.99592579e-02 9.99541187e-01 4.45629819e-03 -9.15309232e-01] [ 2.44400931e-02 -5.18949511e-03 9.99687827e-01 -2.12754278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.931193817 meters Centerline goodness [0,1] 0.8065883080729972 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.92, Z:-2.13 [[ 9.99264463e-01 -2.93535254e-02 -2.46759760e-02 1.07863601e+01] [ 2.94981025e-02 9.99549619e-01 5.51550342e-03 -9.18033798e-01] [ 2.45029629e-02 -6.23934103e-03 9.99680287e-01 -2.12562175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.961193817 meters Centerline goodness [0,1] 0.7899479747305834 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.92, Z:-2.12 [[ 9.99295327e-01 -2.84403026e-02 -2.44948781e-02 1.07845181e+01] [ 2.86105010e-02 9.99568674e-01 6.62605546e-03 -9.20220321e-01] [ 2.42958658e-02 -7.32219699e-03 9.99677996e-01 -2.12359079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.991193817 meters Centerline goodness [0,1] 0.8310090492128425 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.92, Z:-2.12 [[ 0.99944764 -0.02266822 -0.02430141 10.78165747] [ 0.02296999 0.99966158 0.01221123 -0.9232713 ] [ 0.02401638 -0.01276269 0.9996301 -2.12101804] [ 0. 0. 0. 1. ]] SLAMing on 279.021193817 meters Centerline goodness [0,1] 0.8371601677800218 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.92, Z:-2.12 [[ 0.99945296 -0.02271814 -0.02403482 10.78224359] [ 0.02299325 0.99967251 0.01123276 -0.92269408] [ 0.02377177 -0.01177925 0.99964801 -2.12378856] [ 0. 0. 0. 1. ]] SLAMing on 279.051193817 meters Centerline goodness [0,1] 0.8457098765432098 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.92, Z:-2.13 [[ 9.99595197e-01 -1.99995035e-02 -2.02351718e-02 1.07970770e+01] [ 1.99980307e-02 9.99799982e-01 -2.75153944e-04 -9.20152601e-01] [ 2.02366274e-02 -1.29621027e-04 9.99795210e-01 -2.13492016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.081193817 meters Centerline goodness [0,1] 0.8565596585637409 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.92, Z:-2.13 [[ 9.99671612e-01 -1.54947932e-02 -2.04102984e-02 1.07970559e+01] [ 1.55929952e-02 9.99867558e-01 4.66105753e-03 -9.22042624e-01] [ 2.03353731e-02 -4.97778457e-03 9.99780823e-01 -2.13404457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.111193817 meters Centerline goodness [0,1] 0.8978980832741751 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.92, Z:-2.14 [[ 9.99838279e-01 -8.91411150e-03 -1.56190099e-02 1.08046682e+01] [ 8.82270706e-03 9.99943607e-01 -5.91129387e-03 -9.19329239e-01] [ 1.56708231e-02 5.77253594e-03 9.99860542e-01 -2.14277277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.141193817 meters Centerline goodness [0,1] 0.8978980832741751 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.92, Z:-2.14 [[ 9.99838279e-01 -8.91411150e-03 -1.56190099e-02 1.08046682e+01] [ 8.82270706e-03 9.99943607e-01 -5.91129387e-03 -9.19329239e-01] [ 1.56708231e-02 5.77253594e-03 9.99860542e-01 -2.14277277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.171193817 meters Centerline goodness [0,1] 0.9060654527559056 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.92, Z:-2.14 [[ 9.99859791e-01 -4.41325151e-03 -1.61530483e-02 1.08044794e+01] [ 4.40912636e-03 9.99990237e-01 -2.90983521e-04 -9.22533526e-01] [ 1.61541748e-02 2.19721892e-04 9.99869489e-01 -2.13970202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.201193817 meters Centerline goodness [0,1] 0.9102986960944484 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.92, Z:-2.14 [[ 9.99863659e-01 -4.03801912e-03 -1.60111965e-02 1.08037769e+01] [ 4.03970022e-03 9.99991838e-01 7.26540136e-05 -9.23022745e-01] [ 1.60107725e-02 -1.37324542e-04 9.99871810e-01 -2.13926514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.231193817 meters Centerline goodness [0,1] 0.9059538874656625 Centerline is valid? [False, False] Translation: X:10.81, Y:-0.92, Z:-2.14 [[ 9.99856440e-01 -4.57942697e-03 -1.63134362e-02 1.08055692e+01] [ 4.58015107e-03 9.99989511e-01 7.02513607e-06 -9.24263006e-01] [ 1.63132329e-02 -8.17421297e-05 9.99866927e-01 -2.14031529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.261193817 meters Centerline goodness [0,1] 0.9028189910979229 Centerline is valid? [False, False] Translation: X:10.81, Y:-0.92, Z:-2.14 [[ 9.99851292e-01 -4.89884943e-03 -1.65346748e-02 1.08065531e+01] [ 4.89269689e-03 9.99987946e-01 -4.12531532e-04 -9.23309518e-01] [ 1.65364964e-02 3.31571034e-04 9.99863208e-01 -2.14102836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.291193817 meters Centerline goodness [0,1] 0.8918025698047937 Centerline is valid? [False, False] Translation: X:10.81, Y:-0.92, Z:-2.14 [[ 9.99847103e-01 -4.99661133e-03 -1.67572361e-02 1.08067568e+01] [ 4.99821110e-03 9.99987507e-01 5.35875920e-05 -9.23805579e-01] [ 1.67567590e-02 -1.37335602e-04 9.99859586e-01 -2.13991982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.321193817 meters Centerline goodness [0,1] 0.8805393202832669 Centerline is valid? [False, False] Translation: X:10.81, Y:-0.92, Z:-2.14 [[ 9.99835368e-01 -5.60903344e-03 -1.72561761e-02 1.08081021e+01] [ 5.61784911e-03 9.99984113e-01 4.62437188e-04 -9.24704196e-01] [ 1.72533081e-02 -5.59303649e-04 9.99850994e-01 -2.13895627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.351193817 meters Centerline goodness [0,1] 0.8322126855266012 Centerline is valid? [False, False] Translation: X:10.81, Y:-0.93, Z:-2.14 [[ 9.99801136e-01 -8.13070003e-03 -1.82093383e-02 1.08126539e+01] [ 8.13681390e-03 9.99966861e-01 2.61689313e-04 -9.25317313e-01] [ 1.82066071e-02 -4.09803269e-04 9.99834162e-01 -2.13881039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.381193817 meters Centerline goodness [0,1] 0.8423340890034471 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.93, Z:-2.14 [[ 9.99763817e-01 -1.01099764e-02 -1.92379219e-02 1.08174172e+01] [ 1.01105889e-02 9.99948885e-01 -6.54281002e-05 -9.26437026e-01] [ 1.92376000e-02 -1.29094072e-04 9.99814932e-01 -2.13999130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.411193817 meters Centerline goodness [0,1] 0.7579665451826932 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.93, Z:-2.14 [[ 9.99704709e-01 -1.31756700e-02 -2.04180460e-02 1.08239676e+01] [ 1.31652411e-02 9.99913126e-01 -6.45109435e-04 -9.28116921e-01] [ 2.04247720e-02 3.76110443e-04 9.99791322e-01 -2.14171949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.441193817 meters Centerline goodness [0,1] 0.7317278597498207 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.93, Z:-2.14 [[ 9.99653012e-01 -1.53811521e-02 -2.13840292e-02 1.08285837e+01] [ 1.53684479e-02 9.99881611e-01 -7.58314591e-04 -9.29974382e-01] [ 2.13931614e-02 4.29412124e-04 9.99771048e-01 -2.14215129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.471193817 meters Centerline goodness [0,1] 0.6903481460515143 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.93, Z:-2.14 [[ 9.99448846e-01 -2.44573699e-02 -2.24463960e-02 1.08361599e+01] [ 2.43328185e-02 9.99687057e-01 -5.80533068e-03 -9.31622409e-01] [ 2.25813547e-02 5.25594697e-03 9.99731193e-01 -2.14243324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.501193817 meters Centerline goodness [0,1] 0.6749411580103561 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.93, Z:-2.14 [[ 9.99399276e-01 -2.54852637e-02 -2.34859141e-02 1.08386490e+01] [ 2.53602342e-02 9.99662658e-01 -5.60619776e-03 -9.31336725e-01] [ 2.36208667e-02 5.00722170e-03 9.99708449e-01 -2.14101119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.53119381700003 meters Centerline goodness [0,1] 0.7086535144120691 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.93, Z:-2.14 [[ 9.99324080e-01 -2.71622627e-02 -2.47708415e-02 1.08427846e+01] [ 2.70307751e-02 9.99618760e-01 -5.62770554e-03 -9.31425315e-01] [ 2.49142591e-02 4.95432661e-03 9.99677315e-01 -2.14049484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.561193817 meters Centerline goodness [0,1] 0.6913479878677965 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.93, Z:-2.14 [[ 9.99343209e-01 -2.56047067e-02 -2.56427377e-02 1.08465083e+01] [ 2.55845442e-02 9.99672041e-01 -1.11411042e-03 -9.32880030e-01] [ 2.56628545e-02 4.57320924e-04 9.99670550e-01 -2.13850898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.59119381700003 meters Centerline goodness [0,1] 0.6855320472930927 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.93, Z:-2.14 [[ 9.99069207e-01 -3.37800150e-02 -2.68259122e-02 1.08584979e+01] [ 3.36816594e-02 9.99424161e-01 -4.10999595e-03 -9.29399960e-01] [ 2.69493005e-02 3.20262916e-03 9.99631671e-01 -2.14075787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.621193817 meters Centerline goodness [0,1] 0.6433925294684788 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.93, Z:-2.14 [[ 9.98966990e-01 -3.61616716e-02 -2.75188376e-02 1.08626191e+01] [ 3.60669155e-02 9.99341641e-01 -3.93207817e-03 -9.30722878e-01] [ 2.76429109e-02 2.93549671e-03 9.99613551e-01 -2.14045510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.651193817 meters Centerline goodness [0,1] 0.6186787443385913 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.93, Z:-2.14 [[ 9.98869014e-01 -3.83408821e-02 -2.81188542e-02 1.08663957e+01] [ 3.82517727e-02 9.99261282e-01 -3.70031173e-03 -9.32852374e-01] [ 2.82399555e-02 2.62053071e-03 9.99597738e-01 -2.14020443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.681193817 meters Centerline goodness [0,1] 0.6365541618442867 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.94, Z:-2.14 [[ 9.98770932e-01 -4.02230723e-02 -2.89608176e-02 1.08702134e+01] [ 4.01433434e-02 9.99188384e-01 -3.32939811e-03 -9.35631846e-01] [ 2.90712311e-02 2.16272201e-03 9.99575003e-01 -2.13970825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.711193817 meters Centerline goodness [0,1] 0.6248271092669433 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.94, Z:-2.14 [[ 9.98521733e-01 -4.54667820e-02 -2.97845611e-02 1.08727720e+01] [ 4.52879059e-02 9.98951820e-01 -6.65332336e-03 -9.38441309e-01] [ 3.00558467e-02 5.29460757e-03 9.99534198e-01 -2.13798699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.741193817 meters Centerline goodness [0,1] 0.6169945320847212 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.94, Z:-2.14 [[ 9.98518084e-01 -4.52653293e-02 -3.02106917e-02 1.08726230e+01] [ 4.51267180e-02 9.98967451e-01 -5.25464994e-03 -9.40480005e-01] [ 3.04173511e-02 3.88355363e-03 9.99529741e-01 -2.13510530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.771193817 meters Centerline goodness [0,1] 0.617022617022617 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.95, Z:-2.13 [[ 9.98672291e-01 -4.12272660e-02 -3.08863796e-02 1.08729693e+01] [ 4.12854675e-02 9.99146611e-01 1.24874694e-03 -9.45030003e-01] [ 3.08085391e-02 -2.52224759e-03 9.99522122e-01 -2.13067787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.801193817 meters Centerline goodness [0,1] 0.60901948460088 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.95, Z:-2.13 [[ 9.98820979e-01 -3.69319640e-02 -3.15068550e-02 1.08733051e+01] [ 3.71617568e-02 9.99286540e-01 6.73910114e-03 -9.48034584e-01] [ 3.12354878e-02 -7.90200568e-03 9.99480817e-01 -2.12832349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.831193817 meters Centerline goodness [0,1] 0.6253161395072907 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.95, Z:-2.13 [[ 0.99897788 -0.03211089 -0.03181327 10.87295429] [ 0.03248192 0.9994094 0.01121511 -0.94791063] [ 0.03143435 -0.012237 0.99943091 -2.12775244] [ 0. 0. 0. 1. ]] SLAMing on 279.861193817 meters Centerline goodness [0,1] 0.6423849320194587 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.95, Z:-2.14 [[ 9.99235654e-01 -2.79875435e-02 -2.72911172e-02 1.08848723e+01] [ 2.80246039e-02 9.99606757e-01 9.76353628e-04 -9.45899545e-01] [ 2.72530594e-02 -1.74043011e-03 9.99627051e-01 -2.13626616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.891193817 meters Centerline goodness [0,1] 0.6370393406935158 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.94, Z:-2.14 [[ 9.99479076e-01 -2.32884984e-02 -2.23432698e-02 1.08958752e+01] [ 2.31061454e-02 9.99697852e-01 -8.38520810e-03 -9.43695055e-01] [ 2.25317978e-02 7.86457321e-03 9.99715193e-01 -2.14368675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.921193817 meters Centerline goodness [0,1] 0.6558683117366235 Centerline is valid? [False, False] Translation: X:10.89, Y:-0.94, Z:-2.14 [[ 9.99638490e-01 -1.59873883e-02 -2.16169421e-02 1.08890707e+01] [ 1.59433783e-02 9.99870461e-01 -2.20672852e-03 -9.43890388e-01] [ 2.16494217e-02 1.86128368e-03 9.99763891e-01 -2.13859660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.951193817 meters Centerline goodness [0,1] 0.6832378488264645 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.94, Z:-2.14 [[ 9.99853452e-01 -6.51849805e-03 -1.58298081e-02 1.08971469e+01] [ 6.43650750e-03 9.99965635e-01 -5.22494016e-03 -9.42864632e-01] [ 1.58633229e-02 5.12228577e-03 9.99861049e-01 -2.14058239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.981193817 meters Centerline goodness [0,1] 0.6943464523451639 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.94, Z:-2.14 [[ 9.99868310e-01 -1.99672641e-03 -1.61051499e-02 1.08966917e+01] [ 1.99799479e-03 9.99998002e-01 6.26668090e-05 -9.44022099e-01] [ 1.61049926e-02 -9.48365621e-05 9.99870302e-01 -2.13816560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.011193817 meters Centerline goodness [0,1] 0.7235103389208368 Centerline is valid? [False, False] Translation: X:10.89, Y:-0.94, Z:-2.14 [[ 9.99877794e-01 -7.55793360e-04 -1.56149543e-02 1.08943519e+01] [ 7.54258593e-04 9.99999710e-01 -1.04177251e-04 -9.41030085e-01] [ 1.56150285e-02 9.23868060e-05 9.99878074e-01 -2.13805189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.041193817 meters Centerline goodness [0,1] 0.7276617858343778 Centerline is valid? [False, False] Translation: X:10.89, Y:-0.94, Z:-2.14 [[ 9.99883724e-01 -2.54846181e-04 -1.52471020e-02 1.08932438e+01] [ 2.49336397e-04 9.99999903e-01 -3.63265776e-04 -9.40009620e-01] [ 1.52471931e-02 3.59421879e-04 9.99883690e-01 -2.13854588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.071193817 meters Centerline goodness [0,1] 0.7179518476701963 Centerline is valid? [False, False] Translation: X:10.89, Y:-0.94, Z:-2.14 [[ 9.99879217e-01 -7.22998110e-04 -1.55251118e-02 1.08948928e+01] [ 7.12236969e-04 9.99999502e-01 -6.98662105e-04 -9.40530277e-01] [ 1.55256092e-02 6.87520160e-04 9.99879234e-01 -2.13987602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.101193817 meters Centerline goodness [0,1] 0.7140887363647506 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.94, Z:-2.14 [[ 9.99873245e-01 -1.09196184e-03 -1.58839779e-02 1.08963147e+01] [ 1.08189619e-03 9.99999208e-01 -6.42277275e-04 -9.41616402e-01] [ 1.58846667e-02 6.25011048e-04 9.99873635e-01 -2.14034520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.131193817 meters Centerline goodness [0,1] 0.7088770053475936 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.94, Z:-2.14 [[ 9.99869594e-01 -8.69918919e-04 -1.61256951e-02 1.08965575e+01] [ 8.55403493e-04 9.99999223e-01 -9.07018256e-04 -9.40640555e-01] [ 1.61264716e-02 8.93106000e-04 9.99869561e-01 -2.14052290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.161193817 meters Centerline goodness [0,1] 0.7313638450941374 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.94, Z:-2.14 [[ 9.99865840e-01 -8.19980418e-04 -1.63593733e-02 1.08968870e+01] [ 8.04058888e-04 9.99999197e-01 -9.79789615e-04 -9.40457226e-01] [ 1.63601636e-02 9.66504267e-04 9.99865696e-01 -2.14045659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.191193817 meters Centerline goodness [0,1] 0.7106440345609413 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.94, Z:-2.14 [[ 9.99856978e-01 -1.49543160e-03 -1.68459961e-02 1.08991686e+01] [ 1.47842554e-03 9.99998385e-01 -1.02191016e-03 -9.42168813e-01] [ 1.68474971e-02 9.96858453e-04 9.99857574e-01 -2.14148544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.221193817 meters Centerline goodness [0,1] 0.7164383979501571 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.94, Z:-2.14 [[ 9.99841456e-01 1.59843007e-03 -1.77343500e-02 1.09029452e+01] [-1.55902652e-03 9.99996286e-01 2.23548027e-03 -9.42196999e-01] [ 1.77378574e-02 -2.20747753e-03 9.99840235e-01 -2.14375173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.251193817 meters Centerline goodness [0,1] 0.7130310146076667 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.94, Z:-2.15 [[ 9.99838653e-01 1.10397893e-03 -1.79290005e-02 1.09046322e+01] [-1.07858376e-03 9.99998402e-01 1.42603794e-03 -9.41816013e-01] [ 1.79305462e-02 -1.40646993e-03 9.99838246e-01 -2.14589773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28119381700003 meters Centerline goodness [0,1] 0.7065224035699004 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.94, Z:-2.15 [[ 9.99830036e-01 3.51549495e-04 -1.84329753e-02 1.09072626e+01] [-3.28693218e-04 9.99999173e-01 1.24298175e-03 -9.43866907e-01] [ 1.84333971e-02 -1.23671170e-03 9.99829326e-01 -2.14748841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.311193817 meters Centerline goodness [0,1] 0.6997302599313389 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.95, Z:-2.15 [[ 9.99815880e-01 -7.28214575e-04 -1.91748844e-02 1.09106081e+01] [ 7.57535032e-04 9.99998555e-01 1.52188824e-03 -9.47584136e-01] [ 1.91737485e-02 -1.53613368e-03 9.99814987e-01 -2.14836395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34119381700003 meters Centerline goodness [0,1] 0.7213054187192118 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.95, Z:-2.14 [[ 9.99822733e-01 1.13460433e-03 -1.87939983e-02 1.09065784e+01] [-1.07500442e-03 9.99994363e-01 3.18101955e-03 -9.49650099e-01] [ 1.87975016e-02 -3.16025203e-03 9.99818317e-01 -2.14462095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.371193817 meters Centerline goodness [0,1] 0.7344947520699314 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.95, Z:-2.14 [[ 9.99822372e-01 1.57249524e-03 -1.87816718e-02 1.09054655e+01] [-1.50134056e-03 9.99991645e-01 3.80201626e-03 -9.50566211e-01] [ 1.87874935e-02 -3.77314323e-03 9.99816380e-01 -2.14296423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.401193817 meters Centerline goodness [0,1] 0.7139075293972788 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.95, Z:-2.14 [[ 9.99821710e-01 1.62127309e-03 -1.88127438e-02 1.09052371e+01] [-1.54545750e-03 9.99990629e-01 4.04385137e-03 -9.50984949e-01] [ 1.88191237e-02 -4.01405610e-03 9.99814847e-01 -2.14234296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.431193817 meters Centerline goodness [0,1] 0.7121541713900548 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.95, Z:-2.14 [[ 9.99816871e-01 1.15289211e-03 -1.91022121e-02 1.09064728e+01] [-1.08607750e-03 9.99993258e-01 3.50774723e-03 -9.50138134e-01] [ 1.91061273e-02 -3.48635838e-03 9.99811383e-01 -2.14314143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.461193817 meters Centerline goodness [0,1] 0.7072354277992752 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.95, Z:-2.14 [[ 9.99813352e-01 4.51651748e-04 -1.93146830e-02 1.09079424e+01] [-3.93549729e-04 9.99995387e-01 3.01187393e-03 -9.49648875e-01] [ 1.93159542e-02 -3.00371048e-03 9.99808918e-01 -2.14413562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.491193817 meters Centerline goodness [0,1] 0.7033562002030331 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.95, Z:-2.14 [[ 9.99807033e-01 -7.23009066e-05 -1.96441272e-02 1.09092666e+01] [ 1.27080616e-04 9.99996107e-01 2.78737088e-03 -9.49721225e-01] [ 1.96438492e-02 -2.78932940e-03 9.99803150e-01 -2.14456351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.521193817 meters Centerline goodness [0,1] 0.6955340884540601 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.95, Z:-2.15 [[ 9.99791619e-01 -1.30960373e-03 -2.03716308e-02 1.09123457e+01] [ 1.36495719e-03 9.99995414e-01 2.70351641e-03 -9.51492754e-01] [ 2.03679969e-02 -2.73075946e-03 9.99788822e-01 -2.14520667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.551193817 meters Centerline goodness [0,1] 0.6663883218902703 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.95, Z:-2.15 [[ 9.99762166e-01 -6.33083961e-03 -2.08693821e-02 1.09145603e+01] [ 6.29337031e-03 9.99978466e-01 -1.86060819e-03 -9.51663491e-01] [ 2.08807119e-02 1.72882693e-03 9.99780479e-01 -2.14624953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.581193817 meters Centerline goodness [0,1] 0.6732437120555074 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.95, Z:-2.15 [[ 9.99746734e-01 -6.94111314e-03 -2.14076942e-02 1.09161382e+01] [ 6.91547209e-03 9.99975279e-01 -1.27154804e-03 -9.53422890e-01] [ 2.14159910e-02 1.12318169e-03 9.99770020e-01 -2.14532236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.611193817 meters Centerline goodness [0,1] 0.6650336423676786 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.95, Z:-2.15 [[ 9.99731488e-01 -7.44243438e-03 -2.19445168e-02 1.09176857e+01] [ 7.41987604e-03 9.99971857e-01 -1.10921596e-03 -9.53958360e-01] [ 2.19521545e-02 9.46092531e-04 9.99758575e-01 -2.14506305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.641193817 meters Centerline goodness [0,1] 0.6454038997214484 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.95, Z:-2.15 [[ 9.99708487e-01 -8.41949233e-03 -2.26285919e-02 1.09203703e+01] [ 8.39118223e-03 9.99963888e-01 -1.34573981e-03 -9.54271995e-01] [ 2.26391052e-02 1.15546687e-03 9.99743035e-01 -2.14578198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.671193817 meters Centerline goodness [0,1] 0.6512545465754269 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.95, Z:-2.15 [[ 9.99665887e-01 -1.01930651e-02 -2.37532261e-02 1.09252253e+01] [ 1.01255161e-02 9.99944348e-01 -2.96232734e-03 -9.51885393e-01] [ 2.37820994e-02 2.72082391e-03 9.99713463e-01 -2.14859638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.701193817 meters Centerline goodness [0,1] 0.6597696902518628 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.95, Z:-2.15 [[ 9.99659899e-01 -1.03301445e-02 -2.39452471e-02 1.09255016e+01] [ 1.02491075e-02 9.99941335e-01 -3.50452646e-03 -9.49368692e-01] [ 2.39800446e-02 3.25791716e-03 9.99707129e-01 -2.14873046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.731193817 meters Centerline goodness [0,1] 0.6465644171779141 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.95, Z:-2.15 [[ 9.99679070e-01 -6.70092790e-03 -2.44306269e-02 1.09264792e+01] [ 6.73487589e-03 9.99976466e-01 1.30755004e-03 -9.50243958e-01] [ 2.44212901e-02 -1.47166765e-03 9.99700673e-01 -2.14691722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.761193817 meters Centerline goodness [0,1] 0.637626416473742 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.95, Z:-2.15 [[ 9.99681819e-01 -3.28244568e-03 -2.50097226e-02 1.09277032e+01] [ 3.40345028e-03 9.99982701e-01 4.79727310e-03 -9.47231377e-01] [ 2.49935432e-02 -4.88086605e-03 9.99675697e-01 -2.14631909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.791193817 meters Centerline goodness [0,1] 0.6722528057422671 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.95, Z:-2.15 [[ 9.99677516e-01 -3.68230817e-03 -2.51257874e-02 1.09282116e+01] [ 3.78424426e-03 9.99984797e-01 4.01068863e-03 -9.45257446e-01] [ 2.51106368e-02 -4.10447737e-03 9.99676252e-01 -2.14694075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.821193817 meters Centerline goodness [0,1] 0.6659283980582524 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.94, Z:-2.15 [[ 9.99669365e-01 -4.17094315e-03 -2.53725138e-02 1.09291562e+01] [ 4.26064284e-03 9.99984860e-01 3.48227684e-03 -9.44006391e-01] [ 2.53576053e-02 -3.58922870e-03 9.99672001e-01 -2.14739427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.851193817 meters Centerline goodness [0,1] 0.6703303376244838 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.94, Z:-2.15 [[ 9.99664595e-01 -4.46336023e-03 -2.55103133e-02 1.09297508e+01] [ 4.54651461e-03 9.99984536e-01 3.20256654e-03 -9.43001392e-01] [ 2.54956246e-02 -3.31747539e-03 9.99669429e-01 -2.14766876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.881193817 meters Centerline goodness [0,1] 0.6616418452597167 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.94, Z:-2.15 [[ 9.99651983e-01 -5.07142897e-03 -2.58880796e-02 1.09310128e+01] [ 5.13852085e-03 9.99983608e-01 2.52574639e-03 -9.41091509e-01] [ 2.58748461e-02 -2.65789383e-03 9.99661657e-01 -2.14818812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.911193817 meters Centerline goodness [0,1] 0.6552884469639555 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.94, Z:-2.15 [[ 9.99644491e-01 -5.24581466e-03 -2.61414118e-02 1.09314609e+01] [ 5.30705390e-03 9.99983332e-01 2.27378582e-03 -9.40542839e-01] [ 2.61290482e-02 -2.41171135e-03 9.99655669e-01 -2.14811965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.941193817 meters Centerline goodness [0,1] 0.6618724641191789 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.94, Z:-2.15 [[ 9.99636028e-01 -5.43563344e-03 -2.64247056e-02 1.09318353e+01] [ 5.49158045e-03 9.99982830e-01 2.04511486e-03 -9.39872736e-01] [ 2.64131354e-02 -2.18948389e-03 9.99648715e-01 -2.14780156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.971193817 meters Centerline goodness [0,1] 0.653354390014274 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.94, Z:-2.15 [[ 9.99638086e-01 -5.15083714e-03 -2.64039142e-02 1.09310299e+01] [ 5.21835235e-03 9.99983287e-01 2.48874832e-03 -9.39925652e-01] [ 2.63906538e-02 -2.62563253e-03 9.99648258e-01 -2.14658320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.001193817 meters Centerline goodness [0,1] 0.6440342982242764 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.94, Z:-2.15 [[ 9.99633363e-01 -5.19439473e-03 -2.65736360e-02 1.09308611e+01] [ 5.27046355e-03 9.99982210e-01 2.79332821e-03 -9.39766149e-01] [ 2.65586536e-02 -2.93235945e-03 9.99642956e-01 -2.14539253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.03119381700003 meters Centerline goodness [0,1] 0.6635465891191081 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.94, Z:-2.15 [[ 9.99900770e-01 -7.20935884e-03 -1.21027182e-02 1.09333215e+01] [ 7.19560763e-03 9.99973416e-01 -1.17936938e-03 -9.36953081e-01] [ 1.21108990e-02 1.09216594e-03 9.99926064e-01 -2.15188474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.061193817 meters Centerline goodness [0,1] 0.6635465891191081 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.94, Z:-2.15 [[ 9.99900770e-01 -7.20935884e-03 -1.21027182e-02 1.09333215e+01] [ 7.19560763e-03 9.99973416e-01 -1.17936938e-03 -9.36953081e-01] [ 1.21108990e-02 1.09216594e-03 9.99926064e-01 -2.15188474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.09119381700003 meters Centerline goodness [0,1] 0.6595519224947017 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.94, Z:-2.15 [[ 9.99904754e-01 -6.97629486e-03 -1.19086170e-02 1.09324663e+01] [ 6.96693899e-03 9.99975389e-01 -8.26943163e-04 -9.36720212e-01] [ 1.19140929e-02 7.43897792e-04 9.99928748e-01 -2.15107605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.121193817 meters Centerline goodness [0,1] 0.6565677966101695 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.94, Z:-2.15 [[ 9.99906152e-01 -6.89790756e-03 -1.18366474e-02 1.09320831e+01] [ 6.89079139e-03 9.99976052e-01 -6.41877119e-04 -9.36132379e-01] [ 1.18407915e-02 5.60253012e-04 9.99929738e-01 -2.15052579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.151193817 meters Centerline goodness [0,1] 0.659724303266407 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.93, Z:-2.14 [[ 9.99953816e-01 -3.32045300e-03 -9.01886571e-03 1.09227906e+01] [ 3.36554666e-03 9.99981890e-01 4.98935879e-03 -9.34612913e-01] [ 9.00213545e-03 -5.01948177e-03 9.99946882e-01 -2.13949585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.181193817 meters Centerline goodness [0,1] 0.6704143243805954 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.93, Z:-2.13 [[ 9.99969109e-01 3.10570021e-05 -7.86005916e-03 1.09148859e+01] [ 2.03035578e-05 9.99978652e-01 6.53420905e-03 -9.29380727e-01] [ 7.86009429e-03 -6.53416679e-03 9.99947760e-01 -2.13353774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.211193817 meters Centerline goodness [0,1] 0.6884153679081917 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.92, Z:-2.13 [[ 9.99960243e-01 4.57890688e-03 -7.65152126e-03 1.09103541e+01] [-4.50888073e-03 9.99948025e-01 9.14424925e-03 -9.20719447e-01] [ 7.69299423e-03 -9.10938591e-03 9.99928916e-01 -2.12957739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.241193817 meters Centerline goodness [0,1] 0.757708869173193 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.91, Z:-2.13 [[ 9.99892624e-01 1.22143692e-02 -8.09623297e-03 1.09085871e+01] [-1.20907137e-02 9.99812127e-01 1.51501238e-02 -9.11353564e-01] [ 8.27976110e-03 -1.50506078e-02 9.99852451e-01 -2.12692550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.271193817 meters Centerline goodness [0,1] 0.8298219872096564 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.88, Z:-2.13 [[ 9.99482689e-01 3.17116373e-02 -5.35964067e-03 1.09025030e+01] [-3.16150246e-02 9.99351426e-01 1.72399888e-02 -8.82156439e-01] [ 5.90287282e-03 -1.70616252e-02 9.99837015e-01 -2.13431078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.301193817 meters Centerline goodness [0,1] 0.9171487268205655 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.87, Z:-2.13 [[ 9.99042851e-01 4.34067972e-02 -5.40663412e-03 1.09019483e+01] [-4.32534116e-02 9.98730119e-01 2.58319820e-02 -8.68022077e-01] [ 6.52105194e-03 -2.55734016e-02 9.99651678e-01 -2.13404666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.331193817 meters Centerline goodness [0,1] 0.9470775546724914 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.85, Z:-2.13 [[ 9.98450645e-01 5.53885396e-02 -5.33089062e-03 1.09011844e+01] [-5.51757868e-02 9.97895051e-01 3.40749006e-02 -8.52247148e-01] [ 7.20702835e-03 -3.37279704e-02 9.99405064e-01 -2.13376400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.361193817 meters Centerline goodness [0,1] 0.9427004972587021 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.83, Z:-2.13 [[ 9.97648452e-01 6.84583207e-02 -3.32034009e-03 1.08972695e+01] [-6.82766577e-02 9.96898837e-01 3.91280721e-02 -8.32823602e-01] [ 5.98868528e-03 -3.88093588e-02 9.99228687e-01 -2.13484787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.391193817 meters Centerline goodness [0,1] 0.929123871577429 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.81, Z:-2.14 [[ 9.96287994e-01 8.60377841e-02 -2.78079177e-03 1.08699998e+01] [-8.59273243e-02 9.95910667e-01 2.79005049e-02 -8.06462356e-01] [ 5.16991780e-03 -2.75579920e-02 9.99606837e-01 -2.14272943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.421193817 meters Centerline goodness [0,1] 0.8878565005879233 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.76, Z:-2.14 [[ 9.91658550e-01 1.28849793e-01 -3.32434648e-03 1.08404577e+01] [-1.28712040e-01 9.91304385e-01 2.73647068e-02 -7.55220738e-01] [ 6.82137606e-03 -2.67085621e-02 9.99619989e-01 -2.14138839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.451193817 meters Centerline goodness [0,1] 0.7932669931960727 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.73, Z:-2.14 [[ 9.88429856e-01 1.51666207e-01 -1.94435227e-03 1.08338453e+01] [-1.51541768e-01 9.88001095e-01 2.98148972e-02 -7.25857053e-01] [ 6.44293455e-03 -2.91752840e-02 9.99553546e-01 -2.14174248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.481193817 meters Centerline goodness [0,1] 0.6900617270766142 Centerline is valid? [False, False] Translation: X:10.81, Y:-0.69, Z:-2.14 [[ 9.84650896e-01 1.74507431e-01 -3.12567518e-03 1.08106647e+01] [-1.74361270e-01 9.84310473e-01 2.70377413e-02 -6.93282708e-01] [ 7.79492160e-03 -2.60777395e-02 9.99629527e-01 -2.14373569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.511193817 meters Centerline goodness [0,1] 0.6326463177894346 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.66, Z:-2.14 [[ 9.80955528e-01 1.94200623e-01 -3.51719878e-03 1.07762218e+01] [-1.94009467e-01 9.80536087e-01 3.01547343e-02 -6.62834809e-01] [ 9.30480853e-03 -2.88980835e-02 9.99539054e-01 -2.14380609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.541193817 meters Centerline goodness [0,1] 0.5912911246737769 Centerline is valid? [False, False] Translation: X:10.77, Y:-0.61, Z:-2.15 [[ 9.77813728e-01 2.09424950e-01 -4.63709946e-03 1.07679435e+01] [-2.09234377e-01 9.77508754e-01 2.64123268e-02 -6.09154179e-01] [ 1.00642056e-02 -2.48560952e-02 9.99640378e-01 -2.14743720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.571193817 meters Centerline goodness [0,1] 0.5761582615826158 Centerline is valid? [False, False] Translation: X:10.77, Y:-0.59, Z:-2.15 [[ 9.79508332e-01 2.01399254e-01 -1.32937561e-03 1.07662328e+01] [-2.01324231e-01 9.79286134e-01 2.16153260e-02 -5.88174791e-01] [ 5.65514964e-03 -2.09047564e-02 9.99765478e-01 -2.15179379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.601193817 meters Centerline goodness [0,1] 0.6869086142628927 Centerline is valid? [False, False] Translation: X:10.77, Y:-0.57, Z:-2.16 [[ 9.83258591e-01 1.82213171e-01 9.50206096e-04 1.07650653e+01] [-1.82213891e-01 9.83212834e-01 9.51946316e-03 -5.70685480e-01] [ 8.00316735e-04 -9.53323469e-03 9.99954237e-01 -2.15849369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.631193817 meters Centerline goodness [0,1] 0.8378634184481801 Centerline is valid? [False, False] Translation: X:10.75, Y:-0.56, Z:-2.16 [[ 9.89176733e-01 1.46707790e-01 2.49307422e-03 1.07537619e+01] [-1.46727120e-01 9.89106808e-01 1.17844959e-02 -5.59677265e-01] [-7.37039339e-04 -1.20227507e-02 9.99927452e-01 -2.16365117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.661193817 meters Centerline goodness [0,1] 0.9290806521604364 Centerline is valid? [False, False] Translation: X:10.75, Y:-0.56, Z:-2.16 [[ 9.98585351e-01 5.30785289e-02 -3.15710751e-03 1.07522351e+01] [-5.29908758e-02 9.98322865e-01 2.33114710e-02 -5.59396019e-01] [ 4.38915120e-03 -2.31111955e-02 9.99723266e-01 -2.16358069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.691193817 meters Centerline goodness [0,1] 0.686420568268576 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.56, Z:-2.17 [[ 9.99946961e-01 1.00427679e-02 -2.28427370e-03 1.07559032e+01] [-9.99979378e-03 9.99786088e-01 1.81047702e-02 -5.61320980e-01] [ 2.46560707e-03 -1.80809677e-02 9.99833486e-01 -2.16605755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.721193817 meters Centerline goodness [0,1] 0.6402469340404375 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.57, Z:-2.17 [[ 9.99739262e-01 -2.23432953e-02 4.71018829e-03 1.07423831e+01] [ 2.22822286e-02 9.99671795e-01 1.26413917e-02 -5.67105869e-01] [-4.99109273e-03 -1.25331421e-02 9.99909001e-01 -2.16919939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.751193817 meters Centerline goodness [0,1] 0.6053891227201452 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.57, Z:-2.17 [[ 9.99026917e-01 -4.38042936e-02 5.13847694e-03 1.07437180e+01] [ 4.38425197e-02 9.99009708e-01 -7.57864820e-03 -5.70346898e-01] [-4.80141101e-03 7.79655732e-03 9.99958079e-01 -2.16987183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 12614.54 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%| | 0/9392 [00:00