+ python -m lidar_slam --no-model /working/e0218a3c-1965-4619-98e1-4ad0e735960c Lidar SLAM 0.0.13 ===================================================== The recording path: /working/e0218a3c-1965-4619-98e1-4ad0e735960c 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 0.002401008 Adjusted end_distance from 9.223372036854776e+18 to 114.512401008 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002401008 meters Centerline goodness [0,1] 0.6582991591069136 Centerline is valid? [0, False] SLAMing on 0.032401008 meters Centerline goodness [0,1] 0.6507808125427736 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99997777e-01 2.09041366e-03 -2.77251739e-04 -1.22593295e-03] [-2.09014243e-03 9.99997340e-01 9.75015132e-04 7.47582219e-04] [ 2.79289187e-04 -9.74433469e-04 9.99999486e-01 1.84296045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06240100800000001 meters Centerline goodness [0,1] 0.6629401900503074 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99933390e-01 1.15277184e-02 -5.72095631e-04 -1.65215853e-03] [-1.15216982e-02 9.99887551e-01 9.59869622e-03 1.12720826e-03] [ 6.82682366e-04 -9.59146534e-03 9.99953768e-01 3.12102321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.092401008 meters Centerline goodness [0,1] 0.6995092253214885 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99752781e-01 2.22277851e-02 -5.49341035e-04 -2.98805445e-03] [-2.22133827e-02 9.99573506e-01 1.89571210e-02 1.91377958e-03] [ 9.70481557e-04 -1.89402318e-02 9.99820147e-01 4.66786061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.122401008 meters Centerline goodness [0,1] 0.7600520951770615 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:0.00 [[ 0.99872369 0.05038056 -0.00357739 0.00643784] [-0.05031241 0.99858706 0.01710374 -0.00167132] [ 0.00443403 -0.01690192 0.99984732 0.00420474] [ 0. 0. 0. 1. ]] SLAMing on 0.15240100800000003 meters Centerline goodness [0,1] 0.798663134804023 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:0.00 [[ 0.99860916 0.05258783 -0.00377574 0.00605127] [-0.0525092 0.99844811 0.01855123 -0.00346758] [ 0.00474545 -0.01832717 0.99982078 0.00456166] [ 0. 0. 0. 1. ]] SLAMing on 0.18240100800000003 meters Centerline goodness [0,1] 0.7897999669366838 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:0.00 [[ 0.99854374 0.0538112 -0.00383986 0.00600245] [-0.05372388 0.9983544 0.02005569 -0.00763746] [ 0.00491277 -0.01982019 0.99979149 0.0045239 ] [ 0. 0. 0. 1. ]] SLAMing on 0.21240100800000003 meters Centerline goodness [0,1] 0.7854916933237024 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:0.00 [[ 0.99863284 0.05212501 -0.00392759 0.00701432] [-0.05203818 0.99845138 0.01966909 -0.01923912] [ 0.00494676 -0.01943781 0.99979883 0.0025376 ] [ 0. 0. 0. 1. ]] SLAMing on 0.24240100800000003 meters Centerline goodness [0,1] 0.8122700401008723 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:0.00 [[ 0.99878997 0.04902442 -0.00389817 0.00646085] [-0.04894889 0.99864703 0.01755349 -0.025042 ] [ 0.00475344 -0.01734144 0.99983833 0.00263371] [ 0. 0. 0. 1. ]] SLAMing on 0.272401008 meters Centerline goodness [0,1] 0.7967934300394115 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:0.00 [[ 0.99893653 0.0459436 -0.00387183 0.00584588] [-0.04587792 0.99882491 0.01562104 -0.03179844] [ 0.00458497 -0.0154268 0.99987049 0.00293042] [ 0. 0. 0. 1. ]] SLAMing on 0.302401008 meters Centerline goodness [0,1] 0.8018764595259253 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:0.00 [[ 0.99907299 0.04287326 -0.00387931 0.0050332 ] [-0.04281644 0.99898894 0.01370557 -0.03824301] [ 0.00446299 -0.01352676 0.99989855 0.0036321 ] [ 0. 0. 0. 1. ]] SLAMing on 0.332401008 meters Centerline goodness [0,1] 0.7875991649269312 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.05, Z:0.00 [[ 0.99927191 0.0379763 -0.00366707 0.00364815] [-0.03793802 0.99923009 0.0099964 -0.05025063] [ 0.00404388 -0.00985 0.99994331 0.00368611] [ 0. 0. 0. 1. ]] SLAMing on 0.362401008 meters Centerline goodness [0,1] 0.7801900739176346 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.06, Z:0.00 [[ 0.99939105 0.03465377 -0.00407992 0.00449561] [-0.03462268 0.99937262 0.0074594 -0.05602683] [ 0.00433585 -0.0073136 0.99996386 0.00306475] [ 0. 0. 0. 1. ]] SLAMing on 0.392401008 meters Centerline goodness [0,1] 0.7940010343044303 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:0.00 [[ 0.99950314 0.03120484 -0.00444103 0.00550168] [-0.03118264 0.99950129 0.00498188 -0.06295977] [ 0.00459427 -0.00484093 0.99997773 0.0021973 ] [ 0. 0. 0. 1. ]] SLAMing on 0.422401008 meters Centerline goodness [0,1] 0.7808772948586233 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.08, Z:0.00 [[ 0.99956849 0.02732003 -0.01079137 0.01674364] [-0.0273474 0.99962312 -0.0023966 -0.08463947] [ 0.01072183 0.00269068 0.9999389 0.00302319] [ 0. 0. 0. 1. ]] SLAMing on 0.452401008 meters Centerline goodness [0,1] 0.7716115020022172 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.09, Z:0.00 [[ 0.99972588 0.02058603 -0.011153 0.0182092 ] [-0.02067083 0.99975789 -0.00754227 -0.09364939] [ 0.01099504 0.00777074 0.99990936 0.00167142] [ 0. 0. 0. 1. ]] SLAMing on 0.482401008 meters Centerline goodness [0,1] 0.7526495296083503 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.10, Z:0.00 [[ 9.99851268e-01 1.32417444e-02 -1.10497758e-02 1.84949062e-02] [-1.33877507e-02 9.99822642e-01 -1.32458442e-02 -1.01665806e-01] [ 1.08724180e-02 1.33918057e-02 9.99851214e-01 9.24248946e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.512401008 meters Centerline goodness [0,1] 0.7268794818413139 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.11, Z:0.00 [[ 9.99901428e-01 8.62149927e-03 -1.10817322e-02 1.93968067e-02] [-8.79267939e-03 9.99841326e-01 -1.54922894e-02 -1.10624727e-01] [ 1.09464070e-02 1.55882005e-02 9.99818576e-01 5.23179030e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.542401008 meters Centerline goodness [0,1] 0.7024443821275005 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.12, Z:-0.00 [[ 9.99933036e-01 3.73770782e-03 -1.09523085e-02 2.01606883e-02] [-3.93757480e-03 9.99825072e-01 -1.82844680e-02 -1.18072907e-01] [ 1.08820506e-02 1.83263692e-02 9.99772837e-01 -6.42810220e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.572401008 meters Centerline goodness [0,1] 0.7087080036625737 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.12, Z:-0.00 [[ 9.99938945e-01 -6.34247883e-04 -1.10319940e-02 2.08598373e-02] [ 4.03621518e-04 9.99781596e-01 -2.08949069e-02 -1.24448107e-01] [ 1.10428371e-02 2.08891784e-02 9.99720810e-01 -2.33050420e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6024010080000001 meters Centerline goodness [0,1] 0.7393137231812723 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.13, Z:-0.00 [[ 9.99919242e-01 -5.44959538e-03 -1.14809334e-02 2.25779231e-02] [ 5.17393939e-03 9.99700863e-01 -2.39042979e-02 -1.30293138e-01] [ 1.16077678e-02 2.38429657e-02 9.99648325e-01 -4.48138316e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.632401008 meters Centerline goodness [0,1] 0.715460873233495 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.13, Z:0.00 [[ 9.99929209e-01 -1.54266015e-03 -1.17981851e-02 2.27741522e-02] [ 1.31536513e-03 9.99813859e-01 -1.92488071e-02 -1.31438318e-01] [ 1.18256833e-02 1.92319255e-02 9.99745111e-01 8.19956361e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.662401008 meters Centerline goodness [0,1] 0.7353276154614974 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.13, Z:0.00 [[ 0.99992298 0.00243809 -0.01216958 0.02301043] [-0.00262636 0.99987676 -0.0154782 -0.12899793] [ 0.01213034 0.01550897 0.99980614 0.0018803 ] [ 0. 0. 0. 1. ]] SLAMing on 0.692401008 meters Centerline goodness [0,1] 0.7199935630704154 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.12, Z:0.00 [[ 0.99990158 0.00669534 -0.01232924 0.02292228] [-0.00684498 0.99990294 -0.01213497 -0.12382108] [ 0.0122468 0.01221817 0.99985035 0.00264215] [ 0. 0. 0. 1. ]] SLAMing on 0.7224010080000001 meters Centerline goodness [0,1] 0.6967661023022484 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.11, Z:0.00 [[ 9.99709394e-01 1.89927272e-02 -1.48459909e-02 2.90138935e-02] [-1.89936437e-02 9.99819601e-01 7.92704647e-05 -1.09167077e-01] [ 1.48448183e-02 2.02732034e-04 9.99889789e-01 4.66910804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7524010080000001 meters Centerline goodness [0,1] 0.7197025197025197 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.10, Z:0.00 [[ 0.99955035 0.02552995 -0.01572667 0.03160093] [-0.02544223 0.99965974 0.00575248 -0.10022448] [ 0.01586818 -0.00534978 0.99985978 0.00486336] [ 0. 0. 0. 1. ]] SLAMing on 0.782401008 meters Centerline goodness [0,1] 0.7241771211260217 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.09, Z:0.00 [[ 0.99936527 0.03127021 -0.01706534 0.03594596] [-0.0310846 0.99945583 0.0110356 -0.0910913 ] [ 0.01740114 -0.01049812 0.99979347 0.00450113] [ 0. 0. 0. 1. ]] SLAMing on 0.812401008 meters Centerline goodness [0,1] 0.7014691352721336 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.07, Z:0.00 [[ 0.99897444 0.03962028 -0.02191561 0.05313197] [-0.03913193 0.99898562 0.02228042 -0.07410015] [ 0.02277614 -0.02139997 0.99951153 0.00366364] [ 0. 0. 0. 1. ]] SLAMing on 0.8424010080000001 meters Centerline goodness [0,1] 0.7230687153222364 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:0.00 [[ 0.99887117 0.04137213 -0.02333945 0.0587608 ] [-0.04082772 0.99889358 0.02333908 -0.06583516] [ 0.02427921 -0.02235984 0.99945513 0.00119791] [ 0. 0. 0. 1. ]] SLAMing on 0.8724010080000001 meters Centerline goodness [0,1] 0.36340012309375647 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:-0.12 [[ 0.99864101 0.02643514 0.04491463 0.14630574] [-0.0249907 0.99916178 -0.03242232 -0.01817978] [-0.04573407 0.03125581 0.99846456 -0.1249885 ] [ 0. 0. 0. 1. ]] SLAMing on 0.902401008 meters Centerline goodness [0,1] 0.38990357345433924 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.02, Z:-0.13 [[ 0.99870682 0.0204877 0.0465289 0.16086192] [-0.01923343 0.9994437 -0.02724646 -0.02101998] [-0.04706123 0.02631632 0.99854529 -0.12617896] [ 0. 0. 0. 1. ]] SLAMing on 0.932401008 meters Centerline goodness [0,1] 0.46455699055604394 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.03, Z:-0.13 [[ 0.99874286 0.01155984 0.0487758 0.18912986] [-0.01057384 0.99973547 -0.02042484 -0.02732298] [-0.04899901 0.01988341 0.99860089 -0.1307774 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9624010080000001 meters Centerline goodness [0,1] 0.5053753847526431 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:-0.13 [[ 0.99885759 0.00958916 0.04681404 0.20026897] [-0.00881856 0.99982266 -0.01663964 -0.0294797 ] [-0.0469653 0.0162078 0.99876502 -0.13190479] [ 0. 0. 0. 1. ]] SLAMing on 0.9924010080000001 meters Centerline goodness [0,1] 0.5053753847526431 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:-0.13 [[ 0.99885759 0.00958916 0.04681404 0.20026897] [-0.00881856 0.99982266 -0.01663964 -0.0294797 ] [-0.0469653 0.0162078 0.99876502 -0.13190479] [ 0. 0. 0. 1. ]] SLAMing on 1.0224010080000001 meters Centerline goodness [0,1] 0.6225993247926309 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:-0.13 [[ 0.99896242 0.00918326 0.0446067 0.21027771] [-0.00867685 0.99989584 -0.01153317 -0.03071544] [-0.04470797 0.01113415 0.99893805 -0.13117777] [ 0. 0. 0. 1. ]] SLAMing on 1.0524010080000001 meters Centerline goodness [0,1] 0.6820914516412147 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.03, Z:-0.13 [[ 0.99886942 0.01470628 0.04520626 0.24091823] [-0.01450093 0.99988301 -0.00486718 -0.03119918] [-0.04527255 0.00420615 0.99896582 -0.13245343] [ 0. 0. 0. 1. ]] SLAMing on 1.0824010080000002 meters Centerline goodness [0,1] 0.6912032224532225 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.03, Z:-0.13 [[ 9.98933459e-01 1.57727564e-02 4.33954355e-02 2.48549667e-01] [-1.57734288e-02 9.99875538e-01 -3.26936285e-04 -2.96047089e-02] [-4.33951911e-02 -3.57907216e-04 9.99057921e-01 -1.31436986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1124010080000002 meters Centerline goodness [0,1] 0.6832738692930544 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.03, Z:-0.13 [[ 9.98564105e-01 2.39854147e-02 4.79001847e-02 2.68154994e-01] [-2.40569612e-02 9.99710168e-01 9.17637099e-04 -2.64759554e-02] [-4.78642918e-02 -2.06865235e-03 9.98851706e-01 -1.34949439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1424010080000002 meters Centerline goodness [0,1] 0.6725678853966217 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.02, Z:-0.14 [[ 0.99850318 0.02684475 0.04765257 0.27132694] [-0.0270668 0.99962554 0.0040207 -0.02414434] [-0.04752679 -0.00530448 0.99885588 -0.13612438] [ 0. 0. 0. 1. ]] SLAMing on 1.1724010080000002 meters Centerline goodness [0,1] 0.6617085384484807 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.02, Z:-0.14 [[ 0.99844136 0.0294637 0.04739977 0.274852 ] [-0.02984248 0.99952793 0.00730334 -0.02186343] [-0.04716221 -0.00870648 0.9988493 -0.13726441] [ 0. 0. 0. 1. ]] SLAMing on 1.2024010080000003 meters Centerline goodness [0,1] 0.6617085384484807 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.02, Z:-0.14 [[ 0.99844136 0.0294637 0.04739977 0.274852 ] [-0.02984248 0.99952793 0.00730334 -0.02186343] [-0.04716221 -0.00870648 0.9988493 -0.13726441] [ 0. 0. 0. 1. ]] SLAMing on 1.2324010080000003 meters Centerline goodness [0,1] 0.6585227272727272 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.02, Z:-0.14 [[ 0.99845952 0.03079835 0.04615255 0.2812043 ] [-0.03134177 0.99944712 0.01109719 -0.01958863] [-0.04578526 -0.0125266 0.99887276 -0.13736004] [ 0. 0. 0. 1. ]] SLAMing on 1.262401008 meters Centerline goodness [0,1] 0.6439003799071339 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.02, Z:-0.14 [[ 0.9984849 0.0303816 0.04587885 0.28402612] [-0.03088932 0.99946872 0.01039816 -0.0163388 ] [-0.04553856 -0.01179957 0.99889289 -0.13874516] [ 0. 0. 0. 1. ]] SLAMing on 1.2924010080000001 meters Centerline goodness [0,1] 0.6130803898962374 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.01, Z:-0.14 [[ 0.99823503 0.03225264 0.04986574 0.30899558] [-0.03278825 0.99941269 0.00996037 -0.01492162] [-0.0495152 -0.0115778 0.99870626 -0.14135942] [ 0. 0. 0. 1. ]] SLAMing on 1.3224010080000002 meters Centerline goodness [0,1] 0.6282246468747357 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.01, Z:-0.14 [[ 0.99829107 0.03090587 0.04959614 0.31224697] [-0.03139059 0.99946646 0.00902418 -0.01369934] [-0.04929077 -0.01056561 0.99872859 -0.14316669] [ 0. 0. 0. 1. ]] SLAMing on 1.3524010080000002 meters Centerline goodness [0,1] 0.6227173272742573 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.01, Z:-0.14 [[ 0.99847382 0.02797484 0.04761762 0.3199007 ] [-0.02842906 0.99955629 0.00888851 -0.01235392] [-0.04734784 -0.01022867 0.99882609 -0.14379447] [ 0. 0. 0. 1. ]] SLAMing on 1.3824010080000002 meters Centerline goodness [0,1] 0.632466545654101 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.01, Z:-0.15 [[ 0.998552 0.02642188 0.04685918 0.32429682] [-0.02682318 0.99960853 0.0079559 -0.0115092 ] [-0.04663062 -0.00920129 0.99886982 -0.14618182] [ 0. 0. 0. 1. ]] SLAMing on 1.4124010080000002 meters Centerline goodness [0,1] 0.6306535324647813 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.01, Z:-0.15 [[ 0.99884794 0.01839011 0.0443237 0.34049084] [-0.01877118 0.99979021 0.00819665 -0.01146685] [-0.04416366 -0.00901922 0.9989836 -0.1472752 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4424010080000003 meters Centerline goodness [0,1] 0.6328430027647046 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.01, Z:-0.15 [[ 0.99901213 0.01466907 0.04194731 0.34939235] [-0.01498094 0.99986236 0.00713009 -0.01117689] [-0.04183695 -0.00775146 0.99909438 -0.14931545] [ 0. 0. 0. 1. ]] SLAMing on 1.4724010080000003 meters Centerline goodness [0,1] 0.6431215755960313 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.01, Z:-0.15 [[ 0.99914634 0.01139967 0.03970696 0.35751433] [-0.01165789 0.99991234 0.00627756 -0.01029599] [-0.03963191 -0.0067351 0.99919165 -0.15102066] [ 0. 0. 0. 1. ]] SLAMing on 1.5024010080000003 meters Centerline goodness [0,1] 0.6529151400919122 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:-0.15 [[ 0.99928927 0.00397618 0.03748522 0.37325022] [-0.00426091 0.99996265 0.007519 -0.00847423] [-0.03745393 -0.00767337 0.99926889 -0.15140237] [ 0. 0. 0. 1. ]] SLAMing on 1.5324010080000001 meters Centerline goodness [0,1] 0.6528107009820521 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.01, Z:-0.15 [[ 9.99385112e-01 5.75391429e-04 3.50580463e-02 3.81974137e-01] [-8.04262012e-04 9.99978456e-01 6.51458002e-03 -7.05172591e-03] [-3.50535426e-02 -6.53877014e-03 9.99364045e-01 -1.53318560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5624010080000001 meters Centerline goodness [0,1] 0.651896993165323 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.01, Z:-0.15 [[ 0.99946969 -0.00280538 0.0324419 0.39113012] [ 0.0026161 0.99997932 0.00587542 -0.00582156] [-0.03245771 -0.00578744 0.99945635 -0.15487911] [ 0. 0. 0. 1. ]] SLAMing on 1.5924010080000002 meters Centerline goodness [0,1] 0.6433551658567505 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.00, Z:-0.16 [[ 0.99953385 -0.00625136 0.02988321 0.400362 ] [ 0.00609076 0.99996653 0.00546233 -0.00496254] [-0.02991636 -0.00527777 0.99953847 -0.15607924] [ 0. 0. 0. 1. ]] SLAMing on 1.6224010080000002 meters Centerline goodness [0,1] 0.652563146115315 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.01, Z:-0.16 [[ 0.99948508 -0.01653352 0.02749924 0.42021607] [ 0.01637305 0.99984765 0.00605044 -0.00629323] [-0.02759508 -0.00559707 0.99960351 -0.15737186] [ 0. 0. 0. 1. ]] SLAMing on 1.6524010080000002 meters Centerline goodness [0,1] 0.6872794560633445 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.01, Z:-0.16 [[ 0.9994173 -0.02293481 0.02527951 0.43131613] [ 0.02282134 0.99972819 0.00476799 -0.00847464] [-0.02538199 -0.0041883 0.99966905 -0.15862847] [ 0. 0. 0. 1. ]] SLAMing on 1.6824010080000003 meters Centerline goodness [0,1] 0.6776042227728105 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:-0.16 [[ 9.99474832e-01 -2.51122356e-02 2.04801306e-02 4.55450579e-01] [ 2.51347544e-02 9.99683717e-01 -8.42840485e-04 -1.30014101e-02] [-2.04524875e-02 1.35716091e-03 9.99789905e-01 -1.59376914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7124010080000003 meters Centerline goodness [0,1] 0.7065241060929401 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.02, Z:-0.16 [[ 0.99929073 -0.03270554 0.018665 0.46764278] [ 0.03273672 0.99946308 -0.00136708 -0.01764192] [-0.01861027 0.00197714 0.99982486 -0.15997125] [ 0. 0. 0. 1. ]] SLAMing on 1.7424010080000003 meters Centerline goodness [0,1] 0.6884579429093202 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:-0.16 [[ 0.99878105 -0.04661551 0.01622995 0.51294739] [ 0.04664358 0.99891068 -0.00135497 -0.02911359] [-0.0161491 0.00211034 0.99986737 -0.16154227] [ 0. 0. 0. 1. ]] SLAMing on 1.7724010080000003 meters Centerline goodness [0,1] 0.7190486774838853 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:-0.16 [[ 0.9984252 -0.05401535 0.01514806 0.52382083] [ 0.0540483 0.99853675 -0.00177422 -0.03395871] [-0.01503005 0.00259016 0.99988369 -0.16151237] [ 0. 0. 0. 1. ]] SLAMing on 1.8024010080000001 meters Centerline goodness [0,1] 0.7353471596032461 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.04, Z:-0.16 [[ 0.99843185 -0.05557927 0.0066919 0.54396168] [ 0.05561356 0.99843959 -0.00505152 -0.03980966] [-0.0064007 0.00541575 0.99996485 -0.15842774] [ 0. 0. 0. 1. ]] SLAMing on 1.8324010080000002 meters Centerline goodness [0,1] 0.7306650755037407 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.05, Z:-0.16 [[ 0.99770531 -0.06733795 0.00705037 0.58609953] [ 0.06736242 0.99772314 -0.00329167 -0.05179042] [-0.00681267 0.00375905 0.99996973 -0.15799607] [ 0. 0. 0. 1. ]] SLAMing on 1.8624010080000002 meters Centerline goodness [0,1] 0.7500925925925925 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.06, Z:-0.16 [[ 0.99768361 -0.06797718 0.00255419 0.61234961] [ 0.06799025 0.99767119 -0.00543435 -0.05881952] [-0.00217883 0.00559543 0.99998197 -0.15835637] [ 0. 0. 0. 1. ]] SLAMing on 1.8924010080000002 meters Centerline goodness [0,1] 0.756910225726219 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.07, Z:-0.16 [[ 0.99762925 -0.06857094 -0.00582275 0.63378506] [ 0.06853164 0.99762645 -0.00669958 -0.06633516] [ 0.00626833 0.00628466 0.9999606 -0.15576432] [ 0. 0. 0. 1. ]] SLAMing on 1.9224010080000002 meters Centerline goodness [0,1] 0.7671616766467066 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.08, Z:-0.16 [[ 0.9969835 -0.07735797 -0.00629699 0.67629533] [ 0.07733571 0.99699822 -0.00370562 -0.08089646] [ 0.00656475 0.00320746 0.99997331 -0.15655554] [ 0. 0. 0. 1. ]] SLAMing on 1.9524010080000003 meters Centerline goodness [0,1] 0.7733954300684034 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.09, Z:-0.16 [[ 0.99700119 -0.07658133 -0.01113238 0.70235847] [ 0.07652222 0.99705191 -0.00564277 -0.08954625] [ 0.01153169 0.00477397 0.99992211 -0.15681361] [ 0. 0. 0. 1. ]] SLAMing on 1.9824010080000003 meters Centerline goodness [0,1] 0.7702964470490155 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.10, Z:-0.16 [[ 0.99711034 -0.07419605 -0.01630701 0.72848464] [ 0.0741142 0.99723421 -0.00556835 -0.09885073] [ 0.01667506 0.00434368 0.99985153 -0.15604255] [ 0. 0. 0. 1. ]] SLAMing on 2.0124010080000003 meters Centerline goodness [0,1] 0.7800757932281475 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.11, Z:-0.16 [[ 0.99723817 -0.07110848 -0.02143847 0.75399729] [ 0.07100683 0.99746085 -0.00546717 -0.10765542] [ 0.0217728 0.00392979 0.99975522 -0.15552568] [ 0. 0. 0. 1. ]] SLAMing on 2.042401008 meters Centerline goodness [0,1] 0.7815380729890138 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.12, Z:-0.15 [[ 0.9971038 -0.07291642 -0.02161504 0.7904424 ] [ 0.07296343 0.99733364 0.00139302 -0.12161174] [ 0.02145583 -0.00296609 0.9997654 -0.15335972] [ 0. 0. 0. 1. ]] SLAMing on 2.0724010080000004 meters Centerline goodness [0,1] 0.7815051247488491 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.13, Z:-0.15 [[ 9.97236006e-01 -6.97452825e-02 -2.56113950e-02 8.13508842e-01] [ 6.97725540e-02 9.97562911e-01 1.71643605e-04 -1.29236846e-01] [ 2.55370065e-02 -1.95814163e-03 9.99671960e-01 -1.52833117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.102401008 meters Centerline goodness [0,1] 0.7840380413828557 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:-0.15 [[ 9.97119377e-01 -7.07765349e-02 -2.72695867e-02 8.18996776e-01] [ 7.08227329e-02 9.97488650e-01 7.30816687e-04 -1.35136492e-01] [ 2.71493785e-02 -2.66001813e-03 9.99627849e-01 -1.53774605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1324010080000004 meters Centerline goodness [0,1] 0.7981257119188154 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.14, Z:-0.15 [[ 9.97173725e-01 -6.79322717e-02 -3.20900020e-02 8.41885381e-01] [ 6.79439270e-02 9.97688875e-01 -7.28358429e-04 -1.43129141e-01] [ 3.20653170e-02 -1.45402086e-03 9.99484718e-01 -1.52724107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1624010080000002 meters Centerline goodness [0,1] 0.8002955847034916 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.16, Z:-0.15 [[ 9.96962192e-01 -6.98769787e-02 -3.44034314e-02 8.70014642e-01] [ 6.99098002e-02 9.97553286e-01 -2.49452634e-04 -1.56212284e-01] [ 3.43366870e-02 -2.15644217e-03 9.99407996e-01 -1.49725332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1924010080000005 meters Centerline goodness [0,1] 0.799468438538206 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.16, Z:-0.15 [[ 9.96804437e-01 -7.12957853e-02 -3.60253360e-02 8.75357085e-01] [ 7.13362868e-02 9.97452309e-01 -1.61510194e-04 -1.61608900e-01] [ 3.59450696e-02 -2.40891963e-03 9.99350864e-01 -1.50407539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2224010080000003 meters Centerline goodness [0,1] 0.801769578313253 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.17, Z:-0.15 [[ 9.96660871e-01 -7.23882953e-02 -3.77762148e-02 8.80349402e-01] [ 7.24598675e-02 9.97371190e-01 5.27171634e-04 -1.67351224e-01] [ 3.76387473e-02 -3.26267086e-03 9.99286085e-01 -1.50143153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.252401008 meters Centerline goodness [0,1] 0.801972129410806 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.18, Z:-0.15 [[ 0.99645081 -0.07575895 -0.03669289 0.91110558] [ 0.07588387 0.99711461 0.00202192 -0.17655799] [ 0.03643383 -0.00479915 0.99932454 -0.14625139] [ 0. 0. 0. 1. ]] SLAMing on 2.2824010080000003 meters Centerline goodness [0,1] 0.8116915015555919 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.18, Z:-0.15 [[ 0.99637861 -0.07626011 -0.03760392 0.91405975] [ 0.07639628 0.99707512 0.0021955 -0.17859608] [ 0.03732651 -0.00506035 0.99929031 -0.14674835] [ 0. 0. 0. 1. ]] SLAMing on 2.312401008 meters Centerline goodness [0,1] 0.8180174751431154 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.15 [[ 0.99649772 -0.07371949 -0.03946814 0.91883557] [ 0.07400626 0.9972406 0.00585278 -0.18269346] [ 0.03892777 -0.00875318 0.99920369 -0.14694958] [ 0. 0. 0. 1. ]] SLAMing on 2.3424010080000004 meters Centerline goodness [0,1] 0.8152054493517908 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.15 [[ 0.99644119 -0.07391747 -0.04051138 0.92150024] [ 0.07421946 0.99722388 0.00599974 -0.18439178] [ 0.03995543 -0.00898512 0.99916106 -0.14715928] [ 0. 0. 0. 1. ]] SLAMing on 2.372401008 meters Centerline goodness [0,1] 0.8185383638071038 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.19, Z:-0.15 [[ 0.99639867 -0.0739353 -0.04151224 0.92368845] [ 0.0742615 0.99721846 0.00636949 -0.18643421] [ 0.04092584 -0.00942931 0.99911769 -0.14680317] [ 0. 0. 0. 1. ]] SLAMing on 2.4024010080000004 meters Centerline goodness [0,1] 0.8274742654199384 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 0.99685006 -0.07058075 -0.0361707 0.93928921] [ 0.0707187 0.99749305 0.00254717 -0.19026655] [ 0.03590024 -0.00509709 0.99934238 -0.14840066] [ 0. 0. 0. 1. ]] SLAMing on 2.4324010080000003 meters Centerline goodness [0,1] 0.8284277146726363 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 0.99679158 -0.07094181 -0.037065 0.9414582 ] [ 0.07108954 0.99746633 0.00268128 -0.19094716] [ 0.03678087 -0.00530761 0.99930926 -0.1480472 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4624010080000005 meters Centerline goodness [0,1] 0.8546999025205403 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.15 [[ 0.99676361 -0.07097498 -0.03774725 0.94272678] [ 0.07114614 0.99746074 0.00320897 -0.19248957] [ 0.03742365 -0.00588416 0.99928217 -0.14716438] [ 0. 0. 0. 1. ]] SLAMing on 2.4924010080000003 meters Centerline goodness [0,1] 0.8394650700836528 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.20, Z:-0.15 [[ 9.96957237e-01 -7.08297232e-02 -3.25487050e-02 9.59772284e-01] [ 7.07754012e-02 9.97488292e-01 -2.81950498e-03 -1.95589236e-01] [ 3.26666569e-02 5.07278241e-04 9.99466174e-01 -1.48200774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.522401008 meters Centerline goodness [0,1] 0.8429095183454143 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.20, Z:-0.15 [[ 9.96924831e-01 -7.08928371e-02 -3.33929127e-02 9.61331714e-01] [ 7.08601197e-02 9.97483916e-01 -2.16368919e-03 -1.97610388e-01] [ 3.34622834e-02 -2.09190307e-04 9.99439959e-01 -1.47136005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5524010080000004 meters Centerline goodness [0,1] 0.8583419602137601 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.20, Z:-0.15 [[ 0.99710358 -0.06755715 -0.03493534 0.96454847] [ 0.06768208 0.99770404 0.00240459 -0.20075768] [ 0.03469268 -0.00476212 0.99938668 -0.14611229] [ 0. 0. 0. 1. ]] SLAMing on 2.582401008 meters Centerline goodness [0,1] 0.870127688172043 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.20, Z:-0.15 [[ 0.99728835 -0.06423317 -0.03591714 0.96750792] [ 0.06451294 0.99789448 0.00668437 -0.20070882] [ 0.03541215 -0.00898337 0.99933242 -0.14580621] [ 0. 0. 0. 1. ]] SLAMing on 2.6124010080000004 meters Centerline goodness [0,1] 0.8706884513336126 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.20, Z:-0.15 [[ 0.99741268 -0.06132194 -0.03751763 0.97151153] [ 0.06176052 0.99803424 0.01064359 -0.20222748] [ 0.03679119 -0.01293316 0.99923928 -0.14568311] [ 0. 0. 0. 1. ]] SLAMing on 2.642401008 meters Centerline goodness [0,1] 0.8800616505534539 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.20, Z:-0.15 [[ 0.99733443 -0.06205429 -0.03838359 0.97416123] [ 0.06248444 0.99799474 0.01010918 -0.20152183] [ 0.0376793 -0.01248061 0.99921194 -0.14637229] [ 0. 0. 0. 1. ]] SLAMing on 2.6724010080000005 meters Centerline goodness [0,1] 0.8744618997036955 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.20, Z:-0.15 [[ 0.99724047 -0.06295205 -0.03935087 0.97728285] [ 0.06336934 0.99794543 0.00944731 -0.2009507 ] [ 0.0386753 -0.01191488 0.99918079 -0.14730229] [ 0. 0. 0. 1. ]] SLAMing on 2.7024010080000003 meters Centerline goodness [0,1] 0.8796971474869388 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.20, Z:-0.15 [[ 0.99696947 -0.06565006 -0.04173659 0.98526699] [ 0.0660449 0.99778336 0.00815144 -0.19950729] [ 0.04110893 -0.01088322 0.9990954 -0.14875747] [ 0. 0. 0. 1. ]] SLAMing on 2.7324010080000005 meters Centerline goodness [0,1] 0.8683080526433192 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.20, Z:-0.15 [[ 0.99684991 -0.066817 -0.04272884 0.98889526] [ 0.06718434 0.99771447 0.00721781 -0.19822745] [ 0.04214891 -0.01006578 0.99906063 -0.15015885] [ 0. 0. 0. 1. ]] SLAMing on 2.7624010080000003 meters Centerline goodness [0,1] 0.879715600167294 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.20, Z:-0.15 [[ 0.99683209 -0.06613794 -0.04417644 0.9948986 ] [ 0.06661574 0.99773413 0.00943102 -0.19824215] [ 0.04345259 -0.01234398 0.99897923 -0.15173308] [ 0. 0. 0. 1. ]] SLAMing on 2.792401008 meters Centerline goodness [0,1] 0.8799910898256947 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.20, Z:-0.15 [[ 0.99685489 -0.06456158 -0.04595788 1.00068469] [ 0.06519892 0.99779393 0.01250507 -0.19818043] [ 0.04504915 -0.01546215 0.9988651 -0.15254251] [ 0. 0. 0. 1. ]] SLAMing on 2.8224010080000004 meters Centerline goodness [0,1] 0.8687810427592331 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.20, Z:-0.15 [[ 0.99673372 -0.06473499 -0.0482832 1.00922031] [ 0.06549988 0.99774824 0.01442982 -0.19522359] [ 0.04724036 -0.01754523 0.99872945 -0.15390836] [ 0. 0. 0. 1. ]] SLAMing on 2.852401008 meters Centerline goodness [0,1] 0.858534297224215 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.19, Z:-0.16 [[ 0.99689279 -0.06425227 -0.04556765 1.02582246] [ 0.06449761 0.99791011 0.00393283 -0.19131574] [ 0.04521973 -0.00685961 0.99895351 -0.15889617] [ 0. 0. 0. 1. ]] SLAMing on 2.8824010080000004 meters Centerline goodness [0,1] 0.8620946187970132 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.19, Z:-0.16 [[ 0.99682607 -0.0647963 -0.04625169 1.02711481] [ 0.0650235 0.99787786 0.00342315 -0.18947709] [ 0.04593173 -0.00641974 0.99892395 -0.15845304] [ 0. 0. 0. 1. ]] SLAMing on 2.9124010080000002 meters Centerline goodness [0,1] 0.8204308777343104 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.19, Z:-0.16 [[ 0.99695993 -0.06155143 -0.04777353 1.02960303] [ 0.06197971 0.99804897 0.00753441 -0.18968161] [ 0.04721657 -0.01047249 0.99882978 -0.15690965] [ 0. 0. 0. 1. ]] SLAMing on 2.9424010080000005 meters Centerline goodness [0,1] 0.8580436451365281 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.19, Z:-0.16 [[ 0.99689346 -0.06219329 -0.04832629 1.0308729 ] [ 0.06257739 0.99801911 0.00647463 -0.18602202] [ 0.04782788 -0.00947865 0.99881062 -0.1571827 ] [ 0. 0. 0. 1. ]] SLAMing on 2.9724010080000003 meters Centerline goodness [0,1] 0.8608289423651475 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.18, Z:-0.16 [[ 0.99698641 -0.05938263 -0.04991788 1.03379157] [ 0.05991763 0.9981601 0.00928913 -0.18162266] [ 0.04927442 -0.01225209 0.99871013 -0.1565502 ] [ 0. 0. 0. 1. ]] SLAMing on 3.0024010080000005 meters Centerline goodness [0,1] 0.8567320474213939 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.18, Z:-0.16 [[ 0.99692516 -0.05994611 -0.0504647 1.03504818] [ 0.06043825 0.99813758 0.00828212 -0.17852679] [ 0.04987424 -0.01130665 0.9986915 -0.15687008] [ 0. 0. 0. 1. ]] SLAMing on 3.0324010080000003 meters Centerline goodness [0,1] 0.8603646185010129 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.17, Z:-0.16 [[ 9.97216780e-01 -5.78527733e-02 -4.70292396e-02 1.04967293e+00] [ 5.78676716e-02 9.98323714e-01 -1.04578277e-03 -1.74901777e-01] [ 4.70109066e-02 -1.67860047e-03 9.98892966e-01 -1.61512987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.062401008 meters Centerline goodness [0,1] 0.8633358417544614 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.17, Z:-0.16 [[ 0.99736081 -0.05438308 -0.04810299 1.0517168 ] [ 0.05455484 0.99850821 0.0022641 -0.17198712] [ 0.0479081 -0.00488238 0.99883982 -0.16147528] [ 0. 0. 0. 1. ]] SLAMing on 3.0924010080000004 meters Centerline goodness [0,1] 0.8658539859839433 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.17, Z:-0.16 [[ 0.99751114 -0.05057511 -0.04912927 1.05352287] [ 0.05094952 0.99868074 0.00639797 -0.17207082] [ 0.04874088 -0.00888516 0.99877194 -0.16093777] [ 0. 0. 0. 1. ]] SLAMing on 3.122401008 meters Centerline goodness [0,1] 0.8658539859839433 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.17, Z:-0.16 [[ 0.99751114 -0.05057511 -0.04912927 1.05352287] [ 0.05094952 0.99868074 0.00639797 -0.17207082] [ 0.04874088 -0.00888516 0.99877194 -0.16093777] [ 0. 0. 0. 1. ]] SLAMing on 3.1524010080000004 meters Centerline goodness [0,1] 0.8686408910785048 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.17, Z:-0.16 [[ 0.99760133 -0.04742038 -0.05042706 1.05683707] [ 0.04797349 0.99880039 0.00981475 -0.17157073] [ 0.04990114 -0.01221037 0.99867952 -0.16140613] [ 0. 0. 0. 1. ]] SLAMing on 3.1824010080000003 meters Centerline goodness [0,1] 0.8723563541081789 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.17, Z:-0.16 [[ 9.97738517e-01 -4.20453012e-02 -5.24408623e-02 1.06801685e+00] [ 4.21430348e-02 9.99111300e-01 7.58828257e-04 -1.69662866e-01] [ 5.23623530e-02 -2.96712927e-03 9.98623743e-01 -1.64129434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2124010080000005 meters Centerline goodness [0,1] 0.8778568952182841 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.17, Z:-0.16 [[ 0.99779792 -0.03881821 -0.05378149 1.07085364] [ 0.0390891 0.99922775 0.00399383 -0.16799254] [ 0.05358492 -0.0060873 0.99854474 -0.16399021] [ 0. 0. 0. 1. ]] SLAMing on 3.2424010080000003 meters Centerline goodness [0,1] 0.8759619495510902 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.17, Z:-0.16 [[ 0.9977642 -0.03911172 -0.054193 1.07177854] [ 0.0393582 0.99921908 0.00348788 -0.16623161] [ 0.05401426 -0.00561302 0.99852439 -0.16411557] [ 0. 0. 0. 1. ]] SLAMing on 3.2724010080000006 meters Centerline goodness [0,1] 0.8745443825042882 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.16, Z:-0.16 [[ 0.99772166 -0.03955062 -0.05465572 1.07299734] [ 0.0397724 0.99920433 0.00297564 -0.16492674] [ 0.05449454 -0.00514265 0.99850083 -0.16432257] [ 0. 0. 0. 1. ]] SLAMing on 3.3024010080000004 meters Centerline goodness [0,1] 0.8687340017064846 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.17, Z:-0.16 [[ 0.9977655 -0.03670267 -0.0558294 1.07555261] [ 0.03717037 0.99928183 0.00736175 -0.1672526 ] [ 0.05551911 -0.0094205 0.99841318 -0.16284009] [ 0. 0. 0. 1. ]] SLAMing on 3.332401008 meters Centerline goodness [0,1] 0.8540321289427336 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.16, Z:-0.17 [[ 0.99826257 -0.04039525 -0.0428959 1.08183297] [ 0.04057554 0.99917089 0.00334024 -0.16399005] [ 0.0427254 -0.00507496 0.99907396 -0.17009246] [ 0. 0. 0. 1. ]] SLAMing on 3.3624010080000004 meters Centerline goodness [0,1] 0.8511084804132587 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.16, Z:-0.17 [[ 0.9982621 -0.04025374 -0.0430397 1.08158708] [ 0.0404509 0.9991746 0.00371956 -0.16431521] [ 0.04285445 -0.00545409 0.99906644 -0.16921586] [ 0. 0. 0. 1. ]] SLAMing on 3.392401008 meters Centerline goodness [0,1] 0.8441091182472344 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.16, Z:-0.17 [[ 0.99845903 -0.03891209 -0.03956536 1.09730806] [ 0.03874293 0.99923653 -0.00503348 -0.16266093] [ 0.03973102 0.00349285 0.99920431 -0.17353546] [ 0. 0. 0. 1. ]] SLAMing on 3.4224010080000005 meters Centerline goodness [0,1] 0.8336428975207947 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.17, Z:-0.17 [[ 9.98552012e-01 -3.56225571e-02 -4.03102144e-02 1.09918793e+00] [ 3.56416609e-02 9.99364604e-01 -2.44861549e-04 -1.66632851e-01] [ 4.02933241e-02 -1.19221600e-03 9.99187183e-01 -1.72573545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4524010080000003 meters Centerline goodness [0,1] 0.8271621585178394 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.17, Z:-0.17 [[ 9.98534979e-01 -3.57017554e-02 -4.06605523e-02 1.10008657e+00] [ 3.57289702e-02 9.99361515e-01 -5.73981507e-05 -1.67462682e-01] [ 4.06366403e-02 -1.39544560e-03 9.99173016e-01 -1.72596692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4824010080000005 meters Centerline goodness [0,1] 0.8217505482307713 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.17, Z:-0.17 [[ 9.98525216e-01 -3.56265308e-02 -4.09651571e-02 1.10055577e+00] [ 3.56727389e-02 9.99363446e-01 3.97331818e-04 -1.68875276e-01] [ 4.09249250e-02 -1.85808519e-03 9.99160497e-01 -1.72110549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5124010080000003 meters Centerline goodness [0,1] 0.816761555273738 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.17, Z:-0.18 [[ 0.99867114 -0.03442001 -0.03835636 1.11769257] [ 0.03413718 0.9993851 -0.00800468 -0.16850827] [ 0.0386083 0.00668466 0.99923206 -0.17623204] [ 0. 0. 0. 1. ]] SLAMing on 3.5424010080000006 meters Centerline goodness [0,1] 0.7953136892464934 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.17, Z:-0.18 [[ 0.99862015 -0.03504724 -0.03910856 1.11964842] [ 0.03478602 0.99936783 -0.00734016 -0.17178157] [ 0.03934109 0.00596961 0.99920801 -0.17559971] [ 0. 0. 0. 1. ]] SLAMing on 3.5724010080000004 meters Centerline goodness [0,1] 0.7801646584155717 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.17, Z:-0.18 [[ 0.9985812 -0.03555268 -0.03964321 1.12133791] [ 0.03529308 0.99935086 -0.00722939 -0.17273515] [ 0.0398745 0.00582001 0.99918775 -0.1757926 ] [ 0. 0. 0. 1. ]] SLAMing on 3.602401008 meters Centerline goodness [0,1] 0.7705342305282371 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.18, Z:-0.17 [[ 0.99865711 -0.03277263 -0.04012389 1.12306427] [ 0.03269097 0.99946189 -0.00268976 -0.1763873 ] [ 0.04019044 0.00137446 0.99919109 -0.17495985] [ 0. 0. 0. 1. ]] SLAMing on 3.6324010080000004 meters Centerline goodness [0,1] 0.7648807900049103 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.18, Z:-0.17 [[ 9.98650202e-01 -3.27771891e-02 -4.02918180e-02 1.12289370e+00] [ 3.27193410e-02 9.99462384e-01 -2.09449855e-03 -1.77567558e-01] [ 4.03388083e-02 7.73349671e-04 9.99185760e-01 -1.73754228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6624010080000002 meters Centerline goodness [0,1] 0.7536592706081913 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.18, Z:-0.17 [[ 0.99865153 -0.03246384 -0.04051202 1.1215154 ] [ 0.03255847 0.99946842 0.0016781 -0.18255202] [ 0.04043601 -0.00299485 0.99917764 -0.16679788] [ 0. 0. 0. 1. ]] SLAMing on 3.6924010080000005 meters Centerline goodness [0,1] 0.7465764725292856 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.18, Z:-0.17 [[ 0.99866499 -0.0321037 -0.04046718 1.12052039] [ 0.03223065 0.99947736 0.00248843 -0.18431781] [ 0.04036614 -0.0037894 0.99917777 -0.16522258] [ 0. 0. 0. 1. ]] SLAMing on 3.7224010080000003 meters Centerline goodness [0,1] 0.743685790618889 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.19, Z:-0.16 [[ 0.99866523 -0.03195432 -0.04057941 1.12026633] [ 0.032102 0.99948012 0.00299258 -0.18523136] [ 0.04046269 -0.00429126 0.99917183 -0.16429352] [ 0. 0. 0. 1. ]] SLAMing on 3.7524010080000005 meters Centerline goodness [0,1] 0.7381802207457031 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.18, Z:-0.16 [[ 0.99864187 -0.03230531 -0.04087516 1.12133063] [ 0.03244236 0.99946998 0.00269382 -0.18470919] [ 0.04076647 -0.00401625 0.99916063 -0.16476474] [ 0. 0. 0. 1. ]] SLAMing on 3.7824010080000003 meters Centerline goodness [0,1] 0.7261043071418742 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.18, Z:-0.17 [[ 0.99861317 -0.032791 -0.04118833 1.12282395] [ 0.03290619 0.99945619 0.00212181 -0.18343493] [ 0.04109635 -0.00347422 0.99914915 -0.16593176] [ 0. 0. 0. 1. ]] SLAMing on 3.8124010080000006 meters Centerline goodness [0,1] 0.7249346719845964 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.18, Z:-0.17 [[ 0.99858989 -0.03295966 -0.04161594 1.12387252] [ 0.03307214 0.99945093 0.00201719 -0.18296726] [ 0.04152661 -0.00339067 0.99913165 -0.1660482 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8424010080000004 meters Centerline goodness [0,1] 0.7239199447895099 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.18, Z:-0.17 [[ 0.99858668 -0.03292039 -0.04172397 1.1242169 ] [ 0.03302485 0.99945288 0.00181643 -0.18217623] [ 0.04164135 -0.00319179 0.99912752 -0.1664053 ] [ 0. 0. 0. 1. ]] SLAMing on 3.872401008 meters Centerline goodness [0,1] 0.727677091391314 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.18, Z:-0.17 [[ 0.99866499 -0.0292749 -0.04255837 1.12605601] [ 0.02955853 0.99954474 0.00605049 -0.18387104] [ 0.04236186 -0.00730038 0.99907566 -0.16607591] [ 0. 0. 0. 1. ]] SLAMing on 3.9024010080000004 meters Centerline goodness [0,1] 0.7363699102829537 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.18, Z:-0.17 [[ 0.99866844 -0.02873927 -0.04284163 1.12689373] [ 0.02897671 0.99956792 0.00493161 -0.18088844] [ 0.04268139 -0.00616645 0.9990697 -0.1683532 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9324010080000003 meters Centerline goodness [0,1] 0.7413329676357652 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.18, Z:-0.17 [[ 0.99887514 -0.0253967 -0.04004338 1.14207924] [ 0.02528186 0.99967468 -0.00337173 -0.17931293] [ 0.04011598 0.00235556 0.99919225 -0.17419689] [ 0. 0. 0. 1. ]] SLAMing on 3.9624010080000005 meters Centerline goodness [0,1] 0.7470328457079768 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.18, Z:-0.17 [[ 0.99894745 -0.02139056 -0.04057641 1.14297795] [ 0.02146534 0.9997686 0.00140824 -0.18148327] [ 0.04053689 -0.00227774 0.99917545 -0.17329728] [ 0. 0. 0. 1. ]] SLAMing on 3.9924010080000003 meters Centerline goodness [0,1] 0.7600022104332449 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.18, Z:-0.18 [[ 0.99923037 -0.01766079 -0.03502512 1.15447608] [ 0.01747676 0.99983185 -0.00555358 -0.18134866] [ 0.03511731 0.00493718 0.999371 -0.17681485] [ 0. 0. 0. 1. ]] SLAMing on 4.022401008 meters Centerline goodness [0,1] 0.7665920336125163 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.19, Z:-0.17 [[ 9.99281640e-01 -1.34519100e-02 -3.54295133e-02 1.15434862e+00] [ 1.34550026e-02 9.99909466e-01 -1.51148258e-04 -1.85219108e-01] [ 3.54283389e-02 -3.25664513e-04 9.99372166e-01 -1.74437352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.052401008 meters Centerline goodness [0,1] 0.7788280818131564 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.19, Z:-0.18 [[ 0.99947494 -0.01073265 -0.03057213 1.16817485] [ 0.01050671 0.99991637 -0.00754129 -0.18522983] [ 0.03065051 0.00721612 0.99950411 -0.17851761] [ 0. 0. 0. 1. ]] SLAMing on 4.082401008 meters Centerline goodness [0,1] 0.873296889308211 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.19, Z:-0.18 [[ 0.99949344 -0.00984403 -0.03026475 1.16645485] [ 0.00964896 0.99993177 -0.00658469 -0.18651375] [ 0.03032751 0.00628934 0.99952023 -0.17714383] [ 0. 0. 0. 1. ]] SLAMing on 4.112401008 meters Centerline goodness [0,1] 0.8767385691679853 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.19, Z:-0.17 [[ 9.99534572e-01 -5.22726251e-03 -3.00551878e-02 1.16500628e+00] [ 5.21755174e-03 9.99986308e-01 -4.01514273e-04 -1.91647140e-01] [ 3.00568751e-02 2.44512900e-04 9.99548160e-01 -1.74161453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.142401008 meters Centerline goodness [0,1] 0.8700905505249709 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.19, Z:-0.17 [[ 9.99546624e-01 -4.66464074e-03 -2.97453675e-02 1.16380274e+00] [ 4.67766966e-03 9.99988992e-01 3.68445085e-04 -1.93043850e-01] [ 2.97433214e-02 -5.07417044e-04 9.99557441e-01 -1.73323811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.172401008 meters Centerline goodness [0,1] 0.8661452266045376 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.19, Z:-0.17 [[ 9.99542806e-01 -4.64601827e-03 -2.98763096e-02 1.16406146e+00] [ 4.67193221e-03 9.99988768e-01 7.97626614e-04 -1.94573718e-01] [ 2.98722683e-02 -9.36842037e-04 9.99553285e-01 -1.73013152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.202401008 meters Centerline goodness [0,1] 0.8517042445862713 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.20, Z:-0.17 [[ 9.99550456e-01 -6.41167315e-03 -2.92878262e-02 1.16410413e+00] [ 6.40211300e-03 9.99979418e-01 -4.20182164e-04 -1.99045193e-01] [ 2.92899175e-02 2.32489301e-04 9.99570931e-01 -1.74115638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.232401008 meters Centerline goodness [0,1] 0.8425749242339208 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.20, Z:-0.17 [[ 9.99542092e-01 -6.50938342e-03 -2.95505502e-02 1.16500482e+00] [ 6.52060488e-03 9.99978700e-01 2.83387922e-04 -2.02085492e-01] [ 2.95480761e-02 -4.75945618e-04 9.99563247e-01 -1.74045810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.262401008 meters Centerline goodness [0,1] 0.832110245924598 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.20, Z:-0.17 [[ 9.99527938e-01 -6.89400002e-03 -2.99394959e-02 1.16645084e+00] [ 6.91433274e-03 9.99975930e-01 5.75649539e-04 -2.04354791e-01] [ 2.99348067e-02 -7.82389434e-04 9.99551547e-01 -1.74363513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.292401008 meters Centerline goodness [0,1] 0.8148438374566215 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.21, Z:-0.17 [[ 9.99513361e-01 -7.24519494e-03 -3.03405299e-02 1.16772482e+00] [ 7.27931459e-03 9.99972991e-01 1.01425189e-03 -2.06567766e-01] [ 3.03323620e-02 -1.23461657e-03 9.99539106e-01 -1.74282007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.322401008 meters Centerline goodness [0,1] 0.7849162011173184 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.21, Z:-0.18 [[ 9.99471109e-01 -1.00770470e-02 -3.09185319e-02 1.17201663e+00] [ 1.00803667e-02 9.99949191e-01 -4.85070377e-05 -2.10510756e-01] [ 3.09174497e-02 -2.63188756e-04 9.99521907e-01 -1.76151178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.352401008 meters Centerline goodness [0,1] 0.7645187624919066 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.21, Z:-0.18 [[ 9.99437918e-01 -1.12132679e-02 -3.15928783e-02 1.17483094e+00] [ 1.12178744e-02 9.99937077e-01 -3.14393062e-05 -2.12906895e-01] [ 3.15912429e-02 -3.22983307e-04 9.99500820e-01 -1.76842183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.382401008 meters Centerline goodness [0,1] 0.7478998703275639 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.22, Z:-0.18 [[ 9.99402142e-01 -1.25147720e-02 -3.22294856e-02 1.17779024e+00] [ 1.25171523e-02 9.99921649e-01 -1.27913922e-04 -2.15193582e-01] [ 3.22285613e-02 -2.75583933e-04 9.99480487e-01 -1.77697039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.412401008 meters Centerline goodness [0,1] 0.7133689232167197 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.22, Z:-0.18 [[ 0.99929061 -0.01845017 -0.03283075 1.18155795] [ 0.01829916 0.99982058 -0.00489451 -0.21670411] [ 0.03291516 0.00429026 0.99944894 -0.1797498 ] [ 0. 0. 0. 1. ]] SLAMing on 4.442401008 meters Centerline goodness [0,1] 0.7001303411538026 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.22, Z:-0.18 [[ 0.99925866 -0.0192821 -0.03332176 1.18343239] [ 0.01913416 0.99980563 -0.00475311 -0.21809501] [ 0.03340694 0.004112 0.99943337 -0.17979744] [ 0. 0. 0. 1. ]] SLAMing on 4.472401008 meters Centerline goodness [0,1] 0.6927163229361968 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.22, Z:-0.18 [[ 0.99923589 -0.01980782 -0.03369409 1.18456546] [ 0.01966117 0.99979576 -0.00467828 -0.21830398] [ 0.03377987 0.00401224 0.99942124 -0.1795634 ] [ 0. 0. 0. 1. ]] SLAMing on 4.502401008 meters Centerline goodness [0,1] 0.6850583856578686 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.22, Z:-0.18 [[ 0.99922879 -0.0199868 -0.03379865 1.18451988] [ 0.01984299 0.9997926 -0.00458479 -0.21750513] [ 0.03388328 0.00391059 0.99941815 -0.17872094] [ 0. 0. 0. 1. ]] SLAMing on 4.532401008 meters Centerline goodness [0,1] 0.6818425735024147 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.22, Z:-0.18 [[ 9.99287638e-01 -1.59311047e-02 -3.42113362e-02 1.18381535e+00] [ 1.59545074e-02 9.99872634e-01 4.11161742e-04 -2.17691202e-01] [ 3.42004286e-02 -9.56693863e-04 9.99414536e-01 -1.75213818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.562401008 meters Centerline goodness [0,1] 0.6818514555999775 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.22, Z:-0.17 [[ 9.99293820e-01 -1.56040551e-02 -3.41814858e-02 1.18288263e+00] [ 1.56207287e-02 9.99877965e-01 2.20787197e-04 -2.15466609e-01] [ 3.41738692e-02 -7.54570998e-04 9.99415618e-01 -1.74378425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.592401008 meters Centerline goodness [0,1] 0.6837221038465852 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.22, Z:-0.17 [[ 0.99932843 -0.0117915 -0.03469376 1.18343104] [ 0.0119527 0.99991869 0.00444264 -0.2153889 ] [ 0.03463856 -0.00485435 0.99938812 -0.17305784] [ 0. 0. 0. 1. ]] SLAMing on 4.622401008 meters Centerline goodness [0,1] 0.6847301631571607 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.21, Z:-0.17 [[ 0.99933606 -0.01163306 -0.03452691 1.18257131] [ 0.01176754 0.99992394 0.0036943 -0.21121723] [ 0.0344813 -0.00409814 0.99939694 -0.17293289] [ 0. 0. 0. 1. ]] SLAMing on 4.652401008 meters Centerline goodness [0,1] 0.6888030888030888 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.20, Z:-0.17 [[ 0.9993838 -0.00757862 -0.0342721 1.18126041] [ 0.00781281 0.999947 0.00670436 -0.20425207] [ 0.03421948 -0.00696799 0.99939005 -0.17206937] [ 0. 0. 0. 1. ]] SLAMing on 4.682401008 meters Centerline goodness [0,1] 0.6938075910487056 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.20, Z:-0.17 [[ 0.99937918 -0.00777375 -0.03436316 1.18139888] [ 0.0079669 0.99995321 0.0054875 -0.19933376] [ 0.03431889 -0.00575786 0.99939435 -0.1726254 ] [ 0. 0. 0. 1. ]] SLAMing on 4.712401008 meters Centerline goodness [0,1] 0.6967551461141029 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.20, Z:-0.17 [[ 0.99938514 -0.00779046 -0.03418557 1.1806663 ] [ 0.00794829 0.99995836 0.0044834 -0.1953079 ] [ 0.03414922 -0.00475236 0.99940545 -0.17270588] [ 0. 0. 0. 1. ]] SLAMing on 4.742401008 meters Centerline goodness [0,1] 0.705208417973511 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.19, Z:-0.18 [[ 0.99956707 -0.00386718 -0.0291672 1.19234182] [ 0.00376692 0.99998681 -0.00349183 -0.18882954] [ 0.02918032 0.00338045 0.99956845 -0.17640299] [ 0. 0. 0. 1. ]] SLAMing on 4.772401008 meters Centerline goodness [0,1] 0.7124174194418229 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.19, Z:-0.18 [[ 9.99562069e-01 -2.30451592e-05 -2.95917146e-02 1.19300098e+00] [ 3.31187810e-05 9.99999942e-01 3.39930264e-04 -1.87487012e-01] [ 2.95917050e-02 -3.40761439e-04 9.99562012e-01 -1.75740252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.802401008 meters Centerline goodness [0,1] 0.7170094258783205 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.19, Z:-0.18 [[ 0.99953756 0.00359803 -0.03019476 1.19437333] [-0.00348221 0.99998638 0.00388719 -0.18584125] [ 0.03020833 -0.00378024 0.99953648 -0.17563315] [ 0. 0. 0. 1. ]] SLAMing on 4.832401008 meters Centerline goodness [0,1] 0.7214004469511546 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.18, Z:-0.18 [[ 0.99951341 0.00719623 -0.03035053 1.1952973 ] [-0.00700435 0.99995484 0.00642366 -0.18045064] [ 0.03039538 -0.00620794 0.99951868 -0.17673127] [ 0. 0. 0. 1. ]] SLAMing on 4.862401008 meters Centerline goodness [0,1] 0.7248873575404188 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.18, Z:-0.18 [[ 0.99951133 0.00669342 -0.0305336 1.19610088] [-0.00653872 0.99996529 0.00516356 -0.17674484] [ 0.03056711 -0.00496139 0.9995204 -0.17768687] [ 0. 0. 0. 1. ]] SLAMing on 4.892401008 meters Centerline goodness [0,1] 0.7268180374722134 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.17, Z:-0.18 [[ 0.99951529 0.00647193 -0.03045149 1.19612684] [-0.00633903 0.99996997 0.00445891 -0.17440431] [ 0.03047944 -0.00426371 0.9995263 -0.17812574] [ 0. 0. 0. 1. ]] SLAMing on 4.9224010080000005 meters Centerline goodness [0,1] 0.7240294918210406 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.17, Z:-0.18 [[ 0.99951123 0.00610487 -0.03066002 1.19667755] [-0.00598978 0.99997467 0.00384426 -0.1729802 ] [ 0.03068271 -0.00365873 0.99952248 -0.17833783] [ 0. 0. 0. 1. ]] SLAMing on 4.952401008 meters Centerline goodness [0,1] 0.9172799451346575 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.17, Z:-0.18 [[ 0.99951088 0.00595053 -0.03070181 1.19667779] [-0.00584954 0.99997719 0.0033781 -0.17146947] [ 0.03072121 -0.00319685 0.99952288 -0.17829065] [ 0. 0. 0. 1. ]] SLAMing on 4.982401008 meters Centerline goodness [0,1] 0.9054939847842683 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.17, Z:-0.18 [[ 0.99950285 0.00540493 -0.03106175 1.19806469] [-0.00532506 0.9999823 0.00265345 -0.17020703] [ 0.03107554 -0.00248672 0.99951395 -0.17920001] [ 0. 0. 0. 1. ]] SLAMing on 5.012401008 meters Centerline goodness [0,1] 0.9054939847842683 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.17, Z:-0.18 [[ 0.99950285 0.00540493 -0.03106175 1.19806469] [-0.00532506 0.9999823 0.00265345 -0.17020703] [ 0.03107554 -0.00248672 0.99951395 -0.17920001] [ 0. 0. 0. 1. ]] SLAMing on 5.042401008 meters Centerline goodness [0,1] 0.912955305644078 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.17, Z:-0.18 [[ 0.99950102 0.00516731 -0.03116117 1.1986962 ] [-0.00510242 0.99998465 0.00216175 -0.16906283] [ 0.03117186 -0.00200168 0.99951204 -0.17988575] [ 0. 0. 0. 1. ]] SLAMing on 5.072401008 meters Centerline goodness [0,1] 0.9134193446672098 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.17, Z:-0.18 [[ 0.99949039 0.00497623 -0.03153086 1.19974095] [-0.00493444 0.99998684 0.00140321 -0.16726221] [ 0.03153742 -0.00124691 0.99950179 -0.18074116] [ 0. 0. 0. 1. ]] SLAMing on 5.102401008 meters Centerline goodness [0,1] 0.9063656647854049 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.17, Z:-0.18 [[ 9.99495858e-01 5.26924808e-03 -3.13091812e-02 1.19908606e+00] [-5.23128635e-03 9.99985479e-01 1.29426969e-03 -1.66320965e-01] [ 3.13155464e-02 -1.12982991e-03 9.99508909e-01 -1.80742884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.132401008 meters Centerline goodness [0,1] 0.9031033128191699 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.17, Z:-0.18 [[ 9.99494390e-01 5.36432170e-03 -3.13398913e-02 1.19922412e+00] [-5.33571631e-03 9.99985269e-01 9.96306962e-04 -1.65433257e-01] [ 3.13447742e-02 -8.28582450e-04 9.99508288e-01 -1.81122505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.162401008 meters Centerline goodness [0,1] 0.9100691171850456 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.16, Z:-0.18 [[ 9.99491597e-01 5.54565139e-03 -3.13973494e-02 1.19917805e+00] [-5.52594955e-03 9.99984477e-01 7.14237684e-04 -1.64408578e-01] [ 3.14008230e-02 -5.40374394e-04 9.99506726e-01 -1.81239560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.192401008 meters Centerline goodness [0,1] 0.9307425832834111 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.16, Z:-0.19 [[ 0.99959295 0.01165865 -0.02603865 1.210239 ] [-0.01180338 0.99991569 -0.00541154 -0.16240437] [ 0.02597336 0.00571669 0.99964629 -0.1863017 ] [ 0. 0. 0. 1. ]] SLAMing on 5.222401008 meters Centerline goodness [0,1] 0.9317003628823224 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.16, Z:-0.19 [[ 9.99531792e-01 1.60173866e-02 -2.60699046e-02 1.20980484e+00] [-1.60441940e-02 9.99870948e-01 -8.19432937e-04 -1.63463793e-01] [ 2.60534151e-02 1.23731988e-03 9.99659786e-01 -1.85125482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.252401008 meters Centerline goodness [0,1] 0.9335755059678257 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.16, Z:-0.18 [[ 9.99525354e-01 1.68250784e-02 -2.58066385e-02 1.20843300e+00] [-1.68477623e-02 9.99857847e-01 -6.61802489e-04 -1.62782432e-01] [ 2.57918351e-02 1.09627248e-03 9.99666734e-01 -1.84584335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282401008 meters Centerline goodness [0,1] 0.9331726158073463 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.16, Z:-0.18 [[ 9.99515566e-01 1.75011667e-02 -2.57360288e-02 1.20743492e+00] [-1.75163021e-02 9.99846512e-01 -3.62766043e-04 -1.63318127e-01] [ 2.57257298e-02 8.13390362e-04 9.99668708e-01 -1.83895436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.312401008 meters Centerline goodness [0,1] 0.9341543428452406 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.17, Z:-0.18 [[ 9.99506480e-01 1.80944264e-02 -2.56785665e-02 1.20668207e+00] [-1.80962967e-02 9.99836236e-01 1.59563572e-04 -1.65010034e-01] [ 2.56772485e-02 3.05202134e-04 9.99670239e-01 -1.83303767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.342401008 meters Centerline goodness [0,1] 0.932333788467598 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.17, Z:-0.18 [[ 9.99503546e-01 1.85108196e-02 -2.54953164e-02 1.20703039e+00] [-1.85038693e-02 9.99828659e-01 5.08522540e-04 -1.67796116e-01] [ 2.55003612e-02 -3.65080778e-05 9.99674812e-01 -1.84665361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.372401008 meters Centerline goodness [0,1] 0.9304610534611848 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.17, Z:-0.19 [[ 9.99504527e-01 1.82540638e-02 -2.56415697e-02 1.20850033e+00] [-1.82549365e-02 9.99833345e-01 2.00066168e-04 -1.68847514e-01] [ 2.56409485e-02 2.68118186e-04 9.99671181e-01 -1.86458006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.402401008 meters Centerline goodness [0,1] 0.9305819602872835 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.17, Z:-0.19 [[ 9.99502085e-01 1.82961460e-02 -2.57066635e-02 1.20947714e+00] [-1.82951312e-02 9.99832592e-01 2.74686709e-04 -1.70484907e-01] [ 2.57073857e-02 1.95756842e-04 9.99669491e-01 -1.87825737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.432401008 meters Centerline goodness [0,1] 0.9260648628515178 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.18, Z:-0.19 [[ 9.99488588e-01 1.85290304e-02 -2.60621708e-02 1.21150562e+00] [-1.85084462e-02 9.99828173e-01 1.03083751e-03 -1.76591206e-01] [ 2.60767930e-02 -5.47940041e-04 9.99659792e-01 -1.89814774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4624010080000005 meters Centerline goodness [0,1] 0.9252864332369632 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.18, Z:-0.19 [[ 0.99947763 0.01873151 -0.0263361 1.21244146] [-0.01869276 0.9998238 0.0017169 -0.18073237] [ 0.02636362 -0.00122371 0.99965167 -0.19032433] [ 0. 0. 0. 1. ]] SLAMing on 5.492401008 meters Centerline goodness [0,1] 0.9251673252157084 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.19, Z:-0.19 [[ 0.99946272 0.01903938 -0.02667904 1.21312753] [-0.01897707 0.99981657 0.00258681 -0.18535481] [ 0.0267234 -0.00207913 0.9996407 -0.19031486] [ 0. 0. 0. 1. ]] SLAMing on 5.522401008 meters Centerline goodness [0,1] 0.9239355330502015 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.19, Z:-0.19 [[ 9.99520333e-01 1.65692008e-02 -2.61642155e-02 1.21123139e+00] [-1.65683596e-02 9.99862704e-01 2.48951148e-04 -1.92137254e-01] [ 2.61647482e-02 1.84666398e-04 9.99657627e-01 -1.90262117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.552401008 meters Centerline goodness [0,1] 0.9242171018384066 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.20, Z:-0.19 [[ 9.99510248e-01 1.69982233e-02 -2.62740255e-02 1.21129393e+00] [-1.69683667e-02 9.99855103e-01 1.35890522e-03 -1.96857751e-01] [ 2.62933174e-02 -9.12412398e-04 9.99653855e-01 -1.89908458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.582401008 meters Centerline goodness [0,1] 0.9242224057252959 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.20, Z:-0.19 [[ 0.99950099 0.01736082 -0.02638906 1.2114899 ] [-0.01730206 0.9998473 0.00245354 -0.20155821] [ 0.02642762 -0.00199573 0.99964874 -0.18964143] [ 0. 0. 0. 1. ]] SLAMing on 5.612401008 meters Centerline goodness [0,1] 0.9252875155881946 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.21, Z:-0.19 [[ 9.99562179e-01 1.49054491e-02 -2.55593061e-02 1.20918267e+00] [-1.48977493e-02 9.99888901e-01 4.91654525e-04 -2.08720981e-01] [ 2.55637948e-02 -1.10663134e-04 9.99673187e-01 -1.89525948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.642401008 meters Centerline goodness [0,1] 0.9254819782062028 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.21, Z:-0.19 [[ 0.99961885 0.01156907 -0.02506606 1.20776449] [-0.01164308 0.99992827 -0.00280845 -0.2116208 ] [ 0.02503177 0.00309922 0.99968185 -0.18964302] [ 0. 0. 0. 1. ]] SLAMing on 5.6724010080000005 meters Centerline goodness [0,1] 0.930319829424307 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.22, Z:-0.19 [[ 0.99969635 0.00521263 -0.02408406 1.20426135] [-0.00542417 0.99994721 -0.00872642 -0.21862199] [ 0.0240373 0.0088544 0.99967185 -0.18863429] [ 0. 0. 0. 1. ]] SLAMing on 5.702401008 meters Centerline goodness [0,1] 0.9324717562478604 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.22, Z:-0.19 [[ 0.99968409 0.00521417 -0.02458707 1.20507434] [-0.00538344 0.99996223 -0.00682341 -0.22471496] [ 0.02455057 0.00695362 0.99967441 -0.18680492] [ 0. 0. 0. 1. ]] SLAMing on 5.732401008 meters Centerline goodness [0,1] 0.9334618261319831 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.23, Z:-0.19 [[ 0.99970857 0.00158578 -0.02408845 1.2040289 ] [-0.00183347 0.99994564 -0.01026385 -0.22684055] [ 0.02407086 0.01030503 0.99965714 -0.18702167] [ 0. 0. 0. 1. ]] SLAMing on 5.762401008 meters Centerline goodness [0,1] 0.9322298744140286 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.23, Z:-0.19 [[ 0.99970288 0.00150359 -0.02432875 1.2046095 ] [-0.00171364 0.99996142 -0.00861507 -0.23232433] [ 0.02431486 0.0086542 0.99966689 -0.18569958] [ 0. 0. 0. 1. ]] SLAMing on 5.792401008 meters Centerline goodness [0,1] 0.9361998433284011 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.24, Z:-0.18 [[ 0.99969264 0.00127264 -0.02475911 1.20563044] [-0.0014414 0.99997585 -0.00679928 -0.23807574] [ 0.02474986 0.00683287 0.99967032 -0.18399212] [ 0. 0. 0. 1. ]] SLAMing on 5.822401008 meters Centerline goodness [0,1] 0.9102243655717941 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.25, Z:-0.18 [[ 0.99969619 -0.00267812 -0.02450217 1.2054437 ] [ 0.00246314 0.99995825 -0.00879979 -0.24552254] [ 0.02452471 0.00873677 0.99966105 -0.18304869] [ 0. 0. 0. 1. ]] SLAMing on 5.852401008 meters Centerline goodness [0,1] 0.8930065225657375 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.25, Z:-0.18 [[ 0.99967696 -0.00326412 -0.0252056 1.20757298] [ 0.00306924 0.99996513 -0.00776671 -0.24961304] [ 0.02523007 0.00768684 0.99965212 -0.18241941] [ 0. 0. 0. 1. ]] SLAMing on 5.882401008 meters Centerline goodness [0,1] 0.8742073440495503 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.25, Z:-0.18 [[ 0.99966753 -0.00353329 -0.02554106 1.20877542] [ 0.00335966 0.99997098 -0.00683775 -0.25366256] [ 0.02556448 0.00674967 0.99965039 -0.18212146] [ 0. 0. 0. 1. ]] SLAMing on 5.912401008 meters Centerline goodness [0,1] 0.9045287274453941 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.26, Z:-0.18 [[ 0.9996492 -0.00428697 -0.02613617 1.21133793] [ 0.00413958 0.99997524 -0.00569076 -0.26030397] [ 0.02615992 0.00558057 0.99964219 -0.18216186] [ 0. 0. 0. 1. ]] SLAMing on 5.942401008 meters Centerline goodness [0,1] 0.9046186831839433 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.26, Z:-0.18 [[ 0.99965023 -0.0040019 -0.02614199 1.21140086] [ 0.00386715 0.99997899 -0.00520299 -0.26184795] [ 0.02616226 0.00510007 0.9996447 -0.18218604] [ 0. 0. 0. 1. ]] SLAMing on 5.972401008 meters Centerline goodness [0,1] 0.8827781082688876 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.26, Z:-0.18 [[ 0.99965577 -0.00348216 -0.02600428 1.21092261] [ 0.00335422 0.99998207 -0.00496172 -0.2622164 ] [ 0.02602109 0.00487279 0.99964952 -0.18237204] [ 0. 0. 0. 1. ]] SLAMing on 6.0024010080000005 meters Centerline goodness [0,1] 0.9149100639215103 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.26, Z:-0.18 [[ 9.99646852e-01 9.96648333e-04 -2.65551764e-02 1.21196832e+00] [-1.01904026e-03 9.99999137e-01 -8.29703265e-04 -2.63424707e-01] [ 2.65543265e-02 8.56471051e-04 9.99647005e-01 -1.82724308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.032401008 meters Centerline goodness [0,1] 0.9179797620107422 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.26, Z:-0.18 [[ 9.99654979e-01 2.08302858e-03 -2.61836472e-02 1.21054705e+00] [-2.11192845e-03 9.99997191e-01 -1.07613221e-03 -2.61716862e-01] [ 2.61813321e-02 1.13105891e-03 9.99656570e-01 -1.83434395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.062401008 meters Centerline goodness [0,1] 0.928431721194879 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.26, Z:-0.18 [[ 0.99965756 0.00301747 -0.02599327 1.20956937] [-0.00305966 0.99999407 -0.00158358 -0.25950849] [ 0.02598834 0.00166257 0.99966086 -0.18434459] [ 0. 0. 0. 1. ]] SLAMing on 6.092401008 meters Centerline goodness [0,1] 0.934514842711564 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.26, Z:-0.18 [[ 0.99962774 0.00743222 -0.02625158 1.20955324] [-0.00735466 0.9999683 0.00305012 -0.26055143] [ 0.02627342 -0.00285591 0.99965071 -0.18321116] [ 0. 0. 0. 1. ]] SLAMing on 6.122401008 meters Centerline goodness [0,1] 0.9357516320562431 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.26, Z:-0.18 [[ 0.99963222 0.00816055 -0.02586156 1.20823792] [-0.0080963 0.99996387 0.00258834 -0.25881636] [ 0.02588175 -0.00237801 0.99966218 -0.18390136] [ 0. 0. 0. 1. ]] SLAMing on 6.152401008 meters Centerline goodness [0,1] 0.9352004231809099 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.26, Z:-0.19 [[ 0.99971337 0.01175614 -0.02085581 1.22126162] [-0.01187255 0.99991458 -0.00546661 -0.25724971] [ 0.02078976 0.00571265 0.99976755 -0.18949514] [ 0. 0. 0. 1. ]] SLAMing on 6.182401008 meters Centerline goodness [0,1] 0.9325017692852088 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.26, Z:-0.19 [[ 0.9997097 0.01228173 -0.02072859 1.22004543] [-0.01237597 0.99991363 -0.00442433 -0.25933729] [ 0.02067246 0.00467958 0.99977535 -0.18783081] [ 0. 0. 0. 1. ]] SLAMing on 6.2124010080000005 meters Centerline goodness [0,1] 0.9375979652796261 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.26, Z:-0.19 [[ 0.9997027 0.01233032 -0.02103524 1.22021163] [-0.01240611 0.999917 -0.00347669 -0.26210314] [ 0.02099063 0.00373663 0.99977269 -0.18642628] [ 0. 0. 0. 1. ]] SLAMing on 6.242401008 meters Centerline goodness [0,1] 0.9377677296525464 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.26, Z:-0.19 [[ 0.99974903 0.00821037 -0.02084403 1.22010675] [-0.00837411 0.99993467 -0.0077807 -0.26201585] [ 0.02077879 0.0079533 0.99975246 -0.18733353] [ 0. 0. 0. 1. ]] SLAMing on 6.272401008 meters Centerline goodness [0,1] 0.9289795674155623 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.26, Z:-0.19 [[ 0.99976138 0.00182989 -0.02176784 1.22550032] [-0.00210403 0.99991868 -0.01257767 -0.26455746] [ 0.02174306 0.01262047 0.99968393 -0.19026412] [ 0. 0. 0. 1. ]] SLAMing on 6.302401008 meters Centerline goodness [0,1] 0.9194265793111739 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.27, Z:-0.19 [[ 9.99750682e-01 1.21352970e-04 -2.23284289e-02 1.22883016e+00] [-3.95599043e-04 9.99924540e-01 -1.22783651e-02 -2.68502026e-01] [ 2.23252540e-02 1.22841369e-02 9.99675289e-01 -1.90723457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.332401008 meters Centerline goodness [0,1] 0.9164449014152655 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.27, Z:-0.19 [[ 0.9997463 -0.00209749 -0.02242635 1.23173945] [ 0.00181705 0.99992 -0.012518 -0.27251848] [ 0.02245081 0.01247407 0.99967012 -0.19170894] [ 0. 0. 0. 1. ]] SLAMing on 6.362401008 meters Centerline goodness [0,1] 0.8926642800800922 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.28, Z:-0.19 [[ 0.99972847 -0.00282595 -0.02313026 1.23397172] [ 0.00255355 0.99992714 -0.01179816 -0.275821 ] [ 0.02316192 0.01173589 0.99966284 -0.19115594] [ 0. 0. 0. 1. ]] SLAMing on 6.392401008 meters Centerline goodness [0,1] 0.8797382056176711 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.28, Z:-0.19 [[ 9.99701216e-01 -1.00556008e-03 -2.44226739e-02 1.23794711e+00] [ 8.62651086e-04 9.99982450e-01 -5.86131927e-03 -2.78309329e-01] [ 2.44281392e-02 5.83849976e-03 9.99684539e-01 -1.86268317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4224010080000005 meters Centerline goodness [0,1] 0.8923945029275248 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.28, Z:-0.19 [[ 9.99697767e-01 -1.21043414e-03 -2.45542221e-02 1.23836749e+00] [ 1.06189679e-03 9.99981065e-01 -6.06149782e-03 -2.77368756e-01] [ 2.45610942e-02 6.03359179e-03 9.99680123e-01 -1.86338833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.452401008 meters Centerline goodness [0,1] 0.8800048421753472 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.28, Z:-0.19 [[ 9.99700992e-01 -1.21200603e-03 -2.44225004e-02 1.23808629e+00] [ 1.06340561e-03 9.99980850e-01 -6.09663920e-03 -2.75911287e-01] [ 2.44294219e-02 6.06884523e-03 9.99683136e-01 -1.86091868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.482401008 meters Centerline goodness [0,1] 0.8775214834916327 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.27, Z:-0.19 [[ 9.99708996e-01 -9.76013796e-04 -2.41033394e-02 1.23699397e+00] [ 8.25539254e-04 9.99980115e-01 -6.25205355e-03 -2.73629219e-01] [ 2.41089622e-02 6.23033592e-03 9.99689922e-01 -1.85693254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.512401008 meters Centerline goodness [0,1] 0.8886963794957582 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.27, Z:-0.18 [[ 0.99969736 0.00318971 -0.02439305 1.23603814] [-0.00322611 0.99999374 -0.00145297 -0.27150284] [ 0.02438826 0.00153122 0.99970139 -0.18222008] [ 0. 0. 0. 1. ]] SLAMing on 6.542401008000001 meters Centerline goodness [0,1] 0.894216996896634 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.27, Z:-0.18 [[ 0.99969839 0.00354041 -0.0243021 1.23474923] [-0.00358136 0.99999224 -0.00164172 -0.26876271] [ 0.0242961 0.00172826 0.99970331 -0.18108232] [ 0. 0. 0. 1. ]] SLAMing on 6.572401008 meters Centerline goodness [0,1] 0.9040596961890379 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.26, Z:-0.18 [[ 9.99685438e-01 6.25942450e-03 -2.42867058e-02 1.23087124e+00] [-6.26398944e-03 9.99980375e-01 -1.11886875e-04 -2.63651881e-01] [ 2.42855288e-02 2.63983348e-04 9.99705028e-01 -1.77240855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.602401008 meters Centerline goodness [0,1] 0.9124691067435565 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.26, Z:-0.18 [[ 9.99687901e-01 6.73340758e-03 -2.40574893e-02 1.22934515e+00] [-6.74564820e-03 9.99977156e-01 -4.27688696e-04 -2.59987476e-01] [ 2.40540599e-02 5.89838574e-04 9.99710485e-01 -1.76336884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.632401008 meters Centerline goodness [0,1] 0.9164637902208664 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.26, Z:-0.18 [[ 9.99690990e-01 7.04690906e-03 -2.38383047e-02 1.22821434e+00] [-7.07262461e-03 9.99974494e-01 -9.94608451e-04 -2.56038786e-01] [ 2.38306877e-02 1.16290049e-03 9.99715332e-01 -1.76047259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.662401008 meters Centerline goodness [0,1] 0.9149227231714061 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.25, Z:-0.18 [[ 0.99969154 0.00681176 -0.02388361 1.22827563] [-0.00685644 0.99997489 -0.00178935 -0.2521961 ] [ 0.02387082 0.00195256 0.99971314 -0.17619457] [ 0. 0. 0. 1. ]] SLAMing on 6.692401008 meters Centerline goodness [0,1] 0.9223106412639406 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.25, Z:-0.18 [[ 0.99969425 0.00653179 -0.02384832 1.22828725] [-0.00659149 0.99997533 -0.00242572 -0.24901915] [ 0.02383189 0.00258218 0.99971265 -0.17632579] [ 0. 0. 0. 1. ]] SLAMing on 6.722401008 meters Centerline goodness [0,1] 0.9274976873265495 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.24, Z:-0.18 [[ 0.9996907 0.00523463 -0.02431252 1.23031752] [-0.00533041 0.99997828 -0.00387618 -0.24422793] [ 0.0242917 0.00400458 0.99969689 -0.17730809] [ 0. 0. 0. 1. ]] SLAMing on 6.7524010080000005 meters Centerline goodness [0,1] 0.9214927356228878 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.24, Z:-0.18 [[ 0.99968418 0.00451977 -0.02472082 1.23187588] [-0.00463463 0.99997872 -0.00459082 -0.24226639] [ 0.02469954 0.00470394 0.99968385 -0.17798536] [ 0. 0. 0. 1. ]] SLAMing on 6.782401008 meters Centerline goodness [0,1] 0.9216869208786768 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.24, Z:-0.18 [[ 0.99967691 0.00390958 -0.02511548 1.2332777 ] [-0.00404546 0.99997744 -0.00536169 -0.23993204] [ 0.02509395 0.00546156 0.99967018 -0.17861538] [ 0. 0. 0. 1. ]] SLAMing on 6.812401008 meters Centerline goodness [0,1] 0.9164629762760603 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.23, Z:-0.18 [[ 0.99966978 0.00353256 -0.02545286 1.23408701] [-0.00370333 0.99997093 -0.0066655 -0.23409407] [ 0.02542857 0.00675756 0.9996538 -0.1791746 ] [ 0. 0. 0. 1. ]] SLAMing on 6.842401008 meters Centerline goodness [0,1] 0.9139302059496568 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.23, Z:-0.18 [[ 0.99963385 0.00709992 -0.02611055 1.23548385] [-0.00717172 0.99997075 -0.00265703 -0.23375032] [ 0.02609092 0.00284332 0.99965553 -0.17835277] [ 0. 0. 0. 1. ]] SLAMing on 6.872401008 meters Centerline goodness [0,1] 0.9242846578303657 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.23, Z:-0.18 [[ 0.99963511 0.00750585 -0.02594818 1.23460922] [-0.00758837 0.99996646 -0.00308307 -0.23048677] [ 0.02592416 0.00327885 0.99965854 -0.17824466] [ 0. 0. 0. 1. ]] SLAMing on 6.902401008 meters Centerline goodness [0,1] 0.9242846578303657 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.23, Z:-0.18 [[ 0.99963511 0.00750585 -0.02594818 1.23460922] [-0.00758837 0.99996646 -0.00308307 -0.23048677] [ 0.02592416 0.00327885 0.99965854 -0.17824466] [ 0. 0. 0. 1. ]] SLAMing on 6.932401008 meters Centerline goodness [0,1] 0.9312064932502888 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.23, Z:-0.18 [[ 9.99596651e-01 1.22751500e-02 -2.56096722e-02 1.23278817e+00] [-1.22657377e-02 9.99924635e-01 5.24586769e-04 -2.26056521e-01] [ 2.56141815e-02 -2.10253655e-04 9.99671881e-01 -1.77318551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9624010080000005 meters Centerline goodness [0,1] 0.9302985997863128 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.22, Z:-0.18 [[ 9.99595726e-01 1.33377553e-02 -2.51095204e-02 1.23058431e+00] [-1.33325545e-02 9.99911047e-01 3.74535114e-04 -2.21906810e-01] [ 2.51122823e-02 -3.96096493e-05 9.99684636e-01 -1.76744550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.992401008 meters Centerline goodness [0,1] 0.9318131070670983 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.22, Z:-0.18 [[ 9.99586381e-01 1.42398174e-02 -2.49858893e-02 1.22923836e+00] [-1.42451042e-02 9.99898533e-01 -3.36051968e-05 -2.17474258e-01] [ 2.49828756e-02 3.89517895e-04 9.99687803e-01 -1.76460782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.022401008 meters Centerline goodness [0,1] 0.9307690169811845 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.21, Z:-0.18 [[ 9.99582427e-01 1.52175066e-02 -2.45641647e-02 1.22738843e+00] [-1.52277064e-02 9.99884026e-01 -2.28216623e-04 -2.13665400e-01] [ 2.45578430e-02 6.02177214e-04 9.99698229e-01 -1.76097505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.052401008 meters Centerline goodness [0,1] 0.9294228269587101 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.21, Z:-0.18 [[ 9.99584494e-01 1.55436902e-02 -2.42741352e-02 1.22652510e+00] [-1.55676381e-02 9.99878499e-01 -7.97886917e-04 -2.10297766e-01] [ 2.42587838e-02 1.17544634e-03 9.99705021e-01 -1.76346492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.082401008000001 meters Centerline goodness [0,1] 0.9289993098688751 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.21, Z:-0.18 [[ 0.99959122 0.01558823 -0.02396654 1.22596438] [-0.01562873 0.99987673 -0.0015036 -0.20744747] [ 0.02394015 0.00187755 0.99971163 -0.17692387] [ 0. 0. 0. 1. ]] SLAMing on 7.112401008 meters Centerline goodness [0,1] 0.9291377738486615 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.21, Z:-0.18 [[ 0.99959358 0.01556364 -0.02388425 1.22569007] [-0.01560183 0.99987728 -0.00141362 -0.20766142] [ 0.02385932 0.00178568 0.99971373 -0.17662953] [ 0. 0. 0. 1. ]] SLAMing on 7.142401008 meters Centerline goodness [0,1] 0.9310744760169 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.21, Z:-0.18 [[ 0.99959362 0.01527213 -0.02407002 1.22617956] [-0.01531211 0.99988167 -0.00147743 -0.20777265] [ 0.02404461 0.0018454 0.99970918 -0.17649812] [ 0. 0. 0. 1. ]] SLAMing on 7.1724010080000005 meters Centerline goodness [0,1] 0.9317962436912215 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.21, Z:-0.18 [[ 0.99959621 0.01410143 -0.02466931 1.2288435 ] [-0.01416435 0.99989685 -0.00237777 -0.20697951] [ 0.02463324 0.00272623 0.99969284 -0.1779623 ] [ 0. 0. 0. 1. ]] SLAMing on 7.202401008 meters Centerline goodness [0,1] 0.9320575745877682 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.21, Z:-0.18 [[ 0.9995946 0.01353059 -0.02505107 1.23033894] [-0.01360358 0.9999037 -0.00274567 -0.2067499 ] [ 0.0250115 0.00308534 0.9996824 -0.17865904] [ 0. 0. 0. 1. ]] SLAMing on 7.232401008 meters Centerline goodness [0,1] 0.9332046864231565 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.21, Z:-0.18 [[ 0.99959503 0.01316796 -0.02522641 1.2310573 ] [-0.01324315 0.99990834 -0.00281571 -0.20687942] [ 0.02518702 0.00314865 0.9996778 -0.17878578] [ 0. 0. 0. 1. ]] SLAMing on 7.262401008 meters Centerline goodness [0,1] 0.9330879707778731 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.20, Z:-0.18 [[ 0.999652 0.00875454 -0.02488464 1.23075132] [-0.00894408 0.99993176 -0.0075156 -0.20479741] [ 0.02481715 0.00773556 0.99966208 -0.17959577] [ 0. 0. 0. 1. ]] SLAMing on 7.292401008000001 meters Centerline goodness [0,1] 0.9316732462799878 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.21, Z:-0.18 [[ 0.99964538 0.00788883 -0.02543401 1.23237692] [-0.00808063 0.99993962 -0.00744723 -0.20545099] [ 0.02537373 0.00765012 0.99964876 -0.17920055] [ 0. 0. 0. 1. ]] SLAMing on 7.322401008 meters Centerline goodness [0,1] 0.9274512515558014 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.21, Z:-0.18 [[ 0.99964179 0.00688491 -0.025863 1.23398853] [-0.00708346 0.99994608 -0.00759307 -0.20595643] [ 0.02580933 0.00777355 0.99963666 -0.17920539] [ 0. 0. 0. 1. ]] SLAMing on 7.352401008 meters Centerline goodness [0,1] 0.9253066083441766 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.21, Z:-0.18 [[ 0.99963779 0.00572681 -0.0262962 1.23583511] [-0.00593206 0.9999525 -0.00773388 -0.20650533] [ 0.02625066 0.00788707 0.99962428 -0.17932435] [ 0. 0. 0. 1. ]] SLAMing on 7.382401008 meters Centerline goodness [0,1] 0.8929409491207244 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.20, Z:-0.18 [[ 9.99628126e-01 -1.03460883e-03 -2.72495653e-02 1.24026089e+00] [ 6.72079783e-04 9.99911194e-01 -1.33098307e-02 -2.04498376e-01] [ 2.72609159e-02 1.32865672e-02 9.99540049e-01 -1.80961666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.412401008 meters Centerline goodness [0,1] 0.8823626920101668 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.21, Z:-0.18 [[ 0.9995995 -0.00247289 -0.028191 1.24305695] [ 0.00209579 0.99990804 -0.01339835 -0.20544521] [ 0.02822154 0.01333391 0.99951276 -0.18061786] [ 0. 0. 0. 1. ]] SLAMing on 7.442401008 meters Centerline goodness [0,1] 0.8639117085719028 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.21, Z:-0.18 [[ 0.99957705 -0.00363681 -0.028853 1.24512604] [ 0.0032475 0.99990322 -0.0135282 -0.20605324] [ 0.0288994 0.01342878 0.99949212 -0.1803863 ] [ 0. 0. 0. 1. ]] SLAMing on 7.472401008 meters Centerline goodness [0,1] 0.8265706986071811 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.20, Z:-0.18 [[ 0.99954072 -0.00638944 -0.02962289 1.24906397] [ 0.0059393 0.99986594 -0.01525891 -0.20350818] [ 0.02971642 0.01507596 0.99944467 -0.18159172] [ 0. 0. 0. 1. ]] SLAMing on 7.5024010080000005 meters Centerline goodness [0,1] 0.8340313706167365 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.20, Z:-0.18 [[ 0.99953388 -0.0038712 -0.03028262 1.2515586 ] [ 0.00351677 0.9999248 -0.01174846 -0.20284688] [ 0.03032583 0.01163649 0.99947233 -0.18159045] [ 0. 0. 0. 1. ]] SLAMing on 7.532401008 meters Centerline goodness [0,1] 0.8208866408806903 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.20, Z:-0.18 [[ 9.99510024e-01 -1.47832248e-03 -3.12654107e-02 1.25474515e+00] [ 1.18182141e-03 9.99954178e-01 -9.49971196e-03 -1.96839791e-01] [ 3.12780217e-02 9.45810720e-03 9.99465972e-01 -1.82334050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.562401008 meters Centerline goodness [0,1] 0.8203812120726067 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.19, Z:-0.18 [[ 0.99947999 0.00173064 -0.0321986 1.25678618] [-0.00192652 0.99997982 -0.0060533 -0.1945838 ] [ 0.03218748 0.00611218 0.99946316 -0.18170192] [ 0. 0. 0. 1. ]] SLAMing on 7.592401008 meters Centerline goodness [0,1] 0.8529419605961236 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.19, Z:-0.18 [[ 0.99948113 0.00183602 -0.03215745 1.25623366] [-0.00205889 0.99997408 -0.00689901 -0.1893904 ] [ 0.03214395 0.00696164 0.999459 -0.18149818] [ 0. 0. 0. 1. ]] SLAMing on 7.622401008000001 meters Centerline goodness [0,1] 0.8497954875313366 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.19, Z:-0.18 [[ 0.99945497 0.00572626 -0.03251113 1.25638094] [-0.00583163 0.99997804 -0.00314715 -0.18683802] [ 0.0324924 0.00333502 0.99946642 -0.18028284] [ 0. 0. 0. 1. ]] SLAMing on 7.652401008 meters Centerline goodness [0,1] 0.8249010004168403 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.18, Z:-0.18 [[ 9.99417861e-01 9.41965237e-03 -3.27903861e-02 1.25660945e+00] [-9.44496904e-03 9.99955205e-01 -6.17264439e-04 -1.77224553e-01] [ 3.27831028e-02 9.26609286e-04 9.99462060e-01 -1.79655221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.682401008 meters Centerline goodness [0,1] 0.8621179264766625 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.17, Z:-0.18 [[ 0.99936352 0.01265953 -0.03335098 1.25810663] [-0.01258904 0.99991806 0.00232293 -0.17335813] [ 0.03337765 -0.00190159 0.999441 -0.17966324] [ 0. 0. 0. 1. ]] SLAMing on 7.7124010080000005 meters Centerline goodness [0,1] 0.8708347206925697 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.17, Z:-0.18 [[ 9.99366913e-01 1.29493947e-02 -3.31373941e-02 1.25720967e+00] [-1.29014039e-02 9.99915393e-01 1.66165572e-03 -1.67173900e-01] [ 3.31561078e-02 -1.23308484e-03 9.99449424e-01 -1.79242898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.742401008 meters Centerline goodness [0,1] 0.9031553829360546 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.18 [[ 9.99367920e-01 1.33389724e-02 -3.29519583e-02 1.25596093e+00] [-1.33119622e-02 9.99910852e-01 1.03894624e-03 -1.61414859e-01] [ 3.29628792e-02 -5.99634318e-04 9.99456397e-01 -1.78421073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.772401008 meters Centerline goodness [0,1] 0.8697662729328977 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.16, Z:-0.18 [[ 9.99361795e-01 1.39112653e-02 -3.29010487e-02 1.25475042e+00] [-1.38981629e-02 9.99903219e-01 6.26909429e-04 -1.55907178e-01] [ 3.29065857e-02 -1.69245199e-04 9.99458417e-01 -1.77313810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.802401008 meters Centerline goodness [0,1] 0.9061821590684823 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.15, Z:-0.17 [[ 0.99930034 0.01753562 -0.03303544 1.25305574] [-0.0174517 0.99984371 0.00282696 -0.14591078] [ 0.03307985 -0.00224846 0.99945018 -0.1747776 ] [ 0. 0. 0. 1. ]] SLAMing on 7.832401008000001 meters Centerline goodness [0,1] 0.9076271808549685 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.14, Z:-0.17 [[ 0.99929841 0.01769679 -0.03300768 1.25246125] [-0.01764029 0.99984239 0.00200216 -0.13986532] [ 0.03303791 -0.00141849 0.99945309 -0.17431803] [ 0. 0. 0. 1. ]] SLAMing on 7.862401008 meters Centerline goodness [0,1] 0.9050754391506111 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.13, Z:-0.17 [[ 9.99302580e-01 1.77860556e-02 -3.28330511e-02 1.25176470e+00] [-1.77555954e-02 9.99841614e-01 1.21908532e-03 -1.33823521e-01] [ 3.28495336e-02 -6.35264739e-04 9.99460107e-01 -1.73942578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.892401008 meters Centerline goodness [0,1] 0.9035254482011792 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.13, Z:-0.17 [[ 9.99307866e-01 1.78717747e-02 -3.26249542e-02 1.25109816e+00] [-1.78643415e-02 9.99840285e-01 5.19335365e-04 -1.27556277e-01] [ 3.26290249e-02 6.38474079e-05 9.99467530e-01 -1.73516681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9224010080000005 meters Centerline goodness [0,1] 0.8988037196470616 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.12, Z:-0.17 [[ 9.99251434e-01 2.01706518e-02 -3.30108512e-02 1.25056642e+00] [-2.01193432e-02 9.99795807e-01 1.88576228e-03 -1.17708203e-01] [ 3.30421477e-02 -1.22019402e-03 9.99453214e-01 -1.71381411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.952401008000001 meters Centerline goodness [0,1] 0.8942160081245129 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.11, Z:-0.17 [[ 9.99256728e-01 2.00828523e-02 -3.29039597e-02 1.24978526e+00] [-2.00605321e-02 9.99798259e-01 1.00836110e-03 -1.12931204e-01] [ 3.29175723e-02 -3.47540674e-04 9.99458009e-01 -1.70699737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.982401008 meters Centerline goodness [0,1] 0.8982413241794414 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.11, Z:-0.17 [[ 9.99261289e-01 2.00316198e-02 -3.27965036e-02 1.24891773e+00] [-2.00325334e-02 9.99799283e-01 3.00764801e-04 -1.08627987e-01] [ 3.27959456e-02 3.56454431e-04 9.99462005e-01 -1.69863299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.012401008 meters Centerline goodness [0,1] 0.8902161811096678 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.10, Z:-0.17 [[ 9.99268753e-01 1.94658395e-02 -3.29095929e-02 1.24858832e+00] [-1.95074865e-02 9.99809264e-01 -9.44860645e-04 -1.01258029e-01] [ 3.28849233e-02 1.58615316e-03 9.99457886e-01 -1.68823918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.042401008 meters Centerline goodness [0,1] 0.869380301874581 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.10, Z:-0.17 [[ 0.99927465 0.01898534 -0.03301111 1.24907819] [-0.01905391 0.9998169 -0.00176379 -0.09844085] [ 0.03297158 0.0023915 0.99945343 -0.16918244] [ 0. 0. 0. 1. ]] SLAMing on 8.072401008 meters Centerline goodness [0,1] 0.8985661178969729 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.10, Z:-0.17 [[ 0.99928214 0.01854553 -0.03303427 1.24931682] [-0.01863893 0.9998231 -0.00252145 -0.09574477] [ 0.03298166 0.00313537 0.99945104 -0.16939314] [ 0. 0. 0. 1. ]] SLAMing on 8.102401008000001 meters Centerline goodness [0,1] 0.8712932596380982 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:-0.17 [[ 0.99928825 0.01816783 -0.03305926 1.24943011] [-0.01828454 0.9998276 -0.00323143 -0.09290853] [ 0.03299485 0.00383361 0.99944817 -0.16940602] [ 0. 0. 0. 1. ]] SLAMing on 8.132401008 meters Centerline goodness [0,1] 0.8754329959926646 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:-0.17 [[ 0.99929352 0.01814879 -0.03291024 1.248638 ] [-0.01829148 0.99982454 -0.00403981 -0.08758889] [ 0.03283115 0.00463894 0.99945015 -0.16877449] [ 0. 0. 0. 1. ]] SLAMing on 8.162401008 meters Centerline goodness [0,1] 0.8668549480343425 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:-0.17 [[ 0.99929673 0.01776155 -0.03302392 1.24926304] [-0.01792714 0.99982813 -0.00472471 -0.08567444] [ 0.03293433 0.00531341 0.99944339 -0.16926319] [ 0. 0. 0. 1. ]] SLAMing on 8.192401008000001 meters Centerline goodness [0,1] 0.8604172788715839 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.08, Z:-0.17 [[ 0.99929744 0.01733255 -0.03322977 1.25007957] [-0.01751859 0.99983241 -0.00531566 -0.08410399] [ 0.03313206 0.00589406 0.9994336 -0.16974634] [ 0. 0. 0. 1. ]] SLAMing on 8.222401008 meters Centerline goodness [0,1] 0.8635394934607533 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.08, Z:-0.17 [[ 0.9993045 0.01576355 -0.03379385 1.25327602] [-0.01601116 0.99984683 -0.00706885 -0.08015324] [ 0.03367725 0.00760501 0.99940383 -0.1722178 ] [ 0. 0. 0. 1. ]] SLAMing on 8.252401008 meters Centerline goodness [0,1] 0.8475440637022457 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.08, Z:-0.17 [[ 0.99930668 0.01502731 -0.03406388 1.25473745] [-0.01530101 0.9998526 -0.00778836 -0.0784086 ] [ 0.03394182 0.00830417 0.99938931 -0.17330777] [ 0. 0. 0. 1. ]] SLAMing on 8.282401008 meters Centerline goodness [0,1] 0.8223545355579747 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.08, Z:-0.17 [[ 0.99931054 0.01399489 -0.03438878 1.2566835 ] [-0.0143026 0.99985971 -0.00871806 -0.07691613] [ 0.03426195 0.00920389 0.99937051 -0.17477722] [ 0. 0. 0. 1. ]] SLAMing on 8.312401008 meters Centerline goodness [0,1] 0.7918062240755939 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.07, Z:-0.18 [[ 0.99937121 0.00902515 -0.03428891 1.2570665 ] [-0.00951011 0.99985668 -0.0140065 -0.07180207] [ 0.03415758 0.01432379 0.99931381 -0.17546047] [ 0. 0. 0. 1. ]] SLAMing on 8.342401008 meters Centerline goodness [0,1] 0.8061712874126028 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.07, Z:-0.17 [[ 0.99937342 0.00852178 -0.03435328 1.25707375] [-0.00901907 0.9998564 -0.01434697 -0.07082428] [ 0.03422609 0.01464782 0.99930677 -0.17499209] [ 0. 0. 0. 1. ]] SLAMing on 8.372401008 meters Centerline goodness [0,1] 0.7883306249725504 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.07, Z:-0.17 [[ 0.99937427 0.00795198 -0.03446501 1.25726501] [-0.0084695 0.99985318 -0.01489602 -0.06915916] [ 0.0343415 0.0151786 0.99929489 -0.1746875 ] [ 0. 0. 0. 1. ]] SLAMing on 8.402401008 meters Centerline goodness [0,1] 0.8024710222435659 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.07, Z:-0.18 [[ 0.99937619 0.00738961 -0.03453449 1.25774526] [-0.00794019 0.99984312 -0.01583289 -0.0661642 ] [ 0.03441207 0.01609722 0.99927808 -0.17501906] [ 0. 0. 0. 1. ]] SLAMing on 8.432401008000001 meters Centerline goodness [0,1] 0.7569566522317026 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.06, Z:-0.18 [[ 0.99931621 0.00921326 -0.03580828 1.26135931] [-0.00971683 0.99985598 -0.01391443 -0.05866905] [ 0.03567493 0.01425286 0.99926181 -0.1750438 ] [ 0. 0. 0. 1. ]] SLAMing on 8.462401008 meters Centerline goodness [0,1] 0.7458750106865009 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.06, Z:-0.18 [[ 0.99927184 0.01254719 -0.03603284 1.26215829] [-0.01295029 0.9998559 -0.01097549 -0.05503588] [ 0.03588994 0.01143413 0.99929033 -0.17510564] [ 0. 0. 0. 1. ]] SLAMing on 8.492401008 meters Centerline goodness [0,1] 0.7965940342712079 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.05, Z:-0.18 [[ 0.99921293 0.01597309 -0.03630961 1.26295582] [-0.01627687 0.99983482 -0.00808625 -0.05076316] [ 0.03617445 0.0086709 0.99930787 -0.17504797] [ 0. 0. 0. 1. ]] SLAMing on 8.522401008000001 meters Centerline goodness [0,1] 0.8159794031992571 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.05, Z:-0.17 [[ 0.9991484 0.01941948 -0.03640549 1.26317425] [-0.01962259 0.99979378 -0.00523004 -0.04662012] [ 0.03629642 0.00593996 0.99932341 -0.17467947] [ 0. 0. 0. 1. ]] SLAMing on 8.552401008 meters Centerline goodness [0,1] 0.7742978084534062 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.04, Z:-0.17 [[ 0.9990933 0.02271564 -0.03600804 1.26115109] [-0.02285597 0.99973268 -0.00349011 -0.03695226] [ 0.03591914 0.00430995 0.99934541 -0.17254799] [ 0. 0. 0. 1. ]] SLAMing on 8.582401008 meters Centerline goodness [0,1] 0.7850969448320386 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.03, Z:-0.17 [[ 0.99909384 0.02301073 -0.035805 1.26015755] [-0.02317554 0.99972261 -0.00419462 -0.03170331] [ 0.03569855 0.00502062 0.99934999 -0.17179835] [ 0. 0. 0. 1. ]] SLAMing on 8.612401008 meters Centerline goodness [0,1] 0.8204398071167276 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.03, Z:-0.17 [[ 0.99909485 0.0231499 -0.03568697 1.25979475] [-0.02334352 0.99971491 -0.00501841 -0.02624546] [ 0.03556062 0.00584693 0.99935042 -0.17162056] [ 0. 0. 0. 1. ]] SLAMing on 8.642401008 meters Centerline goodness [0,1] 0.8049627688339781 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.02, Z:-0.17 [[ 0.99904866 0.02513537 -0.035637 1.26244906] [-0.0253126 0.99966932 -0.00453081 -0.0151261 ] [ 0.03551133 0.00542857 0.99935453 -0.17440848] [ 0. 0. 0. 1. ]] SLAMing on 8.672401008 meters Centerline goodness [0,1] 0.790523846105932 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.01, Z:-0.17 [[ 0.99905765 0.024966 -0.03550354 1.26246294] [-0.02517914 0.99966744 -0.00556897 -0.00933064] [ 0.0353527 0.00645767 0.99935403 -0.1746713 ] [ 0. 0. 0. 1. ]] SLAMing on 8.702401008 meters Centerline goodness [0,1] 0.7880434782608696 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.00, Z:-0.18 [[ 0.99906307 0.02448606 -0.03568484 1.26324836] [-0.02474852 0.99966968 -0.00693188 -0.00478489] [ 0.03550332 0.00780853 0.99933905 -0.17526706] [ 0. 0. 0. 1. ]] SLAMing on 8.732401008 meters Centerline goodness [0,1] 0.7950950846929232 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.00, Z:-0.18 [[ 9.99066379e-01 2.41817511e-02 -3.57996138e-02 1.26359768e+00] [-2.44829244e-02 9.99668251e-01 -7.99834898e-03 -8.62221672e-04] [ 3.55943232e-02 8.86736079e-03 9.99326981e-01 -1.75443500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762401008000001 meters Centerline goodness [0,1] 0.7812045085887784 Centerline is valid? [False, False] Translation: X:1.26, Y:0.00, Z:-0.18 [[ 0.99898347 0.02717343 -0.0359672 1.26450958] [-0.02740674 0.9996063 -0.00600966 0.00453389] [ 0.03578973 0.0069893 0.9993349 -0.17573205] [ 0. 0. 0. 1. ]] SLAMing on 8.792401008 meters Centerline goodness [0,1] 0.7795930244642597 Centerline is valid? [False, False] Translation: X:1.26, Y:0.01, Z:-0.18 [[ 0.9989737 0.02736267 -0.03609466 1.26491711] [-0.02762638 0.999595 -0.00682781 0.00831175] [ 0.03589322 0.00781796 0.99932505 -0.17608668] [ 0. 0. 0. 1. ]] SLAMing on 8.822401008 meters Centerline goodness [0,1] 0.7795930244642597 Centerline is valid? [False, False] Translation: X:1.26, Y:0.01, Z:-0.18 [[ 0.9989737 0.02736267 -0.03609466 1.26491711] [-0.02762638 0.999595 -0.00682781 0.00831175] [ 0.03589322 0.00781796 0.99932505 -0.17608668] [ 0. 0. 0. 1. ]] SLAMing on 8.852401008000001 meters Centerline goodness [0,1] 0.8070076939072572 Centerline is valid? [False, False] Translation: X:1.27, Y:0.01, Z:-0.18 [[ 0.99886129 0.03070945 -0.036511 1.26686053] [-0.03086952 0.99951609 -0.00382831 0.00953622] [ 0.03637576 0.00495102 0.99932592 -0.17712391] [ 0. 0. 0. 1. ]] SLAMing on 8.882401008 meters Centerline goodness [0,1] 0.801785751279236 Centerline is valid? [False, False] Translation: X:1.27, Y:0.01, Z:-0.18 [[ 0.99884181 0.03087541 -0.03690199 1.26774358] [-0.03106277 0.99950724 -0.00451475 0.01214075] [ 0.03674441 0.0056558 0.99930869 -0.17745725] [ 0. 0. 0. 1. ]] SLAMing on 8.912401008 meters Centerline goodness [0,1] 0.8459053063253387 Centerline is valid? [False, False] Translation: X:1.27, Y:0.02, Z:-0.18 [[ 0.99870354 0.0351455 -0.03682427 1.26798539] [-0.03521812 0.99937877 -0.00132522 0.01617476] [ 0.03675482 0.00262038 0.99932088 -0.17769848] [ 0. 0. 0. 1. ]] SLAMing on 8.942401008000001 meters Centerline goodness [0,1] 0.8635390912301844 Centerline is valid? [False, False] Translation: X:1.27, Y:0.02, Z:-0.18 [[ 9.98564199e-01 3.89769784e-02 -3.67469007e-02 1.26872026e+00] [-3.89233363e-02 9.99239834e-01 2.17431492e-03 1.78141959e-02] [ 3.68037152e-02 -7.40881059e-04 9.99322239e-01 -1.78369178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.972401008 meters Centerline goodness [0,1] 0.8554005167958656 Centerline is valid? [False, False] Translation: X:1.27, Y:0.02, Z:-0.18 [[ 0.99839727 0.04297743 -0.03682171 1.26954317] [-0.04278156 0.99906588 0.00609142 0.01788614] [ 0.03704911 -0.00450636 0.99930329 -0.17875156] [ 0. 0. 0. 1. ]] SLAMing on 9.002401008 meters Centerline goodness [0,1] 0.8950039519114772 Centerline is valid? [False, False] Translation: X:1.27, Y:0.02, Z:-0.18 [[ 0.99829451 0.04527524 -0.03685401 1.26764727] [-0.04502864 0.99895758 0.00749456 0.01782082] [ 0.03715491 -0.00582229 0.99929256 -0.17676278] [ 0. 0. 0. 1. ]] SLAMing on 9.032401008 meters Centerline goodness [0,1] 0.8559986720338632 Centerline is valid? [False, False] Translation: X:1.27, Y:0.02, Z:-0.18 [[ 0.99826283 0.04586981 -0.0369769 1.26713152] [-0.04560677 0.99892802 0.00792641 0.01686567] [ 0.03730084 -0.00622624 0.99928468 -0.17588484] [ 0. 0. 0. 1. ]] SLAMing on 9.062401008 meters Centerline goodness [0,1] 0.9038238221632382 Centerline is valid? [False, False] Translation: X:1.27, Y:0.02, Z:-0.18 [[ 0.99824093 0.0463159 -0.03701197 1.26655921] [-0.04604581 0.99890635 0.00811712 0.01667594] [ 0.03734744 -0.00639859 0.99928186 -0.17513549] [ 0. 0. 0. 1. ]] SLAMing on 9.092401008 meters Centerline goodness [0,1] 0.9015770001860157 Centerline is valid? [False, False] Translation: X:1.28, Y:0.02, Z:-0.18 [[ 9.98079136e-01 5.24230184e-02 -3.30131064e-02 1.27556900e+00] [-5.24087670e-02 9.98624873e-01 1.29746026e-03 1.64416233e-02] [ 3.30357260e-02 4.35208189e-04 9.99454077e-01 -1.78322328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.122401008 meters Centerline goodness [0,1] 0.8990625321932626 Centerline is valid? [False, False] Translation: X:1.28, Y:0.02, Z:-0.18 [[ 9.98057737e-01 5.26772477e-02 -3.32544769e-02 1.27645781e+00] [-5.26661189e-02 9.98611443e-01 1.21111148e-03 1.69013983e-02] [ 3.32720992e-02 5.42625051e-04 9.99446183e-01 -1.79043018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.152401008 meters Centerline goodness [0,1] 0.9040421792618629 Centerline is valid? [False, False] Translation: X:1.28, Y:0.02, Z:-0.18 [[ 9.98040000e-01 5.29395887e-02 -3.33700173e-02 1.27686771e+00] [-5.29215918e-02 9.98597657e-01 1.42294625e-03 1.61890362e-02] [ 3.33985513e-02 3.45837156e-04 9.99442053e-01 -1.79389248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.182401008000001 meters Centerline goodness [0,1] 0.9049568741556687 Centerline is valid? [False, False] Translation: X:1.28, Y:0.01, Z:-0.18 [[ 9.98019421e-01 5.32917745e-02 -3.34248838e-02 1.27682030e+00] [-5.32563013e-02 9.98578970e-01 1.95131007e-03 1.45615063e-02] [ 3.34813748e-02 -1.67359667e-04 9.99439328e-01 -1.79246890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.212401008 meters Centerline goodness [0,1] 0.9106028243784087 Centerline is valid? [False, False] Translation: X:1.28, Y:0.01, Z:-0.18 [[ 0.9981723 0.05025942 -0.0335566 1.27637451] [-0.0503381 0.9987311 -0.00150358 0.01420135] [ 0.03343845 0.00319001 0.99943569 -0.17925309] [ 0. 0. 0. 1. ]] SLAMing on 9.242401008 meters Centerline goodness [0,1] 0.9206599237274083 Centerline is valid? [False, False] Translation: X:1.27, Y:0.01, Z:-0.18 [[ 9.98120504e-01 5.14178607e-02 -3.33416218e-02 1.27488479e+00] [-5.14368360e-02 9.98676208e-01 2.88934161e-04 7.80053791e-03] [ 3.33123408e-02 1.42659642e-03 9.99443972e-01 -1.78099530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.272401008000001 meters Centerline goodness [0,1] 0.9247194030467765 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:-0.18 [[ 9.98088732e-01 5.20325125e-02 -3.33391740e-02 1.27461143e+00] [-5.20201207e-02 9.98645268e-01 1.23956621e-03 4.68203888e-03] [ 3.33585060e-02 4.97110786e-04 9.99443327e-01 -1.77843297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.302401008 meters Centerline goodness [0,1] 0.9354192895915461 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:-0.18 [[ 9.98052966e-01 5.26938349e-02 -3.33712017e-02 1.27454334e+00] [-5.26492737e-02 9.98610613e-01 2.21325436e-03 1.60775490e-03] [ 3.34414610e-02 -4.51975544e-04 9.99440576e-01 -1.77752586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.332401008 meters Centerline goodness [0,1] 0.9471038477451386 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.00, Z:-0.18 [[ 0.9979686 0.05451714 -0.032963 1.27366277] [-0.05440434 0.99850968 0.00431013 -0.00420919] [ 0.03314885 -0.00250804 0.99944728 -0.178046 ] [ 0. 0. 0. 1. ]] SLAMing on 9.362401008 meters Centerline goodness [0,1] 0.9478554792967704 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.01, Z:-0.18 [[ 0.99792904 0.05521345 -0.03300174 1.2738175 ] [-0.05506913 0.99846865 0.00526667 -0.0072033 ] [ 0.03324199 -0.00343838 0.99944142 -0.17827956] [ 0. 0. 0. 1. ]] SLAMing on 9.392401008 meters Centerline goodness [0,1] 0.9542249164914017 Centerline is valid? [False, True] Translation: X:1.27, Y:-0.01, Z:-0.18 [[ 9.98055817e-01 5.26475416e-02 -3.33590014e-02 1.27397007e+00] [-5.25989214e-02 9.98612991e-01 2.33398623e-03 -9.05782566e-03] [ 3.34356108e-02 -5.74801041e-04 9.99440708e-01 -1.78698399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.422401008 meters Centerline goodness [0,1] 0.9711572576437442 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.02, Z:-0.18 [[ 9.97703448e-01 5.80002882e-02 -3.49827890e-02 1.30577670e+00] [-5.79401881e-02 9.98316323e-01 2.73017061e-03 -1.88494164e-02] [ 3.50822400e-02 -6.96991258e-04 9.99384186e-01 -1.77881936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.452401008 meters Centerline goodness [0,1] 0.9697210488896324 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.03, Z:-0.18 [[ 9.97586712e-01 6.01171684e-02 -3.47372697e-02 1.33610452e+00] [-6.00590234e-02 9.98191133e-01 2.71583619e-03 -2.81506626e-02] [ 3.48377030e-02 -6.22995601e-04 9.99392789e-01 -1.81250269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.482401008 meters Centerline goodness [0,1] 0.9703655131567814 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.04, Z:-0.18 [[ 9.97518590e-01 6.11279275e-02 -3.49290481e-02 1.36613393e+00] [-6.10695902e-02 9.98129762e-01 2.73560976e-03 -3.82376355e-02] [ 3.50309446e-02 -5.95718940e-04 9.99386051e-01 -1.84411567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.512401008000001 meters Centerline goodness [0,1] 0.9703932644143665 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.05, Z:-0.19 [[ 9.97543641e-01 6.10981425e-02 -3.42593275e-02 1.39797485e+00] [-6.10417646e-02 9.98131588e-01 2.69012560e-03 -4.83698241e-02] [ 3.43596786e-02 -5.92267885e-04 9.99409356e-01 -1.85016290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.542401008 meters Centerline goodness [0,1] 0.9615025107058235 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.07, Z:-0.19 [[ 9.97579004e-01 5.96670889e-02 -3.57207251e-02 1.42705758e+00] [-5.96047419e-02 9.98218105e-01 2.80871635e-03 -7.13238570e-02] [ 3.58246625e-02 -6.72791855e-04 9.99357864e-01 -1.89979635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.572401008 meters Centerline goodness [0,1] 0.962897721017285 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.08, Z:-0.19 [[ 9.97655485e-01 5.88625176e-02 -3.49104240e-02 1.45887317e+00] [-5.88022384e-02 9.98265859e-01 2.75178535e-03 -8.22408980e-02] [ 3.50118614e-02 -6.92522671e-04 9.99386657e-01 -1.88449082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602401008000001 meters Centerline goodness [0,1] 0.9595620891810268 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.10, Z:-0.19 [[ 9.97684232e-01 5.86505869e-02 -3.44424402e-02 1.49015768e+00] [-5.85915397e-02 9.98278329e-01 2.72206619e-03 -9.52511180e-02] [ 3.45427924e-02 -6.97726913e-04 9.99402976e-01 -1.88891220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.632401008 meters Centerline goodness [0,1] 0.9584043411965198 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.11, Z:-0.19 [[ 9.97721599e-01 5.86240595e-02 -3.33890683e-02 1.51998286e+00] [-5.85683297e-02 9.98279897e-01 2.64555313e-03 -1.07933403e-01] [ 3.34867287e-02 -6.83983538e-04 9.99438928e-01 -1.87626739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.662401008 meters Centerline goodness [0,1] 0.957212881946035 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.13, Z:-0.19 [[ 9.97818192e-01 5.89791969e-02 -2.96700189e-02 1.54998907e+00] [-5.89351571e-02 9.98259029e-01 2.35739603e-03 -1.27064143e-01] [ 2.97574016e-02 -6.03645421e-04 9.99556968e-01 -1.86767830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.692401008000001 meters Centerline goodness [0,1] 0.9573902388273646 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.14, Z:-0.19 [[ 9.97795513e-01 6.02496925e-02 -2.78224575e-02 1.58045451e+00] [-6.02112932e-02 9.98183193e-01 2.21663604e-03 -1.37575728e-01] [ 2.79054611e-02 -5.36523355e-04 9.99610423e-01 -1.86786515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722401008 meters Centerline goodness [0,1] 0.9529724313113188 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.15, Z:-0.19 [[ 9.97753298e-01 6.15019167e-02 -2.65682288e-02 1.61117736e+00] [-6.14671923e-02 9.98106848e-01 2.12247229e-03 -1.48476776e-01] [ 2.66484672e-02 -4.84629295e-04 9.99644749e-01 -1.86262261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.752401008 meters Centerline goodness [0,1] 0.9526990346260061 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.16, Z:-0.19 [[ 9.97687362e-01 6.29694569e-02 -2.55885885e-02 1.64218641e+00] [-6.29375828e-02 9.98015360e-01 2.04991123e-03 -1.57637008e-01] [ 2.56668862e-02 -4.34686624e-04 9.99670457e-01 -1.85266966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.782401008 meters Centerline goodness [0,1] 0.946834709546574 Centerline is valid? [True, False] Translation: X:1.64, Y:-0.17, Z:-0.19 [[ 9.97776394e-01 6.19242440e-02 -2.46506525e-02 1.63905302e+00] [-6.19068163e-02 9.98080851e-01 1.47023226e-03 -1.71604303e-01] [ 2.46943872e-02 5.90803738e-05 9.99695045e-01 -1.85896425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.812401008 meters Centerline goodness [0,1] 0.9449572566307022 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.18, Z:-0.19 [[ 9.97976677e-01 5.86792130e-02 -2.44806487e-02 1.63863515e+00] [-5.87353489e-02 9.98272339e-01 -1.57974352e-03 -1.76136001e-01] [ 2.43456563e-02 3.01442663e-03 9.99699056e-01 -1.86967919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.842401008000001 meters Centerline goodness [0,1] 0.944085915562343 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.18, Z:-0.19 [[ 0.99818764 0.0550034 -0.02441423 1.6390253 ] [-0.05514439 0.99846517 -0.00513915 -0.17974891] [ 0.02409409 0.00647614 0.99968872 -0.18880892] [ 0. 0. 0. 1. ]] SLAMing on 9.872401008 meters Centerline goodness [0,1] 0.9424064197777002 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.19, Z:-0.19 [[ 0.99836164 0.05171924 -0.02447785 1.64159293] [-0.05190106 0.99862873 -0.0068516 -0.19051091] [ 0.02408992 0.0081108 0.99967689 -0.19236649] [ 0. 0. 0. 1. ]] SLAMing on 9.902401008 meters Centerline goodness [0,1] 0.9403496397803416 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.20, Z:-0.19 [[ 0.99854203 0.04812703 -0.02444572 1.64151456] [-0.04837836 0.99878105 -0.00979546 -0.19539526] [ 0.0239445 0.01096382 0.99965317 -0.1931194 ] [ 0. 0. 0. 1. ]] SLAMing on 9.932401008000001 meters Centerline goodness [0,1] 0.9389599448571647 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.20, Z:-0.19 [[ 0.99870429 0.04468028 -0.02436027 1.64091085] [-0.04499316 0.99890971 -0.01245042 -0.20103042] [ 0.02377743 0.01353033 0.99962571 -0.19325192] [ 0. 0. 0. 1. ]] SLAMing on 9.962401008 meters Centerline goodness [0,1] 0.9384579775743236 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.21, Z:-0.19 [[ 0.99885762 0.04107079 -0.02442612 1.6408589 ] [-0.0414505 0.99902421 -0.01524748 -0.20662401] [ 0.02377606 0.01624253 0.99958535 -0.19364635] [ 0. 0. 0. 1. ]] SLAMing on 9.992401008 meters Centerline goodness [0,1] 0.9382826007230052 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.22, Z:-0.20 [[ 0.99911034 0.03449226 -0.02426563 1.64273553] [-0.03498663 0.99918256 -0.02025233 -0.2165454 ] [ 0.02354724 0.02108329 0.99950039 -0.19690641] [ 0. 0. 0. 1. ]] SLAMing on 10.022401008000001 meters Centerline goodness [0,1] 0.935865537321334 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.22, Z:-0.20 [[ 0.9991138 0.03404706 -0.02474687 1.64472063] [-0.03452475 0.99922057 -0.01913887 -0.22275293] [ 0.02407595 0.01997629 0.99951053 -0.19752259] [ 0. 0. 0. 1. ]] SLAMing on 10.052401008 meters Centerline goodness [0,1] 0.8644983014754348 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.24, Z:-0.19 [[ 0.99919645 0.03104125 -0.02535531 1.68623943] [-0.03129807 0.9994621 -0.00979546 -0.23865346] [ 0.0250376 0.01058116 0.99963051 -0.19259737] [ 0. 0. 0. 1. ]] SLAMing on 10.082401008 meters Centerline goodness [0,1] 0.9329083837510804 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.24, Z:-0.19 [[ 0.99934817 0.02708626 -0.02386549 1.63516978] [-0.02721637 0.99961633 -0.00514413 -0.24065879] [ 0.023717 0.00579031 0.99970194 -0.19050321] [ 0. 0. 0. 1. ]] SLAMing on 10.112401008 meters Centerline goodness [0,1] 0.9321192955673082 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.24, Z:-0.19 [[ 0.99943841 0.02393589 -0.02345092 1.6333441 ] [-0.02413108 0.99967618 -0.00807614 -0.24394879] [ 0.02325001 0.0086375 0.99969237 -0.18984885] [ 0. 0. 0. 1. ]] SLAMing on 10.142401008 meters Centerline goodness [0,1] 0.9300509616965313 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.25, Z:-0.19 [[ 0.99942108 0.02409557 -0.02401889 1.63381325] [-0.0242532 0.99968604 -0.00629318 -0.24998207] [ 0.02385971 0.00687207 0.9996917 -0.18788926] [ 0. 0. 0. 1. ]] SLAMing on 10.172401008 meters Centerline goodness [0,1] 0.9314107345100964 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.25, Z:-0.19 [[ 0.99941341 0.02397674 -0.02445309 1.63470057] [-0.02411522 0.99969469 -0.0053837 -0.25434335] [ 0.02431654 0.00597024 0.99968648 -0.18733441] [ 0. 0. 0. 1. ]] SLAMing on 10.202401008 meters Centerline goodness [0,1] 0.9281433803129508 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.26, Z:-0.19 [[ 0.99941726 0.02382652 -0.02444262 1.63537967] [-0.02394024 0.99970384 -0.00437049 -0.2590568 ] [ 0.02433125 0.0049531 0.99969168 -0.18754757] [ 0. 0. 0. 1. ]] SLAMing on 10.232401008 meters Centerline goodness [0,1] 0.9253685759502457 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.26, Z:-0.19 [[ 0.99941492 0.02368139 -0.02467811 1.63622603] [-0.02378804 0.99970887 -0.00403705 -0.26078481] [ 0.02457533 0.00462173 0.9996873 -0.18774541] [ 0. 0. 0. 1. ]] SLAMing on 10.262401008000001 meters Centerline goodness [0,1] 0.9258388604371309 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.26, Z:-0.19 [[ 0.99949338 0.02052613 -0.02432408 1.63474252] [-0.02072193 0.99975465 -0.00782515 -0.26050729] [ 0.02415749 0.00832522 0.9996735 -0.18792945] [ 0. 0. 0. 1. ]] SLAMing on 10.292401008 meters Centerline goodness [0,1] 0.9258129512509095 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.26, Z:-0.19 [[ 0.99948537 0.02058822 -0.02459931 1.63497332] [-0.02076588 0.99975994 -0.00698879 -0.26270833] [ 0.02444952 0.00749602 0.99967296 -0.18686401] [ 0. 0. 0. 1. ]] SLAMing on 10.322401008 meters Centerline goodness [0,1] 0.9293860509429204 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.26, Z:-0.19 [[ 0.9994845 0.02084576 -0.02441694 1.63437794] [-0.02101244 0.9997575 -0.00658983 -0.26307208] [ 0.02427365 0.00709949 0.99968014 -0.18641436] [ 0. 0. 0. 1. ]] SLAMing on 10.352401008000001 meters Centerline goodness [0,1] 0.9291171120749965 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.26, Z:-0.19 [[ 0.99948408 0.02089232 -0.02439431 1.63424408] [-0.0210642 0.99975493 -0.00681023 -0.26135452] [ 0.02424605 0.00732057 0.99967922 -0.18639534] [ 0. 0. 0. 1. ]] SLAMing on 10.382401008 meters Centerline goodness [0,1] 0.9303091172860172 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.26, Z:-0.19 [[ 0.99948264 0.0210599 -0.02430927 1.6336923 ] [-0.02123515 0.99975019 -0.00697353 -0.25949961] [ 0.02415633 0.00748613 0.99968016 -0.18601036] [ 0. 0. 0. 1. ]] SLAMing on 10.412401008 meters Centerline goodness [0,1] 0.9360536612632756 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.26, Z:-0.19 [[ 0.99948201 0.02132554 -0.02410237 1.63259371] [-0.02150169 0.99974379 -0.00707305 -0.25770066] [ 0.02394536 0.00758762 0.99968447 -0.18526125] [ 0. 0. 0. 1. ]] SLAMing on 10.442401008000001 meters Centerline goodness [0,1] 0.937085169278822 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.26, Z:-0.18 [[ 0.99948046 0.02163267 -0.02389238 1.63150489] [-0.02180695 0.99973729 -0.00705816 -0.25621184] [ 0.02373342 0.00757551 0.99968962 -0.1844449 ] [ 0. 0. 0. 1. ]] SLAMing on 10.472401008 meters Centerline goodness [0,1] 0.9319306588515026 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.25, Z:-0.18 [[ 0.99948822 0.02097913 -0.0241489 1.63227314] [-0.02118186 0.99974226 -0.00817007 -0.25202105] [ 0.02397128 0.00867741 0.99967499 -0.18470327] [ 0. 0. 0. 1. ]] SLAMing on 10.502401008 meters Centerline goodness [0,1] 0.933459971368792 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.25, Z:-0.19 [[ 0.99949266 0.02020139 -0.02462388 1.63425963] [-0.02043615 0.99974772 -0.00931977 -0.24890007] [ 0.0244294 0.00981826 0.99965334 -0.18606573] [ 0. 0. 0. 1. ]] SLAMing on 10.532401008 meters Centerline goodness [0,1] 0.9306010177417137 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.24, Z:-0.19 [[ 0.99949815 0.01916968 -0.02521861 1.63688517] [-0.01944973 0.99975134 -0.01090689 -0.24472794] [ 0.02500325 0.01139191 0.99962246 -0.18805554] [ 0. 0. 0. 1. ]] SLAMing on 10.562401008 meters Centerline goodness [0,1] 0.9199696155828654 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.24, Z:-0.19 [[ 0.99942989 0.0205618 -0.02677903 1.64342665] [-0.02082492 0.9997372 -0.00958371 -0.23852701] [ 0.02657493 0.01013592 0.99959544 -0.19132208] [ 0. 0. 0. 1. ]] SLAMing on 10.592401008000001 meters Centerline goodness [0,1] 0.9233472079571868 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.24, Z:-0.19 [[ 0.99943022 0.01980333 -0.02733251 1.64539718] [-0.02010521 0.99973938 -0.01081468 -0.23517308] [ 0.02711122 0.01135804 0.99956789 -0.19254405] [ 0. 0. 0. 1. ]] SLAMing on 10.622401008 meters Centerline goodness [0,1] 0.9172674403023076 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.23, Z:-0.19 [[ 0.99942564 0.01903482 -0.02803703 1.64731592] [-0.01938814 0.99973533 -0.01238427 -0.23005205] [ 0.02779388 0.01292074 0.99953017 -0.1934438 ] [ 0. 0. 0. 1. ]] SLAMing on 10.652401008 meters Centerline goodness [0,1] 0.9145908423441463 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.23, Z:-0.19 [[ 0.99933665 0.02177918 -0.02918783 1.65062223] [-0.02204581 0.99971784 -0.00884438 -0.22928669] [ 0.02898697 0.00948198 0.99953482 -0.19328744] [ 0. 0. 0. 1. ]] SLAMing on 10.682401008000001 meters Centerline goodness [0,1] 0.9125448028673835 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.23, Z:-0.19 [[ 0.99933646 0.02154193 -0.02936975 1.65128699] [-0.02183497 0.99971459 -0.00969364 -0.2250432 ] [ 0.02915255 0.0103285 0.99952161 -0.19379396] [ 0. 0. 0. 1. ]] SLAMing on 10.712401008 meters Centerline goodness [0,1] 0.9050044635824187 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.22, Z:-0.19 [[ 0.99923998 0.02461867 -0.03022218 1.65369334] [-0.0248405 0.99966701 -0.00698666 -0.2196632 ] [ 0.03004011 0.00773208 0.99951879 -0.19392611] [ 0. 0. 0. 1. ]] SLAMing on 10.742401008 meters Centerline goodness [0,1] 0.9050044635824187 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.22, Z:-0.19 [[ 0.99923998 0.02461867 -0.03022218 1.65369334] [-0.0248405 0.99966701 -0.00698666 -0.2196632 ] [ 0.03004011 0.00773208 0.99951879 -0.19392611] [ 0. 0. 0. 1. ]] SLAMing on 10.772401008000001 meters Centerline goodness [0,1] 0.9278009605542871 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.22, Z:-0.19 [[ 0.99923493 0.02481245 -0.03023071 1.65315081] [-0.02504491 0.99965941 -0.00733531 -0.21664446] [ 0.03003841 0.00808683 0.99951603 -0.19336585] [ 0. 0. 0. 1. ]] SLAMing on 10.802401008 meters Centerline goodness [0,1] 0.9278821074595722 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.21, Z:-0.19 [[ 0.99922875 0.0251799 -0.03013115 1.65202044] [-0.02541196 0.99965009 -0.00734363 -0.2140757 ] [ 0.02993569 0.00810366 0.99951898 -0.19216407] [ 0. 0. 0. 1. ]] SLAMing on 10.832401008 meters Centerline goodness [0,1] 0.9387375277878303 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.21, Z:-0.19 [[ 0.99915625 0.02794614 -0.03009656 1.64861109] [-0.02810552 0.99959302 -0.00488544 -0.20928799] [ 0.02994778 0.0057272 0.99953506 -0.18745878] [ 0. 0. 0. 1. ]] SLAMing on 10.862401008 meters Centerline goodness [0,1] 0.9131093256667608 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.21, Z:-0.19 [[ 0.99914498 0.02844464 -0.0300035 1.64717723] [-0.02860569 0.99957851 -0.00495207 -0.20592906] [ 0.02984999 0.0058061 0.99953753 -0.18592538] [ 0. 0. 0. 1. ]] SLAMing on 10.892401008 meters Centerline goodness [0,1] 0.9446081319976429 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.20, Z:-0.18 [[ 0.99913601 0.02905844 -0.02971247 1.64544617] [-0.02922209 0.99955999 -0.00508863 -0.20218595] [ 0.02955153 0.00595249 0.99954553 -0.18464191] [ 0. 0. 0. 1. ]] SLAMing on 10.922401008000001 meters Centerline goodness [0,1] 0.9437399535631362 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.20, Z:-0.18 [[ 0.9991275 0.02951001 -0.02955345 1.64430972] [-0.02968286 0.99954463 -0.00542734 -0.19813833] [ 0.02937984 0.00629984 0.99954847 -0.18385404] [ 0. 0. 0. 1. ]] SLAMing on 10.952401008 meters Centerline goodness [0,1] 0.9456029928464902 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.19, Z:-0.18 [[ 0.99900298 0.03368435 -0.02929858 1.64298443] [-0.03375362 0.99942843 -0.00187286 -0.19355513] [ 0.02921875 0.00285993 0.99956895 -0.1821532 ] [ 0. 0. 0. 1. ]] SLAMing on 10.982401008 meters Centerline goodness [0,1] 0.9455884941288879 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.19, Z:-0.18 [[ 0.9989985 0.03405943 -0.02901631 1.64148102] [-0.03413725 0.99941475 -0.00219072 -0.19031065] [ 0.02892471 0.00317906 0.99957654 -0.18110966] [ 0. 0. 0. 1. ]] SLAMing on 11.012401008000001 meters Centerline goodness [0,1] 0.9494909063617942 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.19, Z:-0.18 [[ 0.99899309 0.03453617 -0.0286365 1.63970798] [-0.03461425 0.99939825 -0.00223503 -0.18767646] [ 0.02854208 0.00322401 0.99958739 -0.17983347] [ 0. 0. 0. 1. ]] SLAMing on 11.042401008 meters Centerline goodness [0,1] 0.9458050678371908 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.19, Z:-0.18 [[ 0.99899346 0.03475762 -0.02835452 1.63860068] [-0.0348413 0.99938982 -0.00246222 -0.18534244] [ 0.02825164 0.00344765 0.9995949 -0.17916564] [ 0. 0. 0. 1. ]] SLAMing on 11.072401008 meters Centerline goodness [0,1] 0.9440625154557595 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.18, Z:-0.18 [[ 0.99901439 0.03379941 -0.02877239 1.64036462] [-0.03392556 0.99941672 -0.00390766 -0.18081481] [ 0.02862353 0.00487993 0.99957835 -0.18024611] [ 0. 0. 0. 1. ]] SLAMing on 11.102401008000001 meters Centerline goodness [0,1] 0.9383072781605789 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.18, Z:-0.18 [[ 0.99902891 0.03305341 -0.02913272 1.64203739] [-0.03320926 0.9994365 -0.00488218 -0.17848881] [ 0.02895493 0.00584492 0.99956363 -0.18144749] [ 0. 0. 0. 1. ]] SLAMing on 11.132401008 meters Centerline goodness [0,1] 0.9385185548792461 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.18, Z:-0.18 [[ 0.99904468 0.03228237 -0.0294547 1.6439157 ] [-0.03247131 0.99945491 -0.00595863 -0.17643976] [ 0.02924628 0.00690937 0.99954836 -0.18310803] [ 0. 0. 0. 1. ]] SLAMing on 11.162401008 meters Centerline goodness [0,1] 0.9267851909739181 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.17, Z:-0.18 [[ 0.99905209 0.03166577 -0.02986976 1.64561841] [-0.03189429 0.99946528 -0.00720526 -0.17296725] [ 0.02962563 0.0081511 0.99952783 -0.18444794] [ 0. 0. 0. 1. ]] SLAMing on 11.192401008000001 meters Centerline goodness [0,1] 0.941167868980308 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.17, Z:-0.18 [[ 0.99904243 0.03206953 -0.02976195 1.64490952] [-0.03230127 0.99945124 -0.00733856 -0.17125407] [ 0.02951027 0.00829288 0.99953008 -0.1840114 ] [ 0. 0. 0. 1. ]] SLAMing on 11.222401008 meters Centerline goodness [0,1] 0.9413508260447035 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.17, Z:-0.18 [[ 0.99902206 0.03287051 -0.02957106 1.64367223] [-0.03309846 0.99942578 -0.0072522 -0.16895799] [ 0.02931569 0.00822386 0.99953637 -0.18320421] [ 0. 0. 0. 1. ]] SLAMing on 11.252401008 meters Centerline goodness [0,1] 0.9454013256567807 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.17, Z:-0.18 [[ 0.99887991 0.0368564 -0.02967359 1.64403003] [-0.03697285 0.99931054 -0.00338531 -0.16834212] [ 0.02952836 0.00447863 0.99955391 -0.18283104] [ 0. 0. 0. 1. ]] SLAMing on 11.282401008 meters Centerline goodness [0,1] 0.9468345911647359 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.17, Z:-0.18 [[ 9.98693873e-01 4.17107545e-02 -2.95086603e-02 1.64351178e+00] [-4.17170350e-02 9.99129384e-01 4.03038523e-04 -1.65603837e-01] [ 2.94997807e-02 8.28501714e-04 9.99564443e-01 -1.82687861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.312401008 meters Centerline goodness [0,1] 0.9464828118219951 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.16, Z:-0.18 [[ 9.98673781e-01 4.23338816e-02 -2.93005482e-02 1.64272740e+00] [-4.23389358e-02 9.99103205e-01 4.48171236e-04 -1.64862764e-01] [ 2.92932444e-02 7.92977166e-04 9.99570546e-01 -1.82590473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.342401008000001 meters Centerline goodness [0,1] 0.9475002408245834 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.17, Z:-0.18 [[ 9.98650822e-01 4.28653735e-02 -2.93103300e-02 1.64221438e+00] [-4.28630207e-02 9.99080707e-01 7.08856353e-04 -1.65328413e-01] [ 2.93137706e-02 5.48429304e-04 9.99570109e-01 -1.82175002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.372401008 meters Centerline goodness [0,1] 0.9515905947441217 Centerline is valid? [False, True] Translation: X:1.64, Y:-0.17, Z:-0.18 [[ 9.98627652e-01 4.36066989e-02 -2.90046266e-02 1.64092804e+00] [-4.35879204e-02 9.99048775e-01 1.27967605e-03 -1.66404451e-01] [ 2.90328391e-02 -1.36685296e-05 9.99578458e-01 -1.81511749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.402401008 meters Centerline goodness [0,1] 0.9540484059097978 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.17, Z:-0.18 [[ 9.98407968e-01 4.84579987e-02 -2.88678328e-02 1.67258317e+00] [-4.84296061e-02 9.98825181e-01 1.68231308e-03 -1.67894254e-01] [ 2.89154398e-02 -2.81577014e-04 9.99581822e-01 -1.81705297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.432401008000001 meters Centerline goodness [0,1] 0.9516839977595403 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.17, Z:-0.18 [[ 9.98274861e-01 5.09606054e-02 -2.91602317e-02 1.70329816e+00] [-5.09325125e-02 9.98700640e-01 1.70583411e-03 -1.69604654e-01] [ 2.92092724e-02 -2.17687440e-04 9.99573294e-01 -1.83483140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.462401008 meters Centerline goodness [0,1] 0.9511146924523234 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.17, Z:-0.18 [[ 9.98046253e-01 5.55806038e-02 -2.85389877e-02 1.73499488e+00] [-5.55553937e-02 9.98454200e-01 1.67612302e-03 -1.72523858e-01] [ 2.85880320e-02 -8.73536057e-05 9.99591275e-01 -1.82583510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.492401008 meters Centerline goodness [0,1] 0.951409614483388 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.18, Z:-0.18 [[ 9.97958518e-01 5.78443844e-02 -2.70706971e-02 1.76572868e+00] [-5.78224265e-02 9.98325611e-01 1.59387769e-03 -1.76965185e-01] [ 2.71175671e-02 -2.53304311e-05 9.99632251e-01 -1.81053273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.522401008000001 meters Centerline goodness [0,1] 0.9507832737140742 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.18, Z:-0.18 [[ 9.97864295e-01 5.96747192e-02 -2.65664537e-02 1.79725487e+00] [-5.96540634e-02 9.98217876e-01 1.57008172e-03 -1.82344346e-01] [ 2.66128031e-02 1.80684223e-05 9.99645816e-01 -1.79839819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.552401008 meters Centerline goodness [0,1] 0.9486905530984445 Centerline is valid? [True, False] Translation: X:1.80, Y:-0.18, Z:-0.18 [[ 0.99806093 0.05647179 -0.02617855 1.79604156] [-0.05654744 0.99839758 -0.00215795 -0.18346941] [ 0.02601474 0.00363409 0.99965495 -0.18067343] [ 0. 0. 0. 1. ]] SLAMing on 11.582401008 meters Centerline goodness [0,1] 0.9479762980817515 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.19, Z:-0.18 [[ 0.99823492 0.0538424 -0.02506059 1.79604804] [-0.0539755 0.99853136 -0.00466483 -0.18782052] [ 0.02477262 0.00600926 0.99967505 -0.18405052] [ 0. 0. 0. 1. ]] SLAMing on 11.612401008 meters Centerline goodness [0,1] 0.9453449971008647 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.19, Z:-0.19 [[ 0.99823581 0.05380031 -0.02511565 1.79694233] [-0.05392138 0.99853649 -0.00416801 -0.1910777 ] [ 0.02485465 0.00551493 0.99967586 -0.18506369] [ 0. 0. 0. 1. ]] SLAMing on 11.642401008 meters Centerline goodness [0,1] 0.9487484497987902 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.19, Z:-0.19 [[ 0.99824173 0.0535175 -0.02548171 1.79843578] [-0.05362839 0.99855415 -0.00368807 -0.19482311] [ 0.02524749 0.00504813 0.99966849 -0.18584897] [ 0. 0. 0. 1. ]] SLAMing on 11.672401008000001 meters Centerline goodness [0,1] 0.9474996818933706 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.20, Z:-0.19 [[ 0.99823751 0.05348955 -0.02570479 1.79917524] [-0.05358309 0.998559 -0.0029636 -0.19943023] [ 0.02550923 0.00433571 0.99966518 -0.1861112 ] [ 0. 0. 0. 1. ]] SLAMing on 11.702401008 meters Centerline goodness [0,1] 0.9484472528319334 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.20, Z:-0.19 [[ 0.998404 0.05061076 -0.02505987 1.79678219] [-0.05077654 0.99869188 -0.00602324 -0.20217073] [ 0.02472225 0.00728608 0.99966781 -0.18591374] [ 0. 0. 0. 1. ]] SLAMing on 11.732401008 meters Centerline goodness [0,1] 0.9455953182453778 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.21, Z:-0.19 [[ 0.99856202 0.0475842 -0.02469095 1.7950688 ] [-0.04781806 0.9988158 -0.00896878 -0.20540629] [ 0.02423494 0.01013655 0.9996549 -0.18569552] [ 0. 0. 0. 1. ]] SLAMing on 11.762401008000001 meters Centerline goodness [0,1] 0.9471485985972838 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.21, Z:-0.19 [[ 0.99870191 0.04477209 -0.02428888 1.79416518] [-0.04504556 0.99892622 -0.01083077 -0.21418072] [ 0.02377788 0.01191082 0.99964631 -0.18641166] [ 0. 0. 0. 1. ]] SLAMing on 11.792401008 meters Centerline goodness [0,1] 0.9456805764510254 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.22, Z:-0.19 [[ 0.99869811 0.04477169 -0.02444551 1.79507804] [-0.04502317 0.99893752 -0.00983547 -0.21936426] [ 0.02397918 0.01092328 0.99965278 -0.18689807] [ 0. 0. 0. 1. ]] SLAMing on 11.822401008 meters Centerline goodness [0,1] 0.9449810006333123 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.22, Z:-0.19 [[ 0.99869392 0.04457672 -0.02496741 1.79687247] [-0.0448104 0.99895605 -0.00887908 -0.22450212] [ 0.02454555 0.00998628 0.99964883 -0.18738792] [ 0. 0. 0. 1. ]] SLAMing on 11.852401008000001 meters Centerline goodness [0,1] 0.9450005352745958 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.23, Z:-0.19 [[ 0.99884608 0.04137863 -0.02437861 1.79547434] [-0.04168246 0.99905777 -0.01208928 -0.22785033] [ 0.0238554 0.01309149 0.9996297 -0.18825617] [ 0. 0. 0. 1. ]] SLAMing on 11.882401008 meters Centerline goodness [0,1] 0.9450208316314027 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.24, Z:-0.19 [[ 0.99894465 0.03901825 -0.02423143 1.79441855] [-0.03932503 0.99915058 -0.01231539 -0.24117434] [ 0.02373033 0.01325529 0.99963052 -0.18713767] [ 0. 0. 0. 1. ]] SLAMing on 11.912401008 meters Centerline goodness [0,1] 0.9425917299208068 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.25, Z:-0.19 [[ 0.99894195 0.03897514 -0.02441156 1.7951556 ] [-0.03925234 0.99916899 -0.01098086 -0.24815453] [ 0.02396329 0.01192745 0.99964168 -0.18706853] [ 0. 0. 0. 1. ]] SLAMing on 11.942401008000001 meters Centerline goodness [0,1] 0.945454044826257 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.25, Z:-0.19 [[ 0.9989353 0.03897542 -0.02468179 1.79650121] [-0.03922642 0.9991826 -0.0097679 -0.25441264] [ 0.0242809 0.01072567 0.99964764 -0.18768015] [ 0. 0. 0. 1. ]] SLAMing on 11.972401008 meters Centerline goodness [0,1] 0.9438772663877266 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.26, Z:-0.19 [[ 0.9990373 0.03671585 -0.02400879 1.79751921] [-0.03698281 0.99925785 -0.01077097 -0.26362787] [ 0.02359551 0.01164851 0.99965372 -0.19055137] [ 0. 0. 0. 1. ]] SLAMing on 12.002401008000001 meters Centerline goodness [0,1] 0.9394911628954182 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.27, Z:-0.19 [[ 0.99902005 0.03698964 -0.02430437 1.79818157] [-0.03722608 0.99926314 -0.00934879 -0.27000295] [ 0.02394065 0.01024438 0.99966089 -0.19024641] [ 0. 0. 0. 1. ]] SLAMing on 12.032401008 meters Centerline goodness [0,1] 0.9419789426016076 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.28, Z:-0.19 [[ 0.9990064 0.03700244 -0.02484013 1.79922532] [-0.03720125 0.99927897 -0.00758966 -0.27704307] [ 0.02454139 0.0085062 0.99966263 -0.18901357] [ 0. 0. 0. 1. ]] SLAMing on 12.062401008 meters Centerline goodness [0,1] 0.9414483821263482 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.28, Z:-0.19 [[ 0.99912961 0.03396111 -0.0242211 1.79715469] [-0.03422076 0.99936031 -0.0103875 -0.28125574] [ 0.02385283 0.01120732 0.99965266 -0.18885582] [ 0. 0. 0. 1. ]] SLAMing on 12.092401008000001 meters Centerline goodness [0,1] 0.9410337156559674 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.29, Z:-0.19 [[ 0.99925526 0.03029663 -0.02389641 1.7968498 ] [-0.03059865 0.99945513 -0.01237583 -0.28956715] [ 0.02350844 0.01309781 0.99963783 -0.18890325] [ 0. 0. 0. 1. ]] SLAMing on 12.122401008 meters Centerline goodness [0,1] 0.9406366171003717 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.29, Z:-0.19 [[ 0.99925695 0.0300957 -0.024079 1.79771495] [-0.03037183 0.99947609 -0.01118505 -0.2945932 ] [ 0.02372976 0.01190806 0.99964749 -0.1885103 ] [ 0. 0. 0. 1. ]] SLAMing on 12.152401008 meters Centerline goodness [0,1] 0.9418145668255314 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.30, Z:-0.19 [[ 0.99925081 0.03010848 -0.02431648 1.79801454] [-0.03034679 0.99949436 -0.00949143 -0.30014354] [ 0.02401841 0.01022225 0.99965925 -0.18683309] [ 0. 0. 0. 1. ]] SLAMing on 12.182401008000001 meters Centerline goodness [0,1] 0.9441220654511179 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.31, Z:-0.18 [[ 0.99934692 0.02688632 -0.02414247 1.79644557] [-0.02714207 0.99957822 -0.01032883 -0.30915198] [ 0.02385458 0.01097736 0.99965517 -0.18363506] [ 0. 0. 0. 1. ]] SLAMing on 12.212401008 meters Centerline goodness [0,1] 0.9441279449290844 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.31, Z:-0.18 [[ 0.99934242 0.02685523 -0.02436217 1.79703884] [-0.02708767 0.99959016 -0.00926156 -0.31334866] [ 0.02410346 0.00991539 0.9996603 -0.18295389] [ 0. 0. 0. 1. ]] SLAMing on 12.242401008 meters Centerline goodness [0,1] 0.9419222049874717 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.32, Z:-0.18 [[ 0.9993401 0.02691732 -0.02438881 1.7973117 ] [-0.02713423 0.99959475 -0.00860688 -0.31601084] [ 0.02414725 0.00926298 0.9996655 -0.18287842] [ 0. 0. 0. 1. ]] SLAMing on 12.272401008000001 meters Centerline goodness [0,1] 0.9441437670065485 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.32, Z:-0.18 [[ 0.99933581 0.02696312 -0.02451395 1.7978402 ] [-0.02717308 0.99959652 -0.00827228 -0.31747105] [ 0.02428101 0.00893291 0.99966526 -0.18312048] [ 0. 0. 0. 1. ]] SLAMing on 12.302401008 meters Centerline goodness [0,1] 0.9435050191204589 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.32, Z:-0.18 [[ 0.99932404 0.02732413 -0.0245939 1.79809608] [-0.02751892 0.99959226 -0.00761719 -0.32012169] [ 0.02437574 0.00828884 0.9996685 -0.18327867] [ 0. 0. 0. 1. ]] SLAMing on 12.332401008000001 meters Centerline goodness [0,1] 0.9451627418629068 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.32, Z:-0.18 [[ 0.9993145 0.02772722 -0.02453026 1.79761724] [-0.02791212 0.99958425 -0.00722752 -0.32090888] [ 0.02431967 0.00790726 0.99967296 -0.18295916] [ 0. 0. 0. 1. ]] SLAMing on 12.362401008 meters Centerline goodness [0,1] 0.9463490450428909 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.32, Z:-0.18 [[ 0.99930884 0.02773823 -0.02474744 1.79842529] [-0.02792933 0.99958243 -0.00741019 -0.32058612] [ 0.02453156 0.00809625 0.99966627 -0.18366282] [ 0. 0. 0. 1. ]] SLAMing on 12.392401008 meters Centerline goodness [0,1] 0.9429082240762813 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.32, Z:-0.19 [[ 0.99918641 0.03144892 -0.02524858 1.80081101] [-0.03156265 0.99949329 -0.00411818 -0.32019339] [ 0.02510627 0.00491174 0.99967272 -0.1856206 ] [ 0. 0. 0. 1. ]] SLAMing on 12.422401008000001 meters Centerline goodness [0,1] 0.9415747092156278 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.32, Z:-0.19 [[ 0.9991838 0.03155027 -0.02522515 1.80118345] [-0.03167903 0.99948694 -0.0047212 -0.31875041] [ 0.02506325 0.00551645 0.99967065 -0.18694268] [ 0. 0. 0. 1. ]] SLAMing on 12.452401008 meters Centerline goodness [0,1] 0.9406860126995431 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.32, Z:-0.19 [[ 0.99918073 0.03148622 -0.02542605 1.80203587] [-0.03162839 0.99948612 -0.00520881 -0.31796648] [ 0.02524898 0.00600872 0.99966314 -0.18799267] [ 0. 0. 0. 1. ]] SLAMing on 12.482401008 meters Centerline goodness [0,1] 0.9418323120609774 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.32, Z:-0.19 [[ 0.99917113 0.03194203 -0.02523418 1.80123402] [-0.03208041 0.99947229 -0.00509796 -0.31802084] [ 0.02505803 0.00590326 0.99966857 -0.18791915] [ 0. 0. 0. 1. ]] SLAMing on 12.512401008000001 meters Centerline goodness [0,1] 0.9405419940840778 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.32, Z:-0.19 [[ 0.99915748 0.03246592 -0.02510553 1.8004599 ] [-0.03259001 0.99945845 -0.00454947 -0.31883287] [ 0.02494423 0.00536383 0.99967445 -0.18726691] [ 0. 0. 0. 1. ]] SLAMing on 12.542401008 meters Centerline goodness [0,1] 0.9424321020779298 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.32, Z:-0.19 [[ 0.99915422 0.03253745 -0.02514268 1.80041443] [-0.032649 0.99945872 -0.00403882 -0.31970288] [ 0.02499766 0.00485629 0.99967571 -0.18655105] [ 0. 0. 0. 1. ]] SLAMing on 12.572401008 meters Centerline goodness [0,1] 0.9412345531252805 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.32, Z:-0.19 [[ 0.99914675 0.03277319 -0.02513353 1.79999246] [-0.03286728 0.99945414 -0.00333978 -0.32133579] [ 0.02501035 0.004163 0.99967852 -0.18563369] [ 0. 0. 0. 1. ]] SLAMing on 12.602401008000001 meters Centerline goodness [0,1] 0.9421259488164171 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.32, Z:-0.19 [[ 0.99914374 0.03276439 -0.02526404 1.80021868] [-0.03284603 0.99945644 -0.00282323 -0.3232787 ] [ 0.0251578 0.00365063 0.99967683 -0.1851575 ] [ 0. 0. 0. 1. ]] SLAMing on 12.632401008 meters Centerline goodness [0,1] 0.9421259488164171 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.32, Z:-0.19 [[ 0.99914374 0.03276439 -0.02526404 1.80021868] [-0.03284603 0.99945644 -0.00282323 -0.3232787 ] [ 0.0251578 0.00365063 0.99967683 -0.1851575 ] [ 0. 0. 0. 1. ]] SLAMing on 12.662401008 meters Centerline goodness [0,1] 0.9421119209686164 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.33, Z:-0.18 [[ 0.99916329 0.03168047 -0.02586624 1.80259859] [-0.03174247 0.9994941 -0.00198975 -0.32755777] [ 0.02579012 0.00280915 0.99966343 -0.18454803] [ 0. 0. 0. 1. ]] SLAMing on 12.692401008000001 meters Centerline goodness [0,1] 0.9436148067698434 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.33, Z:-0.18 [[ 9.99168472e-01 3.10364039e-02 -2.64406157e-02 1.80454699e+00] [-3.10893528e-02 9.99515339e-01 -1.59373582e-03 -3.30310996e-01] [ 2.63783372e-02 2.41443222e-03 9.99649115e-01 -1.84542267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.722401008 meters Centerline goodness [0,1] 0.941405660092422 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.33, Z:-0.18 [[ 9.99167597e-01 3.05386550e-02 -2.70463100e-02 1.80629864e+00] [-3.05897119e-02 9.99530936e-01 -1.47593079e-03 -3.31795347e-01] [ 2.69885506e-02 2.30204105e-03 9.99633092e-01 -1.84570573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.752401008000001 meters Centerline goodness [0,1] 0.9397145966864191 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.33, Z:-0.18 [[ 9.99155608e-01 3.06530943e-02 -2.73579930e-02 1.80664614e+00] [-3.06976257e-02 9.99527985e-01 -1.20912806e-03 -3.33030303e-01] [ 2.73080162e-02 2.04793251e-03 9.99624969e-01 -1.84179125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.782401008 meters Centerline goodness [0,1] 0.9396408631356572 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.33, Z:-0.18 [[ 9.99156338e-01 3.05047757e-02 -2.74967591e-02 1.80729394e+00] [-3.05605370e-02 9.99531621e-01 -1.60987246e-03 -3.32208620e-01] [ 2.74347714e-02 2.44883000e-03 9.99620596e-01 -1.84882372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.812401008 meters Centerline goodness [0,1] 0.9398509794495854 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.33, Z:-0.19 [[ 0.99915887 0.03023961 -0.02769676 1.80831296] [-0.0303165 0.99953756 -0.00236004 -0.33063488] [ 0.02761258 0.00319772 0.99961359 -0.18611341] [ 0. 0. 0. 1. ]] SLAMing on 12.842401008000001 meters Centerline goodness [0,1] 0.9379702642508878 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.33, Z:-0.19 [[ 0.99913979 0.0311816 -0.02733822 1.80663092] [-0.03126118 0.99950815 -0.0024884 -0.32811917] [ 0.02724718 0.00334089 0.99962314 -0.18605351] [ 0. 0. 0. 1. ]] SLAMing on 12.872401008 meters Centerline goodness [0,1] 0.9393009685375684 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.33, Z:-0.19 [[ 0.99913433 0.03140317 -0.02728419 1.80600092] [-0.03148002 0.99950152 -0.00239169 -0.32732732] [ 0.02719548 0.00324853 0.99962486 -0.18539381] [ 0. 0. 0. 1. ]] SLAMing on 12.902401008 meters Centerline goodness [0,1] 0.9411605937921728 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.33, Z:-0.18 [[ 0.9991327 0.03140412 -0.02734282 1.80590542] [-0.03148037 0.99950158 -0.00236261 -0.32648763] [ 0.02725499 0.00322132 0.99962332 -0.18487872] [ 0. 0. 0. 1. ]] SLAMing on 12.932401008000001 meters Centerline goodness [0,1] 0.9401635171153904 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.33, Z:-0.18 [[ 0.99913664 0.03141165 -0.02718964 1.80558311] [-0.03149122 0.99950089 -0.00250306 -0.32546285] [ 0.02709744 0.00335713 0.99962716 -0.18481938] [ 0. 0. 0. 1. ]] SLAMing on 12.962401008 meters Centerline goodness [0,1] 0.9415907456245505 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.32, Z:-0.19 [[ 0.99914113 0.03126785 -0.02719043 1.80574975] [-0.03135546 0.99950437 -0.00280163 -0.32436903] [ 0.02708935 0.0036518 0.99962635 -0.18503417] [ 0. 0. 0. 1. ]] SLAMing on 12.992401008 meters Centerline goodness [0,1] 0.9395191472798586 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.32, Z:-0.19 [[ 0.99915141 0.03058023 -0.02759198 1.80715935] [-0.03068067 0.99952404 -0.00322379 -0.32320655] [ 0.02748026 0.00406759 0.99961407 -0.18521923] [ 0. 0. 0. 1. ]] SLAMing on 13.022401008000001 meters Centerline goodness [0,1] 0.9401660721244641 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.32, Z:-0.19 [[ 0.99915399 0.03030582 -0.02780024 1.80774172] [-0.03040911 0.99953209 -0.0033 -0.32303507] [ 0.02768723 0.00414259 0.99960805 -0.18509907] [ 0. 0. 0. 1. ]] SLAMing on 13.052401008 meters Centerline goodness [0,1] 0.9387534526239942 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.32, Z:-0.19 [[ 0.99915674 0.02995046 -0.02808504 1.80867031] [-0.0300594 0.99954211 -0.00346491 -0.32286596] [ 0.02796841 0.00430621 0.99959953 -0.1852622 ] [ 0. 0. 0. 1. ]] SLAMing on 13.082401008000001 meters Centerline goodness [0,1] 0.9388536556180448 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.32, Z:-0.19 [[ 0.99916841 0.02907529 -0.02858528 1.81086193] [-0.02920738 0.99956449 -0.00421413 -0.32214101] [ 0.0284503 0.00504552 0.99958247 -0.18653351] [ 0. 0. 0. 1. ]] SLAMing on 13.112401008 meters Centerline goodness [0,1] 0.9365901875037441 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.32, Z:-0.19 [[ 0.99917549 0.02867684 -0.02873979 1.81176636] [-0.0288218 0.99957379 -0.00464242 -0.32145638] [ 0.02859441 0.00546692 0.99957615 -0.18720529] [ 0. 0. 0. 1. ]] SLAMing on 13.142401008 meters Centerline goodness [0,1] 0.9370681661831125 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.32, Z:-0.19 [[ 0.999178 0.02853813 -0.0287906 1.81214092] [-0.02868788 0.99957689 -0.00480154 -0.32088915] [ 0.02864139 0.00562353 0.99957393 -0.18743512] [ 0. 0. 0. 1. ]] SLAMing on 13.172401008000001 meters Centerline goodness [0,1] 0.9377128517655494 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.32, Z:-0.19 [[ 0.99917919 0.02847323 -0.02881366 1.81244501] [-0.02863501 0.99957632 -0.00521744 -0.31986779] [ 0.02865289 0.00603824 0.99957118 -0.18805484] [ 0. 0. 0. 1. ]] SLAMing on 13.202401008 meters Centerline goodness [0,1] 0.9366710479149242 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.32, Z:-0.19 [[ 0.99917914 0.02855723 -0.02873213 1.81237468] [-0.02872472 0.99957259 -0.00543353 -0.31888395] [ 0.02856469 0.00625439 0.99957238 -0.18843044] [ 0. 0. 0. 1. ]] SLAMing on 13.232401008 meters Centerline goodness [0,1] 0.9368843922035411 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.32, Z:-0.19 [[ 9.99060498e-01 3.18499210e-02 -2.93888425e-02 1.81465690e+00] [-3.18953843e-02 9.99490630e-01 -1.07935505e-03 -3.20423099e-01] [ 2.93394953e-02 2.01570942e-03 9.99567472e-01 -1.87863149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.262401008000001 meters Centerline goodness [0,1] 0.9345766549484598 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.32, Z:-0.19 [[ 9.99060737e-01 3.19599288e-02 -2.92609996e-02 1.81457664e+00] [-3.20153070e-02 9.99486362e-01 -1.42590111e-03 -3.19153045e-01] [ 2.92003984e-02 2.36136170e-03 9.99570788e-01 -1.88554961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.292401008 meters Centerline goodness [0,1] 0.9348227584152518 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.32, Z:-0.19 [[ 0.99906126 0.03202528 -0.02917159 1.8150086 ] [-0.03209743 0.99948273 -0.00200838 -0.31801914] [ 0.02909218 0.00294282 0.9995724 -0.19013142] [ 0. 0. 0. 1. ]] SLAMing on 13.322401008 meters Centerline goodness [0,1] 0.9348227584152518 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.32, Z:-0.19 [[ 0.99906126 0.03202528 -0.02917159 1.8150086 ] [-0.03209743 0.99948273 -0.00200838 -0.31801914] [ 0.02909218 0.00294282 0.9995724 -0.19013142] [ 0. 0. 0. 1. ]] SLAMing on 13.352401008000001 meters Centerline goodness [0,1] 0.9330713350005955 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.32, Z:-0.19 [[ 0.9990455 0.03254139 -0.02914019 1.81446387] [-0.03261063 0.99946632 -0.00190393 -0.31847413] [ 0.02906268 0.00285239 0.99957352 -0.1901399 ] [ 0. 0. 0. 1. ]] SLAMing on 13.382401008 meters Centerline goodness [0,1] 0.9340252922930088 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.32, Z:-0.19 [[ 9.99035976e-01 3.32060755e-02 -2.87136667e-02 1.81287973e+00] [-3.32679657e-02 9.99445056e-01 -1.68026565e-03 -3.18354424e-01] [ 2.86419372e-02 2.63389112e-03 9.99586265e-01 -1.89733392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.412401008000002 meters Centerline goodness [0,1] 0.9340836975393642 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.32, Z:-0.19 [[ 0.99916524 0.02957506 -0.02818054 1.811139 ] [-0.029751 0.99954025 -0.00584477 -0.31758994] [ 0.02799473 0.00667829 0.99958576 -0.18994651] [ 0. 0. 0. 1. ]] SLAMing on 13.442401008000001 meters Centerline goodness [0,1] 0.9380983724269986 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.32, Z:-0.19 [[ 0.99916439 0.02939847 -0.02839458 1.81152857] [-0.02954979 0.99955118 -0.0049242 -0.31937368] [ 0.02823707 0.00575914 0.99958466 -0.18848966] [ 0. 0. 0. 1. ]] SLAMing on 13.472401008 meters Centerline goodness [0,1] 0.9401829487026186 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.32, Z:-0.19 [[ 0.99916628 0.02951678 -0.02820453 1.81102383] [-0.02965634 0.99954983 -0.00454248 -0.31987023] [ 0.02805776 0.00537513 0.99959185 -0.18802805] [ 0. 0. 0. 1. ]] SLAMing on 13.502401008000001 meters Centerline goodness [0,1] 0.939707946367247 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.32, Z:-0.19 [[ 0.99916702 0.02971176 -0.02797271 1.81034962] [-0.02984837 0.9995444 -0.00447879 -0.3192255 ] [ 0.02782689 0.00531 0.99959865 -0.18782905] [ 0. 0. 0. 1. ]] SLAMing on 13.532401008 meters Centerline goodness [0,1] 0.9400011892727597 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.32, Z:-0.19 [[ 0.99916429 0.02982682 -0.02794774 1.8099265 ] [-0.02995645 0.99954225 -0.00423127 -0.31840797] [ 0.02780874 0.00506495 0.99960043 -0.18697184] [ 0. 0. 0. 1. ]] SLAMing on 13.562401008 meters Centerline goodness [0,1] 0.9385640266469282 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.32, Z:-0.19 [[ 0.99916049 0.03052907 -0.02731838 1.8075595 ] [-0.03064669 0.99952268 -0.00389735 -0.31661918] [ 0.02718636 0.0047313 0.99961919 -0.18565571] [ 0. 0. 0. 1. ]] SLAMing on 13.592401008000001 meters Centerline goodness [0,1] 0.9397458628841607 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.32, Z:-0.19 [[ 0.99916145 0.03060531 -0.02719766 1.80722263] [-0.03072425 0.99952003 -0.00396599 -0.31546057] [ 0.02706323 0.00479829 0.99962221 -0.18545227] [ 0. 0. 0. 1. ]] SLAMing on 13.622401008 meters Centerline goodness [0,1] 0.9412442736810994 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.31, Z:-0.19 [[ 0.99916138 0.03065025 -0.02714946 1.80690884] [-0.03077505 0.99951755 -0.00419087 -0.31439288] [ 0.02700791 0.00502288 0.9996226 -0.18532275] [ 0. 0. 0. 1. ]] SLAMing on 13.652401008 meters Centerline goodness [0,1] 0.9394663833303819 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.31, Z:-0.19 [[ 0.99915673 0.03065491 -0.02731496 1.80709228] [-0.03078546 0.99951645 -0.00437172 -0.31372192] [ 0.02716774 0.00520893 0.99961732 -0.18527118] [ 0. 0. 0. 1. ]] SLAMing on 13.682401008000001 meters Centerline goodness [0,1] 0.9403590898317137 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.31, Z:-0.19 [[ 0.99916415 0.02986493 -0.02791223 1.80928528] [-0.03002608 0.99953468 -0.0053725 -0.3123576 ] [ 0.0277388 0.00620611 0.99959594 -0.18662446] [ 0. 0. 0. 1. ]] SLAMing on 13.712401008 meters Centerline goodness [0,1] 0.9399751007825469 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.31, Z:-0.19 [[ 0.99917 0.02926865 -0.02833113 1.81086238] [-0.02944383 0.99954969 -0.00578584 -0.31205502] [ 0.02814903 0.00661522 0.99958185 -0.18727025] [ 0. 0. 0. 1. ]] SLAMing on 13.742401008 meters Centerline goodness [0,1] 0.9383610451306413 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.31, Z:-0.19 [[ 0.99917498 0.02846343 -0.02896897 1.81316172] [-0.0286535 0.99957038 -0.00616699 -0.31239639] [ 0.02878099 0.00699197 0.99956129 -0.18806263] [ 0. 0. 0. 1. ]] SLAMing on 13.772401008000001 meters Centerline goodness [0,1] 0.9382569107626387 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.31, Z:-0.19 [[ 0.99924905 0.02469968 -0.02985384 1.81948406] [-0.02495879 0.99965371 -0.00833802 -0.31241784] [ 0.02963756 0.00907688 0.9995195 -0.19137242] [ 0. 0. 0. 1. ]] SLAMing on 13.802401008 meters Centerline goodness [0,1] 0.9368370873555 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.31, Z:-0.19 [[ 0.99925135 0.02347985 -0.03074791 1.82283245] [-0.02375811 0.99967974 -0.00871594 -0.31313342] [ 0.03053342 0.00943993 0.99948917 -0.19236916] [ 0. 0. 0. 1. ]] SLAMing on 13.832401008000001 meters Centerline goodness [0,1] 0.9375373223456348 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.31, Z:-0.19 [[ 0.99924651 0.02243725 -0.03166977 1.82576472] [-0.02272375 0.99970379 -0.00871575 -0.31453098] [ 0.03146483 0.00942884 0.99946039 -0.19258352] [ 0. 0. 0. 1. ]] SLAMing on 13.862401008 meters Centerline goodness [0,1] 0.9379737697028036 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.31, Z:-0.19 [[ 0.99932352 0.01699415 -0.03261446 1.82885484] [-0.01743398 0.99976023 -0.01324899 -0.31462899] [ 0.03238148 0.01380862 0.99938019 -0.19323775] [ 0. 0. 0. 1. ]] SLAMing on 13.892401008 meters Centerline goodness [0,1] 0.9277720955417845 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.32, Z:-0.19 [[ 0.99930982 0.01643327 -0.0333141 1.83049374] [-0.01686302 0.99977765 -0.01266028 -0.31616374] [ 0.03309865 0.01321332 0.99936474 -0.19217702] [ 0. 0. 0. 1. ]] SLAMing on 13.922401008000001 meters Centerline goodness [0,1] 0.9300585849481748 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.32, Z:-0.19 [[ 0.99930331 0.01589537 -0.03376734 1.83166352] [-0.01632016 0.99979064 -0.01234197 -0.31664928] [ 0.03356409 0.01288446 0.99935351 -0.19133255] [ 0. 0. 0. 1. ]] SLAMing on 13.952401008 meters Centerline goodness [0,1] 0.9333654512059257 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.32, Z:-0.19 [[ 0.99930021 0.01546766 -0.03405642 1.83246346] [-0.01589317 0.99979854 -0.012259 -0.31644334] [ 0.03385994 0.01279169 0.99934472 -0.19082646] [ 0. 0. 0. 1. ]] SLAMing on 13.982401008 meters Centerline goodness [0,1] 0.9169664268585132 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.32, Z:-0.19 [[ 0.99929494 0.01515204 -0.03435168 1.83297344] [-0.01557478 0.99980582 -0.01207229 -0.3156603 ] [ 0.03416209 0.0125988 0.99933689 -0.18984943] [ 0. 0. 0. 1. ]] SLAMing on 14.012401008000001 meters Centerline goodness [0,1] 0.9286846275752774 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.31, Z:-0.19 [[ 0.99929669 0.01521176 -0.03427439 1.832197 ] [-0.01563529 0.99980426 -0.01212316 -0.31261984] [ 0.03408326 0.01265053 0.99933893 -0.18868494] [ 0. 0. 0. 1. ]] SLAMing on 14.042401008 meters Centerline goodness [0,1] 0.92737679992845 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.31, Z:-0.19 [[ 0.99929659 0.01520357 -0.03428088 1.83187515] [-0.01563324 0.99980213 -0.01230088 -0.31059279] [ 0.03408708 0.01282815 0.99933653 -0.18809202] [ 0. 0. 0. 1. ]] SLAMing on 14.072401008 meters Centerline goodness [0,1] 0.9272797458205897 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.31, Z:-0.18 [[ 0.99920953 0.01900304 -0.03491694 1.83218255] [-0.019272 0.99978702 -0.00738263 -0.30983759] [ 0.03476921 0.00804971 0.99936295 -0.18459651] [ 0. 0. 0. 1. ]] SLAMing on 14.102401008000001 meters Centerline goodness [0,1] 0.9337129637868138 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.31, Z:-0.18 [[ 0.99921341 0.0190797 -0.03476395 1.83167124] [-0.01936699 0.99978087 -0.00794587 -0.30661628] [ 0.03460473 0.00861289 0.99936396 -0.18466129] [ 0. 0. 0. 1. ]] SLAMing on 14.132401008 meters Centerline goodness [0,1] 0.9340892357532028 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.30, Z:-0.19 [[ 0.99921362 0.01898413 -0.03481019 1.83188366] [-0.01930302 0.99977453 -0.00884766 -0.30272357] [ 0.03463437 0.00951265 0.99935478 -0.18529153] [ 0. 0. 0. 1. ]] SLAMing on 14.162401008000002 meters Centerline goodness [0,1] 0.9332609716029101 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.30, Z:-0.19 [[ 0.99921268 0.01906724 -0.03479177 1.83179164] [-0.01942028 0.99976301 -0.00983766 -0.29815646] [ 0.03459595 0.01050559 0.99934616 -0.18596196] [ 0. 0. 0. 1. ]] SLAMing on 14.192401008000001 meters Centerline goodness [0,1] 0.935323959994202 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.29, Z:-0.19 [[ 0.9991132 0.02342511 -0.03498673 1.83179787] [-0.02368737 0.9996942 -0.00710025 -0.29126393] [ 0.0348097 0.0079227 0.99936255 -0.18611889] [ 0. 0. 0. 1. ]] SLAMing on 14.222401008 meters Centerline goodness [0,1] 0.9395525392534653 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.29, Z:-0.18 [[ 0.99899874 0.02718944 -0.03552814 1.83271474] [-0.02732134 0.99962148 -0.00323225 -0.28926285] [ 0.03542681 0.00419969 0.99936345 -0.18484524] [ 0. 0. 0. 1. ]] SLAMing on 14.252401008000001 meters Centerline goodness [0,1] 0.935761341733552 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.29, Z:-0.18 [[ 0.99898794 0.02798615 -0.03521182 1.83078051] [-0.0281286 0.99959799 -0.00355658 -0.28526638] [ 0.03509813 0.00454344 0.99937354 -0.18401696] [ 0. 0. 0. 1. ]] SLAMing on 14.282401008 meters Centerline goodness [0,1] 0.9367773537620322 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.28, Z:-0.18 [[ 9.98855222e-01 3.15502967e-02 -3.59558526e-02 1.83219586e+00] [-3.15461853e-02 9.99502063e-01 6.81800648e-04 -2.84677396e-01] [ 3.59594599e-02 4.53249853e-04 9.99353147e-01 -1.82260976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.312401008 meters Centerline goodness [0,1] 0.9389846962083143 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.28, Z:-0.18 [[ 9.98858480e-01 3.17829540e-02 -3.56592235e-02 1.83120540e+00] [-3.18015478e-02 9.99494202e-01 4.57792382e-05 -2.81666714e-01] [ 3.56426421e-02 1.08829152e-03 9.99364007e-01 -1.82368533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.342401008000001 meters Centerline goodness [0,1] 0.9380435706393949 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.28, Z:-0.18 [[ 9.98744708e-01 3.47616645e-02 -3.60643291e-02 1.83354659e+00] [-3.46919933e-02 9.99394783e-01 2.55602776e-03 -2.77543896e-01] [ 3.61313541e-02 -1.30167574e-03 9.99346202e-01 -1.83752002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.372401008 meters Centerline goodness [0,1] 0.9404836060932102 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.27, Z:-0.19 [[ 9.98757744e-01 3.46107452e-02 -3.58478062e-02 1.83377126e+00] [-3.45762777e-02 9.99400811e-01 1.58117688e-03 -2.74194844e-01] [ 3.58810523e-02 -3.39728953e-04 9.99356010e-01 -1.85125013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.402401008 meters Centerline goodness [0,1] 0.9395179498758185 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.27, Z:-0.19 [[ 9.98751413e-01 3.46396795e-02 -3.59959441e-02 1.83398668e+00] [-3.46384428e-02 9.99399692e-01 6.58167930e-04 -2.71272548e-01] [ 3.59971342e-02 5.89497300e-04 9.99351719e-01 -1.85762109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.432401008000001 meters Centerline goodness [0,1] 0.941594317284925 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.27, Z:-0.19 [[ 9.98749024e-01 3.46906874e-02 -3.60131013e-02 1.83373904e+00] [-3.46964388e-02 9.99397789e-01 4.65439540e-04 -2.70526160e-01] [ 3.60075602e-02 7.84669079e-04 9.99351209e-01 -1.85539093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.462401008 meters Centerline goodness [0,1] 0.9407164836405725 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.27, Z:-0.19 [[ 9.98747008e-01 3.47196412e-02 -3.60410935e-02 1.83374024e+00] [-3.47327683e-02 9.99396601e-01 2.62005528e-04 -2.69859422e-01] [ 3.60284431e-02 9.90129715e-04 9.99350274e-01 -1.85646691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.492401008000002 meters Centerline goodness [0,1] 0.9420527461344942 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.27, Z:-0.19 [[ 9.98752381e-01 3.44265145e-02 -3.61731360e-02 1.83438344e+00] [-3.44518292e-02 9.99406357e-01 -7.65482569e-05 -2.69214699e-01] [ 3.61490268e-02 1.32268346e-03 9.99345535e-01 -1.86082582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.522401008000001 meters Centerline goodness [0,1] 0.9397563049022386 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.27, Z:-0.19 [[ 9.98756748e-01 3.38726355e-02 -3.65732404e-02 1.83569540e+00] [-3.38884190e-02 9.99425605e-01 1.88446819e-04 -2.70966615e-01] [ 3.65586161e-02 1.05119676e-03 9.99330957e-01 -1.85918016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.552401008 meters Centerline goodness [0,1] 0.9397563049022386 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.27, Z:-0.19 [[ 9.98756748e-01 3.38726355e-02 -3.65732404e-02 1.83569540e+00] [-3.38884190e-02 9.99425605e-01 1.88446819e-04 -2.70966615e-01] [ 3.65586161e-02 1.05119676e-03 9.99330957e-01 -1.85918016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582401008000001 meters Centerline goodness [0,1] 0.9396299349117472 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.27, Z:-0.19 [[ 9.98755615e-01 3.34618819e-02 -3.69800514e-02 1.83692315e+00] [-3.34702524e-02 9.99439637e-01 3.92878141e-04 -2.72794592e-01] [ 3.69724756e-02 8.45342404e-04 9.99315927e-01 -1.85904746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.612401008 meters Centerline goodness [0,1] 0.9372829243295564 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.27, Z:-0.19 [[ 9.98748003e-01 3.30921393e-02 -3.75144995e-02 1.83823199e+00] [-3.30876611e-02 9.99452179e-01 7.40388181e-04 -2.74808745e-01] [ 3.75184493e-02 5.01805828e-04 9.99295809e-01 -1.85562225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.642401008 meters Centerline goodness [0,1] 0.9344332486512716 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.27, Z:-0.19 [[ 0.99886823 0.02952461 -0.03729025 1.83725261] [-0.02967097 0.99955401 -0.00337763 -0.27385422] [ 0.0371739 0.00448025 0.99929877 -0.18601913] [ 0. 0. 0. 1. ]] SLAMing on 14.672401008000001 meters Centerline goodness [0,1] 0.9338753077231351 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.28, Z:-0.19 [[ 0.99885898 0.02913751 -0.03783835 1.83905117] [-0.02926225 0.99956799 -0.0027468 -0.27698641] [ 0.03774197 0.0038509 0.9992801 -0.1860449 ] [ 0. 0. 0. 1. ]] SLAMing on 14.702401008 meters Centerline goodness [0,1] 0.9390611109517938 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.28, Z:-0.19 [[ 0.99885394 0.02929611 -0.03784904 1.83888314] [-0.02940121 0.99956522 -0.002223 -0.27859245] [ 0.03776746 0.00333326 0.999281 -0.18550977] [ 0. 0. 0. 1. ]] SLAMing on 14.732401008 meters Centerline goodness [0,1] 0.9339516985900124 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.28, Z:-0.18 [[ 9.98845703e-01 2.95174261e-02 -3.78943802e-02 1.83850143e+00] [-2.96056915e-02 9.99560088e-01 -1.77009595e-03 -2.79607419e-01] [ 3.78254614e-02 2.88994206e-03 9.99280182e-01 -1.84711004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762401008000001 meters Centerline goodness [0,1] 0.9354912566898486 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.28, Z:-0.18 [[ 9.98835971e-01 2.97804634e-02 -3.79450516e-02 1.83815476e+00] [-2.98527318e-02 9.99553411e-01 -1.33926640e-03 -2.80353851e-01] [ 3.78882218e-02 2.47047090e-03 9.99278930e-01 -1.83981904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.792401008 meters Centerline goodness [0,1] 0.9372606605050243 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.28, Z:-0.18 [[ 9.98831606e-01 3.01448792e-02 -3.77718139e-02 1.83742321e+00] [-3.02043872e-02 9.99543237e-01 -1.00568157e-03 -2.81241455e-01] [ 3.77242450e-02 2.14538103e-03 9.99285884e-01 -1.83642895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.822401008 meters Centerline goodness [0,1] 0.9405023094688222 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.28, Z:-0.18 [[ 9.98827457e-01 3.01288903e-02 -3.78940725e-02 1.83810998e+00] [-3.01892253e-02 9.99543680e-01 -1.02087987e-03 -2.82717174e-01] [ 3.78460227e-02 2.16367554e-03 9.99281240e-01 -1.84403580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.852401008000001 meters Centerline goodness [0,1] 0.9403732098944019 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.28, Z:-0.18 [[ 9.98826150e-01 2.97913854e-02 -3.81941860e-02 1.83933361e+00] [-2.98551260e-02 9.99553632e-01 -1.09946332e-03 -2.83536191e-01] [ 3.81443828e-02 2.23846495e-03 9.99269731e-01 -1.84991218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.882401008 meters Centerline goodness [0,1] 0.9394474179082888 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.28, Z:-0.19 [[ 9.98831896e-01 2.92438684e-02 -3.84660849e-02 1.84080617e+00] [-2.93121545e-02 9.99569571e-01 -1.21233684e-03 -2.84823866e-01] [ 3.84140746e-02 2.33844452e-03 9.99259171e-01 -1.85791661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.912401008000002 meters Centerline goodness [0,1] 0.9403954310894649 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.29, Z:-0.19 [[ 9.98831540e-01 2.85357939e-02 -3.90033716e-02 1.84269263e+00] [-2.85990684e-02 9.99590395e-01 -1.06519031e-03 -2.86583159e-01] [ 3.89569996e-02 2.17940577e-03 9.99238511e-01 -1.85957122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.942401008000001 meters Centerline goodness [0,1] 0.9341383735853459 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.29, Z:-0.19 [[ 0.99894825 0.02350659 -0.03936801 1.84440213] [-0.02371654 0.99970684 -0.00487447 -0.28958513] [ 0.03924189 0.00580301 0.99921289 -0.18644485] [ 0. 0. 0. 1. ]] SLAMing on 14.972401008 meters Centerline goodness [0,1] 0.9325295549884127 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.29, Z:-0.19 [[ 0.99904284 0.01893836 -0.03943011 1.84518263] [-0.01932201 0.99976939 -0.00937155 -0.28946232] [ 0.03924354 0.01012445 0.99917838 -0.18766129] [ 0. 0. 0. 1. ]] SLAMing on 15.002401008000001 meters Centerline goodness [0,1] 0.9253173130724152 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.29, Z:-0.19 [[ 0.99904332 0.01762627 -0.04002193 1.84795778] [-0.01801368 0.99979411 -0.0093401 -0.29159182] [ 0.03984906 0.0100521 0.99915515 -0.18815455] [ 0. 0. 0. 1. ]] SLAMing on 15.032401008 meters Centerline goodness [0,1] 0.9210495178370703 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.29, Z:-0.19 [[ 0.99909792 0.0117569 -0.04080595 1.85179874] [-0.01233031 0.99982835 -0.01382882 -0.29327755] [ 0.04063637 0.0143195 0.99907139 -0.18987398] [ 0. 0. 0. 1. ]] SLAMing on 15.062401008 meters Centerline goodness [0,1] 0.8868477103301384 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.30, Z:-0.19 [[ 0.99907548 0.01067522 -0.04164401 1.85455609] [-0.01124013 0.99984764 -0.01335478 -0.29574902] [ 0.0414951 0.01381051 0.99904326 -0.1894532 ] [ 0. 0. 0. 1. ]] SLAMing on 15.092401008000001 meters Centerline goodness [0,1] 0.8912141332700972 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.30, Z:-0.19 [[ 0.99905537 0.00968782 -0.04236172 1.85706836] [-0.01024939 0.99986219 -0.01305958 -0.29772319] [ 0.04222936 0.01348142 0.99901698 -0.18934739] [ 0. 0. 0. 1. ]] SLAMing on 15.122401008 meters Centerline goodness [0,1] 0.86730717748892 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.30, Z:-0.19 [[ 0.99903552 0.0086205 -0.04305476 1.85980768] [-0.00919007 0.99987263 -0.0130487 -0.29938904] [ 0.04293679 0.01343179 0.9989875 -0.18983963] [ 0. 0. 0. 1. ]] SLAMing on 15.152401008 meters Centerline goodness [0,1] 0.8200189922250578 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.30, Z:-0.19 [[ 0.99899964 0.00675277 -0.04420542 1.86404875] [-0.0073225 0.99989204 -0.01273899 -0.30232219] [ 0.04411462 0.01304994 0.99894124 -0.18954777] [ 0. 0. 0. 1. ]] SLAMing on 15.182401008000001 meters Centerline goodness [0,1] 0.8389926260704091 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.30, Z:-0.19 [[ 0.99899579 0.00684441 -0.04427824 1.8639987 ] [-0.00740423 0.99989456 -0.01249158 -0.30217629] [ 0.04418808 0.01280688 0.99894114 -0.18904605] [ 0. 0. 0. 1. ]] SLAMing on 15.212401008 meters Centerline goodness [0,1] 0.8490269372255844 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.30, Z:-0.19 [[ 0.99893928 0.01075275 -0.04477387 1.86499861] [-0.01111337 0.99990772 -0.00781308 -0.30334536] [ 0.04468572 0.00830238 0.99896659 -0.18774392] [ 0. 0. 0. 1. ]] SLAMing on 15.242401008000002 meters Centerline goodness [0,1] 0.86684766570265 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.30, Z:-0.19 [[ 0.99886742 0.0146566 -0.04526662 1.86609637] [-0.01482974 0.99988394 -0.00349148 -0.30360942] [ 0.0452102 0.00415882 0.99896884 -0.18689567] [ 0. 0. 0. 1. ]] SLAMing on 15.272401008000001 meters Centerline goodness [0,1] 0.8925225436233751 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.30, Z:-0.19 [[ 9.98790155e-01 1.94573023e-02 -4.51623683e-02 1.86484740e+00] [-1.94573421e-02 9.99810592e-01 4.38754778e-04 -3.00591743e-01] [ 4.51623512e-02 4.40515698e-04 9.98979563e-01 -1.85786627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.302401008 meters Centerline goodness [0,1] 0.9142214825844501 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.30, Z:-0.19 [[ 9.98785277e-01 2.01504844e-02 -4.49658575e-02 1.86357928e+00] [-2.01702499e-02 9.99796560e-01 1.41508019e-05 -2.97106452e-01] [ 4.49569948e-02 8.92838972e-04 9.98988524e-01 -1.85668571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.332401008000001 meters Centerline goodness [0,1] 0.9133527696793002 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.29, Z:-0.19 [[ 9.98786445e-01 2.07516256e-02 -4.46654938e-02 1.86210541e+00] [-2.07879634e-02 9.99783846e-01 -3.49173344e-04 -2.93598621e-01] [ 4.46485932e-02 1.27725425e-03 9.99001938e-01 -1.85326016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.362401008 meters Centerline goodness [0,1] 0.9237261100316116 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.29, Z:-0.19 [[ 9.98780439e-01 2.07249831e-02 -4.48119352e-02 1.86200093e+00] [-2.07970258e-02 9.99783066e-01 -1.14200418e-03 -2.89896855e-01] [ 4.47785459e-02 2.07256641e-03 9.98994788e-01 -1.85235879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.392401008 meters Centerline goodness [0,1] 0.9251875360646278 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.28, Z:-0.18 [[ 9.98775717e-01 2.11215348e-02 -4.47319467e-02 1.86058484e+00] [-2.12247822e-02 9.99773046e-01 -1.83439018e-03 -2.84377199e-01] [ 4.46830494e-02 2.78157019e-03 9.98997341e-01 -1.84244586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.422401008000001 meters Centerline goodness [0,1] 0.9369133314137633 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.28, Z:-0.18 [[ 0.99877812 0.0210924 -0.044692 1.86013979] [-0.02121678 0.99977223 -0.00231041 -0.28173104] [ 0.04463309 0.0032558 0.99899814 -0.18391232] [ 0. 0. 0. 1. ]] SLAMing on 15.452401008 meters Centerline goodness [0,1] 0.9372077679928861 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.28, Z:-0.18 [[ 0.99878109 0.02078883 -0.04476782 1.86021751] [-0.02094395 0.99977615 -0.00299862 -0.27851602] [ 0.04469547 0.00393258 0.99899292 -0.18380832] [ 0. 0. 0. 1. ]] SLAMing on 15.482401008 meters Centerline goodness [0,1] 0.9077313850281116 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.28, Z:-0.18 [[ 0.99878596 0.02035805 -0.04485715 1.86062513] [-0.02055319 0.99978118 -0.00389337 -0.27509241] [ 0.04476807 0.0048106 0.99898582 -0.18418645] [ 0. 0. 0. 1. ]] SLAMing on 15.512401008000001 meters Centerline goodness [0,1] 0.933581432345672 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.27, Z:-0.19 [[ 0.99880478 0.0197453 -0.04471169 1.86120581] [-0.02000728 0.99978515 -0.00541919 -0.26718874] [ 0.04459508 0.00630727 0.99898523 -0.18530183] [ 0. 0. 0. 1. ]] SLAMing on 15.542401008 meters Centerline goodness [0,1] 0.9327522495839328 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.26, Z:-0.19 [[ 0.99881145 0.02108906 -0.04394241 1.86062172] [-0.02127626 0.99976642 -0.00379693 -0.26354233] [ 0.04385207 0.00472735 0.99902685 -0.18505969] [ 0. 0. 0. 1. ]] SLAMing on 15.572401008000002 meters Centerline goodness [0,1] 0.9400796321220278 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.26, Z:-0.18 [[ 0.9988198 0.02117088 -0.04371271 1.85969838] [-0.02138488 0.99976149 -0.00443377 -0.25951342] [ 0.04360842 0.00536333 0.9990343 -0.18479749] [ 0. 0. 0. 1. ]] SLAMing on 15.602401008000001 meters Centerline goodness [0,1] 0.9433087578194816 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.26, Z:-0.18 [[ 0.99882413 0.02127777 -0.04356161 1.85871214] [-0.02150745 0.99975711 -0.00481058 -0.25624416] [ 0.04344867 0.00574182 0.99903916 -0.18397782] [ 0. 0. 0. 1. ]] SLAMing on 15.632401008 meters Centerline goodness [0,1] 0.9393720878633237 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.25, Z:-0.18 [[ 0.99882057 0.02095914 -0.04379712 1.85818477] [-0.02122859 0.99975842 -0.00569628 -0.25093764] [ 0.04366715 0.00661932 0.99902421 -0.18249705] [ 0. 0. 0. 1. ]] SLAMing on 15.662401008000002 meters Centerline goodness [0,1] 0.9287789491159625 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.25, Z:-0.18 [[ 0.99882202 0.02056546 -0.04395041 1.85853093] [-0.02086672 0.99976174 -0.00640682 -0.24773597] [ 0.04380818 0.00731637 0.99901317 -0.18241737] [ 0. 0. 0. 1. ]] SLAMing on 15.692401008000001 meters Centerline goodness [0,1] 0.9409886601343168 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.24, Z:-0.18 [[ 0.9988242 0.01995562 -0.04418133 1.85944314] [-0.02030648 0.99976562 -0.00750673 -0.24376829] [ 0.04402117 0.00839507 0.99899532 -0.18300816] [ 0. 0. 0. 1. ]] SLAMing on 15.722401008 meters Centerline goodness [0,1] 0.9427584505304712 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.24, Z:-0.18 [[ 0.99882811 0.01945613 -0.04431551 1.86017075] [-0.01985521 0.99976602 -0.00858322 -0.23938073] [ 0.04413815 0.00945306 0.99898071 -0.18365079] [ 0. 0. 0. 1. ]] SLAMing on 15.752401008000001 meters Centerline goodness [0,1] 0.9394991725223147 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.23, Z:-0.18 [[ 0.9987452 0.02256736 -0.04470723 1.86171406] [-0.0228629 0.99971994 -0.00611023 -0.23294707] [ 0.04455682 0.0071247 0.99898145 -0.18398574] [ 0. 0. 0. 1. ]] SLAMing on 15.782401008 meters Centerline goodness [0,1] 0.9394797906211214 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.23, Z:-0.18 [[ 0.99863146 0.0258261 -0.04547775 1.86401554] [-0.0259715 0.99965928 -0.00260921 -0.23154869] [ 0.04539487 0.00378677 0.99896194 -0.18393369] [ 0. 0. 0. 1. ]] SLAMing on 15.812401008 meters Centerline goodness [0,1] 0.9389272010089356 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.23, Z:-0.19 [[ 0.99862854 0.02535058 -0.04580813 1.86544703] [-0.02555706 0.99966565 -0.00392725 -0.22737121] [ 0.04569326 0.00509258 0.99894254 -0.18529524] [ 0. 0. 0. 1. ]] SLAMing on 15.842401008000001 meters Centerline goodness [0,1] 0.9394669880808892 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.22, Z:-0.19 [[ 0.99861377 0.02518382 -0.04622027 1.86649169] [-0.02545527 0.99966195 -0.00529372 -0.22099455] [ 0.04607133 0.00646293 0.99891725 -0.18612741] [ 0. 0. 0. 1. ]] SLAMing on 15.872401008 meters Centerline goodness [0,1] 0.9432510846708723 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.22, Z:-0.19 [[ 0.99860342 0.02488205 -0.04660565 1.86713042] [-0.02518216 0.99966568 -0.00586322 -0.21821499] [ 0.04644418 0.00702867 0.99889616 -0.1858191 ] [ 0. 0. 0. 1. ]] SLAMing on 15.902401008000002 meters Centerline goodness [0,1] 0.9406488145639289 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.22, Z:-0.19 [[ 0.99860276 0.02495317 -0.04658187 1.86656398] [-0.02527167 0.99966101 -0.00626084 -0.21532735] [ 0.04640985 0.0074293 0.99889485 -0.18524217] [ 0. 0. 0. 1. ]] SLAMing on 15.932401008000001 meters Centerline goodness [0,1] 0.9445253541639084 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.21, Z:-0.18 [[ 0.99860276 0.02514882 -0.04647645 1.86585115] [-0.0254815 0.99965364 -0.00657942 -0.212569 ] [ 0.04629489 0.00775452 0.99889772 -0.18475792] [ 0. 0. 0. 1. ]] SLAMing on 15.962401008 meters Centerline goodness [0,1] 0.9499750662712265 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.21, Z:-0.18 [[ 0.99849282 0.0295515 -0.04624723 1.86438138] [-0.02969297 0.99955625 -0.0023748 -0.20980904] [ 0.04615653 0.00374444 0.9989272 -0.18258576] [ 0. 0. 0. 1. ]] SLAMing on 15.992401008000002 meters Centerline goodness [0,1] 0.9500601684717208 Centerline is valid? [False, True] Translation: X:1.86, Y:-0.21, Z:-0.18 [[ 0.99849339 0.03004356 -0.04591654 1.86303334] [-0.03019512 0.99954061 -0.00261056 -0.20660941] [ 0.04581702 0.00399309 0.99894187 -0.1820217 ] [ 0. 0. 0. 1. ]] SLAMing on 16.022401008 meters Centerline goodness [0,1] 0.9511801177512634 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.21, Z:-0.18 [[ 9.98486036e-01 3.17591750e-02 -4.49109127e-02 1.89237656e+00] [-3.16671903e-02 9.99494663e-01 2.75831782e-03 -2.06789207e-01] [ 4.49758194e-02 -1.33193941e-03 9.98987188e-01 -1.78192441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.052401008 meters Centerline goodness [0,1] 0.9508171125221193 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.21, Z:-0.18 [[ 9.98462882e-01 3.30772659e-02 -4.44720994e-02 1.92172167e+00] [-3.29884603e-02 9.99452006e-01 2.72950092e-03 -2.05778829e-01] [ 4.45380134e-02 -1.25823927e-03 9.99006898e-01 -1.78523895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.082401008 meters Centerline goodness [0,1] 0.9507500194305551 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.20, Z:-0.18 [[ 9.98386311e-01 3.42687721e-02 -4.52816281e-02 1.95217232e+00] [-3.41779615e-02 9.99411901e-01 2.77838627e-03 -2.04350071e-01] [ 4.53502099e-02 -1.22626908e-03 9.98970397e-01 -1.77695711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.112401008000003 meters Centerline goodness [0,1] 0.9503516968732351 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.20, Z:-0.18 [[ 9.98344624e-01 3.52368510e-02 -4.54574014e-02 1.98254195e+00] [-3.51463192e-02 9.99378284e-01 2.78953135e-03 -2.01385677e-01] [ 4.55274341e-02 -1.18725329e-03 9.98962383e-01 -1.77582839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.142401008 meters Centerline goodness [0,1] 0.9499691167387276 Centerline is valid? [True, False] Translation: X:1.98, Y:-0.20, Z:-0.18 [[ 9.98344887e-01 3.52063777e-02 -4.54752462e-02 1.98229521e+00] [-3.51303653e-02 9.99379686e-01 2.46987396e-03 -1.99918806e-01] [ 4.55339926e-02 -8.68224025e-04 9.98962413e-01 -1.77302557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.172401008 meters Centerline goodness [0,1] 0.949621649352315 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.20, Z:-0.18 [[ 9.98346194e-01 3.46722051e-02 -4.58553611e-02 1.98322885e+00] [-3.46235040e-02 9.99398703e-01 1.85612585e-03 -1.98549918e-01] [ 4.58921444e-02 -2.65382900e-04 9.98946365e-01 -1.77390335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202401008000002 meters Centerline goodness [0,1] 0.9497455308048387 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.20, Z:-0.18 [[ 9.98358899e-01 3.42950453e-02 -4.58623828e-02 1.98360815e+00] [-3.42773325e-02 9.99411671e-01 1.17282743e-03 -1.96828524e-01] [ 4.58756228e-02 4.01137440e-04 9.98947079e-01 -1.77910456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.232401008 meters Centerline goodness [0,1] 0.9498023211325086 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.19, Z:-0.18 [[ 9.98367672e-01 3.40083768e-02 -4.58848766e-02 1.98431920e+00] [-3.40251950e-02 9.99420889e-01 4.14680028e-04 -1.94433412e-01] [ 4.58724068e-02 1.14723874e-03 9.98946648e-01 -1.78947105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.262401008 meters Centerline goodness [0,1] 0.947578289690905 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.18 [[ 9.98241491e-01 3.71068361e-02 -4.62277836e-02 1.98725735e+00] [-3.70046293e-02 9.99310394e-01 3.06505489e-03 -1.91751908e-01] [ 4.63096391e-02 -1.34902297e-03 9.98926222e-01 -1.81427804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.292401008000002 meters Centerline goodness [0,1] 0.9475869752367448 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.18 [[ 9.98244268e-01 3.68502351e-02 -4.63728514e-02 1.98835398e+00] [-3.67908716e-02 9.99320710e-01 2.13328439e-03 -1.89488541e-01] [ 4.64199628e-02 -4.23441297e-04 9.98921923e-01 -1.82854134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.322401008 meters Centerline goodness [0,1] 0.9475525361859616 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.18 [[ 9.98241576e-01 3.68192592e-02 -4.64553325e-02 1.98866851e+00] [-3.67825627e-02 9.99321939e-01 1.64480932e-03 -1.88075204e-01] [ 4.64843936e-02 6.68291315e-05 9.98919014e-01 -1.83275255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.352401008 meters Centerline goodness [0,1] 0.9492575199898464 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.18 [[ 9.98228719e-01 3.68604394e-02 -4.66983176e-02 1.98877201e+00] [-3.68413750e-02 9.99320320e-01 1.26915919e-03 -1.87189515e-01] [ 4.67133594e-02 4.53519078e-04 9.98908232e-01 -1.83061510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.382401008000002 meters Centerline goodness [0,1] 0.9484457730600664 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.18 [[ 9.98222181e-01 3.64718565e-02 -4.71410706e-02 1.98988457e+00] [-3.64701410e-02 9.99334341e-01 8.96775612e-04 -1.86994602e-01] [ 4.71423978e-02 8.24060184e-04 9.98887839e-01 -1.83279485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.412401008 meters Centerline goodness [0,1] 0.9484457730600664 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.18 [[ 9.98222181e-01 3.64718565e-02 -4.71410706e-02 1.98988457e+00] [-3.64701410e-02 9.99334341e-01 8.96775612e-04 -1.86994602e-01] [ 4.71423978e-02 8.24060184e-04 9.98887839e-01 -1.83279485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.442401008 meters Centerline goodness [0,1] 0.9483306634119053 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.18 [[ 9.98217496e-01 3.63303033e-02 -4.73491255e-02 1.99038822e+00] [-3.63293931e-02 9.99339482e-01 8.80074340e-04 -1.87460638e-01] [ 4.73498240e-02 8.41659389e-04 9.98878013e-01 -1.83304140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.472401008000002 meters Centerline goodness [0,1] 0.9484428625905682 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.18 [[ 9.98221389e-01 3.58682458e-02 -4.76185555e-02 1.99154716e+00] [-3.58857951e-02 9.99355779e-01 4.86584225e-04 -1.87646828e-01] [ 4.76053316e-02 1.22311095e-03 9.98865475e-01 -1.84014386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.502401008 meters Centerline goodness [0,1] 0.947926955905073 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.18 [[ 9.98218706e-01 3.54429452e-02 -4.79918031e-02 1.99283604e+00] [-3.54725446e-02 9.99370624e-01 2.35054552e-04 -1.87978983e-01] [ 4.79699293e-02 1.46775552e-03 9.98847702e-01 -1.84570269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.532401008 meters Centerline goodness [0,1] 0.9473336047221657 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.18 [[ 9.98211314e-01 3.62077224e-02 -4.75728184e-02 1.99176740e+00] [-3.62097598e-02 9.99343876e-01 8.19244456e-04 -1.89090027e-01] [ 4.75712677e-02 9.04821241e-04 9.98867437e-01 -1.84623817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562401008000002 meters Centerline goodness [0,1] 0.9485471693316725 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.19 [[ 9.98204214e-01 3.65327969e-02 -4.74731688e-02 1.99173721e+00] [-3.65407270e-02 9.99331919e-01 7.01078083e-04 -1.88766080e-01] [ 4.74670652e-02 1.03488500e-03 9.98872267e-01 -1.85248179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.592401008 meters Centerline goodness [0,1] 0.9487107765854651 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.19 [[ 9.98193031e-01 3.72535032e-02 -4.71471127e-02 1.99074798e+00] [-3.72527612e-02 9.99305474e-01 8.94712826e-04 -1.88604184e-01] [ 4.71476990e-02 8.63264021e-04 9.98887556e-01 -1.85320052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.622401008 meters Centerline goodness [0,1] 0.9489754203076294 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.19 [[ 9.98180437e-01 3.81633936e-02 -4.66837203e-02 1.98947097e+00] [-3.81422866e-02 9.99271416e-01 1.34316769e-03 -1.89049124e-01] [ 4.67009671e-02 4.39900128e-04 9.98908818e-01 -1.85355658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.652401008000002 meters Centerline goodness [0,1] 0.947577850229764 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.19 [[ 9.98135560e-01 3.96328285e-02 -4.64181237e-02 1.98840156e+00] [-3.95533009e-02 9.99213999e-01 2.63088782e-03 -1.92629957e-01] [ 4.64859086e-02 -7.89992669e-04 9.98918633e-01 -1.85354667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.682401008 meters Centerline goodness [0,1] 0.9462562567727953 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.20, Z:-0.19 [[ 9.98123387e-01 3.97611298e-02 -4.65699034e-02 1.98910294e+00] [-3.96620860e-02 9.99208497e-01 3.04924795e-03 -1.95258387e-01] [ 4.66542848e-02 -1.19646618e-03 9.98910379e-01 -1.85894240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.712401008 meters Centerline goodness [0,1] 0.9461876453864048 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.20, Z:-0.19 [[ 9.98111411e-01 3.99687515e-02 -4.66488009e-02 1.98936711e+00] [-3.98390041e-02 9.99199231e-01 3.70815925e-03 -1.98086267e-01] [ 4.67596565e-02 -1.84271429e-03 9.98904469e-01 -1.85897178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.742401008 meters Centerline goodness [0,1] 0.9460854230958741 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.20, Z:-0.19 [[ 0.99809658 0.04029188 -0.04668803 1.98911542] [-0.0401216 0.99918431 0.00457881 -0.20106297] [ 0.04683444 -0.00269689 0.99889902 -0.18526911] [ 0. 0. 0. 1. ]] SLAMing on 16.772401008 meters Centerline goodness [0,1] 0.9470437555543938 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.20, Z:-0.19 [[ 9.98237332e-01 3.71960290e-02 -4.62459098e-02 1.98766204e+00] [-3.71678044e-02 9.99307957e-01 1.47035315e-03 -2.04286858e-01] [ 4.62685969e-02 2.51097523e-04 9.98929003e-01 -1.85670548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.802401008 meters Centerline goodness [0,1] 0.9469967447233015 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.21, Z:-0.19 [[ 9.98233231e-01 3.69685718e-02 -4.65160364e-02 1.98898138e+00] [-3.69239622e-02 9.99316424e-01 1.81818815e-03 -2.07132197e-01] [ 4.65514549e-02 -9.74194598e-05 9.98915889e-01 -1.86413487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.832401008 meters Centerline goodness [0,1] 0.9458418010504368 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.21, Z:-0.19 [[ 9.98233460e-01 3.64972492e-02 -4.68818754e-02 1.99089136e+00] [-3.64412461e-02 9.99333697e-01 2.04897649e-03 -2.10408191e-01] [ 4.69254198e-02 -3.36922935e-04 9.98898339e-01 -1.87573581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862401008000003 meters Centerline goodness [0,1] 0.9434072036811763 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.21, Z:-0.19 [[ 9.98232444e-01 3.57958636e-02 -4.74409472e-02 1.99328534e+00] [-3.57258602e-02 9.99358928e-01 2.32295261e-03 -2.14722725e-01] [ 4.74936863e-02 -6.23978017e-04 9.98871343e-01 -1.88689561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.892401008 meters Centerline goodness [0,1] 0.9431334208341146 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.22, Z:-0.19 [[ 9.98371668e-01 3.11382083e-02 -4.77956533e-02 1.99523482e+00] [-3.12355776e-02 9.99511216e-01 -1.29148233e-03 -2.21842666e-01] [ 4.77320771e-02 2.78230421e-03 9.98856300e-01 -1.90642692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.922401008 meters Centerline goodness [0,1] 0.9419137466307278 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.23, Z:-0.19 [[ 9.98368453e-01 3.06003170e-02 -4.82084228e-02 1.99681533e+00] [-3.06711024e-02 9.99529265e-01 -7.29099278e-04 -2.26507605e-01] [ 4.81634187e-02 2.20651519e-03 9.98837032e-01 -1.90908390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.952401008000002 meters Centerline goodness [0,1] 0.9415841048129501 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.23, Z:-0.19 [[ 9.98368159e-01 3.02602627e-02 -4.84286617e-02 1.99789032e+00] [-3.02987393e-02 9.99540886e-01 -6.04338451e-05 -2.30707118e-01] [ 4.84045987e-02 1.52766262e-03 9.98826642e-01 -1.91035757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.982401008 meters Centerline goodness [0,1] 0.9419375972483826 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.24, Z:-0.19 [[ 0.99848665 0.02720354 -0.04779526 1.99594218] [-0.02734191 0.99962362 -0.00224361 -0.23664782] [ 0.04771624 0.00354703 0.99885463 -0.19045913] [ 0. 0. 0. 1. ]] SLAMing on 17.012401008 meters Centerline goodness [0,1] 0.9442134062927496 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.24, Z:-0.19 [[ 9.98473202e-01 2.72727576e-02 -4.80360415e-02 1.99669308e+00] [-2.73818070e-02 9.99623746e-01 -1.61346272e-03 -2.40210407e-01] [ 4.79739641e-02 2.92631291e-03 9.98844300e-01 -1.90589128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.042401008000002 meters Centerline goodness [0,1] 0.9422939658485697 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.24, Z:-0.19 [[ 9.98466865e-01 2.78488669e-02 -4.78368160e-02 1.99628032e+00] [-2.79212331e-02 9.99609769e-01 -8.45093908e-04 -2.43167618e-01] [ 4.77946137e-02 2.17946116e-03 9.98854807e-01 -1.90716950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.072401008 meters Centerline goodness [0,1] 0.9413451727656289 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.25, Z:-0.19 [[ 9.98466751e-01 2.84074901e-02 -4.75095886e-02 1.99588177e+00] [-2.84632250e-02 9.99594717e-01 -4.96885381e-04 -2.45341597e-01] [ 4.74762185e-02 1.84839964e-03 9.98870658e-01 -1.91583563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.102401008 meters Centerline goodness [0,1] 0.940399546848664 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.25, Z:-0.19 [[ 9.98456230e-01 2.99962957e-02 -4.67480435e-02 1.99439909e+00] [-3.00265201e-02 9.99549101e-01 5.57120275e-05 -2.48246357e-01] [ 4.67286360e-02 1.34805505e-03 9.98906711e-01 -1.93340987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.132401008000002 meters Centerline goodness [0,1] 0.9387715665976536 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.25, Z:-0.19 [[ 9.98446892e-01 3.04135285e-02 -4.66778381e-02 1.99480784e+00] [-3.04498290e-02 9.99536294e-01 -6.66610985e-05 -2.49072607e-01] [ 4.66541659e-02 1.48788976e-03 9.98909993e-01 -1.94818639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.162401008 meters Centerline goodness [0,1] 0.9366818873668189 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.25, Z:-0.20 [[ 9.98446058e-01 3.10473203e-02 -4.62767101e-02 1.99428718e+00] [-3.10818157e-02 9.99516843e-01 -2.58624877e-05 -2.50103010e-01] [ 4.62535482e-02 1.46418647e-03 9.98928659e-01 -1.95973139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.192401008 meters Centerline goodness [0,1] 0.9352637710101515 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.25, Z:-0.20 [[ 9.98430557e-01 3.18530305e-02 -4.60630835e-02 1.99346976e+00] [-3.18577248e-02 9.99492214e-01 6.32395889e-04 -2.52463912e-01] [ 4.60598370e-02 8.36061655e-04 9.98938333e-01 -1.95936307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.222401008000002 meters Centerline goodness [0,1] 0.9339612126616139 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.26, Z:-0.19 [[ 9.98406466e-01 3.29713039e-02 -4.57976199e-02 1.99184482e+00] [-3.29178303e-02 9.99456214e-01 1.92149656e-03 -2.56434786e-01] [ 4.58360701e-02 -4.10876308e-04 9.98948891e-01 -1.94833501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.252401008 meters Centerline goodness [0,1] 0.929390701057461 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.26, Z:-0.19 [[ 9.98380973e-01 3.38932335e-02 -4.56802050e-02 1.99070631e+00] [-3.37805919e-02 9.99424035e-01 3.23579836e-03 -2.60570586e-01] [ 4.57635664e-02 -1.68745515e-03 9.98950874e-01 -1.93722156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.282401008 meters Centerline goodness [0,1] 0.931478604716848 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.27, Z:-0.19 [[ 0.99834786 0.03517193 -0.04543671 1.99008556] [-0.03497122 0.99937477 0.00520496 -0.26880617] [ 0.04559137 -0.00360738 0.99895366 -0.19376548] [ 0. 0. 0. 1. ]] SLAMing on 17.312401008000002 meters Centerline goodness [0,1] 0.929467750616095 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.27, Z:-0.20 [[ 0.99834058 0.03507144 -0.0456737 1.99194335] [-0.03486611 0.99937802 0.00528454 -0.27187435] [ 0.04583063 -0.00368331 0.99894243 -0.19570439] [ 0. 0. 0. 1. ]] SLAMing on 17.342401008 meters Centerline goodness [0,1] 0.9299817393289204 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.28, Z:-0.20 [[ 0.99833234 0.03493845 -0.04595478 1.99402639] [-0.03472687 0.99938228 0.00539462 -0.27517841] [ 0.04611487 -0.00378976 0.99892895 -0.19777619] [ 0. 0. 0. 1. ]] SLAMing on 17.372401008 meters Centerline goodness [0,1] 0.9252740333705389 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.28, Z:-0.20 [[ 0.99832125 0.03495205 -0.04618484 1.99567949] [-0.03472091 0.99938023 0.00579777 -0.27930697] [ 0.04635886 -0.00418446 0.99891609 -0.19933835] [ 0. 0. 0. 1. ]] SLAMing on 17.402401008000002 meters Centerline goodness [0,1] 0.9251290378704402 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.29, Z:-0.20 [[ 0.99843106 0.03245667 -0.04562875 1.99507743] [-0.03231583 0.9994704 0.00382115 -0.28848011] [ 0.0457286 -0.00234063 0.99895116 -0.20091846] [ 0. 0. 0. 1. ]] SLAMing on 17.432401008 meters Centerline goodness [0,1] 0.925516029863856 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.29, Z:-0.20 [[ 9.98555954e-01 2.93546946e-02 -4.49923241e-02 1.99314044e+00] [-2.93501860e-02 9.99568901e-01 7.60948337e-04 -2.93077103e-01] [ 4.49952654e-02 5.60683588e-04 9.98987043e-01 -2.01291474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.462401008 meters Centerline goodness [0,1] 0.9283371258015899 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.30, Z:-0.20 [[ 9.98648150e-01 2.57393644e-02 -4.51592422e-02 1.99171599e+00] [-2.58012044e-02 9.99666784e-01 -7.86935277e-04 -2.99561481e-01] [ 4.51239391e-02 1.95103429e-03 9.98979491e-01 -1.97545906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.492401008 meters Centerline goodness [0,1] 0.9350152448137742 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.31, Z:-0.19 [[ 9.98789726e-01 2.07367215e-02 -4.45990040e-02 1.99072308e+00] [-2.08331747e-02 9.99781522e-01 -1.69891271e-03 -3.08458872e-01] [ 4.45540303e-02 2.62599541e-03 9.99003525e-01 -1.92895948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522401008000003 meters Centerline goodness [0,1] 0.9371826273970966 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.31, Z:-0.19 [[ 0.99879684 0.02062583 -0.04449098 1.99093827] [-0.02073782 0.99978283 -0.00205708 -0.30746661] [ 0.04443889 0.00297725 0.99900767 -0.19363085] [ 0. 0. 0. 1. ]] SLAMing on 17.552401008 meters Centerline goodness [0,1] 0.9361645299145299 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.30, Z:-0.20 [[ 0.99881392 0.02027233 -0.04426955 1.9918185 ] [-0.02042683 0.99978673 -0.00304046 -0.30466371] [ 0.04419847 0.00394114 0.999015 -0.19578501] [ 0. 0. 0. 1. ]] SLAMing on 17.582401008 meters Centerline goodness [0,1] 0.9392386313138794 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.30, Z:-0.20 [[ 0.99883285 0.01985525 -0.04403073 1.99272052] [-0.02005024 0.99979101 -0.00399129 -0.30177835] [ 0.04394228 0.00486946 0.9990222 -0.19782396] [ 0. 0. 0. 1. ]] SLAMing on 17.612401008000003 meters Centerline goodness [0,1] 0.9376923987686479 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.30, Z:-0.20 [[ 0.99884736 0.01966339 -0.04378702 1.9930153 ] [-0.01988592 0.99979143 -0.00465229 -0.29958356] [ 0.04368641 0.00551767 0.99903006 -0.19915616] [ 0. 0. 0. 1. ]] SLAMing on 17.642401008 meters Centerline goodness [0,1] 0.9353300154046688 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.30, Z:-0.20 [[ 0.99884679 0.01916893 -0.04401875 1.99431466] [-0.01940379 0.99979965 -0.0049143 -0.29960187] [ 0.04391573 0.00576277 0.99901862 -0.19985224] [ 0. 0. 0. 1. ]] SLAMing on 17.672401008 meters Centerline goodness [0,1] 0.9371640682999258 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.30, Z:-0.20 [[ 0.99882767 0.01881637 -0.04460084 1.99570003] [-0.01903769 0.99980845 -0.00454268 -0.30117055] [ 0.04450682 0.00538645 0.99899456 -0.19931195] [ 0. 0. 0. 1. ]] SLAMing on 17.702401008000002 meters Centerline goodness [0,1] 0.9369454912317142 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.30, Z:-0.20 [[ 0.99880385 0.01799467 -0.04546496 1.99838622] [-0.01822385 0.99982321 -0.00463117 -0.30234091] [ 0.04537359 0.00545418 0.9989552 -0.19961422] [ 0. 0. 0. 1. ]] SLAMing on 17.732401008 meters Centerline goodness [0,1] 0.9362404137685036 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.30, Z:-0.20 [[ 0.99878526 0.01733409 -0.0461253 2.00062308] [-0.0175734 0.99983411 -0.00478786 -0.30368315] [ 0.04603465 0.00559262 0.99892419 -0.20022036] [ 0. 0. 0. 1. ]] SLAMing on 17.762401008 meters Centerline goodness [0,1] 0.9374962617381423 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.31, Z:-0.20 [[ 0.99876972 0.0163319 -0.0468221 2.00340095] [-0.01656889 0.99985178 -0.00467795 -0.30644583] [ 0.04673877 0.00544799 0.99889229 -0.20069565] [ 0. 0. 0. 1. ]] SLAMing on 17.792401008000002 meters Centerline goodness [0,1] 0.9347242120343839 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.31, Z:-0.20 [[ 0.99875361 0.01591667 -0.04730628 2.00492399] [-0.01613862 0.99986046 -0.00431357 -0.30785897] [ 0.04723102 0.00507165 0.99887112 -0.2004343 ] [ 0. 0. 0. 1. ]] SLAMing on 17.822401008 meters Centerline goodness [0,1] 0.9324352579228771 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.31, Z:-0.20 [[ 0.99874127 0.01565434 -0.04765309 2.00578131] [-0.01587646 0.99986477 -0.00428632 -0.30804222] [ 0.04757955 0.00503749 0.99885475 -0.20024389] [ 0. 0. 0. 1. ]] SLAMing on 17.852401008 meters Centerline goodness [0,1] 0.9371818671776753 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.31, Z:-0.20 [[ 0.99873462 0.01529039 -0.04790994 2.00675416] [-0.01551815 0.99986997 -0.0043856 -0.3082367 ] [ 0.04783665 0.00512352 0.99884203 -0.20046715] [ 0. 0. 0. 1. ]] SLAMing on 17.882401008000002 meters Centerline goodness [0,1] 0.9329361396365379 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.31, Z:-0.20 [[ 0.99872018 0.01327461 -0.04880351 2.01113297] [-0.01354521 0.99989464 -0.00521816 -0.30871707] [ 0.0487291 0.00587254 0.99879477 -0.20201797] [ 0. 0. 0. 1. ]] SLAMing on 17.912401008 meters Centerline goodness [0,1] 0.9367546402845444 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.31, Z:-0.20 [[ 0.99869386 0.01243036 -0.04955872 2.01348634] [-0.01270027 0.99990616 -0.00513499 -0.30948702] [ 0.04949024 0.00575769 0.99875801 -0.20183002] [ 0. 0. 0. 1. ]] SLAMing on 17.942401008 meters Centerline goodness [0,1] 0.9379766444232602 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.31, Z:-0.20 [[ 0.99865637 0.01148878 -0.05053181 2.01607136] [-0.01174134 0.99992 -0.00470407 -0.3108304 ] [ 0.05047372 0.00529106 0.99871137 -0.20082682] [ 0. 0. 0. 1. ]] SLAMing on 17.972401008000002 meters Centerline goodness [0,1] 0.9402779028240449 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.31, Z:-0.20 [[ 0.99870518 0.0070486 -0.05038139 2.01602353] [-0.00752557 0.99992859 -0.00928374 -0.30932733] [ 0.05031236 0.00965087 0.9986869 -0.20155064] [ 0. 0. 0. 1. ]] SLAMing on 18.002401008 meters Centerline goodness [0,1] 0.9415424380860784 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.31, Z:-0.20 [[ 0.99867424 0.00628722 -0.05109051 2.01789557] [-0.00674735 0.99993817 -0.00883866 -0.31045311] [ 0.05103178 0.00917166 0.99865491 -0.20050875] [ 0. 0. 0. 1. ]] SLAMing on 18.032401008 meters Centerline goodness [0,1] 0.9419890330506697 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.31, Z:-0.20 [[ 0.99865133 0.00570719 -0.05160372 2.01929344] [-0.00616402 0.99994317 -0.00869783 -0.31053953] [ 0.05155114 0.00900418 0.99862976 -0.19992594] [ 0. 0. 0. 1. ]] SLAMing on 18.062401008000002 meters Centerline goodness [0,1] 0.9445396854040723 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.31, Z:-0.20 [[ 0.9986337 0.00525662 -0.05199143 2.01973263] [-0.00569794 0.99994896 -0.00834362 -0.31004932] [ 0.05194491 0.00862847 0.99861268 -0.19830935] [ 0. 0. 0. 1. ]] SLAMing on 18.092401008 meters Centerline goodness [0,1] 0.9418838276306715 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.31, Z:-0.20 [[ 0.99862789 0.00520181 -0.05210833 2.01980922] [-0.00563689 0.99995044 -0.00820589 -0.30924983] [ 0.05206306 0.00848836 0.99860772 -0.19771806] [ 0. 0. 0. 1. ]] SLAMing on 18.122401008 meters Centerline goodness [0,1] 0.9438229135507029 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.31, Z:-0.20 [[ 0.99862219 0.00463856 -0.05227059 2.02082998] [-0.00511988 0.99994568 -0.00907823 -0.30601495] [ 0.05222564 0.00933334 0.99859169 -0.19859189] [ 0. 0. 0. 1. ]] SLAMing on 18.152401008000002 meters Centerline goodness [0,1] 0.9427515057546664 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.30, Z:-0.20 [[ 0.99861515 0.00438653 -0.0524265 2.02140359] [-0.0048871 0.99994366 -0.00942354 -0.30451924] [ 0.05238221 0.0096667 0.99858032 -0.19883889] [ 0. 0. 0. 1. ]] SLAMing on 18.182401008 meters Centerline goodness [0,1] 0.9419489007724302 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.30, Z:-0.20 [[ 0.99861044 0.00425967 -0.05252666 2.02159336] [-0.00476765 0.99994304 -0.00954932 -0.3032691 ] [ 0.05248299 0.00978648 0.99857386 -0.19861819] [ 0. 0. 0. 1. ]] SLAMing on 18.212401008 meters Centerline goodness [0,1] 0.9416817225957409 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.30, Z:-0.20 [[ 0.99860404 0.00442697 -0.05263429 2.02103448] [-0.00492035 0.99994513 -0.00924785 -0.30264651] [ 0.05259046 0.00949392 0.99857103 -0.19734267] [ 0. 0. 0. 1. ]] SLAMing on 18.242401008 meters Centerline goodness [0,1] 0.9417381022760863 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.30, Z:-0.19 [[ 0.99859985 0.00519288 -0.05264381 2.01836421] [-0.00561646 0.99995301 -0.00790129 -0.30215488] [ 0.05260031 0.0081859 0.99858209 -0.19287764] [ 0. 0. 0. 1. ]] SLAMing on 18.272401008000003 meters Centerline goodness [0,1] 0.942282711384034 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.30, Z:-0.19 [[ 0.99860073 0.00533707 -0.05261272 2.01764286] [-0.00575883 0.99995246 -0.00786806 -0.30066918] [ 0.05256823 0.00816004 0.998584 -0.19198423] [ 0. 0. 0. 1. ]] SLAMing on 18.302401008 meters Centerline goodness [0,1] 0.9407420484302822 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.30, Z:-0.19 [[ 0.99852452 0.00858666 -0.05361955 2.01994613] [-0.00876954 0.9999565 -0.0031763 -0.30149641] [ 0.05358994 0.00364183 0.99855639 -0.1899789 ] [ 0. 0. 0. 1. ]] SLAMing on 18.332401008 meters Centerline goodness [0,1] 0.9411850896729574 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.30, Z:-0.19 [[ 0.99852258 0.00829963 -0.05370075 2.02030206] [-0.00851349 0.99995671 -0.00375489 -0.29899427] [ 0.05366726 0.00420653 0.99855001 -0.19026896] [ 0. 0. 0. 1. ]] SLAMing on 18.362401008000003 meters Centerline goodness [0,1] 0.9411850896729574 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.30, Z:-0.19 [[ 0.99852258 0.00829963 -0.05370075 2.02030206] [-0.00851349 0.99995671 -0.00375489 -0.29899427] [ 0.05366726 0.00420653 0.99855001 -0.19026896] [ 0. 0. 0. 1. ]] SLAMing on 18.392401008 meters Centerline goodness [0,1] 0.9398887913374305 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.30, Z:-0.19 [[ 0.99852557 0.0080118 -0.05368897 2.02064883] [-0.00826275 0.99995594 -0.00445376 -0.29640088] [ 0.05365093 0.00489081 0.99854777 -0.19090167] [ 0. 0. 0. 1. ]] SLAMing on 18.422401008 meters Centerline goodness [0,1] 0.9354895104895105 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.29, Z:-0.19 [[ 0.99852015 0.0073507 -0.05388399 2.02191687] [-0.00767558 0.99995358 -0.00582478 -0.29164319] [ 0.05383867 0.00622975 0.99853021 -0.19230172] [ 0. 0. 0. 1. ]] SLAMing on 18.452401008000002 meters Centerline goodness [0,1] 0.9358287220789756 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.29, Z:-0.19 [[ 0.99842529 0.00969808 -0.05525291 2.02637384] [-0.00983308 0.9999493 -0.00217194 -0.29212967] [ 0.05522904 0.00271182 0.99847003 -0.19213754] [ 0. 0. 0. 1. ]] SLAMing on 18.482401008 meters Centerline goodness [0,1] 0.9304873441632037 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.29, Z:-0.19 [[ 0.99841398 0.00935009 -0.0555166 2.02749925] [-0.00952665 0.99995037 -0.00291646 -0.29017661] [ 0.05548657 0.00344073 0.99845351 -0.19312756] [ 0. 0. 0. 1. ]] SLAMing on 18.512401008 meters Centerline goodness [0,1] 0.9318227855427265 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.29, Z:-0.19 [[ 9.98316567e-01 1.23916225e-02 -5.66610911e-02 2.03083710e+00] [-1.23653499e-02 9.99923215e-01 8.14268112e-04 -2.90344153e-01] [ 5.66668304e-02 -1.12263128e-04 9.98393138e-01 -1.93025396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542401008000002 meters Centerline goodness [0,1] 0.9356512714063311 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.29, Z:-0.19 [[ 9.98323366e-01 1.24692343e-02 -5.65241192e-02 2.03069245e+00] [-1.24761655e-02 9.99922143e-01 2.30272307e-04 -2.87545495e-01] [ 5.65225897e-02 4.75318041e-04 9.98401207e-01 -1.93650320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.572401008 meters Centerline goodness [0,1] 0.9378458186405206 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.29, Z:-0.19 [[ 0.99824599 0.01631914 -0.05690889 2.03161174] [-0.01612114 0.9998623 0.00393661 -0.28547533] [ 0.05696529 -0.00301227 0.99837161 -0.19320655] [ 0. 0. 0. 1. ]] SLAMing on 18.602401008 meters Centerline goodness [0,1] 0.9470048724562912 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.28, Z:-0.19 [[ 0.9982599 0.01653765 -0.056601 2.03083602] [-0.01636302 0.99985982 0.00354738 -0.28338809] [ 0.05665173 -0.00261505 0.99839058 -0.19349957] [ 0. 0. 0. 1. ]] SLAMing on 18.632401008000002 meters Centerline goodness [0,1] 0.9476868632095665 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.28, Z:-0.19 [[ 9.98257156e-01 1.63565340e-02 -5.67019737e-02 2.03122520e+00] [-1.62167311e-02 9.99864222e-01 2.92485951e-03 -2.81270067e-01] [ 5.67421154e-02 -2.00024127e-03 9.98386865e-01 -1.93968078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.662401008 meters Centerline goodness [0,1] 0.9483585498144448 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.28, Z:-0.19 [[ 0.99826655 0.01746395 -0.05620413 2.0283589 ] [-0.01731295 0.99984509 0.00317241 -0.2791912 ] [ 0.05625083 -0.00219385 0.99841426 -0.19240351] [ 0. 0. 0. 1. ]] SLAMing on 18.692401008 meters Centerline goodness [0,1] 0.9474759513067166 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.28, Z:-0.19 [[ 9.98258982e-01 1.76206661e-02 -5.62895866e-02 2.02799638e+00] [-1.74841364e-02 9.99842885e-01 2.91708335e-03 -2.77265236e-01] [ 5.63321437e-02 -1.92782984e-03 9.98410223e-01 -1.91911336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722401008000002 meters Centerline goodness [0,1] 0.9487150458507868 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.27, Z:-0.19 [[ 9.98276678e-01 1.84822095e-02 -5.56963322e-02 2.02595521e+00] [-1.83574330e-02 9.99827703e-01 2.75112863e-03 -2.74598522e-01] [ 5.57375829e-02 -1.72394586e-03 9.98443964e-01 -1.91791954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.752401008 meters Centerline goodness [0,1] 0.9481994615212026 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.27, Z:-0.19 [[ 0.99818711 0.02398826 -0.05520023 2.02388372] [-0.02368956 0.999701 0.0060592 -0.26999177] [ 0.05532907 -0.00474054 0.99845692 -0.1921447 ] [ 0. 0. 0. 1. ]] SLAMing on 18.782401008 meters Centerline goodness [0,1] 0.9473964016900305 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.27, Z:-0.19 [[ 0.99817484 0.02584133 -0.05458211 2.02091779] [-0.02555245 0.99965557 0.00598394 -0.26659787] [ 0.05471794 -0.00457831 0.99849136 -0.19202819] [ 0. 0. 0. 1. ]] SLAMing on 18.812401008000002 meters Centerline goodness [0,1] 0.944810887534441 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.26, Z:-0.20 [[ 9.98321448e-01 2.99178051e-02 -4.95904357e-02 2.03409078e+00] [-3.00337332e-02 9.99547615e-01 -1.59404334e-03 -2.62279348e-01] [ 4.95203114e-02 3.08075357e-03 9.98768365e-01 -1.96796123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.842401008 meters Centerline goodness [0,1] 0.9456530730416081 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.26, Z:-0.20 [[ 0.99841975 0.03406224 -0.04469633 2.04805776] [-0.03447332 0.99936982 -0.00845871 -0.25862386] [ 0.04438004 0.00998617 0.99896481 -0.20114856] [ 0. 0. 0. 1. ]] SLAMing on 18.872401008 meters Centerline goodness [0,1] 0.9447719259585721 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.26, Z:-0.20 [[ 0.99822864 0.04030478 -0.04376201 2.04366865] [-0.04048455 0.99917495 -0.00322915 -0.25730674] [ 0.04359575 0.00499512 0.99903677 -0.19828086] [ 0. 0. 0. 1. ]] SLAMing on 18.902401008000002 meters Centerline goodness [0,1] 0.9447719259585721 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.26, Z:-0.20 [[ 0.99822864 0.04030478 -0.04376201 2.04366865] [-0.04048455 0.99917495 -0.00322915 -0.25730674] [ 0.04359575 0.00499512 0.99903677 -0.19828086] [ 0. 0. 0. 1. ]] SLAMing on 18.932401008 meters Centerline goodness [0,1] 0.9469684453989757 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.26, Z:-0.20 [[ 0.99818912 0.0420148 -0.04304935 2.04041681] [-0.04216993 0.9991068 -0.00270152 -0.25574354] [ 0.0428974 0.00451201 0.99906929 -0.19716914] [ 0. 0. 0. 1. ]] SLAMing on 18.962401008 meters Centerline goodness [0,1] 0.9438749008994232 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.26, Z:-0.20 [[ 9.98009314e-01 4.54555128e-02 -4.37173421e-02 2.04254891e+00] [-4.54232759e-02 9.98966331e-01 1.73099355e-03 -2.57633451e-01] [ 4.37508361e-02 2.58237213e-04 9.99042440e-01 -1.96416660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.992401008 meters Centerline goodness [0,1] 0.9439861883752159 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.26, Z:-0.20 [[ 9.98014743e-01 4.54078157e-02 -4.36429005e-02 2.04280743e+00] [-4.53834463e-02 9.98968439e-01 1.54953740e-03 -2.57173483e-01] [ 4.36682412e-02 4.34204056e-04 9.99045993e-01 -1.96998833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.022401008000003 meters Centerline goodness [0,1] 0.9435377875136911 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.26, Z:-0.20 [[ 9.98029626e-01 4.50625987e-02 -4.36603637e-02 2.04368147e+00] [-4.50621446e-02 9.98983690e-01 9.95086288e-04 -2.56631185e-01] [ 4.36608324e-02 9.74304025e-04 9.99045936e-01 -1.98216133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.052401008 meters Centerline goodness [0,1] 0.942210847849418 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.26, Z:-0.20 [[ 9.98052687e-01 4.43113951e-02 -4.39014086e-02 2.04562737e+00] [-4.43233557e-02 9.99016991e-01 7.01396963e-04 -2.58491392e-01] [ 4.38893330e-02 1.24582663e-03 9.99035622e-01 -1.99759242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082401008 meters Centerline goodness [0,1] 0.9405891301341447 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.26, Z:-0.20 [[ 0.99823308 0.04040797 -0.04356509 2.04503262] [-0.0406091 0.9991681 -0.00374155 -0.25770328] [ 0.04337766 0.00550408 0.99904358 -0.20111022] [ 0. 0. 0. 1. ]] SLAMing on 19.112401008000003 meters Centerline goodness [0,1] 0.9406932035075102 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.26, Z:-0.20 [[ 0.99822763 0.03995479 -0.04410463 2.0465645 ] [-0.04013286 0.99918936 -0.00315914 -0.26031355] [ 0.04394266 0.00492359 0.99902192 -0.20072554] [ 0. 0. 0. 1. ]] SLAMing on 19.142401008 meters Centerline goodness [0,1] 0.9393654653990714 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.26, Z:-0.20 [[ 0.99822306 0.03951782 -0.04459894 2.04796559] [-0.03967179 0.99920945 -0.00257217 -0.26294872] [ 0.04446204 0.00433692 0.99900166 -0.20023119] [ 0. 0. 0. 1. ]] SLAMing on 19.172401008 meters Centerline goodness [0,1] 0.943312420187663 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.26, Z:-0.20 [[ 0.99839054 0.03576107 -0.04401683 2.04687065] [-0.03608655 0.99932673 -0.00662182 -0.26373469] [ 0.04375039 0.00819958 0.99900884 -0.20152121] [ 0. 0. 0. 1. ]] SLAMing on 19.202401008000002 meters Centerline goodness [0,1] 0.94239656996492 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.27, Z:-0.20 [[ 0.99839078 0.03582424 -0.04395997 2.04711919] [-0.0361382 0.99932651 -0.00636796 -0.26515252] [ 0.04370224 0.00794634 0.999013 -0.20195952] [ 0. 0. 0. 1. ]] SLAMing on 19.232401008 meters Centerline goodness [0,1] 0.9420196893214714 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.27, Z:-0.20 [[ 0.99838781 0.03596764 -0.04391016 2.04714857] [-0.03626511 0.99932421 -0.0059965 -0.26657012] [ 0.0436648 0.00757924 0.99901749 -0.20203648] [ 0. 0. 0. 1. ]] SLAMing on 19.262401008 meters Centerline goodness [0,1] 0.9404490000557072 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.27, Z:-0.20 [[ 0.99838206 0.03634046 -0.04373356 2.04669122] [-0.03661945 0.99931362 -0.00559483 -0.26764655] [ 0.04350023 0.00718728 0.99902756 -0.20204222] [ 0. 0. 0. 1. ]] SLAMing on 19.292401008000002 meters Centerline goodness [0,1] 0.9415938560854805 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.27, Z:-0.20 [[ 0.9983787 0.03725619 -0.04303416 2.04545677] [-0.03752475 0.99928084 -0.00544949 -0.26767964] [ 0.04280019 0.0070555 0.99905874 -0.20326001] [ 0. 0. 0. 1. ]] SLAMing on 19.322401008 meters Centerline goodness [0,1] 0.9400334541399498 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.27, Z:-0.20 [[ 0.99837135 0.03759495 -0.0429101 2.04529207] [-0.03785621 0.99926918 -0.00529207 -0.26800741] [ 0.04267979 0.00690786 0.99906492 -0.20362962] [ 0. 0. 0. 1. ]] SLAMing on 19.352401008 meters Centerline goodness [0,1] 0.9400708329847458 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.27, Z:-0.20 [[ 0.99836301 0.03794295 -0.04279764 2.04492091] [-0.03818541 0.99925885 -0.00486157 -0.26905585] [ 0.04258146 0.00648786 0.99907193 -0.20344918] [ 0. 0. 0. 1. ]] SLAMing on 19.382401008000002 meters Centerline goodness [0,1] 0.9393846325664508 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.27, Z:-0.20 [[ 0.99835238 0.0384721 -0.04257247 2.04396665] [-0.03868769 0.99924231 -0.00425147 -0.27058437] [ 0.04237665 0.0058915 0.99908434 -0.20291037] [ 0. 0. 0. 1. ]] SLAMing on 19.412401008 meters Centerline goodness [0,1] 0.9373520813030767 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.27, Z:-0.20 [[ 0.99834617 0.0385902 -0.04261123 2.04407215] [-0.03878867 0.99924006 -0.00384045 -0.27154014] [ 0.04243064 0.00548693 0.99908435 -0.20265059] [ 0. 0. 0. 1. ]] SLAMing on 19.442401008 meters Centerline goodness [0,1] 0.9361536103447314 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.27, Z:-0.20 [[ 0.99834789 0.0387937 -0.04238561 2.0439319 ] [-0.03897188 0.99923457 -0.00338533 -0.27335787] [ 0.04222183 0.00503159 0.99909559 -0.20300568] [ 0. 0. 0. 1. ]] SLAMing on 19.472401008000002 meters Centerline goodness [0,1] 0.9391475664576281 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.27, Z:-0.20 [[ 0.99833796 0.03849295 -0.04289077 2.04523693] [-0.03865934 0.99924777 -0.00305643 -0.27478772] [ 0.04274085 0.00470948 0.99907509 -0.20274731] [ 0. 0. 0. 1. ]] SLAMing on 19.502401008 meters Centerline goodness [0,1] 0.9387589978237821 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.28, Z:-0.20 [[ 0.9983344 0.03825049 -0.04318951 2.04609919] [-0.03840409 0.99925856 -0.00273192 -0.27667678] [ 0.043053 0.00438602 0.99906316 -0.20259779] [ 0. 0. 0. 1. ]] SLAMing on 19.532401008 meters Centerline goodness [0,1] 0.9406405455256833 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.28, Z:-0.20 [[ 0.99832903 0.03807116 -0.04347109 2.04680338] [-0.03820869 0.99926705 -0.00233673 -0.27847785] [ 0.04335027 0.00399379 0.99905195 -0.20226727] [ 0. 0. 0. 1. ]] SLAMing on 19.562401008000002 meters Centerline goodness [0,1] 0.9449143049176655 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.28, Z:-0.20 [[ 0.99836128 0.03677399 -0.0438456 2.04934467] [-0.03692212 0.99931483 -0.00257327 -0.28133399] [ 0.04372092 0.00418793 0.99903501 -0.20347059] [ 0. 0. 0. 1. ]] SLAMing on 19.592401008 meters Centerline goodness [0,1] 0.9446976090014064 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.28, Z:-0.21 [[ 0.99852129 0.03262677 -0.04348257 2.049058 ] [-0.03296983 0.99943044 -0.00719574 -0.28034651] [ 0.04322303 0.00861872 0.99902827 -0.20513589] [ 0. 0. 0. 1. ]] SLAMing on 19.622401008 meters Centerline goodness [0,1] 0.9475899870034469 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.28, Z:-0.21 [[ 0.99852175 0.03219093 -0.04379556 2.05029306] [-0.032514 0.99944893 -0.00668448 -0.28278933] [ 0.04355624 0.00809857 0.99901815 -0.2050069 ] [ 0. 0. 0. 1. ]] SLAMing on 19.652401008000002 meters Centerline goodness [0,1] 0.9499674562073747 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.28, Z:-0.20 [[ 0.99852217 0.0319101 -0.04399107 2.05095966] [-0.03220973 0.9994624 -0.00611902 -0.28472818] [ 0.04377216 0.00752692 0.99901318 -0.20452978] [ 0. 0. 0. 1. ]] SLAMing on 19.682401008000003 meters Centerline goodness [0,1] 0.9469152291909404 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.29, Z:-0.21 [[ 0.99854159 0.03048736 -0.04455568 2.05420947] [-0.03080254 0.99950497 -0.00640447 -0.28742417] [ 0.04433836 0.00776756 0.99898637 -0.20606182] [ 0. 0. 0. 1. ]] SLAMing on 19.712401008 meters Centerline goodness [0,1] 0.949278667959172 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.29, Z:-0.21 [[ 0.99853328 0.02990208 -0.04513476 2.05638021] [-0.03021901 0.99952309 -0.00635578 -0.28963744] [ 0.04492318 0.00771039 0.99896069 -0.20678485] [ 0. 0. 0. 1. ]] SLAMing on 19.742401008 meters Centerline goodness [0,1] 0.9537330931343113 Centerline is valid? [False, True] Translation: X:2.06, Y:-0.29, Z:-0.21 [[ 0.9985203 0.02964168 -0.04559141 2.05775766] [-0.02994106 0.99953427 -0.00589757 -0.29253887] [ 0.04539537 0.0072539 0.99894276 -0.20679174] [ 0. 0. 0. 1. ]] SLAMing on 19.772401008000003 meters Centerline goodness [0,1] 0.9542236363115201 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.30, Z:-0.20 [[ 9.98511492e-01 2.92001048e-02 -4.60668399e-02 2.08756649e+00] [-2.91507568e-02 9.99573507e-01 1.74280371e-03 -2.99729090e-01] [ 4.60980828e-02 -3.97326280e-04 9.98936839e-01 -2.00175552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.802401008 meters Centerline goodness [0,1] 0.9547933409873708 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.30, Z:-0.20 [[ 9.98483306e-01 2.96014831e-02 -4.64202576e-02 2.11816868e+00] [-2.95518080e-02 9.99561707e-01 1.75617423e-03 -3.01414770e-01] [ 4.64518973e-02 -3.81708106e-04 9.98920455e-01 -1.98923763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.832401008 meters Centerline goodness [0,1] 0.9564869117436704 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.30, Z:-0.20 [[ 9.98311934e-01 3.13081227e-02 -4.89191584e-02 2.14767502e+00] [-3.12550059e-02 9.99509730e-01 1.85056163e-03 -3.02367957e-01] [ 4.89531124e-02 -3.18469176e-04 9.98801027e-01 -2.02855818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.862401008000003 meters Centerline goodness [0,1] 0.9559097021544448 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.30, Z:-0.20 [[ 9.98196162e-01 3.22893769e-02 -5.06144010e-02 2.17772881e+00] [-3.22337990e-02 9.99478523e-01 1.91416421e-03 -3.02636815e-01] [ 5.06498139e-02 -2.79216944e-04 9.98716435e-01 -2.03896698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.892401008 meters Centerline goodness [0,1] 0.9547621783088235 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.30, Z:-0.21 [[ 9.98069398e-01 3.36362842e-02 -5.22118474e-02 2.20717560e+00] [-3.35789546e-02 9.99434116e-01 1.97508759e-03 -3.04657014e-01] [ 5.22487362e-02 -2.18055231e-04 9.98634078e-01 -2.05712501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922401008 meters Centerline goodness [0,1] 0.9556592093518759 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.31, Z:-0.21 [[ 9.97856920e-01 3.59284288e-02 -5.46874378e-02 2.23690131e+00] [-3.58690355e-02 9.99354360e-01 2.06750769e-03 -3.06729571e-01] [ 5.47264118e-02 -1.01491208e-04 9.98501382e-01 -2.05482264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.952401008000002 meters Centerline goodness [0,1] 0.953891818679577 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.31, Z:-0.20 [[ 9.97830704e-01 3.63539436e-02 -5.48842097e-02 2.26644489e+00] [-3.62948293e-02 9.99338974e-01 2.07377760e-03 -3.08851636e-01] [ 5.49233198e-02 -7.72659392e-05 9.98490572e-01 -2.04326277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982401008 meters Centerline goodness [0,1] 0.9568029568029568 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.31, Z:-0.20 [[ 9.97870731e-01 3.62649667e-02 -5.42112206e-02 2.29720534e+00] [-3.62071321e-02 9.99342206e-01 2.04892126e-03 -3.12280337e-01] [ 5.42498649e-02 -8.17257349e-05 9.98527388e-01 -2.00992715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.012401008 meters Centerline goodness [0,1] 0.9565343127331617 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.32, Z:-0.20 [[ 9.97990117e-01 3.46409448e-02 -5.30634666e-02 2.32748449e+00] [-3.45832293e-02 9.99399808e-01 2.00576004e-03 -3.17296358e-01] [ 5.31010998e-02 -1.66622664e-04 9.98589127e-01 -1.99504574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042401008000002 meters Centerline goodness [0,1] 0.9609509623528725 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.33, Z:-0.19 [[ 9.98378271e-01 2.86125100e-02 -4.92153753e-02 2.35825746e+00] [-2.85555002e-02 9.99590476e-01 1.86123785e-03 -3.27546297e-01] [ 4.92484751e-02 -4.52849764e-04 9.98786455e-01 -1.93215571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.072401008 meters Centerline goodness [0,1] 0.9600011695564458 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.33, Z:-0.19 [[ 9.98571872e-01 2.42231716e-02 -4.76177976e-02 2.38759602e+00] [-2.41647681e-02 9.99706366e-01 1.80187002e-03 -3.33072375e-01] [ 4.76474624e-02 -6.48623676e-04 9.98864004e-01 -1.90895568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102401008 meters Centerline goodness [0,1] 0.9624695560315737 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.34, Z:-0.19 [[ 9.98738489e-01 1.97210199e-02 -4.61791280e-02 2.41578763e+00] [-1.96613613e-02 9.99805173e-01 1.74579855e-03 -3.39805863e-01] [ 4.62045599e-02 -8.35651693e-04 9.98931649e-01 -1.89206065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.132401008000002 meters Centerline goodness [0,1] 0.9592773494968516 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.35, Z:-0.19 [[ 9.98878208e-01 1.48962091e-02 -4.49491707e-02 2.44476940e+00] [-1.48349074e-02 9.99888516e-01 1.69708799e-03 -3.46284791e-01] [ 4.49694398e-02 -1.02836742e-03 9.98987834e-01 -1.86915910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.162401008 meters Centerline goodness [0,1] 0.948898835106856 Centerline is valid? [True, False] Translation: X:2.45, Y:-0.35, Z:-0.19 [[ 9.98933259e-01 9.75133899e-03 -4.51359651e-02 2.44605242e+00] [-9.84201376e-03 9.99949969e-01 -1.78712817e-03 -3.50158171e-01] [ 4.51162800e-02 2.22945056e-03 9.98979254e-01 -1.86579923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.192401008 meters Centerline goodness [0,1] 0.9456840608054049 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.35, Z:-0.19 [[ 9.98897779e-01 8.62560945e-03 -4.61392053e-02 2.44948201e+00] [-8.71395550e-03 9.99960564e-01 -1.71397638e-03 -3.52017804e-01] [ 4.61226017e-02 2.11414218e-03 9.98933549e-01 -1.86831804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222401008000002 meters Centerline goodness [0,1] 0.9484545265595772 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.35, Z:-0.19 [[ 9.98871433e-01 7.75067475e-03 -4.68592279e-02 2.45221232e+00] [-7.85298016e-03 9.99967166e-01 -1.99954811e-03 -3.52743728e-01] [ 4.68421915e-02 2.36527607e-03 9.98899502e-01 -1.87676351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.252401008 meters Centerline goodness [0,1] 0.9484545265595772 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.35, Z:-0.19 [[ 9.98871433e-01 7.75067475e-03 -4.68592279e-02 2.45221232e+00] [-7.85298016e-03 9.99967166e-01 -1.99954811e-03 -3.52743728e-01] [ 4.68421915e-02 2.36527607e-03 9.98899502e-01 -1.87676351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.282401008 meters Centerline goodness [0,1] 0.943580287303334 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.35, Z:-0.19 [[ 0.99883539 0.00658768 -0.04779611 2.45605121] [-0.00674556 0.99997231 -0.0031427 -0.35202034] [ 0.04777408 0.00346145 0.99885217 -0.19006914] [ 0. 0. 0. 1. ]] SLAMing on 20.312401008000002 meters Centerline goodness [0,1] 0.9461753011690701 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.35, Z:-0.19 [[ 0.9988186 0.0061326 -0.04820571 2.45783637] [-0.00632741 0.99997242 -0.00388957 -0.35052335] [ 0.04818052 0.00418999 0.99882986 -0.19135862] [ 0. 0. 0. 1. ]] SLAMing on 20.342401008 meters Centerline goodness [0,1] 0.9353969194312797 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.35, Z:-0.19 [[ 0.9988123 0.00606248 -0.04834494 2.45852852] [-0.0062922 0.99996962 -0.00460094 -0.34838833] [ 0.04831558 0.00489967 0.9988201 -0.19241751] [ 0. 0. 0. 1. ]] SLAMing on 20.372401008 meters Centerline goodness [0,1] 0.9484978540772532 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.35, Z:-0.19 [[ 0.99880756 0.00600177 -0.04845044 2.45910188] [-0.00627336 0.99996544 -0.00545535 -0.34567462] [ 0.04841603 0.00575279 0.99881069 -0.19354127] [ 0. 0. 0. 1. ]] SLAMing on 20.402401008000002 meters Centerline goodness [0,1] 0.9538769856473431 Centerline is valid? [False, True] Translation: X:2.46, Y:-0.34, Z:-0.19 [[ 9.98757694e-01 1.01615226e-02 -4.87833224e-02 2.46005936e+00] [-1.02830571e-02 9.99944617e-01 -2.24098118e-03 -3.43070660e-01] [ 4.87578488e-02 2.73983889e-03 9.98806871e-01 -1.94404645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.432401008000003 meters Centerline goodness [0,1] 0.9611914943471385 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.34, Z:-0.19 [[ 9.98678074e-01 1.42213637e-02 -4.93949188e-02 2.48971033e+00] [-1.41481050e-02 9.99898231e-01 1.83245983e-03 -3.38727034e-01] [ 4.94159520e-02 -1.13119296e-03 9.98777645e-01 -1.89858645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.462401008 meters Centerline goodness [0,1] 0.9622641509433962 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.34, Z:-0.19 [[ 9.98548478e-01 1.88297570e-02 -5.04616327e-02 2.51796236e+00] [-1.87596604e-02 9.99822287e-01 1.86241201e-03 -3.35223318e-01] [ 5.04877338e-02 -9.13065591e-04 9.98724264e-01 -1.90148684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.492401008 meters Centerline goodness [0,1] 0.9619742040436905 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.33, Z:-0.19 [[ 9.98407390e-01 2.36235397e-02 -5.12309755e-02 2.54646149e+00] [-2.35578568e-02 9.99720697e-01 1.88564194e-03 -3.30659219e-01] [ 5.12612121e-02 -6.75746863e-04 9.98685051e-01 -1.90721775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522401008000003 meters Centerline goodness [0,1] 0.9608433734939759 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.33, Z:-0.19 [[ 9.98282865e-01 2.83959105e-02 -5.12346981e-02 2.57439989e+00] [-2.83366709e-02 9.99596663e-01 1.88240356e-03 -3.25597561e-01] [ 5.12674859e-02 -4.27350440e-04 9.98684866e-01 -1.91055033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.552401008 meters Centerline goodness [0,1] 0.9588247109121689 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.32, Z:-0.19 [[ 9.98056854e-01 3.63922660e-02 -5.05778462e-02 2.60377971e+00] [-3.63449595e-02 9.99337582e-01 1.85502610e-03 -3.16161195e-01] [ 5.06118511e-02 -1.31717503e-05 9.98718399e-01 -1.88673074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582401008 meters Centerline goodness [0,1] 0.9588554061415833 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.31, Z:-0.19 [[ 9.97940309e-01 3.91703172e-02 -5.08018374e-02 2.63600390e+00] [-3.91260984e-02 9.99232541e-01 1.86498918e-03 -3.14724740e-01] [ 5.08359012e-02 1.26529813e-04 9.98707012e-01 -1.85263717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.612401008000003 meters Centerline goodness [0,1] 0.9593512272140089 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.31, Z:-0.18 [[ 9.97932840e-01 4.04150672e-02 -4.99666831e-02 2.66778722e+00] [-4.03732675e-02 9.99182962e-01 1.84597244e-03 -3.14330125e-01] [ 5.00004635e-02 1.75161746e-04 9.98749179e-01 -1.83067042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.642401008 meters Centerline goodness [0,1] 0.9610408198316827 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.32, Z:-0.18 [[ 9.98010880e-01 4.01629286e-02 -4.85924041e-02 2.69928630e+00] [-4.01225515e-02 9.99193133e-01 1.80644539e-03 -3.15311070e-01] [ 4.86257486e-02 1.46799082e-04 9.98817058e-01 -1.81726738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.672401008 meters Centerline goodness [0,1] 0.9624967595126307 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.32, Z:-0.18 [[ 9.98231762e-01 3.58235232e-02 -4.74344338e-02 2.72999525e+00] [-3.57796433e-02 9.99358129e-01 1.77408617e-03 -3.20236208e-01] [ 4.74675411e-02 -7.37620433e-05 9.98872778e-01 -1.81125686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702401008000002 meters Centerline goodness [0,1] 0.965385058796403 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.33, Z:-0.18 [[ 9.98373047e-01 3.23788684e-02 -4.69347231e-02 2.76275218e+00] [-3.23316015e-02 9.99475637e-01 1.76608441e-03 -3.25517247e-01] [ 4.69672961e-02 -2.45736314e-04 9.98896397e-01 -1.79945810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.732401008 meters Centerline goodness [0,1] 0.9653045933951934 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.33, Z:-0.18 [[ 9.98536728e-01 2.83586737e-02 -4.60455063e-02 2.79402822e+00] [-2.83084832e-02 9.99597717e-01 1.74187019e-03 -3.31424531e-01] [ 4.60763801e-02 -4.35842913e-04 9.98937825e-01 -1.78581816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762401008 meters Centerline goodness [0,1] 0.9642846789389766 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.34, Z:-0.18 [[ 9.98660568e-01 2.38810337e-02 -4.58995318e-02 2.82371711e+00] [-2.38263923e-02 9.99714602e-01 1.73726529e-03 -3.38207887e-01] [ 4.59279198e-02 -6.41318091e-04 9.98944550e-01 -1.77372069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.792401008000002 meters Centerline goodness [0,1] 0.9560314353326127 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.35, Z:-0.18 [[ 9.98790056e-01 1.31847218e-02 -4.73770712e-02 2.85274394e+00] [-1.31145236e-02 9.99912395e-01 1.79223946e-03 -3.51534357e-01] [ 4.73965509e-02 -1.16874324e-03 9.98875468e-01 -1.76318075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.822401008 meters Centerline goodness [0,1] 0.9458322377070734 Centerline is valid? [True, False] Translation: X:2.86, Y:-0.35, Z:-0.18 [[ 0.99882679 0.00766706 -0.04781492 2.85588622] [-0.00784608 0.99996289 -0.00355744 -0.35035583] [ 0.04778587 0.00392843 0.99884988 -0.17915028] [ 0. 0. 0. 1. ]] SLAMing on 20.852401008 meters Centerline goodness [0,1] 0.9320090108539832 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.35, Z:-0.18 [[ 0.99879699 0.0057048 -0.04870357 2.86018812] [-0.00591142 0.99997412 -0.00409934 -0.3514225 ] [ 0.04867892 0.00438231 0.99880486 -0.1804097 ] [ 0. 0. 0. 1. ]] SLAMing on 20.882401008000002 meters Centerline goodness [0,1] 0.9321207520728717 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.35, Z:-0.18 [[ 9.98795094e-01 1.18351176e-04 -4.90749062e-02 2.86732782e+00] [-4.52535198e-04 9.99976787e-01 -6.79861731e-03 -3.50890012e-01] [ 4.90729624e-02 6.81263374e-03 9.98771962e-01 -1.83381915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.912401008 meters Centerline goodness [0,1] 0.9138748975049783 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.35, Z:-0.18 [[ 9.98772870e-01 -4.13983152e-04 -4.95235626e-02 2.86868970e+00] [ 8.01519039e-05 9.99977265e-01 -6.74265290e-03 -3.51258688e-01] [ 4.95252280e-02 6.73040938e-03 9.98750196e-01 -1.83127900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942401008 meters Centerline goodness [0,1] 0.913047282909897 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.35, Z:-0.18 [[ 9.98747057e-01 -7.44526638e-04 -5.00376033e-02 2.86967938e+00] [ 4.04070515e-04 9.99976704e-01 -6.81377671e-03 -3.50434794e-01] [ 5.00415107e-02 6.78502071e-03 9.98724091e-01 -1.82485132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.972401008000002 meters Centerline goodness [0,1] 0.9279768684833085 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.35, Z:-0.18 [[ 9.98738437e-01 -6.24212136e-04 -5.02110119e-02 2.86955895e+00] [ 2.70782432e-04 9.99975144e-01 -7.04538277e-03 -3.48772427e-01] [ 5.02141616e-02 7.02289831e-03 9.98713781e-01 -1.82077763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.002401008 meters Centerline goodness [0,1] 0.9356373871913177 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.35, Z:-0.18 [[ 0.9987225 0.00434843 -0.05034336 2.8679383 ] [-0.00449874 0.99998575 -0.00287284 -0.34541051] [ 0.05033015 0.00309565 0.99872784 -0.17988689] [ 0. 0. 0. 1. ]] SLAMing on 21.032401008 meters Centerline goodness [0,1] 0.9379298437455037 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.34, Z:-0.18 [[ 9.98675569e-01 8.36962593e-03 -5.07647295e-02 2.86856482e+00] [-8.32900161e-03 9.99964801e-01 1.01174403e-03 -3.43324525e-01] [ 5.07714106e-02 -5.87584533e-04 9.98710127e-01 -1.78983117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062401008000002 meters Centerline goodness [0,1] 0.9501430205949657 Centerline is valid? [False, True] Translation: X:2.87, Y:-0.34, Z:-0.18 [[ 0.99862328 0.01241384 -0.05096518 2.8689969 ] [-0.01220444 0.99991576 0.00441785 -0.34055405] [ 0.05101573 -0.00378977 0.99869066 -0.17898331] [ 0. 0. 0. 1. ]] SLAMing on 21.092401008000003 meters Centerline goodness [0,1] 0.9546617396247868 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.33, Z:-0.18 [[ 9.98515364e-01 1.67385176e-02 -5.18352119e-02 2.89962074e+00] [-1.66409826e-02 9.99858855e-01 2.31267809e-03 -3.34320976e-01] [ 5.18666064e-02 -1.44665574e-03 9.98652974e-01 -1.80956920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122401008 meters Centerline goodness [0,1] 0.9562370681103143 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.33, Z:-0.18 [[ 9.98387325e-01 2.12633826e-02 -5.26366549e-02 2.92877358e+00] [-2.11691802e-02 9.99773154e-01 2.34661393e-03 -3.29623333e-01] [ 5.26746114e-02 -1.22855477e-03 9.98610973e-01 -1.81186871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.152401008000002 meters Centerline goodness [0,1] 0.9548510506624659 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.33, Z:-0.18 [[ 9.98309977e-01 2.51231045e-02 -5.24024848e-02 2.95688512e+00] [-2.50352491e-02 9.99683848e-01 2.33238737e-03 -3.26635606e-01] [ 5.24445144e-02 -1.01653633e-03 9.98623322e-01 -1.81794980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182401008000003 meters Centerline goodness [0,1] 0.9597625514518523 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.32, Z:-0.18 [[ 9.98168191e-01 3.13568375e-02 -5.17398470e-02 2.98720418e+00] [-3.12797453e-02 9.99508024e-01 2.29927026e-03 -3.18652026e-01] [ 5.17864901e-02 -6.76649197e-04 9.98657950e-01 -1.78404235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.212401008 meters Centerline goodness [0,1] 0.962631961123834 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.32, Z:-0.17 [[ 9.98189260e-01 3.25604657e-02 -5.05768537e-02 3.01575170e+00] [-3.24884813e-02 9.99469589e-01 2.24494370e-03 -3.16850869e-01] [ 5.06231236e-02 -5.97713524e-04 9.98717649e-01 -1.74296675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242401008 meters Centerline goodness [0,1] 0.9644537815126051 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.32, Z:-0.17 [[ 9.98205337e-01 3.38692181e-02 -4.93860347e-02 3.04528812e+00] [-3.38023177e-02 9.99426140e-01 2.18944425e-03 -3.16368235e-01] [ 4.94318488e-02 -5.16152498e-04 9.98777366e-01 -1.72258576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.272401008000003 meters Centerline goodness [0,1] 0.9658369528900769 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.32, Z:-0.17 [[ 9.98277590e-01 3.38913127e-02 -4.78877121e-02 3.07566927e+00] [-3.38284787e-02 9.99425400e-01 2.12218465e-03 -3.15422565e-01] [ 4.79321194e-02 -4.98560928e-04 9.98850471e-01 -1.70119764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302401008 meters Centerline goodness [0,1] 0.9623457823926758 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.32, Z:-0.17 [[ 9.98289172e-01 3.35679719e-02 -4.78740075e-02 3.10678416e+00] [-3.35047552e-02 9.99436304e-01 2.12256181e-03 -3.15706012e-01] [ 4.79182712e-02 -5.14923573e-04 9.98851127e-01 -1.69829588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.332401008 meters Centerline goodness [0,1] 0.9635339708383284 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.32, Z:-0.17 [[ 9.98309495e-01 3.33133284e-02 -4.76274509e-02 3.13736482e+00] [-3.32504212e-02 9.99444819e-01 2.11269540e-03 -3.16059945e-01] [ 4.76713900e-02 -5.25491079e-04 9.98862935e-01 -1.69277172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362401008000003 meters Centerline goodness [0,1] 0.9639508928571429 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.32, Z:-0.17 [[ 9.98313025e-01 3.26288029e-02 -4.80256786e-02 3.16832939e+00] [-3.25640245e-02 9.99467380e-01 2.13082724e-03 -3.16527533e-01] [ 4.80696255e-02 -5.63323218e-04 9.98843829e-01 -1.67293515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.392401008 meters Centerline goodness [0,1] 0.9633905471944808 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.32, Z:-0.17 [[ 9.98297273e-01 3.24763791e-02 -4.84545038e-02 3.19755427e+00] [-3.24101915e-02 9.99472337e-01 2.15122769e-03 -3.18617046e-01] [ 4.84988002e-02 -5.77144989e-04 9.98823074e-01 -1.66280647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.422401008 meters Centerline goodness [0,1] 0.9644300727566694 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.32, Z:-0.17 [[ 9.98284963e-01 3.20579471e-02 -4.89838802e-02 3.22848984e+00] [-3.19897724e-02 9.99485829e-01 2.17530920e-03 -3.19026966e-01] [ 4.90284300e-02 -6.04595287e-04 9.98797200e-01 -1.65109552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.452401008000002 meters Centerline goodness [0,1] 0.9624028740914028 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.32, Z:-0.17 [[ 9.98249752e-01 3.19752712e-02 -4.97495098e-02 3.25828703e+00] [-3.19048571e-02 9.99488469e-01 2.20905005e-03 -3.20362115e-01] [ 4.97946964e-02 -6.17932662e-04 9.98759283e-01 -1.65800880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.482401008 meters Centerline goodness [0,1] 0.9606185337634887 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.32, Z:-0.17 [[ 9.98205955e-01 3.19868754e-02 -5.06133442e-02 3.28800843e+00] [-3.19140639e-02 9.99488092e-01 2.24629413e-03 -3.20377471e-01] [ 5.06592868e-02 -6.26986681e-04 9.98715797e-01 -1.66643740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.512401008 meters Centerline goodness [0,1] 0.9571012078300708 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.32, Z:-0.17 [[ 9.98023053e-01 3.38246724e-02 -5.29705291e-02 3.31659778e+00] [-3.37476114e-02 9.99427627e-01 2.34881295e-03 -3.19358009e-01] [ 5.30196581e-02 -5.56540638e-04 9.98593314e-01 -1.69371514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542401008000002 meters Centerline goodness [0,1] 0.9587960014399247 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.32, Z:-0.17 [[ 9.97941938e-01 3.51180003e-02 -5.36527267e-02 3.34593328e+00] [-3.50409326e-02 9.99383052e-01 2.37673043e-03 -3.17709202e-01] [ 5.37030918e-02 -4.91797384e-04 9.98556827e-01 -1.68386550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.572401008 meters Centerline goodness [0,1] 0.9553425492423193 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.32, Z:-0.17 [[ 9.97886567e-01 3.62541477e-02 -5.39262088e-02 3.37502707e+00] [-3.61780476e-02 9.99342509e-01 2.38702511e-03 -3.17906724e-01] [ 5.39772924e-02 -4.31035340e-04 9.98542070e-01 -1.69688006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602401008 meters Centerline goodness [0,1] 0.9566384415296917 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.32, Z:-0.17 [[ 9.97845579e-01 3.76593206e-02 -5.37212815e-02 3.40517769e+00] [-3.75859131e-02 9.99290574e-01 2.37646723e-03 -3.17345898e-01] [ 5.37726663e-02 -3.52183902e-04 9.98553141e-01 -1.67559375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.632401008000002 meters Centerline goodness [0,1] 0.9556243264900113 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.32, Z:-0.17 [[ 9.97795880e-01 3.90477713e-02 -5.36530816e-02 3.43535608e+00] [-3.89765857e-02 9.99237307e-01 2.37289720e-03 -3.17594013e-01] [ 5.37048171e-02 -2.76453124e-04 9.98556817e-01 -1.65850707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.662401008 meters Centerline goodness [0,1] 0.955044955044955 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.32, Z:-0.16 [[ 9.97741107e-01 4.06030782e-02 -5.35170463e-02 3.46555229e+00] [-4.05344539e-02 9.99175336e-01 2.36753486e-03 -3.18853136e-01] [ 5.35690420e-02 -1.92902604e-04 9.98564129e-01 -1.63685339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.692401008 meters Centerline goodness [0,1] 0.9546376851877588 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.32, Z:-0.16 [[ 9.97698085e-01 4.17793529e-02 -5.34136441e-02 3.49785301e+00] [-4.17123763e-02 9.99126853e-01 2.36859758e-03 -3.19916901e-01] [ 5.34659646e-02 -1.35135252e-04 9.98569663e-01 -1.63593117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722401008000002 meters Centerline goodness [0,1] 0.9556905584661688 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.32, Z:-0.16 [[ 9.97717032e-01 4.19588274e-02 -5.29167405e-02 3.53021247e+00] [-4.18928479e-02 9.99119332e-01 2.35592391e-03 -3.21374425e-01] [ 5.29689902e-02 -1.33712457e-04 9.98596149e-01 -1.62444791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.752401008 meters Centerline goodness [0,1] 0.9544186565498772 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.32, Z:-0.16 [[ 9.97792004e-01 4.09792176e-02 -5.22668151e-02 3.56201296e+00] [-4.09131292e-02 9.99159981e-01 2.33419878e-03 -3.24215100e-01] [ 5.23185636e-02 -1.90645920e-04 9.98630428e-01 -1.61718422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.782401008 meters Centerline goodness [0,1] 0.952125129410448 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.33, Z:-0.16 [[ 9.97818387e-01 4.08020369e-02 -5.19004803e-02 3.59430551e+00] [-4.07359689e-02 9.99167228e-01 2.33060139e-03 -3.27481379e-01] [ 5.19523523e-02 -2.11300569e-04 9.98649542e-01 -1.60727468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.812401008000002 meters Centerline goodness [0,1] 0.9499340868931085 Centerline is valid? [True, False] Translation: X:3.60, Y:-0.33, Z:-0.16 [[ 9.97816170e-01 4.02655404e-02 -5.23600745e-02 3.59561817e+00] [-4.01818734e-02 9.99188868e-01 2.65004757e-03 -3.29653882e-01] [ 5.24243092e-02 -5.40334432e-04 9.98624754e-01 -1.60363670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842401008000003 meters Centerline goodness [0,1] 0.9472050565760884 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.33, Z:-0.16 [[ 9.97980422e-01 3.62719711e-02 -5.21480694e-02 3.59491164e+00] [-3.64007714e-02 9.99336113e-01 -1.52194637e-03 -3.29784591e-01] [ 5.20582450e-02 3.41710263e-03 9.98638204e-01 -1.60932681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.872401008 meters Centerline goodness [0,1] 0.9462999345121152 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.33, Z:-0.16 [[ 0.99813598 0.0311588 -0.05247569 3.59613453] [-0.03145776 0.99949317 -0.00488072 -0.33402243] [ 0.05229702 0.00652239 0.99861027 -0.1605053 ] [ 0. 0. 0. 1. ]] SLAMing on 21.902401008000002 meters Centerline goodness [0,1] 0.9462678062678063 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.34, Z:-0.16 [[ 0.99813748 0.02963855 -0.05332103 3.59949006] [-0.02991527 0.99954276 -0.00439891 -0.3369591 ] [ 0.05316627 0.00598583 0.99856773 -0.16016059] [ 0. 0. 0. 1. ]] SLAMing on 21.932401008000003 meters Centerline goodness [0,1] 0.9439011099320274 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.34, Z:-0.16 [[ 0.99825851 0.02475567 -0.05354539 3.60111676] [-0.02527078 0.99964045 -0.0089645 -0.33695405] [ 0.05330422 0.01030202 0.99852518 -0.16182602] [ 0. 0. 0. 1. ]] SLAMing on 21.962401008 meters Centerline goodness [0,1] 0.9409345794392523 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.34, Z:-0.16 [[ 0.99826234 0.02330832 -0.05412039 3.60398704] [-0.02381016 0.99967911 -0.00864632 -0.34017185] [ 0.05390149 0.00991991 0.99849698 -0.16197918] [ 0. 0. 0. 1. ]] SLAMing on 21.992401008 meters Centerline goodness [0,1] 0.924743938429489 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.34, Z:-0.16 [[ 0.99833498 0.01697164 -0.05512917 3.60862658] [-0.0176973 0.99976271 -0.01270156 -0.34426399] [ 0.05490053 0.01365604 0.99839844 -0.16323991] [ 0. 0. 0. 1. ]] SLAMing on 22.022401008000003 meters Centerline goodness [0,1] 0.9201845243276177 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.35, Z:-0.16 [[ 0.99829721 0.01573099 -0.0561713 3.6121033 ] [-0.01644207 0.99979015 -0.01221943 -0.34685172] [ 0.05596729 0.0131222 0.99834637 -0.16294322] [ 0. 0. 0. 1. ]] SLAMing on 22.052401008 meters Centerline goodness [0,1] 0.9050381413696087 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.35, Z:-0.16 [[ 0.99827548 0.01509598 -0.05672893 3.61396912] [-0.01577966 0.99980793 -0.0116231 -0.34884607] [ 0.05654257 0.01249822 0.99832196 -0.16246773] [ 0. 0. 0. 1. ]] SLAMing on 22.082401008 meters Centerline goodness [0,1] 0.9033609777389786 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.35, Z:-0.16 [[ 0.99826812 0.01474908 -0.05694933 3.61483174] [-0.01542072 0.99981642 -0.01137229 -0.34966524] [ 0.05677115 0.0122308 0.9983123 -0.16224652] [ 0. 0. 0. 1. ]] SLAMing on 22.112401008000003 meters Centerline goodness [0,1] 0.8947658562061162 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.35, Z:-0.16 [[ 0.99818754 0.01810619 -0.05739162 3.61637766] [-0.01852389 0.9998056 -0.00675435 -0.35108428] [ 0.05725817 0.00780522 0.99832889 -0.16083176] [ 0. 0. 0. 1. ]] SLAMing on 22.142401008 meters Centerline goodness [0,1] 0.8947658562061162 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.35, Z:-0.16 [[ 0.99818754 0.01810619 -0.05739162 3.61637766] [-0.01852389 0.9998056 -0.00675435 -0.35108428] [ 0.05725817 0.00780522 0.99832889 -0.16083176] [ 0. 0. 0. 1. ]] SLAMing on 22.172401008 meters Centerline goodness [0,1] 0.8967413324072466 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.35, Z:-0.16 [[ 0.99818612 0.01822825 -0.05737761 3.6163435 ] [-0.01867621 0.99979908 -0.00728066 -0.3488626 ] [ 0.05723337 0.00833905 0.998326 -0.16128929] [ 0. 0. 0. 1. ]] SLAMing on 22.202401008000002 meters Centerline goodness [0,1] 0.8957757826887661 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.35, Z:-0.16 [[ 9.98082790e-01 2.21121970e-02 -5.78082686e-02 3.61739189e+00] [-2.23282733e-02 9.99745904e-01 -3.09448688e-03 -3.48578749e-01] [ 5.77251539e-02 4.37931291e-03 9.98322908e-01 -1.60410075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.232401008 meters Centerline goodness [0,1] 0.9111276431371427 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.35, Z:-0.16 [[ 9.97963728e-01 2.56126282e-02 -5.84156703e-02 3.61910426e+00] [-2.56182397e-02 9.99671586e-01 6.52953626e-04 -3.47263057e-01] [ 5.84132097e-02 8.44882608e-04 9.98292133e-01 -1.59776428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.262401008 meters Centerline goodness [0,1] 0.9281741164389423 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.34, Z:-0.16 [[ 9.97847119e-01 3.05545198e-02 -5.80305840e-02 3.61666897e+00] [-3.03437367e-02 9.99529347e-01 4.51019140e-03 -3.42781900e-01] [ 5.81410785e-02 -2.73961673e-03 9.98304618e-01 -1.57761149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.292401008000002 meters Centerline goodness [0,1] 0.9350881676463072 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.34, Z:-0.16 [[ 9.97830278e-01 3.11386568e-02 -5.80096504e-02 3.61586164e+00] [-3.09703401e-02 9.99513086e-01 3.79853789e-03 -3.38622560e-01] [ 5.80996860e-02 -1.99371752e-03 9.98308796e-01 -1.57906672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.322401008 meters Centerline goodness [0,1] 0.9426319803406491 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.33, Z:-0.16 [[ 9.97813107e-01 3.20833364e-02 -5.77898216e-02 3.61458187e+00] [-3.19388747e-02 9.99483966e-01 3.42192730e-03 -3.34249824e-01] [ 5.78697869e-02 -1.56870204e-03 9.98322907e-01 -1.57934666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.352401008 meters Centerline goodness [0,1] 0.9408262420310614 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.33, Z:-0.16 [[ 9.97768671e-01 3.30777364e-02 -5.79960634e-02 3.61415520e+00] [-3.29551166e-02 9.99452119e-01 3.06970464e-03 -3.29963646e-01] [ 5.80658273e-02 -1.15158808e-03 9.98312092e-01 -1.58058576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382401008000002 meters Centerline goodness [0,1] 0.9415298245614035 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.33, Z:-0.16 [[ 9.97759457e-01 3.37372446e-02 -5.77742471e-02 3.61305326e+00] [-3.36410519e-02 9.99430501e-01 2.63705000e-03 -3.26133915e-01] [ 5.78303115e-02 -6.87555129e-04 9.98326190e-01 -1.58076470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.412401008 meters Centerline goodness [0,1] 0.9412844547047534 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.32, Z:-0.16 [[ 9.97736293e-01 3.39101767e-02 -5.80722763e-02 3.61348870e+00] [-3.38610417e-02 9.99424875e-01 1.83019964e-03 -3.21806955e-01] [ 5.81009399e-02 1.40331160e-04 9.98310704e-01 -1.58571228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442401008 meters Centerline goodness [0,1] 0.9406167155016045 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.32, Z:-0.16 [[ 9.97735866e-01 3.36982949e-02 -5.82028006e-02 3.61393211e+00] [-3.36620176e-02 9.99431987e-01 1.60390189e-03 -3.21078262e-01] [ 5.82237894e-02 3.58953261e-04 9.98303492e-01 -1.58672158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.472401008000002 meters Centerline goodness [0,1] 0.9407902058987201 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.32, Z:-0.16 [[ 9.97737988e-01 3.32615325e-02 -5.84172709e-02 3.61473047e+00] [-3.32507558e-02 9.99446371e-01 1.15677718e-03 -3.19968417e-01] [ 5.84234057e-02 7.88257877e-04 9.98291583e-01 -1.58982692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.502401008 meters Centerline goodness [0,1] 0.9403134656607556 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.32, Z:-0.16 [[ 9.97742429e-01 3.31660153e-02 -5.83957291e-02 3.61470225e+00] [-3.31745859e-02 9.99449233e-01 8.22947361e-04 -3.18022941e-01] [ 5.83908606e-02 1.11616463e-03 9.98293174e-01 -1.59000970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.532401008 meters Centerline goodness [0,1] 0.9412221790531166 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.32, Z:-0.16 [[ 9.97741335e-01 3.29122418e-02 -5.85577782e-02 3.61550489e+00] [-3.29554489e-02 9.99456796e-01 2.27982587e-04 -3.16346534e-01] [ 5.85334728e-02 1.70233021e-03 9.98283995e-01 -1.59727512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562401008000002 meters Centerline goodness [0,1] 0.9394006597732376 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.16 [[ 9.97736791e-01 3.29703922e-02 -5.86024712e-02 3.61586588e+00] [-3.30454683e-02 9.99453801e-01 -3.12199794e-04 -3.14225916e-01] [ 5.85601693e-02 2.24803933e-03 9.98281350e-01 -1.60456729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.592401008000003 meters Centerline goodness [0,1] 0.9377807169821719 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.16 [[ 9.97578984e-01 3.67670931e-02 -5.90283969e-02 3.61724966e+00] [-3.66419897e-02 9.99323331e-01 3.20074880e-03 -3.12561411e-01] [ 5.91061364e-02 -1.03008183e-03 9.98251173e-01 -1.60548348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622401008 meters Centerline goodness [0,1] 0.9362759908808745 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.16 [[ 9.97571809e-01 3.69847515e-02 -5.90136811e-02 3.61701622e+00] [-3.68875364e-02 9.99315677e-01 2.73624018e-03 -3.10750303e-01] [ 5.90744959e-02 -5.52726753e-04 9.98253424e-01 -1.60846891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.652401008000002 meters Centerline goodness [0,1] 0.9348094832559545 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.16 [[ 9.97565862e-01 3.74631753e-02 -5.88120939e-02 3.61585570e+00] [-3.73697203e-02 9.99297892e-01 2.68847623e-03 -3.09506138e-01] [ 5.88715203e-02 -4.84140606e-04 9.98265451e-01 -1.60317694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682401008000003 meters Centerline goodness [0,1] 0.9357160517568198 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.16 [[ 9.97561513e-01 3.77236800e-02 -5.87192672e-02 3.61523838e+00] [-3.76410870e-02 9.99288165e-01 2.51241630e-03 -3.08244131e-01] [ 5.87722464e-02 -2.96032759e-04 9.98271374e-01 -1.60082259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.712401008 meters Centerline goodness [0,1] 0.9356686675986076 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.31, Z:-0.16 [[ 9.97561424e-01 3.79275102e-02 -5.85893305e-02 3.61466897e+00] [-3.78695273e-02 9.99280485e-01 2.10006122e-03 -3.06403824e-01] [ 5.86268247e-02 1.23810189e-04 9.98279961e-01 -1.60146812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742401008 meters Centerline goodness [0,1] 0.9342548241412344 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.16 [[ 9.97563933e-01 3.77784236e-02 -5.86429126e-02 3.61509805e+00] [-3.77320282e-02 9.99286090e-01 1.89865813e-03 -3.06238016e-01] [ 5.86727751e-02 3.18683156e-04 9.98277218e-01 -1.60552344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.772401008000003 meters Centerline goodness [0,1] 0.9366385911179174 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.16 [[ 9.97568440e-01 3.73238727e-02 -5.88569089e-02 3.61633413e+00] [-3.72991945e-02 9.99302990e-01 1.51822923e-03 -3.06240951e-01] [ 5.88725512e-02 6.80777732e-04 9.98265275e-01 -1.61443451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.802401008 meters Centerline goodness [0,1] 0.9371835226495142 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.16 [[ 9.97565289e-01 3.71783464e-02 -5.90022489e-02 3.61703004e+00] [-3.71510310e-02 9.99308444e-01 1.56022103e-03 -3.06825718e-01] [ 5.90194520e-02 6.35572035e-04 9.98256630e-01 -1.61791450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.832401008 meters Centerline goodness [0,1] 0.9392207506731879 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.16 [[ 9.97568324e-01 3.76262903e-02 -5.86660129e-02 3.61594712e+00] [-3.75565018e-02 9.99291877e-01 2.29212224e-03 -3.08761844e-01] [ 5.87107142e-02 -8.32583221e-05 9.98275035e-01 -1.61151037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.862401008000003 meters Centerline goodness [0,1] 0.9393889483653134 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.16 [[ 9.97558576e-01 3.77334064e-02 -5.87628912e-02 3.61582876e+00] [-3.76513804e-02 9.99287801e-01 2.50286116e-03 -3.09416019e-01] [ 5.88154818e-02 -2.84246646e-04 9.98268831e-01 -1.60674751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.892401008 meters Centerline goodness [0,1] 0.9373408885604008 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.16 [[ 9.97547149e-01 3.77119937e-02 -5.89702592e-02 3.61617673e+00] [-3.76258261e-02 9.99288590e-01 2.57128645e-03 -3.09833236e-01] [ 5.90252755e-02 -3.46174748e-04 9.98256428e-01 -1.60448861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.922401008 meters Centerline goodness [0,1] 0.9370323503521126 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.16 [[ 9.97541667e-01 3.80472622e-02 -5.88475089e-02 3.61571405e+00] [-3.79460124e-02 9.99275762e-01 2.83747746e-03 -3.10479384e-01] [ 5.89128475e-02 -5.97473696e-04 9.98262951e-01 -1.60332716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.952401008000002 meters Centerline goodness [0,1] 0.9391404831343202 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.16 [[ 9.97531211e-01 3.79819822e-02 -5.90665136e-02 3.61652331e+00] [-3.78916148e-02 9.99278342e-01 2.64961983e-03 -3.10815756e-01] [ 5.91245256e-02 -4.04952891e-04 9.98250533e-01 -1.60937673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.982401008 meters Centerline goodness [0,1] 0.9333829447108759 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.16 [[ 9.97515827e-01 3.84797899e-02 -5.90040778e-02 3.61688368e+00] [-3.84070529e-02 9.99259374e-01 2.36674669e-03 -3.11341891e-01] [ 5.90514498e-02 -9.46945489e-05 9.98254936e-01 -1.62629406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.012401008 meters Centerline goodness [0,1] 0.929915282209264 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.16 [[ 9.97504705e-01 3.80151531e-02 -5.94912754e-02 3.61903214e+00] [-3.79876355e-02 9.99276938e-01 1.59385766e-03 -3.10479649e-01] [ 5.95088503e-02 6.70052370e-04 9.98227553e-01 -1.64318155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.042401008000002 meters Centerline goodness [0,1] 0.9294299687767678 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.17 [[ 9.97502869e-01 3.78939259e-02 -5.95992981e-02 3.62008593e+00] [-3.78831015e-02 9.99281316e-01 1.31192249e-03 -3.10537953e-01] [ 5.96061790e-02 9.49159812e-04 9.98221520e-01 -1.65563494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.072401008 meters Centerline goodness [0,1] 0.9294538001329493 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.17 [[ 9.97491086e-01 3.74156066e-02 -6.00966402e-02 3.62198911e+00] [-3.74142700e-02 9.99299182e-01 1.14788911e-03 -3.11701752e-01] [ 6.00974724e-02 1.10346276e-03 9.98191903e-01 -1.66421609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.102401008 meters Centerline goodness [0,1] 0.9267734553775744 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.17 [[ 9.97615220e-01 3.32868071e-02 -6.04637237e-02 3.62265527e+00] [-3.34886666e-02 9.99436386e-01 -2.32796374e-03 -3.14914048e-01] [ 6.03521550e-02 4.34726154e-03 9.98167681e-01 -1.66661369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.132401008000002 meters Centerline goodness [0,1] 0.9238886394252357 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.32, Z:-0.17 [[ 9.97602499e-01 3.27988157e-02 -6.09384211e-02 3.62395742e+00] [-3.29598063e-02 9.99455335e-01 -1.63827349e-03 -3.18384742e-01] [ 6.08514966e-02 3.64286428e-03 9.98140183e-01 -1.65990715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.162401008 meters Centerline goodness [0,1] 0.9268814179209452 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.32, Z:-0.17 [[ 9.97600747e-01 3.23021166e-02 -6.12317125e-02 3.62487088e+00] [-3.24133204e-02 9.99474211e-01 -8.23431412e-04 -3.21727136e-01] [ 6.11729190e-02 2.80617891e-03 9.98123239e-01 -1.65080938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.192401008 meters Centerline goodness [0,1] 0.9282137369828715 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.32, Z:-0.16 [[ 0.99775157 0.02760996 -0.06106954 3.6249394 ] [-0.02791744 0.99960146 -0.0041872 -0.32471017] [ 0.0609296 0.00588269 0.99812473 -0.16490755] [ 0. 0. 0. 1. ]] SLAMing on 23.222401008000002 meters Centerline goodness [0,1] 0.9302849644864079 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.33, Z:-0.16 [[ 9.97739618e-01 2.65800399e-02 -6.17183608e-02 3.62686055e+00] [-2.68359400e-02 9.99634335e-01 -3.32089263e-03 -3.28185148e-01] [ 6.16075231e-02 4.96965637e-03 9.98088080e-01 -1.63575415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.252401008000003 meters Centerline goodness [0,1] 0.9336715788273523 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.33, Z:-0.16 [[ 9.97711080e-01 2.53721996e-02 -6.26805623e-02 3.62948860e+00] [-2.55442975e-02 9.99671798e-01 -1.94567923e-03 -3.32460375e-01] [ 6.26106242e-02 3.54235666e-03 9.98031744e-01 -1.61358329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.282401008 meters Centerline goodness [0,1] 0.9336418430599595 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.34, Z:-0.16 [[ 9.97705481e-01 2.40250295e-02 -6.32974759e-02 3.63160083e+00] [-2.41592835e-02 9.99707202e-01 -1.35636621e-03 -3.36294137e-01] [ 6.32463558e-02 2.88247567e-03 9.97993782e-01 -1.60199468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.312401008000002 meters Centerline goodness [0,1] 0.9345091055322572 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.34, Z:-0.16 [[ 0.99778491 0.01898664 -0.06375568 3.63302797] [-0.01933834 0.99980097 -0.00490385 -0.33833186] [ 0.06364988 0.00612592 0.99795349 -0.15967671] [ 0. 0. 0. 1. ]] SLAMing on 23.342401008000003 meters Centerline goodness [0,1] 0.9327291037260825 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.34, Z:-0.16 [[ 0.99776546 0.01842568 -0.06422288 3.63435337] [-0.01875901 0.99981349 -0.00459109 -0.33945136] [ 0.06412631 0.00578559 0.99792502 -0.15911584] [ 0. 0. 0. 1. ]] SLAMing on 23.372401008 meters Centerline goodness [0,1] 0.9245023234467329 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.34, Z:-0.16 [[ 0.99773192 0.01789143 -0.0648915 3.63597982] [-0.01820403 0.99982535 -0.00422908 -0.34017436] [ 0.0648045 0.00540077 0.99788336 -0.15825653] [ 0. 0. 0. 1. ]] SLAMing on 23.402401008000002 meters Centerline goodness [0,1] 0.9285673237170278 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.34, Z:-0.16 [[ 0.99772043 0.01766068 -0.06513103 3.63670356] [-0.01796844 0.99982997 -0.00414235 -0.34052887] [ 0.0650468 0.00530321 0.99786812 -0.15812304] [ 0. 0. 0. 1. ]] SLAMing on 23.432401008000003 meters Centerline goodness [0,1] 0.923419437705152 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.34, Z:-0.16 [[ 0.99770695 0.01686571 -0.06554685 3.63852106] [-0.01721716 0.99984025 -0.00480069 -0.33855526] [ 0.06545541 0.00591821 0.99783794 -0.15887889] [ 0. 0. 0. 1. ]] SLAMing on 23.462401008 meters Centerline goodness [0,1] 0.9253109665639621 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.34, Z:-0.16 [[ 0.99769803 0.01652662 -0.06576865 3.63911698] [-0.01690099 0.99984396 -0.00513991 -0.33689657] [ 0.06567344 0.00623963 0.99782166 -0.15877604] [ 0. 0. 0. 1. ]] SLAMing on 23.492401008 meters Centerline goodness [0,1] 0.9223127359427776 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.33, Z:-0.16 [[ 0.997662 0.01563507 -0.06652871 3.64076417] [-0.01604824 0.99985508 -0.0056806 -0.33475362] [ 0.06643026 0.00673498 0.99776834 -0.15800922] [ 0. 0. 0. 1. ]] SLAMing on 23.522401008000003 meters Centerline goodness [0,1] 0.9125500099310502 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.33, Z:-0.16 [[ 0.99765073 0.01535017 -0.06676366 3.64114734] [-0.01577925 0.99985807 -0.00590415 -0.33338749] [ 0.06666356 0.00694376 0.99775135 -0.15756986] [ 0. 0. 0. 1. ]] SLAMing on 23.552401008 meters Centerline goodness [0,1] 0.9063941804183532 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.33, Z:-0.16 [[ 0.99764198 0.01492473 -0.0669905 3.64179259] [-0.01537398 0.99986262 -0.00619556 -0.33160611] [ 0.06688883 0.00721086 0.99773438 -0.15733948] [ 0. 0. 0. 1. ]] SLAMing on 23.582401008 meters Centerline goodness [0,1] 0.9152681477288807 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.33, Z:-0.16 [[ 0.99762109 0.01409697 -0.06747918 3.64346158] [-0.01459266 0.99987 -0.00685857 -0.32960897] [ 0.06737373 0.00782695 0.99769711 -0.15766843] [ 0. 0. 0. 1. ]] SLAMing on 23.612401008000003 meters Centerline goodness [0,1] 0.9071761993138744 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.33, Z:-0.16 [[ 0.99757707 0.0129118 -0.06836142 3.64641923] [-0.01346345 0.99988037 -0.00761501 -0.32791393] [ 0.06825491 0.00851694 0.99763156 -0.15828186] [ 0. 0. 0. 1. ]] SLAMing on 23.642401008 meters Centerline goodness [0,1] 0.8632752182823774 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.32, Z:-0.16 [[ 0.99751141 0.01027746 -0.06975207 3.65213499] [-0.01097811 0.99989299 -0.00966894 -0.32442842] [ 0.06964523 0.01041063 0.9975175 -0.16054324] [ 0. 0. 0. 1. ]] SLAMing on 23.672401008 meters Centerline goodness [0,1] 0.866025228652141 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.32, Z:-0.16 [[ 0.99745635 0.00895813 -0.07071474 3.65558399] [-0.00973056 0.99989662 -0.01058621 -0.32279415] [ 0.0706126 0.01124738 0.9974404 -0.16159561] [ 0. 0. 0. 1. ]] SLAMing on 23.702401008000002 meters Centerline goodness [0,1] 0.8478285140113877 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.32, Z:-0.16 [[ 0.99741523 0.00808481 -0.07139672 3.65785728] [-0.00890564 0.99989778 -0.01118589 -0.32140428] [ 0.07129898 0.01179281 0.99738527 -0.16213264] [ 0. 0. 0. 1. ]] SLAMing on 23.732401008 meters Centerline goodness [0,1] 0.8465171848517685 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.32, Z:-0.16 [[ 0.99729812 0.01045889 -0.07271224 3.66181719] [-0.01098609 0.99991616 -0.00685438 -0.32248369] [ 0.07263445 0.00763468 0.99732941 -0.16057355] [ 0. 0. 0. 1. ]] SLAMing on 23.762401008 meters Centerline goodness [0,1] 0.8322794422200746 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.32, Z:-0.16 [[ 0.99727179 0.00946733 -0.07320753 3.663657 ] [-0.01009652 0.99991517 -0.00822937 -0.31618387] [ 0.07312341 0.00894606 0.99728278 -0.16123186] [ 0. 0. 0. 1. ]] SLAMing on 23.792401008000002 meters Centerline goodness [0,1] 0.8435033686236766 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.32, Z:-0.16 [[ 0.99717168 0.01272266 -0.07407279 3.66572757] [-0.01304705 0.99990729 -0.00389709 -0.31601894] [ 0.07401634 0.0048525 0.99724522 -0.15962138] [ 0. 0. 0. 1. ]] SLAMing on 23.822401008 meters Centerline goodness [0,1] 0.8380754169291015 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.31, Z:-0.16 [[ 0.99715038 0.01242792 -0.07440883 3.66600882] [-0.01277986 0.99990928 -0.00425559 -0.31344572] [ 0.07434919 0.0051944 0.99721874 -0.15883843] [ 0. 0. 0. 1. ]] SLAMing on 23.852401008 meters Centerline goodness [0,1] 0.8279346697984378 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.31, Z:-0.16 [[ 0.99713804 0.01235942 -0.07458534 3.66580627] [-0.01272879 0.99990895 -0.00447905 -0.31117185] [ 0.07452319 0.00541562 0.99720458 -0.1579645 ] [ 0. 0. 0. 1. ]] SLAMing on 23.882401008000002 meters Centerline goodness [0,1] 0.8294953454189122 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.31, Z:-0.16 [[ 0.99712131 0.01212629 -0.07484687 3.66595028] [-0.01253096 0.99990928 -0.0049394 -0.30819132] [ 0.07478018 0.00586308 0.99718281 -0.15728513] [ 0. 0. 0. 1. ]] SLAMing on 23.912401008 meters Centerline goodness [0,1] 0.8227469775707478 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.30, Z:-0.16 [[ 9.97033324e-01 1.53047267e-02 -7.54341854e-02 3.66666071e+00] [-1.55032904e-02 9.99877721e-01 -2.04737259e-03 -3.02387279e-01] [ 7.53936269e-02 3.21077678e-03 9.97148681e-01 -1.55702269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.942401008 meters Centerline goodness [0,1] 0.8200630139912422 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.30, Z:-0.15 [[ 9.96908470e-01 1.84596692e-02 -7.63723981e-02 3.66869459e+00] [-1.83854430e-02 9.99829571e-01 1.67494230e-03 -3.00511261e-01] [ 7.63903008e-02 -2.65623797e-04 9.97077957e-01 -1.54274788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.972401008000002 meters Centerline goodness [0,1] 0.81081153087867 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.30, Z:-0.15 [[ 9.96905887e-01 1.84425062e-02 -7.64102497e-02 3.66800940e+00] [-1.84084722e-02 9.99829889e-01 1.14977571e-03 -2.96305748e-01] [ 7.64184562e-02 2.60377778e-04 9.97075800e-01 -1.53320720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.002401008000003 meters Centerline goodness [0,1] 0.819577583482566 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.29, Z:-0.15 [[ 9.96905569e-01 1.80354996e-02 -7.65114881e-02 3.66749375e+00] [-1.80933167e-02 9.99836301e-01 -6.24874863e-05 -2.87769841e-01] [ 7.64978362e-02 1.44664071e-03 9.97068698e-01 -1.52189785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.032401008 meters Centerline goodness [0,1] 0.819577583482566 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.29, Z:-0.15 [[ 9.96905569e-01 1.80354996e-02 -7.65114881e-02 3.66749375e+00] [-1.80933167e-02 9.99836301e-01 -6.24874863e-05 -2.87769841e-01] [ 7.64978362e-02 1.44664071e-03 9.97068698e-01 -1.52189785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.062401008000002 meters Centerline goodness [0,1] 0.8060890297901329 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.28, Z:-0.15 [[ 9.96903962e-01 1.76915932e-02 -7.66126513e-02 3.66760458e+00] [-1.78151264e-02 9.99840866e-01 -9.29249009e-04 -2.83072336e-01] [ 7.65840198e-02 2.29123608e-03 9.97060499e-01 -1.52041242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.092401008000003 meters Centerline goodness [0,1] 0.7894204064681911 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.28, Z:-0.15 [[ 9.96895267e-01 1.70805673e-02 -7.68640380e-02 3.66846658e+00] [-1.72896229e-02 9.99848411e-01 -2.05512566e-03 -2.77878183e-01] [ 7.68172836e-02 3.37769528e-03 9.97039466e-01 -1.52403932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.122401008 meters Centerline goodness [0,1] 0.7843096933398452 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.27, Z:-0.15 [[ 9.96889288e-01 1.64397492e-02 -7.70810108e-02 3.66940117e+00] [-1.67451361e-02 9.99854288e-01 -3.31719934e-03 -2.72527508e-01] [ 7.70152452e-02 4.59761251e-03 9.97019315e-01 -1.53069836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.152401008000002 meters Centerline goodness [0,1] 0.8067918375665555 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.27, Z:-0.15 [[ 9.96771073e-01 1.78792470e-02 -7.82800085e-02 3.67405514e+00] [-1.80897450e-02 9.99834405e-01 -1.98068715e-03 -2.65515862e-01] [ 7.82316325e-02 3.39035705e-03 9.96929444e-01 -1.54471399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182401008000003 meters Centerline goodness [0,1] 0.8151328621729108 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.26, Z:-0.15 [[ 9.96752939e-01 1.71258936e-02 -7.86783523e-02 3.67532527e+00] [-1.74278904e-02 9.99843150e-01 -3.15326273e-03 -2.61178917e-01] [ 7.86120092e-02 4.51422159e-03 9.96895067e-01 -1.54960264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.212401008 meters Centerline goodness [0,1] 0.7665995975855131 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.26, Z:-0.16 [[ 0.99672916 0.01631239 -0.07915106 3.67673288] [-0.01670109 0.99985149 -0.00425137 -0.25738392] [ 0.07906995 0.00555937 0.99685357 -0.15529646] [ 0. 0. 0. 1. ]] SLAMing on 24.242401008 meters Centerline goodness [0,1] 0.8002438174851968 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.26, Z:-0.15 [[ 9.96608690e-01 1.84753942e-02 -8.01858959e-02 3.67987945e+00] [-1.86202030e-02 9.99826069e-01 -1.05848204e-03 -2.56473019e-01] [ 8.01523932e-02 2.54797005e-03 9.96779365e-01 -1.54609211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.272401008000003 meters Centerline goodness [0,1] 0.7797443947296863 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.25, Z:-0.15 [[ 9.96604500e-01 1.70365304e-02 -8.05557356e-02 3.67985753e+00] [-1.73410514e-02 9.99844882e-01 -3.08211536e-03 -2.48404509e-01] [ 8.04907314e-02 4.46857118e-03 9.96745341e-01 -1.53308813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.302401008 meters Centerline goodness [0,1] 0.8144526942586194 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.24, Z:-0.15 [[ 0.99660306 0.01678017 -0.08062736 3.67941534] [-0.01715121 0.99984526 -0.0039116 -0.24318225] [ 0.08054925 0.00528117 0.99673664 -0.1525428 ] [ 0. 0. 0. 1. ]] SLAMing on 24.332401008 meters Centerline goodness [0,1] 0.8026124113819559 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.24, Z:-0.15 [[ 9.96515690e-01 2.00671029e-02 -8.09554817e-02 3.68012181e+00] [-2.01889433e-02 9.99795947e-01 -6.86680944e-04 -2.40045501e-01] [ 8.09251827e-02 2.31869396e-03 9.96717482e-01 -1.51608336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.362401008000003 meters Centerline goodness [0,1] 0.7950154420742657 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.23, Z:-0.15 [[ 9.96453239e-01 2.29957673e-02 -8.09452752e-02 3.67843592e+00] [-2.29862448e-02 9.99735230e-01 1.04960548e-03 -2.29757547e-01] [ 8.09479798e-02 8.14745135e-04 9.96717995e-01 -1.49121006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.392401008 meters Centerline goodness [0,1] 0.7983143399810066 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.22, Z:-0.15 [[ 9.96457210e-01 2.46153984e-02 -8.04183474e-02 3.67669228e+00] [-2.45287548e-02 9.99696992e-01 2.06526439e-03 -2.24201438e-01] [ 8.04448173e-02 -8.53856675e-05 9.96759060e-01 -1.47835775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.422401008 meters Centerline goodness [0,1] 0.8178310077884186 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.22, Z:-0.15 [[ 9.96338549e-01 2.80386665e-02 -8.07671326e-02 3.67731450e+00] [-2.77268027e-02 9.99603131e-01 4.98044760e-03 -2.20078360e-01] [ 8.08747237e-02 -2.72279759e-03 9.96720555e-01 -1.47054633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.452401008000002 meters Centerline goodness [0,1] 0.8203318532367375 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.21, Z:-0.15 [[ 0.99622051 0.03136877 -0.08099813 3.67798668] [-0.03085457 0.99949505 0.00759244 -0.21491995] [ 0.08119539 -0.00506458 0.99668534 -0.14675703] [ 0. 0. 0. 1. ]] SLAMing on 24.482401008 meters Centerline goodness [0,1] 0.8294857248709102 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.21, Z:-0.15 [[ 0.99608484 0.03449322 -0.08139544 3.67919148] [-0.03378729 0.99937867 0.01003471 -0.20954703] [ 0.081691 -0.00724529 0.99663137 -0.14665076] [ 0. 0. 0. 1. ]] SLAMing on 24.512401008 meters Centerline goodness [0,1] 0.7674243633296094 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.20, Z:-0.15 [[ 0.99596576 0.03700043 -0.0817507 3.6801417 ] [-0.03621693 0.9992829 0.01104666 -0.19783071] [ 0.08210081 -0.00804133 0.99659159 -0.14644352] [ 0. 0. 0. 1. ]] SLAMing on 24.542401008000002 meters Centerline goodness [0,1] 0.824590311949799 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.19, Z:-0.15 [[ 0.99596425 0.03585415 -0.0822782 3.68182504] [-0.03523726 0.99933901 0.00893789 -0.19112626] [ 0.08254428 -0.00600256 0.99656932 -0.14725276] [ 0. 0. 0. 1. ]] SLAMing on 24.572401008 meters Centerline goodness [0,1] 0.813449703479915 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.19, Z:-0.15 [[ 0.99598076 0.03544552 -0.08225532 3.68159085] [-0.03493064 0.99936015 0.00769053 -0.18505551] [ 0.08247528 -0.00478639 0.99658162 -0.14701991] [ 0. 0. 0. 1. ]] SLAMing on 24.602401008 meters Centerline goodness [0,1] 0.8105170323007387 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.18, Z:-0.15 [[ 9.95978956e-01 3.42484472e-02 -8.27826289e-02 3.68322153e+00] [-3.38893650e-02 9.99409111e-01 5.73931758e-03 -1.78879389e-01] [ 8.29302762e-02 -2.91078880e-03 9.96551101e-01 -1.47615409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.632401008000002 meters Centerline goodness [0,1] 0.7748716059548832 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.17, Z:-0.15 [[ 9.95981591e-01 3.26308573e-02 -8.34020260e-02 3.68509277e+00] [-3.24143122e-02 9.99466715e-01 3.94951371e-03 -1.67201624e-01] [ 8.34864250e-02 -1.23022363e-03 9.96508155e-01 -1.46971503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662401008000003 meters Centerline goodness [0,1] 0.7997895460207018 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.16, Z:-0.15 [[ 9.95991034e-01 3.19416453e-02 -8.35559146e-02 3.68537428e+00] [-3.18401853e-02 9.99489728e-01 2.54688414e-03 -1.60893968e-01] [ 8.35946300e-02 1.23762035e-04 9.96499836e-01 -1.46748411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.692401008 meters Centerline goodness [0,1] 0.7907011320915018 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.15, Z:-0.15 [[ 9.96003431e-01 3.15083047e-02 -8.35726745e-02 3.68518279e+00] [-3.15076737e-02 9.99502629e-01 1.32677634e-03 -1.53941711e-01] [ 8.35729124e-02 1.31170677e-03 9.96500802e-01 -1.46256409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722401008000002 meters Centerline goodness [0,1] 0.7824959752451441 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.15, Z:-0.15 [[ 9.95957505e-01 3.31011717e-02 -8.35042512e-02 3.68605296e+00] [-3.30173382e-02 9.99451933e-01 2.38508029e-03 -1.47928177e-01] [ 8.35374343e-02 3.81649487e-04 9.96504567e-01 -1.46555446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.752401008000003 meters Centerline goodness [0,1] 0.7603851214469205 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.13, Z:-0.15 [[ 9.95911024e-01 3.48546310e-02 -8.33449930e-02 3.68574703e+00] [-3.48188095e-02 9.99391866e-01 1.88371856e-03 -1.32981391e-01] [ 8.33599644e-02 1.02595735e-03 9.96518973e-01 -1.46173879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.782401008 meters Centerline goodness [0,1] 0.7661333999916677 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.13, Z:-0.15 [[ 0.99618948 0.03783298 -0.07858233 3.7006382 ] [-0.03835642 0.99925079 -0.00516192 -0.12559619] [ 0.07832817 0.00815639 0.99689426 -0.15009933] [ 0. 0. 0. 1. ]] SLAMing on 24.812401008000002 meters Centerline goodness [0,1] 0.7922725470969896 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.12, Z:-0.15 [[ 9.96071897e-01 4.07958523e-02 -7.85905544e-02 3.70136128e+00] [-4.12015577e-02 9.99144559e-01 -3.54698968e-03 -1.17695199e-01] [ 7.83786224e-02 6.77111000e-03 9.96900669e-01 -1.50284042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842401008000003 meters Centerline goodness [0,1] 0.7935058980451002 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.11, Z:-0.15 [[ 9.95930442e-01 4.33243650e-02 -7.90288148e-02 3.70336737e+00] [-4.36406855e-02 9.99044692e-01 -2.27904576e-03 -1.09324870e-01] [ 7.88545797e-02 5.71864271e-03 9.96869727e-01 -1.50821929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.872401008 meters Centerline goodness [0,1] 0.6722694326418395 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.09, Z:-0.16 [[ 0.99626001 0.04654138 -0.07280042 3.71801552] [-0.04727203 0.9988472 -0.0083448 -0.08950874] [ 0.07232812 0.01175501 0.99731162 -0.1554626 ] [ 0. 0. 0. 1. ]] SLAMing on 24.902401008000002 meters Centerline goodness [0,1] 0.6533606489529012 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.08, Z:-0.16 [[ 0.99612203 0.0484711 -0.07342649 3.72045964] [-0.04915259 0.99876311 -0.00750191 -0.08103988] [ 0.07297205 0.01108192 0.99727242 -0.1559139 ] [ 0. 0. 0. 1. ]] SLAMing on 24.932401008000003 meters Centerline goodness [0,1] 0.6520123710484256 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.07, Z:-0.16 [[ 0.9960225 0.05047807 -0.07342444 3.72049571] [-0.05110435 0.99867101 -0.00667486 -0.07246446] [ 0.07298993 0.01040062 0.99727845 -0.15519659] [ 0. 0. 0. 1. ]] SLAMing on 24.962401008 meters Centerline goodness [0,1] 0.643553270020321 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.05, Z:-0.15 [[ 0.9958559 0.05199149 -0.0746184 3.72420908] [-0.05257807 0.99859929 -0.00591704 -0.05299392] [ 0.07420625 0.00981581 0.99719461 -0.15352253] [ 0. 0. 0. 1. ]] SLAMing on 24.992401008 meters Centerline goodness [0,1] 0.6359337080749207 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.04, Z:-0.15 [[ 0.99571899 0.05405307 -0.07497968 3.72535828] [-0.05458704 0.99849605 -0.00508905 -0.04355466] [ 0.07459184 0.00916018 0.99717208 -0.15301944] [ 0. 0. 0. 1. ]] SLAMing on 25.022401008000003 meters Centerline goodness [0,1] 0.6740728366187771 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.03, Z:-0.15 [[ 0.99560473 0.05629018 -0.07485082 3.72476793] [-0.05676811 0.99837825 -0.00427127 -0.03408231] [ 0.074489 0.00850163 0.9971856 -0.15181191] [ 0. 0. 0. 1. ]] SLAMing on 25.052401008 meters Centerline goodness [0,1] 0.6510937078044828 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.02, Z:-0.15 [[ 9.95451717e-01 5.81423692e-02 -7.54674986e-02 3.72711423e+00] [-5.85878017e-02 9.98275403e-01 -3.70001488e-03 -2.48475835e-02] [ 7.51222199e-02 8.10466101e-03 9.97141397e-01 -1.52092835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.082401008 meters Centerline goodness [0,1] 0.6667014635572166 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.00, Z:-0.15 [[ 9.95210150e-01 6.18091599e-02 -7.57389243e-02 3.73084806e+00] [-6.21786022e-02 9.98061839e-01 -2.52726454e-03 -4.44806357e-03] [ 7.54359219e-02 7.22449977e-03 9.97124480e-01 -1.53973536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.112401008000003 meters Centerline goodness [0,1] 0.6460832377177428 Centerline is valid? [False, False] Translation: X:3.73, Y:0.01, Z:-0.16 [[ 9.95056191e-01 6.35434997e-02 -7.63243111e-02 3.73406129e+00] [-6.39014750e-02 9.97953665e-01 -2.25472002e-03 5.03255634e-03] [ 7.60248532e-02 7.12080918e-03 9.97080496e-01 -1.55391734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.142401008 meters Centerline goodness [0,1] 0.6470222166905222 Centerline is valid? [False, False] Translation: X:3.74, Y:0.01, Z:-0.16 [[ 9.94884087e-01 6.53776893e-02 -7.70156526e-02 3.73747389e+00] [-6.57067945e-02 9.97837449e-01 -1.74428901e-03 1.38193927e-02] [ 7.67350647e-02 6.79581703e-03 9.97028358e-01 -1.56734092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.172401008 meters Centerline goodness [0,1] 0.6565032161055885 Centerline is valid? [False, False] Translation: X:3.74, Y:0.02, Z:-0.16 [[ 9.94726136e-01 6.75009830e-02 -7.72239059e-02 3.73921201e+00] [-6.77769020e-02 9.97700045e-01 -9.54653097e-04 2.19723484e-02] [ 7.69818544e-02 6.18361548e-03 9.97013318e-01 -1.57377476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.202401008000002 meters Centerline goodness [0,1] 0.6456510389474783 Centerline is valid? [False, False] Translation: X:3.74, Y:0.04, Z:-0.16 [[ 9.94435304e-01 7.10087567e-02 -7.78214764e-02 3.74237073e+00] [-7.12165550e-02 9.97460872e-01 1.05367553e-04 3.90345586e-02] [ 7.76313598e-02 5.43739624e-03 9.96967305e-01 -1.57827565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.232401008 meters Centerline goodness [0,1] 0.6667706838086918 Centerline is valid? [False, False] Translation: X:3.74, Y:0.05, Z:-0.16 [[ 9.94231805e-01 7.33506011e-02 -7.82483661e-02 3.74470487e+00] [-7.34988846e-02 9.97294811e-01 9.87178645e-04 4.71928395e-02] [ 7.81090996e-02 4.76968323e-03 9.96933407e-01 -1.58537939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.262401008 meters Centerline goodness [0,1] 0.6562084717607973 Centerline is valid? [False, False] Translation: X:3.76, Y:0.07, Z:-0.16 [[ 9.94132368e-01 7.91281526e-02 -7.37534438e-02 3.76101149e+00] [-7.95436886e-02 9.96827699e-01 -2.70931362e-03 6.53006250e-02] [ 7.33050927e-02 8.56003734e-03 9.97272826e-01 -1.60943499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.292401008000002 meters Centerline goodness [0,1] 0.6785440374769396 Centerline is valid? [False, False] Translation: X:3.76, Y:0.07, Z:-0.16 [[ 9.93887425e-01 8.19964760e-02 -7.39213399e-02 3.76218195e+00] [-8.23362815e-02 9.96603389e-01 -1.55609881e-03 7.34553162e-02] [ 7.35426632e-02 7.63299529e-03 9.97262861e-01 -1.60778336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.322401008 meters Centerline goodness [0,1] 0.6833402403646913 Centerline is valid? [False, False] Translation: X:3.76, Y:0.08, Z:-0.16 [[ 9.93624758e-01 8.49736627e-02 -7.40899217e-02 3.76309983e+00] [-8.52262040e-02 9.96361597e-01 -2.47969724e-04 8.12289351e-02] [ 7.37992819e-02 6.56079164e-03 9.97251534e-01 -1.60320246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.352401008 meters Centerline goodness [0,1] 0.6882091557300816 Centerline is valid? [False, False] Translation: X:3.76, Y:0.09, Z:-0.16 [[ 9.93345643e-01 8.80244133e-02 -7.42707014e-02 3.76414914e+00] [-8.81787273e-02 9.96103940e-01 1.20519089e-03 8.85503395e-02] [ 7.40874246e-02 5.35192481e-03 9.97237389e-01 -1.59962598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.382401008000002 meters Centerline goodness [0,1] 0.7147814883314977 Centerline is valid? [False, False] Translation: X:3.76, Y:0.10, Z:-0.16 [[ 9.92800268e-01 9.41897357e-02 -7.39994735e-02 3.76408121e+00] [-9.41035192e-02 9.95551518e-01 4.65861756e-03 1.00733934e-01] [ 7.41090821e-02 2.33853412e-03 9.97247399e-01 -1.58404338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.412401008000003 meters Centerline goodness [0,1] 0.7211207705297392 Centerline is valid? [False, False] Translation: X:3.76, Y:0.11, Z:-0.16 [[ 9.92485238e-01 9.74616057e-02 -7.39884319e-02 3.76496899e+00] [-9.72130485e-02 9.95239245e-01 6.96188958e-03 1.05288884e-01] [ 7.43147080e-02 2.83068382e-04 9.97234799e-01 -1.58333369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.442401008 meters Centerline goodness [0,1] 0.7295635499603985 Centerline is valid? [False, False] Translation: X:3.77, Y:0.11, Z:-0.16 [[ 9.92173341e-01 1.00605457e-01 -7.39635342e-02 3.76607683e+00] [-1.00201674e-01 9.94924988e-01 9.15928127e-03 1.09967217e-01] [ 7.45096420e-02 -1.67632475e-03 9.97218884e-01 -1.58532470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.472401008000002 meters Centerline goodness [0,1] 0.7308657855972116 Centerline is valid? [False, False] Translation: X:3.77, Y:0.11, Z:-0.16 [[ 9.91849886e-01 1.03694049e-01 -7.40361323e-02 3.76791629e+00] [-1.03132455e-01 9.94602542e-01 1.13789158e-02 1.14421784e-01] [ 7.48164512e-02 -3.65064827e-03 9.97190639e-01 -1.59311399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.502401008000003 meters Centerline goodness [0,1] 0.7378245234779355 Centerline is valid? [False, False] Translation: X:3.77, Y:0.12, Z:-0.16 [[ 0.99153019 0.10646627 -0.07438295 3.77111169] [-0.10584009 0.99430682 0.01232121 0.12441174] [ 0.07527127 -0.00434416 0.99715363 -0.16071126] [ 0. 0. 0. 1. ]] SLAMing on 25.532401008 meters Centerline goodness [0,1] 0.7413383364602877 Centerline is valid? [False, False] Translation: X:3.77, Y:0.13, Z:-0.16 [[ 9.91561624e-01 1.05854572e-01 -7.48355247e-02 3.77258263e+00] [-1.05340741e-01 9.94377631e-01 1.07914424e-02 1.28907101e-01] [ 7.55570953e-02 -2.81715055e-03 9.97137498e-01 -1.61238491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562401008000002 meters Centerline goodness [0,1] 0.7466755457515659 Centerline is valid? [False, False] Translation: X:3.77, Y:0.13, Z:-0.16 [[ 9.91586269e-01 1.05336641e-01 -7.52387063e-02 3.77355851e+00] [-1.04924226e-01 9.94435562e-01 9.42439968e-03 1.33030475e-01] [ 7.58127798e-02 -1.45074226e-03 9.97121015e-01 -1.61264887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.592401008000003 meters Centerline goodness [0,1] 0.7483153499524577 Centerline is valid? [False, False] Translation: X:3.78, Y:0.14, Z:-0.16 [[ 9.91696040e-01 1.07883281e-01 -7.00011601e-02 3.78491389e+00] [-1.08051800e-01 9.94144299e-01 1.38578805e-03 1.39803560e-01] [ 6.97407576e-02 6.18947081e-03 9.97545947e-01 -1.63660098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.622401008 meters Centerline goodness [0,1] 0.7540605657790886 Centerline is valid? [False, False] Translation: X:3.79, Y:0.14, Z:-0.16 [[ 9.91687024e-01 1.07771911e-01 -7.02998056e-02 3.78550156e+00] [-1.07997125e-01 9.94151025e-01 6.00399202e-04 1.42444456e-01] [ 6.99533300e-02 6.99676879e-03 9.97525727e-01 -1.63526146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.652401008000002 meters Centerline goodness [0,1] 0.7594131826115867 Centerline is valid? [False, False] Translation: X:3.79, Y:0.14, Z:-0.16 [[ 9.91684342e-01 1.07619882e-01 -7.05700154e-02 3.78632557e+00] [-1.07898563e-01 9.94161899e-01 -1.37867714e-04 1.44682631e-01] [ 7.01431832e-02 7.75112453e-03 9.97506819e-01 -1.63775043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.682401008000003 meters Centerline goodness [0,1] 0.7642618849040868 Centerline is valid? [False, False] Translation: X:3.79, Y:0.15, Z:-0.16 [[ 9.91666098e-01 1.07615046e-01 -7.08332743e-02 3.78733656e+00] [-1.07942791e-01 9.94156782e-01 -8.04411603e-04 1.47098307e-01] [ 7.03328133e-02 8.44364906e-03 9.97487845e-01 -1.64233053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.712401008 meters Centerline goodness [0,1] 0.7685623029699684 Centerline is valid? [False, False] Translation: X:3.79, Y:0.15, Z:-0.17 [[ 9.91617486e-01 1.07732025e-01 -7.13342256e-02 3.78939973e+00] [-1.08126749e-01 9.94135690e-01 -1.68395527e-03 1.50862713e-01] [ 7.07344836e-02 9.38297739e-03 9.97451048e-01 -1.65250000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.742401008 meters Centerline goodness [0,1] 0.7642572117382991 Centerline is valid? [False, False] Translation: X:3.79, Y:0.15, Z:-0.17 [[ 9.91627856e-01 1.07517253e-01 -7.15138791e-02 3.78969500e+00] [-1.07939792e-01 9.94155300e-01 -2.05914291e-03 1.51893201e-01] [ 7.08745085e-02 9.76109668e-03 9.97437479e-01 -1.65140169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.772401008000003 meters Centerline goodness [0,1] 0.8060522696011004 Centerline is valid? [False, False] Translation: X:3.79, Y:0.15, Z:-0.16 [[ 9.91646100e-01 1.07289269e-01 -7.16032524e-02 3.78953393e+00] [-1.07722203e-01 9.94178597e-01 -2.20111253e-03 1.51915159e-01] [ 7.09502652e-02 9.89598472e-03 9.97430764e-01 -1.64757518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.802401008 meters Centerline goodness [0,1] 0.812093100651039 Centerline is valid? [False, False] Translation: X:3.79, Y:0.15, Z:-0.16 [[ 9.91682442e-01 1.07004187e-01 -7.15264906e-02 3.78884718e+00] [-1.07437627e-01 9.94209328e-01 -2.22920343e-03 1.51380078e-01] [ 7.08737700e-02 9.89529832e-03 9.97436209e-01 -1.64133774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.832401008 meters Centerline goodness [0,1] 0.7328543842528187 Centerline is valid? [False, False] Translation: X:3.79, Y:0.15, Z:-0.16 [[ 0.9919972 0.10401484 -0.07157139 3.78667225] [-0.104635 0.99449832 -0.00496076 0.15115947] [ 0.07066164 0.01240994 0.99742314 -0.16237024] [ 0. 0. 0. 1. ]] SLAMing on 25.862401008000003 meters Centerline goodness [0,1] 0.7472509128847157 Centerline is valid? [False, False] Translation: X:3.79, Y:0.15, Z:-0.16 [[ 0.99201625 0.1037968 -0.07162388 3.78650336] [-0.10439723 0.99452466 -0.00468105 0.14940805] [ 0.07074584 0.01212102 0.99742073 -0.16218815] [ 0. 0. 0. 1. ]] SLAMing on 25.892401008 meters Centerline goodness [0,1] 0.7825482465241751 Centerline is valid? [False, False] Translation: X:3.79, Y:0.15, Z:-0.16 [[ 0.99200119 0.10372348 -0.07193799 3.78727029] [-0.10429495 0.99453744 -0.00422352 0.14714914] [ 0.07110695 0.01169251 0.99740016 -0.16248072] [ 0. 0. 0. 1. ]] SLAMing on 25.922401008 meters Centerline goodness [0,1] 0.70200952972861 Centerline is valid? [False, False] Translation: X:3.79, Y:0.15, Z:-0.16 [[ 0.99232784 0.10028145 -0.07231238 3.78696138] [-0.10107658 0.99485104 -0.00741226 0.1455273 ] [ 0.07119673 0.01466448 0.99735449 -0.16228919] [ 0. 0. 0. 1. ]] SLAMing on 25.952401008000002 meters Centerline goodness [0,1] 0.7630435690713898 Centerline is valid? [False, False] Translation: X:3.79, Y:0.14, Z:-0.16 [[ 0.99231005 0.10049988 -0.0722533 3.78652088] [-0.10125599 0.99483669 -0.00686983 0.14380876] [ 0.07118982 0.01413309 0.99736266 -0.1619748 ] [ 0. 0. 0. 1. ]] SLAMing on 25.982401008 meters Centerline goodness [0,1] 0.7630435690713898 Centerline is valid? [False, False] Translation: X:3.79, Y:0.14, Z:-0.16 [[ 0.99231005 0.10049988 -0.0722533 3.78652088] [-0.10125599 0.99483669 -0.00686983 0.14380876] [ 0.07118982 0.01413309 0.99736266 -0.1619748 ] [ 0. 0. 0. 1. ]] SLAMing on 26.012401008 meters Centerline goodness [0,1] 0.7622921898673751 Centerline is valid? [False, False] Translation: X:3.79, Y:0.14, Z:-0.16 [[ 0.99225397 0.10092934 -0.07242457 3.78694891] [-0.10165179 0.99479977 -0.00635022 0.1429489 ] [ 0.07140702 0.01366311 0.99735368 -0.1620321 ] [ 0. 0. 0. 1. ]] SLAMing on 26.042401008000002 meters Centerline goodness [0,1] 0.7083897581199609 Centerline is valid? [False, False] Translation: X:3.79, Y:0.14, Z:-0.16 [[ 0.9920896 0.10284952 -0.07197365 3.78529176] [-0.10345602 0.99462273 -0.00474016 0.14216641] [ 0.0710991 0.01214877 0.99739527 -0.16103886] [ 0. 0. 0. 1. ]] SLAMing on 26.072401008 meters Centerline goodness [0,1] 0.714762719646062 Centerline is valid? [False, False] Translation: X:3.79, Y:0.14, Z:-0.16 [[ 0.99203897 0.10325849 -0.07208577 3.78540795] [-0.1038283 0.9945864 -0.0041926 0.14061539] [ 0.0712626 0.01164377 0.99738963 -0.16098841] [ 0. 0. 0. 1. ]] SLAMing on 26.102401008 meters Centerline goodness [0,1] 0.7181927262195374 Centerline is valid? [False, False] Translation: X:3.79, Y:0.14, Z:-0.16 [[ 9.91977076e-01 1.03659749e-01 -7.23611644e-02 3.78632195e+00] [-1.04190753e-01 9.94550844e-01 -3.59235885e-03 1.38475422e-01] [ 7.15944741e-02 1.11029018e-02 9.97372025e-01 -1.61512341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.132401008000002 meters Centerline goodness [0,1] 0.8210598761183758 Centerline is valid? [False, False] Translation: X:3.79, Y:0.14, Z:-0.16 [[ 9.91912579e-01 1.04184396e-01 -7.24917031e-02 3.78674112e+00] [-1.04665278e-01 9.94503404e-01 -2.85645831e-03 1.36376594e-01] [ 7.17956471e-02 1.04207212e-02 9.97364925e-01 -1.61808920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.162401008000003 meters Centerline goodness [0,1] 0.8333681265917916 Centerline is valid? [False, False] Translation: X:3.79, Y:0.14, Z:-0.16 [[ 9.91873672e-01 1.04506233e-01 -7.25607761e-02 3.78731922e+00] [-1.04960132e-01 9.94473387e-01 -2.46034614e-03 1.35234881e-01] [ 7.19026393e-02 1.00563412e-02 9.97360958e-01 -1.62374682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.192401008 meters Centerline goodness [0,1] 0.818667439645534 Centerline is valid? [False, False] Translation: X:3.79, Y:0.13, Z:-0.16 [[ 9.91694122e-01 1.06032883e-01 -7.27996991e-02 3.78938024e+00] [-1.06366265e-01 9.94326766e-01 -7.06951609e-04 1.31775851e-01] [ 7.23117293e-02 8.44451183e-03 9.97346331e-01 -1.64170228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222401008000002 meters Centerline goodness [0,1] 0.8104224305240121 Centerline is valid? [False, False] Translation: X:3.79, Y:0.13, Z:-0.16 [[ 9.91631150e-01 1.06422100e-01 -7.30889744e-02 3.79041382e+00] [-1.06707087e-01 9.94290500e-01 5.63491745e-06 1.29603594e-01] [ 7.26722726e-02 7.79352378e-03 9.97325424e-01 -1.64752098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.252401008000003 meters Centerline goodness [0,1] 0.8252101536295499 Centerline is valid? [False, False] Translation: X:3.79, Y:0.13, Z:-0.16 [[ 9.91568296e-01 1.06947455e-01 -7.31748300e-02 3.79062982e+00] [-1.07164507e-01 9.94240835e-01 9.64797908e-04 1.26587796e-01] [ 7.28565868e-02 6.88508158e-03 9.97318662e-01 -1.64916260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.282401008 meters Centerline goodness [0,1] 0.848706869559772 Centerline is valid? [False, False] Translation: X:3.79, Y:0.12, Z:-0.16 [[ 9.91732209e-01 1.05380758e-01 -7.32265126e-02 3.78939860e+00] [-1.05667055e-01 9.94401565e-01 -3.59357959e-05 1.20416066e-01] [ 7.28127717e-02 7.77326864e-03 9.97315335e-01 -1.64542093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.312401008000002 meters Centerline goodness [0,1] 0.8788713582102012 Centerline is valid? [False, False] Translation: X:3.79, Y:0.12, Z:-0.16 [[ 9.91661558e-01 1.06047888e-01 -7.32202136e-02 3.78931473e+00] [-1.06254203e-01 9.94338409e-01 1.08276243e-03 1.16894492e-01] [ 7.29204953e-02 6.70622156e-03 9.97315210e-01 -1.64604428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342401008000003 meters Centerline goodness [0,1] 0.8703008688079292 Centerline is valid? [False, False] Translation: X:3.79, Y:0.11, Z:-0.16 [[ 9.91566411e-01 1.06850577e-01 -7.33417119e-02 3.78960299e+00] [-1.06985202e-01 9.94258391e-01 2.10180697e-03 1.14300985e-01] [ 7.31451918e-02 5.76239667e-03 9.97304655e-01 -1.64715847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.372401008 meters Centerline goodness [0,1] 0.9078068770411666 Centerline is valid? [False, False] Translation: X:3.79, Y:0.11, Z:-0.16 [[ 9.91472347e-01 1.07703790e-01 -7.33653726e-02 3.78965381e+00] [-1.07772008e-01 9.94170988e-01 3.03981802e-03 1.12324008e-01] [ 7.32651249e-02 4.89283803e-03 9.97300497e-01 -1.64763308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402401008000002 meters Centerline goodness [0,1] 0.9156343531759228 Centerline is valid? [False, False] Translation: X:3.79, Y:0.11, Z:-0.16 [[ 9.91154081e-01 1.10638891e-01 -7.32981826e-02 3.78960866e+00] [-1.10523273e-01 9.93857510e-01 5.64406438e-03 1.08058173e-01] [ 7.34724022e-02 2.50701758e-03 9.97294100e-01 -1.64910777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.432401008000003 meters Centerline goodness [0,1] 0.9214729555027316 Centerline is valid? [False, False] Translation: X:3.79, Y:0.11, Z:-0.16 [[ 9.91044403e-01 1.11573976e-01 -7.33637460e-02 3.78944083e+00] [-1.11390069e-01 9.93754803e-01 6.60640059e-03 1.05970429e-01] [ 7.36426773e-02 1.62475638e-03 9.97283368e-01 -1.64589820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.462401008 meters Centerline goodness [0,1] 0.9230304041372982 Centerline is valid? [False, False] Translation: X:3.79, Y:0.10, Z:-0.16 [[ 9.90922683e-01 1.12653504e-01 -7.33581851e-02 3.78900831e+00] [-1.12376332e-01 9.93634250e-01 7.90810200e-03 1.02912478e-01] [ 7.37820806e-02 4.07406089e-04 9.97274305e-01 -1.64150361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.492401008 meters Centerline goodness [0,1] 0.9352207293666027 Centerline is valid? [False, False] Translation: X:3.79, Y:0.10, Z:-0.16 [[ 9.90669311e-01 1.15197267e-01 -7.28279180e-02 3.78664309e+00] [-1.14699277e-01 9.93339383e-01 1.09975478e-02 9.52820487e-02] [ 7.36097266e-02 -2.54162352e-03 9.97283886e-01 -1.62829706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522401008000003 meters Centerline goodness [0,1] 0.9343282342929492 Centerline is valid? [False, False] Translation: X:3.79, Y:0.09, Z:-0.16 [[ 9.90899078e-01 1.12831069e-01 -7.34041400e-02 3.78716049e+00] [-1.12511779e-01 9.93614175e-01 8.48360549e-03 9.31541260e-02] [ 7.38926083e-02 -1.47566506e-04 9.97266193e-01 -1.63191995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.552401008 meters Centerline goodness [0,1] 0.9359477397002963 Centerline is valid? [False, False] Translation: X:3.79, Y:0.09, Z:-0.16 [[ 9.91156429e-01 1.10400549e-01 -7.36250774e-02 3.78645748e+00] [-1.10250752e-01 9.93885035e-01 6.10813127e-03 9.08458769e-02] [ 7.38492036e-02 2.06310658e-03 9.97267285e-01 -1.62973483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.582401008 meters Centerline goodness [0,1] 0.9271458333333333 Centerline is valid? [False, False] Translation: X:3.79, Y:0.09, Z:-0.16 [[ 9.91479482e-01 1.07305190e-01 -7.38514290e-02 3.78604867e+00] [-1.07352287e-01 9.94215425e-01 3.34299440e-03 8.79459187e-02] [ 7.37829505e-02 4.61360945e-03 9.97263652e-01 -1.63101296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.612401008000003 meters Centerline goodness [0,1] 0.9338273558002539 Centerline is valid? [False, False] Translation: X:3.78, Y:0.08, Z:-0.16 [[ 9.91746274e-01 1.04970094e-01 -7.36247678e-02 3.78314944e+00] [-1.05081264e-01 9.94460808e-01 2.37273197e-03 7.58506963e-02] [ 7.34660119e-02 5.38343560e-03 9.97283191e-01 -1.62105518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.642401008 meters Centerline goodness [0,1] 0.9415187723912278 Centerline is valid? [False, False] Translation: X:3.78, Y:0.07, Z:-0.16 [[ 9.91982353e-01 1.02508575e-01 -7.39121358e-02 3.78217202e+00] [-1.02723678e-01 9.94709528e-01 8.95394329e-04 6.97165344e-02] [ 7.36128913e-02 6.70431106e-03 9.97264355e-01 -1.61373212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.672401008 meters Centerline goodness [0,1] 0.938938400777486 Centerline is valid? [False, False] Translation: X:3.78, Y:0.06, Z:-0.16 [[ 9.92255791e-01 9.97775444e-02 -7.39789592e-02 3.78086010e+00] [-1.00125018e-01 9.94974368e-01 -9.93924396e-04 6.43393587e-02] [ 7.35079969e-02 8.39337184e-03 9.97259307e-01 -1.60825664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702401008000002 meters Centerline goodness [0,1] 0.9459760857443776 Centerline is valid? [False, False] Translation: X:3.78, Y:0.06, Z:-0.16 [[ 9.92477354e-01 9.74461977e-02 -7.41143681e-02 3.78027224e+00] [-9.79122738e-02 9.95191460e-01 -2.67277095e-03 5.94667794e-02] [ 7.34975348e-02 9.90937094e-03 9.97246167e-01 -1.60797518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.732401008 meters Centerline goodness [0,1] 0.9464549559860986 Centerline is valid? [False, False] Translation: X:3.78, Y:0.05, Z:-0.16 [[ 9.92565353e-01 9.70500239e-02 -7.34527957e-02 3.77789404e+00] [-9.74455007e-02 9.95239214e-01 -1.81120785e-03 4.81547868e-02] [ 7.29273249e-02 8.95538661e-03 9.97297050e-01 -1.60848716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762401008 meters Centerline goodness [0,1] 0.9619969265273913 Centerline is valid? [False, True] Translation: X:3.78, Y:0.04, Z:-0.16 [[ 9.92659768e-01 9.58958452e-02 -7.36924081e-02 3.77826919e+00] [-9.63372064e-02 9.95345739e-01 -2.45002249e-03 4.21804375e-02] [ 7.31144774e-02 9.53135949e-03 9.97278009e-01 -1.61572011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.792401008000002 meters Centerline goodness [0,1] 0.963610684168986 Centerline is valid? [True, True] Translation: X:3.81, Y:0.03, Z:-0.16 [[ 9.92511407e-01 9.78914778e-02 -7.30641130e-02 3.80596939e+00] [-9.76357635e-02 9.95197089e-01 7.07193444e-03 2.82655189e-02] [ 7.34054746e-02 1.14694849e-04 9.97302172e-01 -1.58355355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822401008000003 meters Centerline goodness [0,1] 0.9602097278925663 Centerline is valid? [True, True] Translation: X:3.83, Y:0.01, Z:-0.16 [[ 9.91847569e-01 1.02945100e-01 -7.51046316e-02 3.83374070e+00] [-1.02689651e-01 9.94686911e-01 7.26537768e-03 1.02514328e-02] [ 7.54535290e-02 5.06321195e-04 9.97149191e-01 -1.57819414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.852401008 meters Centerline goodness [0,1] 0.9611241900872934 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.00, Z:-0.16 [[ 9.91685090e-01 1.04629977e-01 -7.49216269e-02 3.86121809e+00] [-1.04380845e-01 9.94511017e-01 7.24405708e-03 -4.08663640e-04] [ 7.52683289e-02 6.36559355e-04 9.97163113e-01 -1.56505049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882401008000002 meters Centerline goodness [0,1] 0.9606595554446593 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.01, Z:-0.16 [[ 9.91558331e-01 1.05868841e-01 -7.48589659e-02 3.88778799e+00] [-1.05624112e-01 9.94379830e-01 7.23189114e-03 -1.01231186e-02] [ 7.52038778e-02 7.36069898e-04 9.97167907e-01 -1.56418758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.912401008000003 meters Centerline goodness [0,1] 0.9608860838333299 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.02, Z:-0.16 [[ 9.91507406e-01 1.06709549e-01 -7.43379873e-02 3.91584705e+00] [-1.06471054e-01 9.94289913e-01 7.17520261e-03 -2.01082495e-02] [ 7.46791736e-02 8.00577321e-04 9.97207290e-01 -1.56322373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.942401008 meters Centerline goodness [0,1] 0.961963880267461 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.03, Z:-0.16 [[ 9.91417730e-01 1.06890708e-01 -7.52679360e-02 3.94360793e+00] [-1.06647105e-01 9.94270430e-01 7.25991913e-03 -3.04105794e-02] [ 7.56127010e-02 8.29494927e-04 9.97136917e-01 -1.56798342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.972401008000002 meters Centerline goodness [0,1] 0.9638272320689084 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.05, Z:-0.16 [[ 9.91406320e-01 1.06597611e-01 -7.58317770e-02 3.96966127e+00] [-1.06349912e-01 9.94301905e-01 7.30870896e-03 -5.04203997e-02] [ 7.61787713e-02 8.18802571e-04 9.97093839e-01 -1.57089990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002401008000003 meters Centerline goodness [0,1] 0.968830360846122 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.06, Z:-0.15 [[ 9.91534431e-01 1.05371075e-01 -7.58710010e-02 3.99739841e+00] [-1.05119976e-01 9.94432704e-01 7.30670827e-03 -6.39305922e-02] [ 7.62185204e-02 7.30704972e-04 9.97090870e-01 -1.52716462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.032401008 meters Centerline goodness [0,1] 0.9706316380188307 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.08, Z:-0.15 [[ 9.91668703e-01 1.04390988e-01 -7.54698984e-02 4.02552875e+00] [-1.04140011e-01 9.94536119e-01 7.26406727e-03 -7.69820287e-02] [ 7.58158430e-02 6.55887858e-04 9.97121621e-01 -1.50256180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062401008000002 meters Centerline goodness [0,1] 0.9733452075221606 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.09, Z:-0.15 [[ 9.91923385e-01 1.03033523e-01 -7.39735857e-02 4.05385219e+00] [-1.02788787e-01 9.94677736e-01 7.11807692e-03 -8.98864396e-02] [ 7.43132793e-02 5.43068215e-04 9.97234798e-01 -1.49180254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.092401008000003 meters Centerline goodness [0,1] 0.9741760179212213 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.10, Z:-0.15 [[ 9.92057620e-01 1.02316912e-01 -7.31637100e-02 4.08306666e+00] [-1.02075618e-01 9.94751735e-01 7.03942949e-03 -1.02381786e-01] [ 7.34999802e-02 4.84711273e-04 9.97295101e-01 -1.47631029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122401008 meters Centerline goodness [0,1] 0.9725571295626099 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.12, Z:-0.15 [[ 9.92134589e-01 1.01764949e-01 -7.28893138e-02 4.11234316e+00] [-1.01523496e-01 9.94808376e-01 7.01956525e-03 -1.23992038e-01] [ 7.32252456e-02 4.35624498e-04 9.97315333e-01 -1.47686152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.152401008000002 meters Centerline goodness [0,1] 0.9811504847314775 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.14, Z:-0.14 [[ 9.92011858e-01 1.02332040e-01 -7.37606005e-02 4.14346673e+00] [-1.02085069e-01 9.94750188e-01 7.12056306e-03 -1.36228570e-01] [ 7.41020329e-02 4.66173012e-04 9.97250556e-01 -1.38884195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182401008000003 meters Centerline goodness [0,1] 0.9766724623282 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.15, Z:-0.14 [[ 9.91764394e-01 1.05486992e-01 -7.26352586e-02 4.17376550e+00] [-1.05254681e-01 9.94420455e-01 7.02934069e-03 -1.48877866e-01] [ 7.29714909e-02 6.73751122e-04 9.97333799e-01 -1.43177747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.212401008 meters Centerline goodness [0,1] 0.9716815257638127 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.16, Z:-0.14 [[ 9.91471060e-01 1.07801388e-01 -7.32393267e-02 4.20510311e+00] [-1.07570244e-01 9.94172100e-01 7.10476175e-03 -1.56499059e-01] [ 7.35783984e-02 8.34206598e-04 9.97289087e-01 -1.42750652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242401008 meters Centerline goodness [0,1] 0.9759426612651917 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.17, Z:-0.14 [[ 9.91086766e-01 1.09804894e-01 -7.54314817e-02 4.23622872e+00] [-1.09564538e-01 9.93952657e-01 7.32985939e-03 -1.66982820e-01] [ 7.57801761e-02 1.00008882e-03 9.97124047e-01 -1.38354206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.272401008000003 meters Centerline goodness [0,1] 0.9733105716783945 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.18, Z:-0.14 [[ 9.90785754e-01 1.11537540e-01 -7.68307702e-02 4.26620651e+00] [-1.11292810e-01 9.93759560e-01 7.47312788e-03 -1.76366881e-01] [ 7.71848467e-02 1.14644370e-03 9.97016141e-01 -1.38508422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302401008 meters Centerline goodness [0,1] 0.9676651706502453 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.19, Z:-0.14 [[ 9.90571602e-01 1.13711054e-01 -7.64048315e-02 4.29565249e+00] [-1.13474494e-01 9.93513018e-01 7.44457312e-03 -1.93758502e-01] [ 7.67557250e-02 1.29561690e-03 9.97049086e-01 -1.39676522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.332401008 meters Centerline goodness [0,1] 0.9667165216658592 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.20, Z:-0.14 [[ 9.90482514e-01 1.14416730e-01 -7.65062130e-02 4.32766746e+00] [-1.14180173e-01 9.93431948e-01 7.47351204e-03 -2.04725786e-01] [ 7.68588110e-02 1.33310967e-03 9.97041095e-01 -1.38198822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362401008000003 meters Centerline goodness [0,1] 0.9667265237139537 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.22, Z:-0.14 [[ 9.90544982e-01 1.14285464e-01 -7.58911860e-02 4.35910710e+00] [-1.14050800e-01 9.93447111e-01 7.43322667e-03 -2.15290731e-01] [ 7.62433893e-02 1.29250508e-03 9.97088399e-01 -1.37234400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.392401008 meters Centerline goodness [0,1] 0.9663338209417202 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.22, Z:-0.14 [[ 9.90550249e-01 1.14412016e-01 -7.56313012e-02 4.38909234e+00] [-1.14177978e-01 9.93432560e-01 7.42546806e-03 -2.24887933e-01] [ 7.59841600e-02 1.28012981e-03 9.97108203e-01 -1.37901213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.422401008 meters Centerline goodness [0,1] 0.9662518410997503 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.24, Z:-0.14 [[ 9.90531765e-01 1.14295632e-01 -7.60482214e-02 4.42132643e+00] [-1.14057217e-01 9.93445984e-01 7.48525868e-03 -2.36247707e-01] [ 7.64053325e-02 1.25946198e-03 9.97076045e-01 -1.37184806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.452401008000002 meters Centerline goodness [0,1] 0.9641633042648271 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.26, Z:-0.14 [[ 9.90641988e-01 1.13407864e-01 -7.59414787e-02 4.45004251e+00] [-1.13166042e-01 9.93547828e-01 7.49397975e-03 -2.57457225e-01] [ 7.63013675e-02 1.17014556e-03 9.97084115e-01 -1.37442798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.482401008 meters Centerline goodness [0,1] 0.9605753628908477 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.27, Z:-0.14 [[ 9.90864317e-01 1.12072684e-01 -7.50174540e-02 4.48033229e+00] [-1.11831853e-01 9.93699467e-01 7.41659229e-03 -2.69756174e-01] [ 7.53760015e-02 1.04050425e-03 9.97154640e-01 -1.36947235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.512401008 meters Centerline goodness [0,1] 0.9606082773602891 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.28, Z:-0.13 [[ 9.91166832e-01 1.10704439e-01 -7.30262902e-02 4.51104761e+00] [-1.10472000e-01 9.93852962e-01 7.22688897e-03 -2.82722617e-01] [ 7.33774435e-02 9.04307676e-04 9.97303832e-01 -1.33856734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542401008000002 meters Centerline goodness [0,1] 0.9627603524426608 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.30, Z:-0.13 [[ 9.91513276e-01 1.09761684e-01 -6.96691901e-02 4.54090234e+00] [-1.09547612e-01 9.93957617e-01 6.89760313e-03 -2.96142205e-01] [ 7.00053146e-02 7.93028317e-04 9.97546303e-01 -1.28428579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.572401008000003 meters Centerline goodness [0,1] 0.9631806161426666 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.31, Z:-0.13 [[ 9.91818748e-01 1.08359157e-01 -6.74823311e-02 4.57080131e+00] [-1.08154759e-01 9.94111587e-01 6.68584193e-03 -3.07840337e-01] [ 6.78094395e-02 6.67391885e-04 9.97698068e-01 -1.25812459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602401008 meters Centerline goodness [0,1] 0.9624462779527017 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.33, Z:-0.12 [[ 9.92204113e-01 1.06542437e-01 -6.46506586e-02 4.60021734e+00] [-1.06350589e-01 9.94308023e-01 6.41150648e-03 -3.25340137e-01] [ 6.49657661e-02 5.14112488e-04 9.97887361e-01 -1.23478245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.632401008000002 meters Centerline goodness [0,1] 0.9585848074921957 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.33, Z:-0.12 [[ 9.92217305e-01 1.06534828e-01 -6.44604599e-02 4.63183178e+00] [-1.06343649e-01 9.94308843e-01 6.39947915e-03 -3.34654893e-01] [ 6.47753727e-02 5.05286539e-04 9.97899742e-01 -1.23529940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662401008000003 meters Centerline goodness [0,1] 0.9576904279829644 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.34, Z:-0.12 [[ 9.92225759e-01 1.06893475e-01 -6.37324783e-02 4.66330857e+00] [-1.06706352e-01 9.94270349e-01 6.34248486e-03 -3.44890500e-01] [ 6.40452837e-02 5.07483402e-04 9.97946864e-01 -1.21506996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.692401008 meters Centerline goodness [0,1] 0.9543335778340393 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.36, Z:-0.12 [[ 9.92098334e-01 1.07075135e-01 -6.53896931e-02 4.69306594e+00] [-1.06877559e-01 9.94250797e-01 6.52227877e-03 -3.61118777e-01] [ 6.57121283e-02 5.17948882e-04 9.97838488e-01 -1.22596941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722401008000002 meters Centerline goodness [0,1] 0.951658542384972 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.37, Z:-0.12 [[ 9.91986783e-01 1.07482373e-01 -6.64060423e-02 4.72345488e+00] [-1.07278567e-01 9.94206844e-01 6.63781367e-03 -3.70190264e-01] [ 6.67347897e-02 5.39321602e-04 9.97770603e-01 -1.22800528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.752401008000003 meters Centerline goodness [0,1] 0.951084215834594 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.38, Z:-0.12 [[ 9.92073925e-01 1.05886612e-01 -6.76561327e-02 4.75356250e+00] [-1.05670371e-01 9.94378119e-01 6.77707909e-03 -3.80425331e-01] [ 6.79933799e-02 4.25885179e-04 9.97685681e-01 -1.23392313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.782401008 meters Centerline goodness [0,1] 0.9512611601697809 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.40, Z:-0.12 [[ 9.92460990e-01 1.00462622e-01 -7.02028819e-02 4.78335360e+00] [-1.00215327e-01 9.94940832e-01 7.04475646e-03 -3.99691425e-01] [ 7.05554484e-02 4.37587926e-05 9.97507858e-01 -1.22436028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.812401008000002 meters Centerline goodness [0,1] 0.9494790255437594 Centerline is valid? [True, False] Translation: X:4.78, Y:-0.40, Z:-0.12 [[ 9.92870882e-01 9.58896585e-02 -7.07996169e-02 4.78480741e+00] [-9.58990455e-02 9.95385680e-01 3.27435560e-03 -4.03746697e-01] [ 7.07869016e-02 3.53860335e-03 9.97485184e-01 -1.24071515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.842401008000003 meters Centerline goodness [0,1] 0.9468606241452194 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.41, Z:-0.12 [[ 9.93246055e-01 9.18498175e-02 -7.08934757e-02 4.78444858e+00] [-9.20621318e-02 9.95753227e-01 2.73691538e-04 -4.08580783e-01] [ 7.06175457e-02 6.25476146e-03 9.97483855e-01 -1.24391442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.872401008 meters Centerline goodness [0,1] 0.9468606241452194 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.41, Z:-0.12 [[ 9.93246055e-01 9.18498175e-02 -7.08934757e-02 4.78444858e+00] [-9.20621318e-02 9.95753227e-01 2.73691538e-04 -4.08580783e-01] [ 7.06175457e-02 6.25476146e-03 9.97483855e-01 -1.24391442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.902401008000002 meters Centerline goodness [0,1] 0.9439712570035929 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.41, Z:-0.12 [[ 9.93593984e-01 8.80147440e-02 -7.08830051e-02 4.78333025e+00] [-8.84038109e-02 9.96081912e-01 -2.36446132e-03 -4.13459552e-01] [ 7.03971718e-02 8.61564232e-03 9.97481834e-01 -1.23777408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.932401008000003 meters Centerline goodness [0,1] 0.9476667007045849 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.42, Z:-0.12 [[ 0.99423807 0.08025735 -0.07105927 4.78237309] [-0.08101464 0.99668211 -0.00783524 -0.42265014] [ 0.07019467 0.01354693 0.99744132 -0.12343139] [ 0. 0. 0. 1. ]] SLAMing on 27.962401008 meters Centerline goodness [0,1] 0.9467046066292394 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.43, Z:-0.12 [[ 0.99426055 0.07947001 -0.07162735 4.78438122] [-0.08015373 0.99675988 -0.00671783 -0.42818072] [ 0.0708614 0.01242048 0.99740884 -0.12328352] [ 0. 0. 0. 1. ]] SLAMing on 27.992401008 meters Centerline goodness [0,1] 0.9460255152109912 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.43, Z:-0.12 [[ 0.99457972 0.07540423 -0.07159175 4.78422873] [-0.07633604 0.99702826 -0.01036615 -0.43016415] [ 0.07059735 0.015775 0.99738015 -0.12422048] [ 0. 0. 0. 1. ]] SLAMing on 28.022401008000003 meters Centerline goodness [0,1] 0.9414580839881355 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.44, Z:-0.12 [[ 0.99460002 0.07509509 -0.07163468 4.78460475] [-0.07595323 0.99706775 -0.00932775 -0.43512463] [ 0.07072416 0.01471827 0.99738732 -0.123852 ] [ 0. 0. 0. 1. ]] SLAMing on 28.052401008 meters Centerline goodness [0,1] 0.9390218248750986 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.44, Z:-0.12 [[ 0.9948556 0.07178864 -0.07147529 4.78261486] [-0.07277489 0.99728451 -0.01128789 -0.4409353 ] [ 0.07047086 0.01643143 0.9973785 -0.12219234] [ 0. 0. 0. 1. ]] SLAMing on 28.082401008 meters Centerline goodness [0,1] 0.9404721086641171 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.44, Z:-0.12 [[ 0.99482895 0.07217783 -0.07145434 4.78209285] [-0.07308975 0.99727292 -0.01022756 -0.44395346] [ 0.07052128 0.01539725 0.99739143 -0.12129455] [ 0. 0. 0. 1. ]] SLAMing on 28.112401008000003 meters Centerline goodness [0,1] 0.9413486642580237 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.45, Z:-0.12 [[ 0.99479623 0.07261606 -0.07146583 4.78151614] [-0.07346859 0.99725351 -0.00937027 -0.44587644] [ 0.07058912 0.014572 0.99739903 -0.12033014] [ 0. 0. 0. 1. ]] SLAMing on 28.142401008 meters Centerline goodness [0,1] 0.9445517314356763 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.45, Z:-0.12 [[ 0.99475725 0.07378138 -0.07081183 4.77915968] [-0.07454978 0.99718303 -0.00826699 -0.44745809] [ 0.0700024 0.01350266 0.99745543 -0.11921906] [ 0. 0. 0. 1. ]] SLAMing on 28.172401008 meters Centerline goodness [0,1] 0.9403439153439154 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.45, Z:-0.12 [[ 0.99474263 0.07417854 -0.07060195 4.77851474] [-0.07493025 0.99715624 -0.00805535 -0.44746432] [ 0.06980365 0.01330322 0.99747204 -0.1191109 ] [ 0. 0. 0. 1. ]] SLAMing on 28.202401008000002 meters Centerline goodness [0,1] 0.9431096528365792 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.45, Z:-0.12 [[ 0.9947343 0.0743851 -0.07050199 4.77847212] [-0.07512761 0.99714235 -0.00793567 -0.44753838] [ 0.06971022 0.01319053 0.99748007 -0.11938624] [ 0. 0. 0. 1. ]] SLAMing on 28.232401008000004 meters Centerline goodness [0,1] 0.942389664027958 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.45, Z:-0.12 [[ 0.99473875 0.07415995 -0.07067623 4.77954226] [-0.07491536 0.99715704 -0.00809463 -0.44770427] [ 0.069875 0.01334677 0.99746646 -0.12027477] [ 0. 0. 0. 1. ]] SLAMing on 28.262401008 meters Centerline goodness [0,1] 0.9416505906292117 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.45, Z:-0.12 [[ 0.99478804 0.07297253 -0.0712163 4.7825045 ] [-0.0737669 0.99723856 -0.00858531 -0.44891749] [ 0.07039315 0.01379397 0.99742395 -0.12214771] [ 0. 0. 0. 1. ]] SLAMing on 28.292401008000002 meters Centerline goodness [0,1] 0.9410655977063368 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.45, Z:-0.12 [[ 0.99480133 0.07223381 -0.07178157 4.7843175 ] [-0.07303313 0.99729269 -0.00857051 -0.45026666] [ 0.07096816 0.01376839 0.99738355 -0.12240788] [ 0. 0. 0. 1. ]] SLAMing on 28.322401008000003 meters Centerline goodness [0,1] 0.9350559953403405 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.45, Z:-0.12 [[ 0.99480338 0.07175805 -0.07222887 4.78554671] [-0.0725359 0.99733208 -0.00820107 -0.45191484] [ 0.07144768 0.01339764 0.99735437 -0.12213856] [ 0. 0. 0. 1. ]] SLAMing on 28.352401008 meters Centerline goodness [0,1] 0.9184845917610929 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.45, Z:-0.12 [[ 0.99481359 0.0711246 -0.07271319 4.78703762] [-0.07190829 0.99737742 -0.00821409 -0.45282644] [ 0.07193827 0.01340017 0.99731907 -0.1222681 ] [ 0. 0. 0. 1. ]] SLAMing on 28.382401008000002 meters Centerline goodness [0,1] 0.9152042902275201 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.45, Z:-0.12 [[ 0.99510919 0.06635412 -0.07317664 4.78768156] [-0.06747077 0.99763796 -0.01289204 -0.4509807 ] [ 0.07214835 0.01776628 0.99723567 -0.12257721] [ 0. 0. 0. 1. ]] SLAMing on 28.412401008000003 meters Centerline goodness [0,1] 0.9055853179865273 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.45, Z:-0.12 [[ 0.99510192 0.06617672 -0.07343574 4.78797835] [-0.0672847 0.99765279 -0.01271506 -0.45107445] [ 0.07242193 0.01759389 0.99721889 -0.12190212] [ 0. 0. 0. 1. ]] SLAMing on 28.442401008 meters Centerline goodness [0,1] 0.9005962634159268 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.45, Z:-0.12 [[ 0.99510283 0.06590578 -0.07366676 4.78863071] [-0.06702639 0.99766856 -0.01284191 -0.45041311] [ 0.07264865 0.01771663 0.99720023 -0.12183262] [ 0. 0. 0. 1. ]] SLAMing on 28.472401008000002 meters Centerline goodness [0,1] 0.9275358491562574 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.45, Z:-0.12 [[ 0.99485212 0.06932383 -0.07391527 4.79000778] [-0.07015031 0.997499 -0.00864131 -0.45150215] [ 0.07313136 0.013782 0.99722709 -0.12106657] [ 0. 0. 0. 1. ]] SLAMing on 28.502401008000003 meters Centerline goodness [0,1] 0.8920878483482296 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.45, Z:-0.12 [[ 0.99485441 0.0691448 -0.07405205 4.79063016] [-0.07001968 0.99750243 -0.0092811 -0.44896111] [ 0.07322536 0.01441844 0.99721119 -0.12157508] [ 0. 0. 0. 1. ]] SLAMing on 28.532401008 meters Centerline goodness [0,1] 0.9278627747898283 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.44, Z:-0.12 [[ 0.99456576 0.07328304 -0.07394957 4.79135902] [-0.07393714 0.99724398 -0.00614302 -0.44467422] [ 0.07329559 0.01157725 0.99724306 -0.12203919] [ 0. 0. 0. 1. ]] SLAMing on 28.562401008000002 meters Centerline goodness [0,1] 0.9095095615975023 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.44, Z:-0.12 [[ 9.94262196e-01 7.73124870e-02 -7.39287765e-02 4.79202777e+00] [-7.76957737e-02 9.96974419e-01 -2.31843282e-03 -4.43266205e-01] [ 7.35258551e-02 8.04908360e-03 9.97260829e-01 -1.21715321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.592401008000003 meters Centerline goodness [0,1] 0.9397875159103307 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.44, Z:-0.12 [[ 9.94225342e-01 7.78857104e-02 -7.38226605e-02 4.79145968e+00] [-7.82999827e-02 9.96926106e-01 -2.72990967e-03 -4.39206004e-01] [ 7.33831165e-02 8.49445842e-03 9.97267648e-01 -1.21618882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.622401008 meters Centerline goodness [0,1] 0.9407096292097193 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.44, Z:-0.12 [[ 9.93888542e-01 8.20673806e-02 -7.38275775e-02 4.79145399e+00] [-8.22342260e-02 9.96612723e-01 7.82102947e-04 -4.35926058e-01] [ 7.36416882e-02 5.29383053e-03 9.97270714e-01 -1.20586219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.652401008000002 meters Centerline goodness [0,1] 0.9405183474467539 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.43, Z:-0.12 [[ 9.93881628e-01 8.20252344e-02 -7.39673567e-02 4.79142498e+00] [-8.22234893e-02 9.96613849e-01 3.65960036e-04 -4.33994562e-01] [ 7.37469100e-02 5.71813321e-03 9.97260596e-01 -1.20260600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.682401008000003 meters Centerline goodness [0,1] 0.9403733060598313 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.43, Z:-0.12 [[ 9.93885647e-01 8.19062001e-02 -7.40452180e-02 4.79133300e+00] [-8.21233382e-02 9.96622167e-01 1.12466039e-04 -4.32618618e-01] [ 7.38043173e-02 5.96906209e-03 9.97254879e-01 -1.19819646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.712401008 meters Centerline goodness [0,1] 0.9377126339753921 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.43, Z:-0.12 [[ 9.93893862e-01 8.17007148e-02 -7.41618734e-02 4.79143328e+00] [-8.19452704e-02 9.96636798e-01 -2.55690732e-04 -4.31176428e-01] [ 7.38915619e-02 6.33134422e-03 9.97246184e-01 -1.19595299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.742401008 meters Centerline goodness [0,1] 0.9322899463909144 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.43, Z:-0.12 [[ 9.93934454e-01 8.11321125e-02 -7.42420489e-02 4.79142067e+00] [-8.14252830e-02 9.96679019e-01 -9.25620869e-04 -4.27901251e-01] [ 7.39203948e-02 6.96518631e-03 9.97239821e-01 -1.18893548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.772401008000003 meters Centerline goodness [0,1] 0.9363502761870978 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.43, Z:-0.12 [[ 9.93947892e-01 8.08181849e-02 -7.44043644e-02 4.79176776e+00] [-8.11473351e-02 9.96701125e-01 -1.40646176e-03 -4.25815390e-01] [ 7.40452460e-02 7.43566559e-03 9.97227162e-01 -1.18753616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.802401008 meters Centerline goodness [0,1] 0.9257255536454647 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.42, Z:-0.12 [[ 9.93955682e-01 8.06677279e-02 -7.44635524e-02 4.79191548e+00] [-8.10314459e-02 9.96709789e-01 -1.87141255e-03 -4.23669797e-01] [ 7.40675890e-02 7.89399046e-03 9.97221980e-01 -1.18736502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.832401008 meters Centerline goodness [0,1] 0.9276626772603842 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.42, Z:-0.12 [[ 9.93944992e-01 8.07265007e-02 -7.45424982e-02 4.79175808e+00] [-8.11063707e-02 9.96703285e-01 -2.07804399e-03 -4.21845007e-01] [ 7.41289996e-02 8.11133291e-03 9.97215673e-01 -1.18283938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.862401008000003 meters Centerline goodness [0,1] 0.9280543099777049 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.42, Z:-0.12 [[ 9.93909019e-01 8.10557774e-02 -7.46647414e-02 4.79145550e+00] [-8.14711111e-02 9.96672496e-01 -2.52874559e-03 -4.18432046e-01] [ 7.42113247e-02 8.59636249e-03 9.97205486e-01 -1.17847445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.892401008 meters Centerline goodness [0,1] 0.9346728644974259 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.42, Z:-0.12 [[ 9.93900895e-01 8.11195575e-02 -7.47036023e-02 4.79170025e+00] [-8.15734476e-02 9.96662697e-01 -3.03982150e-03 -4.16165745e-01] [ 7.42077047e-02 9.11511169e-03 9.97201149e-01 -1.18250313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.922401008 meters Centerline goodness [0,1] 0.933348322466212 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.41, Z:-0.12 [[ 9.93870758e-01 8.15685904e-02 -7.46155549e-02 4.79117932e+00] [-8.20368041e-02 9.96624077e-01 -3.22666765e-03 -4.13570434e-01] [ 7.41004638e-02 9.32811228e-03 9.97207154e-01 -1.17964061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.952401008000002 meters Centerline goodness [0,1] 0.9412026615875528 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.41, Z:-0.12 [[ 9.93486360e-01 8.66320706e-02 -7.40252437e-02 4.78935315e+00] [-8.67914318e-02 9.96225932e-01 1.06736047e-03 -4.11259660e-01] [ 7.38383351e-02 5.36434882e-03 9.97255797e-01 -1.16204483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982401008000004 meters Centerline goodness [0,1] 0.9454523046586147 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.41, Z:-0.12 [[ 9.93447688e-01 8.69672900e-02 -7.41510686e-02 4.78910994e+00] [-8.71556379e-02 9.96194463e-01 6.98111566e-04 -4.09084976e-01] [ 7.39295968e-02 5.76914636e-03 9.97246776e-01 -1.15876327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.012401008 meters Centerline goodness [0,1] 0.9463344632209219 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.41, Z:-0.11 [[ 9.93390116e-01 8.77820416e-02 -7.39620836e-02 4.78764182e+00] [-8.79580241e-02 9.96123793e-01 8.80836090e-04 -4.07382543e-01] [ 7.37527128e-02 5.63054486e-03 9.97260665e-01 -1.14778446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042401008000002 meters Centerline goodness [0,1] 0.94818896081435 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.41, Z:-0.11 [[ 9.93368695e-01 8.81885305e-02 -7.37659723e-02 4.78683757e+00] [-8.83761791e-02 9.96086908e-01 7.22703721e-04 -4.05398056e-01] [ 7.35410534e-02 5.80124352e-03 9.97275318e-01 -1.14382683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.072401008000003 meters Centerline goodness [0,1] 0.9511943632926619 Centerline is valid? [False, True] Translation: X:4.79, Y:-0.40, Z:-0.11 [[ 9.93339988e-01 8.86875354e-02 -7.35539932e-02 4.78613377e+00] [-8.88931695e-02 9.96041050e-01 4.79729363e-04 -4.02374639e-01] [ 7.33053427e-02 6.06191322e-03 9.97291121e-01 -1.14256772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.102401008 meters Centerline goodness [0,1] 0.9502676948769586 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.41, Z:-0.11 [[ 9.93418143e-01 8.83703368e-02 -7.28771291e-02 4.81724517e+00] [-8.80469077e-02 9.96086992e-01 7.64502408e-03 -4.09296600e-01] [ 7.32675536e-02 -1.17809977e-03 9.97311625e-01 -1.08447067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.132401008000002 meters Centerline goodness [0,1] 0.9488368669022379 Centerline is valid? [True, False] Translation: X:4.82, Y:-0.41, Z:-0.11 [[ 9.93748710e-01 8.42233467e-02 -7.32797964e-02 4.81789079e+00] [-8.42277188e-02 9.96441907e-01 3.03610616e-03 -4.07159511e-01] [ 7.32747710e-02 3.15506350e-03 9.97306800e-01 -1.09566542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162401008000003 meters Centerline goodness [0,1] 0.9475294175691343 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.41, Z:-0.11 [[ 9.94122832e-01 7.93303978e-02 -7.36646611e-02 4.81899219e+00] [-7.96579043e-02 9.96821110e-01 -1.51397196e-03 -4.07212760e-01] [ 7.33103853e-02 7.37304661e-03 9.97281919e-01 -1.10865218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.192401008 meters Centerline goodness [0,1] 0.9429309073026801 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.41, Z:-0.11 [[ 9.94175711e-01 7.78797439e-02 -7.44942964e-02 4.82220101e+00] [-7.82373786e-02 9.96932966e-01 -1.89031119e-03 -4.08807149e-01] [ 7.41186030e-02 7.70753994e-03 9.97219648e-01 -1.11943331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222401008000002 meters Centerline goodness [0,1] 0.9364671590544179 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.41, Z:-0.11 [[ 0.99450452 0.07302339 -0.07502231 4.82387754] [-0.07372668 0.99725635 -0.00664435 -0.40775494] [ 0.07433128 0.01213899 0.99715972 -0.11360272] [ 0. 0. 0. 1. ]] SLAMing on 29.252401008000003 meters Centerline goodness [0,1] 0.9364362882936215 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.41, Z:-0.11 [[ 0.99451916 0.07195787 -0.07585324 4.82652657] [-0.07265994 0.99733538 -0.00653321 -0.40976752] [ 0.07518101 0.01200889 0.99709759 -0.1139333 ] [ 0. 0. 0. 1. ]] SLAMing on 29.282401008 meters Centerline goodness [0,1] 0.9168295761055159 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.41, Z:-0.12 [[ 0.99469844 0.06899049 -0.07625822 4.8298191 ] [-0.06979222 0.9975303 -0.00789564 -0.41147968] [ 0.07552516 0.01317602 0.99705684 -0.11554985] [ 0. 0. 0. 1. ]] SLAMing on 29.312401008000002 meters Centerline goodness [0,1] 0.9086347118878699 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.41, Z:-0.12 [[ 0.99468588 0.06821139 -0.07711813 4.83193129] [-0.06900138 0.99758744 -0.00762292 -0.41280429] [ 0.07641211 0.01290367 0.99699282 -0.11514194] [ 0. 0. 0. 1. ]] SLAMing on 29.342401008000003 meters Centerline goodness [0,1] 0.8990607419890462 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.41, Z:-0.11 [[ 0.99467338 0.06784454 -0.0776014 4.83289749] [-0.06861479 0.99761652 -0.00729963 -0.41399817] [ 0.0769212 0.01258535 0.99695774 -0.11460615] [ 0. 0. 0. 1. ]] SLAMing on 29.372401008 meters Centerline goodness [0,1] 0.933318437973238 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.41, Z:-0.11 [[ 0.99466986 0.06750483 -0.07794202 4.83372975] [-0.06826805 0.99764128 -0.00716644 -0.41451678] [ 0.07727441 0.01244919 0.99693214 -0.11434157] [ 0. 0. 0. 1. ]] SLAMing on 29.402401008000002 meters Centerline goodness [0,1] 0.9253661191371463 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.41, Z:-0.12 [[ 0.99464675 0.06727375 -0.07843528 4.83520785] [-0.06808447 0.99764981 -0.00770518 -0.412569 ] [ 0.07773258 0.01300416 0.99688943 -0.11503507] [ 0. 0. 0. 1. ]] SLAMing on 29.432401008000003 meters Centerline goodness [0,1] 0.9288397844678432 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.41, Z:-0.12 [[ 0.99462058 0.06743689 -0.07862676 4.83552028] [-0.06826817 0.99763549 -0.00792976 -0.41087588] [ 0.07790608 0.01325481 0.99687259 -0.11502244] [ 0. 0. 0. 1. ]] SLAMing on 29.462401008 meters Centerline goodness [0,1] 0.8620248178057908 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.41, Z:-0.11 [[ 9.94293771e-01 7.19395927e-02 -7.87692305e-02 4.83539921e+00] [-7.24025945e-02 9.97370873e-01 -3.03410813e-03 -4.12108867e-01] [ 7.83438637e-02 8.71989147e-03 9.96888260e-01 -1.13106620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.492401008 meters Centerline goodness [0,1] 0.8842598268801648 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.41, Z:-0.11 [[ 9.93971856e-01 7.61706215e-02 -7.88542089e-02 4.83561478e+00] [-7.63299976e-02 9.97082113e-01 9.95442819e-04 -4.11540817e-01] [ 7.86999448e-02 5.02949944e-03 9.96885662e-01 -1.12073046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522401008000003 meters Centerline goodness [0,1] 0.9484646978290632 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.41, Z:-0.11 [[ 9.93462121e-01 8.36186875e-02 -7.77234103e-02 4.83054256e+00] [-8.33631765e-02 9.96497825e-01 6.53190576e-03 -4.08184984e-01] [ 7.79973987e-02 -9.93058305e-06 9.96953562e-01 -1.08608349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.552401008 meters Centerline goodness [0,1] 0.95173270340696 Centerline is valid? [False, True] Translation: X:4.83, Y:-0.41, Z:-0.11 [[ 9.93374330e-01 8.50245807e-02 -7.73192098e-02 4.82823227e+00] [-8.47484289e-02 9.96378822e-01 6.85182549e-03 -4.05618841e-01] [ 7.76217968e-02 -2.53746001e-04 9.96982845e-01 -1.07309338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582401008 meters Centerline goodness [0,1] 0.9522826614861584 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.41, Z:-0.10 [[ 9.93103651e-01 8.93816430e-02 -7.58686983e-02 4.86020059e+00] [-8.90211586e-02 9.95996580e-01 8.12684429e-03 -4.06057715e-01] [ 7.62913547e-02 -1.31687932e-03 9.97084698e-01 -1.03617953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.612401008000003 meters Centerline goodness [0,1] 0.9519941986947063 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.41, Z:-0.10 [[ 9.92982063e-01 9.23240681e-02 -7.39113542e-02 4.89064220e+00] [-9.19898942e-02 9.95728443e-01 7.92010478e-03 -4.06355589e-01] [ 7.43268539e-02 -1.06542433e-03 9.97233365e-01 -1.01154021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.642401008 meters Centerline goodness [0,1] 0.953770468083054 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.40, Z:-0.10 [[ 9.92617830e-01 9.80587461e-02 -7.13745424e-02 4.92145025e+00] [-9.77617534e-02 9.95180437e-01 7.65099549e-03 -4.04270434e-01] [ 7.17807953e-02 -6.16814129e-04 9.97420241e-01 -9.88753554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.672401008 meters Centerline goodness [0,1] 0.9549995174210983 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.41, Z:-0.10 [[ 9.92480520e-01 9.99934610e-02 -7.05954997e-02 4.95411438e+00] [-9.97073408e-02 9.94987979e-01 7.57411258e-03 -4.05545121e-01] [ 7.09990353e-02 -4.78269652e-04 9.97476270e-01 -9.73287911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702401008000002 meters Centerline goodness [0,1] 0.9511138014527845 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.41, Z:-0.09 [[ 9.92328829e-01 1.01733269e-01 -7.02412736e-02 4.98587965e+00] [-1.01453759e-01 9.94811646e-01 7.54472367e-03 -4.07606589e-01] [ 7.06443864e-02 -3.60605563e-04 9.97501499e-01 -9.31867115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.732401008000004 meters Centerline goodness [0,1] 0.9475049706609767 Centerline is valid? [True, False] Translation: X:4.99, Y:-0.41, Z:-0.09 [[ 9.92223987e-01 1.02607429e-01 -7.04505160e-02 4.98574720e+00] [-1.02323650e-01 9.94721861e-01 7.63476731e-03 -4.07855501e-01] [ 7.08620522e-02 -3.66645333e-04 9.97486058e-01 -9.33462945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.762401008 meters Centerline goodness [0,1] 0.9475049706609767 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.41, Z:-0.09 [[ 9.92223987e-01 1.02607429e-01 -7.04505160e-02 4.98574720e+00] [-1.02323650e-01 9.94721861e-01 7.63476731e-03 -4.07855501e-01] [ 7.08620522e-02 -3.66645333e-04 9.97486058e-01 -9.33462945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.792401008000002 meters Centerline goodness [0,1] 0.9436766813202827 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.41, Z:-0.09 [[ 9.92200112e-01 1.02615447e-01 -7.07743490e-02 4.98713299e+00] [-1.02359333e-01 9.94721100e-01 7.24567418e-03 -4.07717853e-01] [ 7.11442564e-02 5.52564607e-05 9.97466035e-01 -9.46394767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.822401008000003 meters Centerline goodness [0,1] 0.9400591888220454 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.41, Z:-0.10 [[ 9.92198798e-01 1.02432129e-01 -7.10577545e-02 4.98897972e+00] [-1.02225575e-01 9.94739699e-01 6.54696638e-03 -4.07091319e-01] [ 7.13545890e-02 7.68027653e-04 9.97450717e-01 -9.66815988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.852401008 meters Centerline goodness [0,1] 0.9378284991240023 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.41, Z:-0.10 [[ 9.92194770e-01 1.02430917e-01 -7.11157168e-02 4.99011550e+00] [-1.02253589e-01 9.94739420e-01 6.13922410e-03 -4.06600934e-01] [ 7.13704532e-02 1.18053121e-03 9.97449179e-01 -9.82657316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.882401008000002 meters Centerline goodness [0,1] 0.9371024734982332 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.41, Z:-0.10 [[ 9.92205301e-01 1.02362808e-01 -7.10668473e-02 4.99107442e+00] [-1.02208603e-01 9.94746006e-01 5.81250016e-03 -4.06580895e-01] [ 7.12884464e-02 1.49644973e-03 9.97454620e-01 -9.98264050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.912401008000003 meters Centerline goodness [0,1] 0.9337753204814561 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.41, Z:-0.10 [[ 9.92171680e-01 1.02658968e-01 -7.11090238e-02 4.99194792e+00] [-1.02468303e-01 9.94716106e-01 6.33366631e-03 -4.10362593e-01] [ 7.13834989e-02 1.00233666e-03 9.97448440e-01 -1.01175097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.942401008 meters Centerline goodness [0,1] 0.9347804758400785 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.41, Z:-0.10 [[ 9.92143247e-01 1.02653697e-01 -7.15122150e-02 4.99287937e+00] [-1.02428639e-01 9.94716997e-01 6.81693575e-03 -4.13282582e-01] [ 7.18341994e-02 5.61522102e-04 9.97416429e-01 -1.01246591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.972401008000002 meters Centerline goodness [0,1] 0.9344760305268097 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.41, Z:-0.10 [[ 9.92459839e-01 9.97037839e-02 -7.12925218e-02 4.99117617e+00] [-9.97190459e-02 9.95009981e-01 3.35395497e-03 -4.13709245e-01] [ 7.12711728e-02 3.78055664e-03 9.97449812e-01 -1.01511995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.002401008000003 meters Centerline goodness [0,1] 0.930122828040743 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.42, Z:-0.10 [[ 9.92375954e-01 1.00766557e-01 -7.09652488e-02 4.98985677e+00] [-1.00665176e-01 9.94907732e-01 5.01268447e-03 -4.19356650e-01] [ 7.11089856e-02 2.16926176e-03 9.97466193e-01 -1.00821591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.032401008 meters Centerline goodness [0,1] 0.9329148882751694 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.42, Z:-0.10 [[ 9.92349879e-01 1.01069652e-01 -7.08988171e-02 4.98976759e+00] [-1.00918738e-01 9.94878248e-01 5.71660461e-03 -4.22533455e-01] [ 7.11134662e-02 1.48214729e-03 9.97467131e-01 -1.00910771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.062401008000002 meters Centerline goodness [0,1] 0.9309865912476958 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.42, Z:-0.10 [[ 9.92677010e-01 9.79351942e-02 -7.07181171e-02 4.98845502e+00] [-9.80220593e-02 9.95181700e-01 2.24932947e-03 -4.23606906e-01] [ 7.05976645e-02 4.69907782e-03 9.97493804e-01 -1.01494776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.092401008000003 meters Centerline goodness [0,1] 0.9316886603682784 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.43, Z:-0.10 [[ 9.92652957e-01 9.81276240e-02 -7.07889562e-02 4.98856537e+00] [-9.81476427e-02 9.95166707e-01 3.20384309e-03 -4.28139034e-01] [ 7.07611980e-02 3.76746487e-03 9.97486170e-01 -1.01322036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.122401008 meters Centerline goodness [0,1] 0.9313072227873855 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.43, Z:-0.10 [[ 9.92968265e-01 9.50131244e-02 -7.06153725e-02 4.98697788e+00] [-9.52347859e-02 9.95454812e-01 2.28729288e-04 -4.30698679e-01] [ 7.03161446e-02 6.49791895e-03 9.97503592e-01 -1.01266344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.152401008000002 meters Centerline goodness [0,1] 0.9319901188821985 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.44, Z:-0.10 [[ 9.93271267e-01 9.16789058e-02 -7.07613480e-02 4.98620593e+00] [-9.19958466e-02 9.95758636e-01 -1.22621935e-03 -4.39655493e-01] [ 7.03488049e-02 7.72771856e-03 9.97492520e-01 -1.00379948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.182401008000003 meters Centerline goodness [0,1] 0.9301069685325579 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.44, Z:-0.10 [[ 9.93603869e-01 8.81025050e-02 -7.06349768e-02 4.98525819e+00] [-8.86367586e-02 9.96054035e-01 -4.45913133e-03 -4.43060472e-01] [ 6.99633930e-02 1.06914655e-02 9.97492264e-01 -1.00949642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.212401008 meters Centerline goodness [0,1] 0.9312095543747041 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.45, Z:-0.10 [[ 0.99392624 0.08400864 -0.07108574 4.98579768] [-0.08462823 0.99639604 -0.00574429 -0.45374798] [ 0.07034698 0.01172526 0.99745367 -0.10004131] [ 0. 0. 0. 1. ]] SLAMing on 30.242401008 meters Centerline goodness [0,1] 0.9309970044800254 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.46, Z:-0.10 [[ 0.99424411 0.08009059 -0.07116286 4.98590799] [-0.08093922 0.99667733 -0.00911808 -0.45710077] [ 0.07019614 0.01482547 0.99742303 -0.10108106] [ 0. 0. 0. 1. ]] SLAMing on 30.272401008000003 meters Centerline goodness [0,1] 0.9292025976791227 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.46, Z:-0.10 [[ 0.99427644 0.07937757 -0.07150917 4.9875317 ] [-0.0801719 0.99674647 -0.00830271 -0.46317367] [ 0.07061746 0.01398822 0.99740539 -0.10142328] [ 0. 0. 0. 1. ]] SLAMing on 30.302401008 meters Centerline goodness [0,1] 0.9307551536681199 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.47, Z:-0.10 [[ 0.99458234 0.07514097 -0.07183179 4.98867829] [-0.07618956 0.99702153 -0.01196721 -0.46619845] [ 0.07071861 0.0173752 0.99734497 -0.10301152] [ 0. 0. 0. 1. ]] SLAMing on 30.332401008 meters Centerline goodness [0,1] 0.9281455060309853 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.48, Z:-0.11 [[ 0.99484184 0.07069549 -0.07274524 4.99270475] [-0.07191484 0.99730857 -0.01427825 -0.47573347] [ 0.07154004 0.01943606 0.99724835 -0.10568629] [ 0. 0. 0. 1. ]] SLAMing on 30.362401008000003 meters Centerline goodness [0,1] 0.9248656356257541 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.48, Z:-0.11 [[ 0.99485276 0.07016653 -0.07310709 4.99428086] [-0.07133312 0.99736163 -0.01346718 -0.48148454] [ 0.07196926 0.01861282 0.99723317 -0.10607358] [ 0. 0. 0. 1. ]] SLAMing on 30.392401008000004 meters Centerline goodness [0,1] 0.9286107441655658 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.49, Z:-0.11 [[ 0.9948551 0.06988408 -0.07334538 4.99536359] [-0.07096199 0.99740451 -0.01219176 -0.48701623] [ 0.072303 0.01733377 0.99723208 -0.10570823] [ 0. 0. 0. 1. ]] SLAMing on 30.422401008 meters Centerline goodness [0,1] 0.9278636653806656 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.49, Z:-0.11 [[ 0.99486089 0.06934042 -0.07378154 4.99681784] [-0.07035412 0.9974589 -0.01122689 -0.49185103] [ 0.07281557 0.01636003 0.99721123 -0.10531514] [ 0. 0. 0. 1. ]] SLAMing on 30.452401008000002 meters Centerline goodness [0,1] 0.9328441805757813 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.50, Z:-0.11 [[ 0.99512037 0.06543326 -0.07385081 4.99673767] [-0.06660414 0.99768812 -0.01350215 -0.49882017] [ 0.07279659 0.01835503 0.99717789 -0.10523879] [ 0. 0. 0. 1. ]] SLAMing on 30.482401008000004 meters Centerline goodness [0,1] 0.9337657232704403 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.50, Z:-0.10 [[ 0.99508535 0.06552018 -0.07424456 4.99719458] [-0.06656693 0.99771324 -0.01171032 -0.50422077] [ 0.07330752 0.016595 0.99717131 -0.10345848] [ 0. 0. 0. 1. ]] SLAMing on 30.512401008 meters Centerline goodness [0,1] 0.9353012764271361 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.51, Z:-0.10 [[ 0.99506405 0.06576941 -0.07430958 4.99686532] [-0.06671537 0.9977187 -0.01031758 -0.50885369] [ 0.07346147 0.01522424 0.99718185 -0.10216534] [ 0. 0. 0. 1. ]] SLAMing on 30.542401008000002 meters Centerline goodness [0,1] 0.9350796942921271 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.51, Z:-0.10 [[ 0.99504568 0.06610429 -0.07425843 4.99636029] [-0.06694789 0.99771654 -0.00892645 -0.51280454] [ 0.07349878 0.01385367 0.99719908 -0.10090573] [ 0. 0. 0. 1. ]] SLAMing on 30.572401008000003 meters Centerline goodness [0,1] 0.9344722007611526 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.52, Z:-0.10 [[ 0.99504625 0.0659564 -0.07438216 4.99688997] [-0.0666908 0.99774602 -0.00743051 -0.51870117] [ 0.07372442 0.0123543 0.99720213 -0.10003994] [ 0. 0. 0. 1. ]] SLAMing on 30.602401008 meters Centerline goodness [0,1] 0.9349269968508446 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.52, Z:-0.10 [[ 0.99501228 0.06619698 -0.0746225 4.99728004] [-0.06684572 0.99774389 -0.0062271 -0.52222943] [ 0.07404193 0.01118423 0.99719241 -0.09917594] [ 0. 0. 0. 1. ]] SLAMing on 30.632401008000002 meters Centerline goodness [0,1] 0.932880106009103 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.53, Z:-0.10 [[ 0.99498735 0.06649201 -0.07469264 4.99728573] [-0.06707627 0.99773357 -0.00533823 -0.52526178] [ 0.0741684 0.01032157 0.99719231 -0.09872263] [ 0. 0. 0. 1. ]] SLAMing on 30.662401008000003 meters Centerline goodness [0,1] 0.933864725928493 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.53, Z:-0.10 [[ 9.94964913e-01 6.67143402e-02 -7.47931752e-02 4.99775859e+00] [-6.72623492e-02 9.97723636e-01 -4.82936269e-03 -5.27607943e-01] [ 7.43007310e-02 9.83581110e-03 9.97187374e-01 -9.90660225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.692401008 meters Centerline goodness [0,1] 0.931286888091656 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.53, Z:-0.10 [[ 9.94918398e-01 6.74383108e-02 -7.47626621e-02 4.99851515e+00] [-6.79709537e-02 9.97676695e-01 -4.60017578e-03 -5.29606865e-01] [ 7.42787376e-02 9.65848897e-03 9.97190745e-01 -1.01196963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.722401008000002 meters Centerline goodness [0,1] 0.9304091709739828 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.53, Z:-0.10 [[ 9.94887944e-01 6.83284524e-02 -7.43586063e-02 4.99769757e+00] [-6.88491476e-02 9.97617118e-01 -4.45883998e-03 -5.29693477e-01] [ 7.38767529e-02 9.55557281e-03 9.97221598e-01 -1.02182726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.752401008000003 meters Centerline goodness [0,1] 0.9322151532677848 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.53, Z:-0.10 [[ 9.94828791e-01 6.97270300e-02 -7.38499744e-02 4.99557501e+00] [-7.01943210e-02 9.97526295e-01 -3.74794421e-03 -5.29911869e-01] [ 7.34059584e-02 8.91241162e-03 9.97262320e-01 -1.01746376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.782401008 meters Centerline goodness [0,1] 0.9277724789733808 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.53, Z:-0.10 [[ 0.99483621 0.07520797 -0.06815192 5.00520832] [-0.07599034 0.99706832 -0.00895733 -0.53275125] [ 0.06727846 0.01408996 0.99763474 -0.10300228] [ 0. 0. 0. 1. ]] SLAMing on 30.812401008000002 meters Centerline goodness [0,1] 0.9324195090851132 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.54, Z:-0.10 [[ 0.99475352 0.07670182 -0.0676924 5.00220809] [-0.07736622 0.99697642 -0.00724478 -0.53517616] [ 0.06693204 0.01244388 0.99767993 -0.10046902] [ 0. 0. 0. 1. ]] SLAMing on 30.842401008000003 meters Centerline goodness [0,1] 0.9339693990342661 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.54, Z:-0.10 [[ 0.9946983 0.0779435 -0.06708277 4.99935468] [-0.07849335 0.99689893 -0.00559619 -0.53799613] [ 0.06643856 0.01083207 0.99773172 -0.09824072] [ 0. 0. 0. 1. ]] SLAMing on 30.872401008 meters Centerline goodness [0,1] 0.9329677381716353 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.54, Z:-0.10 [[ 9.94660711e-01 7.87324888e-02 -6.67178049e-02 4.99749822e+00] [-7.91703556e-02 9.96853313e-01 -3.94047494e-03 -5.41258399e-01] [ 6.61976215e-02 9.20150794e-03 9.97764104e-01 -9.60805382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.902401008000002 meters Centerline goodness [0,1] 0.9359566998244587 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.54, Z:-0.10 [[ 9.94659992e-01 7.88879080e-02 -6.65447159e-02 4.99706832e+00] [-7.92546558e-02 9.96850227e-01 -2.88537275e-03 -5.44326644e-01] [ 6.61074941e-02 8.14394339e-03 9.97779272e-01 -9.52221485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.932401008000003 meters Centerline goodness [0,1] 0.9386623643297155 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.55, Z:-0.10 [[ 0.99499078 0.07451219 -0.06664296 4.99793985] [-0.07512433 0.99715151 -0.00672346 -0.54726743] [ 0.06595215 0.01169629 0.99775423 -0.09704016] [ 0. 0. 0. 1. ]] SLAMing on 30.962401008 meters Centerline goodness [0,1] 0.9395732155997056 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.55, Z:-0.10 [[ 0.99495984 0.07516027 -0.06637659 4.99636716] [-0.07573211 0.99710931 -0.00613774 -0.54770689] [ 0.0657234 0.01113364 0.99777576 -0.09581586] [ 0. 0. 0. 1. ]] SLAMing on 30.992401008 meters Centerline goodness [0,1] 0.9390880920761399 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.55, Z:-0.09 [[ 0.99492494 0.07564681 -0.06634695 4.99535884] [-0.0761697 0.99708033 -0.0053836 -0.54907319] [ 0.06574599 0.0104099 0.99778209 -0.09443516] [ 0. 0. 0. 1. ]] SLAMing on 31.022401008000003 meters Centerline goodness [0,1] 0.9383211786589507 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.55, Z:-0.09 [[ 0.99491915 0.07528748 -0.06684074 4.99688039] [-0.07580582 0.99710878 -0.00524911 -0.55078098] [ 0.06625229 0.01028936 0.99774985 -0.09473023] [ 0. 0. 0. 1. ]] SLAMing on 31.052401008 meters Centerline goodness [0,1] 0.9373025946807568 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.55, Z:-0.10 [[ 0.9949381 0.07478218 -0.0671252 4.99856752] [-0.07533989 0.99714097 -0.00581225 -0.54996768] [ 0.06649864 0.01084003 0.99772763 -0.09605617] [ 0. 0. 0. 1. ]] SLAMing on 31.082401008 meters Centerline goodness [0,1] 0.9372655580825235 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.55, Z:-0.10 [[ 0.99496319 0.07394172 -0.06768208 5.0013344 ] [-0.07455044 0.997196 -0.00650922 -0.54963459] [ 0.06701099 0.01152216 0.99768571 -0.09787413] [ 0. 0. 0. 1. ]] SLAMing on 31.112401008000003 meters Centerline goodness [0,1] 0.9376662528817166 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.55, Z:-0.10 [[ 0.99498799 0.07297145 -0.06836714 5.00439352] [-0.07361605 0.99726241 -0.00695376 -0.55019393] [ 0.06767255 0.01195183 0.997636 -0.09938709] [ 0. 0. 0. 1. ]] SLAMing on 31.142401008000004 meters Centerline goodness [0,1] 0.93891027539236 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.55, Z:-0.10 [[ 0.99517227 0.06945789 -0.06933805 5.01080728] [-0.07021277 0.99749576 -0.00850699 -0.55217446] [ 0.06857353 0.01333434 0.99755695 -0.10237976] [ 0. 0. 0. 1. ]] SLAMing on 31.172401008 meters Centerline goodness [0,1] 0.9380512514898689 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.55, Z:-0.10 [[ 0.99518372 0.06852188 -0.0701007 5.01343993] [-0.06927003 0.99756346 -0.00829497 -0.554309 ] [ 0.06936151 0.0131109 0.99750543 -0.10255246] [ 0. 0. 0. 1. ]] SLAMing on 31.202401008000002 meters Centerline goodness [0,1] 0.9385794827431913 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.56, Z:-0.10 [[ 0.99519309 0.06769037 -0.07077238 5.0156505 ] [-0.06842138 0.99762481 -0.00795353 -0.55675992] [ 0.0700659 0.01275764 0.99746078 -0.10241163] [ 0. 0. 0. 1. ]] SLAMing on 31.232401008000004 meters Centerline goodness [0,1] 0.9341558868341648 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.56, Z:-0.10 [[ 0.99545423 0.06312541 -0.07131666 5.01663544] [-0.0641154 0.99787418 -0.01167651 -0.55879413] [ 0.07042797 0.01619592 0.99738538 -0.10248573] [ 0. 0. 0. 1. ]] SLAMing on 31.262401008 meters Centerline goodness [0,1] 0.9339998204076746 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.56, Z:-0.10 [[ 0.99543727 0.06336974 -0.07133666 5.0161822 ] [-0.06430026 0.99787192 -0.01082176 -0.56026431] [ 0.07049907 0.01535935 0.99739359 -0.1011247 ] [ 0. 0. 0. 1. ]] SLAMing on 31.292401008000002 meters Centerline goodness [0,1] 0.9340804218852999 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.56, Z:-0.10 [[ 0.99542268 0.06386821 -0.07109527 5.01521374] [-0.06476131 0.99784735 -0.01032631 -0.56047292] [ 0.07028271 0.01488327 0.99741608 -0.10050023] [ 0. 0. 0. 1. ]] SLAMing on 31.322401008000003 meters Centerline goodness [0,1] 0.9347286589923756 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.56, Z:-0.10 [[ 0.99541286 0.06427293 -0.07086762 5.01439312] [-0.06515422 0.99782315 -0.01019272 -0.55967942] [ 0.07005824 0.01476329 0.99743365 -0.10019975] [ 0. 0. 0. 1. ]] SLAMing on 31.352401008 meters Centerline goodness [0,1] 0.9396413037001727 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.56, Z:-0.10 [[ 9.95109822e-01 6.90730685e-02 -7.06070408e-02 5.01316729e+00] [-6.95874649e-02 9.97564070e-01 -4.84878604e-03 -5.60930687e-01] [ 7.01001265e-02 9.73843959e-03 9.97492424e-01 -9.74546712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382401008000002 meters Centerline goodness [0,1] 0.9382829936021425 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.56, Z:-0.10 [[ 9.95090781e-01 6.97164262e-02 -7.02421290e-02 5.01170544e+00] [-7.02175755e-02 9.97520685e-01 -4.68785486e-03 -5.59627694e-01] [ 6.97411561e-02 9.59707315e-03 9.97518956e-01 -9.68724837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.412401008000003 meters Centerline goodness [0,1] 0.9423818278868394 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.56, Z:-0.10 [[ 9.95060826e-01 7.04767481e-02 -6.99069400e-02 5.00994848e+00] [-7.09408224e-02 9.97471788e-01 -4.17505626e-03 -5.58752650e-01] [ 6.94359561e-02 9.11369075e-03 9.97544780e-01 -9.55965828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.442401008 meters Centerline goodness [0,1] 0.9421900065355594 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.56, Z:-0.09 [[ 9.95035877e-01 7.11614477e-02 -6.95676095e-02 5.00828215e+00] [-7.15941981e-02 9.97426816e-01 -3.74397624e-03 -5.58088451e-01] [ 6.91221725e-02 8.70602790e-03 9.97570213e-01 -9.44817646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.472401008000002 meters Centerline goodness [0,1] 0.9429443670529654 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.56, Z:-0.09 [[ 9.94977247e-01 7.23178649e-02 -6.92127441e-02 5.00604547e+00] [-7.27415221e-02 9.97344267e-01 -3.61712936e-03 -5.55245834e-01] [ 6.87673505e-02 8.63360177e-03 9.97595365e-01 -9.34532715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.502401008000003 meters Centerline goodness [0,1] 0.9411782067174311 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.55, Z:-0.09 [[ 9.94956620e-01 7.28404613e-02 -6.89607898e-02 5.00504020e+00] [-7.32648240e-02 9.97305874e-01 -3.64122537e-03 -5.53573259e-01] [ 6.85097722e-02 8.67526142e-03 9.97612726e-01 -9.32183497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.532401008 meters Centerline goodness [0,1] 0.9425307660601778 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.55, Z:-0.09 [[ 9.94940483e-01 7.31973280e-02 -6.88155958e-02 5.00439152e+00] [-7.36375390e-02 9.97277528e-01 -3.87874770e-03 -5.51478856e-01] [ 6.83443333e-02 8.92653423e-03 9.97621857e-01 -9.31876498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.562401008000002 meters Centerline goodness [0,1] 0.9404022260828597 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.55, Z:-0.09 [[ 9.94927635e-01 7.34473916e-02 -6.87348600e-02 5.00406077e+00] [-7.39199330e-02 9.97254677e-01 -4.35338513e-03 -5.48973239e-01] [ 6.82264159e-02 9.41217942e-03 9.97625464e-01 -9.35078373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.592401008000003 meters Centerline goodness [0,1] 0.937014541844303 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.55, Z:-0.09 [[ 9.94624303e-01 7.73867745e-02 -6.88024913e-02 5.00498313e+00] [-7.76174603e-02 9.96982981e-01 -6.81882842e-04 -5.47375598e-01] [ 6.85421442e-02 6.01849189e-03 9.97630068e-01 -9.33122098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.622401008 meters Centerline goodness [0,1] 0.943271112669062 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.55, Z:-0.09 [[ 9.94608135e-01 7.77300716e-02 -6.86490599e-02 5.00431667e+00] [-7.79710297e-02 9.96955277e-01 -8.33448255e-04 -5.46015263e-01] [ 6.83752585e-02 6.18159230e-03 9.97640522e-01 -9.32410861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.652401008000002 meters Centerline goodness [0,1] 0.9405616862264261 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.54, Z:-0.09 [[ 9.94593720e-01 7.79843395e-02 -6.85694871e-02 5.00400358e+00] [-7.82440807e-02 9.96933619e-01 -1.10634520e-03 -5.44899036e-01] [ 6.82729493e-02 6.46552046e-03 9.97645729e-01 -9.35120949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682401008000003 meters Centerline goodness [0,1] 0.9405616862264261 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.54, Z:-0.09 [[ 9.94593720e-01 7.79843395e-02 -6.85694871e-02 5.00400358e+00] [-7.82440807e-02 9.96933619e-01 -1.10634520e-03 -5.44899036e-01] [ 6.82729493e-02 6.46552046e-03 9.97645729e-01 -9.35120949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.712401008 meters Centerline goodness [0,1] 0.9372602580495176 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.54, Z:-0.09 [[ 9.94582835e-01 7.81964737e-02 -6.84857363e-02 5.00369851e+00] [-7.84627158e-02 9.96916324e-01 -1.20213622e-03 -5.43920162e-01] [ 6.81805456e-02 6.56920091e-03 9.97651371e-01 -9.35221414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742401008 meters Centerline goodness [0,1] 0.9377416073245168 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.54, Z:-0.09 [[ 9.94575720e-01 7.82387803e-02 -6.85407263e-02 5.00387463e+00] [-7.85220805e-02 9.96911328e-01 -1.44481165e-03 -5.42980081e-01] [ 6.82159862e-02 6.81893502e-03 9.97647273e-01 -9.38208043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.772401008000003 meters Centerline goodness [0,1] 0.9341983048879601 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.54, Z:-0.10 [[ 9.94584203e-01 7.80012683e-02 -6.86881796e-02 5.00522441e+00] [-7.83530691e-02 9.96922690e-01 -2.43841760e-03 -5.40719789e-01] [ 6.82866051e-02 7.80714130e-03 9.97635198e-01 -9.58046403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802401008000004 meters Centerline goodness [0,1] 0.9340768133244038 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.54, Z:-0.10 [[ 9.94580564e-01 7.79685504e-02 -6.87779570e-02 5.00596850e+00] [-7.83456880e-02 9.96922323e-01 -2.79900958e-03 -5.40214669e-01] [ 6.83480459e-02 8.17229689e-03 9.97628066e-01 -9.68449088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.832401008 meters Centerline goodness [0,1] 0.9319854006141012 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.54, Z:-0.10 [[ 9.94577872e-01 7.75866507e-02 -6.92471506e-02 5.00763445e+00] [-7.79861820e-02 9.96949679e-01 -3.08091213e-03 -5.39930818e-01] [ 6.87968870e-02 8.46452792e-03 9.97594778e-01 -9.74763724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862401008000003 meters Centerline goodness [0,1] 0.9344128848446085 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.54, Z:-0.10 [[ 9.94558460e-01 7.78331817e-02 -6.92493058e-02 5.00759573e+00] [-7.82256762e-02 9.96931252e-01 -2.97008953e-03 -5.40360480e-01] [ 6.88056257e-02 8.37100144e-03 9.97594964e-01 -9.76145344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.892401008000004 meters Centerline goodness [0,1] 0.9320951828206616 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.54, Z:-0.10 [[ 9.94516002e-01 7.84713659e-02 -6.91387528e-02 5.00706007e+00] [-7.88558056e-02 9.96881974e-01 -2.84457359e-03 -5.40622611e-01] [ 6.86999588e-02 8.28096600e-03 9.97602998e-01 -9.79097655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922401008 meters Centerline goodness [0,1] 0.9316605467156263 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.54, Z:-0.10 [[ 9.94492142e-01 7.89080112e-02 -6.89848203e-02 5.00645072e+00] [-7.92830743e-02 9.96848454e-01 -2.71168860e-03 -5.40410842e-01] [ 6.85534376e-02 8.16608164e-03 9.97614024e-01 -9.78599509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.952401008000002 meters Centerline goodness [0,1] 0.9316665699866582 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.54, Z:-0.10 [[ 9.94450915e-01 7.95047241e-02 -6.88939468e-02 5.00562316e+00] [-7.98464848e-02 9.96804707e-01 -2.21683713e-03 -5.40397679e-01] [ 6.84975615e-02 7.70547519e-03 9.97621526e-01 -9.71149682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982401008000004 meters Centerline goodness [0,1] 0.936562053792581 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.54, Z:-0.10 [[ 9.94382009e-01 8.11131438e-02 -6.80079194e-02 5.00190455e+00] [-8.13719114e-02 9.96683266e-01 -1.03887489e-03 -5.41242447e-01] [ 6.76980888e-02 6.56697289e-03 9.97684240e-01 -9.53794847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.012401008000005 meters Centerline goodness [0,1] 0.9379101169471259 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.54, Z:-0.09 [[ 9.94370428e-01 8.11380484e-02 -6.81474087e-02 5.00170391e+00] [-8.13504471e-02 9.96685501e-01 -3.42822232e-04 -5.42747083e-01] [ 6.78937182e-02 5.88471445e-03 9.97675204e-01 -9.40724426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.042401008 meters Centerline goodness [0,1] 0.9385249495746734 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.54, Z:-0.09 [[ 9.94352701e-01 8.14764040e-02 -6.80022173e-02 5.00071019e+00] [-8.16319722e-02 9.96662420e-01 4.92599093e-04 -5.44411931e-01] [ 6.78153896e-02 5.06133787e-03 9.97685048e-01 -9.27311874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.072401008 meters Centerline goodness [0,1] 0.9407424688693826 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.55, Z:-0.09 [[ 9.94339878e-01 8.16107270e-02 -6.80286380e-02 5.00030797e+00] [-8.17122604e-02 9.96655123e-01 1.29342810e-03 -5.45589807e-01] [ 6.79066482e-02 4.27266664e-03 9.97682530e-01 -9.13163823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.102401008 meters Centerline goodness [0,1] 0.9388971684053651 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.55, Z:-0.09 [[ 9.94321620e-01 8.19314890e-02 -6.79098497e-02 4.99915352e+00] [-8.19883434e-02 9.96631372e-01 1.95420769e-03 -5.46471128e-01] [ 6.78411979e-02 3.62470513e-03 9.97689548e-01 -8.97570944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.132401008 meters Centerline goodness [0,1] 0.9368836869056327 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.55, Z:-0.09 [[ 9.94338509e-01 8.15145397e-02 -6.81638390e-02 5.00036789e+00] [-8.15913709e-02 9.96664482e-01 1.66077014e-03 -5.46627856e-01] [ 6.80718543e-02 3.91021337e-03 9.97672758e-01 -9.04516533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162401008 meters Centerline goodness [0,1] 0.9337709529949596 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.55, Z:-0.09 [[ 9.94354291e-01 8.10981356e-02 -6.84297890e-02 5.00191000e+00] [-8.12019745e-02 9.96696861e-01 1.26736314e-03 -5.46542688e-01] [ 6.83065367e-02 4.29642601e-03 9.97655130e-01 -9.16404181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.192401008000004 meters Centerline goodness [0,1] 0.9319940432738634 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.55, Z:-0.09 [[ 9.94367956e-01 8.06327085e-02 -6.87803310e-02 5.00366140e+00] [-8.07649165e-02 9.96732806e-01 8.61013963e-04 -5.46292027e-01] [ 6.86250383e-02 4.69887300e-03 9.97631457e-01 -9.27682208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222401008000006 meters Centerline goodness [0,1] 0.9318274793992168 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.55, Z:-0.09 [[ 9.94344134e-01 8.08447776e-02 -6.88757235e-02 5.00377256e+00] [-8.10178925e-02 9.96712608e-01 2.80838822e-04 -5.45123158e-01] [ 6.86720063e-02 5.30091552e-03 9.97625208e-01 -9.35485364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.252401008 meters Centerline goodness [0,1] 0.9338267559898195 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.55, Z:-0.09 [[ 9.94325418e-01 8.09821899e-02 -6.89844044e-02 5.00338487e+00] [-8.11267866e-02 9.96703539e-01 7.07541007e-04 -5.45855853e-01] [ 6.88142982e-02 4.89295705e-03 9.97617487e-01 -9.24548124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282401008 meters Centerline goodness [0,1] 0.9309223059113156 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.55, Z:-0.09 [[ 9.94333334e-01 8.06708788e-02 -6.92346016e-02 5.00412593e+00] [-8.08075183e-02 9.96729380e-01 8.29438485e-04 -5.46339920e-01] [ 6.90750731e-02 4.76993801e-03 9.97600061e-01 -9.21751346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.312401008 meters Centerline goodness [0,1] 0.93012972561422 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.55, Z:-0.09 [[ 9.94368774e-01 8.00016064e-02 -6.95016839e-02 5.00590690e+00] [-8.01635793e-02 9.96781615e-01 4.59994732e-04 -5.46316312e-01] [ 6.93148010e-02 5.11409935e-03 9.97581728e-01 -9.32553470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342401008 meters Centerline goodness [0,1] 0.930896814912667 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.55, Z:-0.09 [[ 9.94413331e-01 7.89615870e-02 -7.00513723e-02 5.00862608e+00] [-7.91613093e-02 9.96861817e-01 -7.52338492e-05 -5.46510953e-01] [ 6.98255977e-02 5.62017189e-03 9.97543382e-01 -9.46277522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.372401008000004 meters Centerline goodness [0,1] 0.9280068424467646 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.55, Z:-0.10 [[ 0.9948016 0.07283196 -0.07117082 5.0131681 ] [-0.07340064 0.99728789 -0.00540454 -0.54666979] [ 0.07058417 0.01060043 0.9974495 -0.09772422] [ 0. 0. 0. 1. ]] SLAMing on 32.402401008000005 meters Centerline goodness [0,1] 0.9289539872762242 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.55, Z:-0.10 [[ 0.99482766 0.07152823 -0.07212243 5.01626846] [-0.07210369 0.9973825 -0.00540392 -0.54910734] [ 0.07154711 0.01057626 0.99738115 -0.0978142 ] [ 0. 0. 0. 1. ]] SLAMing on 32.432401008 meters Centerline goodness [0,1] 0.9292329612918546 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.55, Z:-0.10 [[ 0.99484483 0.07044566 -0.07294639 5.01892467] [-0.07101954 0.99746084 -0.00530031 -0.55166066] [ 0.07238778 0.01045361 0.99732178 -0.09781984] [ 0. 0. 0. 1. ]] SLAMing on 32.462401008 meters Centerline goodness [0,1] 0.9309913292214177 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.55, Z:-0.10 [[ 0.99512534 0.06610569 -0.07318188 5.01908459] [-0.06697776 0.99770901 -0.00952467 -0.5513292 ] [ 0.07238459 0.0143798 0.99727313 -0.09831333] [ 0. 0. 0. 1. ]] SLAMing on 32.492401008 meters Centerline goodness [0,1] 0.9354036895064686 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.55, Z:-0.10 [[ 0.99538286 0.06184865 -0.07340102 5.01843282] [-0.06294442 0.99793612 -0.01270823 -0.55322985] [ 0.07246354 0.01726974 0.99722154 -0.09678205] [ 0. 0. 0. 1. ]] SLAMing on 32.522401008 meters Centerline goodness [0,1] 0.9338899862333154 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.55, Z:-0.10 [[ 0.99536923 0.06182338 -0.07360685 5.01853175] [-0.06288133 0.99794716 -0.01214122 -0.55367779] [ 0.07270514 0.01671349 0.99721343 -0.09554527] [ 0. 0. 0. 1. ]] SLAMing on 32.552401008000004 meters Centerline goodness [0,1] 0.9338909875876956 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.55, Z:-0.10 [[ 0.99536991 0.06163304 -0.07375705 5.01917213] [-0.06270347 0.9979566 -0.01228427 -0.55269154] [ 0.07284921 0.01685222 0.99720058 -0.09565951] [ 0. 0. 0. 1. ]] SLAMing on 32.582401008000005 meters Centerline goodness [0,1] 0.9321253438583902 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.55, Z:-0.10 [[ 0.99536549 0.06153606 -0.07389763 5.01959868] [-0.06261416 0.99796127 -0.01235994 -0.5511328 ] [ 0.07298639 0.0169297 0.99718924 -0.09550865] [ 0. 0. 0. 1. ]] SLAMing on 32.612401008 meters Centerline goodness [0,1] 0.9300807677405896 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.55, Z:-0.10 [[ 0.99539757 0.06120783 -0.07373793 5.01993812] [-0.06235103 0.99796565 -0.01330057 -0.54714785] [ 0.07277382 0.01783699 0.99718896 -0.09643038] [ 0. 0. 0. 1. ]] SLAMing on 32.642401008 meters Centerline goodness [0,1] 0.9307127789167187 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.55, Z:-0.10 [[ 0.99539072 0.06118833 -0.07384652 5.0201081 ] [-0.06233477 0.99796642 -0.01331885 -0.54573478] [ 0.07288139 0.01786067 0.99718068 -0.09606697] [ 0. 0. 0. 1. ]] SLAMing on 32.672401008 meters Centerline goodness [0,1] 0.9294767148496631 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.54, Z:-0.09 [[ 0.995388 0.06102096 -0.07402137 5.01989713] [-0.0621508 0.99798138 -0.01305546 -0.54448365] [ 0.07307529 0.01759574 0.99717119 -0.09440566] [ 0. 0. 0. 1. ]] SLAMing on 32.702401008 meters Centerline goodness [0,1] 0.9284253578732107 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.54, Z:-0.09 [[ 0.99537135 0.0610373 -0.07423154 5.01984091] [-0.06214569 0.99798613 -0.01271237 -0.54432596] [ 0.07330612 0.0172667 0.99716 -0.09326384] [ 0. 0. 0. 1. ]] SLAMing on 32.732401008000004 meters Centerline goodness [0,1] 0.9270957017335549 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.54, Z:-0.09 [[ 0.99536239 0.06089553 -0.07446779 5.02027295] [-0.06200579 0.99799515 -0.01268719 -0.54374979] [ 0.0735459 0.01724579 0.99714271 -0.09280837] [ 0. 0. 0. 1. ]] SLAMing on 32.762401008000005 meters Centerline goodness [0,1] 0.9324292242863078 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.54, Z:-0.09 [[ 0.99536241 0.06046103 -0.07482076 5.02156793] [-0.06160946 0.9980139 -0.01313537 -0.54263351] [ 0.07387798 0.01768412 0.99711048 -0.09330999] [ 0. 0. 0. 1. ]] SLAMing on 32.792401008 meters Centerline goodness [0,1] 0.9292393003569006 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.54, Z:-0.09 [[ 0.99537994 0.05912926 -0.07564727 5.02490507] [-0.06039371 0.99806879 -0.01453616 -0.53908546] [ 0.07464167 0.01903762 0.99702868 -0.09481757] [ 0. 0. 0. 1. ]] SLAMing on 32.822401008 meters Centerline goodness [0,1] 0.927035080990175 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.54, Z:-0.09 [[ 0.99538699 0.05887882 -0.07574974 5.02537299] [-0.06016893 0.99807757 -0.01486121 -0.53737027] [ 0.07472911 0.01935044 0.99701611 -0.09490865] [ 0. 0. 0. 1. ]] SLAMing on 32.852401008 meters Centerline goodness [0,1] 0.9292071791557736 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.54, Z:-0.09 [[ 0.99538354 0.0587457 -0.07589835 5.02574241] [-0.06005101 0.99808215 -0.01503007 -0.53593935] [ 0.07486984 0.01951845 0.99700228 -0.0947237 ] [ 0. 0. 0. 1. ]] SLAMing on 32.882401008 meters Centerline goodness [0,1] 0.9270464196807732 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.53, Z:-0.09 [[ 0.99538236 0.05873583 -0.07592137 5.02569869] [-0.0600493 0.9980807 -0.01513295 -0.53457297] [ 0.07488681 0.01962209 0.99699897 -0.09445342] [ 0. 0. 0. 1. ]] SLAMing on 32.912401008 meters Centerline goodness [0,1] 0.9289911421638846 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.53, Z:-0.09 [[ 0.99538598 0.05902935 -0.07564581 5.02462736] [-0.06036884 0.99805512 -0.01554291 -0.53082406] [ 0.0745812 0.02003784 0.99701361 -0.09402126] [ 0. 0. 0. 1. ]] SLAMing on 32.942401008000004 meters Centerline goodness [0,1] 0.9281961979393412 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.53, Z:-0.09 [[ 0.99511758 0.06305433 -0.07592862 5.02549255] [-0.06407363 0.99788387 -0.01106171 -0.53114785] [ 0.07507046 0.01587272 0.9970519 -0.0926939 ] [ 0. 0. 0. 1. ]] SLAMing on 32.972401008000006 meters Centerline goodness [0,1] 0.9278559434890857 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.53, Z:-0.09 [[ 0.99483896 0.06715914 -0.07605979 5.02622715] [-0.06787227 0.99767066 -0.00682724 -0.53098176] [ 0.07542411 0.01195436 0.99707988 -0.09190804] [ 0. 0. 0. 1. ]] SLAMing on 33.002401008 meters Centerline goodness [0,1] 0.9286887371423632 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.53, Z:-0.09 [[ 9.94538012e-01 7.11763525e-02 -7.63417922e-02 5.02729699e+00] [-7.15937063e-02 9.97430113e-01 -2.74063554e-03 -5.30505325e-01] [ 7.59505340e-02 8.19125807e-03 9.97077941e-01 -9.10876101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.032401008 meters Centerline goodness [0,1] 0.9259737279871508 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.53, Z:-0.09 [[ 9.94172787e-01 7.66062118e-02 -7.58416627e-02 5.02531144e+00] [-7.67307445e-02 9.97051036e-01 1.27482365e-03 -5.27440244e-01] [ 7.57156677e-02 4.55199225e-03 9.97119059e-01 -8.99872557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.062401008 meters Centerline goodness [0,1] 0.9254288482361657 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.52, Z:-0.09 [[ 9.94114429e-01 7.73942693e-02 -7.58065225e-02 5.02441919e+00] [-7.75349076e-02 9.96989042e-01 1.09051210e-03 -5.24541824e-01] [ 7.56626716e-02 4.79355790e-03 9.97121949e-01 -8.96966159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.092401008 meters Centerline goodness [0,1] 0.9225115378041138 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.52, Z:-0.09 [[ 9.94067514e-01 7.83959376e-02 -7.53913466e-02 5.02243183e+00] [-7.85186298e-02 9.96911746e-01 1.33983532e-03 -5.22843872e-01] [ 7.52635566e-02 4.58773846e-03 9.97153122e-01 -8.89120937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122401008000004 meters Centerline goodness [0,1] 0.9218292856128391 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.52, Z:-0.09 [[ 9.94037339e-01 7.92681693e-02 -7.48754063e-02 5.02040222e+00] [-7.93656072e-02 9.96844163e-01 1.67792014e-03 -5.21961258e-01] [ 7.47721174e-02 4.27461681e-03 9.97191485e-01 -8.81326431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.152401008000005 meters Centerline goodness [0,1] 0.9224338925220358 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.52, Z:-0.09 [[ 9.93994327e-01 8.02912478e-02 -7.43545164e-02 5.01816277e+00] [-8.03601311e-02 9.96763746e-01 2.06968620e-03 -5.20041046e-01] [ 7.42800640e-02 3.91788235e-03 9.97229724e-01 -8.71112487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.182401008 meters Centerline goodness [0,1] 0.9247275204359673 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.52, Z:-0.09 [[ 9.93986264e-01 8.06093966e-02 -7.41176854e-02 5.01736709e+00] [-8.06671180e-02 9.96738627e-01 2.21933602e-03 -5.19672175e-01] [ 7.40548593e-02 3.77287055e-03 9.97247032e-01 -8.68484296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.212401008 meters Centerline goodness [0,1] 0.9254771453764542 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.52, Z:-0.09 [[ 9.93970343e-01 8.08166764e-02 -7.41054749e-02 5.01693650e+00] [-8.08523971e-02 9.96722893e-01 2.52271008e-03 -5.20196925e-01] [ 7.40665004e-02 3.48410628e-03 9.97247218e-01 -8.62799320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242401008 meters Centerline goodness [0,1] 0.9269423273802753 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.52, Z:-0.09 [[ 9.93964499e-01 8.09946034e-02 -7.39895217e-02 5.01640643e+00] [-8.10077308e-02 9.96709460e-01 2.82849250e-03 -5.20980089e-01] [ 7.39751488e-02 3.18230213e-03 9.97255008e-01 -8.58131192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.272401008 meters Centerline goodness [0,1] 0.9276205136976539 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.52, Z:-0.09 [[ 9.93951856e-01 8.13525923e-02 -7.37662834e-02 5.01556964e+00] [-8.13263222e-02 9.96681849e-01 3.36472459e-03 -5.22307414e-01] [ 7.37952448e-02 2.65476628e-03 9.97269880e-01 -8.52707556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302401008000004 meters Centerline goodness [0,1] 0.9259903602087671 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.52, Z:-0.09 [[ 9.93951744e-01 8.13968246e-02 -7.37189799e-02 5.01567742e+00] [-8.13663896e-02 9.96678387e-01 3.42097840e-03 -5.22616831e-01] [ 7.37525707e-02 2.59795979e-03 9.97273187e-01 -8.54921155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.332401008000005 meters Centerline goodness [0,1] 0.9271472173888239 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.52, Z:-0.09 [[ 9.93938773e-01 8.15280190e-02 -7.37488870e-02 5.01576374e+00] [-8.14837127e-02 9.96668120e-01 3.61437339e-03 -5.23410727e-01] [ 7.37978372e-02 2.41686727e-03 9.97270293e-01 -8.55214669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.362401008 meters Centerline goodness [0,1] 0.9266466638091155 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.52, Z:-0.09 [[ 9.93929005e-01 8.16669325e-02 -7.37268315e-02 5.01580687e+00] [-8.16106526e-02 9.96657117e-01 3.78064316e-03 -5.24345289e-01] [ 7.37891249e-02 2.25920394e-03 9.97271308e-01 -8.57180370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.392401008 meters Centerline goodness [0,1] 0.9261987331976728 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.53, Z:-0.09 [[ 9.93911895e-01 8.20836150e-02 -7.34943867e-02 5.01562512e+00] [-8.20357542e-02 9.96622612e-01 3.67476910e-03 -5.25267689e-01] [ 7.35478060e-02 2.37677073e-03 9.97288860e-01 -8.69897385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.422401008 meters Centerline goodness [0,1] 0.9239295431762853 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.53, Z:-0.09 [[ 9.93903064e-01 8.20845323e-02 -7.36126935e-02 5.01637035e+00] [-8.20465476e-02 9.96622194e-01 3.54492629e-03 -5.25654262e-01] [ 7.36550277e-02 2.51635426e-03 9.97280605e-01 -8.78186799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.452401008 meters Centerline goodness [0,1] 0.92644654178261 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.53, Z:-0.09 [[ 9.93888996e-01 8.23737616e-02 -7.34794336e-02 5.01633093e+00] [-8.23370754e-02 9.96598275e-01 3.53344364e-03 -5.26094797e-01] [ 7.35205398e-02 2.53823091e-03 9.97290473e-01 -8.85296283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482401008000004 meters Centerline goodness [0,1] 0.9286598175487064 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.53, Z:-0.09 [[ 9.93814737e-01 8.38344495e-02 -7.28289350e-02 5.01409108e+00] [-8.37817810e-02 9.96476944e-01 3.78321335e-03 -5.26523460e-01] [ 7.28895183e-02 2.34192470e-03 9.97337272e-01 -8.90293383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.512401008000005 meters Centerline goodness [0,1] 0.9294212311052359 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.53, Z:-0.09 [[ 9.93780359e-01 8.45935848e-02 -7.24190775e-02 5.01288130e+00] [-8.45466069e-02 9.96412584e-01 3.71939353e-03 -5.25683223e-01] [ 7.24739170e-02 2.42652704e-03 9.97367356e-01 -8.94274375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.542401008 meters Centerline goodness [0,1] 0.9298637352570709 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.52, Z:-0.09 [[ 9.93748976e-01 8.51746973e-02 -7.21681609e-02 5.01217268e+00] [-8.51482977e-02 9.96362323e-01 3.44785958e-03 -5.24404289e-01] [ 7.21993068e-02 2.71868912e-03 9.97386519e-01 -8.99938929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.572401008 meters Centerline goodness [0,1] 0.9298637352570709 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.52, Z:-0.09 [[ 9.93748976e-01 8.51746973e-02 -7.21681609e-02 5.01217268e+00] [-8.51482977e-02 9.96362323e-01 3.44785958e-03 -5.24404289e-01] [ 7.21993068e-02 2.71868912e-03 9.97386519e-01 -8.99938929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.602401008 meters Centerline goodness [0,1] 0.930945558739255 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.52, Z:-0.09 [[ 9.93711047e-01 8.57402065e-02 -7.20206344e-02 5.01173040e+00] [-8.57335402e-02 9.96312996e-01 3.18958544e-03 -5.23025879e-01] [ 7.20285698e-02 3.00505767e-03 9.97398042e-01 -9.06368440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.632401008 meters Centerline goodness [0,1] 0.9258931123178051 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.52, Z:-0.09 [[ 9.93330139e-01 8.99337310e-02 -7.21606515e-02 5.01343243e+00] [-8.96799847e-02 9.95947723e-01 6.75524630e-03 -5.22854828e-01] [ 7.24757610e-02 -2.38823625e-04 9.97370145e-01 -9.19711284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662401008 meters Centerline goodness [0,1] 0.9053220648698036 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.52, Z:-0.09 [[ 9.93342805e-01 8.98239699e-02 -7.21229875e-02 5.01429107e+00] [-8.96200522e-02 9.95957560e-01 6.06502743e-03 -5.21652905e-01] [ 7.23762195e-02 4.39014542e-04 9.97377306e-01 -9.36773973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.692401008000004 meters Centerline goodness [0,1] 0.9299099047235255 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.52, Z:-0.09 [[ 9.94019999e-01 8.20864369e-02 -7.20142902e-02 5.01073451e+00] [-8.23861403e-02 9.96599766e-01 -1.19625243e-03 -5.22457331e-01] [ 7.16712287e-02 7.12207826e-03 9.97402883e-01 -9.16090378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722401008000006 meters Centerline goodness [0,1] 0.9309867681397561 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.53, Z:-0.09 [[ 9.94337784e-01 7.76197015e-02 -7.25779123e-02 5.01011237e+00] [-7.80817295e-02 9.96940654e-01 -3.54622776e-03 -5.25623038e-01] [ 7.20806142e-02 9.19315717e-03 9.97356441e-01 -8.81200743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.752401008 meters Centerline goodness [0,1] 0.9196131236788 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.53, Z:-0.08 [[ 9.94645341e-01 6.86439637e-02 -7.72570555e-02 5.01138445e+00] [-6.82839919e-02 9.97639256e-01 7.29458940e-03 -5.28333826e-01] [ 7.75754009e-02 -1.98010920e-03 9.96984522e-01 -8.30221521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.782401008 meters Centerline goodness [0,1] 0.9129176075502287 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.53, Z:-0.09 [[ 9.94701845e-01 6.68640540e-02 -7.80860889e-02 5.01624891e+00] [-6.65927012e-02 9.97761738e-01 6.07677848e-03 -5.27700785e-01] [ 7.83176298e-02 -8.44619175e-04 9.96928099e-01 -8.60380431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.812401008 meters Centerline goodness [0,1] 0.9119446047316792 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.53, Z:-0.09 [[ 9.94722389e-01 6.60710794e-02 -7.84982884e-02 5.01893269e+00] [-6.58760561e-02 9.97814911e-01 5.07425611e-03 -5.25935379e-01] [ 7.86620242e-02 1.23681491e-04 9.96901334e-01 -8.83447008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.842401008 meters Centerline goodness [0,1] 0.914562435143549 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.52, Z:-0.09 [[ 9.94714247e-01 6.65173955e-02 -7.82240584e-02 5.01824476e+00] [-6.63333583e-02 9.97785231e-01 4.95165088e-03 -5.24081005e-01] [ 7.83801811e-02 2.63386814e-04 9.96923507e-01 -8.86137715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.872401008000004 meters Centerline goodness [0,1] 0.9151057228223397 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.52, Z:-0.09 [[ 9.94941977e-01 6.91773385e-02 -7.28351471e-02 5.03079298e+00] [-6.95361745e-02 9.97576545e-01 -2.39951002e-03 -5.22747788e-01] [ 7.24926426e-02 7.45205074e-03 9.97341107e-01 -9.07239375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.902401008000005 meters Centerline goodness [0,1] 0.9166618622081292 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.52, Z:-0.09 [[ 9.94907415e-01 6.99094133e-02 -7.26079138e-02 5.02866047e+00] [-7.01876355e-02 9.97532980e-01 -1.28434544e-03 -5.24326077e-01] [ 7.23390007e-02 6.37398259e-03 9.97359735e-01 -8.82954887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.932401008 meters Centerline goodness [0,1] 0.9175406246398525 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.53, Z:-0.09 [[ 9.94858085e-01 7.05609025e-02 -7.26536263e-02 5.02702688e+00] [-7.07316449e-02 9.97495356e-01 2.23302857e-04 -5.26320133e-01] [ 7.24874113e-02 4.91675584e-03 9.97357208e-01 -8.50961136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.962401008 meters Centerline goodness [0,1] 0.9181132838450652 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.53, Z:-0.08 [[ 9.94833366e-01 7.11638930e-02 -7.24035577e-02 5.02539099e+00] [-7.12709596e-02 9.97456377e-01 1.10699345e-03 -5.28026738e-01] [ 7.22981683e-02 4.05899702e-03 9.97374804e-01 -8.35141703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.992401008 meters Centerline goodness [0,1] 0.9168995016850534 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.53, Z:-0.08 [[ 9.94841367e-01 7.10840009e-02 -7.23720878e-02 5.02576209e+00] [-7.11856435e-02 9.97462389e-01 1.17717336e-03 -5.28340504e-01] [ 7.22721138e-02 3.98075289e-03 9.97377008e-01 -8.38455778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.022401008 meters Centerline goodness [0,1] 0.9171812777745715 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.53, Z:-0.08 [[ 9.94858695e-01 7.09390926e-02 -7.22760106e-02 5.02613595e+00] [-7.10424724e-02 9.97472637e-01 1.14259625e-03 -5.28773636e-01] [ 7.21743976e-02 3.99794467e-03 9.97384015e-01 -8.44452259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.052401008000004 meters Centerline goodness [0,1] 0.9160508083140878 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.53, Z:-0.08 [[ 9.94863474e-01 7.05715878e-02 -7.25694108e-02 5.02745079e+00] [-7.06745256e-02 9.97498765e-01 1.15155404e-03 -5.29505062e-01] [ 7.24691646e-02 3.98316962e-03 9.97362700e-01 -8.49336652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.082401008000005 meters Centerline goodness [0,1] 0.9107723577235772 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.53, Z:-0.09 [[ 9.95163913e-01 6.59165132e-02 -7.28271930e-02 5.02874682e+00] [-6.63457488e-02 9.97790597e-01 -3.48795506e-03 -5.29940498e-01] [ 7.24363746e-02 8.30286166e-03 9.97338475e-01 -8.71138675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.112401008 meters Centerline goodness [0,1] 0.9113927738927738 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.53, Z:-0.09 [[ 9.95155218e-01 6.54521227e-02 -7.33628789e-02 5.03002710e+00] [-6.58373374e-02 9.97826321e-01 -2.84229733e-03 -5.32940585e-01] [ 7.30173772e-02 7.65854363e-03 9.97301263e-01 -8.62907508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.142401008 meters Centerline goodness [0,1] 0.9140860309383864 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.53, Z:-0.09 [[ 0.99540193 0.0613313 -0.07357633 5.03005249] [-0.062006 0.99805179 -0.006919 -0.53310698] [ 0.07300864 0.01144936 0.99726559 -0.0868137 ] [ 0. 0. 0. 1. ]] SLAMing on 34.172401008 meters Centerline goodness [0,1] 0.9126953869614944 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.54, Z:-0.09 [[ 0.99540292 0.06071173 -0.07407509 5.03156483] [-0.06133903 0.9980976 -0.00622085 -0.53615726] [ 0.07355649 0.01073594 0.99723326 -0.0860611 ] [ 0. 0. 0. 1. ]] SLAMing on 34.202401008 meters Centerline goodness [0,1] 0.9175961623355602 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.54, Z:-0.09 [[ 0.99565525 0.05662902 -0.07391733 5.03523088] [-0.05743708 0.9983099 -0.00885068 -0.53809419] [ 0.0732912 0.01305782 0.9972251 -0.08913533] [ 0. 0. 0. 1. ]] SLAMing on 34.232401008000004 meters Centerline goodness [0,1] 0.9198877897534328 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.54, Z:-0.09 [[ 0.9956574 0.05587071 -0.07446346 5.0375711 ] [-0.05668549 0.99835266 -0.00887211 -0.53933371] [ 0.0738451 0.01305458 0.99718428 -0.08985498] [ 0. 0. 0. 1. ]] SLAMing on 34.262401008000005 meters Centerline goodness [0,1] 0.9187594062619884 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.54, Z:-0.09 [[ 0.99564844 0.05543871 -0.0749048 5.03906536] [-0.05622953 0.99838178 -0.00848867 -0.54056037] [ 0.07431299 0.01266359 0.99715456 -0.08961244] [ 0. 0. 0. 1. ]] SLAMing on 34.292401008 meters Centerline goodness [0,1] 0.9204532008046385 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.54, Z:-0.09 [[ 0.9956339 0.05513934 -0.07531797 5.04003886] [-0.05589846 0.99840435 -0.00800668 -0.54199135] [ 0.07475631 0.01218188 0.99712742 -0.08892039] [ 0. 0. 0. 1. ]] SLAMing on 34.322401008 meters Centerline goodness [0,1] 0.9246506395073425 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.54, Z:-0.09 [[ 0.99563372 0.05440882 -0.07584974 5.04149549] [-0.05511527 0.99845367 -0.00725034 -0.5443004 ] [ 0.07533797 0.01139916 0.9970929 -0.08754428] [ 0. 0. 0. 1. ]] SLAMing on 34.352401008 meters Centerline goodness [0,1] 0.9264731958153555 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.55, Z:-0.09 [[ 0.99562197 0.05418837 -0.07616108 5.04213098] [-0.05485407 0.99847207 -0.00667464 -0.54505292] [ 0.07568302 0.01082316 0.99707319 -0.08646619] [ 0. 0. 0. 1. ]] SLAMing on 34.382401008 meters Centerline goodness [0,1] 0.9232294533723993 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.55, Z:-0.09 [[ 0.99561114 0.05410434 -0.07636215 5.04229639] [-0.05472829 0.99848265 -0.00610065 -0.54550968] [ 0.07591621 0.01025305 0.99706148 -0.08521506] [ 0. 0. 0. 1. ]] SLAMing on 34.412401008 meters Centerline goodness [0,1] 0.9249489901528817 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.55, Z:-0.08 [[ 0.99560059 0.05401292 -0.07656416 5.04247528] [-0.05459647 0.99849309 -0.00554763 -0.54588891] [ 0.07614914 0.00970336 0.99704922 -0.08397117] [ 0. 0. 0. 1. ]] SLAMing on 34.442401008000004 meters Centerline goodness [0,1] 0.9140829726467038 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.55, Z:-0.08 [[ 9.95585833e-01 5.38781790e-02 -7.68504433e-02 5.04233479e+00] [-5.43902535e-02 9.98509231e-01 -4.58431608e-03 -5.46321902e-01] [ 7.64888824e-02 8.74399523e-03 9.97032092e-01 -8.14589480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.472401008000006 meters Centerline goodness [0,1] 0.9255061684670326 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.55, Z:-0.08 [[ 9.95581094e-01 5.38172882e-02 -7.69544279e-02 5.04227431e+00] [-5.43195323e-02 9.98513703e-01 -4.44678328e-03 -5.45724570e-01] [ 7.66007369e-02 8.60726190e-03 9.97024695e-01 -8.07110084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.502401008 meters Centerline goodness [0,1] 0.9237484934889326 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.54, Z:-0.08 [[ 9.95568322e-01 5.37266941e-02 -7.71826345e-02 5.04245402e+00] [-5.42171344e-02 9.98520033e-01 -4.27144052e-03 -5.44675295e-01] [ 7.68389164e-02 8.43713214e-03 9.97007821e-01 -7.96826152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.532401008 meters Centerline goodness [0,1] 0.9267790427440944 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.54, Z:-0.08 [[ 9.95563166e-01 5.39374635e-02 -7.71020940e-02 5.04165591e+00] [-5.44139417e-02 9.98510084e-01 -4.09087295e-03 -5.43645947e-01] [ 7.67665670e-02 8.26815127e-03 9.97014810e-01 -7.86956465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.562401008 meters Centerline goodness [0,1] 0.9267609741869622 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.54, Z:-0.08 [[ 9.95548149e-01 5.41394919e-02 -7.71543792e-02 5.04112266e+00] [-5.46510443e-02 9.98495227e-01 -4.53275322e-03 -5.40098952e-01] [ 7.67928784e-02 8.72914147e-03 9.97008854e-01 -7.81475662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.592401008 meters Centerline goodness [0,1] 0.9261026416850925 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.54, Z:-0.08 [[ 9.95544377e-01 5.42201803e-02 -7.71463962e-02 5.04108366e+00] [-5.47628236e-02 9.98487199e-01 -4.93432117e-03 -5.37745850e-01] [ 7.67621492e-02 9.13709017e-03 9.97007566e-01 -7.83078881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.622401008000004 meters Centerline goodness [0,1] 0.9305914087652638 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.54, Z:-0.08 [[ 0.99552874 0.05430207 -0.07729046 5.04125342] [-0.05487744 0.99847883 -0.00533842 -0.53516698] [ 0.076883 0.00955606 0.99699433 -0.07831673] [ 0. 0. 0. 1. ]] SLAMing on 34.652401008000005 meters Centerline goodness [0,1] 0.9265325086389639 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.53, Z:-0.08 [[ 0.99551857 0.05432122 -0.07740795 5.04167978] [-0.05493941 0.99847239 -0.00587745 -0.53286623] [ 0.07697043 0.01010385 0.99698218 -0.07880876] [ 0. 0. 0. 1. ]] SLAMing on 34.682401008 meters Centerline goodness [0,1] 0.929002280008081 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.53, Z:-0.08 [[ 9.95289055e-01 5.69395305e-02 -7.84702990e-02 5.04604815e+00] [-5.73633180e-02 9.98348383e-01 -3.15526109e-03 -5.30105729e-01] [ 7.81610371e-02 7.64171354e-03 9.96911459e-01 -7.99483528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.712401008 meters Centerline goodness [0,1] 0.9291247876047577 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.53, Z:-0.08 [[ 9.95298025e-01 5.63759308e-02 -7.87629089e-02 5.04763270e+00] [-5.68720187e-02 9.98373190e-01 -4.06777715e-03 -5.27036788e-01] [ 7.84054519e-02 8.52805618e-03 9.96885077e-01 -8.10765229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.742401008 meters Centerline goodness [0,1] 0.9303212851405622 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.52, Z:-0.08 [[ 9.95294864e-01 5.57714605e-02 -7.92318041e-02 5.04945193e+00] [-5.63276106e-02 9.98400802e-01 -4.79997515e-03 -5.24784443e-01] [ 7.88373951e-02 9.24032882e-03 9.96844663e-01 -8.18814591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.772401008 meters Centerline goodness [0,1] 0.9324351498089685 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.52, Z:-0.08 [[ 0.99527112 0.05554572 -0.07968731 5.0499711 ] [-0.0561299 0.99841041 -0.005108 -0.5227468 ] [ 0.07927692 0.00955669 0.99680682 -0.08106167] [ 0. 0. 0. 1. ]] SLAMing on 34.802401008000004 meters Centerline goodness [0,1] 0.9323724102358368 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.52, Z:-0.08 [[ 0.99525845 0.05530908 -0.08000949 5.05062487] [-0.05590508 0.99842241 -0.00522672 -0.52179904] [ 0.07959418 0.00967487 0.9967804 -0.08067251] [ 0. 0. 0. 1. ]] SLAMing on 34.832401008000005 meters Centerline goodness [0,1] 0.9332342092471335 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.52, Z:-0.08 [[ 0.99525609 0.05481656 -0.08037698 5.05185177] [-0.05544032 0.99844659 -0.00554768 -0.52044043] [ 0.07994801 0.00997749 0.9967491 -0.0807644 ] [ 0. 0. 0. 1. ]] SLAMing on 34.862401008 meters Centerline goodness [0,1] 0.9327258184311261 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.52, Z:-0.08 [[ 0.99525714 0.05425461 -0.0807444 5.05319116] [-0.05490632 0.99847425 -0.00587133 -0.51908365] [ 0.08030266 0.01027686 0.99671755 -0.08088319] [ 0. 0. 0. 1. ]] SLAMing on 34.892401008 meters Centerline goodness [0,1] 0.9306837606837607 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.52, Z:-0.08 [[ 0.99526395 0.05352792 -0.08114445 5.05450793] [-0.05420877 0.99851032 -0.00620936 -0.51728211] [ 0.0806912 0.0105787 0.99668301 -0.08068652] [ 0. 0. 0. 1. ]] SLAMing on 34.922401008 meters Centerline goodness [0,1] 0.9354167260699724 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.52, Z:-0.08 [[ 0.99526318 0.05324883 -0.08133732 5.05508059] [-0.05393822 0.9985244 -0.00630063 -0.51633027] [ 0.08088179 0.01065798 0.99666672 -0.08044371] [ 0. 0. 0. 1. ]] SLAMing on 34.952401008 meters Centerline goodness [0,1] 0.9315737193131829 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.52, Z:-0.08 [[ 0.995247 0.05298854 -0.08170454 5.05585719] [-0.05368757 0.99853739 -0.00638096 -0.51501423] [ 0.08124692 0.01073715 0.99663617 -0.07996888] [ 0. 0. 0. 1. ]] SLAMing on 34.982401008000004 meters Centerline goodness [0,1] 0.9370548003519028 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.51, Z:-0.08 [[ 0.99522596 0.05292919 -0.08199872 5.05621275] [-0.05364015 0.99853924 -0.00649028 -0.51356556] [ 0.08153541 0.01085772 0.9966113 -0.07946849] [ 0. 0. 0. 1. ]] SLAMing on 35.012401008000005 meters Centerline goodness [0,1] 0.9337480559875583 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.51, Z:-0.08 [[ 0.99519235 0.05328214 -0.08217786 5.05567671] [-0.05400932 0.99851829 -0.00664981 -0.51060457] [ 0.08170178 0.01105621 0.99659549 -0.07848832] [ 0. 0. 0. 1. ]] SLAMing on 35.042401008000006 meters Centerline goodness [0,1] 0.9331996950789124 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.51, Z:-0.08 [[ 0.99518407 0.05332215 -0.08225216 5.05568113] [-0.05406723 0.99851376 -0.00685633 -0.50888265] [ 0.08176432 0.01127046 0.99658797 -0.07826911] [ 0. 0. 0. 1. ]] SLAMing on 35.072401008 meters Centerline goodness [0,1] 0.9388328510016577 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.51, Z:-0.08 [[ 9.94934964e-01 5.77574372e-02 -8.22708681e-02 5.05533538e+00] [-5.81427939e-02 9.98305641e-01 -2.29392436e-03 -5.07966746e-01] [ 8.19989805e-02 7.06576367e-03 9.96607366e-01 -7.63241340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.102401008 meters Centerline goodness [0,1] 0.9383730025701196 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.51, Z:-0.08 [[ 9.94920272e-01 5.78529982e-02 -8.23813210e-02 5.05541306e+00] [-5.82628724e-02 9.98297947e-01 -2.57805480e-03 -5.05777242e-01] [ 8.20919554e-02 7.36473138e-03 9.96597547e-01 -7.62281029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.132401008 meters Centerline goodness [0,1] 0.9390257527512429 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.50, Z:-0.08 [[ 9.94910150e-01 5.81794844e-02 -8.22735703e-02 5.05489207e+00] [-5.86011232e-02 9.98277779e-01 -2.71734633e-03 -5.03949493e-01] [ 8.19737832e-02 7.52483908e-03 9.96606078e-01 -7.60748124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.162401008 meters Centerline goodness [0,1] 0.9379717572347714 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.50, Z:-0.08 [[ 9.94886128e-01 5.85576282e-02 -8.22957919e-02 5.05439649e+00] [-5.89800219e-02 9.98255488e-01 -2.70890926e-03 -5.02444881e-01] [ 8.19935986e-02 7.54886385e-03 9.96604267e-01 -7.55618142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.192401008000004 meters Centerline goodness [0,1] 0.9353861545729928 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.50, Z:-0.08 [[ 9.94621722e-01 6.28892785e-02 -8.22956230e-02 5.05466724e+00] [-6.30181946e-02 9.98011844e-01 1.03261288e-03 -5.00552548e-01] [ 8.21969468e-02 4.15906239e-03 9.96607427e-01 -7.51954346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.222401008000006 meters Centerline goodness [0,1] 0.9343962796877595 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.50, Z:-0.08 [[ 9.94604426e-01 6.33764612e-02 -8.21307484e-02 5.05406266e+00] [-6.35286124e-02 9.97979727e-01 7.62009527e-04 -4.98007531e-01] [ 8.20131153e-02 4.45975443e-03 9.96621272e-01 -7.53248304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.252401008 meters Centerline goodness [0,1] 0.9335610401057735 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.50, Z:-0.08 [[ 9.94582934e-01 6.38631929e-02 -8.20138987e-02 5.05338494e+00] [-6.40214767e-02 9.97948275e-01 7.01039609e-04 -4.96282992e-01] [ 8.18903993e-02 4.55340887e-03 9.96630939e-01 -7.50722005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.282401008 meters Centerline goodness [0,1] 0.9330502398941157 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.50, Z:-0.07 [[ 9.94560126e-01 6.46467794e-02 -8.16758803e-02 5.05167113e+00] [-6.47842318e-02 9.97898825e-01 9.68846638e-04 -4.95440226e-01] [ 8.15668978e-02 4.32773293e-03 9.96658473e-01 -7.42337756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.312401008 meters Centerline goodness [0,1] 0.9276332094175961 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.49, Z:-0.07 [[ 9.94545461e-01 6.51209653e-02 -8.14775208e-02 5.05065046e+00] [-6.52502480e-02 9.97868350e-01 1.07774805e-03 -4.94679077e-01] [ 8.13740232e-02 4.24455900e-03 9.96674597e-01 -7.37206587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.342401008 meters Centerline goodness [0,1] 0.9315512130859589 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.49, Z:-0.07 [[ 9.94479553e-01 6.65378320e-02 -8.11365229e-02 5.04909054e+00] [-6.66533096e-02 9.97775365e-01 1.28741162e-03 -4.92114962e-01] [ 8.10416854e-02 4.12771325e-03 9.96702166e-01 -7.37034456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.372401008000004 meters Centerline goodness [0,1] 0.9296804403187382 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.49, Z:-0.07 [[ 9.94469170e-01 6.68829078e-02 -8.09799150e-02 5.04910051e+00] [-6.70256633e-02 9.97750793e-01 9.57256279e-04 -4.90053096e-01] [ 8.08617985e-02 4.47577066e-03 9.96715274e-01 -7.45265849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.402401008000005 meters Centerline goodness [0,1] 0.9272811867097268 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.49, Z:-0.08 [[ 9.94469169e-01 6.71020184e-02 -8.07984547e-02 5.04910993e+00] [-6.72819704e-02 9.97733877e-01 4.96442375e-04 -4.88365349e-01] [ 8.06486678e-02 4.94258260e-03 9.96730336e-01 -7.54773309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.432401008 meters Centerline goodness [0,1] 0.9284326867835745 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.49, Z:-0.08 [[ 9.94455424e-01 6.73032944e-02 -8.08002249e-02 5.04934062e+00] [-6.74840531e-02 9.97720230e-01 4.94748441e-04 -4.88456476e-01] [ 8.06493172e-02 4.96072140e-03 9.96730194e-01 -7.59341202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.462401008 meters Centerline goodness [0,1] 0.9260859990089743 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.49, Z:-0.08 [[ 9.94431641e-01 6.74090521e-02 -8.10045138e-02 5.04962831e+00] [-6.75266019e-02 9.97716639e-01 1.29058690e-03 -4.92111712e-01] [ 8.09065485e-02 4.18655910e-03 9.96712899e-01 -7.53564094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.492401008 meters Centerline goodness [0,1] 0.9260859990089743 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.49, Z:-0.08 [[ 9.94431641e-01 6.74090521e-02 -8.10045138e-02 5.04962831e+00] [-6.75266019e-02 9.97716639e-01 1.29058690e-03 -4.92111712e-01] [ 8.09065485e-02 4.18655910e-03 9.96712899e-01 -7.53564094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522401008 meters Centerline goodness [0,1] 0.9271163547151088 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.49, Z:-0.07 [[ 9.94420240e-01 6.71515529e-02 -8.13575800e-02 5.05054378e+00] [-6.72212473e-02 9.97736313e-01 1.88518252e-03 -4.94864915e-01] [ 8.13000048e-02 3.59429435e-03 9.96683195e-01 -7.49056722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.552401008000004 meters Centerline goodness [0,1] 0.9273451107240607 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.50, Z:-0.07 [[ 9.94433181e-01 6.63105175e-02 -8.18875024e-02 5.05226376e+00] [-6.63423016e-02 9.97794189e-01 2.33567914e-03 -4.97846510e-01] [ 8.18617541e-02 3.10992854e-03 9.96638842e-01 -7.44573590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.582401008000005 meters Centerline goodness [0,1] 0.9305328493446756 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.50, Z:-0.07 [[ 9.94711741e-01 6.18894427e-02 -8.19649228e-02 5.05236045e+00] [-6.22203488e-02 9.98061330e-01 -1.48663606e-03 -4.98770125e-01] [ 8.17140127e-02 6.57866042e-03 9.96634106e-01 -7.48229058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.612401008 meters Centerline goodness [0,1] 0.9350893433195882 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.50, Z:-0.07 [[ 0.99523393 0.05281453 -0.08197589 5.05209508] [-0.05371249 0.99851779 -0.00878607 -0.50222629] [ 0.08139035 0.01314733 0.99659558 -0.07478642] [ 0. 0. 0. 1. ]] SLAMing on 35.642401008 meters Centerline goodness [0,1] 0.9388685617787785 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.51, Z:-0.07 [[ 0.99527208 0.05195809 -0.08205997 5.05275645] [-0.05274109 0.99858079 -0.00740169 -0.50711634] [ 0.08155893 0.01169463 0.99659991 -0.07295173] [ 0. 0. 0. 1. ]] SLAMing on 35.672401008 meters Centerline goodness [0,1] 0.9402555640179403 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.51, Z:-0.07 [[ 0.99526024 0.05110375 -0.08273726 5.05443044] [-0.05176519 0.99864204 -0.00586781 -0.5111674 ] [ 0.08232504 0.01012291 0.99655412 -0.0705533 ] [ 0. 0. 0. 1. ]] SLAMing on 35.702401008 meters Centerline goodness [0,1] 0.9290051642926054 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.51, Z:-0.07 [[ 0.99549096 0.0460561 -0.08292518 5.0557758 ] [-0.04704516 0.99884259 -0.01001189 -0.51238936] [ 0.08236809 0.01386797 0.99650548 -0.07170373] [ 0. 0. 0. 1. ]] SLAMing on 35.732401008000004 meters Centerline goodness [0,1] 0.9204873901955228 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.51, Z:-0.07 [[ 0.99547271 0.04495863 -0.08374245 5.05898653] [-0.04597761 0.99888959 -0.01027851 -0.51255887] [ 0.08318735 0.01408226 0.99643442 -0.07241752] [ 0. 0. 0. 1. ]] SLAMing on 35.762401008000005 meters Centerline goodness [0,1] 0.9189703667926243 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.51, Z:-0.07 [[ 0.99547611 0.0445066 -0.08394326 5.0604304 ] [-0.04555499 0.99890544 -0.01061453 -0.51237291] [ 0.08337896 0.01439054 0.996414 -0.07344421] [ 0. 0. 0. 1. ]] SLAMing on 35.792401008000006 meters Centerline goodness [0,1] 0.9241545893719807 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.51, Z:-0.07 [[ 0.99545802 0.04418729 -0.08432569 5.06172855] [-0.04524105 0.99891959 -0.01062569 -0.51237379] [ 0.08376507 0.01439242 0.99638159 -0.07357991] [ 0. 0. 0. 1. ]] SLAMing on 35.822401008 meters Centerline goodness [0,1] 0.9255806020637312 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.51, Z:-0.07 [[ 0.99542319 0.04441833 -0.08461496 5.06161083] [-0.04543593 0.99891581 -0.0101377 -0.51295508] [ 0.08407292 0.01393586 0.99636215 -0.07235042] [ 0. 0. 0. 1. ]] SLAMing on 35.852401008 meters Centerline goodness [0,1] 0.9228324109550163 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.51, Z:-0.07 [[ 0.99540628 0.04412322 -0.08496756 5.0627492 ] [-0.04515256 0.99892772 -0.01023021 -0.51219884] [ 0.08442506 0.01401972 0.9963312 -0.07238502] [ 0. 0. 0. 1. ]] SLAMing on 35.882401008 meters Centerline goodness [0,1] 0.9221162579473207 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.51, Z:-0.07 [[ 0.99540493 0.04364532 -0.08522977 5.06432777] [-0.04472596 0.9989408 -0.01081023 -0.51059579] [ 0.08466768 0.01457254 0.99630268 -0.07349503] [ 0. 0. 0. 1. ]] SLAMing on 35.912401008 meters Centerline goodness [0,1] 0.9157524732828756 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.51, Z:-0.07 [[ 0.99521273 0.04634165 -0.08604689 5.06815416] [-0.04713382 0.99886266 -0.00719649 -0.51114726] [ 0.08561553 0.01121776 0.9962651 -0.07404799] [ 0. 0. 0. 1. ]] SLAMing on 35.942401008000004 meters Centerline goodness [0,1] 0.9038141685225383 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.51, Z:-0.08 [[ 9.95013978e-01 4.84584629e-02 -8.71720224e-02 5.07382489e+00] [-4.90482497e-02 9.98785654e-01 -4.63539191e-03 -5.09227614e-01] [ 8.68415414e-02 8.88791486e-03 9.96182489e-01 -7.62467347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.972401008000006 meters Centerline goodness [0,1] 0.9103415292859957 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.51, Z:-0.08 [[ 0.99499806 0.04842956 -0.08736959 5.07449317] [-0.04906244 0.99878264 -0.0051096 -0.50708916] [ 0.08701578 0.00937061 0.99616286 -0.07671469] [ 0. 0. 0. 1. ]] SLAMing on 36.002401008 meters Centerline goodness [0,1] 0.9157232351040818 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.50, Z:-0.08 [[ 0.9949785 0.048773 -0.08740123 5.07418641] [-0.04943505 0.99876261 -0.00542522 -0.50465482] [ 0.08702848 0.00971866 0.99615842 -0.07656935] [ 0. 0. 0. 1. ]] SLAMing on 36.032401008 meters Centerline goodness [0,1] 0.9214185590131764 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.50, Z:-0.08 [[ 0.99495248 0.04936534 -0.08736493 5.07315048] [-0.05003795 0.99873204 -0.00552441 -0.50201519] [ 0.08698144 0.00986808 0.99616106 -0.07575431] [ 0. 0. 0. 1. ]] SLAMing on 36.062401008 meters Centerline goodness [0,1] 0.9330004741848205 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.50, Z:-0.07 [[ 9.94713882e-01 5.36807067e-02 -8.75367039e-02 5.07313693e+00] [-5.39750301e-02 9.98541788e-01 -9.97100032e-04 -5.02066862e-01] [ 8.73555318e-02 5.71662547e-03 9.96160796e-01 -7.38976477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.092401008 meters Centerline goodness [0,1] 0.9310526461700535 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.50, Z:-0.07 [[ 9.94478856e-01 5.83336576e-02 -8.72295169e-02 5.07177535e+00] [-5.83016327e-02 9.98294752e-01 2.91694009e-03 -4.98273510e-01] [ 8.72509247e-02 2.18478801e-03 9.96183970e-01 -7.21897983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122401008000004 meters Centerline goodness [0,1] 0.929641585961427 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.50, Z:-0.07 [[ 9.94489149e-01 5.84073916e-02 -8.70626729e-02 5.07160960e+00] [-5.84079464e-02 9.98289559e-01 2.54322899e-03 -4.95519580e-01] [ 8.70623008e-02 2.55593830e-03 9.96199590e-01 -7.24149915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.152401008000005 meters Centerline goodness [0,1] 0.9296419995031604 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.49, Z:-0.07 [[ 9.94494446e-01 5.83460985e-02 -8.70432677e-02 5.07146250e+00] [-5.83696715e-02 9.98292442e-01 2.27651138e-03 -4.93398766e-01] [ 8.70274617e-02 2.81670902e-03 9.96201931e-01 -7.21724159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.182401008 meters Centerline goodness [0,1] 0.9310278366695118 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.49, Z:-0.07 [[ 9.94505610e-01 5.82693246e-02 -8.69671110e-02 5.07104450e+00] [-5.82813881e-02 9.98297304e-01 2.40254425e-03 -4.92416943e-01] [ 8.69590271e-02 2.67922021e-03 9.96208286e-01 -7.13164970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.212401008 meters Centerline goodness [0,1] 0.9304646686829805 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.49, Z:-0.07 [[ 9.94487177e-01 5.85387153e-02 -8.69969796e-02 5.06926431e+00] [-5.84061605e-02 9.98284604e-01 4.07049386e-03 -4.93194485e-01] [ 8.70860268e-02 1.03310561e-03 9.96200259e-01 -6.70141922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.242401008 meters Centerline goodness [0,1] 0.9317621941205453 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.49, Z:-0.07 [[ 9.94493442e-01 5.85020647e-02 -8.69499945e-02 5.06888646e+00] [-5.83641322e-02 9.98286819e-01 4.12988359e-03 -4.92342878e-01] [ 8.70426401e-02 9.67618821e-04 9.96204117e-01 -6.63204849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.272401008 meters Centerline goodness [0,1] 0.9307349848414498 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.49, Z:-0.07 [[ 9.94505794e-01 5.82887910e-02 -8.69519532e-02 5.06918777e+00] [-5.81893811e-02 9.98298781e-01 3.67964475e-03 -4.90415589e-01] [ 8.70185109e-02 1.40025232e-03 9.96205711e-01 -6.66242817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.302401008000004 meters Centerline goodness [0,1] 0.927351940095303 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.49, Z:-0.07 [[ 9.94517335e-01 5.79558046e-02 -8.70424900e-02 5.07011887e+00] [-5.79190673e-02 9.98316924e-01 2.94964112e-03 -4.88043587e-01] [ 8.70669397e-02 2.10795061e-03 9.96200233e-01 -6.75870945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.332401008000005 meters Centerline goodness [0,1] 0.9302910625405756 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.48, Z:-0.07 [[ 9.94510946e-01 5.78859450e-02 -8.71618949e-02 5.07060010e+00] [-5.79188352e-02 9.98318972e-01 2.15371156e-03 -4.84371461e-01] [ 8.71400429e-02 2.90642570e-03 9.96191832e-01 -6.81472267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.362401008 meters Centerline goodness [0,1] 0.930648042878025 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.48, Z:-0.07 [[ 9.94506150e-01 5.78651349e-02 -8.72304051e-02 5.07071675e+00] [-5.79326938e-02 9.98318941e-01 1.75901960e-03 -4.82783336e-01] [ 8.71855516e-02 3.30413654e-03 9.96186610e-01 -6.82749965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.392401008 meters Centerline goodness [0,1] 0.9297313336210618 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.48, Z:-0.07 [[ 9.94507800e-01 5.77189842e-02 -8.73083849e-02 5.07103783e+00] [-5.78281669e-02 9.98325730e-01 1.28033441e-03 -4.80602043e-01] [ 8.72361067e-02 3.77558130e-03 9.96180509e-01 -6.84741721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.422401008 meters Centerline goodness [0,1] 0.9307214396657919 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.48, Z:-0.07 [[ 9.94522981e-01 5.73210201e-02 -8.73976023e-02 5.07199962e+00] [-5.74922242e-02 9.98345798e-01 5.59069478e-04 -4.78157240e-01] [ 8.72850754e-02 4.46867510e-03 9.96173352e-01 -6.93532251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.452401008 meters Centerline goodness [0,1] 0.9334775987817584 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.47, Z:-0.07 [[ 9.94541422e-01 5.65424482e-02 -8.76944174e-02 5.07381906e+00] [-5.68447517e-02 9.98382576e-01 -9.51772565e-04 -4.73730405e-01] [ 8.74987628e-02 5.93154463e-03 9.96146969e-01 -7.10619739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.482401008000004 meters Centerline goodness [0,1] 0.9330305863496727 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.47, Z:-0.07 [[ 9.94537648e-01 5.61959230e-02 -8.79595632e-02 5.07496850e+00] [-5.65425778e-02 9.98399132e-01 -1.45250295e-03 -4.72571541e-01] [ 8.77371269e-02 6.41802931e-03 9.96122987e-01 -7.17528966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.512401008000005 meters Centerline goodness [0,1] 0.9322611566727022 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.47, Z:-0.07 [[ 9.94519924e-01 5.57982010e-02 -8.84120029e-02 5.07689982e+00] [-5.62363397e-02 9.98414428e-01 -2.47060661e-03 -4.70378467e-01] [ 8.81339639e-02 7.42903493e-03 9.96080927e-01 -7.34088562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.542401008000006 meters Centerline goodness [0,1] 0.9316796523029629 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.47, Z:-0.07 [[ 9.94507256e-01 5.53357315e-02 -8.88441017e-02 5.07870326e+00] [-5.58456066e-02 9.98434089e-01 -3.26167192e-03 -4.68543009e-01] [ 8.85244927e-02 8.20530914e-03 9.96040204e-01 -7.45902359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.572401008 meters Centerline goodness [0,1] 0.9292307692307692 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.47, Z:-0.08 [[ 9.94488174e-01 5.51378300e-02 -8.91801110e-02 5.08004605e+00] [-5.56917219e-02 9.98441034e-01 -3.73274770e-03 -4.67051122e-01] [ 8.88352666e-02 8.67876738e-03 9.96008521e-01 -7.54334439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.602401008 meters Centerline goodness [0,1] 0.9293159695514945 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.47, Z:-0.08 [[ 9.94476322e-01 5.50853463e-02 -8.93445531e-02 5.08075456e+00] [-5.56756646e-02 9.98440379e-01 -4.12667706e-03 -4.65519004e-01] [ 8.89778901e-02 9.07820000e-03 9.95992230e-01 -7.60250774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.632401008 meters Centerline goodness [0,1] 0.9285223367697595 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.46, Z:-0.08 [[ 9.94440532e-01 5.52447932e-02 -8.96439697e-02 5.08110496e+00] [-5.58263475e-02 9.98432516e-01 -3.99117543e-03 -4.64638976e-01] [ 8.92829625e-02 8.97348202e-03 9.95965878e-01 -7.55250784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.662401008 meters Centerline goodness [0,1] 0.9280764635603346 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.47, Z:-0.08 [[ 9.94432931e-01 5.52551395e-02 -8.97218793e-02 5.08117047e+00] [-5.58082772e-02 9.98434773e-01 -3.66617427e-03 -4.65439321e-01] [ 8.93788692e-02 8.65298794e-03 9.95960111e-01 -7.51063875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.692401008000004 meters Centerline goodness [0,1] 0.9283150309766279 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.47, Z:-0.07 [[ 9.94419346e-01 5.48556702e-02 -9.01167055e-02 5.08219735e+00] [-5.53835129e-02 9.98459484e-01 -3.36532972e-03 -4.66664761e-01] [ 8.97932718e-02 8.33752870e-03 9.95925526e-01 -7.46903869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.722401008000006 meters Centerline goodness [0,1] 0.9284838141965762 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.47, Z:-0.07 [[ 9.94391195e-01 5.44670414e-02 -9.06614166e-02 5.08331088e+00] [-5.49321105e-02 9.98486600e-01 -2.64054942e-03 -4.68702279e-01] [ 9.03803867e-02 7.60596205e-03 9.95878273e-01 -7.36261774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.752401008 meters Centerline goodness [0,1] 0.9299441370646566 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.47, Z:-0.07 [[ 9.94386641e-01 5.39622893e-02 -9.10125243e-02 5.08406753e+00] [-5.43804979e-02 9.98518036e-01 -2.11972481e-03 -4.70789262e-01] [ 9.07632618e-02 7.05713242e-03 9.95847492e-01 -7.27373998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.782401008 meters Centerline goodness [0,1] 0.9207712765957446 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.47, Z:-0.07 [[ 9.94412204e-01 5.30422242e-02 -9.12737099e-02 5.08446609e+00] [-5.33605935e-02 9.98574757e-01 -1.04958235e-03 -4.73114688e-01] [ 9.10879505e-02 5.91413683e-03 9.95825290e-01 -7.01521252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.812401008 meters Centerline goodness [0,1] 0.9268169224211423 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.47, Z:-0.07 [[ 9.94411455e-01 5.31319601e-02 -9.12296686e-02 5.08370653e+00] [-5.34024854e-02 9.98572931e-01 -5.25114943e-04 -4.73405814e-01] [ 9.10715772e-02 5.39407136e-03 9.95829740e-01 -6.87666330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.842401008 meters Centerline goodness [0,1] 0.9279446955596916 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.47, Z:-0.07 [[ 9.94387741e-01 5.33006756e-02 -9.13896024e-02 5.08270380e+00] [-5.35249806e-02 9.98566511e-01 -3.44502215e-06 -4.72347095e-01] [ 9.12584128e-02 4.89505238e-03 9.95815214e-01 -6.64452413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.872401008000004 meters Centerline goodness [0,1] 0.9289206568528459 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.47, Z:-0.07 [[ 9.94378596e-01 5.32965761e-02 -9.14914340e-02 5.08247290e+00] [-5.35196917e-02 9.98566794e-01 1.48127060e-05 -4.71485679e-01] [ 9.13610974e-02 4.88186390e-03 9.95805863e-01 -6.56420592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.902401008000005 meters Centerline goodness [0,1] 0.926533202866739 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.47, Z:-0.06 [[ 9.94360882e-01 5.34538764e-02 -9.15921394e-02 5.08218812e+00] [-5.36788179e-02 9.98558253e-01 7.56338814e-06 -4.70013654e-01] [ 9.14604910e-02 4.90903704e-03 9.95796606e-01 -6.49288128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.932401008 meters Centerline goodness [0,1] 0.9296501018222211 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.47, Z:-0.06 [[ 9.94355195e-01 5.36534112e-02 -9.15371971e-02 5.08180465e+00] [-5.38976761e-02 9.98546444e-01 -1.96763959e-04 -4.67891510e-01] [ 9.13935856e-02 5.12929547e-03 9.95801638e-01 -6.46845034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.962401008 meters Centerline goodness [0,1] 0.9297190863743765 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.46, Z:-0.06 [[ 9.94138504e-01 5.71744870e-02 -9.17589949e-02 5.08334374e+00] [-5.71536858e-02 9.98361305e-01 2.85656788e-03 -4.64183523e-01] [ 9.17719528e-02 2.40454064e-03 9.95777147e-01 -6.49653983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.992401008 meters Centerline goodness [0,1] 0.9330031282586027 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.46, Z:-0.07 [[ 9.94129224e-01 5.68173652e-02 -9.20807916e-02 5.08454756e+00] [-5.68793691e-02 9.98379148e-01 1.95295431e-03 -4.60784813e-01] [ 9.20425040e-02 3.29600837e-03 9.95749624e-01 -6.57430631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.022401008 meters Centerline goodness [0,1] 0.9313705108882074 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.46, Z:-0.07 [[ 9.94114253e-01 5.64766801e-02 -9.24512643e-02 5.08577429e+00] [-5.66177411e-02 9.98395325e-01 1.09841592e-03 -4.57948945e-01] [ 9.23649450e-02 4.14243083e-03 9.95716605e-01 -6.64428011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.052401008000004 meters Centerline goodness [0,1] 0.9343549389107476 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.46, Z:-0.07 [[ 9.94099455e-01 5.64004143e-02 -9.26567183e-02 5.08614353e+00] [-5.65838597e-02 9.98397640e-01 6.48160383e-04 -4.56000648e-01] [ 9.25448053e-02 4.59853887e-03 9.95697902e-01 -6.64389067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.082401008000005 meters Centerline goodness [0,1] 0.9336468399565914 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.45, Z:-0.07 [[ 9.94081006e-01 5.60752605e-02 -9.30511668e-02 5.08698544e+00] [-5.63148537e-02 9.98413058e-01 5.10035234e-05 -4.53809753e-01] [ 9.29063600e-02 5.18946121e-03 9.95661327e-01 -6.63812175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.112401008 meters Centerline goodness [0,1] 0.9367352185089974 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.45, Z:-0.07 [[ 9.93828099e-01 5.99148560e-02 -9.33590925e-02 5.08785162e+00] [-5.98608878e-02 9.98201004e-01 3.38089239e-03 -4.50951988e-01] [ 9.33937056e-02 2.22853231e-03 9.95626762e-01 -6.57016027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.142401008 meters Centerline goodness [0,1] 0.9385630611044325 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.45, Z:-0.07 [[ 9.93811386e-01 6.00279390e-02 -9.34643057e-02 5.08810506e+00] [-6.00225510e-02 9.98192892e-01 2.87133631e-03 -4.47551562e-01] [ 9.34677660e-02 2.75639934e-03 9.95618491e-01 -6.58803165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.172401008 meters Centerline goodness [0,1] 0.9379805489077855 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.44, Z:-0.07 [[ 9.93792898e-01 6.01492071e-02 -9.35828419e-02 5.08834728e+00] [-6.01949536e-02 9.98183905e-01 2.33646493e-03 -4.44436582e-01] [ 9.35534231e-02 3.31125257e-03 9.95608755e-01 -6.60854106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.202401008 meters Centerline goodness [0,1] 0.9379432624113475 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.44, Z:-0.07 [[ 9.93774076e-01 5.98163120e-02 -9.39951829e-02 5.08975995e+00] [-5.99479733e-02 9.98200486e-01 1.42485943e-03 -4.41443920e-01] [ 9.39112671e-02 4.21883235e-03 9.95571632e-01 -6.69287272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.232401008000004 meters Centerline goodness [0,1] 0.9389764771067345 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.44, Z:-0.07 [[ 9.93499957e-01 6.30742900e-02 -9.47600663e-02 5.09296916e+00] [-6.29545907e-02 9.98007321e-01 4.25516938e-03 -4.39259044e-01] [ 9.48396317e-02 1.73807059e-03 9.95491046e-01 -6.80868495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.262401008000005 meters Centerline goodness [0,1] 0.9402766927903636 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.44, Z:-0.07 [[ 9.93481604e-01 6.26068712e-02 -9.52611234e-02 5.09460154e+00] [-6.25492594e-02 9.98035408e-01 3.59365600e-03 -4.37744286e-01] [ 9.52989617e-02 2.38828159e-03 9.95445832e-01 -6.87969877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.292401008000006 meters Centerline goodness [0,1] 0.9415137037968317 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.44, Z:-0.07 [[ 9.93467356e-01 6.22072532e-02 -9.56706373e-02 5.09593667e+00] [-6.21983359e-02 9.98059062e-01 3.07823186e-03 -4.36677500e-01] [ 9.56764349e-02 2.89243157e-03 9.95408285e-01 -6.92571092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.322401008 meters Centerline goodness [0,1] 0.9409737073845766 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.44, Z:-0.07 [[ 9.93455026e-01 6.22287692e-02 -9.57846098e-02 5.09596513e+00] [-6.22266580e-02 9.98057499e-01 3.01200382e-03 -4.35717750e-01] [ 9.57859814e-02 2.96806582e-03 9.95397527e-01 -6.89105380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.352401008 meters Centerline goodness [0,1] 0.9365055613746321 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.43, Z:-0.07 [[ 9.93162614e-01 6.64154963e-02 -9.60052337e-02 5.09626849e+00] [-6.60190046e-02 9.97791633e-01 7.30397063e-03 -4.34791364e-01] [ 9.62783158e-02 -9.15860594e-04 9.95354031e-01 -6.72006824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.382401008 meters Centerline goodness [0,1] 0.9387021032122695 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.43, Z:-0.07 [[ 9.93137427e-01 6.67905218e-02 -9.60056150e-02 5.09577593e+00] [-6.64051471e-02 9.97766713e-01 7.20710452e-03 -4.32751534e-01] [ 9.62725732e-02 -7.82378249e-04 9.95354700e-01 -6.67916836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.412401008 meters Centerline goodness [0,1] 0.9387021032122695 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.43, Z:-0.07 [[ 9.93137427e-01 6.67905218e-02 -9.60056150e-02 5.09577593e+00] [-6.64051471e-02 9.97766713e-01 7.20710452e-03 -4.32751534e-01] [ 9.62725732e-02 -7.82378249e-04 9.95354700e-01 -6.67916836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.442401008000004 meters Centerline goodness [0,1] 0.9364540140880252 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.43, Z:-0.07 [[ 9.93126931e-01 6.67389118e-02 -9.61499717e-02 5.09619448e+00] [-6.64023485e-02 9.97770437e-01 6.69945826e-03 -4.31255852e-01] [ 9.63827139e-02 -2.68828489e-04 9.95344312e-01 -6.71362707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.472401008000006 meters Centerline goodness [0,1] 0.9348373426399103 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.43, Z:-0.07 [[ 9.93042831e-01 6.73232584e-02 -9.66101195e-02 5.09615423e+00] [-6.69796307e-02 9.97731176e-01 6.79920201e-03 -4.30494556e-01] [ 9.68486726e-02 -2.80988680e-04 9.95299079e-01 -6.63305242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.502401008 meters Centerline goodness [0,1] 0.9335703733380074 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.43, Z:-0.07 [[ 9.93030912e-01 6.75783384e-02 -9.65545238e-02 5.09573092e+00] [-6.72344990e-02 9.97713933e-01 6.81391145e-03 -4.30018262e-01] [ 9.67942666e-02 -2.74629667e-04 9.95304373e-01 -6.60642178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.532401008 meters Centerline goodness [0,1] 0.9335195948811336 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.43, Z:-0.07 [[ 9.93015454e-01 6.73230046e-02 -9.68912821e-02 5.09668938e+00] [-6.70275047e-02 9.97731206e-01 6.30515512e-03 -4.28629425e-01] [ 9.70959377e-02 2.33264386e-04 9.95274999e-01 -6.63914190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.562401008 meters Centerline goodness [0,1] 0.933639751552795 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.43, Z:-0.07 [[ 9.93001608e-01 6.73387391e-02 -9.70221629e-02 5.09717236e+00] [-6.70810901e-02 9.97729971e-01 5.91872848e-03 -4.27139185e-01] [ 9.72004795e-02 6.31045552e-04 9.95264622e-01 -6.67738011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.592401008 meters Centerline goodness [0,1] 0.9300588220694448 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.42, Z:-0.07 [[ 9.92928045e-01 6.85302768e-02 -9.69406975e-02 5.09583250e+00] [-6.82673359e-02 9.97648838e-01 6.03047625e-03 -4.24528690e-01] [ 9.71260445e-02 6.30054175e-04 9.95271890e-01 -6.60429117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622401008000004 meters Centerline goodness [0,1] 0.9290813544197115 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.42, Z:-0.07 [[ 9.92893013e-01 6.86020050e-02 -9.72482921e-02 5.09615587e+00] [-6.83614974e-02 9.97643717e-01 5.80684877e-03 -4.23494947e-01] [ 9.74175091e-02 8.82459301e-04 9.95243212e-01 -6.57979431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.652401008000005 meters Centerline goodness [0,1] 0.9299511517766371 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.42, Z:-0.07 [[ 9.92886540e-01 6.84429954e-02 -9.74262509e-02 5.09672367e+00] [-6.82378404e-02 9.97654250e-01 5.44013470e-03 -4.23033949e-01] [ 9.75700523e-02 1.24672043e-03 9.95227879e-01 -6.60884437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.682401008 meters Centerline goodness [0,1] 0.9294555376410765 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.42, Z:-0.07 [[ 9.92880736e-01 6.82116606e-02 -9.76473948e-02 5.09768489e+00] [-6.80144500e-02 9.97669987e-01 5.35077666e-03 -4.23675267e-01] [ 9.77848605e-02 1.32875078e-03 9.95206690e-01 -6.65758679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.712401008 meters Centerline goodness [0,1] 0.9288781267162615 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.43, Z:-0.07 [[ 9.93087381e-01 6.54068176e-02 -9.74648729e-02 5.09835000e+00] [-6.54439064e-02 9.97852266e-01 2.81971941e-03 -4.25260035e-01] [ 9.74399731e-02 3.57825425e-03 9.95234971e-01 -6.80313411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.742401008 meters Centerline goodness [0,1] 0.9286143974333266 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.43, Z:-0.07 [[ 9.93084397e-01 6.47457186e-02 -9.79355514e-02 5.10043391e+00] [-6.47867387e-02 9.97895303e-01 2.76456410e-03 -4.27342327e-01] [ 9.79084205e-02 3.59947950e-03 9.95188919e-01 -6.90138120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.772401008 meters Centerline goodness [0,1] 0.9305845380263985 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.43, Z:-0.07 [[ 9.93072260e-01 6.38370695e-02 -9.86524983e-02 5.10317344e+00] [-6.38835544e-02 9.97953732e-01 2.69081906e-03 -4.29992907e-01] [ 9.86224028e-02 3.63009448e-03 9.95118307e-01 -7.00016985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802401008000004 meters Centerline goodness [0,1] 0.9306097622788788 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.43, Z:-0.07 [[ 9.93283079e-01 5.87137162e-02 -9.97066888e-02 5.10627723e+00] [-5.90976313e-02 9.98251803e-01 -8.98677127e-04 -4.34970524e-01] [ 9.94796172e-02 6.78506992e-03 9.95016466e-01 -7.12763161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.832401008000005 meters Centerline goodness [0,1] 0.9289148000409123 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.44, Z:-0.07 [[ 9.93491644e-01 5.44243592e-02 -1.00061695e-01 5.10701939e+00] [-5.51757937e-02 9.98465330e-01 -4.75560874e-03 -4.36286395e-01] [ 9.96493124e-02 1.02456410e-02 9.94969870e-01 -7.20579045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.862401008 meters Centerline goodness [0,1] 0.9319298968010912 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.44, Z:-0.07 [[ 9.93493456e-01 5.37647540e-02 -1.00399719e-01 5.10854948e+00] [-5.44545474e-02 9.98507665e-01 -4.14062479e-03 -4.40343222e-01] [ 1.00027270e-01 9.58090491e-03 9.94938567e-01 -7.20660783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.892401008 meters Centerline goodness [0,1] 0.9295043882292204 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.44, Z:-0.07 [[ 9.93467031e-01 5.30353718e-02 -1.01047059e-01 5.11064882e+00] [-5.36584947e-02 9.98553362e-01 -3.45677095e-03 -4.44300286e-01] [ 1.00717549e-01 8.85622105e-03 9.94875642e-01 -7.18583711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.922401008 meters Centerline goodness [0,1] 0.9314252885569541 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.45, Z:-0.07 [[ 0.99367381 0.04740942 -0.10180721 5.11314055] [-0.04833331 0.99880928 -0.006626 -0.45045725] [ 0.10137185 0.01150476 0.99478208 -0.07184967] [ 0. 0. 0. 1. ]] SLAMing on 37.952401008 meters Centerline goodness [0,1] 0.9336491643637321 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.45, Z:-0.07 [[ 0.99384534 0.04255619 -0.10227619 5.1144005 ] [-0.04386122 0.99898199 -0.01054398 -0.45211252] [ 0.10172336 0.01496505 0.99470016 -0.07228252] [ 0. 0. 0. 1. ]] SLAMing on 37.982401008000004 meters Centerline goodness [0,1] 0.932033455581647 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.46, Z:-0.07 [[ 0.99383928 0.04116773 -0.10290142 5.11671258] [-0.04241259 0.99905075 -0.00993809 -0.45619175] [ 0.10239461 0.01424118 0.99464191 -0.07158388] [ 0. 0. 0. 1. ]] SLAMing on 38.012401008000005 meters Centerline goodness [0,1] 0.9301102404037721 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.46, Z:-0.07 [[ 0.99386569 0.03990772 -0.10314248 5.11809139] [-0.04108341 0.99911245 -0.00929873 -0.45980312] [ 0.10267984 0.01347913 0.99462313 -0.0707304 ] [ 0. 0. 0. 1. ]] SLAMing on 38.042401008000006 meters Centerline goodness [0,1] 0.9066310160427807 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.46, Z:-0.07 [[ 9.95118820e-01 2.72947185e-02 -9.48342399e-02 5.12105824e+00] [-2.75534308e-02 9.99619324e-01 -1.41941804e-03 -4.63824453e-01] [ 9.47593962e-02 4.02549827e-03 9.95492065e-01 -6.74578499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.072401008 meters Centerline goodness [0,1] 0.8813632094458608 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.47, Z:-0.07 [[ 9.95097782e-01 2.55629108e-02 -9.55350337e-02 5.12368708e+00] [-2.57811000e-02 9.99667061e-01 -1.05003884e-03 -4.66899136e-01] [ 9.54763843e-02 3.50788958e-03 9.95425514e-01 -6.65432208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102401008 meters Centerline goodness [0,1] 0.8487252581755593 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.47, Z:-0.07 [[ 9.95060595e-01 2.37699736e-02 -9.63815336e-02 5.12679994e+00] [-2.39862163e-02 9.99711700e-01 -1.08545651e-03 -4.69040834e-01] [ 9.63279455e-02 3.39192332e-03 9.95343871e-01 -6.61957951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.132401008 meters Centerline goodness [0,1] 0.8271442390369733 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.47, Z:-0.07 [[ 9.94998118e-01 2.21861891e-02 -9.73987546e-02 5.13009790e+00] [-2.24255620e-02 9.99747586e-01 -1.36349725e-03 -4.69534599e-01] [ 9.73439190e-02 3.54089900e-03 9.95244504e-01 -6.60833097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162401008 meters Centerline goodness [0,1] 0.7942982221984944 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.47, Z:-0.07 [[ 9.94973968e-01 2.04189188e-02 -9.80299470e-02 5.13316041e+00] [-2.08112574e-02 9.99778977e-01 -2.98126913e-03 -4.65562921e-01] [ 9.79474059e-02 5.00641164e-03 9.95179000e-01 -6.74615505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.192401008000004 meters Centerline goodness [0,1] 0.8315345655113893 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.46, Z:-0.07 [[ 9.94977093e-01 2.04845955e-02 -9.79845145e-02 5.13267315e+00] [-2.09224971e-02 9.99775170e-01 -3.44355831e-03 -4.61930525e-01] [ 9.78919447e-02 5.47634236e-03 9.95181982e-01 -6.70598349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.222401008000006 meters Centerline goodness [0,1] 0.8319055275852071 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.46, Z:-0.07 [[ 9.94864570e-01 2.46020759e-02 -9.81795569e-02 5.13253604e+00] [-2.46690634e-02 9.99695531e-01 5.31761880e-04 -4.60279013e-01] [ 9.81627467e-02 1.89296666e-03 9.95168575e-01 -6.55373251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.252401008 meters Centerline goodness [0,1] 0.8434446834426101 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.45, Z:-0.06 [[ 9.94723465e-01 2.89017405e-02 -9.84373797e-02 5.13257858e+00] [-2.87128340e-02 9.99582137e-01 3.33545875e-03 -4.51187423e-01] [ 9.84926469e-02 -4.91442944e-04 9.95137657e-01 -6.46408214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.282401008 meters Centerline goodness [0,1] 0.8462819658689079 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.45, Z:-0.06 [[ 9.94558957e-01 3.21017670e-02 -9.91057949e-02 5.13481916e+00] [-3.16607859e-02 9.99480545e-01 6.01956074e-03 -4.47131933e-01] [ 9.92475524e-02 -2.84904070e-03 9.95058695e-01 -6.48990271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.312401008 meters Centerline goodness [0,1] 0.8443553944715281 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.44, Z:-0.07 [[ 0.99438777 0.03520983 -0.09976592 5.13735475] [-0.03450383 0.99936588 0.00879368 -0.44351934] [ 0.10001228 -0.00530202 0.99497208 -0.06535906] [ 0. 0. 0. 1. ]] SLAMing on 38.342401008 meters Centerline goodness [0,1] 0.8389265136965531 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.44, Z:-0.07 [[ 9.94358144e-01 3.45391045e-02 -1.00294229e-01 5.13899741e+00] [-3.39569632e-02 9.99395108e-01 7.50620629e-03 -4.37637756e-01] [ 1.00492820e-01 -4.05816990e-03 9.94929507e-01 -6.58919677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.372401008000004 meters Centerline goodness [0,1] 0.8460011558079349 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.43, Z:-0.07 [[ 9.94340438e-01 3.35176729e-02 -1.00814976e-01 5.14088731e+00] [-3.30938432e-02 9.99434987e-01 5.87401213e-03 -4.32356422e-01] [ 1.00954898e-01 -2.50441277e-03 9.94887851e-01 -6.67895359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402401008000005 meters Centerline goodness [0,1] 0.8304374767629198 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.42, Z:-0.07 [[ 9.94155501e-01 3.53847962e-02 -1.01993903e-01 5.14440856e+00] [-3.48114401e-02 9.99366527e-01 7.39648342e-03 -4.24694047e-01] [ 1.02191015e-01 -3.80270004e-03 9.94757526e-01 -6.66826737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.432401008 meters Centerline goodness [0,1] 0.8303408923213144 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.42, Z:-0.07 [[ 9.94139976e-01 3.50375149e-02 -1.02264754e-01 5.14489280e+00] [-3.45699248e-02 9.99382161e-01 6.34160933e-03 -4.19041251e-01] [ 1.02423765e-01 -2.76916249e-03 9.94737002e-01 -6.65451475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.462401008 meters Centerline goodness [0,1] 0.8354641195199608 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.41, Z:-0.07 [[ 9.94107496e-01 3.49939513e-02 -1.02594880e-01 5.14534815e+00] [-3.46082797e-02 9.99385614e-01 5.53732520e-03 -4.12938841e-01] [ 1.02725620e-01 -1.95406420e-03 9.94707811e-01 -6.62244558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.492401008 meters Centerline goodness [0,1] 0.8875038952944843 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.40, Z:-0.07 [[ 0.99376156 0.04242574 -0.10314073 5.14635595] [-0.0414985 0.99907668 0.01112026 -0.40297005] [ 0.10351728 -0.0067707 0.99460461 -0.06521544] [ 0. 0. 0. 1. ]] SLAMing on 38.522401008 meters Centerline goodness [0,1] 0.8568679621798831 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.40, Z:-0.07 [[ 0.99356642 0.04648905 -0.10326928 5.14679907] [-0.0452956 0.99887729 0.01387319 -0.39681721] [ 0.10379829 -0.0091063 0.99455668 -0.0650149 ] [ 0. 0. 0. 1. ]] SLAMing on 38.552401008000004 meters Centerline goodness [0,1] 0.8760630403543075 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.39, Z:-0.07 [[ 0.9933507 0.05064399 -0.1033904 5.14735441] [-0.04919944 0.99865307 0.01647612 -0.39060321] [ 0.10408555 -0.01127981 0.99450438 -0.0651282 ] [ 0. 0. 0. 1. ]] SLAMing on 38.582401008000005 meters Centerline goodness [0,1] 0.8998577060346638 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.38, Z:-0.07 [[ 0.99344249 0.05680076 -0.09922545 5.1610101 ] [-0.05597579 0.99837064 0.01108064 -0.38472208] [ 0.09969316 -0.00545375 0.99500328 -0.06794967] [ 0. 0. 0. 1. ]] SLAMing on 38.612401008000006 meters Centerline goodness [0,1] 0.9333363898950071 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.37, Z:-0.06 [[ 0.99289174 0.06688633 -0.09844908 5.15661375] [-0.06545966 0.99769903 0.01765451 -0.3743868 ] [ 0.09940339 -0.01108458 0.99498548 -0.06415849] [ 0. 0. 0. 1. ]] SLAMing on 38.642401008 meters Centerline goodness [0,1] 0.9394933479132495 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.37, Z:-0.06 [[ 0.9925608 0.07179056 -0.09833196 5.15578524] [-0.07004423 0.99732066 0.02110253 -0.36932536] [ 0.09958346 -0.01405796 0.9949299 -0.06285974] [ 0. 0. 0. 1. ]] SLAMing on 38.672401008 meters Centerline goodness [0,1] 0.9379829244666712 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.36, Z:-0.07 [[ 0.99253579 0.07790976 -0.09382315 5.16906558] [-0.07679775 0.99692759 0.01541067 -0.36328361] [ 0.09473553 -0.00809023 0.9954696 -0.06615014] [ 0. 0. 0. 1. ]] SLAMing on 38.702401008 meters Centerline goodness [0,1] 0.9345800656880487 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.36, Z:-0.07 [[ 0.99219973 0.0820526 -0.09384598 5.16964349] [-0.08068539 0.99657202 0.01827781 -0.35812477] [ 0.09502402 -0.01056323 0.99541893 -0.06594978] [ 0. 0. 0. 1. ]] SLAMing on 38.732401008000004 meters Centerline goodness [0,1] 0.9312525135171366 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.35, Z:-0.06 [[ 0.99151624 0.0904181 -0.09338159 5.16730927] [-0.08846308 0.99576879 0.02487582 -0.3523195 ] [ 0.0952357 -0.01640396 0.99531958 -0.06302306] [ 0. 0. 0. 1. ]] SLAMing on 38.762401008000005 meters Centerline goodness [0,1] 0.9314541247663968 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.35, Z:-0.07 [[ 0.99169812 0.09250236 -0.08932055 5.17969414] [-0.09153582 0.99569081 0.01486611 -0.34906589] [ 0.09031081 -0.00656666 0.99589198 -0.0671483 ] [ 0. 0. 0. 1. ]] SLAMing on 38.792401008000006 meters Centerline goodness [0,1] 0.9282017105409308 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.35, Z:-0.07 [[ 0.991683 0.09237679 -0.08961788 5.18051506] [-0.09145562 0.9957059 0.01434015 -0.34760243] [ 0.09055775 -0.00602482 0.99587298 -0.06745981] [ 0. 0. 0. 1. ]] SLAMing on 38.822401008 meters Centerline goodness [0,1] 0.9276500155687024 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.35, Z:-0.07 [[ 0.99168329 0.09202485 -0.08997594 5.18161165] [-0.09114888 0.99574158 0.01380531 -0.34663976] [ 0.09086322 -0.00548929 0.99584825 -0.06790612] [ 0. 0. 0. 1. ]] SLAMing on 38.852401008 meters Centerline goodness [0,1] 0.9262169200293797 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.35, Z:-0.07 [[ 9.91739956e-01 9.08182013e-02 -9.05754619e-02 5.18464232e+00] [-9.00235898e-02 9.95857009e-01 1.28285447e-02 -3.46799396e-01] [ 9.13652739e-02 -4.56865216e-03 9.95806966e-01 -7.00221284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882401008 meters Centerline goodness [0,1] 0.9255875256902868 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.35, Z:-0.07 [[ 9.92106950e-01 8.62188564e-02 -9.10500383e-02 5.18618633e+00] [-8.58405502e-02 9.96276203e-01 8.07016139e-03 -3.45334802e-01] [ 9.14067865e-02 -1.90677811e-04 9.95813619e-01 -7.18923947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.912401008 meters Centerline goodness [0,1] 0.9274270817085942 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.35, Z:-0.07 [[ 9.92154059e-01 8.48783362e-02 -9.17931990e-02 5.18941234e+00] [-8.45499798e-02 9.96391260e-01 7.46707638e-03 -3.47619591e-01] [ 9.20957343e-02 3.52622977e-04 9.95750095e-01 -7.37197688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942401008000004 meters Centerline goodness [0,1] 0.9268876900002239 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.35, Z:-0.08 [[ 9.92494149e-01 8.01746532e-02 -9.23438659e-02 5.19102162e+00] [-8.02378108e-02 9.96771130e-01 3.03454755e-03 -3.48053139e-01] [ 9.22889933e-02 4.39769895e-03 9.95722553e-01 -7.52513614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.972401008000006 meters Centerline goodness [0,1] 0.9252624938037943 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.35, Z:-0.08 [[ 9.92799854e-01 7.54065539e-02 -9.30714906e-02 5.19334556e+00] [-7.57959635e-02 9.97123136e-01 -6.51132987e-04 -3.53055703e-01] [ 9.27546368e-02 7.70088803e-03 9.95659216e-01 -7.69530450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.002401008 meters Centerline goodness [0,1] 0.9241575591985428 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.36, Z:-0.08 [[ 9.92798322e-01 7.48741725e-02 -9.35165724e-02 5.19506619e+00] [-7.52529713e-02 9.97164336e-01 -5.25779756e-04 -3.56161196e-01] [ 9.32120235e-02 7.55939319e-03 9.95617584e-01 -7.78133533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.032401008 meters Centerline goodness [0,1] 0.9215431296055483 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.36, Z:-0.08 [[ 9.92798074e-01 7.43619054e-02 -9.39270565e-02 5.19678701e+00] [-7.47410785e-02 9.97202838e-01 -5.20570367e-04 -3.58348910e-01] [ 9.36256167e-02 7.53703075e-03 9.95578946e-01 -7.87022657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062401008 meters Centerline goodness [0,1] 0.9214864741779761 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.36, Z:-0.08 [[ 9.92796609e-01 7.37606010e-02 -9.44153976e-02 5.19862948e+00] [-7.41451138e-02 9.97247302e-01 -5.66191543e-04 -3.60178865e-01] [ 9.41137379e-02 7.56255345e-03 9.95532728e-01 -7.94431940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.092401008 meters Centerline goodness [0,1] 0.9191124165308979 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.36, Z:-0.08 [[ 9.92771096e-01 7.39366607e-02 -9.45458722e-02 5.19868956e+00] [-7.42490114e-02 9.97239709e-01 2.14728266e-04 -3.62934351e-01] [ 9.43007744e-02 6.80676152e-03 9.95520483e-01 -7.90143339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122401008000004 meters Centerline goodness [0,1] 0.9211348436812996 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.37, Z:-0.08 [[ 9.92769541e-01 7.34506815e-02 -9.49401726e-02 5.19954118e+00] [-7.36292245e-02 9.97284360e-01 1.62591347e-03 -3.69489780e-01] [ 9.48017737e-02 5.37621391e-03 9.95481652e-01 -7.79052847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.152401008000005 meters Centerline goodness [0,1] 0.9223913850724099 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.37, Z:-0.08 [[ 9.92802206e-01 7.25397978e-02 -9.52982555e-02 5.20132212e+00] [-7.27118862e-02 9.97351589e-01 1.67014140e-03 -3.72544921e-01] [ 9.51670182e-02 5.27119585e-03 9.95447363e-01 -7.86651568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182401008 meters Centerline goodness [0,1] 0.9225044906338209 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.38, Z:-0.08 [[ 9.92825682e-01 7.15590314e-02 -9.57938960e-02 5.20347779e+00] [-7.17355817e-02 9.97422395e-01 1.60399171e-03 -3.75589168e-01] [ 9.56617572e-02 5.27934669e-03 9.95399898e-01 -7.96187283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.212401008 meters Centerline goodness [0,1] 0.9249186972710562 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.38, Z:-0.08 [[ 9.93138405e-01 6.61328751e-02 -9.64497299e-02 5.20590872e+00] [-6.66459621e-02 9.97774467e-01 -2.10441535e-03 -3.79490145e-01] [ 9.60959069e-02 8.51796075e-03 9.95335632e-01 -8.09685595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242401008 meters Centerline goodness [0,1] 0.926778440844937 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.38, Z:-0.08 [[ 0.99339184 0.06139765 -0.09696897 5.20729014] [-0.06229777 0.99803785 -0.00627952 -0.37990434] [ 0.09639315 0.01227897 0.9952676 -0.08196664] [ 0. 0. 0. 1. ]] SLAMing on 39.272401008 meters Centerline goodness [0,1] 0.9275417389032703 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.38, Z:-0.08 [[ 0.99339477 0.05986448 -0.09789321 5.21066067] [-0.06078991 0.99812945 -0.00649559 -0.38229865] [ 0.09732124 0.0124036 0.99517573 -0.08290971] [ 0. 0. 0. 1. ]] SLAMing on 39.302401008000004 meters Centerline goodness [0,1] 0.9275417389032703 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.38, Z:-0.08 [[ 0.99339477 0.05986448 -0.09789321 5.21066067] [-0.06078991 0.99812945 -0.00649559 -0.38229865] [ 0.09732124 0.0124036 0.99517573 -0.08290971] [ 0. 0. 0. 1. ]] SLAMing on 39.332401008000005 meters Centerline goodness [0,1] 0.9219783631457025 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.38, Z:-0.08 [[ 9.94530040e-01 5.01089401e-02 -9.16465680e-02 5.20971942e+00] [-5.04973646e-02 9.98722343e-01 -1.92290817e-03 -3.84922126e-01] [ 9.14331203e-02 6.54030010e-03 9.95789741e-01 -8.44019713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362401008000006 meters Centerline goodness [0,1] 0.9127925079638811 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.39, Z:-0.08 [[ 9.94535653e-01 4.92761182e-02 -9.20364017e-02 5.21061250e+00] [-4.96451506e-02 9.98765433e-01 -1.72310894e-03 -3.87272368e-01] [ 9.18378685e-02 6.28285430e-03 9.95754152e-01 -8.37530101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.392401008 meters Centerline goodness [0,1] 0.9033693883411505 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.39, Z:-0.08 [[ 9.94517186e-01 4.87410157e-02 -9.25196167e-02 5.21114825e+00] [-4.90512451e-02 9.98795678e-01 -1.08074750e-03 -3.89646988e-01] [ 9.23555166e-02 5.61302435e-03 9.95710275e-01 -8.22504155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.422401008 meters Centerline goodness [0,1] 0.8863767005173405 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.39, Z:-0.08 [[ 9.94531226e-01 4.82481285e-02 -9.26269874e-02 5.21106229e+00] [-4.85218343e-02 9.98821874e-01 -7.03825439e-04 -3.91247360e-01] [ 9.24839028e-02 5.19440771e-03 9.95700631e-01 -8.11309386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.452401008 meters Centerline goodness [0,1] 0.8956821610747898 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.39, Z:-0.08 [[ 9.94554313e-01 4.75320233e-02 -9.27492625e-02 5.21166706e+00] [-4.78289088e-02 9.98855063e-01 -9.79474179e-04 -3.90904593e-01] [ 9.25965140e-02 5.41023629e-03 9.95689015e-01 -8.10754537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.482401008000004 meters Centerline goodness [0,1] 0.8406204579570635 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.39, Z:-0.08 [[ 9.94595851e-01 4.56569865e-02 -9.32444830e-02 5.21482737e+00] [-4.61192522e-02 9.98931996e-01 -2.80759034e-03 -3.86655663e-01] [ 9.30167114e-02 7.09278354e-03 9.95639284e-01 -8.32102070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.512401008000005 meters Centerline goodness [0,1] 0.863825955066831 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.39, Z:-0.08 [[ 9.94581522e-01 4.49745450e-02 -9.37277263e-02 5.21650255e+00] [-4.55011967e-02 9.98958193e-01 -3.48839410e-03 -3.85345040e-01] [ 9.34731912e-02 7.73421603e-03 9.95591756e-01 -8.38885417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542401008000006 meters Centerline goodness [0,1] 0.8551760030280091 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.38, Z:-0.08 [[ 9.94567984e-01 4.47004994e-02 -9.40020800e-02 5.21701162e+00] [-4.52581758e-02 9.98968066e-01 -3.80801371e-03 -3.84497952e-01] [ 9.37348559e-02 8.04169117e-03 9.95564718e-01 -8.37384608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.572401008 meters Centerline goodness [0,1] 0.8532302050028211 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.38, Z:-0.08 [[ 9.94381942e-01 4.78374926e-02 -9.44252527e-02 5.21893521e+00] [-4.81546201e-02 9.98839308e-01 -1.08145532e-03 -3.81879689e-01] [ 9.42639200e-02 5.62239181e-03 9.95531367e-01 -8.41184471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.602401008 meters Centerline goodness [0,1] 0.854132367467896 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.38, Z:-0.08 [[ 9.94357446e-01 4.81937302e-02 -9.45020293e-02 5.21910345e+00] [-4.85592011e-02 9.98819072e-01 -1.57019176e-03 -3.77667999e-01] [ 9.43147558e-02 6.15027491e-03 9.95523431e-01 -8.43176451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.632401008 meters Centerline goodness [0,1] 0.862346857968044 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.37, Z:-0.08 [[ 9.94131862e-01 5.18476761e-02 -9.49402923e-02 5.22082636e+00] [-5.19494420e-02 9.98648733e-01 1.40109688e-03 -3.74659173e-01] [ 9.48846462e-02 3.53922016e-03 9.95481983e-01 -8.46423838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.662401008 meters Centerline goodness [0,1] 0.8786942379182157 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.37, Z:-0.08 [[ 9.93906444e-01 5.60874048e-02 -9.48903806e-02 5.22092458e+00] [-5.59061435e-02 9.98425571e-01 4.56972438e-03 -3.70597138e-01] [ 9.49972864e-02 7.63076732e-04 9.95477239e-01 -8.43369206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.692401008000004 meters Centerline goodness [0,1] 0.9112729604690577 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.36, Z:-0.08 [[ 9.93716959e-01 6.75881783e-02 -8.92101048e-02 5.23194590e+00] [-6.74481949e-02 9.97712237e-01 4.58622189e-03 -3.62277022e-01] [ 8.93159876e-02 1.45965407e-03 9.96002271e-01 -8.47543003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.722401008000006 meters Centerline goodness [0,1] 0.9291189918336707 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.36, Z:-0.09 [[ 9.93803196e-01 7.29342928e-02 -8.38796578e-02 5.24364240e+00] [-7.32568076e-02 9.97312814e-01 -7.69491868e-04 -3.58702121e-01] [ 8.35981352e-02 6.90947943e-03 9.96475595e-01 -8.65149039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.752401008 meters Centerline goodness [0,1] 0.9292199286327296 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.36, Z:-0.09 [[ 0.9938455 0.07785476 -0.07880203 5.25586537] [-0.07858584 0.99688798 -0.00621434 -0.35607033] [ 0.07807298 0.01236882 0.99687092 -0.0881177 ] [ 0. 0. 0. 1. ]] SLAMing on 39.782401008 meters Centerline goodness [0,1] 0.9302988155061019 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.35, Z:-0.09 [[ 9.93691322e-01 7.98618766e-02 -7.87377815e-02 5.25400052e+00] [-8.05022671e-02 9.96741946e-01 -4.98771756e-03 -3.53025016e-01] [ 7.80829211e-02 1.12948216e-02 9.96882884e-01 -8.59567815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.812401008 meters Centerline goodness [0,1] 0.9326478149100257 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.35, Z:-0.08 [[ 9.93626992e-01 8.08094431e-02 -7.85826608e-02 5.25270237e+00] [-8.14368763e-02 9.96666907e-01 -4.80743152e-03 -3.49579503e-01] [ 7.79322517e-02 1.11763202e-02 9.96896010e-01 -8.47692963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842401008 meters Centerline goodness [0,1] 0.9326929476229563 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.34, Z:-0.09 [[ 0.99365893 0.08026882 -0.07873272 5.25367362] [-0.08096922 0.99670008 -0.00573904 -0.34398693] [ 0.07801225 0.01207758 0.99687924 -0.08514792] [ 0. 0. 0. 1. ]] SLAMing on 39.872401008000004 meters Centerline goodness [0,1] 0.9366136418947322 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.34, Z:-0.09 [[ 0.99370266 0.07950905 -0.07895146 5.25469312] [-0.08025649 0.99675412 -0.0063345 -0.34270987] [ 0.07819154 0.01263098 0.99685834 -0.08561634] [ 0. 0. 0. 1. ]] SLAMing on 39.902401008000005 meters Centerline goodness [0,1] 0.9233863876187126 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.34, Z:-0.09 [[ 0.99372116 0.07854759 -0.07967774 5.25664067] [-0.07934579 0.99682329 -0.0068968 -0.34207977] [ 0.0788829 0.01317559 0.99679682 -0.08590745] [ 0. 0. 0. 1. ]] SLAMing on 39.932401008 meters Centerline goodness [0,1] 0.9402739003319338 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.34, Z:-0.09 [[ 0.99374919 0.07793334 -0.07993081 5.25700864] [-0.07877964 0.99686396 -0.00748475 -0.34027314] [ 0.07909683 0.01373489 0.99677231 -0.0854297 ] [ 0. 0. 0. 1. ]] SLAMing on 39.962401008 meters Centerline goodness [0,1] 0.9406344839632322 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.34, Z:-0.09 [[ 0.99372041 0.07797259 -0.08024976 5.2576385 ] [-0.07885353 0.9968552 -0.00786267 -0.33847003] [ 0.07938432 0.01414127 0.99674378 -0.08541053] [ 0. 0. 0. 1. ]] SLAMing on 39.992401008 meters Centerline goodness [0,1] 0.9420090726685859 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.34, Z:-0.09 [[ 0.99368269 0.07840445 -0.080296 5.25757583] [-0.07931292 0.99681618 -0.00818282 -0.3359211 ] [ 0.07939878 0.01449964 0.99673748 -0.08535148] [ 0. 0. 0. 1. ]] SLAMing on 40.022401008 meters Centerline goodness [0,1] 0.9447195968596579 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.33, Z:-0.09 [[ 9.93372385e-01 8.19254204e-02 -8.06196588e-02 5.25970745e+00] [-8.26040708e-02 9.96569325e-01 -5.11341708e-03 -3.34580262e-01] [ 7.99241601e-02 1.17390393e-02 9.96731821e-01 -8.62083305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.052401008000004 meters Centerline goodness [0,1] 0.9390498761176344 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.33, Z:-0.09 [[ 9.92697739e-01 8.98120746e-02 -8.05294389e-02 5.26223816e+00] [-9.00020233e-02 9.95940766e-01 1.27532665e-03 -3.30379377e-01] [ 8.03170908e-02 5.98179855e-03 9.96751415e-01 -8.78407728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.082401008000005 meters Centerline goodness [0,1] 0.9372307824186186 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.33, Z:-0.09 [[ 9.92332509e-01 9.36707213e-02 -8.06349087e-02 5.26380137e+00] [-9.36205500e-02 9.95598180e-01 4.41104698e-03 -3.28088318e-01] [ 8.06931543e-02 3.17185919e-03 9.96733944e-01 -8.85197695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.112401008000006 meters Centerline goodness [0,1] 0.9359616454775053 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.32, Z:-0.09 [[ 9.92233614e-01 9.46733422e-02 -8.06809317e-02 5.26370588e+00] [-9.46331945e-02 9.95502793e-01 4.32989392e-03 -3.24525229e-01] [ 8.07280184e-02 3.33882802e-03 9.96730575e-01 -8.84857926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.142401008 meters Centerline goodness [0,1] 0.9341690788353482 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.32, Z:-0.09 [[ 9.91834097e-01 9.87566094e-02 -8.06985459e-02 5.26472289e+00] [-9.84274677e-02 9.95111617e-01 8.05628678e-03 -3.24310823e-01] [ 8.10996720e-02 -4.75464071e-05 9.96705995e-01 -8.86437325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.172401008 meters Centerline goodness [0,1] 0.9326968060222005 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.32, Z:-0.09 [[ 9.91361811e-01 1.03690334e-01 -8.03123579e-02 5.26386769e+00] [-1.03039418e-01 9.94602226e-01 1.22184592e-02 -3.23507597e-01] [ 8.11457861e-02 -3.83757527e-03 9.96694855e-01 -8.75945750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202401008 meters Centerline goodness [0,1] 0.9305760078536824 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.32, Z:-0.09 [[ 9.91329531e-01 1.04074445e-01 -8.02139037e-02 5.26338145e+00] [-1.03426711e-01 9.94562260e-01 1.21994087e-02 -3.22555277e-01] [ 8.10473681e-02 -3.79737388e-03 9.96703017e-01 -8.72880907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.232401008000004 meters Centerline goodness [0,1] 0.9300085251491901 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.32, Z:-0.09 [[ 9.91482987e-01 1.06473380e-01 -7.49993770e-02 5.27443135e+00] [-1.06504416e-01 9.94305723e-01 3.59702312e-03 -3.22040747e-01] [ 7.49552970e-02 4.42137760e-03 9.97177093e-01 -9.08865065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262401008000005 meters Centerline goodness [0,1] 0.9288459075188933 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.33, Z:-0.09 [[ 9.91629435e-01 1.08453656e-01 -7.00633168e-02 5.28712005e+00] [-1.08808607e-01 9.94061921e-01 -1.25840076e-03 -3.26350623e-01] [ 6.95107972e-02 8.87135915e-03 9.97541753e-01 -9.02192640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.292401008000006 meters Centerline goodness [0,1] 0.9301241568930704 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.33, Z:-0.09 [[ 9.91619888e-01 1.08507064e-01 -7.01157182e-02 5.28716153e+00] [-1.08822279e-01 9.94060988e-01 -6.80265258e-04 -3.28957446e-01] [ 6.96254866e-02 8.30471681e-03 9.97538632e-01 -9.01724137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.322401008 meters Centerline goodness [0,1] 0.9277209602755948 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.33, Z:-0.09 [[ 9.91644923e-01 1.08081442e-01 -7.04183759e-02 5.28843735e+00] [-1.08386070e-01 9.94108747e-01 -5.08232320e-04 -3.31911560e-01] [ 6.99485930e-02 8.13635701e-03 9.97517415e-01 -9.10430492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.352401008 meters Centerline goodness [0,1] 0.9273113432447662 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.33, Z:-0.09 [[ 9.91993543e-01 1.04560866e-01 -7.08225703e-02 5.28833308e+00] [-1.05097920e-01 9.94454272e-01 -3.88941265e-03 -3.33431681e-01] [ 7.00231273e-02 1.13015770e-02 9.97481346e-01 -9.13014845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382401008 meters Centerline goodness [0,1] 0.9273848971049878 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.34, Z:-0.09 [[ 0.99230258 0.10133947 -0.07117509 5.28777872] [-0.10208437 0.99475183 -0.00689783 -0.33562995] [ 0.07010253 0.0141106 0.99743999 -0.09112115] [ 0. 0. 0. 1. ]] SLAMing on 40.412401008 meters Centerline goodness [0,1] 0.926973452883263 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.34, Z:-0.09 [[ 0.99225788 0.10149276 -0.07157874 5.28854539] [-0.10216883 0.99474994 -0.00583854 -0.34265592] [ 0.07061038 0.01310645 0.99741786 -0.09161973] [ 0. 0. 0. 1. ]] SLAMing on 40.442401008000004 meters Centerline goodness [0,1] 0.9250154198607807 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.34, Z:-0.09 [[ 9.92235097e-01 1.01862278e-01 -7.13693858e-02 5.28841568e+00] [-1.02490221e-01 9.94720510e-01 -5.18284322e-03 -3.44586573e-01] [ 7.04646557e-02 1.24572630e-02 9.97436489e-01 -9.19746468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.472401008000006 meters Centerline goodness [0,1] 0.9208451452870304 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.35, Z:-0.09 [[ 9.92203298e-01 1.02256867e-01 -7.12470960e-02 5.28835109e+00] [-1.02837155e-01 9.94687958e-01 -4.51513877e-03 -3.46570731e-01] [ 7.04069244e-02 1.18067842e-02 9.97448477e-01 -9.22672077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502401008 meters Centerline goodness [0,1] 0.9180971390552228 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.35, Z:-0.09 [[ 9.92170967e-01 1.02425250e-01 -7.14551653e-02 5.28882159e+00] [-1.02960585e-01 9.94678026e-01 -3.83957991e-03 -3.49499822e-01] [ 7.06816129e-02 1.11665853e-02 9.97436423e-01 -9.24143094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.532401008 meters Centerline goodness [0,1] 0.9122411734222563 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.36, Z:-0.09 [[ 0.99251163 0.09900684 -0.07154243 5.28793594] [-0.09969488 0.99499934 -0.00610251 -0.35722606] [ 0.07058048 0.01318923 0.99741889 -0.09261403] [ 0. 0. 0. 1. ]] SLAMing on 40.562401008 meters Centerline goodness [0,1] 0.9151589352922505 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.36, Z:-0.09 [[ 0.9928642 0.09507388 -0.07198359 5.28834348] [-0.09599328 0.99533746 -0.00941454 -0.35993972] [ 0.07075289 0.0162573 0.99736138 -0.09321831] [ 0. 0. 0. 1. ]] SLAMing on 40.592401008 meters Centerline goodness [0,1] 0.9158606910956727 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.36, Z:-0.09 [[ 0.9929136 0.09415346 -0.07251008 5.29030657] [-0.09505436 0.99543078 -0.00906792 -0.36470285] [ 0.07132499 0.01589606 0.99732646 -0.09416759] [ 0. 0. 0. 1. ]] SLAMing on 40.622401008000004 meters Centerline goodness [0,1] 0.9191105824221073 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.37, Z:-0.09 [[ 0.99327808 0.08989528 -0.07292108 5.29090899] [-0.09104301 0.9957677 -0.0125644 -0.36714631] [ 0.07148297 0.0191189 0.99725857 -0.09492074] [ 0. 0. 0. 1. ]] SLAMing on 40.652401008000005 meters Centerline goodness [0,1] 0.9220287311192203 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.37, Z:-0.10 [[ 0.99395054 0.08118851 -0.07396454 5.29459487] [-0.08281655 0.99637961 -0.01921165 -0.3739211 ] [ 0.07213699 0.02522092 0.9970758 -0.09818952] [ 0. 0. 0. 1. ]] SLAMing on 40.682401008 meters Centerline goodness [0,1] 0.9208320757783298 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.38, Z:-0.10 [[ 0.99425904 0.07694481 -0.07435364 5.29488514] [-0.07880568 0.99663781 -0.02242197 -0.37723494] [ 0.0723784 0.02815274 0.99697983 -0.09834315] [ 0. 0. 0. 1. ]] SLAMing on 40.712401008 meters Centerline goodness [0,1] 0.9231092535083009 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.38, Z:-0.10 [[ 0.99433273 0.07588814 -0.07445407 5.29547942] [-0.07771651 0.99673338 -0.0219709 -0.38252449] [ 0.07254352 0.0276327 0.99698238 -0.0983362 ] [ 0. 0. 0. 1. ]] SLAMing on 40.742401008 meters Centerline goodness [0,1] 0.9256990741831375 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.39, Z:-0.10 [[ 0.99462707 0.07165666 -0.0747149 5.29524859] [-0.07366367 0.99698318 -0.02445822 -0.38870507] [ 0.0727369 0.02983058 0.99690495 -0.09784616] [ 0. 0. 0. 1. ]] SLAMing on 40.772401008 meters Centerline goodness [0,1] 0.9248847381487173 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.39, Z:-0.10 [[ 0.99460616 0.07186554 -0.07479252 5.29529249] [-0.07381521 0.99699183 -0.02363477 -0.39129168] [ 0.07286901 0.02902811 0.99691899 -0.09758643] [ 0. 0. 0. 1. ]] SLAMing on 40.802401008000004 meters Centerline goodness [0,1] 0.9259276744405628 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.40, Z:-0.10 [[ 0.99433105 0.0755121 -0.07485777 5.29642797] [-0.07713354 0.99683958 -0.01900694 -0.39508769] [ 0.07318593 0.02467323 0.99701306 -0.09745818] [ 0. 0. 0. 1. ]] SLAMing on 40.832401008000005 meters Centerline goodness [0,1] 0.9244649402861534 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.40, Z:-0.10 [[ 0.99429232 0.07594457 -0.07493467 5.29662347] [-0.07753658 0.99681663 -0.01856575 -0.39597596] [ 0.07328616 0.02426997 0.9970156 -0.09763473] [ 0. 0. 0. 1. ]] SLAMing on 40.862401008000006 meters Centerline goodness [0,1] 0.9215607114868556 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.40, Z:-0.10 [[ 0.99390843 0.08088976 -0.07485238 5.29708011] [-0.0821184 0.99653142 -0.01347956 -0.40002094] [ 0.07350239 0.01954421 0.99710352 -0.09770064] [ 0. 0. 0. 1. ]] SLAMing on 40.892401008 meters Centerline goodness [0,1] 0.9197059453286703 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.40, Z:-0.10 [[ 0.99352631 0.08556803 -0.07472332 5.29718632] [-0.08644524 0.99621966 -0.00857923 -0.40274757] [ 0.07370673 0.01498317 0.9971674 -0.09717454] [ 0. 0. 0. 1. ]] SLAMing on 40.922401008 meters Centerline goodness [0,1] 0.917991175214689 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.40, Z:-0.10 [[ 9.93155630e-01 8.99560011e-02 -7.44970674e-02 5.29746418e+00] [-9.05072719e-02 9.95887558e-01 -4.05041986e-03 -4.04665589e-01] [ 7.38263430e-02 1.07652236e-02 9.97213007e-01 -9.70085709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.952401008 meters Centerline goodness [0,1] 0.9163613873162377 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.41, Z:-0.10 [[ 9.92709764e-01 9.49583587e-02 -7.42309565e-02 5.29718491e+00] [-9.51399766e-02 9.95463304e-01 1.09358326e-03 -4.08101172e-01] [ 7.39980380e-02 5.97672068e-03 9.97240477e-01 -9.63862334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982401008000004 meters Centerline goodness [0,1] 0.9131325645668541 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.41, Z:-0.10 [[ 9.92659050e-01 9.54233735e-02 -7.43127870e-02 5.29683359e+00] [-9.55588288e-02 9.95422266e-01 1.73879161e-03 -4.10386961e-01] [ 7.41385242e-02 5.37521566e-03 9.97233466e-01 -9.58727626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.012401008000005 meters Centerline goodness [0,1] 0.9108692525291269 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.41, Z:-0.09 [[ 9.92595299e-01 9.61444900e-02 -7.42348307e-02 5.29549411e+00] [-9.62005966e-02 9.95357950e-01 2.82781759e-03 -4.13367580e-01] [ 7.41621080e-02 4.33455656e-03 9.97236779e-01 -9.44560349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.042401008000006 meters Centerline goodness [0,1] 0.9110897281693529 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.42, Z:-0.09 [[ 9.92568752e-01 9.65672147e-02 -7.40408391e-02 5.29441890e+00] [-9.65738738e-02 9.95319671e-01 3.49859550e-03 -4.15471151e-01] [ 7.40321532e-02 3.67781409e-03 9.97249073e-01 -9.36140461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.072401008 meters Centerline goodness [0,1] 0.9102276834116372 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.42, Z:-0.09 [[ 9.92522797e-01 9.74403646e-02 -7.35110393e-02 5.29265608e+00] [-9.73747011e-02 9.95237685e-01 4.48520611e-03 -4.17298289e-01] [ 7.35979967e-02 2.70644616e-03 9.97284318e-01 -9.27748971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.102401008 meters Centerline goodness [0,1] 0.9046345811051694 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.42, Z:-0.09 [[ 9.92513036e-01 9.75501040e-02 -7.34972773e-02 5.29296964e+00] [-9.74833072e-02 9.95226968e-01 4.50412578e-03 -4.17798800e-01] [ 7.35858503e-02 2.69435410e-03 9.97285247e-01 -9.33767442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.132401008 meters Centerline goodness [0,1] 0.9076270369299007 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.42, Z:-0.09 [[ 9.92495837e-01 9.76853768e-02 -7.35498523e-02 5.29359420e+00] [-9.76114243e-02 9.95213935e-01 4.60797678e-03 -4.18901227e-01] [ 7.36479699e-02 2.60590807e-03 9.97280896e-01 -9.41994104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.162401008 meters Centerline goodness [0,1] 0.906330093331399 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.42, Z:-0.09 [[ 9.92475806e-01 9.78700572e-02 -7.35746350e-02 5.29404771e+00] [-9.77837295e-02 9.95196193e-01 4.78320673e-03 -4.20542000e-01] [ 7.36893294e-02 2.44718525e-03 9.97278243e-01 -9.49607029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.192401008000004 meters Centerline goodness [0,1] 0.9077754149250813 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.42, Z:-0.10 [[ 9.92669214e-01 9.58775535e-02 -7.35889008e-02 5.29374161e+00] [-9.59897212e-02 9.95380277e-01 2.01911813e-03 -4.23733034e-01] [ 7.34425286e-02 5.05946167e-03 9.97286617e-01 -9.67927604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.222401008000006 meters Centerline goodness [0,1] 0.9077754149250813 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.42, Z:-0.10 [[ 9.92669214e-01 9.58775535e-02 -7.35889008e-02 5.29374161e+00] [-9.59897212e-02 9.95380277e-01 2.01911813e-03 -4.23733034e-01] [ 7.34425286e-02 5.05946167e-03 9.97286617e-01 -9.67927604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.252401008 meters Centerline goodness [0,1] 0.9034768943672347 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.43, Z:-0.10 [[ 9.92651440e-01 9.58235189e-02 -7.38983890e-02 5.29498147e+00] [-9.59253742e-02 9.95386146e-01 2.17788670e-03 -4.26462530e-01] [ 7.37661254e-02 4.92684824e-03 9.97263398e-01 -9.77762821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.282401008 meters Centerline goodness [0,1] 0.9036067666773061 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.43, Z:-0.10 [[ 9.92638340e-01 9.56873642e-02 -7.42499455e-02 5.29635412e+00] [-9.57787438e-02 9.95399904e-01 2.33724037e-03 -4.28904084e-01] [ 7.41320330e-02 4.79153210e-03 9.97236924e-01 -9.87220214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.312401008 meters Centerline goodness [0,1] 0.9027140909654232 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.43, Z:-0.10 [[ 9.92606059e-01 9.61152970e-02 -7.41286842e-02 5.29677341e+00] [-9.61403158e-02 9.95362521e-01 3.23902071e-03 -4.33066335e-01] [ 7.40962334e-02 3.91168352e-03 9.97243424e-01 -9.97761321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.342401008 meters Centerline goodness [0,1] 0.9044395779414692 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.44, Z:-0.10 [[ 9.92582676e-01 9.64520054e-02 -7.40043403e-02 5.29654690e+00] [-9.64321592e-02 9.95332115e-01 3.84960983e-03 -4.35459938e-01] [ 7.40301991e-02 3.31534230e-03 9.97250489e-01 -9.98989575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.372401008000004 meters Centerline goodness [0,1] 0.9008447755986942 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.44, Z:-0.10 [[ 9.92558017e-01 9.65132743e-02 -7.42547698e-02 5.29728671e+00] [-9.64608896e-02 9.95327488e-01 4.29986545e-03 -4.38512049e-01] [ 7.43228076e-02 2.89481523e-03 9.97230034e-01 -1.00266374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.402401008000005 meters Centerline goodness [0,1] 0.9053439741388019 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.44, Z:-0.10 [[ 9.92814036e-01 9.43515445e-02 -7.36075802e-02 5.29413265e+00] [-9.44541650e-02 9.95527010e-01 2.09340197e-03 -4.44357606e-01] [ 7.34758499e-02 4.87418366e-03 9.97285086e-01 -1.00215567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.432401008 meters Centerline goodness [0,1] 0.9098044196088392 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.45, Z:-0.10 [[ 9.92786255e-01 9.44894655e-02 -7.38051049e-02 5.29449129e+00] [-9.45383469e-02 9.95517173e-01 2.83875061e-03 -4.48856096e-01] [ 7.37424815e-02 4.15914003e-03 9.97268644e-01 -1.00263476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.462401008 meters Centerline goodness [0,1] 0.9023911491791577 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.45, Z:-0.10 [[ 9.92762704e-01 9.48921917e-02 -7.36049220e-02 5.29391169e+00] [-9.48687383e-02 9.95482451e-01 3.82265601e-03 -4.52657445e-01] [ 7.36351483e-02 3.18781576e-03 9.97280153e-01 -1.00004213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.492401008 meters Centerline goodness [0,1] 0.9003042177993194 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.46, Z:-0.10 [[ 9.93081697e-01 9.20519370e-02 -7.29053091e-02 5.29133766e+00] [-9.22142690e-02 9.95738531e-01 1.14337038e-03 -4.56405995e-01] [ 7.26998748e-02 5.58744959e-03 9.97338212e-01 -1.00311832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.522401008 meters Centerline goodness [0,1] 0.9002513148690313 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.46, Z:-0.10 [[ 9.93064692e-01 9.20123451e-02 -7.31863720e-02 5.29198433e+00] [-9.21081555e-02 9.95746853e-01 2.07205114e-03 -4.61130045e-01] [ 7.30657539e-02 4.68338090e-03 9.97316129e-01 -1.00105633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.552401008000004 meters Centerline goodness [0,1] 0.8994720058549845 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.46, Z:-0.10 [[ 9.93363947e-01 8.88960175e-02 -7.29764835e-02 5.28998966e+00] [-8.91979235e-02 9.96013530e-01 -8.81997945e-04 -4.63842341e-01] [ 7.26071589e-02 7.38549575e-03 9.97333272e-01 -9.96558569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.582401008000005 meters Centerline goodness [0,1] 0.8979072026888638 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.47, Z:-0.10 [[ 9.93672752e-01 8.55220654e-02 -7.28041114e-02 5.28857143e+00] [-8.60523479e-02 9.96281879e-01 -4.17269549e-03 -4.66145793e-01] [ 7.21765593e-02 1.04112585e-02 9.97337531e-01 -9.97889939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.612401008000006 meters Centerline goodness [0,1] 0.8992733518298323 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.47, Z:-0.10 [[ 0.99394406 0.08230545 -0.07280815 5.28770899] [-0.08300427 0.9965272 -0.00661988 -0.47259727] [ 0.07201045 0.01262317 0.99732399 -0.1001788 ] [ 0. 0. 0. 1. ]] SLAMing on 41.642401008 meters Centerline goodness [0,1] 0.8988215309480837 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.48, Z:-0.10 [[ 0.99393375 0.082229 -0.07303489 5.28880098] [-0.08286919 0.99654371 -0.00577372 -0.47691444] [ 0.07230769 0.01179104 0.99731267 -0.10061635] [ 0. 0. 0. 1. ]] SLAMing on 41.672401008 meters Centerline goodness [0,1] 0.8997867803837953 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.48, Z:-0.10 [[ 9.93924105e-01 8.21512611e-02 -7.32532812e-02 5.28991576e+00] [-8.27311362e-02 9.96559798e-01 -4.91208534e-03 -4.81252003e-01] [ 7.25977411e-02 1.09425672e-02 9.97301273e-01 -1.01058993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.702401008 meters Centerline goodness [0,1] 0.8965804389287345 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.49, Z:-0.10 [[ 9.93919381e-01 8.20233645e-02 -7.34604140e-02 5.29089703e+00] [-8.25438900e-02 9.96579107e-01 -4.07295133e-03 -4.85356350e-01] [ 7.28750366e-02 1.01118936e-02 9.97289817e-01 -1.01310834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.732401008000004 meters Centerline goodness [0,1] 0.8956189754142749 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.49, Z:-0.10 [[ 0.99419969 0.07861478 -0.07339408 5.29020973] [-0.07929595 0.99683051 -0.0064092 -0.49186519] [ 0.0726576 0.01219187 0.99728242 -0.10162397] [ 0. 0. 0. 1. ]] SLAMing on 41.762401008000005 meters Centerline goodness [0,1] 0.8945645948673194 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.50, Z:-0.10 [[ 0.99447012 0.07539531 -0.0731076 5.28811278] [-0.07626983 0.99704439 -0.00924116 -0.49512273] [ 0.07219478 0.01476597 0.99728124 -0.10094826] [ 0. 0. 0. 1. ]] SLAMing on 41.792401008000006 meters Centerline goodness [0,1] 0.8960024211076567 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.50, Z:-0.10 [[ 0.99473195 0.07215746 -0.07281238 5.28595158] [-0.07322584 0.99724188 -0.0121084 -0.49833398] [ 0.07173784 0.01737636 0.99727215 -0.10017401] [ 0. 0. 0. 1. ]] SLAMing on 41.822401008 meters Centerline goodness [0,1] 0.8965174404153664 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.50, Z:-0.10 [[ 0.99469638 0.07250903 -0.07294899 5.28577833] [-0.07345946 0.99724369 -0.01042775 -0.5037015 ] [ 0.07199182 0.01573124 0.99728116 -0.09878709] [ 0. 0. 0. 1. ]] SLAMing on 41.852401008 meters Centerline goodness [0,1] 0.896247179115705 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.51, Z:-0.10 [[ 0.99468352 0.0728677 -0.07276664 5.28604327] [-0.07371221 0.99723908 -0.00898502 -0.51012248] [ 0.07191102 0.01430104 0.99730852 -0.09931219] [ 0. 0. 0. 1. ]] SLAMing on 41.882401008 meters Centerline goodness [0,1] 0.8937552272093672 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.51, Z:-0.10 [[ 0.99466683 0.07328382 -0.07257672 5.28592981] [-0.07408574 0.99721636 -0.00841595 -0.51224697] [ 0.07175794 0.01374797 0.99732732 -0.09979323] [ 0. 0. 0. 1. ]] SLAMing on 41.912401008 meters Centerline goodness [0,1] 0.8957221492637403 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.51, Z:-0.10 [[ 0.99463073 0.07419834 -0.072141 5.28474464] [-0.07493652 0.99715952 -0.00757667 -0.5145791 ] [ 0.07137391 0.01294199 0.99736567 -0.09982168] [ 0. 0. 0. 1. ]] SLAMing on 41.942401008000004 meters Centerline goodness [0,1] 0.9005980962008255 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.52, Z:-0.10 [[ 0.99452281 0.07647957 -0.07124088 5.28149972] [-0.07712106 0.99700187 -0.0062938 -0.51803051] [ 0.07054594 0.0117535 0.99743928 -0.09988985] [ 0. 0. 0. 1. ]] SLAMing on 41.972401008000006 meters Centerline goodness [0,1] 0.9037916421093991 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.52, Z:-0.10 [[ 0.99447503 0.07753389 -0.0707666 5.28003571] [-0.07812786 0.99692728 -0.00566016 -0.51901592] [ 0.0701103 0.01115773 0.99747684 -0.09983591] [ 0. 0. 0. 1. ]] SLAMing on 42.002401008 meters Centerline goodness [0,1] 0.9066270963406781 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.52, Z:-0.10 [[ 9.94424157e-01 7.84278211e-02 -7.04959130e-02 5.27879122e+00] [-7.89742093e-02 9.96864156e-01 -4.99288161e-03 -5.20213180e-01] [ 6.98832680e-02 1.05324011e-02 9.97499573e-01 -9.93815162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.032401008 meters Centerline goodness [0,1] 0.9083326288500014 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.52, Z:-0.10 [[ 9.94372343e-01 7.92853713e-02 -7.02671587e-02 5.27730253e+00] [-7.97493732e-02 9.96807633e-01 -3.81839533e-03 -5.23168489e-01] [ 6.97400973e-02 9.40066858e-03 9.97520900e-01 -9.81131539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062401008 meters Centerline goodness [0,1] 0.907949553634689 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.53, Z:-0.10 [[ 9.94311673e-01 8.01675419e-02 -7.01246193e-02 5.27568478e+00] [-8.05105745e-02 9.96751596e-01 -2.07457374e-03 -5.27686706e-01] [ 6.97305127e-02 7.70854627e-03 9.97536082e-01 -9.60229781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.092401008 meters Centerline goodness [0,1] 0.9060814687320712 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.53, Z:-0.09 [[ 9.94593659e-01 7.70719211e-02 -6.95943445e-02 5.27309120e+00] [-7.75435661e-02 9.96980546e-01 -4.09707282e-03 -5.34023929e-01] [ 6.90684383e-02 9.47151630e-03 9.97566961e-01 -9.49461966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122401008000004 meters Centerline goodness [0,1] 0.9053024859893662 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.54, Z:-0.10 [[ 9.94627654e-01 7.62036627e-02 -7.00630507e-02 5.27529065e+00] [-7.66331776e-02 9.97053354e-01 -3.45917339e-03 -5.37771790e-01] [ 6.95929980e-02 8.80974372e-03 9.97536567e-01 -9.51727057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.152401008000005 meters Centerline goodness [0,1] 0.9012306263423695 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.54, Z:-0.10 [[ 0.99505111 0.06999881 -0.07052268 5.27942633] [-0.07074437 0.99746137 -0.00812727 -0.54213234] [ 0.06977475 0.01307613 0.99747707 -0.09917262] [ 0. 0. 0. 1. ]] SLAMing on 42.18240100800001 meters Centerline goodness [0,1] 0.8980863764044944 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.55, Z:-0.10 [[ 0.9950919 0.06864594 -0.07127309 5.28293677] [-0.06939455 0.99755659 -0.00807803 -0.54566728] [ 0.07054441 0.01298434 0.99742413 -0.1004193 ] [ 0. 0. 0. 1. ]] SLAMing on 42.212401008 meters Centerline goodness [0,1] 0.8962789334895986 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.55, Z:-0.10 [[ 0.99508038 0.06800485 -0.07204429 5.28524431] [-0.06869952 0.99761137 -0.00720575 -0.54966146] [ 0.07138218 0.0121197 0.9973754 -0.09997386] [ 0. 0. 0. 1. ]] SLAMing on 42.242401008 meters Centerline goodness [0,1] 0.8972014815685814 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.55, Z:-0.10 [[ 0.99505234 0.06805204 -0.07238621 5.28557983] [-0.06864832 0.99762418 -0.0057788 -0.55430529] [ 0.07182097 0.0107194 0.99735994 -0.09835451] [ 0. 0. 0. 1. ]] SLAMing on 42.272401008 meters Centerline goodness [0,1] 0.899054842819472 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.56, Z:-0.10 [[ 0.99528595 0.06487842 -0.07208796 5.28304445] [-0.06569955 0.99779817 -0.00907603 -0.55599812] [ 0.07134039 0.01376939 0.99735698 -0.09749432] [ 0. 0. 0. 1. ]] SLAMing on 42.302401008000004 meters Centerline goodness [0,1] 0.9022675128869819 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.56, Z:-0.09 [[ 0.99520162 0.06581987 -0.07239806 5.28192556] [-0.06643243 0.99777238 -0.00608324 -0.56430289] [ 0.07183639 0.01086363 0.99735727 -0.09361386] [ 0. 0. 0. 1. ]] SLAMing on 42.332401008000005 meters Centerline goodness [0,1] 0.9028245891371134 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.57, Z:-0.09 [[ 0.99518282 0.06636786 -0.07215575 5.28128262] [-0.06693873 0.99774182 -0.00551985 -0.56584931] [ 0.07162647 0.01032327 0.9973781 -0.09362102] [ 0. 0. 0. 1. ]] SLAMing on 42.362401008000006 meters Centerline goodness [0,1] 0.9042159321629046 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.57, Z:-0.10 [[ 0.99518987 0.06668155 -0.07176831 5.28120878] [-0.06726255 0.99771899 -0.00570669 -0.56577289] [ 0.07122407 0.01050656 0.997405 -0.09515884] [ 0. 0. 0. 1. ]] SLAMing on 42.392401008 meters Centerline goodness [0,1] 0.9010131108462456 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.57, Z:-0.10 [[ 9.94901167e-01 7.07751738e-02 -7.18508411e-02 5.28275517e+00] [-7.10617465e-02 9.97470884e-01 -1.43685692e-03 -5.66700065e-01] [ 7.15674281e-02 6.53537688e-03 9.97414353e-01 -9.56113083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.422401008 meters Centerline goodness [0,1] 0.904 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.56, Z:-0.09 [[ 9.94441380e-01 7.77246474e-02 -7.10297168e-02 5.27902716e+00] [-7.77160802e-02 9.96971348e-01 2.88837418e-03 -5.63089130e-01] [ 7.10390903e-02 2.64783236e-03 9.97470018e-01 -9.49101624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.452401008 meters Centerline goodness [0,1] 0.9097704375572429 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.56, Z:-0.10 [[ 9.94412904e-01 7.84352900e-02 -7.06461756e-02 5.27777796e+00] [-7.84503846e-02 9.96914719e-01 2.56518300e-03 -5.61300793e-01] [ 7.06294131e-02 2.99136857e-03 9.97498139e-01 -9.53371646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482401008000004 meters Centerline goodness [0,1] 0.9146672168838059 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.56, Z:-0.09 [[ 9.94335319e-01 7.96951502e-02 -7.03274971e-02 5.27569577e+00] [-7.97108748e-02 9.96814668e-01 2.58727508e-03 -5.59647944e-01] [ 7.03096739e-02 3.03324732e-03 9.97520601e-01 -9.49273123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.512401008000005 meters Centerline goodness [0,1] 0.915093783178011 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.56, Z:-0.09 [[ 9.94298827e-01 8.02060334e-02 -7.02626187e-02 5.27453968e+00] [-8.01779288e-02 9.96775351e-01 3.22470998e-03 -5.60531317e-01] [ 7.02946876e-02 2.42718589e-03 9.97523316e-01 -9.35538885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.542401008000006 meters Centerline goodness [0,1] 0.9138540089648826 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.56, Z:-0.09 [[ 9.94591338e-01 7.69178792e-02 -6.97976410e-02 5.27218422e+00] [-7.71594140e-02 9.97018473e-01 -7.67051089e-04 -5.59925702e-01] [ 6.95305375e-02 6.14844745e-03 9.97560876e-01 -9.38471356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.572401008 meters Centerline goodness [0,1] 0.9152783964365256 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.56, Z:-0.09 [[ 9.94589245e-01 7.66886011e-02 -7.00791888e-02 5.27294395e+00] [-7.68881224e-02 9.97039715e-01 -1.50095758e-04 -5.62217711e-01] [ 6.98602238e-02 5.53754087e-03 9.97541420e-01 -9.32493680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.602401008 meters Centerline goodness [0,1] 0.9108928571428572 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.56, Z:-0.10 [[ 9.94649724e-01 7.53990631e-02 -7.06180365e-02 5.27621002e+00] [-7.56299136e-02 9.97135778e-01 -5.97145427e-04 -5.63744229e-01] [ 7.03707466e-02 5.93478653e-03 9.97503251e-01 -9.51142306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.632401008 meters Centerline goodness [0,1] 0.9095358149191755 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.56, Z:-0.10 [[ 9.94658418e-01 7.51703697e-02 -7.07392958e-02 5.27706808e+00] [-7.54263949e-02 9.97150918e-01 -9.51315688e-04 -5.63040203e-01] [ 7.04662430e-02 6.28184421e-03 9.97494384e-01 -9.58895005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.662401008 meters Centerline goodness [0,1] 0.9102339268198436 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.56, Z:-0.10 [[ 9.94657728e-01 7.50680612e-02 -7.08575373e-02 5.27766162e+00] [-7.53321670e-02 9.97157933e-01 -1.05859351e-03 -5.63196748e-01] [ 7.05766889e-02 6.39079005e-03 9.97485884e-01 -9.63523833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.692401008000004 meters Centerline goodness [0,1] 0.9096827897850581 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.56, Z:-0.10 [[ 9.94649438e-01 7.50367648e-02 -7.10069001e-02 5.27796552e+00] [-7.52758888e-02 9.97162504e-01 -6.93907677e-04 -5.64345145e-01] [ 7.07533497e-02 6.03530240e-03 9.97475583e-01 -9.59566846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.722401008000006 meters Centerline goodness [0,1] 0.9132156360713328 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.57, Z:-0.09 [[ 9.94589100e-01 7.55074945e-02 -7.13522320e-02 5.27717464e+00] [-7.56136602e-02 9.97136448e-01 1.21583638e-03 -5.67974680e-01] [ 7.12397160e-02 4.18594582e-03 9.97450440e-01 -9.24587709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.752401008 meters Centerline goodness [0,1] 0.9097537652402582 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.57, Z:-0.09 [[ 9.94888468e-01 7.16749589e-02 -7.11311164e-02 5.27576549e+00] [-7.20606815e-02 9.97396126e-01 -2.86815020e-03 -5.67892783e-01] [ 7.07403254e-02 7.97924628e-03 9.97462850e-01 -9.27866913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.782401008 meters Centerline goodness [0,1] 0.9096426969651668 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.57, Z:-0.09 [[ 9.94882372e-01 7.09815191e-02 -7.19075100e-02 5.27739167e+00] [-7.12367098e-02 9.97458950e-01 -9.87314143e-04 -5.71991243e-01] [ 7.16547084e-02 6.10471586e-03 9.97410816e-01 -8.96200347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.812401008 meters Centerline goodness [0,1] 0.9070039962741504 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.57, Z:-0.09 [[ 9.95179922e-01 6.68554705e-02 -7.17444676e-02 5.27625385e+00] [-6.73839693e-02 9.97714745e-01 -4.96881056e-03 -5.72045776e-01] [ 7.12483210e-02 9.77928751e-03 9.97410669e-01 -8.95345741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.842401008 meters Centerline goodness [0,1] 0.9018576409763136 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.57, Z:-0.09 [[ 9.95196248e-01 6.61048549e-02 -7.22120232e-02 5.27793327e+00] [-6.65984648e-02 9.97769949e-01 -4.44669226e-03 -5.73601023e-01] [ 7.17570388e-02 9.23454134e-03 9.97379392e-01 -8.88423908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.872401008000004 meters Centerline goodness [0,1] 0.9004227759287577 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.57, Z:-0.09 [[ 9.95298390e-01 6.42867090e-02 -7.24453859e-02 5.28158175e+00] [-6.48305330e-02 9.97882854e-01 -5.17797563e-03 -5.73755147e-01] [ 7.19591335e-02 9.85030379e-03 9.97358940e-01 -9.11718831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.902401008000005 meters Centerline goodness [0,1] 0.8975359404543954 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.57, Z:-0.09 [[ 0.99531708 0.0638473 -0.07257705 5.28282061] [-0.06440238 0.99790977 -0.00533154 -0.57375281] [ 0.07208494 0.00998071 0.99734856 -0.09193428] [ 0. 0. 0. 1. ]] SLAMing on 42.93240100800001 meters Centerline goodness [0,1] 0.8966033666806446 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.57, Z:-0.09 [[ 9.95309397e-01 6.39151579e-02 -7.26227085e-02 5.28311797e+00] [-6.44652336e-02 9.97906125e-01 -5.25352396e-03 -5.74011389e-01] [ 7.21348658e-02 9.91052162e-03 9.97345649e-01 -9.21754017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.962401008 meters Centerline goodness [0,1] 0.895810248270492 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.57, Z:-0.09 [[ 9.95292346e-01 6.42126998e-02 -7.25939122e-02 5.28282830e+00] [-6.47469074e-02 9.97889054e-01 -5.02729560e-03 -5.74426633e-01] [ 7.21178541e-02 9.70386015e-03 9.97348911e-01 -9.19762719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.992401008 meters Centerline goodness [0,1] 0.9047876819439432 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.58, Z:-0.09 [[ 9.95220222e-01 6.56706808e-02 -7.22777323e-02 5.28020030e+00] [-6.61193654e-02 9.97804369e-01 -3.83018738e-03 -5.76914939e-01] [ 7.18675061e-02 8.59083773e-03 9.97377190e-01 -9.02033396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.022401008 meters Centerline goodness [0,1] 0.9053891856208366 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.58, Z:-0.09 [[ 9.95186252e-01 6.62106959e-02 -7.22528073e-02 5.27952030e+00] [-6.66366201e-02 9.97771179e-01 -3.49777450e-03 -5.76999009e-01] [ 7.18601787e-02 8.29561997e-03 9.97380217e-01 -8.96715356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.052401008000004 meters Centerline goodness [0,1] 0.9076207620762076 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.58, Z:-0.09 [[ 9.95173850e-01 6.65099714e-02 -7.21486842e-02 5.27936955e+00] [-6.69385681e-02 9.97750832e-01 -3.53621418e-03 -5.76514343e-01] [ 7.17512162e-02 8.34867749e-03 9.97387619e-01 -9.00681392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.082401008000005 meters Centerline goodness [0,1] 0.907782884263014 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.58, Z:-0.09 [[ 9.95192739e-01 6.58036602e-02 -7.25347512e-02 5.28147969e+00] [-6.62426633e-02 9.97796827e-01 -3.66078654e-03 -5.77368425e-01] [ 7.21340515e-02 8.44808329e-03 9.97359167e-01 -9.10455472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.112401008000006 meters Centerline goodness [0,1] 0.907782884263014 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.58, Z:-0.09 [[ 9.95192739e-01 6.58036602e-02 -7.25347512e-02 5.28147969e+00] [-6.62426633e-02 9.97796827e-01 -3.66078654e-03 -5.77368425e-01] [ 7.21340515e-02 8.44808329e-03 9.97359167e-01 -9.10455472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.142401008 meters Centerline goodness [0,1] 0.9049510910458992 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.58, Z:-0.09 [[ 9.95207957e-01 6.52869580e-02 -7.27924093e-02 5.28300772e+00] [-6.57418041e-02 9.97829172e-01 -3.86764791e-03 -5.77527219e-01] [ 7.23818825e-02 8.63461829e-03 9.97339614e-01 -9.18585702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.172401008 meters Centerline goodness [0,1] 0.9061363158052975 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.58, Z:-0.09 [[ 9.95217450e-01 6.49237260e-02 -7.29872386e-02 5.28404815e+00] [-6.53686083e-02 9.97854249e-01 -3.72070247e-03 -5.77994524e-01] [ 7.25890643e-02 8.47398223e-03 9.97325934e-01 -9.19975925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.202401008 meters Centerline goodness [0,1] 0.9054070291378793 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.58, Z:-0.09 [[ 9.95248817e-01 6.43586645e-02 -7.30599386e-02 5.28475277e+00] [-6.47365611e-02 9.97898422e-01 -2.81380005e-03 -5.80629379e-01] [ 7.27253050e-02 7.53008034e-03 9.97323582e-01 -9.08522925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.232401008000004 meters Centerline goodness [0,1] 0.9046701974000964 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.58, Z:-0.09 [[ 9.95219505e-01 6.47137489e-02 -7.31455272e-02 5.28380648e+00] [-6.50188833e-02 9.97882418e-01 -1.79571608e-03 -5.82232127e-01] [ 7.28744280e-02 6.54297217e-03 9.97319662e-01 -8.87409397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.262401008000005 meters Centerline goodness [0,1] 0.9045136796432446 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.58, Z:-0.09 [[ 9.95187285e-01 6.51971870e-02 -7.31545992e-02 5.28245261e+00] [-6.54150198e-02 9.97857973e-01 -5.83189740e-04 -5.83736074e-01] [ 7.29598778e-02 5.36579256e-03 9.97320442e-01 -8.61772514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.292401008000006 meters Centerline goodness [0,1] 0.907249691534503 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.58, Z:-0.08 [[ 9.95167160e-01 6.55640349e-02 -7.31004794e-02 5.28147591e+00] [-6.57267953e-02 9.97837640e-01 1.79391554e-04 -5.84743968e-01] [ 7.29541715e-02 4.62613567e-03 9.97324565e-01 -8.46159897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.322401008 meters Centerline goodness [0,1] 0.9082977315121247 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.59, Z:-0.08 [[ 9.95154282e-01 6.58152887e-02 -7.30500020e-02 5.28090099e+00] [-6.59509587e-02 9.97822711e-01 5.55932279e-04 -5.85247559e-01] [ 7.29275399e-02 4.26447928e-03 9.97328125e-01 -8.38963995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.352401008 meters Centerline goodness [0,1] 0.9056802772336899 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.58, Z:-0.08 [[ 9.95175106e-01 6.59141032e-02 -7.26762640e-02 5.28067642e+00] [-6.60716360e-02 9.97814854e-01 2.36994953e-04 -5.84195448e-01] [ 7.25330770e-02 4.56598818e-03 9.97355556e-01 -8.49338568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.382401008 meters Centerline goodness [0,1] 0.9054848775804129 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.58, Z:-0.09 [[ 9.95185062e-01 6.57624370e-02 -7.26773289e-02 5.28122251e+00] [-6.59360941e-02 9.97823848e-01 9.79649795e-06 -5.83529799e-01] [ 7.25198162e-02 4.78230987e-03 9.97355506e-01 -8.55572699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.412401008 meters Centerline goodness [0,1] 0.9052097103713496 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.58, Z:-0.09 [[ 9.95190637e-01 6.57400148e-02 -7.26212557e-02 5.28146123e+00] [-6.59181683e-02 9.97825031e-01 -5.66168965e-05 -5.83477543e-01] [ 7.24595847e-02 4.84340476e-03 9.97359589e-01 -8.60486541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.442401008000004 meters Centerline goodness [0,1] 0.9029525726128615 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.58, Z:-0.09 [[ 9.95185980e-01 6.55617095e-02 -7.28459162e-02 5.28192580e+00] [-6.57227118e-02 9.97837908e-01 1.87212635e-04 -5.84261830e-01] [ 7.27006906e-02 4.60131976e-03 9.97343189e-01 -8.54927215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.472401008000006 meters Centerline goodness [0,1] 0.9075349676643104 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.59, Z:-0.08 [[ 9.95180636e-01 6.52259430e-02 -7.32193876e-02 5.28284706e+00] [-6.53632915e-02 9.97861397e-01 5.21290860e-04 -5.85662955e-01] [ 7.30968022e-02 4.26708161e-03 9.97315722e-01 -8.49504124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.502401008 meters Centerline goodness [0,1] 0.9098924990940935 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.58, Z:-0.09 [[ 9.95459420e-01 6.09328651e-02 -7.31281696e-02 5.28265701e+00] [-6.14198094e-02 9.98102206e-01 -4.42648565e-03 -5.83575559e-01] [ 7.27196689e-02 8.89790508e-03 9.97312728e-01 -8.66172715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.532401008 meters Centerline goodness [0,1] 0.9069879809144169 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.58, Z:-0.09 [[ 9.95462640e-01 6.06212866e-02 -7.33429781e-02 5.28329959e+00] [-6.11138581e-02 9.98120709e-01 -4.48851379e-03 -5.83253121e-01] [ 7.29330459e-02 8.95042014e-03 9.97296676e-01 -8.64411715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.562401008 meters Centerline goodness [0,1] 0.9125803434020339 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.58, Z:-0.09 [[ 0.9957704 0.0544904 -0.07397369 5.28706332] [-0.05541795 0.99840758 -0.01054324 -0.57998291] [ 0.07328139 0.01459811 0.99720446 -0.08990354] [ 0. 0. 0. 1. ]] SLAMing on 43.592401008 meters Centerline goodness [0,1] 0.9129988528648192 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.58, Z:-0.09 [[ 0.99578515 0.05313625 -0.0747561 5.29028435] [-0.05409622 0.99847651 -0.01087422 -0.58051982] [ 0.0740644 0.01487241 0.99714256 -0.09057589] [ 0. 0. 0. 1. ]] SLAMing on 43.622401008000004 meters Centerline goodness [0,1] 0.9144110086193861 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.58, Z:-0.09 [[ 0.9958057 0.05184831 -0.0753841 5.29306898] [-0.05283566 0.99854084 -0.01116152 -0.58129157] [ 0.0746954 0.01509767 0.9970921 -0.0911633 ] [ 0. 0. 0. 1. ]] SLAMing on 43.652401008000005 meters Centerline goodness [0,1] 0.9110714393778935 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.58, Z:-0.09 [[ 0.99580827 0.05076994 -0.07608086 5.29545992] [-0.05176385 0.99859713 -0.01114802 -0.58225337] [ 0.07540814 0.01503953 0.99703933 -0.09099542] [ 0. 0. 0. 1. ]] SLAMing on 43.68240100800001 meters Centerline goodness [0,1] 0.9062707465749291 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.58, Z:-0.09 [[ 0.99583417 0.04877801 -0.07703901 5.2989868 ] [-0.04973152 0.99870736 -0.01050616 -0.58415869] [ 0.07642696 0.01429366 0.99697272 -0.08917837] [ 0. 0. 0. 1. ]] SLAMing on 43.712401008 meters Centerline goodness [0,1] 0.8986653783441029 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.58, Z:-0.09 [[ 0.99582926 0.04845466 -0.07730603 5.29981459] [-0.04941858 0.99872186 -0.01060382 -0.58383239] [ 0.07669342 0.01437995 0.99695102 -0.08911819] [ 0. 0. 0. 1. ]] SLAMing on 43.742401008 meters Centerline goodness [0,1] 0.899046584600531 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.58, Z:-0.09 [[ 0.99583266 0.04827366 -0.07737548 5.30027004] [-0.04926759 0.99872518 -0.01098733 -0.58218001] [ 0.07674644 0.01475364 0.99694148 -0.08945832] [ 0. 0. 0. 1. ]] SLAMing on 43.772401008 meters Centerline goodness [0,1] 0.9091235739737102 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.58, Z:-0.09 [[ 0.99559336 0.05274748 -0.07753422 5.30016698] [-0.05341209 0.99855126 -0.00652185 -0.58039595] [ 0.07707788 0.01063437 0.99696836 -0.08752661] [ 0. 0. 0. 1. ]] SLAMing on 43.802401008000004 meters Centerline goodness [0,1] 0.9136422021089106 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.58, Z:-0.09 [[ 0.99559078 0.05320691 -0.07725298 5.299202 ] [-0.05390318 0.99852195 -0.00695439 -0.57739821] [ 0.07676878 0.0110879 0.99698727 -0.08772133] [ 0. 0. 0. 1. ]] SLAMing on 43.832401008000005 meters Centerline goodness [0,1] 0.9224649125420901 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.57, Z:-0.09 [[ 0.99558883 0.05356483 -0.07703047 5.29847865] [-0.05429849 0.99849688 -0.00746009 -0.57432233] [ 0.07651508 0.01160982 0.99700083 -0.08804685] [ 0. 0. 0. 1. ]] SLAMing on 43.862401008000006 meters Centerline goodness [0,1] 0.9199286669638876 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.57, Z:-0.09 [[ 0.99560096 0.05360153 -0.07684797 5.29836118] [-0.05439035 0.99848602 -0.00820725 -0.57101678] [ 0.0762917 0.01235094 0.99700904 -0.08884909] [ 0. 0. 0. 1. ]] SLAMing on 43.892401008 meters Centerline goodness [0,1] 0.9212700661000944 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.57, Z:-0.09 [[ 9.95361000e-01 5.75746952e-02 -7.70819958e-02 5.29886619e+00] [-5.80390198e-02 9.98307101e-01 -3.79530661e-03 -5.69878161e-01] [ 7.67329901e-02 8.25146366e-03 9.97017533e-01 -8.68684747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.922401008 meters Centerline goodness [0,1] 0.9209237848041529 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.57, Z:-0.09 [[ 9.95352714e-01 5.77530551e-02 -7.70555635e-02 5.29819178e+00] [-5.82184733e-02 9.98296613e-01 -3.80551411e-03 -5.68695552e-01] [ 7.67045280e-02 8.27388606e-03 9.97019538e-01 -8.61294549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.952401008 meters Centerline goodness [0,1] 0.9208285453313297 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.57, Z:-0.08 [[ 9.95339184e-01 5.78646164e-02 -7.71465857e-02 5.29770819e+00] [-5.83138224e-02 9.98291879e-01 -3.58091922e-03 -5.67610401e-01] [ 7.68076014e-02 8.06294151e-03 9.97013331e-01 -8.48348888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.982401008000004 meters Centerline goodness [0,1] 0.9218979819968229 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.57, Z:-0.08 [[ 9.95337217e-01 5.81050921e-02 -7.69910598e-02 5.29693365e+00] [-5.85642617e-02 9.98276718e-01 -3.71768587e-03 -5.65882030e-01] [ 7.66423660e-02 8.20927568e-03 9.97024852e-01 -8.44451356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.012401008000005 meters Centerline goodness [0,1] 0.9193266032561125 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.56, Z:-0.08 [[ 9.95095230e-01 6.18691854e-02 -7.71860525e-02 5.29820631e+00] [-6.20864386e-02 9.98070689e-01 -4.15856719e-04 -5.62515597e-01] [ 7.70114080e-02 5.20602415e-03 9.97016620e-01 -8.45008740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.042401008000006 meters Centerline goodness [0,1] 0.9171602787456445 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.56, Z:-0.09 [[ 9.95107656e-01 6.16784583e-02 -7.71785008e-02 5.29870284e+00] [-6.19604830e-02 9.98077805e-01 -1.26266618e-03 -5.59225132e-01] [ 7.69522693e-02 6.03850597e-03 9.97016492e-01 -8.54181010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.072401008 meters Centerline goodness [0,1] 0.9159092224859607 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.56, Z:-0.09 [[ 9.95118381e-01 6.18048268e-02 -7.69387559e-02 5.29835256e+00] [-6.21321094e-02 9.98066191e-01 -1.86506825e-03 -5.56502794e-01] [ 7.66747008e-02 6.63633089e-03 9.97034076e-01 -8.60569731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.102401008 meters Centerline goodness [0,1] 0.9113880334992949 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.55, Z:-0.09 [[ 9.94855453e-01 6.57993763e-02 -7.70264260e-02 5.29909083e+00] [-6.58618267e-02 9.97827249e-01 1.73204591e-03 -5.54172927e-01] [ 7.69730343e-02 3.34996580e-03 9.97027547e-01 -8.57205074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.132401008 meters Centerline goodness [0,1] 0.908471359558316 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.55, Z:-0.09 [[ 9.94851414e-01 6.60835712e-02 -7.68350536e-02 5.29840545e+00] [-6.61732279e-02 9.97807194e-01 1.38131374e-03 -5.51634516e-01] [ 7.67578514e-02 3.71022159e-03 9.97042861e-01 -8.57216254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.162401008 meters Centerline goodness [0,1] 0.9082179608450139 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.55, Z:-0.09 [[ 9.94844158e-01 6.60574311e-02 -7.69513928e-02 5.29866657e+00] [-6.61839167e-02 9.97807028e-01 9.08184814e-04 -5.49703938e-01] [ 7.68426328e-02 4.18944221e-03 9.97034432e-01 -8.59627337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.192401008000004 meters Centerline goodness [0,1] 0.9106199491704503 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.55, Z:-0.09 [[ 9.94839912e-01 6.62572570e-02 -7.68344056e-02 5.29826765e+00] [-6.64019950e-02 9.97792726e-01 6.72279107e-04 -5.48674597e-01] [ 7.67093544e-02 4.43314773e-03 9.97043641e-01 -8.61006907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.222401008000006 meters Centerline goodness [0,1] 0.9134758258086638 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.55, Z:-0.09 [[ 9.94832141e-01 6.63953211e-02 -7.68158290e-02 5.29787512e+00] [-6.65555703e-02 9.97782607e-01 4.74850639e-04 -5.47059195e-01] [ 7.66770260e-02 4.64012463e-03 9.97045186e-01 -8.57849823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.252401008 meters Centerline goodness [0,1] 0.9096227384281719 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.55, Z:-0.09 [[ 9.94836489e-01 6.62997207e-02 -7.68420918e-02 5.29797460e+00] [-6.64712863e-02 9.97788285e-01 3.25648244e-04 -5.46313869e-01] [ 7.66937294e-02 4.78382593e-03 9.97043222e-01 -8.57423045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.282401008 meters Centerline goodness [0,1] 0.9099960061619217 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.55, Z:-0.09 [[ 9.94834485e-01 6.62907792e-02 -7.68757430e-02 5.29797484e+00] [-6.64607420e-02 9.97788980e-01 3.48235278e-04 -5.46092892e-01] [ 7.67288540e-02 4.76278246e-03 9.97040620e-01 -8.55051652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.312401008 meters Centerline goodness [0,1] 0.9109258571958775 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.55, Z:-0.08 [[ 9.94823626e-01 6.62317924e-02 -7.70668692e-02 5.29798650e+00] [-6.63767400e-02 9.97794399e-01 6.82034573e-04 -5.46690927e-01] [ 7.69420628e-02 4.43694343e-03 9.97025693e-01 -8.46013997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.342401008 meters Centerline goodness [0,1] 0.9074179743223966 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.55, Z:-0.08 [[ 9.94816822e-01 6.64496656e-02 -7.69670927e-02 5.29745720e+00] [-6.65667679e-02 9.97781425e-01 1.04592120e-03 -5.47196464e-01] [ 7.68658365e-02 4.08295059e-03 9.97033085e-01 -8.40644421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.372401008000004 meters Centerline goodness [0,1] 0.9067600400171502 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.55, Z:-0.08 [[ 9.94816679e-01 6.65601801e-02 -7.68733831e-02 5.29719604e+00] [-6.66567004e-02 9.97775106e-01 1.31246178e-03 -5.47790799e-01] [ 7.67897057e-02 3.81846719e-03 9.97039999e-01 -8.38244763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.402401008000005 meters Centerline goodness [0,1] 0.9068538777385362 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.55, Z:-0.08 [[ 9.94790052e-01 6.67068361e-02 -7.70905308e-02 5.29718659e+00] [-6.67335119e-02 9.97768336e-01 2.23289481e-03 -5.50743322e-01] [ 7.70674400e-02 2.92326031e-03 9.97021597e-01 -8.26734280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43240100800001 meters Centerline goodness [0,1] 0.9097435602906125 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.55, Z:-0.08 [[ 9.94780497e-01 6.63303019e-02 -7.75374298e-02 5.29854915e+00] [-6.63533185e-02 9.97793580e-01 2.28228115e-03 -5.51886155e-01] [ 7.75177341e-02 2.87449700e-03 9.96986829e-01 -8.28007464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.462401008 meters Centerline goodness [0,1] 0.9084250136443283 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.55, Z:-0.08 [[ 9.94767926e-01 6.65188835e-02 -7.75371680e-02 5.29846166e+00] [-6.65182626e-02 9.97781837e-01 2.59359167e-03 -5.52904844e-01] [ 7.75377007e-02 2.57761589e-03 9.96986089e-01 -8.26494147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.492401008 meters Centerline goodness [0,1] 0.9082505399568035 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.55, Z:-0.08 [[ 9.94762876e-01 6.66655639e-02 -7.74759549e-02 5.29849990e+00] [-6.66559258e-02 9.97772332e-01 2.71328939e-03 -5.53396622e-01] [ 7.74842471e-02 2.46515194e-03 9.96990529e-01 -8.28888783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.522401008 meters Centerline goodness [0,1] 0.9073167923550746 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.55, Z:-0.08 [[ 9.94762982e-01 6.65866294e-02 -7.75424408e-02 5.29921996e+00] [-6.65986958e-02 9.97776875e-01 2.43327097e-03 -5.52998606e-01] [ 7.75320776e-02 2.74369754e-03 9.96986083e-01 -8.37569367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.552401008000004 meters Centerline goodness [0,1] 0.9032480995162405 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.55, Z:-0.09 [[ 9.94754584e-01 6.65918573e-02 -7.76456229e-02 5.30030154e+00] [-6.66295185e-02 9.97775557e-01 2.10840682e-03 -5.53117359e-01] [ 7.76133074e-02 3.07614312e-03 9.96978792e-01 -8.52974020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.582401008000005 meters Centerline goodness [0,1] 0.9070727482678984 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.55, Z:-0.09 [[ 9.94747558e-01 6.64678060e-02 -7.78416754e-02 5.30092249e+00] [-6.65078779e-02 9.97783731e-01 2.08045828e-03 -5.54033550e-01] [ 7.78074408e-02 3.10755385e-03 9.96963563e-01 -8.55690696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.612401008000006 meters Centerline goodness [0,1] 0.9110005208031943 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.56, Z:-0.09 [[ 9.94738251e-01 6.61437687e-02 -7.82356352e-02 5.30213689e+00] [-6.61782360e-02 9.97805491e-01 2.15493737e-03 -5.55069742e-01] [ 7.82064821e-02 3.03389769e-03 9.96932566e-01 -8.56609225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.642401008 meters Centerline goodness [0,1] 0.9090645899076459 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.56, Z:-0.09 [[ 9.94735235e-01 6.51826704e-02 -7.90761123e-02 5.30472787e+00] [-6.52041174e-02 9.97869265e-01 2.31359823e-03 -5.56672498e-01] [ 7.90584286e-02 2.85467043e-03 9.96865897e-01 -8.54559884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.672401008 meters Centerline goodness [0,1] 0.9095123576623302 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.56, Z:-0.08 [[ 9.94734523e-01 6.49599463e-02 -7.92681128e-02 5.30520740e+00] [-6.49504617e-02 9.97884835e-01 2.70069203e-03 -5.57821132e-01] [ 7.92758845e-02 2.46202893e-03 9.96849674e-01 -8.48582182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.702401008 meters Centerline goodness [0,1] 0.909299289133904 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.56, Z:-0.08 [[ 9.94725060e-01 6.47221692e-02 -7.95807528e-02 5.30557507e+00] [-6.46674606e-02 9.97901521e-01 3.26721444e-03 -5.59414602e-01] [ 7.96252154e-02 1.89630512e-03 9.96823068e-01 -8.36466312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.732401008000004 meters Centerline goodness [0,1] 0.9119731661076272 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.56, Z:-0.08 [[ 9.94995276e-01 6.09559287e-02 -7.91755959e-02 5.30326449e+00] [-6.11398233e-02 9.98129206e-01 1.01765467e-04 -5.61097814e-01] [ 7.90336779e-02 4.73952578e-03 9.96860680e-01 -8.22647587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.762401008000005 meters Centerline goodness [0,1] 0.9099588333187352 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.56, Z:-0.08 [[ 9.95000623e-01 6.05704863e-02 -7.94038863e-02 5.30389603e+00] [-6.07136612e-02 9.98155036e-01 6.12127496e-04 -5.62705452e-01] [ 7.92944659e-02 4.21183341e-03 9.96842339e-01 -8.14388626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.792401008000006 meters Centerline goodness [0,1] 0.9076824322352872 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.56, Z:-0.08 [[ 9.94999996e-01 5.99878970e-02 -7.98527363e-02 5.30541125e+00] [-6.01195347e-02 9.98190898e-01 7.56842676e-04 -5.63608111e-01] [ 7.97536760e-02 4.04765089e-03 9.96806384e-01 -8.13108285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.822401008 meters Centerline goodness [0,1] 0.9038377225031421 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.56, Z:-0.08 [[ 9.95007806e-01 5.94581969e-02 -8.01510323e-02 5.30675846e+00] [-5.95947217e-02 9.98222417e-01 6.89844128e-04 -5.63974821e-01] [ 8.00495741e-02 4.09017817e-03 9.96782492e-01 -8.16029274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.852401008 meters Centerline goodness [0,1] 0.9036214953271028 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.56, Z:-0.08 [[ 9.95005975e-01 5.88684709e-02 -8.06077761e-02 5.30829972e+00] [-5.90181372e-02 9.98256772e-01 5.26631061e-04 -5.63994796e-01] [ 8.04982603e-02 4.23331974e-03 9.96745760e-01 -8.17349947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.882401008 meters Centerline goodness [0,1] 0.9067446461824953 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.56, Z:-0.08 [[ 9.94995384e-01 5.83255716e-02 -8.11314612e-02 5.31011660e+00] [-5.84996308e-02 9.98287403e-01 2.31978282e-04 -5.63386621e-01] [ 8.10060459e-02 4.51534321e-03 9.96703382e-01 -8.20594590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.912401008 meters Centerline goodness [0,1] 0.9052509090909091 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.56, Z:-0.08 [[ 9.94992816e-01 5.80776815e-02 -8.13405172e-02 5.31097406e+00] [-5.82995155e-02 9.98299074e-01 -3.52878851e-04 -5.61978316e-01] [ 8.11816687e-02 5.09322467e-03 9.96686308e-01 -8.27602589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.942401008000004 meters Centerline goodness [0,1] 0.9059973241812577 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.56, Z:-0.08 [[ 9.94987436e-01 5.79908962e-02 -8.14681456e-02 5.31154297e+00] [-5.82531816e-02 9.98301484e-01 -8.44329761e-04 -5.60544999e-01] [ 8.12808073e-02 5.58587618e-03 9.96675588e-01 -8.33864462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.972401008000006 meters Centerline goodness [0,1] 0.9042260057429591 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.56, Z:-0.08 [[ 9.94971495e-01 5.82329756e-02 -8.14901556e-02 5.31132213e+00] [-5.85335515e-02 9.98284592e-01 -1.30240214e-03 -5.58266796e-01] [ 8.12745240e-02 6.06576123e-03 9.96673296e-01 -8.35978661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.002401008 meters Centerline goodness [0,1] 0.9042260057429591 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.56, Z:-0.08 [[ 9.94971495e-01 5.82329756e-02 -8.14901556e-02 5.31132213e+00] [-5.85335515e-02 9.98284592e-01 -1.30240214e-03 -5.58266796e-01] [ 8.12745240e-02 6.06576123e-03 9.96673296e-01 -8.35978661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.032401008 meters Centerline goodness [0,1] 0.9029675398137673 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.56, Z:-0.08 [[ 9.94966213e-01 5.83718511e-02 -8.14552770e-02 5.31102826e+00] [-5.86825656e-02 9.98275678e-01 -1.42373614e-03 -5.56909266e-01] [ 8.12317157e-02 6.19657399e-03 9.96675981e-01 -8.34051956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.062401008 meters Centerline goodness [0,1] 0.9061328102463508 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.56, Z:-0.08 [[ 9.94722899e-01 6.15823273e-02 -8.20607774e-02 5.31361035e+00] [-6.15660291e-02 9.98099275e-01 2.73135763e-03 -5.57630236e-01] [ 8.20730058e-02 2.33521222e-03 9.96623584e-01 -8.26890214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.092401008 meters Centerline goodness [0,1] 0.9046080156966847 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.56, Z:-0.08 [[ 9.94731683e-01 6.15731461e-02 -8.19611224e-02 5.31371968e+00] [-6.16050446e-02 9.98098307e-01 2.14203073e-03 -5.55149449e-01] [ 8.19371491e-02 2.91847276e-03 9.96633225e-01 -8.33918298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.122401008000004 meters Centerline goodness [0,1] 0.9082211400744772 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.55, Z:-0.08 [[ 9.94691665e-01 6.19713088e-02 -8.21465053e-02 5.31338661e+00] [-6.20373494e-02 9.98072293e-01 1.75067555e-03 -5.52116536e-01] [ 8.20966426e-02 3.35476907e-03 9.96618727e-01 -8.30216297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.152401008000005 meters Centerline goodness [0,1] 0.9027036335457207 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.55, Z:-0.08 [[ 9.94679760e-01 6.23424254e-02 -8.20097353e-02 5.31252280e+00] [-6.24143418e-02 9.98048895e-01 1.68889980e-03 -5.50992262e-01] [ 8.19550158e-02 3.43866920e-03 9.96630097e-01 -8.26594007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18240100800001 meters Centerline goodness [0,1] 0.9028347043480753 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.55, Z:-0.08 [[ 9.94673986e-01 6.26795471e-02 -8.18225875e-02 5.31169329e+00] [-6.27687541e-02 9.98026994e-01 1.48410283e-03 -5.49382258e-01] [ 8.17541740e-02 3.65970341e-03 9.96645805e-01 -8.25108001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.212401008 meters Centerline goodness [0,1] 0.9022612275235128 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.55, Z:-0.08 [[ 9.94674105e-01 6.29862474e-02 -8.15852816e-02 5.31089552e+00] [-6.31036513e-02 9.98006326e-01 1.14120513e-03 -5.47303855e-01] [ 8.14945074e-02 4.01320197e-03 9.96665711e-01 -8.25618912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.242401008 meters Centerline goodness [0,1] 0.9040079874482956 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.55, Z:-0.08 [[ 9.94668189e-01 6.35477815e-02 -8.12211385e-02 5.30970481e+00] [-6.36809882e-02 9.97969852e-01 9.51930473e-04 -5.45295088e-01] [ 8.11167406e-02 4.22538740e-03 9.96695651e-01 -8.25873675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.272401008 meters Centerline goodness [0,1] 0.9011509241410591 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.54, Z:-0.08 [[ 9.94368508e-01 6.86813714e-02 -8.07102168e-02 5.30838319e+00] [-6.85253386e-02 9.97638282e-01 4.70481481e-03 -5.41894037e-01] [ 8.08427352e-02 8.52375256e-04 9.96726505e-01 -8.23101931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.302401008000004 meters Centerline goodness [0,1] 0.8998475695816632 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.54, Z:-0.08 [[ 9.94302112e-01 6.96279997e-02 -8.07171116e-02 5.30801537e+00] [-6.95082474e-02 9.97572127e-01 4.29592500e-03 -5.38209008e-01] [ 8.08202573e-02 1.33905766e-03 9.96727793e-01 -8.30023883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.332401008000005 meters Centerline goodness [0,1] 0.8992217570870676 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.53, Z:-0.08 [[ 9.94243626e-01 7.05736345e-02 -8.06162147e-02 5.30719097e+00] [-7.04826631e-02 9.97505076e-01 3.97711706e-03 -5.34976774e-01] [ 8.06957630e-02 1.72782221e-03 9.96737282e-01 -8.32872198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.362401008000006 meters Centerline goodness [0,1] 0.8977779023173704 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.53, Z:-0.08 [[ 9.93861511e-01 7.63805951e-02 -8.00331271e-02 5.30445452e+00] [-7.59360648e-02 9.97075707e-01 8.58773993e-03 -5.34262020e-01] [ 8.04550235e-02 -2.45762346e-03 9.96755210e-01 -8.15497528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.392401008 meters Centerline goodness [0,1] 0.9027886661440251 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.53, Z:-0.08 [[ 9.93826397e-01 7.70785611e-02 -7.97996780e-02 5.30283105e+00] [-7.66260115e-02 9.97021752e-01 8.72245450e-03 -5.33678314e-01] [ 8.02343290e-02 -2.55387449e-03 9.96772758e-01 -8.06860946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.422401008 meters Centerline goodness [0,1] 0.902247851524228 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.53, Z:-0.08 [[ 9.93788428e-01 7.75546538e-02 -7.98112493e-02 5.30185417e+00] [-7.70810277e-02 9.96984184e-01 9.00286400e-03 -5.33884313e-01] [ 8.02687673e-02 -2.79500894e-03 9.96769338e-01 -7.96893228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.452401008 meters Centerline goodness [0,1] 0.9066722736192879 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.53, Z:-0.08 [[ 9.93791820e-01 7.78311292e-02 -7.94992740e-02 5.30111450e+00] [-7.73505431e-02 9.96962322e-01 9.11160933e-03 -5.34366253e-01] [ 7.99669477e-02 -2.90573080e-03 9.96793280e-01 -7.98585367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.482401008000004 meters Centerline goodness [0,1] 0.9056349496027178 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.53, Z:-0.08 [[ 9.93806918e-01 7.76065274e-02 -7.95300970e-02 5.30180131e+00] [-7.71354982e-02 9.96980155e-01 8.98246084e-03 -5.34453204e-01] [ 7.99870261e-02 -2.79223807e-03 9.96791994e-01 -8.05086395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.512401008000005 meters Centerline goodness [0,1] 0.9039131901495558 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.54, Z:-0.08 [[ 9.93827394e-01 7.73075376e-02 -7.95654227e-02 5.30286214e+00] [-7.68529169e-02 9.97003915e-01 8.76490694e-03 -5.35032528e-01] [ 8.00046313e-02 -2.59596980e-03 9.96791111e-01 -8.16312651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.542401008000006 meters Centerline goodness [0,1] 0.9071342268678524 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.54, Z:-0.08 [[ 9.93836772e-01 7.70644004e-02 -7.96840622e-02 5.30389070e+00] [-7.66157280e-02 9.97022935e-01 8.67735662e-03 -5.35841727e-01] [ 8.01155529e-02 -2.51882366e-03 9.96782400e-01 -8.24531492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.572401008 meters Centerline goodness [0,1] 0.9070802693488857 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.54, Z:-0.08 [[ 9.93787748e-01 7.73372382e-02 -8.00303854e-02 5.30464570e+00] [-7.68483125e-02 9.97000571e-01 9.17600436e-03 -5.39124089e-01] [ 8.04999868e-02 -2.96880064e-03 9.96750189e-01 -8.26746957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.602401008 meters Centerline goodness [0,1] 0.9112914628283799 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.54, Z:-0.08 [[ 9.94037237e-01 7.42758758e-02 -7.98314804e-02 5.30300651e+00] [-7.41255862e-02 9.97237128e-01 4.84856470e-03 -5.38407209e-01] [ 7.99710476e-02 1.09790143e-03 9.96796582e-01 -8.39209789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.632401008 meters Centerline goodness [0,1] 0.9158987155130859 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.54, Z:-0.08 [[ 9.93999588e-01 7.46469117e-02 -7.99540916e-02 5.30293485e+00] [-7.44646276e-02 9.97209766e-01 5.26327298e-03 -5.40164868e-01] [ 8.01238881e-02 7.22060481e-04 9.96784651e-01 -8.36732321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.662401008 meters Centerline goodness [0,1] 0.9188428059395801 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.54, Z:-0.09 [[ 9.93976773e-01 7.55149705e-02 -7.94208027e-02 5.30220294e+00] [-7.53401072e-02 9.97144335e-01 5.20025519e-03 -5.41575737e-01] [ 7.95867006e-02 8.14638914e-04 9.96827615e-01 -8.55958299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.692401008000004 meters Centerline goodness [0,1] 0.9195121257782959 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.54, Z:-0.09 [[ 9.93974646e-01 7.58150715e-02 -7.91610837e-02 5.30221708e+00] [-7.56574389e-02 9.97121368e-01 4.99300550e-03 -5.41764876e-01] [ 7.93117532e-02 1.02620398e-03 9.96849333e-01 -8.69382099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.722401008000006 meters Centerline goodness [0,1] 0.9232544884582502 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.54, Z:-0.09 [[ 9.93961134e-01 7.62154852e-02 -7.89459539e-02 5.30196659e+00] [-7.60480748e-02 9.97090959e-01 5.12933867e-03 -5.42811287e-01] [ 7.91072319e-02 9.05324525e-04 9.96865701e-01 -8.76879933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75240100800001 meters Centerline goodness [0,1] 0.9235280654574584 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.54, Z:-0.09 [[ 9.93940839e-01 7.64992047e-02 -7.89270563e-02 5.30198571e+00] [-7.63069588e-02 9.97069460e-01 5.45336557e-03 -5.44372720e-01] [ 7.91129356e-02 6.02360886e-04 9.96865478e-01 -8.79059475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.782401008 meters Centerline goodness [0,1] 0.9189298159721222 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.55, Z:-0.09 [[ 9.94239330e-01 7.24994543e-02 -7.89429114e-02 5.30150310e+00] [-7.25503083e-02 9.97362267e-01 2.22756106e-03 -5.48851493e-01] [ 7.88961780e-02 3.51260374e-03 9.96876650e-01 -8.81930576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.812401008 meters Centerline goodness [0,1] 0.9144172845227062 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.55, Z:-0.09 [[ 9.94539790e-01 6.79097755e-02 -7.92393121e-02 5.30206182e+00] [-6.82496802e-02 9.97667011e-01 -1.58607939e-03 -5.51320989e-01] [ 7.89467374e-02 6.98547678e-03 9.96854360e-01 -8.86574073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.842401008 meters Centerline goodness [0,1] 0.914234958355175 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.55, Z:-0.09 [[ 9.94802157e-01 6.39396971e-02 -7.92488701e-02 5.30125255e+00] [-6.45322413e-02 9.97903415e-01 -4.93597976e-03 -5.53634966e-01] [ 7.87671131e-02 1.00244305e-02 9.96842642e-01 -8.82430289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.872401008000004 meters Centerline goodness [0,1] 0.9142748693392508 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.56, Z:-0.09 [[ 9.94802552e-01 6.34482768e-02 -7.96379202e-02 5.30245798e+00] [-6.39672803e-02 9.97944059e-01 -3.98030060e-03 -5.57646019e-01] [ 7.92216461e-02 9.05383436e-03 9.96815910e-01 -8.73105128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.902401008000005 meters Centerline goodness [0,1] 0.9125198751545845 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.56, Z:-0.09 [[ 0.99508859 0.05845879 -0.0798829 5.30453665] [-0.05928105 0.99820961 -0.00795869 -0.5607827 ] [ 0.07927462 0.01265514 0.99677248 -0.08951981] [ 0. 0. 0. 1. ]] SLAMing on 45.93240100800001 meters Centerline goodness [0,1] 0.9090156665681348 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.56, Z:-0.09 [[ 0.99509678 0.05754821 -0.08044002 5.30707513] [-0.05833186 0.99826964 -0.00742436 -0.56404672] [ 0.07987357 0.01208017 0.9967318 -0.08970123] [ 0. 0. 0. 1. ]] SLAMing on 45.962401008 meters Centerline goodness [0,1] 0.9091907617407825 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.57, Z:-0.09 [[ 0.99511125 0.05650091 -0.08100147 5.30981645] [-0.0572561 0.99833478 -0.00702903 -0.56719119] [ 0.08046943 0.01163249 0.9966892 -0.09005862] [ 0. 0. 0. 1. ]] SLAMing on 45.992401008 meters Centerline goodness [0,1] 0.9083054293231284 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.57, Z:-0.09 [[ 0.99533088 0.05170644 -0.08150386 5.31143277] [-0.05276239 0.9985481 -0.01085429 -0.56998034] [ 0.08082429 0.01510395 0.99661392 -0.09092264] [ 0. 0. 0. 1. ]] SLAMing on 46.022401008 meters Centerline goodness [0,1] 0.9118793475653634 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.57, Z:-0.09 [[ 0.9952895 0.05170329 -0.08200961 5.3117348 ] [-0.05267098 0.99856501 -0.00967904 -0.57289208] [ 0.08139149 0.01395297 0.99658454 -0.08874875] [ 0. 0. 0. 1. ]] SLAMing on 46.052401008000004 meters Centerline goodness [0,1] 0.9119404329420242 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.58, Z:-0.09 [[ 0.9952554 0.05136051 -0.08263641 5.31279308] [-0.05225821 0.9985954 -0.00873578 -0.57555803] [ 0.08207167 0.01301277 0.99654147 -0.08700244] [ 0. 0. 0. 1. ]] SLAMing on 46.082401008000005 meters Centerline goodness [0,1] 0.9129219393429319 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.58, Z:-0.09 [[ 0.99524814 0.0510661 -0.08290589 5.31362096] [-0.05194555 0.99861388 -0.00848427 -0.57659585] [ 0.08235772 0.01275055 0.99652126 -0.08667331] [ 0. 0. 0. 1. ]] SLAMing on 46.112401008000006 meters Centerline goodness [0,1] 0.913463268365817 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.58, Z:-0.09 [[ 0.99528209 0.04982253 -0.08325431 5.31539829] [-0.05072785 0.9986738 -0.00879322 -0.57570801] [ 0.0827058 0.01297504 0.99648954 -0.08649366] [ 0. 0. 0. 1. ]] SLAMing on 46.142401008 meters Centerline goodness [0,1] 0.9149728285345423 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.57, Z:-0.08 [[ 0.99550164 0.04592758 -0.08286822 5.31221632] [-0.04708225 0.99881854 -0.01203288 -0.57483509] [ 0.08221767 0.01588037 0.99648787 -0.08346195] [ 0. 0. 0. 1. ]] SLAMing on 46.172401008 meters Centerline goodness [0,1] 0.9165641963830489 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.57, Z:-0.08 [[ 0.99571481 0.04106728 -0.08285834 5.31202617] [-0.04258416 0.99895459 -0.01662265 -0.57192663] [ 0.08208907 0.02007987 0.99642269 -0.08328599] [ 0. 0. 0. 1. ]] SLAMing on 46.202401008 meters Centerline goodness [0,1] 0.9144491790577789 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.57, Z:-0.08 [[ 9.95652616e-01 3.36363986e-02 -8.68588618e-02 5.31816108e+00] [-3.40551675e-02 9.99414362e-01 -3.34354785e-03 -5.69044942e-01] [ 8.66955291e-02 6.28700525e-03 9.96215016e-01 -7.89444865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.232401008000004 meters Centerline goodness [0,1] 0.9014243658746914 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.57, Z:-0.08 [[ 9.95610842e-01 3.14601421e-02 -8.81436986e-02 5.32390657e+00] [-3.20422161e-02 9.99473009e-01 -5.19622918e-03 -5.65611284e-01] [ 8.79337736e-02 7.99774155e-03 9.96094216e-01 -8.16434143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.262401008000005 meters Centerline goodness [0,1] 0.9055332229841571 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.56, Z:-0.08 [[ 0.99556474 0.02985084 -0.08921756 5.32838822] [-0.03057695 0.9995094 -0.0067827 -0.56225742] [ 0.08897132 0.00948062 0.99598907 -0.08378618] [ 0. 0. 0. 1. ]] SLAMing on 46.292401008000006 meters Centerline goodness [0,1] 0.8987061978721523 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.56, Z:-0.08 [[ 0.99553632 0.02912655 -0.08977235 5.33044198] [-0.02994664 0.99952105 -0.00780157 -0.55935567] [ 0.08950212 0.01045513 0.99593176 -0.08480241] [ 0. 0. 0. 1. ]] SLAMing on 46.322401008 meters Centerline goodness [0,1] 0.9143950544598175 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.55, Z:-0.08 [[ 0.99548092 0.03015241 -0.09004759 5.32893273] [-0.03100569 0.99948645 -0.00809182 -0.55460048] [ 0.08975735 0.01084724 0.99590459 -0.08344458] [ 0. 0. 0. 1. ]] SLAMing on 46.352401008 meters Centerline goodness [0,1] 0.915081084245653 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.55, Z:-0.08 [[ 9.95292164e-01 3.45691224e-02 -9.05454797e-02 5.32904682e+00] [-3.50239262e-02 9.99380559e-01 -3.43838770e-03 -5.54464399e-01] [ 9.03705301e-02 6.59345854e-03 9.95886386e-01 -8.10400877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.382401008 meters Centerline goodness [0,1] 0.9185524320541234 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.55, Z:-0.08 [[ 9.95096514e-01 3.89792786e-02 -9.09040342e-02 5.32913335e+00] [-3.90756666e-02 9.99235995e-01 7.19864754e-04 -5.52967632e-01] [ 9.08626429e-02 2.83580082e-03 9.95859397e-01 -7.93950479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.412401008 meters Centerline goodness [0,1] 0.9157392229603428 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.55, Z:-0.08 [[ 9.94683613e-01 4.87630628e-02 -9.07010143e-02 5.32643293e+00] [-4.81106053e-02 9.98798089e-01 9.36729665e-03 -5.49382564e-01] [ 9.10487778e-02 -4.95381578e-03 9.95834113e-01 -7.57164925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.442401008000004 meters Centerline goodness [0,1] 0.910326008904208 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.54, Z:-0.08 [[ 9.94611376e-01 5.10215236e-02 -9.02497395e-02 5.32350167e+00] [-5.03606594e-02 9.98685090e-01 9.58617980e-03 -5.44935174e-01] [ 9.06201708e-02 -4.98948709e-03 9.95873029e-01 -7.54585432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.472401008000006 meters Centerline goodness [0,1] 0.9082133881654101 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.54, Z:-0.08 [[ 9.94520477e-01 5.33389241e-02 -8.99109614e-02 5.32093848e+00] [-5.26435382e-02 9.98562395e-01 1.00896162e-02 -5.40652358e-01] [ 9.03198742e-02 -5.30109878e-03 9.95898699e-01 -7.50158236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50240100800001 meters Centerline goodness [0,1] 0.9085701321535931 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.54, Z:-0.07 [[ 0.99426505 0.05794598 -0.08988482 5.3205798 ] [-0.05690245 0.99827973 0.01413121 -0.53895541] [ 0.09054904 -0.0089355 0.99585191 -0.07401715] [ 0. 0. 0. 1. ]] SLAMing on 46.532401008 meters Centerline goodness [0,1] 0.9086038182792363 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.54, Z:-0.07 [[ 0.99393172 0.06447752 -0.08912005 5.31691382] [-0.0630931 0.99784044 0.01826799 -0.53579089] [ 0.09010546 -0.01253427 0.99585335 -0.07309466] [ 0. 0. 0. 1. ]] SLAMing on 46.562401008 meters Centerline goodness [0,1] 0.9111304787877084 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.53, Z:-0.07 [[ 0.99389861 0.06552476 -0.08872465 5.31508599] [-0.06418696 0.99777821 0.01785129 -0.53360095] [ 0.08969723 -0.01204741 0.99589621 -0.07343662] [ 0. 0. 0. 1. ]] SLAMing on 46.592401008 meters Centerline goodness [0,1] 0.9130581297388374 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.53, Z:-0.07 [[ 0.99384976 0.06659726 -0.08847288 5.31341212] [-0.06527805 0.99770968 0.01772469 -0.53219233] [ 0.08945067 -0.01184034 0.99592087 -0.07337217] [ 0. 0. 0. 1. ]] SLAMing on 46.622401008000004 meters Centerline goodness [0,1] 0.9158449125952488 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.53, Z:-0.08 [[ 9.94108674e-01 6.89152709e-02 -8.36578172e-02 5.32635385e+00] [-6.84528732e-02 9.97619101e-01 8.38649274e-03 -5.29710263e-01] [ 8.40365938e-02 -2.61046722e-03 9.96459250e-01 -7.80283084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.652401008000005 meters Centerline goodness [0,1] 0.9167109198132983 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.53, Z:-0.08 [[ 9.94088049e-01 6.95888167e-02 -8.33447488e-02 5.32502941e+00] [-6.91368447e-02 9.97572655e-01 8.30033801e-03 -5.28666348e-01] [ 8.37200530e-02 -2.48907387e-03 9.96486205e-01 -7.79903681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68240100800001 meters Centerline goodness [0,1] 0.9205388520109332 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.53, Z:-0.08 [[ 9.94061484e-01 7.06473059e-02 -8.27691020e-02 5.32378355e+00] [-7.02451419e-02 9.97499540e-01 7.76455316e-03 -5.27374428e-01] [ 8.31106859e-02 -1.90431592e-03 9.96538503e-01 -7.99169614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.712401008 meters Centerline goodness [0,1] 0.9183907403265489 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.53, Z:-0.08 [[ 9.94071469e-01 7.05619954e-02 -8.27219384e-02 5.32479329e+00] [-7.02037659e-02 9.97506435e-01 7.23488535e-03 -5.27048207e-01] [ 8.30261738e-02 -1.38460151e-03 9.96546405e-01 -8.18000483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.742401008 meters Centerline goodness [0,1] 0.9146866439313468 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.53, Z:-0.08 [[ 9.94083855e-01 7.02475923e-02 -8.28406009e-02 5.32617135e+00] [-6.99141281e-02 9.97528991e-01 6.92298006e-03 -5.27527568e-01] [ 8.31222237e-02 -1.09029432e-03 9.96538764e-01 -8.32368274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.772401008 meters Centerline goodness [0,1] 0.9195711206293217 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.53, Z:-0.08 [[ 9.94079890e-01 7.00494178e-02 -8.30557157e-02 5.32718868e+00] [-6.97026511e-02 9.97542752e-01 7.07097933e-03 -5.29301497e-01] [ 8.33469452e-02 -1.23991477e-03 9.96519819e-01 -8.37624596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.802401008000004 meters Centerline goodness [0,1] 0.9190925743271805 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.53, Z:-0.08 [[ 9.94356156e-01 6.63551466e-02 -8.27818161e-02 5.32597566e+00] [-6.63331434e-02 9.97792964e-01 3.01912788e-03 -5.29470807e-01] [ 8.27994483e-02 2.48908968e-03 9.96563122e-01 -8.45951454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.832401008000005 meters Centerline goodness [0,1] 0.9229698244018867 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.53, Z:-0.08 [[ 9.94604885e-01 6.21699717e-02 -8.30422607e-02 5.32576499e+00] [-6.23645805e-02 9.98053403e-01 2.50900454e-04 -5.34910060e-01] [ 8.28962094e-02 4.92934894e-03 9.96545995e-01 -8.37663870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.862401008000006 meters Centerline goodness [0,1] 0.9220247803817209 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.54, Z:-0.09 [[ 9.94869859e-01 5.80056336e-02 -8.28813018e-02 5.32557740e+00] [-5.85250413e-02 9.98278520e-01 -3.84913733e-03 -5.36059315e-01] [ 8.25153516e-02 8.68002232e-03 9.96551993e-01 -8.51414827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.892401008 meters Centerline goodness [0,1] 0.9220247803817209 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.54, Z:-0.09 [[ 9.94869859e-01 5.80056336e-02 -8.28813018e-02 5.32557740e+00] [-5.85250413e-02 9.98278520e-01 -3.84913733e-03 -5.36059315e-01] [ 8.25153516e-02 8.68002232e-03 9.96551993e-01 -8.51414827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.922401008 meters Centerline goodness [0,1] 0.9207178750897343 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.54, Z:-0.09 [[ 9.94879953e-01 5.70250721e-02 -8.34387240e-02 5.32790801e+00] [-5.75122600e-02 9.98338856e-01 -3.44503332e-03 -5.39731354e-01] [ 8.31036670e-02 8.22614417e-03 9.96506955e-01 -8.52206110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.952401008 meters Centerline goodness [0,1] 0.9176803721575313 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.54, Z:-0.09 [[ 0.99511509 0.0519592 -0.08394163 5.33032587] [-0.05279323 0.99857543 -0.00774543 -0.54259075] [ 0.0834196 0.01213915 0.99644057 -0.08747158] [ 0. 0. 0. 1. ]] SLAMing on 46.982401008000004 meters Centerline goodness [0,1] 0.9175916290900682 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.54, Z:-0.09 [[ 0.99507726 0.05110902 -0.08490653 5.33325296] [-0.05191219 0.99862514 -0.00727732 -0.54479818] [ 0.08441786 0.01164918 0.99636234 -0.0870607 ] [ 0. 0. 0. 1. ]] SLAMing on 47.012401008000005 meters Centerline goodness [0,1] 0.916584488659435 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.55, Z:-0.09 [[ 0.99506183 0.05066418 -0.0853528 5.33470066] [-0.05143312 0.99865307 -0.00683282 -0.5469048 ] [ 0.08489165 0.01118904 0.99632736 -0.08678206] [ 0. 0. 0. 1. ]] SLAMing on 47.042401008000006 meters Centerline goodness [0,1] 0.9152858266111419 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.55, Z:-0.09 [[ 0.9950838 0.04895505 -0.08609084 5.33820826] [-0.04973878 0.99873786 -0.00698089 -0.55016935] [ 0.08564043 0.01122862 0.99626283 -0.08751589] [ 0. 0. 0. 1. ]] SLAMing on 47.072401008 meters Centerline goodness [0,1] 0.9144564266977557 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.55, Z:-0.09 [[ 0.99506811 0.04816337 -0.0867165 5.34056444] [-0.04895782 0.99877592 -0.00705683 -0.55130983] [ 0.08627048 0.01126748 0.99620803 -0.08798375] [ 0. 0. 0. 1. ]] SLAMing on 47.102401008 meters Centerline goodness [0,1] 0.9134587385708461 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.55, Z:-0.09 [[ 0.99503777 0.04727675 -0.08754853 5.3432261 ] [-0.04806089 0.99882079 -0.00686926 -0.55236968] [ 0.08712054 0.01104283 0.99613657 -0.08773607] [ 0. 0. 0. 1. ]] SLAMing on 47.132401008 meters Centerline goodness [0,1] 0.9125740465143424 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.55, Z:-0.09 [[ 0.99501619 0.04662804 -0.08813971 5.34488954] [-0.04740739 0.99885271 -0.0067685 -0.55322251] [ 0.08772298 0.01091325 0.99608513 -0.08738134] [ 0. 0. 0. 1. ]] SLAMing on 47.162401008 meters Centerline goodness [0,1] 0.913062575034406 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.55, Z:-0.09 [[ 0.99499143 0.04573381 -0.0888846 5.3467768 ] [-0.04649013 0.99889788 -0.00645638 -0.5543924 ] [ 0.08849136 0.0105563 0.99602101 -0.08629637] [ 0. 0. 0. 1. ]] SLAMing on 47.192401008000004 meters Centerline goodness [0,1] 0.9144613583138174 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.55, Z:-0.09 [[ 0.99498049 0.04540552 -0.08917486 5.34751886] [-0.04614936 0.99891471 -0.00629631 -0.55423539] [ 0.08879219 0.01038007 0.99599608 -0.08573261] [ 0. 0. 0. 1. ]] SLAMing on 47.222401008000006 meters Centerline goodness [0,1] 0.9126765516028834 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.55, Z:-0.09 [[ 0.99498115 0.04511204 -0.08931637 5.34798022] [-0.04586404 0.99892729 -0.00638419 -0.55333314] [ 0.08893256 0.01044856 0.99598285 -0.08548429] [ 0. 0. 0. 1. ]] SLAMing on 47.25240100800001 meters Centerline goodness [0,1] 0.9117767387492695 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.55, Z:-0.09 [[ 0.99497496 0.0444959 -0.08969363 5.34934925] [-0.04528035 0.99895165 -0.00672921 -0.55187623] [ 0.08930018 0.01075675 0.99594667 -0.0855852 ] [ 0. 0. 0. 1. ]] SLAMing on 47.282401008 meters Centerline goodness [0,1] 0.9128913765961169 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.55, Z:-0.09 [[ 0.99496269 0.0440684 -0.09004014 5.35044972] [-0.04487125 0.99896887 -0.00691088 -0.55081925] [ 0.08964275 0.01091628 0.99591416 -0.0855301 ] [ 0. 0. 0. 1. ]] SLAMing on 47.312401008 meters Centerline goodness [0,1] 0.9125882284314297 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.55, Z:-0.08 [[ 0.99494927 0.04407804 -0.09018357 5.35027207] [-0.04485712 0.99897142 -0.00662931 -0.55042733] [ 0.0897986 0.0106412 0.9959031 -0.08447951] [ 0. 0. 0. 1. ]] SLAMing on 47.342401008 meters Centerline goodness [0,1] 0.9134424892203705 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.55, Z:-0.08 [[ 0.99493762 0.04406268 -0.09031955 5.34931788] [-0.04476035 0.99898142 -0.00571257 -0.55073119] [ 0.08997584 0.00972638 0.99589645 -0.08165417] [ 0. 0. 0. 1. ]] SLAMing on 47.372401008000004 meters Centerline goodness [0,1] 0.9161425576519916 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.55, Z:-0.08 [[ 9.94923278e-01 4.39368663e-02 -9.05385121e-02 5.34934332e+00] [-4.45973670e-02 9.98991067e-01 -5.28417817e-03 -5.51002945e-01] [ 9.02149946e-02 9.29513112e-03 9.95878936e-01 -8.03684639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.402401008000005 meters Centerline goodness [0,1] 0.9171850473809662 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.55, Z:-0.08 [[ 9.94909465e-01 4.38557390e-02 -9.07294405e-02 5.34936889e+00] [-4.44732101e-02 9.98999074e-01 -4.79419915e-03 -5.50943633e-01] [ 9.04283739e-02 8.80482358e-03 9.95864039e-01 -7.90496740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43240100800001 meters Centerline goodness [0,1] 0.9154398979946679 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.55, Z:-0.08 [[ 9.94919336e-01 4.38419351e-02 -9.06278117e-02 5.34844908e+00] [-4.44515976e-02 9.99000395e-01 -4.71867895e-03 -5.49176596e-01] [ 9.03303436e-02 8.72325595e-03 9.95873654e-01 -7.77085530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.462401008 meters Centerline goodness [0,1] 0.9166811468288445 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.55, Z:-0.08 [[ 9.94917137e-01 4.39604785e-02 -9.05945200e-02 5.34801151e+00] [-4.45526334e-02 9.98996797e-01 -4.52346559e-03 -5.48246302e-01] [ 9.03047816e-02 8.53669787e-03 9.95877588e-01 -7.69607086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.492401008 meters Centerline goodness [0,1] 0.9183514325323475 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.55, Z:-0.08 [[ 9.94924192e-01 4.38355764e-02 -9.05775644e-02 5.34802809e+00] [-4.44471353e-02 9.99000470e-01 -4.74475851e-03 -5.46798817e-01] [ 9.02790402e-02 8.74658829e-03 9.95878101e-01 -7.69176310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.522401008 meters Centerline goodness [0,1] 0.9167890780264408 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.55, Z:-0.08 [[ 9.94905924e-01 4.35872354e-02 -9.08975003e-02 5.34867165e+00] [-4.41977285e-02 9.99011685e-01 -4.71326952e-03 -5.45617324e-01] [ 9.06022265e-02 8.70672281e-03 9.95849100e-01 -7.63200048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.552401008000004 meters Centerline goodness [0,1] 0.9194655940238472 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.55, Z:-0.08 [[ 9.94878724e-01 4.30271406e-02 -9.14603222e-02 5.34990685e+00] [-4.36228468e-02 9.99037831e-01 -4.52328329e-03 -5.46004205e-01] [ 9.11776979e-02 8.48987794e-03 9.95798448e-01 -7.54120927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.582401008000005 meters Centerline goodness [0,1] 0.9200935659004275 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.55, Z:-0.07 [[ 9.94856258e-01 4.27362944e-02 -9.18402737e-02 5.35057914e+00] [-4.33139870e-02 9.99052232e-01 -4.30530784e-03 -5.46777820e-01] [ 9.15692375e-02 8.26113087e-03 9.95764444e-01 -7.46795480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.612401008000006 meters Centerline goodness [0,1] 0.9217659611280927 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.55, Z:-0.07 [[ 9.94834322e-01 4.25725947e-02 -9.21533829e-02 5.35127080e+00] [-4.31343292e-02 9.99060821e-01 -4.11162079e-03 -5.47230068e-01] [ 9.18917921e-02 8.06535584e-03 9.95736335e-01 -7.42915071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.642401008 meters Centerline goodness [0,1] 0.9190932918574843 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.55, Z:-0.07 [[ 9.94813216e-01 4.21481764e-02 -9.25753523e-02 5.35275875e+00] [-4.27442822e-02 9.99076069e-01 -4.46492992e-03 -5.46307149e-01] [ 9.23016303e-02 8.39883827e-03 9.95695671e-01 -7.48164235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.672401008 meters Centerline goodness [0,1] 0.921659913210909 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.55, Z:-0.08 [[ 9.94801959e-01 4.20662941e-02 -9.27334338e-02 5.35345316e+00] [-4.26852161e-02 9.99077516e-01 -4.70000940e-03 -5.45282117e-01] [ 9.24501766e-02 8.63392522e-03 9.95679878e-01 -7.52757117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.702401008 meters Centerline goodness [0,1] 0.9193822571815484 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.54, Z:-0.08 [[ 9.94792809e-01 4.20198315e-02 -9.28525751e-02 5.35424010e+00] [-4.26778081e-02 9.99075814e-01 -5.11110536e-03 -5.44071744e-01] [ 9.25519942e-02 9.04723524e-03 9.95666749e-01 -7.62043919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.732401008000004 meters Centerline goodness [0,1] 0.9177302518109693 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.54, Z:-0.08 [[ 0.99477174 0.04197814 -0.09309679 5.35521451] [-0.04267883 0.99907344 -0.00554755 -0.54257324] [ 0.09277766 0.00949181 0.99564161 -0.07705082] [ 0. 0. 0. 1. ]] SLAMing on 47.762401008000005 meters Centerline goodness [0,1] 0.9202644438056913 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.54, Z:-0.08 [[ 0.99475474 0.04237348 -0.09309933 5.35514682] [-0.04309849 0.99905405 -0.00578974 -0.5410737 ] [ 0.09276593 0.00977181 0.99563999 -0.07752672] [ 0. 0. 0. 1. ]] SLAMing on 47.792401008000006 meters Centerline goodness [0,1] 0.9168430688254476 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.54, Z:-0.08 [[ 9.94521930e-01 4.76615917e-02 -9.30295798e-02 5.35393665e+00] [-4.79815870e-02 9.98847494e-01 -1.20476899e-03 -5.41098620e-01] [ 9.28649414e-02 5.66187606e-03 9.95662616e-01 -7.60983911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.822401008 meters Centerline goodness [0,1] 0.9173030890231392 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.54, Z:-0.08 [[ 9.94462665e-01 4.86952935e-02 -9.31277377e-02 5.35285925e+00] [-4.89932381e-02 9.98798692e-01 -9.14342792e-04 -5.39604292e-01] [ 9.29713384e-02 5.47190920e-03 9.95653749e-01 -7.52799676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.852401008 meters Centerline goodness [0,1] 0.9149626006086289 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.54, Z:-0.07 [[ 9.94425464e-01 4.98453001e-02 -9.29163252e-02 5.35101273e+00] [-5.01003549e-02 9.98744103e-01 -4.12942436e-04 -5.38597971e-01] [ 9.27790487e-02 5.06578135e-03 9.95673835e-01 -7.42564283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.882401008 meters Centerline goodness [0,1] 0.9179655221541531 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.54, Z:-0.07 [[ 9.94183176e-01 5.58027981e-02 -9.21187300e-02 5.34756752e+00] [-5.55777896e-02 9.98441800e-01 5.00813237e-03 -5.39307971e-01] [ 9.22546584e-02 1.40754448e-04 9.95735436e-01 -7.17408287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.912401008 meters Centerline goodness [0,1] 0.9178732967314311 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.54, Z:-0.07 [[ 9.94179499e-01 5.65598317e-02 -9.16957429e-02 5.34601709e+00] [-5.63376910e-02 9.98399195e-01 5.01127979e-03 -5.37835780e-01] [ 9.18323930e-02 1.83814791e-04 9.95774461e-01 -7.16504846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.942401008000004 meters Centerline goodness [0,1] 0.9185848252344416 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.54, Z:-0.07 [[ 9.94178761e-01 5.72974273e-02 -9.12446985e-02 5.34441404e+00] [-5.70552309e-02 9.98357153e-01 5.26274580e-03 -5.37081471e-01] [ 9.13963392e-02 -2.61227662e-05 9.95814595e-01 -7.12385225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.972401008000006 meters Centerline goodness [0,1] 0.9216388225934765 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.54, Z:-0.07 [[ 9.94159983e-01 5.81732393e-02 -9.08944568e-02 5.34249743e+00] [-5.78840074e-02 9.98306367e-01 5.81720120e-03 -5.37117370e-01] [ 9.10789204e-02 -5.21893237e-04 9.95843541e-01 -7.02061191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00240100800001 meters Centerline goodness [0,1] 0.9237451737451737 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.54, Z:-0.07 [[ 9.94155825e-01 5.84893030e-02 -9.07369637e-02 5.34168867e+00] [-5.81861687e-02 9.98287810e-01 5.98476827e-03 -5.37116188e-01] [ 9.09316498e-02 -6.70155958e-04 9.95856910e-01 -6.97679492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.032401008 meters Centerline goodness [0,1] 0.9229396771452846 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.54, Z:-0.07 [[ 9.94548473e-01 5.92063109e-02 -8.58367454e-02 5.35521742e+00] [-5.97051662e-02 9.98210752e-01 -3.25391882e-03 -5.37458308e-01] [ 8.54905096e-02 8.36107714e-03 9.96303902e-01 -7.29002799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.062401008 meters Centerline goodness [0,1] 0.9257929383602633 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.54, Z:-0.07 [[ 9.94518003e-01 5.97041767e-02 -8.58449331e-02 5.35426575e+00] [-6.01223895e-02 9.98188381e-01 -2.29231157e-03 -5.40034788e-01] [ 8.55525541e-02 7.44094763e-03 9.96305873e-01 -7.14935698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.092401008 meters Centerline goodness [0,1] 0.9238779071430615 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.54, Z:-0.07 [[ 9.94489764e-01 6.01068828e-02 -8.58910513e-02 5.35368107e+00] [-6.04468512e-02 9.98170490e-01 -1.36053801e-03 -5.42707766e-01] [ 8.56521350e-02 6.54488472e-03 9.96303606e-01 -7.03833396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.122401008000004 meters Centerline goodness [0,1] 0.9213014860164985 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.55, Z:-0.07 [[ 9.94497973e-01 5.94467746e-02 -8.62546351e-02 5.35535766e+00] [-5.97603627e-02 9.98212194e-01 -1.05576121e-03 -5.45835882e-01] [ 8.60376670e-02 6.20456067e-03 9.96272565e-01 -7.06901880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.152401008000005 meters Centerline goodness [0,1] 0.9193599356488265 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.55, Z:-0.07 [[ 9.94501065e-01 5.90250940e-02 -8.65082096e-02 5.35663677e+00] [-5.93351088e-02 9.98237605e-01 -1.01447478e-03 -5.46678585e-01] [ 8.62958685e-02 6.14187028e-03 9.96250621e-01 -7.10888066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18240100800001 meters Centerline goodness [0,1] 0.9220943249992823 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.55, Z:-0.07 [[ 9.94495258e-01 5.88447748e-02 -8.66976019e-02 5.35742362e+00] [-5.91358522e-02 9.98249631e-01 -7.90677412e-04 -5.47700260e-01] [ 8.64993218e-02 5.91326151e-03 9.96234360e-01 -7.11675650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.212401008 meters Centerline goodness [0,1] 0.9186464048720232 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.55, Z:-0.07 [[ 9.94490143e-01 5.84120471e-02 -8.70481929e-02 5.35881907e+00] [-5.87097249e-02 9.98274725e-01 -8.61275566e-04 -5.48303439e-01] [ 8.68477020e-02 5.96710552e-03 9.96203729e-01 -7.15570022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.242401008 meters Centerline goodness [0,1] 0.9167603077189039 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.55, Z:-0.07 [[ 9.94490971e-01 5.80084731e-02 -8.73082207e-02 5.36026660e+00] [-5.83148551e-02 9.98297779e-01 -9.60585986e-04 -5.49478869e-01] [ 8.71038806e-02 6.04666032e-03 9.96180883e-01 -7.24114950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.272401008 meters Centerline goodness [0,1] 0.9167698643550385 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.55, Z:-0.07 [[ 9.94476165e-01 5.79568145e-02 -8.75109367e-02 5.36080859e+00] [-5.82524009e-02 9.98301546e-01 -8.25574428e-04 -5.50060735e-01] [ 8.73144557e-02 5.91873626e-03 9.96163217e-01 -7.23371324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.302401008000004 meters Centerline goodness [0,1] 0.9181757791063744 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.55, Z:-0.07 [[ 9.94456522e-01 5.82804071e-02 -8.75192557e-02 5.36036702e+00] [-5.85509329e-02 9.98284285e-01 -5.24942346e-04 -5.50636527e-01] [ 8.73385037e-02 5.64636641e-03 9.96162690e-01 -7.18799581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.332401008000005 meters Centerline goodness [0,1] 0.9176637188601815 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.55, Z:-0.07 [[ 9.94449140e-01 5.85488874e-02 -8.74238831e-02 5.35985324e+00] [-5.88140731e-02 9.98268849e-01 -4.58387955e-04 -5.50504076e-01] [ 8.72457011e-02 5.59759816e-03 9.96171097e-01 -7.16991579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.362401008000006 meters Centerline goodness [0,1] 0.9160199636500015 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.55, Z:-0.07 [[ 9.94421975e-01 5.91774664e-02 -8.73095789e-02 5.35941117e+00] [-5.94685772e-02 9.98229908e-01 -7.34664325e-04 -5.48650856e-01] [ 8.71115573e-02 5.92274278e-03 9.96180956e-01 -7.24107899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.392401008 meters Centerline goodness [0,1] 0.9160199636500015 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.55, Z:-0.07 [[ 9.94421975e-01 5.91774664e-02 -8.73095789e-02 5.35941117e+00] [-5.94685772e-02 9.98229908e-01 -7.34664325e-04 -5.48650856e-01] [ 8.71115573e-02 5.92274278e-03 9.96180956e-01 -7.24107899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.422401008 meters Centerline goodness [0,1] 0.9203435596920602 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.55, Z:-0.07 [[ 9.94144562e-01 6.39783524e-02 -8.70824880e-02 5.35880844e+00] [-6.38941858e-02 9.97949609e-01 3.75637473e-03 -5.48770409e-01] [ 8.71442616e-02 1.82968516e-03 9.96194022e-01 -7.14896625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.452401008 meters Centerline goodness [0,1] 0.9224086021505377 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.55, Z:-0.07 [[ 9.94126664e-01 6.47148294e-02 -8.67419522e-02 5.35726697e+00] [-6.46162640e-02 9.97902382e-01 3.94654917e-03 -5.47831809e-01] [ 8.68154009e-02 1.68157112e-03 9.96222996e-01 -7.10077606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.482401008000004 meters Centerline goodness [0,1] 0.9224857331306817 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.55, Z:-0.07 [[ 9.94112625e-01 6.52590074e-02 -8.64948035e-02 5.35605827e+00] [-6.51432333e-02 9.97867238e-01 4.16342721e-03 -5.47471034e-01] [ 8.65820318e-02 1.49563561e-03 9.96243602e-01 -7.04838406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.512401008000005 meters Centerline goodness [0,1] 0.9226007966300829 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.55, Z:-0.07 [[ 9.94098236e-01 6.55940249e-02 -8.64067159e-02 5.35543119e+00] [-6.54563660e-02 9.97845606e-01 4.42849268e-03 -5.47700295e-01] [ 8.65110444e-02 1.25351286e-03 9.96250103e-01 -6.99911401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.542401008000006 meters Centerline goodness [0,1] 0.922654317436576 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.55, Z:-0.07 [[ 9.94092820e-01 6.60498884e-02 -8.61212990e-02 5.35463117e+00] [-6.59088656e-02 9.97815576e-01 4.48294879e-03 -5.48081727e-01] [ 8.62292719e-02 1.21968993e-03 9.96274573e-01 -7.03610979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.572401008 meters Centerline goodness [0,1] 0.9192000459743693 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.55, Z:-0.07 [[ 9.94090239e-01 6.60740316e-02 -8.61325670e-02 5.35463089e+00] [-6.59053273e-02 9.97814317e-01 4.80389811e-03 -5.49119415e-01] [ 8.62617214e-02 9.01086801e-04 9.96272103e-01 -7.00495617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.602401008 meters Centerline goodness [0,1] 0.9223638137879571 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.55, Z:-0.07 [[ 9.94074927e-01 6.58416582e-02 -8.64865077e-02 5.35521026e+00] [-6.56269702e-02 9.97830011e-01 5.32634541e-03 -5.50895465e-01] [ 8.66495283e-02 3.81061038e-04 9.96238784e-01 -6.90644980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.632401008 meters Centerline goodness [0,1] 0.921557839872593 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.55, Z:-0.07 [[ 9.94346313e-01 6.19860761e-02 -8.62156389e-02 5.35363112e+00] [-6.20794645e-02 9.98069927e-01 1.60007917e-03 -5.51921570e-01] [ 8.61484190e-02 3.76118787e-03 9.96275215e-01 -6.89666240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.662401008 meters Centerline goodness [0,1] 0.9184133033085051 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.55, Z:-0.07 [[ 9.94347810e-01 6.13280073e-02 -8.66678091e-02 5.35522977e+00] [-6.14024237e-02 9.98111451e-01 1.80944782e-03 -5.53204875e-01] [ 8.66151025e-02 3.52239306e-03 9.96235623e-01 -6.87269392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.692401008000004 meters Centerline goodness [0,1] 0.9188569770815201 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.55, Z:-0.07 [[ 9.94617858e-01 5.68249620e-02 -8.66385574e-02 5.35537436e+00] [-5.72989847e-02 9.98352579e-01 -2.99227099e-03 -5.51397288e-01] [ 8.63257916e-02 7.94046754e-03 9.96235317e-01 -7.01898865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.722401008000006 meters Centerline goodness [0,1] 0.9167950245575286 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.55, Z:-0.07 [[ 0.9948616 0.05153872 -0.08714447 5.35754006] [-0.05238571 0.99859907 -0.00745907 -0.5519876 ] [ 0.08663796 0.01198587 0.99616776 -0.07155883] [ 0. 0. 0. 1. ]] SLAMing on 48.75240100800001 meters Centerline goodness [0,1] 0.9150496028859861 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.55, Z:-0.07 [[ 0.99487008 0.05017773 -0.08783918 5.36063904] [-0.05104567 0.99866693 -0.00766135 -0.5533665 ] [ 0.08733765 0.01210586 0.99610521 -0.07212224] [ 0. 0. 0. 1. ]] SLAMing on 48.782401008 meters Centerline goodness [0,1] 0.912440386181226 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.55, Z:-0.07 [[ 0.9948657 0.04909524 -0.08849803 5.36338168] [-0.04999854 0.99871711 -0.00801791 -0.55357349] [ 0.08799085 0.01240152 0.99604408 -0.07278039] [ 0. 0. 0. 1. ]] SLAMing on 48.812401008 meters Centerline goodness [0,1] 0.9139887950303347 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.55, Z:-0.07 [[ 0.99485179 0.04875322 -0.08884276 5.36439258] [-0.04967583 0.99873171 -0.00820223 -0.55270432] [ 0.0883302 0.01257334 0.99601189 -0.07270626] [ 0. 0. 0. 1. ]] SLAMing on 48.842401008 meters Centerline goodness [0,1] 0.9139887950303347 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.55, Z:-0.07 [[ 0.99485179 0.04875322 -0.08884276 5.36439258] [-0.04967583 0.99873171 -0.00820223 -0.55270432] [ 0.0883302 0.01257334 0.99601189 -0.07270626] [ 0. 0. 0. 1. ]] SLAMing on 48.872401008000004 meters Centerline goodness [0,1] 0.9124210771334633 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.55, Z:-0.07 [[ 0.99485246 0.048328 -0.0890673 5.36521093] [-0.04927396 0.99874954 -0.00845157 -0.55189789] [ 0.08854748 0.01279677 0.99598975 -0.07273428] [ 0. 0. 0. 1. ]] SLAMing on 48.902401008000005 meters Centerline goodness [0,1] 0.9092498179169701 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.55, Z:-0.07 [[ 0.99488649 0.04629792 -0.0897629 5.36921429] [-0.04735306 0.9988315 -0.00965987 -0.55067679] [ 0.08921078 0.01386102 0.99591632 -0.07450076] [ 0. 0. 0. 1. ]] SLAMing on 48.93240100800001 meters Centerline goodness [0,1] 0.9071264233916766 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.55, Z:-0.07 [[ 0.99487766 0.04528811 -0.09037388 5.37159815] [-0.04636185 0.99887648 -0.00981632 -0.55121209] [ 0.08982778 0.01395593 0.99585953 -0.07473586] [ 0. 0. 0. 1. ]] SLAMing on 48.962401008 meters Centerline goodness [0,1] 0.9082048297934245 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.55, Z:-0.07 [[ 0.99484852 0.0443582 -0.09115244 5.37419176] [-0.04543222 0.99891993 -0.00974073 -0.55211897] [ 0.09062191 0.01383181 0.99578931 -0.07461864] [ 0. 0. 0. 1. ]] SLAMing on 48.992401008 meters Centerline goodness [0,1] 0.9111059330673114 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.55, Z:-0.08 [[ 0.99485516 0.04209323 -0.09214861 5.37888387] [-0.04324839 0.99900839 -0.01057414 -0.55328801] [ 0.09161213 0.01450502 0.99568912 -0.07588581] [ 0. 0. 0. 1. ]] SLAMing on 49.022401008 meters Centerline goodness [0,1] 0.9122372940560051 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.55, Z:-0.08 [[ 0.99484702 0.04174057 -0.0923966 5.37967148] [-0.04288047 0.99902623 -0.01038554 -0.55368884] [ 0.09187313 0.01429403 0.99566812 -0.07546054] [ 0. 0. 0. 1. ]] SLAMing on 49.052401008000004 meters Centerline goodness [0,1] 0.9108315416351909 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.55, Z:-0.07 [[ 0.99483312 0.04170641 -0.09256156 5.37984891] [-0.04280259 0.99903461 -0.00988842 -0.5540427 ] [ 0.0920598 0.0137992 0.99565786 -0.07449124] [ 0. 0. 0. 1. ]] SLAMing on 49.082401008000005 meters Centerline goodness [0,1] 0.9099825885084155 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.55, Z:-0.07 [[ 0.99482433 0.04202138 -0.09251351 5.37902167] [-0.04307134 0.99902795 -0.00938114 -0.55395059] [ 0.09202938 0.01331727 0.99566724 -0.07327511] [ 0. 0. 0. 1. ]] SLAMing on 49.112401008000006 meters Centerline goodness [0,1] 0.9111815327363647 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.55, Z:-0.07 [[ 0.99482306 0.04261777 -0.09225407 5.3773364 ] [-0.04362675 0.99900783 -0.00894721 -0.55328284] [ 0.09178123 0.01292564 0.9956953 -0.07196232] [ 0. 0. 0. 1. ]] SLAMing on 49.142401008 meters Centerline goodness [0,1] 0.9113750837045448 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.55, Z:-0.07 [[ 0.99482016 0.04363149 -0.09181037 5.37476471] [-0.04458115 0.99897114 -0.0083174 -0.55214958] [ 0.09135301 0.01236732 0.99574177 -0.07023912] [ 0. 0. 0. 1. ]] SLAMing on 49.172401008 meters Centerline goodness [0,1] 0.9112307825935899 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.55, Z:-0.06 [[ 9.94593863e-01 4.96353524e-02 -9.12106289e-02 5.37047308e+00] [-4.99437668e-02 9.98751425e-01 -1.10058477e-03 -5.53537567e-01] [ 9.10421177e-02 5.65003724e-03 9.95831015e-01 -6.35138986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.202401008 meters Centerline goodness [0,1] 0.9113711891345181 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.55, Z:-0.06 [[ 9.94576245e-01 5.03008505e-02 -9.10379973e-02 5.36904576e+00] [-5.05691822e-02 9.98720354e-01 -6.41755861e-04 -5.52683801e-01] [ 9.08892201e-02 5.24199221e-03 9.95847213e-01 -6.22619451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.232401008000004 meters Centerline goodness [0,1] 0.9110686802059828 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.55, Z:-0.06 [[ 9.94579171e-01 5.07719145e-02 -9.07440642e-02 5.36785064e+00] [-5.10161128e-02 9.98697761e-01 -3.72099836e-04 -5.52426478e-01] [ 9.06070015e-02 4.99949216e-03 9.95874177e-01 -6.17333644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.262401008000005 meters Centerline goodness [0,1] 0.9123009795706071 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.55, Z:-0.06 [[ 9.94577840e-01 5.12417420e-02 -9.04942249e-02 5.36631400e+00] [-5.14087284e-02 9.98677579e-01 4.86183557e-04 -5.53570495e-01] [ 9.03994663e-02 4.16864564e-03 9.95896862e-01 -6.00736658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.292401008000006 meters Centerline goodness [0,1] 0.9117476516293633 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.55, Z:-0.06 [[ 9.94573930e-01 5.09146319e-02 -9.07215416e-02 5.36720364e+00] [-5.10957344e-02 9.98693706e-01 3.26682653e-04 -5.53681698e-01] [ 9.06196656e-02 4.31057374e-03 9.95876245e-01 -6.03955730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32240100800001 meters Centerline goodness [0,1] 0.9112049516978076 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.55, Z:-0.06 [[ 9.94566609e-01 5.04582775e-02 -9.10561538e-02 5.36868765e+00] [-5.06734926e-02 9.98715272e-01 -5.17417338e-05 -5.53309689e-01] [ 9.09365606e-02 4.66559394e-03 9.95845758e-01 -6.12006815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.352401008 meters Centerline goodness [0,1] 0.9100373037216969 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.55, Z:-0.06 [[ 9.94558598e-01 5.01214739e-02 -9.13292569e-02 5.37002095e+00] [-5.03675015e-02 9.98730676e-01 -3.89558941e-04 -5.53311596e-01] [ 9.11938052e-02 4.98746568e-03 9.95820674e-01 -6.21027279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.382401008 meters Centerline goodness [0,1] 0.9096942472105491 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.55, Z:-0.06 [[ 9.94526799e-01 4.93530255e-02 -9.20908530e-02 5.37318660e+00] [-4.96925557e-02 9.98763586e-01 -1.39616097e-03 -5.53355904e-01] [ 9.19080858e-02 5.96474934e-03 9.95749630e-01 -6.43880790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.412401008 meters Centerline goodness [0,1] 0.9108385525400139 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.55, Z:-0.07 [[ 9.94519006e-01 4.90012937e-02 -9.23624346e-02 5.37443484e+00] [-4.93762798e-02 9.98778665e-01 -1.77779987e-03 -5.53193857e-01] [ 9.21625147e-02 6.32856917e-03 9.95723867e-01 -6.52093888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.442401008000004 meters Centerline goodness [0,1] 0.9090592940358199 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.55, Z:-0.07 [[ 9.94519329e-01 4.87673395e-02 -9.24827041e-02 5.37527992e+00] [-4.91704855e-02 9.98788226e-01 -2.08421471e-03 -5.52931093e-01] [ 9.22689943e-02 6.62021128e-03 9.95712110e-01 -6.59692692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.472401008000006 meters Centerline goodness [0,1] 0.9091093704670729 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.55, Z:-0.07 [[ 9.94511308e-01 4.88544601e-02 -9.25229701e-02 5.37529394e+00] [-4.92500405e-02 9.98784487e-01 -1.99567118e-03 -5.52855144e-01] [ 9.23130098e-02 6.54147759e-03 9.95708550e-01 -6.58520609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50240100800001 meters Centerline goodness [0,1] 0.9101680185399769 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.55, Z:-0.07 [[ 9.94510611e-01 4.92401223e-02 -9.23258047e-02 5.37451187e+00] [-4.96260504e-02 9.98766085e-01 -1.88754883e-03 -5.52361090e-01] [ 9.21189394e-02 6.45895237e-03 9.95727062e-01 -6.56939935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.532401008 meters Centerline goodness [0,1] 0.9102845904673762 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.55, Z:-0.07 [[ 9.94508664e-01 4.94937806e-02 -9.22110765e-02 5.37392170e+00] [-4.98577127e-02 9.98754975e-01 -1.64587199e-03 -5.51996886e-01] [ 9.20148110e-02 6.23426732e-03 9.95738122e-01 -6.51995777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.562401008 meters Centerline goodness [0,1] 0.9123504827784983 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.55, Z:-0.06 [[ 9.94511815e-01 5.04152636e-02 -9.16763396e-02 5.37174095e+00] [-5.07511035e-02 9.98710441e-01 -1.33428091e-03 -5.50535027e-01] [ 9.14908494e-02 5.97963353e-03 9.95787964e-01 -6.44797872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.592401008 meters Centerline goodness [0,1] 0.9110074304475548 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.55, Z:-0.06 [[ 9.94506647e-01 5.06034231e-02 -9.16287223e-02 5.37165311e+00] [-5.09552044e-02 9.98699810e-01 -1.50237303e-03 -5.49371440e-01] [ 9.14335623e-02 6.16308025e-03 9.95792107e-01 -6.47277209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.622401008000004 meters Centerline goodness [0,1] 0.9111965787434344 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.55, Z:-0.06 [[ 9.94497930e-01 5.06474645e-02 -9.16989775e-02 5.37181240e+00] [-5.10203979e-02 9.98696120e-01 -1.72579620e-03 -5.48160002e-01] [ 9.14920059e-02 6.39481906e-03 9.95785278e-01 -6.48327327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.652401008000005 meters Centerline goodness [0,1] 0.9132446334664789 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.55, Z:-0.06 [[ 9.94496230e-01 5.09945823e-02 -9.15248706e-02 5.37102078e+00] [-5.13599368e-02 9.98678862e-01 -1.63946754e-03 -5.47837130e-01] [ 9.13203496e-02 6.33115586e-03 9.95801441e-01 -6.45682946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68240100800001 meters Centerline goodness [0,1] 0.912803563730421 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.55, Z:-0.06 [[ 9.94489586e-01 5.12366566e-02 -9.14618363e-02 5.37023077e+00] [-5.15535483e-02 9.98669621e-01 -1.10400667e-03 -5.48736579e-01] [ 9.12835918e-02 5.81310534e-03 9.95807970e-01 -6.34709340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.712401008 meters Centerline goodness [0,1] 0.911026090958778 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.55, Z:-0.06 [[ 9.94479402e-01 5.07116810e-02 -9.18642663e-02 5.37172131e+00] [-5.10122212e-02 9.98697601e-01 -9.24941667e-04 -5.50112530e-01] [ 9.16977170e-02 5.60603571e-03 9.95771109e-01 -6.35113287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.742401008 meters Centerline goodness [0,1] 0.9110605318505287 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.55, Z:-0.06 [[ 9.94466713e-01 4.96450651e-02 -9.25814463e-02 5.37453256e+00] [-4.99487310e-02 9.98751318e-01 -9.64298135e-04 -5.51508631e-01] [ 9.24179688e-02 5.58328815e-03 9.95704648e-01 -6.39287349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.772401008 meters Centerline goodness [0,1] 0.9077647466635854 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.55, Z:-0.06 [[ 9.94462620e-01 4.82627246e-02 -9.33531252e-02 5.37771895e+00] [-4.85771889e-02 9.98818828e-01 -1.09777363e-03 -5.53288757e-01] [ 9.31898775e-02 5.62652724e-03 9.95632457e-01 -6.43913387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.802401008000004 meters Centerline goodness [0,1] 0.9078479388956913 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.56, Z:-0.07 [[ 0.9947213 0.04129034 -0.09393954 5.38169334] [-0.04204368 0.99909743 -0.00605359 -0.55540896] [ 0.0936048 0.0099712 0.9955595 -0.0662331 ] [ 0. 0. 0. 1. ]] SLAMing on 49.832401008000005 meters Centerline goodness [0,1] 0.9094662255145961 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.56, Z:-0.07 [[ 0.99488864 0.03657855 -0.09412021 5.38202715] [-0.03767101 0.99924159 -0.009856 -0.55667561] [ 0.09368831 0.01335123 0.99551205 -0.06610151] [ 0. 0. 0. 1. ]] SLAMing on 49.862401008000006 meters Centerline goodness [0,1] 0.9127942862181465 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.56, Z:-0.07 [[ 0.99502458 0.03168706 -0.09445643 5.38305005] [-0.03312927 0.99935663 -0.01373933 -0.55776558] [ 0.0939603 0.01680025 0.99543418 -0.0661267 ] [ 0. 0. 0. 1. ]] SLAMing on 49.892401008 meters Centerline goodness [0,1] 0.8872872576587243 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.56, Z:-0.07 [[ 0.99516674 0.02509514 -0.09493887 5.38635768] [-0.02694909 0.99946936 -0.01829612 -0.56030222] [ 0.09442935 0.0207662 0.99531496 -0.06722089] [ 0. 0. 0. 1. ]] SLAMing on 49.922401008 meters Centerline goodness [0,1] 0.8622527537605117 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.56, Z:-0.07 [[ 0.99513386 0.02460131 -0.09541161 5.38760117] [-0.02638787 0.99949845 -0.01750823 -0.56235879] [ 0.09493303 0.01994074 0.99528392 -0.06601194] [ 0. 0. 0. 1. ]] SLAMing on 49.952401008 meters Centerline goodness [0,1] 0.8910782541704939 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.56, Z:-0.07 [[ 0.99509944 0.02413647 -0.09588809 5.38882392] [-0.02589907 0.99951693 -0.01717983 -0.5631137 ] [ 0.09542711 0.01957906 0.99524385 -0.06526964] [ 0. 0. 0. 1. ]] SLAMing on 49.982401008000004 meters Centerline goodness [0,1] 0.8558446555960099 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.56, Z:-0.07 [[ 0.99508003 0.02389601 -0.0961494 5.38969298] [-0.02566671 0.9995222 -0.01722159 -0.56257837] [ 0.09569193 0.0196047 0.99521792 -0.06526364] [ 0. 0. 0. 1. ]] SLAMing on 50.012401008000005 meters Centerline goodness [0,1] 0.8449689879185162 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.56, Z:-0.07 [[ 0.99491106 0.0277051 -0.09687317 5.39182276] [-0.02914691 0.99948397 -0.01349996 -0.5612877 ] [ 0.09644916 0.01625481 0.99520518 -0.06514129] [ 0. 0. 0. 1. ]] SLAMing on 50.042401008000006 meters Centerline goodness [0,1] 0.8866441870693447 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.56, Z:-0.06 [[ 0.99473993 0.03191442 -0.09733422 5.39275057] [-0.03294605 0.99941652 -0.00900968 -0.56164318] [ 0.09698989 0.01216907 0.99521097 -0.06386119] [ 0. 0. 0. 1. ]] SLAMing on 50.07240100800001 meters Centerline goodness [0,1] 0.8947337726716044 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.56, Z:-0.06 [[ 9.94531418e-01 3.59441150e-02 -9.80575272e-02 5.39417930e+00] [-3.65616998e-02 9.99321230e-01 -4.50798688e-03 -5.61926751e-01] [ 9.78289330e-02 8.06848446e-03 9.95170538e-01 -6.21258440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.102401008 meters Centerline goodness [0,1] 0.9039932278591862 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.56, Z:-0.06 [[ 9.94514178e-01 3.66032193e-02 -9.79885453e-02 5.39310209e+00] [-3.72465327e-02 9.99294849e-01 -4.74337384e-03 -5.59106054e-01] [ 9.77458258e-02 8.36708609e-03 9.95176238e-01 -6.18073480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.132401008 meters Centerline goodness [0,1] 0.9098787332422136 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.56, Z:-0.06 [[ 9.94506362e-01 3.71435935e-02 -9.78644473e-02 5.39218354e+00] [-3.78185419e-02 9.99271862e-01 -5.05017592e-03 -5.56076022e-01] [ 9.76056067e-02 8.72352278e-03 9.95186940e-01 -6.16643493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.162401008 meters Centerline goodness [0,1] 0.9114816634395861 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.56, Z:-0.06 [[ 9.94318445e-01 4.14452683e-02 -9.80465134e-02 5.39225884e+00] [-4.16931457e-02 9.99130348e-01 -4.79756134e-04 -5.55909074e-01] [ 9.79413634e-02 4.56489794e-03 9.95181718e-01 -5.98798659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.192401008000004 meters Centerline goodness [0,1] 0.9074595153324911 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.55, Z:-0.06 [[ 9.94135794e-01 4.62144268e-02 -9.77663003e-02 5.39071028e+00] [-4.60856632e-02 9.98931090e-01 3.57608177e-03 -5.52733333e-01] [ 9.78270635e-02 9.50513897e-04 9.95202975e-01 -5.81425869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.222401008000006 meters Centerline goodness [0,1] 0.9083192821011117 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.55, Z:-0.06 [[ 9.94134805e-01 4.67209774e-02 -9.75353234e-02 5.38965510e+00] [-4.66271964e-02 9.98907100e-01 3.24187461e-03 -5.49773503e-01] [ 9.75801906e-02 1.32493829e-03 9.95226784e-01 -5.81048210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.25240100800001 meters Centerline goodness [0,1] 0.9071605924826622 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.55, Z:-0.06 [[ 9.94142529e-01 4.71235691e-02 -9.72625410e-02 5.38858316e+00] [-4.70594525e-02 9.98887721e-01 2.95438977e-03 -5.46769251e-01] [ 9.72935794e-02 1.64003741e-03 9.95254374e-01 -5.79359236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.282401008 meters Centerline goodness [0,1] 0.9073446970774879 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.54, Z:-0.06 [[ 9.94131039e-01 4.78417799e-02 -9.70290743e-02 5.38698956e+00] [-4.77768269e-02 9.98853548e-01 2.99399962e-03 -5.44374299e-01] [ 9.70610735e-02 1.65931334e-03 9.95277044e-01 -5.71003944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.312401008 meters Centerline goodness [0,1] 0.9063229184451653 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.54, Z:-0.05 [[ 9.94082042e-01 4.93428717e-02 -9.67789974e-02 5.38341602e+00] [-4.92072985e-02 9.98781402e-01 3.78853625e-03 -5.42491661e-01] [ 9.68480000e-02 9.96117169e-04 9.95298685e-01 -5.39969137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.342401008 meters Centerline goodness [0,1] 0.9053227504196182 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.54, Z:-0.05 [[ 9.94069399e-01 4.98829761e-02 -9.66318683e-02 5.38202397e+00] [-4.97203514e-02 9.98754797e-01 4.09163040e-03 -5.41734408e-01] [ 9.67156448e-02 7.37205879e-04 9.95311781e-01 -5.27895447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.372401008000004 meters Centerline goodness [0,1] 0.9049683983788227 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.54, Z:-0.05 [[ 9.94067927e-01 5.00928783e-02 -9.65383911e-02 5.38156881e+00] [-4.99497159e-02 9.98744117e-01 3.90059350e-03 -5.39955649e-01] [ 9.66125421e-02 9.44610314e-04 9.95321619e-01 -5.27033038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.402401008000005 meters Centerline goodness [0,1] 0.9041525423728813 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.54, Z:-0.05 [[ 9.93873030e-01 5.32153424e-02 -9.68737718e-02 5.38433227e+00] [-5.27778996e-02 9.98581218e-01 7.07426122e-03 -5.37878042e-01] [ 9.71127882e-02 -1.91812323e-03 9.95271534e-01 -5.37307007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.43240100800001 meters Centerline goodness [0,1] 0.9033020194633515 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.54, Z:-0.05 [[ 9.93874953e-01 5.27957605e-02 -9.70833938e-02 5.38565790e+00] [-5.24189617e-02 9.98604484e-01 6.42942185e-03 -5.36064574e-01] [ 9.72873585e-02 -1.30103064e-03 9.95255483e-01 -5.48191649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.462401008 meters Centerline goodness [0,1] 0.9036813620475814 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.54, Z:-0.06 [[ 9.93870965e-01 5.22477221e-02 -9.74201195e-02 5.38720047e+00] [-5.19200404e-02 9.98633832e-01 5.89736734e-03 -5.35395265e-01] [ 9.75951512e-02 -8.03165630e-04 9.95225875e-01 -5.56958636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.492401008 meters Centerline goodness [0,1] 0.9016995087798543 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.53, Z:-0.06 [[ 9.94062893e-01 4.75863233e-02 -9.78494073e-02 5.38796792e+00] [-4.77069693e-02 9.98860760e-01 1.10765209e-03 -5.33463211e-01] [ 9.77906424e-02 3.56702283e-03 9.95200616e-01 -5.64840411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.522401008 meters Centerline goodness [0,1] 0.9035290796160361 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.53, Z:-0.06 [[ 9.94047929e-01 4.71130332e-02 -9.82297149e-02 5.38864193e+00] [-4.72162175e-02 9.98883878e-01 1.27523594e-03 -5.34028005e-01] [ 9.81801588e-02 3.37038995e-03 9.95162950e-01 -5.55555674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.552401008000004 meters Centerline goodness [0,1] 0.9028743560147519 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.53, Z:-0.05 [[ 9.94035263e-01 4.66580177e-02 -9.85744655e-02 5.38932693e+00] [-4.67538631e-02 9.98905543e-01 1.33872279e-03 -5.34153373e-01] [ 9.85290421e-02 3.27799941e-03 9.95128777e-01 -5.48300602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.582401008000005 meters Centerline goodness [0,1] 0.904407200496586 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.53, Z:-0.05 [[ 9.94029620e-01 4.64094410e-02 -9.87485635e-02 5.38945075e+00] [-4.64923360e-02 9.98917576e-01 1.46277865e-03 -5.34319176e-01] [ 9.87095624e-02 3.13700608e-03 9.95111341e-01 -5.40894630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.612401008000006 meters Centerline goodness [0,1] 0.9023531069465971 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.53, Z:-0.05 [[ 9.94069007e-01 4.56479420e-02 -9.87070107e-02 5.38944223e+00] [-4.57188378e-02 9.98953153e-01 1.54473110e-03 -5.33598096e-01] [ 9.86741934e-02 2.97720050e-03 9.95115340e-01 -5.28960929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.642401008 meters Centerline goodness [0,1] 0.9020672198003094 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.53, Z:-0.05 [[ 9.94077360e-01 4.51263554e-02 -9.88626052e-02 5.39008832e+00] [-4.51979094e-02 9.98976901e-01 1.51693485e-03 -5.33255760e-01] [ 9.88299126e-02 2.96043248e-03 9.95099937e-01 -5.25303420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.672401008 meters Centerline goodness [0,1] 0.9054004563765952 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.53, Z:-0.05 [[ 9.94072389e-01 4.43073849e-02 -9.92821317e-02 5.39158735e+00] [-4.44118808e-02 9.99012634e-01 1.15844555e-03 -5.32671936e-01] [ 9.92354316e-02 3.25772746e-03 9.95058650e-01 -5.25917475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.702401008 meters Centerline goodness [0,1] 0.9010800472520673 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.53, Z:-0.05 [[ 9.94058251e-01 4.32767404e-02 -9.98765150e-02 5.39359808e+00] [-4.34138377e-02 9.99056853e-01 8.01395023e-04 -5.32084087e-01] [ 9.98169986e-02 3.53938948e-03 9.94999517e-01 -5.25303213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.732401008000004 meters Centerline goodness [0,1] 0.9010800472520673 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.53, Z:-0.05 [[ 9.94058251e-01 4.32767404e-02 -9.98765150e-02 5.39359808e+00] [-4.34138377e-02 9.99056853e-01 8.01395023e-04 -5.32084087e-01] [ 9.98169986e-02 3.53938948e-03 9.94999517e-01 -5.25303213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.762401008000005 meters Centerline goodness [0,1] 0.9016924333305173 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.53, Z:-0.05 [[ 9.94039265e-01 4.21902545e-02 -1.00528216e-01 5.39585627e+00] [-4.23669904e-02 9.99102045e-01 3.77182912e-04 -5.31988279e-01] [ 1.00453860e-01 3.88414333e-03 9.94934136e-01 -5.27335456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.792401008000006 meters Centerline goodness [0,1] 0.8915981529451514 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.53, Z:-0.05 [[ 9.94200064e-01 3.63364011e-02 -1.01222030e-01 5.39861273e+00] [-3.70716519e-02 9.99298066e-01 -5.39154673e-03 -5.28526121e-01] [ 1.00955070e-01 9.11274397e-03 9.94849251e-01 -5.47016605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82240100800001 meters Centerline goodness [0,1] 0.8853522867737948 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.53, Z:-0.06 [[ 0.99418162 0.0355121 -0.10169466 5.40060097] [-0.03632344 0.99932124 -0.006137 -0.52686615] [ 0.1014077 0.00979519 0.99479673 -0.05552386] [ 0. 0. 0. 1. ]] SLAMing on 50.852401008 meters Centerline goodness [0,1] 0.8885630498533724 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.53, Z:-0.06 [[ 9.94012293e-01 3.69359969e-02 -1.02836248e-01 5.40633892e+00] [-3.74853152e-02 9.99291348e-01 -3.41360109e-03 -5.26083774e-01] [ 1.02637288e-01 7.24801061e-03 9.94692442e-01 -5.65901783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.882401008 meters Centerline goodness [0,1] 0.8836593657693808 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.52, Z:-0.06 [[ 9.93978150e-01 3.56905766e-02 -1.03603185e-01 5.40965148e+00] [-3.63864476e-02 9.99326103e-01 -4.83391501e-03 -5.22285813e-01] [ 1.03360842e-01 8.57455777e-03 9.94606964e-01 -5.82782236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.912401008 meters Centerline goodness [0,1] 0.8655075994573793 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.52, Z:-0.06 [[ 0.99392252 0.03377229 -0.10477337 5.41398066] [-0.03469591 0.99937337 -0.00700486 -0.51624035] [ 0.10447115 0.0105975 0.99447145 -0.06003905] [ 0. 0. 0. 1. ]] SLAMing on 50.942401008000004 meters Centerline goodness [0,1] 0.8529159163319019 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.51, Z:-0.06 [[ 0.99390941 0.03316469 -0.10509137 5.41479113] [-0.03413649 0.99938933 -0.0074615 -0.5144856 ] [ 0.10477973 0.0110035 0.99443458 -0.05974152] [ 0. 0. 0. 1. ]] SLAMing on 50.972401008000006 meters Centerline goodness [0,1] 0.8408269161767548 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.51, Z:-0.06 [[ 0.99387342 0.03246252 -0.10564948 5.41587986] [-0.0334508 0.9994115 -0.00759537 -0.51306108] [ 0.10534074 0.0110829 0.99437443 -0.05871866] [ 0. 0. 0. 1. ]] SLAMing on 51.00240100800001 meters Centerline goodness [0,1] 0.8221647356688775 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.51, Z:-0.06 [[ 0.9938329 0.03136972 -0.10635835 5.41759771] [-0.0323904 0.99944421 -0.00788244 -0.51151839] [ 0.10605197 0.01127882 0.99429662 -0.05773557] [ 0. 0. 0. 1. ]] SLAMing on 51.032401008 meters Centerline goodness [0,1] 0.793204628969451 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.50, Z:-0.06 [[ 0.99398821 0.02554977 -0.10646428 5.41920368] [-0.02710289 0.99954593 -0.01316668 -0.50359174] [ 0.10607953 0.01597301 0.99422935 -0.05821693] [ 0. 0. 0. 1. ]] SLAMing on 51.062401008 meters Centerline goodness [0,1] 0.813404168369432 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.50, Z:-0.06 [[ 0.99381196 0.02804411 -0.10747703 5.42249512] [-0.02922475 0.99952843 -0.00942551 -0.50273923] [ 0.10716202 0.01250817 0.99416289 -0.05703276] [ 0. 0. 0. 1. ]] SLAMing on 51.092401008 meters Centerline goodness [0,1] 0.780080739115121 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.50, Z:-0.06 [[ 0.99363642 0.03139444 -0.10817143 5.42423093] [-0.03219334 0.99946571 -0.00564673 -0.50110335] [ 0.10793636 0.0090932 0.99411622 -0.05574252] [ 0. 0. 0. 1. ]] SLAMing on 51.122401008000004 meters Centerline goodness [0,1] 0.8235686819055758 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.49, Z:-0.05 [[ 9.93500070e-01 3.61597883e-02 -1.07935537e-01 5.42114050e+00] [-3.66308559e-02 9.99326021e-01 -2.38420623e-03 -4.91601855e-01] [ 1.07776578e-01 6.32248016e-03 9.94155036e-01 -5.22509570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.152401008000005 meters Centerline goodness [0,1] 0.8353941062776351 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.49, Z:-0.05 [[ 9.93326966e-01 4.08912155e-02 -1.07839910e-01 5.41943192e+00] [-4.09604728e-02 9.99159528e-01 1.57367972e-03 -4.87867198e-01] [ 1.07813623e-01 2.85399520e-03 9.94167027e-01 -4.98029977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18240100800001 meters Centerline goodness [0,1] 0.8819497334348819 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.48, Z:-0.05 [[ 9.93142258e-01 4.55399823e-02 -1.07678065e-01 5.41790507e+00] [-4.52380863e-02 9.98962459e-01 5.24598516e-03 -4.83617574e-01] [ 1.07805246e-01 -3.38859961e-04 9.94171974e-01 -4.78847243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.212401008 meters Centerline goodness [0,1] 0.8924775886709108 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.48, Z:-0.05 [[ 9.92941482e-01 4.99219548e-02 -1.07587231e-01 5.41716966e+00] [-4.93019458e-02 9.98748456e-01 8.41668845e-03 -4.78143412e-01] [ 1.07872758e-01 -3.05301927e-03 9.94160021e-01 -4.68474119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.242401008 meters Centerline goodness [0,1] 0.8868600988501626 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.47, Z:-0.05 [[ 0.99274695 0.05392976 -0.10744803 5.41705584] [-0.05303173 0.99853002 0.01119986 -0.47205151] [ 0.10789408 -0.00542047 0.99414762 -0.04655477] [ 0. 0. 0. 1. ]] SLAMing on 51.272401008 meters Centerline goodness [0,1] 0.8998312895021782 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.46, Z:-0.04 [[ 0.99233694 0.06142374 -0.10721254 5.41595097] [-0.05998572 0.99806137 0.01658967 -0.46123903] [ 0.10802369 -0.01003132 0.99409771 -0.04495327] [ 0. 0. 0. 1. ]] SLAMing on 51.302401008000004 meters Centerline goodness [0,1] 0.9037556334501753 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.45, Z:-0.05 [[ 0.99232034 0.06197442 -0.1070491 5.4151057 ] [-0.06065474 0.99803778 0.0155431 -0.45426725] [ 0.10780232 -0.0089307 0.99413224 -0.04510596] [ 0. 0. 0. 1. ]] SLAMing on 51.332401008000005 meters Centerline goodness [0,1] 0.9063461207214745 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.44, Z:-0.05 [[ 0.99204487 0.06659036 -0.10683024 5.41444827] [-0.06510962 0.99772826 0.01729301 -0.44333451] [ 0.1077391 -0.01019976 0.99412688 -0.04543989] [ 0. 0. 0. 1. ]] SLAMing on 51.362401008000006 meters Centerline goodness [0,1] 0.9094430280447147 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.44, Z:-0.05 [[ 0.99202238 0.0666393 -0.10700843 5.41460728] [-0.06530683 0.99773835 0.01591228 -0.43734513] [ 0.1078268 -0.00879695 0.99413077 -0.04591 ] [ 0. 0. 0. 1. ]] SLAMing on 51.392401008 meters Centerline goodness [0,1] 0.909219512195122 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.43, Z:-0.05 [[ 0.99201372 0.06638766 -0.10724486 5.41516173] [-0.06522681 0.997768 0.01429991 -0.43191817] [ 0.10795482 -0.00719047 0.9941298 -0.04669759] [ 0. 0. 0. 1. ]] SLAMing on 51.422401008 meters Centerline goodness [0,1] 0.9128790633408479 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.43, Z:-0.05 [[ 0.9920069 0.06600756 -0.10754218 5.41630285] [-0.06503172 0.99780415 0.01255969 -0.42674503] [ 0.10813507 -0.00546565 0.99412119 -0.0480573 ] [ 0. 0. 0. 1. ]] SLAMing on 51.452401008 meters Centerline goodness [0,1] 0.9080729418593403 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.42, Z:-0.05 [[ 9.92011252e-01 6.57787999e-02 -1.07642113e-01 5.41712945e+00] [-6.49447450e-02 9.97825562e-01 1.12395618e-02 -4.21623469e-01] [ 1.08147377e-01 -4.15898218e-03 9.94126173e-01 -4.91868664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.482401008000004 meters Centerline goodness [0,1] 0.9098553085473362 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.42, Z:-0.05 [[ 9.92009213e-01 6.50871031e-02 -1.08080479e-01 5.41917383e+00] [-6.44182082e-02 9.97876113e-01 9.67250957e-03 -4.16503930e-01] [ 1.08480484e-01 -2.63286780e-03 9.94095092e-01 -5.07318558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.512401008000005 meters Centerline goodness [0,1] 0.9135913804969504 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.41, Z:-0.05 [[ 9.91752837e-01 6.82064182e-02 -1.08508961e-01 5.42122658e+00] [-6.72575362e-02 9.97658778e-01 1.23849631e-02 -4.12691643e-01] [ 1.09099652e-01 -4.98477686e-03 9.94018319e-01 -5.10071391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.542401008000006 meters Centerline goodness [0,1] 0.9176200288969422 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.41, Z:-0.05 [[ 9.91765503e-01 6.73763744e-02 -1.08911028e-01 5.42244567e+00] [-6.65176271e-02 9.97718942e-01 1.15029410e-02 -4.11133004e-01] [ 1.09437622e-01 -4.16371690e-03 9.93984945e-01 -5.13511199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57240100800001 meters Centerline goodness [0,1] 0.9186349221375492 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.41, Z:-0.05 [[ 9.91966029e-01 6.45415233e-02 -1.08801608e-01 5.42162391e+00] [-6.39770669e-02 9.97913668e-01 8.67442418e-03 -4.08298592e-01] [ 1.09134473e-01 -1.64392633e-03 9.94025636e-01 -5.09481303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.602401008 meters Centerline goodness [0,1] 0.9195405010142945 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.41, Z:-0.05 [[ 9.91977386e-01 6.41401804e-02 -1.08935314e-01 5.42181537e+00] [-6.36082775e-02 9.97939975e-01 8.35428957e-03 -4.07293524e-01] [ 1.09246750e-01 -1.35807865e-03 9.94013734e-01 -5.06335849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.632401008 meters Centerline goodness [0,1] 0.9219224835195661 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.40, Z:-0.05 [[ 9.92014330e-01 6.38917111e-02 -1.08744737e-01 5.42121188e+00] [-6.34289064e-02 9.97956553e-01 7.71317904e-03 -4.03427714e-01] [ 1.09015331e-01 -7.54024426e-04 9.94039782e-01 -5.02754227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.662401008 meters Centerline goodness [0,1] 0.9194422385201102 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.40, Z:-0.05 [[ 9.92024212e-01 6.37902789e-02 -1.08714135e-01 5.42115317e+00] [-6.33821041e-02 9.97963292e-01 7.20950256e-03 -4.00771462e-01] [ 1.08952612e-01 -2.61470477e-04 9.94046910e-01 -5.03105492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.692401008000004 meters Centerline goodness [0,1] 0.9168995714551891 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.40, Z:-0.05 [[ 9.92025077e-01 6.35148581e-02 -1.08867390e-01 5.42166705e+00] [-6.31793125e-02 9.97980814e-01 6.53223468e-03 -3.98221054e-01] [ 1.09062461e-01 3.98026255e-04 9.94034819e-01 -5.05370755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.722401008000006 meters Centerline goodness [0,1] 0.9195671860124922 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.40, Z:-0.05 [[ 9.92027266e-01 6.34899797e-02 -1.08861955e-01 5.42132947e+00] [-6.31972428e-02 9.97982165e-01 6.14061527e-03 -3.96098415e-01] [ 1.09032157e-01 7.88117594e-04 9.94037911e-01 -5.01592343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.75240100800001 meters Centerline goodness [0,1] 0.9221425772696891 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.39, Z:-0.05 [[ 9.92427485e-01 6.60084998e-02 -1.03588440e-01 5.43346708e+00] [-6.64900977e-02 9.97786364e-01 -1.19916262e-03 -3.92527259e-01] [ 1.03279978e-01 8.07768745e-03 9.94619524e-01 -5.17608954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.782401008 meters Centerline goodness [0,1] 0.9228843724882305 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.39, Z:-0.05 [[ 9.92412792e-01 6.62900007e-02 -1.03549442e-01 5.43293537e+00] [-6.68037053e-02 9.97765014e-01 -1.49694750e-03 -3.89868479e-01] [ 1.03218778e-01 8.40307626e-03 9.94623181e-01 -5.13359084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.812401008 meters Centerline goodness [0,1] 0.9245691127251201 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.39, Z:-0.05 [[ 9.92134830e-01 6.96638979e-02 -1.03997209e-01 5.43502850e+00] [-6.98673458e-02 9.97554860e-01 1.68978203e-03 -3.88442829e-01] [ 1.03860638e-01 5.58951737e-03 9.94576154e-01 -5.16178188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.842401008 meters Centerline goodness [0,1] 0.924369557329463 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.38, Z:-0.05 [[ 9.92081802e-01 7.10447602e-02 -1.03568046e-01 5.43437023e+00] [-7.11630413e-02 9.97461419e-01 2.55724664e-03 -3.84704587e-01] [ 1.03486809e-01 4.83321930e-03 9.94619083e-01 -5.14165366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.872401008000004 meters Centerline goodness [0,1] 0.9188191881918819 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.38, Z:-0.05 [[ 9.91735978e-01 7.58105821e-02 -1.03501237e-01 5.43435747e+00] [-7.56422688e-02 9.97119540e-01 5.55600474e-03 -3.79797969e-01] [ 1.03624310e-01 2.31897863e-03 9.94613807e-01 -5.12991276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.902401008000005 meters Centerline goodness [0,1] 0.9187021099701144 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.38, Z:-0.05 [[ 9.91683286e-01 7.67500771e-02 -1.03313536e-01 5.43317579e+00] [-7.65993352e-02 9.97047160e-01 5.43167876e-03 -3.77092951e-01] [ 1.03425349e-01 2.52724314e-03 9.94634008e-01 -5.08101293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.93240100800001 meters Centerline goodness [0,1] 0.9161585365853658 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.37, Z:-0.05 [[ 9.91634499e-01 7.74563442e-02 -1.03254714e-01 5.43252794e+00] [-7.73366898e-02 9.96991640e-01 5.16778327e-03 -3.74828251e-01] [ 1.03344364e-01 2.86082563e-03 9.94641522e-01 -5.05706248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.962401008 meters Centerline goodness [0,1] 0.9120950712135508 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.37, Z:-0.05 [[ 9.91585647e-01 7.81316772e-02 -1.03215047e-01 5.43208110e+00] [-7.80377658e-02 9.96938095e-01 4.95389947e-03 -3.72708744e-01] [ 1.03286069e-01 3.14245603e-03 9.94646728e-01 -5.05197729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.992401008 meters Centerline goodness [0,1] 0.9120324912969741 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.37, Z:-0.05 [[ 9.91221309e-01 8.25108858e-02 -1.03306678e-01 5.43322511e+00] [-8.20712039e-02 9.96590162e-01 8.50681505e-03 -3.71327385e-01] [ 1.03656324e-01 4.63670930e-05 9.94613173e-01 -5.09947325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.022401008 meters Centerline goodness [0,1] 0.9120277218868769 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.37, Z:-0.05 [[ 9.91193463e-01 8.25313655e-02 -1.03557192e-01 5.43395623e+00] [-8.21326704e-02 9.96588361e-01 8.11563434e-03 -3.69993872e-01] [ 1.03873687e-01 4.61265042e-04 9.94590390e-01 -5.13786368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.052401008000004 meters Centerline goodness [0,1] 0.9124751413313074 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.37, Z:-0.05 [[ 9.91178223e-01 8.24770622e-02 -1.03746150e-01 5.43478750e+00] [-8.21045127e-02 9.96592700e-01 7.86374344e-03 -3.69487378e-01] [ 1.04041234e-01 7.23655798e-04 9.94572721e-01 -5.19485234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.082401008000005 meters Centerline goodness [0,1] 0.909754181165114 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.37, Z:-0.05 [[ 9.91150995e-01 8.25149679e-02 -1.03975886e-01 5.43539355e+00] [-8.21368125e-02 9.96589587e-01 7.92082071e-03 -3.70369326e-01] [ 1.04274871e-01 6.89518504e-04 9.94548277e-01 -5.21601097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.112401008000006 meters Centerline goodness [0,1] 0.907840346953988 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.37, Z:-0.06 [[ 9.91527027e-01 8.31673856e-02 -9.97864792e-02 5.44836370e+00] [-8.37608046e-02 9.96484327e-01 -1.76482210e-03 -3.72911480e-01] [ 9.92888869e-02 1.01080646e-02 9.95007309e-01 -5.59335740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.142401008 meters Centerline goodness [0,1] 0.9040896917979211 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.37, Z:-0.06 [[ 9.91496467e-01 8.32938332e-02 -9.99844624e-02 5.44884147e+00] [-8.38491558e-02 9.96477535e-01 -1.35729305e-03 -3.74799546e-01] [ 9.95192165e-02 9.72936404e-03 9.94988073e-01 -5.59787623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.172401008 meters Centerline goodness [0,1] 0.9031708148653256 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.38, Z:-0.06 [[ 9.91471205e-01 8.32198255e-02 -1.00296110e-01 5.44987038e+00] [-8.37573934e-02 9.96485508e-01 -1.15352126e-03 -3.76249972e-01] [ 9.98476241e-02 9.54422384e-03 9.94956964e-01 -5.62867395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.202401008 meters Centerline goodness [0,1] 0.9025678382808232 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.38, Z:-0.06 [[ 9.91448886e-01 8.31368292e-02 -1.00585158e-01 5.45114697e+00] [-8.36633838e-02 9.96493551e-01 -1.02057345e-03 -3.77761576e-01] [ 1.00147614e-01 9.42714106e-03 9.94927929e-01 -5.70812201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.232401008000004 meters Centerline goodness [0,1] 0.9011117478510029 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.38, Z:-0.06 [[ 9.91408912e-01 8.37622038e-02 -1.00460257e-01 5.45083009e+00] [-8.41715002e-02 9.96451269e-01 1.65028988e-04 -3.82264046e-01] [ 1.00117574e-01 8.29227937e-03 9.94941058e-01 -5.70272899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.262401008000005 meters Centerline goodness [0,1] 0.9020361210169101 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.39, Z:-0.06 [[ 9.91391150e-01 8.39388768e-02 -1.00488069e-01 5.45068079e+00] [-8.42811429e-02 9.96441659e-01 8.42034725e-04 -3.85183531e-01] [ 1.00201178e-01 7.63446354e-03 9.94937907e-01 -5.66453980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.292401008000006 meters Centerline goodness [0,1] 0.896985795126458 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.39, Z:-0.06 [[ 9.91350980e-01 8.42523324e-02 -1.00621963e-01 5.45049840e+00] [-8.45058165e-02 9.96421452e-01 1.74820119e-03 -3.88739612e-01] [ 1.00409173e-01 6.77006019e-03 9.94923195e-01 -5.59498046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32240100800001 meters Centerline goodness [0,1] 0.8964475732441161 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.39, Z:-0.06 [[ 9.91306284e-01 8.47539157e-02 -1.00641068e-01 5.44996268e+00] [-8.48983873e-02 9.96385526e-01 2.85440213e-03 -3.92345270e-01] [ 1.00519225e-01 5.71467756e-03 9.94918704e-01 -5.50459809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.352401008 meters Centerline goodness [0,1] 0.8982752964334255 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.40, Z:-0.06 [[ 9.92658736e-01 8.37016086e-02 -8.73079288e-02 5.45292758e+00] [-8.40938497e-02 9.96457503e-01 -8.17779549e-04 -3.96688822e-01] [ 8.69301913e-02 8.15383586e-03 9.96181036e-01 -6.15857855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.382401008 meters Centerline goodness [0,1] 0.8966956684880749 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.40, Z:-0.06 [[ 9.92640423e-01 8.40610157e-02 -8.71707265e-02 5.45268610e+00] [-8.43813628e-02 9.96433533e-01 9.90192817e-06 -3.99362608e-01] [ 8.68606674e-02 7.34575565e-03 9.96193387e-01 -6.15010393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.412401008 meters Centerline goodness [0,1] 0.8955273225334152 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.40, Z:-0.06 [[ 9.92637050e-01 8.43558186e-02 -8.69240103e-02 5.45234000e+00] [-8.46104650e-02 9.96413818e-01 7.57224553e-04 -4.02135396e-01] [ 8.66761612e-02 6.60303178e-03 9.96214657e-01 -6.16035531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.442401008000004 meters Centerline goodness [0,1] 0.8923858349947783 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.41, Z:-0.06 [[ 9.92619847e-01 8.43773526e-02 -8.70993791e-02 5.45293801e+00] [-8.45768001e-02 9.96415974e-01 1.40450599e-03 -4.05402919e-01] [ 8.69057211e-02 5.97244625e-03 9.96198638e-01 -6.17489905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.472401008000006 meters Centerline goodness [0,1] 0.8943273751282724 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.41, Z:-0.06 [[ 9.92611441e-01 8.40645693e-02 -8.74967170e-02 5.45424895e+00] [-8.42153305e-02 9.96445625e-01 1.97346527e-03 -4.09611519e-01] [ 8.73516194e-02 5.40968074e-03 9.96162853e-01 -6.20698729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50240100800001 meters Centerline goodness [0,1] 0.8939040962919822 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.42, Z:-0.06 [[ 9.93145388e-01 7.75849737e-02 -8.74231634e-02 5.45274152e+00] [-7.81905229e-02 9.96932226e-01 -3.51848081e-03 -4.17206275e-01] [ 8.68819876e-02 1.03300258e-02 9.96165052e-01 -6.25719896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.532401008 meters Centerline goodness [0,1] 0.888039842777276 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.42, Z:-0.06 [[ 0.99342343 0.0735647 -0.08773892 5.45330709] [-0.07445012 0.99720116 -0.00685771 -0.42057827] [ 0.08698887 0.01334478 0.9961199 -0.06343108] [ 0. 0. 0. 1. ]] SLAMing on 52.562401008 meters Centerline goodness [0,1] 0.8897922090681338 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.43, Z:-0.06 [[ 0.99345031 0.07274309 -0.08811883 5.45545916] [-0.07359512 0.99726731 -0.00645479 -0.42531015] [ 0.08740848 0.01289763 0.99608906 -0.06452454] [ 0. 0. 0. 1. ]] SLAMing on 52.592401008 meters Centerline goodness [0,1] 0.8878171214842885 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.43, Z:-0.07 [[ 0.99344482 0.07194589 -0.08883234 5.4585597 ] [-0.07277258 0.99732991 -0.00609859 -0.4292376 ] [ 0.08815638 0.01252317 0.99602792 -0.06594324] [ 0. 0. 0. 1. ]] SLAMing on 52.622401008000004 meters Centerline goodness [0,1] 0.8865912762520194 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.44, Z:-0.07 [[ 0.99358824 0.06983708 -0.08891118 5.46159637] [-0.07071664 0.99747342 -0.00677747 -0.43608324] [ 0.08821322 0.01302151 0.9960165 -0.06904453] [ 0. 0. 0. 1. ]] SLAMing on 52.652401008000005 meters Centerline goodness [0,1] 0.8865912762520194 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.44, Z:-0.07 [[ 0.99358824 0.06983708 -0.08891118 5.46159637] [-0.07071664 0.99747342 -0.00677747 -0.43608324] [ 0.08821322 0.01302151 0.9960165 -0.06904453] [ 0. 0. 0. 1. ]] SLAMing on 52.68240100800001 meters Centerline goodness [0,1] 0.8835937890059414 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.44, Z:-0.07 [[ 0.99354429 0.0696835 -0.08952074 5.46353803] [-0.0704789 0.99749669 -0.00575112 -0.44094505] [ 0.08889588 0.01202332 0.99596835 -0.06925878] [ 0. 0. 0. 1. ]] SLAMing on 52.712401008 meters Centerline goodness [0,1] 0.886180702283932 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.45, Z:-0.07 [[ 9.93505245e-01 6.95997843e-02 -9.00177625e-02 5.46480005e+00] [-7.02876157e-02 9.97516662e-01 -4.48989619e-03 -4.46887645e-01] [ 8.94817222e-02 1.07878693e-02 9.95930039e-01 -6.88714066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.742401008 meters Centerline goodness [0,1] 0.8883511305728407 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.46, Z:-0.07 [[ 9.93664818e-01 6.70595446e-02 -9.01845216e-02 5.46419151e+00] [-6.77923548e-02 9.97686500e-01 -5.08374998e-03 -4.58345720e-01] [ 8.96349658e-02 1.11653646e-02 9.95912098e-01 -6.80839257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.772401008 meters Centerline goodness [0,1] 0.8831543434031265 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.46, Z:-0.07 [[ 9.93646126e-01 6.71231369e-02 -9.03430226e-02 5.46513841e+00] [-6.77531114e-02 9.97694413e-01 -3.92103340e-03 -4.63378898e-01] [ 8.98715368e-02 1.00171405e-02 9.95902989e-01 -6.82938296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.802401008000004 meters Centerline goodness [0,1] 0.8844059534304828 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.47, Z:-0.07 [[ 9.93634519e-01 6.70668385e-02 -9.05123282e-02 5.46643836e+00] [-6.76218608e-02 9.97706281e-01 -3.07592493e-03 -4.67479488e-01] [ 9.00984257e-02 9.17695725e-03 9.95890585e-01 -6.89990886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.832401008000005 meters Centerline goodness [0,1] 0.8875822774930405 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.47, Z:-0.07 [[ 9.93597944e-01 6.71651434e-02 -9.08403550e-02 5.46777380e+00] [-6.76192244e-02 9.97709340e-01 -1.92680236e-03 -4.71609851e-01] [ 9.05028568e-02 8.05702121e-03 9.95863604e-01 -6.91230472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.862401008000006 meters Centerline goodness [0,1] 0.8875533765617587 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.48, Z:-0.07 [[ 9.93772967e-01 6.58011021e-02 -8.99194357e-02 5.46312613e+00] [-6.63176080e-02 9.97794732e-01 -2.76528649e-03 -4.79889617e-01] [ 8.95391804e-02 8.71130885e-03 9.95945203e-01 -6.74074637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89240100800001 meters Centerline goodness [0,1] 0.8883084511150593 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.49, Z:-0.06 [[ 9.93692465e-01 6.71216685e-02 -8.98329914e-02 5.46107590e+00] [-6.74262967e-02 9.97724194e-01 -3.57223326e-04 -4.85625169e-01] [ 8.96045715e-02 6.41207606e-03 9.95956779e-01 -6.44910564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.922401008 meters Centerline goodness [0,1] 0.8919365146996165 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.49, Z:-0.06 [[ 9.93600662e-01 6.88707251e-02 -8.95240048e-02 5.45815735e+00] [-6.89305339e-02 9.97618510e-01 2.42712598e-03 -4.91043256e-01] [ 8.94779621e-02 3.75934346e-03 9.95981707e-01 -6.10204234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.952401008 meters Centerline goodness [0,1] 0.8942444307428357 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.50, Z:-0.06 [[ 9.93849611e-01 7.28421759e-02 -8.34084437e-02 5.46786584e+00] [-7.34504102e-02 9.97289845e-01 -4.24296720e-03 -4.96103175e-01] [ 8.28733269e-02 1.03432557e-02 9.96506412e-01 -6.41173855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.982401008000004 meters Centerline goodness [0,1] 0.9002257215026603 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.50, Z:-0.06 [[ 9.93818175e-01 7.37107918e-02 -8.30189999e-02 5.46712726e+00] [-7.42659186e-02 9.97231924e-01 -3.61441402e-03 -4.97840647e-01] [ 8.25227756e-02 9.75755263e-03 9.96541410e-01 -6.46824353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.012401008000005 meters Centerline goodness [0,1] 0.9000512143184453 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.50, Z:-0.07 [[ 9.93781486e-01 7.46608915e-02 -8.26081721e-02 5.46625079e+00] [-7.51448044e-02 9.97168812e-01 -2.76005272e-03 -5.00483323e-01] [ 8.21682249e-02 8.95046423e-03 9.96578282e-01 -6.51142421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.042401008000006 meters Centerline goodness [0,1] 0.9045271057408361 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.50, Z:-0.07 [[ 9.93745967e-01 7.55930897e-02 -8.21865981e-02 5.46510761e+00] [-7.59828376e-02 9.97107809e-01 -1.62044016e-03 -5.04514763e-01] [ 8.18264047e-02 7.85507681e-03 9.96615642e-01 -6.51210941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07240100800001 meters Centerline goodness [0,1] 0.9018388095694829 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.51, Z:-0.07 [[ 9.93977192e-01 7.31061608e-02 -8.16384165e-02 5.46301758e+00] [-7.36433202e-02 9.97278204e-01 -3.58409522e-03 -5.11530369e-01] [ 8.11541940e-02 9.57463295e-03 9.96655569e-01 -6.54914966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.102401008 meters Centerline goodness [0,1] 0.9032877238202309 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.52, Z:-0.07 [[ 9.93962944e-01 7.26394404e-02 -8.22263814e-02 5.46503746e+00] [-7.30783902e-02 9.97323461e-01 -2.33737401e-03 -5.16912241e-01] [ 8.18365137e-02 8.33223473e-03 9.96610937e-01 -6.50986752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.132401008 meters Centerline goodness [0,1] 0.8998811070865707 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.52, Z:-0.07 [[ 0.99423795 0.06867476 -0.08230844 5.46508723] [-0.06937816 0.99757407 -0.0057131 -0.52038129] [ 0.08171642 0.01139059 0.99659053 -0.06588941] [ 0. 0. 0. 1. ]] SLAMing on 53.162401008 meters Centerline goodness [0,1] 0.8983088562527815 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.52, Z:-0.07 [[ 0.99448428 0.0644893 -0.08271732 5.46597109] [-0.0654621 0.99781356 -0.00910006 -0.52424926] [ 0.08194961 0.01446472 0.9965315 -0.06664715] [ 0. 0. 0. 1. ]] SLAMing on 53.192401008000004 meters Centerline goodness [0,1] 0.9009232854279019 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.53, Z:-0.07 [[ 0.99492968 0.0572023 -0.08272142 5.46780994] [-0.05861603 0.99817145 -0.01476194 -0.5326293 ] [ 0.08172575 0.01953589 0.99646337 -0.06951484] [ 0. 0. 0. 1. ]] SLAMing on 53.222401008000006 meters Centerline goodness [0,1] 0.8959277307571742 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.54, Z:-0.07 [[ 0.99515158 0.05297031 -0.08287026 5.46852939] [-0.05466254 0.99833745 -0.01828483 -0.53563912] [ 0.08176393 0.02272608 0.99639259 -0.07062992] [ 0. 0. 0. 1. ]] SLAMing on 53.25240100800001 meters Centerline goodness [0,1] 0.8995996568487274 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.54, Z:-0.07 [[ 0.99513106 0.05213019 -0.08364578 5.47122786] [-0.05371192 0.99841563 -0.0167708 -0.54187376] [ 0.08263898 0.02118192 0.99635442 -0.06971486] [ 0. 0. 0. 1. ]] SLAMing on 53.282401008 meters Centerline goodness [0,1] 0.9024242773235057 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.55, Z:-0.07 [[ 0.99513925 0.0514468 -0.08397077 5.47268045] [-0.05294391 0.99847408 -0.01569914 -0.54788239] [ 0.08303496 0.02006857 0.99634454 -0.06923582] [ 0. 0. 0. 1. ]] SLAMing on 53.312401008 meters Centerline goodness [0,1] 0.9003681479548946 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.55, Z:-0.07 [[ 0.99511252 0.05140895 -0.08431007 5.47356727] [-0.05277559 0.99850741 -0.01406033 -0.55357402] [ 0.0834614 0.01844112 0.99634036 -0.06805356] [ 0. 0. 0. 1. ]] SLAMing on 53.342401008 meters Centerline goodness [0,1] 0.9011619441451411 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.56, Z:-0.07 [[ 0.99507985 0.051922 -0.08438126 5.47376635] [-0.05304998 0.99852928 -0.01117932 -0.56209832] [ 0.08367671 0.01560074 0.99637083 -0.06598187] [ 0. 0. 0. 1. ]] SLAMing on 53.372401008000004 meters Centerline goodness [0,1] 0.9024454532142334 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.57, Z:-0.07 [[ 0.99505235 0.05232074 -0.08445918 5.47378148] [-0.05336428 0.99852358 -0.01014414 -0.56541887] [ 0.08380374 0.01460105 0.9963753 -0.06544948] [ 0. 0. 0. 1. ]] SLAMing on 53.402401008000005 meters Centerline goodness [0,1] 0.901981015270326 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.57, Z:-0.06 [[ 0.99501914 0.05262994 -0.08465816 5.47343965] [-0.05353252 0.99853056 -0.00842549 -0.5701914 ] [ 0.08409033 0.01291549 0.99637443 -0.0632478 ] [ 0. 0. 0. 1. ]] SLAMing on 53.43240100800001 meters Centerline goodness [0,1] 0.9036432940342168 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.58, Z:-0.06 [[ 0.99497648 0.05245722 -0.0852646 5.47395967] [-0.05315942 0.99856811 -0.00598455 -0.57581908] [ 0.08482858 0.01048711 0.99634037 -0.05926254] [ 0. 0. 0. 1. ]] SLAMing on 53.462401008 meters Centerline goodness [0,1] 0.9037905222033342 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.58, Z:-0.06 [[ 0.99518911 0.04863485 -0.08504873 5.4725241 ] [-0.04956414 0.99873175 -0.00884803 -0.57957685] [ 0.08451054 0.01302083 0.99633751 -0.05829998] [ 0. 0. 0. 1. ]] SLAMing on 53.492401008 meters Centerline goodness [0,1] 0.9028283310460051 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.58, Z:-0.06 [[ 0.99517931 0.04800166 -0.08552181 5.47453724] [-0.04893213 0.9987632 -0.00881586 -0.5805227 ] [ 0.08499286 0.01295813 0.99629729 -0.05877163] [ 0. 0. 0. 1. ]] SLAMing on 53.522401008 meters Centerline goodness [0,1] 0.9021706720734689 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.58, Z:-0.06 [[ 0.99518587 0.0472405 -0.08586866 5.47670135] [-0.04820446 0.99879525 -0.00918625 -0.58040518] [ 0.08533124 0.01328128 0.99626411 -0.05994547] [ 0. 0. 0. 1. ]] SLAMing on 53.552401008000004 meters Centerline goodness [0,1] 0.9012283107745513 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.58, Z:-0.06 [[ 0.99519099 0.04635759 -0.08628939 5.47915662] [-0.04737991 0.99882851 -0.0098364 -0.57971922] [ 0.08573231 0.01387748 0.99622155 -0.06141446] [ 0. 0. 0. 1. ]] SLAMing on 53.582401008000005 meters Centerline goodness [0,1] 0.8966433733500567 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.58, Z:-0.06 [[ 0.99518324 0.0455216 -0.0868223 5.48146274] [-0.04656471 0.99886496 -0.01002609 -0.57989688] [ 0.08626735 0.01402066 0.99617336 -0.06195421] [ 0. 0. 0. 1. ]] SLAMing on 53.612401008000006 meters Centerline goodness [0,1] 0.9004608846591249 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.58, Z:-0.06 [[ 0.99517029 0.04533167 -0.08706971 5.48227025] [-0.04635825 0.99887677 -0.0098036 -0.58036523] [ 0.08652749 0.01379265 0.99615398 -0.06175604] [ 0. 0. 0. 1. ]] SLAMing on 53.64240100800001 meters Centerline goodness [0,1] 0.8975809831746602 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.58, Z:-0.06 [[ 0.99514288 0.04525115 -0.08742411 5.48278229] [-0.04623576 0.99888755 -0.00926941 -0.58096524] [ 0.0869074 0.01326651 0.99612806 -0.06065669] [ 0. 0. 0. 1. ]] SLAMing on 53.672401008 meters Centerline goodness [0,1] 0.9013290132901329 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.58, Z:-0.06 [[ 0.99510841 0.04517455 -0.08785503 5.48306962] [-0.04609667 0.99890087 -0.00849458 -0.58230386] [ 0.08737472 0.01250286 0.99609705 -0.05885246] [ 0. 0. 0. 1. ]] SLAMing on 53.702401008 meters Centerline goodness [0,1] 0.9040870631147786 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.58, Z:-0.06 [[ 0.99508763 0.04507307 -0.08814206 5.48372665] [-0.0459785 0.99890821 -0.00826812 -0.58241712] [ 0.08767316 0.01228015 0.9960736 -0.05844305] [ 0. 0. 0. 1. ]] SLAMing on 53.732401008000004 meters Centerline goodness [0,1] 0.9039509129003293 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.58, Z:-0.06 [[ 0.99508549 0.04490743 -0.08825077 5.48432786] [-0.0458279 0.99891377 -0.00843088 -0.58184354] [ 0.0877763 0.01243379 0.99606261 -0.05875956] [ 0. 0. 0. 1. ]] SLAMing on 53.762401008000005 meters Centerline goodness [0,1] 0.9078708525517036 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.58, Z:-0.06 [[ 0.99507461 0.04456944 -0.08854425 5.48555626] [-0.04553476 0.99892301 -0.00891133 -0.5805195 ] [ 0.08805171 0.01289928 0.99603238 -0.05958503] [ 0. 0. 0. 1. ]] SLAMing on 53.792401008000006 meters Centerline goodness [0,1] 0.90378887167878 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.58, Z:-0.06 [[ 0.99506821 0.04457677 -0.08861242 5.48555477] [-0.04552003 0.99892596 -0.00865168 -0.58057233] [ 0.08813158 0.01264265 0.99602861 -0.05901818] [ 0. 0. 0. 1. ]] SLAMing on 53.82240100800001 meters Centerline goodness [0,1] 0.9071573060447407 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.58, Z:-0.06 [[ 0.99504428 0.04435867 -0.08898988 5.48637678] [-0.04526031 0.99894207 -0.00813874 -0.58112156] [ 0.08853471 0.01212611 0.99599928 -0.05799384] [ 0. 0. 0. 1. ]] SLAMing on 53.852401008 meters Centerline goodness [0,1] 0.9083921708821163 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.58, Z:-0.06 [[ 0.99502297 0.04428571 -0.08926406 5.48655163] [-0.04512446 0.99895397 -0.00739929 -0.58198354] [ 0.088843 0.01139046 0.99598051 -0.05641619] [ 0. 0. 0. 1. ]] SLAMing on 53.882401008 meters Centerline goodness [0,1] 0.9109919571045576 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.58, Z:-0.06 [[ 0.9950028 0.04425066 -0.08950588 5.4867478 ] [-0.04503523 0.9989625 -0.00676419 -0.58271384] [ 0.0891137 0.01076131 0.99596332 -0.05512593] [ 0. 0. 0. 1. ]] SLAMing on 53.912401008 meters Centerline goodness [0,1] 0.9105325795894079 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.58, Z:-0.05 [[ 0.994991 0.04416158 -0.08968094 5.48717463] [-0.04491751 0.99897002 -0.00642756 -0.58257405] [ 0.08930472 0.01042361 0.99594981 -0.05446858] [ 0. 0. 0. 1. ]] SLAMing on 53.942401008000004 meters Centerline goodness [0,1] 0.9090153718321562 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.58, Z:-0.06 [[ 0.99498573 0.04415436 -0.08974287 5.48761453] [-0.04497283 0.99896285 -0.0071176 -0.57993416] [ 0.08933552 0.0111179 0.99593953 -0.05545373] [ 0. 0. 0. 1. ]] SLAMing on 53.972401008000006 meters Centerline goodness [0,1] 0.9085914530929825 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.58, Z:-0.06 [[ 0.99498281 0.04446515 -0.0896218 5.48711124] [-0.0452873 0.99894834 -0.00716005 -0.57871362] [ 0.08920917 0.01118286 0.99595013 -0.05538522] [ 0. 0. 0. 1. ]] SLAMing on 54.00240100800001 meters Centerline goodness [0,1] 0.9102332335595531 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.58, Z:-0.05 [[ 0.99497235 0.04479145 -0.08957534 5.48642445] [-0.04558509 0.99893709 -0.00683294 -0.5780875 ] [ 0.08917407 0.01088189 0.99595661 -0.0544631 ] [ 0. 0. 0. 1. ]] SLAMing on 54.032401008 meters Centerline goodness [0,1] 0.9082468434903457 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.58, Z:-0.05 [[ 0.99493731 0.04649171 -0.08909693 5.48281121] [-0.04717519 0.99887105 -0.00557969 -0.57745683] [ 0.08873693 0.00975461 0.99600733 -0.05167097] [ 0. 0. 0. 1. ]] SLAMing on 54.062401008 meters Centerline goodness [0,1] 0.9059652640580309 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.58, Z:-0.05 [[ 9.94924651e-01 4.72685281e-02 -8.88291930e-02 5.48111579e+00] [-4.79046496e-02 9.98839189e-01 -5.04179459e-03 -5.76697970e-01] [ 8.84877609e-02 9.27153709e-03 9.96034113e-01 -5.04070408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.092401008 meters Centerline goodness [0,1] 0.9066202912220716 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.58, Z:-0.05 [[ 9.94930508e-01 4.78613470e-02 -8.84453249e-02 5.47958794e+00] [-4.84806606e-02 9.98812268e-01 -4.86614427e-03 -5.75559719e-01] [ 8.81073754e-02 9.12936317e-03 9.96069147e-01 -4.98584391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.122401008000004 meters Centerline goodness [0,1] 0.9052557567235014 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.58, Z:-0.05 [[ 9.94685453e-01 5.16111632e-02 -8.90906098e-02 5.48134494e+00] [-5.17838643e-02 9.98658246e-01 3.73296582e-04 -5.78204348e-01] [ 8.89903384e-02 4.24214337e-03 9.96023455e-01 -4.74184240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.152401008000005 meters Centerline goodness [0,1] 0.9071428571428571 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.58, Z:-0.05 [[ 9.94677213e-01 5.17860481e-02 -8.90811267e-02 5.48102214e+00] [-5.19186900e-02 9.98650971e-01 8.29012789e-04 -5.79786905e-01] [ 8.90038850e-02 3.80037527e-03 9.96024029e-01 -4.68694541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18240100800001 meters Centerline goodness [0,1] 0.9092225407050619 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.58, Z:-0.05 [[ 9.94672376e-01 5.15373284e-02 -8.92791612e-02 5.48169586e+00] [-5.16529200e-02 9.98664579e-01 1.01671882e-03 -5.80945135e-01] [ 8.92123349e-02 3.60022724e-03 9.96006123e-01 -4.67167927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.212401008 meters Centerline goodness [0,1] 0.9100530660377358 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.58, Z:-0.05 [[ 9.94674168e-01 5.10307632e-02 -8.95497637e-02 5.48296081e+00] [-5.11205477e-02 9.98691654e-01 1.29211951e-03 -5.82223074e-01] [ 8.94985394e-02 3.29259507e-03 9.95981511e-01 -4.65819027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.242401008 meters Centerline goodness [0,1] 0.9102344027465372 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.58, Z:-0.05 [[ 9.94667918e-01 5.01441460e-02 -9.01182469e-02 5.48536240e+00] [-5.02435619e-02 9.98736313e-01 1.16647263e-03 -5.83452249e-01] [ 9.00628575e-02 3.36760881e-03 9.95930390e-01 -4.72035203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.272401008 meters Centerline goodness [0,1] 0.9128833991508062 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.58, Z:-0.05 [[ 9.94676033e-01 4.77302656e-02 -9.13313281e-02 5.49089652e+00] [-4.79390137e-02 9.98850260e-01 -9.19703215e-05 -5.84280548e-01] [ 9.12219311e-02 4.46981447e-03 9.95820556e-01 -4.93424266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.302401008000004 meters Centerline goodness [0,1] 0.91432651118515 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.58, Z:-0.05 [[ 9.94663510e-01 4.68369263e-02 -9.19282541e-02 5.49313701e+00] [-4.70997314e-02 9.98889953e-01 -6.90201828e-04 -5.83870340e-01] [ 9.17938825e-02 5.01631465e-03 9.95765394e-01 -5.00702158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.332401008000005 meters Centerline goodness [0,1] 0.9138402951326907 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.58, Z:-0.05 [[ 9.94648407e-01 4.57922558e-02 -9.26154161e-02 5.49589063e+00] [-4.61010596e-02 9.98936064e-01 -1.19644968e-03 -5.83401731e-01] [ 9.24620911e-02 5.45971558e-03 9.95701237e-01 -5.08019422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.362401008000006 meters Centerline goodness [0,1] 0.9159579196918062 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.58, Z:-0.05 [[ 9.94613934e-01 4.45866765e-02 -9.35689601e-02 5.49930291e+00] [-4.49297678e-02 9.98988927e-01 -1.56223765e-03 -5.83086934e-01] [ 9.34047000e-02 5.75785498e-03 9.95611575e-01 -5.12540118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39240100800001 meters Centerline goodness [0,1] 0.9169609734381956 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.58, Z:-0.05 [[ 9.94622845e-01 4.21008490e-02 -9.46198446e-02 5.50437845e+00] [-4.25493914e-02 9.99090643e-01 -2.72704368e-03 -5.83007114e-01] [ 9.44189905e-02 6.73839674e-03 9.95509743e-01 -5.27624443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.422401008 meters Centerline goodness [0,1] 0.9142712761213995 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.58, Z:-0.05 [[ 9.94597495e-01 4.12719002e-02 -9.52494250e-02 5.50632270e+00] [-4.17096350e-02 9.99126370e-01 -2.60846391e-03 -5.83730455e-01] [ 9.50585559e-02 6.56719042e-03 9.95450020e-01 -5.22505457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.452401008 meters Centerline goodness [0,1] 0.9169368994139172 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.58, Z:-0.05 [[ 9.94568275e-01 4.05549911e-02 -9.58605223e-02 5.50780344e+00] [-4.09718003e-02 9.99157462e-01 -2.38294898e-03 -5.84470849e-01] [ 9.56831157e-02 6.29758363e-03 9.95391924e-01 -5.12467060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.482401008000004 meters Centerline goodness [0,1] 0.9195409134157945 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.58, Z:-0.05 [[ 9.94554234e-01 3.98452552e-02 -9.63028108e-02 5.50834732e+00] [-4.01998225e-02 9.99190139e-01 -1.74364122e-03 -5.84966804e-01] [ 9.61553431e-02 5.60550165e-03 9.95350556e-01 -4.88102956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.512401008000005 meters Centerline goodness [0,1] 0.9093795436337201 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.58, Z:-0.05 [[ 9.94546075e-01 3.99015794e-02 -9.63637349e-02 5.50794887e+00] [-4.02156819e-02 9.99190152e-01 -1.31878817e-03 -5.84287712e-01] [ 9.62330732e-02 5.18692891e-03 9.95345313e-01 -4.74266764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.542401008000006 meters Centerline goodness [0,1] 0.9093795436337201 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.58, Z:-0.05 [[ 9.94546075e-01 3.99015794e-02 -9.63637349e-02 5.50794887e+00] [-4.02156819e-02 9.99190152e-01 -1.31878817e-03 -5.84287712e-01] [ 9.62330732e-02 5.18692891e-03 9.95345313e-01 -4.74266764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57240100800001 meters Centerline goodness [0,1] 0.9084206786285308 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.58, Z:-0.05 [[ 9.94543605e-01 4.02233249e-02 -9.62554014e-02 5.50701410e+00] [-4.05124997e-02 9.99178479e-01 -1.05102506e-03 -5.82953890e-01] [ 9.61340498e-02 4.94483717e-03 9.95356114e-01 -4.63793839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.602401008 meters Centerline goodness [0,1] 0.90970767823958 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.58, Z:-0.05 [[ 9.94540822e-01 4.05403642e-02 -9.61510866e-02 5.50620572e+00] [-4.08161202e-02 9.99166268e-01 -9.02052689e-04 -5.80884786e-01] [ 9.60343528e-02 4.82164253e-03 9.95366342e-01 -4.54772505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.632401008 meters Centerline goodness [0,1] 0.9178504343742663 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.58, Z:-0.04 [[ 9.94374977e-01 4.52152454e-02 -9.57809359e-02 5.50469901e+00] [-4.51030255e-02 9.98976766e-01 3.33740488e-03 -5.77815782e-01] [ 9.58338311e-02 1.00137809e-03 9.95396842e-01 -4.36064313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.662401008 meters Centerline goodness [0,1] 0.9214256428278569 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.57, Z:-0.04 [[ 9.94362552e-01 4.61317348e-02 -9.54723925e-02 5.50291382e+00] [-4.60170306e-02 9.98934856e-01 3.40397636e-03 -5.74938712e-01] [ 9.55277320e-02 1.00856939e-03 9.95426258e-01 -4.28893667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.692401008000004 meters Centerline goodness [0,1] 0.9231596697290383 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.58, Z:-0.04 [[ 9.94117069e-01 5.04293152e-02 -9.58547766e-02 5.50328313e+00] [-4.98927626e-02 9.98722639e-01 7.98762320e-03 -5.75076655e-01] [ 9.61351458e-02 -3.15817295e-03 9.95363280e-01 -4.08369383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.722401008000006 meters Centerline goodness [0,1] 0.9208196673729429 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.57, Z:-0.04 [[ 9.94102311e-01 5.13135395e-02 -9.55380359e-02 5.50135288e+00] [-5.08108799e-02 9.98678699e-01 7.68830701e-03 -5.71987815e-01] [ 9.58063157e-02 -2.78859210e-03 9.95396089e-01 -4.04379404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75240100800001 meters Centerline goodness [0,1] 0.9206138196110164 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.57, Z:-0.04 [[ 9.94083392e-01 5.21291802e-02 -9.52930170e-02 5.50003934e+00] [-5.16640287e-02 9.98637521e-01 7.34369085e-03 -5.69015376e-01] [ 9.55460028e-02 -2.37701995e-03 9.95422177e-01 -4.05641276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.782401008 meters Centerline goodness [0,1] 0.9127766251728907 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.56, Z:-0.04 [[ 9.93832670e-01 5.66566809e-02 -9.53238891e-02 5.50038444e+00] [-5.59434121e-02 9.98382443e-01 1.01406349e-02 -5.64810230e-01] [ 9.57442319e-02 -4.74535062e-03 9.95394657e-01 -4.16281469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.812401008 meters Centerline goodness [0,1] 0.9105020477131484 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.56, Z:-0.04 [[ 9.93817304e-01 5.69773411e-02 -9.52929625e-02 5.50034325e+00] [-5.63475541e-02 9.98368002e-01 9.28903670e-03 -5.61480194e-01] [ 9.56667091e-02 -3.86208004e-03 9.95405930e-01 -4.27336540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.842401008 meters Centerline goodness [0,1] 0.9111680182102717 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.56, Z:-0.04 [[ 9.93803074e-01 5.71304781e-02 -9.53496696e-02 5.50065781e+00] [-5.65698598e-02 9.98361822e-01 8.57462430e-03 -5.58892836e-01] [ 9.56833423e-02 -3.12757053e-03 9.95406910e-01 -4.36983349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.872401008000004 meters Centerline goodness [0,1] 0.9082235347569286 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.56, Z:-0.04 [[ 9.93774778e-01 5.77802350e-02 -9.52530041e-02 5.50012426e+00] [-5.72642809e-02 9.98325840e-01 8.14361369e-03 -5.57239827e-01] [ 9.55640753e-02 -2.63832311e-03 9.95419784e-01 -4.44879598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.902401008000005 meters Centerline goodness [0,1] 0.9096058061761776 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.56, Z:-0.04 [[ 9.93767171e-01 5.79995907e-02 -9.51990425e-02 5.49996610e+00] [-5.74813877e-02 9.98313074e-01 8.17900710e-03 -5.57319092e-01] [ 9.55128278e-02 -2.65585568e-03 9.95424656e-01 -4.46257343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.93240100800001 meters Centerline goodness [0,1] 0.9083321504613201 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.56, Z:-0.05 [[ 9.93764143e-01 5.80980296e-02 -9.51706222e-02 5.50010519e+00] [-5.75825946e-02 9.98307433e-01 8.15563623e-03 -5.57547639e-01] [ 9.54833659e-02 -2.62460749e-03 9.95427566e-01 -4.50194349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.962401008 meters Centerline goodness [0,1] 0.9054361423859889 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.56, Z:-0.05 [[ 9.93761076e-01 5.80908077e-02 -9.52070433e-02 5.50046819e+00] [-5.75737102e-02 9.98307815e-01 8.17161205e-03 -5.57969502e-01] [ 9.55206308e-02 -2.63920726e-03 9.95423952e-01 -4.53466216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.992401008 meters Centerline goodness [0,1] 0.907787118027945 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.56, Z:-0.05 [[ 9.93760564e-01 5.80116731e-02 -9.52606265e-02 5.50099359e+00] [-5.74991428e-02 9.98312543e-01 8.11878296e-03 -5.58492170e-01] [ 9.55708625e-02 -2.59072198e-03 9.95419258e-01 -4.58055280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.022401008 meters Centerline goodness [0,1] 0.9074469599886088 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.56, Z:-0.04 [[ 9.93749491e-01 5.89099928e-02 -9.48238475e-02 5.49907910e+00] [-5.83115147e-02 9.98257210e-01 9.07247501e-03 -5.60698919e-01] [ 9.51930489e-02 -3.48644524e-03 9.95452725e-01 -4.47364859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.052401008000004 meters Centerline goodness [0,1] 0.9076105587932808 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.56, Z:-0.04 [[ 9.93736817e-01 5.93659162e-02 -9.46722064e-02 5.49805058e+00] [-5.86928698e-02 9.98227190e-01 9.88047221e-03 -5.62414442e-01] [ 9.50909339e-02 -4.26200551e-03 9.95459467e-01 -4.35396035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.082401008000005 meters Centerline goodness [0,1] 0.9097527550962142 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.56, Z:-0.04 [[ 9.93725180e-01 5.99270534e-02 -9.44405378e-02 5.49662552e+00] [-5.91711968e-02 9.98189575e-01 1.07861706e-02 -5.64578459e-01] [ 9.49159437e-02 -5.13032964e-03 9.95472071e-01 -4.21392014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.112401008000006 meters Centerline goodness [0,1] 0.9087173888058844 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.57, Z:-0.04 [[ 9.93984067e-01 5.69290161e-02 -9.35668817e-02 5.49359002e+00] [-5.64903035e-02 9.98376219e-01 7.33287428e-03 -5.65881711e-01] [ 9.38324029e-02 -2.00313866e-03 9.95585992e-01 -4.25304107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14240100800001 meters Centerline goodness [0,1] 0.9113473139902327 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.57, Z:-0.04 [[ 9.93995513e-01 5.66375247e-02 -9.36221712e-02 5.49444606e+00] [-5.61891494e-02 9.98392566e-01 7.42047836e-03 -5.67400383e-01] [ 9.38919573e-02 -2.11537203e-03 9.95580145e-01 -4.30849616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.172401008 meters Centerline goodness [0,1] 0.9109508347461279 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.57, Z:-0.04 [[ 9.93992658e-01 5.60327845e-02 -9.40155459e-02 5.49622323e+00] [-5.55815557e-02 9.98426629e-01 7.41330460e-03 -5.69082738e-01] [ 9.42830126e-02 -2.14324004e-03 9.95543128e-01 -4.36577800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.202401008 meters Centerline goodness [0,1] 0.9123650154888393 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.57, Z:-0.05 [[ 9.94232395e-01 5.10984848e-02 -9.42915135e-02 5.49829007e+00] [-5.10548067e-02 9.98691709e-01 2.87714437e-03 -5.71518795e-01] [ 9.43151704e-02 1.95348486e-03 9.95540473e-01 -4.63740780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.232401008000004 meters Centerline goodness [0,1] 0.915348078211965 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.57, Z:-0.05 [[ 9.94451092e-01 4.78659991e-02 -9.36796223e-02 5.49958559e+00] [-4.80375413e-02 9.98845441e-01 4.24313462e-04 -5.72933044e-01] [ 9.35917738e-02 4.07817974e-03 9.95602304e-01 -4.84481492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.262401008000005 meters Centerline goodness [0,1] 0.916712872442875 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.58, Z:-0.05 [[ 9.94450190e-01 4.70263588e-02 -9.41134500e-02 5.50175663e+00] [-4.71640420e-02 9.98886867e-01 7.62076215e-04 -5.75924058e-01] [ 9.40445269e-02 3.68092387e-03 9.95561187e-01 -4.87139850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.292401008000006 meters Centerline goodness [0,1] 0.9189038850016102 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.58, Z:-0.05 [[ 9.94436384e-01 4.63291718e-02 -9.46038385e-02 5.50362106e+00] [-4.64198302e-02 9.98921245e-01 1.24335174e-03 -5.78634860e-01] [ 9.45593876e-02 3.15505992e-03 9.95514223e-01 -4.84276591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32240100800001 meters Centerline goodness [0,1] 0.9220962340638035 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.58, Z:-0.05 [[ 9.94432772e-01 4.57366015e-02 -9.49295773e-02 5.50499299e+00] [-4.57692802e-02 9.98950353e-01 1.83422270e-03 -5.81235597e-01] [ 9.49138259e-02 2.52084726e-03 9.95482301e-01 -4.78837546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.352401008 meters Centerline goodness [0,1] 0.9253854301518183 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.58, Z:-0.05 [[ 9.94591933e-01 4.26185511e-02 -9.47129699e-02 5.50767076e+00] [-4.27747952e-02 9.99084667e-01 3.80883898e-04 -5.84280667e-01] [ 9.46425088e-02 3.67250384e-03 9.95504550e-01 -4.95395995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.382401008 meters Centerline goodness [0,1] 0.9262653736991485 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.59, Z:-0.05 [[ 9.94581738e-01 4.20652150e-02 -9.50667318e-02 5.50929042e+00] [-4.21963313e-02 9.99109139e-01 6.31559026e-04 -5.86113647e-01] [ 9.50086072e-02 3.38333023e-03 9.95470702e-01 -4.97013210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.412401008 meters Centerline goodness [0,1] 0.9252618498135985 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.59, Z:-0.05 [[ 9.94556276e-01 4.16431729e-02 -9.55178562e-02 5.51061225e+00] [-4.17486888e-02 9.99127743e-01 8.94376244e-04 -5.87328795e-01] [ 9.54717847e-02 3.09823774e-03 9.95427315e-01 -4.93300328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.442401008000004 meters Centerline goodness [0,1] 0.9268408410189496 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.59, Z:-0.05 [[ 9.94546917e-01 4.16197118e-02 -9.56254604e-02 5.51064728e+00] [-4.16863321e-02 9.99129899e-01 1.30180197e-03 -5.88674055e-01] [ 9.55964372e-02 2.69157156e-03 9.95416534e-01 -4.86432432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.472401008000006 meters Centerline goodness [0,1] 0.9272479725330018 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.59, Z:-0.05 [[ 9.94539142e-01 4.18574241e-02 -9.56025703e-02 5.50990747e+00] [-4.18523092e-02 9.99121685e-01 2.05957220e-03 -5.90069891e-01] [ 9.56048095e-02 1.95286317e-03 9.95417453e-01 -4.71873941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50240100800001 meters Centerline goodness [0,1] 0.9283595372293088 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.59, Z:-0.05 [[ 9.94526290e-01 4.26450130e-02 -9.53879485e-02 5.50820865e+00] [-4.25620195e-02 9.99089602e-01 2.90541619e-03 -5.91055340e-01] [ 9.54250090e-02 1.17039094e-03 9.95435934e-01 -4.56847684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.532401008 meters Centerline goodness [0,1] 0.9276453737337941 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.59, Z:-0.05 [[ 9.94525478e-01 4.26487724e-02 -9.53947389e-02 5.50859183e+00] [-4.25951523e-02 9.99089033e-01 2.59926924e-03 -5.90108929e-01] [ 9.54186931e-02 1.47831396e-03 9.95436129e-01 -4.63567489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.562401008 meters Centerline goodness [0,1] 0.9291894286136129 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.59, Z:-0.05 [[ 9.94530931e-01 4.25799885e-02 -9.53686077e-02 5.50922521e+00] [-4.25723017e-02 9.99091147e-01 2.11619653e-03 -5.88600070e-01] [ 9.53720393e-02 1.95543823e-03 9.95439777e-01 -4.74620963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.592401008 meters Centerline goodness [0,1] 0.9263610399552454 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.59, Z:-0.05 [[ 9.94539865e-01 4.28876223e-02 -9.51373155e-02 5.50929863e+00] [-4.29567167e-02 9.99076059e-01 1.32260861e-03 -5.85754204e-01] [ 9.51061377e-02 2.77139972e-03 9.95463280e-01 -4.92671383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.622401008000004 meters Centerline goodness [0,1] 0.925859377301246 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.59, Z:-0.05 [[ 9.94529590e-01 4.33798438e-02 -9.50214911e-02 5.50844945e+00] [-4.34308518e-02 9.99055260e-01 1.53222044e-03 -5.85296996e-01] [ 9.49981880e-02 2.60302573e-03 9.95474042e-01 -4.88295714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.652401008000005 meters Centerline goodness [0,1] 0.9262477980035232 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.58, Z:-0.05 [[ 9.94504426e-01 4.35083517e-02 -9.52258902e-02 5.50857132e+00] [-4.35467338e-02 9.99049985e-01 1.67600012e-03 -5.84556946e-01] [ 9.52083442e-02 2.47998695e-03 9.95454279e-01 -4.82310768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68240100800001 meters Centerline goodness [0,1] 0.9258388670153376 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.58, Z:-0.05 [[ 9.94507951e-01 4.41519309e-02 -9.48922715e-02 5.50701495e+00] [-4.41727767e-02 9.99022134e-01 1.88190977e-03 -5.83633329e-01] [ 9.48825695e-02 2.32008088e-03 9.95485768e-01 -4.76261933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.712401008 meters Centerline goodness [0,1] 0.9240643591922862 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.58, Z:-0.05 [[ 9.94504820e-01 4.56150964e-02 -9.42307011e-02 5.50375955e+00] [-4.55871235e-02 9.98957361e-01 2.45060515e-03 -5.81731066e-01] [ 9.42442371e-02 1.85856798e-03 9.95547372e-01 -4.62196465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.742401008 meters Centerline goodness [0,1] 0.9230386562490855 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.58, Z:-0.04 [[ 9.94483518e-01 4.60154154e-02 -9.42608832e-02 5.50296307e+00] [-4.59520116e-02 9.98939599e-01 2.84425993e-03 -5.80971294e-01] [ 9.42918087e-02 1.50290757e-03 9.95543468e-01 -4.49362789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.772401008 meters Centerline goodness [0,1] 0.9226918798665183 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.58, Z:-0.04 [[ 9.94489833e-01 4.68457738e-02 -9.37840387e-02 5.50077715e+00] [-4.67342982e-02 9.98901618e-01 3.38580851e-03 -5.80175316e-01] [ 9.38396388e-02 1.01577910e-03 9.95586807e-01 -4.37158703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.802401008000004 meters Centerline goodness [0,1] 0.9232500365336841 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.58, Z:-0.04 [[ 9.94497606e-01 4.74521600e-02 -9.33959581e-02 5.49916754e+00] [-4.73212298e-02 9.98873173e-01 3.61728602e-03 -5.78883478e-01] [ 9.34623650e-02 8.22229307e-04 9.95622474e-01 -4.29962805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.832401008000005 meters Centerline goodness [0,1] 0.9245420817387748 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.58, Z:-0.04 [[ 9.94523060e-01 4.83297235e-02 -9.26721112e-02 5.49667499e+00] [-4.81804040e-02 9.98831233e-01 3.84921029e-03 -5.77406891e-01] [ 9.27498304e-02 6.36851359e-04 9.95689240e-01 -4.23643242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.862401008000006 meters Centerline goodness [0,1] 0.9248168578349824 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.58, Z:-0.04 [[ 9.94510543e-01 4.87313887e-02 -9.25960695e-02 5.49575257e+00] [-4.85387467e-02 9.98811903e-01 4.33275133e-03 -5.77685824e-01] [ 9.26971973e-02 1.85530285e-04 9.95694328e-01 -4.12817082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89240100800001 meters Centerline goodness [0,1] 0.9264628514643128 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.58, Z:-0.04 [[ 9.94498642e-01 4.85332773e-02 -9.28276459e-02 5.49596919e+00] [-4.83122301e-02 9.98821559e-01 4.62832486e-03 -5.78597551e-01] [ 9.29428818e-02 -1.18152205e-04 9.95671435e-01 -4.03872294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.922401008 meters Centerline goodness [0,1] 0.9264770240700219 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.58, Z:-0.04 [[ 9.94481347e-01 4.79797224e-02 -9.32995046e-02 5.49750697e+00] [-4.77512383e-02 9.98848290e-01 4.68113831e-03 -5.79147168e-01] [ 9.34166503e-02 -2.00137857e-04 9.95627083e-01 -4.02184573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.952401008 meters Centerline goodness [0,1] 0.9296527940144962 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.58, Z:-0.04 [[ 9.94485093e-01 4.72974744e-02 -9.36074159e-02 5.49883661e+00] [-4.70769377e-02 9.98880839e-01 4.56404175e-03 -5.80007674e-01] [ 9.37185219e-02 -1.32121000e-04 9.95598725e-01 -4.03786216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.982401008000004 meters Centerline goodness [0,1] 0.9289537570563632 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.58, Z:-0.04 [[ 9.94469312e-01 4.67413469e-02 -9.40533620e-02 5.50005212e+00] [-4.64821339e-02 9.98906876e-01 4.94609782e-03 -5.81500860e-01] [ 9.41817373e-02 -5.46941529e-04 9.95554871e-01 -3.96139373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.012401008000005 meters Centerline goodness [0,1] 0.930675655869852 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.58, Z:-0.04 [[ 9.94672570e-01 4.21809385e-02 -9.40598038e-02 5.50047657e+00] [-4.23454746e-02 9.99102998e-01 2.46864371e-04 -5.79954016e-01] [ 9.39858449e-02 3.73745782e-03 9.95566518e-01 -4.10206874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.042401008000006 meters Centerline goodness [0,1] 0.9325286379749802 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.58, Z:-0.04 [[ 9.94687912e-01 3.95291227e-02 -9.50442283e-02 5.50608047e+00] [-3.98221544e-02 9.99206078e-01 -1.18761572e-03 -5.80004075e-01] [ 9.49218252e-02 4.96617294e-03 9.95472342e-01 -4.35237232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07240100800001 meters Centerline goodness [0,1] 0.9340430523784387 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.58, Z:-0.04 [[ 9.94658005e-01 3.86067967e-02 -9.57338438e-02 5.50886096e+00] [-3.89482824e-02 9.99239781e-01 -1.70027422e-03 -5.79695022e-01] [ 9.55954230e-02 5.41986015e-03 9.95405515e-01 -4.44642210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.102401008 meters Centerline goodness [0,1] 0.9293035479632064 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.58, Z:-0.04 [[ 9.94624082e-01 3.78225254e-02 -9.63970575e-02 5.51129865e+00] [-3.81996099e-02 9.99267987e-01 -2.06866413e-03 -5.79222011e-01] [ 9.62482515e-02 5.73987315e-03 9.95340810e-01 -4.49946226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.132401008 meters Centerline goodness [0,1] 0.9307113362813717 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.58, Z:-0.05 [[ 9.94605088e-01 3.74681917e-02 -9.67308290e-02 5.51252454e+00] [-3.78771838e-02 9.99279533e-01 -2.39471334e-03 -5.78426260e-01] [ 9.65714120e-02 6.04568546e-03 9.95307697e-01 -4.53922979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.162401008 meters Centerline goodness [0,1] 0.9296498554449084 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.58, Z:-0.05 [[ 9.94578450e-01 3.70610343e-02 -9.71606219e-02 5.51420990e+00] [-3.75586497e-02 9.99288986e-01 -3.29701684e-03 -5.75656699e-01] [ 9.69693485e-02 6.92836366e-03 9.95263253e-01 -4.65703586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.192401008000004 meters Centerline goodness [0,1] 0.9289794253074547 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.57, Z:-0.05 [[ 9.94563346e-01 3.68478854e-02 -9.73960192e-02 5.51501518e+00] [-3.73877176e-02 9.99293900e-01 -3.72280491e-03 -5.73800105e-01] [ 9.71900704e-02 7.34398017e-03 9.95238743e-01 -4.68774644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.222401008000006 meters Centerline goodness [0,1] 0.9295799097326698 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.58, Z:-0.04 [[ 9.94332275e-01 3.96983570e-02 -9.86274123e-02 5.51879982e+00] [-3.97938926e-02 9.99207410e-01 9.99120551e-04 -5.75086042e-01] [ 9.85889047e-02 2.93131084e-03 9.95123930e-01 -4.46640733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25240100800001 meters Centerline goodness [0,1] 0.9288646885828262 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.57, Z:-0.04 [[ 9.94318558e-01 3.93280729e-02 -9.89136401e-02 5.51971427e+00] [-3.94512774e-02 9.99221242e-01 7.10808247e-04 -5.74290061e-01] [ 9.88645651e-02 3.19549962e-03 9.95095768e-01 -4.47565624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.282401008 meters Centerline goodness [0,1] 0.9270117619657622 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.57, Z:-0.04 [[ 9.94292377e-01 3.88390891e-02 -9.93689841e-02 5.52082412e+00] [-3.89684136e-02 9.99240238e-01 6.39878343e-04 -5.74160705e-01] [ 9.93183397e-02 3.23602551e-03 9.95050449e-01 -4.43438349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.312401008 meters Centerline goodness [0,1] 0.9262092434775021 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.57, Z:-0.04 [[ 9.94277679e-01 3.79752148e-02 -9.98487841e-02 5.52218334e+00] [-3.81288049e-02 9.99272764e-01 3.70341722e-04 -5.72950328e-01] [ 9.97902343e-02 3.43889230e-03 9.95002554e-01 -4.37076059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.342401008 meters Centerline goodness [0,1] 0.9276473822822909 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.57, Z:-0.04 [[ 9.94251205e-01 3.74140990e-02 -1.00323111e-01 5.52368637e+00] [-3.75925613e-02 9.99293144e-01 1.11671008e-04 -5.71226954e-01] [ 1.00256375e-01 3.66037368e-03 9.94954904e-01 -4.35331147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.372401008000004 meters Centerline goodness [0,1] 0.9252336448598131 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.57, Z:-0.04 [[ 9.94225869e-01 3.72625623e-02 -1.00630126e-01 5.52410571e+00] [-3.74530516e-02 9.99298388e-01 -3.72010777e-06 -5.69745013e-01] [ 1.00559384e-01 3.77260394e-03 9.94923905e-01 -4.29315063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.402401008000005 meters Centerline goodness [0,1] 0.9277838711539572 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.57, Z:-0.04 [[ 9.94166487e-01 3.70360911e-02 -1.01298198e-01 5.52512416e+00] [-3.72740742e-02 9.99304976e-01 -4.56920890e-04 -5.66857451e-01] [ 1.01210870e-01 4.23005197e-03 9.94856003e-01 -4.23224509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.43240100800001 meters Centerline goodness [0,1] 0.9267470018450185 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.57, Z:-0.04 [[ 9.94150797e-01 3.72713618e-02 -1.01365862e-01 5.52471638e+00] [-3.75206086e-02 9.99295701e-01 -5.52763291e-04 -5.65036774e-01] [ 1.01273868e-01 4.35283889e-03 9.94849062e-01 -4.18083516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46240100800001 meters Centerline goodness [0,1] 0.9267470018450185 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.57, Z:-0.04 [[ 9.94150797e-01 3.72713618e-02 -1.01365862e-01 5.52471638e+00] [-3.75206086e-02 9.99295701e-01 -5.52763291e-04 -5.65036774e-01] [ 1.01273868e-01 4.35283889e-03 9.94849062e-01 -4.18083516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.492401008 meters Centerline goodness [0,1] 0.9250459664444955 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.56, Z:-0.04 [[ 9.94141123e-01 3.74544492e-02 -1.01393257e-01 5.52432845e+00] [-3.77154896e-02 9.99288301e-01 -6.58093692e-04 -5.62777485e-01] [ 1.01296447e-01 4.47833434e-03 9.94846206e-01 -4.12645373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.522401008 meters Centerline goodness [0,1] 0.924052081842896 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.56, Z:-0.04 [[ 9.94124641e-01 3.75613550e-02 -1.01515238e-01 5.52405115e+00] [-3.78064417e-02 9.99284960e-01 -4.90745381e-04 -5.61102104e-01] [ 1.01424218e-01 4.32579201e-03 9.94833863e-01 -4.01541243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.552401008000004 meters Centerline goodness [0,1] 0.9223810746796792 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.56, Z:-0.04 [[ 9.94114455e-01 3.77601881e-02 -1.01541217e-01 5.52348642e+00] [-3.80603113e-02 9.99274924e-01 -1.01925660e-03 -5.57187510e-01] [ 1.01429104e-01 4.87794804e-03 9.94830811e-01 -3.97842196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.582401008000005 meters Centerline goodness [0,1] 0.9224861328402788 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.55, Z:-0.04 [[ 9.94110144e-01 3.76582134e-02 -1.01621258e-01 5.52375709e+00] [-3.80106805e-02 9.99276156e-01 -1.53361904e-03 -5.54672018e-01] [ 1.01489946e-01 5.38727940e-03 9.94821978e-01 -4.00074421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.612401008000006 meters Centerline goodness [0,1] 0.9210593545090693 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.55, Z:-0.04 [[ 9.94099289e-01 3.78504508e-02 -1.01656022e-01 5.52335676e+00] [-3.82098577e-02 9.99268472e-01 -1.58997240e-03 -5.52986683e-01] [ 1.01521476e-01 5.46485256e-03 9.94818338e-01 -3.94660066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64240100800001 meters Centerline goodness [0,1] 0.9193113814912505 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.55, Z:-0.04 [[ 9.94090560e-01 3.81511864e-02 -1.01628955e-01 5.52242250e+00] [-3.84879151e-02 9.99258149e-01 -1.35383879e-03 -5.51974217e-01] [ 1.01501911e-01 5.25732497e-03 9.94821453e-01 -3.82449446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.672401008 meters Centerline goodness [0,1] 0.9207601594977518 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.55, Z:-0.04 [[ 9.94065574e-01 3.83468987e-02 -1.01799556e-01 5.52147046e+00] [-3.86436861e-02 9.99252608e-01 -9.44203725e-04 -5.50547808e-01] [ 1.01687265e-01 4.87251052e-03 9.94804483e-01 -3.59901104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.702401008 meters Centerline goodness [0,1] 0.9204776422764227 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.55, Z:-0.04 [[ 9.94057297e-01 3.80768046e-02 -1.01981604e-01 5.52216806e+00] [-3.84105669e-02 9.99261183e-01 -1.31034887e-03 -5.48653702e-01] [ 1.01856364e-01 5.21973306e-03 9.94785422e-01 -3.61233576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.732401008000004 meters Centerline goodness [0,1] 0.9212405113299659 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.55, Z:-0.04 [[ 9.94066691e-01 3.78316407e-02 -1.01981278e-01 5.52266895e+00] [-3.82195136e-02 9.99267652e-01 -1.85142403e-03 -5.46441640e-01] [ 1.01836550e-01 5.73811380e-03 9.94784595e-01 -3.67249526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.762401008000005 meters Centerline goodness [0,1] 0.9164184138047328 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.54, Z:-0.04 [[ 9.94067593e-01 3.89190225e-02 -1.01562443e-01 5.52333251e+00] [-3.91924062e-02 9.99231439e-01 -6.97009337e-04 -5.42518921e-01] [ 1.01457259e-01 4.67335092e-03 9.94828922e-01 -3.71456038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.792401008000006 meters Centerline goodness [0,1] 0.9170521122417514 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.54, Z:-0.04 [[ 9.94051685e-01 3.87254097e-02 -1.01791894e-01 5.52425089e+00] [-3.90499846e-02 9.99236541e-01 -1.19713401e-03 -5.40896346e-01] [ 1.01667820e-01 5.16498496e-03 9.94804995e-01 -3.77328736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82240100800001 meters Centerline goodness [0,1] 0.9190063289374634 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.54, Z:-0.04 [[ 9.94014862e-01 3.79688679e-02 -1.02434462e-01 5.52665018e+00] [-3.83751876e-02 9.99261403e-01 -1.99818068e-03 -5.39110789e-01] [ 1.02282936e-01 5.91716300e-03 9.94737748e-01 -3.86722196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.852401008 meters Centerline goodness [0,1] 0.9162043714634417 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.54, Z:-0.04 [[ 9.93993830e-01 3.72023509e-02 -1.02918660e-01 5.52889106e+00] [-3.77406391e-02 9.99282162e-01 -3.28722504e-03 -5.35398971e-01] [ 1.02722489e-01 7.15169742e-03 9.94684344e-01 -4.02763067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.882401008 meters Centerline goodness [0,1] 0.9200884833402461 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.53, Z:-0.04 [[ 9.93958222e-01 3.66452100e-02 -1.03461017e-01 5.53062345e+00] [-3.72147619e-02 9.99300880e-01 -3.57939595e-03 -5.34205523e-01] [ 1.03257517e-01 7.40804714e-03 9.94627069e-01 -4.03800967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.912401008 meters Centerline goodness [0,1] 0.921184585976674 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.53, Z:-0.04 [[ 9.93911838e-01 3.61022351e-02 -1.04095563e-01 5.53228755e+00] [-3.67000955e-02 9.99318973e-01 -3.83312031e-03 -5.33314343e-01] [ 1.03886287e-01 7.63010077e-03 9.94559913e-01 -4.02068522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.942401008000004 meters Centerline goodness [0,1] 0.9177517901080976 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.53, Z:-0.04 [[ 9.93887083e-01 3.57007613e-02 -1.04469722e-01 5.53362062e+00] [-3.63270778e-02 9.99331552e-01 -4.09799337e-03 -5.32440294e-01] [ 1.04253588e-01 7.86802240e-03 9.94519625e-01 -4.04922937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.972401008000006 meters Centerline goodness [0,1] 0.9203403364815376 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.53, Z:-0.04 [[ 9.93863213e-01 3.48203632e-02 -1.04992646e-01 5.53573944e+00] [-3.55649919e-02 9.99353692e-01 -5.22778125e-03 -5.28411782e-01] [ 1.04742755e-01 8.92976206e-03 9.94459257e-01 -4.14627467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00240100800001 meters Centerline goodness [0,1] 0.921545474516696 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.53, Z:-0.04 [[ 0.99383992 0.03465083 -0.10526884 5.53627926] [-0.03543068 0.99935674 -0.00554662 -0.52640937] [ 0.10500893 0.0092422 0.99442833 -0.04125278] [ 0. 0. 0. 1. ]] SLAMing on 57.032401008 meters Centerline goodness [0,1] 0.922364770198621 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.52, Z:-0.04 [[ 0.99382196 0.03483118 -0.10537884 5.53590995] [-0.03561679 0.99934993 -0.00558181 -0.5246674 ] [ 0.10511592 0.00930058 0.99441648 -0.04051679] [ 0. 0. 0. 1. ]] SLAMing on 57.062401008 meters Centerline goodness [0,1] 0.9229212807262188 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.53, Z:-0.04 [[ 9.93606425e-01 3.86738936e-02 -1.06068851e-01 5.53710155e+00] [-3.89605083e-02 9.99240552e-01 -6.30614724e-04 -5.25613631e-01] [ 1.05963909e-01 4.75907920e-03 9.94358588e-01 -3.77915744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.092401008 meters Centerline goodness [0,1] 0.9213452597808651 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.52, Z:-0.03 [[ 9.93426119e-01 4.34169963e-02 -1.05922188e-01 5.53530290e+00] [-4.32526840e-02 9.99056750e-01 3.84902629e-03 -5.23458641e-01] [ 1.05989390e-01 7.57695680e-04 9.94366972e-01 -3.49532957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.122401008000004 meters Centerline goodness [0,1] 0.9251730103806228 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.52, Z:-0.03 [[ 9.93214576e-01 4.75408619e-02 -1.06135164e-01 5.53554793e+00] [-4.69520359e-02 9.98864779e-01 8.04112517e-03 -5.22500755e-01] [ 1.06396959e-01 -3.00330068e-03 9.94319198e-01 -3.33723438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.152401008000005 meters Centerline goodness [0,1] 0.9241446094254357 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.52, Z:-0.03 [[ 9.93205736e-01 4.85231011e-02 -1.05772753e-01 5.53371626e+00] [-4.79640737e-02 9.98818418e-01 7.82407534e-03 -5.18517698e-01] [ 1.06027422e-01 -2.69762440e-03 9.94359547e-01 -3.30212386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18240100800001 meters Centerline goodness [0,1] 0.9197710025296232 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.51, Z:-0.04 [[ 9.93395236e-01 5.53564051e-02 -1.00506584e-01 5.54610306e+00] [-5.52717892e-02 9.98464753e-01 3.62849065e-03 -5.13534534e-01] [ 1.00553142e-01 1.95065341e-03 9.94929777e-01 -3.51528487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.21240100800001 meters Centerline goodness [0,1] 0.9184974630077305 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.51, Z:-0.03 [[ 9.93355105e-01 5.63656176e-02 -1.00342176e-01 5.54471617e+00] [-5.62990494e-02 9.98407825e-01 3.49728857e-03 -5.10132896e-01] [ 1.00379541e-01 2.17511968e-03 9.94946841e-01 -3.47512864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.242401008 meters Centerline goodness [0,1] 0.9145378418486326 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.51, Z:-0.03 [[ 9.93334306e-01 5.71730171e-02 -1.00090969e-01 5.54347675e+00] [-5.71300966e-02 9.98361297e-01 3.29742601e-03 -5.06996846e-01] [ 1.00115473e-01 2.44276033e-03 9.94972826e-01 -3.46065852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.272401008 meters Centerline goodness [0,1] 0.9168495940334823 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.50, Z:-0.03 [[ 9.93325193e-01 5.77405489e-02 -9.98553493e-02 5.54240618e+00] [-5.77225079e-02 9.98327939e-01 3.07226223e-03 -5.04093416e-01] [ 9.98657792e-02 2.71214572e-03 9.94997221e-01 -3.43638309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.302401008000004 meters Centerline goodness [0,1] 0.9153773287022419 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.50, Z:-0.03 [[ 9.93064339e-01 6.19756286e-02 -9.99111578e-02 5.54284672e+00] [-6.16302939e-02 9.98077605e-01 6.54221150e-03 -5.02005074e-01] [ 1.00124547e-01 -3.39282925e-04 9.94974854e-01 -3.41623007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.332401008000005 meters Centerline goodness [0,1] 0.9161895256605558 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.50, Z:-0.03 [[ 9.93048038e-01 6.19188090e-02 -1.00108220e-01 5.54350756e+00] [-6.16416105e-02 9.98081129e-01 5.86279918e-03 -5.00132663e-01] [ 1.00279143e-01 3.48790691e-04 9.94959282e-01 -3.49362188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.362401008000006 meters Centerline goodness [0,1] 0.9146171815533216 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.50, Z:-0.04 [[ 9.93033299e-01 6.19843196e-02 -1.00213827e-01 5.54402101e+00] [-6.17384996e-02 9.98076898e-01 5.55543616e-03 -4.99323861e-01] [ 1.00365456e-01 6.70318247e-04 9.94950414e-01 -3.55765101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.39240100800001 meters Centerline goodness [0,1] 0.9147078929378977 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.50, Z:-0.04 [[ 9.93033726e-01 6.18007390e-02 -1.00322917e-01 5.54477454e+00] [-6.15869937e-02 9.98088021e-01 5.22926823e-03 -4.99363833e-01] [ 1.00454274e-01 9.85747142e-04 9.94941188e-01 -3.63301492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.422401008 meters Centerline goodness [0,1] 0.9139941305554822 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.50, Z:-0.04 [[ 9.93034735e-01 6.14166181e-02 -1.00548564e-01 5.54627540e+00] [-6.12055548e-02 9.98111712e-01 5.18559278e-03 -5.01353678e-01] [ 1.00677180e-01 1.00465687e-03 9.94918638e-01 -3.74512452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.452401008 meters Centerline goodness [0,1] 0.9135003828585008 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.50, Z:-0.04 [[ 9.93009585e-01 6.08393981e-02 -1.01146090e-01 5.54836495e+00] [-6.06328470e-02 9.98147015e-01 5.11799680e-03 -5.02358381e-01] [ 1.01270044e-01 1.05055556e-03 9.94858419e-01 -3.79147336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.482401008000004 meters Centerline goodness [0,1] 0.910394360224743 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.50, Z:-0.04 [[ 9.93001173e-01 6.05178672e-02 -1.01421193e-01 5.54947568e+00] [-6.02906862e-02 9.98166756e-01 5.30659430e-03 -5.03891669e-01] [ 1.01556407e-01 8.45298939e-04 9.94829423e-01 -3.81452424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.512401008000005 meters Centerline goodness [0,1] 0.910178685386088 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.51, Z:-0.04 [[ 9.92982402e-01 6.03838433e-02 -1.01684512e-01 5.55025027e+00] [-6.01156519e-02 9.98175129e-01 5.70260050e-03 -5.05668200e-01] [ 1.01843296e-01 4.50248796e-04 9.94800352e-01 -3.79706854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.542401008000006 meters Centerline goodness [0,1] 0.914453727848438 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.51, Z:-0.04 [[ 9.92970977e-01 6.02409186e-02 -1.01880665e-01 5.55103083e+00] [-5.99153589e-02 9.98183861e-01 6.25535999e-03 -5.09324290e-01] [ 1.02072464e-01 -1.07174306e-04 9.94776960e-01 -3.79879811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57240100800001 meters Centerline goodness [0,1] 0.9151714194168535 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.51, Z:-0.04 [[ 9.92961484e-01 6.03752523e-02 -1.01893670e-01 5.55100023e+00] [-6.00076817e-02 9.98175620e-01 6.67154595e-03 -5.11265200e-01] [ 1.02110574e-01 -5.10185242e-04 9.94772924e-01 -3.77506699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.602401008 meters Centerline goodness [0,1] 0.9177749292314266 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.51, Z:-0.04 [[ 9.92923622e-01 6.04290336e-02 -1.02230199e-01 5.55123718e+00] [-5.99955419e-02 9.98171859e-01 7.31261510e-03 -5.13664694e-01] [ 1.02485202e-01 -1.12751206e-03 9.94733890e-01 -3.67165091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.632401008 meters Centerline goodness [0,1] 0.9199214018465183 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.52, Z:-0.04 [[ 9.93149835e-01 5.78027723e-02 -1.01549226e-01 5.54804211e+00] [-5.76626963e-02 9.98326790e-01 4.31671236e-03 -5.16165232e-01] [ 1.01628830e-01 1.56845999e-03 9.94821150e-01 -3.64705763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.662401008 meters Centerline goodness [0,1] 0.9211401682126727 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.52, Z:-0.04 [[ 9.93135642e-01 5.80633510e-02 -1.01539372e-01 5.54785608e+00] [-5.78491699e-02 9.98312536e-01 5.05516909e-03 -5.18434479e-01] [ 1.01661548e-01 8.53499784e-04 9.94818678e-01 -3.59428397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.692401008000004 meters Centerline goodness [0,1] 0.9209480824842572 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.52, Z:-0.04 [[ 9.93123826e-01 5.77279742e-02 -1.01845699e-01 5.54914765e+00] [-5.74740189e-02 9.98332243e-01 5.42860883e-03 -5.20543068e-01] [ 1.01989228e-01 4.62200854e-04 9.94785396e-01 -3.60782486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.722401008000006 meters Centerline goodness [0,1] 0.9159054345158564 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.52, Z:-0.04 [[ 9.93383133e-01 5.38682680e-02 -1.01430568e-01 5.54868129e+00] [-5.39323970e-02 9.98542356e-01 2.11192399e-03 -5.24428154e-01] [ 1.01396484e-01 3.37244397e-03 9.94840379e-01 -3.74713265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75240100800001 meters Centerline goodness [0,1] 0.9190715010003014 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.53, Z:-0.04 [[ 9.93361020e-01 5.36620526e-02 -1.01755927e-01 5.54985567e+00] [-5.36628438e-02 9.98555375e-01 2.73157409e-03 -5.27938269e-01] [ 1.01755510e-01 2.74707317e-03 9.94805644e-01 -3.74840616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.782401008 meters Centerline goodness [0,1] 0.9174751959655758 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.53, Z:-0.04 [[ 9.93339076e-01 5.33173854e-02 -1.02150558e-01 5.55155167e+00] [-5.32816896e-02 9.98574772e-01 3.07988184e-03 -5.31124580e-01] [ 1.02169182e-01 2.38338736e-03 9.94764182e-01 -3.80675980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.812401008 meters Centerline goodness [0,1] 0.9197249606494905 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.53, Z:-0.04 [[ 9.93539115e-01 4.93284015e-02 -1.02209278e-01 5.55218152e+00] [-4.96285327e-02 9.98767667e-01 -3.94053933e-04 -5.34783859e-01] [ 1.02063884e-01 5.46400450e-03 9.94762840e-01 -3.95015124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.842401008 meters Centerline goodness [0,1] 0.9205551700208189 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.54, Z:-0.04 [[ 9.93513553e-01 4.92617389e-02 -1.02489513e-01 5.55277600e+00] [-4.94813296e-02 9.98774969e-01 4.00236775e-04 -5.38655909e-01] [ 1.02383676e-01 4.67367670e-03 9.94734004e-01 -3.88935965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.872401008000004 meters Centerline goodness [0,1] 0.920197071758615 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.54, Z:-0.04 [[ 9.93483418e-01 4.89438500e-02 -1.02932981e-01 5.55395923e+00] [-4.90725148e-02 9.98794394e-01 1.28348806e-03 -5.42665591e-01] [ 1.02871703e-01 3.77605613e-03 9.94687466e-01 -3.80762370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.902401008000005 meters Centerline goodness [0,1] 0.9204955395844403 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.55, Z:-0.04 [[ 9.93469292e-01 4.86330324e-02 -1.03216248e-01 5.55515163e+00] [-4.86978159e-02 9.98811762e-01 1.89369506e-03 -5.46321386e-01] [ 1.03185699e-01 3.14507795e-03 9.94657137e-01 -3.80474155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93240100800001 meters Centerline goodness [0,1] 0.9214179125489202 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.55, Z:-0.04 [[ 9.93459855e-01 4.81609401e-02 -1.03527974e-01 5.55690846e+00] [-4.81981095e-02 9.98835495e-01 2.14405438e-03 -5.49191874e-01] [ 1.03510674e-01 2.85982065e-03 9.94624231e-01 -3.87908516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96240100800001 meters Centerline goodness [0,1] 0.9173436748096357 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.55, Z:-0.04 [[ 9.93530748e-01 4.56705317e-02 -1.03975260e-01 5.56120293e+00] [-4.57962642e-02 9.98950105e-01 1.17899021e-03 -5.53386728e-01] [ 1.03919942e-01 3.59031544e-03 9.94579185e-01 -4.13106772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.992401008 meters Centerline goodness [0,1] 0.9192349168511267 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.56, Z:-0.04 [[ 9.93518504e-01 4.51495235e-02 -1.04319230e-01 5.56268338e+00] [-4.52103397e-02 9.98975899e-01 1.78276552e-03 -5.56672017e-01] [ 1.04292888e-01 2.94509731e-03 9.94542267e-01 -4.10969410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.022401008 meters Centerline goodness [0,1] 0.9183260112968563 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.56, Z:-0.04 [[ 9.93491528e-01 4.43340200e-02 -1.04924157e-01 5.56477276e+00] [-4.43553220e-02 9.99013544e-01 2.13153854e-03 -5.59674688e-01] [ 1.04915154e-01 2.53627929e-03 9.94477942e-01 -4.09116699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.052401008000004 meters Centerline goodness [0,1] 0.9177509027339944 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.56, Z:-0.04 [[ 9.93491385e-01 4.38572078e-02 -1.05125699e-01 5.56591688e+00] [-4.38182839e-02 9.99035920e-01 2.68096508e-03 -5.62870735e-01] [ 1.05141929e-01 1.94291202e-03 9.94455328e-01 -4.07970399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.082401008000005 meters Centerline goodness [0,1] 0.9193001766937984 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.57, Z:-0.04 [[ 9.93689029e-01 3.99690022e-02 -1.04807404e-01 5.56489375e+00] [-4.02485013e-02 9.99189548e-01 -5.52297862e-04 -5.66652915e-01] [ 1.04700387e-01 4.76715324e-03 9.94492385e-01 -4.10272938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.112401008000006 meters Centerline goodness [0,1] 0.9229142526071843 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.57, Z:-0.04 [[ 9.93648057e-01 4.01061507e-02 -1.05142932e-01 5.56488592e+00] [-4.02427593e-02 9.99189593e-01 8.22773254e-04 -5.69622021e-01] [ 1.05090722e-01 3.41369468e-03 9.94456780e-01 -3.88157647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14240100800001 meters Centerline goodness [0,1] 0.9230276751156767 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.57, Z:-0.04 [[ 9.93645221e-01 4.05066530e-02 -1.05016126e-01 5.56392804e+00] [-4.05411732e-02 9.99176235e-01 1.80679023e-03 -5.71928659e-01] [ 1.05002805e-01 2.46216847e-03 9.94468878e-01 -3.75082457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.172401008 meters Centerline goodness [0,1] 0.9235713247055402 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.57, Z:-0.04 [[ 9.93643433e-01 4.08028388e-02 -1.04918330e-01 5.56319135e+00] [-4.07388873e-02 9.99166033e-01 2.75340515e-03 -5.73730061e-01] [ 1.04943179e-01 1.53835309e-03 9.94477030e-01 -3.61961971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.202401008 meters Centerline goodness [0,1] 0.9225389054030425 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.58, Z:-0.03 [[ 9.93622443e-01 4.06659475e-02 -1.05169966e-01 5.56360360e+00] [-4.05118609e-02 9.99172566e-01 3.60183542e-03 -5.75807854e-01] [ 1.05229417e-01 6.81766534e-04 9.94447739e-01 -3.49263522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.232401008000004 meters Centerline goodness [0,1] 0.9226206207969929 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.58, Z:-0.03 [[ 9.93800733e-01 3.65016984e-02 -1.05012999e-01 5.56290329e+00] [-3.66517456e-02 9.99327973e-01 5.01239290e-04 -5.78285196e-01] [ 1.04960723e-01 3.35077774e-03 9.94470723e-01 -3.42665604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.262401008000005 meters Centerline goodness [0,1] 0.9237535791244798 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.58, Z:-0.03 [[ 9.93788404e-01 3.60603420e-02 -1.05281811e-01 5.56387130e+00] [-3.61641775e-02 9.99345436e-01 9.23216506e-04 -5.79941806e-01] [ 1.05246188e-01 2.88994823e-03 9.94441998e-01 -3.37971312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.292401008000006 meters Centerline goodness [0,1] 0.9242214022140222 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.58, Z:-0.03 [[ 9.93786780e-01 3.58296225e-02 -1.05375869e-01 5.56436750e+00] [-3.59123121e-02 9.99354325e-01 1.11322614e-03 -5.80563309e-01] [ 1.05347717e-01 2.67798168e-03 9.94431841e-01 -3.36307652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32240100800001 meters Centerline goodness [0,1] 0.9246130213872149 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.58, Z:-0.03 [[ 9.93776646e-01 3.51661938e-02 -1.05694446e-01 5.56597915e+00] [-3.52781529e-02 9.99377203e-01 8.10714118e-04 -5.80937426e-01] [ 1.05657130e-01 2.92303606e-03 9.94398324e-01 -3.43466767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.352401008 meters Centerline goodness [0,1] 0.9246130213872149 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.58, Z:-0.03 [[ 9.93776646e-01 3.51661938e-02 -1.05694446e-01 5.56597915e+00] [-3.52781529e-02 9.99377203e-01 8.10714118e-04 -5.80937426e-01] [ 1.05657130e-01 2.92303606e-03 9.94398324e-01 -3.43466767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.382401008 meters Centerline goodness [0,1] 0.9264115284668084 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.58, Z:-0.03 [[ 9.93747055e-01 3.47446791e-02 -1.06111249e-01 5.56739456e+00] [-3.48696519e-02 9.99391639e-01 6.77853435e-04 -5.81108563e-01] [ 1.06070247e-01 3.02644747e-03 9.94354033e-01 -3.45525651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.412401008 meters Centerline goodness [0,1] 0.9265186056773055 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.58, Z:-0.03 [[ 9.93710259e-01 3.44194313e-02 -1.06560891e-01 5.56876880e+00] [-3.45680187e-02 9.99402245e-01 4.52905936e-04 -5.80853469e-01] [ 1.06512782e-01 3.23354160e-03 9.94306075e-01 -3.48464932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.442401008000004 meters Centerline goodness [0,1] 0.9240558534142461 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.58, Z:-0.04 [[ 9.93680739e-01 3.41027297e-02 -1.06937332e-01 5.57037352e+00] [-3.43342890e-02 9.99410352e-01 -3.24494646e-04 -5.79369190e-01] [ 1.06863210e-01 3.99406134e-03 9.94265710e-01 -3.62127657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.472401008000006 meters Centerline goodness [0,1] 0.9243675256368818 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.58, Z:-0.04 [[ 9.93641034e-01 3.37138398e-02 -1.07428455e-01 5.57209284e+00] [-3.40044656e-02 9.99421299e-01 -8.74096031e-04 -5.77990760e-01] [ 1.07336817e-01 4.52158490e-03 9.94212433e-01 -3.70073609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50240100800001 meters Centerline goodness [0,1] 0.9250874665569047 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.58, Z:-0.04 [[ 9.93631133e-01 3.35529194e-02 -1.07570315e-01 5.57314683e+00] [-3.39033050e-02 9.99424095e-01 -1.42960709e-03 -5.76426569e-01] [ 1.07460397e-01 5.06749131e-03 9.94196451e-01 -3.81614310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.532401008 meters Centerline goodness [0,1] 0.9229663105998357 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.57, Z:-0.04 [[ 9.93623863e-01 3.35222092e-02 -1.07647019e-01 5.57388862e+00] [-3.39316995e-02 9.99422204e-01 -1.97410097e-03 -5.74588280e-01] [ 1.07518645e-01 5.61416012e-03 9.94187217e-01 -3.92378050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.562401008 meters Centerline goodness [0,1] 0.9224717786746213 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.57, Z:-0.04 [[ 9.93428755e-01 3.76267603e-02 -1.08090405e-01 5.57566569e+00] [-3.76239581e-02 9.99289832e-01 2.06602230e-03 -5.74781228e-01] [ 1.08091380e-01 2.01434288e-03 9.94138922e-01 -3.93525369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.592401008 meters Centerline goodness [0,1] 0.9214423132979653 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.57, Z:-0.04 [[ 9.93416814e-01 3.78302529e-02 -1.08129115e-01 5.57560604e+00] [-3.78500383e-02 9.99281681e-01 1.87011860e-03 -5.73343137e-01] [ 1.08122191e-01 2.23488388e-03 9.94135100e-01 -3.95040712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.622401008000004 meters Centerline goodness [0,1] 0.9223117419504959 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.57, Z:-0.04 [[ 9.93397781e-01 3.79669135e-02 -1.08256000e-01 5.57574113e+00] [-3.80107960e-02 9.99275952e-01 1.65887527e-03 -5.71897183e-01] [ 1.08240600e-01 2.46697371e-03 9.94121666e-01 -3.95739249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.652401008000005 meters Centerline goodness [0,1] 0.9220767888307155 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.57, Z:-0.04 [[ 9.93401690e-01 3.85349875e-02 -1.08019155e-01 5.57473968e+00] [-3.85710771e-02 9.99254316e-01 1.75597920e-03 -5.71140280e-01] [ 1.08006273e-01 2.42202245e-03 9.94147262e-01 -3.94565536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68240100800001 meters Centerline goodness [0,1] 0.922494393149448 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.57, Z:-0.04 [[ 9.93418029e-01 4.03318413e-02 -1.07209897e-01 5.57061684e+00] [-4.02581477e-02 9.99185241e-01 2.85244931e-03 -5.71286611e-01] [ 1.07237591e-01 1.48239729e-03 9.94232318e-01 -3.75475539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71240100800001 meters Centerline goodness [0,1] 0.921281611035125 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.57, Z:-0.04 [[ 9.93430920e-01 4.10360107e-02 -1.06822534e-01 5.56878737e+00] [-4.08965995e-02 9.99157267e-01 3.49628282e-03 -5.71353234e-01] [ 1.06875985e-01 8.95362937e-04 9.94271956e-01 -3.63662850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.742401008 meters Centerline goodness [0,1] 0.9227439130687431 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.57, Z:-0.04 [[ 9.93427897e-01 4.13921703e-02 -1.06713179e-01 5.56786104e+00] [-4.11810411e-02 9.99142948e-01 4.18223868e-03 -5.71558629e-01] [ 1.06794832e-01 2.39807221e-04 9.94281050e-01 -3.50003624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.772401008 meters Centerline goodness [0,1] 0.9208593409783713 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.57, Z:-0.03 [[ 9.93443478e-01 4.18462031e-02 -1.06390557e-01 5.56649588e+00] [-4.15118979e-02 9.99123655e-01 5.35580548e-03 -5.73720749e-01] [ 1.06521443e-01 -9.04216075e-04 9.94309994e-01 -3.34647175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.802401008000004 meters Centerline goodness [0,1] 0.9216433098796302 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.58, Z:-0.03 [[ 9.93459228e-01 4.19452186e-02 -1.06204332e-01 5.56594460e+00] [-4.15526785e-02 9.99118852e-01 5.90716733e-03 -5.75261567e-01] [ 1.06358528e-01 -1.45545544e-03 9.94326780e-01 -3.28452556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.832401008000005 meters Centerline goodness [0,1] 0.9199964974752635 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.58, Z:-0.03 [[ 9.93462838e-01 4.21143122e-02 -1.06103597e-01 5.56539338e+00] [-4.16464722e-02 9.99110464e-01 6.62208915e-03 -5.76983766e-01] [ 1.06288099e-01 -2.15995896e-03 9.94333030e-01 -3.19161139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.862401008000006 meters Centerline goodness [0,1] 0.9166326113608501 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.58, Z:-0.03 [[ 9.93463069e-01 4.19322677e-02 -1.06173520e-01 5.56559102e+00] [-4.14077951e-02 9.99116815e-01 7.14037400e-03 -5.78678646e-01] [ 1.06379161e-01 -2.69728652e-03 9.94321979e-01 -3.11857288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89240100800001 meters Centerline goodness [0,1] 0.9191370707367186 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.58, Z:-0.03 [[ 9.93658677e-01 3.78348911e-02 -1.05881796e-01 5.56466524e+00] [-3.76914481e-02 9.99283789e-01 3.35618502e-03 -5.80079155e-01] [ 1.05932943e-01 6.55935849e-04 9.94373059e-01 -3.15787041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.922401008 meters Centerline goodness [0,1] 0.9200953558184708 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.58, Z:-0.03 [[ 9.93624699e-01 3.73768225e-02 -1.06362259e-01 5.56613636e+00] [-3.72175320e-02 9.99301118e-01 3.48282852e-03 -5.81893167e-01] [ 1.06418101e-01 4.97916330e-04 9.94321346e-01 -3.15708492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.952401008 meters Centerline goodness [0,1] 0.9204830661115541 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.58, Z:-0.03 [[ 9.93601948e-01 3.72956770e-02 -1.06603009e-01 5.56683578e+00] [-3.71098590e-02 9.99304242e-01 3.72691190e-03 -5.83259080e-01] [ 1.06667837e-01 2.52955728e-04 9.94294679e-01 -3.15373894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.982401008000004 meters Centerline goodness [0,1] 0.9211063452152048 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.58, Z:-0.03 [[ 9.93581911e-01 3.69074889e-02 -1.06924383e-01 5.56815128e+00] [-3.67343784e-02 9.99318621e-01 3.58877062e-03 -5.83751222e-01] [ 1.06983979e-01 3.62063168e-04 9.94260679e-01 -3.20036072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.012401008000005 meters Centerline goodness [0,1] 0.9208482235151658 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.58, Z:-0.03 [[ 9.93574535e-01 3.65822124e-02 -1.07104555e-01 5.56922036e+00] [-3.64396011e-02 9.99330445e-01 3.28892589e-03 -5.83349453e-01] [ 1.07153159e-01 6.35054246e-04 9.94242323e-01 -3.26724567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.042401008000006 meters Centerline goodness [0,1] 0.918214074512123 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.58, Z:-0.04 [[ 9.93544805e-01 3.52029650e-02 -1.07840031e-01 5.57317614e+00] [-3.51847336e-02 9.99378677e-01 2.07235877e-03 -5.82666208e-01] [ 1.07845980e-01 1.73534146e-03 9.94166099e-01 -3.52710135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07240100800001 meters Centerline goodness [0,1] 0.9219755135920316 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.58, Z:-0.04 [[ 9.93499895e-01 3.40960690e-02 -1.08606703e-01 5.57666504e+00] [-3.41595523e-02 9.99415577e-01 1.27644813e-03 -5.82600181e-01] [ 1.08586753e-01 2.44180527e-03 9.94083978e-01 -3.70149258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.102401008 meters Centerline goodness [0,1] 0.921661035034679 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.58, Z:-0.04 [[ 9.93457916e-01 3.29897230e-02 -1.09329990e-01 5.58016147e+00] [-3.31413431e-02 9.99450582e-01 4.30514861e-04 -5.82628962e-01] [ 1.09284124e-01 3.19564430e-03 9.94005416e-01 -3.89448956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.132401008 meters Centerline goodness [0,1] 0.9199469261388766 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.58, Z:-0.04 [[ 9.93388928e-01 3.22607273e-02 -1.10171150e-01 5.58281255e+00] [-3.25146214e-02 9.99471131e-01 -5.08293841e-04 -5.80847858e-01] [ 1.10096486e-01 4.08710672e-03 9.93912501e-01 -3.99514673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.162401008 meters Centerline goodness [0,1] 0.9202452179551416 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.58, Z:-0.04 [[ 9.93360767e-01 3.20597675e-02 -1.10483293e-01 5.58328927e+00] [-3.23731838e-02 9.99475306e-01 -1.04363945e-03 -5.78600778e-01] [ 1.10391864e-01 4.61340644e-03 9.93877433e-01 -3.98839474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.192401008000004 meters Centerline goodness [0,1] 0.919972941972295 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.58, Z:-0.04 [[ 9.93360151e-01 3.18054803e-02 -1.10562299e-01 5.58369298e+00] [-3.21086240e-02 9.99483922e-01 -9.62003835e-04 -5.77966545e-01] [ 1.10474643e-01 4.50561956e-03 9.93868730e-01 -3.95607847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.222401008000006 meters Centerline goodness [0,1] 0.9206050815097665 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.58, Z:-0.04 [[ 9.93348103e-01 3.13605034e-02 -1.10797407e-01 5.58462709e+00] [-3.16626170e-02 9.99498145e-01 -9.67852886e-04 -5.77305907e-01] [ 1.10711450e-01 4.46955069e-03 9.93842542e-01 -3.93513220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25240100800001 meters Centerline goodness [0,1] 0.9176079538769267 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.58, Z:-0.04 [[ 9.93343880e-01 3.03125776e-02 -1.11126432e-01 5.58634483e+00] [-3.06549372e-02 9.99529084e-01 -1.37313337e-03 -5.76035011e-01] [ 1.11032478e-01 4.77056744e-03 9.93805328e-01 -3.95251615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.282401008 meters Centerline goodness [0,1] 0.9161785914000647 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.58, Z:-0.04 [[ 9.93324044e-01 2.99067728e-02 -1.11413324e-01 5.58707447e+00] [-3.02240024e-02 9.99542478e-01 -1.15909397e-03 -5.76229176e-01] [ 1.11327686e-01 4.51871250e-03 9.93773479e-01 -3.88250555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.312401008 meters Centerline goodness [0,1] 0.9122074561919322 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.58, Z:-0.04 [[ 9.93277951e-01 2.96337458e-02 -1.11896172e-01 5.58787786e+00] [-2.98780440e-02 9.99553423e-01 -5.06632552e-04 -5.77159249e-01] [ 1.11831189e-01 3.84646570e-03 9.93719774e-01 -3.73494213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.342401008 meters Centerline goodness [0,1] 0.9161170651277823 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.58, Z:-0.04 [[ 9.93249113e-01 2.98292485e-02 -1.12100024e-01 5.58733555e+00] [-2.99790909e-02 9.99550465e-01 3.49097221e-04 -5.78687168e-01] [ 1.12060044e-01 3.01391629e-03 9.93696867e-01 -3.55237614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.372401008000004 meters Centerline goodness [0,1] 0.919438960426673 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.58, Z:-0.03 [[ 9.93219247e-01 3.02172141e-02 -1.12260625e-01 5.58611862e+00] [-3.02481302e-02 9.99541400e-01 1.42820712e-03 -5.80079356e-01] [ 1.12252299e-01 1.97715120e-03 9.93677771e-01 -3.29169550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.402401008000005 meters Centerline goodness [0,1] 0.9175869360902256 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.58, Z:-0.03 [[ 9.93216129e-01 3.00289913e-02 -1.12338687e-01 5.58677513e+00] [-3.00962284e-02 9.99546403e-01 1.09767019e-03 -5.78746438e-01] [ 1.12320693e-01 2.29074705e-03 9.93669369e-01 -3.34638168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.43240100800001 meters Centerline goodness [0,1] 0.9161978434130333 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.58, Z:-0.03 [[ 9.93209477e-01 2.95333193e-02 -1.12528738e-01 5.58829894e+00] [-2.96967016e-02 9.99558931e-01 2.24365682e-04 -5.76173462e-01] [ 1.12485731e-01 3.11889023e-03 9.93648445e-01 -3.49236429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46240100800001 meters Centerline goodness [0,1] 0.9129699302942806 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.58, Z:-0.03 [[ 9.93024424e-01 3.27647659e-02 -1.13265017e-01 5.59132159e+00] [-3.25040909e-02 9.99462995e-01 4.14792616e-03 -5.76835468e-01] [ 1.13340099e-01 -4.37415588e-04 9.93556154e-01 -3.48209161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.492401008 meters Centerline goodness [0,1] 0.9150062538177376 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.57, Z:-0.03 [[ 9.93031208e-01 3.32143342e-02 -1.13074437e-01 5.59042195e+00] [-3.29843047e-02 9.99448241e-01 3.90507327e-03 -5.74236053e-01] [ 1.13141751e-01 -1.48177945e-04 9.93578845e-01 -3.47885966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.522401008 meters Centerline goodness [0,1] 0.9153425295384436 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.57, Z:-0.03 [[ 9.93042363e-01 3.40441937e-02 -1.12729135e-01 5.58841358e+00] [-3.37831215e-02 9.99420253e-01 4.22593393e-03 -5.72800991e-01] [ 1.12807649e-01 -3.88189352e-04 9.93616769e-01 -3.37655485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.552401008000004 meters Centerline goodness [0,1] 0.9150129296568557 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.57, Z:-0.03 [[ 9.93055563e-01 3.46355602e-02 -1.12432325e-01 5.58686088e+00] [-3.43763364e-02 9.99399948e-01 4.24401897e-03 -5.71041092e-01] [ 1.12511854e-01 -3.49535212e-04 9.93650321e-01 -3.31612433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.582401008000005 meters Centerline goodness [0,1] 0.9172059163392651 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.57, Z:-0.03 [[ 9.92889148e-01 3.96721012e-02 -1.12237535e-01 5.58506613e+00] [-3.89173639e-02 9.99202723e-01 8.90827887e-03 -5.70021537e-01] [ 1.12501461e-01 -4.47694441e-03 9.93641474e-01 -3.08109571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.612401008000006 meters Centerline goodness [0,1] 0.918313911667386 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.57, Z:-0.03 [[ 9.92894096e-01 4.04450111e-02 -1.11917444e-01 5.58372671e+00] [-3.97457441e-02 9.99173900e-01 8.47307408e-03 -5.67190335e-01] [ 1.12167682e-01 -3.96462315e-03 9.93681384e-01 -3.12003104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64240100800001 meters Centerline goodness [0,1] 0.917584940312213 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.56, Z:-0.03 [[ 9.92881127e-01 4.14482983e-02 -1.11665152e-01 5.58255470e+00] [-4.07785569e-02 9.99133933e-01 8.27600858e-03 -5.63762553e-01] [ 1.11911469e-01 -3.66354898e-03 9.93711428e-01 -3.15223073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.672401008 meters Centerline goodness [0,1] 0.919595694258059 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.56, Z:-0.03 [[ 9.92853697e-01 4.26676953e-02 -1.11449560e-01 5.58127112e+00] [-4.20276351e-02 9.99083718e-01 8.08712703e-03 -5.60179432e-01] [ 1.11692500e-01 -3.34537252e-03 9.93737186e-01 -3.19221312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.702401008 meters Centerline goodness [0,1] 0.9250844858432965 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.56, Z:-0.03 [[ 0.99264302 0.04842581 -0.11097195 5.57909655] [-0.04743324 0.99880742 0.01156852 -0.55636751] [ 0.11139982 -0.00621965 0.99375621 -0.031962 ] [ 0. 0. 0. 1. ]] SLAMing on 59.732401008000004 meters Centerline goodness [0,1] 0.9264194178053128 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.55, Z:-0.03 [[ 0.99263139 0.04915907 -0.11075338 5.57791587] [-0.04822842 0.99877501 0.01106789 -0.55404437] [ 0.1111618 -0.00564487 0.99378629 -0.03239675] [ 0. 0. 0. 1. ]] SLAMing on 59.762401008000005 meters Centerline goodness [0,1] 0.927230179316567 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.55, Z:-0.03 [[ 9.92615639e-01 4.95347355e-02 -1.10727161e-01 5.57764111e+00] [-4.86513365e-02 9.98758856e-01 1.06674670e-02 -5.52722206e-01] [ 1.11118143e-01 -5.20167022e-03 9.93793591e-01 -3.29270070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.792401008000006 meters Centerline goodness [0,1] 0.9302470182578713 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.55, Z:-0.03 [[ 9.92621297e-01 4.99889240e-02 -1.10472021e-01 5.57695282e+00] [-4.91431647e-02 9.98737939e-01 1.03671774e-02 -5.51861156e-01] [ 1.10850842e-01 -4.86173634e-03 9.93825163e-01 -3.36004252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82240100800001 meters Centerline goodness [0,1] 0.9311134352828109 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.55, Z:-0.04 [[ 9.92633625e-01 5.02045688e-02 -1.10263266e-01 5.57716770e+00] [-4.93869742e-02 9.98728293e-01 1.01353066e-02 -5.52474314e-01] [ 1.10631882e-01 -4.61507712e-03 9.93850737e-01 -3.50238522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.852401008 meters Centerline goodness [0,1] 0.9295266038481069 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.55, Z:-0.04 [[ 9.92611606e-01 4.97108530e-02 -1.10684378e-01 5.57889627e+00] [-4.88971622e-02 9.98753200e-01 1.00554644e-02 -5.53763664e-01] [ 1.11046243e-01 -4.56901862e-03 9.93804737e-01 -3.56055391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.882401008 meters Centerline goodness [0,1] 0.9300659701577054 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.56, Z:-0.04 [[ 9.92587578e-01 4.95821511e-02 -1.10957248e-01 5.57973058e+00] [-4.87024049e-02 9.98756802e-01 1.06266925e-02 -5.56530216e-01] [ 1.11346201e-01 -5.14403812e-03 9.93768365e-01 -3.53451117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.912401008 meters Centerline goodness [0,1] 0.9290057377751135 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.56, Z:-0.04 [[ 9.92823266e-01 4.58515566e-02 -1.10451791e-01 5.57805826e+00] [-4.53775501e-02 9.98946746e-01 6.80274874e-03 -5.57266848e-01] [ 1.10647374e-01 -1.74189553e-03 9.93858201e-01 -3.59409920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.942401008000004 meters Centerline goodness [0,1] 0.9313711455321099 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.56, Z:-0.03 [[ 9.92794997e-01 4.57643335e-02 -1.10741677e-01 5.57849480e+00] [-4.51646702e-02 9.98948170e-01 7.91877606e-03 -5.61330671e-01] [ 1.10987593e-01 -2.86010996e-03 9.93817676e-01 -3.46595311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.972401008000006 meters Centerline goodness [0,1] 0.9299458462956562 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.57, Z:-0.03 [[ 9.92787414e-01 4.58193088e-02 -1.10786924e-01 5.57853199e+00] [-4.50021132e-02 9.98938163e-01 9.86690983e-03 -5.67470540e-01] [ 1.11121381e-01 -4.81009821e-03 9.93795201e-01 -3.27264206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00240100800001 meters Centerline goodness [0,1] 0.9286602110131522 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.57, Z:-0.03 [[ 9.92774955e-01 4.62266919e-02 -1.10729313e-01 5.57815791e+00] [-4.53285474e-02 9.98915722e-01 1.06161836e-02 -5.69994949e-01] [ 1.11100003e-01 -5.52028233e-03 9.93793900e-01 -3.23260037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.03240100800001 meters Centerline goodness [0,1] 0.9312097496173506 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.57, Z:-0.03 [[ 0.9927583 0.04636981 -0.11081875 5.5785207 ] [-0.04544432 0.9989078 0.01086403 -0.57194241] [ 0.11120148 -0.00574928 0.99378125 -0.03260642] [ 0. 0. 0. 1. ]] SLAMing on 60.062401008 meters Centerline goodness [0,1] 0.9323356245830796 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.57, Z:-0.03 [[ 0.99275706 0.04702118 -0.11055508 5.57750318] [-0.04604456 0.99887466 0.01137174 -0.57350841] [ 0.11096538 -0.00619891 0.99380494 -0.03242784] [ 0. 0. 0. 1. ]] SLAMing on 60.092401008 meters Centerline goodness [0,1] 0.9349633535154552 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.57, Z:-0.03 [[ 0.99277219 0.04858751 -0.1097389 5.5748048 ] [-0.04764278 0.99880146 0.01121612 -0.57238642] [ 0.11015234 -0.00590679 0.99389716 -0.03352761] [ 0. 0. 0. 1. ]] SLAMing on 60.122401008000004 meters Centerline goodness [0,1] 0.9372118487782388 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.57, Z:-0.03 [[ 9.92753478e-01 4.91240473e-02 -1.09669323e-01 5.57444767e+00] [-4.82581914e-02 9.98779313e-01 1.05370840e-02 -5.70012508e-01] [ 1.10053075e-01 -5.16828357e-03 9.93912275e-01 -3.45997024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.152401008000005 meters Centerline goodness [0,1] 0.9383488566567664 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.57, Z:-0.04 [[ 9.92763320e-01 5.00323231e-02 -1.09168483e-01 5.57272411e+00] [-4.92036512e-02 9.98735933e-01 1.02731010e-02 -5.68204450e-01] [ 1.09544474e-01 -4.82726988e-03 9.93970173e-01 -3.51211595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18240100800001 meters Centerline goodness [0,1] 0.9359953870549229 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.57, Z:-0.03 [[ 9.92791711e-01 5.13813943e-02 -1.08280061e-01 5.56949785e+00] [-5.05273112e-02 9.98666230e-01 1.06184610e-02 -5.67817383e-01] [ 1.08681232e-01 -5.07081974e-03 9.94063719e-01 -3.48271375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21240100800001 meters Centerline goodness [0,1] 0.9367454219860205 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.57, Z:-0.03 [[ 0.99278152 0.05135259 -0.10838711 5.56924003] [-0.05043389 0.99866457 0.01120222 -0.56937174] [ 0.10881763 -0.00565497 0.99404565 -0.03367732] [ 0. 0. 0. 1. ]] SLAMing on 60.242401008 meters Centerline goodness [0,1] 0.9335391896571626 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.57, Z:-0.03 [[ 0.99278552 0.05097462 -0.10852877 5.57002998] [-0.05005319 0.99868376 0.01119923 -0.56995283] [ 0.1089568 -0.00568622 0.99403022 -0.03382221] [ 0. 0. 0. 1. ]] SLAMing on 60.272401008 meters Centerline goodness [0,1] 0.9335391896571626 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.57, Z:-0.03 [[ 0.99278552 0.05097462 -0.10852877 5.57002998] [-0.05005319 0.99868376 0.01119923 -0.56995283] [ 0.1089568 -0.00568622 0.99403022 -0.03382221] [ 0. 0. 0. 1. ]] SLAMing on 60.302401008000004 meters Centerline goodness [0,1] 0.9333082467363302 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.57, Z:-0.03 [[ 9.92777148e-01 5.03931964e-02 -1.08876355e-01 5.57176565e+00] [-4.94849323e-02 9.98713966e-01 1.10297513e-02 -5.70666946e-01] [ 1.09292161e-01 -5.56234598e-03 9.93994107e-01 -3.45550873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.332401008000005 meters Centerline goodness [0,1] 0.9303634096116477 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.57, Z:-0.04 [[ 9.93009431e-01 4.71300963e-02 -1.08217488e-01 5.57354277e+00] [-4.64409353e-02 9.98881557e-01 8.88116348e-03 -5.72647707e-01] [ 1.08515023e-01 -3.79335773e-03 9.94087572e-01 -3.68583366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.362401008000006 meters Centerline goodness [0,1] 0.9298255797080419 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.57, Z:-0.04 [[ 9.92993772e-01 4.68414867e-02 -1.08486149e-01 5.57431885e+00] [-4.61275117e-02 9.98894266e-01 9.08282459e-03 -5.74001040e-01] [ 1.08791645e-01 -4.01499213e-03 9.94056466e-01 -3.65868548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39240100800001 meters Centerline goodness [0,1] 0.926349483486105 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.58, Z:-0.04 [[ 9.92984749e-01 4.68880691e-02 -1.08548592e-01 5.57421668e+00] [-4.61247663e-02 9.98890194e-01 9.53345299e-03 -5.75386734e-01] [ 1.08875130e-01 -4.45979497e-03 9.94045430e-01 -3.59062410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.422401008 meters Centerline goodness [0,1] 0.9254741366791555 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.58, Z:-0.04 [[ 9.92968362e-01 4.65867401e-02 -1.08827877e-01 5.57499047e+00] [-4.57991878e-02 9.98903314e-01 9.72641048e-03 -5.76467120e-01] [ 1.09161649e-01 -4.67378950e-03 9.94013023e-01 -3.55832837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.452401008 meters Centerline goodness [0,1] 0.9216148562114332 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.58, Z:-0.04 [[ 9.93206937e-01 4.24456306e-02 -1.08343658e-01 5.57420851e+00] [-4.21349913e-02 9.99098624e-01 5.15586693e-03 -5.75366391e-01] [ 1.08464843e-01 -5.55783723e-04 9.94100130e-01 -3.73642089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.482401008000004 meters Centerline goodness [0,1] 0.9182531121541646 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.58, Z:-0.04 [[ 9.93198763e-01 4.22514388e-02 -1.08494392e-01 5.57486504e+00] [-4.19360500e-02 9.99106827e-01 5.18799133e-03 -5.75872136e-01] [ 1.08616688e-01 -6.02880332e-04 9.94083523e-01 -3.75256188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.512401008000005 meters Centerline goodness [0,1] 0.9209811651335962 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.58, Z:-0.04 [[ 9.93204877e-01 4.23148377e-02 -1.08413685e-01 5.57484193e+00] [-4.19926079e-02 9.99104104e-01 5.25454877e-03 -5.76112246e-01] [ 1.08538903e-01 -6.66270094e-04 9.94091979e-01 -3.77045488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.542401008000006 meters Centerline goodness [0,1] 0.9174517982673629 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.57, Z:-0.04 [[ 9.93231366e-01 4.20215630e-02 -1.08285000e-01 5.57558611e+00] [-4.17638559e-02 9.99116700e-01 4.64767665e-03 -5.74786734e-01] [ 1.08384654e-01 -9.38191151e-05 9.94109027e-01 -3.91589718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57240100800001 meters Centerline goodness [0,1] 0.9157487866546543 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.57, Z:-0.04 [[ 9.93231698e-01 4.17105939e-02 -1.08402122e-01 5.57658742e+00] [-4.15010109e-02 9.99129678e-01 4.18970291e-03 -5.73493211e-01] [ 1.08482532e-01 3.37451920e-04 9.94098298e-01 -4.00296732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602401008 meters Centerline goodness [0,1] 0.9145550286562127 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.57, Z:-0.04 [[ 9.93235611e-01 4.13877219e-02 -1.08489988e-01 5.57755306e+00] [-4.12317571e-02 9.99142827e-01 3.68140920e-03 -5.72499746e-01] [ 1.08549358e-01 8.16726091e-04 9.94090725e-01 -4.10368666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.632401008 meters Centerline goodness [0,1] 0.9110878051622677 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.57, Z:-0.04 [[ 9.93230294e-01 4.10583495e-02 -1.08663677e-01 5.57857825e+00] [-4.09312142e-02 9.99156178e-01 3.40115128e-03 -5.72113932e-01] [ 1.08711630e-01 1.06960976e-03 9.94072753e-01 -4.16907617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.662401008 meters Centerline goodness [0,1] 0.9129863301787592 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.57, Z:-0.04 [[ 9.93198836e-01 3.99617636e-02 -1.09357810e-01 5.58132067e+00] [-3.98463424e-02 9.99200562e-01 3.24143038e-03 -5.73433662e-01] [ 1.09399918e-01 1.13812386e-03 9.93997164e-01 -4.20446843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.692401008000004 meters Centerline goodness [0,1] 0.9131936314680402 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.58, Z:-0.04 [[ 9.93151718e-01 3.91554353e-02 -1.10075053e-01 5.58366555e+00] [-3.90210685e-02 9.99232687e-01 3.37541990e-03 -5.75390504e-01] [ 1.10122757e-01 9.42942130e-04 9.93917546e-01 -4.19867999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.722401008000006 meters Centerline goodness [0,1] 0.9092754390609832 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.57, Z:-0.04 [[ 9.93320584e-01 3.43345628e-02 -1.10160590e-01 5.58464915e+00] [-3.46905884e-02 9.99397234e-01 -1.31633646e-03 -5.74754916e-01] [ 1.10048993e-01 5.12907979e-03 9.93912930e-01 -4.36159898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75240100800001 meters Centerline goodness [0,1] 0.9101008023040527 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.58, Z:-0.04 [[ 9.93239107e-01 3.32871004e-02 -1.11211715e-01 5.58779698e+00] [-3.35661842e-02 9.99436293e-01 -6.37618653e-04 -5.77725410e-01] [ 1.11127800e-01 4.36626070e-03 9.93796532e-01 -4.26724523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78240100800001 meters Centerline goodness [0,1] 0.9096986009642403 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.58, Z:-0.04 [[ 9.93203985e-01 3.25344534e-02 -1.11746829e-01 5.58976253e+00] [-3.27535458e-02 9.99463451e-01 -1.24881634e-04 -5.80738371e-01] [ 1.11682808e-01 3.78413781e-03 9.93736701e-01 -4.22772401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.812401008 meters Centerline goodness [0,1] 0.9061134722263501 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.58, Z:-0.04 [[ 9.93341368e-01 2.77229603e-02 -1.11822915e-01 5.59065965e+00] [-2.83566044e-02 9.99589545e-01 -4.07972679e-03 -5.82483606e-01] [ 1.11663914e-01 7.22347955e-03 9.93719775e-01 -4.31536373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.842401008 meters Centerline goodness [0,1] 0.9032988646184105 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.58, Z:-0.04 [[ 9.93312977e-01 2.74091078e-02 -1.12151993e-01 5.59188822e+00] [-2.79868276e-02 9.99601882e-01 -3.57981398e-03 -5.84731663e-01] [ 1.12009224e-01 6.69465418e-03 9.93684616e-01 -4.29353715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.872401008000004 meters Centerline goodness [0,1] 0.9063935110633984 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.59, Z:-0.04 [[ 9.93275071e-01 2.72938001e-02 -1.12515255e-01 5.59276375e+00] [-2.77934727e-02 9.99609554e-01 -2.87445654e-03 -5.86811485e-01] [ 1.12392869e-01 5.98231570e-03 9.93645840e-01 -4.21617838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.902401008000005 meters Centerline goodness [0,1] 0.9054550889254223 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.59, Z:-0.04 [[ 9.93272068e-01 2.75193593e-02 -1.12486813e-01 5.59267364e+00] [-2.79536669e-02 9.99606608e-01 -2.28527325e-03 -5.88459400e-01] [ 1.12379672e-01 5.41431699e-03 9.93650590e-01 -4.18179777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.93240100800001 meters Centerline goodness [0,1] 0.90383581286969 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.59, Z:-0.04 [[ 9.93263998e-01 2.76817237e-02 -1.12518228e-01 5.59279143e+00] [-2.80758990e-02 9.99603951e-01 -1.91986077e-03 -5.89323998e-01] [ 1.12420520e-01 5.06597899e-03 9.93647806e-01 -4.16538532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96240100800001 meters Centerline goodness [0,1] 0.9027790188544366 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.59, Z:-0.04 [[ 9.93062969e-01 3.12818436e-02 -1.13346312e-01 5.59529381e+00] [-3.11555377e-02 9.99510382e-01 2.88599312e-03 -5.92391925e-01] [ 1.13381095e-01 6.65392398e-04 9.93551350e-01 -4.01855946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.992401008 meters Centerline goodness [0,1] 0.9046740101220602 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.59, Z:-0.04 [[ 9.93061902e-01 3.11312466e-02 -1.13397106e-01 5.59610371e+00] [-3.10319766e-02 9.99514903e-01 2.64090706e-03 -5.92295757e-01] [ 1.13424312e-01 8.96352154e-04 9.93546235e-01 -4.10511418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.022401008 meters Centerline goodness [0,1] 0.9066814411068851 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.59, Z:-0.04 [[ 9.93003201e-01 3.03142674e-02 -1.14130132e-01 5.59897308e+00] [-3.02618596e-02 9.99539601e-01 2.19212356e-03 -5.93300715e-01] [ 1.14144039e-01 1.27700432e-03 9.93463390e-01 -4.21531217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.052401008000004 meters Centerline goodness [0,1] 0.904561698549506 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.59, Z:-0.04 [[ 9.92958018e-01 2.96784084e-02 -1.14689003e-01 5.60106937e+00] [-2.96293724e-02 9.99558679e-01 2.13261716e-03 -5.94370511e-01] [ 1.14701681e-01 1.28056387e-03 9.93399157e-01 -4.24998686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.082401008000005 meters Centerline goodness [0,1] 0.9046844404277753 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.60, Z:-0.04 [[ 9.92904391e-01 2.86251959e-02 -1.15418664e-01 5.60399610e+00] [-2.85863599e-02 9.99589342e-01 1.99203875e-03 -5.95545842e-01] [ 1.15428289e-01 1.32149545e-03 9.93314937e-01 -4.28935793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.112401008000006 meters Centerline goodness [0,1] 0.9077494115516929 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.60, Z:-0.04 [[ 9.92831246e-01 2.72930651e-02 -1.16366686e-01 5.60774194e+00] [-2.73053618e-02 9.99626030e-01 1.48875886e-03 -5.96123193e-01] [ 1.16363801e-01 1.69934815e-03 9.93205204e-01 -4.37581892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14240100800001 meters Centerline goodness [0,1] 0.91017747193046 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.59, Z:-0.05 [[ 9.92719025e-01 2.25387300e-02 -1.18325580e-01 5.61876557e+00] [-2.28694452e-02 9.99737426e-01 -1.43773976e-03 -5.94237603e-01] [ 1.18262106e-01 4.13331197e-03 9.92973811e-01 -4.84401547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.172401008 meters Centerline goodness [0,1] 0.9110259042328361 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.59, Z:-0.05 [[ 9.92635270e-01 2.11223972e-02 -1.19285642e-01 5.62283866e+00] [-2.15393156e-02 9.99765566e-01 -2.20679568e-03 -5.93824746e-01] [ 1.19211065e-01 4.75987432e-03 9.92857525e-01 -4.97290185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.202401008 meters Centerline goodness [0,1] 0.9087646278200024 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.59, Z:-0.05 [[ 9.92563875e-01 2.01222629e-02 -1.20050195e-01 5.62563383e+00] [-2.05833346e-02 9.99784755e-01 -2.60176718e-03 -5.93617278e-01] [ 1.19972001e-01 5.05345344e-03 9.92764414e-01 -5.01266000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.232401008000004 meters Centerline goodness [0,1] 0.9126724763979666 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.59, Z:-0.05 [[ 9.92491162e-01 1.92213522e-02 -1.20796660e-01 5.62793528e+00] [-1.97105833e-02 9.99801647e-01 -2.85637136e-03 -5.93252285e-01] [ 1.20717796e-01 5.21589595e-03 9.92673163e-01 -4.99251722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.262401008000005 meters Centerline goodness [0,1] 0.9109510260911677 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.59, Z:-0.05 [[ 9.92408671e-01 1.79470448e-02 -1.21667307e-01 5.63060316e+00] [-1.85356686e-02 9.99821325e-01 -3.70781700e-03 -5.90682066e-01] [ 1.21579024e-01 5.93485463e-03 9.92564012e-01 -4.98502487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.292401008000006 meters Centerline goodness [0,1] 0.9074403595017644 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.59, Z:-0.05 [[ 9.92368521e-01 1.73752152e-02 -1.22077107e-01 5.63165812e+00] [-1.80176095e-02 9.99829015e-01 -4.16019149e-03 -5.88491775e-01] [ 1.21983949e-01 6.32798072e-03 9.92511901e-01 -4.95184733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32240100800001 meters Centerline goodness [0,1] 0.908196622979336 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.59, Z:-0.05 [[ 9.92163980e-01 2.05303152e-02 -1.23244244e-01 5.63448768e+00] [-2.06446962e-02 9.99786815e-01 3.49018315e-04 -5.88478187e-01] [ 1.23225136e-01 2.19805658e-03 9.92376307e-01 -4.68914615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.352401008 meters Centerline goodness [0,1] 0.9136675681298106 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.58, Z:-0.05 [[ 9.92019528e-01 2.45643989e-02 -1.23668288e-01 5.63493944e+00] [-2.43338915e-02 9.99698192e-01 3.37426504e-03 -5.81555635e-01] [ 1.23713851e-01 -3.38006119e-04 9.92317877e-01 -4.59380827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.382401008 meters Centerline goodness [0,1] 0.9108608063994353 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.58, Z:-0.05 [[ 9.91876662e-01 2.84901783e-02 -1.23971756e-01 5.63618814e+00] [-2.78899941e-02 9.99589378e-01 6.57444388e-03 -5.77865243e-01] [ 1.24108158e-01 -3.06346591e-03 9.92263967e-01 -4.60785553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.412401008 meters Centerline goodness [0,1] 0.9153583019033418 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.57, Z:-0.05 [[ 9.91711457e-01 3.24994165e-02 -1.24306776e-01 5.63733453e+00] [-3.15661791e-02 9.99456797e-01 9.47029034e-03 -5.72965462e-01] [ 1.24547031e-01 -5.46790547e-03 9.92198639e-01 -4.64214816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.442401008000004 meters Centerline goodness [0,1] 0.9127540192458645 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.57, Z:-0.05 [[ 0.99154897 0.03678518 -0.12440856 5.63769136] [-0.03552124 0.99929245 0.01236327 -0.56776294] [ 0.12477531 -0.00783964 0.99215405 -0.04669089] [ 0. 0. 0. 1. ]] SLAMing on 61.472401008000006 meters Centerline goodness [0,1] 0.9112648390127253 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.56, Z:-0.05 [[ 0.99110515 0.0462193 -0.12479726 5.63754881] [-0.04429001 0.99885308 0.01819132 -0.55752765] [ 0.12549491 -0.01250224 0.99201548 -0.04697474] [ 0. 0. 0. 1. ]] SLAMing on 61.50240100800001 meters Centerline goodness [0,1] 0.9052233113929772 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.55, Z:-0.05 [[ 0.99086727 0.0501615 -0.12516343 5.63895638] [-0.04794587 0.99863638 0.02065387 -0.55221657] [ 0.12602878 -0.01446418 0.99192113 -0.0477714 ] [ 0. 0. 0. 1. ]] SLAMing on 61.53240100800001 meters Centerline goodness [0,1] 0.9037847824869828 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.55, Z:-0.05 [[ 0.99062347 0.05389347 -0.12554139 5.64068007] [-0.0513873 0.99841117 0.02311889 -0.54712231] [ 0.12658788 -0.01645089 0.99181897 -0.04861224] [ 0. 0. 0. 1. ]] SLAMing on 61.562401008 meters Centerline goodness [0,1] 0.9036352983846219 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.54, Z:-0.05 [[ 0.99062628 0.05417412 -0.12539832 5.64033192] [-0.05190294 0.99842472 0.02131098 -0.5400449 ] [ 0.12635529 -0.01460267 0.99187756 -0.05043663] [ 0. 0. 0. 1. ]] SLAMing on 61.592401008 meters Centerline goodness [0,1] 0.903153958258861 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.53, Z:-0.05 [[ 0.99036745 0.05763467 -0.12589897 5.64111791] [-0.05508731 0.99820201 0.02362501 -0.53269622] [ 0.12703423 -0.016462 0.99176172 -0.04955913] [ 0. 0. 0. 1. ]] SLAMing on 61.622401008000004 meters Centerline goodness [0,1] 0.9027694324575299 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.53, Z:-0.05 [[ 0.99036166 0.05669684 -0.12636951 5.64251174] [-0.05430673 0.99827566 0.02228205 -0.52868732] [ 0.12741493 -0.01520458 0.99173296 -0.04999859] [ 0. 0. 0. 1. ]] SLAMing on 61.652401008000005 meters Centerline goodness [0,1] 0.9043191361727655 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.53, Z:-0.05 [[ 0.99036823 0.05583703 -0.12670043 5.64369663] [-0.05356329 0.99833758 0.02128506 -0.52538616] [ 0.12767829 -0.01429355 0.99171263 -0.05028273] [ 0. 0. 0. 1. ]] SLAMing on 61.68240100800001 meters Centerline goodness [0,1] 0.9040478130942678 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.52, Z:-0.05 [[ 0.99035671 0.05470149 -0.12728443 5.64562389] [-0.05255167 0.99841409 0.02018971 -0.52235629] [ 0.12818698 -0.013306 0.99166075 -0.0506529 ] [ 0. 0. 0. 1. ]] SLAMing on 61.71240100800001 meters Centerline goodness [0,1] 0.9045809754783077 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.52, Z:-0.05 [[ 0.99060167 0.04913167 -0.12764956 5.64621077] [-0.04763748 0.99875602 0.01473399 -0.51641728] [ 0.12821467 -0.00851461 0.99170989 -0.05080886] [ 0. 0. 0. 1. ]] SLAMing on 61.742401008 meters Centerline goodness [0,1] 0.9065314707944555 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.51, Z:-0.05 [[ 9.90810627e-01 4.43272057e-02 -1.27786544e-01 5.64602330e+00] [-4.34160240e-02 9.99007943e-01 9.90849760e-03 -5.12897112e-01] [ 1.28098989e-01 -4.26946104e-03 9.91752197e-01 -5.09793785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.772401008 meters Centerline goodness [0,1] 0.9094088842252536 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.51, Z:-0.05 [[ 9.91006666e-01 3.95749753e-02 -1.27826484e-01 5.64548694e+00] [-3.92167991e-02 9.99216571e-01 5.31862960e-03 -5.09645411e-01] [ 1.27936825e-01 -2.57851839e-04 9.91782286e-01 -5.07279400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.802401008000004 meters Centerline goodness [0,1] 0.9121894702807566 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.51, Z:-0.05 [[ 9.91175887e-01 3.45840209e-02 -1.27962132e-01 5.64525965e+00] [-3.47844708e-02 9.99394614e-01 6.68600514e-04 -5.06244448e-01] [ 1.27907788e-01 3.78839433e-03 9.91778829e-01 -5.03236586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.832401008000005 meters Centerline goodness [0,1] 0.9129443326626425 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.50, Z:-0.05 [[ 9.91296791e-01 2.77074109e-02 -1.28697211e-01 5.64813233e+00] [-2.85945519e-02 9.99578334e-01 -5.05030311e-03 -5.02148117e-01] [ 1.28503013e-01 8.68638835e-03 9.91671076e-01 -5.08629040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.862401008000006 meters Centerline goodness [0,1] 0.9145896003437903 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.50, Z:-0.05 [[ 9.91241551e-01 2.60227788e-02 -1.29472015e-01 5.65093727e+00] [-2.69742044e-02 9.99620444e-01 -5.60005639e-03 -5.02018329e-01] [ 1.29277144e-01 9.04341319e-03 9.91567263e-01 -5.07661816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89240100800001 meters Centerline goodness [0,1] 0.9127167319770251 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.50, Z:-0.05 [[ 0.99117206 0.0245889 -0.13028172 5.65356913] [-0.02558699 0.99965464 -0.00599242 -0.5021014 ] [ 0.13008938 0.00927304 0.99145891 -0.05053623] [ 0. 0. 0. 1. ]] SLAMing on 61.922401008 meters Centerline goodness [0,1] 0.9124511535785023 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.50, Z:-0.05 [[ 0.99104743 0.02292632 -0.13152706 5.65724241] [-0.02398853 0.99969112 -0.00649704 -0.50196452] [ 0.13133748 0.00959402 0.99129129 -0.05016995] [ 0. 0. 0. 1. ]] SLAMing on 61.952401008 meters Centerline goodness [0,1] 0.9072574156519874 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.50, Z:-0.05 [[ 0.99109922 0.01759739 -0.13195704 5.65805291] [-0.01929026 0.99974708 -0.01156148 -0.49844338] [ 0.13172022 0.01400406 0.99118801 -0.05014594] [ 0. 0. 0. 1. ]] SLAMing on 61.982401008000004 meters Centerline goodness [0,1] 0.9144239249538979 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.50, Z:-0.05 [[ 0.99102656 0.01716602 -0.13255823 5.65865463] [-0.0188477 0.99975689 -0.01144192 -0.4977094 ] [ 0.13232959 0.01383766 0.99110918 -0.04857374] [ 0. 0. 0. 1. ]] SLAMing on 62.012401008000005 meters Centerline goodness [0,1] 0.9153490114241378 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.50, Z:-0.05 [[ 0.99099361 0.0169879 -0.13282721 5.65858798] [-0.01864777 0.99976268 -0.01126239 -0.49688599] [ 0.13260436 0.01363789 0.99107522 -0.04726969] [ 0. 0. 0. 1. ]] SLAMing on 62.042401008000006 meters Centerline goodness [0,1] 0.9080877441419296 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.49, Z:-0.05 [[ 0.99100996 0.01674077 -0.13273663 5.65729642] [-0.01838252 0.99976882 -0.01115258 -0.49441072] [ 0.13251924 0.01349235 0.9910886 -0.04524554] [ 0. 0. 0. 1. ]] SLAMing on 62.07240100800001 meters Centerline goodness [0,1] 0.9113876822215707 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.50, Z:-0.04 [[ 0.99086934 0.0199243 -0.13334528 5.65894461] [-0.02096612 0.99975962 -0.00641329 -0.49589699] [ 0.13318545 0.00915047 0.99104889 -0.04289869] [ 0. 0. 0. 1. ]] SLAMing on 62.102401008 meters Centerline goodness [0,1] 0.9048391816754902 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.50, Z:-0.04 [[ 0.9908497 0.01952043 -0.13355082 5.65908107] [-0.02054559 0.99976905 -0.00630221 -0.49503328] [ 0.13339695 0.00898842 0.99102193 -0.04176999] [ 0. 0. 0. 1. ]] SLAMing on 62.132401008 meters Centerline goodness [0,1] 0.9030157459300774 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.50, Z:-0.04 [[ 0.99079774 0.01928558 -0.13396978 5.65920232] [-0.02025375 0.99977765 -0.00586761 -0.49532886] [ 0.13382684 0.008527 0.99096805 -0.04007747] [ 0. 0. 0. 1. ]] SLAMing on 62.162401008 meters Centerline goodness [0,1] 0.9030157459300774 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.50, Z:-0.04 [[ 0.99079774 0.01928558 -0.13396978 5.65920232] [-0.02025375 0.99977765 -0.00586761 -0.49532886] [ 0.13382684 0.008527 0.99096805 -0.04007747] [ 0. 0. 0. 1. ]] SLAMing on 62.192401008000004 meters Centerline goodness [0,1] 0.8988107935153584 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.50, Z:-0.04 [[ 9.90715194e-01 1.87462311e-02 -1.34655055e-01 5.66012629e+00] [-1.96780858e-02 9.99790726e-01 -5.59259050e-03 -4.95815554e-01] [ 1.34522035e-01 8.19041810e-03 9.90876753e-01 -3.84627480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.222401008000006 meters Centerline goodness [0,1] 0.8845980186449232 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.49, Z:-0.04 [[ 0.99062698 0.01785592 -0.1354229 5.66127 ] [-0.01885966 0.99980333 -0.0061325 -0.49344294] [ 0.13528676 0.00862905 0.99076891 -0.03716325] [ 0. 0. 0. 1. ]] SLAMing on 62.25240100800001 meters Centerline goodness [0,1] 0.874190221846162 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.49, Z:-0.04 [[ 0.99059849 0.01738454 -0.13569234 5.66194845] [-0.01847735 0.99980617 -0.0067982 -0.49026032] [ 0.13554786 0.00924152 0.9907277 -0.03705636] [ 0. 0. 0. 1. ]] SLAMing on 62.28240100800001 meters Centerline goodness [0,1] 0.876826448018501 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.49, Z:-0.04 [[ 9.90388244e-01 2.06381275e-02 -1.36766929e-01 5.66447280e+00] [-2.12287615e-02 9.99770550e-01 -2.86124557e-03 -4.90040063e-01] [ 1.36676497e-01 5.73713650e-03 9.90599122e-01 -3.56008610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.312401008 meters Centerline goodness [0,1] 0.8983894199292917 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.49, Z:-0.04 [[ 9.90331249e-01 1.98188679e-02 -1.37299778e-01 5.66545944e+00] [-2.05706242e-02 9.99780165e-01 -4.05842611e-03 -4.85079456e-01] [ 1.37189162e-01 6.84352834e-03 9.90521226e-01 -3.53103841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.342401008 meters Centerline goodness [0,1] 0.8810275957496801 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.48, Z:-0.04 [[ 9.90265032e-01 1.92387314e-02 -1.37858762e-01 5.66678820e+00] [-2.00735831e-02 9.99787608e-01 -4.66798161e-03 -4.82834138e-01] [ 1.37739675e-01 7.38985826e-03 9.90440898e-01 -3.51756961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.372401008000004 meters Centerline goodness [0,1] 0.8802818732610448 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.48, Z:-0.04 [[ 9.90229868e-01 1.87004505e-02 -1.38185027e-01 5.66768319e+00] [-1.96286310e-02 9.99792987e-01 -5.35714674e-03 -4.80051746e-01] [ 1.38056240e-01 8.01718962e-03 9.90391942e-01 -3.51667144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.402401008000005 meters Centerline goodness [0,1] 0.868914435614536 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.48, Z:-0.04 [[ 9.90082908e-01 2.16022718e-02 -1.38813463e-01 5.67005763e+00] [-2.21998158e-02 9.99749751e-01 -2.75760211e-03 -4.75213020e-01] [ 1.38719154e-01 5.81188801e-03 9.90314707e-01 -3.52673355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.43240100800001 meters Centerline goodness [0,1] 0.8768951499501445 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.47, Z:-0.03 [[ 9.89930231e-01 2.51954693e-02 -1.39295821e-01 5.67162628e+00] [-2.53235206e-02 9.99678944e-01 8.53302440e-04 -4.73776063e-01] [ 1.39272599e-01 2.68275073e-03 9.90250446e-01 -3.47623214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46240100800001 meters Centerline goodness [0,1] 0.8473833133651125 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.47, Z:-0.03 [[ 9.89920026e-01 2.50824515e-02 -1.39388714e-01 5.67167187e+00] [-2.53139949e-02 9.99679543e-01 1.11796839e-04 -4.69762869e-01] [ 1.39346850e-01 3.41781525e-03 9.90237736e-01 -3.47337057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.492401008 meters Centerline goodness [0,1] 0.8481502072172243 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.47, Z:-0.03 [[ 9.89742914e-01 2.88866759e-02 -1.39908987e-01 5.67273471e+00] [-2.86206590e-02 9.99582684e-01 3.91344834e-03 -4.68915410e-01] [ 1.39963647e-01 1.30979645e-04 9.90156634e-01 -3.36088405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.522401008 meters Centerline goodness [0,1] 0.9028180273808334 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.46, Z:-0.03 [[ 9.89592344e-01 3.37417887e-02 -1.39887400e-01 5.67145543e+00] [-3.30667079e-02 9.99427586e-01 7.14798768e-03 -4.62343264e-01] [ 1.40048513e-01 -2.44797808e-03 9.90141617e-01 -3.22065984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.552401008000004 meters Centerline goodness [0,1] 0.9134863203806503 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.46, Z:-0.03 [[ 9.89421852e-01 3.81226247e-02 -1.39968081e-01 5.67158038e+00] [-3.70120836e-02 9.99259341e-01 1.05297188e-02 -4.58562715e-01] [ 1.40265833e-01 -5.23782353e-03 9.90100026e-01 -3.17078296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.582401008000005 meters Centerline goodness [0,1] 0.914497135973646 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.45, Z:-0.03 [[ 0.98922806 0.04244192 -0.1400947 5.67190179] [-0.04094852 0.99906969 0.01352662 -0.4541052 ] [ 0.14053847 -0.00764424 0.99004571 -0.03154703] [ 0. 0. 0. 1. ]] SLAMing on 62.612401008000006 meters Centerline goodness [0,1] 0.9121815790755443 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.45, Z:-0.03 [[ 9.89619534e-01 4.88281807e-02 -1.35162815e-01 5.68526905e+00] [-4.80178080e-02 9.98803638e-01 9.25109295e-03 -4.49912032e-01] [ 1.35452826e-01 -2.66484018e-03 9.90780213e-01 -3.38689944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64240100800001 meters Centerline goodness [0,1] 0.9063005626796107 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.44, Z:-0.04 [[ 9.89602189e-01 6.08299839e-02 -1.30335029e-01 5.69666288e+00] [-6.03322870e-02 9.98148126e-01 7.76745279e-03 -4.42066710e-01] [ 1.30566159e-01 1.76722110e-04 9.91439583e-01 -3.61516953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.672401008 meters Centerline goodness [0,1] 0.9024407822034306 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.44, Z:-0.04 [[ 9.89312150e-01 6.56349863e-02 -1.30205679e-01 5.69628604e+00] [-6.47191235e-02 9.97840018e-01 1.12575790e-02 -4.38074421e-01] [ 1.30663328e-01 -2.71046229e-03 9.91423092e-01 -3.55565882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.702401008 meters Centerline goodness [0,1] 0.9011607121576852 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.43, Z:-0.04 [[ 9.89010944e-01 6.97351473e-02 -1.30362429e-01 5.69740781e+00] [-6.84556664e-02 9.97552015e-01 1.42758419e-02 -4.34352786e-01] [ 1.31038831e-01 -5.19491692e-03 9.91363625e-01 -3.58066650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.732401008000004 meters Centerline goodness [0,1] 0.8990512333965844 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.43, Z:-0.04 [[ 0.98869724 0.07361956 -0.13060603 5.69896016] [-0.07195394 0.99725559 0.01743301 -0.43183607] [ 0.131531 -0.00783835 0.99128107 -0.03612251] [ 0. 0. 0. 1. ]] SLAMing on 62.762401008000005 meters Centerline goodness [0,1] 0.8966559607028151 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.43, Z:-0.04 [[ 9.89020492e-01 7.66518906e-02 -1.26344582e-01 5.71241129e+00] [-7.61548406e-02 9.97057462e-01 8.76683112e-03 -4.26938357e-01] [ 1.26644803e-01 9.51175893e-04 9.91947675e-01 -4.02093585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.792401008000006 meters Centerline goodness [0,1] 0.895846132035348 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.43, Z:-0.04 [[ 9.88991520e-01 7.65822908e-02 -1.26613297e-01 5.71264300e+00] [-7.61260239e-02 9.97062435e-01 8.44566371e-03 -4.25914713e-01] [ 1.26888151e-01 1.28587711e-03 9.91916198e-01 -3.98596924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82240100800001 meters Centerline goodness [0,1] 0.8929678075549353 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.42, Z:-0.04 [[ 9.88984243e-01 7.65846688e-02 -1.26668685e-01 5.71241713e+00] [-7.61559271e-02 9.97061944e-01 8.23129134e-03 -4.24981333e-01] [ 1.26926916e-01 1.50595368e-03 9.91910929e-01 -3.94736658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.852401008 meters Centerline goodness [0,1] 0.8923526776239772 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.42, Z:-0.05 [[ 9.90443965e-01 7.49012121e-02 -1.15803974e-01 5.71851999e+00] [-7.45729064e-02 9.97189780e-01 7.17106757e-03 -4.23242538e-01] [ 1.16015661e-01 1.53329834e-03 9.93246201e-01 -4.58176197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.882401008 meters Centerline goodness [0,1] 0.8853657961167339 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.42, Z:-0.05 [[ 9.90448633e-01 7.50653548e-02 -1.15657679e-01 5.71820328e+00] [-7.47665837e-02 9.97177013e-01 6.92548625e-03 -4.21255769e-01] [ 1.15851043e-01 1.78799117e-03 9.93264989e-01 -4.58219929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.912401008 meters Centerline goodness [0,1] 0.8829040362534927 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.42, Z:-0.05 [[ 9.90116965e-01 7.92297226e-02 -1.15719688e-01 5.71901459e+00] [-7.85502679e-02 9.96855620e-01 1.04272777e-02 -4.19236117e-01] [ 1.16181971e-01 -1.23441208e-03 9.93227177e-01 -4.57028450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.942401008000004 meters Centerline goodness [0,1] 0.879286082836906 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.42, Z:-0.05 [[ 9.90512960e-01 8.15121253e-02 -1.10633855e-01 5.73218965e+00] [-8.17467104e-02 9.96650195e-01 2.42149668e-03 -4.17529527e-01] [ 1.10460634e-01 6.64542982e-03 9.93858283e-01 -4.92625358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.972401008000006 meters Centerline goodness [0,1] 0.8766103770696436 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.42, Z:-0.05 [[ 9.90484664e-01 8.24011281e-02 -1.10227875e-01 5.73061776e+00] [-8.25848150e-02 9.96579803e-01 2.90586454e-03 -4.17387905e-01] [ 1.10090320e-01 6.22493440e-03 9.93902094e-01 -4.86134699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00240100800001 meters Centerline goodness [0,1] 0.8766845247929008 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.42, Z:-0.05 [[ 9.90864074e-01 8.45327745e-02 -1.05083758e-01 5.74239043e+00] [-8.55813528e-02 9.96315996e-01 -5.50163526e-03 -4.18549084e-01] [ 1.04231560e-01 1.44445829e-02 9.94448156e-01 -5.19077638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03240100800001 meters Centerline goodness [0,1] 0.8777909176915799 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.42, Z:-0.05 [[ 9.90830199e-01 8.48650569e-02 -1.05135332e-01 5.74228068e+00] [-8.58554423e-02 9.96295446e-01 -4.92218227e-03 -4.20457591e-01] [ 1.04328132e-01 1.39034873e-02 9.94445742e-01 -5.16532078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.062401008 meters Centerline goodness [0,1] 0.8745084103293058 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.42, Z:-0.05 [[ 9.90814264e-01 8.50046148e-02 -1.05172765e-01 5.74252540e+00] [-8.59634492e-02 9.96287629e-01 -4.60923032e-03 -4.21750414e-01] [ 1.04390519e-01 1.36079048e-02 9.94443284e-01 -5.18567430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.092401008 meters Centerline goodness [0,1] 0.8762957679505469 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.42, Z:-0.05 [[ 9.90800146e-01 8.50778838e-02 -1.05246497e-01 5.74304713e+00] [-8.60071434e-02 9.96285179e-01 -4.31420965e-03 -4.22964803e-01] [ 1.04488481e-01 1.33264701e-02 9.94436807e-01 -5.22723582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.122401008000004 meters Centerline goodness [0,1] 0.8782107743947437 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.43, Z:-0.05 [[ 9.90774866e-01 8.46843341e-02 -1.05800415e-01 5.74590654e+00] [-8.56090055e-02 9.96319870e-01 -4.22083699e-03 -4.25588997e-01] [ 1.05053617e-01 1.32393675e-02 9.94378427e-01 -5.42492361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.152401008000005 meters Centerline goodness [0,1] 0.8827897426101905 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.43, Z:-0.05 [[ 9.90740368e-01 8.49767975e-02 -1.05888942e-01 5.74624666e+00] [-8.58411283e-02 9.96302249e-01 -3.62357521e-03 -4.28287578e-01] [ 1.05189471e-01 1.26796485e-02 9.94371360e-01 -5.44292443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18240100800001 meters Centerline goodness [0,1] 0.8771164084608375 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.43, Z:-0.05 [[ 9.90691378e-01 8.55687846e-02 -1.05870566e-01 5.74559973e+00] [-8.63308010e-02 9.96263063e-01 -2.62736693e-03 -4.31640136e-01] [ 1.05250114e-01 1.17428005e-02 9.94376448e-01 -5.37631219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21240100800001 meters Centerline goodness [0,1] 0.8764781273426354 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.44, Z:-0.05 [[ 9.90634560e-01 8.64822303e-02 -1.05659796e-01 5.74426165e+00] [-8.71036728e-02 9.96198440e-01 -1.27243919e-03 -4.35569049e-01] [ 1.05148080e-01 1.04638785e-02 9.94401523e-01 -5.27901670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.242401008 meters Centerline goodness [0,1] 0.8772450717936238 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.44, Z:-0.05 [[ 9.90559544e-01 8.69416375e-02 -1.05985568e-01 5.74453261e+00] [-8.73762678e-02 9.96175231e-01 5.44506482e-04 -4.42319569e-01] [ 1.05627538e-01 8.72125729e-03 9.94367519e-01 -5.19047466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.272401008 meters Centerline goodness [0,1] 0.8760680639742935 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.45, Z:-0.05 [[ 9.90531558e-01 8.69473924e-02 -1.06242103e-01 5.74551498e+00] [-8.73147381e-02 9.96180055e-01 1.19777941e-03 -4.45547216e-01] [ 1.05940408e-01 8.09006310e-03 9.94339570e-01 -5.22907431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.302401008000004 meters Centerline goodness [0,1] 0.8744662052716832 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.45, Z:-0.05 [[ 9.90499977e-01 8.71622511e-02 -1.06360417e-01 5.74645616e+00] [-8.74114050e-02 9.96169582e-01 2.32594624e-03 -4.52325550e-01] [ 1.06155747e-01 6.99326377e-03 9.94324923e-01 -5.32087375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.332401008000005 meters Centerline goodness [0,1] 0.8737890537895493 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.46, Z:-0.05 [[ 9.90460593e-01 8.78648848e-02 -1.06148841e-01 5.74539884e+00] [-8.79842359e-02 9.96115480e-01 3.56719438e-03 -4.57058968e-01] [ 1.06049934e-01 5.80625917e-03 9.94343853e-01 -5.25730206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.362401008000006 meters Centerline goodness [0,1] 0.8687835979497437 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.46, Z:-0.05 [[ 9.90392348e-01 8.89261122e-02 -1.05901578e-01 5.74354993e+00] [-8.88813452e-02 9.96028898e-01 5.15170253e-03 -4.62219762e-01] [ 1.05939153e-01 4.31046796e-03 9.94363271e-01 -5.11616562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39240100800001 meters Centerline goodness [0,1] 0.8729362171927535 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.47, Z:-0.06 [[ 9.91852119e-01 8.70865930e-02 -9.29801069e-02 5.74764563e+00] [-8.71826457e-02 9.96187717e-01 3.03615891e-03 -4.65405348e-01] [ 9.28900491e-02 5.09483107e-03 9.95663337e-01 -5.63072858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.422401008 meters Centerline goodness [0,1] 0.8715568560185653 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.47, Z:-0.06 [[ 9.91809895e-01 8.78491533e-02 -9.27127718e-02 5.74651319e+00] [-8.78325894e-02 9.96126111e-01 4.26698585e-03 -4.69409701e-01] [ 9.27284639e-02 3.91116403e-03 9.95683752e-01 -5.57083508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.452401008 meters Centerline goodness [0,1] 0.8699036511156186 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.48, Z:-0.06 [[ 9.91806927e-01 8.75098860e-02 -9.30647050e-02 5.74819766e+00] [-8.73916632e-02 9.96159648e-01 5.35283790e-03 -4.76825910e-01] [ 9.31757300e-02 2.82409765e-03 9.95645674e-01 -5.65148054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.482401008000004 meters Centerline goodness [0,1] 0.8750923872875093 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.48, Z:-0.06 [[ 9.91800260e-01 8.74912868e-02 -9.31532029e-02 5.74880266e+00] [-8.72998375e-02 9.96163183e-01 6.13609793e-03 -4.80899265e-01] [ 9.33326462e-02 2.04647595e-03 9.95632879e-01 -5.67882946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.512401008000005 meters Centerline goodness [0,1] 0.8651494914209391 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.48, Z:-0.06 [[ 9.92114308e-01 8.40390112e-02 -9.29873347e-02 5.74755924e+00] [-8.41425284e-02 9.96449757e-01 2.81378059e-03 -4.82658440e-01] [ 9.28936743e-02 5.03259746e-03 9.95663316e-01 -5.71202391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.542401008000006 meters Centerline goodness [0,1] 0.8665505860339406 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.49, Z:-0.06 [[ 9.92422554e-01 8.06878741e-02 -9.26657457e-02 5.74591239e+00] [-8.09865948e-02 9.96715045e-01 5.38438055e-04 -4.89038502e-01] [ 9.24047884e-02 6.97032513e-03 9.95697127e-01 -5.69998916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57240100800001 meters Centerline goodness [0,1] 0.8671535882307073 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.49, Z:-0.06 [[ 9.92400622e-01 8.03247935e-02 -9.32144428e-02 5.74740388e+00] [-8.05477573e-02 9.96749804e-01 1.37401134e-03 -4.93253389e-01] [ 9.30218447e-02 6.14464461e-03 9.95645107e-01 -5.67006627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60240100800001 meters Centerline goodness [0,1] 0.866776229978609 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.50, Z:-0.06 [[ 9.92599458e-01 7.79337759e-02 -9.31270230e-02 5.74812094e+00] [-7.83272638e-02 9.96927536e-01 -5.72040315e-04 -4.96271408e-01] [ 9.27963123e-02 7.86219180e-03 9.95654072e-01 -5.80713527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.632401008 meters Centerline goodness [0,1] 0.8647963896439788 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.50, Z:-0.06 [[ 9.92874144e-01 7.39026311e-02 -9.34844154e-02 5.74883764e+00] [-7.45791121e-02 9.97208017e-01 -3.75865649e-03 -5.01714169e-01] [ 9.29456339e-02 1.07038575e-02 9.95613648e-01 -5.91844393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.662401008 meters Centerline goodness [0,1] 0.8715491611807178 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.51, Z:-0.06 [[ 9.92847218e-01 7.39904076e-02 -9.37007000e-02 5.74949551e+00] [-7.45920915e-02 9.97209824e-01 -2.93049311e-03 -5.05560166e-01] [ 9.32224301e-02 9.89886311e-03 9.95596098e-01 -5.91877283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.692401008000004 meters Centerline goodness [0,1] 0.8711850025190253 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.51, Z:-0.06 [[ 9.92827628e-01 7.39649981e-02 -9.39280533e-02 5.75035880e+00] [-7.45210185e-02 9.97216504e-01 -2.42110039e-03 -5.08090258e-01] [ 9.34875283e-02 9.40334956e-03 9.95576044e-01 -5.94158445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.722401008000006 meters Centerline goodness [0,1] 0.8708698314651615 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.51, Z:-0.06 [[ 9.92804273e-01 7.42951260e-02 -9.39143780e-02 5.75059121e+00] [-7.48003224e-02 9.97196786e-01 -1.86572931e-03 -5.10194323e-01] [ 9.35125013e-02 8.87712979e-03 9.95578530e-01 -5.97764460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75240100800001 meters Centerline goodness [0,1] 0.8731570512820512 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.51, Z:-0.06 [[ 9.92771734e-01 7.46210820e-02 -9.39998858e-02 5.75083458e+00] [-7.50825098e-02 9.97176374e-01 -1.37674115e-03 -5.12002547e-01] [ 9.36317313e-02 8.42453705e-03 9.95571256e-01 -5.99763725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78240100800001 meters Centerline goodness [0,1] 0.8725085726532362 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.52, Z:-0.06 [[ 9.92735070e-01 7.51822309e-02 -9.39399421e-02 5.75113544e+00] [-7.55666974e-02 9.97140605e-01 -5.37103864e-04 -5.15269625e-01] [ 9.36309500e-02 7.63193303e-03 9.95577721e-01 -6.06602947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.812401008 meters Centerline goodness [0,1] 0.8767688679245284 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.52, Z:-0.06 [[ 9.92713851e-01 7.57829823e-02 -9.36811097e-02 5.75053916e+00] [-7.61149620e-02 9.97099048e-01 2.94887276e-05 -5.16956068e-01] [ 9.34115800e-02 7.10126023e-03 9.95602254e-01 -6.08255929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.842401008 meters Centerline goodness [0,1] 0.8766732971345627 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.52, Z:-0.06 [[ 9.92668197e-01 7.67349126e-02 -9.33895315e-02 5.74915537e+00] [-7.69754025e-02 9.97032460e-01 1.02971612e-03 -5.19225091e-01] [ 9.31914095e-02 6.16653034e-03 9.95629115e-01 -6.01155250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.872401008000004 meters Centerline goodness [0,1] 0.8795284957283444 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.52, Z:-0.06 [[ 9.92580898e-01 7.86605882e-02 -9.27128460e-02 5.74616493e+00] [-7.87440494e-02 9.96891037e-01 2.76332781e-03 -5.23511660e-01] [ 9.26419702e-02 4.55775853e-03 9.95689054e-01 -5.90148289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.902401008000005 meters Centerline goodness [0,1] 0.8841679039006614 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.52, Z:-0.06 [[ 9.92542270e-01 7.94591371e-02 -9.24450490e-02 5.74530191e+00] [-7.94976664e-02 9.96829684e-01 3.27148021e-03 -5.24819590e-01] [ 9.24119179e-02 4.10208327e-03 9.95712413e-01 -5.91418045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93240100800001 meters Centerline goodness [0,1] 0.8863366443532714 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.53, Z:-0.06 [[ 9.92510377e-01 8.01788117e-02 -9.21656685e-02 5.74453641e+00] [-8.01701177e-02 9.96773942e-01 3.80267894e-03 -5.26324741e-01] [ 9.21732310e-02 3.61473418e-03 9.95736426e-01 -5.93121156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96240100800001 meters Centerline goodness [0,1] 0.893299709861981 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.53, Z:-0.06 [[ 9.92442818e-01 8.19031834e-02 -9.13735284e-02 5.74157498e+00] [-8.17326564e-02 9.96638484e-01 5.61296801e-03 -5.31605108e-01] [ 9.15260947e-02 1.89765141e-03 9.95800870e-01 -5.84054794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.992401008 meters Centerline goodness [0,1] 0.8936986450454373 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.54, Z:-0.06 [[ 9.92409647e-01 8.27085669e-02 -9.10076100e-02 5.74001685e+00] [-8.24271764e-02 9.96573531e-01 6.85265137e-03 -5.35164524e-01] [ 9.12625482e-02 7.00863000e-04 9.95826619e-01 -5.73576511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02240100800002 meters Centerline goodness [0,1] 0.8918349477370985 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.54, Z:-0.06 [[ 9.92693107e-01 7.99320067e-02 -9.03950792e-02 5.73695667e+00] [-7.99295929e-02 9.96793820e-01 3.65256981e-03 -5.36387100e-01] [ 9.03972135e-02 3.59936100e-03 9.95899286e-01 -5.71781070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05240100800002 meters Centerline goodness [0,1] 0.892697261816484 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.54, Z:-0.06 [[ 9.92665212e-01 8.01701723e-02 -9.04904390e-02 5.73692789e+00] [-8.00702147e-02 9.96777955e-01 4.74021065e-03 -5.40514392e-01] [ 9.05788982e-02 2.54014667e-03 9.95886043e-01 -5.65007430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.082401008 meters Centerline goodness [0,1] 0.892697261816484 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.54, Z:-0.06 [[ 9.92665212e-01 8.01701723e-02 -9.04904390e-02 5.73692789e+00] [-8.00702147e-02 9.96777955e-01 4.74021065e-03 -5.40514392e-01] [ 9.05788982e-02 2.54014667e-03 9.95886043e-01 -5.65007430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.112401008 meters Centerline goodness [0,1] 0.8887110129726745 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.55, Z:-0.06 [[ 9.92974537e-01 7.63096003e-02 -9.04345789e-02 5.73752125e+00] [-7.64790281e-02 9.97069914e-01 1.59539677e-03 -5.45538972e-01] [ 9.02913418e-02 5.33216033e-03 9.95901120e-01 -5.84433851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14240100800001 meters Centerline goodness [0,1] 0.890659325380273 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.55, Z:-0.06 [[ 9.93276426e-01 7.23771360e-02 -9.03520440e-02 5.73719083e+00] [-7.28763853e-02 9.97338478e-01 -2.23451313e-03 -5.47178658e-01] [ 8.99498424e-02 8.80401959e-03 9.95907383e-01 -5.96111629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17240100800001 meters Centerline goodness [0,1] 0.8885344972301494 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.55, Z:-0.06 [[ 0.99355255 0.06843237 -0.09038994 5.73685085] [-0.06923387 0.99758384 -0.00575788 -0.54943491] [ 0.08977752 0.0119788 0.99588981 -0.06016636] [ 0. 0. 0. 1. ]] SLAMing on 64.20240100800001 meters Centerline goodness [0,1] 0.8864287131800528 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.56, Z:-0.06 [[ 0.99408607 0.06006088 -0.09047422 5.73730155] [-0.06149164 0.99802152 -0.01310803 -0.55505771] [ 0.08950793 0.01859392 0.99581253 -0.06231878] [ 0. 0. 0. 1. ]] SLAMing on 64.23240100800001 meters Centerline goodness [0,1] 0.8825006419950352 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.56, Z:-0.06 [[ 0.99432554 0.05583766 -0.09054765 5.73740232] [-0.05755634 0.99820623 -0.01648012 -0.55803284] [ 0.08946502 0.0215982 0.99575576 -0.06271101] [ 0. 0. 0. 1. ]] SLAMing on 64.26240100800001 meters Centerline goodness [0,1] 0.879466467358496 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.56, Z:-0.06 [[ 0.9945505 0.05126857 -0.09077905 5.73825497] [-0.05329949 0.99837647 -0.02008942 -0.56088785] [ 0.08960171 0.02481842 0.99566841 -0.06348287] [ 0. 0. 0. 1. ]] SLAMing on 64.29240100800001 meters Centerline goodness [0,1] 0.8790257416599331 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.57, Z:-0.06 [[ 0.99459153 0.05002543 -0.09102274 5.7401367 ] [-0.05195206 0.99847033 -0.01892025 -0.56683092] [ 0.08993701 0.02354674 0.99566906 -0.0626946 ] [ 0. 0. 0. 1. ]] SLAMing on 64.32240100800001 meters Centerline goodness [0,1] 0.8770848546808822 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.57, Z:-0.06 [[ 0.99485275 0.04477167 -0.09090384 5.74137819] [-0.04695758 0.99865347 -0.02205074 -0.57316779] [ 0.08979419 0.02620587 0.99561552 -0.06362129] [ 0. 0. 0. 1. ]] SLAMing on 64.35240100800002 meters Centerline goodness [0,1] 0.8766890406542193 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.58, Z:-0.06 [[ 0.99483751 0.04458817 -0.09116038 5.74219942] [-0.04666576 0.99869426 -0.02078645 -0.57715807] [ 0.09011452 0.0249332 0.99561926 -0.06260244] [ 0. 0. 0. 1. ]] SLAMing on 64.38240100800002 meters Centerline goodness [0,1] 0.8777643983670592 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.58, Z:-0.06 [[ 0.99480541 0.04470934 -0.09145095 5.74251905] [-0.04666731 0.9987224 -0.0193839 -0.58089108] [ 0.09046747 0.02355098 0.99562091 -0.06106633] [ 0. 0. 0. 1. ]] SLAMing on 64.41240100800002 meters Centerline goodness [0,1] 0.8779989941721149 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.59, Z:-0.06 [[ 0.99477802 0.04544899 -0.09138428 5.74126375] [-0.04715071 0.9987507 -0.01654852 -0.58763601] [ 0.090518 0.02077093 0.99567819 -0.05760214] [ 0. 0. 0. 1. ]] SLAMing on 64.44240100800002 meters Centerline goodness [0,1] 0.8795827123695976 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.59, Z:-0.06 [[ 0.99475006 0.04622599 -0.09129878 5.73966161] [-0.04777565 0.99874754 -0.01486046 -0.59123077] [ 0.0904975 0.01914431 0.99571266 -0.05514956] [ 0. 0. 0. 1. ]] SLAMing on 64.472401008 meters Centerline goodness [0,1] 0.8807161217048239 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.60, Z:-0.05 [[ 0.99471869 0.04677068 -0.09136313 5.73847205] [-0.04817068 0.99875219 -0.01317769 -0.59501262] [ 0.0906328 0.01750912 0.99573045 -0.05250645] [ 0. 0. 0. 1. ]] SLAMing on 64.502401008 meters Centerline goodness [0,1] 0.8828945000899658 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.60, Z:-0.05 [[ 0.99470405 0.04697175 -0.09141938 5.73830693] [-0.04831788 0.99875296 -0.01256642 -0.59659517] [ 0.09071511 0.01691706 0.99573319 -0.05181724] [ 0. 0. 0. 1. ]] SLAMing on 64.53240100800001 meters Centerline goodness [0,1] 0.8788205681409564 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.60, Z:-0.05 [[ 0.99454249 0.04912983 -0.09204075 5.74251409] [-0.05018066 0.99869837 -0.00913642 -0.59828704] [ 0.09147208 0.01370522 0.99571333 -0.05264719] [ 0. 0. 0. 1. ]] SLAMing on 64.56240100800001 meters Centerline goodness [0,1] 0.8892442903264379 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.60, Z:-0.05 [[ 9.94307238e-01 5.24171732e-02 -9.27661347e-02 5.74554746e+00] [-5.30995069e-02 9.98577200e-01 -4.90081877e-03 -5.99585374e-01] [ 9.23772600e-02 9.79875558e-03 9.95675864e-01 -5.22254077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59240100800001 meters Centerline goodness [0,1] 0.8794199265956495 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.60, Z:-0.05 [[ 0.99430514 0.05216169 -0.09293245 5.74677592] [-0.05293341 0.99858087 -0.0058569 -0.59680711] [ 0.09249506 0.01074278 0.99565519 -0.05379733] [ 0. 0. 0. 1. ]] SLAMing on 64.62240100800001 meters Centerline goodness [0,1] 0.8791097320842532 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.59, Z:-0.06 [[ 0.99429548 0.05206184 -0.09309172 5.74785228] [-0.05293145 0.99857434 -0.00689517 -0.59323742] [ 0.09260003 0.01178332 0.99563366 -0.05538988] [ 0. 0. 0. 1. ]] SLAMing on 64.65240100800001 meters Centerline goodness [0,1] 0.8839991707880475 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.59, Z:-0.06 [[ 9.94021433e-01 5.66950142e-02 -9.33116639e-02 5.74835091e+00] [-5.72401538e-02 9.98355393e-01 -3.17394906e-03 -5.90317653e-01] [ 9.29782558e-02 8.49614739e-03 9.95631890e-01 -5.50261158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68240100800001 meters Centerline goodness [0,1] 0.884488156417981 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.59, Z:-0.05 [[ 9.93996670e-01 5.76192169e-02 -9.30088497e-02 5.74671417e+00] [-5.81748783e-02 9.98301046e-01 -3.27184715e-03 -5.87503268e-01] [ 9.26623107e-02 8.66298368e-03 9.95659906e-01 -5.47321767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71240100800001 meters Centerline goodness [0,1] 0.885880247601725 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.58, Z:-0.05 [[ 9.93730874e-01 6.26742725e-02 -9.25790748e-02 5.74532447e+00] [-6.28700010e-02 9.98021401e-01 8.03682354e-04 -5.84345553e-01] [ 9.24462682e-02 5.02180256e-03 9.95705011e-01 -5.37948045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74240100800002 meters Centerline goodness [0,1] 0.8853794315851158 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.58, Z:-0.05 [[ 9.93712480e-01 6.32506268e-02 -9.23843355e-02 5.74438845e+00] [-6.34634369e-02 9.97983962e-01 6.35409450e-04 -5.81912987e-01] [ 9.22382753e-02 5.23161315e-03 9.95723220e-01 -5.37807822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77240100800002 meters Centerline goodness [0,1] 0.8834597432905484 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.58, Z:-0.05 [[ 9.93704588e-01 6.36512900e-02 -9.21938502e-02 5.74373942e+00] [-6.38876527e-02 9.97957022e-01 3.88292487e-04 -5.80152742e-01] [ 9.20302155e-02 5.50420066e-03 9.95741002e-01 -5.40364593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80240100800002 meters Centerline goodness [0,1] 0.8845031798821401 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.58, Z:-0.05 [[ 9.93695038e-01 6.40458105e-02 -9.20233930e-02 5.74302566e+00] [-6.42829508e-02 9.97931637e-01 3.87849813e-04 -5.79177667e-01] [ 9.18578954e-02 5.53013081e-03 9.95756770e-01 -5.39574068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.832401008 meters Centerline goodness [0,1] 0.8876496350364964 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.58, Z:-0.05 [[ 9.93667540e-01 6.48904349e-02 -9.17281429e-02 5.74077639e+00] [-6.50594409e-02 9.97880728e-01 1.14970074e-03 -5.79289077e-01] [ 9.16083506e-02 4.82536139e-03 9.95783423e-01 -5.20573371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.862401008 meters Centerline goodness [0,1] 0.8855773726040206 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.58, Z:-0.05 [[ 9.93632537e-01 6.55425096e-02 -9.16436597e-02 5.73907464e+00] [-6.56002144e-02 9.97843134e-01 2.38571619e-03 -5.80973092e-01] [ 9.16023624e-02 3.64131849e-03 9.95789008e-01 -4.96166067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89240100800001 meters Centerline goodness [0,1] 0.8862473316372781 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.58, Z:-0.05 [[ 9.93592678e-01 6.57931673e-02 -9.18958576e-02 5.73845315e+00] [-6.57302602e-02 9.97830515e-01 3.71425606e-03 -5.83240467e-01] [ 9.19408636e-02 2.34988101e-03 9.95761696e-01 -4.69908490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92240100800001 meters Centerline goodness [0,1] 0.8873756200651619 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.58, Z:-0.05 [[ 9.93860375e-01 6.23199761e-02 -9.14208662e-02 5.73616414e+00] [-6.26076544e-02 9.98038177e-01 -2.79493794e-04 -5.82368756e-01] [ 9.12240967e-02 6.00142381e-03 9.95812305e-01 -4.71302417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95240100800001 meters Centerline goodness [0,1] 0.8882049771756737 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.58, Z:-0.05 [[ 9.93863844e-01 6.21168218e-02 -9.15213690e-02 5.73632842e+00] [-6.23087894e-02 9.98056629e-01 7.61056379e-04 -5.84973690e-01] [ 9.13907835e-02 4.94619929e-03 9.95802822e-01 -4.57417305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98240100800001 meters Centerline goodness [0,1] 0.88280905806679 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.59, Z:-0.05 [[ 9.93855390e-01 6.17918647e-02 -9.18326115e-02 5.73742212e+00] [-6.19402945e-02 9.98079092e-01 1.23564635e-03 -5.86055365e-01] [ 9.17325623e-02 4.46008521e-03 9.95773691e-01 -4.52956711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01240100800001 meters Centerline goodness [0,1] 0.8839909243598433 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.59, Z:-0.05 [[ 9.93842949e-01 6.14807690e-02 -9.21754229e-02 5.73868228e+00] [-6.16122413e-02 9.98099149e-01 1.42133020e-03 -5.87210442e-01] [ 9.20875956e-02 4.26655540e-03 9.95741769e-01 -4.54644394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04240100800001 meters Centerline goodness [0,1] 0.8836506855399923 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.59, Z:-0.05 [[ 9.93831029e-01 6.07653092e-02 -9.27764115e-02 5.74125281e+00] [-6.08919053e-02 9.98143286e-01 1.46826758e-03 -5.89465438e-01] [ 9.26933720e-02 4.19012258e-03 9.95685885e-01 -4.63681781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07240100800001 meters Centerline goodness [0,1] 0.8846837242359631 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.59, Z:-0.05 [[ 9.93831591e-01 6.02812093e-02 -9.30856882e-02 5.74275939e+00] [-6.04171582e-02 9.98172289e-01 1.35952443e-03 -5.90319626e-01] [ 9.29975083e-02 4.27283443e-03 9.95657173e-01 -4.69927852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10240100800002 meters Centerline goodness [0,1] 0.8846336117528583 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.59, Z:-0.05 [[ 9.93828518e-01 5.97851490e-02 -9.34377471e-02 5.74426594e+00] [-5.99208068e-02 9.98202214e-01 1.35557042e-03 -5.91435605e-01] [ 9.33508090e-02 4.25166066e-03 9.95624201e-01 -4.73902378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13240100800002 meters Centerline goodness [0,1] 0.8849581179825343 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.59, Z:-0.05 [[ 9.93817007e-01 5.90375252e-02 -9.40336483e-02 5.74629389e+00] [-5.91471245e-02 9.98247956e-01 1.62357409e-03 -5.93475014e-01] [ 9.39647490e-02 3.94828436e-03 9.95567696e-01 -4.72299528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16240100800002 meters Centerline goodness [0,1] 0.8913360951330731 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.60, Z:-0.05 [[ 9.94056906e-01 5.37808077e-02 -9.46493164e-02 5.74811067e+00] [-5.42568098e-02 9.98523982e-01 -2.46098123e-03 -5.95516610e-01] [ 9.43772587e-02 7.58172534e-03 9.95507635e-01 -4.77023100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19240100800002 meters Centerline goodness [0,1] 0.8933110567456293 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.60, Z:-0.05 [[ 9.94049498e-01 5.27680326e-02 -9.52949643e-02 5.75052952e+00] [-5.32404686e-02 9.98578788e-01 -2.42009696e-03 -5.97102233e-01] [ 9.50318262e-02 7.47924472e-03 9.95446138e-01 -4.77670808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.222401008 meters Centerline goodness [0,1] 0.897251054410577 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.60, Z:-0.05 [[ 9.94032754e-01 5.16289201e-02 -9.60902598e-02 5.75351994e+00] [-5.21178250e-02 9.98637601e-01 -2.58344835e-03 -5.97675613e-01] [ 9.58259658e-02 7.57604762e-03 9.95369272e-01 -4.80815946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.252401008 meters Centerline goodness [0,1] 0.9003263570765592 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.60, Z:-0.05 [[ 9.94020548e-01 5.06541428e-02 -9.67331837e-02 5.75587527e+00] [-5.11590051e-02 9.98686750e-01 -2.74446748e-03 -5.98104984e-01] [ 9.64671302e-02 7.67683051e-03 9.95306565e-01 -4.82447278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28240100800001 meters Centerline goodness [0,1] 0.9044622254188018 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.60, Z:-0.05 [[ 9.94016257e-01 4.87635837e-02 -9.77435089e-02 5.75966763e+00] [-4.92992078e-02 9.98779334e-01 -3.07083621e-03 -5.98726651e-01] [ 9.74744517e-02 7.87113867e-03 9.95206901e-01 -4.81220307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31240100800001 meters Centerline goodness [0,1] 0.902778193127785 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.60, Z:-0.05 [[ 9.93995935e-01 4.87138323e-02 -9.79747109e-02 5.75970214e+00] [-4.92314743e-02 9.98783268e-01 -2.87140114e-03 -5.98418512e-01] [ 9.77156250e-02 7.67760052e-03 9.95184762e-01 -4.71308619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34240100800001 meters Centerline goodness [0,1] 0.9041859079398182 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.60, Z:-0.05 [[ 9.93968801e-01 4.78966860e-02 -9.86505467e-02 5.76167776e+00] [-4.84410950e-02 9.98821139e-01 -3.12937629e-03 -5.97355406e-01] [ 9.83843647e-02 7.88924291e-03 9.95117218e-01 -4.68142500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37240100800001 meters Centerline goodness [0,1] 0.8910803389530249 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.59, Z:-0.05 [[ 9.93970331e-01 4.56539258e-02 -9.96930303e-02 5.76631113e+00] [-4.63199164e-02 9.98917077e-01 -4.37479513e-03 -5.94889062e-01] [ 9.93853439e-02 8.96618940e-03 9.95008624e-01 -4.79727376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40240100800001 meters Centerline goodness [0,1] 0.8936321173062142 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.59, Z:-0.05 [[ 9.93952374e-01 4.45505987e-02 -1.00368931e-01 5.76869657e+00] [-4.52585851e-02 9.98963837e-01 -4.78675038e-03 -5.94299088e-01] [ 1.00051680e-01 9.30035771e-03 9.94938774e-01 -4.81184388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43240100800001 meters Centerline goodness [0,1] 0.8473358846040624 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.59, Z:-0.05 [[ 9.93924279e-01 4.34815530e-02 -1.01113215e-01 5.77104917e+00] [-4.42070878e-02 9.99010151e-01 -4.94480378e-03 -5.94019623e-01] [ 1.00798121e-01 9.38468132e-03 9.94862637e-01 -4.77598356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46240100800001 meters Centerline goodness [0,1] 0.8880169297240103 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.59, Z:-0.05 [[ 9.93900541e-01 4.25698141e-02 -1.01732621e-01 5.77300071e+00] [-4.33240295e-02 9.99047464e-01 -5.21476343e-03 -5.93429938e-01] [ 1.01413726e-01 9.59042328e-03 9.94798110e-01 -4.76061481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49240100800002 meters Centerline goodness [0,1] 0.8709818691425067 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.59, Z:-0.05 [[ 0.99390056 0.0409436 -0.10239773 5.7753573 ] [-0.04177348 0.99910926 -0.00597236 -0.59112023] [ 0.10206199 0.01021344 0.99472561 -0.04711031] [ 0. 0. 0. 1. ]] SLAMing on 65.52240100800002 meters Centerline goodness [0,1] 0.8766197839317433 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.59, Z:-0.05 [[ 0.9938807 0.0407872 -0.10265258 5.7751066 ] [-0.04160627 0.99911696 -0.00584973 -0.58973724] [ 0.10232334 0.01008492 0.99470007 -0.04553519] [ 0. 0. 0. 1. ]] SLAMing on 65.55240100800002 meters Centerline goodness [0,1] 0.8632654838990679 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.59, Z:-0.04 [[ 0.99388162 0.04092739 -0.10258784 5.77391621] [-0.04175283 0.99911049 -0.0059109 -0.58745777] [ 0.10225467 0.01015806 0.99470639 -0.04416406] [ 0. 0. 0. 1. ]] SLAMing on 65.582401008 meters Centerline goodness [0,1] 0.8764560027678469 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.58, Z:-0.04 [[ 0.99387971 0.04105668 -0.10255468 5.77290502] [-0.04193529 0.99909967 -0.00642509 -0.58363293] [ 0.10219856 0.01068643 0.99470662 -0.04327565] [ 0. 0. 0. 1. ]] SLAMing on 65.612401008 meters Centerline goodness [0,1] 0.8846197599681475 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.58, Z:-0.04 [[ 9.93670564e-01 4.62717119e-02 -1.02360824e-01 5.77047070e+00] [-4.67936153e-02 9.98900924e-01 -2.70203296e-03 -5.75875224e-01] [ 1.02123294e-01 7.47476362e-03 9.94743666e-01 -4.05690394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64240100800001 meters Centerline goodness [0,1] 0.8877227722772277 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.57, Z:-0.04 [[ 9.93453473e-01 5.06141820e-02 -1.02412898e-01 5.77007004e+00] [-5.07626882e-02 9.98710073e-01 1.15732068e-03 -5.73174861e-01] [ 1.02339370e-01 4.04900976e-03 9.94741303e-01 -3.90554955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67240100800001 meters Centerline goodness [0,1] 0.8885440180586908 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.57, Z:-0.04 [[ 9.93399913e-01 5.17598497e-02 -1.02359815e-01 5.76840478e+00] [-5.19200813e-02 9.98650637e-01 1.10006729e-03 -5.68328751e-01] [ 1.02278633e-01 4.22172314e-03 9.94746831e-01 -3.79561401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70240100800001 meters Centerline goodness [0,1] 0.8864840743013331 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.56, Z:-0.04 [[ 9.93164188e-01 5.59822991e-02 -1.02424991e-01 5.76873071e+00] [-5.59089190e-02 9.98429421e-01 3.58934307e-03 -5.60911984e-01] [ 1.02465064e-01 2.16166351e-03 9.94734255e-01 -3.81713689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73240100800001 meters Centerline goodness [0,1] 0.8833453777308355 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.56, Z:-0.04 [[ 9.93156030e-01 5.58664191e-02 -1.02567262e-01 5.76957166e+00] [-5.59131635e-02 9.98432699e-01 2.42147521e-03 -5.55695963e-01] [ 1.02541787e-01 3.32995738e-03 9.94723124e-01 -3.93556184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76240100800001 meters Centerline goodness [0,1] 0.8808285856518613 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.55, Z:-0.04 [[ 9.93144808e-01 5.59329172e-02 -1.02639659e-01 5.76980321e+00] [-5.60695529e-02 9.98425653e-01 1.55567522e-03 -5.51126984e-01] [ 1.02565082e-01 4.20994904e-03 9.94717387e-01 -3.99128082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79240100800001 meters Centerline goodness [0,1] 0.88110409228234 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.55, Z:-0.04 [[ 9.92884332e-01 5.97703400e-02 -1.02996165e-01 5.77111737e+00] [-5.96270185e-02 9.98210706e-01 4.47260228e-03 -5.46942934e-01] [ 1.03079204e-01 1.70057753e-03 9.94671697e-01 -3.99766157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82240100800001 meters Centerline goodness [0,1] 0.8811664707972342 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.54, Z:-0.04 [[ 9.92865048e-01 5.95573209e-02 -1.03304997e-01 5.77201111e+00] [-5.95057955e-02 9.98221529e-01 3.58332496e-03 -5.43770277e-01] [ 1.03334685e-01 2.58948792e-03 9.94643271e-01 -4.05791903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85240100800002 meters Centerline goodness [0,1] 0.8825054585152838 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.54, Z:-0.04 [[ 9.92850185e-01 5.95170979e-02 -1.03470890e-01 5.77246290e+00] [-5.95440282e-02 9.98221665e-01 2.83129963e-03 -5.40681171e-01] [ 1.03455394e-01 3.35001720e-03 9.94628453e-01 -4.10736517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88240100800002 meters Centerline goodness [0,1] 0.8847033829057036 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.54, Z:-0.04 [[ 9.92834764e-01 5.96259518e-02 -1.03556153e-01 5.77250187e+00] [-5.97042708e-02 9.98213352e-01 2.34602773e-03 -5.37792392e-01] [ 1.03511019e-01 3.85352674e-03 9.94620842e-01 -4.11716620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91240100800002 meters Centerline goodness [0,1] 0.8834551854860547 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.53, Z:-0.04 [[ 9.92822472e-01 5.92155561e-02 -1.03908886e-01 5.77344894e+00] [-5.93940088e-02 9.98233666e-01 1.37865975e-03 -5.33677538e-01] [ 1.03806987e-01 4.80280092e-03 9.94585865e-01 -4.14674517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94240100800002 meters Centerline goodness [0,1] 0.8827829868188612 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.53, Z:-0.04 [[ 9.92822904e-01 5.87976198e-02 -1.04141834e-01 5.77421319e+00] [-5.90000407e-02 9.98257331e-01 1.13847890e-03 -5.32879308e-01] [ 1.04027289e-01 5.01406449e-03 9.94561804e-01 -4.13946906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.972401008 meters Centerline goodness [0,1] 0.8827829868188612 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.53, Z:-0.04 [[ 9.92822904e-01 5.87976198e-02 -1.04141834e-01 5.77421319e+00] [-5.90000407e-02 9.98257331e-01 1.13847890e-03 -5.32879308e-01] [ 1.04027289e-01 5.01406449e-03 9.94561804e-01 -4.13946906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.002401008 meters Centerline goodness [0,1] 0.888 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.53, Z:-0.04 [[ 9.92791314e-01 5.81568123e-02 -1.04800721e-01 5.77585730e+00] [-5.83615573e-02 9.98294890e-01 1.11450944e-03 -5.32289747e-01] [ 1.04686840e-01 5.00985797e-03 9.94492618e-01 -4.08591983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.03240100800001 meters Centerline goodness [0,1] 0.8825568797399783 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.53, Z:-0.04 [[ 9.92792643e-01 5.74301627e-02 -1.05188139e-01 5.77713096e+00] [-5.76699963e-02 9.98335410e-01 7.62604310e-04 -5.31202423e-01] [ 1.05056841e-01 5.30909166e-03 9.94452047e-01 -4.08049575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06240100800001 meters Centerline goodness [0,1] 0.8824907754046702 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.53, Z:-0.04 [[ 9.92826561e-01 5.58936704e-02 -1.05694451e-01 5.77906447e+00] [-5.62158182e-02 9.98418638e-01 -6.88327253e-05 -5.28548770e-01] [ 1.05523463e-01 6.01003900e-03 9.94398652e-01 -4.06121824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09240100800001 meters Centerline goodness [0,1] 0.887673742053658 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.53, Z:-0.04 [[ 9.92827617e-01 5.55403264e-02 -1.05870657e-01 5.77932246e+00] [-5.58688365e-02 9.98438107e-01 -1.37388557e-04 -5.27800125e-01] [ 1.05697667e-01 6.05127355e-03 9.94379900e-01 -4.00163470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12240100800001 meters Centerline goodness [0,1] 0.8862507050576133 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.53, Z:-0.04 [[ 9.92798875e-01 5.54064713e-02 -1.06209781e-01 5.77913908e+00] [-5.56827755e-02 9.98448444e-01 3.64450779e-04 -5.27663797e-01] [ 1.06065183e-01 5.55222905e-03 9.94343678e-01 -3.81073801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15240100800001 meters Centerline goodness [0,1] 0.8878637141634574 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.52, Z:-0.04 [[ 9.92800516e-01 5.45770856e-02 -1.06623065e-01 5.77941219e+00] [-5.49220732e-02 9.98490599e-01 -2.99707217e-04 -5.24544905e-01] [ 1.06445771e-01 6.15350924e-03 9.94299468e-01 -3.67273811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18240100800001 meters Centerline goodness [0,1] 0.887198041928275 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.52, Z:-0.04 [[ 9.92801598e-01 5.42976853e-02 -1.06755557e-01 5.77970477e+00] [-5.47062710e-02 9.98502085e-01 -9.00387122e-04 -5.21492968e-01] [ 1.06546757e-01 6.73410420e-03 9.94284889e-01 -3.66114270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21240100800001 meters Centerline goodness [0,1] 0.8891121038301921 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.52, Z:-0.04 [[ 9.92806148e-01 5.40617809e-02 -1.06832933e-01 5.77988545e+00] [-5.45514585e-02 9.98509573e-01 -1.66444613e-03 -5.17536439e-01] [ 1.06583723e-01 7.48036466e-03 9.94275593e-01 -3.66179654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24240100800002 meters Centerline goodness [0,1] 0.8867746005046258 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.51, Z:-0.04 [[ 9.92805296e-01 5.41817817e-02 -1.06780051e-01 5.77945704e+00] [-5.47302451e-02 9.98498730e-01 -2.21049695e-03 -5.13526444e-01] [ 1.06499976e-01 8.03869142e-03 9.94280209e-01 -3.63812469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27240100800002 meters Centerline goodness [0,1] 0.8899550146917337 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.51, Z:-0.03 [[ 9.92563981e-01 5.84693261e-02 -1.06761802e-01 5.77873521e+00] [-5.86818830e-02 9.98276069e-01 1.15215075e-03 -5.08996269e-01] [ 1.06645117e-01 5.12140022e-03 9.94283959e-01 -3.48170142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30240100800002 meters Centerline goodness [0,1] 0.8890276585226238 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.51, Z:-0.03 [[ 9.92539493e-01 5.89182049e-02 -1.06742680e-01 5.77779669e+00] [-5.91725066e-02 9.98247463e-01 7.85991958e-04 -5.05549765e-01] [ 1.06601919e-01 5.53610390e-03 9.94286368e-01 -3.40813456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.332401008 meters Centerline goodness [0,1] 0.8879234548745798 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.50, Z:-0.03 [[ 9.92512132e-01 5.95629949e-02 -1.06639196e-01 5.77683685e+00] [-5.98533816e-02 9.98207065e-01 4.78200768e-04 -5.01855979e-01] [ 1.06476481e-01 5.90809640e-03 9.94297668e-01 -3.36527178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.362401008 meters Centerline goodness [0,1] 0.8872195925087467 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.50, Z:-0.03 [[ 9.92233490e-01 6.36760080e-02 -1.06855357e-01 5.77773236e+00] [-6.35959933e-02 9.97967057e-01 4.15967837e-03 -5.00097182e-01] [ 1.06902998e-01 2.66820036e-03 9.94265875e-01 -3.31975389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39240100800001 meters Centerline goodness [0,1] 0.8890527654164018 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.49, Z:-0.03 [[ 9.91828049e-01 6.98915332e-02 -1.06734693e-01 5.77647198e+00] [-6.94352334e-02 9.97554465e-01 7.98989411e-03 -4.94091168e-01] [ 1.07032095e-01 -5.13452776e-04 9.94255433e-01 -3.25089875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42240100800001 meters Centerline goodness [0,1] 0.8801580667223953 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.49, Z:-0.03 [[ 9.91485956e-01 7.46919004e-02 -1.06661701e-01 5.77626256e+00] [-7.38363442e-02 9.97198732e-01 1.19534003e-02 -4.92729050e-01] [ 1.07255735e-01 -3.97611842e-03 9.94223515e-01 -3.18126104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45240100800001 meters Centerline goodness [0,1] 0.8807588075880759 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.49, Z:-0.03 [[ 9.91371146e-01 7.64765139e-02 -1.06464046e-01 5.77466131e+00] [-7.56279601e-02 9.97064005e-01 1.19909184e-02 -4.89234429e-01] [ 1.07068491e-01 -3.83579190e-03 9.94244248e-01 -3.16885340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48240100800001 meters Centerline goodness [0,1] 0.8798901680227725 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.49, Z:-0.04 [[ 9.91452976e-01 8.16645616e-02 -1.01744269e-01 5.78802607e+00] [-8.15293616e-02 9.96655801e-01 5.49348789e-03 -4.86607028e-01] [ 1.01852639e-01 2.84861038e-03 9.94795419e-01 -3.62647933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51240100800001 meters Centerline goodness [0,1] 0.8798682523319841 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.48, Z:-0.04 [[ 9.91218715e-01 9.06357197e-02 -9.62840847e-02 5.79760773e+00] [-9.09489163e-02 9.95854907e-01 1.13994206e-03 -4.84598881e-01] [ 9.59882977e-02 7.62700125e-03 9.95353242e-01 -4.01328497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54240100800001 meters Centerline goodness [0,1] 0.8806748080070502 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.48, Z:-0.04 [[ 9.91142508e-01 9.18612542e-02 -9.59064112e-02 5.79565932e+00] [-9.21239843e-02 9.95746103e-01 1.69424657e-03 -4.84669880e-01] [ 9.56540708e-02 7.15604092e-03 9.95388914e-01 -3.93000191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57240100800001 meters Centerline goodness [0,1] 0.8816823800015166 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.49, Z:-0.04 [[ 9.91080480e-01 9.28432988e-02 -9.56012747e-02 5.79387129e+00] [-9.30295337e-02 9.95660168e-01 2.51690779e-03 -4.85697650e-01] [ 9.54200593e-02 6.39928383e-03 9.95416527e-01 -3.81185438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60240100800002 meters Centerline goodness [0,1] 0.8803110388290303 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.49, Z:-0.04 [[ 9.91044190e-01 9.36732843e-02 -9.51668538e-02 5.79196463e+00] [-9.37302076e-02 9.95590066e-01 3.88174799e-03 -4.88959429e-01] [ 9.51107903e-02 5.07302516e-03 9.95453767e-01 -3.67576889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63240100800002 meters Centerline goodness [0,1] 0.880937880633374 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.49, Z:-0.04 [[ 9.91059131e-01 9.32014768e-02 -9.54739959e-02 5.79302141e+00] [-9.32223086e-02 9.95636240e-01 4.25191952e-03 -4.91438242e-01] [ 9.54536554e-02 4.68640264e-03 9.95422843e-01 -3.67669773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66240100800002 meters Centerline goodness [0,1] 0.8777144026395887 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.49, Z:-0.04 [[ 9.91430035e-01 8.90842829e-02 -9.55535278e-02 5.79274287e+00] [-8.94491465e-02 9.95991281e-01 4.66740454e-04 -4.92215463e-01] [ 9.52120598e-02 8.08444100e-03 9.95424184e-01 -3.73383306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69240100800002 meters Centerline goodness [0,1] 0.8770938238618847 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.49, Z:-0.04 [[ 9.91786808e-01 8.45844009e-02 -9.59396019e-02 5.79347854e+00] [-8.53073535e-02 9.96348705e-01 -3.45164557e-03 -4.93374005e-01] [ 9.52973427e-02 1.16076501e-02 9.95381173e-01 -3.81885885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.722401008 meters Centerline goodness [0,1] 0.8701936825685688 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.50, Z:-0.04 [[ 0.99224547 0.07827508 -0.0965502 5.79713872] [-0.07940791 0.99681058 -0.0079411 -0.49741851] [ 0.09562067 0.01554637 0.99529644 -0.04102319] [ 0. 0. 0. 1. ]] SLAMing on 66.752401008 meters Centerline goodness [0,1] 0.873090481786134 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.50, Z:-0.04 [[ 0.99228491 0.0769524 -0.09720592 5.80018832] [-0.07810022 0.99691299 -0.00805321 -0.50038212] [ 0.09628613 0.01558288 0.99523171 -0.04219845] [ 0. 0. 0. 1. ]] SLAMing on 66.78240100800001 meters Centerline goodness [0,1] 0.8717453691625359 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.50, Z:-0.04 [[ 0.99228585 0.07620705 -0.09778174 5.80226558] [-0.07732219 0.99697673 -0.00766057 -0.50320583] [ 0.09690233 0.01516217 0.9951784 -0.04244541] [ 0. 0. 0. 1. ]] SLAMing on 66.81240100800001 meters Centerline goodness [0,1] 0.8724760337486612 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.51, Z:-0.04 [[ 0.99227742 0.07570755 -0.09825422 5.80373938] [-0.07679026 0.99702069 -0.00727963 -0.50558365] [ 0.09741037 0.01476838 0.99513472 -0.04242187] [ 0. 0. 0. 1. ]] SLAMing on 66.84240100800001 meters Centerline goodness [0,1] 0.8755210654641743 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.51, Z:-0.04 [[ 0.99236201 0.07464758 -0.09821085 5.80423263] [-0.07567869 0.997109 -0.00681077 -0.50977404] [ 0.09741851 0.01419121 0.99514232 -0.04196075] [ 0. 0. 0. 1. ]] SLAMing on 66.87240100800001 meters Centerline goodness [0,1] 0.8770705962272038 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.51, Z:-0.04 [[ 0.99235441 0.07418513 -0.09863722 5.8052484 ] [-0.07517278 0.99715044 -0.00632928 -0.51154491] [ 0.09788661 0.01369572 0.99510333 -0.04130956] [ 0. 0. 0. 1. ]] SLAMing on 66.90240100800001 meters Centerline goodness [0,1] 0.8811660953078795 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.51, Z:-0.04 [[ 0.99236199 0.07387326 -0.09879481 5.80578474] [-0.07483035 0.99717815 -0.00601245 -0.51286067] [ 0.09807187 0.01335937 0.99508966 -0.04102859] [ 0. 0. 0. 1. ]] SLAMing on 66.93240100800001 meters Centerline goodness [0,1] 0.8823529411764706 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.51, Z:-0.04 [[ 9.92365335e-01 7.37198511e-02 -9.88758127e-02 5.80611453e+00] [-7.46463359e-02 9.97193788e-01 -5.69864836e-03 -5.14017470e-01] [ 9.81782426e-02 1.30358582e-02 9.95083463e-01 -4.08683991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96240100800001 meters Centerline goodness [0,1] 0.8852265265922521 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.52, Z:-0.04 [[ 9.92358327e-01 7.37875842e-02 -9.88956216e-02 5.80624356e+00] [-7.46790572e-02 9.97193334e-01 -5.33792153e-03 -5.16012216e-01] [ 9.82241823e-02 1.26825627e-02 9.95083495e-01 -4.08933059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99240100800002 meters Centerline goodness [0,1] 0.8830409356725146 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.52, Z:-0.04 [[ 9.92335020e-01 7.43873726e-02 -9.86799179e-02 5.80548315e+00] [-7.52561231e-02 9.97151166e-01 -5.10571062e-03 -5.15808506e-01] [ 9.80189947e-02 1.24928435e-02 9.95106128e-01 -4.07913751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02240100800002 meters Centerline goodness [0,1] 0.8805623056622508 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.52, Z:-0.04 [[ 9.91990157e-01 7.89586343e-02 -9.85954451e-02 5.80555294e+00] [-7.93939857e-02 9.96843193e-01 -4.93686589e-04 -5.17164806e-01] [ 9.82452175e-02 8.31761760e-03 9.95127476e-01 -3.98882064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05240100800002 meters Centerline goodness [0,1] 0.8768458743890646 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.52, Z:-0.04 [[ 9.91897872e-01 8.04124293e-02 -9.83486292e-02 5.80400251e+00] [-8.08082031e-02 9.96729669e-01 -4.09827779e-05 -5.15372157e-01] [ 9.80237011e-02 7.98802673e-03 9.95152021e-01 -3.93753658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.082401008 meters Centerline goodness [0,1] 0.8725691823080728 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.51, Z:-0.04 [[ 9.91490080e-01 8.56565178e-02 -9.80325522e-02 5.80341884e+00] [-8.56691341e-02 9.96315253e-01 4.08842411e-03 -5.14367493e-01] [ 9.80215272e-02 4.34473190e-03 9.95174811e-01 -3.91532468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.112401008 meters Centerline goodness [0,1] 0.8747953535511032 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.51, Z:-0.04 [[ 9.91443068e-01 8.65601724e-02 -9.77137617e-02 5.80232374e+00] [-8.65675075e-02 9.96237249e-01 4.17252206e-03 -5.12605354e-01] [ 9.77072634e-02 4.32201873e-03 9.95205813e-01 -3.91940047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14240100800001 meters Centerline goodness [0,1] 0.8730422586426326 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.51, Z:-0.04 [[ 9.91415903e-01 8.70343229e-02 -9.75680967e-02 5.80178887e+00] [-8.70408112e-02 9.96195901e-01 4.19800443e-03 -5.11673077e-01] [ 9.75623085e-02 4.33043792e-03 9.95219997e-01 -3.92136777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17240100800001 meters Centerline goodness [0,1] 0.8721878991684262 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.51, Z:-0.04 [[ 9.91385240e-01 8.73207698e-02 -9.76237158e-02 5.80168369e+00] [-8.72602754e-02 9.96173510e-01 4.89725931e-03 -5.14457717e-01] [ 9.76777920e-02 3.66360173e-03 9.95211348e-01 -3.88892195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20240100800001 meters Centerline goodness [0,1] 0.8737838686055026 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.51, Z:-0.04 [[ 9.91711473e-01 8.33064851e-02 -9.78181139e-02 5.80132191e+00] [-8.36205385e-02 9.96497271e-01 8.91834662e-04 -5.14293830e-01] [ 9.75497791e-02 7.29516069e-03 9.95203909e-01 -3.92576566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23240100800001 meters Centerline goodness [0,1] 0.8780627971370357 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.52, Z:-0.04 [[ 9.91695178e-01 8.27998801e-02 -9.84116564e-02 5.80282185e+00] [-8.30390705e-02 9.96544893e-01 1.67004444e-03 -5.17472402e-01] [ 9.82099131e-02 6.51583746e-03 9.95144390e-01 -3.85857129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26240100800001 meters Centerline goodness [0,1] 0.8849210498797448 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.52, Z:-0.04 [[ 9.91731580e-01 8.21085431e-02 -9.86238311e-02 5.80388416e+00] [-8.23072808e-02 9.96604873e-01 2.05877727e-03 -5.19964473e-01] [ 9.84580339e-02 6.07570493e-03 9.95122656e-01 -3.84569857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29240100800001 meters Centerline goodness [0,1] 0.8819902077543998 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.52, Z:-0.04 [[ 9.92096023e-01 7.79956212e-02 -9.82963064e-02 5.80173254e+00] [-7.84277560e-02 9.96919657e-01 -5.34068531e-04 -5.23292160e-01] [ 9.79518650e-02 8.23900600e-03 9.95157048e-01 -3.65679978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32240100800001 meters Centerline goodness [0,1] 0.8808754173069789 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.53, Z:-0.03 [[ 9.92102750e-01 7.80779399e-02 -9.81629715e-02 5.80086955e+00] [-7.83842799e-02 9.96922946e-01 7.37857620e-04 -5.26526385e-01] [ 9.79185292e-02 6.96240326e-03 9.95170079e-01 -3.48319826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35240100800002 meters Centerline goodness [0,1] 0.8846867380472808 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.53, Z:-0.03 [[ 9.92099820e-01 7.81550019e-02 -9.81312547e-02 5.80032956e+00] [-7.83834936e-02 9.96922106e-01 1.53059563e-03 -5.28892513e-01] [ 9.79488408e-02 6.17336692e-03 9.95172304e-01 -3.37860092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38240100800002 meters Centerline goodness [0,1] 0.8843164395229983 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.53, Z:-0.03 [[ 9.92128871e-01 7.80848231e-02 -9.78931247e-02 5.79980707e+00] [-7.82624316e-02 9.96930725e-01 2.03018814e-03 -5.30776890e-01] [ 9.77511906e-02 5.64714571e-03 9.95194863e-01 -3.32921702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41240100800002 meters Centerline goodness [0,1] 0.8860019659413937 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.53, Z:-0.03 [[ 9.92125050e-01 7.80940028e-02 -9.79245246e-02 5.79989608e+00] [-7.82649341e-02 9.96930383e-01 2.10041905e-03 -5.31060447e-01] [ 9.77879639e-02 5.58017810e-03 9.95191628e-01 -3.32599859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44240100800002 meters Centerline goodness [0,1] 0.8863552193005662 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.53, Z:-0.03 [[ 9.92112337e-01 7.82288611e-02 -9.79456810e-02 5.79981440e+00] [-7.83951843e-02 9.96920032e-01 2.15516621e-03 -5.31041328e-01] [ 9.78126077e-02 5.54030273e-03 9.95189429e-01 -3.31181243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.472401008 meters Centerline goodness [0,1] 0.8863726764074142 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.53, Z:-0.03 [[ 9.92099270e-01 7.86536585e-02 -9.77376108e-02 5.79880340e+00] [-7.87976752e-02 9.96887760e-01 2.39164313e-03 -5.30786696e-01] [ 9.76215394e-02 5.32874910e-03 9.95209345e-01 -3.25235572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.502401008 meters Centerline goodness [0,1] 0.8876663661912084 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.53, Z:-0.03 [[ 9.92090750e-01 7.92959487e-02 -9.73041439e-02 5.79729015e+00] [-7.94384372e-02 9.96836849e-01 2.41495214e-03 -5.29133279e-01] [ 9.71878520e-02 5.33383744e-03 9.95251763e-01 -3.21156422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.53240100800001 meters Centerline goodness [0,1] 0.8872398859195099 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.53, Z:-0.03 [[ 9.92101491e-01 7.92244716e-02 -9.72528401e-02 5.79749226e+00] [-7.93993183e-02 9.96840727e-01 2.07703706e-03 -5.27971836e-01] [ 9.71101440e-02 5.66117765e-03 9.95257540e-01 -3.25849881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56240100800001 meters Centerline goodness [0,1] 0.8847578759294779 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.53, Z:-0.03 [[ 9.92106278e-01 7.91988626e-02 -9.72248613e-02 5.79789511e+00] [-7.94020592e-02 9.96841077e-01 1.78347372e-03 -5.27315060e-01] [ 9.70589845e-02 5.95045872e-03 9.95260843e-01 -3.32946479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59240100800001 meters Centerline goodness [0,1] 0.8853996951700216 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.53, Z:-0.03 [[ 9.92103641e-01 7.91040994e-02 -9.73288600e-02 5.79854236e+00] [-7.93268969e-02 9.96847397e-01 1.58444567e-03 -5.27388628e-01] [ 9.71473569e-02 6.14886213e-03 9.95251015e-01 -3.38996292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62240100800001 meters Centerline goodness [0,1] 0.8850290583006811 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.53, Z:-0.03 [[ 9.92088559e-01 7.90311331e-02 -9.75416390e-02 5.79955527e+00] [-7.92704907e-02 9.96852125e-01 1.42509399e-03 -5.28431932e-01] [ 9.73472168e-02 6.31835415e-03 9.95230424e-01 -3.48557098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65240100800001 meters Centerline goodness [0,1] 0.8837502959513851 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.53, Z:-0.04 [[ 9.92070872e-01 7.90392684e-02 -9.77147844e-02 5.80032771e+00] [-7.93052000e-02 9.96849701e-01 1.16555744e-03 -5.28053771e-01] [ 9.74990785e-02 6.59297493e-03 9.95213777e-01 -3.55922433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68240100800001 meters Centerline goodness [0,1] 0.8834501290900469 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.53, Z:-0.04 [[ 9.92050006e-01 7.91758390e-02 -9.78160093e-02 5.80092135e+00] [-7.94557978e-02 9.96837852e-01 1.03611499e-03 -5.27624771e-01] [ 9.75887359e-02 6.74417118e-03 9.95203976e-01 -3.62535523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71240100800001 meters Centerline goodness [0,1] 0.8825915196207532 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.53, Z:-0.04 [[ 9.91688593e-01 8.33634667e-02 -9.80013658e-02 5.80281935e+00] [-8.32491569e-02 9.96514871e-01 5.26212057e-03 -5.29438215e-01] [ 9.80984870e-02 2.94014613e-03 9.95172368e-01 -3.70500169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74240100800002 meters Centerline goodness [0,1] 0.8832214765100671 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.53, Z:-0.04 [[ 9.91671143e-01 8.37935415e-02 -9.78109692e-02 5.80256206e+00] [-8.36716459e-02 9.96478993e-01 5.35468629e-03 -5.29510049e-01] [ 9.79152642e-02 2.87391692e-03 9.95190606e-01 -3.75701971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77240100800002 meters Centerline goodness [0,1] 0.8790750468547898 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.53, Z:-0.04 [[ 9.91646468e-01 8.44225579e-02 -9.75198136e-02 5.80148940e+00] [-8.42436552e-02 9.96427372e-01 5.95801398e-03 -5.30701569e-01] [ 9.76744025e-02 2.30718203e-03 9.95215749e-01 -3.71594338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80240100800002 meters Centerline goodness [0,1] 0.8792666842521762 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.53, Z:-0.04 [[ 9.91617201e-01 8.48276895e-02 -9.74658414e-02 5.80095921e+00] [-8.45876332e-02 9.96394186e-01 6.59989741e-03 -5.32612662e-01] [ 9.76742517e-02 1.69983305e-03 9.95216987e-01 -3.65961898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.832401008 meters Centerline goodness [0,1] 0.8790964047088768 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.53, Z:-0.04 [[ 9.91584707e-01 8.53765012e-02 -9.73171209e-02 5.80012921e+00] [-8.50624162e-02 9.96348298e-01 7.37938581e-03 -5.34550124e-01] [ 9.75917738e-02 9.60743326e-04 9.95226066e-01 -3.59500440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.862401008 meters Centerline goodness [0,1] 0.87513956084853 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.54, Z:-0.04 [[ 9.91574381e-01 8.60472029e-02 -9.68304000e-02 5.79931045e+00] [-8.56881360e-02 9.96290938e-01 7.86827338e-03 -5.35507485e-01] [ 9.71482930e-02 4.95238185e-04 9.95269795e-01 -3.64877558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.89240100800001 meters Centerline goodness [0,1] 0.87513956084853 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.54, Z:-0.04 [[ 9.91574381e-01 8.60472029e-02 -9.68304000e-02 5.79931045e+00] [-8.56881360e-02 9.96290938e-01 7.86827338e-03 -5.35507485e-01] [ 9.71482930e-02 4.95238185e-04 9.95269795e-01 -3.64877558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92240100800001 meters Centerline goodness [0,1] 0.8761717608943889 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.54, Z:-0.04 [[ 9.91559402e-01 8.64570139e-02 -9.66185105e-02 5.79871413e+00] [-8.60828268e-02 9.96255523e-01 8.04236488e-03 -5.35465135e-01] [ 9.69520436e-02 3.42711992e-04 9.95288995e-01 -3.65006579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95240100800001 meters Centerline goodness [0,1] 0.8760416389340007 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.54, Z:-0.04 [[ 9.91520317e-01 8.71398759e-02 -9.64059330e-02 5.79733998e+00] [-8.67242310e-02 9.96196084e-01 8.50120003e-03 -5.36332667e-01] [ 9.67800064e-02 -6.83821475e-05 9.95305795e-01 -3.56968779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98240100800001 meters Centerline goodness [0,1] 0.8771303792074989 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.54, Z:-0.03 [[ 9.91458660e-01 8.80501756e-02 -9.62127462e-02 5.79547593e+00] [-8.75579517e-02 9.96115695e-01 9.33423447e-03 -5.38038141e-01] [ 9.66609075e-02 -8.30316610e-04 9.95317025e-01 -3.41432364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01240100800001 meters Centerline goodness [0,1] 0.880435655222243 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.54, Z:-0.03 [[ 9.91653137e-01 8.61440537e-02 -9.59336094e-02 5.79173052e+00] [-8.59626957e-02 9.96280111e-01 6.02948714e-03 -5.37954573e-01] [ 9.60961515e-02 2.26755184e-03 9.95369473e-01 -3.33466334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04240100800001 meters Centerline goodness [0,1] 0.8774260813773191 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.54, Z:-0.03 [[ 9.91650693e-01 8.64642052e-02 -9.56705000e-02 5.79129655e+00] [-8.62791428e-02 9.96252467e-01 6.07717078e-03 -5.37758311e-01] [ 9.58374294e-02 2.22793812e-03 9.95394506e-01 -3.37072083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07240100800001 meters Centerline goodness [0,1] 0.876595858813432 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.54, Z:-0.03 [[ 9.91658937e-01 8.63568969e-02 -9.56819722e-02 5.79208909e+00] [-8.62035059e-02 9.96260995e-01 5.74330823e-03 -5.37056394e-01] [ 9.58201911e-02 2.55271852e-03 9.95395386e-01 -3.47647474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10240100800002 meters Centerline goodness [0,1] 0.8784591068606178 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.54, Z:-0.04 [[ 9.91665643e-01 8.60379308e-02 -9.58995666e-02 5.79359421e+00] [-8.59151198e-02 9.96287735e-01 5.41673654e-03 -5.37140692e-01] [ 9.60096068e-02 2.86763123e-03 9.95376277e-01 -3.60513826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13240100800002 meters Centerline goodness [0,1] 0.8797308888174118 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.54, Z:-0.04 [[ 9.91647184e-01 8.58284783e-02 -9.62773883e-02 5.79488418e+00] [-8.56965264e-02 9.96306037e-01 5.51232337e-03 -5.38388821e-01] [ 9.63948575e-02 2.78435780e-03 9.95339278e-01 -3.64910842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16240100800002 meters Centerline goodness [0,1] 0.8786184921149276 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.54, Z:-0.04 [[ 9.91982828e-01 8.25458662e-02 -9.56882944e-02 5.79235721e+00] [-8.27181979e-02 9.96570613e-01 2.17113901e-03 -5.40435243e-01] [ 9.55393607e-02 5.76143067e-03 9.95408979e-01 -3.65531083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19240100800002 meters Centerline goodness [0,1] 0.8789084707220012 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.54, Z:-0.04 [[ 9.91959993e-01 8.25280380e-02 -9.59400563e-02 5.79249284e+00] [-8.26298441e-02 9.96576035e-01 2.91812727e-03 -5.43531605e-01] [ 9.58523882e-02 5.03284639e-03 9.95382836e-01 -3.56175367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.222401008 meters Centerline goodness [0,1] 0.882184846505552 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.55, Z:-0.03 [[ 9.92260727e-01 7.81747142e-02 -9.64746756e-02 5.79265192e+00] [-7.85273437e-02 9.96911950e-01 1.42085139e-04 -5.48140835e-01] [ 9.61878644e-02 7.43491450e-03 9.95335429e-01 -3.45774528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.252401008 meters Centerline goodness [0,1] 0.8788044818234118 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.55, Z:-0.03 [[ 9.92571251e-01 7.41263689e-02 -9.64758689e-02 5.79204912e+00] [-7.48137329e-02 9.97191306e-01 -3.52201911e-03 -5.49812349e-01] [ 9.59438232e-02 1.07135748e-02 9.95329092e-01 -3.49028504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28240100800001 meters Centerline goodness [0,1] 0.8790111193885716 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.55, Z:-0.04 [[ 0.99286808 0.07002246 -0.0964875 5.79170262] [-0.07103386 0.99744875 -0.00708323 -0.5519848 ] [ 0.09574535 0.01388659 0.99530899 -0.03538618] [ 0. 0. 0. 1. ]] SLAMing on 68.31240100800001 meters Centerline goodness [0,1] 0.8784472256063794 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.56, Z:-0.04 [[ 0.99288821 0.0694427 -0.09669905 5.79282365] [-0.07036773 0.99750195 -0.00618477 -0.5569126 ] [ 0.096028 0.01294528 0.99529445 -0.0351348 ] [ 0. 0. 0. 1. ]] SLAMing on 68.34240100800001 meters Centerline goodness [0,1] 0.8789042785846465 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.56, Z:-0.04 [[ 0.99317392 0.06501914 -0.09684048 5.79361215] [-0.06620877 0.99776412 -0.00911873 -0.56298183] [ 0.09603107 0.01546818 0.99525814 -0.03607752] [ 0. 0. 0. 1. ]] SLAMing on 68.37240100800001 meters Centerline goodness [0,1] 0.8838658954343798 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.57, Z:-0.04 [[ 0.99315879 0.06461506 -0.09726518 5.7954292 ] [-0.06576978 0.99779681 -0.00870951 -0.5658634 ] [ 0.09648812 0.01504704 0.99522039 -0.0366864 ] [ 0. 0. 0. 1. ]] SLAMing on 68.40240100800001 meters Centerline goodness [0,1] 0.8891958948911695 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.57, Z:-0.04 [[ 0.99313597 0.06433756 -0.09768126 5.79709309] [-0.06545896 0.99782061 -0.00831588 -0.56840998] [ 0.09693335 0.01465291 0.99518301 -0.03722714] [ 0. 0. 0. 1. ]] SLAMing on 68.43240100800001 meters Centerline goodness [0,1] 0.8813319764812302 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.57, Z:-0.04 [[ 0.99309459 0.06469863 -0.0978633 5.79721408] [-0.06572851 0.9978106 -0.00733321 -0.57176995] [ 0.09717459 0.01371498 0.99517285 -0.03663331] [ 0. 0. 0. 1. ]] SLAMing on 68.46240100800001 meters Centerline goodness [0,1] 0.889221045439016 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.58, Z:-0.03 [[ 9.93000239e-01 6.56720517e-02 -9.81718234e-02 5.79661992e+00] [-6.65087831e-02 9.97771915e-01 -5.27145892e-03 -5.78346889e-01] [ 9.76069007e-02 1.17638485e-02 9.95155518e-01 -3.45953131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49240100800002 meters Centerline goodness [0,1] 0.8943750356551999 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.58, Z:-0.03 [[ 9.92969843e-01 6.62542774e-02 -9.80880330e-02 5.79622968e+00] [-6.70424357e-02 9.97738782e-01 -4.75751008e-03 -5.79778582e-01] [ 9.75510293e-02 1.13001247e-02 9.95166370e-01 -3.45742368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52240100800002 meters Centerline goodness [0,1] 0.8954175588865096 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.58, Z:-0.04 [[ 9.92950462e-01 6.64102578e-02 -9.81787000e-02 5.79681866e+00] [-6.72092940e-02 9.97727110e-01 -4.85018552e-03 -5.79448672e-01] [ 9.76334486e-02 1.14145151e-02 9.95156982e-01 -3.52980313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55240100800002 meters Centerline goodness [0,1] 0.8926059358380511 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.58, Z:-0.04 [[ 9.92649778e-01 7.07801912e-02 -9.81660963e-02 5.79786681e+00] [-7.11294877e-02 9.97467088e-01 -5.86654048e-05 -5.82281752e-01] [ 9.79132979e-02 7.04073834e-03 9.95170043e-01 -3.52037337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.582401008 meters Centerline goodness [0,1] 0.8939519944939921 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.58, Z:-0.03 [[ 9.92643811e-01 7.13878730e-02 -9.77856667e-02 5.79652880e+00] [-7.16812383e-02 9.97427459e-01 5.14259369e-04 -5.83185717e-01] [ 9.75708209e-02 6.49892130e-03 9.95207365e-01 -3.46799566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.612401008 meters Centerline goodness [0,1] 0.8907541396173535 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.58, Z:-0.03 [[ 9.92625115e-01 7.19142258e-02 -9.75895754e-02 5.79538960e+00] [-7.21234768e-02 9.97394747e-01 1.38638403e-03 -5.84462070e-01] [ 9.74350307e-02 5.66233988e-03 9.95225780e-01 -3.34607988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64240100800001 meters Centerline goodness [0,1] 0.8893065159383697 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.59, Z:-0.03 [[ 9.92604300e-01 7.27065651e-02 -9.72134674e-02 5.79357939e+00] [-7.28255264e-02 9.97341977e-01 2.32867644e-03 -5.85848263e-01] [ 9.71243819e-02 4.76816769e-03 9.95260830e-01 -3.21954659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67240100800001 meters Centerline goodness [0,1] 0.8896603382213131 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.59, Z:-0.03 [[ 9.92590203e-01 7.32185032e-02 -9.69728785e-02 5.79287953e+00] [-7.33093256e-02 9.97305781e-01 2.63081955e-03 -5.86592650e-01] [ 9.69042371e-02 4.49769062e-03 9.95283547e-01 -3.22954494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70240100800001 meters Centerline goodness [0,1] 0.8903774832533133 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.59, Z:-0.03 [[ 9.92580830e-01 7.34247262e-02 -9.69128784e-02 5.79276749e+00] [-7.35295896e-02 9.97289918e-01 2.49376638e-03 -5.86073480e-01] [ 9.68333406e-02 4.65069947e-03 9.95289744e-01 -3.26374954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73240100800001 meters Centerline goodness [0,1] 0.8910805681752832 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.59, Z:-0.03 [[ 9.92570219e-01 7.39495362e-02 -9.66220820e-02 5.79182711e+00] [-7.40605988e-02 9.97250755e-01 2.44132653e-03 -5.85248245e-01] [ 9.65369792e-02 4.73270124e-03 9.95318147e-01 -3.28234007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76240100800001 meters Centerline goodness [0,1] 0.8899087832023407 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.58, Z:-0.03 [[ 9.92548527e-01 7.43979996e-02 -9.65005646e-02 5.79108594e+00] [-7.45158623e-02 9.97216972e-01 2.38691353e-03 -5.84321455e-01] [ 9.64095824e-02 4.82169527e-03 9.95330068e-01 -3.26278825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79240100800001 meters Centerline goodness [0,1] 0.8967899812868865 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.58, Z:-0.03 [[ 9.92486060e-01 7.57740456e-02 -9.60714088e-02 5.78895621e+00] [-7.58947679e-02 9.97112939e-01 2.40219426e-03 -5.82824219e-01] [ 9.59760688e-02 4.90717296e-03 9.95371546e-01 -3.26792348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82240100800001 meters Centerline goodness [0,1] 0.9016783818677377 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.58, Z:-0.03 [[ 9.92485003e-01 7.56790999e-02 -9.61571280e-02 5.79004083e+00] [-7.58780625e-02 9.97115835e-01 1.59103934e-03 -5.80948588e-01] [ 9.60002034e-02 5.71713389e-03 9.95364896e-01 -3.44007653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85240100800002 meters Centerline goodness [0,1] 0.8999399124438467 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.58, Z:-0.04 [[ 9.92492187e-01 7.54993674e-02 -9.62242405e-02 5.79125814e+00] [-7.57725501e-02 9.97124793e-01 8.17123448e-04 -5.79148297e-01] [ 9.60092682e-02 6.48016745e-03 9.95359346e-01 -3.61670404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88240100800002 meters Centerline goodness [0,1] 0.9010486613138269 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.58, Z:-0.04 [[ 9.92499050e-01 7.53918560e-02 -9.62377489e-02 5.79211586e+00] [-7.57088827e-02 9.97129900e-01 3.58275707e-04 -5.78246320e-01] [ 9.59885480e-02 6.93046414e-03 9.95358311e-01 -3.74599124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91240100800002 meters Centerline goodness [0,1] 0.9013477398775827 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.58, Z:-0.04 [[ 9.92494772e-01 7.56308790e-02 -9.60942116e-02 5.79201698e+00] [-7.58968852e-02 9.97115275e-01 8.89158079e-04 -5.80284545e-01] [ 9.58842541e-02 6.41076660e-03 9.95371846e-01 -3.76380544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94240100800002 meters Centerline goodness [0,1] 0.9015983441614442 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.58, Z:-0.04 [[ 9.92457235e-01 7.55767009e-02 -9.65235640e-02 5.79264335e+00] [-7.57555136e-02 9.97124769e-01 1.81606221e-03 -5.83154440e-01] [ 9.63832884e-02 5.50982808e-03 9.95329043e-01 -3.64227948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.972401008 meters Centerline goodness [0,1] 0.9014765489287783 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.58, Z:-0.04 [[ 9.92755764e-01 7.20542177e-02 -9.61466768e-02 5.79045321e+00] [-7.25535724e-02 9.97363062e-01 -1.70325096e-03 -5.83927472e-01] [ 9.57704176e-02 8.66669708e-03 9.95365719e-01 -3.61090950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.002401008 meters Centerline goodness [0,1] 0.9003752290642544 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.59, Z:-0.03 [[ 9.92741181e-01 7.22693251e-02 -9.61358040e-02 5.78975264e+00] [-7.26371775e-02 9.97358377e-01 -3.27667886e-04 -5.88220963e-01] [ 9.58581692e-02 7.30832287e-03 9.95368173e-01 -3.43565734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03240100800001 meters Centerline goodness [0,1] 0.9036952112179204 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.59, Z:-0.03 [[ 9.93004616e-01 6.96562313e-02 -9.53406657e-02 5.78555107e+00] [-7.01685373e-02 9.97533090e-01 -2.02731657e-03 -5.93342721e-01] [ 9.49642537e-02 8.70304977e-03 9.95442639e-01 -3.20145903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06240100800001 meters Centerline goodness [0,1] 0.9046804998821033 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.60, Z:-0.03 [[ 9.92972531e-01 7.01239752e-02 -9.53319475e-02 5.78499684e+00] [-7.05223917e-02 9.97509866e-01 -8.12327375e-04 -5.96903826e-01] [ 9.50375945e-02 7.52965571e-03 9.95445207e-01 -3.08856164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09240100800001 meters Centerline goodness [0,1] 0.9042977403633141 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.60, Z:-0.03 [[ 9.92941124e-01 7.07668409e-02 -9.51839244e-02 5.78429720e+00] [-7.10798216e-02 9.97470625e-01 1.02613780e-04 -5.99897495e-01] [ 9.49504302e-02 6.66376692e-03 9.95459698e-01 -3.05192468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12240100800001 meters Centerline goodness [0,1] 0.9077721744289529 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.60, Z:-0.03 [[ 9.92924372e-01 7.14541725e-02 -9.48445749e-02 5.78352094e+00] [-7.17132929e-02 9.97425057e-01 6.78011219e-04 -6.01997589e-01] [ 9.46488022e-02 6.12840292e-03 9.95491862e-01 -3.08957455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15240100800001 meters Centerline goodness [0,1] 0.906604083829113 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.61, Z:-0.03 [[ 9.92864050e-01 7.29540993e-02 -9.43328010e-02 5.78029003e+00] [-7.29956229e-02 9.97327704e-01 3.01501247e-03 -6.08847676e-01] [ 9.43006733e-02 3.89238407e-03 9.95536153e-01 -2.81501791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18240100800001 meters Centerline goodness [0,1] 0.906508698260348 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.61, Z:-0.03 [[ 9.93154447e-01 6.91078190e-02 -9.41719411e-02 5.77827896e+00] [-6.94643719e-02 9.97584303e-01 -5.09433699e-04 -6.09522083e-01] [ 9.39092444e-02 7.04754108e-03 9.95555818e-01 -2.70854541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21240100800001 meters Centerline goodness [0,1] 0.9076127791302258 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.61, Z:-0.03 [[ 9.93267481e-01 6.59511170e-02 -9.52373907e-02 5.78467482e+00] [-6.64232073e-02 9.97789931e-01 -1.79185147e-03 -6.09725841e-01] [ 9.49087349e-02 8.10576074e-03 9.95452977e-01 -2.93724799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24240100800002 meters Centerline goodness [0,1] 0.9009570241964608 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.61, Z:-0.03 [[ 9.93338476e-01 6.30786920e-02 -9.64352162e-02 5.79139181e+00] [-6.36880989e-02 9.97964556e-01 -3.25130474e-03 -6.09085340e-01] [ 9.60338397e-02 9.37142168e-03 9.95333953e-01 -3.22289716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27240100800002 meters Centerline goodness [0,1] 0.9022098120458776 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.61, Z:-0.04 [[ 0.99341372 0.05868636 -0.09841283 5.80277545] [-0.05955673 0.99820733 -0.00592723 -0.6077741 ] [ 0.09788856 0.01174934 0.99512802 -0.03783667] [ 0. 0. 0. 1. ]] SLAMing on 69.30240100800002 meters Centerline goodness [0,1] 0.9041481836710227 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.61, Z:-0.04 [[ 0.99339277 0.05796032 -0.09905255 5.80546209] [-0.0589396 0.9982371 -0.00698652 -0.60568393] [ 0.09847299 0.01277848 0.99505768 -0.03953645] [ 0. 0. 0. 1. ]] SLAMing on 69.33240100800002 meters Centerline goodness [0,1] 0.9052895672172276 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.60, Z:-0.04 [[ 0.99337001 0.05798931 -0.09926363 5.80597086] [-0.0590166 0.99822926 -0.00744174 -0.60426738] [ 0.09865632 0.01325061 0.99503334 -0.04002752] [ 0. 0. 0. 1. ]] SLAMing on 69.362401008 meters Centerline goodness [0,1] 0.9029489173346094 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.61, Z:-0.04 [[ 9.93270195e-01 6.07530119e-02 -9.86072590e-02 5.80001276e+00] [-6.15720226e-02 9.98088671e-01 -5.28117270e-03 -6.05838282e-01] [ 9.80979409e-02 1.13170798e-02 9.95112415e-01 -3.55093595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39240100800001 meters Centerline goodness [0,1] 0.9045977700515526 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.61, Z:-0.03 [[ 9.93247654e-01 6.20261699e-02 -9.80400550e-02 5.79687276e+00] [-6.27437704e-02 9.98020618e-01 -4.25036829e-03 -6.06324926e-01] [ 9.75823622e-02 1.03730710e-02 9.95173393e-01 -3.34758075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42240100800001 meters Centerline goodness [0,1] 0.9048883848633162 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.61, Z:-0.03 [[ 9.93240024e-01 6.20189245e-02 -9.81219027e-02 5.79694681e+00] [-6.27422666e-02 9.98020498e-01 -4.30049202e-03 -6.05220199e-01] [ 9.76609583e-02 1.04278114e-02 9.95165111e-01 -3.32068627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45240100800001 meters Centerline goodness [0,1] 0.9004172876304024 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.60, Z:-0.03 [[ 9.93263935e-01 6.18978326e-02 -9.79561826e-02 5.79730957e+00] [-6.26959914e-02 9.98019701e-01 -5.08809906e-03 -6.02381681e-01] [ 9.74472578e-02 1.11952853e-02 9.95177722e-01 -3.44876288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48240100800001 meters Centerline goodness [0,1] 0.8984398172865872 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.60, Z:-0.03 [[ 9.92996168e-01 6.54476107e-02 -9.83627035e-02 5.79962894e+00] [-6.58549568e-02 9.97828803e-01 -8.96769635e-04 -6.02849290e-01] [ 9.80904473e-02 7.36816040e-03 9.95150227e-01 -3.41435819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51240100800001 meters Centerline goodness [0,1] 0.8952718676122932 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.60, Z:-0.03 [[ 9.93020358e-01 6.56602708e-02 -9.79760078e-02 5.79896547e+00] [-6.61141948e-02 9.97811095e-01 -1.39008177e-03 -6.00208317e-01] [ 9.76702744e-02 7.85798435e-03 9.95187806e-01 -3.48718434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54240100800001 meters Centerline goodness [0,1] 0.8923848878394333 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.60, Z:-0.03 [[ 9.92998857e-01 6.61452959e-02 -9.78676118e-02 5.79782913e+00] [-6.65638450e-02 9.97781652e-01 -1.01422160e-03 -6.00053025e-01] [ 9.75834214e-02 7.52156544e-03 9.95198926e-01 -3.38469347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57240100800001 meters Centerline goodness [0,1] 0.8988010866997401 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.60, Z:-0.03 [[ 9.92975764e-01 6.65109445e-02 -9.78541067e-02 5.79687482e+00] [-6.68800661e-02 9.97760900e-01 -4.93233552e-04 -6.00282098e-01] [ 9.76021961e-02 7.03425809e-03 9.95200648e-01 -3.24582503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60240100800002 meters Centerline goodness [0,1] 0.8946807881190462 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.60, Z:-0.03 [[ 9.92956014e-01 6.68372692e-02 -9.78321694e-02 5.79596469e+00] [-6.71692628e-02 9.97741590e-01 -1.00174219e-04 -6.00515062e-01] [ 9.76045289e-02 6.67078329e-03 9.95202922e-01 -3.13508076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63240100800002 meters Centerline goodness [0,1] 0.8892346908530441 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.60, Z:-0.03 [[ 9.92938806e-01 6.75043455e-02 -9.75484001e-02 5.79374983e+00] [-6.77052671e-02 9.97704579e-01 1.25278931e-03 -6.02237937e-01] [ 9.74090542e-02 5.36059735e-03 9.95229994e-01 -2.86128155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66240100800002 meters Centerline goodness [0,1] 0.8864680598784644 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.60, Z:-0.03 [[ 9.92933724e-01 6.73085118e-02 -9.77352754e-02 5.79397682e+00] [-6.74499290e-02 9.97720926e-01 1.86014252e-03 -6.03503159e-01] [ 9.76377330e-02 4.74523915e-03 9.95210709e-01 -2.74323146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69240100800002 meters Centerline goodness [0,1] 0.8877687175685693 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.60, Z:-0.03 [[ 9.92935383e-01 6.70427609e-02 -9.79009361e-02 5.79459705e+00] [-6.71509174e-02 9.97740418e-01 2.19354863e-03 -6.04457288e-01] [ 9.78267825e-02 4.39608562e-03 9.95193747e-01 -2.70918636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.722401008 meters Centerline goodness [0,1] 0.8797809354647721 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.60, Z:-0.03 [[ 9.92958394e-01 6.64578354e-02 -9.80662204e-02 5.79591259e+00] [-6.65772278e-02 9.97779152e-01 2.05805260e-03 -6.04292171e-01] [ 9.79852040e-02 4.48541650e-03 9.95177763e-01 -2.75779512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.752401008 meters Centerline goodness [0,1] 0.8740738554181303 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.60, Z:-0.03 [[ 9.93040169e-01 6.47019218e-02 -9.84118133e-02 5.79904905e+00] [-6.48701907e-02 9.97892595e-01 1.49233611e-03 -6.04664782e-01] [ 9.83009768e-02 4.90204340e-03 9.95144657e-01 -2.88271262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78240100800001 meters Centerline goodness [0,1] 0.8740738554181303 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.60, Z:-0.03 [[ 9.93040169e-01 6.47019218e-02 -9.84118133e-02 5.79904905e+00] [-6.48701907e-02 9.97892595e-01 1.49233611e-03 -6.04664782e-01] [ 9.83009768e-02 4.90204340e-03 9.95144657e-01 -2.88271262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81240100800001 meters Centerline goodness [0,1] 0.8709725315515962 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.60, Z:-0.03 [[ 9.93327344e-01 6.04007226e-02 -9.82473431e-02 5.79851616e+00] [-6.10052939e-02 9.98132445e-01 -3.15841209e-03 -6.03126665e-01] [ 9.78730905e-02 9.13094513e-03 9.95157015e-01 -3.00338729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84240100800001 meters Centerline goodness [0,1] 0.8731884057971014 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.60, Z:-0.03 [[ 9.93323885e-01 5.98429725e-02 -9.86229125e-02 5.79993427e+00] [-6.04295620e-02 9.98168049e-01 -2.96872326e-03 -6.04550985e-01] [ 9.82645830e-02 8.90864313e-03 9.95120449e-01 -2.99293391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87240100800001 meters Centerline goodness [0,1] 0.878916701349664 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.61, Z:-0.03 [[ 9.93318013e-01 5.90017668e-02 -9.91872786e-02 5.80210945e+00] [-5.96035355e-02 9.98217278e-01 -3.11211659e-03 -6.05398256e-01] [ 9.88268349e-02 9.00323395e-03 9.95063917e-01 -3.02784504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90240100800001 meters Centerline goodness [0,1] 0.8726322664924886 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.61, Z:-0.03 [[ 9.93302859e-01 5.83641027e-02 -9.97149076e-02 5.80376759e+00] [-5.89684629e-02 9.98254965e-01 -3.12177537e-03 -6.06006567e-01] [ 9.93587020e-02 8.98090323e-03 9.95011152e-01 -3.01766490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93240100800001 meters Centerline goodness [0,1] 0.8725560324272771 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.60, Z:-0.03 [[ 0.99356186 0.05403359 -0.09957515 5.80312389] [-0.05509691 0.9984493 -0.00795778 -0.60347458] [ 0.09899075 0.01339283 0.99499822 -0.0312371 ] [ 0. 0. 0. 1. ]] SLAMing on 69.96240100800001 meters Centerline goodness [0,1] 0.8731409875074361 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.60, Z:-0.03 [[ 0.99356008 0.05378386 -0.09972799 5.80369117] [-0.05485759 0.99846171 -0.00805384 -0.60319736] [ 0.09914141 0.01347281 0.99498214 -0.03127865] [ 0. 0. 0. 1. ]] SLAMing on 69.99240100800002 meters Centerline goodness [0,1] 0.8722840645276504 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.60, Z:-0.03 [[ 0.99357997 0.0529731 -0.09996346 5.80547488] [-0.05411709 0.99849612 -0.00876544 -0.60221372] [ 0.0993488 0.0141189 0.9949525 -0.03257808] [ 0. 0. 0. 1. ]] SLAMing on 70.02240100800002 meters Centerline goodness [0,1] 0.8731687022673917 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.60, Z:-0.03 [[ 0.99357871 0.05298847 -0.09996783 5.80543118] [-0.05410316 0.99849942 -0.0084707 -0.60231283] [ 0.09936897 0.01382488 0.99495461 -0.03212462] [ 0. 0. 0. 1. ]] SLAMing on 70.05240100800002 meters Centerline goodness [0,1] 0.8704257903937894 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.60, Z:-0.03 [[ 0.99357292 0.0531118 -0.09995998 5.80517958] [-0.05418825 0.99849802 -0.00808273 -0.60249235] [ 0.09938055 0.01344744 0.99495863 -0.03143961] [ 0. 0. 0. 1. ]] SLAMing on 70.08240100800002 meters Centerline goodness [0,1] 0.871315664368909 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.60, Z:-0.03 [[ 0.99356326 0.05350591 -0.09984575 5.80415805] [-0.05452544 0.99848415 -0.00750834 -0.60288732] [ 0.09929266 0.01290414 0.9949746 -0.03022335] [ 0. 0. 0. 1. ]] SLAMing on 70.112401008 meters Centerline goodness [0,1] 0.8679660110523502 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.60, Z:-0.03 [[ 0.99354597 0.0545879 -0.09943118 5.80138388] [-0.05552447 0.99843502 -0.00667439 -0.60288747] [ 0.09891123 0.01215218 0.99502206 -0.02819721] [ 0. 0. 0. 1. ]] SLAMing on 70.14240100800001 meters Centerline goodness [0,1] 0.872892117775612 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.60, Z:-0.03 [[ 9.93279689e-01 5.89537419e-02 -9.95987708e-02 5.80191057e+00] [-5.94326509e-02 9.98230612e-01 -1.84555656e-03 -6.04373725e-01] [ 9.93137394e-02 7.75257282e-03 9.95025969e-01 -2.67908352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17240100800001 meters Centerline goodness [0,1] 0.8711124225435232 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.60, Z:-0.03 [[ 9.93288358e-01 5.96724758e-02 -9.90829675e-02 5.80065473e+00] [-6.01831675e-02 9.98184990e-01 -2.17060402e-03 -6.01990367e-01] [ 9.87736056e-02 8.11916252e-03 9.95076808e-01 -2.75623562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20240100800001 meters Centerline goodness [0,1] 0.8691547556026116 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.60, Z:-0.03 [[ 9.93009352e-01 6.39408253e-02 -9.92169241e-02 5.80164266e+00] [-6.40546220e-02 9.97944306e-01 2.04142485e-03 -6.02248528e-01] [ 9.91434949e-02 4.32814860e-03 9.95063734e-01 -2.72812799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23240100800001 meters Centerline goodness [0,1] 0.8635192881812328 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.60, Z:-0.03 [[ 9.92723682e-01 6.93299505e-02 -9.84532871e-02 5.80030868e+00] [-6.91070008e-02 9.97593100e-01 5.67704713e-03 -5.99892603e-01] [ 9.86099093e-02 1.16807226e-03 9.95125480e-01 -2.83273082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26240100800001 meters Centerline goodness [0,1] 0.8629573437591177 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.60, Z:-0.03 [[ 9.92702779e-01 7.03007481e-02 -9.79744733e-02 5.79881241e+00] [-7.01117561e-02 9.97524663e-01 5.37481806e-03 -5.97727834e-01] [ 9.81098072e-02 1.53356556e-03 9.95174414e-01 -2.90159740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29240100800001 meters Centerline goodness [0,1] 0.8628714748169967 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.60, Z:-0.03 [[ 9.92688070e-01 7.13851723e-02 -9.73373122e-02 5.79653719e+00] [-7.11876320e-02 9.97447750e-01 5.50525153e-03 -5.96645223e-01] [ 9.74818764e-02 1.46421524e-03 9.95236223e-01 -2.89110680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32240100800001 meters Centerline goodness [0,1] 0.8650087260034904 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.60, Z:-0.03 [[ 9.92952393e-01 7.41775850e-02 -9.24296030e-02 5.80771499e+00] [-7.48249881e-02 9.97190349e-01 -3.55383109e-03 -5.96760464e-01] [ 9.19062934e-02 1.04448290e-02 9.95712880e-01 -3.26348802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35240100800002 meters Centerline goodness [0,1] 0.8671544762848731 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.60, Z:-0.03 [[ 9.92927889e-01 7.49858632e-02 -9.20398193e-02 5.80598079e+00] [-7.55736111e-02 9.97135973e-01 -2.91226606e-03 -5.97923402e-01] [ 9.15578360e-02 9.84745170e-03 9.95751068e-01 -3.18675486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38240100800002 meters Centerline goodness [0,1] 0.8659134699597127 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.60, Z:-0.03 [[ 9.92924823e-01 7.53631751e-02 -9.17643037e-02 5.80545861e+00] [-7.59331614e-02 9.97109170e-01 -2.73099592e-03 -5.98283523e-01] [ 9.12932122e-02 9.67962732e-03 9.95777010e-01 -3.22313174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41240100800002 meters Centerline goodness [0,1] 0.865725206430718 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.60, Z:-0.03 [[ 9.92929534e-01 7.55284983e-02 -9.15772115e-02 5.80548117e+00] [-7.60951693e-02 9.97096884e-01 -2.70712181e-03 -5.98522674e-01] [ 9.11068874e-02 9.65656462e-03 9.95794299e-01 -3.29070188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44240100800002 meters Centerline goodness [0,1] 0.8673126878958582 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.60, Z:-0.03 [[ 9.92927402e-01 7.59322836e-02 -9.12658910e-02 5.80548848e+00] [-7.64830073e-02 9.97067632e-01 -2.54697025e-03 -6.00132995e-01] [ 9.08048685e-02 9.50924636e-03 9.95823303e-01 -3.43459610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.472401008 meters Centerline goodness [0,1] 0.8674060634437551 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.60, Z:-0.03 [[ 9.92915716e-01 7.62063678e-02 -9.11645207e-02 5.80542544e+00] [-7.67232280e-02 9.97050060e-01 -2.17338155e-03 -6.01537330e-01] [ 9.07299654e-02 9.15242101e-03 9.95833473e-01 -3.46079401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.502401008 meters Centerline goodness [0,1] 0.8700191148360535 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.60, Z:-0.03 [[ 9.92882466e-01 7.65507486e-02 -9.12380993e-02 5.80529621e+00] [-7.70048660e-02 9.97029645e-01 -1.46228023e-03 -6.03829927e-01] [ 9.08551511e-02 8.47765001e-03 9.95828033e-01 -3.41513818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53240100800001 meters Centerline goodness [0,1] 0.8746174670433144 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.61, Z:-0.03 [[ 9.92860072e-01 7.69148608e-02 -9.11755578e-02 5.80474536e+00] [-7.72901188e-02 9.97008472e-01 -5.86835461e-04 -6.06906966e-01] [ 9.08576672e-02 7.62961520e-03 9.95834662e-01 -3.33891373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56240100800001 meters Centerline goodness [0,1] 0.8739285714285714 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.61, Z:-0.03 [[ 9.93126129e-01 7.39455270e-02 -9.07334099e-02 5.80144148e+00] [-7.45288302e-02 9.97214186e-01 -3.05290154e-03 -6.11669937e-01] [ 9.02548951e-02 9.79417119e-03 9.95870538e-01 -3.19138785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59240100800001 meters Centerline goodness [0,1] 0.8675461111442726 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.61, Z:-0.03 [[ 9.93111161e-01 7.37115761e-02 -9.10869166e-02 5.80223573e+00] [-7.42218746e-02 9.97239275e-01 -2.22307784e-03 -6.14535938e-01] [ 9.06715841e-02 8.96840512e-03 9.95840465e-01 -3.09892575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62240100800001 meters Centerline goodness [0,1] 0.8657397738461079 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.62, Z:-0.03 [[ 9.93114358e-01 7.33389245e-02 -9.13524723e-02 5.80349746e+00] [-7.38281200e-02 9.97269010e-01 -1.98275283e-03 -6.16225055e-01] [ 9.09575766e-02 8.71348159e-03 9.95816647e-01 -3.13193437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65240100800001 meters Centerline goodness [0,1] 0.8646063721680913 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.03 [[ 9.93118067e-01 7.28164062e-02 -9.17293657e-02 5.80514681e+00] [-7.33128461e-02 9.97306886e-01 -2.04960121e-03 -6.16807124e-01] [ 9.13330835e-02 8.76043686e-03 9.95781865e-01 -3.18536104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68240100800001 meters Centerline goodness [0,1] 0.862134878442148 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.03 [[ 9.93157883e-01 7.18295917e-02 -9.20756687e-02 5.80780735e+00] [-7.24018165e-02 9.97371371e-01 -2.88519685e-03 -6.15784374e-01] [ 9.16263935e-02 9.53190166e-03 9.95747833e-01 -3.38314184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71240100800001 meters Centerline goodness [0,1] 0.860240170095529 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.03 [[ 9.93150035e-01 7.18666141e-02 -9.21314104e-02 5.80803030e+00] [-7.24325999e-02 9.97369351e-01 -2.80990932e-03 -6.15918326e-01] [ 9.16871064e-02 9.46397913e-03 9.95742892e-01 -3.39308717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74240100800002 meters Centerline goodness [0,1] 0.8617708644929704 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.03 [[ 9.93119723e-01 7.22916299e-02 -9.21256550e-02 5.80723995e+00] [-7.28063316e-02 9.97343595e-01 -2.23401118e-03 -6.16997627e-01] [ 9.17194317e-02 8.92597155e-03 9.95744883e-01 -3.29175753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77240100800002 meters Centerline goodness [0,1] 0.8652219399192946 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.03 [[ 9.93080659e-01 7.28512112e-02 -9.21059471e-02 5.80607192e+00] [-7.33096387e-02 9.97307946e-01 -1.59916382e-03 -6.17968644e-01] [ 9.17414919e-02 8.34035236e-03 9.95747929e-01 -3.15869109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80240100800002 meters Centerline goodness [0,1] 0.865371394410402 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.62, Z:-0.03 [[ 9.93068385e-01 7.37671500e-02 -9.15073192e-02 5.80363282e+00] [-7.41916372e-02 9.97243230e-01 -1.24119390e-03 -6.17673534e-01] [ 9.11634953e-02 8.02166824e-03 9.95803630e-01 -3.08464996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83240100800002 meters Centerline goodness [0,1] 0.8699520876112252 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.62, Z:-0.03 [[ 9.93077150e-01 7.39207906e-02 -9.12879544e-02 5.80321780e+00] [-7.43576358e-02 9.97230672e-01 -1.38889495e-03 -6.16518075e-01] [ 9.09324799e-02 8.16723631e-03 9.95823569e-01 -3.10767153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.862401008 meters Centerline goodness [0,1] 0.8615061026187937 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.62, Z:-0.03 [[ 9.93095570e-01 7.41524582e-02 -9.08988589e-02 5.80266534e+00] [-7.46084056e-02 9.97211587e-01 -1.62363408e-03 -6.15227220e-01] [ 9.05249989e-02 8.39424274e-03 9.95858806e-01 -3.17811745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.89240100800001 meters Centerline goodness [0,1] 0.8657827126952722 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.61, Z:-0.03 [[ 9.93108078e-01 7.43066981e-02 -9.06358697e-02 5.80242943e+00] [-7.47986125e-02 9.97196577e-01 -2.03805935e-03 -6.13370591e-01] [ 9.02303376e-02 8.80345050e-03 9.95882014e-01 -3.25598397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92240100800001 meters Centerline goodness [0,1] 0.8663252692918948 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.61, Z:-0.03 [[ 9.93104320e-01 7.48381390e-02 -9.02389230e-02 5.80165063e+00] [-7.53823712e-02 9.97151224e-01 -2.63319355e-03 -6.10143714e-01] [ 8.97847892e-02 9.41745988e-03 9.95916665e-01 -3.35829114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95240100800001 meters Centerline goodness [0,1] 0.8663372161430757 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.61, Z:-0.03 [[ 9.93086886e-01 7.50577974e-02 -9.02483439e-02 5.80132885e+00] [-7.56042287e-02 9.97134392e-01 -2.64666241e-03 -6.09609791e-01] [ 8.97910749e-02 9.45152216e-03 9.95915775e-01 -3.33827300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98240100800001 meters Centerline goodness [0,1] 0.8686015365142907 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.61, Z:-0.03 [[ 9.93083789e-01 7.49710750e-02 -9.03544424e-02 5.80180413e+00] [-7.55301957e-02 9.97139640e-01 -2.77996460e-03 -6.09822588e-01] [ 8.98875792e-02 9.58522649e-03 9.95905792e-01 -3.37520618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01240100800001 meters Centerline goodness [0,1] 0.8735286308522878 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.61, Z:-0.04 [[ 0.9934056 0.06928015 -0.09135408 5.80489397] [-0.07029431 0.9974948 -0.00792705 -0.60950374] [ 0.09057603 0.01429645 0.99578692 -0.03545489] [ 0. 0. 0. 1. ]] SLAMing on 71.04240100800001 meters Centerline goodness [0,1] 0.878220623783975 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.61, Z:-0.04 [[ 0.99340143 0.06862876 -0.09188961 5.8069009 ] [-0.06967525 0.99753581 -0.00822562 -0.60969844] [ 0.09109866 0.01457377 0.99573523 -0.03608439] [ 0. 0. 0. 1. ]] SLAMing on 71.07240100800001 meters Centerline goodness [0,1] 0.8783751846381093 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.61, Z:-0.04 [[ 0.99341096 0.06771787 -0.09246058 5.80954315] [-0.06881778 0.99759082 -0.00875631 -0.60941145] [ 0.09164486 0.01506155 0.99567784 -0.03726424] [ 0. 0. 0. 1. ]] SLAMing on 71.10240100800002 meters Centerline goodness [0,1] 0.8797923793794975 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.61, Z:-0.04 [[ 0.9934022 0.06720277 -0.09292935 5.81128091] [-0.0682983 0.9976274 -0.00865564 -0.6104414 ] [ 0.09212718 0.01494545 0.99563508 -0.03749794] [ 0. 0. 0. 1. ]] SLAMing on 71.13240100800002 meters Centerline goodness [0,1] 0.8820590596841824 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.61, Z:-0.04 [[ 0.99338401 0.06690438 -0.09333812 5.81180457] [-0.06790562 0.99766289 -0.0075889 -0.614011 ] [ 0.09261225 0.01387687 0.99560555 -0.03581579] [ 0. 0. 0. 1. ]] SLAMing on 71.16240100800002 meters Centerline goodness [0,1] 0.8821253162673017 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.03 [[ 0.99336778 0.06716321 -0.09332499 5.81134626] [-0.0680921 0.99765586 -0.00680127 -0.61540811] [ 0.09264943 0.01311086 0.99561247 -0.03478956] [ 0. 0. 0. 1. ]] SLAMing on 71.19240100800002 meters Centerline goodness [0,1] 0.877910616856981 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.03 [[ 0.99337293 0.06715535 -0.09327584 5.81137744] [-0.06804431 0.9976619 -0.00637937 -0.61629144] [ 0.09262934 0.01268399 0.99561987 -0.03447519] [ 0. 0. 0. 1. ]] SLAMing on 71.222401008 meters Centerline goodness [0,1] 0.8776676488972229 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.03 [[ 0.99336999 0.06715045 -0.09331064 5.81163265] [-0.06801049 0.99766618 -0.0060641 -0.6167697 ] [ 0.09268566 0.01237 0.99561858 -0.03431865] [ 0. 0. 0. 1. ]] SLAMing on 71.252401008 meters Centerline goodness [0,1] 0.875 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.03 [[ 9.93319992e-01 6.85825742e-02 -9.27999147e-02 5.80812169e+00] [-6.93513285e-02 9.97579359e-01 -5.08083009e-03 -6.16204288e-01] [ 9.22268231e-02 1.14826875e-02 9.95671814e-01 -3.17737361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28240100800001 meters Centerline goodness [0,1] 0.8818817924668751 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.03 [[ 9.93285515e-01 6.95662963e-02 -9.24360142e-02 5.80576218e+00] [-7.02802645e-02 9.97517192e-01 -4.48734342e-03 -6.15860677e-01] [ 9.18943455e-02 1.09536407e-02 9.95708515e-01 -3.02690769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31240100800001 meters Centerline goodness [0,1] 0.885964129561881 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.61, Z:-0.03 [[ 9.93250775e-01 7.03632215e-02 -9.22058323e-02 5.80414046e+00] [-7.10578640e-02 9.97463063e-01 -4.26832033e-03 -6.14727597e-01] [ 9.16715791e-02 1.07914620e-02 9.95730820e-01 -2.94390496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34240100800001 meters Centerline goodness [0,1] 0.8904182735093444 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.61, Z:-0.03 [[ 9.93232674e-01 7.08310887e-02 -9.20424517e-02 5.80349112e+00] [-7.15400899e-02 9.97427921e-01 -4.42240778e-03 -6.13470794e-01] [ 9.14924673e-02 1.09772052e-02 9.95745263e-01 -2.96182808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37240100800001 meters Centerline goodness [0,1] 0.8941235768500949 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.61, Z:-0.03 [[ 9.93217386e-01 7.12504225e-02 -9.18836322e-02 5.80308464e+00] [-7.19786907e-02 9.97395412e-01 -4.63240855e-03 -6.12690619e-01] [ 9.13142522e-02 1.12146523e-02 9.95758976e-01 -3.01721387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40240100800001 meters Centerline goodness [0,1] 0.8952318784677922 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.61, Z:-0.03 [[ 9.92882350e-01 7.53755067e-02 -9.22126510e-02 5.80518911e+00] [-7.57843787e-02 9.97123790e-01 -9.35457254e-04 -6.13216821e-01] [ 9.18769175e-02 7.91707745e-03 9.95738897e-01 -3.12643274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43240100800001 meters Centerline goodness [0,1] 0.8973538388597505 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.61, Z:-0.03 [[ 9.92884697e-01 7.57177119e-02 -9.19065049e-02 5.80500554e+00] [-7.61521000e-02 9.97095462e-01 -1.22372004e-03 -6.12209461e-01] [ 9.15469016e-02 8.21388625e-03 9.95766889e-01 -3.24695772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46240100800001 meters Centerline goodness [0,1] 0.8975505731125788 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.61, Z:-0.03 [[ 9.92882844e-01 7.60994407e-02 -9.16107670e-02 5.80444647e+00] [-7.65238802e-02 9.97067115e-01 -1.12430117e-03 -6.12118063e-01] [ 9.12565244e-02 8.12671070e-03 9.95794258e-01 -3.28615717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49240100800002 meters Centerline goodness [0,1] 0.8997976310933873 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.61, Z:-0.03 [[ 9.92847441e-01 7.66322471e-02 -9.15503053e-02 5.80325029e+00] [-7.69683608e-02 9.97033526e-01 -1.41129609e-04 -6.14104201e-01] [ 9.12679086e-02 7.18659710e-03 9.95800443e-01 -3.12174789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52240100800002 meters Centerline goodness [0,1] 0.9022394744699911 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.62, Z:-0.03 [[ 9.92780857e-01 7.72387094e-02 -9.17624770e-02 5.80185054e+00] [-7.73859182e-02 9.96999291e-01 1.95810156e-03 -6.18715127e-01] [ 9.16383657e-02 5.15715779e-03 9.95778998e-01 -2.74900593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55240100800002 meters Centerline goodness [0,1] 0.902256539175196 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.62, Z:-0.03 [[ 9.92768398e-01 7.75886537e-02 -9.16018983e-02 5.80084634e+00] [-7.76831389e-02 9.96974866e-01 2.53894559e-03 -6.19753119e-01] [ 9.15217836e-02 4.59533803e-03 9.95792471e-01 -2.65226276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58240100800002 meters Centerline goodness [0,1] 0.8977470189945473 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.62, Z:-0.03 [[ 9.92765781e-01 7.77685246e-02 -9.14776563e-02 5.80041504e+00] [-7.78500835e-02 9.96961470e-01 2.68178900e-03 -6.19467264e-01] [ 9.14082574e-02 4.45915483e-03 9.95803518e-01 -2.62821079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.612401008 meters Centerline goodness [0,1] 0.8973776276051789 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.62, Z:-0.03 [[ 9.92768205e-01 7.80834806e-02 -9.11825759e-02 5.79982950e+00] [-7.81848535e-02 9.96935831e-01 2.46519597e-03 -6.18138301e-01] [ 9.10956682e-02 4.68172816e-03 9.95831141e-01 -2.67954985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64240100800001 meters Centerline goodness [0,1] 0.8959294881338773 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.61, Z:-0.03 [[ 9.92778358e-01 7.79824543e-02 -9.11584865e-02 5.80073035e+00] [-7.81753306e-02 9.96938559e-01 1.45833174e-03 -6.14787633e-01] [ 9.09931344e-02 5.67854462e-03 9.95835330e-01 -2.86231335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67240100800001 meters Centerline goodness [0,1] 0.8946756498926782 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.62, Z:-0.03 [[ 9.92786465e-01 7.75259059e-02 -9.14591053e-02 5.80206586e+00] [-7.77331320e-02 9.96973355e-01 1.29960988e-03 -6.15053850e-01] [ 9.12830445e-02 5.81916760e-03 9.95807985e-01 -2.90766507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70240100800001 meters Centerline goodness [0,1] 0.8946756498926782 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.62, Z:-0.03 [[ 9.92786465e-01 7.75259059e-02 -9.14591053e-02 5.80206586e+00] [-7.77331320e-02 9.96973355e-01 1.29960988e-03 -6.15053850e-01] [ 9.12830445e-02 5.81916760e-03 9.95807985e-01 -2.90766507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73240100800001 meters Centerline goodness [0,1] 0.8990058340278605 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.62, Z:-0.03 [[ 9.92774925e-01 7.68412623e-02 -9.21594795e-02 5.80407401e+00] [-7.70436834e-02 9.97026784e-01 1.36458677e-03 -6.16231144e-01] [ 9.19903260e-02 5.74557824e-03 9.95743324e-01 -2.88716001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76240100800001 meters Centerline goodness [0,1] 0.8999463039198139 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.03 [[ 9.92779076e-01 7.56226082e-02 -9.31178150e-02 5.80753350e+00] [-7.58828302e-02 9.97116461e-01 7.48100380e-04 -6.16735602e-01] [ 9.29058794e-02 6.32334494e-03 9.95654816e-01 -2.98615920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79240100800001 meters Centerline goodness [0,1] 0.9012839653627949 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.03 [[ 9.92785108e-01 7.53296757e-02 -9.32907792e-02 5.80847722e+00] [-7.56133172e-02 9.97137092e-01 4.95638716e-04 -6.16308471e-01] [ 9.30610326e-02 6.56196254e-03 9.95638782e-01 -3.04122521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82240100800001 meters Centerline goodness [0,1] 0.8997197041984732 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.03 [[ 9.92789163e-01 7.50330470e-02 -9.34864725e-02 5.80928755e+00] [-7.53264511e-02 9.97158850e-01 3.91314126e-04 -6.15991441e-01] [ 9.32502249e-02 6.65351178e-03 9.95620473e-01 -3.05732669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85240100800002 meters Centerline goodness [0,1] 0.8969410921257019 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.03 [[ 9.92785143e-01 7.48350135e-02 -9.36876730e-02 5.80984671e+00] [-7.50960970e-02 9.97176026e-01 7.40673763e-04 -6.16890403e-01] [ 9.34785298e-02 6.30024867e-03 9.95601362e-01 -3.00892575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88240100800002 meters Centerline goodness [0,1] 0.8958813838550247 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.03 [[ 9.93096595e-01 7.02667731e-02 -9.39240887e-02 5.80955905e+00] [-7.07943628e-02 9.97488296e-01 -2.29288198e-03 -6.19430495e-01] [ 9.35270658e-02 8.92634930e-03 9.95576721e-01 -2.85907464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91240100800002 meters Centerline goodness [0,1] 0.8913069761818402 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.03 [[ 0.99338953 0.06604185 -0.09389201 5.80853424] [-0.06689194 0.99774259 -0.00593215 -0.62065346] [ 0.09328829 0.01217356 0.99556471 -0.02810384] [ 0. 0. 0. 1. ]] SLAMing on 71.94240100800002 meters Centerline goodness [0,1] 0.8882537172743029 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.03 [[ 0.99367548 0.0616183 -0.09387345 5.80800256] [-0.06279451 0.99798006 -0.00962502 -0.62169828] [ 0.09309075 0.01545888 0.99553761 -0.02784885] [ 0. 0. 0. 1. ]] SLAMing on 71.972401008 meters Centerline goodness [0,1] 0.8876486511146933 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.03 [[ 0.99395692 0.0560677 -0.0943719 5.80987347] [-0.05761014 0.99824518 -0.01369779 -0.62277599] [ 0.09343829 0.01905179 0.99544277 -0.02805886] [ 0. 0. 0. 1. ]] SLAMing on 72.002401008 meters Centerline goodness [0,1] 0.8871777703381319 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.03 [[ 0.99395095 0.05543206 -0.09480924 5.81141867] [-0.05697819 0.99828174 -0.01367709 -0.62332843] [ 0.09388818 0.01899641 0.9954015 -0.02793766] [ 0. 0. 0. 1. ]] SLAMing on 72.03240100800001 meters Centerline goodness [0,1] 0.887709480215335 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.03 [[ 0.99393298 0.05470054 -0.09542052 5.8136201 ] [-0.05626947 0.99831986 -0.01382774 -0.62347024] [ 0.09450382 0.01911311 0.99534101 -0.02821344] [ 0. 0. 0. 1. ]] SLAMing on 72.06240100800001 meters Centerline goodness [0,1] 0.8920482221139795 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.62, Z:-0.03 [[ 0.99391785 0.05335989 -0.09633295 5.81749062] [-0.05504697 0.998372 -0.0149393 -0.62245524] [ 0.09537896 0.02015128 0.99523705 -0.03005489] [ 0. 0. 0. 1. ]] SLAMing on 72.09240100800001 meters Centerline goodness [0,1] 0.8938832533560105 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.62, Z:-0.03 [[ 0.99390292 0.05312851 -0.09661446 5.81853265] [-0.05485973 0.99837608 -0.01534983 -0.62132202] [ 0.09564205 0.02055649 0.99520351 -0.03060669] [ 0. 0. 0. 1. ]] SLAMing on 72.12240100800001 meters Centerline goodness [0,1] 0.8956513828238719 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.62, Z:-0.03 [[ 0.99389847 0.05298416 -0.09673934 5.81935781] [-0.05475683 0.99837533 -0.0157604 -0.61988817] [ 0.09574712 0.02096138 0.99518496 -0.03132261] [ 0. 0. 0. 1. ]] SLAMing on 72.15240100800001 meters Centerline goodness [0,1] 0.8956569243376127 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.62, Z:-0.03 [[ 0.99389431 0.05292587 -0.096814 5.81988556] [-0.0547421 0.99836911 -0.01619917 -0.6181552 ] [ 0.09579875 0.02140006 0.99517066 -0.03196438] [ 0. 0. 0. 1. ]] SLAMing on 72.18240100800001 meters Centerline goodness [0,1] 0.896310855760508 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.62, Z:-0.03 [[ 0.99362697 0.05691179 -0.09729587 5.82140653] [-0.05828842 0.99823511 -0.01136324 -0.61977355] [ 0.09647745 0.01696204 0.99519063 -0.03042114] [ 0. 0. 0. 1. ]] SLAMing on 72.21240100800001 meters Centerline goodness [0,1] 0.8973771480253241 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.62, Z:-0.03 [[ 0.99335406 0.06171455 -0.09715469 5.82068312] [-0.06265337 0.99801326 -0.00663928 -0.6193905 ] [ 0.09655193 0.01268223 0.99524715 -0.02868975] [ 0. 0. 0. 1. ]] SLAMing on 72.24240100800002 meters Centerline goodness [0,1] 0.8961234701874963 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.62, Z:-0.03 [[ 0.99333786 0.06266421 -0.09671138 5.81847826] [-0.0635815 0.99795594 -0.00642934 -0.61771622] [ 0.09611081 0.01253556 0.9952917 -0.02791254] [ 0. 0. 0. 1. ]] SLAMing on 72.27240100800002 meters Centerline goodness [0,1] 0.8927110897281694 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.62, Z:-0.03 [[ 9.93308069e-01 6.39769619e-02 -9.61562733e-02 5.81544801e+00] [-6.48173224e-02 9.97881217e-01 -5.63832857e-03 -6.16790121e-01] [ 9.55918159e-02 1.18331894e-02 9.95350280e-01 -2.61794121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30240100800002 meters Centerline goodness [0,1] 0.8979475313279442 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.02 [[ 9.93278677e-01 6.53490155e-02 -9.55352093e-02 5.81223361e+00] [-6.61213002e-02 9.97799378e-01 -4.93713890e-03 -6.16293009e-01] [ 9.50023352e-02 1.12208670e-02 9.95413808e-01 -2.47110545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33240100800002 meters Centerline goodness [0,1] 0.8970007183908046 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.02 [[ 9.92942472e-01 7.13945201e-02 -9.46998938e-02 5.80803698e+00] [-7.16126157e-02 9.97431916e-01 1.09784015e-03 -6.17684033e-01] [ 9.45350763e-02 5.69161499e-03 9.95505261e-01 -2.05006725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.362401008 meters Centerline goodness [0,1] 0.8956464537734721 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.02 [[ 9.92930662e-01 7.25379151e-02 -9.39518610e-02 5.80535685e+00] [-7.27436297e-02 9.97349904e-01 1.23789204e-03 -6.15925294e-01] [ 9.37926737e-02 5.60525842e-03 9.95575972e-01 -2.02304461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39240100800001 meters Centerline goodness [0,1] 0.8978422419195989 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.61, Z:-0.02 [[ 9.92923659e-01 7.31876126e-02 -9.35210200e-02 5.80367268e+00] [-7.33731821e-02 9.97303491e-01 1.45735223e-03 -6.14617469e-01] [ 9.33754998e-02 5.41489531e-03 9.95616239e-01 -1.96191558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42240100800001 meters Centerline goodness [0,1] 0.8987107556404441 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.61, Z:-0.02 [[ 9.92903419e-01 7.33590675e-02 -9.36015351e-02 5.80340673e+00] [-7.35280202e-02 9.97291791e-01 1.64712189e-03 -6.14381306e-01] [ 9.34688740e-02 5.24690260e-03 9.95608377e-01 -1.90034079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45240100800001 meters Centerline goodness [0,1] 0.9004384525904495 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.61, Z:-0.02 [[ 9.92890170e-01 7.34016891e-02 -9.37086044e-02 5.80367121e+00] [-7.35671790e-02 9.97288828e-01 1.69200727e-03 -6.14624080e-01] [ 9.35787405e-02 5.21390029e-03 9.95598229e-01 -1.90684778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48240100800001 meters Centerline goodness [0,1] 0.9004612988257849 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.61, Z:-0.02 [[ 9.92898358e-01 7.29505671e-02 -9.39737485e-02 5.80513822e+00] [-7.31330799e-02 9.97321056e-01 1.50490661e-03 -6.14956387e-01] [ 9.38317819e-02 5.37837035e-03 9.95573538e-01 -1.98177615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51240100800001 meters Centerline goodness [0,1] 0.8983566464851322 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.61, Z:-0.02 [[ 9.92914401e-01 7.24088518e-02 -9.42228715e-02 5.80690532e+00] [-7.26254865e-02 9.97358640e-01 1.13244738e-03 -6.14821712e-01] [ 9.40559942e-02 5.71855857e-03 9.95550485e-01 -2.10662304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54240100800001 meters Centerline goodness [0,1] 0.8961462509724134 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.61, Z:-0.02 [[ 9.92932523e-01 7.16944785e-02 -9.45775183e-02 5.80911881e+00] [-7.19595323e-02 9.97407366e-01 6.09457998e-04 -6.14511801e-01] [ 9.43760082e-02 6.20060332e-03 9.95517314e-01 -2.25291511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57240100800001 meters Centerline goodness [0,1] 0.8966302231541111 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.02 [[ 9.92959827e-01 7.06841323e-02 -9.50501679e-02 5.81160901e+00] [-7.09484423e-02 9.97479804e-01 6.00118905e-04 -6.16512156e-01] [ 9.48530417e-02 6.14776739e-03 9.95472303e-01 -2.32475764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60240100800002 meters Centerline goodness [0,1] 0.8958364692777795 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.02 [[ 9.93239560e-01 6.72182341e-02 -9.46408221e-02 5.80945330e+00] [-6.78418468e-02 9.97690350e-01 -3.38355653e-03 -6.15644235e-01] [ 9.41947983e-02 9.78129036e-03 9.95505734e-01 -2.34984070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63240100800002 meters Centerline goodness [0,1] 0.8990188679245283 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.02 [[ 9.93195805e-01 6.77026210e-02 -9.47546765e-02 5.80840221e+00] [-6.82031812e-02 9.97669345e-01 -2.05038816e-03 -6.18484195e-01] [ 9.43950194e-02 8.49900729e-03 9.95498542e-01 -2.11507553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66240100800002 meters Centerline goodness [0,1] 0.8986176506096825 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.02 [[ 9.93162861e-01 6.82007199e-02 -9.47427770e-02 5.80719190e+00] [-6.85875747e-02 9.97644755e-01 -8.28996500e-04 -6.20363370e-01] [ 9.44630964e-02 7.32150583e-03 9.95501441e-01 -1.88763772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69240100800002 meters Centerline goodness [0,1] 0.8974118359315877 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.02 [[ 9.93170577e-01 6.85420530e-02 -9.44149935e-02 5.80608856e+00] [-6.88770036e-02 9.97625117e-01 -2.89570081e-04 -6.21113601e-01] [ 9.41709212e-02 6.79061433e-03 9.95532885e-01 -1.82024684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.722401008 meters Centerline goodness [0,1] 0.8961571151044196 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.02 [[ 9.93170271e-01 6.83538766e-02 -9.45545338e-02 5.80666911e+00] [-6.86786583e-02 9.97638817e-01 -1.81071548e-04 -6.21659351e-01] [ 9.43188963e-02 6.67371340e-03 9.95519667e-01 -1.81881680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.752401008 meters Centerline goodness [0,1] 0.8949766142258397 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.02 [[ 9.93166573e-01 6.82293327e-02 -9.46832430e-02 5.80710987e+00] [-6.85239555e-02 9.97649461e-01 1.39992469e-04 -6.22902521e-01] [ 9.44702380e-02 6.34903449e-03 9.95507440e-01 -1.79226892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78240100800001 meters Centerline goodness [0,1] 0.895573660850003 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.62, Z:-0.02 [[ 9.93150113e-01 6.80138007e-02 -9.50104005e-02 5.80789630e+00] [-6.82745027e-02 9.97666444e-01 5.07909060e-04 -6.24323296e-01] [ 9.48232333e-02 5.98235791e-03 9.95476150e-01 -1.74430519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81240100800001 meters Centerline goodness [0,1] 0.8968676752610271 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.63, Z:-0.02 [[ 9.93149411e-01 6.73656063e-02 -9.54783918e-02 5.80981971e+00] [-6.76346773e-02 9.97710066e-01 4.18980239e-04 -6.25109593e-01] [ 9.52879774e-02 6.04154024e-03 9.95431415e-01 -1.79018435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84240100800001 meters Centerline goodness [0,1] 0.8984123121844394 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.63, Z:-0.02 [[ 9.93223037e-01 6.50665657e-02 -9.63033793e-02 5.81479670e+00] [-6.54265600e-02 9.97857218e-01 -5.81749917e-04 -6.26133845e-01] [ 9.60591697e-02 6.87860625e-03 9.95351858e-01 -2.00249915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87240100800001 meters Centerline goodness [0,1] 0.8980631386304713 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.63, Z:-0.02 [[ 9.93219835e-01 6.41108839e-02 -9.69750221e-02 5.81725453e+00] [-6.44692718e-02 9.97919533e-01 -5.63610416e-04 -6.27802688e-01] [ 9.67371352e-02 6.81169810e-03 9.95286656e-01 -2.01790788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90240100800001 meters Centerline goodness [0,1] 0.900634765625 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.63, Z:-0.02 [[ 9.93210458e-01 6.29492142e-02 -9.78283289e-02 5.82002955e+00] [-6.33028044e-02 9.97994235e-01 -5.11656455e-04 -6.29655722e-01] [ 9.75998999e-02 6.70099012e-03 9.95203173e-01 -1.99113767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93240100800001 meters Centerline goodness [0,1] 0.8968491893545427 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.63, Z:-0.02 [[ 9.93496758e-01 5.72429044e-02 -9.84247978e-02 5.82244369e+00] [-5.80177646e-02 9.98302898e-01 -5.02620996e-03 -6.30101637e-01] [ 9.79700460e-02 1.07039101e-02 9.95131799e-01 -2.08524895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96240100800001 meters Centerline goodness [0,1] 0.8958875585632483 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.63, Z:-0.02 [[ 9.93494060e-01 5.60934746e-02 -9.91114254e-02 5.82505398e+00] [-5.68522431e-02 9.98370843e-01 -4.84582198e-03 -6.31666087e-01] [ 9.86781383e-02 1.04490022e-02 9.95064542e-01 -2.05324585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99240100800002 meters Centerline goodness [0,1] 0.8925282416502947 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.63, Z:-0.02 [[ 9.93498601e-01 5.49606445e-02 -9.96988333e-02 5.82732183e+00] [-5.57002592e-02 9.98436716e-01 -4.64803992e-03 -6.33143000e-01] [ 9.92875165e-02 1.01710720e-02 9.95006803e-01 -2.00733534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02240100800002 meters Centerline goodness [0,1] 0.8875685277633151 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.64, Z:-0.02 [[ 9.93491825e-01 5.42558277e-02 -1.00151379e-01 5.82864540e+00] [-5.49211567e-02 9.98483093e-01 -3.89603767e-03 -6.35144782e-01] [ 9.97880763e-02 9.37111118e-03 9.94964583e-01 -1.86791183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05240100800002 meters Centerline goodness [0,1] 0.8819088537670707 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.64, Z:-0.02 [[ 9.93480563e-01 5.35242329e-02 -1.00655487e-01 5.82995233e+00] [-5.41335293e-02 9.98528154e-01 -3.32973097e-03 -6.36782132e-01] [ 1.00329117e-01 8.75685977e-03 9.94915768e-01 -1.72965096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08240100800002 meters Centerline goodness [0,1] 0.8665767781080501 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.63, Z:-0.02 [[ 0.99370011 0.04818085 -0.10118643 5.83139299] [-0.04925169 0.99875347 -0.00810993 -0.63458776] [ 0.10066955 0.01304244 0.99483443 -0.01762021] [ 0. 0. 0. 1. ]] SLAMing on 73.112401008 meters Centerline goodness [0,1] 0.8530924678505818 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.63, Z:-0.02 [[ 0.99367594 0.04788925 -0.10156151 5.83202769] [-0.0489535 0.99876893 -0.00801112 -0.63436064] [ 0.10105284 0.01293225 0.994797 -0.01680831] [ 0. 0. 0. 1. ]] SLAMing on 73.14240100800001 meters Centerline goodness [0,1] 0.8580731544032622 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.63, Z:-0.02 [[ 0.99365888 0.04777722 -0.10178098 5.83215765] [-0.04883645 0.99877523 -0.00793927 -0.63337594] [ 0.10127701 0.01285955 0.99477515 -0.01591957] [ 0. 0. 0. 1. ]] SLAMing on 73.17240100800001 meters Centerline goodness [0,1] 0.8579554004032622 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.63, Z:-0.02 [[ 0.99367083 0.0470815 -0.10198832 5.83327754] [-0.04827519 0.99879109 -0.00926645 -0.62770685] [ 0.10142875 0.01413131 0.99474244 -0.01666225] [ 0. 0. 0. 1. ]] SLAMing on 73.20240100800001 meters Centerline goodness [0,1] 0.8760144274120829 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.62, Z:-0.02 [[ 0.99368126 0.04641707 -0.10219102 5.83455215] [-0.04771875 0.99880741 -0.01032878 -0.62347534] [ 0.10158971 0.01513994 0.99471117 -0.01748897] [ 0. 0. 0. 1. ]] SLAMing on 73.23240100800001 meters Centerline goodness [0,1] 0.856193895870736 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.62, Z:-0.02 [[ 0.99345254 0.04970535 -0.10286606 5.83695076] [-0.05062828 0.99869719 -0.00637917 -0.62298257] [ 0.10241497 0.01154533 0.99467476 -0.01649521] [ 0. 0. 0. 1. ]] SLAMing on 73.26240100800001 meters Centerline goodness [0,1] 0.8633791912333988 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.62, Z:-0.02 [[ 0.99345798 0.04954852 -0.10288923 5.83710109] [-0.05053054 0.99869828 -0.00695841 -0.61995573] [ 0.10241051 0.01211193 0.99466848 -0.01662034] [ 0. 0. 0. 1. ]] SLAMing on 73.29240100800001 meters Centerline goodness [0,1] 0.8894436519258202 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.61, Z:-0.02 [[ 0.99342025 0.04941546 -0.10331663 5.83755563] [-0.05054344 0.99868715 -0.00832669 -0.61373545] [ 0.10276952 0.01349388 0.99461366 -0.01679735] [ 0. 0. 0. 1. ]] SLAMing on 73.32240100800001 meters Centerline goodness [0,1] 0.8942814814814815 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.61, Z:-0.02 [[ 0.9933979 0.04922688 -0.10362104 5.83823014] [-0.05045996 0.99868268 -0.00931069 -0.60923578] [ 0.1030262 0.01447793 0.99457327 -0.01718388] [ 0. 0. 0. 1. ]] SLAMing on 73.35240100800002 meters Centerline goodness [0,1] 0.8899012461791677 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.61, Z:-0.02 [[ 9.93159654e-01 5.29426804e-02 -1.04071966e-01 5.83988610e+00] [-5.38153109e-02 9.98535243e-01 -5.59289158e-03 -6.07270605e-01] [ 1.03623423e-01 1.11552995e-02 9.94554044e-01 -1.65232778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38240100800002 meters Centerline goodness [0,1] 0.8969038979281283 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.60, Z:-0.02 [[ 9.92914952e-01 5.64969739e-02 -1.04537026e-01 5.84178664e+00] [-5.70349102e-02 9.98369845e-01 -2.16134049e-03 -6.04853688e-01] [ 1.04244505e-01 8.10828716e-03 9.94518647e-01 -1.62697243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41240100800002 meters Centerline goodness [0,1] 0.8928871261905451 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.60, Z:-0.02 [[ 9.92675702e-01 6.02860982e-02 -1.04692585e-01 5.84255767e+00] [-6.05417500e-02 9.98165394e-01 7.37137268e-04 -5.97844317e-01] [ 1.04544954e-01 5.60653403e-03 9.94504359e-01 -1.56214890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44240100800002 meters Centerline goodness [0,1] 0.898779467351473 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.59, Z:-0.01 [[ 9.92680276e-01 6.05551525e-02 -1.04493746e-01 5.84145723e+00] [-6.08539864e-02 9.98146625e-01 3.28910525e-04 -5.94009451e-01] [ 1.04319997e-01 6.03235802e-03 9.94525489e-01 -1.49650286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.472401008 meters Centerline goodness [0,1] 0.9004898169631348 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.59, Z:-0.01 [[ 9.92671502e-01 6.08256609e-02 -1.04419956e-01 5.84027304e+00] [-6.11403159e-02 9.98129163e-01 1.87864250e-04 -5.90652955e-01] [ 1.04236030e-01 6.19778161e-03 9.94533276e-01 -1.36395751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.502401008 meters Centerline goodness [0,1] 0.9012779826743289 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.59, Z:-0.01 [[ 9.92669945e-01 6.11646790e-02 -1.04236573e-01 5.83883193e+00] [-6.14959272e-02 9.98107334e-01 3.60338691e-05 -5.87304115e-01] [ 1.04041492e-01 6.37435498e-03 9.94552530e-01 -1.23843341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53240100800001 meters Centerline goodness [0,1] 0.9028534150215566 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.58, Z:-0.01 [[ 9.92665496e-01 6.14096566e-02 -1.04134854e-01 5.83769485e+00] [-6.17687627e-02 9.98090462e-01 -2.24007551e-04 -5.83440505e-01] [ 1.03922248e-01 6.65464566e-03 9.94563161e-01 -1.12070547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56240100800001 meters Centerline goodness [0,1] 0.902214851874754 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.58, Z:-0.01 [[ 9.92415642e-01 6.54896086e-02 -1.04030302e-01 5.83714930e+00] [-6.55450777e-02 9.97845427e-01 2.88902387e-03 -5.77636661e-01] [ 1.03995362e-01 3.95156176e-03 9.94569932e-01 -9.92424336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59240100800001 meters Centerline goodness [0,1] 0.902214851874754 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.58, Z:-0.01 [[ 9.92415642e-01 6.54896086e-02 -1.04030302e-01 5.83714930e+00] [-6.55450777e-02 9.97845427e-01 2.88902387e-03 -5.77636661e-01] [ 1.03995362e-01 3.95156176e-03 9.94569932e-01 -9.92424336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62240100800001 meters Centerline goodness [0,1] 0.9022777575434959 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.57, Z:-0.01 [[ 9.92405334e-01 6.58824258e-02 -1.03880507e-01 5.83646246e+00] [-6.60053950e-02 9.97816713e-01 2.25720497e-03 -5.73168373e-01] [ 1.03802417e-01 4.61661168e-03 9.94587224e-01 -9.96689612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65240100800001 meters Centerline goodness [0,1] 0.9046400356069879 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.57, Z:-0.01 [[ 9.92372761e-01 6.65131430e-02 -1.03789713e-01 5.83577106e+00] [-6.66976041e-02 9.97771794e-01 1.69624143e-03 -5.68705559e-01] [ 1.03671271e-01 5.23922143e-03 9.94597817e-01 -1.01057802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68240100800001 meters Centerline goodness [0,1] 0.9020111608376153 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.57, Z:-0.01 [[ 9.92081073e-01 7.04569597e-02 -1.03975774e-01 5.83711558e+00] [-7.03091226e-02 9.97512261e-01 5.09091135e-03 -5.66307197e-01] [ 1.04075800e-01 2.25984865e-03 9.94566801e-01 -1.02368279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71240100800001 meters Centerline goodness [0,1] 0.8984652994703246 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.56, Z:-0.01 [[ 9.91471166e-01 7.79988240e-02 -1.04408385e-01 5.84090545e+00] [-7.72622844e-02 9.96949159e-01 1.10866076e-02 -5.59773210e-01] [ 1.04954594e-01 -2.92522144e-03 9.94472713e-01 -1.19733838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74240100800002 meters Centerline goodness [0,1] 0.9046284821380463 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.56, Z:-0.01 [[ 9.91147578e-01 8.16232997e-02 -1.04709673e-01 5.84282806e+00] [-8.05728028e-02 9.96647135e-01 1.42306764e-02 -5.57006878e-01] [ 1.05520151e-01 -5.66794861e-03 9.94401012e-01 -1.22956537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77240100800002 meters Centerline goodness [0,1] 0.8986029016657711 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.55, Z:-0.01 [[ 9.91123370e-01 8.21104310e-02 -1.04557845e-01 5.84184389e+00] [-8.11138576e-02 9.96609920e-01 1.37553544e-02 -5.52823437e-01] [ 1.05332843e-01 -5.15216306e-03 9.94423676e-01 -1.19460825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80240100800002 meters Centerline goodness [0,1] 0.9008909881380495 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.55, Z:-0.01 [[ 9.91110660e-01 8.24958470e-02 -1.04374781e-01 5.84049524e+00] [-8.15272475e-02 9.96579410e-01 1.35199170e-02 -5.50319615e-01] [ 1.05133095e-01 -4.89034523e-03 9.94446136e-01 -1.10921256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83240100800002 meters Centerline goodness [0,1] 0.9022184163343948 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.55, Z:-0.01 [[ 9.91691633e-01 8.18176064e-02 -9.92652246e-02 5.85201171e+00] [-8.19516506e-02 9.96632558e-01 2.73332514e-03 -5.46093007e-01] [ 9.91545888e-02 5.42433333e-03 9.95057257e-01 -1.23640505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.862401008 meters Centerline goodness [0,1] 0.9046930634754906 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.55, Z:-0.01 [[ 9.91683924e-01 8.17857299e-02 -9.93684548e-02 5.85167169e+00] [-8.19176936e-02 9.96635281e-01 2.75826047e-03 -5.45026407e-01] [ 9.92596942e-02 5.40471206e-03 9.95046884e-01 -1.14228305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89240100800001 meters Centerline goodness [0,1] 0.902372989329511 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.54, Z:-0.01 [[ 9.91383156e-01 8.46317838e-02 -9.99844966e-02 5.85536777e+00] [-8.45165053e-02 9.96407469e-01 5.39585424e-03 -5.41594620e-01] [ 1.00081960e-01 3.10098124e-03 9.94974364e-01 -1.27340071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92240100800001 meters Centerline goodness [0,1] 0.9012685717312429 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.54, Z:-0.01 [[ 9.91354012e-01 8.49040176e-02 -1.00042644e-01 5.85586073e+00] [-8.48544946e-02 9.96381994e-01 4.75787761e-03 -5.38006174e-01] [ 1.00084652e-01 3.77232698e-03 9.94971774e-01 -1.35595130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95240100800001 meters Centerline goodness [0,1] 0.9060072160332886 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.53, Z:-0.01 [[ 9.91253604e-01 8.60908772e-02 -1.00023263e-01 5.85486604e+00] [-8.60443105e-02 9.96279808e-01 4.78758271e-03 -5.34754009e-01] [ 1.00063325e-01 3.86072411e-03 9.94973580e-01 -1.31389652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98240100800001 meters Centerline goodness [0,1] 0.9026725589225589 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.53, Z:-0.01 [[ 9.91134162e-01 8.78035533e-02 -9.97176439e-02 5.85253569e+00] [-8.77271152e-02 9.96131181e-01 5.15973414e-03 -5.31548816e-01] [ 9.97848974e-02 3.63395245e-03 9.95002396e-01 -1.19782681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01240100800001 meters Centerline goodness [0,1] 0.9014592813431664 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.53, Z:-0.01 [[ 9.90625074e-01 9.41019089e-02 -9.90292587e-02 5.84932037e+00] [-9.36340130e-02 9.95562570e-01 9.37235378e-03 -5.27238005e-01] [ 9.94717796e-02 -1.19817644e-05 9.95040384e-01 -9.98380852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04240100800001 meters Centerline goodness [0,1] 0.9022595626989511 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.52, Z:-0.01 [[ 9.90559621e-01 9.52779877e-02 -9.85583239e-02 5.84730511e+00] [-9.48108818e-02 9.95450704e-01 9.42293741e-03 -5.24449857e-01] [ 9.90077515e-02 1.04202966e-05 9.95086662e-01 -9.46481749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07240100800001 meters Centerline goodness [0,1] 0.9055941327923851 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.52, Z:-0.01 [[ 9.90538853e-01 9.57196121e-02 -9.83388890e-02 5.84632956e+00] [-9.52751116e-02 9.95408307e-01 9.21707868e-03 -5.22730788e-01] [ 9.87696022e-02 2.39374079e-04 9.95110300e-01 -9.22987414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10240100800002 meters Centerline goodness [0,1] 0.9031316763066021 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.52, Z:-0.01 [[ 9.90521388e-01 9.62041821e-02 -9.80414994e-02 5.84490532e+00] [-9.57166651e-02 9.95361600e-01 9.67493041e-03 -5.23045338e-01] [ 9.85175125e-02 -1.99020136e-04 9.95135297e-01 -8.26549659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13240100800002 meters Centerline goodness [0,1] 0.8992734045064659 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.53, Z:-0.01 [[ 9.90889532e-01 9.27586625e-02 -9.76410068e-02 5.84209519e+00] [-9.25320747e-02 9.95686099e-01 6.85620307e-03 -5.25091914e-01] [ 9.78557654e-02 2.24118509e-03 9.95198084e-01 -6.73834267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16240100800002 meters Centerline goodness [0,1] 0.9050144394854293 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.53, Z:-0.01 [[ 9.91245597e-01 8.87089737e-02 -9.77900015e-02 5.84138438e+00] [-8.88153128e-02 9.96042731e-01 3.27375754e-03 -5.26414097e-01] [ 9.76934319e-02 5.44015182e-03 9.95201687e-01 -6.50741989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19240100800002 meters Centerline goodness [0,1] 0.9039987305617264 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.53, Z:-0.01 [[ 9.91598828e-01 8.45034221e-02 -9.79333237e-02 5.84116545e+00] [-8.49558429e-02 9.96384615e-01 -4.51373566e-04 -5.28184893e-01] [ 9.75411144e-02 8.76758956e-03 9.95192876e-01 -6.94741201e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.222401008 meters Centerline goodness [0,1] 0.9065465273901603 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.53, Z:-0.01 [[ 9.91928602e-01 8.02029131e-02 -9.82096810e-02 5.84184129e+00] [-8.10182884e-02 9.96703183e-01 -4.33622021e-03 -5.29532810e-01] [ 9.75381241e-02 1.22580011e-02 9.95156297e-01 -8.06954171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.252401008 meters Centerline goodness [0,1] 0.9089841142704579 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.53, Z:-0.01 [[ 9.91921795e-01 7.95965956e-02 -9.87701067e-02 5.84421292e+00] [-8.03931668e-02 9.96754778e-01 -4.10496052e-03 -5.32514068e-01] [ 9.81228349e-02 1.20122415e-02 9.95101812e-01 -9.04400445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28240100800001 meters Centerline goodness [0,1] 0.9103505574614065 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.53, Z:-0.01 [[ 9.91904081e-01 7.93886474e-02 -9.91147618e-02 5.84590098e+00] [-8.01680945e-02 9.96773729e-01 -3.89994323e-03 -5.34623683e-01] [ 9.84853795e-02 1.18142112e-02 9.95068367e-01 -1.00300177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31240100800001 meters Centerline goodness [0,1] 0.9122311827956989 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.54, Z:-0.01 [[ 9.91821358e-01 8.05993096e-02 -9.89653727e-02 5.84564798e+00] [-8.12979136e-02 9.96685210e-01 -3.04012717e-03 -5.38868857e-01] [ 9.83922911e-02 1.10609414e-02 9.95086234e-01 -1.10903284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34240100800001 meters Centerline goodness [0,1] 0.915012490262967 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.54, Z:-0.01 [[ 9.91747448e-01 8.18210764e-02 -9.87031429e-02 5.84449381e+00] [-8.24583683e-02 9.96591650e-01 -2.38771431e-03 -5.40469094e-01] [ 9.81713627e-02 1.05069097e-02 9.95114058e-01 -1.11599874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37240100800001 meters Centerline goodness [0,1] 0.9172428694900605 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.54, Z:-0.01 [[ 9.91293473e-01 8.81255657e-02 -9.78321758e-02 5.84311223e+00] [-8.83013922e-02 9.96090566e-01 2.53956071e-03 -5.43647955e-01] [ 9.76735076e-02 6.12126738e-03 9.95199686e-01 -1.24392032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40240100800001 meters Centerline goodness [0,1] 0.9194329464599735 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.54, Z:-0.01 [[ 9.91227302e-01 8.95556338e-02 -9.72019740e-02 5.84159884e+00] [-8.96957977e-02 9.95964882e-01 2.93556491e-03 -5.43468571e-01] [ 9.70726489e-02 5.80879651e-03 9.95260347e-01 -1.33367292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43240100800001 meters Centerline goodness [0,1] 0.9208297132927888 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.54, Z:-0.01 [[ 9.91173381e-01 9.09426596e-02 -9.64611919e-02 5.83961232e+00] [-9.10300107e-02 9.95841985e-01 3.50394950e-03 -5.44314234e-01] [ 9.63787633e-02 5.30784185e-03 9.95330579e-01 -1.38114805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46240100800001 meters Centerline goodness [0,1] 0.9211311947022743 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.55, Z:-0.01 [[ 9.91132510e-01 9.16592756e-02 -9.62025231e-02 5.83903723e+00] [-9.17089821e-02 9.95778159e-01 3.91415001e-03 -5.45922650e-01] [ 9.61551395e-02 4.94319415e-03 9.95354085e-01 -1.42837496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49240100800002 meters Centerline goodness [0,1] 0.9205667551081813 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.55, Z:-0.01 [[ 9.91074116e-01 9.26494813e-02 -9.58549445e-02 5.83756112e+00] [-9.25985759e-02 9.95691024e-01 4.98884195e-03 -5.49119777e-01] [ 9.59041215e-02 3.93171923e-03 9.95382811e-01 -1.37485107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52240100800002 meters Centerline goodness [0,1] 0.9223343935831835 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.56, Z:-0.01 [[ 9.91327991e-01 9.09230150e-02 -9.48779167e-02 5.83309843e+00] [-9.10348114e-02 9.95842702e-01 3.15841922e-03 -5.55286378e-01] [ 9.47706539e-02 5.50616387e-03 9.95483905e-01 -1.33240887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55240100800002 meters Centerline goodness [0,1] 0.923487396125733 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.56, Z:-0.01 [[ 9.91611163e-01 8.84503109e-02 -9.42541484e-02 5.82948981e+00] [-8.88058074e-02 9.96048869e-01 4.24407881e-04 -5.57776349e-01] [ 9.39192769e-02 7.94946816e-03 9.95548078e-01 -1.26183686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58240100800002 meters Centerline goodness [0,1] 0.9238703202966019 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.56, Z:-0.01 [[ 9.91542124e-01 8.94004736e-02 -9.40838536e-02 5.82785696e+00] [-8.95652245e-02 9.95977875e-01 2.47864695e-03 -5.63179794e-01] [ 9.39270288e-02 5.96895862e-03 9.95561191e-01 -1.04001447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.612401008 meters Centerline goodness [0,1] 0.9246694307485432 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.57, Z:-0.01 [[ 9.91483335e-01 9.02922318e-02 -9.38515304e-02 5.82613836e+00] [-9.02958862e-02 9.95906057e-01 4.21638535e-03 -5.68269333e-01] [ 9.38480145e-02 4.29393130e-03 9.95577276e-01 -8.54031574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64240100800001 meters Centerline goodness [0,1] 0.9276081927438922 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.57, Z:-0.01 [[ 9.91796517e-01 8.73951932e-02 -9.32831633e-02 5.82254704e+00] [-8.76326271e-02 9.96151646e-01 1.55581331e-03 -5.71668529e-01] [ 9.30601473e-02 6.63159845e-03 9.95638404e-01 -7.30707446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67240100800001 meters Centerline goodness [0,1] 0.9284349784734696 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.58, Z:-0.01 [[ 9.92117401e-01 8.36039002e-02 -9.33458641e-02 5.82136059e+00] [-8.40284307e-02 9.96463165e-01 -6.19859065e-04 -5.78839176e-01] [ 9.29638925e-02 8.45867944e-03 9.95633550e-01 -6.13969726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70240100800001 meters Centerline goodness [0,1] 0.9269735150424274 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.58, Z:-0.01 [[ 9.92403205e-01 8.07159174e-02 -9.28483636e-02 5.82266158e+00] [-8.12984667e-02 9.96686659e-01 -2.50280100e-03 -5.81485190e-01] [ 9.23387094e-02 1.00322173e-02 9.95677115e-01 -8.07117418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73240100800001 meters Centerline goodness [0,1] 0.9250760139980494 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.58, Z:-0.01 [[ 9.92443641e-01 7.93561407e-02 -9.35853783e-02 5.82607544e+00] [-7.99483918e-02 9.96795638e-01 -2.59034176e-03 -5.84686094e-01] [ 9.30799374e-02 1.00527687e-02 9.95607888e-01 -9.14369621e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76240100800001 meters Centerline goodness [0,1] 0.923934595821719 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.59, Z:-0.01 [[ 9.92460910e-01 7.80245978e-02 -9.45172116e-02 5.82974701e+00] [-7.86029310e-02 9.96903101e-01 -2.40562516e-03 -5.88131002e-01] [ 9.40368034e-02 9.81681880e-03 9.95520321e-01 -9.74089484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79240100800001 meters Centerline goodness [0,1] 0.9198267148014441 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.59, Z:-0.01 [[ 0.99287848 0.07144647 -0.09532959 5.83425372] [-0.07243701 0.99734866 -0.00696642 -0.59201314] [ 0.09457911 0.0138222 0.99542139 -0.01234281] [ 0. 0. 0. 1. ]] SLAMing on 74.82240100800001 meters Centerline goodness [0,1] 0.9225499303297724 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.59, Z:-0.01 [[ 0.99316938 0.06657271 -0.0958262 5.83591595] [-0.06795231 0.99762567 -0.01120262 -0.59284466] [ 0.09485289 0.01763771 0.99533504 -0.01359791] [ 0. 0. 0. 1. ]] SLAMing on 74.85240100800002 meters Centerline goodness [0,1] 0.9223871906841339 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.60, Z:-0.01 [[ 0.99318756 0.06533598 -0.09648668 5.83874264] [-0.06668193 0.99771596 -0.01078818 -0.59630999] [ 0.09556144 0.0171486 0.99527581 -0.01358738] [ 0. 0. 0. 1. ]] SLAMing on 74.88240100800002 meters Centerline goodness [0,1] 0.9233661750131172 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.60, Z:-0.02 [[ 0.99331977 0.06231556 -0.09712157 5.84402805] [-0.06378486 0.99789038 -0.01209479 -0.59850793] [ 0.09616298 0.01820888 0.99519903 -0.01623765] [ 0. 0. 0. 1. ]] SLAMing on 74.91240100800002 meters Centerline goodness [0,1] 0.9223623285477154 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.60, Z:-0.02 [[ 0.99331089 0.06199193 -0.09741908 5.84532712] [-0.06348679 0.99790666 -0.01231758 -0.59783005] [ 0.09645156 0.01842002 0.99516722 -0.01674961] [ 0. 0. 0. 1. ]] SLAMing on 74.94240100800002 meters Centerline goodness [0,1] 0.9223985379014243 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.60, Z:-0.02 [[ 0.99301034 0.06592508 -0.0978997 5.84680694] [-0.0669812 0.99772577 -0.00753708 -0.59931088] [ 0.09718017 0.01404184 0.99516774 -0.01506852] [ 0. 0. 0. 1. ]] SLAMing on 74.972401008 meters Centerline goodness [0,1] 0.9227511385722159 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.60, Z:-0.01 [[ 0.99298397 0.06672513 -0.09762473 5.84538941] [-0.06779282 0.99767004 -0.00765703 -0.59712579] [ 0.09688635 0.01422156 0.99519384 -0.01490233] [ 0. 0. 0. 1. ]] SLAMing on 75.002401008 meters Centerline goodness [0,1] 0.9232344205092713 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.60, Z:-0.01 [[ 9.92651027e-01 7.22859953e-02 -9.70498521e-02 5.84260617e+00] [-7.29111202e-02 9.97334209e-01 -2.90574734e-03 -5.95851166e-01] [ 9.65810926e-02 9.96040652e-03 9.95275280e-01 -1.25095540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03240100800001 meters Centerline goodness [0,1] 0.9246577316616227 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.59, Z:-0.01 [[ 9.92623456e-01 7.31776749e-02 -9.66628309e-02 5.84073132e+00] [-7.37711793e-02 9.97271868e-01 -2.57561652e-03 -5.94381111e-01] [ 9.62106444e-02 9.68754840e-03 9.95313852e-01 -1.16524687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06240100800001 meters Centerline goodness [0,1] 0.9253075066099552 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.59, Z:-0.01 [[ 9.92610834e-01 7.37425429e-02 -9.63626951e-02 5.83944721e+00] [-7.43115046e-02 9.97232370e-01 -2.32407074e-03 -5.93326791e-01] [ 9.59246159e-02 9.46775465e-03 9.95343574e-01 -1.10320271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09240100800001 meters Centerline goodness [0,1] 0.92751207174063 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.59, Z:-0.01 [[ 9.92602642e-01 7.38958718e-02 -9.63296197e-02 5.83919255e+00] [-7.44637560e-02 9.97221048e-01 -2.30876230e-03 -5.92575892e-01] [ 9.58913163e-02 9.46474885e-03 9.95346811e-01 -1.08338701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12240100800001 meters Centerline goodness [0,1] 0.927324996406497 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.59, Z:-0.01 [[ 9.92590609e-01 7.37769112e-02 -9.65445499e-02 5.83948250e+00] [-7.43155974e-02 9.97232785e-01 -1.99088825e-03 -5.92997849e-01] [ 9.61305088e-02 9.15090289e-03 9.95326673e-01 -1.01184864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15240100800001 meters Centerline goodness [0,1] 0.9272225575579891 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.59, Z:-0.01 [[ 9.92592934e-01 7.35410921e-02 -9.67004380e-02 5.83989063e+00] [-7.40352041e-02 9.97254460e-01 -1.52676067e-03 -5.94226181e-01] [ 9.63226635e-02 8.67468852e-03 9.95312360e-01 -9.41342114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18240100800001 meters Centerline goodness [0,1] 0.9269069329859604 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.60, Z:-0.01 [[ 9.92902561e-01 6.88893607e-02 -9.69472025e-02 5.84020181e+00] [-6.97371984e-02 9.97550889e-01 -5.38024696e-03 -5.95092770e-01] [ 9.63391262e-02 1.21028873e-02 9.95274984e-01 -9.50597547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21240100800001 meters Centerline goodness [0,1] 0.9289925362297796 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.60, Z:-0.01 [[ 9.92884093e-01 6.84024371e-02 -9.74796664e-02 5.84129264e+00] [-6.91674803e-02 9.97594972e-01 -4.48671581e-03 -5.98222800e-01] [ 9.69383229e-02 1.11972117e-02 9.95227403e-01 -8.05836487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24240100800002 meters Centerline goodness [0,1] 0.9303492748971434 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.60, Z:-0.01 [[ 9.92857063e-01 6.77949614e-02 -9.81768571e-02 5.84280610e+00] [-6.84796936e-02 9.97645951e-01 -3.61774398e-03 -6.01453531e-01] [ 9.77004792e-02 1.03150238e-02 9.95162407e-01 -6.57989186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27240100800002 meters Centerline goodness [0,1] 0.9308165057067603 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.60, Z:-0.01 [[ 9.92848431e-01 6.71136634e-02 -9.87306948e-02 5.84450022e+00] [-6.77373529e-02 9.97698753e-01 -2.97482255e-03 -6.04329385e-01] [ 9.83038399e-02 9.64130382e-03 9.95109743e-01 -5.75379968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30240100800002 meters Centerline goodness [0,1] 0.9315528829147506 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:-0.01 [[ 0.99311307 0.06231116 -0.09921565 5.84570342] [-0.06333961 0.99796572 -0.00724675 -0.60528147] [ 0.09856227 0.01348112 0.99503957 -0.00669537] [ 0. 0. 0. 1. ]] SLAMing on 75.33240100800002 meters Centerline goodness [0,1] 0.933396204173052 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:-0.01 [[ 0.99309411 0.06208924 -0.09954404 5.84656696] [-0.06307787 0.99798536 -0.00681217 -0.60673439] [ 0.09892054 0.01304415 0.99500984 -0.00619136] [ 0. 0. 0. 1. ]] SLAMing on 75.362401008 meters Centerline goodness [0,1] 0.9319773944781303 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:-0.01 [[ 9.93065436e-01 6.17194967e-02 -1.00058704e-01 5.84807447e+00] [-6.26833563e-02 9.98012201e-01 -6.51481292e-03 -6.07405351e-01] [ 9.94577166e-02 1.27416509e-02 9.94960207e-01 -5.79660396e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39240100800001 meters Centerline goodness [0,1] 0.9319424332870356 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:-0.01 [[ 0.99305426 0.06132719 -0.10041022 5.84929068] [-0.06230664 0.99803493 -0.00664471 -0.60706886] [ 0.0998054 0.01285478 0.99492393 -0.00596919] [ 0. 0. 0. 1. ]] SLAMing on 75.42240100800001 meters Centerline goodness [0,1] 0.9317812988699065 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:-0.00 [[ 9.93030529e-01 6.17393638e-02 -1.00392326e-01 5.84837556e+00] [-6.26556139e-02 9.98017193e-01 -5.99638343e-03 -6.07059758e-01] [ 9.98230549e-02 1.22447347e-02 9.94929859e-01 -4.49318134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45240100800001 meters Centerline goodness [0,1] 0.9314810454438427 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:-0.00 [[ 9.92985348e-01 6.27189663e-02 -1.00231883e-01 5.84635308e+00] [-6.35365515e-02 9.97967074e-01 -4.98246019e-03 -6.06823869e-01] [ 9.97156246e-02 1.13158982e-02 9.94951629e-01 -2.25861535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48240100800001 meters Centerline goodness [0,1] 0.933737599717406 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.61, Z:0.00 [[ 9.92930184e-01 6.47590602e-02 -9.94782103e-02 5.84165175e+00] [-6.54370789e-02 9.97850331e-01 -3.56461159e-03 -6.05953466e-01] [ 9.90335241e-02 1.00489739e-02 9.95033356e-01 8.12757670e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51240100800001 meters Centerline goodness [0,1] 0.933737599717406 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.61, Z:0.00 [[ 9.92930184e-01 6.47590602e-02 -9.94782103e-02 5.84165175e+00] [-6.54370789e-02 9.97850331e-01 -3.56461159e-03 -6.05953466e-01] [ 9.90335241e-02 1.00489739e-02 9.95033356e-01 8.12757670e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54240100800001 meters Centerline goodness [0,1] 0.9327326622252223 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.60, Z:0.00 [[ 9.92922111e-01 6.53593869e-02 -9.91656830e-02 5.84050281e+00] [-6.60327780e-02 9.97811245e-01 -3.52010966e-03 -6.04361417e-01] [ 9.87185614e-02 1.00433802e-02 9.95064710e-01 9.59469164e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57240100800001 meters Centerline goodness [0,1] 0.9303871268656716 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.60, Z:0.00 [[ 9.92581637e-01 7.02450004e-02 -9.92337324e-02 5.83999415e+00] [-7.04957018e-02 9.97511600e-01 9.82161916e-04 -6.03716995e-01] [ 9.90557912e-02 6.02067573e-03 9.95063667e-01 2.77021884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60240100800002 meters Centerline goodness [0,1] 0.9304527708175514 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.60, Z:0.00 [[ 9.92465280e-01 7.21682823e-02 -9.90172016e-02 5.83712770e+00] [-7.23965329e-02 9.97375093e-01 1.29070399e-03 -6.00727669e-01] [ 9.88504385e-02 5.88752320e-03 9.95084885e-01 3.87544628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63240100800002 meters Centerline goodness [0,1] 0.930383789119201 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.60, Z:0.00 [[ 9.92415183e-01 7.32191046e-02 -9.87474884e-02 5.83544716e+00] [-7.34506485e-02 9.97298014e-01 1.29348979e-03 -5.97886403e-01] [ 9.85753823e-02 5.96938815e-03 9.95111682e-01 4.29659235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66240100800002 meters Centerline goodness [0,1] 0.9288351699071136 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.60, Z:0.00 [[ 9.92113353e-01 7.70984683e-02 -9.88277333e-02 5.83690891e+00] [-7.69829162e-02 9.97019936e-01 4.98777848e-03 -5.96291562e-01] [ 9.89177705e-02 2.65960548e-03 9.95092057e-01 4.14310269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69240100800002 meters Centerline goodness [0,1] 0.9267976865306592 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.60, Z:0.00 [[ 9.92126088e-01 7.66622184e-02 -9.90390324e-02 5.83830484e+00] [-7.66039272e-02 9.97051908e-01 4.39681631e-03 -5.95585598e-01] [ 9.90841258e-02 3.22458267e-03 9.95073835e-01 2.92876139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.722401008 meters Centerline goodness [0,1] 0.9278588983663438 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.60, Z:0.00 [[ 9.92125024e-01 7.63255420e-02 -9.93093530e-02 5.83951434e+00] [-7.62769801e-02 9.97077432e-01 4.29138551e-03 -5.96096451e-01] [ 9.93466570e-02 3.31742659e-03 9.95047354e-01 2.42947626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.752401008 meters Centerline goodness [0,1] 0.9258948707569536 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.60, Z:0.00 [[ 9.92120124e-01 7.58207092e-02 -9.97440686e-02 5.84099249e+00] [-7.57677712e-02 9.97116114e-01 4.32427118e-03 -5.97093537e-01] [ 9.97842874e-02 3.26718931e-03 9.95003729e-01 2.35604702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78240100800001 meters Centerline goodness [0,1] 0.9275118785490787 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.60, Z:0.00 [[ 9.92426502e-01 7.16111638e-02 -9.98072152e-02 5.84063956e+00] [-7.19817584e-02 9.97405942e-01 -1.12260084e-04 -5.96153871e-01] [ 9.95402705e-02 7.29570873e-03 9.95006788e-01 1.46429760e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81240100800001 meters Centerline goodness [0,1] 0.9295463143497367 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.60, Z:0.00 [[ 9.92707009e-01 6.69069670e-02 -1.00280863e-01 5.84102008e+00] [-6.75782687e-02 9.97708490e-01 -3.30842753e-03 -5.99332783e-01] [ 9.98297118e-02 1.00611063e-02 9.94953669e-01 2.54288568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84240100800001 meters Centerline goodness [0,1] 0.9304064472956853 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.60, Z:0.00 [[ 9.92709973e-01 6.59588540e-02 -1.00877847e-01 5.84338396e+00] [-6.66015794e-02 9.97775100e-01 -3.01304913e-03 -6.01667112e-01] [ 1.00454666e-01 9.70970784e-03 9.94894256e-01 2.63525939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87240100800001 meters Centerline goodness [0,1] 0.9295030784044819 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.60, Z:0.00 [[ 9.92717360e-01 6.49749198e-02 -1.01442115e-01 5.84602730e+00] [-6.56248888e-02 9.97839611e-01 -3.07976284e-03 -6.03098731e-01] [ 1.01022853e-01 9.71446153e-03 9.94836676e-01 1.95973146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90240100800001 meters Centerline goodness [0,1] 0.9273898404333187 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.60, Z:0.00 [[ 9.92719443e-01 6.39182757e-02 -1.02090950e-01 5.84897635e+00] [-6.45909223e-02 9.97906392e-01 -3.29322573e-03 -6.03996319e-01] [ 1.01666714e-01 9.86339784e-03 9.94769618e-01 1.10992977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93240100800001 meters Centerline goodness [0,1] 0.9287727539635937 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.60, Z:-0.00 [[ 9.92983037e-01 5.85309426e-02 -1.02756104e-01 5.85149556e+00] [-5.96605094e-02 9.98187057e-01 -7.95129918e-03 -6.04272565e-01] [ 1.02104416e-01 1.40259867e-02 9.94674801e-01 -5.25243775e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96240100800001 meters Centerline goodness [0,1] 0.9312455851189074 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.00 [[ 9.92961963e-01 5.78622391e-02 -1.03336834e-01 5.85301480e+00] [-5.89204679e-02 9.98236606e-01 -7.21502876e-03 -6.06905033e-01] [ 1.02737132e-01 1.32529037e-02 9.94620250e-01 7.04853635e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99240100800002 meters Centerline goodness [0,1] 0.9323648628657653 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.00 [[ 9.92942987e-01 5.72616209e-02 -1.03852450e-01 5.85437718e+00] [-5.82603387e-02 9.98279564e-01 -6.60638057e-03 -6.09315970e-01] [ 1.03295486e-01 1.26102382e-02 9.94570774e-01 1.70687264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02240100800002 meters Centerline goodness [0,1] 0.937444490496773 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.00 [[ 9.93181032e-01 5.27727830e-02 -1.03954179e-01 5.85353061e+00] [-5.41024287e-02 9.98485208e-01 -1.00107836e-02 -6.10062654e-01] [ 1.03268413e-01 1.55666939e-02 9.94531705e-01 3.32329651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05240100800002 meters Centerline goodness [0,1] 0.9373108645345043 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.01 [[ 9.93163023e-01 5.28037362e-02 -1.04110396e-01 5.85307449e+00] [-5.40320533e-02 9.98498538e-01 -9.01143392e-03 -6.11674766e-01] [ 1.03478241e-01 1.45751214e-02 9.94524921e-01 5.44920664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08240100800002 meters Centerline goodness [0,1] 0.9392204556241102 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.01 [[ 0.99312743 0.05284327 -0.10442941 5.8527824 ] [-0.05396807 0.99851083 -0.00797279 -0.61304306] [ 0.10385259 0.01355385 0.99450034 0.00786455] [ 0. 0. 0. 1. ]] SLAMing on 76.112401008 meters Centerline goodness [0,1] 0.9368968077208611 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.01 [[ 0.99309203 0.05294395 -0.10471462 5.85257695] [-0.0539841 0.9985164 -0.00712206 -0.61389784] [ 0.10418219 0.01272578 0.99447681 0.00981666] [ 0. 0. 0. 1. ]] SLAMing on 76.14240100800001 meters Centerline goodness [0,1] 0.9378961464067848 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.01 [[ 0.99307573 0.0530055 -0.104838 5.85262615] [-0.05405704 0.9985118 -0.00721221 -0.61210709] [ 0.1042997 0.0128295 0.99446316 0.01017438] [ 0. 0. 0. 1. ]] SLAMing on 76.17240100800001 meters Centerline goodness [0,1] 0.9403570261680577 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.01 [[ 0.99305939 0.0534299 -0.10477739 5.85205943] [-0.05447145 0.99849007 -0.00710229 -0.61097804] [ 0.10423971 0.01276037 0.99447034 0.0104964 ] [ 0. 0. 0. 1. ]] SLAMing on 76.20240100800001 meters Centerline goodness [0,1] 0.9386666666666666 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.01 [[ 9.92786920e-01 5.77984720e-02 -1.05040315e-01 5.85226259e+00] [-5.83196299e-02 9.98296165e-01 -1.89425161e-03 -6.13163521e-01] [ 1.04751859e-01 8.00650051e-03 9.94466160e-01 1.30726276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23240100800001 meters Centerline goodness [0,1] 0.9393472267512525 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.01 [[ 9.92753433e-01 5.90942791e-02 -1.04635019e-01 5.84950299e+00] [-5.95341118e-02 9.98225685e-01 -1.08249323e-03 -6.12776093e-01] [ 1.04385394e-01 7.30400177e-03 9.94510101e-01 1.48405483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26240100800001 meters Centerline goodness [0,1] 0.9383132245091081 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.02 [[ 9.92451822e-01 6.50793154e-02 -1.03942601e-01 5.84608996e+00] [-6.49648393e-02 9.97877452e-01 4.49005806e-03 -6.13627181e-01] [ 1.04014188e-01 2.29644810e-03 9.94573162e-01 1.79639099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29240100800001 meters Centerline goodness [0,1] 0.9341872270097982 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.61, Z:0.02 [[ 9.92432852e-01 6.60212313e-02 -1.03528887e-01 5.84465617e+00] [-6.59121598e-02 9.97815381e-01 4.47804780e-03 -6.12363623e-01] [ 1.03598362e-01 2.37965079e-03 9.94616367e-01 1.76446300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32240100800001 meters Centerline goodness [0,1] 0.9325803035651253 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.61, Z:0.02 [[ 9.92396635e-01 6.68498994e-02 -1.03344129e-01 5.84391334e+00] [-6.67665828e-02 9.97759489e-01 4.26912861e-03 -6.10798327e-01] [ 1.03397976e-01 2.66326544e-03 9.94636499e-01 1.69814879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35240100800002 meters Centerline goodness [0,1] 0.9304679477776148 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.61, Z:0.02 [[ 9.92352481e-01 6.79674440e-02 -1.03038730e-01 5.84273271e+00] [-6.78871955e-02 9.97683782e-01 4.28954976e-03 -6.09210536e-01] [ 1.03091620e-01 2.73826508e-03 9.94668095e-01 1.64876169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38240100800002 meters Centerline goodness [0,1] 0.9285023588361122 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.61, Z:0.02 [[ 9.92296499e-01 6.92797981e-02 -1.02703303e-01 5.84134945e+00] [-6.92209395e-02 9.97592758e-01 4.14133639e-03 -6.06695624e-01] [ 1.02742982e-01 2.99978551e-03 9.94703414e-01 1.57225369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41240100800002 meters Centerline goodness [0,1] 0.9274782405514341 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.61, Z:0.02 [[ 9.91912482e-01 7.52319297e-02 -1.02224188e-01 5.83915831e+00] [-7.47400213e-02 9.97165630e-01 8.63919277e-03 -6.06550784e-01] [ 1.02584390e-01 -9.29085139e-04 9.94723871e-01 1.65374341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44240100800002 meters Centerline goodness [0,1] 0.9254482173671434 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.61, Z:0.02 [[ 9.91836040e-01 7.62191186e-02 -1.02234610e-01 5.83773764e+00] [-7.56976476e-02 9.97090412e-01 8.97638643e-03 -6.06894435e-01] [ 1.02621321e-01 -1.16418412e-03 9.94719814e-01 1.73572106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47240100800002 meters Centerline goodness [0,1] 0.9278326350024906 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.61, Z:0.02 [[ 9.91775638e-01 7.74194945e-02 -1.01918130e-01 5.83560689e+00] [-7.68410463e-02 9.96997183e-01 9.59535046e-03 -6.07809006e-01] [ 1.02354956e-01 -1.68493906e-03 9.94746512e-01 1.82214569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.502401008 meters Centerline goodness [0,1] 0.9260597232337946 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.61, Z:0.02 [[ 0.99138179 0.08247588 -0.10178347 5.8350675 ] [-0.08137168 0.99657154 0.01496033 -0.61085085] [ 0.10266838 -0.0065491 0.99469408 0.02006081] [ 0. 0. 0. 1. ]] SLAMing on 76.53240100800001 meters Centerline goodness [0,1] 0.927213057110206 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.61, Z:0.02 [[ 0.99137841 0.08283602 -0.10152361 5.83461258] [-0.08174537 0.99654241 0.01486363 -0.61101395] [ 0.10240383 -0.0064364 0.99472209 0.01926357] [ 0. 0. 0. 1. ]] SLAMing on 76.56240100800001 meters Centerline goodness [0,1] 0.9260653471752492 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.61, Z:0.02 [[ 9.91734213e-01 7.89166918e-02 -1.01170181e-01 5.83339954e+00] [-7.82575387e-02 9.96878154e-01 1.04739110e-02 -6.10124419e-01] [ 1.01680910e-01 -2.47000647e-03 9.94813999e-01 1.79215955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59240100800001 meters Centerline goodness [0,1] 0.9271288531947561 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.61, Z:0.02 [[ 9.92093056e-01 7.43092673e-02 -1.01140991e-01 5.83371953e+00] [-7.40971541e-02 9.97233824e-01 5.85759263e-03 -6.09611622e-01] [ 1.01296491e-01 1.68298262e-03 9.94854858e-01 1.61980594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62240100800001 meters Centerline goodness [0,1] 0.9261928873533091 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.61, Z:0.02 [[ 9.92420782e-01 6.97391450e-02 -1.01180255e-01 5.83396337e+00] [-6.98707308e-02 9.97553523e-01 2.24712319e-03 -6.12553728e-01] [ 1.01089432e-01 4.83944659e-03 9.94865572e-01 1.56053088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65240100800001 meters Centerline goodness [0,1] 0.9258449839834746 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.61, Z:0.02 [[ 9.92713869e-01 6.58603083e-02 -1.00903885e-01 5.83236085e+00] [-6.63402375e-02 9.97796072e-01 -1.40447432e-03 -6.13680036e-01] [ 1.00589001e-01 8.08822882e-03 9.94895187e-01 1.57123806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68240100800001 meters Centerline goodness [0,1] 0.9269588712098469 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.62, Z:0.02 [[ 9.92985959e-01 6.22600797e-02 -1.00511526e-01 5.83022915e+00] [-6.30428976e-02 9.98000088e-01 -4.62779818e-03 -6.15572410e-01] [ 1.00022385e-01 1.09318765e-02 9.94925131e-01 1.63520441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71240100800001 meters Centerline goodness [0,1] 0.928164196123147 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.62, Z:0.02 [[ 9.92942146e-01 6.21270073e-02 -1.01025392e-01 5.83071098e+00] [-6.27108472e-02 9.98028324e-01 -2.61053447e-03 -6.20087412e-01] [ 1.00664018e-01 8.92749760e-03 9.94880423e-01 1.96036803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74240100800002 meters Centerline goodness [0,1] 0.931758371396594 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.62, Z:0.02 [[ 0.99322221 0.0579362 -0.10076231 5.83003791] [-0.05882443 0.99825112 -0.00586383 -0.6241505 ] [ 0.10024636 0.01175137 0.99489325 0.01926193] [ 0. 0. 0. 1. ]] SLAMing on 76.77240100800002 meters Centerline goodness [0,1] 0.9305964933604789 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.63, Z:0.02 [[ 0.99322654 0.05722225 -0.10112688 5.83219763] [-0.05811016 0.99829301 -0.00585379 -0.62585225] [ 0.10061929 0.01169064 0.99485631 0.01840706] [ 0. 0. 0. 1. ]] SLAMing on 76.80240100800002 meters Centerline goodness [0,1] 0.9308099555771923 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.63, Z:0.02 [[ 0.99324155 0.05632688 -0.10148159 5.83499521] [-0.05730671 0.99833371 -0.00676365 -0.62541516] [ 0.10093152 0.01253352 0.99481442 0.01604129] [ 0. 0. 0. 1. ]] SLAMing on 76.83240100800002 meters Centerline goodness [0,1] 0.9257111630589878 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.62, Z:0.01 [[ 9.93009269e-01 5.84173802e-02 -1.02567062e-01 5.84154482e+00] [-5.92227205e-02 9.98233150e-01 -4.82167408e-03 -6.23710695e-01] [ 1.02104171e-01 1.08622675e-02 9.94714406e-01 1.21468088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.862401008 meters Centerline goodness [0,1] 0.9227633684591926 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.62, Z:0.01 [[ 9.92978536e-01 5.82690873e-02 -1.02948242e-01 5.84307180e+00] [-5.91649616e-02 9.98232131e-01 -5.66752506e-03 -6.21502077e-01] [ 1.02436001e-01 1.17186595e-02 9.94670568e-01 1.06939682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89240100800001 meters Centerline goodness [0,1] 0.9207394430012686 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.62, Z:0.01 [[ 0.99294942 0.05822636 -0.10325284 5.84364011] [-0.0591481 0.99823187 -0.00588518 -0.62124767] [ 0.10272761 0.01195089 0.99463773 0.01060968] [ 0. 0. 0. 1. ]] SLAMing on 76.92240100800001 meters Centerline goodness [0,1] 0.916915648106232 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.62, Z:0.01 [[ 9.92903297e-01 5.82611457e-02 -1.03675848e-01 5.84399198e+00] [-5.91336778e-02 9.98235685e-01 -5.35967568e-03 -6.22018506e-01] [ 1.03180671e-01 1.14523739e-02 9.94596698e-01 1.19513826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95240100800001 meters Centerline goodness [0,1] 0.9182679214452144 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.62, Z:0.01 [[ 9.92868579e-01 5.80327393e-02 -1.04135423e-01 5.84487527e+00] [-5.89099915e-02 9.98248878e-01 -5.36573064e-03 -6.22008926e-01] [ 1.03641681e-01 1.14620822e-02 9.94548653e-01 1.23997085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98240100800001 meters Centerline goodness [0,1] 0.9170544509578775 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.62, Z:0.01 [[ 9.92860576e-01 5.78646606e-02 -1.04305119e-01 5.84552152e+00] [-5.87541736e-02 9.98257478e-01 -5.47310177e-03 -6.21558433e-01] [ 1.03806666e-01 1.15623880e-02 9.94530285e-01 1.22453073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01240100800001 meters Centerline goodness [0,1] 0.9168850730531707 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.62, Z:0.01 [[ 0.99290333 0.05700429 -0.10437191 5.84733676] [-0.05796333 0.99829961 -0.00617624 -0.61936936] [ 0.10384236 0.01218215 0.99451916 0.01085545] [ 0. 0. 0. 1. ]] SLAMing on 77.04240100800001 meters Centerline goodness [0,1] 0.9174121261407789 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.62, Z:0.01 [[ 0.99291526 0.05652155 -0.10452082 5.84842751] [-0.05748337 0.99832715 -0.00621035 -0.61925945] [ 0.10399496 0.01217456 0.99450331 0.01062105] [ 0. 0. 0. 1. ]] SLAMing on 77.07240100800001 meters Centerline goodness [0,1] 0.9194657179038774 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.62, Z:0.01 [[ 9.92917545e-01 5.62054676e-02 -1.04669449e-01 5.84890714e+00] [-5.70967340e-02 9.98353303e-01 -5.53585381e-03 -6.20867676e-01] [ 1.04185945e-01 1.14729301e-02 9.94491659e-01 1.16514428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10240100800002 meters Centerline goodness [0,1] 0.9259113121073239 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.62, Z:0.02 [[ 0.99315369 0.05210038 -0.10455281 5.84662243] [-0.05317254 0.99855724 -0.00749178 -0.62431588] [ 0.10401164 0.01299982 0.99449112 0.0156705 ] [ 0. 0. 0. 1. ]] SLAMing on 77.13240100800002 meters Centerline goodness [0,1] 0.9282222559587066 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.63, Z:0.02 [[ 9.93129656e-01 5.22890189e-02 -1.04686890e-01 5.84549078e+00] [-5.31774608e-02 9.98568743e-01 -5.71163637e-03 -6.27167260e-01] [ 1.04238400e-01 1.12393784e-02 9.94488830e-01 1.93617951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16240100800002 meters Centerline goodness [0,1] 0.9341801385681293 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.63, Z:0.02 [[ 9.93106355e-01 5.20094209e-02 -1.05046598e-01 5.84547550e+00] [-5.27937247e-02 9.98594390e-01 -4.69760681e-03 -6.29564982e-01] [ 1.04654624e-01 1.02110244e-02 9.94456205e-01 2.18294445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19240100800002 meters Centerline goodness [0,1] 0.935064935064935 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.63, Z:0.02 [[ 0.99333165 0.04751478 -0.10504556 5.84508602] [-0.04873626 0.99877031 -0.00909052 -0.6285021 ] [ 0.10448445 0.01414943 0.99442586 0.02152818] [ 0. 0. 0. 1. ]] SLAMing on 77.22240100800002 meters Centerline goodness [0,1] 0.9404028074458346 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.63, Z:0.02 [[ 0.99353498 0.04127424 -0.10575764 5.84889361] [-0.04305856 0.99896523 -0.01464348 -0.62673742] [ 0.10504381 0.01910258 0.99428411 0.01899963] [ 0. 0. 0. 1. ]] SLAMing on 77.252401008 meters Centerline goodness [0,1] 0.9409756097560975 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.63, Z:0.02 [[ 0.99350756 0.0398539 -0.10655701 5.85264469] [-0.04172163 0.99901126 -0.01535576 -0.62638783] [ 0.10583967 0.0197018 0.99418801 0.01764489] [ 0. 0. 0. 1. ]] SLAMing on 77.28240100800001 meters Centerline goodness [0,1] 0.9402757906913032 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.63, Z:0.02 [[ 0.99349579 0.03889771 -0.10701907 5.85527437] [-0.04083105 0.99903902 -0.01593312 -0.62577009] [ 0.10629646 0.02019919 0.99412929 0.01638185] [ 0. 0. 0. 1. ]] SLAMing on 77.31240100800001 meters Centerline goodness [0,1] 0.9408603782749931 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.62, Z:0.01 [[ 0.99347969 0.03809981 -0.10745469 5.85757253] [-0.04012693 0.99905393 -0.01676544 -0.62411155] [ 0.10671427 0.02096795 0.99406861 0.01497917] [ 0. 0. 0. 1. ]] SLAMing on 77.34240100800001 meters Centerline goodness [0,1] 0.9378020592561462 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.62, Z:0.02 [[ 0.99327841 0.04165499 -0.10799469 5.85951466] [-0.04329559 0.99897914 -0.01289058 -0.62202396] [ 0.10734749 0.01747963 0.99406789 0.01596754] [ 0. 0. 0. 1. ]] SLAMing on 77.37240100800001 meters Centerline goodness [0,1] 0.9382172284644195 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.62, Z:0.02 [[ 0.9932518 0.04215986 -0.10804356 5.85848683] [-0.04379977 0.99895769 -0.01284929 -0.6201456 ] [ 0.10738922 0.01749487 0.99406312 0.01701481] [ 0. 0. 0. 1. ]] SLAMing on 77.40240100800001 meters Centerline goodness [0,1] 0.9382172284644195 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.62, Z:0.02 [[ 0.9932518 0.04215986 -0.10804356 5.85848683] [-0.04379977 0.99895769 -0.01284929 -0.6201456 ] [ 0.10738922 0.01749487 0.99406312 0.01701481] [ 0. 0. 0. 1. ]] SLAMing on 77.43240100800001 meters Centerline goodness [0,1] 0.9369751666019186 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.62, Z:0.02 [[ 0.99320916 0.04307651 -0.10807394 5.85670218] [-0.04467165 0.998925 -0.01238124 -0.61873113] [ 0.10742442 0.01712501 0.99406576 0.01889415] [ 0. 0. 0. 1. ]] SLAMing on 77.46240100800001 meters Centerline goodness [0,1] 0.9360508489749635 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.62, Z:0.02 [[ 0.99317577 0.04428888 -0.10789064 5.85422263] [-0.04586824 0.998873 -0.0121999 -0.61615432] [ 0.10722873 0.0170654 0.99408791 0.0203886 ] [ 0. 0. 0. 1. ]] SLAMing on 77.49240100800002 meters Centerline goodness [0,1] 0.9333136094674557 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.62, Z:0.02 [[ 0.99293021 0.04921185 -0.10801758 5.85350968] [-0.05031087 0.99870566 -0.00747135 -0.61508036] [ 0.10751009 0.01285299 0.99412091 0.02265114] [ 0. 0. 0. 1. ]] SLAMing on 77.52240100800002 meters Centerline goodness [0,1] 0.9272668450927914 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.02 [[ 9.92710964e-01 5.43662566e-02 -1.07560460e-01 5.85192418e+00] [-5.50328057e-02 9.98479302e-01 -3.23620393e-03 -6.12801100e-01] [ 1.07220953e-01 9.13196903e-03 9.94193278e-01 2.36747719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55240100800002 meters Centerline goodness [0,1] 0.919477185202474 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.03 [[ 9.92197970e-01 6.42550259e-02 -1.06838574e-01 5.84967150e+00] [-6.40732911e-02 9.97931977e-01 5.13630785e-03 -6.09335639e-01] [ 1.06947663e-01 1.74926480e-03 9.94263113e-01 2.56012228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58240100800002 meters Centerline goodness [0,1] 0.9155261093191527 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.03 [[ 9.92152431e-01 6.56000851e-02 -1.06443326e-01 5.84756747e+00] [-6.54297493e-02 9.97844168e-01 5.09545787e-03 -6.06000571e-01] [ 1.06548114e-01 1.90908922e-03 9.94305715e-01 2.57688962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.612401008 meters Centerline goodness [0,1] 0.9147709160460197 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.60, Z:0.03 [[ 9.92129025e-01 6.66086743e-02 -1.06034348e-01 5.84563466e+00] [-6.64410687e-02 9.97777233e-01 5.11632480e-03 -6.03724704e-01] [ 1.06139450e-01 1.96898104e-03 9.94349305e-01 2.60851329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64240100800001 meters Centerline goodness [0,1] 0.9146454413892908 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.60, Z:0.03 [[ 9.92117589e-01 6.78703748e-02 -1.05338984e-01 5.84234893e+00] [-6.76450445e-02 9.97693085e-01 5.71455216e-03 -6.02740789e-01] [ 1.05483825e-01 1.45615257e-03 9.94419953e-01 2.76135253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67240100800001 meters Centerline goodness [0,1] 0.9154668443465918 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.60, Z:0.03 [[ 9.92105723e-01 6.81020156e-02 -1.05301237e-01 5.84173367e+00] [-6.78284320e-02 9.97677852e-01 6.18128578e-03 -6.03820804e-01] [ 1.05477669e-01 1.00992876e-03 9.94421159e-01 2.84304994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70240100800001 meters Centerline goodness [0,1] 0.9128718618487883 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.60, Z:0.03 [[ 9.92099743e-01 6.77910337e-02 -1.05557923e-01 5.84252255e+00] [-6.75070192e-02 9.97699127e-01 6.26536238e-03 -6.04779114e-01] [ 1.05739783e-01 9.10036296e-04 9.94393418e-01 2.85189211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73240100800001 meters Centerline goodness [0,1] 0.9163805644457376 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.03 [[ 9.92148463e-01 6.55558052e-02 -1.06507575e-01 5.84786282e+00] [-6.53796759e-02 9.97847179e-01 5.14827540e-03 -6.05754294e-01] [ 1.06615783e-01 1.85557721e-03 9.94298563e-01 2.59251447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76240100800001 meters Centerline goodness [0,1] 0.9153045198068757 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.02 [[ 9.92154931e-01 6.41212559e-02 -1.07317554e-01 5.85176825e+00] [-6.40125757e-02 9.97939122e-01 4.46075375e-03 -6.06827198e-01] [ 1.07382415e-01 2.44391422e-03 9.94214788e-01 2.41510949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79240100800001 meters Centerline goodness [0,1] 0.9167103806026695 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.61, Z:0.02 [[ 9.92136341e-01 6.25999248e-02 -1.08382335e-01 5.85624298e+00] [-6.25562917e-02 9.98034180e-01 3.80591819e-03 -6.08185049e-01] [ 1.08407525e-01 3.00400720e-03 9.94101999e-01 2.24704689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82240100800001 meters Centerline goodness [0,1] 0.9195234479939263 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.61, Z:0.02 [[ 9.92121087e-01 6.13848828e-02 -1.09213758e-01 5.85974685e+00] [-6.13803082e-02 9.98108637e-01 3.40692970e-03 -6.09447467e-01] [ 1.09216329e-01 3.32348736e-03 9.94012449e-01 2.13621781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85240100800002 meters Centerline goodness [0,1] 0.9203591588429704 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.61, Z:0.02 [[ 9.92094136e-01 6.07164856e-02 -1.09830473e-01 5.86173822e+00] [-6.07016061e-02 9.98149883e-01 3.48214487e-03 -6.10804385e-01] [ 1.09838698e-01 3.21227061e-03 9.93944235e-01 2.13798181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88240100800002 meters Centerline goodness [0,1] 0.9227094453127304 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.61, Z:0.02 [[ 9.92320858e-01 5.66283202e-02 -1.09966122e-01 5.86065905e+00] [-5.69887031e-02 9.98374814e-01 -1.34497066e-04 -6.11896794e-01] [ 1.09779791e-01 6.40029095e-03 9.93935327e-01 2.22739296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91240100800002 meters Centerline goodness [0,1] 0.9242629716981132 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.61, Z:0.02 [[ 9.92282628e-01 5.67300304e-02 -1.10258286e-01 5.86057019e+00] [-5.69825768e-02 9.98374801e-01 8.61720351e-04 -6.14180835e-01] [ 1.10127979e-01 5.42773109e-03 9.93902595e-01 2.40479445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94240100800002 meters Centerline goodness [0,1] 0.9249616700082557 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.61, Z:0.02 [[ 9.92273225e-01 5.67127135e-02 -1.10351780e-01 5.86076800e+00] [-5.69295561e-02 9.98377492e-01 1.18731554e-03 -6.14843687e-01] [ 1.10240069e-01 5.10413644e-03 9.93891883e-01 2.44588367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97240100800002 meters Centerline goodness [0,1] 0.9260905398245718 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.61, Z:0.02 [[ 9.92333616e-01 5.66623177e-02 -1.09833406e-01 5.86038869e+00] [-5.69277837e-02 9.98378039e-01 7.19819288e-04 -6.12553957e-01] [ 1.09696047e-01 5.53827151e-03 9.93949750e-01 2.34228279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.002401008 meters Centerline goodness [0,1] 0.9250117952347252 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.61, Z:0.02 [[ 9.92340542e-01 5.74583847e-02 -1.09356222e-01 5.85831419e+00] [-5.76736590e-02 9.98334773e-01 1.19603088e-03 -6.12142736e-01] [ 1.09242841e-01 5.12010354e-03 9.94001905e-01 2.43712107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03240100800001 meters Centerline goodness [0,1] 0.9239511261592817 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.61, Z:0.03 [[ 9.92306027e-01 5.85758265e-02 -1.09076218e-01 5.85575746e+00] [-5.86750962e-02 9.98274478e-01 2.30207036e-03 -6.12616088e-01] [ 1.09022850e-01 4.11569926e-03 9.94030723e-01 2.66878060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06240100800001 meters Centerline goodness [0,1] 0.9246520933243108 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.03 [[ 9.92273777e-01 5.97583248e-02 -1.08727614e-01 5.85295863e+00] [-5.97459201e-02 9.98207912e-01 3.37469817e-03 -6.13242572e-01] [ 1.08734431e-01 3.14740686e-03 9.94065852e-01 2.90108413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09240100800001 meters Centerline goodness [0,1] 0.9214167942527381 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.03 [[ 9.92253798e-01 6.10271481e-02 -1.08203920e-01 5.84998019e+00] [-6.09345604e-02 9.98133073e-01 4.16496907e-03 -6.13452501e-01] [ 1.08256087e-01 2.46065191e-03 9.94119995e-01 3.05817917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12240100800001 meters Centerline goodness [0,1] 0.9207356483929725 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.03 [[ 9.92211034e-01 6.30856718e-02 -1.07412577e-01 5.84648282e+00] [-6.29717279e-02 9.98005365e-01 4.45567562e-03 -6.11533713e-01] [ 1.07479417e-01 2.34298503e-03 9.94204549e-01 3.06450617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15240100800001 meters Centerline goodness [0,1] 0.9185473943372999 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.03 [[ 9.92217172e-01 6.34714576e-02 -1.07128229e-01 5.84620728e+00] [-6.34178267e-02 9.97979401e-01 3.91073912e-03 -6.09635992e-01] [ 1.07159986e-01 2.91353693e-03 9.94237521e-01 2.93488690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18240100800001 meters Centerline goodness [0,1] 0.9172943305891282 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.03 [[ 9.92216899e-01 6.34858161e-02 -1.07122249e-01 5.84696431e+00] [-6.35156530e-02 9.97975913e-01 3.13670662e-03 -6.07795707e-01] [ 1.07104560e-01 3.69164627e-03 9.94240909e-01 2.76552740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21240100800001 meters Centerline goodness [0,1] 0.9161175057844946 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.03 [[ 9.92223389e-01 6.35633921e-02 -1.07016080e-01 5.84728708e+00] [-6.36474855e-02 9.97968970e-01 2.63296153e-03 -6.06483363e-01] [ 1.06966087e-01 4.19881836e-03 9.94253804e-01 2.64794209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24240100800002 meters Centerline goodness [0,1] 0.915738059723319 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.03 [[ 9.92158938e-01 6.32953805e-02 -1.07769834e-01 5.84937049e+00] [-6.33682465e-02 9.97986419e-01 2.75177234e-03 -6.08476140e-01] [ 1.07727005e-01 4.09898986e-03 9.94172063e-01 2.61366762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27240100800002 meters Centerline goodness [0,1] 0.9167279033538109 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.03 [[ 9.92396318e-01 5.98187736e-02 -1.07569800e-01 5.84788454e+00] [-6.02888952e-02 9.98180341e-01 -1.12070317e-03 -6.08931022e-01] [ 1.07307020e-01 7.59744608e-03 9.94196903e-01 2.55769065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30240100800002 meters Centerline goodness [0,1] 0.9180762656922261 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.03 [[ 9.92359434e-01 5.98554862e-02 -1.07889173e-01 5.84839867e+00] [-6.02358632e-02 9.98184136e-01 -2.67222321e-04 -6.11989286e-01] [ 1.07677266e-01 6.76397807e-03 9.94162892e-01 2.64348960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33240100800002 meters Centerline goodness [0,1] 0.9172621508297407 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.03 [[ 9.92341220e-01 5.95271811e-02 -1.08237779e-01 5.84982942e+00] [-5.98854408e-02 9.98205255e-01 -5.95575918e-05 -6.13574952e-01] [ 1.08039975e-01 6.54096856e-03 9.94125032e-01 2.61237282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.362401008 meters Centerline goodness [0,1] 0.9153515914137675 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.61, Z:0.02 [[ 9.92361358e-01 5.85844031e-02 -1.08567043e-01 5.85337375e+00] [-5.90672167e-02 9.98253245e-01 -1.23382623e-03 -6.13350896e-01] [ 1.08305120e-01 7.63715453e-03 9.94088364e-01 2.23750518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39240100800001 meters Centerline goodness [0,1] 0.9177711738484399 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.62, Z:0.02 [[ 9.92345651e-01 5.82626234e-02 -1.08883316e-01 5.85461694e+00] [-5.87094793e-02 9.98274705e-01 -8.99984408e-04 -6.15241118e-01] [ 1.08643025e-01 7.28557841e-03 9.94054130e-01 2.23501279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42240100800001 meters Centerline goodness [0,1] 0.9203705910390848 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.62, Z:0.02 [[ 9.92308426e-01 5.80338578e-02 -1.09343762e-01 5.85537908e+00] [-5.83597486e-02 9.98295593e-01 2.20170194e-04 -6.18635600e-01] [ 1.09170173e-01 6.16279772e-03 9.94003970e-01 2.40085434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45240100800001 meters Centerline goodness [0,1] 0.9210241615578796 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.62, Z:0.03 [[ 9.92519165e-01 5.44306823e-02 -1.09284067e-01 5.85330927e+00] [-5.50149663e-02 9.98482797e-01 -2.33619140e-03 -6.22478568e-01] [ 1.08991100e-01 8.33097399e-03 9.94007814e-01 2.60298820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48240100800001 meters Centerline goodness [0,1] 0.9247217782067135 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.63, Z:0.03 [[ 9.92498420e-01 5.48443134e-02 -1.09265673e-01 5.85223080e+00] [-5.52764242e-02 9.98470659e-01 -9.27335710e-04 -6.25494080e-01] [ 1.09047709e-01 6.96019491e-03 9.94012149e-01 2.82699631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51240100800001 meters Centerline goodness [0,1] 0.9261657639120041 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.63, Z:0.03 [[ 9.92490492e-01 5.54050571e-02 -1.09054585e-01 5.85087555e+00] [-5.57059414e-02 9.98447177e-01 2.87981278e-04 -6.27838455e-01] [ 1.08901198e-01 5.78916965e-03 9.94035721e-01 2.99498208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54240100800001 meters Centerline goodness [0,1] 0.9263240533848662 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.63, Z:0.03 [[ 9.92500353e-01 5.58255330e-02 -1.08749983e-01 5.84979493e+00] [-5.60368617e-02 9.98428079e-01 1.11424967e-03 -6.29080587e-01] [ 1.08641240e-01 4.98811456e-03 9.94068509e-01 3.09259014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57240100800001 meters Centerline goodness [0,1] 0.9287048192771085 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.63, Z:0.03 [[ 9.92496433e-01 5.74958157e-02 -1.07912290e-01 5.84539065e+00] [-5.75789595e-02 9.98338195e-01 2.34780529e-03 -6.28254569e-01] [ 1.07867949e-01 3.88328897e-03 9.94157646e-01 3.35959319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60240100800002 meters Centerline goodness [0,1] 0.927616691307365 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.63, Z:0.03 [[ 9.92502553e-01 5.78796289e-02 -1.07650499e-01 5.84417490e+00] [-5.79275744e-02 9.98317179e-01 2.68426387e-03 -6.28194726e-01] [ 1.07624707e-01 3.57179353e-03 9.94185176e-01 3.43329153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63240100800002 meters Centerline goodness [0,1] 0.9292454252208254 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.63, Z:0.03 [[ 9.92499737e-01 5.75879749e-02 -1.07832724e-01 5.84510212e+00] [-5.76590418e-02 9.98333299e-01 2.46130397e-03 -6.28008936e-01] [ 1.07794740e-01 3.77468798e-03 9.94166005e-01 3.38307711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66240100800002 meters Centerline goodness [0,1] 0.9307859340129079 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.63, Z:0.03 [[ 9.92528421e-01 5.61276174e-02 -1.08337551e-01 5.84874987e+00] [-5.63478236e-02 9.98410668e-01 1.03007310e-03 -6.26582567e-01] [ 1.08223182e-01 5.08220838e-03 9.94113632e-01 3.09763749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69240100800002 meters Centerline goodness [0,1] 0.9310189088281344 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.63, Z:0.03 [[ 9.92513944e-01 5.53984739e-02 -1.08844295e-01 5.85078726e+00] [-5.56352971e-02 9.98450785e-01 8.62164052e-04 -6.26877525e-01] [ 1.08723434e-01 5.19987483e-03 9.94058437e-01 3.06148859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72240100800002 meters Centerline goodness [0,1] 0.9315778373655509 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.63, Z:0.03 [[ 9.92477128e-01 5.47708837e-02 -1.09495663e-01 5.85247174e+00] [-5.49791638e-02 9.98486876e-01 1.11827228e-03 -6.28326512e-01] [ 1.09391232e-01 4.91012035e-03 9.93986644e-01 3.12808232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.752401008 meters Centerline goodness [0,1] 0.9344604403580934 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.63, Z:0.03 [[ 9.92695014e-01 5.02491797e-02 -1.09688784e-01 5.85257475e+00] [-5.09375121e-02 9.98695778e-01 -3.48048943e-03 -6.27624102e-01] [ 1.09370834e-01 9.04233826e-03 9.93959887e-01 3.04653702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78240100800001 meters Centerline goodness [0,1] 0.9348519362186788 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.63, Z:0.03 [[ 9.92754369e-01 4.63700589e-02 -1.10853874e-01 5.85918495e+00] [-4.72987463e-02 9.98864174e-01 -5.76115555e-03 -6.28618581e-01] [ 1.10460818e-01 1.09626616e-02 9.93820018e-01 2.77741875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81240100800001 meters Centerline goodness [0,1] 0.9278812660911707 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.63, Z:0.02 [[ 0.99272862 0.04419093 -0.11196899 5.86539854] [-0.04535243 0.99894023 -0.0078464 -0.62570889] [ 0.11150359 0.01286741 0.99368072 0.02389754] [ 0. 0. 0. 1. ]] SLAMing on 78.84240100800001 meters Centerline goodness [0,1] 0.9291762428934317 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.62, Z:0.02 [[ 9.92550792e-01 4.51338965e-02 -1.13162965e-01 5.87331321e+00] [-4.60557111e-02 9.98923491e-01 -5.54353707e-03 -6.24928808e-01] [ 1.12790942e-01 1.07140429e-02 9.93560976e-01 2.10525767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87240100800001 meters Centerline goodness [0,1] 0.9287803407206392 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.02 [[ 0.99253287 0.04369658 -0.11388204 5.87733008] [-0.04479323 0.99897114 -0.00708737 -0.62221329] [ 0.11345518 0.01213559 0.993469 0.01837309] [ 0. 0. 0. 1. ]] SLAMing on 78.90240100800001 meters Centerline goodness [0,1] 0.9287181966519611 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.02 [[ 0.99247278 0.0433978 -0.11451819 5.87772199] [-0.04439821 0.99899468 -0.00619858 -0.62295199] [ 0.11413406 0.01123632 0.99340181 0.02114682] [ 0. 0. 0. 1. ]] SLAMing on 78.93240100800001 meters Centerline goodness [0,1] 0.9182312103833383 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.63, Z:0.03 [[ 9.92384109e-01 4.40785953e-02 -1.15025467e-01 5.87601323e+00] [-4.47545392e-02 9.98992565e-01 -3.29930842e-03 -6.26538321e-01] [ 1.14764157e-01 8.42209299e-03 9.93357064e-01 2.73718395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96240100800001 meters Centerline goodness [0,1] 0.9323472356935014 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.63, Z:0.03 [[ 9.92322459e-01 4.52107446e-02 -1.15117880e-01 5.87294099e+00] [-4.56138185e-02 9.98958771e-01 -8.68212100e-04 -6.29618790e-01] [ 1.14958764e-01 6.11251247e-03 9.93351458e-01 3.26900103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99240100800002 meters Centerline goodness [0,1] 0.9329764389196382 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.63, Z:0.04 [[ 9.92292961e-01 4.56903049e-02 -1.15182794e-01 5.87132407e+00] [-4.59283112e-02 9.98944565e-01 5.88125464e-04 -6.31024637e-01] [ 1.15088098e-01 4.70655844e-03 9.93344139e-01 3.60174890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02240100800002 meters Centerline goodness [0,1] 0.9236482829133337 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.63, Z:0.03 [[ 9.92365125e-01 4.51140655e-02 -1.14787541e-01 5.87192689e+00] [-4.54825460e-02 9.98964958e-01 -5.91718269e-04 -6.26056267e-01] [ 1.14642037e-01 5.80803020e-03 9.93389888e-01 3.42375142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05240100800002 meters Centerline goodness [0,1] 0.9358709638806595 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.62, Z:0.03 [[ 9.92165416e-01 4.84288839e-02 -1.15162624e-01 5.87479132e+00] [-4.84237392e-02 9.98822834e-01 2.84394055e-03 -6.24685001e-01] [ 1.15164788e-01 2.75494542e-03 9.93342580e-01 3.33239444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08240100800002 meters Centerline goodness [0,1] 0.9315231630344171 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.03 [[ 9.92194220e-01 4.82351194e-02 -1.14995664e-01 5.87549406e+00] [-4.83493760e-02 9.98828868e-01 1.79709636e-03 -6.20694762e-01] [ 1.14947672e-01 3.77689998e-03 9.93364368e-01 3.15408002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.112401008 meters Centerline goodness [0,1] 0.93205093953157 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.62, Z:0.03 [[ 9.92185626e-01 4.86797201e-02 -1.14882409e-01 5.87468869e+00] [-4.88145652e-02 9.98806511e-01 1.64090755e-03 -6.18609844e-01] [ 1.14825177e-01 3.97984998e-03 9.93377743e-01 3.17151881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14240100800001 meters Centerline goodness [0,1] 0.9322059085775427 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.62, Z:0.04 [[ 9.92117252e-01 5.05478499e-02 -1.14665916e-01 5.87033076e+00] [-5.05196360e-02 9.98718088e-01 3.15394120e-03 -6.19314704e-01] [ 1.14678349e-01 2.66380085e-03 9.93399104e-01 3.57595874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.17240100800001 meters Centerline goodness [0,1] 0.9310683951721055 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.62, Z:0.04 [[ 9.92072536e-01 5.14620113e-02 -1.14646176e-01 5.86812382e+00] [-5.13113271e-02 9.98673591e-01 4.26698175e-03 -6.20468678e-01] [ 1.14713695e-01 1.64949203e-03 9.93397225e-01 3.84527845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20240100800001 meters Centerline goodness [0,1] 0.9320906650760513 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.62, Z:0.04 [[ 9.92057132e-01 5.20006341e-02 -1.14536372e-01 5.86677431e+00] [-5.17915523e-02 9.98646369e-01 4.80254092e-03 -6.20858147e-01] [ 1.14631067e-01 1.16762154e-03 9.93407447e-01 3.97526702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23240100800001 meters Centerline goodness [0,1] 0.9307495690423825 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.62, Z:0.04 [[ 9.92085840e-01 5.16517122e-02 -1.14445563e-01 5.86783446e+00] [-5.15648197e-02 9.98662716e-01 3.72152222e-03 -6.18002202e-01] [ 1.14484739e-01 2.20929531e-03 9.93422550e-01 3.76431287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26240100800001 meters Centerline goodness [0,1] 0.9308144366615221 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.62, Z:0.04 [[ 9.92124462e-01 5.09952482e-02 -1.14405141e-01 5.86951271e+00] [-5.10256918e-02 9.98693787e-01 2.66422104e-03 -6.15398968e-01] [ 1.14391566e-01 3.19436257e-03 9.93430604e-01 3.54293723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29240100800001 meters Centerline goodness [0,1] 0.9303138986869016 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.61, Z:0.03 [[ 9.92149922e-01 5.06331793e-02 -1.14345150e-01 5.87026590e+00] [-5.07142166e-02 9.98710779e-01 2.20206841e-03 -6.14014614e-01] [ 1.14309232e-01 3.61414271e-03 9.93438643e-01 3.44836960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32240100800001 meters Centerline goodness [0,1] 0.9303138986869016 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.61, Z:0.03 [[ 9.92149922e-01 5.06331793e-02 -1.14345150e-01 5.87026590e+00] [-5.07142166e-02 9.98710779e-01 2.20206841e-03 -6.14014614e-01] [ 1.14309232e-01 3.61414271e-03 9.93438643e-01 3.44836960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35240100800002 meters Centerline goodness [0,1] 0.9287950383933845 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.61, Z:0.03 [[ 9.92143425e-01 5.05056282e-02 -1.14457873e-01 5.87053928e+00] [-5.05721045e-02 9.98717707e-01 2.32473439e-03 -6.13958866e-01] [ 1.14428517e-01 3.48190559e-03 9.93425383e-01 3.48125773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38240100800002 meters Centerline goodness [0,1] 0.9316981020691284 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.61, Z:0.04 [[ 9.92129867e-01 5.06926570e-02 -1.14492710e-01 5.86998988e+00] [-5.07094317e-02 9.98709614e-01 2.76788039e-03 -6.14336108e-01] [ 1.14485281e-01 3.05976346e-03 9.93420232e-01 3.58928319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41240100800002 meters Centerline goodness [0,1] 0.9304657371699793 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.61, Z:0.04 [[ 9.92287418e-01 4.73807266e-02 -1.14545831e-01 5.86786908e+00] [-4.78723158e-02 9.98852272e-01 -1.54305197e-03 -6.11404480e-01] [ 1.14341252e-01 7.01472522e-03 9.93416766e-01 3.63428741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44240100800002 meters Centerline goodness [0,1] 0.9311405584477047 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.61, Z:0.04 [[ 9.92247299e-01 4.74350980e-02 -1.14870402e-01 5.86800800e+00] [-4.79066058e-02 9.98850913e-01 -1.34594525e-03 -6.11176499e-01] [ 1.14674561e-01 6.83856163e-03 9.93379575e-01 3.72557956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47240100800002 meters Centerline goodness [0,1] 0.9294809300127035 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.61, Z:0.04 [[ 9.92211518e-01 4.71859574e-02 -1.15281350e-01 5.86912383e+00] [-4.77191336e-02 9.98859046e-01 -1.86806926e-03 -6.09794284e-01] [ 1.15061672e-01 7.35464596e-03 9.93331123e-01 3.68048893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.502401008 meters Centerline goodness [0,1] 0.9256084314358688 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.61, Z:0.03 [[ 9.91970810e-01 5.04805692e-02 -1.15955272e-01 5.87302608e+00] [-5.07345244e-02 9.98711884e-01 7.62165513e-04 -6.07180782e-01] [ 1.15844382e-01 5.12688962e-03 9.93254144e-01 3.44675780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.53240100800001 meters Centerline goodness [0,1] 0.9237010134145627 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.60, Z:0.03 [[ 9.91979741e-01 5.00135751e-02 -1.16081163e-01 5.87458945e+00] [-5.04021414e-02 9.98728919e-01 -4.12636586e-04 -6.03989554e-01] [ 1.15912977e-01 6.26006632e-03 9.93239645e-01 3.24214165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56240100800001 meters Centerline goodness [0,1] 0.9238660275894318 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.60, Z:0.03 [[ 9.91977936e-01 4.96759112e-02 -1.16241467e-01 5.87560119e+00] [-5.01428057e-02 9.98741459e-01 -1.09397106e-03 -6.01977348e-01] [ 1.16040828e-01 6.91386843e-03 9.93220381e-01 3.14683359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59240100800001 meters Centerline goodness [0,1] 0.9228879007722911 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.60, Z:0.03 [[ 9.91969594e-01 4.96242371e-02 -1.16334685e-01 5.87568586e+00] [-5.00984846e-02 9.98743615e-01 -1.15428503e-03 -6.01134213e-01] [ 1.16131243e-01 6.97320706e-03 9.93209398e-01 3.17189622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62240100800001 meters Centerline goodness [0,1] 0.924051003099959 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.60, Z:0.03 [[ 9.91933258e-01 4.94612146e-02 -1.16713322e-01 5.87522458e+00] [-4.98002712e-02 9.98759197e-01 1.11188791e-05 -6.02738014e-01] [ 1.16569054e-01 5.80132591e-03 9.93165646e-01 3.48446223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65240100800001 meters Centerline goodness [0,1] 0.9264675772909415 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.60, Z:0.04 [[ 9.91890276e-01 4.93054268e-02 -1.17143739e-01 5.87534266e+00] [-4.95249779e-02 9.98772346e-01 1.03763816e-03 -6.04814797e-01] [ 1.17051088e-01 4.77231789e-03 9.93114428e-01 3.71217462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68240100800001 meters Centerline goodness [0,1] 0.9304933391889914 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.04 [[ 9.91861156e-01 4.91272439e-02 -1.17464727e-01 5.87512844e+00] [-4.91941305e-02 9.98786514e-01 2.33160697e-03 -6.07029748e-01] [ 1.17436730e-01 3.46594472e-03 9.93074318e-01 3.99308122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71240100800001 meters Centerline goodness [0,1] 0.9322474998537926 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.04 [[ 9.91837703e-01 4.87020455e-02 -1.17839220e-01 5.87556398e+00] [-4.86962132e-02 9.98809337e-01 2.93041291e-03 -6.07902782e-01] [ 1.17841631e-01 2.83182978e-03 9.93028364e-01 4.16025816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74240100800002 meters Centerline goodness [0,1] 0.9268000233959174 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.04 [[ 9.91854824e-01 4.81003885e-02 -1.17942196e-01 5.87628283e+00] [-4.80966432e-02 9.98838536e-01 2.87966583e-03 -6.07491388e-01] [ 1.17943724e-01 2.81641329e-03 9.93016287e-01 4.18154554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77240100800002 meters Centerline goodness [0,1] 0.928937278660696 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.60, Z:0.04 [[ 9.92103868e-01 4.30490055e-02 -1.17799397e-01 5.87612640e+00] [-4.36124143e-02 9.99046086e-01 -2.20802888e-03 -6.03365640e-01] [ 1.17591973e-01 7.32811010e-03 9.93034957e-01 4.10434571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80240100800002 meters Centerline goodness [0,1] 0.922565529360082 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.60, Z:0.04 [[ 9.92075472e-01 4.31363700e-02 -1.18006404e-01 5.87560833e+00] [-4.36198624e-02 9.99047050e-01 -1.51629377e-03 -6.04189835e-01] [ 1.17828543e-01 6.65170096e-03 9.93011676e-01 4.28448741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83240100800002 meters Centerline goodness [0,1] 0.9224921790486215 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.60, Z:0.04 [[ 9.92056413e-01 4.34934505e-02 -1.18035559e-01 5.87445636e+00] [-4.38896831e-02 9.99036096e-01 -7.58369757e-04 -6.04604022e-01] [ 1.17888800e-01 5.93288888e-03 9.93009079e-01 4.48389464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.862401008 meters Centerline goodness [0,1] 0.9291331702202027 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.60, Z:0.04 [[ 9.92027190e-01 4.36487150e-02 -1.18223706e-01 5.87448545e+00] [-4.41753790e-02 9.99022103e-01 -1.83673906e-03 -5.99644283e-01] [ 1.18027924e-01 7.04467210e-03 9.92985288e-01 4.43287525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89240100800001 meters Centerline goodness [0,1] 0.9307518535681186 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.60, Z:0.04 [[ 9.91803382e-01 4.75703147e-02 -1.18588009e-01 5.87627638e+00] [-4.77265188e-02 9.98859278e-01 1.52399371e-03 -5.97080988e-01] [ 1.18525230e-01 4.14829072e-03 9.92942376e-01 4.39036564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92240100800001 meters Centerline goodness [0,1] 0.928285244862076 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.59, Z:0.04 [[ 9.91583008e-01 5.16817607e-02 -1.18710291e-01 5.87748573e+00] [-5.14891478e-02 9.98662537e-01 4.69103528e-03 -5.93652221e-01] [ 1.18793962e-01 1.46074085e-03 9.92917852e-01 4.32206278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95240100800001 meters Centerline goodness [0,1] 0.9229974753270599 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.59, Z:0.04 [[ 9.91331368e-01 5.60686929e-02 -1.18820963e-01 5.87801689e+00] [-5.54779713e-02 9.98425612e-01 8.27602986e-03 -5.91151250e-01] [ 1.19097919e-01 -1.61234201e-03 9.92881204e-01 4.34276684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98240100800001 meters Centerline goodness [0,1] 0.9205203548911648 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.59, Z:0.05 [[ 9.91014772e-01 6.23790280e-02 -1.18315591e-01 5.87455958e+00] [-6.13413645e-02 9.98039876e-01 1.23953150e-02 -5.87204576e-01] [ 1.18856885e-01 -5.02630053e-03 9.92898674e-01 4.51384322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01240100800001 meters Centerline goodness [0,1] 0.9209339272036086 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.58, Z:0.05 [[ 9.90982836e-01 6.28582554e-02 -1.18329453e-01 5.87392045e+00] [-6.18960383e-02 9.98012930e-01 1.17928383e-02 -5.83714273e-01] [ 1.18835601e-01 -4.36237602e-03 9.92904361e-01 4.50389664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04240100800001 meters Centerline goodness [0,1] 0.9183534421575585 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.58, Z:0.05 [[ 9.90994151e-01 6.34808688e-02 -1.17901538e-01 5.87217039e+00] [-6.25409203e-02 9.97974301e-01 1.16587922e-02 -5.81184398e-01] [ 1.18402815e-01 -4.18012415e-03 9.92956847e-01 4.54691288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07240100800001 meters Centerline goodness [0,1] 0.9169315472811896 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.58, Z:0.04 [[ 9.92699497e-01 6.15487382e-02 -1.03727824e-01 5.87302490e+00] [-6.11642517e-02 9.98103958e-01 6.88645738e-03 -5.77485997e-01] [ 1.03955005e-01 -4.91748028e-04 9.94581880e-01 4.10586064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10240100800002 meters Centerline goodness [0,1] 0.9180290709205792 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.58, Z:0.04 [[ 9.92679976e-01 6.21096816e-02 -1.03580172e-01 5.87117897e+00] [-6.16008305e-02 9.98067937e-01 8.10744701e-03 -5.79007295e-01] [ 1.03883599e-01 -1.66747570e-03 9.94588064e-01 4.36518258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13240100800002 meters Centerline goodness [0,1] 0.9204522912120611 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.58, Z:0.04 [[ 9.92680211e-01 6.23918250e-02 -1.03408216e-01 5.87000427e+00] [-6.18244808e-02 9.98049243e-01 8.68572286e-03 -5.80020618e-01] [ 1.03748410e-01 -2.22898596e-03 9.94601075e-01 4.49052890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16240100800002 meters Centerline goodness [0,1] 0.9195431688400239 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.58, Z:0.04 [[ 9.92692586e-01 6.24639964e-02 -1.03245723e-01 5.86969321e+00] [-6.19011286e-02 9.98044802e-01 8.65000053e-03 -5.79629626e-01] [ 1.03584171e-01 -2.19576463e-03 9.94618268e-01 4.48296831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19240100800002 meters Centerline goodness [0,1] 0.9207346407448284 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.58, Z:0.04 [[ 9.92706516e-01 6.21316474e-02 -1.03312305e-01 5.87072658e+00] [-6.16454317e-02 9.98066881e-01 7.89565046e-03 -5.78112663e-01] [ 1.03603159e-01 -1.46933204e-03 9.94617628e-01 4.34377488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22240100800002 meters Centerline goodness [0,1] 0.9220010758472297 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.58, Z:0.04 [[ 9.92676458e-01 6.22864384e-02 -1.03507725e-01 5.87177606e+00] [-6.18899866e-02 9.98058144e-01 7.04057946e-03 -5.77181118e-01] [ 1.03745261e-01 -5.82925756e-04 9.94603731e-01 4.14690278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.252401008 meters Centerline goodness [0,1] 0.921110984762338 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.58, Z:0.04 [[ 9.92635513e-01 6.25299741e-02 -1.03753271e-01 5.87213572e+00] [-6.21266626e-02 9.98042894e-01 7.11750744e-03 -5.78296101e-01] [ 1.03995273e-01 -6.19246170e-04 9.94577599e-01 4.13445340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28240100800001 meters Centerline goodness [0,1] 0.924197087572312 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.58, Z:0.04 [[ 9.92557749e-01 6.29914483e-02 -1.04217045e-01 5.87293698e+00] [-6.25669387e-02 9.98013773e-01 7.34076743e-03 -5.80684847e-01] [ 1.04472452e-01 -7.65594120e-04 9.94527486e-01 4.08631334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31240100800001 meters Centerline goodness [0,1] 0.9223245601528416 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.58, Z:0.04 [[ 9.92551719e-01 6.26554354e-02 -1.04476708e-01 5.87468630e+00] [-6.22821538e-02 9.98035180e-01 6.83472840e-03 -5.80674308e-01] [ 1.04699663e-01 -2.76787030e-04 9.94503848e-01 3.92172164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34240100800001 meters Centerline goodness [0,1] 0.9205900816070307 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.58, Z:0.04 [[ 9.92556218e-01 6.19613398e-02 -1.04847257e-01 5.87728595e+00] [-6.16697539e-02 9.98078431e-01 6.02380246e-03 -5.80222498e-01] [ 1.05019029e-01 4.86941973e-04 9.94470093e-01 3.69493081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37240100800001 meters Centerline goodness [0,1] 0.9186746129059853 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.58, Z:0.04 [[ 9.92561620e-01 6.14805762e-02 -1.05078869e-01 5.87924069e+00] [-6.12309527e-02 9.98107898e-01 5.60298350e-03 -5.80541351e-01] [ 1.05224524e-01 8.72772863e-04 9.94448107e-01 3.52364343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40240100800001 meters Centerline goodness [0,1] 0.9165591767707169 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.58, Z:0.03 [[ 9.92791784e-01 5.88776657e-02 -1.04392977e-01 5.88032519e+00] [-5.87109336e-02 9.98264093e-01 4.67202866e-03 -5.84320051e-01] [ 1.04486838e-01 1.49065746e-03 9.94525152e-01 3.41801359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43240100800001 meters Centerline goodness [0,1] 0.9186059974528192 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.59, Z:0.03 [[ 9.93037698e-01 5.47462248e-02 -1.04302356e-01 5.87950777e+00] [-5.49566706e-02 9.98488372e-01 8.57346806e-04 -5.85243253e-01] [ 1.04191626e-01 4.88073254e-03 9.94545265e-01 3.40761832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46240100800001 meters Centerline goodness [0,1] 0.9199199489529555 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.59, Z:0.03 [[ 9.93015502e-01 5.41080644e-02 -1.04845265e-01 5.88106057e+00] [-5.42421328e-02 9.98526571e-01 1.57433172e-03 -5.88705052e-01] [ 1.04775967e-01 4.12369498e-03 9.94487301e-01 3.48920178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49240100800002 meters Centerline goodness [0,1] 0.9212979144821158 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.59, Z:0.04 [[ 9.92985194e-01 5.34114784e-02 -1.05487524e-01 5.88303875e+00] [-5.35021080e-02 9.98565788e-01 1.97249805e-03 -5.91264393e-01] [ 1.05441587e-01 3.68514356e-03 9.94418670e-01 3.52594285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52240100800002 meters Centerline goodness [0,1] 0.9222108793933207 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.59, Z:0.04 [[ 9.92966511e-01 5.31343398e-02 -1.05802887e-01 5.88391608e+00] [-5.31819126e-02 9.98582020e-01 2.37364229e-03 -5.93117277e-01] [ 1.05778982e-01 3.26985255e-03 9.94384289e-01 3.56540114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55240100800002 meters Centerline goodness [0,1] 0.9255586755586755 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.60, Z:0.04 [[ 9.92942213e-01 5.36595737e-02 -1.05765831e-01 5.88269180e+00] [-5.35282808e-02 9.98557992e-01 4.08172055e-03 -5.96766724e-01] [ 1.05832340e-01 1.60855048e-03 9.94382687e-01 3.82694492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58240100800002 meters Centerline goodness [0,1] 0.924869707794109 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.60, Z:0.04 [[ 9.92947312e-01 5.37635587e-02 -1.05665107e-01 5.88252971e+00] [-5.36132824e-02 9.98552669e-01 4.26422989e-03 -5.97658773e-01] [ 1.05741435e-01 1.43089764e-03 9.94392629e-01 3.82384426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.612401008 meters Centerline goodness [0,1] 0.9248885499765368 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.60, Z:0.04 [[ 9.92944231e-01 5.35827653e-02 -1.05785827e-01 5.88331634e+00] [-5.34442202e-02 9.98562229e-01 4.14607007e-03 -5.97780791e-01] [ 1.05855889e-01 1.53682468e-03 9.94380294e-01 3.76680794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64240100800001 meters Centerline goodness [0,1] 0.9262898542222744 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.60, Z:0.04 [[ 9.92965281e-01 5.24660984e-02 -1.06147346e-01 5.88607448e+00] [-5.23597790e-02 9.98621094e-01 3.79010773e-03 -5.98834764e-01] [ 1.06199831e-01 1.79440620e-03 9.94343188e-01 3.61471432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67240100800001 meters Centerline goodness [0,1] 0.9277784304511278 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.60, Z:0.04 [[ 9.92962422e-01 5.16983197e-02 -1.06550044e-01 5.88763499e+00] [-5.15420281e-02 9.98661902e-01 4.22191540e-03 -6.01236431e-01] [ 1.06625736e-01 1.29960202e-03 9.94298378e-01 3.65996450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70240100800001 meters Centerline goodness [0,1] 0.9303804958873306 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.60, Z:0.04 [[ 9.93197204e-01 4.70664157e-02 -1.06508524e-01 5.88774546e+00] [-4.73368617e-02 9.98878982e-01 -1.11294202e-05 -6.01870359e-01] [ 1.06388603e-01 5.05283300e-03 9.94311789e-01 3.56916985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73240100800001 meters Centerline goodness [0,1] 0.9307042925752469 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.61, Z:0.04 [[ 9.93441977e-01 4.12242012e-02 -1.06647099e-01 5.88912273e+00] [-4.18370523e-02 9.99118265e-01 -3.51469028e-03 -6.06639745e-01] [ 1.06408175e-01 7.95344113e-03 9.94290724e-01 3.60472124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76240100800001 meters Centerline goodness [0,1] 0.9109550141981766 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.61, Z:0.04 [[ 9.93404354e-01 4.04932234e-02 -1.07275762e-01 5.89084656e+00] [-4.10251159e-02 9.99154317e-01 -2.75504660e-03 -6.09685934e-01] [ 1.07073480e-01 7.13787584e-03 9.94225488e-01 3.71996113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79240100800001 meters Centerline goodness [0,1] 0.9247915041699166 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.61, Z:0.04 [[ 9.93370467e-01 4.00839006e-02 -1.07742263e-01 5.89201860e+00] [-4.05446621e-02 9.99175544e-01 -2.08847240e-03 -6.12090550e-01] [ 1.07569720e-01 6.44300046e-03 9.94176666e-01 3.81076788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82240100800001 meters Centerline goodness [0,1] 0.9241346182713381 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.61, Z:0.04 [[ 9.93354677e-01 4.02090941e-02 -1.07841158e-01 5.89191916e+00] [-4.05904139e-02 9.99174968e-01 -1.34231871e-03 -6.14010772e-01] [ 1.07698212e-01 5.71071581e-03 9.94167231e-01 3.90689975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85240100800002 meters Centerline goodness [0,1] 0.919707809775747 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.62, Z:0.04 [[ 9.93351932e-01 4.10250879e-02 -1.07558735e-01 5.89030888e+00] [-4.12806323e-02 9.99147580e-01 -1.49486410e-04 -6.16127136e-01] [ 1.07460917e-01 4.58858521e-03 9.94198721e-01 4.06099807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88240100800002 meters Centerline goodness [0,1] 0.9294983478522079 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.62, Z:0.04 [[ 9.93359505e-01 4.13835683e-02 -1.07351267e-01 5.88996217e+00] [-4.16565678e-02 9.99131943e-01 -3.00905086e-04 -6.15298828e-01] [ 1.07245628e-01 4.77079227e-03 9.94221110e-01 3.99863696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91240100800002 meters Centerline goodness [0,1] 0.9287963768333283 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.62, Z:0.04 [[ 9.93140929e-01 4.54677915e-02 -1.07720817e-01 5.89164965e+00] [-4.53095403e-02 9.98965314e-01 3.91741974e-03 -6.16070081e-01] [ 1.07787477e-01 9.90230828e-04 9.94173465e-01 4.00691876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94240100800002 meters Centerline goodness [0,1] 0.9280620805369127 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.61, Z:0.04 [[ 9.93146822e-01 4.60599246e-02 -1.07414490e-01 5.89113734e+00] [-4.59583413e-02 9.98937495e-01 3.42230482e-03 -6.13627324e-01] [ 1.07457993e-01 1.53774062e-03 9.94208436e-01 3.88148991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97240100800002 meters Centerline goodness [0,1] 0.9264139105494309 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.61, Z:0.04 [[ 9.92898117e-01 5.19955286e-02 -1.07003707e-01 5.88866248e+00] [-5.13959437e-02 9.98643402e-01 8.35537318e-03 -6.14615701e-01] [ 1.07292988e-01 -2.79647779e-03 9.94223513e-01 4.03434020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.002401008 meters Centerline goodness [0,1] 0.9270216962524654 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.61, Z:0.04 [[ 9.92881735e-01 5.28871640e-02 -1.06718355e-01 5.88695656e+00] [-5.23098454e-02 9.98597206e-01 8.20368879e-03 -6.13460738e-01] [ 1.07002521e-01 -2.56287211e-03 9.94255446e-01 4.04271106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03240100800001 meters Centerline goodness [0,1] 0.9240386324583754 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.61, Z:0.04 [[ 0.9925963 0.05863107 -0.10637189 5.88505341] [-0.05762599 0.99825998 0.0125005 -0.61225541] [ 0.10691972 -0.00627816 0.99424784 0.04117876] [ 0. 0. 0. 1. ]] SLAMing on 81.06240100800001 meters Centerline goodness [0,1] 0.9222435992304276 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.04 [[ 9.92589801e-01 5.96549060e-02 -1.05862081e-01 5.88326480e+00] [-5.87056779e-02 9.98202448e-01 1.20630165e-02 -6.09695529e-01] [ 1.06391406e-01 -5.75892193e-03 9.94307650e-01 4.04177615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09240100800001 meters Centerline goodness [0,1] 0.9232154454744051 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.04 [[ 9.92591730e-01 6.07592822e-02 -1.05213907e-01 5.88112154e+00] [-5.98552144e-02 9.98138124e-01 1.17319573e-02 -6.07516572e-01] [ 1.05730837e-01 -5.34744283e-03 9.94380408e-01 3.97732327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12240100800001 meters Centerline goodness [0,1] 0.9212700661000944 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.04 [[ 9.92580386e-01 6.19402514e-02 -1.04630692e-01 5.87894378e+00] [-6.10830823e-02 9.98067809e-01 1.13800414e-02 -6.05246815e-01] [ 1.05133409e-01 -4.90444066e-03 9.94446033e-01 3.91578477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15240100800001 meters Centerline goodness [0,1] 0.920803123257111 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.60, Z:0.04 [[ 0.9923043 0.06746691 -0.10382864 5.8772802 ] [-0.06622962 0.99768675 0.01532242 -0.60445822] [ 0.10462221 -0.00832797 0.99447717 0.03835297] [ 0. 0. 0. 1. ]] SLAMing on 81.18240100800001 meters Centerline goodness [0,1] 0.9218960567176422 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.60, Z:0.04 [[ 0.99231376 0.06796536 -0.10341237 5.87639779] [-0.06677256 0.99765611 0.01495694 -0.60394857] [ 0.10418654 -0.00793687 0.9945261 0.03728389] [ 0. 0. 0. 1. ]] SLAMing on 81.21240100800001 meters Centerline goodness [0,1] 0.9218960567176422 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.60, Z:0.04 [[ 0.99231376 0.06796536 -0.10341237 5.87639779] [-0.06677256 0.99765611 0.01495694 -0.60394857] [ 0.10418654 -0.00793687 0.9945261 0.03728389] [ 0. 0. 0. 1. ]] SLAMing on 81.24240100800002 meters Centerline goodness [0,1] 0.9223948087030567 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.60, Z:0.04 [[ 9.92615795e-01 6.40486768e-02 -1.03012861e-01 5.87472450e+00] [-6.32753995e-02 9.97938094e-01 1.07603399e-02 -6.04047496e-01] [ 1.03489644e-01 -4.16270345e-03 9.94621820e-01 3.66313370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27240100800002 meters Centerline goodness [0,1] 0.9235514625579268 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.61, Z:0.04 [[ 9.92901827e-01 6.05356449e-02 -1.02378700e-01 5.87199522e+00] [-6.01276375e-02 9.98165663e-01 7.06944867e-03 -6.05007870e-01] [ 1.02618857e-01 -8.63479112e-04 9.94720375e-01 3.67001197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30240100800002 meters Centerline goodness [0,1] 0.9247612530866034 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.61, Z:0.04 [[ 9.93148595e-01 5.68771811e-02 -1.02082590e-01 5.86974093e+00] [-5.66203656e-02 9.98381101e-01 5.41391253e-03 -6.11350071e-01] [ 1.02225256e-01 4.03133922e-04 9.94761195e-01 3.94552922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33240100800002 meters Centerline goodness [0,1] 0.925189422299422 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.61, Z:0.04 [[ 9.93417846e-01 5.27082361e-02 -1.01699676e-01 5.86888125e+00] [-5.28353568e-02 9.98602191e-01 1.44517385e-03 -6.12490082e-01] [ 1.01633692e-01 3.93767718e-03 9.94814097e-01 3.84965046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.362401008 meters Centerline goodness [0,1] 0.9221138798603588 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.61, Z:0.04 [[ 9.93665037e-01 4.80680599e-02 -1.01583738e-01 5.86941873e+00] [-4.86204470e-02 9.98812919e-01 -2.96739497e-03 -6.13103342e-01] [ 1.01320513e-01 7.88764341e-03 9.94822566e-01 3.67091440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.39240100800001 meters Centerline goodness [0,1] 0.9220669718140208 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.62, Z:0.04 [[ 9.93655935e-01 4.72304584e-02 -1.02064521e-01 5.87152834e+00] [-4.77210896e-02 9.98857890e-01 -2.36936288e-03 -6.16924639e-01] [ 1.01836046e-01 7.22496166e-03 9.94774959e-01 3.68474291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42240100800001 meters Centerline goodness [0,1] 0.9252392886258644 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.62, Z:0.04 [[ 9.93640954e-01 4.70758096e-02 -1.02281584e-01 5.87264607e+00] [-4.75406770e-02 9.98867073e-01 -2.11071751e-03 -6.19341840e-01] [ 1.02066343e-01 6.95983110e-03 9.94753247e-01 3.63593361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45240100800001 meters Centerline goodness [0,1] 0.922639225181598 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.62, Z:0.04 [[ 9.93638986e-01 4.69642255e-02 -1.02351979e-01 5.87345180e+00] [-4.74876973e-02 9.98868221e-01 -2.68245910e-03 -6.18222542e-01] [ 1.02110160e-01 7.52585574e-03 9.94744629e-01 3.51571790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48240100800001 meters Centerline goodness [0,1] 0.9227890129791729 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.62, Z:0.03 [[ 9.93621103e-01 4.68133660e-02 -1.02594410e-01 5.87443732e+00] [-4.73858488e-02 9.98871697e-01 -3.14864182e-03 -6.17160136e-01] [ 1.02331254e-01 7.99008017e-03 9.94718288e-01 3.43362173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51240100800001 meters Centerline goodness [0,1] 0.9222961780561998 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.03 [[ 9.93604024e-01 4.63823944e-02 -1.02954927e-01 5.87656034e+00] [-4.70842784e-02 9.98881246e-01 -4.39633678e-03 -6.14704324e-01] [ 1.02635833e-01 9.21577636e-03 9.94676307e-01 3.19118220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54240100800001 meters Centerline goodness [0,1] 0.9218392189948174 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.03 [[ 9.93581711e-01 4.55581596e-02 -1.03536647e-01 5.87853969e+00] [-4.62748098e-02 9.98918480e-01 -4.52899682e-03 -6.15053137e-01] [ 1.03218337e-01 9.29106706e-03 9.94615328e-01 3.19024806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57240100800001 meters Centerline goodness [0,1] 0.9216347166631557 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.03 [[ 9.93573216e-01 4.44074803e-02 -1.04116477e-01 5.88162958e+00] [-4.52224608e-02 9.98961917e-01 -5.47890437e-03 -6.13506190e-01] [ 1.03765092e-01 1.01520960e-02 9.94550019e-01 3.02292825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60240100800002 meters Centerline goodness [0,1] 0.9209100758396533 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.61, Z:0.03 [[ 0.99355532 0.04320254 -0.10479199 5.88516164] [-0.04416031 0.99900107 -0.00683568 -0.61094449] [ 0.104392 0.01141928 0.99447067 0.02790845] [ 0. 0. 0. 1. ]] SLAMing on 81.63240100800002 meters Centerline goodness [0,1] 0.9182643187691568 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.61, Z:0.03 [[ 0.99354688 0.04255916 -0.10513476 5.8871234 ] [-0.04361794 0.99901791 -0.00779098 -0.60878682] [ 0.10469993 0.01232647 0.99442747 0.02634197] [ 0. 0. 0. 1. ]] SLAMing on 81.66240100800002 meters Centerline goodness [0,1] 0.9176407121021399 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.03 [[ 0.99354499 0.04336046 -0.1048247 5.88471058] [-0.0443509 0.99899054 -0.007135 -0.60774255] [ 0.1044095 0.01173801 0.99446512 0.02841641] [ 0. 0. 0. 1. ]] SLAMing on 81.69240100800002 meters Centerline goodness [0,1] 0.9193040347982601 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.03 [[ 9.93537481e-01 4.45739651e-02 -1.04385989e-01 5.88135258e+00] [-4.53935997e-02 9.98954103e-01 -5.48825921e-03 -6.09169578e-01] [ 1.04032178e-01 1.01912470e-02 9.94521716e-01 3.17108471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72240100800002 meters Centerline goodness [0,1] 0.9183440827958602 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.03 [[ 9.93528483e-01 4.54263892e-02 -1.04103775e-01 5.87888260e+00] [-4.61212688e-02 9.98926696e-01 -4.27613065e-03 -6.10006597e-01] [ 1.03797790e-01 9.04985576e-03 9.94557248e-01 3.43166415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.752401008 meters Centerline goodness [0,1] 0.9188631880939573 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.03 [[ 9.93590182e-01 4.61011912e-02 -1.03214490e-01 5.87619915e+00] [-4.67862474e-02 9.98895990e-01 -4.22480475e-03 -6.07193452e-01] [ 1.02905771e-01 9.02674317e-03 9.94650150e-01 3.48551682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78240100800001 meters Centerline goodness [0,1] 0.9175279225614297 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.03 [[ 9.93626929e-01 4.62787049e-02 -1.02780380e-01 5.87550809e+00] [-4.69965043e-02 9.98884591e-01 -4.57195311e-03 -6.05256289e-01] [ 1.02454154e-01 9.37313430e-03 9.94693566e-01 3.41578231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81240100800001 meters Centerline goodness [0,1] 0.9129624149156556 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.60, Z:0.03 [[ 9.93420220e-01 4.98756851e-02 -1.03095503e-01 5.87759025e+00] [-5.02310996e-02 9.98737258e-01 -8.52463066e-04 -6.04770349e-01] [ 1.02922802e-01 6.02545452e-03 9.94671097e-01 3.38120032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84240100800001 meters Centerline goodness [0,1] 0.9164596640643482 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.60, Z:0.03 [[ 9.93411683e-01 4.98276731e-02 -1.03200927e-01 5.87802344e+00] [-5.02257992e-02 9.98737092e-01 -1.26113595e-03 -6.03729507e-01] [ 1.03007754e-01 6.43617620e-03 9.94659730e-01 3.32296841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87240100800001 meters Centerline goodness [0,1] 0.9167110007684578 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.60, Z:0.03 [[ 9.93406362e-01 4.99455964e-02 -1.03195144e-01 5.87779124e+00] [-5.03393144e-02 9.98731437e-01 -1.21282808e-03 -6.03527152e-01] [ 1.03003659e-01 6.39960395e-03 9.94660390e-01 3.34700360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90240100800001 meters Centerline goodness [0,1] 0.9162230896616986 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.60, Z:0.03 [[ 9.93394659e-01 5.01250811e-02 -1.03220769e-01 5.87729248e+00] [-5.04697067e-02 9.98725327e-01 -7.28042039e-04 -6.04363642e-01] [ 1.03052703e-01 5.93275499e-03 9.94658204e-01 3.44473786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93240100800001 meters Centerline goodness [0,1] 0.9169758674938407 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.04 [[ 9.93375743e-01 4.99850496e-02 -1.03470423e-01 5.87758810e+00] [-5.02746102e-02 9.98735414e-01 -1.90769531e-04 -6.05934781e-01] [ 1.03330040e-01 5.39144099e-03 9.94632513e-01 3.54189986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96240100800001 meters Centerline goodness [0,1] 0.9208415047245498 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.03 [[ 9.93590932e-01 4.45502104e-02 -1.03886177e-01 5.87957426e+00] [-4.52688843e-02 9.98964389e-01 -4.56922415e-03 -6.06908811e-01] [ 1.03575031e-01 9.24275100e-03 9.94578697e-01 3.43375192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99240100800002 meters Centerline goodness [0,1] 0.9225129641771472 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.03 [[ 9.93574661e-01 4.33775596e-02 -1.04536027e-01 5.88229193e+00] [-4.40969903e-02 9.99016758e-01 -4.57969610e-03 -6.08453569e-01] [ 1.04234587e-01 9.15999416e-03 9.94510556e-01 3.41030046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02240100800002 meters Centerline goodness [0,1] 0.9248534162977144 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.61, Z:0.03 [[ 9.93556924e-01 4.21537964e-02 -1.05203118e-01 5.88518374e+00] [-4.28770756e-02 9.99069665e-01 -4.62187893e-03 -6.10201246e-01] [ 1.04910414e-01 9.10290183e-03 9.94440014e-01 3.37009686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05240100800002 meters Centerline goodness [0,1] 0.9258393285371702 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.61, Z:0.03 [[ 9.93534663e-01 4.12791916e-02 -1.05758697e-01 5.88735594e+00] [-4.19745294e-02 9.99109183e-01 -4.35643175e-03 -6.12334752e-01] [ 1.05484656e-01 8.76743749e-03 9.94382280e-01 3.37628730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08240100800002 meters Centerline goodness [0,1] 0.9254665863937387 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.61, Z:0.03 [[ 0.99369769 0.03680639 -0.10587818 5.88736674] [-0.03787099 0.99925012 -0.00806142 -0.61414901] [ 0.10550207 0.01202033 0.99434643 0.03386443] [ 0. 0. 0. 1. ]] SLAMing on 82.112401008 meters Centerline goodness [0,1] 0.9272782136391068 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.62, Z:0.03 [[ 0.99366342 0.03662446 -0.10626223 5.88829182] [-0.03765679 0.99926088 -0.00772416 -0.61538873] [ 0.1059008 0.01167671 0.99430814 0.03426583] [ 0. 0. 0. 1. ]] SLAMing on 82.14240100800001 meters Centerline goodness [0,1] 0.9282762780877696 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.62, Z:0.03 [[ 0.99364987 0.03626781 -0.10651093 5.8897775 ] [-0.03735076 0.99926866 -0.00818966 -0.61516389] [ 0.10613601 0.01211592 0.9942778 0.03303401] [ 0. 0. 0. 1. ]] SLAMing on 82.17240100800001 meters Centerline goodness [0,1] 0.9270977443609023 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.61, Z:0.03 [[ 0.99364567 0.03600197 -0.10664024 5.89113508] [-0.03715188 0.99927075 -0.00881548 -0.61374495] [ 0.1062451 0.01272135 0.99425859 0.03152317] [ 0. 0. 0. 1. ]] SLAMing on 82.20240100800001 meters Centerline goodness [0,1] 0.9254058929645219 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.61, Z:0.03 [[ 0.99364762 0.03638058 -0.10649344 5.89071827] [-0.03754282 0.99925513 -0.00892869 -0.61240768] [ 0.10608929 0.01287004 0.99427332 0.03119781] [ 0. 0. 0. 1. ]] SLAMing on 82.23240100800001 meters Centerline goodness [0,1] 0.9285477802859292 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.61, Z:0.03 [[ 0.99363126 0.03867926 -0.10583403 5.88644143] [-0.03972767 0.99917998 -0.0078152 -0.61181147] [ 0.10544495 0.01196996 0.9943531 0.0329913 ] [ 0. 0. 0. 1. ]] SLAMing on 82.26240100800001 meters Centerline goodness [0,1] 0.9294582052672814 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.03 [[ 0.99363438 0.03958382 -0.10546958 5.88454992] [-0.04056824 0.9991508 -0.00720392 -0.61211087] [ 0.10509486 0.01143678 0.99439644 0.03388781] [ 0. 0. 0. 1. ]] SLAMing on 82.29240100800001 meters Centerline goodness [0,1] 0.9295838223345672 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.04 [[ 0.99363304 0.04042828 -0.10516148 5.88287015] [-0.04132673 0.99912533 -0.00637773 -0.61287345] [ 0.10481166 0.0106831 0.99443471 0.03501782] [ 0. 0. 0. 1. ]] SLAMing on 82.32240100800001 meters Centerline goodness [0,1] 0.9298668434054347 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.04 [[ 9.93656088e-01 4.17318713e-02 -1.04431937e-01 5.87972083e+00] [-4.24816771e-02 9.99084910e-01 -4.96490087e-03 -6.14716779e-01] [ 1.04129178e-01 9.36984780e-03 9.94519643e-01 3.68330026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35240100800002 meters Centerline goodness [0,1] 0.9301380991064175 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93659893e-01 4.22543668e-02 -1.04185344e-01 5.87852949e+00] [-4.29178098e-02 9.99070056e-01 -4.13334176e-03 -6.15816965e-01] [ 1.03913806e-01 8.57854270e-03 9.94549310e-01 3.79006040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38240100800002 meters Centerline goodness [0,1] 0.9302332589958411 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93666319e-01 4.26534191e-02 -1.03961211e-01 5.87758325e+00] [-4.32328212e-02 9.99059491e-01 -3.32523161e-03 -6.17530956e-01] [ 1.03721602e-01 7.79870708e-03 9.94575794e-01 3.87805588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41240100800002 meters Centerline goodness [0,1] 0.9309823829812951 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93655601e-01 4.27669960e-02 -1.04016973e-01 5.87757047e+00] [-4.32768859e-02 9.99059605e-01 -2.64900973e-03 -6.19529347e-01] [ 1.03805865e-01 7.13373401e-03 9.94571994e-01 3.94068656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44240100800002 meters Centerline goodness [0,1] 0.9318499180377633 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93615745e-01 4.26690493e-02 -1.04437083e-01 5.87870461e+00] [-4.30924518e-02 9.99069467e-01 -1.80007087e-03 -6.23460783e-01] [ 1.04263094e-01 6.28902872e-03 9.94529867e-01 3.98668978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47240100800002 meters Centerline goodness [0,1] 0.9323859659799775 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93600195e-01 4.28661615e-02 -1.04504277e-01 5.87883934e+00] [-4.32645639e-02 9.99062452e-01 -1.54736974e-03 -6.24505976e-01] [ 1.04339969e-01 6.05879883e-03 9.94523233e-01 3.98434988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.502401008 meters Centerline goodness [0,1] 0.93274756012283 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93603790e-01 4.29841176e-02 -1.04421613e-01 5.87909342e+00] [-4.34090704e-02 9.99055762e-01 -1.79930730e-03 -6.24221802e-01] [ 1.04245672e-01 6.32064371e-03 9.94531492e-01 3.89208483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53240100800001 meters Centerline goodness [0,1] 0.9310898406736536 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93610306e-01 4.29900452e-02 -1.04357160e-01 5.87974040e+00] [-4.34968476e-02 9.99050221e-01 -2.58441143e-03 -6.22246508e-01] [ 1.04146939e-01 7.10710529e-03 9.94536527e-01 3.71926407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56240100800001 meters Centerline goodness [0,1] 0.9281024096385542 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.03 [[ 9.93406683e-01 4.69529465e-02 -1.04587684e-01 5.88243885e+00] [-4.72130893e-02 9.98884840e-01 -1.15876481e-05 -6.19325917e-01] [ 1.04470508e-01 4.94941893e-03 9.94515669e-01 3.40779470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59240100800001 meters Centerline goodness [0,1] 0.9260792607926079 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.03 [[ 9.93406128e-01 4.76179680e-02 -1.04291873e-01 5.88151477e+00] [-4.79310670e-02 9.98850522e-01 -4.96523844e-04 -6.17002106e-01] [ 1.04148349e-01 5.49207060e-03 9.94546610e-01 3.32314322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62240100800001 meters Centerline goodness [0,1] 0.9270752289185469 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.03 [[ 9.93410446e-01 4.85569711e-02 -1.03816700e-01 5.87940806e+00] [-4.88519457e-02 9.98805986e-01 -2.98986173e-04 -6.15754468e-01] [ 1.03678223e-01 5.36866376e-03 9.94596402e-01 3.37824617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65240100800001 meters Centerline goodness [0,1] 0.9281996050978281 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.62, Z:0.04 [[ 9.93389201e-01 5.07596211e-02 -1.02962889e-01 5.87376805e+00] [-5.08493456e-02 9.98704793e-01 1.75486691e-03 -6.16884375e-01] [ 1.02918607e-01 3.49232969e-03 9.94683650e-01 3.80668370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68240100800001 meters Centerline goodness [0,1] 0.9293697049810732 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.62, Z:0.04 [[ 9.93388571e-01 5.16431313e-02 -1.02528700e-01 5.87128400e+00] [-5.16301165e-02 9.98662400e-01 2.78249697e-03 -6.18010832e-01] [ 1.02535254e-01 2.52946801e-03 9.94726155e-01 3.99350792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71240100800001 meters Centerline goodness [0,1] 0.9321028345418589 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.62, Z:0.04 [[ 9.93384372e-01 5.18752457e-02 -1.02452180e-01 5.87046213e+00] [-5.17886967e-02 9.98651910e-01 3.50633150e-03 -6.18746337e-01] [ 1.02495957e-01 1.82272995e-03 9.94731751e-01 4.13297585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74240100800002 meters Centerline goodness [0,1] 0.9305296699332652 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.62, Z:0.04 [[ 9.93400664e-01 5.17369642e-02 -1.02364094e-01 5.87054671e+00] [-5.15684580e-02 9.98660232e-01 4.29357836e-03 -6.21002227e-01] [ 1.02449087e-01 1.01351489e-03 9.94737733e-01 4.19941871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77240100800002 meters Centerline goodness [0,1] 0.9303319389689729 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.62, Z:0.04 [[ 9.93388726e-01 5.14957631e-02 -1.02601291e-01 5.87135412e+00] [-5.12846527e-02 9.98673035e-01 4.69618087e-03 -6.22901500e-01] [ 1.02706976e-01 5.96738446e-04 9.94711476e-01 4.22569150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80240100800002 meters Centerline goodness [0,1] 0.9336490032270712 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.63, Z:0.04 [[ 9.93358719e-01 5.13474009e-02 -1.02965528e-01 5.87219227e+00] [-5.10875898e-02 9.98680843e-01 5.16058979e-03 -6.25033847e-01] [ 1.03094683e-01 1.33943803e-04 9.94671538e-01 4.26982663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83240100800002 meters Centerline goodness [0,1] 0.9341465623962076 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.63, Z:0.04 [[ 9.93340831e-01 5.14640535e-02 -1.03079793e-01 5.87237760e+00] [-5.11840786e-02 9.98674846e-01 5.36109525e-03 -6.26150396e-01] [ 1.03219100e-01 -4.93505764e-05 9.94658642e-01 4.27618262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.862401008 meters Centerline goodness [0,1] 0.934998341024945 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.63, Z:0.04 [[ 9.93285378e-01 5.17650356e-02 -1.03462741e-01 5.87250268e+00] [-5.14385713e-02 9.98659185e-01 5.82284512e-03 -6.27859460e-01] [ 1.03625437e-01 -4.61771319e-04 9.94616286e-01 4.36035776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.89240100800001 meters Centerline goodness [0,1] 0.9369115732752097 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.63, Z:0.04 [[ 9.93494859e-01 4.78708639e-02 -1.03326404e-01 5.87171931e+00] [-4.80124288e-02 9.98846113e-01 1.11806096e-03 -6.26436327e-01] [ 1.03260700e-01 3.85016381e-03 9.94646874e-01 4.21977548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92240100800001 meters Centerline goodness [0,1] 0.9363341320634535 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.63, Z:0.04 [[ 9.93454881e-01 4.75604953e-02 -1.03852773e-01 5.87315655e+00] [-4.77004594e-02 9.98861038e-01 1.13691248e-03 -6.27274081e-01] [ 1.03788561e-01 3.82435374e-03 9.94592031e-01 4.21806594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95240100800001 meters Centerline goodness [0,1] 0.9352507106998125 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.63, Z:0.04 [[ 9.93439989e-01 4.71288601e-02 -1.04191456e-01 5.87472354e+00] [-4.73136949e-02 9.98879836e-01 6.98247964e-04 -6.26295607e-01] [ 1.04107652e-01 4.23601533e-03 9.94557013e-01 4.13342196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98240100800001 meters Centerline goodness [0,1] 0.9331047344041389 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93268037e-01 4.88270948e-02 -1.05045334e-01 5.88118159e+00] [-4.87694730e-02 9.98805193e-01 3.11862611e-03 -6.23955432e-01] [ 1.05072098e-01 2.02537394e-03 9.94462544e-01 3.84530870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01240100800001 meters Centerline goodness [0,1] 0.9336232753449311 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93303889e-01 4.80273731e-02 -1.05075000e-01 5.88297449e+00] [-4.80964644e-02 9.98840930e-01 1.87771537e-03 -6.20595488e-01] [ 1.05043393e-01 3.18859404e-03 9.94462527e-01 3.63125581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04240100800001 meters Centerline goodness [0,1] 0.9322601879001855 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93338697e-01 4.77099836e-02 -1.04890376e-01 5.88345914e+00] [-4.78579081e-02 9.98853540e-01 1.10757440e-03 -6.17939207e-01] [ 1.04822965e-01 3.91963745e-03 9.94483173e-01 3.50712986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07240100800001 meters Centerline goodness [0,1] 0.9314137530179737 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93347950e-01 4.84563549e-02 -1.04459715e-01 5.88106132e+00] [-4.85753355e-02 9.98818532e-01 1.40623868e-03 -6.16174830e-01] [ 1.04404440e-01 3.67728137e-03 9.94528125e-01 3.65259025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10240100800002 meters Centerline goodness [0,1] 0.9319190775556416 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93321734e-01 4.91784566e-02 -1.04371506e-01 5.87906607e+00] [-4.92019452e-02 9.98786083e-01 2.35118286e-03 -6.16988138e-01] [ 1.04360435e-01 2.79980006e-03 9.94535601e-01 3.89396336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13240100800002 meters Centerline goodness [0,1] 0.9319190775556416 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93321734e-01 4.91784566e-02 -1.04371506e-01 5.87906607e+00] [-4.92019452e-02 9.98786083e-01 2.35118286e-03 -6.16988138e-01] [ 1.04360435e-01 2.79980006e-03 9.94535601e-01 3.89396336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16240100800002 meters Centerline goodness [0,1] 0.9345641574503508 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93279639e-01 4.98491265e-02 -1.04453927e-01 5.87721361e+00] [-4.97750821e-02 9.98754944e-01 3.31711760e-03 -6.17829618e-01] [ 1.04489232e-01 1.90437745e-03 9.94524195e-01 4.16834235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19240100800002 meters Centerline goodness [0,1] 0.936044955846936 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.62, Z:0.04 [[ 9.93259961e-01 5.09225376e-02 -1.04122741e-01 5.87420777e+00] [-5.07511096e-02 9.98702089e-01 4.29684768e-03 -6.18464838e-01] [ 1.04206406e-01 1.01645791e-03 9.94555173e-01 4.42047043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22240100800002 meters Centerline goodness [0,1] 0.9381274876730232 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.62, Z:0.04 [[ 9.93270550e-01 5.15017561e-02 -1.03736129e-01 5.87282656e+00] [-5.13689356e-02 9.98671920e-01 3.95336459e-03 -6.15822205e-01] [ 1.03801964e-01 1.40205390e-03 9.94596997e-01 4.40188663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.252401008 meters Centerline goodness [0,1] 0.9336728650953452 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.61, Z:0.04 [[ 9.93297664e-01 5.09373545e-02 -1.03755180e-01 5.87460358e+00] [-5.09160255e-02 9.98698855e-01 2.85584226e-03 -6.13274109e-01] [ 1.03765649e-01 2.44609995e-03 9.94598767e-01 4.16657464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28240100800001 meters Centerline goodness [0,1] 0.9323301602317744 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.04 [[ 9.93321661e-01 5.03326352e-02 -1.03820534e-01 5.87659469e+00] [-5.04149464e-02 9.98726676e-01 1.83284683e-03 -6.11110773e-01] [ 1.03780588e-01 3.41350018e-03 9.94594358e-01 3.92818607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31240100800001 meters Centerline goodness [0,1] 0.9315597195215367 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.04 [[ 9.93324021e-01 4.99255732e-02 -1.03994356e-01 5.87824236e+00] [-5.00618024e-02 9.98745274e-01 1.30141166e-03 -6.10539567e-01] [ 1.03928845e-01 3.91342143e-03 9.94577036e-01 3.77452365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34240100800001 meters Centerline goodness [0,1] 0.931588163713531 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.04 [[ 9.93524415e-01 4.55071900e-02 -1.04107308e-01 5.87858207e+00] [-4.60619347e-02 9.98934291e-01 -2.92932547e-03 -6.11668696e-01] [ 1.03863054e-01 7.70574040e-03 9.94561757e-01 3.66630635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37240100800001 meters Centerline goodness [0,1] 0.9316361470894745 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.04 [[ 9.93484179e-01 4.53811339e-02 -1.04545395e-01 5.87954060e+00] [-4.58640943e-02 9.98945224e-01 -2.21898901e-03 -6.14229093e-01] [ 1.04334423e-01 6.99941035e-03 9.94517640e-01 3.74232898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40240100800001 meters Centerline goodness [0,1] 0.9305265668793608 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93460921e-01 4.50874552e-02 -1.04892900e-01 5.88080440e+00] [-4.55515644e-02 9.98959922e-01 -2.03196105e-03 -6.15684279e-01] [ 1.04692188e-01 6.79670960e-03 9.94481448e-01 3.72819046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43240100800001 meters Centerline goodness [0,1] 0.9311507699653814 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93445255e-01 4.46894192e-02 -1.05211127e-01 5.88240120e+00] [-4.51714039e-02 9.98976825e-01 -2.20150423e-03 -6.16168600e-01] [ 1.05005094e-01 6.93960826e-03 9.94447471e-01 3.64684187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46240100800001 meters Centerline goodness [0,1] 0.9297731823207722 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93434749e-01 4.50557010e-02 -1.05154089e-01 5.88174953e+00] [-4.54872676e-02 9.98963458e-01 -1.70828725e-03 -6.17174410e-01] [ 1.04968124e-01 6.48024411e-03 9.94454473e-01 3.71443109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49240100800002 meters Centerline goodness [0,1] 0.931770040872341 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93404140e-01 4.56121368e-02 -1.05203359e-01 5.88051670e+00] [-4.59285008e-02 9.98944558e-01 -5.85219783e-04 -6.18473689e-01] [ 1.05065630e-01 5.41319232e-03 9.94450557e-01 3.93989102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52240100800002 meters Centerline goodness [0,1] 0.93189169761591 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93382143e-01 4.63591173e-02 -1.05084495e-01 5.87863908e+00] [-4.65661076e-02 9.98915093e-01 4.84203535e-04 -6.20064420e-01] [ 1.04992935e-01 4.41237675e-03 9.94463179e-01 4.15327524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55240100800002 meters Centerline goodness [0,1] 0.9341356804981737 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93362358e-01 4.69743647e-02 -1.04998259e-01 5.87715811e+00] [-4.70767639e-02 9.98890142e-01 1.50425980e-03 -6.21515725e-01] [ 1.04952388e-01 3.44870320e-03 9.94471268e-01 4.35037516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58240100800002 meters Centerline goodness [0,1] 0.9341766852084454 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93355589e-01 4.73064658e-02 -1.04913167e-01 5.87639171e+00] [-4.73751419e-02 9.98875475e-01 1.83872517e-03 -6.21467727e-01] [ 1.04882173e-01 3.14376826e-03 9.94479686e-01 4.42610449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61240100800002 meters Centerline goodness [0,1] 0.9328626136907612 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93356538e-01 4.67436002e-02 -1.05156190e-01 5.87800371e+00] [-4.68814991e-02 9.98899783e-01 1.16140084e-03 -6.19706321e-01] [ 1.05094783e-01 3.77619469e-03 9.94455040e-01 4.31048537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64240100800001 meters Centerline goodness [0,1] 0.9321705426356589 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93364725e-01 4.59895890e-02 -1.05411012e-01 5.88018063e+00] [-4.62470132e-02 9.98930034e-01 2.18366342e-06 -6.17185805e-01] [ 1.05298327e-01 4.87277531e-03 9.94428740e-01 4.10020466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.67240100800001 meters Centerline goodness [0,1] 0.9289113622843546 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93371867e-01 4.55270431e-02 -1.05544413e-01 5.88175139e+00] [-4.58807552e-02 9.98946496e-01 -9.24456929e-04 -6.15196448e-01] [ 1.05391134e-01 5.76078690e-03 9.94414160e-01 3.91771361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70240100800001 meters Centerline goodness [0,1] 0.9284632516703786 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.04 [[ 9.93364766e-01 4.58653595e-02 -1.05464733e-01 5.88144557e+00] [-4.62709580e-02 9.98927943e-01 -1.40094362e-03 -6.13037732e-01] [ 1.05287414e-01 6.27160226e-03 9.94422057e-01 3.85600438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73240100800001 meters Centerline goodness [0,1] 0.9274351516590491 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.04 [[ 9.93354883e-01 4.65013642e-02 -1.05279153e-01 5.88009760e+00] [-4.68857543e-02 9.98899564e-01 -1.17782576e-03 -6.12299618e-01] [ 1.05108529e-01 6.10609147e-03 9.94442011e-01 3.92635954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76240100800001 meters Centerline goodness [0,1] 0.9282081608515671 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.04 [[ 9.93348575e-01 4.70538483e-02 -1.05093025e-01 5.87905036e+00] [-4.74503881e-02 9.98872783e-01 -1.27474747e-03 -6.10636991e-01] [ 1.04914580e-01 6.25297340e-03 9.94461579e-01 3.94472281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79240100800001 meters Centerline goodness [0,1] 0.9276152848213233 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.04 [[ 9.93346968e-01 4.76802749e-02 -1.04825537e-01 5.87801305e+00] [-4.81064519e-02 9.98841028e-01 -1.53954250e-03 -6.07955538e-01] [ 1.04630641e-01 6.57208452e-03 9.94489435e-01 3.92213788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82240100800001 meters Centerline goodness [0,1] 0.9275570261485755 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.60, Z:0.04 [[ 9.93146584e-01 5.27312271e-02 -1.04303790e-01 5.87676339e+00] [-5.27827526e-02 9.98603443e-01 2.26812921e-03 -6.04412775e-01] [ 1.04277725e-01 3.25285634e-03 9.94542898e-01 3.93004663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85240100800002 meters Centerline goodness [0,1] 0.9300858594708253 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.60, Z:0.04 [[ 9.93167867e-01 5.29346343e-02 -1.03997653e-01 5.87613836e+00] [-5.30138481e-02 9.98591766e-01 2.00427080e-03 -6.02781515e-01] [ 1.03957296e-01 3.52273844e-03 9.94575523e-01 3.89545650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88240100800002 meters Centerline goodness [0,1] 0.9326239067055393 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.60, Z:0.04 [[ 9.93169760e-01 5.29476399e-02 -1.03972954e-01 5.87600166e+00] [-5.30320899e-02 9.98590897e-01 1.95400069e-03 -6.01722381e-01] [ 1.03929906e-01 3.57324867e-03 9.94578205e-01 3.92048477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91240100800002 meters Centerline goodness [0,1] 0.9330820256567605 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.60, Z:0.04 [[ 9.93159176e-01 5.36757009e-02 -1.03700383e-01 5.87378110e+00] [-5.36359446e-02 9.98555513e-01 3.17391820e-03 -6.03396618e-01] [ 1.03720952e-01 2.40986202e-03 9.94603517e-01 4.16201639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94240100800002 meters Centerline goodness [0,1] 0.9354980254497587 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.61, Z:0.04 [[ 9.93135288e-01 5.39079240e-02 -1.03808650e-01 5.87324063e+00] [-5.37935992e-02 9.98544449e-01 3.90272612e-03 -6.05043471e-01] [ 1.03867939e-01 1.70830586e-03 9.94589630e-01 4.29938210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97240100800002 meters Centerline goodness [0,1] 0.9318061829060832 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.60, Z:0.04 [[ 9.93362722e-01 5.03978580e-02 -1.03395159e-01 5.87094479e+00] [-5.06808015e-02 9.98714896e-01 -1.09554252e-04 -6.04106011e-01] [ 1.03256764e-01 5.34897664e-03 9.94640352e-01 4.29877233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.002401008 meters Centerline goodness [0,1] 0.9325430591825358 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.61, Z:0.04 [[ 9.93336200e-01 5.04267528e-02 -1.03635594e-01 5.87096790e+00] [-5.06152432e-02 9.98717897e-01 8.11951857e-04 -6.06218632e-01] [ 1.03543667e-01 4.43899964e-03 9.94615003e-01 4.45657337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03240100800001 meters Centerline goodness [0,1] 0.933753385938052 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.61, Z:0.04 [[ 9.93355941e-01 4.91398798e-02 -1.04063669e-01 5.87365569e+00] [-4.93054020e-02 9.98783265e-01 9.82817040e-04 -6.09291588e-01] [ 1.03985346e-01 4.15461388e-03 9.94570152e-01 4.41280038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06240100800001 meters Centerline goodness [0,1] 0.9297397659956972 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.04 [[ 9.93338959e-01 4.83393422e-02 -1.04599336e-01 5.87618115e+00] [-4.85044531e-02 9.98822499e-01 9.66159577e-04 -6.11044580e-01] [ 1.04522874e-01 4.11380965e-03 9.94513974e-01 4.33666895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09240100800001 meters Centerline goodness [0,1] 0.9295615779631333 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.04 [[ 9.93311665e-01 4.76429190e-02 -1.05176462e-01 5.87862374e+00] [-4.77990642e-02 9.98856433e-01 1.03700098e-03 -6.13140702e-01] [ 1.05105591e-01 3.99727129e-03 9.94453034e-01 4.27273956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12240100800001 meters Centerline goodness [0,1] 0.9265491213938364 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.62, Z:0.04 [[ 9.93273261e-01 4.71577907e-02 -1.05756194e-01 5.88068744e+00] [-4.73006744e-02 9.98880025e-01 1.15813647e-03 -6.15028179e-01] [ 1.05692365e-01 3.85199331e-03 9.94391415e-01 4.23241660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15240100800001 meters Centerline goodness [0,1] 0.9219453975831717 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.61, Z:0.04 [[ 9.93241606e-01 4.66638586e-02 -1.06271333e-01 5.88324473e+00] [-4.69255904e-02 9.98898387e-01 3.76802049e-05 -6.14380837e-01] [ 1.06156022e-01 4.94941952e-03 9.94337167e-01 3.97825206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18240100800001 meters Centerline goodness [0,1] 0.9211194408769152 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.61, Z:0.04 [[ 9.93214370e-01 4.59390699e-02 -1.06840146e-01 5.88574340e+00] [-4.62550632e-02 9.98929546e-01 -4.80149169e-04 -6.14770375e-01] [ 1.06703721e-01 5.41878876e-03 9.94276095e-01 3.85403747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21240100800001 meters Centerline goodness [0,1] 0.920808383233533 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.62, Z:0.04 [[ 9.93169612e-01 4.52310169e-02 -1.07555921e-01 5.88814344e+00] [-4.55642637e-02 9.98961204e-01 -6.41629493e-04 -6.15507739e-01] [ 1.07415171e-01 5.53795325e-03 9.94198829e-01 3.82368087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24240100800002 meters Centerline goodness [0,1] 0.9178941052947353 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.62, Z:0.04 [[ 9.93134294e-01 4.42846825e-02 -1.08273458e-01 5.89130728e+00] [-4.46734257e-02 9.99000963e-01 -1.16621873e-03 -6.16176178e-01] [ 1.08113643e-01 5.99515810e-03 9.94120465e-01 3.68265920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27240100800002 meters Centerline goodness [0,1] 0.9176191761917619 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.62, Z:0.04 [[ 9.93136210e-01 4.40655974e-02 -1.08345243e-01 5.89199986e+00] [-4.44910067e-02 9.99008642e-01 -1.51106901e-03 -6.15097654e-01] [ 1.08171248e-01 6.32108628e-03 9.94112179e-01 3.61958993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30240100800002 meters Centerline goodness [0,1] 0.9196713965646004 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.61, Z:0.04 [[ 9.93140268e-01 4.46326405e-02 -1.08075597e-01 5.89059299e+00] [-4.50108769e-02 9.98985933e-01 -1.06161169e-03 -6.14243715e-01] [ 1.07918618e-01 5.91890669e-03 9.94142112e-01 3.71741794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33240100800002 meters Centerline goodness [0,1] 0.9255600264248394 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.61, Z:0.04 [[ 0.99382821 0.04406572 -0.10180231 5.89952374] [-0.04536783 0.99891506 -0.01050973 -0.61317054] [ 0.10122874 0.01506342 0.99474913 0.03864523] [ 0. 0. 0. 1. ]] SLAMing on 84.36240100800002 meters Centerline goodness [0,1] 0.9255296769346356 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.62, Z:0.04 [[ 0.99380128 0.04482066 -0.10173557 5.89737737] [-0.04592996 0.99890776 -0.0085865 -0.61523803] [ 0.1012396 0.01320598 0.99477442 0.0424344 ] [ 0. 0. 0. 1. ]] SLAMing on 84.39240100800001 meters Centerline goodness [0,1] 0.9266606822262119 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.62, Z:0.04 [[ 0.993801 0.04489652 -0.10170484 5.89677885] [-0.04593238 0.99891359 -0.00786491 -0.61554578] [ 0.10124124 0.0124877 0.99478353 0.04394305] [ 0. 0. 0. 1. ]] SLAMing on 84.42240100800001 meters Centerline goodness [0,1] 0.9263926721944502 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.61, Z:0.04 [[ 0.99380725 0.04466944 -0.10174377 5.896964 ] [-0.04568709 0.99892618 -0.00769272 -0.6149895 ] [ 0.10129089 0.01229346 0.99478089 0.0444531 ] [ 0. 0. 0. 1. ]] SLAMing on 84.45240100800001 meters Centerline goodness [0,1] 0.9246544538722155 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.61, Z:0.04 [[ 0.99381964 0.04423572 -0.10181224 5.89775455] [-0.04526229 0.99894473 -0.00779392 -0.61479833] [ 0.10136003 0.012354 0.9947731 0.04420087] [ 0. 0. 0. 1. ]] SLAMing on 84.48240100800001 meters Centerline goodness [0,1] 0.9211215853989098 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.62, Z:0.04 [[ 0.99382246 0.04236052 -0.10257928 5.90090131] [-0.04338586 0.99902806 -0.00778423 -0.61667465] [ 0.10214984 0.01218663 0.99469437 0.04489738] [ 0. 0. 0. 1. ]] SLAMing on 84.51240100800001 meters Centerline goodness [0,1] 0.920993773801608 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.62, Z:0.05 [[ 0.99376552 0.04187381 -0.10332802 5.9023387 ] [-0.04281378 0.99905928 -0.00689495 -0.61938272] [ 0.1029421 0.01127582 0.99462344 0.0466201 ] [ 0. 0. 0. 1. ]] SLAMing on 84.54240100800001 meters Centerline goodness [0,1] 0.9214158436773278 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.62, Z:0.05 [[ 0.99372004 0.0410192 -0.10410524 5.9045615 ] [-0.04192548 0.99909939 -0.00653119 -0.62127708] [ 0.10374357 0.01085483 0.99454484 0.04745163] [ 0. 0. 0. 1. ]] SLAMing on 84.57240100800001 meters Centerline goodness [0,1] 0.9202500531059388 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.05 [[ 0.99370477 0.038763 -0.10511069 5.90976967] [-0.0397998 0.99917736 -0.00778364 -0.62158104] [ 0.10472251 0.01191803 0.99443007 0.04524331] [ 0. 0. 0. 1. ]] SLAMing on 84.60240100800002 meters Centerline goodness [0,1] 0.9161752698902295 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.04 [[ 0.99367448 0.03765489 -0.10579767 5.91321938] [-0.03878779 0.99920985 -0.00867027 -0.620413 ] [ 0.10538759 0.01271909 0.99434988 0.04344844] [ 0. 0. 0. 1. ]] SLAMing on 84.63240100800002 meters Centerline goodness [0,1] 0.9159199927595257 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.62, Z:0.04 [[ 0.99365636 0.03694686 -0.10621659 5.9155145 ] [-0.03816059 0.99922725 -0.00941664 -0.61893888] [ 0.10578659 0.01341019 0.99429843 0.04199764] [ 0. 0. 0. 1. ]] SLAMing on 84.66240100800002 meters Centerline goodness [0,1] 0.9134719710669078 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.62, Z:0.04 [[ 9.93450710e-01 4.06251750e-02 -1.06795511e-01 5.91791033e+00] [-4.14410605e-02 9.99126191e-01 -5.43070222e-03 -6.18614063e-01] [ 1.06481569e-01 9.82085421e-03 9.94266175e-01 4.21603313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69240100800002 meters Centerline goodness [0,1] 0.9141868512110727 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.62, Z:0.04 [[ 9.93449213e-01 4.12878305e-02 -1.06555039e-01 5.91635191e+00] [-4.20574423e-02 9.99102760e-01 -4.98472534e-03 -6.18119931e-01] [ 1.06253625e-01 9.43350387e-03 9.94294311e-01 4.31889121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72240100800002 meters Centerline goodness [0,1] 0.9158183241973376 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.05 [[ 9.93439833e-01 4.23912824e-02 -1.06208650e-01 5.91365474e+00] [-4.30457748e-02 9.99065580e-01 -3.87648465e-03 -6.18582548e-01] [ 1.05945078e-01 8.42288791e-03 9.94336309e-01 4.54708554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.752401008 meters Centerline goodness [0,1] 0.917947021858745 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.05 [[ 9.93199668e-01 4.82662408e-02 -1.05947106e-01 5.91019765e+00] [-4.81703871e-02 9.98833123e-01 3.46500724e-03 -6.21627517e-01] [ 1.05990722e-01 1.66206909e-03 9.94365730e-01 5.21412482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78240100800001 meters Centerline goodness [0,1] 0.9185047735911173 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.05 [[ 9.93205706e-01 4.92325889e-02 -1.05444668e-01 5.90815319e+00] [-4.91384692e-02 9.98785872e-01 3.49193780e-03 -6.19915262e-01] [ 1.05488561e-01 1.71317701e-03 9.94419041e-01 5.22604321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81240100800001 meters Centerline goodness [0,1] 0.9196984595214683 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.05 [[ 9.93216507e-01 5.04462606e-02 -1.04767096e-01 5.90562567e+00] [-5.03532544e-02 9.98725217e-01 3.53421190e-03 -6.17632633e-01] [ 1.04811828e-01 1.76512664e-03 9.94490505e-01 5.22609500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84240100800001 meters Centerline goodness [0,1] 0.9205896338563956 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.62, Z:0.05 [[ 9.93196009e-01 5.15817909e-02 -1.04407888e-01 5.90404140e+00] [-5.15046217e-02 9.98666842e-01 3.43690013e-03 -6.15358139e-01] [ 1.04445978e-01 1.96397331e-03 9.94528622e-01 5.18554580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87240100800001 meters Centerline goodness [0,1] 0.9209714726291441 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.61, Z:0.05 [[ 9.93202303e-01 5.24795282e-02 -1.03899398e-01 5.90239849e+00] [-5.24358485e-02 9.98619315e-01 3.15367612e-03 -6.13331499e-01] [ 1.03921449e-01 2.31581472e-03 9.94582812e-01 5.12391415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90240100800001 meters Centerline goodness [0,1] 0.9220664206642066 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.61, Z:0.05 [[ 9.92935722e-01 5.76305991e-02 -1.03717724e-01 5.90172428e+00] [-5.71792672e-02 9.98337077e-01 7.32205547e-03 -6.13228026e-01] [ 1.03967224e-01 -1.33982697e-03 9.94579821e-01 5.14056677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93240100800001 meters Centerline goodness [0,1] 0.9217363097519978 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.61, Z:0.05 [[ 9.92939742e-01 5.78506700e-02 -1.03556594e-01 5.90176842e+00] [-5.74653376e-02 9.98324999e-01 6.70312249e-03 -6.11602021e-01] [ 1.03770916e-01 -7.04882098e-04 9.94600975e-01 5.00881156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96240100800001 meters Centerline goodness [0,1] 0.9219575548274742 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.61, Z:0.05 [[ 9.92943814e-01 5.78698566e-02 -1.03506820e-01 5.90203890e+00] [-5.75284561e-02 9.98324095e-01 6.28313792e-03 -6.10747599e-01] [ 1.03696957e-01 -2.84215376e-04 9.94608898e-01 4.91886068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99240100800002 meters Centerline goodness [0,1] 0.918984711295829 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.61, Z:0.05 [[ 9.92927614e-01 5.69011908e-02 -1.04196966e-01 5.90485283e+00] [-5.65653754e-02 9.98379786e-01 6.17748814e-03 -6.12939222e-01] [ 1.04379651e-01 -2.39858057e-04 9.94537496e-01 4.85347225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02240100800002 meters Centerline goodness [0,1] 0.918984711295829 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.61, Z:0.05 [[ 9.92927614e-01 5.69011908e-02 -1.04196966e-01 5.90485283e+00] [-5.65653754e-02 9.98379786e-01 6.17748814e-03 -6.12939222e-01] [ 1.04379651e-01 -2.39858057e-04 9.94537496e-01 4.85347225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05240100800002 meters Centerline goodness [0,1] 0.9189591520781232 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.05 [[ 9.92911938e-01 5.57044427e-02 -1.04989987e-01 5.90777574e+00] [-5.53396007e-02 9.98447160e-01 6.38720335e-03 -6.15868012e-01] [ 1.05182750e-01 -5.31826472e-04 9.94452767e-01 4.86568925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08240100800002 meters Centerline goodness [0,1] 0.9205573651827723 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.05 [[ 9.93394050e-01 4.73326159e-02 -1.04536522e-01 5.91058128e+00] [-4.75618727e-02 9.98868249e-01 3.00046010e-04 -6.19135922e-01] [ 1.04432415e-01 4.67388885e-03 9.94521003e-01 4.59564308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11240100800002 meters Centerline goodness [0,1] 0.920787573569565 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.04 [[ 9.93602106e-01 4.24728921e-02 -1.04646584e-01 5.91151441e+00] [-4.31286418e-02 9.99061478e-01 -4.01044064e-03 -6.19413042e-01] [ 1.04378036e-01 8.49804731e-03 9.94501387e-01 4.47927355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14240100800001 meters Centerline goodness [0,1] 0.9205783866057838 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.05 [[ 9.93592560e-01 4.24179830e-02 -1.04759440e-01 5.91081236e+00] [-4.29473313e-02 9.99073410e-01 -2.80136983e-03 -6.21212367e-01] [ 1.04543542e-01 7.28255858e-03 9.94493646e-01 4.75301345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.17240100800001 meters Centerline goodness [0,1] 0.9190906051487797 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.05 [[ 9.93585758e-01 4.23450614e-02 -1.04853406e-01 5.91080810e+00] [-4.28348501e-02 9.99079229e-01 -2.42267435e-03 -6.21576518e-01] [ 1.04654272e-01 6.89851468e-03 9.94484738e-01 4.83653477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20240100800001 meters Centerline goodness [0,1] 0.9208416833667334 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.05 [[ 9.93573654e-01 4.21660767e-02 -1.05040072e-01 5.91112346e+00] [-4.26204522e-02 9.99089162e-01 -2.08385310e-03 -6.21634922e-01] [ 1.04856530e-01 6.54731692e-03 9.94465807e-01 4.92610393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23240100800001 meters Centerline goodness [0,1] 0.9198071733923536 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.05 [[ 9.93551273e-01 4.20573455e-02 -1.05295050e-01 5.91149061e+00] [-4.24945404e-02 9.99094871e-01 -1.91107302e-03 -6.21543359e-01] [ 1.05119370e-01 6.37321381e-03 9.94439189e-01 4.99083864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26240100800001 meters Centerline goodness [0,1] 0.9215537400917181 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.05 [[ 9.93530324e-01 4.17103244e-02 -1.05630228e-01 5.91245898e+00] [-4.21973422e-02 9.99106463e-01 -2.37890498e-03 -6.20328945e-01] [ 1.05436618e-01 6.82082910e-03 9.94402633e-01 4.96103022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29240100800001 meters Centerline goodness [0,1] 0.9224054316197866 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.05 [[ 9.93516270e-01 4.15812556e-02 -1.05813136e-01 5.91299151e+00] [-4.20953807e-02 9.99110137e-01 -2.62908389e-03 -6.19512684e-01] [ 1.05609656e-01 7.06628185e-03 9.94382556e-01 4.94080324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32240100800001 meters Centerline goodness [0,1] 0.9231165525183345 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.05 [[ 9.93508254e-01 4.14809072e-02 -1.05927726e-01 5.91327416e+00] [-4.20076423e-02 9.99113518e-01 -2.74530844e-03 -6.18917834e-01] [ 1.05719945e-01 7.17726061e-03 9.94370042e-01 4.94635206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35240100800002 meters Centerline goodness [0,1] 0.9224890829694323 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.05 [[ 9.93495865e-01 4.15811375e-02 -1.06004600e-01 5.91329221e+00] [-4.20995379e-02 9.99109890e-01 -2.65640387e-03 -6.18950088e-01] [ 1.05799788e-01 7.10187091e-03 9.94362091e-01 4.96312068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38240100800002 meters Centerline goodness [0,1] 0.9220461007925465 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.05 [[ 9.93488985e-01 4.17344478e-02 -1.06008836e-01 5.91334230e+00] [-4.22372267e-02 9.99104479e-01 -2.50116588e-03 -6.19231317e-01] [ 1.05809518e-01 6.96239998e-03 9.94362042e-01 4.95613339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41240100800002 meters Centerline goodness [0,1] 0.9203753432097276 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.05 [[ 9.93494707e-01 4.19964209e-02 -1.05851631e-01 5.91305527e+00] [-4.24603394e-02 9.99095878e-01 -2.13195959e-03 -6.19429099e-01] [ 1.05666394e-01 6.61258676e-03 9.94379649e-01 4.96655768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44240100800002 meters Centerline goodness [0,1] 0.9190250385091667 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.05 [[ 9.93503494e-01 4.23272116e-02 -1.05637188e-01 5.91219326e+00] [-4.27495674e-02 9.99084311e-01 -1.73605069e-03 -6.19580286e-01] [ 1.05466975e-01 6.24071651e-03 9.94403223e-01 5.02034112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47240100800002 meters Centerline goodness [0,1] 0.9169541795290842 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.05 [[ 9.93517019e-01 4.28549494e-02 -1.05296655e-01 5.91092019e+00] [-4.32097671e-02 9.99065428e-01 -1.08968882e-03 -6.20425400e-01] [ 1.05151549e-01 5.63246832e-03 9.94440258e-01 5.08929454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.502401008 meters Centerline goodness [0,1] 0.9193645808166224 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.05 [[ 9.93521159e-01 4.32472208e-02 -1.05097026e-01 5.90999125e+00] [-4.35289937e-02 9.99052089e-01 -3.87736721e-04 -6.21276924e-01] [ 1.04980634e-01 4.95999240e-03 9.94461897e-01 5.18949714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.53240100800001 meters Centerline goodness [0,1] 0.9175584980954108 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.05 [[ 9.93497957e-01 4.38977858e-02 -1.05046623e-01 5.90845295e+00] [-4.40685394e-02 9.99028267e-01 6.96119364e-04 -6.23451972e-01] [ 1.04975104e-01 3.93765807e-03 9.94467054e-01 5.38837401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56240100800001 meters Centerline goodness [0,1] 0.9229002327197993 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.05 [[ 9.93474767e-01 4.36909226e-02 -1.05351751e-01 5.90910516e+00] [-4.38402922e-02 9.99038148e-01 8.98650608e-04 -6.24461445e-01] [ 1.05289681e-01 3.72586486e-03 9.94434614e-01 5.43270274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59240100800001 meters Centerline goodness [0,1] 0.9220358483710791 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.63, Z:0.05 [[ 9.93440041e-01 4.32288792e-02 -1.05868547e-01 5.91066301e+00] [-4.33766879e-02 9.99058377e-01 9.07117564e-04 -6.25142817e-01] [ 1.05808072e-01 3.69106002e-03 9.94379720e-01 5.43714259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62240100800001 meters Centerline goodness [0,1] 0.9221018320103824 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.62, Z:0.05 [[ 9.93399812e-01 4.20951388e-02 -1.06699635e-01 5.91400891e+00] [-4.23197487e-02 9.99104105e-01 1.59283757e-04 -6.24766712e-01] [ 1.06610749e-01 4.35726930e-03 9.94291287e-01 5.31262314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65240100800001 meters Centerline goodness [0,1] 0.9219699489070956 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.62, Z:0.05 [[ 9.93358077e-01 3.94344406e-02 -1.08095584e-01 5.92067704e+00] [-3.98136687e-02 9.99206208e-01 -1.35150381e-03 -6.24820430e-01] [ 1.07956483e-01 5.64620901e-03 9.94139587e-01 5.04955502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68240100800001 meters Centerline goodness [0,1] 0.9204225565275297 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.63, Z:0.05 [[ 9.93303883e-01 3.81367613e-02 -1.09054958e-01 5.92457803e+00] [-3.85703614e-02 9.99254140e-01 -1.86853652e-03 -6.25264913e-01] [ 1.08902358e-01 6.06231373e-03 9.94033966e-01 4.93957369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71240100800001 meters Centerline goodness [0,1] 0.9133870186485832 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.62, Z:0.05 [[ 9.93261709e-01 3.55161389e-02 -1.10316735e-01 5.93118453e+00] [-3.61173749e-02 9.99341579e-01 -3.45596858e-03 -6.24057812e-01] [ 1.10121358e-01 7.41703213e-03 9.93890474e-01 4.65185821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74240100800002 meters Centerline goodness [0,1] 0.9089453974389949 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.62, Z:0.05 [[ 9.93240019e-01 3.49356314e-02 -1.10696736e-01 5.93265419e+00] [-3.55581918e-02 9.99360927e-01 -3.65425468e-03 -6.23306411e-01] [ 1.10498329e-01 7.56572774e-03 9.93847513e-01 4.64133942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77240100800002 meters Centerline goodness [0,1] 0.9116813412133639 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.62, Z:0.05 [[ 9.93219557e-01 3.46351389e-02 -1.10974404e-01 5.93318777e+00] [-3.52338406e-02 9.99373182e-01 -3.43782527e-03 -6.22964832e-01] [ 1.10785774e-01 7.32456974e-03 9.93817319e-01 4.73165701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80240100800002 meters Centerline goodness [0,1] 0.8916636506213054 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.62, Z:0.05 [[ 9.93196150e-01 3.46437492e-02 -1.11181020e-01 5.93181108e+00] [-3.50958652e-02 9.99381720e-01 -2.11140852e-03 -6.23313927e-01] [ 1.11039132e-01 5.99903690e-03 9.93797929e-01 5.14098929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83240100800002 meters Centerline goodness [0,1] 0.9045383411580594 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.62, Z:0.05 [[ 9.93180190e-01 3.51015308e-02 -1.11180005e-01 5.93011053e+00] [-3.54326989e-02 9.99371561e-01 -1.00362507e-03 -6.23692031e-01] [ 1.11074906e-01 4.93618817e-03 9.93799778e-01 5.43831500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86240100800002 meters Centerline goodness [0,1] 0.9046831790309006 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.62, Z:0.06 [[ 9.93185994e-01 3.57602847e-02 -1.10917915e-01 5.92784311e+00] [-3.59948287e-02 9.99351970e-01 -1.12234323e-04 -6.23537466e-01] [ 1.10842023e-01 4.10394090e-03 9.93829565e-01 5.68301150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89240100800001 meters Centerline goodness [0,1] 0.9138065757047544 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.62, Z:0.06 [[ 9.93203376e-01 3.65964356e-02 -1.10488710e-01 5.92528586e+00] [-3.67712261e-02 9.99323606e-01 4.55938198e-04 -6.22542287e-01] [ 1.10430662e-01 3.60996598e-03 9.93877275e-01 5.86018767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92240100800001 meters Centerline goodness [0,1] 0.9185416666666667 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.62, Z:0.06 [[ 9.93055330e-01 4.18143097e-02 -1.09966703e-01 5.92296486e+00] [-4.15553468e-02 9.99125398e-01 4.64668172e-03 -6.19448288e-01] [ 1.10064823e-01 -4.47075899e-05 9.93924410e-01 6.00840293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95240100800001 meters Centerline goodness [0,1] 0.9206763571640463 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.62, Z:0.06 [[ 9.92869288e-01 4.61807016e-02 -1.09899588e-01 5.92342654e+00] [-4.55310668e-02 9.98927482e-01 8.41471900e-03 -6.17679022e-01] [ 1.10170316e-01 -3.35087060e-03 9.93907075e-01 5.99366676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98240100800001 meters Centerline goodness [0,1] 0.9184708866733526 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.62, Z:0.06 [[ 0.99266718 0.05056878 -0.10979376 5.92388341] [-0.04956394 0.99870049 0.01186377 -0.61545035] [ 0.11025102 -0.00633496 0.99388358 0.05932378] [ 0. 0. 0. 1. ]] SLAMing on 86.01240100800001 meters Centerline goodness [0,1] 0.9164670133816397 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.61, Z:0.06 [[ 0.99234842 0.0569257 -0.10956311 5.92179502] [-0.05561382 0.99833975 0.01499498 -0.61102288] [ 0.11023481 -0.00878703 0.99386673 0.05839237] [ 0. 0. 0. 1. ]] SLAMing on 86.04240100800001 meters Centerline goodness [0,1] 0.918232044198895 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.61, Z:0.06 [[ 0.99228798 0.05793205 -0.10958305 5.92088102] [-0.056729 0.99829051 0.01406708 -0.60759158] [ 0.11021065 -0.00774206 0.9938781 0.05732949] [ 0. 0. 0. 1. ]] SLAMing on 86.07240100800001 meters Centerline goodness [0,1] 0.9189699221925445 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.60, Z:0.06 [[ 0.99225883 0.0591339 -0.10920434 5.91919868] [-0.05802765 0.9982266 0.01328319 -0.60425025] [ 0.10979616 -0.00684349 0.99393057 0.05609808] [ 0. 0. 0. 1. ]] SLAMing on 86.10240100800002 meters Centerline goodness [0,1] 0.9181266261925412 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.60, Z:0.05 [[ 9.92223241e-01 6.00628984e-02 -1.09020586e-01 5.91820890e+00] [-5.90660926e-02 9.98177644e-01 1.23526451e-02 -6.00774472e-01] [ 1.09563847e-01 -5.81716160e-03 9.93962738e-01 5.47539932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13240100800002 meters Centerline goodness [0,1] 0.9204168230234102 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.60, Z:0.05 [[ 9.92138978e-01 6.24306638e-02 -1.08455801e-01 5.91546830e+00] [-6.15732944e-02 9.98039279e-01 1.12395035e-02 -5.97023011e-01] [ 1.08944840e-01 -4.47316850e-03 9.94037732e-01 5.20028200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16240100800002 meters Centerline goodness [0,1] 0.9167845287920335 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.60, Z:0.05 [[ 9.92415918e-01 5.83844891e-02 -1.08175311e-01 5.91455142e+00] [-5.80126087e-02 9.98294137e-01 6.58428319e-03 -5.95367453e-01] [ 1.08375199e-01 -2.58815441e-04 9.94110029e-01 5.05723490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19240100800002 meters Centerline goodness [0,1] 0.9190748094258138 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.60, Z:0.05 [[ 9.92395445e-01 5.75364370e-02 -1.08815617e-01 5.91686555e+00] [-5.71564915e-02 9.98343349e-01 6.61005652e-03 -5.97133995e-01] [ 1.09015667e-01 -3.40271080e-04 9.94039973e-01 5.03659813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22240100800002 meters Centerline goodness [0,1] 0.9135262059369202 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.60, Z:0.05 [[ 9.92388552e-01 5.66151903e-02 -1.09360333e-01 5.91933597e+00] [-5.62368516e-02 9.98396015e-01 6.54325602e-03 -5.98695290e-01] [ 1.09555369e-01 -3.43371525e-04 9.93980635e-01 4.97895873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.252401008 meters Centerline goodness [0,1] 0.9146170473797979 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.60, Z:0.05 [[ 9.92652317e-01 5.10036605e-02 -1.09726949e-01 5.92187095e+00] [-5.11231694e-02 9.98690865e-01 1.72571306e-03 -5.99206411e-01] [ 1.09671319e-01 3.89655632e-03 9.93960270e-01 4.75008231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28240100800001 meters Centerline goodness [0,1] 0.9148469059188572 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.60, Z:0.05 [[ 9.92629753e-01 5.01553776e-02 -1.10320493e-01 5.92389179e+00] [-5.02070303e-02 9.98736157e-01 2.31142032e-03 -6.02034892e-01] [ 1.10296996e-01 3.24447978e-03 9.93893378e-01 4.82032751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31240100800001 meters Centerline goodness [0,1] 0.915749402425709 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.60, Z:0.05 [[ 9.92849471e-01 4.59369101e-02 -1.10180435e-01 5.92300427e+00] [-4.63835216e-02 9.98922590e-01 -1.49243959e-03 -6.02954671e-01] [ 1.09993168e-01 6.59232445e-03 9.93910481e-01 4.82392942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34240100800001 meters Centerline goodness [0,1] 0.9189525077674212 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.61, Z:0.05 [[ 9.93045164e-01 4.20157140e-02 -1.09981731e-01 5.92137638e+00] [-4.27829290e-02 9.99073689e-01 -4.62428044e-03 -6.05135294e-01] [ 1.09685561e-01 9.29745990e-03 9.93922852e-01 4.94164155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37240100800001 meters Centerline goodness [0,1] 0.9207794139521047 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.61, Z:0.05 [[ 0.99323005 0.03806937 -0.10974873 5.91978462] [-0.0391562 0.99920294 -0.00776402 -0.60737212] [ 0.10936568 0.0120088 0.99392904 0.05050499] [ 0. 0. 0. 1. ]] SLAMing on 86.40240100800001 meters Centerline goodness [0,1] 0.9252162421912542 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.61, Z:0.05 [[ 0.99338165 0.03350216 -0.10986582 5.91952416] [-0.03479756 0.9993454 -0.00989413 -0.61361108] [ 0.10946243 0.01365171 0.99389718 0.05268499] [ 0. 0. 0. 1. ]] SLAMing on 86.43240100800001 meters Centerline goodness [0,1] 0.9263916530969182 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.62, Z:0.05 [[ 0.99335908 0.0329384 -0.11023969 5.92092498] [-0.03413118 0.99937729 -0.00894982 -0.61755048] [ 0.10987625 0.01265299 0.99386473 0.05352899] [ 0. 0. 0. 1. ]] SLAMing on 86.46240100800001 meters Centerline goodness [0,1] 0.9270579015583085 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.62, Z:0.05 [[ 0.99333892 0.03285213 -0.11044695 5.92170222] [-0.03397344 0.99938839 -0.0082854 -0.61969676] [ 0.1101072 0.01198247 0.99384749 0.05389158] [ 0. 0. 0. 1. ]] SLAMing on 86.49240100800002 meters Centerline goodness [0,1] 0.9256766905999338 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.62, Z:0.05 [[ 9.93181555e-01 3.67689940e-02 -1.10627483e-01 5.92291256e+00] [-3.74409549e-02 9.99290827e-01 -4.00214619e-03 -6.19845769e-01] [ 1.10401874e-01 8.11685637e-03 9.93853884e-01 5.44751668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52240100800002 meters Centerline goodness [0,1] 0.925850258382406 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.62, Z:0.05 [[ 9.93184817e-01 3.65143702e-02 -1.10682521e-01 5.92354778e+00] [-3.72216771e-02 9.99297651e-01 -4.33022425e-03 -6.18809457e-01] [ 1.10446668e-01 8.42050203e-03 9.93846381e-01 5.39596567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55240100800002 meters Centerline goodness [0,1] 0.9251523063533508 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.62, Z:0.05 [[ 9.93189069e-01 3.65687850e-02 -1.10626381e-01 5.92341750e+00] [-3.72841463e-02 9.99295000e-01 -4.40403610e-03 -6.18054646e-01] [ 1.10387340e-01 8.49865071e-03 9.93852307e-01 5.39460170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58240100800002 meters Centerline goodness [0,1] 0.9237849668695469 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.62, Z:0.05 [[ 9.93156604e-01 3.63967723e-02 -1.10974027e-01 5.92417987e+00] [-3.71508916e-02 9.99298451e-01 -4.73457813e-03 -6.16834424e-01] [ 1.10723850e-01 8.82496159e-03 9.93812029e-01 5.39543625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61240100800002 meters Centerline goodness [0,1] 0.9225926370068354 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.62, Z:0.05 [[ 9.93124783e-01 3.61830842e-02 -1.11328117e-01 5.92530527e+00] [-3.69782735e-02 9.99303129e-01 -5.08560247e-03 -6.16114431e-01] [ 1.11066523e-01 9.16735940e-03 9.93770691e-01 5.34764616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64240100800001 meters Centerline goodness [0,1] 0.9180762358546755 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.61, Z:0.05 [[ 9.92880379e-01 3.86320075e-02 -1.12677068e-01 5.93104812e+00] [-3.91681020e-02 9.99229389e-01 -2.54712658e-03 -6.14313328e-01] [ 1.12491838e-01 6.94233892e-03 9.93628397e-01 5.16140436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.67240100800001 meters Centerline goodness [0,1] 0.9164977947311956 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.61, Z:0.05 [[ 9.92875494e-01 3.83245941e-02 -1.12824990e-01 5.93224394e+00] [-3.89838804e-02 9.99233202e-01 -3.64221315e-03 -6.10990582e-01] [ 1.12598889e-01 8.01462008e-03 9.93608200e-01 5.00030707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70240100800001 meters Centerline goodness [0,1] 0.9160228218233686 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.61, Z:0.05 [[ 9.92646460e-01 4.18286341e-02 -1.13593002e-01 5.93525257e+00] [-4.20871376e-02 9.99113936e-01 1.22570533e-04 -6.10638602e-01] [ 1.13497478e-01 4.65913508e-03 9.93527360e-01 4.99198249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73240100800001 meters Centerline goodness [0,1] 0.913571850975754 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.61, Z:0.05 [[ 9.92404951e-01 4.53272196e-02 -1.14358452e-01 5.93790097e+00] [-4.52316614e-02 9.98970631e-01 3.43163421e-03 -6.07868461e-01] [ 1.14396281e-01 1.76705198e-03 9.93433626e-01 5.00433748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76240100800001 meters Centerline goodness [0,1] 0.9125705671977064 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.61, Z:0.05 [[ 9.92406624e-01 4.57485035e-02 -1.14176039e-01 5.93665826e+00] [-4.56493016e-02 9.98951449e-01 3.48465876e-03 -6.06457831e-01] [ 1.14215738e-01 1.75385802e-03 9.93454422e-01 5.07913713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79240100800001 meters Centerline goodness [0,1] 0.9136272426817753 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.61, Z:0.05 [[ 9.92404891e-01 4.62723420e-02 -1.13979838e-01 5.93494906e+00] [-4.61335044e-02 9.98927837e-01 3.85695564e-03 -6.05442968e-01] [ 1.14036104e-01 1.43062773e-03 9.93475576e-01 5.22749770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82240100800001 meters Centerline goodness [0,1] 0.9183703529134508 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.60, Z:0.06 [[ 9.92393965e-01 4.75483025e-02 -1.13549007e-01 5.93068093e+00] [-4.71927887e-02 9.98868853e-01 5.81845386e-03 -6.04390456e-01] [ 1.13697224e-01 -4.15504205e-04 9.93515359e-01 5.75184200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85240100800002 meters Centerline goodness [0,1] 0.9176453231041605 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.60, Z:0.06 [[ 9.92399758e-01 4.81304378e-02 -1.13252736e-01 5.92840878e+00] [-4.76778645e-02 9.98840274e-01 6.70287190e-03 -6.04280035e-01] [ 1.13444006e-01 -1.25227986e-03 9.93543602e-01 5.98671800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88240100800002 meters Centerline goodness [0,1] 0.9170107349298101 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.60, Z:0.06 [[ 9.92411839e-01 4.84344713e-02 -1.13017006e-01 5.92681236e+00] [-4.79129712e-02 9.98824636e-01 7.32759860e-03 -6.03913347e-01] [ 1.13239078e-01 -1.85701503e-03 9.93566033e-01 6.17045729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91240100800002 meters Centerline goodness [0,1] 0.9177032364558156 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.60, Z:0.06 [[ 9.92415791e-01 4.85164164e-02 -1.12947134e-01 5.92606534e+00] [-4.79575299e-02 9.98819991e-01 7.66160748e-03 -6.03662683e-01] [ 1.13185569e-01 -2.18683470e-03 9.93571459e-01 6.27985180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94240100800002 meters Centerline goodness [0,1] 0.9177032364558156 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.60, Z:0.06 [[ 9.92415791e-01 4.85164164e-02 -1.12947134e-01 5.92606534e+00] [-4.79575299e-02 9.98819991e-01 7.66160748e-03 -6.03662683e-01] [ 1.13185569e-01 -2.18683470e-03 9.93571459e-01 6.27985180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97240100800002 meters Centerline goodness [0,1] 0.9161480607580003 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.60, Z:0.06 [[ 9.92662161e-01 4.40579601e-02 -1.12608748e-01 5.92491133e+00] [-4.40024339e-02 9.99026980e-01 2.97969428e-03 -6.00080395e-01] [ 1.12630456e-01 1.99722922e-03 9.93634939e-01 6.24032140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.002401008 meters Centerline goodness [0,1] 0.9173519615645356 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.60, Z:0.06 [[ 9.92651581e-01 4.38054210e-02 -1.12800376e-01 5.92524547e+00] [-4.37211788e-02 9.99038577e-01 3.22169335e-03 -6.00567709e-01] [ 1.12833055e-01 1.73374641e-03 9.93612448e-01 6.30655838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.03240100800001 meters Centerline goodness [0,1] 0.9139297181065716 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.60, Z:0.06 [[ 9.92625103e-01 4.33987802e-02 -1.13189884e-01 5.92624266e+00] [-4.32901001e-02 9.99056694e-01 3.41904963e-03 -6.01411964e-01] [ 1.13231494e-01 1.50616692e-03 9.93567492e-01 6.35632755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06240100800001 meters Centerline goodness [0,1] 0.9161379798754758 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.60, Z:0.06 [[ 9.92598120e-01 4.28089637e-02 -1.13650185e-01 5.92771721e+00] [-4.26956470e-02 9.99082230e-01 3.43207521e-03 -6.02363321e-01] [ 1.13692803e-01 1.44569676e-03 9.93514900e-01 6.36587068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09240100800001 meters Centerline goodness [0,1] 0.9140479773391166 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.60, Z:0.06 [[ 9.92559666e-01 4.20552495e-02 -1.14265771e-01 5.92979365e+00] [-4.19553958e-02 9.99114102e-01 3.27971556e-03 -6.03088452e-01] [ 1.14302472e-01 1.53875226e-03 9.93444803e-01 6.34587303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12240100800001 meters Centerline goodness [0,1] 0.8981230079093377 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.60, Z:0.06 [[ 9.92516778e-01 4.02940372e-02 -1.15268542e-01 5.93424626e+00] [-4.02820452e-02 9.99185384e-01 2.43437921e-03 -6.03803921e-01] [ 1.15272733e-01 2.22709042e-03 9.93331383e-01 6.18845600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15240100800001 meters Centerline goodness [0,1] 0.9036091289732854 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.60, Z:0.06 [[ 9.92490026e-01 3.95899128e-02 -1.15741898e-01 5.93655161e+00] [-3.96482881e-02 9.99212078e-01 1.79873136e-03 -6.03195959e-01] [ 1.15721914e-01 2.80374519e-03 9.93277694e-01 6.05718917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18240100800001 meters Centerline goodness [0,1] 0.8862514688601645 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.60, Z:0.06 [[ 9.92464471e-01 3.87794012e-02 -1.16234383e-01 5.93918601e+00] [-3.89575117e-02 9.99240594e-01 7.39932527e-04 -6.01340671e-01] [ 1.16174808e-01 3.79384559e-03 9.93221537e-01 5.86604503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21240100800001 meters Centerline goodness [0,1] 0.9004660160028137 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.60, Z:0.06 [[ 9.92245501e-01 4.17696903e-02 -1.17064762e-01 5.94362312e+00] [-4.16143022e-02 9.99126628e-01 3.77232020e-03 -6.00627094e-01] [ 1.17120090e-01 1.12850064e-03 9.93117118e-01 5.67873566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24240100800002 meters Centerline goodness [0,1] 0.8917452073181407 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.60, Z:0.06 [[ 9.92242080e-01 4.19642554e-02 -1.17024167e-01 5.94367642e+00] [-4.18635442e-02 9.99117823e-01 3.31953046e-03 -5.98901699e-01] [ 1.17060233e-01 1.60526858e-03 9.93123520e-01 5.60561474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27240100800002 meters Centerline goodness [0,1] 0.9066251019694674 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.60, Z:0.06 [[ 9.92246572e-01 4.28370131e-02 -1.16669325e-01 5.94195955e+00] [-4.27363531e-02 9.99080717e-01 3.36535637e-03 -5.97533922e-01] [ 1.16706235e-01 1.64675816e-03 9.93165114e-01 5.63180861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30240100800002 meters Centerline goodness [0,1] 0.9090696791896546 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.60, Z:0.06 [[ 9.92247910e-01 4.40547872e-02 -1.16203532e-01 5.93917455e+00] [-4.39089497e-02 9.99028250e-01 3.81583360e-03 -5.96303008e-01] [ 1.16258717e-01 1.31612213e-03 9.93218092e-01 5.76166103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33240100800002 meters Centerline goodness [0,1] 0.9173842215499185 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.59, Z:0.06 [[ 9.92172809e-01 4.75261227e-02 -1.15474605e-01 5.93296123e+00] [-4.72373739e-02 9.98869962e-01 5.23732791e-03 -5.94207690e-01] [ 1.15593025e-01 2.58382762e-04 9.93296625e-01 6.05449120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36240100800002 meters Centerline goodness [0,1] 0.9163936802435135 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.59, Z:0.06 [[ 9.92174583e-01 4.87329808e-02 -1.14955180e-01 5.93029217e+00] [-4.83981863e-02 9.98811838e-01 5.70333384e-03 -5.92807004e-01] [ 1.15096535e-01 -9.50806571e-05 9.93354307e-01 6.16623901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.39240100800001 meters Centerline goodness [0,1] 0.9166690803765387 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.59, Z:0.06 [[ 9.92198981e-01 4.98088462e-02 -1.14281495e-01 5.92775088e+00] [-4.94477576e-02 9.98758725e-01 5.99401515e-03 -5.91624907e-01] [ 1.14438196e-01 -2.96292047e-04 9.93430325e-01 6.21270157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42240100800001 meters Centerline goodness [0,1] 0.9193427500720669 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.59, Z:0.06 [[ 9.91985245e-01 5.45297174e-02 -1.13981503e-01 5.92711473e+00] [-5.36460033e-02 9.98501519e-01 1.08084373e-02 -5.92593613e-01] [ 1.14400085e-01 -4.60715825e-03 9.93424076e-01 6.33564510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45240100800001 meters Centerline goodness [0,1] 0.9161381457564576 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.59, Z:0.06 [[ 9.91999117e-01 5.45969818e-02 -1.13828474e-01 5.92700536e+00] [-5.37149144e-02 9.98497861e-01 1.08041668e-02 -5.92493732e-01] [ 1.14247362e-01 -4.60343718e-03 9.93441668e-01 6.30385429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48240100800001 meters Centerline goodness [0,1] 0.9165510062456628 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.59, Z:0.06 [[ 9.91973491e-01 5.47844199e-02 -1.13961666e-01 5.92679816e+00] [-5.38223632e-02 9.98484256e-01 1.15040721e-02 -5.94176657e-01] [ 1.14419173e-01 -5.27804843e-03 9.93418540e-01 6.40893244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51240100800001 meters Centerline goodness [0,1] 0.9194917718206664 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.60, Z:0.07 [[ 9.92183381e-01 5.09588231e-02 -1.13909335e-01 5.92500261e+00] [-5.03357957e-02 9.98697520e-01 8.34093397e-03 -5.96683273e-01] [ 1.14186014e-01 -2.54201906e-03 9.93456135e-01 6.54672927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54240100800001 meters Centerline goodness [0,1] 0.9182704906099869 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.60, Z:0.06 [[ 9.92408313e-01 4.68701157e-02 -1.13705460e-01 5.92417460e+00] [-4.67107722e-02 9.98900178e-01 4.06671985e-03 -5.96012468e-01] [ 1.13771012e-01 1.27542326e-03 9.93506180e-01 6.46557915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57240100800001 meters Centerline goodness [0,1] 0.9191350971257801 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.60, Z:0.06 [[ 9.92631620e-01 4.19085211e-02 -1.13693200e-01 5.92531682e+00] [-4.22138004e-02 9.99108562e-01 -2.77859524e-04 -5.97082453e-01] [ 1.13580205e-01 5.07523419e-03 9.93515868e-01 6.28763713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60240100800002 meters Centerline goodness [0,1] 0.9174325352689808 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.60, Z:0.06 [[ 9.92621251e-01 4.14782877e-02 -1.13941233e-01 5.92642018e+00] [-4.17270231e-02 9.99129028e-01 2.02134406e-04 -5.98837072e-01] [ 1.13850378e-01 4.55378557e-03 9.93487471e-01 6.31673857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63240100800002 meters Centerline goodness [0,1] 0.9156640647925348 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.60, Z:0.06 [[ 9.92619799e-01 4.07751477e-02 -1.14207366e-01 5.92800833e+00] [-4.10072165e-02 9.99158800e-01 3.17604090e-04 -5.99955776e-01] [ 1.14124245e-01 4.36806605e-03 9.93456882e-01 6.29173889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66240100800002 meters Centerline goodness [0,1] 0.9084796523577426 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.60, Z:0.06 [[ 9.92651173e-01 3.89941549e-02 -1.14556123e-01 5.93095909e+00] [-3.92514267e-02 9.99229366e-01 9.86302333e-06 -6.01344501e-01] [ 1.14468227e-01 4.48670074e-03 9.93416778e-01 6.22574035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69240100800002 meters Centerline goodness [0,1] 0.9084796523577426 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.60, Z:0.06 [[ 9.92651173e-01 3.89941549e-02 -1.14556123e-01 5.93095909e+00] [-3.92514267e-02 9.99229366e-01 9.86302333e-06 -6.01344501e-01] [ 1.14468227e-01 4.48670074e-03 9.93416778e-01 6.22574035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72240100800002 meters Centerline goodness [0,1] 0.9124642636093018 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.60, Z:0.06 [[ 9.92798084e-01 3.50906379e-02 -1.14545242e-01 5.92940657e+00] [-3.57444253e-02 9.99354269e-01 -3.65810138e-03 -6.01815373e-01] [ 1.14342911e-01 7.72610989e-03 9.93411297e-01 6.33308936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.752401008 meters Centerline goodness [0,1] 0.9081125827814569 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.60, Z:0.06 [[ 9.92779428e-01 3.52554027e-02 -1.14656286e-01 5.92914115e+00] [-3.58906824e-02 9.99349661e-01 -3.48045806e-03 -6.01760607e-01] [ 1.14459016e-01 7.57041950e-03 9.93399125e-01 6.39966403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78240100800001 meters Centerline goodness [0,1] 0.9070802984282387 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.60, Z:0.06 [[ 9.92775871e-01 3.52149718e-02 -1.14699501e-01 5.92917138e+00] [-3.58918674e-02 9.99348298e-01 -3.84097328e-03 -6.00044878e-01] [ 1.14489492e-01 7.93000488e-03 9.93392808e-01 6.39461643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81240100800001 meters Centerline goodness [0,1] 0.9136286000353377 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.60, Z:0.06 [[ 9.92772087e-01 3.50704443e-02 -1.14776512e-01 5.92959763e+00] [-3.58200634e-02 9.99348238e-01 -4.47454263e-03 -5.97507165e-01] [ 1.14544781e-01 8.55350297e-03 9.93381262e-01 6.33538296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84240100800001 meters Centerline goodness [0,1] 0.9155317341768444 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.59, Z:0.06 [[ 9.92576715e-01 3.83036385e-02 -1.15430913e-01 5.93340884e+00] [-3.87762795e-02 9.99246203e-01 -1.85103589e-03 -5.94693131e-01] [ 1.15273001e-01 6.31327648e-03 9.93313786e-01 6.10922653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87240100800001 meters Centerline goodness [0,1] 0.9166447387656054 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.59, Z:0.06 [[ 9.92599362e-01 3.82646980e-02 -1.15248943e-01 5.93386352e+00] [-3.88379944e-02 9.99241785e-01 -2.73220167e-03 -5.91366126e-01] [ 1.15057012e-01 7.18801942e-03 9.93332883e-01 5.94576951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90240100800001 meters Centerline goodness [0,1] 0.9145594425896356 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.59, Z:0.06 [[ 9.92403997e-01 4.21065042e-02 -1.15591298e-01 5.93551441e+00] [-4.22443538e-02 9.99106517e-01 1.25802876e-03 -5.90857119e-01] [ 1.15540990e-01 3.63460692e-03 9.93296063e-01 5.97158951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93240100800001 meters Centerline goodness [0,1] 0.9134156569015877 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.59, Z:0.06 [[ 9.92419275e-01 4.20801983e-02 -1.15469647e-01 5.93530384e+00] [-4.22692948e-02 9.99105924e-01 8.11577582e-04 -5.88259223e-01] [ 1.15400560e-01 4.07539532e-03 9.93310677e-01 5.94766839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96240100800001 meters Centerline goodness [0,1] 0.9123475831563018 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.59, Z:0.06 [[ 9.92616318e-01 3.81715877e-02 -1.15133723e-01 5.93276812e+00] [-3.87777232e-02 9.99243271e-01 -3.02864111e-03 -5.86887402e-01] [ 1.14930990e-01 7.47090225e-03 9.93345385e-01 6.09293039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99240100800002 meters Centerline goodness [0,1] 0.9123475831563018 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.59, Z:0.06 [[ 9.92616318e-01 3.81715877e-02 -1.15133723e-01 5.93276812e+00] [-3.87777232e-02 9.99243271e-01 -3.02864111e-03 -5.86887402e-01] [ 1.14930990e-01 7.47090225e-03 9.93345385e-01 6.09293039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02240100800002 meters Centerline goodness [0,1] 0.910007326007326 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.59, Z:0.06 [[ 0.99295594 0.03029136 -0.11454665 5.9281304 ] [-0.03159799 0.99945448 -0.00960812 -0.58855027] [ 0.11419311 0.01315988 0.99337141 0.06459982] [ 0. 0. 0. 1. ]] SLAMing on 88.05240100800002 meters Centerline goodness [0,1] 0.8984136310223266 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.59, Z:0.07 [[ 0.99291865 0.02952665 -0.11506835 5.92907245] [-0.03068779 0.99949429 -0.00833207 -0.59165382] [ 0.11476415 0.01180426 0.99332263 0.06713662] [ 0. 0. 0. 1. ]] SLAMing on 88.08240100800002 meters Centerline goodness [0,1] 0.85266522019586 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.59, Z:0.07 [[ 9.93988161e-01 1.77511499e-02 -1.08039036e-01 5.93236835e+00] [-1.81837340e-02 9.99830101e-01 -3.02004057e-03 -5.91355812e-01] [ 1.07967071e-01 4.96643765e-03 9.94142065e-01 6.51689766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11240100800002 meters Centerline goodness [0,1] 0.8334655268646631 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.59, Z:0.06 [[ 9.93931232e-01 1.58755484e-02 -1.08851614e-01 5.93692451e+00] [-1.64057598e-02 9.99857507e-01 -3.97707296e-03 -5.91248710e-01] [ 1.08772966e-01 5.73873047e-03 9.94050054e-01 6.30794175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14240100800001 meters Centerline goodness [0,1] 0.8135484059837818 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.59, Z:0.06 [[ 9.93845555e-01 1.40813486e-02 -1.09875969e-01 5.94149377e+00] [-1.47028950e-02 9.99880151e-01 -4.84861196e-03 -5.90698095e-01] [ 1.09794526e-01 6.43426628e-03 9.93933480e-01 6.15324137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.17240100800001 meters Centerline goodness [0,1] 0.8176017407668784 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.59, Z:0.06 [[ 0.99383981 0.00819305 -0.11052285 5.9439431 ] [-0.00933296 0.99990842 -0.00980039 -0.58957431] [ 0.11043243 0.01077152 0.99382526 0.06096003] [ 0. 0. 0. 1. ]] SLAMing on 88.20240100800001 meters Centerline goodness [0,1] 0.7713630618183955 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.59, Z:0.06 [[ 0.99375378 0.00719213 -0.11136287 5.94601112] [-0.00832946 0.99991777 -0.00975098 -0.59036869] [ 0.11128358 0.01061767 0.99373197 0.06193667] [ 0. 0. 0. 1. ]] SLAMing on 88.23240100800001 meters Centerline goodness [0,1] 0.7925767392770237 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.59, Z:0.06 [[ 0.99369253 0.00620139 -0.11196744 5.94796762] [-0.00740544 0.99991911 -0.01034084 -0.58916168] [ 0.11189426 0.01110479 0.99365807 0.06186277] [ 0. 0. 0. 1. ]] SLAMing on 88.26240100800001 meters Centerline goodness [0,1] 0.7821484807838106 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.59, Z:0.06 [[ 9.93642935e-01 5.15927725e-03 -1.12459322e-01 5.94988022e+00] [-6.48902658e-03 9.99913260e-01 -1.14614392e-02 -5.85657795e-01] [ 1.12390435e-01 1.21183296e-02 9.93590226e-01 6.12342376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29240100800001 meters Centerline goodness [0,1] 0.7844049959523534 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.58, Z:0.06 [[ 0.99353413 0.00830979 -0.11322935 5.95200048] [-0.009253 0.99992671 -0.00780711 -0.58402577] [ 0.11315617 0.00880434 0.9935382 0.06223442] [ 0. 0. 0. 1. ]] SLAMing on 88.32240100800001 meters Centerline goodness [0,1] 0.8103866457411899 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.57, Z:0.06 [[ 9.93452737e-01 1.18871292e-02 -1.13623746e-01 5.95204832e+00] [-1.25874041e-02 9.99905936e-01 -5.44762904e-03 -5.74876800e-01] [ 1.13548302e-01 6.84218999e-03 9.93508917e-01 6.34486076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35240100800002 meters Centerline goodness [0,1] 0.8108260343030952 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.57, Z:0.06 [[ 9.93369725e-01 1.60169003e-02 -1.13842209e-01 5.95178752e+00] [-1.63399355e-02 9.99864680e-01 -1.90495560e-03 -5.70293599e-01] [ 1.13796292e-01 3.75249958e-03 9.93497017e-01 6.48998904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38240100800002 meters Centerline goodness [0,1] 0.8119835289503907 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.56, Z:0.07 [[ 9.93301819e-01 2.00823286e-02 -1.13790146e-01 5.95116365e+00] [-2.00721069e-02 9.99797771e-01 1.23566987e-03 -5.64286345e-01] [ 1.13791950e-01 1.05661486e-03 9.93504039e-01 6.59081505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41240100800002 meters Centerline goodness [0,1] 0.8178275290215589 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.56, Z:0.07 [[ 9.93213652e-01 2.40552041e-02 -1.13789232e-01 5.95044917e+00] [-2.37149714e-02 9.99709327e-01 4.34292872e-03 -5.57788829e-01] [ 1.13860627e-01 -1.61494770e-03 9.93495420e-01 6.72982902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44240100800002 meters Centerline goodness [0,1] 0.8358816979441079 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.54, Z:0.07 [[ 9.93129745e-01 2.75484468e-02 -1.13729468e-01 5.94847575e+00] [-2.70285342e-02 9.99615982e-01 6.11122517e-03 -5.43928009e-01] [ 1.13854148e-01 -2.99529869e-03 9.93492960e-01 6.97561904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47240100800002 meters Centerline goodness [0,1] 0.8356610424907833 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.54, Z:0.07 [[ 9.93152609e-01 2.72768882e-02 -1.13595192e-01 5.94753279e+00] [-2.68917224e-02 9.99626235e-01 4.92194058e-03 -5.37024351e-01] [ 1.13686989e-01 -1.83346777e-03 9.93514925e-01 7.03602703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.502401008 meters Centerline goodness [0,1] 0.8322165567687339 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.53, Z:0.07 [[ 9.93184378e-01 2.69138282e-02 -1.13403872e-01 5.94652151e+00] [-2.66534054e-02 9.99637466e-01 3.81226130e-03 -5.30477592e-01] [ 1.13465361e-01 -7.63679008e-04 9.93541659e-01 7.10878090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.53240100800001 meters Centerline goodness [0,1] 0.8213685095648517 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.53, Z:0.07 [[ 9.93103014e-01 2.84943941e-02 -1.13729827e-01 5.94743223e+00] [-2.80515420e-02 9.99591387e-01 5.49266693e-03 -5.25423834e-01] [ 1.13839866e-01 -2.26448706e-03 9.93496531e-01 7.20005697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56240100800001 meters Centerline goodness [0,1] 0.8092553985535222 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.51, Z:0.07 [[ 9.93134490e-01 2.64228301e-02 -1.13954901e-01 5.94959248e+00] [-2.62564478e-02 9.99650855e-01 2.96100293e-03 -5.12113407e-01] [ 1.13993352e-01 5.13767793e-05 9.93481511e-01 7.13972275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59240100800001 meters Centerline goodness [0,1] 0.7974638236948407 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.51, Z:0.07 [[ 9.93138271e-01 2.54212678e-02 -1.14149611e-01 5.95061279e+00] [-2.54415590e-02 9.99675493e-01 1.27930809e-03 -5.05495956e-01] [ 1.14145090e-01 1.63361423e-03 9.93462747e-01 7.07670364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62240100800001 meters Centerline goodness [0,1] 0.8272979797979798 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.50, Z:0.07 [[ 9.93146046e-01 2.46614296e-02 -1.14248615e-01 5.95139530e+00] [-2.48614117e-02 9.99690854e-01 -3.25667745e-04 -4.98569843e-01] [ 1.14205264e-01 3.16381749e-03 9.93452137e-01 7.00676012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65240100800001 meters Centerline goodness [0,1] 0.828250599787292 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.49, Z:0.07 [[ 9.93034977e-01 2.74167519e-02 -1.14585584e-01 5.95460583e+00] [-2.74814787e-02 9.99621797e-01 1.01507781e-03 -4.85368027e-01] [ 1.14570077e-01 2.14097350e-03 9.93412862e-01 6.83405174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68240100800001 meters Centerline goodness [0,1] 0.8258466632581014 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.48, Z:0.07 [[ 9.92880751e-01 3.05314332e-02 -1.15133168e-01 5.95689608e+00] [-3.03713966e-02 9.99533737e-01 3.14437968e-03 -4.78775705e-01] [ 1.15175488e-01 3.74761065e-04 9.93345089e-01 6.75353675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71240100800001 meters Centerline goodness [0,1] 0.8238663830610075 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.47, Z:0.07 [[ 9.92724158e-01 3.37024581e-02 -1.15597967e-01 5.95891144e+00] [-3.33175225e-02 9.99430970e-01 5.26108738e-03 -4.71823227e-01] [ 1.15709500e-01 -1.37137067e-03 9.93282151e-01 6.68645296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74240100800002 meters Centerline goodness [0,1] 0.8291672652396687 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.47, Z:0.07 [[ 9.92546089e-01 3.65935459e-02 -1.16246174e-01 5.96138982e+00] [-3.59916823e-02 9.99325623e-01 7.27305237e-03 -4.65665745e-01] [ 1.16433927e-01 -3.03494433e-03 9.93193803e-01 6.62329463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77240100800002 meters Centerline goodness [0,1] 0.8248981418242622 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.45, Z:0.07 [[ 9.92565554e-01 3.53279244e-02 -1.16471277e-01 5.96042557e+00] [-3.50139468e-02 9.99375577e-01 4.74131773e-03 -4.52604051e-01] [ 1.16566050e-01 -6.27949580e-04 9.93182743e-01 6.81168921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80240100800002 meters Centerline goodness [0,1] 0.8021690962099125 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.45, Z:0.07 [[ 9.92563257e-01 3.47670317e-02 -1.16659481e-01 5.95951201e+00] [-3.45751932e-02 9.99395367e-01 3.66831721e-03 -4.47459286e-01] [ 1.16716482e-01 3.92487241e-04 9.93165197e-01 6.97533719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83240100800002 meters Centerline goodness [0,1] 0.8021690962099125 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.45, Z:0.07 [[ 9.92563257e-01 3.47670317e-02 -1.16659481e-01 5.95951201e+00] [-3.45751932e-02 9.99395367e-01 3.66831721e-03 -4.47459286e-01] [ 1.16716482e-01 3.92487241e-04 9.93165197e-01 6.97533719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86240100800002 meters Centerline goodness [0,1] 0.8326469227209625 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.44, Z:0.07 [[ 9.92591021e-01 3.41747697e-02 -1.16598244e-01 5.95843942e+00] [-3.41256380e-02 9.99414625e-01 2.41824232e-03 -4.41319394e-01] [ 1.16612633e-01 1.57866384e-03 9.93176219e-01 7.09682308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.89240100800001 meters Centerline goodness [0,1] 0.8093677454595112 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.43, Z:0.07 [[ 9.92626990e-01 3.35285132e-02 -1.16479597e-01 5.95764279e+00] [-3.36279360e-02 9.99433802e-01 1.11206215e-03 -4.33383420e-01] [ 1.16450933e-01 2.81310554e-03 9.93192462e-01 7.19638214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92240100800001 meters Centerline goodness [0,1] 0.8088414972786848 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.41, Z:0.07 [[ 9.93412439e-01 3.14051872e-02 -1.10206349e-01 5.94951704e+00] [-3.11458304e-02 9.99506546e-01 4.07449168e-03 -4.14376698e-01] [ 1.10279927e-01 -6.15182464e-04 9.93900377e-01 6.86305083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95240100800001 meters Centerline goodness [0,1] 0.7984376719111013 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.41, Z:0.07 [[ 9.93270112e-01 3.45858719e-02 -1.10536431e-01 5.95063677e+00] [-3.40977922e-02 9.99398623e-01 6.30339536e-03 -4.08442582e-01] [ 1.10687966e-01 -2.49192594e-03 9.93852084e-01 6.86560319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98240100800001 meters Centerline goodness [0,1] 0.7936856935490757 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.40, Z:0.07 [[ 9.93092509e-01 4.03720747e-02 -1.10169703e-01 5.94818845e+00] [-3.95500901e-02 9.99171115e-01 9.63706529e-03 -3.95754298e-01] [ 1.10467453e-01 -5.21327567e-03 9.93866069e-01 7.11687970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01240100800001 meters Centerline goodness [0,1] 0.8172749751674874 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.39, Z:0.07 [[ 0.99294955 0.04468639 -0.10979212 5.94658608] [-0.043595 0.99897329 0.01232213 -0.38894191] [ 0.11023003 -0.00744887 0.99387819 0.07244066] [ 0. 0. 0. 1. ]] SLAMing on 89.04240100800001 meters Centerline goodness [0,1] 0.8007548586204021 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.38, Z:0.07 [[ 9.93195130e-01 5.14506494e-02 -1.04480928e-01 5.95777212e+00] [-5.09595878e-02 9.98673553e-01 7.36582640e-03 -3.81692774e-01] [ 1.04721316e-01 -1.99139789e-03 9.94499613e-01 6.99085478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07240100800001 meters Centerline goodness [0,1] 0.8556771973725368 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.37, Z:0.07 [[ 9.92966410e-01 5.61388628e-02 -1.04240764e-01 5.95750297e+00] [-5.53952051e-02 9.98414250e-01 1.00177964e-02 -3.72473613e-01] [ 1.04637852e-01 -4.17289686e-03 9.94501637e-01 7.01845921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10240100800002 meters Centerline goodness [0,1] 0.8776823143651683 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.36, Z:0.07 [[ 9.92629339e-01 6.98237604e-02 -9.90537161e-02 5.97022048e+00] [-6.92294991e-02 9.97556207e-01 9.42815376e-03 -3.56884947e-01] [ 9.94699584e-02 -2.50122288e-03 9.95037422e-01 6.58434382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13240100800002 meters Centerline goodness [0,1] 0.8908712397210368 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.35, Z:0.06 [[ 9.92552371e-01 7.66728735e-02 -9.46628859e-02 5.98233343e+00] [-7.66831812e-02 9.97049246e-01 3.53419846e-03 -3.50258136e-01] [ 9.46545361e-02 3.75117418e-03 9.95503113e-01 6.22300254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16240100800002 meters Centerline goodness [0,1] 0.8913984956173978 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.34, Z:0.06 [[ 9.92401265e-01 8.30975169e-02 -9.07443259e-02 5.99482160e+00] [-8.37107585e-02 9.96485680e-01 -2.96632279e-03 -3.44660094e-01] [ 9.01789272e-02 1.05400588e-02 9.95869805e-01 5.83559658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19240100800002 meters Centerline goodness [0,1] 0.9098427078355186 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.34, Z:0.06 [[ 9.92041784e-01 8.73495232e-02 -9.06816440e-02 5.99554067e+00] [-8.77428824e-02 9.96143093e-01 -3.52676785e-04 -3.39920058e-01] [ 9.03010872e-02 8.30653893e-03 9.95879870e-01 5.81622363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22240100800002 meters Centerline goodness [0,1] 0.9155181374077539 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.34, Z:0.06 [[ 9.91667387e-01 9.14791923e-02 -9.07047430e-02 5.99642010e+00] [-9.16280631e-02 9.95790086e-01 2.53030726e-03 -3.36505616e-01] [ 9.05543543e-02 5.80187672e-03 9.95874614e-01 5.80643264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.252401008 meters Centerline goodness [0,1] 0.9197514129006694 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.33, Z:0.06 [[ 9.91248134e-01 9.59526397e-02 -9.06654767e-02 5.99704498e+00] [-9.58928013e-02 9.95378978e-01 5.02595019e-03 -3.29374960e-01] [ 9.07287628e-02 3.71220280e-03 9.95868722e-01 5.81473883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28240100800001 meters Centerline goodness [0,1] 0.92243068584532 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.32, Z:0.06 [[ 9.91249309e-01 9.59004304e-02 -9.07078533e-02 5.99780352e+00] [-9.59236799e-02 9.95380193e-01 4.11328701e-03 -3.24760062e-01] [ 9.06832665e-02 4.62373818e-03 9.95869051e-01 5.74546187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31240100800001 meters Centerline goodness [0,1] 0.9201153359470616 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.32, Z:0.06 [[ 9.90925449e-01 9.90715644e-02 -9.08382114e-02 6.00000156e+00] [-9.88484565e-02 9.95078138e-01 6.96289239e-03 -3.22725116e-01] [ 9.10809429e-02 2.07950972e-03 9.95841321e-01 5.63168132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34240100800001 meters Centerline goodness [0,1] 0.9149148940602929 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.32, Z:0.06 [[ 9.90935874e-01 9.90113931e-02 -9.07900797e-02 5.99973048e+00] [-9.88301906e-02 9.95083080e-01 6.50049862e-03 -3.19238090e-01] [ 9.09872956e-02 2.53122361e-03 9.95848836e-01 5.66987457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37240100800001 meters Centerline goodness [0,1] 0.9190775506805977 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.32, Z:0.06 [[ 9.91302946e-01 9.48132954e-02 -9.12628533e-02 5.99970518e+00] [-9.50135815e-02 9.95473638e-01 2.15742715e-03 -3.17953475e-01] [ 9.10543174e-02 6.53254666e-03 9.95824501e-01 5.68029943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40240100800001 meters Centerline goodness [0,1] 0.9076160526480205 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.32, Z:0.06 [[ 9.91663042e-01 9.07487298e-02 -9.14826718e-02 5.99935639e+00] [-9.12997408e-02 9.95821743e-01 -1.84756732e-03 -3.17705135e-01] [ 9.09327693e-02 1.01845085e-02 9.95804954e-01 5.67456507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43240100800001 meters Centerline goodness [0,1] 0.9074778200253486 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.32, Z:0.06 [[ 0.99203096 0.08621908 -0.09187411 5.99977519] [-0.08713681 0.99617818 -0.00601749 -0.31769347] [ 0.09100416 0.01397516 0.99575245 0.05627014] [ 0. 0. 0. 1. ]] SLAMing on 89.46240100800001 meters Centerline goodness [0,1] 0.899522520101697 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.32, Z:0.06 [[ 0.99205761 0.08579099 -0.09198693 6.00045772] [-0.08672791 0.99621256 -0.00622944 -0.31735777] [ 0.09110411 0.0141578 0.99574073 0.05582426] [ 0. 0. 0. 1. ]] SLAMing on 89.49240100800002 meters Centerline goodness [0,1] 0.9012245576831119 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.32, Z:0.06 [[ 0.99208943 0.08546931 -0.09194321 6.00047162] [-0.08642372 0.99623764 -0.00644224 -0.31644636] [ 0.09104667 0.01433735 0.99574341 0.05580608] [ 0. 0. 0. 1. ]] SLAMing on 89.52240100800002 meters Centerline goodness [0,1] 0.8997258453102932 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.32, Z:0.06 [[ 0.99211528 0.08516876 -0.09194323 6.00022232] [-0.08612661 0.99626304 -0.00649358 -0.31616036] [ 0.09104659 0.01436114 0.99574308 0.056259 ] [ 0. 0. 0. 1. ]] SLAMing on 89.55240100800002 meters Centerline goodness [0,1] 0.8914896691229591 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.32, Z:0.06 [[ 0.99213228 0.08463937 -0.09224817 6.00074924] [-0.08561672 0.99630574 -0.00668222 -0.31650899] [ 0.0913418 0.01452763 0.99571362 0.05646058] [ 0. 0. 0. 1. ]] SLAMing on 89.58240100800002 meters Centerline goodness [0,1] 0.8853096535374121 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.32, Z:0.06 [[ 0.99221933 0.08335426 -0.09248172 6.00238014] [-0.0844277 0.99639948 -0.00774913 -0.31583658] [ 0.09150282 0.01549686 0.99568423 0.0552773 ] [ 0. 0. 0. 1. ]] SLAMing on 89.61240100800002 meters Centerline goodness [0,1] 0.8804474142940151 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.31, Z:0.05 [[ 0.99223652 0.08291469 -0.09269223 6.00370665] [-0.08406065 0.99642421 -0.00852113 -0.31392997] [ 0.09165425 0.01624674 0.99565835 0.05423856] [ 0. 0. 0. 1. ]] SLAMing on 89.64240100800001 meters Centerline goodness [0,1] 0.8880261713978094 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.31, Z:0.05 [[ 0.99224192 0.08271678 -0.09281111 6.00418836] [-0.08392402 0.99642993 -0.00917404 -0.31174082] [ 0.09172092 0.01689195 0.99564147 0.05400334] [ 0. 0. 0. 1. ]] SLAMing on 89.67240100800001 meters Centerline goodness [0,1] 0.9024410494852209 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.31, Z:0.06 [[ 0.99220365 0.08350336 -0.0925154 6.00226511] [-0.08466565 0.9963714 -0.0087035 -0.31092953] [ 0.09145293 0.01646852 0.99567321 0.05559464] [ 0. 0. 0. 1. ]] SLAMing on 89.70240100800001 meters Centerline goodness [0,1] 0.9052999563018915 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.31, Z:0.06 [[ 0.99216471 0.08422971 -0.09227429 6.00041913] [-0.08533576 0.99631932 -0.00810014 -0.31121362] [ 0.09125238 0.01591097 0.99570068 0.05721311] [ 0. 0. 0. 1. ]] SLAMing on 89.73240100800001 meters Centerline goodness [0,1] 0.9052579055697624 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.31, Z:0.06 [[ 0.99212063 0.08512159 -0.09192919 5.99826436] [-0.08616125 0.99625377 -0.00739313 -0.31098152] [ 0.09095549 0.01525561 0.9957381 0.05900247] [ 0. 0. 0. 1. ]] SLAMing on 89.76240100800001 meters Centerline goodness [0,1] 0.9068560275736057 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.31, Z:0.06 [[ 0.99213699 0.0849641 -0.09189828 5.99868248] [-0.0860262 0.99626349 -0.00765132 -0.30986822] [ 0.09090481 0.01549681 0.995739 0.05848737] [ 0. 0. 0. 1. ]] SLAMing on 89.79240100800001 meters Centerline goodness [0,1] 0.8971237096237096 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.31, Z:0.06 [[ 0.99217649 0.08427373 -0.09210725 6.0003846 ] [-0.08536453 0.99631798 -0.00796087 -0.30984872] [ 0.09109721 0.01576128 0.99571727 0.05705045] [ 0. 0. 0. 1. ]] SLAMing on 89.82240100800001 meters Centerline goodness [0,1] 0.8957153564290473 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.31, Z:0.06 [[ 0.99216435 0.08429287 -0.09222045 6.00071917] [-0.08535179 0.99632195 -0.00759233 -0.31154122] [ 0.09124128 0.01540402 0.99570967 0.05689624] [ 0. 0. 0. 1. ]] SLAMing on 89.85240100800002 meters Centerline goodness [0,1] 0.8962591753134682 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.31, Z:0.06 [[ 0.99214154 0.08450844 -0.09226857 6.00096161] [-0.08553056 0.99630973 -0.00717303 -0.31307104] [ 0.09132189 0.01500844 0.99570832 0.0566818 ] [ 0. 0. 0. 1. ]] SLAMing on 89.88240100800002 meters Centerline goodness [0,1] 0.8999023133040966 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.31, Z:0.06 [[ 0.99210817 0.08478751 -0.09237134 6.00139084] [-0.08579559 0.99628824 -0.00699032 -0.31339559] [ 0.09143579 0.01486021 0.99570009 0.05637188] [ 0. 0. 0. 1. ]] SLAMing on 89.91240100800002 meters Centerline goodness [0,1] 0.8940196506096675 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.31, Z:0.06 [[ 0.99206004 0.08536352 -0.09235773 6.00135035] [-0.08634746 0.99624253 -0.00670326 -0.31353909] [ 0.09143848 0.0146249 0.99570333 0.05630427] [ 0. 0. 0. 1. ]] SLAMing on 89.94240100800002 meters Centerline goodness [0,1] 0.9088301918161226 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.32, Z:0.06 [[ 9.91593568e-01 9.08906145e-02 -9.20928489e-02 6.00094622e+00] [-9.14310113e-02 9.95810034e-01 -1.65720468e-03 -3.16354792e-01] [ 9.15563587e-02 1.00634158e-02 9.95749045e-01 5.67821026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97240100800002 meters Centerline goodness [0,1] 0.9105581568806199 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.32, Z:0.06 [[ 9.91211859e-01 9.48535958e-02 -9.22054602e-02 6.00284651e+00] [-9.50608271e-02 9.95469140e-01 2.15180621e-03 -3.18194604e-01] [ 9.19917967e-02 6.63223148e-03 9.95737678e-01 5.56696491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.002401008 meters Centerline goodness [0,1] 0.9177065627461548 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.32, Z:0.05 [[ 9.90822320e-01 9.88098002e-02 -9.22374825e-02 6.00514281e+00] [-9.86918672e-02 9.95100844e-01 5.85023199e-03 -3.19052508e-01] [ 9.23636570e-02 3.30654895e-03 9.95719851e-01 5.39777280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.03240100800001 meters Centerline goodness [0,1] 0.916371883973532 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.32, Z:0.05 [[ 9.90257774e-01 1.04746849e-01 -9.17476905e-02 6.00569190e+00] [-1.04217826e-01 9.94498522e-01 1.05514857e-02 -3.17586364e-01] [ 9.23481775e-02 -8.86945885e-04 9.95726382e-01 5.29643664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06240100800001 meters Centerline goodness [0,1] 0.923643782005912 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.32, Z:0.05 [[ 9.90128055e-01 1.10104580e-01 -8.67376279e-02 6.01396242e+00] [-1.10198665e-01 9.93902628e-01 3.71743181e-03 -3.18235890e-01] [ 8.66180626e-02 5.87763730e-03 9.96224254e-01 5.06641184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09240100800001 meters Centerline goodness [0,1] 0.9261059086074207 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.32, Z:0.05 [[ 9.90000161e-01 1.15555200e-01 -8.09115322e-02 6.02134881e+00] [-1.16120592e-01 9.93232455e-01 -2.30165044e-03 -3.20579593e-01] [ 8.00979921e-02 1.16741294e-02 9.96718629e-01 4.94966538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12240100800001 meters Centerline goodness [0,1] 0.9274560765152303 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.32, Z:0.05 [[ 0.98990081 0.12024655 -0.07508099 6.02895161] [-0.12123803 0.99258469 -0.00877371 -0.32407025] [ 0.07346923 0.01778778 0.99713884 0.04825655] [ 0. 0. 0. 1. ]] SLAMing on 90.15240100800001 meters Centerline goodness [0,1] 0.929357302997592 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.33, Z:0.05 [[ 0.98961946 0.12297871 -0.07436103 6.02625394] [-0.12377832 0.99229037 -0.00622431 -0.32959819] [ 0.07302228 0.01536399 0.99721196 0.04917082] [ 0. 0. 0. 1. ]] SLAMing on 90.18240100800001 meters Centerline goodness [0,1] 0.9303056150789523 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.33, Z:0.05 [[ 9.89551365e-01 1.23641564e-01 -7.41677750e-02 6.02658698e+00] [-1.24409077e-01 9.92214052e-01 -5.80136670e-03 -3.29656016e-01] [ 7.28730185e-02 1.49678948e-02 9.97228903e-01 4.82272061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21240100800001 meters Centerline goodness [0,1] 0.929281218946671 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.33, Z:0.05 [[ 9.89102802e-01 1.27142789e-01 -7.42317914e-02 6.02944288e+00] [-1.27655519e-01 9.91816161e-01 -2.18449555e-03 -3.31102320e-01] [ 7.33465475e-02 1.16367885e-02 9.97238622e-01 4.60484982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24240100800002 meters Centerline goodness [0,1] 0.9291910219873942 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.33, Z:0.05 [[ 9.89012041e-01 1.28020280e-01 -7.39323319e-02 6.02897059e+00] [-1.28475366e-01 9.91711694e-01 -1.41311686e-03 -3.32122407e-01] [ 7.31386505e-02 1.08960730e-02 9.97262259e-01 4.58187818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27240100800002 meters Centerline goodness [0,1] 0.9260899394997817 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.34, Z:0.05 [[ 9.88889082e-01 1.29084089e-01 -7.37270810e-02 6.02788016e+00] [-1.29443083e-01 9.91586849e-01 -9.17804795e-05 -3.35835933e-01] [ 7.30949566e-02 9.63422140e-03 9.97278451e-01 4.64132493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30240100800002 meters Centerline goodness [0,1] 0.9234043436734355 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.35, Z:0.05 [[ 0.98887107 0.13238783 -0.06787834 6.0299181 ] [-0.13333932 0.99102333 -0.0096639 -0.34766444] [ 0.06598964 0.01860721 0.9976468 0.04538922] [ 0. 0. 0. 1. ]] SLAMing on 90.33240100800002 meters Centerline goodness [0,1] 0.9232414251308031 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.35, Z:0.05 [[ 0.98876796 0.1332994 -0.06759576 6.02868493] [-0.13412875 0.99093272 -0.00786252 -0.3541656 ] [ 0.06593478 0.01684075 0.99768181 0.04583778] [ 0. 0. 0. 1. ]] SLAMing on 90.36240100800002 meters Centerline goodness [0,1] 0.9251785159888234 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.36, Z:0.05 [[ 0.9887104 0.13382075 -0.06740736 6.02837864] [-0.1345527 0.99088566 -0.00641749 -0.35900194] [ 0.06593419 0.01541488 0.9977049 0.04557595] [ 0. 0. 0. 1. ]] SLAMing on 90.39240100800001 meters Centerline goodness [0,1] 0.9226850030031274 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.36, Z:0.04 [[ 9.88699190e-01 1.34027951e-01 -6.71596668e-02 6.02844859e+00] [-1.34681016e-01 9.90874982e-01 -5.27204570e-03 -3.63136437e-01] [ 6.58402321e-02 1.42575995e-02 9.97728312e-01 4.47563684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42240100800001 meters Centerline goodness [0,1] 0.9239191523906664 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.37, Z:0.04 [[ 0.98910718 0.13105495 -0.06701937 6.02802886] [-0.13175221 0.99126408 -0.00607278 -0.37279718] [ 0.06563803 0.01483658 0.99773319 0.04361256] [ 0. 0. 0. 1. ]] SLAMing on 90.45240100800001 meters Centerline goodness [0,1] 0.9234650086876426 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.38, Z:0.04 [[ 0.98950749 0.12790537 -0.06719479 6.02633027] [-0.12871137 0.99165152 -0.00778793 -0.38077705] [ 0.0656377 0.01635495 0.99770948 0.04438357] [ 0. 0. 0. 1. ]] SLAMing on 90.48240100800001 meters Centerline goodness [0,1] 0.9257919891722709 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.39, Z:0.05 [[ 0.99032872 0.12115713 -0.06760154 6.02407479] [-0.12231125 0.99240417 -0.01318769 -0.3890055 ] [ 0.06549027 0.02132857 0.99762524 0.04505972] [ 0. 0. 0. 1. ]] SLAMing on 90.51240100800001 meters Centerline goodness [0,1] 0.9221999093088036 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.40, Z:0.05 [[ 0.99111624 0.11432569 -0.06795763 6.02217834] [-0.11582886 0.99309514 -0.01859371 -0.39756644] [ 0.06536266 0.02629999 0.99751493 0.04529047] [ 0. 0. 0. 1. ]] SLAMing on 90.54240100800001 meters Centerline goodness [0,1] 0.9197287598247507 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.41, Z:0.04 [[ 0.99153275 0.1101447 -0.06878188 6.02330863] [-0.11181032 0.99351095 -0.02084316 -0.40693703] [ 0.06603978 0.0283572 0.99741396 0.04427066] [ 0. 0. 0. 1. ]] SLAMing on 90.57240100800001 meters Centerline goodness [0,1] 0.9114634803701375 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.42, Z:0.04 [[ 0.99264107 0.09971024 -0.06871376 6.03213056] [-0.10081006 0.99482437 -0.01271994 -0.42235317] [ 0.06708981 0.01955337 0.99755532 0.0387288 ] [ 0. 0. 0. 1. ]] SLAMing on 90.60240100800002 meters Centerline goodness [0,1] 0.9126668174621126 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.43, Z:0.03 [[ 0.99366653 0.09308179 -0.06294923 6.02742735] [-0.09381535 0.99555078 -0.0087931 -0.42638193] [ 0.06185067 0.01464302 0.99797799 0.0310934 ] [ 0. 0. 0. 1. ]] SLAMing on 90.63240100800002 meters Centerline goodness [0,1] 0.9104242700729928 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.43, Z:0.03 [[ 0.9940253 0.08869549 -0.06361451 6.02929076] [-0.08962844 0.99590347 -0.01195942 -0.43118085] [ 0.06229317 0.01758963 0.99790288 0.02939315] [ 0. 0. 0. 1. ]] SLAMing on 90.66240100800002 meters Centerline goodness [0,1] 0.9104690811906737 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.44, Z:0.03 [[ 0.99430896 0.085222 -0.06392889 6.0287087 ] [-0.08628334 0.99617193 -0.01402392 -0.43875189] [ 0.06248902 0.0194601 0.99785591 0.02976193] [ 0. 0. 0. 1. ]] SLAMing on 90.69240100800002 meters Centerline goodness [0,1] 0.9162665913583733 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.46, Z:0.03 [[ 0.99545554 0.07768217 -0.05507949 6.03033131] [-0.07870106 0.99676047 -0.01657404 -0.45684133] [ 0.05361355 0.02083354 0.99834441 0.03019009] [ 0. 0. 0. 1. ]] SLAMing on 90.72240100800002 meters Centerline goodness [0,1] 0.9141152419891604 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.46, Z:0.03 [[ 0.99540808 0.07830887 -0.0550498 6.02930993] [-0.07922075 0.99675048 -0.01457904 -0.46421961] [ 0.05372924 0.01887318 0.99837717 0.03148998] [ 0. 0. 0. 1. ]] SLAMing on 90.75240100800002 meters Centerline goodness [0,1] 0.9141152419891604 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.46, Z:0.03 [[ 0.99540808 0.07830887 -0.0550498 6.02930993] [-0.07922075 0.99675048 -0.01457904 -0.46421961] [ 0.05372924 0.01887318 0.99837717 0.03148998] [ 0. 0. 0. 1. ]] SLAMing on 90.78240100800001 meters Centerline goodness [0,1] 0.9166071683564186 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.47, Z:0.03 [[ 0.99536513 0.07890116 -0.05498064 6.02879244] [-0.0797399 0.99672792 -0.01322884 -0.46777554] [ 0.05375697 0.01755168 0.99839978 0.03201539] [ 0. 0. 0. 1. ]] SLAMing on 90.81240100800001 meters Centerline goodness [0,1] 0.9155788470700333 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.47, Z:0.03 [[ 0.99534938 0.07932792 -0.05465067 6.0284175 ] [-0.08013512 0.99670263 -0.01273726 -0.46832326] [ 0.05346005 0.01705746 0.99842429 0.0315652 ] [ 0. 0. 0. 1. ]] SLAMing on 90.84240100800001 meters Centerline goodness [0,1] 0.9086937840160413 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.47, Z:0.03 [[ 0.99501497 0.08375351 -0.05413463 6.02887068] [-0.08429024 0.99641146 -0.00770475 -0.47159681] [ 0.05329507 0.01222937 0.99850392 0.03077392] [ 0. 0. 0. 1. ]] SLAMing on 90.87240100800001 meters Centerline goodness [0,1] 0.9076366771234944 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.47, Z:0.03 [[ 0.99497516 0.08441615 -0.05383636 6.02799182] [-0.08490668 0.99636511 -0.00688625 -0.47423202] [ 0.05305936 0.01142271 0.99852603 0.03087771] [ 0. 0. 0. 1. ]] SLAMing on 90.90240100800001 meters Centerline goodness [0,1] 0.9079962506309035 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.48, Z:0.03 [[ 9.94923789e-01 8.50782270e-02 -5.37433618e-02 6.02718708e+00] [-8.55155218e-02 9.96319452e-01 -5.88602011e-03 -4.78597800e-01] [ 5.30447846e-02 1.04520331e-02 9.98537433e-01 3.13528560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93240100800001 meters Centerline goodness [0,1] 0.9111811787533349 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.48, Z:0.03 [[ 0.99515024 0.08253291 -0.05351925 6.0248648 ] [-0.08310107 0.99650509 -0.00847504 -0.48477525] [ 0.05263274 0.01288145 0.99853085 0.03166525] [ 0. 0. 0. 1. ]] SLAMing on 90.96240100800001 meters Centerline goodness [0,1] 0.9085034013605442 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.49, Z:0.03 [[ 0.99511711 0.08305817 -0.05332246 6.02402559] [-0.08357119 0.99647388 -0.00746072 -0.48777165] [ 0.05251477 0.01188051 0.99854947 0.0322239 ] [ 0. 0. 0. 1. ]] SLAMing on 90.99240100800002 meters Centerline goodness [0,1] 0.9086588843126264 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.49, Z:0.03 [[ 0.9951204 0.08329879 -0.0528839 6.02320632] [-0.08377429 0.99646131 -0.00683539 -0.48937451] [ 0.05212738 0.01123234 0.99857727 0.03223006] [ 0. 0. 0. 1. ]] SLAMing on 91.02240100800002 meters Centerline goodness [0,1] 0.9129809683943758 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.49, Z:0.03 [[ 0.9951218 0.08352732 -0.05249557 6.02231374] [-0.0839625 0.99645002 -0.00613621 -0.49074928] [ 0.05179668 0.01051393 0.9986023 0.03257676] [ 0. 0. 0. 1. ]] SLAMing on 91.05240100800002 meters Centerline goodness [0,1] 0.907435803821346 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.49, Z:0.03 [[ 9.95115337e-01 8.38508217e-02 -5.21009253e-02 6.02124663e+00] [-8.42391269e-02 9.96431481e-01 -5.29834598e-03 -4.92593669e-01] [ 5.14707315e-02 9.66140181e-03 9.98627769e-01 3.31303058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08240100800002 meters Centerline goodness [0,1] 0.9052794649224187 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.50, Z:0.03 [[ 0.99524999 0.08258322 -0.05155061 6.01971829] [-0.08301836 0.99652776 -0.0063539 -0.49658246] [ 0.05084688 0.01060337 0.99865017 0.03287611] [ 0. 0. 0. 1. ]] SLAMing on 91.11240100800002 meters Centerline goodness [0,1] 0.9067128198788478 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.50, Z:0.03 [[ 9.95223867e-01 8.29245550e-02 -5.15070159e-02 6.01958318e+00] [-8.33288916e-02 9.96505515e-01 -5.74922230e-03 -4.99524242e-01] [ 5.08502737e-02 1.00137858e-02 9.98656084e-01 3.27295656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14240100800001 meters Centerline goodness [0,1] 0.907922539587839 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.50, Z:0.03 [[ 9.95201210e-01 8.29644090e-02 -5.18792667e-02 6.02069613e+00] [-8.33559270e-02 9.96505070e-01 -5.42538866e-03 -5.03184967e-01] [ 5.12478381e-02 9.72379773e-03 9.98638627e-01 3.19600926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17240100800001 meters Centerline goodness [0,1] 0.9124728660894733 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.51, Z:0.03 [[ 9.95183937e-01 8.28436130e-02 -5.24010313e-02 6.02255953e+00] [-8.32325535e-02 9.96516161e-01 -5.28045207e-03 -5.07199846e-01] [ 5.17810228e-02 9.61649272e-03 9.98612161e-01 3.05314083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20240100800001 meters Centerline goodness [0,1] 0.9155749269374182 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.51, Z:0.03 [[ 9.95178038e-01 8.28111690e-02 -5.25640899e-02 6.02558416e+00] [-8.32065680e-02 9.96517824e-01 -5.37521175e-03 -5.11036794e-01] [ 5.19359249e-02 9.72297021e-03 9.98603086e-01 2.63620839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23240100800001 meters Centerline goodness [0,1] 0.9144140752453379 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.51, Z:0.02 [[ 9.94900502e-01 8.59137775e-02 -5.28376277e-02 6.02894899e+00] [-8.61240367e-02 9.96282953e-01 -1.71119330e-03 -5.12373969e-01] [ 5.24942127e-02 6.25305686e-03 9.98601651e-01 2.41656470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26240100800001 meters Centerline goodness [0,1] 0.9132564624312307 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.51, Z:0.02 [[ 9.94899676e-01 8.61341676e-02 -5.24932389e-02 6.02904733e+00] [-8.63461661e-02 9.96263605e-01 -1.77996832e-03 -5.11750630e-01] [ 5.21437874e-02 6.30347983e-03 9.98619693e-01 2.29172656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29240100800001 meters Centerline goodness [0,1] 0.9147707208797861 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.51, Z:0.02 [[ 9.94862069e-01 8.66958405e-02 -5.22809241e-02 6.02834335e+00] [-8.68668683e-02 9.96219424e-01 -1.00365640e-03 -5.14342403e-01] [ 5.19962593e-02 5.53997984e-03 9.98631913e-01 2.30595502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32240100800001 meters Centerline goodness [0,1] 0.9133974082621155 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.52, Z:0.02 [[ 9.95116272e-01 8.38640124e-02 -5.20618124e-02 6.02596012e+00] [-8.41879397e-02 9.96441636e-01 -4.05662048e-03 -5.17204540e-01] [ 5.15363530e-02 8.41978577e-03 9.98635625e-01 2.37499939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35240100800002 meters Centerline goodness [0,1] 0.9158237921651178 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.53, Z:0.03 [[ 0.99549693 0.08309751 -0.04561428 6.03240452] [-0.0837703 0.99639979 -0.01303823 -0.5286892 ] [ 0.04436661 0.01680064 0.99887404 0.02557486] [ 0. 0. 0. 1. ]] SLAMing on 91.38240100800002 meters Centerline goodness [0,1] 0.9181609432647901 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.53, Z:0.03 [[ 0.99541622 0.08432941 -0.04511209 6.02980455] [-0.08489491 0.99633174 -0.01076647 -0.53390448] [ 0.04403868 0.0145469 0.99892391 0.02795063] [ 0. 0. 0. 1. ]] SLAMing on 91.41240100800002 meters Centerline goodness [0,1] 0.9149690678953226 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.54, Z:0.03 [[ 9.95976747e-01 8.21679632e-02 -3.57595600e-02 6.01947968e+00] [-8.23021444e-02 9.96604783e-01 -2.29412260e-03 -5.37821035e-01] [ 3.54496451e-02 5.22798123e-03 9.99357789e-01 2.50523838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44240100800002 meters Centerline goodness [0,1] 0.9145438541990266 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.54, Z:0.02 [[ 9.95994272e-01 8.19410504e-02 -3.57920923e-02 6.02102637e+00] [-8.20764818e-02 9.96623313e-01 -2.32857808e-03 -5.39305925e-01] [ 3.54804275e-02 5.25693945e-03 9.99356545e-01 2.29720989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47240100800002 meters Centerline goodness [0,1] 0.9134115433856765 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.54, Z:0.02 [[ 9.95995875e-01 8.18672454e-02 -3.59161600e-02 6.02234754e+00] [-8.19930175e-02 9.96630815e-01 -2.04052292e-03 -5.42558823e-01] [ 3.56280998e-02 4.97722674e-03 9.99352723e-01 2.13621936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50240100800002 meters Centerline goodness [0,1] 0.9148307080433303 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.55, Z:0.02 [[ 9.95971526e-01 8.20343350e-02 -3.62089322e-02 6.02284361e+00] [-8.21368002e-02 9.96620152e-01 -1.34891823e-03 -5.47140974e-01] [ 3.59758939e-02 4.31756998e-03 9.99343331e-01 2.13254682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53240100800001 meters Centerline goodness [0,1] 0.9179653508424966 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.55, Z:0.02 [[ 9.96189923e-01 7.95869330e-02 -3.56589098e-02 6.01953525e+00] [-7.97941794e-02 9.96801540e-01 -4.42469888e-03 -5.49561634e-01] [ 3.51927080e-02 7.25321388e-03 9.99354224e-01 2.20716674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56240100800001 meters Centerline goodness [0,1] 0.9191647109024963 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.55, Z:0.02 [[ 0.99630829 0.07842695 -0.0349142 6.01498689] [-0.07870796 0.99687489 -0.0067462 -0.5529431 ] [ 0.034276 0.00946932 0.99936754 0.02298936] [ 0. 0. 0. 1. ]] SLAMing on 91.59240100800001 meters Centerline goodness [0,1] 0.9197245266964476 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.55, Z:0.02 [[ 0.99630409 0.07849807 -0.03487432 6.01568886] [-0.07878099 0.99686867 -0.00681179 -0.55309189] [ 0.03423041 0.00953405 0.99936849 0.02175615] [ 0. 0. 0. 1. ]] SLAMing on 91.62240100800001 meters Centerline goodness [0,1] 0.9178461211024795 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.55, Z:0.02 [[ 0.99630066 0.07858459 -0.03477736 6.01617553] [-0.07886116 0.99686342 -0.00665159 -0.55410649] [ 0.03414556 0.00936957 0.99937295 0.02072838] [ 0. 0. 0. 1. ]] SLAMing on 91.65240100800001 meters Centerline goodness [0,1] 0.9164015505948403 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.56, Z:0.02 [[ 9.96276070e-01 7.88840019e-02 -3.48038273e-02 6.01607035e+00] [-7.91187217e-02 9.96850482e-01 -5.41704150e-03 -5.58157232e-01] [ 3.42668941e-02 8.15050314e-03 9.99379482e-01 2.12930546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68240100800001 meters Centerline goodness [0,1] 0.9156453751048346 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.56, Z:0.02 [[ 0.99654672 0.07554661 -0.03445775 6.01413656] [-0.07587526 0.99708252 -0.00833026 -0.56171847] [ 0.0337279 0.01091598 0.99937144 0.02173719] [ 0. 0. 0. 1. ]] SLAMing on 91.71240100800001 meters Centerline goodness [0,1] 0.9213588227203962 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.57, Z:0.02 [[ 0.99709967 0.06768173 -0.03480559 6.01419932] [-0.06818766 0.99758037 -0.01355918 -0.57280211] [ 0.03380366 0.01589317 0.99930212 0.02206256] [ 0. 0. 0. 1. ]] SLAMing on 91.74240100800002 meters Centerline goodness [0,1] 0.9223282125228772 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.58, Z:0.02 [[ 0.99738833 0.06290506 -0.03548918 6.01672798] [-0.0635442 0.99783118 -0.01717747 -0.57742319] [ 0.03433166 0.01938774 0.99922242 0.02009697] [ 0. 0. 0. 1. ]] SLAMing on 91.77240100800002 meters Centerline goodness [0,1] 0.9247155922373411 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.58, Z:0.02 [[ 0.99766856 0.05774588 -0.03637113 6.02042236] [-0.05855081 0.99805356 -0.02146841 -0.58042801] [ 0.03506063 0.02354792 0.99910773 0.01717496] [ 0. 0. 0. 1. ]] SLAMing on 91.80240100800002 meters Centerline goodness [0,1] 0.9223985890652557 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.59, Z:0.02 [[ 0.99770608 0.05649565 -0.03729371 6.02438563] [-0.05730433 0.99813624 -0.02098262 -0.58512893] [ 0.03603878 0.02307158 0.99908403 0.01575892] [ 0. 0. 0. 1. ]] SLAMing on 91.83240100800002 meters Centerline goodness [0,1] 0.9220885807273241 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.59, Z:0.02 [[ 0.99766221 0.05746626 -0.03698311 6.02323869] [-0.05819642 0.99812475 -0.0189781 -0.59215144] [ 0.03582316 0.02108602 0.99913567 0.01652552] [ 0. 0. 0. 1. ]] SLAMing on 91.86240100800002 meters Centerline goodness [0,1] 0.9239904988123515 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.60, Z:0.02 [[ 0.99733684 0.06278645 -0.03710905 6.02159541] [-0.06324223 0.99793494 -0.01123758 -0.5985327 ] [ 0.03632685 0.01355452 0.99924803 0.02252884] [ 0. 0. 0. 1. ]] SLAMing on 91.89240100800001 meters Centerline goodness [0,1] 0.9250608685804881 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.60, Z:0.03 [[ 0.99722329 0.0651289 -0.03611002 6.01671557] [-0.06551409 0.99780558 -0.00958749 -0.6001666 ] [ 0.03540636 0.01192658 0.99930183 0.02520434] [ 0. 0. 0. 1. ]] SLAMing on 91.92240100800001 meters Centerline goodness [0,1] 0.9239102618783588 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.60, Z:0.03 [[ 0.99710707 0.06741543 -0.03510909 6.01197715] [-0.06774382 0.99766866 -0.00824796 -0.60082925] [ 0.0344712 0.01060252 0.99934945 0.02747026] [ 0. 0. 0. 1. ]] SLAMing on 91.95240100800001 meters Centerline goodness [0,1] 0.9256752930517017 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.60, Z:0.03 [[ 9.96765408e-01 7.22998297e-02 -3.50921189e-02 6.01117019e+00] [-7.24339461e-02 9.97369916e-01 -2.56401645e-03 -6.04161873e-01] [ 3.48144457e-02 5.09758355e-03 9.99380793e-01 3.00538725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98240100800001 meters Centerline goodness [0,1] 0.92411333465425 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.61, Z:0.03 [[ 9.96404492e-01 7.74545507e-02 -3.43348472e-02 6.00964710e+00] [-7.74040695e-02 9.96995875e-01 2.79905114e-03 -6.06878588e-01] [ 3.44485003e-02 -1.31330224e-04 9.99406466e-01 3.08957112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01240100800001 meters Centerline goodness [0,1] 0.9223339470329982 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.61, Z:0.03 [[ 9.96391409e-01 7.79052140e-02 -3.36888220e-02 6.00855146e+00] [-7.78505965e-02 9.96960726e-01 2.93192501e-03 -6.06783042e-01] [ 3.38148446e-02 -2.98650006e-04 9.99428070e-01 3.02414455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04240100800001 meters Centerline goodness [0,1] 0.9199024998582847 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.61, Z:0.03 [[ 9.96372960e-01 7.83117656e-02 -3.32895068e-02 6.00756319e+00] [-7.82408868e-02 9.96928588e-01 3.42852288e-03 -6.07885822e-01] [ 3.34557547e-02 -8.11486957e-04 9.99439870e-01 3.04127911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07240100800001 meters Centerline goodness [0,1] 0.9198614187539047 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.61, Z:0.03 [[ 9.96618802e-01 7.53797457e-02 -3.26933996e-02 6.00495711e+00] [-7.54343723e-02 9.97150672e-01 -4.38915098e-04 -6.07441666e-01] [ 3.25671600e-02 2.90363712e-03 9.99465332e-01 3.00628233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10240100800002 meters Centerline goodness [0,1] 0.9227540122222857 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.61, Z:0.03 [[ 9.96817631e-01 7.29156682e-02 -3.22167130e-02 6.00141635e+00] [-7.30592959e-02 9.97322132e-01 -3.30215504e-03 -6.10164386e-01] [ 3.18896621e-02 5.64537674e-03 9.99475452e-01 3.15226397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13240100800002 meters Centerline goodness [0,1] 0.92130837370639 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.61, Z:0.03 [[ 9.96771042e-01 7.35802925e-02 -3.21470216e-02 6.00026509e+00] [-7.36915944e-02 9.97278450e-01 -2.28970630e-03 -6.12727159e-01] [ 3.18910546e-02 4.65127820e-03 9.99480528e-01 3.29475798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16240100800002 meters Centerline goodness [0,1] 0.9231651705050621 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.61, Z:0.03 [[ 9.96734165e-01 7.41176888e-02 -3.20557826e-02 5.99931614e+00] [-7.42052821e-02 9.97241783e-01 -1.54991290e-03 -6.14802344e-01] [ 3.18524898e-02 3.92355953e-03 9.99484880e-01 3.39161230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19240100800002 meters Centerline goodness [0,1] 0.9218785994010597 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.62, Z:0.03 [[ 9.96713083e-01 7.44783705e-02 -3.18747978e-02 5.99879566e+00] [-7.45513727e-02 9.97216561e-01 -1.10632926e-03 -6.16301760e-01] [ 3.17036786e-02 3.47900278e-03 9.99491257e-01 3.39920910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22240100800002 meters Centerline goodness [0,1] 0.9233692210259659 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.62, Z:0.03 [[ 9.96705135e-01 7.45725617e-02 -3.19030740e-02 5.99917993e+00] [-7.46388929e-02 9.97210229e-01 -8.91652717e-04 -6.17444949e-01] [ 3.17475789e-02 3.26992497e-03 9.99490570e-01 3.34993321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25240100800002 meters Centerline goodness [0,1] 0.9223085780080599 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.62, Z:0.03 [[ 9.96716819e-01 7.44082104e-02 -3.19217946e-02 6.00025644e+00] [-7.44796187e-02 9.97221981e-01 -1.05212222e-03 -6.18410382e-01] [ 3.17548287e-02 3.42619100e-03 9.99489816e-01 3.19204208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28240100800001 meters Centerline goodness [0,1] 0.9214060830132 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.62, Z:0.03 [[ 9.96726680e-01 7.41432031e-02 -3.22290281e-02 6.00246274e+00] [-7.42112276e-02 9.97242123e-01 -9.17968549e-04 -6.22190059e-01] [ 3.20720833e-02 3.30671948e-03 9.99480088e-01 2.96609086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31240100800001 meters Centerline goodness [0,1] 0.9240084595996176 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.62, Z:0.03 [[ 9.96708384e-01 7.43170661e-02 -3.23940067e-02 6.00287975e+00] [-7.43721006e-02 9.97230437e-01 -4.95640707e-04 -6.24331350e-01] [ 3.22674549e-02 2.90321957e-03 9.99475054e-01 2.95442746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34240100800001 meters Centerline goodness [0,1] 0.9251576693861019 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.63, Z:0.03 [[ 9.96685399e-01 7.47036518e-02 -3.22114958e-02 6.00241253e+00] [-7.47502584e-02 9.97202256e-01 -2.43421812e-04 -6.25870761e-01] [ 3.21031918e-02 2.65043260e-03 9.99481045e-01 2.92673872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37240100800001 meters Centerline goodness [0,1] 0.925842499414931 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.63, Z:0.03 [[ 9.96962312e-01 7.09421163e-02 -3.21459784e-02 6.00158366e+00] [-7.10945669e-02 9.97463000e-01 -3.62308681e-03 -6.29323306e-01] [ 3.18073946e-02 5.89748542e-03 9.99476618e-01 2.90407913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40240100800001 meters Centerline goodness [0,1] 0.9261413456479803 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.63, Z:0.03 [[ 9.96976797e-01 7.05552193e-02 -3.25457714e-02 6.00313693e+00] [-7.06999178e-02 9.97492120e-01 -3.31540188e-03 -6.31591275e-01] [ 3.22302316e-02 5.60636211e-03 9.99464747e-01 2.85869538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43240100800001 meters Centerline goodness [0,1] 0.9258155904085984 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.63, Z:0.03 [[ 9.96986846e-01 7.02443189e-02 -3.29084131e-02 6.00469117e+00] [-7.03851470e-02 9.97514950e-01 -3.13924142e-03 -6.33665042e-01] [ 3.26061202e-02 5.44604590e-03 9.99453441e-01 2.78043151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46240100800001 meters Centerline goodness [0,1] 0.925791004436088 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.63, Z:0.03 [[ 0.99726455 0.06629932 -0.03267752 6.00427106] [-0.06658463 0.99775091 -0.00772052 -0.63340737] [ 0.03209216 0.00987522 0.99943613 0.02592387] [ 0. 0. 0. 1. ]] SLAMing on 92.49240100800002 meters Centerline goodness [0,1] 0.9266756899899958 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.64, Z:0.03 [[ 0.99726558 0.06598091 -0.03328488 6.00540966] [-0.06622865 0.99778398 -0.00639508 -0.63741557] [ 0.03278917 0.008582 0.99942544 0.02781354] [ 0. 0. 0. 1. ]] SLAMing on 92.52240100800002 meters Centerline goodness [0,1] 0.9271159411729963 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.64, Z:0.03 [[ 9.97243610e-01 6.63543377e-02 -3.32006736e-02 6.00443673e+00] [-6.65754454e-02 9.97765690e-01 -5.59795443e-03 -6.38791206e-01] [ 3.27550444e-02 7.79287392e-03 9.99433028e-01 2.92925706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55240100800002 meters Centerline goodness [0,1] 0.9276983633726953 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.64, Z:0.03 [[ 9.97224440e-01 6.66215420e-02 -3.32413436e-02 6.00384017e+00] [-6.68241255e-02 9.97752143e-01 -5.01979676e-03 -6.39509120e-01] [ 3.28321952e-02 7.22718772e-03 9.99434748e-01 3.05512080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58240100800002 meters Centerline goodness [0,1] 0.9260993785160967 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.64, Z:0.03 [[ 9.97222119e-01 6.66041754e-02 -3.33456099e-02 6.00397160e+00] [-6.68054517e-02 9.97753704e-01 -4.95751548e-03 -6.38940731e-01] [ 3.29405146e-02 7.17141263e-03 9.99431585e-01 3.09644326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61240100800002 meters Centerline goodness [0,1] 0.9271197905943943 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.64, Z:0.03 [[ 9.97217705e-01 6.67327370e-02 -3.32203415e-02 6.00376394e+00] [-6.69456690e-02 9.97742343e-01 -5.33796389e-03 -6.37166272e-01] [ 3.27891245e-02 7.54707009e-03 9.99433797e-01 3.05212264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64240100800001 meters Centerline goodness [0,1] 0.9271197905943943 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.64, Z:0.03 [[ 9.97217705e-01 6.67327370e-02 -3.32203415e-02 6.00376394e+00] [-6.69456690e-02 9.97742343e-01 -5.33796389e-03 -6.37166272e-01] [ 3.27891245e-02 7.54707009e-03 9.99433797e-01 3.05212264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.67240100800001 meters Centerline goodness [0,1] 0.9236314617278162 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.63, Z:0.03 [[ 9.97013578e-01 6.93784761e-02 -3.39197782e-02 6.00837769e+00] [-6.95148287e-02 9.97576831e-01 -2.85579216e-03 -6.34215144e-01] [ 3.36394543e-02 5.20519113e-03 9.99420479e-01 2.74968308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70240100800001 meters Centerline goodness [0,1] 0.9232369400251971 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.63, Z:0.03 [[ 9.97048861e-01 6.87320714e-02 -3.41975211e-02 6.01029537e+00] [-6.89060910e-02 9.97615390e-01 -3.93500571e-03 -6.31695505e-01] [ 3.38455123e-02 6.27981047e-03 9.99407347e-01 2.55564769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73240100800001 meters Centerline goodness [0,1] 0.9248195024991962 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.63, Z:0.03 [[ 9.97056131e-01 6.84391540e-02 -3.45710107e-02 6.01125240e+00] [-6.86203201e-02 9.97634505e-01 -4.07998922e-03 -6.31178493e-01] [ 3.42100022e-02 6.44025209e-03 9.99393916e-01 2.56242791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76240100800001 meters Centerline goodness [0,1] 0.9263413776944704 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.63, Z:0.03 [[ 0.99727156 0.06533308 -0.03436617 6.00897776] [-0.06564764 0.99780995 -0.00810472 -0.62969478] [ 0.0337614 0.01033867 0.99937645 0.02611473] [ 0. 0. 0. 1. ]] SLAMing on 92.79240100800001 meters Centerline goodness [0,1] 0.9221084833509825 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.63, Z:0.03 [[ 0.99747764 0.06224524 -0.03411587 6.00624622] [-0.06267635 0.99796514 -0.0117153 -0.62943706] [ 0.03331722 0.01382401 0.99934922 0.02749631] [ 0. 0. 0. 1. ]] SLAMing on 92.82240100800001 meters Centerline goodness [0,1] 0.927092841789111 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.63, Z:0.03 [[ 0.99746143 0.06210627 -0.03483557 6.00651238] [-0.06242842 0.99801546 -0.00823642 -0.63498512] [ 0.03425491 0.01039024 0.99935912 0.03396415] [ 0. 0. 0. 1. ]] SLAMing on 92.85240100800002 meters Centerline goodness [0,1] 0.9253515728647661 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.64, Z:0.03 [[ 0.9974894 0.06158251 -0.03496429 6.00781808] [-0.06190644 0.99804779 -0.00825806 -0.63557228] [ 0.03438748 0.01040184 0.99935444 0.03316669] [ 0. 0. 0. 1. ]] SLAMing on 92.88240100800002 meters Centerline goodness [0,1] 0.9253978094647655 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.64, Z:0.03 [[ 0.99754219 0.0605198 -0.0353118 6.010436 ] [-0.06086614 0.99810701 -0.0088158 -0.63524541] [ 0.03471143 0.01094342 0.99933746 0.03138423] [ 0. 0. 0. 1. ]] SLAMing on 92.91240100800002 meters Centerline goodness [0,1] 0.9238247200307301 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.64, Z:0.03 [[ 0.9976543 0.05824734 -0.03596037 6.01491868] [-0.05863448 0.99823136 -0.00980561 -0.63581775] [ 0.03532562 0.01189113 0.99930511 0.0290301 ] [ 0. 0. 0. 1. ]] SLAMing on 92.94240100800002 meters Centerline goodness [0,1] 0.924040882832173 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.64, Z:0.03 [[ 0.9976539 0.05795407 -0.03644217 6.01582314] [-0.05833129 0.99825327 -0.00937398 -0.6371535 ] [ 0.03583526 0.0114777 0.9992918 0.02998875] [ 0. 0. 0. 1. ]] SLAMing on 92.97240100800002 meters Centerline goodness [0,1] 0.9242914378987981 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.64, Z:0.03 [[ 0.9976348 0.05793991 -0.03698337 6.0160325 ] [-0.05828539 0.99826519 -0.00833171 -0.63918248] [ 0.03643647 0.01046759 0.99928115 0.03241182] [ 0. 0. 0. 1. ]] SLAMing on 93.00240100800002 meters Centerline goodness [0,1] 0.9263638249325866 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.64, Z:0.03 [[ 0.99761651 0.05769641 -0.03784726 6.01704577] [-0.05801782 0.99828776 -0.00744873 -0.64149445] [ 0.03735269 0.00962679 0.99925577 0.0346563 ] [ 0. 0. 0. 1. ]] SLAMing on 93.03240100800001 meters Centerline goodness [0,1] 0.9254046028210838 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.64, Z:0.03 [[ 0.99784614 0.05327418 -0.03827454 6.017895 ] [-0.05378935 0.99847334 -0.0125578 -0.63935271] [ 0.0375471 0.01458951 0.99918835 0.03317426] [ 0. 0. 0. 1. ]] SLAMing on 93.06240100800001 meters Centerline goodness [0,1] 0.9262745330918376 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.64, Z:0.03 [[ 0.99787735 0.05236272 -0.03871604 6.02047974] [-0.05291978 0.99850744 -0.01350545 -0.63762756] [ 0.03795107 0.01552562 0.99915898 0.03121418] [ 0. 0. 0. 1. ]] SLAMing on 93.09240100800001 meters Centerline goodness [0,1] 0.9231110716505372 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.64, Z:0.03 [[ 0.99784667 0.0531109 -0.03848718 6.02417722] [-0.05357175 0.99850294 -0.01104262 -0.63760551] [ 0.03784308 0.01308067 0.99919808 0.02949588] [ 0. 0. 0. 1. ]] SLAMing on 93.12240100800001 meters Centerline goodness [0,1] 0.9247359545575575 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.64, Z:0.03 [[ 0.99787792 0.05222938 -0.03888113 6.0265873 ] [-0.05272197 0.99854007 -0.01175269 -0.63635313] [ 0.03821053 0.01377764 0.99917473 0.02783038] [ 0. 0. 0. 1. ]] SLAMing on 93.15240100800001 meters Centerline goodness [0,1] 0.922337870296237 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.64, Z:0.03 [[ 0.99789429 0.0515898 -0.03931262 6.02836421] [-0.05209736 0.99856995 -0.01199689 -0.63595424] [ 0.03863748 0.01401971 0.99915494 0.02727628] [ 0. 0. 0. 1. ]] SLAMing on 93.18240100800001 meters Centerline goodness [0,1] 0.9162990377498149 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.64, Z:0.03 [[ 0.99789296 0.05144636 -0.03953364 6.02873326] [-0.05193759 0.99858411 -0.01150016 -0.63675402] [ 0.03888602 0.01352921 0.99915206 0.02821992] [ 0. 0. 0. 1. ]] SLAMing on 93.21240100800001 meters Centerline goodness [0,1] 0.9203597613464336 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.64, Z:0.03 [[ 0.99786675 0.05164643 -0.03993237 6.02785047] [-0.05208782 0.99859151 -0.01009247 -0.63808329] [ 0.03935489 0.01215093 0.99915141 0.03206143] [ 0. 0. 0. 1. ]] SLAMing on 93.24240100800002 meters Centerline goodness [0,1] 0.921176714806797 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.64, Z:0.03 [[ 0.9978379 0.05218664 -0.03995088 6.02653876] [-0.0525894 0.99857478 -0.00909701 -0.63881323] [ 0.0394192 0.01117833 0.99916023 0.034509 ] [ 0. 0. 0. 1. ]] SLAMing on 93.27240100800002 meters Centerline goodness [0,1] 0.9247720590419055 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.64, Z:0.04 [[ 0.99780563 0.05292158 -0.03978982 6.02466045] [-0.05328789 0.99854551 -0.00820176 -0.63898919] [ 0.03929789 0.01030408 0.99917441 0.03688322] [ 0. 0. 0. 1. ]] SLAMing on 93.30240100800002 meters Centerline goodness [0,1] 0.9259007075401877 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.64, Z:0.04 [[ 0.99777068 0.05372205 -0.03959308 6.0227442 ] [-0.05406296 0.99850868 -0.00758997 -0.63803019] [ 0.03912628 0.00971357 0.99918706 0.03893175] [ 0. 0. 0. 1. ]] SLAMing on 93.33240100800002 meters Centerline goodness [0,1] 0.9271451224525753 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.64, Z:0.04 [[ 9.97517985e-01 5.82293321e-02 -3.95880635e-02 6.02200409e+00] [-5.83972918e-02 9.98288613e-01 -3.09865350e-03 -6.36305627e-01] [ 3.93398804e-02 5.40279829e-03 9.99211281e-01 4.11536513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36240100800002 meters Centerline goodness [0,1] 0.9267798402255639 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.63, Z:0.04 [[ 9.97516252e-01 5.83254612e-02 -3.94900880e-02 6.02199193e+00] [-5.85133843e-02 9.98280065e-01 -3.61879740e-03 -6.33903842e-01] [ 3.92110996e-02 5.92050791e-03 9.99213409e-01 4.04740997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.39240100800001 meters Centerline goodness [0,1] 0.9269113686921906 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.63, Z:0.04 [[ 9.97533837e-01 5.78982930e-02 -3.96740769e-02 6.02316526e+00] [-5.81123639e-02 9.98300947e-01 -4.26294918e-03 -6.31922234e-01] [ 3.93598510e-02 6.55799044e-03 9.99203580e-01 3.94770713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42240100800001 meters Centerline goodness [0,1] 0.9250234027615258 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.63, Z:0.04 [[ 9.97552904e-01 5.73768362e-02 -3.99512418e-02 6.02461044e+00] [-5.76107570e-02 9.98327927e-01 -4.72776406e-03 -6.30679314e-01] [ 3.96131762e-02 7.01781605e-03 9.99190446e-01 3.86146230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45240100800001 meters Centerline goodness [0,1] 0.9214233629867289 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.63, Z:0.04 [[ 9.97594677e-01 5.61978952e-02 -4.05790285e-02 6.02747462e+00] [-5.64723959e-02 9.98388177e-01 -5.64940598e-03 -6.28948896e-01] [ 4.01961376e-02 7.92741230e-03 9.99160361e-01 3.71424540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48240100800001 meters Centerline goodness [0,1] 0.9217132693821617 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.63, Z:0.04 [[ 0.99760517 0.05573409 -0.04095887 6.02877562] [-0.05602694 0.99841101 -0.00603626 -0.62791211] [ 0.04055736 0.00831661 0.9991426 0.03678143] [ 0. 0. 0. 1. ]] SLAMing on 93.51240100800001 meters Centerline goodness [0,1] 0.9233816931771834 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.63, Z:0.04 [[ 0.99760365 0.05563083 -0.04113586 6.02892785] [-0.05592602 0.99841653 -0.00605939 -0.62717575] [ 0.04073364 0.00834543 0.99913519 0.03740069] [ 0. 0. 0. 1. ]] SLAMing on 93.54240100800001 meters Centerline goodness [0,1] 0.9244137049199384 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.63, Z:0.04 [[ 9.97587290e-01 5.57828927e-02 -4.13263557e-02 6.02835775e+00] [-5.60522324e-02 9.98413307e-01 -5.38669091e-03 -6.27465746e-01] [ 4.09602982e-02 7.69012888e-03 9.99131181e-01 3.95200488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57240100800001 meters Centerline goodness [0,1] 0.9250377424224828 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.63, Z:0.04 [[ 9.97567959e-01 5.62549740e-02 -4.11526948e-02 6.02667634e+00] [-5.65132055e-02 9.98388632e-01 -5.13785378e-03 -6.25807261e-01] [ 4.07973529e-02 7.45102901e-03 9.99139659e-01 4.14148779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60240100800002 meters Centerline goodness [0,1] 0.925005784359093 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.62, Z:0.04 [[ 9.97569449e-01 5.64415957e-02 -4.08600251e-02 6.02605075e+00] [-5.67179832e-02 9.98374332e-01 -5.63599232e-03 -6.22642830e-01] [ 4.04754958e-02 7.93979197e-03 9.99148985e-01 4.11387056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63240100800002 meters Centerline goodness [0,1] 0.9213990221887928 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.62, Z:0.04 [[ 0.99756759 0.0567559 -0.04046811 6.02530854] [-0.0570535 0.99835164 -0.00623641 -0.61914642] [ 0.04004746 0.00853008 0.99916137 0.04045705] [ 0. 0. 0. 1. ]] SLAMing on 93.66240100800002 meters Centerline goodness [0,1] 0.9212739000230361 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.62, Z:0.04 [[ 0.99755319 0.05727523 -0.04008977 6.02408798] [-0.05758033 0.99831974 -0.00649673 -0.61612528] [ 0.03965031 0.00878921 0.99917496 0.04057076] [ 0. 0. 0. 1. ]] SLAMing on 93.69240100800002 meters Centerline goodness [0,1] 0.9194276026550962 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.62, Z:0.04 [[ 9.97289897e-01 6.18056382e-02 -3.99114529e-02 6.02342799e+00] [-6.19395257e-02 9.98077641e-01 -2.12564840e-03 -6.15007644e-01] [ 3.97033516e-02 4.59198414e-03 9.99200960e-01 4.19862046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72240100800002 meters Centerline goodness [0,1] 0.9161752437936888 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.61, Z:0.04 [[ 9.97271983e-01 6.22238844e-02 -3.97086812e-02 6.02274071e+00] [-6.23724505e-02 9.98049781e-01 -2.51237976e-03 -6.13009820e-01] [ 3.94749105e-02 4.98225370e-03 9.99208141e-01 4.16731351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75240100800002 meters Centerline goodness [0,1] 0.9161532509957876 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.61, Z:0.04 [[ 9.97252213e-01 6.26136487e-02 -3.95923442e-02 6.02209068e+00] [-6.27754297e-02 9.98023594e-01 -2.85503310e-03 -6.11120183e-01] [ 3.93353297e-02 5.33261450e-03 9.99211837e-01 4.16114100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78240100800001 meters Centerline goodness [0,1] 0.9116137725409249 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.61, Z:0.04 [[ 9.97121361e-01 6.48876441e-02 -3.92247919e-02 6.01841213e+00] [-6.50292845e-02 9.97880602e-01 -2.34462302e-03 -6.09545896e-01] [ 3.89895219e-02 4.88863385e-03 9.99227661e-01 4.33133451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81240100800001 meters Centerline goodness [0,1] 0.9109543877755798 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.61, Z:0.04 [[ 9.97062032e-01 6.60255928e-02 -3.88320118e-02 6.01615179e+00] [-6.61541987e-02 9.97807337e-01 -2.03489058e-03 -6.09212112e-01] [ 3.86125114e-02 4.59781276e-03 9.99243681e-01 4.42308831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84240100800001 meters Centerline goodness [0,1] 0.9111359468133884 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.61, Z:0.04 [[ 9.97016371e-01 6.68183640e-02 -3.86479317e-02 6.01511004e+00] [-6.69500084e-02 9.97754077e-01 -2.12066471e-03 -6.08407743e-01] [ 3.84194321e-02 4.70181678e-03 9.99250639e-01 4.41063855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87240100800001 meters Centerline goodness [0,1] 0.9143372149580842 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.61, Z:0.04 [[ 9.96984494e-01 6.75146296e-02 -3.82582530e-02 6.01410660e+00] [-6.76509523e-02 9.97706448e-01 -2.27843906e-03 -6.07200229e-01] [ 3.80166777e-02 4.85977566e-03 9.99265287e-01 4.34662562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90240100800001 meters Centerline goodness [0,1] 0.9154464133097829 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.61, Z:0.04 [[ 9.96955812e-01 6.82090409e-02 -3.77708182e-02 6.01341729e+00] [-6.83550750e-02 9.97657702e-01 -2.58703236e-03 -6.05472419e-01] [ 3.75058887e-02 5.16098406e-03 9.99283079e-01 4.20288877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93240100800001 meters Centerline goodness [0,1] 0.9137640850092712 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.60, Z:0.04 [[ 9.96935773e-01 6.87556213e-02 -3.73058860e-02 6.01298636e+00] [-6.89151313e-02 9.97618000e-01 -3.00527131e-03 -6.03902072e-01] [ 3.70103941e-02 5.56700251e-03 9.99299374e-01 4.03474080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96240100800001 meters Centerline goodness [0,1] 0.9149792945880337 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.60, Z:0.04 [[ 9.96841159e-01 7.04858641e-02 -3.65984409e-02 6.01108326e+00] [-7.06254380e-02 9.97499689e-01 -2.53332990e-03 -6.04180851e-01] [ 3.63283695e-02 5.11010843e-03 9.99326842e-01 3.91678390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99240100800002 meters Centerline goodness [0,1] 0.9163634279820062 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.61, Z:0.04 [[ 9.96792256e-01 7.13315243e-02 -3.62906689e-02 6.00938405e+00] [-7.14310928e-02 9.97444479e-01 -1.45285560e-03 -6.06517509e-01] [ 3.60942929e-02 4.04047735e-03 9.99340221e-01 4.05854644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02240100800002 meters Centerline goodness [0,1] 0.9176687187158391 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.61, Z:0.04 [[ 9.96968388e-01 6.91327720e-02 -3.57028333e-02 6.00538784e+00] [-6.93333543e-02 9.97583802e-01 -4.40942361e-03 -6.07665890e-01] [ 3.53117325e-02 6.87145314e-03 9.99352723e-01 4.20416034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05240100800002 meters Centerline goodness [0,1] 0.9188814421076958 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.61, Z:0.04 [[ 0.99716139 0.06654549 -0.03522599 6.00190893] [-0.06683985 0.99773742 -0.00724445 -0.60973546] [ 0.0346642 0.00957838 0.99935311 0.04371276] [ 0. 0. 0. 1. ]] SLAMing on 94.08240100800002 meters Centerline goodness [0,1] 0.9195912408759124 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.62, Z:0.05 [[ 0.99734577 0.06399393 -0.0347303 5.99820979] [-0.06431138 0.997897 -0.0081004 -0.6170529 ] [ 0.03413888 0.01031246 0.99936389 0.04762751] [ 0. 0. 0. 1. ]] SLAMing on 94.11240100800002 meters Centerline goodness [0,1] 0.9200175849941383 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.62, Z:0.05 [[ 0.99733661 0.06412661 -0.03474853 5.99831334] [-0.06439651 0.99790188 -0.00670318 -0.62126299] [ 0.03424578 0.00892301 0.99937361 0.04865966] [ 0. 0. 0. 1. ]] SLAMing on 94.14240100800001 meters Centerline goodness [0,1] 0.9181839608744329 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.62, Z:0.05 [[ 9.97338983e-01 6.40535868e-02 -3.48150862e-02 5.99902682e+00] [-6.42941587e-02 9.97913938e-01 -5.83378806e-03 -6.24548446e-01] [ 3.43687847e-02 8.05667093e-03 9.99376744e-01 4.86573247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17240100800001 meters Centerline goodness [0,1] 0.9172204177716857 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.63, Z:0.05 [[ 0.99769703 0.05812205 -0.03496382 6.0019032 ] [-0.05850019 0.9982384 -0.00989024 -0.62976392] [ 0.03432739 0.01191285 0.99933964 0.04627602] [ 0. 0. 0. 1. ]] SLAMing on 94.20240100800001 meters Centerline goodness [0,1] 0.916855879541109 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.63, Z:0.05 [[ 0.99773682 0.05720724 -0.03533503 6.00425342] [-0.05758214 0.9982938 -0.00968409 -0.63253714] [ 0.03472074 0.01169684 0.9993286 0.04534459] [ 0. 0. 0. 1. ]] SLAMing on 94.23240100800001 meters Centerline goodness [0,1] 0.9162607214368967 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.63, Z:0.04 [[ 0.99774267 0.0569245 -0.03562527 6.0053602 ] [-0.05730672 0.99830851 -0.00980075 -0.6327096 ] [ 0.0350071 0.01182019 0.99931716 0.04487884] [ 0. 0. 0. 1. ]] SLAMing on 94.26240100800001 meters Centerline goodness [0,1] 0.9171488219504921 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.63, Z:0.05 [[ 0.9977348 0.05700507 -0.03571669 6.00553843] [-0.05738045 0.99830648 -0.00957363 -0.63307624] [ 0.03511045 0.01160139 0.9993161 0.04510061] [ 0. 0. 0. 1. ]] SLAMing on 94.29240100800001 meters Centerline goodness [0,1] 0.9166267225883763 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.64, Z:0.05 [[ 0.99771489 0.05694982 -0.03635536 6.00600355] [-0.05728245 0.99832455 -0.00817363 -0.63709009] [ 0.03582896 0.01023748 0.9993055 0.04780583] [ 0. 0. 0. 1. ]] SLAMing on 94.32240100800001 meters Centerline goodness [0,1] 0.9202710843373494 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.64, Z:0.05 [[ 0.99792512 0.0531465 -0.03634435 6.0054269 ] [-0.05363023 0.99848305 -0.01246617 -0.63688327] [ 0.03562668 0.01438946 0.99926157 0.04703949] [ 0. 0. 0. 1. ]] SLAMing on 94.35240100800002 meters Centerline goodness [0,1] 0.9211764705882353 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.64, Z:0.05 [[ 0.99794065 0.05247639 -0.0368875 6.00738782] [-0.05295197 0.99852453 -0.01203558 -0.63907853] [ 0.03620149 0.01396406 0.99924694 0.04719537] [ 0. 0. 0. 1. ]] SLAMing on 94.38240100800002 meters Centerline goodness [0,1] 0.9229957805907173 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.64, Z:0.05 [[ 0.99796112 0.05175833 -0.03734526 6.00944288] [-0.05225606 0.99855578 -0.01247649 -0.63866322] [ 0.03664556 0.01440257 0.99922453 0.04621133] [ 0. 0. 0. 1. ]] SLAMing on 94.41240100800002 meters Centerline goodness [0,1] 0.9221064675418523 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.64, Z:0.04 [[ 0.99798817 0.05096926 -0.0377061 6.01157982] [-0.051501 0.99858481 -0.01326729 -0.63721219] [ 0.03697651 0.0151825 0.9992008 0.04461972] [ 0. 0. 0. 1. ]] SLAMing on 94.44240100800002 meters Centerline goodness [0,1] 0.9234831662965852 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.63, Z:0.04 [[ 0.99807625 0.04849307 -0.03862921 6.01743619] [-0.04912451 0.99867133 -0.01556785 -0.63381813] [ 0.03782295 0.01743555 0.99913234 0.04021505] [ 0. 0. 0. 1. ]] SLAMing on 94.47240100800002 meters Centerline goodness [0,1] 0.9251372184397588 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.63, Z:0.04 [[ 0.99811132 0.04716345 -0.03936239 6.02067445] [-0.0478258 0.99872661 -0.01605802 -0.63343936] [ 0.03855492 0.01791023 0.99909596 0.03925607] [ 0. 0. 0. 1. ]] SLAMing on 94.50240100800002 meters Centerline goodness [0,1] 0.9289001172967608 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.63, Z:0.04 [[ 0.99813578 0.04596021 -0.04015757 6.02333991] [-0.04662792 0.99878655 -0.01585129 -0.63491565] [ 0.03938031 0.01769421 0.99906762 0.03971678] [ 0. 0. 0. 1. ]] SLAMing on 94.53240100800001 meters Centerline goodness [0,1] 0.9321410260276864 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.64, Z:0.04 [[ 0.9981702 0.04388769 -0.0415947 6.02756634] [-0.04450325 0.99891128 -0.01398998 -0.63852875] [ 0.04093542 0.01581549 0.99903662 0.04379606] [ 0. 0. 0. 1. ]] SLAMing on 94.56240100800001 meters Centerline goodness [0,1] 0.9321410260276864 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.64, Z:0.04 [[ 0.9981702 0.04388769 -0.0415947 6.02756634] [-0.04450325 0.99891128 -0.01398998 -0.63852875] [ 0.04093542 0.01581549 0.99903662 0.04379606] [ 0. 0. 0. 1. ]] SLAMing on 94.59240100800001 meters Centerline goodness [0,1] 0.9314176709259372 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.64, Z:0.05 [[ 0.99834079 0.03927465 -0.04210908 6.02794966] [-0.04003098 0.99904917 -0.01727066 -0.6402983 ] [ 0.04139075 0.01892767 0.99896374 0.04565368] [ 0. 0. 0. 1. ]] SLAMing on 94.62240100800001 meters Centerline goodness [0,1] 0.9164492445846733 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.64, Z:0.05 [[ 0.9985631 0.03173798 -0.04317905 6.0327143 ] [-0.03259741 0.99928129 -0.0193472 -0.6436806 ] [ 0.04253397 0.02072692 0.99888 0.05048187] [ 0. 0. 0. 1. ]] SLAMing on 94.65240100800001 meters Centerline goodness [0,1] 0.9174596418690907 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.64, Z:0.05 [[ 0.99857158 0.03066452 -0.04375479 6.03476439] [-0.03151852 0.99932326 -0.01896311 -0.64459623] [ 0.04314368 0.02031511 0.99886231 0.05141837] [ 0. 0. 0. 1. ]] SLAMing on 94.68240100800001 meters Centerline goodness [0,1] 0.8887074336176133 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.64, Z:0.05 [[ 0.99857334 0.02960616 -0.04443817 6.03730628] [-0.03048827 0.99934867 -0.01930546 -0.64361077] [ 0.04383767 0.02063276 0.99882558 0.05117712] [ 0. 0. 0. 1. ]] SLAMing on 94.71240100800001 meters Centerline goodness [0,1] 0.8891585033402235 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.64, Z:0.05 [[ 0.99846444 0.03181478 -0.04534957 6.04238281] [-0.03263182 0.99931612 -0.01739118 -0.63843226] [ 0.04476526 0.01884432 0.99881978 0.04803743] [ 0. 0. 0. 1. ]] SLAMing on 94.74240100800002 meters Centerline goodness [0,1] 0.8718437919212998 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.64, Z:0.05 [[ 0.99832207 0.03543304 -0.04579893 6.04422986] [-0.03610441 0.99925113 -0.01391567 -0.63615441] [ 0.04527156 0.01554586 0.99885375 0.04769019] [ 0. 0. 0. 1. ]] SLAMing on 94.77240100800002 meters Centerline goodness [0,1] 0.8842077214590242 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.63, Z:0.05 [[ 0.99815285 0.03971557 -0.04597347 6.04438896] [-0.04020561 0.99914353 -0.00978382 -0.63446997] [ 0.04554553 0.01161414 0.99889475 0.04881582] [ 0. 0. 0. 1. ]] SLAMing on 94.80240100800002 meters Centerline goodness [0,1] 0.9227006159196063 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.63, Z:0.05 [[ 9.97951897e-01 4.43556460e-02 -4.60932437e-02 6.04355176e+00] [-4.46496680e-02 9.98988282e-01 -5.36847421e-03 -6.33367915e-01] [ 4.58084881e-02 7.41552706e-03 9.98922716e-01 5.09576201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83240100800002 meters Centerline goodness [0,1] 0.9343308881550106 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.63, Z:0.06 [[ 9.97622066e-01 5.15192686e-02 -4.57818553e-02 6.03826336e+00] [-5.16082376e-02 9.98667116e-01 -7.62686951e-04 -6.28716486e-01] [ 4.56815403e-02 3.12359420e-03 9.98951170e-01 5.51076604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86240100800002 meters Centerline goodness [0,1] 0.9325657418925565 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.63, Z:0.06 [[ 9.97370469e-01 5.60634107e-02 -4.59243004e-02 6.03794698e+00] [-5.59871599e-02 9.98427143e-01 2.94595778e-03 -6.25894378e-01] [ 4.60172285e-02 -3.67040138e-04 9.98940579e-01 5.61343444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89240100800001 meters Centerline goodness [0,1] 0.9283304984576354 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.62, Z:0.06 [[ 9.97118982e-01 6.05840667e-02 -4.56432629e-02 6.03739083e+00] [-6.03495461e-02 9.98156141e-01 6.49998078e-03 -6.22603562e-01] [ 4.59528984e-02 -3.72670402e-03 9.98936656e-01 5.63381076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92240100800001 meters Centerline goodness [0,1] 0.9266365042093809 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.62, Z:0.06 [[ 0.99686494 0.06479263 -0.04541141 6.03742038] [-0.06440407 0.9978741 0.00996962 -0.61973843] [ 0.04596083 -0.00701369 0.99891862 0.05613786] [ 0. 0. 0. 1. ]] SLAMing on 94.95240100800001 meters Centerline goodness [0,1] 0.9266862170087976 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.62, Z:0.05 [[ 0.99684534 0.06546724 -0.04487107 6.03604105] [-0.06512698 0.99783635 0.00900504 -0.61542198] [ 0.04536352 -0.00605432 0.9989522 0.05499315] [ 0. 0. 0. 1. ]] SLAMing on 94.98240100800001 meters Centerline goodness [0,1] 0.9246454906409529 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.61, Z:0.06 [[ 9.96795883e-01 6.65209463e-02 -4.44176980e-02 6.03381799e+00] [-6.61975480e-02 9.97768485e-01 8.71410728e-03 -6.12522729e-01] [ 4.48982499e-02 -5.74584356e-03 9.98975041e-01 5.53895207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01240100800001 meters Centerline goodness [0,1] 0.9261223448002042 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.61, Z:0.05 [[ 9.97000607e-01 6.34654119e-02 -4.42937003e-02 6.03209315e+00] [-6.33333708e-02 9.97982818e-01 4.37943723e-03 -6.09993813e-01] [ 4.44822946e-02 -1.56103223e-03 9.99008953e-01 5.49906486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04240100800001 meters Centerline goodness [0,1] 0.9271132875893289 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.61, Z:0.05 [[ 9.97203949e-01 6.04847941e-02 -4.38847772e-02 6.02981704e+00] [-6.05281594e-02 9.98166432e-01 3.41155747e-04 -6.08070369e-01] [ 4.38249462e-02 2.31606293e-03 9.99036541e-01 5.48715696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07240100800001 meters Centerline goodness [0,1] 0.9276186684110236 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.61, Z:0.06 [[ 9.97193761e-01 6.06213877e-02 -4.39277837e-02 6.02951608e+00] [-6.06414424e-02 9.98159229e-01 8.77111571e-04 -6.09713914e-01] [ 4.39000944e-02 1.78919398e-03 9.99034324e-01 5.56741902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10240100800002 meters Centerline goodness [0,1] 0.9322295616367847 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.61, Z:0.06 [[ 9.97406067e-01 5.72374767e-02 -4.36464158e-02 6.02787500e+00] [-5.74125581e-02 9.98346703e-01 -2.76741153e-03 -6.11111200e-01] [ 4.34158557e-02 5.26608544e-03 9.99043208e-01 5.56601602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13240100800002 meters Centerline goodness [0,1] 0.9298451498411426 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.61, Z:0.06 [[ 9.97395750e-01 5.73633856e-02 -4.37168145e-02 6.02803616e+00] [-5.75176367e-02 9.98341892e-01 -2.27774055e-03 -6.12810565e-01] [ 4.35136684e-02 4.78629660e-03 9.99041367e-01 5.58290901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16240100800002 meters Centerline goodness [0,1] 0.9302891497280275 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.61, Z:0.05 [[ 9.97397202e-01 5.71993136e-02 -4.38982863e-02 6.02907319e+00] [-5.73552127e-02 9.98351188e-01 -2.29908609e-03 -6.13617152e-01] [ 4.36944001e-02 4.81089758e-03 9.99033360e-01 5.49626652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19240100800002 meters Centerline goodness [0,1] 0.9309907834101383 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.62, Z:0.05 [[ 9.97416852e-01 5.66114355e-02 -4.42127738e-02 6.03157090e+00] [-5.67667742e-02 9.98384898e-01 -2.26484280e-03 -6.17387069e-01] [ 4.40131496e-02 4.76880892e-03 9.99019570e-01 5.26799468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22240100800002 meters Centerline goodness [0,1] 0.928949117281632 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.62, Z:0.05 [[ 9.97417629e-01 5.62818188e-02 -4.46142366e-02 6.03333097e+00] [-5.64340382e-02 9.98403996e-01 -2.15876832e-03 -6.19666308e-01] [ 4.44215327e-02 4.67095511e-03 9.99001957e-01 5.16319878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25240100800002 meters Centerline goodness [0,1] 0.9267268832146373 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.62, Z:0.05 [[ 9.97411140e-01 5.60943958e-02 -4.49937410e-02 6.03492497e+00] [-5.62473582e-02 9.98414571e-01 -2.13984350e-03 -6.21095602e-01] [ 4.48023734e-02 4.66508282e-03 9.98984977e-01 5.05694778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28240100800001 meters Centerline goodness [0,1] 0.9271812371670667 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.62, Z:0.05 [[ 9.97408492e-01 5.60669789e-02 -4.50865083e-02 6.03572701e+00] [-5.62242101e-02 9.98415687e-01 -2.22579720e-03 -6.22048028e-01] [ 4.48902834e-02 4.75498235e-03 9.98980607e-01 4.95529279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31240100800001 meters Centerline goodness [0,1] 0.9275717284814555 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.62, Z:0.05 [[ 9.97541532e-01 5.43881242e-02 -4.41907589e-02 6.03104117e+00] [-5.46568788e-02 9.98493195e-01 -4.89547600e-03 -6.24458482e-01] [ 4.38579162e-02 7.29876958e-03 9.99011117e-01 5.06131966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34240100800001 meters Centerline goodness [0,1] 0.9263984584841761 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.63, Z:0.05 [[ 9.97502849e-01 5.50807032e-02 -4.42061264e-02 6.03005728e+00] [-5.52880135e-02 9.98464384e-01 -3.47984764e-03 -6.27798938e-01] [ 4.39465704e-02 5.91522685e-03 9.99016371e-01 5.24827385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37240100800001 meters Centerline goodness [0,1] 0.926755784362477 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.63, Z:0.05 [[ 9.97481722e-01 5.56002149e-02 -4.40321526e-02 6.02934349e+00] [-5.57725771e-02 9.98439862e-01 -2.69474446e-03 -6.29796162e-01] [ 4.38136280e-02 5.14374498e-03 9.99026480e-01 5.30656379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40240100800001 meters Centerline goodness [0,1] 0.9295479056752266 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.63, Z:0.05 [[ 9.97483593e-01 5.56985080e-02 -4.38652224e-02 6.02958495e+00] [-5.58648604e-02 9.98435020e-01 -2.57472158e-03 -6.30369343e-01] [ 4.36531660e-02 5.01876705e-03 9.99034140e-01 5.22946241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43240100800001 meters Centerline goodness [0,1] 0.9285693426393715 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.63, Z:0.05 [[ 9.97479630e-01 5.61036681e-02 -4.34369116e-02 6.02879250e+00] [-5.62588023e-02 9.98413439e-01 -2.35636383e-03 -6.30880045e-01] [ 4.32357956e-02 4.79413354e-03 9.99053393e-01 5.18600535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46240100800001 meters Centerline goodness [0,1] 0.9306884206819649 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.63, Z:0.05 [[ 9.97465953e-01 5.64902201e-02 -4.32495882e-02 6.02808669e+00] [-5.66137996e-02 9.98394811e-01 -1.63689288e-03 -6.32764940e-01] [ 4.30876960e-02 4.08126844e-03 9.99062958e-01 5.24794482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49240100800002 meters Centerline goodness [0,1] 0.9323078746925106 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.64, Z:0.06 [[ 9.97651781e-01 5.31081698e-02 -4.32486509e-02 6.02634518e+00] [-5.32852965e-02 9.98574965e-01 -2.95228189e-03 -6.39854685e-01] [ 4.30302298e-02 5.24986647e-03 9.99059977e-01 5.58838725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52240100800002 meters Centerline goodness [0,1] 0.93519153376062 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.64, Z:0.06 [[ 0.99784855 0.0491803 -0.04335411 6.02587446] [-0.04949406 0.99875522 -0.00619305 -0.6427081 ] [ 0.04299557 0.0083255 0.99904057 0.05646619] [ 0. 0. 0. 1. ]] SLAMing on 95.55240100800002 meters Centerline goodness [0,1] 0.9371866793984245 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.64, Z:0.06 [[ 9.97819150e-01 4.97258234e-02 -4.34083675e-02 6.02487473e+00] [-4.99963700e-02 9.98736025e-01 -5.16868583e-03 -6.44707446e-01] [ 4.30964833e-02 7.32767451e-03 9.99044042e-01 5.83053593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58240100800002 meters Centerline goodness [0,1] 0.9338564353481711 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.64, Z:0.06 [[ 9.97820736e-01 4.96685707e-02 -4.34374467e-02 6.02558996e+00] [-4.99670425e-02 9.98733956e-01 -5.81210553e-03 -6.43435959e-01] [ 4.30937740e-02 7.96988017e-03 9.99039242e-01 5.67980691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61240100800002 meters Centerline goodness [0,1] 0.9336401425178147 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.64, Z:0.05 [[ 0.99784225 0.04888801 -0.04382712 6.02819543] [-0.04923519 0.99876354 -0.00687699 -0.64173199] [ 0.04343673 0.00901999 0.99901546 0.05429286] [ 0. 0. 0. 1. ]] SLAMing on 95.64240100800001 meters Centerline goodness [0,1] 0.9326826084376669 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.64, Z:0.05 [[ 0.99787112 0.04805505 -0.04409003 6.030761 ] [-0.04846691 0.99879014 -0.00831986 -0.63907456] [ 0.04363688 0.01043906 0.99899292 0.051252 ] [ 0. 0. 0. 1. ]] SLAMing on 95.67240100800001 meters Centerline goodness [0,1] 0.9307018582080719 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.64, Z:0.05 [[ 0.99789193 0.0471558 -0.04458731 6.03360765] [-0.04762437 0.99882009 -0.00950526 -0.63702532] [ 0.04408647 0.01160867 0.99896027 0.04880208] [ 0. 0. 0. 1. ]] SLAMing on 95.70240100800001 meters Centerline goodness [0,1] 0.9255789130370327 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.64, Z:0.05 [[ 0.99789682 0.04607036 -0.045601 6.03651192] [-0.04654937 0.99887083 -0.00949834 -0.63871752] [ 0.04511192 0.01160106 0.99891458 0.04902126] [ 0. 0. 0. 1. ]] SLAMing on 95.73240100800001 meters Centerline goodness [0,1] 0.9274679002461228 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.64, Z:0.05 [[ 0.9978694 0.04576784 -0.04649688 6.03753085] [-0.04617833 0.99890282 -0.00779247 -0.64201924] [ 0.04608922 0.00992301 0.99888804 0.05252609] [ 0. 0. 0. 1. ]] SLAMing on 95.76240100800001 meters Centerline goodness [0,1] 0.928339344799833 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.64, Z:0.05 [[ 0.99804851 0.04192442 -0.04627653 6.03602217] [-0.0425075 0.99902778 -0.01168811 -0.64173408] [ 0.04574152 0.0136324 0.99886029 0.0531719 ] [ 0. 0. 0. 1. ]] SLAMing on 95.79240100800001 meters Centerline goodness [0,1] 0.9314435601657277 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.64, Z:0.05 [[ 0.99804208 0.04140133 -0.0468821 6.03722803] [-0.04195173 0.99906108 -0.01081735 -0.64339977] [ 0.04639023 0.01276295 0.99884186 0.05497662] [ 0. 0. 0. 1. ]] SLAMing on 95.82240100800001 meters Centerline goodness [0,1] 0.9309100588565852 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.64, Z:0.05 [[ 0.99811214 0.03822718 -0.04807115 6.04475715] [-0.03891511 0.99915191 -0.01345673 -0.63842052] [ 0.04751597 0.01530202 0.99875326 0.05023809] [ 0. 0. 0. 1. ]] SLAMing on 95.85240100800002 meters Centerline goodness [0,1] 0.9230996048829392 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.64, Z:0.05 [[ 0.99800338 0.0395163 -0.04927185 6.05161082] [-0.04010547 0.99913461 -0.01102657 -0.63663094] [ 0.04879348 0.01298063 0.99872454 0.04746429] [ 0. 0. 0. 1. ]] SLAMing on 95.88240100800002 meters Centerline goodness [0,1] 0.9236043671463465 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.04 [[ 0.99802095 0.03826535 -0.04989946 6.05501061] [-0.03894287 0.99916103 -0.01267663 -0.63316369] [ 0.04937252 0.01459477 0.99867379 0.04475038] [ 0. 0. 0. 1. ]] SLAMing on 95.91240100800002 meters Centerline goodness [0,1] 0.9153502848082682 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.04 [[ 0.99801534 0.03773191 -0.05041513 6.05655216] [-0.03843793 0.99917501 -0.01310853 -0.63179806] [ 0.04987892 0.01502036 0.99864232 0.04455842] [ 0. 0. 0. 1. ]] SLAMing on 95.94240100800002 meters Centerline goodness [0,1] 0.921638834267602 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.05 [[ 0.9979854 0.03794137 -0.05084867 6.05609117] [-0.038612 0.99917892 -0.01227152 -0.63231068] [ 0.05034132 0.01421017 0.99863097 0.04722281] [ 0. 0. 0. 1. ]] SLAMing on 95.97240100800002 meters Centerline goodness [0,1] 0.9177252584933531 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.63, Z:0.06 [[ 0.99807351 0.03613319 -0.05043464 6.04928751] [-0.03683827 0.9992351 -0.0131208 -0.63349648] [ 0.04992197 0.01495345 0.99864117 0.05569388] [ 0. 0. 0. 1. ]] SLAMing on 96.00240100800002 meters Centerline goodness [0,1] 0.9255548023930918 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.63, Z:0.06 [[ 0.99806242 0.03612056 -0.05066272 6.04897646] [-0.03679943 0.9992441 -0.01253133 -0.63332304] [ 0.05017179 0.01437141 0.9986372 0.05763808] [ 0. 0. 0. 1. ]] SLAMing on 96.03240100800001 meters Centerline goodness [0,1] 0.9263980263157895 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.63, Z:0.06 [[ 0.99807318 0.03537745 -0.05097416 6.05062798] [-0.03608971 0.99926242 -0.01312068 -0.63144651] [ 0.05047239 0.01493504 0.99861378 0.05686289] [ 0. 0. 0. 1. ]] SLAMing on 96.06240100800001 meters Centerline goodness [0,1] 0.9173112285105514 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.05 [[ 0.99813491 0.03308501 -0.05130389 6.05542853] [-0.03390971 0.99930796 -0.01528835 -0.626775 ] [ 0.05076257 0.01699954 0.99856606 0.05260439] [ 0. 0. 0. 1. ]] SLAMing on 96.09240100800001 meters Centerline goodness [0,1] 0.9124521016760757 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.05 [[ 0.99813106 0.03244935 -0.05178249 6.05694798] [-0.03327301 0.99933186 -0.01512392 -0.62728653] [ 0.05125713 0.01681862 0.99854386 0.05291951] [ 0. 0. 0. 1. ]] SLAMing on 96.12240100800001 meters Centerline goodness [0,1] 0.9061103269818866 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.05 [[ 0.99811297 0.03218493 -0.05229373 6.05753996] [-0.03296678 0.99935617 -0.01415779 -0.62950312] [ 0.05180439 0.01585503 0.99853138 0.05489781] [ 0. 0. 0. 1. ]] SLAMing on 96.15240100800001 meters Centerline goodness [0,1] 0.8783107710417892 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.06 [[ 0.99808935 0.03198024 -0.05286697 6.0580535 ] [-0.03271043 0.99938026 -0.01300467 -0.63206733] [ 0.05241832 0.01470913 0.99851688 0.05728939] [ 0. 0. 0. 1. ]] SLAMing on 96.18240100800001 meters Centerline goodness [0,1] 0.8960943257184967 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.06 [[ 0.99806542 0.03187707 -0.05337858 6.05860713] [-0.03257776 0.99939341 -0.01230836 -0.63335823] [ 0.05295385 0.0140235 0.99849849 0.05889157] [ 0. 0. 0. 1. ]] SLAMing on 96.21240100800001 meters Centerline goodness [0,1] 0.8693881139374048 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.06 [[ 0.99805233 0.0316866 -0.05373555 6.05969559] [-0.03245413 0.99938244 -0.01347126 -0.62953186] [ 0.05327551 0.01518897 0.99846433 0.05771983] [ 0. 0. 0. 1. ]] SLAMing on 96.24240100800002 meters Centerline goodness [0,1] 0.9098031220876048 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.06 [[ 0.99789219 0.03566154 -0.05421649 6.06109648] [-0.03621792 0.99930051 -0.00931427 -0.62891122] [ 0.05384641 0.01125824 0.99848576 0.05830593] [ 0. 0. 0. 1. ]] SLAMing on 96.27240100800002 meters Centerline goodness [0,1] 0.9214890409370289 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.06 [[ 9.97716582e-01 3.98636509e-02 -5.45207372e-02 6.06204878e+00] [-4.02111862e-02 9.99177190e-01 -5.29186984e-03 -6.28316396e-01] [ 5.42649237e-02 7.47212981e-03 9.98498616e-01 5.85660839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30240100800002 meters Centerline goodness [0,1] 0.9226039260969977 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.06 [[ 9.97510630e-01 4.45135563e-02 -5.46908200e-02 6.06238201e+00] [-4.46762067e-02 9.98999979e-01 -1.75439421e-03 -6.25495818e-01] [ 5.45580338e-02 4.19340525e-03 9.98501796e-01 5.83167517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33240100800002 meters Centerline goodness [0,1] 0.9245331950207469 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.62, Z:0.06 [[ 9.97512007e-01 4.45144192e-02 -5.46650080e-02 6.06284929e+00] [-4.47151077e-02 9.98996768e-01 -2.45304783e-03 -6.23078999e-01] [ 5.45009703e-02 4.89129638e-03 9.98501737e-01 5.71289190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36240100800002 meters Centerline goodness [0,1] 0.9247073710850997 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.62, Z:0.06 [[ 9.97523778e-01 4.42450769e-02 -5.46688707e-02 6.06380275e+00] [-4.44908851e-02 9.99004383e-01 -3.28687982e-03 -6.20651300e-01] [ 5.44690132e-02 5.71100722e-03 9.98499129e-01 5.55648747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.39240100800001 meters Centerline goodness [0,1] 0.9224984212641368 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.62, Z:0.05 [[ 9.97538002e-01 4.35535282e-02 -5.49638479e-02 6.06610128e+00] [-4.38673586e-02 9.99027158e-01 -4.51569049e-03 -6.18100842e-01] [ 5.47137026e-02 6.91569170e-03 9.98478134e-01 5.30119531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42240100800001 meters Centerline goodness [0,1] 0.9252207426155483 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.62, Z:0.05 [[ 9.97521693e-01 4.35047419e-02 -5.52974672e-02 6.06632165e+00] [-4.37935076e-02 9.99032514e-01 -4.02047695e-03 -6.19059531e-01] [ 5.50690578e-02 6.43218303e-03 9.98461830e-01 5.42209053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45240100800001 meters Centerline goodness [0,1] 0.9252207426155483 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.62, Z:0.05 [[ 9.97521693e-01 4.35047419e-02 -5.52974672e-02 6.06632165e+00] [-4.37935076e-02 9.99032514e-01 -4.02047695e-03 -6.19059531e-01] [ 5.50690578e-02 6.43218303e-03 9.98461830e-01 5.42209053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48240100800001 meters Centerline goodness [0,1] 0.9207227457421976 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.62, Z:0.06 [[ 9.97499195e-01 4.34904671e-02 -5.57129664e-02 6.06622316e+00] [-4.37341327e-02 9.99038203e-01 -3.16127452e-03 -6.21262403e-01] [ 5.55218966e-02 5.58992705e-03 9.98441822e-01 5.63094653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51240100800001 meters Centerline goodness [0,1] 0.9226450944265315 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.62, Z:0.06 [[ 9.97467887e-01 4.32840332e-02 -5.64296588e-02 6.06674411e+00] [-4.34690754e-02 9.99052659e-01 -2.05527274e-03 -6.23765849e-01] [ 5.62872402e-02 4.50301365e-03 9.98404462e-01 5.89544245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54240100800001 meters Centerline goodness [0,1] 0.9219794789024671 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.06 [[ 9.97454926e-01 4.32092572e-02 -5.67153470e-02 6.06662739e+00] [-4.33523820e-02 9.99059004e-01 -1.29505537e-03 -6.25352241e-01] [ 5.66060197e-02 3.75050475e-03 9.98389549e-01 6.07709878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57240100800001 meters Centerline goodness [0,1] 0.8946143903489875 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.62, Z:0.06 [[ 9.97501993e-01 4.23279020e-02 -5.65519485e-02 6.06744537e+00] [-4.25075934e-02 9.99094186e-01 -1.97779726e-03 -6.23096705e-01] [ 5.64170070e-02 4.37674394e-03 9.98397699e-01 5.99886243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60240100800002 meters Centerline goodness [0,1] 0.887141668340555 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.62, Z:0.06 [[ 9.97516236e-01 4.20524577e-02 -5.65061901e-02 6.06805728e+00] [-4.22651127e-02 9.99103118e-01 -2.57307341e-03 -6.20742341e-01] [ 5.63473066e-02 4.95492300e-03 9.98398933e-01 5.90279669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63240100800002 meters Centerline goodness [0,1] 0.9217107336217021 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.62, Z:0.06 [[ 9.97525129e-01 4.20878956e-02 -5.63225103e-02 6.06787328e+00] [-4.23224991e-02 9.99099562e-01 -2.97853144e-03 -6.18597673e-01] [ 5.61464353e-02 5.35486935e-03 9.98408185e-01 5.85722917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66240100800002 meters Centerline goodness [0,1] 0.9207367727520124 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.62, Z:0.06 [[ 9.97518252e-01 4.23952811e-02 -5.62136657e-02 6.06727616e+00] [-4.26341593e-02 9.99086076e-01 -3.05649957e-03 -6.17496653e-01] [ 5.60327095e-02 5.44553648e-03 9.98414083e-01 5.87730055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69240100800002 meters Centerline goodness [0,1] 0.9333085905158878 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.62, Z:0.06 [[ 9.97471887e-01 4.34947960e-02 -5.61964161e-02 6.06570003e+00] [-4.37279858e-02 9.99039189e-01 -2.92600151e-03 -6.15692783e-01] [ 5.60151561e-02 5.37596034e-03 9.98415445e-01 5.98324416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72240100800002 meters Centerline goodness [0,1] 0.9320097983365615 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.61, Z:0.06 [[ 9.97452938e-01 4.40681725e-02 -5.60859484e-02 6.06507079e+00] [-4.43167590e-02 9.99012419e-01 -3.19562875e-03 -6.13999459e-01] [ 5.58897334e-02 5.67303674e-03 9.98420830e-01 5.96141374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75240100800002 meters Centerline goodness [0,1] 0.9351571860557997 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.61, Z:0.06 [[ 9.97427414e-01 4.50147795e-02 -5.57872968e-02 6.06370621e+00] [-4.52722193e-02 9.98969041e-01 -3.35885712e-03 -6.11662364e-01] [ 5.55785842e-02 5.87583091e-03 9.98437026e-01 5.94573514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78240100800001 meters Centerline goodness [0,1] 0.9308819777166671 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.61, Z:0.06 [[ 9.97209246e-01 4.94278553e-02 -5.59518302e-02 6.06403814e+00] [-4.94462689e-02 9.98776227e-01 1.05609291e-03 -6.11917613e-01] [ 5.59355582e-02 1.71346362e-03 9.98432911e-01 6.03431934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81240100800001 meters Centerline goodness [0,1] 0.9353555304740406 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.61, Z:0.06 [[ 9.96923641e-01 5.57106561e-02 -5.51323599e-02 6.06120118e+00] [-5.55182865e-02 9.98445071e-01 5.01588777e-03 -6.09195974e-01] [ 5.53260715e-02 -1.93960294e-03 9.98466456e-01 6.00001951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84240100800001 meters Centerline goodness [0,1] 0.9383609882525283 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.61, Z:0.06 [[ 9.96854345e-01 5.75368209e-02 -5.45062354e-02 6.05873030e+00] [-5.73497837e-02 9.98341673e-01 4.99071318e-03 -6.06445063e-01] [ 5.47029960e-02 -1.84909331e-03 9.98500958e-01 5.94704608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87240100800001 meters Centerline goodness [0,1] 0.9381561956094548 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.60, Z:0.06 [[ 9.96774787e-01 5.93258154e-02 -5.40413931e-02 6.05658445e+00] [-5.91462670e-02 9.98237217e-01 4.91714249e-03 -6.04095229e-01] [ 5.42378433e-02 -1.70493699e-03 9.98526589e-01 5.88981524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90240100800001 meters Centerline goodness [0,1] 0.9362756072987798 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.60, Z:0.06 [[ 9.96705758e-01 6.11034791e-02 -5.33291371e-02 6.05370892e+00] [-6.09235809e-02 9.98129940e-01 4.99404327e-03 -6.02293153e-01] [ 5.35345618e-02 -1.72858969e-03 9.98564501e-01 5.87964825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93240100800001 meters Centerline goodness [0,1] 0.9355244052272981 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.60, Z:0.05 [[ 9.96411384e-01 6.96409874e-02 -4.81091026e-02 6.06123902e+00] [-6.98078166e-02 9.97558845e-01 -1.79425898e-03 -6.01371224e-01] [ 4.78667068e-02 5.14621148e-03 9.98840475e-01 5.32267309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96240100800001 meters Centerline goodness [0,1] 0.9344615384615385 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.60, Z:0.05 [[ 9.96345644e-01 7.10265268e-02 -4.74403800e-02 6.05901952e+00] [-7.11820988e-02 9.97462060e-01 -1.59586169e-03 -6.00222361e-01] [ 4.72066307e-02 4.96693566e-03 9.98872796e-01 5.30445711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99240100800002 meters Centerline goodness [0,1] 0.9310007818608288 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.60, Z:0.05 [[ 9.96292278e-01 7.21203159e-02 -4.69079659e-02 6.05750516e+00] [-7.22763393e-02 9.97383303e-01 -1.63639291e-03 -5.98925876e-01] [ 4.66672048e-02 5.02066168e-03 9.98897875e-01 5.23619967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02240100800002 meters Centerline goodness [0,1] 0.9260864701605235 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.60, Z:0.05 [[ 9.96255239e-01 7.29766127e-02 -4.63671560e-02 6.05606337e+00] [-7.31339759e-02 9.97320669e-01 -1.70427609e-03 -5.98004408e-01] [ 4.61185508e-02 5.08890846e-03 9.98923011e-01 5.17955285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05240100800002 meters Centerline goodness [0,1] 0.9170442467975611 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.60, Z:0.05 [[ 9.96206123e-01 7.36874905e-02 -4.62980926e-02 6.05521408e+00] [-7.38226064e-02 9.97270651e-01 -1.21302901e-03 -5.99819658e-01] [ 4.60823439e-02 4.62627279e-03 9.98926932e-01 5.21612115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08240100800002 meters Centerline goodness [0,1] 0.9200878526778172 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.60, Z:0.05 [[ 9.96458578e-01 7.04268209e-02 -4.59387080e-02 6.05315686e+00] [-7.07281218e-02 9.97483276e-01 -4.96460890e-03 -6.00482528e-01] [ 4.54734513e-02 8.19618566e-03 9.98931923e-01 5.20529979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11240100800002 meters Centerline goodness [0,1] 0.9244487219407252 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.60, Z:0.05 [[ 0.99671319 0.06677106 -0.04587421 6.05205395] [-0.06722528 0.99770222 -0.00842914 -0.60240441] [ 0.04520598 0.01148534 0.99891166 0.05224061] [ 0. 0. 0. 1. ]] SLAMing on 97.14240100800001 meters Centerline goodness [0,1] 0.9320648303757085 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.60, Z:0.05 [[ 0.99697409 0.06273354 -0.04590383 6.05189756] [-0.06334969 0.99791814 -0.01209179 -0.60455842] [ 0.0450497 0.0149632 0.99887268 0.05164931] [ 0. 0. 0. 1. ]] SLAMing on 97.17240100800001 meters Centerline goodness [0,1] 0.9375305026842362 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.61, Z:0.05 [[ 9.97920035e-01 5.14017099e-02 -3.89033247e-02 6.05205712e+00] [-5.16637595e-02 9.98647924e-01 -5.76017041e-03 -6.11371742e-01] [ 3.85546418e-02 7.75808147e-03 9.99226377e-01 5.09926697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20240100800001 meters Centerline goodness [0,1] 0.9352111050186142 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.61, Z:0.05 [[ 0.99815063 0.04655633 -0.03908742 6.05376833] [-0.04697995 0.99884588 -0.00998957 -0.61316126] [ 0.03857723 0.01180742 0.99918586 0.04895971] [ 0. 0. 0. 1. ]] SLAMing on 97.23240100800001 meters Centerline goodness [0,1] 0.9395412470163591 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.62, Z:0.05 [[ 0.99835595 0.0417243 -0.03929996 6.05538535] [-0.04229442 0.99901004 -0.01378845 -0.61604981] [ 0.03868574 0.01542795 0.99913232 0.04756202] [ 0. 0. 0. 1. ]] SLAMing on 97.26240100800001 meters Centerline goodness [0,1] 0.943114912563344 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.62, Z:0.05 [[ 0.99853739 0.03663043 -0.03976538 6.0578243 ] [-0.03736138 0.99914334 -0.0177965 -0.61916705] [ 0.03907942 0.01925616 0.99905055 0.04586688] [ 0. 0. 0. 1. ]] SLAMing on 97.29240100800001 meters Centerline goodness [0,1] 0.9486900206064174 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.62, Z:0.04 [[ 0.9986812 0.03160703 -0.04045814 6.06053636] [-0.03250798 0.99923353 -0.02180786 -0.62220357] [ 0.03973784 0.02309432 0.99894322 0.04439698] [ 0. 0. 0. 1. ]] SLAMing on 97.32240100800001 meters Centerline goodness [0,1] 0.9414796936920831 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.05 [[ 0.99878272 0.0270827 -0.04122626 6.06186692] [-0.02810535 0.99930635 -0.02443159 -0.62814274] [ 0.04053599 0.02556053 0.99885109 0.04591962] [ 0. 0. 0. 1. ]] SLAMing on 97.35240100800002 meters Centerline goodness [0,1] 0.9395977166083864 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.05 [[ 0.99875163 0.02733658 -0.0418078 6.06189085] [-0.02831754 0.99933309 -0.02305398 -0.6310532 ] [ 0.0411497 0.0242091 0.99885966 0.04862356] [ 0. 0. 0. 1. ]] SLAMing on 97.38240100800002 meters Centerline goodness [0,1] 0.9369250591795764 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.05 [[ 0.99872356 0.02764136 -0.0422753 6.06199345] [-0.02859057 0.99934873 -0.02201567 -0.63316087] [ 0.04163922 0.02319625 0.99886341 0.05045206] [ 0. 0. 0. 1. ]] SLAMing on 97.41240100800002 meters Centerline goodness [0,1] 0.9321750052334101 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.05 [[ 0.99858228 0.03103709 -0.0432451 6.0654991 ] [-0.03182817 0.99933616 -0.01772587 -0.63461808] [ 0.04266624 0.01907716 0.99890723 0.05016193] [ 0. 0. 0. 1. ]] SLAMing on 97.44240100800002 meters Centerline goodness [0,1] 0.9308273359900078 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.05 [[ 0.99843997 0.03473038 -0.04371984 6.06776072] [-0.03537206 0.99927629 -0.01398993 -0.63343661] [ 0.04320233 0.01551456 0.99894587 0.04940766] [ 0. 0. 0. 1. ]] SLAMing on 97.47240100800002 meters Centerline goodness [0,1] 0.9287025522591342 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.05 [[ 0.99828759 0.03856699 -0.04398278 6.06948395] [-0.03905807 0.99918323 -0.01036079 -0.63196058] [ 0.04354727 0.01206093 0.99897856 0.04848942] [ 0. 0. 0. 1. ]] SLAMing on 97.50240100800002 meters Centerline goodness [0,1] 0.9257860893162645 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.05 [[ 0.99812259 0.04235557 -0.04424148 6.07103403] [-0.04269169 0.99906596 -0.00668003 -0.62997145] [ 0.04391722 0.00855623 0.99899853 0.04805769] [ 0. 0. 0. 1. ]] SLAMing on 97.53240100800001 meters Centerline goodness [0,1] 0.9251333745984025 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.05 [[ 0.99810541 0.04244351 -0.04454364 6.07100822] [-0.04276298 0.99906574 -0.00624337 -0.63024448] [ 0.04423703 0.00813636 0.99898793 0.04936304] [ 0. 0. 0. 1. ]] SLAMing on 97.56240100800001 meters Centerline goodness [0,1] 0.9270842536148659 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.05 [[ 9.98076530e-01 4.29392066e-02 -4.47153667e-02 6.06997030e+00] [-4.32223544e-02 9.99050968e-01 -5.38431382e-03 -6.30673124e-01] [ 4.44417323e-02 7.30666069e-03 9.98985258e-01 5.16922609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59240100800001 meters Centerline goodness [0,1] 0.925848209008157 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.06 [[ 9.98040406e-01 4.37043514e-02 -4.47803361e-02 6.06806415e+00] [-4.39311624e-02 9.99026176e-01 -4.09295885e-03 -6.31681767e-01] [ 4.45578478e-02 6.05219052e-03 9.98988473e-01 5.50056645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62240100800001 meters Centerline goodness [0,1] 0.9275991378037618 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.06 [[ 9.98002700e-01 4.45772495e-02 -4.47602404e-02 6.06583035e+00] [-4.47421259e-02 9.98994953e-01 -2.68799280e-03 -6.32728740e-01] [ 4.45954310e-02 4.68529239e-03 9.98994142e-01 5.85300849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65240100800001 meters Centerline goodness [0,1] 0.9328975649972029 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.06 [[ 9.97971145e-01 4.56350943e-02 -4.43963156e-02 6.06227553e+00] [-4.57126585e-02 9.98954361e-01 -7.32890926e-04 -6.32767887e-01] [ 4.43164475e-02 2.76087761e-03 9.99013729e-01 6.36471937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68240100800001 meters Centerline goodness [0,1] 0.9354097974564296 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.06 [[ 9.97986888e-01 4.55174201e-02 -4.41626015e-02 6.06197642e+00] [-4.55963015e-02 9.98959643e-01 -7.79966005e-04 -6.31455063e-01] [ 4.40811546e-02 2.79204714e-03 9.99024052e-01 6.37535859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71240100800001 meters Centerline goodness [0,1] 0.9390914944681847 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.06 [[ 9.98006257e-01 4.51693412e-02 -4.40822034e-02 6.06253796e+00] [-4.52678076e-02 9.98974121e-01 -1.23751452e-03 -6.29147607e-01] [ 4.39810827e-02 3.23055194e-03 9.99027141e-01 6.30276104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74240100800002 meters Centerline goodness [0,1] 0.9382266383053119 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.06 [[ 9.98032541e-01 4.44070376e-02 -4.42612876e-02 6.06430056e+00] [-4.45494403e-02 9.99004679e-01 -2.23565107e-03 -6.26788314e-01] [ 4.41179548e-02 4.20306811e-03 9.99017487e-01 6.11789233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77240100800002 meters Centerline goodness [0,1] 0.9380085465082245 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.62, Z:0.06 [[ 0.99820273 0.04066951 -0.04401469 6.06324469] [-0.04100736 0.99913571 -0.00679995 -0.62488648] [ 0.0437001 0.00859265 0.99900774 0.06032089] [ 0. 0. 0. 1. ]] SLAMing on 97.80240100800002 meters Centerline goodness [0,1] 0.9335130541799748 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.06 [[ 0.99818802 0.04047224 -0.04452717 6.06405645] [-0.04078612 0.99914889 -0.00616317 -0.62691305] [ 0.04423983 0.0079681 0.99898916 0.06150436] [ 0. 0. 0. 1. ]] SLAMing on 97.83240100800002 meters Centerline goodness [0,1] 0.9357609271133596 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.06 [[ 0.99834321 0.03659648 -0.04440184 6.06307659] [-0.03709643 0.99925665 -0.01048819 -0.62620375] [ 0.043985 0.01211797 0.9989587 0.06124812] [ 0. 0. 0. 1. ]] SLAMing on 97.86240100800002 meters Centerline goodness [0,1] 0.9362178731431267 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.06 [[ 0.99833417 0.03548838 -0.04549141 6.0658128 ] [-0.0359524 0.99930908 -0.00942263 -0.6301267 ] [ 0.04512558 0.01104246 0.99892029 0.06315256] [ 0. 0. 0. 1. ]] SLAMing on 97.89240100800002 meters Centerline goodness [0,1] 0.9336028565526603 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.06 [[ 0.99833184 0.03474732 -0.04611032 6.06827159] [-0.03523274 0.99933151 -0.0097564 -0.63060031] [ 0.04574048 0.01136472 0.99888871 0.06210123] [ 0. 0. 0. 1. ]] SLAMing on 97.92240100800001 meters Centerline goodness [0,1] 0.9308736717827627 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.06 [[ 0.99833336 0.03387067 -0.04672553 6.07122266] [-0.03439892 0.99935252 -0.01054759 -0.63017272] [ 0.04633802 0.01213732 0.99885208 0.06009887] [ 0. 0. 0. 1. ]] SLAMing on 97.95240100800001 meters Centerline goodness [0,1] 0.9332665802803628 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.06 [[ 0.99833172 0.03307098 -0.04732965 6.07415144] [-0.03364256 0.99936969 -0.01133115 -0.62948144] [ 0.04692509 0.01290454 0.99881505 0.05802527] [ 0. 0. 0. 1. ]] SLAMing on 97.98240100800001 meters Centerline goodness [0,1] 0.9259836958121193 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.63, Z:0.06 [[ 0.9983186 0.03217978 -0.04821243 6.07751748] [-0.03277822 0.99939448 -0.01167353 -0.6302629 ] [ 0.04780759 0.01323422 0.99876889 0.0566342 ] [ 0. 0. 0. 1. ]] SLAMing on 98.01240100800001 meters Centerline goodness [0,1] 0.9226676126285918 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.63, Z:0.06 [[ 0.99830388 0.03231986 -0.04842308 6.0775266 ] [-0.03289227 0.99939758 -0.01107095 -0.63169511] [ 0.0480361 0.01264491 0.99876556 0.05761612] [ 0. 0. 0. 1. ]] SLAMing on 98.04240100800001 meters Centerline goodness [0,1] 0.9270226297884928 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.63, Z:0.06 [[ 0.99829075 0.03274678 -0.04840692 6.07687384] [-0.03329286 0.99939029 -0.01051795 -0.63255267] [ 0.04803298 0.01211158 0.99877232 0.05846835] [ 0. 0. 0. 1. ]] SLAMing on 98.07240100800001 meters Centerline goodness [0,1] 0.9261057493042809 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.63, Z:0.06 [[ 0.99828388 0.03332662 -0.04815209 6.07555447] [-0.03384913 0.99937615 -0.01007665 -0.63230533] [ 0.04778623 0.01168927 0.99878919 0.05935873] [ 0. 0. 0. 1. ]] SLAMing on 98.10240100800002 meters Centerline goodness [0,1] 0.9252427759355756 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.06 [[ 0.99827481 0.0340027 -0.04786665 6.07406464] [-0.03450427 0.99935756 -0.00969123 -0.63168305] [ 0.04750637 0.01132612 0.99880672 0.06026183] [ 0. 0. 0. 1. ]] SLAMing on 98.13240100800002 meters Centerline goodness [0,1] 0.9250962962962963 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.06 [[ 0.99825597 0.03483028 -0.04766403 6.07193921] [-0.03526853 0.9993427 -0.00838437 -0.63253774] [ 0.04734067 0.01005079 0.99882823 0.06307724] [ 0. 0. 0. 1. ]] SLAMing on 98.16240100800002 meters Centerline goodness [0,1] 0.9264853977844915 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.06 [[ 0.99824543 0.03513177 -0.04766362 6.07127802] [-0.03555022 0.99933619 -0.00795981 -0.63254553] [ 0.04735234 0.00964029 0.99883173 0.0641552 ] [ 0. 0. 0. 1. ]] SLAMing on 98.19240100800002 meters Centerline goodness [0,1] 0.9255640433469533 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.07 [[ 0.99823328 0.03528746 -0.04780296 6.07097665] [-0.03568672 0.9993347 -0.00752452 -0.63242146] [ 0.04750564 0.00921716 0.99882844 0.06536303] [ 0. 0. 0. 1. ]] SLAMing on 98.22240100800002 meters Centerline goodness [0,1] 0.9237823880331226 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.07 [[ 0.99822997 0.03509181 -0.0480155 6.07117351] [-0.03547956 0.99934413 -0.007247 -0.63203296] [ 0.0477297 0.00893774 0.9988203 0.06636488] [ 0. 0. 0. 1. ]] SLAMing on 98.25240100800002 meters Centerline goodness [0,1] 0.9239388190656865 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.07 [[ 0.99823147 0.03440116 -0.04848181 6.07311322] [-0.03481511 0.99936396 -0.00771942 -0.63073874] [ 0.04818541 0.00939367 0.99879424 0.06565279] [ 0. 0. 0. 1. ]] SLAMing on 98.28240100800001 meters Centerline goodness [0,1] 0.9212054762045871 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.06 [[ 0.99823242 0.03407851 -0.04868973 6.07413707] [-0.03451396 0.99937114 -0.00813048 -0.62946714] [ 0.04838203 0.00979659 0.99878086 0.06498794] [ 0. 0. 0. 1. ]] SLAMing on 98.31240100800001 meters Centerline goodness [0,1] 0.9282309400444115 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.07 [[ 0.99823021 0.03419146 -0.04865582 6.07395392] [-0.03462717 0.99936715 -0.00814003 -0.62860361] [ 0.04834671 0.00981044 0.99878243 0.06512565] [ 0. 0. 0. 1. ]] SLAMing on 98.34240100800001 meters Centerline goodness [0,1] 0.926090169992609 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.07 [[ 0.99820276 0.03530692 -0.04842179 6.07105043] [-0.03568012 0.99933969 -0.00686454 -0.62833078] [ 0.04814745 0.0085799 0.99880339 0.06858814] [ 0. 0. 0. 1. ]] SLAMing on 98.37240100800001 meters Centerline goodness [0,1] 0.926090169992609 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.07 [[ 0.99820276 0.03530692 -0.04842179 6.07105043] [-0.03568012 0.99933969 -0.00686454 -0.62833078] [ 0.04814745 0.0085799 0.99880339 0.06858814] [ 0. 0. 0. 1. ]] SLAMing on 98.40240100800001 meters Centerline goodness [0,1] 0.9281365998515219 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.07 [[ 9.98181095e-01 3.60482368e-02 -4.83221190e-02 6.06918081e+00] [-3.63648963e-02 9.99322381e-01 -5.68977878e-03 -6.29499591e-01] [ 4.80842685e-02 7.43665845e-03 9.98815598e-01 7.12231572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43240100800001 meters Centerline goodness [0,1] 0.9295232454841575 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.07 [[ 9.98154885e-01 3.65908978e-02 -4.84554686e-02 6.06777366e+00] [-3.68561173e-02 9.99310036e-01 -4.59106402e-03 -6.30674231e-01] [ 4.82540449e-02 6.36847342e-03 9.98814792e-01 7.40304841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46240100800001 meters Centerline goodness [0,1] 0.9344940731325194 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.08 [[ 9.98132225e-01 3.78644812e-02 -4.79410322e-02 6.06431678e+00] [-3.80501989e-02 9.99271425e-01 -2.96688625e-03 -6.31493597e-01] [ 4.77937640e-02 4.78551058e-03 9.98845761e-01 7.76005787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49240100800002 meters Centerline goodness [0,1] 0.9373502529062029 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.08 [[ 9.98136241e-01 3.79250276e-02 -4.78093746e-02 6.06415619e+00] [-3.81152833e-02 9.99268621e-01 -3.07378194e-03 -6.30641276e-01] [ 4.76578346e-02 4.89032101e-03 9.98851749e-01 7.74163266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52240100800002 meters Centerline goodness [0,1] 0.9360922258350577 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.63, Z:0.08 [[ 9.98143998e-01 3.77009909e-02 -4.78246322e-02 6.06491934e+00] [-3.79157511e-02 9.99274487e-01 -3.59105738e-03 -6.29588076e-01] [ 4.76545484e-02 5.39769922e-03 9.98849292e-01 7.62711435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55240100800002 meters Centerline goodness [0,1] 0.9336618762357246 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.07 [[ 9.98154616e-01 3.72038484e-02 -4.79920338e-02 6.06647672e+00] [-3.74520952e-02 9.99289243e-01 -4.28354823e-03 -6.28217538e-01] [ 4.77985587e-02 6.07304566e-03 9.98838533e-01 7.47191152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58240100800002 meters Centerline goodness [0,1] 0.9329752383201015 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.07 [[ 9.98165252e-01 3.66396903e-02 -4.82043783e-02 6.06825696e+00] [-3.69252617e-02 9.99305286e-01 -5.04678146e-03 -6.27051320e-01] [ 4.79859776e-02 6.81748117e-03 9.98824743e-01 7.29692127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61240100800002 meters Centerline goodness [0,1] 0.9299315900139189 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.07 [[ 9.98152441e-01 3.61677881e-02 -4.88220782e-02 6.07029631e+00] [-3.64837999e-02 9.99318571e-01 -5.59688527e-03 -6.27327508e-01] [ 4.85863825e-02 7.36775963e-03 9.98791810e-01 7.18153697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64240100800002 meters Centerline goodness [0,1] 0.9268386486006746 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.07 [[ 9.98132882e-01 3.58944480e-02 -4.94200234e-02 6.07162906e+00] [-3.62145776e-02 9.99328362e-01 -5.59734333e-03 -6.27764793e-01] [ 4.91859174e-02 7.37661770e-03 9.98762400e-01 7.20540076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67240100800001 meters Centerline goodness [0,1] 0.9308620791669132 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.07 [[ 9.98124447e-01 3.56675584e-02 -4.97535358e-02 6.07270729e+00] [-3.60063904e-02 9.99333964e-01 -5.93035320e-03 -6.27363174e-01] [ 4.95088769e-02 7.71067574e-03 9.98743919e-01 7.14998370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70240100800001 meters Centerline goodness [0,1] 0.9261168384879725 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:0.07 [[ 0.99812541 0.03547444 -0.04987214 6.07359429] [-0.0358423 0.99933631 -0.00650097 -0.62602383] [ 0.04960842 0.00827631 0.99873445 0.07036539] [ 0. 0. 0. 1. ]] SLAMing on 98.73240100800001 meters Centerline goodness [0,1] 0.9158121804911202 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.62, Z:0.07 [[ 0.9981371 0.03460529 -0.05024745 6.0762313 ] [-0.03503313 0.9993568 -0.00765887 -0.62389727] [ 0.04995009 0.00940493 0.99870743 0.06792522] [ 0. 0. 0. 1. ]] SLAMing on 98.76240100800001 meters Centerline goodness [0,1] 0.9207868155236576 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.62, Z:0.07 [[ 0.99813634 0.0339597 -0.05070085 6.07819846] [-0.03441297 0.99937492 -0.00809378 -0.62291298] [ 0.0503943 0.00982346 0.99868109 0.06707794] [ 0. 0. 0. 1. ]] SLAMing on 98.79240100800001 meters Centerline goodness [0,1] 0.9130396241467955 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.62, Z:0.07 [[ 0.99813835 0.03368229 -0.05084629 6.07897306] [-0.0341392 0.9993839 -0.00814432 -0.62264578] [ 0.05054065 0.00986501 0.99867328 0.06685153] [ 0. 0. 0. 1. ]] SLAMing on 98.82240100800001 meters Centerline goodness [0,1] 0.9224677443274507 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.62, Z:0.07 [[ 0.99812459 0.03346106 -0.05126076 6.07950872] [-0.03388903 0.99939744 -0.0075025 -0.62395001] [ 0.05097883 0.00922561 0.99865712 0.06823312] [ 0. 0. 0. 1. ]] SLAMing on 98.85240100800002 meters Centerline goodness [0,1] 0.9202035835466397 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.63, Z:0.07 [[ 9.98100889e-01 3.34369423e-02 -5.17357374e-02 6.07943401e+00] [-3.37738736e-02 9.99413519e-01 -5.65182021e-03 -6.27486601e-01] [ 5.15164158e-02 7.38840303e-03 9.98644817e-01 7.17621730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88240100800002 meters Centerline goodness [0,1] 0.923187969924812 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.63, Z:0.08 [[ 9.98209134e-01 2.86498746e-02 -5.25139063e-02 6.07967791e+00] [-2.90042346e-02 9.99561292e-01 -5.99814859e-03 -6.33127518e-01] [ 5.23190218e-02 7.51053237e-03 9.98602179e-01 7.90656556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91240100800002 meters Centerline goodness [0,1] 0.9235797337188987 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.64, Z:0.08 [[ 9.98202037e-01 2.79012313e-02 -5.30491623e-02 6.08101242e+00] [-2.82173483e-02 9.99588186e-01 -5.21918487e-03 -6.35635095e-01] [ 5.28816943e-02 6.70670767e-03 9.98578263e-01 8.05488073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94240100800002 meters Centerline goodness [0,1] 0.9181065514758819 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.64, Z:0.08 [[ 9.98217436e-01 2.57051290e-02 -5.38627548e-02 6.08534513e+00] [-2.60189959e-02 9.99648265e-01 -5.13393261e-03 -6.37051336e-01] [ 5.37118410e-02 6.52623584e-03 9.98535150e-01 8.04811486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97240100800002 meters Centerline goodness [0,1] 0.9285757283891163 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.64, Z:0.08 [[ 9.98209127e-01 2.50913051e-02 -5.43043699e-02 6.08715362e+00] [-2.54195847e-02 9.99662485e-01 -5.36282856e-03 -6.36961405e-01] [ 5.41514810e-02 6.73361895e-03 9.98510028e-01 7.98835155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00240100800002 meters Centerline goodness [0,1] 0.9128353355613765 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.64, Z:0.08 [[ 9.98204344e-01 2.45673740e-02 -5.46308592e-02 6.08873961e+00] [-2.49277224e-02 9.99671701e-01 -5.92434827e-03 -6.36177264e-01] [ 5.44673783e-02 7.27553307e-03 9.98489044e-01 7.88064475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03240100800001 meters Centerline goodness [0,1] 0.9048948110800996 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.08 [[ 0.99819483 0.02398192 -0.0550631 6.09050705] [-0.02438383 0.99968063 -0.00663868 -0.63459112] [ 0.0548863 0.00796935 0.99846081 0.07776471] [ 0. 0. 0. 1. ]] SLAMing on 99.06240100800001 meters Centerline goodness [0,1] 0.9026699829193012 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.08 [[ 0.99819247 0.02405671 -0.05507338 6.09010441] [-0.02445738 0.999679 -0.00661269 -0.63373364] [ 0.05489662 0.00794768 0.99846041 0.0784348 ] [ 0. 0. 0. 1. ]] SLAMing on 99.09240100800001 meters Centerline goodness [0,1] 0.9057090570905709 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.08 [[ 9.98175106e-01 2.44037745e-02 -5.52350798e-02 6.08912558e+00] [-2.47550973e-02 9.99677380e-01 -5.68516314e-03 -6.34875515e-01] [ 5.50785204e-02 7.04213809e-03 9.98457192e-01 8.07592771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12240100800001 meters Centerline goodness [0,1] 0.9023545706371191 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.64, Z:0.08 [[ 9.98159270e-01 2.47949311e-02 -5.53469344e-02 6.08790300e+00] [-2.50833724e-02 9.99675131e-01 -4.52282957e-03 -6.36551044e-01] [ 5.52168106e-02 5.90279203e-03 9.98456940e-01 8.35195432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15240100800001 meters Centerline goodness [0,1] 0.903080911612203 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.64, Z:0.09 [[ 9.98147299e-01 2.50125268e-02 -5.54647845e-02 6.08727405e+00] [-2.52588267e-02 9.99673934e-01 -3.74397079e-03 -6.37717824e-01] [ 5.53530531e-02 5.13800971e-03 9.98453625e-01 8.52548183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18240100800001 meters Centerline goodness [0,1] 0.8788582807832724 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.64, Z:0.08 [[ 9.98162336e-01 2.41555650e-02 -5.55739171e-02 6.08914647e+00] [-2.44454140e-02 9.99690850e-01 -4.54159501e-03 -6.36604232e-01] [ 5.54470316e-02 5.89177649e-03 9.98444247e-01 8.33289102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21240100800001 meters Centerline goodness [0,1] 0.8976508050949291 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.64, Z:0.08 [[ 9.98163608e-01 2.34382527e-02 -5.58575019e-02 6.09120198e+00] [-2.37661556e-02 9.99703952e-01 -5.21322638e-03 -6.35481275e-01] [ 5.57187765e-02 6.53117093e-03 9.98425141e-01 8.17353266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24240100800002 meters Centerline goodness [0,1] 0.902131113048183 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.08 [[ 9.98162142e-01 2.30042525e-02 -5.60637329e-02 6.09265528e+00] [-2.33589287e-02 9.99711012e-01 -5.67913938e-03 -6.34946736e-01] [ 5.59168868e-02 6.97829066e-03 9.98411040e-01 8.04526941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27240100800002 meters Centerline goodness [0,1] 0.9085535987519127 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.08 [[ 9.98153418e-01 2.26769882e-02 -5.63516568e-02 6.09379962e+00] [-2.30479685e-02 9.99716701e-01 -5.94205666e-03 -6.34531112e-01] [ 5.62009445e-02 7.22987538e-03 9.98393301e-01 7.99570577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30240100800002 meters Centerline goodness [0,1] 0.9028648567571621 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.08 [[ 0.99814194 0.02311906 -0.05637523 6.09333363] [-0.02350532 0.9997045 -0.00619796 -0.63327404] [ 0.05621528 0.00751157 0.99839041 0.07981495] [ 0. 0. 0. 1. ]] SLAMing on 99.33240100800002 meters Centerline goodness [0,1] 0.9098785789236996 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.08 [[ 0.9981264 0.02336143 -0.05655029 6.09320927] [-0.0237522 0.99969835 -0.00624775 -0.63263801] [ 0.05638727 0.00757924 0.9983802 0.08014694] [ 0. 0. 0. 1. ]] SLAMing on 99.36240100800002 meters Centerline goodness [0,1] 0.914124598818201 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.08 [[ 0.99810948 0.02365156 -0.05672806 6.09295377] [-0.02404287 0.99969154 -0.0062254 -0.63198956] [ 0.05656332 0.00757753 0.99837026 0.0807031 ] [ 0. 0. 0. 1. ]] SLAMing on 99.39240100800002 meters Centerline goodness [0,1] 0.9199112789617241 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.08 [[ 9.98101679e-01 2.43358311e-02 -5.65756590e-02 6.09165183e+00] [-2.47145234e-02 9.99676523e-01 -6.00343516e-03 -6.30964191e-01] [ 5.64112595e-02 7.39027916e-03 9.98380265e-01 8.15041484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42240100800001 meters Centerline goodness [0,1] 0.9200489070467898 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.08 [[ 9.97979214e-01 2.92656265e-02 -5.64004511e-02 6.09027494e+00] [-2.93657479e-02 9.99568285e-01 -9.47048673e-04 -6.31043192e-01] [ 5.63483862e-02 2.60137632e-03 9.98407779e-01 8.36573805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45240100800001 meters Centerline goodness [0,1] 0.9197395027952896 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.08 [[ 9.97989899e-01 2.96659359e-02 -5.60008420e-02 6.08945354e+00] [-2.97806255e-02 9.99555721e-01 -1.21440134e-03 -6.28922641e-01] [ 5.59399357e-02 2.87970038e-03 9.98429983e-01 8.30302155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48240100800001 meters Centerline goodness [0,1] 0.9197457526434597 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.08 [[ 9.98009630e-01 3.00256279e-02 -5.54548562e-02 6.08836870e+00] [-3.01473875e-02 9.99544539e-01 -1.36021799e-03 -6.26910254e-01] [ 5.53887573e-02 3.02932969e-03 9.98460269e-01 8.25764342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51240100800001 meters Centerline goodness [0,1] 0.9220055710306406 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.08 [[ 9.98030477e-01 3.06766925e-02 -5.47184329e-02 6.08642197e+00] [-3.07880201e-02 9.99525225e-01 -1.19254997e-03 -6.25612376e-01] [ 5.46558705e-02 2.87487343e-03 9.98501112e-01 8.26627905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54240100800001 meters Centerline goodness [0,1] 0.925637917270335 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.63, Z:0.08 [[ 0.99825149 0.03349888 -0.04870097 6.09682282] [-0.03395676 0.99938626 -0.00860483 -0.62532126] [ 0.04838283 0.01024351 0.99877634 0.08115219] [ 0. 0. 0. 1. ]] SLAMing on 99.57240100800001 meters Centerline goodness [0,1] 0.9269709543568465 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.08 [[ 0.99822769 0.03448843 -0.04849771 6.09441545] [-0.03487926 0.99936534 -0.00723557 -0.62696151] [ 0.04821739 0.00891431 0.99879709 0.08406843] [ 0. 0. 0. 1. ]] SLAMing on 99.60240100800002 meters Centerline goodness [0,1] 0.9289207694815781 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.09 [[ 0.99820469 0.03520178 -0.04845848 6.09271832] [-0.03554498 0.99934861 -0.00623858 -0.62816452] [ 0.0482073 0.00794983 0.99880571 0.08642405] [ 0. 0. 0. 1. ]] SLAMing on 99.63240100800002 meters Centerline goodness [0,1] 0.9311021281654975 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.09 [[ 9.98193181e-01 3.60472415e-02 -4.80725434e-02 6.09055475e+00] [-3.63554860e-02 9.99323493e-01 -5.55291765e-03 -6.28660992e-01] [ 4.78398546e-02 7.29058521e-03 9.98828412e-01 8.79379426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66240100800002 meters Centerline goodness [0,1] 0.9295524508643145 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.09 [[ 9.98051125e-01 3.92253759e-02 -4.85316559e-02 6.09359926e+00] [-3.93764308e-02 9.99222113e-01 -2.15999410e-03 -6.28412385e-01] [ 4.84091772e-02 4.06678793e-03 9.98819309e-01 8.62761676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69240100800002 meters Centerline goodness [0,1] 0.9289222938983251 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.63, Z:0.08 [[ 9.98081715e-01 3.81362198e-02 -4.87700695e-02 6.09686126e+00] [-3.83698421e-02 9.99256141e-01 -3.86273666e-03 -6.25765729e-01] [ 4.85864812e-02 5.72662670e-03 9.98802563e-01 8.22797390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72240100800002 meters Centerline goodness [0,1] 0.927259303012404 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.62, Z:0.08 [[ 9.98105918e-01 3.70941516e-02 -4.90774990e-02 6.09994113e+00] [-3.73900869e-02 9.99287602e-01 -5.12538589e-03 -6.24147296e-01] [ 4.88524144e-02 6.95068994e-03 9.98781823e-01 7.90685794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75240100800002 meters Centerline goodness [0,1] 0.9282375909601845 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.62, Z:0.08 [[ 9.98110343e-01 3.65446624e-02 -4.93986976e-02 6.10180698e+00] [-3.68595020e-02 9.99305447e-01 -5.47726921e-03 -6.24525121e-01] [ 4.91642226e-02 7.28773044e-03 9.98764120e-01 7.77008401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78240100800001 meters Centerline goodness [0,1] 0.9299311824112968 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.63, Z:0.08 [[ 0.99823757 0.03206848 -0.04993354 6.10251779] [-0.03255415 0.99942996 -0.00894349 -0.62711771] [ 0.04961828 0.01055328 0.9987125 0.07853175] [ 0. 0. 0. 1. ]] SLAMing on 99.81240100800001 meters Centerline goodness [0,1] 0.9273431679332439 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.63, Z:0.08 [[ 0.99821073 0.03152293 -0.05080979 6.10414277] [-0.03195828 0.99945894 -0.00777847 -0.63086751] [ 0.0505371 0.00938834 0.99867806 0.0806229 ] [ 0. 0. 0. 1. ]] SLAMing on 99.84240100800001 meters Centerline goodness [0,1] 0.9293458727686594 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.63, Z:0.08 [[ 0.99834281 0.02734992 -0.05063209 6.10370441] [-0.02800076 0.99953357 -0.0121898 -0.63014394] [ 0.05027508 0.01358734 0.99864298 0.07990088] [ 0. 0. 0. 1. ]] SLAMing on 99.87240100800001 meters Centerline goodness [0,1] 0.9313654907607392 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.63, Z:0.08 [[ 0.99835454 0.0262264 -0.05099407 6.10616362] [-0.02689955 0.99955924 -0.01255938 -0.63068913] [ 0.0506422 0.01391043 0.99861998 0.07863839] [ 0. 0. 0. 1. ]] SLAMing on 99.90240100800001 meters Centerline goodness [0,1] 0.9259270361821398 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.63, Z:0.08 [[ 0.998356 0.02584562 -0.05115959 6.10731599] [-0.02654104 0.9995637 -0.0129607 -0.62964442] [ 0.05080229 0.01429722 0.99860639 0.07773454] [ 0. 0. 0. 1. ]] SLAMing on 99.93240100800001 meters Centerline goodness [0,1] 0.924213365298172 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.63, Z:0.08 [[ 0.99835314 0.02578267 -0.05124697 6.10766003] [-0.02647941 0.9995653 -0.01296353 -0.62913419] [ 0.05089046 0.01429917 0.99860187 0.07768688] [ 0. 0. 0. 1. ]] SLAMing on 99.96240100800001 meters Centerline goodness [0,1] 0.9270505794627617 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.63, Z:0.08 [[ 0.99834727 0.02633074 -0.05108244 6.10642869] [-0.02698913 0.99956076 -0.01224202 -0.62970078] [ 0.05073766 0.01360046 0.99861941 0.07905457] [ 0. 0. 0. 1. ]] SLAMing on 99.99240100800002 meters Centerline goodness [0,1] 0.9337457952907257 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.63, Z:0.08 [[ 0.99833427 0.0272854 -0.05083487 6.10407472] [-0.02787385 0.99955199 -0.01090278 -0.63108983] [ 0.05051461 0.01230158 0.99864756 0.08179727] [ 0. 0. 0. 1. ]] SLAMing on 100.02240100800002 meters Centerline goodness [0,1] 0.9184666686694505 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.63, Z:0.08 [[ 0.99831382 0.02820945 -0.05073199 6.10194501] [-0.02872753 0.99954202 -0.00951198 -0.63262632] [ 0.05044043 0.01095335 0.99866701 0.08472282] [ 0. 0. 0. 1. ]] SLAMing on 100.05240100800002 meters Centerline goodness [0,1] 0.9412881642002472 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.63, Z:0.09 [[ 0.99830512 0.02988346 -0.04993856 6.09800764] [-0.03033411 0.99950543 -0.00829062 -0.63280718] [ 0.04966611 0.00979141 0.99871788 0.08705588] [ 0. 0. 0. 1. ]] SLAMing on 100.08240100800002 meters Centerline goodness [0,1] 0.9393657834791991 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.63, Z:0.09 [[ 9.98159645e-01 3.39881345e-02 -5.02208192e-02 6.09881183e+00] [-3.42062274e-02 9.99408704e-01 -3.48935734e-03 -6.34261061e-01] [ 5.00725271e-02 5.20080044e-03 9.98732043e-01 8.81576197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11240100800002 meters Centerline goodness [0,1] 0.9411658977892278 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.63, Z:0.09 [[ 9.98165582e-01 3.45908263e-02 -4.96884958e-02 6.09768625e+00] [-3.48191001e-02 9.99386650e-01 -3.73561997e-03 -6.32189897e-01] [ 4.95288011e-02 5.45887599e-03 9.98757778e-01 8.73842199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14240100800002 meters Centerline goodness [0,1] 0.9399176217765043 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.63, Z:0.09 [[ 9.98159751e-01 3.52811168e-02 -4.93189044e-02 6.09653948e+00] [-3.55246019e-02 9.99360519e-01 -4.06887666e-03 -6.30151760e-01] [ 4.91438114e-02 5.81342335e-03 9.98774794e-01 8.67827427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.17240100800001 meters Centerline goodness [0,1] 0.9396338002927208 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.09 [[ 9.98119676e-01 3.71573745e-02 -4.87487533e-02 6.09331350e+00] [-3.73735693e-02 9.99295127e-01 -3.53058589e-03 -6.28861546e-01] [ 4.85832043e-02 5.34586216e-03 9.98804833e-01 8.77556386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20240100800001 meters Centerline goodness [0,1] 0.9382937397280741 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.09 [[ 9.98109963e-01 3.76682190e-02 -4.85551883e-02 6.09221865e+00] [-3.78744750e-02 9.99276941e-01 -3.33451854e-03 -6.28655758e-01] [ 4.83944746e-02 5.16721844e-03 9.98814935e-01 8.82974508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23240100800001 meters Centerline goodness [0,1] 0.939881380301941 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.09 [[ 9.98102572e-01 3.84333883e-02 -4.81054078e-02 6.09031428e+00] [-3.86090248e-02 9.99250673e-01 -2.72688455e-03 -6.29114910e-01] [ 4.79645577e-02 4.57901336e-03 9.98838542e-01 8.93455778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26240100800001 meters Centerline goodness [0,1] 0.939881380301941 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.09 [[ 9.98102572e-01 3.84333883e-02 -4.81054078e-02 6.09031428e+00] [-3.86090248e-02 9.99250673e-01 -2.72688455e-03 -6.29114910e-01] [ 4.79645577e-02 4.57901336e-03 9.98838542e-01 8.93455778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29240100800001 meters Centerline goodness [0,1] 0.9397966223715392 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.09 [[ 9.98095917e-01 3.90118677e-02 -4.77767097e-02 6.08887495e+00] [-3.91664020e-02 9.99230050e-01 -2.30228308e-03 -6.29559966e-01] [ 4.76501076e-02 4.16914116e-03 9.98855388e-01 9.00622249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32240100800001 meters Centerline goodness [0,1] 0.9405976239049562 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.09 [[ 9.98085272e-01 3.94632980e-02 -4.76281184e-02 6.08810480e+00] [-3.95800998e-02 9.99215258e-01 -1.51139971e-03 -6.31398973e-01] [ 4.75310978e-02 3.39363147e-03 9.98863994e-01 9.09071398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35240100800002 meters Centerline goodness [0,1] 0.9398378865205644 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.09 [[ 9.98085664e-01 3.91538051e-02 -4.78746994e-02 6.08939113e+00] [-3.92746876e-02 9.99227192e-01 -1.58655563e-03 -6.32387698e-01] [ 4.77755818e-02 3.46378230e-03 9.98852089e-01 9.00823858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38240100800002 meters Centerline goodness [0,1] 0.9396201426722451 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.63, Z:0.09 [[ 9.98089583e-01 3.87250102e-02 -4.81410203e-02 6.09110004e+00] [-3.88581567e-02 9.99243056e-01 -1.83261238e-03 -6.33107189e-01] [ 4.80336123e-02 3.69978264e-03 9.98838868e-01 8.86873450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41240100800002 meters Centerline goodness [0,1] 0.9374756232936305 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.63, Z:0.09 [[ 9.97938373e-01 4.14735806e-02 -4.89790390e-02 6.09552130e+00] [-4.14689458e-02 9.99139175e-01 1.11122722e-03 -6.32292824e-01] [ 4.89829632e-02 9.22172832e-04 9.98799188e-01 8.63296128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44240100800002 meters Centerline goodness [0,1] 0.9357348013403542 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.63, Z:0.08 [[ 9.97953949e-01 4.09732877e-02 -4.90826392e-02 6.09714004e+00] [-4.10197489e-02 9.99158334e-01 6.07440257e-05 -6.30357112e-01] [ 4.90438169e-02 1.95273780e-03 9.98794719e-01 8.40867525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47240100800002 meters Centerline goodness [0,1] 0.9356868123676914 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.63, Z:0.08 [[ 9.97963032e-01 4.01388331e-02 -4.95848923e-02 6.09946505e+00] [-4.02345735e-02 9.99189825e-01 -9.33818993e-04 -6.28798518e-01] [ 4.95072375e-02 2.92694383e-03 9.98769476e-01 8.24963333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50240100800002 meters Centerline goodness [0,1] 0.9335013803865082 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.63, Z:0.08 [[ 9.98087395e-01 3.68573817e-02 -4.96294908e-02 6.09771366e+00] [-3.71400406e-02 9.99298615e-01 -4.78497603e-03 -6.28605491e-01] [ 4.94183197e-02 6.61906556e-03 9.98756235e-01 8.33866563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53240100800001 meters Centerline goodness [0,1] 0.9330310219526112 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.63, Z:0.09 [[ 9.98058299e-01 3.68373062e-02 -5.02259314e-02 6.09803973e+00] [-3.70681346e-02 9.99305995e-01 -3.67177757e-03 -6.31043731e-01] [ 5.00558160e-02 5.52642966e-03 9.98731132e-01 8.58031874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56240100800001 meters Centerline goodness [0,1] 0.9312317466052449 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.63, Z:0.09 [[ 9.98042809e-01 3.66721521e-02 -5.06527836e-02 6.09857951e+00] [-3.68693211e-02 9.99315702e-01 -2.96338040e-03 -6.32686274e-01] [ 5.05094484e-02 4.82511424e-03 9.98711927e-01 8.72164222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59240100800001 meters Centerline goodness [0,1] 0.9328102453102454 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.63, Z:0.09 [[ 9.98049376e-01 3.59986230e-02 -5.10053126e-02 6.10034460e+00] [-3.62057355e-02 9.99339417e-01 -3.14219652e-03 -6.32755150e-01] [ 5.08585046e-02 4.98275214e-03 9.98693439e-01 8.65375306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62240100800001 meters Centerline goodness [0,1] 0.9337251356238698 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.63, Z:0.09 [[ 9.98065355e-01 3.50252724e-02 -5.13690377e-02 6.10274120e+00] [-3.52604711e-02 9.99371384e-01 -3.67925210e-03 -6.32113085e-01] [ 5.12078795e-02 5.48343052e-03 9.98672962e-01 8.50881000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65240100800001 meters Centerline goodness [0,1] 0.9301060728988251 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.63, Z:0.08 [[ 9.98134298e-01 3.23924639e-02 -5.17556911e-02 6.10752727e+00] [-3.26969652e-02 9.99452566e-01 -5.04739209e-03 -6.31392042e-01] [ 5.15638608e-02 6.73022919e-03 9.98647021e-01 8.20023647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68240100800001 meters Centerline goodness [0,1] 0.9299436050544347 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.63, Z:0.08 [[ 9.98126906e-01 3.19398813e-02 -5.21777997e-02 6.10836658e+00] [-3.22313601e-02 9.99469128e-01 -4.75417501e-03 -6.32197834e-01] [ 5.19982522e-02 6.42703144e-03 9.98626494e-01 8.29559599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71240100800001 meters Centerline goodness [0,1] 0.9293648877082831 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.64, Z:0.09 [[ 9.98091492e-01 3.14814203e-02 -5.31252714e-02 6.10949050e+00] [-3.16941834e-02 9.99492596e-01 -3.16700940e-03 -6.35211418e-01] [ 5.29986135e-02 4.84472723e-03 9.98582834e-01 8.65407840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74240100800002 meters Centerline goodness [0,1] 0.9301324603679791 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.64, Z:0.09 [[ 0.99820897 0.02769959 -0.05302444 6.10751635] [-0.02808329 0.99958442 -0.00650484 -0.63594328] [ 0.05282222 0.00798229 0.99857203 0.08870711] [ 0. 0. 0. 1. ]] SLAMing on 100.77240100800002 meters Centerline goodness [0,1] 0.9284976297556825 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.64, Z:0.09 [[ 9.98166935e-01 2.67007148e-02 -5.43124403e-02 6.10978347e+00] [-2.69616217e-02 9.99628157e-01 -4.07665353e-03 -6.40036509e-01] [ 5.41833950e-02 5.53353223e-03 9.98515668e-01 9.38610451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80240100800002 meters Centerline goodness [0,1] 0.9122480146609652 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.64, Z:0.09 [[ 0.99826189 0.02040212 -0.0552898 6.11384527] [-0.02093738 0.9997392 -0.00911911 -0.63984791] [ 0.05508933 0.01026088 0.99842871 0.09251295] [ 0. 0. 0. 1. ]] SLAMing on 100.83240100800002 meters Centerline goodness [0,1] 0.8998137347705273 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.64, Z:0.09 [[ 0.99824415 0.0187151 -0.05619923 6.1182318 ] [-0.0193138 0.99976216 -0.0101289 -0.6390119 ] [ 0.0559963 0.01119653 0.99836819 0.09042082] [ 0. 0. 0. 1. ]] SLAMing on 100.86240100800002 meters Centerline goodness [0,1] 0.8898312841321658 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.64, Z:0.09 [[ 0.99823171 0.01719936 -0.05690024 6.12224306] [-0.0178804 0.99977421 -0.01148164 -0.63683194] [ 0.05668992 0.01247874 0.99831385 0.08769871] [ 0. 0. 0. 1. ]] SLAMing on 100.89240100800002 meters Centerline goodness [0,1] 0.8786842583066029 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.63, Z:0.08 [[ 0.99812815 0.01782738 -0.05850119 6.13065367] [-0.01842673 0.99978295 -0.00972171 -0.6336423 ] [ 0.05831518 0.0107815 0.99824 0.0841301 ] [ 0. 0. 0. 1. ]] SLAMing on 100.92240100800001 meters Centerline goodness [0,1] 0.878443204103183 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.63, Z:0.09 [[ 9.98009334e-01 2.14563893e-02 -5.93042330e-02 6.13256731e+00] [-2.18207310e-02 9.99746756e-01 -5.50277199e-03 -6.33827298e-01] [ 5.91711449e-02 6.78587953e-03 9.98224788e-01 8.52578428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95240100800001 meters Centerline goodness [0,1] 0.9028008079833579 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.63, Z:0.09 [[ 9.97996802e-01 2.25530846e-02 -5.91078831e-02 6.13031404e+00] [-2.29238395e-02 9.99721520e-01 -5.60186665e-03 -6.30446561e-01] [ 5.89650834e-02 6.94562463e-03 9.98235883e-01 8.64904140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98240100800001 meters Centerline goodness [0,1] 0.9138628396800191 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.63, Z:0.09 [[ 9.97862945e-01 2.75725087e-02 -5.92393443e-02 6.12843055e+00] [-2.76623822e-02 9.99617080e-01 -6.97432598e-04 -6.29415936e-01] [ 5.91974304e-02 2.33464353e-03 9.98243564e-01 8.99593246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01240100800001 meters Centerline goodness [0,1] 0.9288404944084756 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.62, Z:0.09 [[ 9.97564106e-01 3.65021360e-02 -5.94428110e-02 6.12438798e+00] [-3.61993864e-02 9.99325587e-01 6.16239237e-03 -6.21666263e-01] [ 5.96276625e-02 -3.99558815e-03 9.98212691e-01 9.46217921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04240100800001 meters Centerline goodness [0,1] 0.9287399854333576 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.62, Z:0.09 [[ 0.99741537 0.04073457 -0.05918847 6.12395073] [-0.04025433 0.99914633 0.00928416 -0.61675121] [ 0.05951613 -0.00687757 0.99820365 0.09454555] [ 0. 0. 0. 1. ]] SLAMing on 101.07240100800001 meters Centerline goodness [0,1] 0.9277007751491225 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.61, Z:0.09 [[ 0.99725678 0.04470253 -0.05899658 6.12380257] [-0.0440423 0.99895215 0.01244489 -0.61228186] [ 0.05949108 -0.00981241 0.99818061 0.09465869] [ 0. 0. 0. 1. ]] SLAMing on 101.10240100800002 meters Centerline goodness [0,1] 0.9272826524162501 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.61, Z:0.09 [[ 0.9972536 0.0454779 -0.05845526 6.12167892] [-0.04486794 0.99892434 0.0117058 -0.60688933] [ 0.05892474 -0.00905088 0.9982214 0.09470328] [ 0. 0. 0. 1. ]] SLAMing on 101.13240100800002 meters Centerline goodness [0,1] 0.9275822603719599 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.60, Z:0.09 [[ 9.97458204e-01 4.72775199e-02 -5.33101136e-02 6.13357476e+00] [-4.71993013e-02 9.98881772e-01 2.72598386e-03 -6.01652527e-01] [ 5.33793785e-02 -2.02854849e-04 9.98574284e-01 9.28662216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16240100800002 meters Centerline goodness [0,1] 0.9294433803139026 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.60, Z:0.09 [[ 9.97460755e-01 4.70228865e-02 -5.34872964e-02 6.13345417e+00] [-4.69491532e-02 9.98893805e-01 2.63487515e-03 -6.00419544e-01] [ 5.35520285e-02 -1.17001282e-04 9.98565054e-01 9.39092955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19240100800002 meters Centerline goodness [0,1] 0.9319978312359102 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.60, Z:0.09 [[ 9.97474223e-01 4.63710024e-02 -5.38043223e-02 6.13437206e+00] [-4.63256087e-02 9.98924204e-01 2.09121080e-03 -5.98707706e-01] [ 5.38434113e-02 4.06589108e-04 9.98549309e-01 9.39585706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22240100800002 meters Centerline goodness [0,1] 0.9329917336654966 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.60, Z:0.09 [[ 9.97500129e-01 4.51524846e-02 -5.43575798e-02 6.13668399e+00] [-4.51728876e-02 9.98978819e-01 8.53875476e-04 -5.95534525e-01] [ 5.43406255e-02 1.60374794e-03 9.98521169e-01 9.28909041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25240100800002 meters Centerline goodness [0,1] 0.9317956980129456 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.59, Z:0.09 [[ 9.97502515e-01 4.46890862e-02 -5.46956832e-02 6.13793778e+00] [-4.47381569e-02 9.98998694e-01 3.27533475e-04 -5.94646446e-01] [ 5.46555532e-02 2.12026859e-03 9.98503017e-01 9.22437007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28240100800001 meters Centerline goodness [0,1] 0.9339169726066083 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.59, Z:0.09 [[ 9.97503810e-01 4.43397481e-02 -5.49557595e-02 6.13903723e+00] [-4.44265442e-02 9.99012589e-01 -3.58115781e-04 -5.93319617e-01] [ 5.48856168e-02 2.79871633e-03 9.98488726e-01 9.13263281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31240100800001 meters Centerline goodness [0,1] 0.9325241085445167 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.59, Z:0.09 [[ 9.97319712e-01 4.76323687e-02 -5.55387189e-02 6.14224996e+00] [-4.75821978e-02 9.98864845e-01 2.22610014e-03 -5.90137387e-01] [ 5.55817082e-02 4.22520754e-04 9.98454053e-01 8.90653652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34240100800001 meters Centerline goodness [0,1] 0.9286808321033724 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.59, Z:0.09 [[ 9.97121981e-01 5.11110857e-02 -5.59947574e-02 6.14486854e+00] [-5.08923863e-02 9.98689943e-01 5.32568049e-03 -5.88243277e-01] [ 5.61936024e-02 -2.46064625e-03 9.98416859e-01 8.75505425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37240100800001 meters Centerline goodness [0,1] 0.930337389380531 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.59, Z:0.09 [[ 9.96902560e-01 5.47964998e-02 -5.64147921e-02 6.14694348e+00] [-5.43998209e-02 9.98482675e-01 8.54447821e-03 -5.86205670e-01] [ 5.67974000e-02 -5.44905762e-03 9.98370855e-01 8.66053350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40240100800001 meters Centerline goodness [0,1] 0.9272947925860547 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.58, Z:0.09 [[ 9.96866799e-01 5.58723314e-02 -5.59898801e-02 6.14556807e+00] [-5.55230550e-02 9.98427127e-01 7.77571243e-03 -5.82119203e-01] [ 5.63362624e-02 -4.64262037e-03 9.98401058e-01 8.55458685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43240100800001 meters Centerline goodness [0,1] 0.9273485513608428 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.58, Z:0.09 [[ 9.96801065e-01 5.69514252e-02 -5.60729092e-02 6.14453977e+00] [-5.66371856e-02 9.98369018e-01 7.17871493e-03 -5.78395014e-01] [ 5.63902933e-02 -3.97993893e-03 9.98400869e-01 8.54909019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46240100800001 meters Centerline goodness [0,1] 0.9304469120945243 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.57, Z:0.08 [[ 9.96689980e-01 6.39457412e-02 -5.01998592e-02 6.15023563e+00] [-6.40674091e-02 9.97945239e-01 -8.16668762e-04 -5.74157636e-01] [ 5.00444880e-02 4.03014048e-03 9.98738858e-01 8.21003268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49240100800002 meters Centerline goodness [0,1] 0.9305141732498702 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.57, Z:0.08 [[ 9.96649500e-01 6.50128808e-02 -4.96296200e-02 6.14775779e+00] [-6.51189350e-02 9.97877374e-01 -5.21287888e-04 -5.72366806e-01] [ 4.94903844e-02 3.75136931e-03 9.98767555e-01 8.32209189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52240100800002 meters Centerline goodness [0,1] 0.9308592041976388 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.57, Z:0.08 [[ 9.96625535e-01 6.57551197e-02 -4.91305103e-02 6.14583572e+00] [-6.58519973e-02 9.97829339e-01 -3.54045044e-04 -5.70490921e-01] [ 4.90005843e-02 3.58819256e-03 9.98792305e-01 8.40844747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55240100800002 meters Centerline goodness [0,1] 0.9331025270561295 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.57, Z:0.09 [[ 9.96605194e-01 6.64490260e-02 -4.86067228e-02 6.14389735e+00] [-6.65266870e-02 9.97784646e-01 2.00807853e-05 -5.69566017e-01] [ 4.85003760e-02 3.21363162e-03 9.98817994e-01 8.50461497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58240100800002 meters Centerline goodness [0,1] 0.9324666830185594 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.57, Z:0.09 [[ 9.96585704e-01 6.69808969e-02 -4.82751926e-02 6.14235620e+00] [-6.70322764e-02 9.97750653e-01 5.55672828e-04 -5.69725102e-01] [ 4.82038244e-02 2.68222046e-03 9.98833919e-01 8.62027627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61240100800002 meters Centerline goodness [0,1] 0.933581660321547 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.57, Z:0.09 [[ 9.96818696e-01 6.38617232e-02 -4.76882401e-02 6.13966721e+00] [-6.40823691e-02 9.97939764e-01 -3.11084288e-03 -5.68721770e-01] [ 4.73913273e-02 6.15692175e-03 9.98857424e-01 8.66581588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64240100800002 meters Centerline goodness [0,1] 0.9343019755924041 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.57, Z:0.09 [[ 9.96814639e-01 6.37146821e-02 -4.79688912e-02 6.14028702e+00] [-6.39153460e-02 9.97951780e-01 -2.65947753e-03 -5.70487758e-01] [ 4.77011926e-02 5.71695441e-03 9.98845290e-01 8.70217779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.67240100800001 meters Centerline goodness [0,1] 0.9338231262678875 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.57, Z:0.09 [[ 9.96823744e-01 6.30688352e-02 -4.86286457e-02 6.14213382e+00] [-6.32578038e-02 9.97994440e-01 -2.35527762e-03 -5.72918051e-01] [ 4.83825735e-02 5.42393798e-03 9.98814151e-01 8.71053927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70240100800001 meters Centerline goodness [0,1] 0.9326904585290805 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.57, Z:0.09 [[ 0.99707414 0.05887346 -0.04875532 6.14221364] [-0.05925543 0.99822218 -0.00642506 -0.57351554] [ 0.04829037 0.00929528 0.99879009 0.08648557] [ 0. 0. 0. 1. ]] SLAMing on 101.73240100800001 meters Centerline goodness [0,1] 0.9329429071026117 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.58, Z:0.09 [[ 0.99753514 0.0499427 -0.04928858 6.14326541] [-0.05071362 0.99860774 -0.01451566 -0.57622979] [ 0.048495 0.01697948 0.99867909 0.08536256] [ 0. 0. 0. 1. ]] SLAMing on 101.76240100800001 meters Centerline goodness [0,1] 0.9340738884712826 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.58, Z:0.09 [[ 0.99757174 0.04863732 -0.04985015 6.14565563] [-0.04938752 0.99868256 -0.01392891 -0.58012838] [ 0.04910701 0.01635706 0.99865958 0.08558216] [ 0. 0. 0. 1. ]] SLAMing on 101.79240100800001 meters Centerline goodness [0,1] 0.9326100329959175 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.58, Z:0.08 [[ 0.99760023 0.04740003 -0.05046799 6.14834437] [-0.0481484 0.998746 -0.01371684 -0.58343268] [ 0.04975453 0.01611387 0.99863148 0.08499783] [ 0. 0. 0. 1. ]] SLAMing on 101.82240100800001 meters Centerline goodness [0,1] 0.9329476506279103 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.59, Z:0.08 [[ 0.99780239 0.04200086 -0.05124771 6.15158729] [-0.04295464 0.99892104 -0.01765353 -0.58737375] [ 0.05045096 0.01981606 0.99852993 0.08322391] [ 0. 0. 0. 1. ]] SLAMing on 101.85240100800002 meters Centerline goodness [0,1] 0.9338698291684314 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.59, Z:0.08 [[ 0.99778127 0.04150733 -0.05205466 6.15383709] [-0.04244882 0.99895208 -0.01711283 -0.59015456] [ 0.0512898 0.01928452 0.9984976 0.08325861] [ 0. 0. 0. 1. ]] SLAMing on 101.88240100800002 meters Centerline goodness [0,1] 0.932596028737908 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.59, Z:0.08 [[ 0.99776142 0.04142918 -0.05249549 6.15511754] [-0.04236051 0.99896191 -0.01675387 -0.59181948] [ 0.0517469 0.0189401 0.99848061 0.08302007] [ 0. 0. 0. 1. ]] SLAMing on 101.91240100800002 meters Centerline goodness [0,1] 0.9312308738524311 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.59, Z:0.08 [[ 0.99775327 0.04167946 -0.05245216 6.15521192] [-0.04260654 0.99895265 -0.01668217 -0.59181902] [ 0.05170192 0.0188795 0.99848409 0.08259415] [ 0. 0. 0. 1. ]] SLAMing on 101.94240100800002 meters Centerline goodness [0,1] 0.9322019492293745 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.60, Z:0.09 [[ 0.99750016 0.04771924 -0.05211819 6.15216801] [-0.04831058 0.99878084 -0.01014511 -0.59515818] [ 0.05157054 0.0126376 0.99858939 0.08676818] [ 0. 0. 0. 1. ]] SLAMing on 101.97240100800002 meters Centerline goodness [0,1] 0.930505977675789 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.60, Z:0.09 [[ 0.99744137 0.04945338 -0.05162436 6.14895482] [-0.04998609 0.99870865 -0.00907857 -0.59509475] [ 0.05110873 0.01163584 0.99862531 0.08882921] [ 0. 0. 0. 1. ]] SLAMing on 102.00240100800002 meters Centerline goodness [0,1] 0.9305116331601536 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.60, Z:0.09 [[ 9.97194427e-01 5.45049404e-02 -5.13077615e-02 6.14742997e+00] [-5.47788124e-02 9.98490717e-01 -3.94578504e-03 -5.96412072e-01] [ 5.10152588e-02 6.74529310e-03 9.98675095e-01 9.08259063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.03240100800001 meters Centerline goodness [0,1] 0.9316728184610183 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.59, Z:0.09 [[ 9.97124692e-01 5.62508155e-02 -5.07759152e-02 6.14483519e+00] [-5.64942335e-02 9.98397236e-01 -3.37042607e-03 -5.94497073e-01] [ 5.05049442e-02 6.22928147e-03 9.98704384e-01 9.15387894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06240100800001 meters Centerline goodness [0,1] 0.9331415841863351 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.59, Z:0.09 [[ 9.97007667e-01 5.90779762e-02 -4.98548277e-02 6.14017209e+00] [-5.92612361e-02 9.98240074e-01 -2.20446901e-03 -5.93935754e-01] [ 4.96368513e-02 5.15233122e-03 9.98754042e-01 9.30765267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09240100800001 meters Centerline goodness [0,1] 0.9365308024743666 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.59, Z:0.09 [[ 9.96978404e-01 5.99938022e-02 -4.93437455e-02 6.13823243e+00] [-6.01445098e-02 9.98188440e-01 -1.57380841e-03 -5.94569819e-01] [ 4.91599376e-02 4.53680839e-03 9.98780616e-01 9.38521172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12240100800001 meters Centerline goodness [0,1] 0.9395700502172318 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.59, Z:0.09 [[ 9.96963941e-01 6.05580623e-02 -4.89450889e-02 6.13712091e+00] [-6.06981135e-02 9.98155217e-01 -1.37878349e-03 -5.94485921e-01] [ 4.87712994e-02 4.34547198e-03 9.98800519e-01 9.38365591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15240100800001 meters Centerline goodness [0,1] 0.9406798802868598 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.59, Z:0.09 [[ 9.96952663e-01 6.11534791e-02 -4.84318116e-02 6.13580535e+00] [-6.12788027e-02 9.98120076e-01 -1.10568647e-03 -5.94454597e-01] [ 4.82731469e-02 4.07016049e-03 9.98825879e-01 9.38518325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18240100800001 meters Centerline goodness [0,1] 0.9406798802868598 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.59, Z:0.09 [[ 9.96952663e-01 6.11534791e-02 -4.84318116e-02 6.13580535e+00] [-6.12788027e-02 9.98120076e-01 -1.10568647e-03 -5.94454597e-01] [ 4.82731469e-02 4.07016049e-03 9.98825879e-01 9.38518325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21240100800001 meters Centerline goodness [0,1] 0.9425245132668343 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.60, Z:0.10 [[ 9.96903248e-01 6.21175243e-02 -4.82216480e-02 6.13423536e+00] [-6.21864303e-02 9.98064548e-01 7.14308372e-05 -5.98030991e-01] [ 4.81327544e-02 2.92752252e-03 9.98836657e-01 9.51156056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24240100800002 meters Centerline goodness [0,1] 0.9427305266746208 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.60, Z:0.10 [[ 9.97102049e-01 5.92396932e-02 -4.77301011e-02 6.13179562e+00] [-5.94796824e-02 9.98222944e-01 -3.62228867e-03 -5.98329397e-01] [ 4.74306988e-02 6.45076271e-03 9.98853701e-01 9.50007865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27240100800002 meters Centerline goodness [0,1] 0.942647643949298 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.60, Z:0.09 [[ 9.97087216e-01 5.96282413e-02 -4.75558195e-02 6.13139370e+00] [-5.98407654e-02 9.98203256e-01 -3.05656842e-03 -6.00816277e-01] [ 4.72881161e-02 5.89344194e-03 9.98863905e-01 9.49325490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30240100800002 meters Centerline goodness [0,1] 0.9409570985281976 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.60, Z:0.09 [[ 9.97076081e-01 5.98911760e-02 -4.74587862e-02 6.13133406e+00] [-6.00761325e-02 9.98190719e-01 -2.47917629e-03 -6.02997787e-01] [ 4.72244391e-02 5.32306771e-03 9.98870120e-01 9.48177854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33240100800002 meters Centerline goodness [0,1] 0.9429044505980759 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.61, Z:0.09 [[ 9.97100721e-01 5.95399040e-02 -4.73830366e-02 6.13273098e+00] [-5.97007992e-02 9.98214340e-01 -1.98644849e-03 -6.07536051e-01] [ 4.71801537e-02 4.80949438e-03 9.98874818e-01 9.32245129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36240100800002 meters Centerline goodness [0,1] 0.942097294826749 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.61, Z:0.09 [[ 9.97098658e-01 5.94107582e-02 -4.75881026e-02 6.13386264e+00] [-5.95510964e-02 9.98224078e-01 -1.53544550e-03 -6.10320890e-01] [ 4.74123678e-02 4.36491433e-03 9.98865864e-01 9.26239488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39240100800002 meters Centerline goodness [0,1] 0.941938813544743 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.61, Z:0.09 [[ 9.97090445e-01 5.93246317e-02 -4.78668244e-02 6.13492537e+00] [-5.94396342e-02 9.98231419e-01 -9.81472167e-04 -6.13589164e-01] [ 4.77239426e-02 3.82380305e-03 9.98853244e-01 9.22980639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42240100800001 meters Centerline goodness [0,1] 0.9419692998876825 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.61, Z:0.09 [[ 9.97320885e-01 5.56189276e-02 -4.75140800e-02 6.13405913e+00] [-5.59270851e-02 9.98421419e-01 -5.17996692e-03 -6.14306624e-01] [ 4.71509710e-02 7.82341319e-03 9.98857137e-01 9.08397084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45240100800001 meters Centerline goodness [0,1] 0.939575283967115 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.62, Z:0.09 [[ 0.99752253 0.05161563 -0.0477978 6.13494711] [-0.05208982 0.99860426 -0.00872799 -0.61904824] [ 0.04728059 0.01119615 0.9988189 0.08945017] [ 0. 0. 0. 1. ]] SLAMing on 102.48240100800001 meters Centerline goodness [0,1] 0.9375653689715282 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.62, Z:0.09 [[ 0.99750728 0.05128386 -0.04846838 6.13691752] [-0.05173758 0.99862744 -0.00815259 -0.62278113] [ 0.04798375 0.01063991 0.99879145 0.08932953] [ 0. 0. 0. 1. ]] SLAMing on 102.51240100800001 meters Centerline goodness [0,1] 0.9377474122511216 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.62, Z:0.09 [[ 0.99770549 0.04753028 -0.04821433 6.13616605] [-0.04816854 0.99876517 -0.0121629 -0.62368427] [ 0.04757668 0.01445741 0.99876296 0.08837179] [ 0. 0. 0. 1. ]] SLAMing on 102.54240100800001 meters Centerline goodness [0,1] 0.9344006132437054 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.63, Z:0.09 [[ 0.99769096 0.04741024 -0.04863137 6.13722076] [-0.04800618 0.9987847 -0.0111597 -0.62811265] [ 0.04804318 0.01346854 0.99875445 0.08888435] [ 0. 0. 0. 1. ]] SLAMing on 102.57240100800001 meters Centerline goodness [0,1] 0.9353171402109288 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.64, Z:0.09 [[ 0.99790495 0.04257167 -0.0487171 6.13836361] [-0.04331209 0.99896004 -0.01424448 -0.63523793] [ 0.04806003 0.01632467 0.99871104 0.08827403] [ 0. 0. 0. 1. ]] SLAMing on 102.60240100800002 meters Centerline goodness [0,1] 0.9347007115948095 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.64, Z:0.09 [[ 0.99788119 0.04273189 -0.04906237 6.13796045] [-0.04341923 0.99897197 -0.01302974 -0.63749691] [ 0.04845515 0.01513238 0.99871072 0.09078222] [ 0. 0. 0. 1. ]] SLAMing on 102.63240100800002 meters Centerline goodness [0,1] 0.9411940387659409 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.64, Z:0.09 [[ 0.99788661 0.04242447 -0.04921865 6.13849664] [-0.04309326 0.99899151 -0.01260704 -0.63843137] [ 0.04863417 0.01470139 0.99870846 0.09138582] [ 0. 0. 0. 1. ]] SLAMing on 102.66240100800002 meters Centerline goodness [0,1] 0.9419784022433029 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.64, Z:0.09 [[ 0.99794283 0.04092858 -0.04934529 6.14111835] [-0.04164707 0.99903953 -0.013621 -0.63657721] [ 0.04874041 0.01564806 0.9986889 0.08940846] [ 0. 0. 0. 1. ]] SLAMing on 102.69240100800002 meters Centerline goodness [0,1] 0.9446946872296632 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.64, Z:0.09 [[ 0.99794963 0.04031386 -0.04971239 6.14256091] [-0.04104921 0.99906098 -0.01386061 -0.63595903] [ 0.04910694 0.01587284 0.99866739 0.08915124] [ 0. 0. 0. 1. ]] SLAMing on 102.72240100800002 meters Centerline goodness [0,1] 0.9443040233132118 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.64, Z:0.09 [[ 0.99794192 0.0398618 -0.05022913 6.14386121] [-0.04058676 0.99908486 -0.01349642 -0.63670779] [ 0.04964517 0.01550728 0.99864652 0.0898405 ] [ 0. 0. 0. 1. ]] SLAMing on 102.75240100800002 meters Centerline goodness [0,1] 0.9459491707433481 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.64, Z:0.09 [[ 0.99793607 0.03935403 -0.0507431 6.14513092] [-0.04006967 0.99911018 -0.01316345 -0.6377798 ] [ 0.05017991 0.01516954 0.99862499 0.09053754] [ 0. 0. 0. 1. ]] SLAMing on 102.78240100800001 meters Centerline goodness [0,1] 0.941392159785363 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.64, Z:0.09 [[ 0.99798082 0.03663624 -0.05188521 6.15084917] [-0.0374385 0.99919263 -0.01457545 -0.63770825] [ 0.05130933 0.01648853 0.99854668 0.08822115] [ 0. 0. 0. 1. ]] SLAMing on 102.81240100800001 meters Centerline goodness [0,1] 0.9296774771011725 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.64, Z:0.09 [[ 0.99798701 0.03515417 -0.05278368 6.15495314] [-0.03603209 0.99922614 -0.01577379 -0.63676023] [ 0.05218832 0.01764395 0.99848138 0.08584861] [ 0. 0. 0. 1. ]] SLAMing on 102.84240100800001 meters Centerline goodness [0,1] 0.926010974591435 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.64, Z:0.08 [[ 0.99798615 0.0335206 -0.05385174 6.15964824] [-0.03447712 0.99926204 -0.01693219 -0.63566212] [ 0.05324442 0.01875475 0.99840537 0.08350073] [ 0. 0. 0. 1. ]] SLAMing on 102.87240100800001 meters Centerline goodness [0,1] 0.9110926217573471 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.63, Z:0.08 [[ 0.99797573 0.03217594 -0.0548558 6.16337682] [-0.03319547 0.99929078 -0.01777659 -0.63474475] [ 0.05424492 0.01956157 0.99833603 0.08221246] [ 0. 0. 0. 1. ]] SLAMing on 102.90240100800001 meters Centerline goodness [0,1] 0.898172168053195 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.64, Z:0.08 [[ 0.99796056 0.03098978 -0.05580638 6.16581513] [-0.03202526 0.99932931 -0.01775694 -0.63542426] [ 0.05521867 0.01950794 0.9982837 0.08324722] [ 0. 0. 0. 1. ]] SLAMing on 102.93240100800001 meters Centerline goodness [0,1] 0.9057683708451334 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.64, Z:0.09 [[ 0.99793685 0.03091942 -0.05626747 6.16594201] [-0.03192413 0.99934494 -0.01704529 -0.63605409] [ 0.05570358 0.01880641 0.99827022 0.08530541] [ 0. 0. 0. 1. ]] SLAMing on 102.96240100800001 meters Centerline goodness [0,1] 0.9002587976321504 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.63, Z:0.09 [[ 0.99793503 0.03065822 -0.05644239 6.16587234] [-0.03166652 0.99935293 -0.01705716 -0.63383838] [ 0.05588293 0.01880927 0.99826014 0.08660713] [ 0. 0. 0. 1. ]] SLAMing on 102.99240100800002 meters Centerline goodness [0,1] 0.9107439487422876 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.63, Z:0.09 [[ 0.99778886 0.03439662 -0.05687051 6.16706962] [-0.03516523 0.99930246 -0.01256978 -0.63385937] [ 0.05639848 0.01454185 0.99830243 0.08797952] [ 0. 0. 0. 1. ]] SLAMing on 103.02240100800002 meters Centerline goodness [0,1] 0.9050694505883394 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.63, Z:0.09 [[ 0.99762891 0.03857461 -0.05699612 6.16732173] [-0.03909721 0.99920273 -0.0080822 -0.63327628] [ 0.05663891 0.01029142 0.99834169 0.08931103] [ 0. 0. 0. 1. ]] SLAMing on 103.05240100800002 meters Centerline goodness [0,1] 0.9261675925109485 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.63, Z:0.09 [[ 9.97450661e-01 4.26266413e-02 -5.72289152e-02 6.16792459e+00] [-4.29318534e-02 9.99069534e-01 -4.11377516e-03 -6.31989403e-01] [ 5.70003092e-02 6.56023115e-03 9.98352607e-01 9.00468585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08240100800002 meters Centerline goodness [0,1] 0.9401985617375608 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.63, Z:0.09 [[ 9.97207776e-01 4.88827816e-02 -5.64546216e-02 6.16341001e+00] [-4.89493954e-02 9.98801239e-01 2.03084423e-04 -6.27313405e-01] [ 5.63968734e-02 2.56090223e-03 9.98405145e-01 9.28148744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11240100800002 meters Centerline goodness [0,1] 0.9387749188687993 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.62, Z:0.09 [[ 0.99728459 0.05292291 -0.05121147 6.17512143] [-0.05335546 0.99855023 -0.00711538 -0.62406785] [ 0.05076066 0.00982847 0.99866248 0.08990438] [ 0. 0. 0. 1. ]] SLAMing on 103.14240100800002 meters Centerline goodness [0,1] 0.9449535979646708 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.62, Z:0.09 [[ 0.99721743 0.05468688 -0.05066302 6.17155579] [-0.055085 0.99846055 -0.00649435 -0.62135074] [ 0.05022987 0.00926705 0.99869469 0.09207109] [ 0. 0. 0. 1. ]] SLAMing on 103.17240100800001 meters Centerline goodness [0,1] 0.9462700334371037 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.62, Z:0.09 [[ 9.97173492e-01 5.61046529e-02 -4.99729477e-02 6.16824915e+00] [-5.64771395e-02 9.98385428e-01 -6.07205419e-03 -6.18740295e-01] [ 4.95515923e-02 8.87722062e-03 9.98732114e-01 9.37002290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20240100800001 meters Centerline goodness [0,1] 0.9495974698102357 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.62, Z:0.09 [[ 9.96936982e-01 6.04471012e-02 -4.96266319e-02 6.16781269e+00] [-6.06247174e-02 9.98158462e-01 -2.08027743e-03 -6.16465719e-01] [ 4.94094959e-02 5.08250604e-03 9.98765673e-01 9.42375471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23240100800001 meters Centerline goodness [0,1] 0.9528044756849806 Centerline is valid? [False, True] Translation: X:6.17, Y:-0.61, Z:0.09 [[ 9.96958073e-01 6.00588066e-02 -4.96743413e-02 6.16890382e+00] [-6.02696724e-02 9.98178324e-01 -2.75670628e-03 -6.14915672e-01] [ 4.94182863e-02 5.74217686e-03 9.98761663e-01 9.28070473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26240100800001 meters Centerline goodness [0,1] 0.9524519216990055 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.62, Z:0.10 [[ 9.97071595e-01 5.91503642e-02 -4.84713117e-02 6.19997054e+00] [-5.90510050e-02 9.98248899e-01 3.48053672e-03 -6.20788916e-01] [ 4.85923085e-02 -6.08064624e-04 9.98818511e-01 9.64284166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29240100800001 meters Centerline goodness [0,1] 0.9525 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.63, Z:0.10 [[ 9.97143438e-01 5.65109174e-02 -5.01146692e-02 6.23156431e+00] [-5.64007303e-02 9.98401681e-01 3.61125356e-03 -6.28000034e-01] [ 5.02386452e-02 -7.74433844e-04 9.98736942e-01 9.78965252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32240100800001 meters Centerline goodness [0,1] 0.9522160664819944 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.63, Z:0.10 [[ 9.97167896e-01 5.55801986e-02 -5.06658455e-02 6.26314817e+00] [-5.54657593e-02 9.98453871e-01 3.66301680e-03 -6.32885943e-01] [ 5.07911007e-02 -8.42423161e-04 9.98708944e-01 1.01910519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35240100800002 meters Centerline goodness [0,1] 0.9498974255251524 Centerline is valid? [True, False] Translation: X:6.26, Y:-0.63, Z:0.10 [[ 9.97376160e-01 5.16273810e-02 -5.07484893e-02 6.26289247e+00] [-5.17383077e-02 9.98660295e-01 -8.73703330e-04 -6.32115922e-01] [ 5.06353942e-02 3.49705182e-03 9.98711083e-01 1.00978835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38240100800002 meters Centerline goodness [0,1] 0.9485074410373937 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.63, Z:0.10 [[ 9.97364302e-01 5.13959076e-02 -5.12143539e-02 6.26418573e+00] [-5.15058953e-02 9.98672346e-01 -8.29254317e-04 -6.33657498e-01] [ 5.11037387e-02 3.46490980e-03 9.98687340e-01 1.00658492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41240100800002 meters Centerline goodness [0,1] 0.9478377043942958 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.63, Z:0.10 [[ 9.97369037e-01 5.14067214e-02 -5.11111866e-02 6.26538658e+00] [-5.15560245e-02 9.98668812e-01 -1.60616732e-03 -6.33345709e-01] [ 5.09605802e-02 4.23703114e-03 9.98691678e-01 9.77730452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44240100800002 meters Centerline goodness [0,1] 0.9487164595191079 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.63, Z:0.10 [[ 9.97381433e-01 5.14589899e-02 -5.08158293e-02 6.26592972e+00] [-5.16397429e-02 9.98663245e-01 -2.24967280e-03 -6.31642952e-01] [ 5.06321350e-02 4.86789824e-03 9.98705507e-01 9.57039436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47240100800002 meters Centerline goodness [0,1] 0.9449432687588417 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.63, Z:0.10 [[ 9.97160442e-01 5.51147281e-02 -5.13168587e-02 6.26839599e+00] [-5.50902767e-02 9.98479585e-01 1.89189693e-03 -6.32826604e-01] [ 5.13431071e-02 9.40535160e-04 9.98680630e-01 9.51641431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50240100800002 meters Centerline goodness [0,1] 0.9406902133071275 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.63, Z:0.09 [[ 9.97157809e-01 5.55554461e-02 -5.08910231e-02 6.26787294e+00] [-5.55531679e-02 9.98454662e-01 1.46035550e-03 -6.31874240e-01] [ 5.08935099e-02 1.37095266e-03 9.98703145e-01 9.37497119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.53240100800001 meters Centerline goodness [0,1] 0.9442190669371197 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.63, Z:0.09 [[ 9.97141048e-01 6.03770395e-02 -4.54350566e-02 6.27757928e+00] [-6.07043437e-02 9.98138603e-01 -5.85756928e-03 -6.31914643e-01] [ 4.49968212e-02 8.59892806e-03 9.98950121e-01 9.05357233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56240100800001 meters Centerline goodness [0,1] 0.9468402888547316 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.63, Z:0.09 [[ 9.97067517e-01 6.21367846e-02 -4.46697599e-02 6.27335513e+00] [-6.23931027e-02 9.98042105e-01 -4.36556464e-03 -6.32693640e-01] [ 4.43110390e-02 7.13984761e-03 9.98992269e-01 9.36197302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59240100800001 meters Centerline goodness [0,1] 0.9488470329543153 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.63, Z:0.10 [[ 9.96999412e-01 6.36211618e-02 -4.40967098e-02 6.26988721e+00] [-6.38181895e-02 9.97956809e-01 -3.07337602e-03 -6.33071144e-01] [ 4.38110800e-02 5.87832626e-03 9.99022540e-01 9.63653917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62240100800001 meters Centerline goodness [0,1] 0.949949545913219 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.63, Z:0.10 [[ 9.96934000e-01 6.52732184e-02 -4.31509711e-02 6.26649478e+00] [-6.54448049e-02 9.97852870e-01 -2.57428274e-03 -6.31210716e-01] [ 4.28902886e-02 5.39039688e-03 9.99065246e-01 9.71081725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65240100800001 meters Centerline goodness [0,1] 0.9498071720485811 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.63, Z:0.10 [[ 9.96937749e-01 6.54620177e-02 -4.27767382e-02 6.26615321e+00] [-6.56511623e-02 9.97838034e-01 -3.03040676e-03 -6.29515444e-01] [ 4.24858798e-02 5.82946948e-03 9.99080061e-01 9.60725605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68240100800001 meters Centerline goodness [0,1] 0.9486246418338109 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.63, Z:0.09 [[ 9.96947740e-01 6.54141285e-02 -4.26168565e-02 6.26650404e+00] [-6.56254956e-02 9.97837908e-01 -3.57821666e-03 -6.27966666e-01] [ 4.22906490e-02 6.36404734e-03 9.99085081e-01 9.48569970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71240100800001 meters Centerline goodness [0,1] 0.9478739570490581 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.63, Z:0.09 [[ 9.96951254e-01 6.53797002e-02 -4.25874702e-02 6.26692184e+00] [-6.56030540e-02 9.97838307e-01 -3.86680713e-03 -6.27456120e-01] [ 4.22425985e-02 6.64888633e-03 9.99085259e-01 9.40323488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74240100800002 meters Centerline goodness [0,1] 0.9473183116470961 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.63, Z:0.09 [[ 0.99716628 0.06221648 -0.04229089 6.26498574] [-0.062596 0.99800918 -0.0077084 -0.62779853] [ 0.0417271 0.0103338 0.9990756 0.09387582] [ 0. 0. 0. 1. ]] SLAMing on 103.77240100800002 meters Centerline goodness [0,1] 0.9468491406747295 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.63, Z:0.10 [[ 0.99713361 0.06263042 -0.04244983 6.26432053] [-0.06296221 0.99799459 -0.00652345 -0.63082021] [ 0.04195614 0.00917748 0.9990773 0.09566567] [ 0. 0. 0. 1. ]] SLAMing on 103.80240100800002 meters Centerline goodness [0,1] 0.946250617391557 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.63, Z:0.10 [[ 9.97116993e-01 6.27148467e-02 -4.27147580e-02 6.26467378e+00] [-6.30131811e-02 9.97996572e-01 -5.67278353e-03 -6.33792353e-01] [ 4.22734144e-02 8.34802164e-03 9.99071203e-01 9.64173438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83240100800002 meters Centerline goodness [0,1] 0.9450728862973761 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.64, Z:0.10 [[ 9.97123765e-01 6.24213218e-02 -4.29857656e-02 6.26596631e+00] [-6.27124092e-02 9.98016729e-01 -5.45553038e-03 -6.35843933e-01] [ 4.25599717e-02 8.13557991e-03 9.99060790e-01 9.57608199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86240100800002 meters Centerline goodness [0,1] 0.9431420573827851 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.64, Z:0.09 [[ 0.99718225 0.06124588 -0.04331871 6.26987456] [-0.06157961 0.99808159 -0.00641081 -0.63693408] [ 0.04284297 0.0090603 0.99904074 0.09162523] [ 0. 0. 0. 1. ]] SLAMing on 103.89240100800002 meters Centerline goodness [0,1] 0.9427646732950404 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.64, Z:0.09 [[ 0.99720027 0.06090174 -0.04338893 6.27131191] [-0.06125587 0.9980984 -0.0068782 -0.63704597] [ 0.04288753 0.00951677 0.99903458 0.08976977] [ 0. 0. 0. 1. ]] SLAMing on 103.92240100800001 meters Centerline goodness [0,1] 0.9405978276780748 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.64, Z:0.09 [[ 0.99718444 0.06110602 -0.0434655 6.27129575] [-0.06143617 0.99809114 -0.00629944 -0.63893498] [ 0.0429976 0.00895206 0.99903507 0.0901894 ] [ 0. 0. 0. 1. ]] SLAMing on 103.95240100800001 meters Centerline goodness [0,1] 0.940733772342427 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.64, Z:0.09 [[ 9.97146371e-01 6.15341066e-02 -4.37340591e-02 6.27059667e+00] [-6.17818281e-02 9.98080268e-01 -4.33410617e-03 -6.44265181e-01] [ 4.33834061e-02 7.02370836e-03 9.99033807e-01 9.31313017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98240100800001 meters Centerline goodness [0,1] 0.9443964103634358 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.65, Z:0.10 [[ 0.99752669 0.05555447 -0.0430604 6.26407291] [-0.05594132 0.99840335 -0.00783075 -0.65335312] [ 0.04255662 0.01022024 0.99904178 0.10039028] [ 0. 0. 0. 1. ]] SLAMing on 104.01240100800001 meters Centerline goodness [0,1] 0.9463890384730449 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.66, Z:0.10 [[ 0.99752508 0.05541858 -0.04327244 6.26442364] [-0.05575531 0.99842256 -0.00661294 -0.65734476] [ 0.0428377 0.00900924 0.99904142 0.10175251] [ 0. 0. 0. 1. ]] SLAMing on 104.04240100800001 meters Centerline goodness [0,1] 0.9451208594449418 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.66, Z:0.10 [[ 0.99754295 0.05501379 -0.04337669 6.26559604] [-0.0553689 0.99844124 -0.00702736 -0.65677151] [ 0.04292248 0.00941181 0.99903407 0.10059059] [ 0. 0. 0. 1. ]] SLAMing on 104.07240100800001 meters Centerline goodness [0,1] 0.9451208594449418 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.66, Z:0.10 [[ 0.99754295 0.05501379 -0.04337669 6.26559604] [-0.0553689 0.99844124 -0.00702736 -0.65677151] [ 0.04292248 0.00941181 0.99903407 0.10059059] [ 0. 0. 0. 1. ]] SLAMing on 104.10240100800002 meters Centerline goodness [0,1] 0.9427114046467744 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.65, Z:0.09 [[ 9.97465500e-01 5.58138676e-02 -4.41292172e-02 6.27443263e+00] [-5.61425410e-02 9.98403245e-01 -6.24305774e-03 -6.51064921e-01] [ 4.37103044e-02 8.70476110e-03 9.99006325e-01 9.34551340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13240100800002 meters Centerline goodness [0,1] 0.9395366636248565 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.65, Z:0.09 [[ 0.99751232 0.0548502 -0.04427895 6.27726353] [-0.05526057 0.99843914 -0.00809664 -0.64704077] [ 0.04376573 0.01052338 0.9989864 0.08969002] [ 0. 0. 0. 1. ]] SLAMing on 104.16240100800002 meters Centerline goodness [0,1] 0.9372846921650031 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.65, Z:0.09 [[ 0.997525 0.05427437 -0.04470079 6.27918077] [-0.05472535 0.99846154 -0.00892684 -0.64552609] [ 0.04414752 0.01135101 0.99896054 0.08827284] [ 0. 0. 0. 1. ]] SLAMing on 104.19240100800002 meters Centerline goodness [0,1] 0.9368817710786623 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.65, Z:0.09 [[ 0.99749956 0.05425501 -0.04528813 6.27973081] [-0.05467609 0.9984712 -0.00811045 -0.64725261] [ 0.04477886 0.01056635 0.99894104 0.09009179] [ 0. 0. 0. 1. ]] SLAMing on 104.22240100800002 meters Centerline goodness [0,1] 0.9451638831829955 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.65, Z:0.10 [[ 0.99765342 0.05109556 -0.04557303 6.27686985] [-0.0515386 0.99863398 -0.00859918 -0.65311222] [ 0.04507139 0.01092777 0.998924 0.09695596] [ 0. 0. 0. 1. ]] SLAMing on 104.25240100800002 meters Centerline goodness [0,1] 0.9467308727642519 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.66, Z:0.10 [[ 0.99765371 0.05061871 -0.04609577 6.27771382] [-0.05101769 0.99866944 -0.00751968 -0.65629096] [ 0.0456538 0.00985374 0.99890872 0.09889233] [ 0. 0. 0. 1. ]] SLAMing on 104.28240100800001 meters Centerline goodness [0,1] 0.9479685960774948 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.66, Z:0.10 [[ 0.99765768 0.05050729 -0.0461321 6.27786548] [-0.0508895 0.99867871 -0.00714787 -0.65680102] [ 0.04571012 0.00947877 0.99890977 0.09943767] [ 0. 0. 0. 1. ]] SLAMing on 104.31240100800001 meters Centerline goodness [0,1] 0.9491048138487076 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.66, Z:0.10 [[ 0.99767062 0.05025983 -0.04612246 6.27830914] [-0.05065305 0.99868892 -0.00739605 -0.65517469] [ 0.04569026 0.00971507 0.99890841 0.09916493] [ 0. 0. 0. 1. ]] SLAMing on 104.34240100800001 meters Centerline goodness [0,1] 0.9516823567843673 Centerline is valid? [False, True] Translation: X:6.28, Y:-0.65, Z:0.10 [[ 0.99773161 0.0490822 -0.04607148 6.28080028] [-0.04955571 0.99872906 -0.00919187 -0.65063053] [ 0.04556177 0.01145412 0.99889585 0.09574645] [ 0. 0. 0. 1. ]] SLAMing on 104.37240100800001 meters Centerline goodness [0,1] 0.9518877973724701 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.66, Z:0.10 [[ 9.97742262e-01 4.94054620e-02 -4.54915317e-02 6.31226341e+00] [-4.93209456e-02 9.98778539e-01 2.97908877e-03 -6.58220231e-01] [ 4.55831488e-02 -7.28677405e-04 9.98960282e-01 1.04026668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40240100800001 meters Centerline goodness [0,1] 0.9512461934186796 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.66, Z:0.10 [[ 9.97643814e-01 5.03217857e-02 -4.66319492e-02 6.34434363e+00] [-5.02334081e-02 9.98732800e-01 3.06590428e-03 -6.59953035e-01] [ 4.67271389e-02 -7.16198703e-04 9.98907434e-01 1.04457399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43240100800001 meters Centerline goodness [0,1] 0.9494008779214617 Centerline is valid? [True, False] Translation: X:6.34, Y:-0.66, Z:0.10 [[ 9.97625444e-01 5.05464666e-02 -4.67817020e-02 6.34426940e+00] [-5.04631175e-02 9.98721534e-01 2.96172569e-03 -6.59501634e-01] [ 4.68715979e-02 -5.93942380e-04 9.98900746e-01 1.04621371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46240100800001 meters Centerline goodness [0,1] 0.9439848735523517 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.66, Z:0.10 [[ 9.97570450e-01 5.12428127e-02 -4.71950267e-02 6.34446849e+00] [-5.12158308e-02 9.98686019e-01 1.78156776e-03 -6.56589572e-01] [ 4.72243058e-02 6.39893153e-04 9.98884105e-01 1.03122659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49240100800002 meters Centerline goodness [0,1] 0.9446282945278336 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.65, Z:0.10 [[ 9.97543971e-01 5.18820837e-02 -4.70560867e-02 6.34377535e+00] [-5.18799480e-02 9.98652524e-01 1.26751973e-03 -6.54562244e-01] [ 4.70584414e-02 1.17686067e-03 9.98891445e-01 1.02430224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52240100800002 meters Centerline goodness [0,1] 0.94251690679212 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.65, Z:0.10 [[ 9.97518132e-01 5.24404487e-02 -4.69848501e-02 6.34347724e+00] [-5.24708949e-02 9.98622282e-01 5.85964393e-04 -6.51850068e-01] [ 4.69508465e-02 1.88082703e-03 9.98895430e-01 1.01333901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55240100800002 meters Centerline goodness [0,1] 0.9396211987530145 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.65, Z:0.10 [[ 9.97309137e-01 5.62165147e-02 -4.70551641e-02 6.34531350e+00] [-5.60910226e-02 9.98417710e-01 3.98414455e-03 -6.51059801e-01] [ 4.72046839e-02 -1.33405149e-03 9.98884347e-01 9.95761204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58240100800002 meters Centerline goodness [0,1] 0.940578095684803 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.65, Z:0.10 [[ 9.97329551e-01 5.55959954e-02 -4.73587506e-02 6.34711088e+00] [-5.54974277e-02 9.98453059e-01 3.39466364e-03 -6.50795360e-01] [ 4.74742191e-02 -7.57309536e-04 9.98872177e-01 9.81160240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61240100800002 meters Centerline goodness [0,1] 0.9407605974018323 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.65, Z:0.10 [[ 9.97339952e-01 5.51766349e-02 -4.76293857e-02 6.34824133e+00] [-5.50855468e-02 9.98476434e-01 3.22391435e-03 -6.51284396e-01] [ 4.77347039e-02 -5.91647830e-04 9.98859874e-01 9.76146732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64240100800002 meters Centerline goodness [0,1] 0.9420648967551623 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.65, Z:0.10 [[ 9.97341104e-01 5.50090551e-02 -4.77988172e-02 6.34866578e+00] [-5.49087841e-02 9.98485554e-01 3.40927819e-03 -6.52149307e-01] [ 4.79139697e-02 -7.75638336e-04 9.98851165e-01 9.78846953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.67240100800001 meters Centerline goodness [0,1] 0.9424600827912478 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.65, Z:0.10 [[ 9.97543559e-01 5.16661860e-02 -4.73017178e-02 6.34663435e+00] [-5.17682897e-02 9.98658685e-01 -9.35242255e-04 -6.50293482e-01] [ 4.71899509e-02 3.38167392e-03 9.98880209e-01 9.72633351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70240100800001 meters Centerline goodness [0,1] 0.9425171678901255 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.65, Z:0.10 [[ 9.97521206e-01 5.17926378e-02 -4.76336610e-02 6.34637942e+00] [-5.18328338e-02 9.98655698e-01 3.91781081e-04 -6.53081443e-01] [ 4.75899183e-02 2.07817769e-03 9.98864796e-01 9.98330465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73240100800001 meters Centerline goodness [0,1] 0.9422415836889522 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.65, Z:0.10 [[ 9.97510221e-01 5.17539603e-02 -4.79049833e-02 6.34665786e+00] [-5.17711925e-02 9.98658583e-01 8.81808332e-04 -6.54634830e-01] [ 4.78863599e-02 1.60048529e-03 9.98851508e-01 1.00687268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76240100800001 meters Centerline goodness [0,1] 0.950642305743495 Centerline is valid? [False, True] Translation: X:6.34, Y:-0.66, Z:0.10 [[ 9.97708573e-01 4.83753417e-02 -4.73014664e-02 6.34410989e+00] [-4.85361826e-02 9.98818875e-01 -2.25703608e-03 -6.56030054e-01] [ 4.71364126e-02 4.54769685e-03 9.98878109e-01 1.01748792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79240100800001 meters Centerline goodness [0,1] 0.9526761913319556 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.66, Z:0.11 [[ 9.97892559e-01 4.64280268e-02 -4.53307808e-02 6.37532082e+00] [-4.63673044e-02 9.98921597e-01 2.39066473e-03 -6.63858282e-01] [ 4.53928898e-02 -2.83760432e-04 9.98969171e-01 1.08212920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82240100800001 meters Centerline goodness [0,1] 0.955046395003153 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.67, Z:0.11 [[ 9.98134536e-01 4.38107719e-02 -4.25213479e-02 6.40719958e+00] [-4.37545518e-02 9.99039772e-01 2.25238350e-03 -6.70048687e-01] [ 4.25791964e-02 -3.87679244e-04 9.99093020e-01 1.12104389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85240100800002 meters Centerline goodness [0,1] 0.9592111966913417 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.67, Z:0.12 [[ 9.98267017e-01 4.28409320e-02 -4.03437309e-02 6.43912806e+00] [-4.27891478e-02 9.99081819e-01 2.14658635e-03 -6.72074191e-01] [ 4.03986499e-02 -4.16592487e-04 9.99183554e-01 1.16461841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88240100800002 meters Centerline goodness [0,1] 0.9524830935144636 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.67, Z:0.11 [[ 9.98343450e-01 4.05501324e-02 -4.08171911e-02 6.46988863e+00] [-4.04948782e-02 9.99177368e-01 2.17991847e-03 -6.74367154e-01] [ 4.08720095e-02 -5.23420145e-04 9.99164253e-01 1.09022714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91240100800002 meters Centerline goodness [0,1] 0.9550595238095239 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.67, Z:0.11 [[ 9.98298784e-01 3.95803078e-02 -4.28128181e-02 6.50245363e+00] [-3.95182803e-02 9.99216213e-01 2.29450327e-03 -6.71594457e-01] [ 4.28700791e-02 -5.98710884e-04 9.99080476e-01 1.09717196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94240100800002 meters Centerline goodness [0,1] 0.9518408551068883 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.67, Z:0.11 [[ 9.98231213e-01 3.84558419e-02 -4.53386621e-02 6.53405685e+00] [-3.83846136e-02 9.99260058e-01 2.44090511e-03 -6.72887482e-01] [ 4.53989812e-02 -6.96280637e-04 9.98968692e-01 1.07608109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97240100800002 meters Centerline goodness [0,1] 0.9499881206937515 Centerline is valid? [True, False] Translation: X:6.54, Y:-0.67, Z:0.11 [[ 9.98228311e-01 3.75575535e-02 -4.61483406e-02 6.53667476e+00] [-3.75205533e-02 9.99294464e-01 1.66802909e-03 -6.72384221e-01] [ 4.61784284e-02 6.64374121e-05 9.98933205e-01 1.06613892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00240100800002 meters Centerline goodness [0,1] 0.9429191180840316 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.67, Z:0.11 [[ 9.98354134e-01 3.30134764e-02 -4.68949251e-02 6.53792612e+00] [-3.32255583e-02 9.99440843e-01 -3.75001808e-03 -6.69436009e-01] [ 4.67449023e-02 5.30195612e-03 9.98892789e-01 1.05459429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03240100800002 meters Centerline goodness [0,1] 0.9410994374832584 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.67, Z:0.11 [[ 9.98340801e-01 3.24075979e-02 -4.75961375e-02 6.53966866e+00] [-3.26293100e-02 9.99459958e-01 -3.88844708e-03 -6.69560811e-01] [ 4.74444183e-02 5.43502450e-03 9.98859093e-01 1.05703682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06240100800001 meters Centerline goodness [0,1] 0.9405920037964172 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.67, Z:0.11 [[ 9.98334354e-01 3.14997824e-02 -4.83350860e-02 6.54207652e+00] [-3.17457591e-02 9.99486599e-01 -4.32959816e-03 -6.69291409e-01] [ 4.81738893e-02 5.85682058e-03 9.98821793e-01 1.05212812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09240100800001 meters Centerline goodness [0,1] 0.9295958279009127 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.67, Z:0.10 [[ 9.98366949e-01 2.86145108e-02 -4.94433407e-02 6.54847039e+00] [-2.89660768e-02 9.99559852e-01 -6.40849715e-03 -6.66752730e-01] [ 4.92382023e-02 7.83021136e-03 9.98756370e-01 1.01542595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12240100800001 meters Centerline goodness [0,1] 0.9220633087560333 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.67, Z:0.10 [[ 0.9983712 0.02746542 -0.05000603 6.55127012] [-0.02785565 0.99958657 -0.00712334 -0.66559228] [ 0.04978971 0.00850469 0.99872351 0.10018515] [ 0. 0. 0. 1. ]] SLAMing on 105.15240100800001 meters Centerline goodness [0,1] 0.9158343952819844 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.66, Z:0.10 [[ 0.99837182 0.02655901 -0.05048095 6.55347148] [-0.02698 0.9996065 -0.00767639 -0.66496338] [ 0.05025721 0.00902587 0.99869552 0.09913984] [ 0. 0. 0. 1. ]] SLAMing on 105.18240100800001 meters Centerline goodness [0,1] 0.9124756220081556 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.67, Z:0.10 [[ 0.99835696 0.02567317 -0.05122769 6.55565749] [-0.02610478 0.99962898 -0.00777406 -0.6650095 ] [ 0.0510091 0.00909858 0.99865674 0.099371 ] [ 0. 0. 0. 1. ]] SLAMing on 105.21240100800001 meters Centerline goodness [0,1] 0.9002754494565056 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.66, Z:0.10 [[ 0.99846783 0.02182982 -0.05084738 6.55329256] [-0.02245807 0.99967794 -0.01181722 -0.66306308] [ 0.05057304 0.01294105 0.99863652 0.10094579] [ 0. 0. 0. 1. ]] SLAMing on 105.24240100800002 meters Centerline goodness [0,1] 0.8980033820868069 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.66, Z:0.11 [[ 0.99845498 0.02261152 -0.05075807 6.55083374] [-0.02315167 0.99968116 -0.010079 -0.6646797 ] [ 0.05051399 0.01123856 0.99866012 0.10506871] [ 0. 0. 0. 1. ]] SLAMing on 105.27240100800002 meters Centerline goodness [0,1] 0.8969508584961515 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.67, Z:0.11 [[ 0.99844053 0.0232885 -0.05073615 6.54867685] [-0.02374293 0.99968304 -0.00837231 -0.66606104] [ 0.05052509 0.00956388 0.998677 0.10917384] [ 0. 0. 0. 1. ]] SLAMing on 105.30240100800002 meters Centerline goodness [0,1] 0.9292788930609348 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.67, Z:0.11 [[ 0.9984319 0.02356852 -0.05077664 6.54769756] [-0.02399 0.99968249 -0.00770713 -0.66585561] [ 0.05057887 0.00891318 0.9986803 0.11116716] [ 0. 0. 0. 1. ]] SLAMing on 105.33240100800002 meters Centerline goodness [0,1] 0.9335758436104457 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.66, Z:0.11 [[ 0.99843734 0.02364442 -0.05063422 6.54734621] [-0.02408449 0.99967712 -0.00809869 -0.6638215 ] [ 0.05042638 0.00930554 0.99868443 0.11096446] [ 0. 0. 0. 1. ]] SLAMing on 105.36240100800002 meters Centerline goodness [0,1] 0.9297623582500659 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.66, Z:0.11 [[ 9.98336496e-01 2.72824851e-02 -5.07927791e-02 6.54872964e+00] [-2.75662411e-02 9.99607997e-01 -4.89428354e-03 -6.60037164e-01] [ 5.06393400e-02 6.28630788e-03 9.98697221e-01 1.10147640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39240100800002 meters Centerline goodness [0,1] 0.9357201213818861 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.66, Z:0.11 [[ 9.98209986e-01 3.08394104e-02 -5.12421140e-02 6.55050507e+00] [-3.09350334e-02 9.99520820e-01 -1.07385208e-03 -6.59263672e-01] [ 5.11844429e-02 2.65710638e-03 9.98685683e-01 1.10135653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42240100800001 meters Centerline goodness [0,1] 0.9372367924254306 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.66, Z:0.11 [[ 9.98213039e-01 3.08528546e-02 -5.11744974e-02 6.55069711e+00] [-3.09933373e-02 9.99517682e-01 -1.95370315e-03 -6.55796855e-01] [ 5.10895377e-02 3.53628042e-03 9.98687816e-01 1.08989898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45240100800001 meters Centerline goodness [0,1] 0.9387216518763413 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.65, Z:0.11 [[ 9.98212537e-01 3.11475853e-02 -5.10054695e-02 6.54998991e+00] [-3.13052840e-02 9.99507233e-01 -2.29564017e-03 -6.53507794e-01] [ 5.09088321e-02 3.88827751e-03 9.98695736e-01 1.08988505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48240100800001 meters Centerline goodness [0,1] 0.9420612652222962 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.65, Z:0.11 [[ 9.98181641e-01 3.24071080e-02 -5.08250915e-02 6.54704551e+00] [-3.25315278e-02 9.99469393e-01 -1.62245172e-03 -6.51385833e-01] [ 5.07455444e-02 3.27291940e-03 9.98706252e-01 1.11956391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51240100800001 meters Centerline goodness [0,1] 0.9456396354827546 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.65, Z:0.11 [[ 9.98170182e-01 3.26668703e-02 -5.08838219e-02 6.54651228e+00] [-3.27945457e-02 9.99460709e-01 -1.67605823e-03 -6.50202121e-01] [ 5.08016291e-02 3.34170316e-03 9.98703173e-01 1.12643717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54240100800001 meters Centerline goodness [0,1] 0.9469169675090253 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.65, Z:0.11 [[ 9.98170162e-01 3.30620965e-02 -5.06283119e-02 6.54568011e+00] [-3.31987299e-02 9.99447040e-01 -1.85997126e-03 -6.48801666e-01] [ 5.05388219e-02 3.53736347e-03 9.98715833e-01 1.12532742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57240100800001 meters Centerline goodness [0,1] 0.9467968659983869 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.65, Z:0.11 [[ 9.98173090e-01 3.31540861e-02 -5.05102788e-02 6.54558194e+00] [-3.33048837e-02 9.99442933e-01 -2.14652665e-03 -6.47489974e-01] [ 5.04109751e-02 3.82484410e-03 9.98721234e-01 1.12112839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60240100800002 meters Centerline goodness [0,1] 0.9482946715663757 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.65, Z:0.11 [[ 9.98186913e-01 3.34073127e-02 -5.00683449e-02 6.54488623e+00] [-3.35753761e-02 9.99433013e-01 -2.51915221e-03 -6.45712785e-01] [ 4.99557987e-02 4.19564828e-03 9.98742617e-01 1.11341229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63240100800002 meters Centerline goodness [0,1] 0.9543581616481775 Centerline is valid? [False, True] Translation: X:6.54, Y:-0.64, Z:0.11 [[ 9.98194485e-01 3.36019626e-02 -4.97863345e-02 6.54453776e+00] [-3.37785825e-02 9.99425666e-01 -2.71019923e-03 -6.44872565e-01] [ 4.96666725e-02 4.38701773e-03 9.98756214e-01 1.10687852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66240100800002 meters Centerline goodness [0,1] 0.9542177671826981 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.65, Z:0.11 [[ 9.98212493e-01 3.41019125e-02 -4.90803329e-02 6.57519821e+00] [-3.40051190e-02 9.99417720e-01 2.80603209e-03 -6.48770311e-01] [ 4.91474455e-02 -1.13203372e-03 9.98790893e-01 1.14664020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69240100800002 meters Centerline goodness [0,1] 0.9521093660437923 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.65, Z:0.11 [[ 9.98095072e-01 3.60768196e-02 -5.00468812e-02 6.60631523e+00] [-3.59783569e-02 9.99348456e-01 2.86717660e-03 -6.48579466e-01] [ 5.01177121e-02 -1.06111029e-03 9.98742754e-01 1.11836325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72240100800002 meters Centerline goodness [0,1] 0.9543804487637559 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.65, Z:0.11 [[ 9.98000764e-01 3.72882862e-02 -5.10299877e-02 6.63860684e+00] [-3.71869194e-02 9.99304018e-01 2.93474932e-03 -6.46643440e-01] [ 5.11039035e-02 -1.03123402e-03 9.98692809e-01 1.12185918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75240100800002 meters Centerline goodness [0,1] 0.9518902300159418 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.65, Z:0.11 [[ 9.97914603e-01 3.84564345e-02 -5.18415660e-02 6.67001977e+00] [-3.83527507e-02 9.99259778e-01 2.99370138e-03 -6.47601458e-01] [ 5.19183188e-02 -9.99191664e-04 9.98650835e-01 1.10557037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78240100800002 meters Centerline goodness [0,1] 0.9544731610337972 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.65, Z:0.11 [[ 9.97840137e-01 3.95500498e-02 -5.24485940e-02 6.70314839e+00] [-3.94447260e-02 9.99217123e-01 3.04214561e-03 -6.46264460e-01] [ 5.25278502e-02 -9.66754570e-04 9.98618992e-01 1.13126103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81240100800001 meters Centerline goodness [0,1] 0.9532098553707197 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.65, Z:0.11 [[ 9.97781349e-01 3.93425483e-02 -5.37079489e-02 6.73418147e+00] [-3.92310874e-02 9.99225267e-01 3.12842028e-03 -6.50823777e-01] [ 5.37894196e-02 -1.01445817e-03 9.98551786e-01 1.14444704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84240100800001 meters Centerline goodness [0,1] 0.9532811696841624 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.65, Z:0.12 [[ 9.97776415e-01 3.78641847e-02 -5.48500684e-02 6.76541504e+00] [-3.77450362e-02 9.99282256e-01 3.20694307e-03 -6.53799654e-01] [ 5.49321284e-02 -1.12949434e-03 9.98489452e-01 1.17326888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87240100800001 meters Centerline goodness [0,1] 0.9502819360563299 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.66, Z:0.12 [[ 9.97873513e-01 3.51361696e-02 -5.48990066e-02 6.79652228e+00] [-3.50120305e-02 9.99381698e-01 3.22167860e-03 -6.59298540e-01] [ 5.49782598e-02 -1.29270206e-03 9.98486715e-01 1.16174364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90240100800001 meters Centerline goodness [0,1] 0.951365603416158 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.66, Z:0.12 [[ 9.98051159e-01 3.19745225e-02 -5.35865096e-02 6.82706388e+00] [-3.18513791e-02 9.99487650e-01 3.15069085e-03 -6.62700336e-01] [ 5.36597964e-02 -1.43774642e-03 9.98558240e-01 1.17903111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93240100800001 meters Centerline goodness [0,1] 0.9455224953284461 Centerline is valid? [True, False] Translation: X:6.83, Y:-0.66, Z:0.12 [[ 9.98209830e-01 2.67789378e-02 -5.34791960e-02 6.82810023e+00] [-2.68818398e-02 9.99637891e-01 -1.20562600e-03 -6.63121249e-01] [ 5.34275454e-02 2.64108691e-03 9.98568236e-01 1.16720612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96240100800001 meters Centerline goodness [0,1] 0.9451995622876231 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.67, Z:0.12 [[ 9.98198285e-01 2.59706626e-02 -5.40898171e-02 6.83002364e+00] [-2.60522779e-02 9.99660258e-01 -8.04215202e-04 -6.65442815e-01] [ 5.40505545e-02 2.21192918e-03 9.98535750e-01 1.17163311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99240100800002 meters Centerline goodness [0,1] 0.9451995622876231 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.67, Z:0.12 [[ 9.98198285e-01 2.59706626e-02 -5.40898171e-02 6.83002364e+00] [-2.60522779e-02 9.99660258e-01 -8.04215202e-04 -6.65442815e-01] [ 5.40505545e-02 2.21192918e-03 9.98535750e-01 1.17163311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02240100800002 meters Centerline goodness [0,1] 0.9460460808150979 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.66, Z:0.12 [[ 9.98310010e-01 2.17176899e-02 -5.39023656e-02 6.82980970e+00] [-2.20354344e-02 9.99743102e-01 -5.30744933e-03 -6.64304245e-01] [ 5.37732527e-02 6.48624184e-03 9.98532106e-01 1.16247054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05240100800002 meters Centerline goodness [0,1] 0.9274732910622774 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.67, Z:0.12 [[ 9.98296725e-01 2.12795097e-02 -5.43215496e-02 6.83114332e+00] [-2.15948354e-02 9.99753154e-01 -5.22438191e-03 -6.65192098e-01] [ 5.41969682e-02 6.38854827e-03 9.98509827e-01 1.16226029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08240100800002 meters Centerline goodness [0,1] 0.9457845297460281 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.66, Z:0.12 [[ 9.98284197e-01 2.14907184e-02 -5.44684379e-02 6.83083372e+00] [-2.17979295e-02 9.99749631e-01 -5.05229868e-03 -6.64672037e-01] [ 5.43462231e-02 6.23092910e-03 9.98502711e-01 1.17061072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11240100800002 meters Centerline goodness [0,1] 0.9440411810636513 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.66, Z:0.12 [[ 9.98275098e-01 2.19348098e-02 -5.44581773e-02 6.82993658e+00] [-2.22313383e-02 9.99741112e-01 -4.84519146e-03 -6.63899694e-01] [ 5.43378004e-02 6.04751215e-03 9.98504297e-01 1.18053160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14240100800002 meters Centerline goodness [0,1] 0.9405013154471075 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.66, Z:0.12 [[ 9.98275157e-01 2.28327241e-02 -5.40867647e-02 6.82775620e+00] [-2.31052023e-02 9.99723278e-01 -4.41778373e-03 -6.63071447e-01] [ 5.39709277e-02 5.65984938e-03 9.98526467e-01 1.19400144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.17240100800001 meters Centerline goodness [0,1] 0.9444941550007216 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.66, Z:0.12 [[ 9.98274023e-01 2.35991935e-02 -5.37778177e-02 6.82585534e+00] [-2.38448728e-02 9.99707941e-01 -3.93128458e-03 -6.62474544e-01] [ 5.36693363e-02 5.20682449e-03 9.98545187e-01 1.20791803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20240100800001 meters Centerline goodness [0,1] 0.9507298217273409 Centerline is valid? [False, True] Translation: X:6.82, Y:-0.66, Z:0.12 [[ 9.98270300e-01 2.55615335e-02 -5.29435113e-02 6.82165441e+00] [-2.57351024e-02 9.99665419e-01 -2.59913562e-03 -6.62181271e-01] [ 5.28593595e-02 3.95714658e-03 9.98594126e-01 1.23148382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23240100800001 meters Centerline goodness [0,1] 0.9577934204855624 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.66, Z:0.13 [[ 9.98227892e-01 2.83686857e-02 -5.23095991e-02 6.85116087e+00] [-2.82504070e-02 9.99596378e-01 2.99928125e-03 -6.58716098e-01] [ 5.23735715e-02 -1.51619873e-03 9.98626412e-01 1.28582903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26240100800001 meters Centerline goodness [0,1] 0.957824100513992 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.65, Z:0.12 [[ 9.98144431e-01 3.10168470e-02 -5.23989601e-02 6.88037305e+00] [-3.09019436e-02 9.99517913e-01 3.00180277e-03 -6.54998908e-01] [ 5.24668057e-02 -1.37700301e-03 9.98621719e-01 1.24871848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29240100800001 meters Centerline goodness [0,1] 0.9584945380063723 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.65, Z:0.12 [[ 9.97911291e-01 3.55777138e-02 -5.39192184e-02 6.91031545e+00] [-3.54628174e-02 9.99366230e-01 3.08646542e-03 -6.49130636e-01] [ 5.39948555e-02 -1.16789129e-03 9.98540531e-01 1.23051200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32240100800001 meters Centerline goodness [0,1] 0.9533056332852823 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.64, Z:0.12 [[ 9.97243349e-01 4.67965366e-02 -5.75828773e-02 6.93993119e+00] [-4.66842659e-02 9.98904264e-01 3.29414503e-03 -6.40877984e-01] [ 5.76739362e-02 -5.96849865e-04 9.98335295e-01 1.18791388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35240100800002 meters Centerline goodness [0,1] 0.9512414841506672 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.64, Z:0.12 [[ 9.96882229e-01 5.27468367e-02 -5.86821381e-02 6.97180771e+00] [-5.26402790e-02 9.98607882e-01 3.36130003e-03 -6.38514885e-01] [ 5.87777436e-02 -2.61776145e-04 9.98271060e-01 1.20994468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38240100800002 meters Centerline goodness [0,1] 0.9504509582863585 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.64, Z:0.12 [[ 9.96623499e-01 5.74896019e-02 -5.86220617e-02 7.00407458e+00] [-5.73906677e-02 9.98346105e-01 3.37129076e-03 -6.37023532e-01] [ 5.87189211e-02 4.45166467e-06 9.98274556e-01 1.24396017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41240100800002 meters Centerline goodness [0,1] 0.9486139283299526 Centerline is valid? [True, False] Translation: X:7.00, Y:-0.64, Z:0.13 [[ 9.96590864e-01 5.85350608e-02 -5.81403196e-02 7.00169203e+00] [-5.84259983e-02 9.98285339e-01 3.57543490e-03 -6.35953121e-01] [ 5.82499170e-02 -1.66339541e-04 9.98302018e-01 1.25310304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44240100800002 meters Centerline goodness [0,1] 0.9502776446711955 Centerline is valid? [False, True] Translation: X:7.00, Y:-0.64, Z:0.13 [[ 9.96581548e-01 5.97195266e-02 -5.70858656e-02 6.99831247e+00] [-5.95702008e-02 9.98214791e-01 4.31546119e-03 -6.35911941e-01] [ 5.72416727e-02 -9.00092515e-04 9.98359945e-01 1.26398748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47240100800002 meters Centerline goodness [0,1] 0.9529987897891982 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.64, Z:0.13 [[ 9.96722803e-01 5.84119746e-02 -5.59615468e-02 7.03022569e+00] [-5.83336105e-02 9.98292534e-01 3.03419750e-03 -6.40403749e-01] [ 5.60432279e-02 2.40185238e-04 9.98428314e-01 1.27340089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50240100800002 meters Centerline goodness [0,1] 0.9528208605249032 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.65, Z:0.13 [[ 9.96864210e-01 5.61933596e-02 -5.57140348e-02 7.06156482e+00] [-5.61114953e-02 9.98419900e-01 3.03383231e-03 -6.46132695e-01] [ 5.57964823e-02 1.01878954e-04 9.98442158e-01 1.26100768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53240100800002 meters Centerline goodness [0,1] 0.955221334546385 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.66, Z:0.13 [[ 9.97130479e-01 5.09746608e-02 -5.59677804e-02 7.09404958e+00] [-5.08830526e-02 9.98699926e-01 3.06153736e-03 -6.56172153e-01] [ 5.60510790e-02 -2.04940703e-04 9.98427881e-01 1.25616836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56240100800001 meters Centerline goodness [0,1] 0.9543380297758257 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.66, Z:0.13 [[ 9.97263839e-01 4.94248401e-02 -5.49729012e-02 7.12508469e+00] [-4.93333375e-02 9.98777800e-01 3.02111578e-03 -6.61112876e-01] [ 5.50550315e-02 -3.00852834e-04 9.98483276e-01 1.25171246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59240100800001 meters Centerline goodness [0,1] 0.954053589831673 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.67, Z:0.13 [[ 9.97308237e-01 4.91294283e-02 -5.44295855e-02 7.15784183e+00] [-4.90385919e-02 9.98792367e-01 3.00399914e-03 -6.66038937e-01] [ 5.45114393e-02 -3.26762859e-04 9.98513093e-01 1.26926882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62240100800001 meters Centerline goodness [0,1] 0.955815222072292 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.67, Z:0.13 [[ 9.97296456e-01 4.95309038e-02 -5.42813857e-02 7.18906466e+00] [-4.94403820e-02 9.98772541e-01 3.01003528e-03 -6.72226806e-01] [ 5.43638473e-02 -3.18205071e-04 9.98521142e-01 1.29986757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65240100800001 meters Centerline goodness [0,1] 0.9549463301421526 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.68, Z:0.13 [[ 9.97060614e-01 5.16291962e-02 -5.66088128e-02 7.22012179e+00] [-5.15333105e-02 9.98666298e-01 3.15329038e-03 -6.81513375e-01] [ 5.66961154e-02 -2.26782120e-04 9.98391456e-01 1.34877469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68240100800001 meters Centerline goodness [0,1] 0.9538037166085946 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.68, Z:0.13 [[ 9.96957077e-01 5.25887197e-02 -5.75414018e-02 7.25080470e+00] [-5.24904830e-02 9.98616238e-01 3.21839515e-03 -6.84884592e-01] [ 5.76310295e-02 -1.88225857e-04 9.98337933e-01 1.34573416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71240100800001 meters Centerline goodness [0,1] 0.9523588194283058 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.69, Z:0.13 [[ 9.96884468e-01 5.32485293e-02 -5.81889343e-02 7.28229044e+00] [-5.31484564e-02 9.98581277e-01 3.26717999e-03 -6.87615035e-01] [ 5.82803529e-02 -1.64348953e-04 9.98300242e-01 1.33199671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74240100800002 meters Centerline goodness [0,1] 0.952475189895521 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.69, Z:0.13 [[ 9.96853585e-01 5.39325439e-02 -5.80879502e-02 7.31489384e+00] [-5.38331979e-02 9.98544572e-01 3.27490652e-03 -6.90375156e-01] [ 5.81800314e-02 -1.37542191e-04 9.98306098e-01 1.32581963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77240100800002 meters Centerline goodness [0,1] 0.9527751865671642 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.69, Z:0.13 [[ 9.96890289e-01 5.39729450e-02 -5.74166553e-02 7.34674375e+00] [-5.38751134e-02 9.98542387e-01 3.25160052e-03 -6.93246521e-01] [ 5.75084625e-02 -1.48160169e-04 9.98345008e-01 1.32611036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80240100800002 meters Centerline goodness [0,1] 0.9545800409716125 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.70, Z:0.13 [[ 9.96922946e-01 5.35596125e-02 -5.72364235e-02 7.37888331e+00] [-5.34608855e-02 9.98564637e-01 3.25582138e-03 -6.97179852e-01] [ 5.73286489e-02 -1.85893158e-04 9.98355343e-01 1.33936023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83240100800002 meters Centerline goodness [0,1] 0.9538964288868608 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.70, Z:0.13 [[ 9.97065617e-01 5.25853935e-02 -5.56321055e-02 7.40946231e+00] [-5.24898110e-02 9.98616400e-01 3.17892869e-03 -7.03628260e-01] [ 5.57222981e-02 -2.49481789e-04 9.98446275e-01 1.33248200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86240100800002 meters Centerline goodness [0,1] 0.9542113187494464 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.71, Z:0.13 [[ 9.97094069e-01 5.23887113e-02 -5.53067810e-02 7.44096047e+00] [-5.22933049e-02 9.98626732e-01 3.17182379e-03 -7.08536033e-01] [ 5.53969977e-02 -2.70432330e-04 9.98464371e-01 1.34008612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89240100800002 meters Centerline goodness [0,1] 0.9532447548308821 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.71, Z:0.14 [[ 9.97035314e-01 5.33649219e-02 -5.54325556e-02 7.47341904e+00] [-5.32699559e-02 9.98575051e-01 3.19040751e-03 -7.12990983e-01] [ 5.55238229e-02 -2.28059165e-04 9.98457337e-01 1.37943764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92240100800001 meters Centerline goodness [0,1] 0.9522775281901759 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.72, Z:0.14 [[ 9.96982139e-01 5.43318836e-02 -5.54496187e-02 7.50498112e+00] [-5.42375194e-02 9.98522914e-01 3.20638082e-03 -7.18496333e-01] [ 5.55419236e-02 -1.89254638e-04 9.98456338e-01 1.40220803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95240100800001 meters Centerline goodness [0,1] 0.9539412766211655 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.72, Z:0.15 [[ 9.96926403e-01 5.56607816e-02 -5.51327825e-02 7.53630947e+00] [-5.55687560e-02 9.98449729e-01 3.20194615e-03 -7.23962872e-01] [ 5.52255345e-02 -1.28444525e-04 9.98473897e-01 1.46754953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98240100800001 meters Centerline goodness [0,1] 0.9533787010506208 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.73, Z:0.15 [[ 9.96905318e-01 5.62657388e-02 -5.48994936e-02 7.56831348e+00] [-5.61747378e-02 9.98415823e-01 3.20055948e-03 -7.26071630e-01] [ 5.49926050e-02 -1.06690106e-04 9.98486756e-01 1.47314485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01240100800001 meters Centerline goodness [0,1] 0.9529464285714285 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.72, Z:0.14 [[ 9.96876464e-01 5.63739867e-02 -5.53108414e-02 7.60019605e+00] [-5.62811717e-02 9.98409716e-01 3.23554469e-03 -7.22991597e-01] [ 5.54052820e-02 -1.12479395e-04 9.98463941e-01 1.42500027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04240100800001 meters Centerline goodness [0,1] 0.9513562974113757 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.72, Z:0.14 [[ 9.96844276e-01 5.67076349e-02 -5.55493744e-02 7.63362522e+00] [-5.66137391e-02 9.98390821e-01 3.26377069e-03 -7.20665064e-01] [ 5.56450663e-02 -1.08613336e-04 9.98450607e-01 1.39061543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07240100800001 meters Centerline goodness [0,1] 0.9510262979650734 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.72, Z:0.14 [[ 9.96820287e-01 5.60119272e-02 -5.66743259e-02 7.66631825e+00] [-5.59122222e-02 9.98430086e-01 3.34465112e-03 -7.19632233e-01] [ 5.67726925e-02 -1.65228581e-04 9.98387116e-01 1.35695303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10240100800002 meters Centerline goodness [0,1] 0.9502645502645503 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.72, Z:0.13 [[ 9.96813426e-01 5.49839015e-02 -5.77906914e-02 7.69857318e+00] [-5.48777005e-02 9.98487212e-01 3.42431996e-03 -7.20686870e-01] [ 5.78915488e-02 -2.41987853e-04 9.98322849e-01 1.34326711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13240100800002 meters Centerline goodness [0,1] 0.9461067263517493 Centerline is valid? [True, False] Translation: X:7.70, Y:-0.72, Z:0.13 [[ 9.97008457e-01 5.04113945e-02 -5.85903405e-02 7.69978256e+00] [-5.05942757e-02 9.98717941e-01 -1.64116972e-03 -7.18993020e-01] [ 5.84324906e-02 4.60059593e-03 9.98280761e-01 1.33539170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16240100800002 meters Centerline goodness [0,1] 0.9469941631359071 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.72, Z:0.13 [[ 9.97175400e-01 4.70082816e-02 -5.85785241e-02 7.69811465e+00] [-4.74241523e-02 9.98858414e-01 -5.72872869e-03 -7.18141053e-01] [ 5.82423540e-02 8.49058417e-03 9.98266366e-01 1.34000175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19240100800002 meters Centerline goodness [0,1] 0.9435548320260471 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.72, Z:0.14 [[ 9.97142292e-01 4.70280153e-02 -5.91237208e-02 7.69859634e+00] [-4.74117123e-02 9.98862397e-01 -5.10298441e-03 -7.19450469e-01] [ 5.88164783e-02 7.89155842e-03 9.98237620e-01 1.35557382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22240100800002 meters Centerline goodness [0,1] 0.9421960180137473 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.72, Z:0.14 [[ 9.97136938e-01 4.69239759e-02 -5.92964362e-02 7.69915827e+00] [-4.73198595e-02 9.98865785e-01 -5.28911746e-03 -7.19062643e-01] [ 5.89809949e-02 8.07987342e-03 9.98226406e-01 1.35252805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25240100800002 meters Centerline goodness [0,1] 0.9431992450159254 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.72, Z:0.13 [[ 9.96996215e-01 4.94793187e-02 -5.95847682e-02 7.70302165e+00] [-4.97026333e-02 9.98761479e-01 -2.27071064e-03 -7.17762384e-01] [ 5.93986180e-02 5.22540980e-03 9.98220667e-01 1.32851277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28240100800002 meters Centerline goodness [0,1] 0.9461833185971117 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.72, Z:0.13 [[ 9.97011369e-01 4.94287457e-02 -5.93728003e-02 7.70294257e+00] [-4.96438307e-02 9.98764666e-01 -2.15214644e-03 -7.17341502e-01] [ 5.91930772e-02 5.09320772e-03 9.98233559e-01 1.32715798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31240100800001 meters Centerline goodness [0,1] 0.9485164252914164 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.72, Z:0.13 [[ 9.97001157e-01 4.94395837e-02 -5.95350301e-02 7.70278137e+00] [-4.95750781e-02 9.98770079e-01 -8.00088319e-04 -7.19532982e-01] [ 5.94222507e-02 3.74914274e-03 9.98225896e-01 1.34948948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34240100800001 meters Centerline goodness [0,1] 0.9532012376532191 Centerline is valid? [False, True] Translation: X:7.70, Y:-0.73, Z:0.14 [[ 9.97178666e-01 4.67966107e-02 -5.86922915e-02 7.69751505e+00] [-4.69013770e-02 9.98899442e-01 -4.07963670e-04 -7.25633018e-01] [ 5.86086059e-02 3.15956196e-03 9.98276038e-01 1.42679792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37240100800001 meters Centerline goodness [0,1] 0.9545793000744601 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.73, Z:0.15 [[ 9.97348093e-01 4.60370708e-02 -5.63681651e-02 7.72824754e+00] [-4.59204455e-02 9.98939438e-01 3.36319069e-03 -7.33284783e-01] [ 5.64632146e-02 -7.65820561e-04 9.98404386e-01 1.51973827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40240100800001 meters Centerline goodness [0,1] 0.9584778189644865 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.74, Z:0.16 [[ 9.97525551e-01 4.52887386e-02 -5.37745834e-02 7.76005294e+00] [-4.51808660e-02 9.98973632e-01 3.22061846e-03 -7.37976509e-01] [ 5.38652486e-02 -7.83066961e-04 9.98547907e-01 1.58256514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43240100800001 meters Centerline goodness [0,1] 0.9597646215425055 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.74, Z:0.16 [[ 9.97650449e-01 4.46569073e-02 -5.19551938e-02 7.79081878e+00] [-4.45547508e-02 9.99002061e-01 3.12336898e-03 -7.43037425e-01] [ 5.20428257e-02 -8.01179748e-04 9.98644533e-01 1.61792716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46240100800001 meters Centerline goodness [0,1] 0.9595186652262634 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.75, Z:0.16 [[ 9.97792601e-01 4.30858482e-02 -5.05325218e-02 7.82296570e+00] [-4.29866519e-02 9.99070995e-01 3.04869150e-03 -7.45443740e-01] [ 5.06169323e-02 -8.69737898e-04 9.98717763e-01 1.64447104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49240100800002 meters Centerline goodness [0,1] 0.9594473353669478 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.74, Z:0.16 [[ 9.97767240e-01 4.32528493e-02 -5.08893417e-02 7.85627725e+00] [-4.31518332e-02 9.99063770e-01 3.08255493e-03 -7.44383688e-01] [ 5.09750269e-02 -8.79703941e-04 9.98699541e-01 1.64481197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52240100800002 meters Centerline goodness [0,1] 0.9584640669356044 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.74, Z:0.16 [[ 9.97750669e-01 4.31727112e-02 -5.12807863e-02 7.88883755e+00] [-4.30692865e-02 9.99067214e-01 3.12067740e-03 -7.44659267e-01] [ 5.13676804e-02 -9.05031082e-04 9.98679399e-01 1.62733197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55240100800002 meters Centerline goodness [0,1] 0.9577792354940664 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.75, Z:0.16 [[ 9.97704671e-01 4.26173712e-02 -5.26227063e-02 7.91977575e+00] [-4.25069259e-02 9.99090994e-01 3.21673513e-03 -7.47162055e-01] [ 5.27119607e-02 -9.72522185e-04 9.98609285e-01 1.60473571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58240100800002 meters Centerline goodness [0,1] 0.955276907001045 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.75, Z:0.16 [[ 9.97572783e-01 4.04258594e-02 -5.66947228e-02 7.95193152e+00] [-4.02934775e-02 9.99181840e-01 3.47665639e-03 -7.49935023e-01] [ 5.67888843e-02 -1.18379026e-03 9.98385507e-01 1.58674743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61240100800002 meters Centerline goodness [0,1] 0.9534599809433063 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.75, Z:0.16 [[ 9.97492597e-01 3.95122176e-02 -5.87137396e-02 7.98284208e+00] [-3.93682375e-02 9.99218259e-01 3.60739717e-03 -7.54142689e-01] [ 5.88103770e-02 -1.28689552e-03 9.98268342e-01 1.57260625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64240100800002 meters Centerline goodness [0,1] 0.9528532284965452 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.76, Z:0.16 [[ 9.97455965e-01 3.82245352e-02 -6.01704485e-02 8.01371156e+00] [-3.80703951e-02 9.99268186e-01 3.70645875e-03 -7.55972892e-01] [ 6.02680926e-02 -1.40631665e-03 9.98181236e-01 1.56973659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.67240100800001 meters Centerline goodness [0,1] 0.9526105852235518 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.76, Z:0.16 [[ 9.97443672e-01 3.69072150e-02 -6.11880587e-02 8.04448218e+00] [-3.67452917e-02 9.99317553e-01 3.76983798e-03 -7.58120912e-01] [ 6.12854353e-02 -1.51182798e-03 9.98119136e-01 1.57559001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70240100800001 meters Centerline goodness [0,1] 0.9528669622400096 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.76, Z:0.16 [[ 9.97411768e-01 3.57984992e-02 -6.23556957e-02 8.07442484e+00] [-3.56282114e-02 9.99357732e-01 3.84102349e-03 -7.58588164e-01] [ 6.24531495e-02 -1.60946013e-03 9.98046599e-01 1.60243004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73240100800001 meters Centerline goodness [0,1] 0.9539922030771062 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.76, Z:0.16 [[ 9.97579246e-01 3.34705841e-02 -6.09538141e-02 8.10260537e+00] [-3.33036880e-02 9.99438235e-01 3.75224303e-03 -7.61363771e-01] [ 6.10451622e-02 -1.71317296e-03 9.98133535e-01 1.60986851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76240100800001 meters Centerline goodness [0,1] 0.9548017568850902 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.76, Z:0.16 [[ 9.97618517e-01 3.33552551e-02 -6.03715274e-02 8.13129921e+00] [-3.31915333e-02 9.99442112e-01 3.71298161e-03 -7.61834982e-01] [ 6.04616943e-02 -1.70031565e-03 9.98169070e-01 1.62951139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79240100800001 meters Centerline goodness [0,1] 0.9543108051978876 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.76, Z:0.16 [[ 9.97624834e-01 3.32313781e-02 -6.03354497e-02 8.16026716e+00] [-3.30678528e-02 9.99446234e-01 3.70701744e-03 -7.63853633e-01] [ 6.04252273e-02 -1.70304889e-03 9.98171274e-01 1.64654424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82240100800001 meters Centerline goodness [0,1] 0.9559724121529223 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.76, Z:0.17 [[ 9.97540989e-01 3.34611378e-02 -6.15818756e-02 8.18889628e+00] [-3.32914321e-02 9.99438538e-01 3.78005049e-03 -7.64563836e-01] [ 6.16737845e-02 -1.72060647e-03 9.98094877e-01 1.66731095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85240100800002 meters Centerline goodness [0,1] 0.951417243623883 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.77, Z:0.17 [[ 9.97373326e-01 3.67936077e-02 -6.23913434e-02 8.21663554e+00] [-3.66262080e-02 9.99321715e-01 3.82502182e-03 -7.66151333e-01] [ 6.24897606e-02 -1.52981641e-03 9.98044433e-01 1.65597959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88240100800002 meters Centerline goodness [0,1] 0.951417243623883 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.77, Z:0.17 [[ 9.97374504e-01 3.67612153e-02 -6.23915988e-02 8.24576425e+00] [-3.65940131e-02 9.99322910e-01 3.82085112e-03 -7.67890508e-01] [ 6.24898133e-02 -1.52766050e-03 9.98044433e-01 1.66783873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91240100800002 meters Centerline goodness [0,1] 0.9526060749320411 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.76, Z:0.17 [[ 9.97271546e-01 3.93105709e-02 -6.24831336e-02 8.27563028e+00] [-3.91480012e-02 9.99226104e-01 3.82440751e-03 -7.64023923e-01] [ 6.25851179e-02 -1.36788301e-03 9.98038693e-01 1.68350427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94240100800002 meters Centerline goodness [0,1] 0.9502307669694564 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.76, Z:0.17 [[ 9.97089132e-01 4.31354019e-02 -6.28697074e-02 8.30503694e+00] [-4.29785352e-02 9.99068593e-01 3.84596858e-03 -7.61271371e-01] [ 6.29770475e-02 -1.13272554e-03 9.98014333e-01 1.66033832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97240100800002 meters Centerline goodness [0,1] 0.9493305329482804 Centerline is valid? [True, False] Translation: X:8.30, Y:-0.76, Z:0.17 [[ 9.96862945e-01 4.88036766e-02 -6.23094773e-02 8.30288244e+00] [-4.84380966e-02 9.98799031e-01 7.36519247e-03 -7.57512947e-01] [ 6.25940940e-02 -4.32393498e-03 9.98029700e-01 1.65731999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00240100800002 meters Centerline goodness [0,1] 0.9490772980501393 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.75, Z:0.17 [[ 9.96809272e-01 4.99665594e-02 -6.22464343e-02 8.30142591e+00] [-4.96354164e-02 9.98743873e-01 6.85584217e-03 -7.54146673e-01] [ 6.25108077e-02 -3.74433936e-03 9.98037263e-01 1.65553163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03240100800002 meters Centerline goodness [0,1] 0.948637256034184 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.75, Z:0.16 [[ 9.96893830e-01 5.41477328e-02 -5.71901642e-02 8.31369504e+00] [-5.42868122e-02 9.98524996e-01 -8.79932087e-04 -7.51113048e-01] [ 5.70581621e-02 3.98187057e-03 9.98362915e-01 1.61279487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06240100800001 meters Centerline goodness [0,1] 0.9464640359209049 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.75, Z:0.16 [[ 9.96828867e-01 5.56719883e-02 -5.68580645e-02 8.31085756e+00] [-5.57907412e-02 9.98442357e-01 -5.02130986e-04 -7.49153236e-01] [ 5.67415453e-02 3.67269223e-03 9.98382145e-01 1.62821449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09240100800001 meters Centerline goodness [0,1] 0.9486647653616801 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.75, Z:0.16 [[ 9.96890778e-01 6.00963382e-02 -5.09628000e-02 8.32015220e+00] [-6.05444523e-02 9.98138852e-01 -7.29387053e-03 -7.47724752e-01] [ 5.04296158e-02 1.03567071e-02 9.98673917e-01 1.61702441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12240100800001 meters Centerline goodness [0,1] 0.9513994984289873 Centerline is valid? [False, True] Translation: X:8.32, Y:-0.75, Z:0.16 [[ 9.96891491e-01 6.02798280e-02 -5.07316292e-02 8.31923242e+00] [-6.07035702e-02 9.98132317e-01 -6.85229769e-03 -7.48088619e-01] [ 5.02238233e-02 9.91058827e-03 9.98688814e-01 1.62580799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15240100800001 meters Centerline goodness [0,1] 0.9528930146740854 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.76, Z:0.17 [[ 9.97125417e-01 5.84299529e-02 -4.82373582e-02 8.35042834e+00] [-5.83838333e-02 9.98291406e-01 2.36571230e-03 -7.55771635e-01] [ 4.82931686e-02 4.57370021e-04 9.98833100e-01 1.71149780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18240100800001 meters Centerline goodness [0,1] 0.9558586556169429 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.76, Z:0.17 [[ 9.97341642e-01 5.58095410e-02 -4.68502424e-02 8.38288418e+00] [-5.57627334e-02 9.98441384e-01 2.30648365e-03 -7.59199373e-01] [ 4.69059447e-02 3.12145384e-04 9.98899262e-01 1.72318478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21240100800001 meters Centerline goodness [0,1] 0.9557631859734118 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.76, Z:0.17 [[ 9.97495155e-01 5.19530873e-02 -4.80030431e-02 8.41535938e+00] [-5.18991408e-02 9.98649518e-01 2.37035189e-03 -7.64335686e-01] [ 4.80613629e-02 1.26902170e-04 9.98844377e-01 1.69750086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24240100800002 meters Centerline goodness [0,1] 0.9542630955476583 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.77, Z:0.17 [[ 9.97433453e-01 5.12909848e-02 -4.99574066e-02 8.44578976e+00] [-5.12310851e-02 9.98683747e-01 2.47960826e-03 -7.68202948e-01] [ 5.00188315e-02 8.61279175e-05 9.98748271e-01 1.68033513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27240100800002 meters Centerline goodness [0,1] 0.953970647949417 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.77, Z:0.17 [[ 9.97396644e-01 5.11410339e-02 -5.08382719e-02 8.47772027e+00] [-5.10782624e-02 9.98691439e-01 2.53402040e-03 -7.72864988e-01] [ 5.09013394e-02 6.93071528e-05 9.98703684e-01 1.69432598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30240100800002 meters Centerline goodness [0,1] 0.9528247111420775 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.78, Z:0.17 [[ 9.97279465e-01 5.18131042e-02 -5.24315814e-02 8.50817000e+00] [-5.17465987e-02 9.98656795e-01 2.62605599e-03 -7.77421346e-01] [ 5.24972192e-02 9.42442927e-05 9.98621066e-01 1.70284129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33240100800002 meters Centerline goodness [0,1] 0.949172853217981 Centerline is valid? [True, False] Translation: X:8.51, Y:-0.78, Z:0.17 [[ 9.97456386e-01 4.83636243e-02 -5.23614179e-02 8.50757655e+00] [-4.85169115e-02 9.98820982e-01 -1.65962769e-03 -7.79133273e-01] [ 5.22194172e-02 4.19582052e-03 9.98626821e-01 1.68579607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36240100800002 meters Centerline goodness [0,1] 0.9478069532052222 Centerline is valid? [False, False] Translation: X:8.51, Y:-0.78, Z:0.17 [[ 9.97458525e-01 4.81421267e-02 -5.25245368e-02 8.50897690e+00] [-4.83082145e-02 9.98830676e-01 -1.89639835e-03 -7.80075907e-01] [ 5.23718220e-02 4.42894529e-03 9.98617833e-01 1.67070770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39240100800002 meters Centerline goodness [0,1] 0.9454289402652271 Centerline is valid? [False, False] Translation: X:8.51, Y:-0.78, Z:0.16 [[ 9.97470083e-01 4.75862955e-02 -5.28107797e-02 8.51130967e+00] [-4.77760846e-02 9.98855338e-01 -2.33645059e-03 -7.81076426e-01] [ 5.26391461e-02 4.85363184e-03 9.98601804e-01 1.64828249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42240100800001 meters Centerline goodness [0,1] 0.9462808701027287 Centerline is valid? [False, False] Translation: X:8.51, Y:-0.78, Z:0.16 [[ 9.97484251e-01 4.64530687e-02 -5.35470059e-02 8.51498001e+00] [-4.66697916e-02 9.98906438e-01 -2.80338205e-03 -7.82520913e-01] [ 5.33582233e-02 5.29535705e-03 9.98561395e-01 1.62759905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45240100800001 meters Centerline goodness [0,1] 0.9440388578157197 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.78, Z:0.16 [[ 9.97514041e-01 4.47912616e-02 -5.44011202e-02 8.51959923e+00] [-4.50714487e-02 9.98976020e-01 -3.93386406e-03 -7.83006548e-01] [ 5.41692118e-02 6.37602193e-03 9.98511413e-01 1.59769597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48240100800001 meters Centerline goodness [0,1] 0.9446161090020894 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.78, Z:0.16 [[ 9.97492485e-01 4.48660388e-02 -5.47337357e-02 8.51985814e+00] [-4.51236936e-02 9.98975346e-01 -3.48009585e-03 -7.84099698e-01] [ 5.45215144e-02 5.94115778e-03 9.98494921e-01 1.60719231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51240100800001 meters Centerline goodness [0,1] 0.9420302681653243 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.79, Z:0.16 [[ 9.97460697e-01 4.53799128e-02 -5.48891760e-02 8.51884850e+00] [-4.55841696e-02 9.98957437e-01 -2.47437017e-03 -7.85771441e-01] [ 5.47196638e-02 4.97016450e-03 9.98489387e-01 1.62953933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54240100800001 meters Centerline goodness [0,1] 0.9440253246945357 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.79, Z:0.17 [[ 9.97430945e-01 4.60585255e-02 -5.48645791e-02 8.51717707e+00] [-4.62094088e-02 9.98930672e-01 -1.48402664e-03 -7.87202310e-01] [ 5.47375589e-02 4.01547386e-03 9.98492702e-01 1.65293558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57240100800001 meters Centerline goodness [0,1] 0.9451235755512801 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.79, Z:0.17 [[ 9.97408882e-01 4.61702728e-02 -5.51708924e-02 8.51689167e+00] [-4.62641201e-02 9.98929152e-01 -4.24371125e-04 -7.88712630e-01] [ 5.50922194e-02 2.97570432e-03 9.98476836e-01 1.67633871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60240100800002 meters Centerline goodness [0,1] 0.9470118343195266 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.79, Z:0.17 [[ 9.97450564e-01 4.57184238e-02 -5.47923126e-02 8.51738560e+00] [-4.58536835e-02 9.98947430e-01 -1.21331845e-03 -7.85829635e-01] [ 5.46791688e-02 3.72265453e-03 9.98497036e-01 1.65982686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63240100800002 meters Centerline goodness [0,1] 0.9496695775312721 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.78, Z:0.17 [[ 9.97464061e-01 4.53968796e-02 -5.48139561e-02 8.51803657e+00] [-4.55528128e-02 9.98960654e-01 -1.59808205e-03 -7.84273400e-01] [ 5.46844375e-02 4.09095930e-03 9.98495306e-01 1.65401673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66240100800002 meters Centerline goodness [0,1] 0.9508491567401817 Centerline is valid? [False, True] Translation: X:8.52, Y:-0.78, Z:0.17 [[ 9.97461949e-01 4.56736168e-02 -5.46221720e-02 8.51710428e+00] [-4.58149698e-02 9.98949047e-01 -1.33779230e-03 -7.83570715e-01] [ 5.45036649e-02 3.83691008e-03 9.98506199e-01 1.66213907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69240100800002 meters Centerline goodness [0,1] 0.9488943343863482 Centerline is valid? [True, False] Translation: X:8.52, Y:-0.78, Z:0.17 [[ 9.97455095e-01 4.60855582e-02 -5.44008677e-02 8.51584474e+00] [-4.62032056e-02 9.98931651e-01 -9.06237138e-04 -7.83717018e-01] [ 5.43009842e-02 3.41742533e-03 9.98518765e-01 1.67261467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72240100800002 meters Centerline goodness [0,1] 0.9496011816838995 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.78, Z:0.17 [[ 9.97438855e-01 4.64524973e-02 -5.43865517e-02 8.51504768e+00] [-4.65562675e-02 9.98915463e-01 -6.41929738e-04 -7.83600255e-01] [ 5.42977482e-02 3.17232051e-03 9.98519750e-01 1.68164183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75240100800002 meters Centerline goodness [0,1] 0.9495152518325846 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.78, Z:0.17 [[ 9.97435117e-01 4.65108725e-02 -5.44052083e-02 8.51507098e+00] [-4.66210402e-02 9.98912361e-01 -7.56860889e-04 -7.83178778e-01] [ 5.43108328e-02 3.29134703e-03 9.98518653e-01 1.68063852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78240100800002 meters Centerline goodness [0,1] 0.9506453613728328 Centerline is valid? [False, True] Translation: X:8.51, Y:-0.78, Z:0.17 [[ 9.97420623e-01 4.67451517e-02 -5.44700970e-02 8.51468309e+00] [-4.68518013e-02 9.98901619e-01 -6.81937279e-04 -7.83105524e-01] [ 5.43783908e-02 3.23220047e-03 9.98515169e-01 1.68537162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81240100800001 meters Centerline goodness [0,1] 0.9502235645968434 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.79, Z:0.17 [[ 9.97404666e-01 4.73912926e-02 -5.42032902e-02 8.54773828e+00] [-4.73221323e-02 9.98876401e-01 2.55940466e-03 -7.86464768e-01] [ 5.42636809e-02 1.22531254e-05 9.98526641e-01 1.72432944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84240100800001 meters Centerline goodness [0,1] 0.9519936109796497 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.79, Z:0.17 [[ 9.97374783e-01 4.82401350e-02 -5.40039939e-02 8.58094627e+00] [-4.81719284e-02 9.98835766e-01 2.56472847e-03 -7.87669951e-01] [ 5.40648434e-02 4.34810197e-05 9.98537426e-01 1.74205833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87240100800001 meters Centerline goodness [0,1] 0.9488285520134724 Centerline is valid? [True, False] Translation: X:8.58, Y:-0.79, Z:0.17 [[ 9.97384853e-01 4.82065399e-02 -5.38477828e-02 8.58110350e+00] [-4.81625702e-02 9.98837272e-01 2.11467847e-03 -7.86737223e-01] [ 5.38871137e-02 4.84299337e-04 9.98546916e-01 1.73187816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90240100800001 meters Centerline goodness [0,1] 0.9486213695082836 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.78, Z:0.17 [[ 9.97414916e-01 4.77947627e-02 -5.36576712e-02 8.58215418e+00] [-4.78235698e-02 9.98855519e-01 7.47713542e-04 -7.83258036e-01] [ 5.36319977e-02 1.82032074e-03 9.98559110e-01 1.70529387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93240100800001 meters Centerline goodness [0,1] 0.949166935082428 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.78, Z:0.17 [[ 9.97422765e-01 4.73895581e-02 -5.38707566e-02 8.58322444e+00] [-4.74466672e-02 9.98873749e-01 2.19034271e-04 -7.82259691e-01] [ 5.38204645e-02 2.33751809e-03 9.98547892e-01 1.69773331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96240100800001 meters Centerline goodness [0,1] 0.9502223793113604 Centerline is valid? [False, True] Translation: X:8.58, Y:-0.78, Z:0.17 [[ 9.97596109e-01 4.40950725e-02 -5.34567847e-02 8.58130767e+00] [-4.43830262e-02 9.99005713e-01 -4.21096902e-03 -7.80102772e-01] [ 5.32179504e-02 6.57342019e-03 9.98561285e-01 1.69035836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99240100800002 meters Centerline goodness [0,1] 0.9499985293685108 Centerline is valid? [True, False] Translation: X:8.58, Y:-0.78, Z:0.17 [[ 9.97575213e-01 4.41925300e-02 -5.37653621e-02 8.58125197e+00] [-4.44215146e-02 9.99008158e-01 -3.07082358e-03 -7.82682394e-01] [ 5.35763279e-02 5.45171631e-03 9.98548875e-01 1.71031493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02240100800002 meters Centerline goodness [0,1] 0.9484862847325078 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.79, Z:0.17 [[ 9.97731621e-01 3.95968112e-02 -5.44399177e-02 8.58233239e+00] [-4.00078642e-02 9.99178345e-01 -6.48118115e-03 -7.85851792e-01] [ 5.41385528e-02 8.64450421e-03 9.98496014e-01 1.71836597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05240100800002 meters Centerline goodness [0,1] 0.950737305268165 Centerline is valid? [False, True] Translation: X:8.59, Y:-0.79, Z:0.17 [[ 9.97736599e-01 3.80453815e-02 -5.54457293e-02 8.58628510e+00] [-3.84753319e-02 9.99237039e-01 -6.70732425e-03 -7.87668011e-01] [ 5.51482437e-02 8.82543572e-03 9.98439173e-01 1.71025121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08240100800002 meters Centerline goodness [0,1] 0.9453131981056206 Centerline is valid? [True, False] Translation: X:8.59, Y:-0.79, Z:0.17 [[ 9.97775759e-01 3.56328048e-02 -5.63368320e-02 8.59144832e+00] [-3.61279158e-02 9.99316779e-01 -7.79417121e-03 -7.88306184e-01] [ 5.60206133e-02 9.81216742e-03 9.98381396e-01 1.68649307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11240100800002 meters Centerline goodness [0,1] 0.9447186868086119 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.79, Z:0.16 [[ 0.99787082 0.03068222 -0.05755363 8.60052636] [-0.03135256 0.99945025 -0.01078049 -0.78586887] [ 0.05719122 0.01256199 0.99828421 0.16398565] [ 0. 0. 0. 1. ]] SLAMing on 109.14240100800002 meters Centerline goodness [0,1] 0.9412919343326196 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.79, Z:0.16 [[ 0.99783787 0.02897422 -0.05899222 8.60479643] [-0.02964971 0.99950407 -0.01060739 -0.78692358] [ 0.05865562 0.01233356 0.99820208 0.16490688] [ 0. 0. 0. 1. ]] SLAMing on 109.17240100800001 meters Centerline goodness [0,1] 0.9350583611243449 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.79, Z:0.17 [[ 9.97797336e-01 2.70777770e-02 -6.05579910e-02 8.60892476e+00] [-2.76337660e-02 9.99583136e-01 -8.36237895e-03 -7.90746629e-01] [ 6.03063119e-02 1.00174048e-02 9.98129651e-01 1.69766866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20240100800001 meters Centerline goodness [0,1] 0.9279678791873913 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.79, Z:0.17 [[ 0.99789387 0.02274952 -0.06074767 8.60806252] [-0.02349537 0.99965674 -0.01159175 -0.79175888] [ 0.06046311 0.01299462 0.99808584 0.17215355] [ 0. 0. 0. 1. ]] SLAMing on 109.23240100800001 meters Centerline goodness [0,1] 0.8573013493253373 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.79, Z:0.18 [[ 0.99800914 0.01685246 -0.06077619 8.60831239] [-0.01771064 0.99975053 -0.01360947 -0.79340047] [ 0.06053167 0.01465876 0.99805863 0.17738779] [ 0. 0. 0. 1. ]] SLAMing on 109.26240100800001 meters Centerline goodness [0,1] 0.883327342439492 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.79, Z:0.18 [[ 0.9980021 0.01537751 -0.0612809 8.61078757] [-0.01625914 0.99977099 -0.01391404 -0.79284628] [ 0.06105291 0.01488262 0.99802357 0.17737845] [ 0. 0. 0. 1. ]] SLAMing on 109.29240100800001 meters Centerline goodness [0,1] 0.8557511841987666 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.79, Z:0.18 [[ 0.99797269 0.01373633 -0.06214361 8.61449553] [-0.01468308 0.9997826 -0.01480389 -0.79081218] [ 0.06192675 0.01568634 0.99795742 0.1763426 ] [ 0. 0. 0. 1. ]] SLAMing on 109.32240100800001 meters Centerline goodness [0,1] 0.8485693933277929 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.79, Z:0.18 [[ 0.99795946 0.01261881 -0.06259134 8.61693743] [-0.01363678 0.99978117 -0.01586319 -0.78787887] [ 0.06237747 0.01668436 0.99791316 0.17502501] [ 0. 0. 0. 1. ]] SLAMing on 109.35240100800002 meters Centerline goodness [0,1] 0.8852497643732328 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.78, Z:0.18 [[ 0.99785972 0.01598027 -0.06340831 8.61870036] [-0.01681382 0.99977881 -0.01263399 -0.78360372] [ 0.0631924 0.01367308 0.9979077 0.17593829] [ 0. 0. 0. 1. ]] SLAMing on 109.38240100800002 meters Centerline goodness [0,1] 0.8900540477029726 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.78, Z:0.18 [[ 9.97740410e-01 2.05586260e-02 -6.39641883e-02 8.61804036e+00] [-2.10583681e-02 9.99752692e-01 -7.14842386e-03 -7.84204199e-01] [ 6.38014076e-02 8.47925277e-03 9.97926592e-01 1.80053106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41240100800002 meters Centerline goodness [0,1] 0.9058902785507161 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.78, Z:0.18 [[ 9.97721261e-01 2.14572836e-02 -6.39677271e-02 8.61610158e+00] [-2.19557376e-02 9.99733736e-01 -7.09945326e-03 -7.81291042e-01] [ 6.37983598e-02 8.48773409e-03 9.97926715e-01 1.81817820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44240100800002 meters Centerline goodness [0,1] 0.9248799120319463 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.78, Z:0.18 [[ 9.97590940e-01 2.65385186e-02 -6.40938695e-02 8.61492370e+00] [-2.68240741e-02 9.99633692e-01 -3.59872182e-03 -7.75228362e-01] [ 6.39748866e-02 5.30931098e-03 9.97937385e-01 1.82991617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47240100800002 meters Centerline goodness [0,1] 0.9311256755202943 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.77, Z:0.18 [[ 9.97466355e-01 3.01100364e-02 -6.44535184e-02 8.61718136e+00] [-3.02339891e-02 9.99542399e-01 -9.48418987e-04 -7.70863130e-01] [ 6.43954674e-02 2.89470300e-03 9.97920260e-01 1.81140696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50240100800002 meters Centerline goodness [0,1] 0.9380760040960291 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.77, Z:0.18 [[ 9.97334693e-01 3.32879803e-02 -6.49262769e-02 8.62053745e+00] [-3.32826885e-02 9.99445301e-01 1.16340533e-03 -7.65845663e-01] [ 6.49289898e-02 1.00061655e-03 9.97889385e-01 1.78164088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53240100800002 meters Centerline goodness [0,1] 0.9374049242210829 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.76, Z:0.18 [[ 9.97014421e-01 4.07437679e-02 -6.55910752e-02 8.62396239e+00] [-4.03704001e-02 9.99160205e-01 7.00827706e-03 -7.59656943e-01] [ 6.58215357e-02 -4.33941535e-03 9.97821976e-01 1.75721523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56240100800001 meters Centerline goodness [0,1] 0.9375492513790387 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.76, Z:0.18 [[ 9.96994804e-01 4.13696860e-02 -6.54973962e-02 8.62270881e+00] [-4.10251090e-02 9.99136332e-01 6.59775545e-03 -7.56267469e-01] [ 6.57137752e-02 -3.89089008e-03 9.97830928e-01 1.76205626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59240100800001 meters Centerline goodness [0,1] 0.9371228070175439 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.75, Z:0.18 [[ 9.96976384e-01 4.15925690e-02 -6.56364854e-02 8.62201863e+00] [-4.12687530e-02 9.99128332e-01 6.28220623e-03 -7.54195203e-01] [ 6.58405653e-02 -3.55447535e-03 9.97823825e-01 1.77088316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62240100800001 meters Centerline goodness [0,1] 0.9434544689210046 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.75, Z:0.18 [[ 9.96946870e-01 4.17916467e-02 -6.59575358e-02 8.62138401e+00] [-4.14541949e-02 9.99119411e-01 6.47713062e-03 -7.53758397e-01] [ 6.61701442e-02 -3.72313856e-03 9.97801408e-01 1.78844365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65240100800001 meters Centerline goodness [0,1] 0.9510864981868271 Centerline is valid? [False, True] Translation: X:8.62, Y:-0.75, Z:0.18 [[ 9.96989922e-01 4.04219784e-02 -6.61601094e-02 8.61807427e+00] [-4.02364013e-02 9.99181630e-01 4.13559957e-03 -7.51200693e-01] [ 6.62731350e-02 -1.46110638e-03 9.97800449e-01 1.81744140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68240100800001 meters Centerline goodness [0,1] 0.9451735935834876 Centerline is valid? [True, False] Translation: X:8.62, Y:-0.75, Z:0.18 [[ 9.96997097e-01 4.08224129e-02 -6.58051606e-02 8.61668357e+00] [-4.06318005e-02 9.99165221e-01 4.23292140e-03 -7.49970934e-01] [ 6.59230259e-02 -1.54642820e-03 9.97823513e-01 1.82452936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71240100800001 meters Centerline goodness [0,1] 0.9499943971313313 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.75, Z:0.18 [[ 9.97014003e-01 4.11401877e-02 -6.53495392e-02 8.61546900e+00] [-4.09617107e-02 9.99152431e-01 4.06918434e-03 -7.47993509e-01] [ 6.54615580e-02 -1.38020485e-03 9.97854137e-01 1.82543820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74240100800002 meters Centerline goodness [0,1] 0.9603099127321548 Centerline is valid? [False, True] Translation: X:8.61, Y:-0.75, Z:0.18 [[ 9.97031511e-01 4.13118259e-02 -6.49730698e-02 8.61492508e+00] [-4.11667657e-02 9.99145910e-01 3.57039070e-03 -7.45227483e-01] [ 6.50650763e-02 -8.85060888e-04 9.97880630e-01 1.81805656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77240100800002 meters Centerline goodness [0,1] 0.9584886762005453 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.74, Z:0.18 [[ 9.96879215e-01 4.43611173e-02 -6.52987149e-02 8.64437452e+00] [-4.41980067e-02 9.99015017e-01 3.94109119e-03 -7.41720547e-01] [ 6.54092280e-02 -1.04271886e-03 9.97857979e-01 1.78030322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80240100800002 meters Centerline goodness [0,1] 0.9584886762005453 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.74, Z:0.18 [[ 9.96879211e-01 4.43610456e-02 -6.52988297e-02 8.67431419e+00] [-4.41980594e-02 9.99015022e-01 3.93918838e-03 -7.43525829e-01] [ 6.54092583e-02 -1.04081345e-03 9.97857979e-01 1.79160977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83240100800002 meters Centerline goodness [0,1] 0.9589897474368592 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.74, Z:0.18 [[ 9.96703988e-01 4.62256894e-02 -6.66659204e-02 8.70368594e+00] [-4.60600256e-02 9.98930582e-01 4.02069831e-03 -7.43063488e-01] [ 6.67804863e-02 -9.36812033e-04 9.97767252e-01 1.79215220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86240100800002 meters Centerline goodness [0,1] 0.9498707866729652 Centerline is valid? [True, False] Translation: X:8.70, Y:-0.74, Z:0.18 [[ 9.96693975e-01 4.65363758e-02 -6.65994508e-02 8.70317720e+00] [-4.63846364e-02 9.98916335e-01 3.82373020e-03 -7.42335124e-01] [ 6.67052219e-02 -7.21897532e-04 9.97772465e-01 1.79198079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89240100800002 meters Centerline goodness [0,1] 0.955373229481387 Centerline is valid? [False, True] Translation: X:8.70, Y:-0.74, Z:0.18 [[ 9.96639373e-01 4.73932769e-02 -6.68119620e-02 8.70167431e+00] [-4.72241665e-02 9.98875865e-01 4.10909678e-03 -7.41687919e-01] [ 6.69315999e-02 -9.40148424e-04 9.97757123e-01 1.81062524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92240100800001 meters Centerline goodness [0,1] 0.9540277662316069 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.74, Z:0.18 [[ 9.96588770e-01 4.80251029e-02 -6.71149294e-02 8.73249375e+00] [-4.78838078e-02 9.98846010e-01 3.71329158e-03 -7.43081486e-01] [ 6.72158106e-02 -4.86906304e-04 9.97738341e-01 1.82635610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95240100800001 meters Centerline goodness [0,1] 0.9512804150597897 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.75, Z:0.18 [[ 9.96662562e-01 4.76182840e-02 -6.63041237e-02 8.76306785e+00] [-4.74794550e-02 9.98865477e-01 3.66892147e-03 -7.46228847e-01] [ 6.64036079e-02 -5.08593016e-04 9.97792715e-01 1.83834486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98240100800001 meters Centerline goodness [0,1] 0.9545631391729658 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.75, Z:0.19 [[ 9.96812658e-01 4.55863221e-02 -6.54706973e-02 8.79400602e+00] [-4.54464867e-02 9.98960200e-01 3.62434293e-03 -7.49372059e-01] [ 6.55678414e-02 -6.37377731e-04 9.97847910e-01 1.86930370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01240100800001 meters Centerline goodness [0,1] 0.9579196876742889 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.76, Z:0.19 [[ 9.97322725e-01 3.91079310e-02 -6.17895698e-02 8.82473550e+00] [-3.89708524e-02 9.99234486e-01 3.42252935e-03 -7.55746003e-01] [ 6.18761171e-02 -1.00537410e-03 9.98083331e-01 1.87599242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04240100800001 meters Centerline goodness [0,1] 0.9538982292220326 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.76, Z:0.19 [[ 9.97500027e-01 3.56530724e-02 -6.10127386e-02 8.85294759e+00] [-3.55129567e-02 9.99363501e-01 3.37968801e-03 -7.60493008e-01] [ 6.10944003e-02 -1.20449614e-03 9.98131266e-01 1.85918956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07240100800001 meters Centerline goodness [0,1] 0.9558057235210522 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.76, Z:0.19 [[ 9.97581972e-01 3.33856576e-02 -6.09557711e-02 8.88163893e+00] [-3.32417646e-02 9.99441647e-01 3.37345507e-03 -7.63994921e-01] [ 6.10343612e-02 -1.33902057e-03 9.98134767e-01 1.87643910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10240100800002 meters Centerline goodness [0,1] 0.9552899017329712 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.77, Z:0.19 [[ 9.97591341e-01 3.23865565e-02 -6.13402561e-02 8.90983177e+00] [-3.22392442e-02 9.99474431e-01 3.39001305e-03 -7.67958228e-01] [ 6.14178084e-02 -1.40428417e-03 9.98111157e-01 1.89446360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13240100800002 meters Centerline goodness [0,1] 0.9530604792269446 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.77, Z:0.19 [[ 9.97518455e-01 3.32635301e-02 -6.20521513e-02 8.93763699e+00] [-3.31148155e-02 9.99445690e-01 3.42376970e-03 -7.73490199e-01] [ 6.21316419e-02 -1.36042792e-03 9.98067036e-01 1.94418552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16240100800002 meters Centerline goodness [0,1] 0.9588589772471278 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.77, Z:0.20 [[ 9.97423340e-01 3.55085544e-02 -6.23363792e-02 8.96659621e+00] [-3.53631484e-02 9.99368626e-01 3.43468206e-03 -7.73011855e-01] [ 6.24189822e-02 -1.22142142e-03 9.98049287e-01 1.99762328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19240100800002 meters Centerline goodness [0,1] 0.9554373222982293 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.78, Z:0.20 [[ 9.97329261e-01 3.74861886e-02 -6.26827735e-02 8.99450265e+00] [-3.73433195e-02 9.99296541e-01 3.44964628e-03 -7.75894074e-01] [ 6.27679928e-02 -1.09965035e-03 9.98027540e-01 1.99330280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22240100800002 meters Centerline goodness [0,1] 0.9560837355483219 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.77, Z:0.20 [[ 9.96997254e-01 4.26594369e-02 -6.46269917e-02 9.02365325e+00] [-4.25186833e-02 9.99089356e-01 3.55236834e-03 -7.73694803e-01] [ 6.47196816e-02 -7.93846890e-04 9.97903168e-01 1.97809839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25240100800002 meters Centerline goodness [0,1] 0.9533471398186499 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.77, Z:0.19 [[ 9.96737946e-01 4.52154071e-02 -6.68508292e-02 9.05333051e+00] [-4.50707559e-02 9.98977051e-01 3.67118005e-03 -7.71516173e-01] [ 6.69484381e-02 -6.46187065e-04 9.97756227e-01 1.94953858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28240100800002 meters Centerline goodness [0,1] 0.9479088404708239 Centerline is valid? [True, False] Translation: X:9.06, Y:-0.77, Z:0.19 [[ 9.96549900e-01 4.80983403e-02 -6.76376171e-02 9.05791129e+00] [-4.77416508e-02 9.98836016e-01 6.88104218e-03 -7.71517029e-01] [ 6.78898547e-02 -3.62817040e-03 9.97686225e-01 1.92557071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31240100800001 meters Centerline goodness [0,1] 0.9492535650623886 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.77, Z:0.19 [[ 9.96560852e-01 4.76928885e-02 -6.77632422e-02 9.05970802e+00] [-4.73933608e-02 9.98858151e-01 6.02188457e-03 -7.70721831e-01] [ 6.79730679e-02 -2.78964662e-03 9.97683256e-01 1.90154048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34240100800001 meters Centerline goodness [0,1] 0.9475481415136587 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.77, Z:0.19 [[ 9.96736001e-01 4.42639200e-02 -6.75133267e-02 9.05864914e+00] [-4.42456034e-02 9.99019121e-01 1.76730581e-03 -7.70055093e-01] [ 6.75253321e-02 1.22563054e-03 9.97716807e-01 1.88974094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37240100800001 meters Centerline goodness [0,1] 0.9471575680631965 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.78, Z:0.19 [[ 9.96878672e-01 4.16785591e-02 -6.70508155e-02 9.05498009e+00] [-4.17741257e-02 9.99127080e-01 -2.32342059e-05 -7.75223631e-01] [ 6.69913171e-02 2.82415088e-03 9.97749562e-01 1.92009721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40240100800001 meters Centerline goodness [0,1] 0.9448858976896757 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.78, Z:0.19 [[ 9.96856861e-01 4.21638181e-02 -6.70716818e-02 9.05407769e+00] [-4.21746473e-02 9.99109465e-01 1.25512295e-03 -7.78249915e-01] [ 6.70648729e-02 1.57754660e-03 9.97747370e-01 1.93853650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43240100800001 meters Centerline goodness [0,1] 0.9501270827449873 Centerline is valid? [False, True] Translation: X:9.05, Y:-0.78, Z:0.20 [[ 9.96844416e-01 4.24395669e-02 -6.70827365e-02 9.05357618e+00] [-4.23974834e-02 9.99098716e-01 2.05152962e-03 -7.79590850e-01] [ 6.71093419e-02 7.99083361e-04 9.97745307e-01 1.95060476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46240100800001 meters Centerline goodness [0,1] 0.9521285641403548 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.78, Z:0.20 [[ 9.96911735e-01 4.31581116e-02 -6.56076953e-02 9.08310332e+00] [-4.30367626e-02 9.99068163e-01 3.26244552e-03 -7.81978262e-01] [ 6.56873606e-02 -4.28827412e-04 9.97840161e-01 1.98233474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49240100800002 meters Centerline goodness [0,1] 0.9555163182776101 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.79, Z:0.20 [[ 9.97140833e-01 4.27132281e-02 -6.23356948e-02 9.11300854e+00] [-4.26029238e-02 9.99087280e-01 3.09819150e-03 -7.87953694e-01] [ 6.24111335e-02 -4.33650399e-04 9.98050431e-01 2.01394285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52240100800002 meters Centerline goodness [0,1] 0.9598448551220625 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.79, Z:0.21 [[ 9.97295460e-01 4.13990013e-02 -6.07279808e-02 9.14363328e+00] [-4.12918720e-02 9.99142567e-01 3.01850953e-03 -7.92552153e-01] [ 6.08008739e-02 -5.02773846e-04 9.98149789e-01 2.06866203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55240100800002 meters Centerline goodness [0,1] 0.9584179950204619 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.80, Z:0.21 [[ 9.97460757e-01 3.95500984e-02 -5.92269116e-02 9.17356238e+00] [-3.94448543e-02 9.99217408e-01 2.94549438e-03 -7.99229358e-01] [ 5.92970557e-02 -6.01818156e-04 9.98240200e-01 2.06477782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58240100800002 meters Centerline goodness [0,1] 0.9613881866237647 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.81, Z:0.21 [[ 9.97649290e-01 3.68586565e-02 -5.77696596e-02 9.20494730e+00] [-3.67539507e-02 9.99320212e-01 2.87430405e-03 -8.05243378e-01] [ 5.78363315e-02 -7.44284166e-04 9.98325801e-01 2.10208249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61240100800002 meters Centerline goodness [0,1] 0.9604602872469286 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.82, Z:0.21 [[ 9.97777753e-01 3.21259998e-02 -5.83735858e-02 9.23508466e+00] [-3.20109077e-02 9.99483295e-01 2.90591388e-03 -8.16131993e-01] [ 5.84367792e-02 -1.03086476e-03 9.98290579e-01 2.10235544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64240100800002 meters Centerline goodness [0,1] 0.961985766360007 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.82, Z:0.21 [[ 9.97703166e-01 3.11276355e-02 -6.01619664e-02 9.26462655e+00] [-3.10035686e-02 9.99514787e-01 2.99480674e-03 -8.18071474e-01] [ 6.02259963e-02 -1.12269251e-03 9.98184136e-01 2.11711946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.67240100800001 meters Centerline goodness [0,1] 0.953953663699365 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.82, Z:0.21 [[ 9.97610821e-01 3.12949121e-02 -6.15895961e-02 9.29234317e+00] [-3.11653709e-02 9.99509548e-01 3.06305195e-03 -8.22532735e-01] [ 6.16552473e-02 -1.13627116e-03 9.98096859e-01 2.06955969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70240100800001 meters Centerline goodness [0,1] 0.9561961487307002 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.82, Z:0.21 [[ 9.97440754e-01 3.31659618e-02 -6.33400521e-02 9.32157057e+00] [-3.30329732e-02 9.99449311e-01 3.14593986e-03 -8.21380866e-01] [ 6.34095096e-02 -1.04557838e-03 9.97987044e-01 2.08866578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73240100800001 meters Centerline goodness [0,1] 0.9596561803606054 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.82, Z:0.21 [[ 9.97454949e-01 3.34478448e-02 -6.29671832e-02 9.35011690e+00] [-3.33172409e-02 9.99439946e-01 3.12330041e-03 -8.22941720e-01] [ 6.30363858e-02 -1.01745865e-03 9.98010711e-01 2.12961831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76240100800001 meters Centerline goodness [0,1] 0.9588277963151023 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.83, Z:0.22 [[ 9.97509608e-01 3.26744425e-02 -6.25057063e-02 9.37905316e+00] [-3.25444918e-02 9.99465492e-01 3.09626982e-03 -8.26848930e-01] [ 6.25734654e-02 -1.05434245e-03 9.98039804e-01 2.15305629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79240100800001 meters Centerline goodness [0,1] 0.9586947662572044 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.83, Z:0.22 [[ 9.97559715e-01 3.21267066e-02 -6.19878136e-02 9.40635152e+00] [-3.19981256e-02 9.99483226e-01 3.06614102e-03 -8.32041795e-01] [ 6.20542849e-02 -1.07516492e-03 9.98072197e-01 2.16014004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82240100800001 meters Centerline goodness [0,1] 0.961360258763878 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.84, Z:0.22 [[ 9.97695506e-01 2.82842859e-02 -6.16739554e-02 9.43464193e+00] [-2.81499855e-02 9.99599071e-01 3.04556293e-03 -8.35349449e-01] [ 6.17353701e-02 -1.30242350e-03 9.98091703e-01 2.16857315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85240100800002 meters Centerline goodness [0,1] 0.962153953977339 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.84, Z:0.22 [[ 9.97749849e-01 2.67111185e-02 -6.14959803e-02 9.46328451e+00] [-2.65748982e-02 9.99642227e-01 3.03208926e-03 -8.37470155e-01] [ 6.15549692e-02 -1.39101719e-03 9.98102726e-01 2.15805023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88240100800002 meters Centerline goodness [0,1] 0.9575314419420883 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.84, Z:0.21 [[ 9.97765553e-01 2.56806242e-02 -6.16798744e-02 9.49100763e+00] [-2.55418991e-02 9.99669140e-01 3.03665453e-03 -8.41241694e-01] [ 6.17374502e-02 -1.45444816e-03 9.98091364e-01 2.13889632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91240100800002 meters Centerline goodness [0,1] 0.9629911354261139 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.84, Z:0.22 [[ 9.97747706e-01 2.52673432e-02 -6.21375568e-02 9.52024225e+00] [-2.51260452e-02 9.99679625e-01 3.05442026e-03 -8.40997273e-01] [ 6.21948266e-02 -1.48626975e-03 9.98062921e-01 2.17169063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94240100800002 meters Centerline goodness [0,1] 0.9589393142923894 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.84, Z:0.22 [[ 9.97612922e-01 2.67099021e-02 -6.36791804e-02 9.54845852e+00] [-2.65648834e-02 9.99642213e-01 3.12307092e-03 -8.44780949e-01] [ 6.37398138e-02 -1.42398590e-03 9.97965535e-01 2.16954854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97240100800002 meters Centerline goodness [0,1] 0.9561792799412197 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.85, Z:0.22 [[ 9.97441095e-01 2.84707712e-02 -6.55795423e-02 9.57650101e+00] [-2.83214116e-02 9.99593726e-01 3.20625012e-03 -8.47022357e-01] [ 6.56441835e-02 -1.34074043e-03 9.97842194e-01 2.17226001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00240100800002 meters Centerline goodness [0,1] 0.9533016933263022 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.85, Z:0.22 [[ 9.97122928e-01 3.29741505e-02 -6.82537379e-02 9.60495390e+00] [-3.28233730e-02 9.99455622e-01 3.32966890e-03 -8.47372866e-01] [ 6.83263751e-02 -1.07977131e-03 9.97662438e-01 2.18510102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03240100800002 meters Centerline goodness [0,1] 0.9481691292413712 Centerline is valid? [True, False] Translation: X:9.60, Y:-0.85, Z:0.22 [[ 9.97124872e-01 3.32417845e-02 -6.80953204e-02 9.60469368e+00] [-3.31171737e-02 9.99447098e-01 2.95831563e-03 -8.46074253e-01] [ 6.81560101e-02 -6.94685546e-04 9.97674434e-01 2.17738588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06240100800001 meters Centerline goodness [0,1] 0.9572265795842202 Centerline is valid? [False, True] Translation: X:9.60, Y:-0.85, Z:0.22 [[ 9.97011335e-01 3.83305933e-02 -6.70758066e-02 9.60220903e+00] [-3.78684928e-02 9.99249515e-01 8.14765069e-03 -8.47071455e-01] [ 6.73377715e-02 -5.58324039e-03 9.97714614e-01 2.19109884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09240100800001 meters Centerline goodness [0,1] 0.9621468596777959 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.85, Z:0.22 [[ 9.97287753e-01 3.64574520e-02 -6.39374054e-02 9.63080648e+00] [-3.63336312e-02 9.99334912e-01 3.09864245e-03 -8.49043443e-01] [ 6.40078500e-02 -7.67160060e-04 9.97949100e-01 2.19656130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12240100800001 meters Centerline goodness [0,1] 0.9652666296955722 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.85, Z:0.22 [[ 9.97553196e-01 3.45463286e-02 -6.07797091e-02 9.65897055e+00] [-3.44310858e-02 9.99402742e-01 2.94268951e-03 -8.52139968e-01] [ 6.08450670e-02 -8.42777943e-04 9.98146867e-01 2.22889933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15240100800001 meters Centerline goodness [0,1] 0.9671212076970246 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.85, Z:0.23 [[ 9.97575127e-01 3.41446121e-02 -6.06466176e-02 9.68786160e+00] [-3.40293344e-02 9.99416531e-01 2.93292947e-03 -8.53910845e-01] [ 6.07113759e-02 -8.62053460e-04 9.98154991e-01 2.25588013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18240100800001 meters Centerline goodness [0,1] 0.9680928845085252 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.85, Z:0.23 [[ 9.97593643e-01 3.55644196e-02 -5.95155076e-02 9.71610309e+00] [-3.54561613e-02 9.99367099e-01 2.87437255e-03 -8.54988970e-01] [ 5.95800656e-02 -7.57264349e-04 9.98223243e-01 2.28863298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21240100800001 meters Centerline goodness [0,1] 0.9705916847475518 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.85, Z:0.24 [[ 9.97595786e-01 3.95524392e-02 -5.69056491e-02 9.74557473e+00] [-3.94601370e-02 9.99217374e-01 2.74521235e-03 -8.54017242e-01] [ 5.69696931e-02 -4.93107562e-04 9.98375786e-01 2.36433305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24240100800002 meters Centerline goodness [0,1] 0.9714962287318014 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.86, Z:0.24 [[ 9.97598930e-01 4.17030272e-02 -5.52922528e-02 9.77776003e+00] [-4.16190826e-02 9.99129985e-01 2.66931846e-03 -8.55551659e-01] [ 5.53554664e-02 -3.61696395e-04 9.98466645e-01 2.40527569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27240100800002 meters Centerline goodness [0,1] 0.9735756298832412 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.86, Z:0.24 [[ 9.97594254e-01 4.31963455e-02 -5.42197466e-02 9.80840347e+00] [-4.31171484e-02 9.99066561e-01 2.63012914e-03 -8.57090311e-01] [ 5.42827477e-02 -2.86000854e-04 9.98525564e-01 2.42223261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30240100800002 meters Centerline goodness [0,1] 0.9732064421669107 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.86, Z:0.24 [[ 9.97703560e-01 4.33649971e-02 -5.20296359e-02 9.83960245e+00] [-4.32917220e-02 9.99059258e-01 2.53502823e-03 -8.59517612e-01] [ 5.20906209e-02 -2.76754155e-04 9.98642324e-01 2.43630730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33240100800002 meters Centerline goodness [0,1] 0.9755080465170916 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.86, Z:0.24 [[ 9.97778331e-01 4.33870948e-02 -5.05565276e-02 9.87097505e+00] [-4.33173970e-02 9.99058298e-01 2.47400433e-03 -8.60837570e-01] [ 5.06162583e-02 -2.78530731e-04 9.98718137e-01 2.44662313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36240100800002 meters Centerline goodness [0,1] 0.9760452706268692 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.86, Z:0.25 [[ 9.97732790e-01 4.34130048e-02 -5.14255781e-02 9.90424076e+00] [-4.33403318e-02 9.99057168e-01 2.52799174e-03 -8.61654348e-01] [ 5.14868401e-02 -2.93458638e-04 9.98673630e-01 2.45213505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39240100800002 meters Centerline goodness [0,1] 0.9746115953012505 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.86, Z:0.24 [[ 9.97610197e-01 4.39158526e-02 -5.33412910e-02 9.93609486e+00] [-4.38376116e-02 9.99035191e-01 2.63649235e-03 -8.61926251e-01] [ 5.34056107e-02 -2.91836852e-04 9.98572859e-01 2.43076156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42240100800001 meters Centerline goodness [0,1] 0.9709997382122808 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.86, Z:0.24 [[ 9.97399009e-01 4.52985468e-02 -5.60647752e-02 9.96842790e+00] [-4.52136071e-02 9.98973465e-01 2.78319757e-03 -8.61679683e-01] [ 5.61332976e-02 -2.41067779e-04 9.98423254e-01 2.39957455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45240100800001 meters Centerline goodness [0,1] 0.9660278745644599 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.86, Z:0.24 [[ 9.97133631e-01 4.71823539e-02 -5.91468312e-02 9.99995796e+00] [-4.70906485e-02 9.98886281e-01 2.94414174e-03 -8.59942064e-01] [ 5.92198698e-02 -1.50440106e-04 9.98244952e-01 2.35004601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48240100800001 meters Centerline goodness [0,1] 0.9653833898206888 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.86, Z:0.24 [[ 9.96926850e-01 4.92146098e-02 -6.09489822e-02 1.00323875e+01] [-4.91203902e-02 9.98788226e-01 3.04413616e-03 -8.60863568e-01] [ 6.10249418e-02 -4.09432844e-05 9.98136241e-01 2.35963323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51240100800001 meters Centerline goodness [0,1] 0.9631554497415946 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.86, Z:0.24 [[ 9.96768008e-01 5.05088269e-02 -6.24691614e-02 1.00640834e+01] [-5.04114552e-02 9.98723614e-01 3.13486456e-03 -8.63114390e-01] [ 6.25477650e-02 2.44286274e-05 9.98041971e-01 2.37863842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54240100800001 meters Centerline goodness [0,1] 0.9627621008671442 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.86, Z:0.24 [[ 9.96675838e-01 5.13483517e-02 -6.32504588e-02 1.00954722e+01] [-5.12492890e-02 9.98680801e-01 3.18867230e-03 -8.64867931e-01] [ 6.33307519e-02 6.34684034e-05 9.97992591e-01 2.39994734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57240100800001 meters Centerline goodness [0,1] 0.9654565900637236 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.86, Z:0.24 [[ 9.96712538e-01 5.16852659e-02 -6.23919087e-02 1.01276734e+01] [-5.15886681e-02 9.98663421e-01 3.15925866e-03 -8.63465534e-01] [ 6.24718041e-02 6.98427523e-05 9.98046727e-01 2.39237295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60240100800002 meters Centerline goodness [0,1] 0.9665211898472493 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.86, Z:0.24 [[ 9.96811435e-01 5.15702184e-02 -6.08890433e-02 1.01596979e+01] [-5.14771470e-02 9.98669370e-01 3.09725212e-03 -8.62473474e-01] [ 6.09677485e-02 4.70179025e-05 9.98139735e-01 2.40027436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63240100800002 meters Centerline goodness [0,1] 0.9671077179185442 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.86, Z:0.24 [[ 9.96960367e-01 5.17782704e-02 -5.82154338e-02 1.01902850e+01] [-5.16927957e-02 9.98658605e-01 2.97423983e-03 -8.62926596e-01] [ 5.82913449e-02 4.41192954e-05 9.98299613e-01 2.42448828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66240100800002 meters Centerline goodness [0,1] 0.9699388978556606 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.87, Z:0.25 [[ 9.97038592e-01 5.15074810e-02 -5.71053962e-02 1.02216544e+01] [-5.14240697e-02 9.98672609e-01 2.93016741e-03 -8.67379674e-01] [ 5.71805205e-02 1.51018881e-05 9.98363855e-01 2.47889767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69240100800002 meters Centerline goodness [0,1] 0.9699388978556606 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.87, Z:0.25 [[ 9.97024300e-01 5.17842070e-02 -5.71046583e-02 1.02538947e+01] [-5.17004290e-02 9.98658298e-01 2.94448701e-03 -8.69217209e-01] [ 5.71805188e-02 1.66102360e-05 9.98363856e-01 2.49239501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72240100800002 meters Centerline goodness [0,1] 0.9703999068630305 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.88, Z:0.26 [[ 9.97474358e-01 4.44332396e-02 -5.54129213e-02 1.02847934e+01] [-4.43422624e-02 9.99012273e-01 2.87084708e-03 -8.82907357e-01] [ 5.54857495e-02 -4.06462056e-04 9.98459396e-01 2.55168401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75240100800002 meters Centerline goodness [0,1] 0.9703999068630305 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.88, Z:0.26 [[ 9.97462494e-01 4.46994861e-02 -5.54123568e-02 1.03170379e+01] [-4.46083161e-02 9.99000397e-01 2.88170634e-03 -8.84758286e-01] [ 5.54857773e-02 -4.02542063e-04 9.98459397e-01 2.56516350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78240100800002 meters Centerline goodness [0,1] 0.9694660945208279 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.89, Z:0.26 [[ 9.97746879e-01 4.00534834e-02 -5.38226997e-02 1.03484036e+01] [-3.99599807e-02 9.99197322e-01 2.81270353e-03 -8.92184985e-01] [ 5.38921559e-02 -6.55612128e-04 9.98546547e-01 2.59193040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81240100800001 meters Centerline goodness [0,1] 0.9678485752735357 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.90, Z:0.26 [[ 9.98141996e-01 3.09346988e-02 -5.24938030e-02 1.03785622e+01] [-3.08326496e-02 9.99520770e-01 2.75292386e-03 -9.00438430e-01] [ 5.25538073e-02 -1.12928588e-03 9.98617455e-01 2.55558580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84240100800001 meters Centerline goodness [0,1] 0.9633271870518336 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.90, Z:0.26 [[ 9.98243044e-01 2.75868567e-02 -5.24384375e-02 1.04088841e+01] [-2.74803729e-02 9.99618559e-01 2.75070855e-03 -9.03494779e-01] [ 5.24943187e-02 -1.30484787e-03 9.98620370e-01 2.55458890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87240100800001 meters Centerline goodness [0,1] 0.9592093704245974 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.91, Z:0.26 [[ 9.98343219e-01 2.49346069e-02 -5.18563684e-02 1.04369479e+01] [-2.48269388e-02 9.99688065e-01 2.71949215e-03 -9.08992217e-01] [ 5.19080020e-02 -1.42755166e-03 9.98650851e-01 2.56481621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90240100800001 meters Centerline goodness [0,1] 0.9576428340152474 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.91, Z:0.26 [[ 9.98391191e-01 2.30027266e-02 -5.18257114e-02 1.04653998e+01] [-2.28927642e-02 9.99734241e-01 2.71446895e-03 -9.13446086e-01] [ 5.18743785e-02 -1.52366810e-03 9.98652456e-01 2.59479717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93240100800001 meters Centerline goodness [0,1] 0.9507246376811594 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.92, Z:0.26 [[ 9.98389750e-01 1.96847513e-02 -5.32016777e-02 1.04939853e+01] [-1.95643434e-02 9.99804726e-01 2.78313576e-03 -9.18722788e-01] [ 5.32460742e-02 -1.73779832e-03 9.98579909e-01 2.61601285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96240100800001 meters Centerline goodness [0,1] 0.9451921374180982 Centerline is valid? [True, False] Translation: X:10.50, Y:-0.92, Z:0.26 [[ 9.98379200e-01 1.85743662e-02 -5.37955905e-02 1.04970793e+01] [-1.85092096e-02 9.99827229e-01 1.70919550e-03 -9.17702746e-01] [ 5.38180434e-02 -7.10711378e-04 9.98550506e-01 2.59486656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99240100800002 meters Centerline goodness [0,1] 0.9410015603379751 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.92, Z:0.26 [[ 9.98378347e-01 1.77657949e-02 -5.40837628e-02 1.04995175e+01] [-1.77645856e-02 9.99842071e-01 5.03136440e-04 -9.15589630e-01] [ 5.40841600e-02 4.58455106e-04 9.98536275e-01 2.56951750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02240100800002 meters Centerline goodness [0,1] 0.9389191577087321 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.91, Z:0.25 [[ 9.98381442e-01 1.73115647e-02 -5.41738474e-02 1.05011221e+01] [-1.73802940e-02 9.99848633e-01 -7.97777135e-04 -9.12984781e-01] [ 5.41518365e-02 1.73804328e-03 9.98531200e-01 2.54330930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05240100800002 meters Centerline goodness [0,1] 0.9466283906497158 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.91, Z:0.25 [[ 9.98273186e-01 2.10218539e-02 -5.48518679e-02 1.05033162e+01] [-2.09251356e-02 9.99778314e-01 2.33705543e-03 -9.11145200e-01] [ 5.48888372e-02 -1.18523699e-03 9.98491768e-01 2.53355673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08240100800002 meters Centerline goodness [0,1] 0.9548850153801084 Centerline is valid? [False, True] Translation: X:10.50, Y:-0.91, Z:0.25 [[ 9.98268445e-01 2.16414396e-02 -5.46969772e-02 1.05021776e+01] [-2.15795090e-02 9.99765651e-01 1.72267321e-03 -9.08812478e-01] [ 5.47214401e-02 -5.39356395e-04 9.98501514e-01 2.53034817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11240100800002 meters Centerline goodness [0,1] 0.9615227775835955 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.90, Z:0.26 [[ 9.98082761e-01 2.84376377e-02 -5.49736524e-02 1.05326133e+01] [-2.83436788e-02 9.99595140e-01 2.48823233e-03 -9.03198037e-01] [ 5.50221552e-02 -9.25306252e-04 9.98484705e-01 2.57331078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14240100800002 meters Centerline goodness [0,1] 0.9688993136999392 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.89, Z:0.26 [[ 9.97917150e-01 3.99800092e-02 -5.06256899e-02 1.05628933e+01] [-3.99152156e-02 9.99200445e-01 2.29063236e-03 -8.91229036e-01] [ 5.06767914e-02 -2.65125996e-04 9.98715071e-01 2.63069620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17240100800002 meters Centerline goodness [0,1] 0.9700109365106775 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.89, Z:0.26 [[ 9.97823292e-01 4.45651944e-02 -4.86067997e-02 1.05951946e+01] [-4.45108252e-02 9.99006478e-01 2.20092146e-03 -8.86126234e-01] [ 4.86565923e-02 -3.26019377e-05 9.98815566e-01 2.64898905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20240100800001 meters Centerline goodness [0,1] 0.9693270915304862 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.88, Z:0.26 [[ 9.97796658e-01 4.70157018e-02 -4.68118921e-02 1.06272167e+01] [-4.69674692e-02 9.98894148e-01 2.13034662e-03 -8.81818448e-01] [ 4.68602848e-02 7.29833575e-05 9.98901451e-01 2.64457310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23240100800001 meters Centerline goodness [0,1] 0.9647455111187234 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.88, Z:0.26 [[ 9.97691042e-01 4.87634855e-02 -4.72726931e-02 1.06596351e+01] [-4.87157197e-02 9.98810343e-01 2.16269850e-03 -8.78201895e-01] [ 4.73219155e-02 1.45218345e-04 9.98879680e-01 2.61056293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26240100800001 meters Centerline goodness [0,1] 0.9614207681528298 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.88, Z:0.26 [[ 9.97697399e-01 4.83449459e-02 -4.75675014e-02 1.06926204e+01] [-4.82955275e-02 9.98830693e-01 2.18833557e-03 -8.79232402e-01] [ 4.76176753e-02 1.14000870e-04 9.98865629e-01 2.60285547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29240100800001 meters Centerline goodness [0,1] 0.9632840533945745 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.89, Z:0.26 [[ 9.97832042e-01 4.25608624e-02 -5.01974926e-02 1.07246256e+01] [-4.24978218e-02 9.99093859e-01 2.32298322e-03 -8.88849898e-01] [ 5.02508748e-02 -1.84662997e-04 9.98736610e-01 2.61284707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32240100800001 meters Centerline goodness [0,1] 0.9613638335405882 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.90, Z:0.27 [[ 9.98057934e-01 3.70430606e-02 -5.00816464e-02 1.07557679e+01] [-3.69727738e-02 9.99313558e-01 2.32944434e-03 -8.97992914e-01] [ 5.01335580e-02 -4.73263027e-04 9.98742410e-01 2.65248656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35240100800002 meters Centerline goodness [0,1] 0.9568872727272727 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.91, Z:0.27 [[ 9.98291749e-01 3.12319076e-02 -4.93776551e-02 1.07857951e+01] [-3.11559645e-02 9.99511872e-01 2.30712035e-03 -9.07969779e-01] [ 4.94256082e-02 -7.64770740e-04 9.98777515e-01 2.69251998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38240100800002 meters Centerline goodness [0,1] 0.9500174967922548 Centerline is valid? [True, True] Translation: X:10.82, Y:-0.92, Z:0.27 [[ 9.98503533e-01 2.45965158e-02 -4.88436854e-02 1.08166692e+01] [-2.45140367e-02 9.99696870e-01 2.28704192e-03 -9.16869670e-01] [ 4.88851327e-02 -1.08626354e-03 9.98803816e-01 2.72199400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41240100800002 meters Centerline goodness [0,1] 0.94333517940945 Centerline is valid? [True, False] Translation: X:10.82, Y:-0.92, Z:0.27 [[ 9.98600160e-01 1.90071532e-02 -4.93603877e-02 1.08194160e+01] [-1.91464580e-02 9.99813926e-01 -2.35086518e-03 -9.16722980e-01] [ 4.93065197e-02 3.29265094e-03 9.98778266e-01 2.70976516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44240100800002 meters Centerline goodness [0,1] 0.9185078825528923 Centerline is valid? [False, False] Translation: X:10.81, Y:-0.92, Z:0.26 [[ 9.99137407e-01 7.35236280e-03 -4.08703443e-02 1.08128876e+01] [-7.48138837e-03 9.99967499e-01 -3.00489609e-03 -9.15045344e-01] [ 4.08469229e-02 3.30807101e-03 9.99159940e-01 2.64112398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47240100800002 meters Centerline goodness [0,1] 0.9079587411357909 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.92, Z:0.26 [[ 9.99123921e-01 6.19004318e-03 -4.13893027e-02 1.08153941e+01] [-6.32929212e-03 9.99974740e-01 -3.23417728e-03 -9.15322850e-01] [ 4.13682375e-02 3.49330887e-03 9.99137861e-01 2.63649758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50240100800002 meters Centerline goodness [0,1] 0.9100254810649328 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.92, Z:0.26 [[ 9.99089350e-01 5.06499709e-03 -4.23652767e-02 1.08185149e+01] [-5.21216428e-03 9.99980758e-01 -3.36403310e-03 -9.15320051e-01] [ 4.23474227e-02 3.58178442e-03 9.99096525e-01 2.63737873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53240100800002 meters Centerline goodness [0,1] 0.9234338747099768 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.92, Z:0.27 [[ 9.99071513e-01 5.22648941e-03 -4.27644276e-02 1.08182278e+01] [-5.34556840e-03 9.99982146e-01 -2.67065468e-03 -9.15777614e-01] [ 4.27497059e-02 2.89677518e-03 9.99081614e-01 2.66004651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56240100800001 meters Centerline goodness [0,1] 0.9274158029186363 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.91, Z:0.27 [[ 9.99063063e-01 5.49071195e-03 -4.29284182e-02 1.08178035e+01] [-5.60182542e-03 9.99981263e-01 -2.46847632e-03 -9.14786168e-01] [ 4.29140602e-02 2.70664102e-03 9.99075101e-01 2.67131433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59240100800001 meters Centerline goodness [0,1] 0.9244221812110027 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.91, Z:0.27 [[ 9.99050175e-01 5.19041605e-03 -4.32643787e-02 1.08189782e+01] [-5.33609000e-03 9.99980474e-01 -3.25225857e-03 -9.12090668e-01] [ 4.32466533e-02 3.48003211e-03 9.99058365e-01 2.66320785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62240100800001 meters Centerline goodness [0,1] 0.9274514937312738 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.91, Z:0.26 [[ 9.98981665e-01 8.01489463e-03 -4.44003960e-02 1.08232520e+01] [-8.03259014e-03 9.99967714e-01 -2.20142366e-04 -9.10365477e-01] [ 4.43971981e-02 5.76568371e-04 9.99013792e-01 2.64846178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65240100800001 meters Centerline goodness [0,1] 0.9343269812898204 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.90, Z:0.26 [[ 9.98830436e-01 1.34669162e-02 -4.64370766e-02 1.08319920e+01] [-1.33306888e-02 9.99905887e-01 3.24204454e-03 -9.02043807e-01] [ 4.64763666e-02 -2.61921455e-03 9.98915956e-01 2.57874003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68240100800001 meters Centerline goodness [0,1] 0.9335050071530758 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.90, Z:0.26 [[ 9.98738942e-01 1.64018386e-02 -4.74500398e-02 1.08359408e+01] [-1.61529759e-02 9.99853718e-01 5.62345847e-03 -8.98507454e-01] [ 4.75353338e-02 -4.84990761e-03 9.98857783e-01 2.55727815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71240100800001 meters Centerline goodness [0,1] 0.9374306760331048 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.89, Z:0.25 [[ 9.98728378e-01 1.65510204e-02 -4.76202678e-02 1.08364136e+01] [-1.63689098e-02 9.99857150e-01 4.21167963e-03 -8.93141839e-01] [ 4.76831729e-02 -3.42683210e-03 9.98856632e-01 2.54155890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74240100800002 meters Centerline goodness [0,1] 0.9368566513438055 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.89, Z:0.26 [[ 9.98620147e-01 2.01235872e-02 -4.85061117e-02 1.08381603e+01] [-1.97416962e-02 9.99770334e-01 8.33935965e-03 -8.92020509e-01] [ 4.86627893e-02 -7.37025964e-03 9.98788072e-01 2.55877068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77240100800002 meters Centerline goodness [0,1] 0.9394227542230674 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.88, Z:0.26 [[ 9.98823504e-01 2.20648818e-02 -4.31827429e-02 1.08505470e+01] [-2.20504190e-02 9.99756531e-01 8.11270713e-04 -8.84984549e-01] [ 4.31901298e-02 1.41881318e-04 9.99066861e-01 2.56000300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80240100800002 meters Centerline goodness [0,1] 0.9373860864200992 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.88, Z:0.26 [[ 9.98818546e-01 2.17023770e-02 -4.34800949e-02 1.08503159e+01] [-2.16738552e-02 9.99764459e-01 1.12733684e-03 -8.83712504e-01] [ 4.34943194e-02 -1.83623666e-04 9.99053657e-01 2.58296660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83240100800002 meters Centerline goodness [0,1] 0.9373337440147845 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.88, Z:0.26 [[ 9.98902998e-01 1.89351082e-02 -4.28282900e-02 1.08494080e+01] [-1.89963675e-02 9.99819029e-01 -1.02378568e-03 -8.80822024e-01] [ 4.28011538e-02 1.83624452e-03 9.99081923e-01 2.59089360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86240100800002 meters Centerline goodness [0,1] 0.9309757731383276 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.88, Z:0.26 [[ 9.98884186e-01 1.77869085e-02 -4.37493803e-02 1.08517013e+01] [-1.78451807e-02 9.99840319e-01 -9.41740173e-04 -8.80591319e-01] [ 4.37256437e-02 1.72140496e-03 9.99042094e-01 2.60349745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89240100800002 meters Centerline goodness [0,1] 0.9225593925351051 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.88, Z:0.26 [[ 9.98870412e-01 1.66022401e-02 -4.45226428e-02 1.08540815e+01] [-1.66821913e-02 9.99859827e-01 -1.42476709e-03 -8.79419291e-01] [ 4.44927476e-02 2.16589293e-03 9.99007359e-01 2.60466215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92240100800002 meters Centerline goodness [0,1] 0.9207805848858422 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.87, Z:0.26 [[ 9.98854967e-01 1.49233337e-02 -4.54538019e-02 1.08571365e+01] [-1.50793759e-02 9.99881519e-01 -3.09201844e-03 -8.73187986e-01] [ 4.54022732e-02 3.77389294e-03 9.98961657e-01 2.59932221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95240100800001 meters Centerline goodness [0,1] 0.917848275862069 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.87, Z:0.26 [[ 9.98839754e-01 1.44574704e-02 -4.59361122e-02 1.08582176e+01] [-1.46500495e-02 9.99885238e-01 -3.85841528e-03 -8.69157806e-01] [ 4.58750575e-02 4.52690489e-03 9.98936928e-01 2.60046099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98240100800001 meters Centerline goodness [0,1] 0.9190076314997675 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.86, Z:0.26 [[ 9.98818280e-01 1.38744149e-02 -4.65783668e-02 1.08598855e+01] [-1.41148067e-02 9.99888686e-01 -4.83607571e-03 -8.64929811e-01] [ 4.65060843e-02 5.48780547e-03 9.98902932e-01 2.59740022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01240100800001 meters Centerline goodness [0,1] 0.9296226774395386 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.86, Z:0.26 [[ 9.98800640e-01 1.38932939e-02 -4.69495308e-02 1.08593858e+01] [-1.41690354e-02 9.99884237e-01 -5.54544443e-03 -8.59146992e-01] [ 4.68670513e-02 6.20402301e-03 9.98881870e-01 2.61206273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04240100800001 meters Centerline goodness [0,1] 0.915209197646357 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.86, Z:0.26 [[ 9.98794533e-01 1.40464266e-02 -4.70338052e-02 1.08581624e+01] [-1.43037589e-02 9.99884489e-01 -5.13911402e-03 -8.57509915e-01] [ 4.69561861e-02 5.80567919e-03 9.98880078e-01 2.63676243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07240100800001 meters Centerline goodness [0,1] 0.9105337154599038 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.86, Z:0.27 [[ 9.98792789e-01 1.40287468e-02 -4.70760912e-02 1.08570294e+01] [-1.42743075e-02 9.99886188e-01 -4.88411834e-03 -8.55397857e-01] [ 4.70022153e-02 5.55020078e-03 9.98879366e-01 2.65946484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10240100800002 meters Centerline goodness [0,1] 0.9199483537766301 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.85, Z:0.27 [[ 9.98791234e-01 1.36785771e-02 -4.72119495e-02 1.08565705e+01] [-1.39222342e-02 9.99891387e-01 -4.83593676e-03 -8.52805761e-01] [ 4.71406730e-02 5.48738706e-03 9.98873188e-01 2.67831382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13240100800002 meters Centerline goodness [0,1] 0.8777416084102674 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.85, Z:0.27 [[ 9.98787718e-01 1.28837142e-02 -4.75089907e-02 1.08572683e+01] [-1.31498759e-02 9.99899522e-01 -5.29404766e-03 -8.49751291e-01] [ 4.74360100e-02 5.91236711e-03 9.98856781e-01 2.68663740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16240100800002 meters Centerline goodness [0,1] 0.843237813260019 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.84, Z:0.27 [[ 9.98794181e-01 1.14138143e-02 -4.77483854e-02 1.08584214e+01] [-1.17536649e-02 9.99907509e-01 -6.84281740e-03 -8.43373910e-01] [ 4.76658665e-02 7.39578472e-03 9.98835956e-01 2.68664763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19240100800002 meters Centerline goodness [0,1] 0.8378726536621274 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.84, Z:0.27 [[ 9.98788754e-01 1.08039267e-02 -4.80031163e-02 1.08593369e+01] [-1.11963117e-02 9.99906011e-01 -7.91279931e-03 -8.39494740e-01] [ 4.79131152e-02 8.44067282e-03 9.98815843e-01 2.68154996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22240100800002 meters Centerline goodness [0,1] 0.8894249576215935 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.84, Z:0.27 [[ 9.98712208e-01 1.38167832e-02 -4.88162101e-02 1.08617628e+01] [-1.40622190e-02 9.99890133e-01 -4.68788242e-03 -8.37016825e-01] [ 4.87460753e-02 5.36830964e-03 9.98796777e-01 2.68224994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25240100800002 meters Centerline goodness [0,1] 0.9067533997490205 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.83, Z:0.27 [[ 9.98543921e-01 2.00019649e-02 -5.00994842e-02 1.08659856e+01] [-2.00335770e-02 9.99799299e-01 -1.28865244e-04 -8.26873474e-01] [ 5.00868517e-02 1.13234948e-03 9.98744224e-01 2.66320913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28240100800002 meters Centerline goodness [0,1] 0.9167363486633726 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.82, Z:0.27 [[ 9.98436103e-01 2.32176523e-02 -5.08555704e-02 1.08682331e+01] [-2.31391138e-02 9.99729980e-01 2.13263853e-03 -8.21413340e-01] [ 5.08913532e-02 -9.52550476e-04 9.98703741e-01 2.65541046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31240100800001 meters Centerline goodness [0,1] 0.9228417675147167 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.82, Z:0.27 [[ 9.98319240e-01 2.65050949e-02 -5.15381022e-02 1.08699165e+01] [-2.62904941e-02 9.99642640e-01 4.83752805e-03 -8.16832678e-01] [ 5.16479037e-02 -3.47443515e-03 9.98659312e-01 2.65690177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34240100800001 meters Centerline goodness [0,1] 0.9213666215470998 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.81, Z:0.27 [[ 9.98310457e-01 2.60909857e-02 -5.19181355e-02 1.08704270e+01] [-2.59477617e-02 9.99657413e-01 3.43088982e-03 -8.10548894e-01] [ 5.19898643e-02 -2.07793377e-03 9.98645451e-01 2.65753059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37240100800001 meters Centerline goodness [0,1] 0.9236641221374046 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.80, Z:0.27 [[ 9.98304752e-01 2.51551829e-02 -5.24865559e-02 1.08714501e+01] [-2.50783843e-02 9.99683237e-01 2.12138935e-03 -8.04672357e-01] [ 5.25232940e-02 -8.01515051e-04 9.98619378e-01 2.66347237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40240100800001 meters Centerline goodness [0,1] 0.9265820902918877 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.80, Z:0.27 [[ 9.98314023e-01 2.43369980e-02 -5.26955643e-02 1.08717888e+01] [-2.43186578e-02 9.99703768e-01 9.89296227e-04 -7.99156757e-01] [ 5.27040307e-02 2.93857100e-04 9.98610134e-01 2.66870868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43240100800001 meters Centerline goodness [0,1] 0.9125644345637993 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.79, Z:0.27 [[ 9.98234572e-01 2.36566734e-02 -5.44802814e-02 1.08785520e+01] [-2.36301288e-02 9.99720129e-01 1.13143900e-03 -7.87342080e-01] [ 5.44918000e-02 1.57934543e-04 9.98514206e-01 2.65995005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46240100800001 meters Centerline goodness [0,1] 0.8772477552699727 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.78, Z:0.26 [[ 9.98231205e-01 2.19439071e-02 -5.52532869e-02 1.08817873e+01] [-2.20341303e-02 9.99756694e-01 -1.02416429e-03 -7.79604229e-01] [ 5.52173693e-02 2.23981088e-03 9.98471845e-01 2.64397023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49240100800002 meters Centerline goodness [0,1] 0.8986146247440068 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.77, Z:0.26 [[ 9.98220583e-01 2.10403657e-02 -5.57940077e-02 1.08833857e+01] [-2.12212903e-02 9.99771285e-01 -2.65217120e-03 -7.72611001e-01] [ 5.57254442e-02 3.83147272e-03 9.98438779e-01 2.63928433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52240100800002 meters Centerline goodness [0,1] 0.8874656690974524 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.76, Z:0.27 [[ 9.98112836e-01 2.45180843e-02 -5.62994656e-02 1.08812751e+01] [-2.46044604e-02 9.99696910e-01 -8.41475077e-04 -7.61055637e-01] [ 5.62617704e-02 2.22510505e-03 9.98413573e-01 2.68121029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55240100800002 meters Centerline goodness [0,1] 0.907504567386518 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.75, Z:0.27 [[ 9.97994615e-01 2.84048628e-02 -5.65677689e-02 1.08795280e+01] [-2.83347667e-02 9.99596406e-01 2.04098885e-03 -7.54848647e-01] [ 5.66029125e-02 -4.34061340e-04 9.98396676e-01 2.71270308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58240100800002 meters Centerline goodness [0,1] 0.9048381482770623 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.75, Z:0.27 [[ 9.97869658e-01 3.23297069e-02 -5.66651121e-02 1.08779394e+01] [-3.21150943e-02 9.99473154e-01 4.69417446e-03 -7.47321105e-01] [ 5.67870195e-02 -2.86436884e-03 9.98382206e-01 2.73749075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61240100800002 meters Centerline goodness [0,1] 0.9048381482770623 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.75, Z:0.27 [[ 9.97869658e-01 3.23297069e-02 -5.66651121e-02 1.08779394e+01] [-3.21150943e-02 9.99473154e-01 4.69417446e-03 -7.47321105e-01] [ 5.67870195e-02 -2.86436884e-03 9.98382206e-01 2.73749075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64240100800002 meters Centerline goodness [0,1] 0.9115750899178863 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.73, Z:0.27 [[ 0.99795201 0.0380823 -0.05139579 10.86884036] [-0.0374341 0.99920768 0.01351656 -0.72829207] [ 0.05186981 -0.01156493 0.99858689 0.27412951] [ 0. 0. 0. 1. ]] SLAMing on 113.67240100800002 meters Centerline goodness [0,1] 0.9082906994928621 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.72, Z:0.27 [[ 0.99781049 0.04083392 -0.05202708 10.87088881] [-0.0400836 0.99907788 0.01538474 -0.72091352] [ 0.05260732 -0.01326562 0.99852716 0.27376476] [ 0. 0. 0. 1. ]] SLAMing on 113.70240100800001 meters Centerline goodness [0,1] 0.8994161653384243 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.71, Z:0.27 [[ 0.9978166 0.04027665 -0.05234339 10.87133999] [-0.03961432 0.99912207 0.01363058 -0.7137056 ] [ 0.05284643 -0.01152727 0.99853612 0.27373272] [ 0. 0. 0. 1. ]] SLAMing on 113.73240100800001 meters Centerline goodness [0,1] 0.8988937031253437 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.71, Z:0.27 [[ 9.97817985e-01 3.93061789e-02 -5.30499164e-02 1.08728742e+01] [-3.87316336e-02 9.99179789e-01 1.18156455e-02 -7.08435119e-01] [ 5.34708321e-02 -9.73515364e-03 9.98521956e-01 2.73422646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76240100800001 meters Centerline goodness [0,1] 0.8931373824077686 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.70, Z:0.27 [[ 9.97843753e-01 3.78792257e-02 -5.36004630e-02 1.08734416e+01] [-3.74370370e-02 9.99256359e-01 9.23021254e-03 -6.98722995e-01] [ 5.39102368e-02 -7.20366741e-03 9.98519801e-01 2.74053352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79240100800001 meters Centerline goodness [0,1] 0.8905317824799348 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.69, Z:0.27 [[ 9.97865160e-01 3.63279746e-02 -5.42715382e-02 1.08760944e+01] [-3.60137491e-02 9.99328451e-01 6.75700388e-03 -6.91982196e-01] [ 5.44805604e-02 -4.78805720e-03 9.98503352e-01 2.72349483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82240100800001 meters Centerline goodness [0,1] 0.8790683849599796 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.68, Z:0.27 [[ 9.97872233e-01 3.46390974e-02 -5.52371140e-02 1.08795865e+01] [-3.44429958e-02 9.99396540e-01 4.49851317e-03 -6.84497416e-01] [ 5.53596050e-02 -2.58640970e-03 9.98463131e-01 2.70856285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85240100800002 meters Centerline goodness [0,1] 0.8737110684688865 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.68, Z:0.27 [[ 9.97871838e-01 3.37354701e-02 -5.58006598e-02 1.08814079e+01] [-3.36258707e-02 9.99430277e-01 2.90213172e-03 -6.77716912e-01] [ 5.58667736e-02 -1.01960974e-03 9.98437712e-01 2.70198008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88240100800002 meters Centerline goodness [0,1] 0.8579217849084984 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.67, Z:0.27 [[ 9.97738827e-01 3.51661930e-02 -5.72762759e-02 1.08844976e+01] [-3.50115507e-02 9.99380053e-01 3.70150385e-03 -6.66525324e-01] [ 5.73709354e-02 -1.68780288e-03 9.98351505e-01 2.71224907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91240100800002 meters Centerline goodness [0,1] 0.8543885191347753 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.66, Z:0.27 [[ 9.97933674e-01 3.66195412e-02 -5.27957443e-02 1.08991950e+01] [-3.68986843e-02 9.99309666e-01 -4.32190430e-03 -6.60421190e-01] [ 5.26010315e-02 6.26106735e-03 9.98595980e-01 2.68740281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94240100800002 meters Centerline goodness [0,1] 0.8633368668287917 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.65, Z:0.27 [[ 9.97915521e-01 3.61536354e-02 -5.34558389e-02 1.08996870e+01] [-3.65074184e-02 9.99317374e-01 -5.65632385e-03 -6.54895264e-01] [ 5.32148519e-02 7.59606804e-03 9.98554194e-01 2.69996019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97240100800002 meters Centerline goodness [0,1] 0.8553068682003155 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.65, Z:0.27 [[ 9.97916248e-01 3.55323576e-02 -5.38573522e-02 1.09001992e+01] [-3.59677911e-02 9.99327464e-01 -7.13704595e-03 -6.48810920e-01] [ 5.35675352e-02 9.05930411e-03 9.98523134e-01 2.70573202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00240100800002 meters Centerline goodness [0,1] 0.8347368639926809 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.63, Z:0.27 [[ 9.97825426e-01 3.46117321e-02 -5.60931940e-02 1.09076313e+01] [-3.50891225e-02 9.99355684e-01 -7.54792981e-03 -6.33326233e-01] [ 5.57958053e-02 9.49977724e-03 9.98397006e-01 2.70041805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03240100800002 meters Centerline goodness [0,1] 0.8221084826165658 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.62, Z:0.27 [[ 9.97671856e-01 3.47543435e-02 -5.86771127e-02 1.09152933e+01] [-3.51874950e-02 9.99360461e-01 -6.36460481e-03 -6.24601084e-01] [ 5.84183888e-02 8.41448770e-03 9.98256725e-01 2.69735121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06240100800001 meters Centerline goodness [0,1] 0.8166749854421429 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.62, Z:0.27 [[ 9.97521078e-01 3.52129106e-02 -6.09241379e-02 1.09218058e+01] [-3.55970952e-02 9.99352528e-01 -5.23177862e-03 -6.15415338e-01] [ 6.07004651e-02 7.38753178e-03 9.98128688e-01 2.69804003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09240100800001 meters Centerline goodness [0,1] 0.8034782970058387 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.61, Z:0.27 [[ 9.97349491e-01 3.59449700e-02 -6.32609824e-02 1.09272026e+01] [-3.62668484e-02 9.99334348e-01 -3.94681952e-03 -6.06844798e-01] [ 6.30770043e-02 6.23063490e-03 9.97989214e-01 2.71219441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12240100800001 meters Centerline goodness [0,1] 0.7951216471712618 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.59, Z:0.27 [[ 0.99765699 0.03474783 -0.05893326 10.94297966] [-0.03557625 0.99928154 -0.01306618 -0.58737069] [ 0.05843689 0.01513219 0.99817641 0.27187388] [ 0. 0. 0. 1. ]] SLAMing on 114.15240100800001 meters Centerline goodness [0,1] 0.7841898052217158 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.58, Z:0.27 [[ 0.99765594 0.03423461 -0.05925053 10.94242719] [-0.03515346 0.99927622 -0.0145353 -0.57790915] [ 0.05871003 0.01658409 0.99813732 0.27408318] [ 0. 0. 0. 1. ]] SLAMing on 114.18240100800001 meters Centerline goodness [0,1] 0.8039948507121797 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.57, Z:0.28 [[ 0.99758642 0.03488391 -0.06003705 10.94335636] [-0.03580748 0.99925529 -0.01437655 -0.56838971] [ 0.05949083 0.01649163 0.99809261 0.27614391] [ 0. 0. 0. 1. ]] SLAMing on 114.21240100800001 meters Centerline goodness [0,1] 0.791735193088373 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.56, Z:0.28 [[ 0.99745447 0.03497492 -0.0621396 10.94684766] [-0.03587964 0.99926488 -0.01350344 -0.55732677] [ 0.06162164 0.01569862 0.99797612 0.27960093] [ 0. 0. 0. 1. ]] SLAMing on 114.24240100800002 meters Centerline goodness [0,1] 0.7897108914181274 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.55, Z:0.29 [[ 9.97249782e-01 3.39843829e-02 -6.58629874e-02 1.09581292e+01] [-3.44740407e-02 9.99385661e-01 -6.31196079e-03 -5.45934757e-01] [ 6.56080171e-02 8.56516483e-03 9.97808712e-01 2.87815783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27240100800002 meters Centerline goodness [0,1] 0.7168240556660039 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.52, Z:0.29 [[ 9.97734454e-01 3.25524631e-02 -5.88752691e-02 1.09711742e+01] [-3.31585181e-02 9.99406405e-01 -9.34612761e-03 -5.15903045e-01] [ 5.85360815e-02 1.12771702e-02 9.98221595e-01 2.91124473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30240100800002 meters Centerline goodness [0,1] 0.7130788614863469 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.50, Z:0.29 [[ 9.97568200e-01 3.25911755e-02 -6.16076506e-02 1.09759749e+01] [-3.31717730e-02 9.99414158e-01 -8.42466209e-03 -5.03657647e-01] [ 6.12969886e-02 1.04478100e-02 9.98064889e-01 2.94750793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33240100800002 meters Centerline goodness [0,1] 0.6953102303382445 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.49, Z:0.30 [[ 9.97499642e-01 3.40555588e-02 -6.19248166e-02 1.09755693e+01] [-3.46492673e-02 9.99363056e-01 -8.53881363e-03 -4.92322487e-01] [ 6.15945799e-02 1.06631131e-02 9.98044290e-01 2.96735257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36240100800002 meters Centerline goodness [0,1] 0.6830422651648238 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.48, Z:0.29 [[ 0.99770643 0.03577762 -0.05746167 10.9911541 ] [-0.03673635 0.99920141 -0.01571567 -0.48086366] [ 0.05685351 0.01779056 0.99822401 0.29460312] [ 0. 0. 0. 1. ]] SLAMing on 114.39240100800002 meters Centerline goodness [0,1] 0.6767209321543675 Centerline is valid? [False, False] Translation: X:11.00, Y:-0.45, Z:0.30 [[ 0.997557 0.03599986 -0.05986693 10.99897509] [-0.03690735 0.9992189 -0.01412218 -0.45498413] [ 0.05931178 0.01629721 0.99810646 0.29701946] [ 0. 0. 0. 1. ]] SLAMing on 114.42240100800002 meters Centerline goodness [0,1] 0.6804871996360478 Centerline is valid? [False, False] Translation: X:11.00, Y:-0.44, Z:0.30 [[ 0.99746899 0.03756411 -0.06037018 11.0017249 ] [-0.03841687 0.99917688 -0.01302708 -0.44145283] [ 0.05983114 0.01531334 0.99809105 0.29686209] [ 0. 0. 0. 1. ]] SLAMing on 114.45240100800001 meters Centerline goodness [0,1] 0.6741126007584077 Centerline is valid? [False, False] Translation: X:11.00, Y:-0.43, Z:0.30 [[ 0.99737349 0.03909259 -0.06097456 11.00469123] [-0.03987608 0.9991363 -0.01168562 -0.4272073 ] [ 0.06046508 0.01408635 0.99807091 0.29689271] [ 0. 0. 0. 1. ]] SLAMing on 114.48240100800001 meters Centerline goodness [0,1] 0.6452364265985077 Centerline is valid? [False, False] Translation: X:11.03, Y:-0.40, Z:0.30 [[ 0.99759153 0.0376482 -0.05825595 11.03090038] [-0.03845876 0.99917749 -0.01285525 -0.39896145] [ 0.05772406 0.01506474 0.99821891 0.29751204] [ 0. 0. 0. 1. ]] Total time of SLAM: 5175.39 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%| | 0/3817 [00:00