+ python -m lidar_slam --no-model /working/1fd7893b-3c51-4595-850d-6b9d8d1d7add Lidar SLAM 0.0.13 ===================================================== The recording path: /working/1fd7893b-3c51-4595-850d-6b9d8d1d7add 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 0.001652532 Adjusted end_distance from 9.223372036854776e+18 to 148.251652532 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001652532 meters Centerline goodness [0,1] 0.30948033563793775 Centerline is valid? [0, False] SLAMing on 0.031652532 meters Centerline goodness [0,1] 0.2971754191776329 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.00 [[ 0.99999171 -0.00123957 0.0038783 -0.02394859] [ 0.0012544 0.9999919 -0.00382332 -0.02424092] [-0.00387353 0.00382815 0.99998517 0.00393978] [ 0. 0. 0. 1. ]] SLAMing on 0.061652531999999996 meters Centerline goodness [0,1] 0.3455807098702256 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.03, Z:0.00 [[ 9.99988052e-01 2.18403387e-03 4.37333203e-03 -2.60792191e-02] [-2.18294242e-03 9.99997585e-01 -2.54326432e-04 -2.53282541e-02] [-4.37387693e-03 2.44776661e-04 9.99990405e-01 4.19194427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.091652532 meters Centerline goodness [0,1] 0.31040975889311884 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.03, Z:0.00 [[ 9.99975888e-01 3.58713903e-03 5.94607084e-03 -3.12968839e-02] [-3.59234980e-03 9.99993173e-01 8.65889844e-04 -2.84121677e-02] [-5.94292418e-03 -8.87229332e-04 9.99981947e-01 4.46379806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.121652532 meters Centerline goodness [0,1] 0.3465447777982289 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.03, Z:0.00 [[ 0.99995428 0.00534032 0.00793218 -0.03722378] [-0.00535477 0.99998404 0.00180195 -0.03072623] [-0.00792243 -0.00184434 0.99996692 0.00423621] [ 0. 0. 0. 1. ]] SLAMing on 0.151652532 meters Centerline goodness [0,1] 0.3185182164774002 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.07, Z:0.00 [[ 9.99862938e-01 1.28891049e-02 1.03911148e-02 -7.41646837e-02] [-1.28952203e-02 9.99916717e-01 5.21728750e-04 -6.73424306e-02] [-1.03835248e-02 -6.55652955e-04 9.99945875e-01 2.76304004e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.181652532 meters Centerline goodness [0,1] 0.3439861493023729 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.08, Z:-0.00 [[ 9.99747463e-01 1.64166573e-02 1.53461063e-02 -9.12338194e-02] [-1.63810400e-02 9.99862835e-01 -2.44376929e-03 -7.82088866e-02] [-1.53841199e-02 2.19176696e-03 9.99879255e-01 -3.62595583e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.211652532 meters Centerline goodness [0,1] 0.3432972862681085 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.08, Z:-0.00 [[ 0.99969893 0.01742891 0.0172708 -0.09664903] [-0.01738481 0.99984523 -0.00270032 -0.07892191] [-0.01731519 0.00239926 0.9998472 -0.00206037] [ 0. 0. 0. 1. ]] SLAMing on 0.241652532 meters Centerline goodness [0,1] 0.33390999938941246 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.12, Z:-0.00 [[ 0.99951917 0.02541939 0.01775635 -0.1318606 ] [-0.02538835 0.99967572 -0.00197095 -0.11586265] [-0.01780069 0.0015192 0.9998404 -0.00225266] [ 0. 0. 0. 1. ]] SLAMing on 0.271652532 meters Centerline goodness [0,1] 0.3338083217978992 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.13, Z:-0.01 [[ 0.99950276 0.02382369 0.02065589 -0.1454592 ] [-0.02396864 0.9996896 0.00679824 -0.12570568] [-0.02048752 -0.00728995 0.99976353 -0.00877722] [ 0. 0. 0. 1. ]] SLAMing on 0.301652532 meters Centerline goodness [0,1] 0.32021226846674666 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.13, Z:-0.01 [[ 0.99943536 0.02512519 0.02230908 -0.15089352] [-0.02530415 0.99964955 0.00777633 -0.12912737] [-0.02210588 -0.00833646 0.99972088 -0.00839346] [ 0. 0. 0. 1. ]] SLAMing on 0.33165253199999994 meters Centerline goodness [0,1] 0.301645747299469 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.13, Z:-0.01 [[ 0.9994161 0.02484927 0.02345152 -0.15573167] [-0.02503718 0.99965645 0.0077535 -0.1328235 ] [-0.0232508 -0.00833613 0.99969491 -0.00707531] [ 0. 0. 0. 1. ]] SLAMing on 0.36165253199999997 meters Centerline goodness [0,1] 0.33832906868120705 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.17, Z:-0.01 [[ 0.9991699 0.03169407 0.02559277 -0.19095915] [-0.0319298 0.99945089 0.00885506 -0.17310765] [-0.02529806 -0.00966488 0.99963323 -0.0050098 ] [ 0. 0. 0. 1. ]] SLAMing on 0.391652532 meters Centerline goodness [0,1] 0.3363590212204285 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.19, Z:-0.00 [[ 0.9991125 0.03752248 0.01913853 -0.20555345] [-0.03769368 0.99925178 0.00866387 -0.19382385] [-0.01879912 -0.00937758 0.9997793 -0.00477791] [ 0. 0. 0. 1. ]] SLAMing on 0.42165253199999997 meters Centerline goodness [0,1] 0.3319544145678712 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.23, Z:-0.00 [[ 9.97790922e-01 6.23900049e-02 2.28202543e-02 -2.41343927e-01] [-6.25641585e-02 9.98016408e-01 6.99820293e-03 -2.31605257e-01] [-2.23383703e-02 -8.41047336e-03 9.99715090e-01 -9.73101439e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45165253199999994 meters Centerline goodness [0,1] 0.3315267036112295 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.24, Z:-0.00 [[ 0.9970743 0.07108487 0.0281031 -0.25964215] [-0.07138052 0.99740238 0.0096596 -0.24491934] [-0.02734345 -0.01163736 0.99955836 -0.00267218] [ 0. 0. 0. 1. ]] SLAMing on 0.48165253199999997 meters Centerline goodness [0,1] 0.32284741365331604 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.26, Z:-0.00 [[ 0.9964366 0.07731416 0.03371393 -0.27835797] [-0.07768042 0.99693121 0.00969069 -0.25530016] [-0.03286125 -0.01227508 0.99938454 -0.00451764] [ 0. 0. 0. 1. ]] SLAMing on 0.511652532 meters Centerline goodness [0,1] 0.3220043396264677 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.28, Z:-0.01 [[ 0.9958473 0.08652157 0.02832266 -0.29490222] [-0.08690879 0.99613485 0.01273668 -0.27858811] [-0.02711119 -0.01514528 0.99951769 -0.00611451] [ 0. 0. 0. 1. ]] SLAMing on 0.5416525320000001 meters Centerline goodness [0,1] 0.32107952471714185 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.29, Z:-0.01 [[ 0.99532839 0.09082818 0.03273584 -0.31395993] [-0.09122285 0.99577228 0.0107683 -0.29450714] [-0.03161937 -0.01370425 0.99940603 -0.00678724] [ 0. 0. 0. 1. ]] SLAMing on 0.571652532 meters Centerline goodness [0,1] 0.32099541637934537 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.31, Z:-0.01 [[ 0.9948088 0.09456389 0.0375914 -0.33260761] [-0.09494745 0.99544558 0.00854848 -0.31121455] [-0.03661182 -0.01207331 0.99925663 -0.00837211] [ 0. 0. 0. 1. ]] SLAMing on 0.601652532 meters Centerline goodness [0,1] 0.3220871964455986 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.35, Z:-0.01 [[ 0.99443434 0.09862389 0.03706301 -0.36565582] [-0.09896252 0.99506356 0.00741154 -0.35222978] [-0.03614909 -0.01103814 0.99928545 -0.0061069 ] [ 0. 0. 0. 1. ]] SLAMing on 0.631652532 meters Centerline goodness [0,1] 0.32191933748756774 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.38, Z:-0.01 [[ 0.99397713 0.10466011 0.03249182 -0.38450056] [-0.10499924 0.9944324 0.008908 -0.37976244] [-0.0313786 -0.01226596 0.9994323 -0.00618897] [ 0. 0. 0. 1. ]] SLAMing on 0.661652532 meters Centerline goodness [0,1] 0.3171383456820114 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.40, Z:-0.01 [[ 0.99334688 0.11226209 0.02567504 -0.39917567] [-0.11257263 0.9935828 0.01098323 -0.40472814] [-0.02427728 -0.01380047 0.99961 -0.00804361] [ 0. 0. 0. 1. ]] SLAMing on 0.691652532 meters Centerline goodness [0,1] 0.31567427343845 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.43, Z:-0.01 [[ 0.99256062 0.11979688 0.02172856 -0.42006446] [-0.12013 0.99264888 0.01473041 -0.43427645] [-0.01980418 -0.01723108 0.99965538 -0.00660199] [ 0. 0. 0. 1. ]] SLAMing on 0.721652532 meters Centerline goodness [0,1] 0.31579585894532514 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.47, Z:-0.00 [[ 0.9914822 0.12841812 0.02172163 -0.4520568 ] [-0.12888728 0.99141999 0.02178238 -0.47146996] [-0.01873801 -0.02439648 0.99952674 -0.00126978] [ 0. 0. 0. 1. ]] SLAMing on 0.751652532 meters Centerline goodness [0,1] 0.3110944982118683 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.49, Z:-0.00 [[ 0.99072806 0.13323525 0.02657575 -0.46804057] [-0.13384143 0.99074727 0.02250151 -0.48756082] [-0.02333186 -0.02584981 0.99939352 -0.0031364 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7816525320000001 meters Centerline goodness [0,1] 0.30380593385214005 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.51, Z:-0.00 [[ 0.98995843 0.13834909 0.02901452 -0.48816388] [-0.13900833 0.99004503 0.02208 -0.51196725] [-0.02567094 -0.02589154 0.99933509 -0.0012267 ] [ 0. 0. 0. 1. ]] SLAMing on 0.811652532 meters Centerline goodness [0,1] 0.3134811458164751 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.54, Z:0.00 [[ 9.89464512e-01 1.42568203e-01 2.51850549e-02 -5.10682854e-01] [-1.43148223e-01 9.89435027e-01 2.29545979e-02 -5.41149520e-01] [-2.16463797e-02 -2.63179559e-02 9.99419231e-01 3.67907944e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.841652532 meters Centerline goodness [0,1] 0.3130415463230394 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.58, Z:0.00 [[ 0.98795272 0.15292352 0.02374499 -0.54091794] [-0.15359948 0.9876816 0.02987065 -0.58041276] [-0.01888456 -0.03315801 0.99927169 0.00352668] [ 0. 0. 0. 1. ]] SLAMing on 0.871652532 meters Centerline goodness [0,1] 0.30798271824275214 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.59, Z:0.01 [[ 0.98747903 0.15572381 0.02520448 -0.54707386] [-0.15651491 0.98711625 0.03323538 -0.58609852] [-0.01970422 -0.03676412 0.99912969 0.0053917 ] [ 0. 0. 0. 1. ]] SLAMing on 0.901652532 meters Centerline goodness [0,1] 0.3051264966583883 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.59, Z:0.01 [[ 0.98704521 0.15816017 0.02696521 -0.55360164] [-0.15907723 0.9866038 0.03615758 -0.59202296] [-0.02088529 -0.03997871 0.99898224 0.00648714] [ 0. 0. 0. 1. ]] SLAMing on 0.931652532 meters Centerline goodness [0,1] 0.3044110518662142 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.61, Z:0.01 [[ 0.98646232 0.16096461 0.03134465 -0.57367474] [-0.16202926 0.98616363 0.03504002 -0.6117363 ] [-0.02527075 -0.03964441 0.99889424 0.00705715] [ 0. 0. 0. 1. ]] SLAMing on 0.961652532 meters Centerline goodness [0,1] 0.303025416725455 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.65, Z:0.01 [[ 0.98575465 0.16598032 0.02717174 -0.60233101] [-0.16687179 0.98536761 0.03470559 -0.64685173] [-0.02101371 -0.03874539 0.99902814 0.00725741] [ 0. 0. 0. 1. ]] SLAMing on 0.991652532 meters Centerline goodness [0,1] 0.3016292826714583 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.68, Z:0.01 [[ 0.98563086 0.16748065 0.02195557 -0.62574303] [-0.1681685 0.9851537 0.03451878 -0.67894524] [-0.01584838 -0.03771501 0.99916285 0.01039611] [ 0. 0. 0. 1. ]] SLAMing on 1.021652532 meters Centerline goodness [0,1] 0.3016292826714583 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.68, Z:0.01 [[ 0.98573676 0.16689222 0.02167991 -0.62598675] [-0.16757271 0.98524903 0.03469476 -0.67863353] [-0.01556982 -0.03783287 0.99916278 0.01055333] [ 0. 0. 0. 1. ]] SLAMing on 1.051652532 meters Centerline goodness [0,1] 0.3018438287153652 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.71, Z:0.02 [[ 0.98550864 0.16883743 0.01632946 -0.64762646] [-0.16934149 0.98485651 0.03716332 -0.70971774] [-0.00980761 -0.03939003 0.99917578 0.01522435] [ 0. 0. 0. 1. ]] SLAMing on 1.081652532 meters Centerline goodness [0,1] 0.299116864263247 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.75, Z:0.02 [[ 0.98500704 0.17136308 0.01989526 -0.67697103] [-0.17207353 0.98417301 0.04235773 -0.74649093] [-0.01232183 -0.04514611 0.9989044 0.02390689] [ 0. 0. 0. 1. ]] SLAMing on 1.111652532 meters Centerline goodness [0,1] 0.2989576402750056 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.76, Z:0.03 [[ 0.98520459 0.17018745 0.02020248 -0.68345433] [-0.1709248 0.98433164 0.04331215 -0.75575198] [-0.01251476 -0.04612444 0.99885731 0.02772281] [ 0. 0. 0. 1. ]] SLAMing on 1.141652532 meters Centerline goodness [0,1] 0.29683026172520866 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.77, Z:0.03 [[ 0.98563648 0.1676107 0.02067339 -0.6913718 ] [-0.16836668 0.98479034 0.04290281 -0.76787742] [-0.01316798 -0.04576728 0.99886534 0.03155907] [ 0. 0. 0. 1. ]] SLAMing on 1.171652532 meters Centerline goodness [0,1] 0.2885953413330644 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.78, Z:0.03 [[ 0.98614761 0.16453615 0.02099392 -0.6989095 ] [-0.1652926 0.98536355 0.04167765 -0.78010036] [-0.01382916 -0.04457046 0.99891052 0.03486709] [ 0. 0. 0. 1. ]] SLAMing on 1.201652532 meters Centerline goodness [0,1] 0.306655111254434 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.81, Z:0.04 [[ 0.9869333 0.15949543 0.02288831 -0.71914722] [-0.16028144 0.98633806 0.03804052 -0.80973089] [-0.01650832 -0.04121202 0.99901404 0.04005641] [ 0. 0. 0. 1. ]] SLAMing on 1.231652532 meters Centerline goodness [0,1] 0.2919086802194256 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.83, Z:0.04 [[ 0.98828597 0.15137552 0.01939845 -0.73145505] [-0.15209133 0.98742116 0.04321666 -0.82627594] [-0.0126125 -0.04566075 0.99887738 0.03743115] [ 0. 0. 0. 1. ]] SLAMing on 1.261652532 meters Centerline goodness [0,1] 0.30378598500120957 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.84, Z:0.04 [[ 0.98883828 0.14772595 0.01938827 -0.73785427] [-0.14841581 0.98807468 0.04100219 -0.83747604] [-0.01309997 -0.04342206 0.99897093 0.04078271] [ 0. 0. 0. 1. ]] SLAMing on 1.291652532 meters Centerline goodness [0,1] 0.3077682818672902 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.87, Z:0.05 [[ 0.9890582 0.14589431 0.02187968 -0.75669777] [-0.14666981 0.98839829 0.03945622 -0.86530851] [-0.0158694 -0.04223359 0.99898172 0.04594756] [ 0. 0. 0. 1. ]] SLAMing on 1.3216525319999999 meters Centerline goodness [0,1] 0.30621045419739656 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.87, Z:0.05 [[ 0.98909665 0.14555276 0.02241008 -0.76176967] [-0.14636071 0.98842004 0.04005444 -0.8720851 ] [-0.01632054 -0.04289767 0.99894616 0.04826849] [ 0. 0. 0. 1. ]] SLAMing on 1.351652532 meters Centerline goodness [0,1] 0.3037686416767432 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.88, Z:0.05 [[ 0.98911605 0.14531665 0.02307638 -0.76683135] [-0.1461601 0.98843361 0.04045025 -0.87881961] [-0.01693137 -0.04338284 0.99891504 0.0501824 ] [ 0. 0. 0. 1. ]] SLAMing on 1.381652532 meters Centerline goodness [0,1] 0.3070796281733309 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.89, Z:0.05 [[ 0.98927098 0.14420925 0.02338001 -0.77130206] [-0.14506161 0.98860728 0.0401594 -0.88553561] [-0.01732229 -0.04312007 0.99891972 0.05245267] [ 0. 0. 0. 1. ]] SLAMing on 1.411652532 meters Centerline goodness [0,1] 0.31028993975539476 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.92, Z:0.06 [[ 0.98997184 0.13849077 0.02785803 -0.79385306] [-0.13946819 0.9895394 0.03688367 -0.9174451 ] [-0.02245857 -0.0403991 0.99893119 0.05916448] [ 0. 0. 0. 1. ]] SLAMing on 1.441652532 meters Centerline goodness [0,1] 0.3123991935483871 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.93, Z:0.06 [[ 0.99045001 0.13503581 0.02782277 -0.79944032] [-0.13595677 0.99011741 0.03439883 -0.92883097] [-0.02290273 -0.03785302 0.99902083 0.06229154] [ 0. 0. 0. 1. ]] SLAMing on 1.471652532 meters Centerline goodness [0,1] 0.3145879170787832 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.95, Z:0.06 [[ 0.99150117 0.12819531 0.02216755 -0.81344295] [-0.12901411 0.99081061 0.04061637 -0.95242361] [-0.01675702 -0.0431311 0.99892888 0.06322519] [ 0. 0. 0. 1. ]] SLAMing on 1.501652532 meters Centerline goodness [0,1] 0.3088027743054156 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.96, Z:0.07 [[ 0.99201961 0.12410219 0.02226501 -0.81896025] [-0.1248758 0.99146018 0.03758654 -0.96150009] [-0.01741029 -0.04006695 0.9990453 0.06654643] [ 0. 0. 0. 1. ]] SLAMing on 1.531652532 meters Centerline goodness [0,1] 0.3169512367206241 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.98, Z:0.06 [[ 0.9930475 0.11625809 0.01845855 -0.83088197] [-0.11695925 0.99220388 0.04303475 -0.97960041] [-0.01331151 -0.04489445 0.99890304 0.06480313] [ 0. 0. 0. 1. ]] SLAMing on 1.561652532 meters Centerline goodness [0,1] 0.3183477541800286 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.99, Z:0.07 [[ 0.99344092 0.11283315 0.01854262 -0.83591763] [-0.11350792 0.99270632 0.04062157 -0.99004311] [-0.01382392 -0.04245987 0.99900253 0.06787964] [ 0. 0. 0. 1. ]] SLAMing on 1.591652532 meters Centerline goodness [0,1] 0.32204724409448815 Centerline is valid? [False, False] Translation: X:-0.86, Y:-1.02, Z:0.08 [[ 0.99377338 0.10900774 0.02306034 -0.85510489] [-0.10987823 0.99311433 0.04062887 -1.02047291] [-0.01847269 -0.04290972 0.99890816 0.07568716] [ 0. 0. 0. 1. ]] SLAMing on 1.621652532 meters Centerline goodness [0,1] 0.3236767676767677 Centerline is valid? [False, False] Translation: X:-0.86, Y:-1.03, Z:0.08 [[ 0.99405208 0.10640914 0.02318508 -0.86073092] [-0.10726481 0.99344697 0.03946366 -1.03259396] [-0.01883385 -0.04171588 0.99895199 0.08011751] [ 0. 0. 0. 1. ]] SLAMing on 1.651652532 meters Centerline goodness [0,1] 0.3260144356159398 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.04, Z:0.08 [[ 0.99450484 0.10211346 0.02308616 -0.86596108] [-0.10291469 0.99401331 0.03668932 -1.04381105] [-0.01920148 -0.03886361 0.99906002 0.0844842 ] [ 0. 0. 0. 1. ]] SLAMing on 1.681652532 meters Centerline goodness [0,1] 0.329679663484873 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.06, Z:0.09 [[ 0.99550588 0.09190282 0.02284551 -0.87517632] [-0.0925409 0.99529674 0.02864583 -1.06499857] [-0.02010543 -0.03063123 0.99932852 0.09076049] [ 0. 0. 0. 1. ]] SLAMing on 1.711652532 meters Centerline goodness [0,1] 0.3323213309854879 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.08, Z:0.09 [[ 0.99640021 0.08226718 0.02046272 -0.88638413] [-0.08289269 0.99604871 0.03187127 -1.08097548] [-0.01775991 -0.03345275 0.99928249 0.08728987] [ 0. 0. 0. 1. ]] SLAMing on 1.741652532 meters Centerline goodness [0,1] 0.3358085140822272 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.09, Z:0.09 [[ 0.99673712 0.07808512 0.02044067 -0.89073859] [-0.07865265 0.99649137 0.02861298 -1.09006797] [-0.01813471 -0.03012733 0.99938155 0.09060345] [ 0. 0. 0. 1. ]] SLAMing on 1.771652532 meters Centerline goodness [0,1] 0.3373816427079743 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.10, Z:0.09 [[ 0.99697962 0.07480427 0.02087965 -0.89575415] [-0.07534145 0.99681223 0.02624954 -1.10041191] [-0.01884951 -0.02774336 0.99943734 0.09338593] [ 0. 0. 0. 1. ]] SLAMing on 1.8016525319999999 meters Centerline goodness [0,1] 0.3358920867680716 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.12, Z:0.09 [[ 0.99776572 0.06463413 0.01691152 -0.90821599] [-0.06511107 0.99744596 0.02936154 -1.11926986] [-0.01497057 -0.03039707 0.99942579 0.09175755] [ 0. 0. 0. 1. ]] SLAMing on 1.8316525319999999 meters Centerline goodness [0,1] 0.3342505108543913 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.13, Z:0.09 [[ 0.99796393 0.06129934 0.01761781 -0.91372251] [-0.06175848 0.99773073 0.02681942 -1.12806533] [-0.01593382 -0.02785286 0.99948503 0.09473549] [ 0. 0. 0. 1. ]] SLAMing on 1.861652532 meters Centerline goodness [0,1] 0.34024130589070267 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.14, Z:0.10 [[ 0.99818807 0.05738975 0.01808301 -0.91940794] [-0.05781226 0.99804424 0.02377903 -1.13695217] [-0.01668297 -0.02478136 0.99955368 0.09869997] [ 0. 0. 0. 1. ]] SLAMing on 1.891652532 meters Centerline goodness [0,1] 0.34168001459824415 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.14, Z:0.10 [[ 0.9983602 0.05425772 0.01824834 -0.92228623] [-0.05464537 0.99827517 0.02146096 -1.14348376] [-0.01705245 -0.02242295 0.99960313 0.10062234] [ 0. 0. 0. 1. ]] SLAMing on 1.921652532 meters Centerline goodness [0,1] 0.34438066649088295 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.15, Z:0.10 [[ 0.99871933 0.04714268 0.01836461 -0.92723269] [-0.04743007 0.99875365 0.01554118 -1.15281266] [-0.01760907 -0.01639231 0.99971056 0.10418264] [ 0. 0. 0. 1. ]] SLAMing on 1.951652532 meters Centerline goodness [0,1] 0.34770960605630086 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.16, Z:0.11 [[ 0.998832 0.0446037 0.01857829 -0.93061858] [-0.044866 0.99889562 0.01394918 -1.16067059] [-0.01793559 -0.01476642 0.9997301 0.10664193] [ 0. 0. 0. 1. ]] SLAMing on 1.981652532 meters Centerline goodness [0,1] 0.3464662628881642 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.17, Z:0.11 [[ 0.99893731 0.04216953 0.01860049 -0.93580332] [-0.04242029 0.99901134 0.01329913 -1.1722529 ] [-0.01802128 -0.01407403 0.99973854 0.11175965] [ 0. 0. 0. 1. ]] SLAMing on 2.011652532 meters Centerline goodness [0,1] 0.3488003253355022 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.18, Z:0.11 [[ 0.99915729 0.03694814 0.01787568 -0.94662082] [-0.03731231 0.99909363 0.02048688 -1.1849566 ] [-0.01710253 -0.0211366 0.99963031 0.10639208] [ 0. 0. 0. 1. ]] SLAMing on 2.041652532 meters Centerline goodness [0,1] 0.34154521617171774 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.19, Z:0.11 [[ 0.99917872 0.03605537 0.01849042 -0.94963879] [-0.03641897 0.99914204 0.01971915 -1.1895209 ] [-0.01776358 -0.02037636 0.99963456 0.1073421 ] [ 0. 0. 0. 1. ]] SLAMing on 2.071652532 meters Centerline goodness [0,1] 0.3469508103381662 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.19, Z:0.11 [[ 0.99916945 0.03626254 0.01858581 -0.95022355] [-0.03663216 0.9991297 0.01994824 -1.19089956] [-0.01784626 -0.02061251 0.99962825 0.10703959] [ 0. 0. 0. 1. ]] SLAMing on 2.101652532 meters Centerline goodness [0,1] 0.3381706423512171 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.19, Z:0.11 [[ 0.99916068 0.03637757 0.01883102 -0.95162023] [-0.03675456 0.99912263 0.02007653 -1.19198965] [-0.01808416 -0.0207518 0.99962109 0.10746954] [ 0. 0. 0. 1. ]] SLAMing on 2.131652532 meters Centerline goodness [0,1] 0.3393401324610946 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.20, Z:0.11 [[ 0.99888871 0.04039856 0.02427563 -0.96557176] [-0.04089364 0.99895816 0.02025596 -1.20216948] [-0.02343203 -0.02122616 0.99950007 0.10504369] [ 0. 0. 0. 1. ]] SLAMing on 2.161652532 meters Centerline goodness [0,1] 0.3392095535968155 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.22, Z:0.10 [[ 0.99883973 0.04570653 0.01516949 -0.97442201] [-0.04601759 0.99872338 0.02083242 -1.2219914 ] [-0.01419795 -0.02150631 0.99966789 0.10431193] [ 0. 0. 0. 1. ]] SLAMing on 2.191652532 meters Centerline goodness [0,1] 0.3341268387963132 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.23, Z:0.10 [[ 0.99865959 0.04746832 0.02063431 -0.98757436] [-0.04782601 0.99870756 0.01720149 -1.22874651] [-0.01979112 -0.01816529 0.9996391 0.09943028] [ 0. 0. 0. 1. ]] SLAMing on 2.221652532 meters Centerline goodness [0,1] 0.32446592478271463 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.24, Z:0.10 [[ 0.9984457 0.04967199 0.02527594 -0.99954957] [-0.05007072 0.99862702 0.01539445 -1.2365867 ] [-0.02447656 -0.0166361 0.99956197 0.09646443] [ 0. 0. 0. 1. ]] SLAMing on 2.251652532 meters Centerline goodness [0,1] 0.32841921184269385 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.26, Z:0.10 [[ 0.99817534 0.05785765 0.01727677 -1.01323305] [-0.05818375 0.99812489 0.01900938 -1.26275025] [-0.01614454 -0.01997992 0.99967002 0.09717733] [ 0. 0. 0. 1. ]] SLAMing on 2.281652532 meters Centerline goodness [0,1] 0.3266649064727746 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.26, Z:0.10 [[ 0.99791918 0.06196606 0.01781916 -1.01459488] [-0.06236929 0.99778714 0.02304095 -1.2624809 ] [-0.01635197 -0.02410437 0.99957571 0.09737026] [ 0. 0. 0. 1. ]] SLAMing on 2.311652532 meters Centerline goodness [0,1] 0.3182399383004201 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.26, Z:0.10 [[ 0.997589 0.06671927 0.01909786 -1.01757644] [-0.06723327 0.99735347 0.02767224 -1.26355479] [-0.01720104 -0.02888953 0.9994346 0.0973267 ] [ 0. 0. 0. 1. ]] SLAMing on 2.341652532 meters Centerline goodness [0,1] 0.29220805504958514 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.26, Z:0.10 [[ 0.99725817 0.07117477 0.02025584 -1.01978706] [-0.07179845 0.99690772 0.03193723 -1.26369739] [-0.01792008 -0.033304 0.9992846 0.09678395] [ 0. 0. 0. 1. ]] SLAMing on 2.371652532 meters Centerline goodness [0,1] 0.3080185042405551 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.29, Z:0.09 [[ 0.99679635 0.07891745 0.01300262 -1.03312373] [-0.07931755 0.99627497 0.03383655 -1.28840689] [-0.0102839 -0.03475949 0.99934279 0.09485174] [ 0. 0. 0. 1. ]] SLAMing on 2.401652532 meters Centerline goodness [0,1] 0.30914621780571894 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.30, Z:0.09 [[ 0.99658428 0.08062667 0.01786365 -1.04762011] [-0.08114006 0.99624605 0.03016793 -1.30425183] [-0.01536425 -0.03151434 0.9993852 0.09196148] [ 0. 0. 0. 1. ]] SLAMing on 2.4316525319999998 meters Centerline goodness [0,1] 0.3082741837355506 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.32, Z:0.09 [[ 0.99632357 0.08267939 0.02243792 -1.06200939] [-0.08328653 0.99614264 0.02762599 -1.32193121] [-0.02006727 -0.0293932 0.99936647 0.09020016] [ 0. 0. 0. 1. ]] SLAMing on 2.461652532 meters Centerline goodness [0,1] 0.3047279070239134 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.33, Z:0.09 [[ 0.99612628 0.08484886 0.023089 -1.06443259] [-0.08552137 0.99588788 0.02989017 -1.32685013] [-0.02045791 -0.03174899 0.99928648 0.09072862] [ 0. 0. 0. 1. ]] SLAMing on 2.491652532 meters Centerline goodness [0,1] 0.3012782853554281 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.33, Z:0.09 [[ 0.99593381 0.08686088 0.02389612 -1.06795644] [-0.08760788 0.9956337 0.03222401 -1.3326691 ] [-0.02099278 -0.03418647 0.99919497 0.09196469] [ 0. 0. 0. 1. ]] SLAMing on 2.521652532 meters Centerline goodness [0,1] 0.2979598452156649 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.33, Z:0.09 [[ 0.99589446 0.0872405 0.02415202 -1.06902239] [-0.08800818 0.99557987 0.03279146 -1.33476124] [-0.02118452 -0.03478241 0.99917036 0.09196486] [ 0. 0. 0. 1. ]] SLAMing on 2.551652532 meters Centerline goodness [0,1] 0.3081178568533679 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.34, Z:0.09 [[ 0.99589446 0.08723787 0.02416169 -1.0696076 ] [-0.08800852 0.99557576 0.03291511 -1.33574816] [-0.02118334 -0.03490641 0.99916606 0.09222504] [ 0. 0. 0. 1. ]] SLAMing on 2.581652532 meters Centerline goodness [0,1] 0.29390586759976534 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.34, Z:0.09 [[ 0.99586769 0.08749495 0.02433488 -1.07091667] [-0.08828421 0.99553158 0.03350777 -1.33805238] [-0.02129438 -0.03551769 0.99914215 0.09294816] [ 0. 0. 0. 1. ]] SLAMing on 2.611652532 meters Centerline goodness [0,1] 0.3044613050075873 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.35, Z:0.10 [[ 0.9958368 0.08761711 0.02514586 -1.07570918] [-0.0884573 0.99548197 0.0345101 -1.34670866] [-0.02200858 -0.03659076 0.99908795 0.09525337] [ 0. 0. 0. 1. ]] SLAMing on 2.6416525319999997 meters Centerline goodness [0,1] 0.30610717896865525 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.35, Z:0.10 [[ 0.99592483 0.08649621 0.02553681 -1.07886635] [-0.08733623 0.99560368 0.03384816 -1.35201897] [-0.02249681 -0.03594052 0.99910068 0.09674835] [ 0. 0. 0. 1. ]] SLAMing on 2.671652532 meters Centerline goodness [0,1] 0.30734511304066225 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.36, Z:0.10 [[ 0.9960089 0.08547679 0.02569012 -1.08158415] [-0.08631135 0.99570983 0.03335108 -1.35844758] [-0.02272917 -0.03543532 0.99911347 0.09845288] [ 0. 0. 0. 1. ]] SLAMing on 2.7016525319999998 meters Centerline goodness [0,1] 0.30554713549560475 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.37, Z:0.10 [[ 0.99609485 0.08435129 0.02607507 -1.08555481] [-0.0851901 0.99582035 0.03293149 -1.36538838] [-0.02318827 -0.03502422 0.99911741 0.10079974] [ 0. 0. 0. 1. ]] SLAMing on 2.731652532 meters Centerline goodness [0,1] 0.2953553237933544 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.38, Z:0.10 [[ 0.99673613 0.07755007 0.0224294 -1.09640572] [-0.07837849 0.99616937 0.03877374 -1.37954521] [-0.01933658 -0.04040517 0.99899626 0.09847848] [ 0. 0. 0. 1. ]] SLAMing on 2.761652532 meters Centerline goodness [0,1] 0.30737506065016984 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.38, Z:0.10 [[ 0.99697681 0.07414355 0.02323725 -1.10139469] [-0.07494217 0.99655144 0.03562173 -1.38274535] [-0.020516 -0.03725549 0.99909515 0.1010785 ] [ 0. 0. 0. 1. ]] SLAMing on 2.791652532 meters Centerline goodness [0,1] 0.3079642799418135 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.39, Z:0.10 [[ 0.997165 0.07132167 0.02398284 -1.10546433] [-0.07209296 0.99685184 0.03300014 -1.38695223] [-0.02155372 -0.03463558 0.99916756 0.10266691] [ 0. 0. 0. 1. ]] SLAMing on 2.821652532 meters Centerline goodness [0,1] 0.2796748953721113 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.39, Z:0.10 [[ 0.99729384 0.06928909 0.02457684 -1.10902978] [-0.07004256 0.99705441 0.03124974 -1.39258406] [-0.02233918 -0.0328866 0.9992094 0.10406577] [ 0. 0. 0. 1. ]] SLAMing on 2.851652532 meters Centerline goodness [0,1] 0.309005677800004 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.40, Z:0.11 [[ 0.99738359 0.06794975 0.02467401 -1.11211124] [-0.0686888 0.99717322 0.03045347 -1.3987981 ] [-0.02253496 -0.03206862 0.99923159 0.1064471 ] [ 0. 0. 0. 1. ]] SLAMing on 2.881652532 meters Centerline goodness [0,1] 0.309560859285007 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.41, Z:0.11 [[ 0.99746614 0.06687002 0.02428375 -1.11502433] [-0.06759876 0.997245 0.03054223 -1.40746391] [-0.02217449 -0.03210639 0.99923845 0.11016491] [ 0. 0. 0. 1. ]] SLAMing on 2.9116525319999997 meters Centerline goodness [0,1] 0.309560859285007 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.41, Z:0.11 [[ 0.99746614 0.06687002 0.02428375 -1.11502433] [-0.06759876 0.997245 0.03054223 -1.40746391] [-0.02217449 -0.03210639 0.99923845 0.11016491] [ 0. 0. 0. 1. ]] SLAMing on 2.941652532 meters Centerline goodness [0,1] 0.3099648157884094 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.41, Z:0.11 [[ 0.99745508 0.06706526 0.02419939 -1.11531652] [-0.06780271 0.99721512 0.0310613 -1.40962104] [-0.02204886 -0.03262304 0.99922449 0.11062822] [ 0. 0. 0. 1. ]] SLAMing on 2.971652532 meters Centerline goodness [0,1] 0.2885486611115605 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.42, Z:0.11 [[ 0.99750249 0.06631536 0.02431158 -1.11788192] [-0.0670565 0.99726578 0.03105457 -1.41659482] [-0.02218571 -0.03260726 0.99922198 0.11267721] [ 0. 0. 0. 1. ]] SLAMing on 3.001652532 meters Centerline goodness [0,1] 0.3054684496955229 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.42, Z:0.11 [[ 0.9975832 0.06512594 0.02421494 -1.12021998] [-0.06585687 0.997356 0.03072281 -1.42460209] [-0.02215006 -0.03224328 0.99923458 0.11488685] [ 0. 0. 0. 1. ]] SLAMing on 3.031652532 meters Centerline goodness [0,1] 0.29147782453868565 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.44, Z:0.12 [[ 0.99778829 0.06200146 0.02396549 -1.12337145] [-0.06268796 0.99761055 0.02904167 -1.43790305] [-0.0221076 -0.03047978 0.99929087 0.11807277] [ 0. 0. 0. 1. ]] SLAMing on 3.061652532 meters Centerline goodness [0,1] 0.29437920649998994 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.45, Z:0.12 [[ 0.99789854 0.06020855 0.02394659 -1.12563403] [-0.06087119 0.99775343 0.02797835 -1.44546245] [-0.02220826 -0.02937722 0.99932166 0.1199208 ] [ 0. 0. 0. 1. ]] SLAMing on 3.091652532 meters Centerline goodness [0,1] 0.309001252980882 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.45, Z:0.12 [[ 0.99801754 0.05818057 0.02400014 -1.12850068] [-0.05881894 0.99790858 0.02681025 -1.45327473] [-0.02239011 -0.02816877 0.99935239 0.12230772] [ 0. 0. 0. 1. ]] SLAMing on 3.121652532 meters Centerline goodness [0,1] 0.30751040866647805 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.47, Z:0.12 [[ 0.99850235 0.05099549 0.0198121 -1.13918166] [-0.05163858 0.99810613 0.03343063 -1.47316306] [-0.01806977 -0.03440363 0.99924465 0.12132086] [ 0. 0. 0. 1. ]] SLAMing on 3.151652532 meters Centerline goodness [0,1] 0.2924998985924634 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.48, Z:0.13 [[ 0.99880696 0.04463114 0.01981689 -1.14334394] [-0.04518456 0.9985744 0.02841707 -1.48206225] [-0.01852035 -0.02927859 0.9993997 0.12549062] [ 0. 0. 0. 1. ]] SLAMing on 3.1816525319999998 meters Centerline goodness [0,1] 0.3086434743893307 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.49, Z:0.13 [[ 0.99906762 0.03854712 0.01944229 -1.14691032] [-0.03900045 0.99896274 0.02350332 -1.48947944] [-0.01851614 -0.02423966 0.99953469 0.1301979 ] [ 0. 0. 0. 1. ]] SLAMing on 3.211652532 meters Centerline goodness [0,1] 0.30862400161763215 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.50, Z:0.13 [[ 0.99924124 0.033756 0.019429 -1.14969603] [-0.03413815 0.99922323 0.01968539 -1.49769978] [-0.01874941 -0.02033372 0.99961743 0.13288838] [ 0. 0. 0. 1. ]] SLAMing on 3.241652532 meters Centerline goodness [0,1] 0.3263464573301501 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.50, Z:0.13 [[ 0.99935658 0.03011063 0.01948783 -1.15011357] [-0.03042846 0.99940528 0.01622335 -1.50044587] [-0.01898775 -0.01680589 0.99967846 0.13248756] [ 0. 0. 0. 1. ]] SLAMing on 3.271652532 meters Centerline goodness [0,1] 0.3234230046284132 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.50, Z:0.13 [[ 0.99940169 0.02823054 0.01998233 -1.15180321] [-0.02851639 0.99949292 0.01416772 -1.50356315] [-0.01957223 -0.01472907 0.99969995 0.13233344] [ 0. 0. 0. 1. ]] SLAMing on 3.301652532 meters Centerline goodness [0,1] 0.3228696830565725 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.51, Z:0.13 [[ 0.99935849 0.02950389 0.02030094 -1.15392515] [-0.02983104 0.99942681 0.01600528 -1.50844162] [-0.01981709 -0.01660061 0.9996658 0.13376117] [ 0. 0. 0. 1. ]] SLAMing on 3.331652532 meters Centerline goodness [0,1] 0.32463492961160145 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.51, Z:0.14 [[ 0.9993078 0.03097795 0.02059828 -1.15610068] [-0.03135615 0.99934077 0.01829813 -1.51476018] [-0.02001786 -0.01893134 0.99962037 0.13546049] [ 0. 0. 0. 1. ]] SLAMing on 3.361652532 meters Centerline goodness [0,1] 0.32521098540810756 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.52, Z:0.14 [[ 0.99932291 0.03013524 0.0211089 -1.15981804] [-0.03052179 0.99936774 0.01823552 -1.52145067] [-0.02054602 -0.01886746 0.99961086 0.13813156] [ 0. 0. 0. 1. ]] SLAMing on 3.3916525319999997 meters Centerline goodness [0,1] 0.3248303441589918 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.52, Z:0.14 [[ 0.9993947 0.02692156 0.02203318 -1.16168448] [-0.02724343 0.99952451 0.01444101 -1.52171337] [-0.02163393 -0.01503253 0.99965294 0.13700115] [ 0. 0. 0. 1. ]] SLAMing on 3.421652532 meters Centerline goodness [0,1] 0.27903216025550326 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.54, Z:0.14 [[ 0.99952545 0.02821878 0.01235232 -1.16947475] [-0.02836174 0.99953093 0.01155588 -1.54321234] [-0.01202044 -0.01190073 0.99985693 0.13617288] [ 0. 0. 0. 1. ]] SLAMing on 3.4516525319999998 meters Centerline goodness [0,1] 0.31683448582635776 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.54, Z:0.14 [[ 0.99951162 0.0285347 0.01273957 -1.17020994] [-0.02868269 0.99952139 0.01158883 -1.54291023] [-0.01240279 -0.01194857 0.99985169 0.13550355] [ 0. 0. 0. 1. ]] SLAMing on 3.481652532 meters Centerline goodness [0,1] 0.31313457540219214 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.54, Z:0.14 [[ 0.99935001 0.03358352 0.01310379 -1.17124276] [-0.033801 0.99928831 0.01674396 -1.54491793] [-0.01253214 -0.017176 0.99977394 0.13576051] [ 0. 0. 0. 1. ]] SLAMing on 3.511652532 meters Centerline goodness [0,1] 0.3081363663887936 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.55, Z:0.14 [[ 0.99932522 0.0342166 0.01335364 -1.17265357] [-0.03445207 0.99924745 0.01782082 -1.548719 ] [-0.01273382 -0.01826885 0.99975202 0.13667282] [ 0. 0. 0. 1. ]] SLAMing on 3.541652532 meters Centerline goodness [0,1] 0.30561498405522136 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.55, Z:0.14 [[ 0.99939618 0.03193381 0.01369337 -1.17639568] [-0.03215306 0.99935324 0.01610207 -1.55399912] [-0.01317031 -0.01653264 0.99977658 0.13964048] [ 0. 0. 0. 1. ]] SLAMing on 3.571652532 meters Centerline goodness [0,1] 0.3004558473516479 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.56, Z:0.14 [[ 0.99941854 0.03095086 0.01430508 -1.17992948] [-0.03117337 0.99939221 0.01560247 -1.55911809] [-0.01381347 -0.01603933 0.99977594 0.14167317] [ 0. 0. 0. 1. ]] SLAMing on 3.6016525319999997 meters Centerline goodness [0,1] 0.2907513867876954 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.56, Z:0.14 [[ 0.99946434 0.02882864 0.01548984 -1.18191894] [-0.02903583 0.9994896 0.01332124 -1.5625118 ] [-0.0150979 -0.01376387 0.99979128 0.14009663] [ 0. 0. 0. 1. ]] SLAMing on 3.631652532 meters Centerline goodness [0,1] 0.28760070264704096 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.56, Z:0.14 [[ 0.9995566 0.02510346 0.01601314 -1.18393276] [-0.02525679 0.99963637 0.00944568 -1.56358375] [-0.0157702 -0.00984594 0.99982716 0.14032939] [ 0. 0. 0. 1. ]] SLAMing on 3.6616525319999997 meters Centerline goodness [0,1] 0.28444704883913596 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.57, Z:0.14 [[ 0.99959815 0.02316706 0.01633495 -1.18665452] [-0.02329662 0.99969828 0.00778623 -1.56899181] [-0.01614964 -0.00816365 0.99983626 0.1420524 ] [ 0. 0. 0. 1. ]] SLAMing on 3.691652532 meters Centerline goodness [0,1] 0.27766550804300383 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.57, Z:0.14 [[ 0.99959503 0.0235321 0.01600033 -1.18672866] [-0.02367201 0.99968268 0.00861216 -1.57203107] [-0.01579259 -0.00898743 0.9998349 0.14310959] [ 0. 0. 0. 1. ]] SLAMing on 3.721652532 meters Centerline goodness [0,1] 0.2643014356965451 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.58, Z:0.15 [[ 0.99949283 0.02715886 0.01662789 -1.19040444] [-0.0273739 0.99954274 0.01284452 -1.57683952] [-0.01627144 -0.01329318 0.99977924 0.14568758] [ 0. 0. 0. 1. ]] SLAMing on 3.751652532 meters Centerline goodness [0,1] 0.2456618240516546 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.58, Z:0.15 [[ 0.9994252 0.02872525 0.01800374 -1.19427083] [-0.02898209 0.99947947 0.01417134 -1.57921558] [-0.01758729 -0.01468498 0.99973748 0.14592163] [ 0. 0. 0. 1. ]] SLAMing on 3.781652532 meters Centerline goodness [0,1] 0.23426179359201416 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.58, Z:0.14 [[ 0.99936378 0.02995233 0.01936219 -1.19709578] [-0.03024317 0.99943141 0.01490676 -1.58013203] [-0.01890469 -0.01548285 0.9997014 0.1448431 ] [ 0. 0. 0. 1. ]] SLAMing on 3.811652532 meters Centerline goodness [0,1] 0.2322536459592297 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.58, Z:0.14 [[ 0.9993196 0.03076661 0.02034074 -1.1991045 ] [-0.03108166 0.99939885 0.01535812 -1.58073069] [-0.019856 -0.0159799 0.99967514 0.14395446] [ 0. 0. 0. 1. ]] SLAMing on 3.841652532 meters Centerline goodness [0,1] 0.21872169099144434 Centerline is valid? [False, False] Translation: X:-1.21, Y:-1.59, Z:0.14 [[ 0.99905386 0.03531168 0.02538623 -1.21172512] [-0.03568637 0.99925841 0.01446092 -1.59252047] [-0.02485676 -0.01535318 0.99957312 0.13991869] [ 0. 0. 0. 1. ]] SLAMing on 3.8716525319999997 meters Centerline goodness [0,1] 0.20536109880372178 Centerline is valid? [False, False] Translation: X:-1.21, Y:-1.60, Z:0.14 [[ 0.99918257 0.03863137 0.01190871 -1.21099439] [-0.0388399 0.99908676 0.01780733 -1.60376557] [-0.01120992 -0.01825531 0.99977051 0.14220842] [ 0. 0. 0. 1. ]] SLAMing on 3.901652532 meters Centerline goodness [0,1] 0.20516897808015133 Centerline is valid? [False, False] Translation: X:-1.21, Y:-1.61, Z:0.14 [[ 0.99911657 0.03995192 0.01303585 -1.21453328] [-0.04019468 0.99901263 0.01892491 -1.60592524] [-0.01226689 -0.01943217 0.99973592 0.14269689] [ 0. 0. 0. 1. ]] SLAMing on 3.9316525319999998 meters Centerline goodness [0,1] 0.19739307371517212 Centerline is valid? [False, False] Translation: X:-1.22, Y:-1.60, Z:0.14 [[ 0.99893028 0.0441197 0.01384698 -1.21580831] [-0.04442802 0.99875216 0.0228097 -1.60449828] [-0.01282335 -0.02340049 0.99964393 0.14209575] [ 0. 0. 0. 1. ]] SLAMing on 3.961652532 meters Centerline goodness [0,1] 0.19302447270970857 Centerline is valid? [False, False] Translation: X:-1.22, Y:-1.61, Z:0.14 [[ 0.99890076 0.04467493 0.01419198 -1.21683264] [-0.04500179 0.9987078 0.02361299 -1.60727654] [-0.01311873 -0.0242257 0.99962044 0.14208364] [ 0. 0. 0. 1. ]] SLAMing on 3.991652532 meters Centerline goodness [0,1] 0.18490641980277722 Centerline is valid? [False, False] Translation: X:-1.22, Y:-1.61, Z:0.14 [[ 0.99899761 0.04236706 0.01445021 -1.21951862] [-0.04267857 0.99884711 0.02197683 -1.61391872] [-0.01350246 -0.02257151 0.99965405 0.14393661] [ 0. 0. 0. 1. ]] SLAMing on 4.021652531999999 meters Centerline goodness [0,1] 0.1886762071533522 Centerline is valid? [False, False] Translation: X:-1.22, Y:-1.62, Z:0.15 [[ 0.99907575 0.04049821 0.01440614 -1.22224914] [-0.04079809 0.99894311 0.02117002 -1.62246838] [-0.01353357 -0.0217382 0.99967209 0.14686398] [ 0. 0. 0. 1. ]] SLAMing on 4.051652531999999 meters Centerline goodness [0,1] 0.17777151144054137 Centerline is valid? [False, False] Translation: X:-1.23, Y:-1.64, Z:0.15 [[ 0.99920214 0.03737479 0.01407844 -1.22520226] [-0.03764893 0.99909606 0.01973872 -1.63602512] [-0.01332798 -0.02025301 0.99970605 0.1509866 ] [ 0. 0. 0. 1. ]] SLAMing on 4.081652532 meters Centerline goodness [0,1] 0.17697670669783183 Centerline is valid? [False, False] Translation: X:-1.23, Y:-1.64, Z:0.15 [[ 0.99925411 0.03589206 0.01424689 -1.22816624] [-0.03615789 0.99916808 0.01886134 -1.64286207] [-0.01355806 -0.01936241 0.9997206 0.15345224] [ 0. 0. 0. 1. ]] SLAMing on 4.111652531999999 meters Centerline goodness [0,1] 0.2133072801257 Centerline is valid? [False, False] Translation: X:-1.23, Y:-1.64, Z:0.15 [[ 0.9992446 0.03609777 0.01439405 -1.22887141] [-0.03637049 0.99915473 0.01915759 -1.64397755] [-0.01369033 -0.01966664 0.99971286 0.15367628] [ 0. 0. 0. 1. ]] SLAMing on 4.141652531999999 meters Centerline goodness [0,1] 0.20701874484063865 Centerline is valid? [False, False] Translation: X:-1.23, Y:-1.64, Z:0.15 [[ 0.99922791 0.03598392 0.01577155 -1.2307475 ] [-0.03626758 0.99917847 0.01808445 -1.6405488 ] [-0.01510784 -0.01864249 0.99971206 0.15139405] [ 0. 0. 0. 1. ]] SLAMing on 4.1716525319999995 meters Centerline goodness [0,1] 0.20512923745873257 Centerline is valid? [False, False] Translation: X:-1.23, Y:-1.64, Z:0.15 [[ 0.99923125 0.03573158 0.01612929 -1.23111507] [-0.03601236 0.99919868 0.01746707 -1.63869746] [-0.01549224 -0.0180345 0.99971733 0.15047857] [ 0. 0. 0. 1. ]] SLAMing on 4.201652532 meters Centerline goodness [0,1] 0.19564867367065164 Centerline is valid? [False, False] Translation: X:-1.23, Y:-1.64, Z:0.15 [[ 0.99924444 0.03527192 0.01632303 -1.23158312] [-0.03554442 0.99922827 0.01671705 -1.63651574] [-0.01572079 -0.01728461 0.99972701 0.15033152] [ 0. 0. 0. 1. ]] SLAMing on 4.231652531999999 meters Centerline goodness [0,1] 0.17899107160852123 Centerline is valid? [False, False] Translation: X:-1.23, Y:-1.64, Z:0.15 [[ 0.99923198 0.03550097 0.01658735 -1.23312597] [-0.03578304 0.99921448 0.01702957 -1.63753327] [-0.01596975 -0.01761003 0.99971739 0.15136467] [ 0. 0. 0. 1. ]] SLAMing on 4.261652531999999 meters Centerline goodness [0,1] 0.18362162816015482 Centerline is valid? [False, False] Translation: X:-1.24, Y:-1.64, Z:0.15 [[ 0.99919499 0.03636096 0.01694861 -1.23528476] [-0.0366713 0.99915845 0.01837423 -1.64159677] [-0.01626624 -0.01898097 0.99968752 0.15286819] [ 0. 0. 0. 1. ]] SLAMing on 4.291652532 meters Centerline goodness [0,1] 0.17827157503834667 Centerline is valid? [False, False] Translation: X:-1.24, Y:-1.65, Z:0.16 [[ 0.99914957 0.03742022 0.01731646 -1.23927273] [-0.03777991 0.99906682 0.02093264 -1.65423286] [-0.016517 -0.02156906 0.99963091 0.15648919] [ 0. 0. 0. 1. ]] SLAMing on 4.321652532 meters Centerline goodness [0,1] 0.1719182091600896 Centerline is valid? [False, False] Translation: X:-1.24, Y:-1.66, Z:0.16 [[ 0.99915318 0.0372017 0.01757739 -1.24192853] [-0.03757744 0.99906126 0.02155329 -1.66169345] [-0.01675907 -0.02219555 0.99961317 0.15865373] [ 0. 0. 0. 1. ]] SLAMing on 4.351652531999999 meters Centerline goodness [0,1] 0.16755523244072867 Centerline is valid? [False, False] Translation: X:-1.24, Y:-1.67, Z:0.16 [[ 0.99918749 0.03605011 0.01802098 -1.24492869] [-0.03642445 0.99911795 0.02089446 -1.66791627] [-0.01725184 -0.02153389 0.99961926 0.16045949] [ 0. 0. 0. 1. ]] SLAMing on 4.3816525319999995 meters Centerline goodness [0,1] 0.1603124306214302 Centerline is valid? [False, False] Translation: X:-1.25, Y:-1.67, Z:0.16 [[ 0.99923961 0.0340908 0.01892131 -1.24789995] [-0.03444878 0.99922722 0.0189275 -1.6723829 ] [-0.01826144 -0.01956492 0.9996418 0.16089884] [ 0. 0. 0. 1. ]] SLAMing on 4.411652532 meters Centerline goodness [0,1] 0.1517945407226582 Centerline is valid? [False, False] Translation: X:-1.25, Y:-1.68, Z:0.16 [[ 0.99931059 0.03153241 0.01959748 -1.25021978] [-0.03185706 0.99935656 0.01648016 -1.67674164] [-0.01906521 -0.01709312 0.99967212 0.16111203] [ 0. 0. 0. 1. ]] SLAMing on 4.441652531999999 meters Centerline goodness [0,1] 0.17574167507568117 Centerline is valid? [False, False] Translation: X:-1.25, Y:-1.68, Z:0.16 [[ 0.99935909 0.02939648 0.02042679 -1.25253999] [-0.02968548 0.99946135 0.01399192 -1.67922335] [-0.02000448 -0.01458933 0.99969344 0.16102541] [ 0. 0. 0. 1. ]] SLAMing on 4.471652531999999 meters Centerline goodness [0,1] 0.1418871269972396 Centerline is valid? [False, False] Translation: X:-1.25, Y:-1.68, Z:0.16 [[ 0.99935707 0.02941913 0.0204932 -1.25262248] [-0.02970747 0.99946184 0.01391029 -1.67906359] [-0.02007294 -0.01451014 0.99969322 0.16078324] [ 0. 0. 0. 1. ]] SLAMing on 4.501652532 meters Centerline goodness [0,1] 0.1376523929471033 Centerline is valid? [False, False] Translation: X:-1.25, Y:-1.68, Z:0.16 [[ 0.99933007 0.0300509 0.02088909 -1.25409681] [-0.03035733 0.99943377 0.01451081 -1.68047384] [-0.0204412 -0.01513522 0.99967649 0.16115114] [ 0. 0. 0. 1. ]] SLAMing on 4.531652532 meters Centerline goodness [0,1] 0.14126012166136248 Centerline is valid? [False, False] Translation: X:-1.26, Y:-1.68, Z:0.16 [[ 0.99928847 0.0308357 0.02171915 -1.25658777] [-0.03117214 0.99939652 0.01532639 -1.68278445] [-0.02123344 -0.01599252 0.99964663 0.16149889] [ 0. 0. 0. 1. ]] SLAMing on 4.561652531999999 meters Centerline goodness [0,1] 0.20692088971344447 Centerline is valid? [False, False] Translation: X:-1.26, Y:-1.69, Z:0.16 [[ 0.99919229 0.03284334 0.0231536 -1.25962068] [-0.03324634 0.99929847 0.01724078 -1.68619945] [-0.02257111 -0.01799663 0.99958325 0.16099891] [ 0. 0. 0. 1. ]] SLAMing on 4.5916525319999995 meters Centerline goodness [0,1] 0.13435065197206408 Centerline is valid? [False, False] Translation: X:-1.26, Y:-1.69, Z:0.16 [[ 0.99918943 0.03287519 0.02323137 -1.25966693] [-0.03327888 0.99929793 0.01720937 -1.68625258] [-0.0226493 -0.01796853 0.99958198 0.16065614] [ 0. 0. 0. 1. ]] SLAMing on 4.621652532 meters Centerline goodness [0,1] 0.18431712379839182 Centerline is valid? [False, False] Translation: X:-1.26, Y:-1.68, Z:0.16 [[ 0.99918669 0.03273269 0.02354847 -1.26017997] [-0.03312968 0.99931202 0.01667048 -1.68450593] [-0.0229866 -0.01743707 0.9995837 0.1601705 ] [ 0. 0. 0. 1. ]] SLAMing on 4.651652531999999 meters Centerline goodness [0,1] 0.192364318415586 Centerline is valid? [False, False] Translation: X:-1.26, Y:-1.69, Z:0.16 [[ 0.99916176 0.03322624 0.02391234 -1.26146693] [-0.03364614 0.99928273 0.01737698 -1.68683798] [-0.02331782 -0.01816697 0.99956302 0.16046173] [ 0. 0. 0. 1. ]] SLAMing on 4.681652531999999 meters Centerline goodness [0,1] 0.19268346729517938 Centerline is valid? [False, False] Translation: X:-1.26, Y:-1.69, Z:0.16 [[ 0.99916163 0.03303153 0.02418596 -1.26242667] [-0.03345102 0.9992932 0.01715002 -1.68651002] [-0.02360237 -0.01794468 0.99956036 0.16082879] [ 0. 0. 0. 1. ]] SLAMing on 4.711652532 meters Centerline goodness [0,1] 0.1930040074913909 Centerline is valid? [False, False] Translation: X:-1.26, Y:-1.69, Z:0.16 [[ 0.99916382 0.03295408 0.02420091 -1.26256209] [-0.03337325 0.99929622 0.01712548 -1.68667608] [-0.02361952 -0.01791883 0.99956042 0.16087738] [ 0. 0. 0. 1. ]] SLAMing on 4.741652532 meters Centerline goodness [0,1] 0.19250141026674183 Centerline is valid? [False, False] Translation: X:-1.26, Y:-1.69, Z:0.16 [[ 0.99917098 0.03281261 0.02409739 -1.26218702] [-0.03322711 0.99930312 0.017007 -1.68663703] [-0.02352255 -0.01779359 0.99956494 0.16061327] [ 0. 0. 0. 1. ]] SLAMing on 4.771652531999999 meters Centerline goodness [0,1] 0.18009526500625683 Centerline is valid? [False, False] Translation: X:-1.26, Y:-1.69, Z:0.16 [[ 0.99926011 0.02972106 0.02441082 -1.26399234] [-0.03007233 0.99944755 0.01415112 -1.69032514] [-0.02397675 -0.01487474 0.99960185 0.16137831] [ 0. 0. 0. 1. ]] SLAMing on 4.801652531999999 meters Centerline goodness [0,1] 0.17401125385716876 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.70, Z:0.16 [[ 0.99931181 0.02743755 0.02496162 -1.2666065 ] [-0.02774845 0.99954055 0.01219517 -1.69547038] [-0.02461554 -0.01287942 0.99961402 0.16254644] [ 0. 0. 0. 1. ]] SLAMing on 4.831652532 meters Centerline goodness [0,1] 0.17401125385716876 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.70, Z:0.16 [[ 0.99931181 0.02743755 0.02496162 -1.2666065 ] [-0.02774845 0.99954055 0.01219517 -1.69547038] [-0.02461554 -0.01287942 0.99961402 0.16254644] [ 0. 0. 0. 1. ]] SLAMing on 4.861652531999999 meters Centerline goodness [0,1] 0.1897028264772933 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.70, Z:0.16 [[ 0.99933934 0.02646922 0.02490495 -1.26826125] [-0.02677209 0.99957064 0.0119073 -1.70184468] [-0.02457908 -0.01256619 0.99961891 0.16434672] [ 0. 0. 0. 1. ]] SLAMing on 4.891652531999999 meters Centerline goodness [0,1] 0.1588054759116424 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.72, Z:0.16 [[ 0.99962662 0.01621769 0.02199108 -1.2779572 ] [-0.01654381 0.99975464 0.01472939 -1.71597099] [-0.02174681 -0.0150877 0.99964966 0.16115802] [ 0. 0. 0. 1. ]] SLAMing on 4.9216525319999995 meters Centerline goodness [0,1] 0.1585250106019912 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.72, Z:0.16 [[ 0.99964109 0.01605209 0.021448 -1.27663736] [-0.01637011 0.99975742 0.01473518 -1.71658351] [-0.02120627 -0.015081 0.99966137 0.16118652] [ 0. 0. 0. 1. ]] SLAMing on 4.951652532 meters Centerline goodness [0,1] 0.14336208115368299 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.72, Z:0.16 [[ 0.99962296 0.01677127 0.02174067 -1.2773972 ] [-0.01711303 0.99973138 0.01563047 -1.71920411] [-0.02147269 -0.01599662 0.99964145 0.16102825] [ 0. 0. 0. 1. ]] SLAMing on 4.981652531999999 meters Centerline goodness [0,1] 0.20594123475763892 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.72, Z:0.16 [[ 0.99957082 0.01851436 0.02270225 -1.28076221] [-0.01891064 0.99967033 0.01736712 -1.72191918] [-0.02237323 -0.01778899 0.99959141 0.16223756] [ 0. 0. 0. 1. ]] SLAMing on 5.011652531999999 meters Centerline goodness [0,1] 0.1907802995089024 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.72, Z:0.16 [[ 0.99955489 0.01900076 0.02299997 -1.28159571] [-0.01941636 0.99964974 0.01798349 -1.72367606] [-0.02265021 -0.01842207 0.99957371 0.16220656] [ 0. 0. 0. 1. ]] SLAMing on 5.041652532 meters Centerline goodness [0,1] 0.19349619802620932 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.72, Z:0.16 [[ 0.99954266 0.01897576 0.02354537 -1.28302304] [-0.01939654 0.99965388 0.01777324 -1.72307136] [-0.02319996 -0.01822181 0.99956477 0.16222849] [ 0. 0. 0. 1. ]] SLAMing on 5.071652531999999 meters Centerline goodness [0,1] 0.18830129828043662 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.72, Z:0.16 [[ 0.99952817 0.01922436 0.02395544 -1.28400655] [-0.01965814 0.99964461 0.01800604 -1.72384304] [-0.02360077 -0.01846846 0.99955086 0.16204812] [ 0. 0. 0. 1. ]] SLAMing on 5.101652531999999 meters Centerline goodness [0,1] 0.15031357475217477 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.73, Z:0.16 [[ 0.99952805 0.01932222 0.02388168 -1.28377644] [-0.01976147 0.99963731 0.01829594 -1.72514216] [-0.0235195 -0.01875925 0.99954736 0.16192828] [ 0. 0. 0. 1. ]] SLAMing on 5.1316525319999995 meters Centerline goodness [0,1] 0.3158341759352882 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.73, Z:0.16 [[ 0.99959416 0.01558972 0.02384287 -1.28454213] [-0.01594984 0.99976044 0.01498912 -1.72832844] [-0.02360348 -0.01536333 0.99960334 0.16299264] [ 0. 0. 0. 1. ]] SLAMing on 5.161652532 meters Centerline goodness [0,1] 0.3185408733695212 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.73, Z:0.16 [[ 0.99962475 0.01267089 0.02428612 -1.28666302] [-0.01297565 0.99983852 0.01243286 -1.73281564] [-0.02412466 -0.01274332 0.99962773 0.16409415] [ 0. 0. 0. 1. ]] SLAMing on 5.191652531999999 meters Centerline goodness [0,1] 0.3205605962410888 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.73, Z:0.16 [[ 0.99964796 0.01210442 0.02360997 -1.28491168] [-0.01239307 0.99984978 0.01211769 -1.73300464] [-0.02345974 -0.01240602 0.9996478 0.16407385] [ 0. 0. 0. 1. ]] SLAMing on 5.221652531999999 meters Centerline goodness [0,1] 0.32130263851173346 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.73, Z:0.16 [[ 0.99967444 0.01140208 0.02282569 -1.28311082] [-0.01167277 0.9998627 0.01176123 -1.73335321] [-0.02268845 -0.01202384 0.99967028 0.16431355] [ 0. 0. 0. 1. ]] SLAMing on 5.251652532 meters Centerline goodness [0,1] 0.3212036530789948 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.74, Z:0.17 [[ 0.99969455 0.00824893 0.0232973 -1.28538333] [-0.00845832 0.99992459 0.00890377 -1.73674078] [-0.02322209 -0.00909811 0.99968893 0.16566568] [ 0. 0. 0. 1. ]] SLAMing on 5.281652531999999 meters Centerline goodness [0,1] 0.3252909452171445 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.74, Z:0.17 [[ 0.99973357 0.00426404 0.02268478 -1.28585648] [-0.00439543 0.99997383 0.00574539 -1.74033201] [-0.02265969 -0.00584357 0.99972616 0.16852253] [ 0. 0. 0. 1. ]] SLAMing on 5.311652531999999 meters Centerline goodness [0,1] 0.3235908989425399 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.74, Z:0.17 [[ 0.99975301 0.00359133 0.02193231 -1.28475694] [-0.00371226 0.99997812 0.00547521 -1.74084344] [-0.02191217 -0.00555528 0.99974447 0.16965223] [ 0. 0. 0. 1. ]] SLAMing on 5.3416525319999995 meters Centerline goodness [0,1] 0.3278458630571307 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.74, Z:0.17 [[ 0.99976888 0.00324397 0.02125219 -1.28338713] [-0.0033598 0.99997968 0.00541693 -1.7414434 ] [-0.02123419 -0.00548708 0.99975947 0.17018309] [ 0. 0. 0. 1. ]] SLAMing on 5.371652532 meters Centerline goodness [0,1] 0.3246980002030251 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.74, Z:0.17 [[ 0.99978486 0.00261552 0.02057675 -1.28206673] [-0.00271799 0.99998404 0.00495392 -1.74098516] [-0.02056346 -0.00500878 0.999776 0.17075438] [ 0. 0. 0. 1. ]] SLAMing on 5.401652531999999 meters Centerline goodness [0,1] 0.3249675640609796 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.74, Z:0.17 [[ 9.99805208e-01 1.60976433e-03 1.96711815e-02 -1.27980095e+00] [-1.68947168e-03 9.99990428e-01 4.03603932e-03 -1.73914425e+00] [-1.96644961e-02 -4.06848704e-03 9.99798357e-01 1.70925107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.431652531999999 meters Centerline goodness [0,1] 0.3224023731155269 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.74, Z:0.17 [[ 9.99814412e-01 1.37654249e-03 1.92157742e-02 -1.27927646e+00] [-1.45416348e-03 9.99990838e-01 4.02605320e-03 -1.73966608e+00] [-1.92100561e-02 -4.05324889e-03 9.99807254e-01 1.71753243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.461652532 meters Centerline goodness [0,1] 0.3206685078385184 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.74, Z:0.17 [[ 9.99818356e-01 1.30917433e-03 1.90142329e-02 -1.27903749e+00] [-1.38677527e-03 9.99990762e-01 4.06859114e-03 -1.74003081e+00] [-1.90087308e-02 -4.09422057e-03 9.99810935e-01 1.72103527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.491652532 meters Centerline goodness [0,1] 0.3282105348526013 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.73, Z:0.17 [[ 9.99818441e-01 -6.67643396e-04 1.90431117e-02 -1.27837678e+00] [ 6.41502326e-04 9.99998844e-01 1.37880664e-03 -1.73357592e+00] [-1.90440102e-02 -1.36634010e-03 9.99817713e-01 1.71290176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.521652531999999 meters Centerline goodness [0,1] 0.3185177664974619 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.73, Z:0.17 [[ 9.99977175e-01 8.06274580e-04 6.70810284e-03 -1.27107636e+00] [-8.17125260e-04 9.99998362e-01 1.61496476e-03 -1.73403394e+00] [-6.70678974e-03 -1.62040926e-03 9.99976196e-01 1.71107952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.551652531999999 meters Centerline goodness [0,1] 0.3181559707554833 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.73, Z:0.17 [[ 9.99974387e-01 1.03077899e-03 7.08259403e-03 -1.27210324e+00] [-1.04384000e-03 9.99997761e-01 1.84065060e-03 -1.73477385e+00] [-7.08068087e-03 -1.84799655e-03 9.99973224e-01 1.71148919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.581652532 meters Centerline goodness [0,1] 0.29838300635030124 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.74, Z:0.17 [[ 0.99996469 0.00288482 0.00789232 -1.27415452] [-0.00291426 0.99998883 0.00372237 -1.73817115] [-0.00788149 -0.00374523 0.99996193 0.17115484] [ 0. 0. 0. 1. ]] SLAMing on 5.611652531999999 meters Centerline goodness [0,1] 0.29235138973422603 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.74, Z:0.17 [[ 0.99995879 0.00351294 0.00837126 -1.27497661] [-0.0035493 0.99998432 0.00433252 -1.73938283] [-0.00835591 -0.00436205 0.99995557 0.17045631] [ 0. 0. 0. 1. ]] SLAMing on 5.641652531999999 meters Centerline goodness [0,1] 0.2844382329707723 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.74, Z:0.17 [[ 0.99995407 0.00350732 0.00891892 -1.27639892] [-0.00354285 0.99998584 0.00397115 -1.73794787] [-0.00890487 -0.00400256 0.99995234 0.17048328] [ 0. 0. 0. 1. ]] SLAMing on 5.6716525319999995 meters Centerline goodness [0,1] 0.28198110529943643 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.74, Z:0.17 [[ 0.99994709 0.00422873 0.00937747 -1.27810072] [-0.00427375 0.99997941 0.00478601 -1.74003011] [-0.00935704 -0.00482583 0.99994458 0.17101168] [ 0. 0. 0. 1. ]] SLAMing on 5.701652532 meters Centerline goodness [0,1] 0.32652442107392055 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.74, Z:0.17 [[ 0.99993861 0.00544851 0.00964808 -1.27943482] [-0.0055106 0.9999642 0.00642068 -1.74450066] [-0.00961275 -0.00647345 0.99993284 0.17168055] [ 0. 0. 0. 1. ]] SLAMing on 5.731652531999999 meters Centerline goodness [0,1] 0.3290967323441174 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.75, Z:0.17 [[ 0.99993001 0.00714875 0.00942706 -1.27960328] [-0.00723506 0.99993193 0.00915336 -1.75205902] [-0.00936098 -0.00922092 0.99991367 0.17277464] [ 0. 0. 0. 1. ]] SLAMing on 5.761652531999999 meters Centerline goodness [0,1] 0.3321153065367438 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.76, Z:0.17 [[ 0.99995051 0.00324579 0.00940459 -1.28014991] [-0.00329941 0.99997836 0.00569205 -1.75509849] [-0.00938591 -0.0057228 0.99993958 0.17360053] [ 0. 0. 0. 1. ]] SLAMing on 5.791652532 meters Centerline goodness [0,1] 0.33519450986761956 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.75, Z:0.17 [[ 9.99959066e-01 -2.11053076e-03 8.79838509e-03 -1.27879053e+00] [ 2.10672420e-03 9.99997683e-01 4.41887985e-04 -1.75379767e+00] [-8.79929733e-03 -4.23334126e-04 9.99961196e-01 1.73978426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.821652531999999 meters Centerline goodness [0,1] 0.3363542363603187 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.76, Z:0.17 [[ 0.99994207 -0.00601997 0.00892297 -1.27869933] [ 0.00605027 0.99997601 -0.00337279 -1.75532345] [-0.00890245 0.00342658 0.9999545 0.17334317] [ 0. 0. 0. 1. ]] SLAMing on 5.851652531999999 meters Centerline goodness [0,1] 0.26795188530233693 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.75, Z:0.17 [[ 0.99993515 -0.00771482 0.00837714 -1.27653152] [ 0.0077617 0.99995432 -0.00557723 -1.75022143] [-0.00833373 0.00564188 0.99994936 0.17225682] [ 0. 0. 0. 1. ]] SLAMing on 5.8816525319999995 meters Centerline goodness [0,1] 0.33485364469309986 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.75, Z:0.17 [[ 0.99995851 -0.00465287 0.00783137 -1.27502646] [ 0.00467481 0.99998519 -0.00278541 -1.74685769] [-0.00781829 0.00282191 0.99996545 0.17186349] [ 0. 0. 0. 1. ]] SLAMing on 5.911652532 meters Centerline goodness [0,1] 0.3280606761168907 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.75, Z:0.17 [[ 9.99971070e-01 -5.29655697e-04 7.58803436e-03 -1.27440640e+00] [ 5.19038784e-04 9.99998884e-01 1.40106599e-03 -1.74676562e+00] [-7.58876797e-03 -1.39708697e-03 9.99970229e-01 1.71625776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.941652531999999 meters Centerline goodness [0,1] 0.3293862405969302 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.74, Z:0.17 [[ 0.99996557 0.00319616 0.00765767 -1.27463139] [-0.00323437 0.99998235 0.00498338 -1.74491838] [-0.00764161 -0.00500798 0.99995826 0.17175854] [ 0. 0. 0. 1. ]] SLAMing on 5.971652531999999 meters Centerline goodness [0,1] 0.326551703175343 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.74, Z:0.17 [[ 0.9999325 0.00779366 0.00861741 -1.27703775] [-0.00787464 0.99992478 0.00940378 -1.74487453] [-0.00854347 -0.00947101 0.99991865 0.17176419] [ 0. 0. 0. 1. ]] SLAMing on 6.001652532 meters Centerline goodness [0,1] 0.3282016956715752 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.75, Z:0.17 [[ 0.99993842 0.00537071 0.00971103 -1.28018623] [-0.0054379 0.99996137 0.00690633 -1.74808661] [-0.00967356 -0.00695871 0.999929 0.17210949] [ 0. 0. 0. 1. ]] SLAMing on 6.031652531999999 meters Centerline goodness [0,1] 0.3196925759941598 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.75, Z:0.17 [[ 0.99994241 0.00476313 0.00961691 -1.27921601] [-0.00482171 0.99996991 0.00607715 -1.74625193] [-0.00958767 -0.00612317 0.99993529 0.1711829 ] [ 0. 0. 0. 1. ]] SLAMing on 6.061652531999999 meters Centerline goodness [0,1] 0.30977501468176016 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.74, Z:0.17 [[ 0.99994464 0.00455353 0.00948624 -1.27854291] [-0.00460726 0.99997343 0.00564924 -1.74488377] [-0.00946027 -0.00569264 0.99993905 0.17069731] [ 0. 0. 0. 1. ]] SLAMing on 6.0916525319999995 meters Centerline goodness [0,1] 0.3216498602842911 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.75, Z:0.17 [[ 0.9999309 0.00592175 0.01015488 -1.28054679] [-0.00599404 0.99995681 0.00710251 -1.74810809] [-0.01011238 -0.00716289 0.99992321 0.17084744] [ 0. 0. 0. 1. ]] SLAMing on 6.121652532 meters Centerline goodness [0,1] 0.1976657007963365 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.75, Z:0.17 [[ 0.99990476 0.0083111 0.01101787 -1.28266144] [-0.00841523 0.99992005 0.00943849 -1.75177298] [-0.01093855 -0.00953031 0.99989476 0.17075295] [ 0. 0. 0. 1. ]] SLAMing on 6.151652531999999 meters Centerline goodness [0,1] 0.3051101696633085 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.75, Z:0.17 [[ 0.99987672 0.00985756 0.01222213 -1.28566276] [-0.00999009 0.99989145 0.01082978 -1.75421407] [-0.01211404 -0.01095054 0.99986666 0.17059662] [ 0. 0. 0. 1. ]] SLAMing on 6.181652531999999 meters Centerline goodness [0,1] 0.32093794889432903 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.75, Z:0.17 [[ 0.99981031 0.014606 0.01288447 -1.28693038] [-0.01480497 0.99977049 0.01548456 -1.75482781] [-0.01265534 -0.01567238 0.99979709 0.17015264] [ 0. 0. 0. 1. ]] SLAMing on 6.211652532 meters Centerline goodness [0,1] 0.31715020347012735 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.76, Z:0.17 [[ 0.99978943 0.01544172 0.01351472 -1.28906566] [-0.01566428 0.99974082 0.01652026 -1.75797986] [-0.01325611 -0.01672848 0.99977219 0.1706951 ] [ 0. 0. 0. 1. ]] SLAMing on 6.241652532 meters Centerline goodness [0,1] 0.31813580596833624 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.76, Z:0.17 [[ 0.99977164 0.01625104 0.01387693 -1.29010502] [-0.01649321 0.99971049 0.01751891 -1.76088111] [-0.01358821 -0.01774379 0.99975023 0.17075856] [ 0. 0. 0. 1. ]] SLAMing on 6.271652531999999 meters Centerline goodness [0,1] 0.30401019231935933 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.76, Z:0.17 [[ 0.99975986 0.01677707 0.0140983 -1.29044239] [-0.0170311 0.99969118 0.01809639 -1.76245468] [-0.01379034 -0.01833216 0.99973684 0.1703595 ] [ 0. 0. 0. 1. ]] SLAMing on 6.301652531999999 meters Centerline goodness [0,1] 0.31654923874311625 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.76, Z:0.17 [[ 0.99975041 0.01686424 0.01465313 -1.2911018 ] [-0.01711886 0.99970155 0.01742847 -1.76000731] [-0.01435484 -0.01767497 0.99974073 0.16910294] [ 0. 0. 0. 1. ]] SLAMing on 6.331652532 meters Centerline goodness [0,1] 0.31217863071379404 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.76, Z:0.17 [[ 0.99973495 0.01719578 0.01530826 -1.29205064] [-0.01746277 0.99969468 0.01748128 -1.75989798] [-0.01500299 -0.01774397 0.99972999 0.16791773] [ 0. 0. 0. 1. ]] SLAMing on 6.361652531999999 meters Centerline goodness [0,1] 0.3121327551971471 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.76, Z:0.17 [[ 0.99971568 0.01754821 0.01614383 -1.29387449] [-0.01783166 0.99968635 0.01758494 -1.75999936] [-0.01583019 -0.01786781 0.99971503 0.16737573] [ 0. 0. 0. 1. ]] SLAMing on 6.391652531999999 meters Centerline goodness [0,1] 0.31464836633062065 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.76, Z:0.17 [[ 0.99970941 0.0176386 0.01643083 -1.2940294 ] [-0.0179278 0.99968396 0.01762314 -1.7601478 ] [-0.01611479 -0.01791259 0.99970968 0.16657866] [ 0. 0. 0. 1. ]] SLAMing on 6.4216525319999995 meters Centerline goodness [0,1] 0.3139614716691571 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.76, Z:0.17 [[ 0.99975876 0.01399433 0.01692861 -1.29617021] [-0.01423616 0.99979712 0.01424966 -1.76306416] [-0.01672576 -0.01448722 0.99975515 0.16758516] [ 0. 0. 0. 1. ]] SLAMing on 6.451652532 meters Centerline goodness [0,1] 0.3008899676375405 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.76, Z:0.17 [[ 0.999807 0.00980742 0.01702274 -1.29699732] [-0.00998168 0.99989834 0.0101823 -1.76422778] [-0.01692115 -0.01035025 0.99980325 0.16829215] [ 0. 0. 0. 1. ]] SLAMing on 6.481652531999999 meters Centerline goodness [0,1] 0.3243314371318097 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.76, Z:0.17 [[ 0.99985746 0.00426759 0.01633538 -1.29550692] [-0.0043501 0.99997794 0.00501895 -1.76362785] [-0.0163136 -0.0050893 0.99985397 0.16874412] [ 0. 0. 0. 1. ]] SLAMing on 6.511652531999999 meters Centerline goodness [0,1] 0.33037851434135257 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.77, Z:0.17 [[ 0.99985757 -0.0030665 0.01659652 -1.29832218] [ 0.00309916 0.99999331 -0.0019421 -1.76670229] [-0.01659046 0.00199326 0.99986038 0.17146219] [ 0. 0. 0. 1. ]] SLAMing on 6.541652532 meters Centerline goodness [0,1] 0.32720416810266184 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.76, Z:0.17 [[ 9.99874714e-01 -6.47433089e-04 1.58157126e-02 -1.29636301e+00] [ 6.38798502e-04 9.99999644e-01 5.50995659e-04 -1.76431689e+00] [-1.58160637e-02 -5.40823573e-04 9.99874772e-01 1.71268760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.571652531999999 meters Centerline goodness [0,1] 0.3274632189032546 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.76, Z:0.17 [[ 0.99987498 0.00344843 0.01543159 -1.29575913] [-0.00352391 0.99998195 0.00486681 -1.76484263] [-0.01541453 -0.00492058 0.99986908 0.17171882] [ 0. 0. 0. 1. ]] SLAMing on 6.601652531999999 meters Centerline goodness [0,1] 0.3276043564516782 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.76, Z:0.17 [[ 0.99986248 0.00675105 0.01514745 -1.29595754] [-0.00687727 0.99994193 0.00829648 -1.76351032] [-0.01509056 -0.00839951 0.99985085 0.17305999] [ 0. 0. 0. 1. ]] SLAMing on 6.6316525319999995 meters Centerline goodness [0,1] 0.32175584100333776 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.76, Z:0.17 [[ 0.99980806 0.01155829 0.01581929 -1.29751308] [-0.0117657 0.99984521 0.01308113 -1.76468151] [-0.01566565 -0.01326475 0.99978929 0.17301275] [ 0. 0. 0. 1. ]] SLAMing on 6.661652532 meters Centerline goodness [0,1] 0.30546330795399323 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.77, Z:0.17 [[ 0.99977545 0.01322442 0.01655809 -1.29852162] [-0.01346594 0.99980331 0.0145605 -1.76714639] [-0.01636227 -0.0147802 0.99975688 0.17180243] [ 0. 0. 0. 1. ]] SLAMing on 6.691652531999999 meters Centerline goodness [0,1] 0.3187037974683544 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.77, Z:0.17 [[ 0.99974519 0.01497171 0.01689399 -1.2976732 ] [-0.01523688 0.999761 0.0156777 -1.76692588] [-0.01665523 -0.01593112 0.99973437 0.16950247] [ 0. 0. 0. 1. ]] SLAMing on 6.721652531999999 meters Centerline goodness [0,1] 0.3187037974683544 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.77, Z:0.17 [[ 0.99974519 0.01497171 0.01689399 -1.2976732 ] [-0.01523688 0.999761 0.0156777 -1.76692588] [-0.01665523 -0.01593112 0.99973437 0.16950247] [ 0. 0. 0. 1. ]] SLAMing on 6.751652532 meters Centerline goodness [0,1] 0.30524632635712257 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.76, Z:0.17 [[ 0.99974441 0.01457019 0.01728642 -1.29781217] [-0.01482615 0.99978096 0.01477216 -1.76406697] [-0.0170674 -0.01502467 0.99974145 0.16826721] [ 0. 0. 0. 1. ]] SLAMing on 6.781652531999999 meters Centerline goodness [0,1] 0.31929746464053743 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.76, Z:0.17 [[ 0.99974325 0.01448902 0.01742124 -1.29836161] [-0.01474589 0.9997831 0.01470766 -1.76434769] [-0.01720436 -0.01496077 0.99974006 0.16859575] [ 0. 0. 0. 1. ]] SLAMing on 6.811652531999999 meters Centerline goodness [0,1] 0.3142319673125935 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.77, Z:0.17 [[ 0.99972463 0.01546651 0.01764774 -1.29934931] [-0.01575094 0.99974642 0.01609331 -1.76862628] [-0.01739436 -0.01636685 0.99971474 0.16899509] [ 0. 0. 0. 1. ]] SLAMing on 6.8416525319999995 meters Centerline goodness [0,1] 0.31998705161146745 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.77, Z:0.17 [[ 0.99971604 0.01581521 0.01782485 -1.29982122] [-0.01611207 0.9997318 0.01663536 -1.77060399] [-0.01755697 -0.01691783 0.99970273 0.16896222] [ 0. 0. 0. 1. ]] SLAMing on 6.871652532 meters Centerline goodness [0,1] 0.3135437119203287 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.77, Z:0.17 [[ 0.99969496 0.01680192 0.01810218 -1.3000105 ] [-0.01712296 0.99969622 0.01772793 -1.77316462] [-0.01779882 -0.01803249 0.99967896 0.16820076] [ 0. 0. 0. 1. ]] SLAMing on 6.901652531999999 meters Centerline goodness [0,1] 0.3104856646043107 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.77, Z:0.17 [[ 0.99970146 0.01649346 0.01802646 -1.29958233] [-0.01680373 0.99971089 0.01719807 -1.7716594 ] [-0.01773759 -0.01749585 0.99968959 0.16782141] [ 0. 0. 0. 1. ]] SLAMing on 6.931652531999999 meters Centerline goodness [0,1] 0.303049888911331 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.77, Z:0.17 [[ 0.99969188 0.01678807 0.01828415 -1.3003459 ] [-0.01710852 0.99970026 0.01751262 -1.77254562] [-0.01798466 -0.01782004 0.99967945 0.16779558] [ 0. 0. 0. 1. ]] SLAMing on 6.961652532 meters Centerline goodness [0,1] 0.3096938672278089 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.78, Z:0.17 [[ 0.99967461 0.01740611 0.01864692 -1.3016431 ] [-0.01774938 0.99967306 0.01840446 -1.77531172] [-0.01832047 -0.01872944 0.99965673 0.16814539] [ 0. 0. 0. 1. ]] SLAMing on 6.991652531999999 meters Centerline goodness [0,1] 0.31595036135797716 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.78, Z:0.17 [[ 0.99967825 0.01742648 0.01843146 -1.30188974] [-0.01777824 0.99965958 0.01909627 -1.77840275] [-0.01809241 -0.01941781 0.99964774 0.16941155] [ 0. 0. 0. 1. ]] SLAMing on 7.021652531999999 meters Centerline goodness [0,1] 0.30045278137128073 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.78, Z:0.17 [[ 0.99967668 0.01742178 0.01852074 -1.30235622] [-0.01777722 0.99965754 0.01920322 -1.77910663] [-0.01817985 -0.01952626 0.99964405 0.16978567] [ 0. 0. 0. 1. ]] SLAMing on 7.051652531999999 meters Centerline goodness [0,1] 0.3184471510230463 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.78, Z:0.17 [[ 0.99968296 0.01723232 0.01835827 -1.30172249] [-0.01758234 0.99966338 0.01907826 -1.77923903] [-0.01802333 -0.01939499 0.99964944 0.16947941] [ 0. 0. 0. 1. ]] SLAMing on 7.081652532 meters Centerline goodness [0,1] 0.31850983404418753 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.78, Z:0.17 [[ 0.99971033 0.01477912 0.01899537 -1.30381056] [-0.01509745 0.99974613 0.01672549 -1.78327106] [-0.01874336 -0.01700742 0.99967967 0.16972647] [ 0. 0. 0. 1. ]] SLAMing on 7.111652531999999 meters Centerline goodness [0,1] 0.3199021471028264 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.79, Z:0.17 [[ 0.99973499 0.01238922 0.01940249 -1.3055786 ] [-0.01267211 0.99981419 0.01452582 -1.78750981] [-0.01921893 -0.01476784 0.99970623 0.17043843] [ 0. 0. 0. 1. ]] SLAMing on 7.141652531999999 meters Centerline goodness [0,1] 0.3202982902873772 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.79, Z:0.17 [[ 0.99972889 0.01255111 0.01961145 -1.30642479] [-0.01284319 0.99980741 0.01483901 -1.78872778] [-0.01942142 -0.01508686 0.99969755 0.17089874] [ 0. 0. 0. 1. ]] SLAMing on 7.1716525319999995 meters Centerline goodness [0,1] 0.31892230576441105 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.79, Z:0.17 [[ 0.99972626 0.01276236 0.01960925 -1.30702812] [-0.01306513 0.9997962 0.01539044 -1.79074871] [-0.01940884 -0.01564243 0.99968926 0.17176335] [ 0. 0. 0. 1. ]] SLAMing on 7.201652531999999 meters Centerline goodness [0,1] 0.3184392572515069 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.79, Z:0.17 [[ 0.99973124 0.01278588 0.01933837 -1.30665881] [-0.01309174 0.99978988 0.01577322 -1.79251896] [-0.01913263 -0.01602215 0.99968857 0.17223077] [ 0. 0. 0. 1. ]] SLAMing on 7.231652531999999 meters Centerline goodness [0,1] 0.3228448363026025 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.80, Z:0.17 [[ 0.99980824 0.00496734 0.01894217 -1.30698884] [-0.00513404 0.99994843 0.00876245 -1.7975942 ] [-0.01889767 -0.00885802 0.99978218 0.17407488] [ 0. 0. 0. 1. ]] SLAMing on 7.261652531999999 meters Centerline goodness [0,1] 0.3251637951953409 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.17 [[ 0.99983165 0.00371421 0.01796853 -1.30435846] [-0.00385202 0.99996339 0.0076408 -1.79623585] [-0.01793949 -0.00770873 0.99980936 0.17392254] [ 0. 0. 0. 1. ]] SLAMing on 7.291652532 meters Centerline goodness [0,1] 0.32044623188698695 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.17 [[ 0.99984201 0.00371706 0.01738241 -1.30294473] [-0.0038541 0.9999617 0.00785719 -1.79720195] [-0.01735254 -0.00792295 0.99981804 0.17393922] [ 0. 0. 0. 1. ]] SLAMing on 7.321652531999999 meters Centerline goodness [0,1] 0.3279708236247594 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.17 [[ 0.99984487 0.00356278 0.01724915 -1.30336518] [-0.00369896 0.99996219 0.00786967 -1.79761859] [-0.01722046 -0.00793225 0.99982025 0.17490793] [ 0. 0. 0. 1. ]] SLAMing on 7.351652531999999 meters Centerline goodness [0,1] 0.3264666005625595 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.18 [[ 0.99984405 0.00411112 0.01717483 -1.30408397] [-0.00426329 0.9999519 0.00883301 -1.80041663] [-0.01713769 -0.00890485 0.99981348 0.17615471] [ 0. 0. 0. 1. ]] SLAMing on 7.3816525319999995 meters Centerline goodness [0,1] 0.3281452396373057 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.18 [[ 0.99984316 0.0041649 0.01721388 -1.30424549] [-0.00431912 0.99995079 0.00893132 -1.80088406] [-0.01717584 -0.00900426 0.99981194 0.1762227 ] [ 0. 0. 0. 1. ]] SLAMing on 7.411652532 meters Centerline goodness [0,1] 0.3258959303502733 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.18 [[ 0.99983674 0.00435795 0.01753573 -1.30462606] [-0.00451639 0.99994925 0.00900572 -1.80094791] [-0.01749559 -0.00908344 0.99980568 0.17556096] [ 0. 0. 0. 1. ]] SLAMing on 7.441652531999999 meters Centerline goodness [0,1] 0.3223509900289222 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.17 [[ 0.9998188 0.00691547 0.01773563 -1.30325506] [-0.00710868 0.99991583 0.01085391 -1.79556163] [-0.01765908 -0.01097802 0.9997838 0.17321425] [ 0. 0. 0. 1. ]] SLAMing on 7.471652531999999 meters Centerline goodness [0,1] 0.3238226473210667 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.79, Z:0.17 [[ 0.99981577 0.00630302 0.01813024 -1.30450846] [-0.0064837 0.99992973 0.00992432 -1.79310839] [-0.01806641 -0.01004005 0.99978638 0.17360975] [ 0. 0. 0. 1. ]] SLAMing on 7.501652532 meters Centerline goodness [0,1] 0.32309530076329696 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.79, Z:0.17 [[ 0.9998199 0.00606753 0.01798192 -1.30430275] [-0.00624342 0.99993306 0.00974124 -1.79289058] [-0.01792161 -0.00985175 0.99979086 0.17395405] [ 0. 0. 0. 1. ]] SLAMing on 7.531652531999999 meters Centerline goodness [0,1] 0.32439167696578 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.17 [[ 0.99982025 0.00636199 0.01786064 -1.30431513] [-0.00654727 0.99992516 0.01033449 -1.79502917] [-0.01779355 -0.01044958 0.99978708 0.17432308] [ 0. 0. 0. 1. ]] SLAMing on 7.561652531999999 meters Centerline goodness [0,1] 0.31806857999311366 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.80, Z:0.18 [[ 0.99981179 0.00748231 0.01789991 -1.30555068] [-0.00770073 0.99989636 0.01216453 -1.79976428] [-0.01780704 -0.01230009 0.99976578 0.17598198] [ 0. 0. 0. 1. ]] SLAMing on 7.5916525319999995 meters Centerline goodness [0,1] 0.31806857999311366 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.80, Z:0.18 [[ 0.99981179 0.00748231 0.01789991 -1.30555068] [-0.00770073 0.99989636 0.01216453 -1.79976428] [-0.01780704 -0.01230009 0.99976578 0.17598198] [ 0. 0. 0. 1. ]] SLAMing on 7.621652532 meters Centerline goodness [0,1] 0.3218046330795399 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.80, Z:0.18 [[ 0.99981205 0.00767148 0.01780511 -1.30568541] [-0.00789744 0.99988873 0.01265506 -1.80172849] [-0.01770604 -0.0127933 0.99976139 0.17654199] [ 0. 0. 0. 1. ]] SLAMing on 7.651652531999999 meters Centerline goodness [0,1] 0.3230847080255035 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.18 [[ 0.99983062 0.00688754 0.01706748 -1.30406614] [-0.00709117 0.99990405 0.01189944 -1.80042606] [-0.01698389 -0.01201845 0.99978353 0.17703161] [ 0. 0. 0. 1. ]] SLAMing on 7.681652531999999 meters Centerline goodness [0,1] 0.32381125667151867 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.18 [[ 0.9998407 0.00659821 0.01658422 -1.30252986] [-0.00679081 0.99990985 0.01158353 -1.79982496] [-0.01650629 -0.01169431 0.99979537 0.1765861 ] [ 0. 0. 0. 1. ]] SLAMing on 7.711652532 meters Centerline goodness [0,1] 0.32454061062825423 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.18 [[ 0.99984983 0.00618085 0.01618965 -1.30115733] [-0.00636111 0.99991809 0.01110638 -1.79882797] [-0.01611968 -0.0112077 0.99980725 0.17606264] [ 0. 0. 0. 1. ]] SLAMing on 7.741652531999999 meters Centerline goodness [0,1] 0.3248349601069216 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.18 [[ 0.99985209 0.00572701 0.01621732 -1.3010983 ] [-0.00589702 0.99992796 0.01045514 -1.79720674] [-0.01615627 -0.01054922 0.99981383 0.17593451] [ 0. 0. 0. 1. ]] SLAMing on 7.771652531999999 meters Centerline goodness [0,1] 0.3241336083141251 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.18 [[ 0.99983816 0.00577135 0.01703949 -1.30256265] [-0.00594509 0.99993067 0.01016378 -1.79602403] [-0.01697965 -0.01026344 0.99980316 0.17508845] [ 0. 0. 0. 1. ]] SLAMing on 7.801652531999999 meters Centerline goodness [0,1] 0.3232911034329474 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.17 [[ 0.99983175 0.00611627 0.01729345 -1.30275957] [-0.00629875 0.99992486 0.01051699 -1.79697764] [-0.01722783 -0.01062415 0.99979514 0.17433584] [ 0. 0. 0. 1. ]] SLAMing on 7.831652532 meters Centerline goodness [0,1] 0.3248605835286511 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.17 [[ 0.99983732 0.00548031 0.01718444 -1.30225185] [-0.00564805 0.99993673 0.00972761 -1.79510167] [-0.01713004 -0.00982308 0.99980502 0.17406569] [ 0. 0. 0. 1. ]] SLAMing on 7.861652531999999 meters Centerline goodness [0,1] 0.3147339479217208 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.79, Z:0.17 [[ 0.99983556 0.00535 0.01732737 -1.30214142] [-0.00551191 0.99994147 0.00931006 -1.79367696] [-0.01727655 -0.00940404 0.99980652 0.17346405] [ 0. 0. 0. 1. ]] SLAMing on 7.891652531999999 meters Centerline goodness [0,1] 0.31257962105433446 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.17 [[ 0.99982222 0.00634461 0.01775603 -1.30356192] [-0.00653302 0.99992276 0.01057292 -1.79720709] [-0.01768758 -0.01068704 0.99978645 0.17369722] [ 0. 0. 0. 1. ]] SLAMing on 7.9216525319999995 meters Centerline goodness [0,1] 0.32510263099354886 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.18 [[ 0.99979839 0.00998516 0.01742038 -1.30365545] [-0.01023883 0.99984195 0.01453408 -1.79711385] [-0.0172725 -0.01470951 0.99974261 0.17515681] [ 0. 0. 0. 1. ]] SLAMing on 7.951652531999999 meters Centerline goodness [0,1] 0.32517793594306055 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.17 [[ 0.99981562 0.00938832 0.01675043 -1.30134203] [-0.00962509 0.99985412 0.01411046 -1.79678221] [-0.01661551 -0.01426908 0.99976013 0.17447846] [ 0. 0. 0. 1. ]] SLAMing on 7.981652531999999 meters Centerline goodness [0,1] 0.32593252241494464 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.17 [[ 0.99983328 0.00603182 0.0172344 -1.30273718] [-0.00622015 0.99992131 0.01089455 -1.79986135] [-0.01716733 -0.01099994 0.99979212 0.17446039] [ 0. 0. 0. 1. ]] SLAMing on 8.011652532 meters Centerline goodness [0,1] 0.32593252241494464 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.17 [[ 0.99983328 0.00603182 0.0172344 -1.30273718] [-0.00622015 0.99992131 0.01089455 -1.79986135] [-0.01716733 -0.01099994 0.99979212 0.17446039] [ 0. 0. 0. 1. ]] SLAMing on 8.041652531999999 meters Centerline goodness [0,1] 0.32803184932198937 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.17 [[ 0.99985087 0.00494314 0.01654713 -1.30109616] [-0.00510651 0.99993849 0.00984552 -1.79820296] [-0.01649744 -0.00992855 0.99981461 0.17461844] [ 0. 0. 0. 1. ]] SLAMing on 8.071652532 meters Centerline goodness [0,1] 0.3285555443242697 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.17 [[ 0.99985751 0.00451767 0.01626511 -1.30042843] [-0.00467275 0.99994387 0.00950945 -1.79788149] [-0.01622124 -0.0095841 0.99982249 0.17475276] [ 0. 0. 0. 1. ]] SLAMing on 8.101652532 meters Centerline goodness [0,1] 0.3197313318092617 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.17 [[ 0.99986262 0.00411727 0.01605553 -1.29989655] [-0.00426486 0.99994886 0.00916951 -1.79727786] [-0.01601696 -0.00923672 0.99982906 0.17484655] [ 0. 0. 0. 1. ]] SLAMing on 8.131652531999999 meters Centerline goodness [0,1] 0.3315233908057621 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.17 [[ 0.99986412 0.00382981 0.01603344 -1.29985171] [-0.00397175 0.99995313 0.00882982 -1.79652509] [-0.01599887 -0.0088923 0.99983247 0.17493887] [ 0. 0. 0. 1. ]] SLAMing on 8.161652532 meters Centerline goodness [0,1] 0.3326779633533322 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.18 [[ 0.99986572 0.00366497 0.01597244 -1.29973263] [-0.00380413 0.999955 0.0086909 -1.79645393] [-0.01593987 -0.00875049 0.99983466 0.17502393] [ 0. 0. 0. 1. ]] SLAMing on 8.191652531999999 meters Centerline goodness [0,1] 0.31854119364255595 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.18 [[ 0.99986832 0.00378703 0.01578008 -1.29947744] [-0.00393003 0.99995141 0.00904106 -1.79794024] [-0.01574508 -0.00910189 0.99983461 0.17529383] [ 0. 0. 0. 1. ]] SLAMing on 8.221652531999998 meters Centerline goodness [0,1] 0.32788710722384196 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.18 [[ 0.99986131 0.00466292 0.01598796 -1.30074694] [-0.00482983 0.99993408 0.0104168 -1.80204795] [-0.01593834 -0.01049257 0.99981792 0.17629759] [ 0. 0. 0. 1. ]] SLAMing on 8.251652532 meters Centerline goodness [0,1] 0.3318215869287927 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.18 [[ 0.99985105 0.00507365 0.01649684 -1.30218307] [-0.00525327 0.99992719 0.01086344 -1.80322838] [-0.01644052 -0.01094848 0.9998049 0.17641058] [ 0. 0. 0. 1. ]] SLAMing on 8.281652531999999 meters Centerline goodness [0,1] 0.32662685962959215 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.18 [[ 0.99983609 0.00588776 0.01712073 -1.30359835] [-0.00608642 0.99991449 0.0115745 -1.80459417] [-0.01705112 -0.0116768 0.99978643 0.17599349] [ 0. 0. 0. 1. ]] SLAMing on 8.311652532 meters Centerline goodness [0,1] 0.32438225421603917 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.17 [[ 0.99981058 0.00841866 0.01754821 -1.30314555] [-0.00865014 0.99987603 0.01315675 -1.7979591 ] [-0.01743528 -0.01330605 0.99975945 0.1739823 ] [ 0. 0. 0. 1. ]] SLAMing on 8.341652532 meters Centerline goodness [0,1] 0.3250879818777558 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.80, Z:0.17 [[ 0.99978424 0.00949429 0.01847536 -1.3048636 ] [-0.00975206 0.99985566 0.01391252 -1.79893572] [-0.0183406 -0.01408969 0.99973252 0.17300996] [ 0. 0. 0. 1. ]] SLAMing on 8.371652531999999 meters Centerline goodness [0,1] 0.3238202882170105 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.80, Z:0.17 [[ 0.9997606 0.01014028 0.01938841 -1.30692781] [-0.01041847 0.99984345 0.01430128 -1.79936605] [-0.01924035 -0.01449985 0.99970974 0.17252435] [ 0. 0. 0. 1. ]] SLAMing on 8.401652532 meters Centerline goodness [0,1] 0.3227196407258309 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.80, Z:0.17 [[ 0.99973103 0.01120375 0.02030634 -1.30925933] [-0.01151511 0.99981692 0.01528186 -1.80147363] [-0.02013141 -0.01551158 0.99967701 0.1723436 ] [ 0. 0. 0. 1. ]] SLAMing on 8.431652532 meters Centerline goodness [0,1] 0.32030934496405783 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.80, Z:0.17 [[ 0.99968516 0.01474972 0.02029826 -1.30841363] [-0.01512704 0.99971327 0.01856226 -1.79892556] [-0.02001865 -0.01886347 0.99962164 0.17138944] [ 0. 0. 0. 1. ]] SLAMing on 8.461652531999999 meters Centerline goodness [0,1] 0.3186746623054092 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.80, Z:0.17 [[ 0.99966797 0.01524252 0.02077525 -1.30936791] [-0.01563786 0.99969715 0.01900165 -1.80000172] [-0.02047933 -0.01932023 0.99960358 0.17088785] [ 0. 0. 0. 1. ]] SLAMing on 8.491652532 meters Centerline goodness [0,1] 0.31665017867598066 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.80, Z:0.17 [[ 0.99964623 0.01570682 0.02146435 -1.31083278] [-0.01612017 0.99968528 0.01922215 -1.800223 ] [-0.02115568 -0.01956136 0.99958481 0.17038587] [ 0. 0. 0. 1. ]] SLAMing on 8.521652532 meters Centerline goodness [0,1] 0.3152625842651273 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.80, Z:0.17 [[ 0.99961827 0.01633564 0.02228138 -1.31262426] [-0.01677279 0.99966767 0.01957608 -1.80057346] [-0.02195419 -0.01994233 0.99956006 0.16987572] [ 0. 0. 0. 1. ]] SLAMing on 8.551652531999999 meters Centerline goodness [0,1] 0.31078108920680403 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.80, Z:0.17 [[ 0.99956372 0.01917828 0.02246237 -1.31135505] [-0.01966854 0.99956859 0.02181223 -1.79606574] [-0.02203436 -0.02224451 0.99950971 0.16776056] [ 0. 0. 0. 1. ]] SLAMing on 8.581652532 meters Centerline goodness [0,1] 0.31218576476527005 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.80, Z:0.17 [[ 0.99954733 0.01934729 0.0230393 -1.31223188] [-0.01984847 0.99956689 0.02172699 -1.79577269] [-0.02260896 -0.02217445 0.99949844 0.16683973] [ 0. 0. 0. 1. ]] SLAMing on 8.611652531999999 meters Centerline goodness [0,1] 0.27162738088024396 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.79, Z:0.17 [[ 0.99954409 0.01924432 0.0232653 -1.31229286] [-0.01974213 0.99957691 0.02135998 -1.79464035] [-0.02284439 -0.02180955 0.99950111 0.16603812] [ 0. 0. 0. 1. ]] SLAMing on 8.641652532 meters Centerline goodness [0,1] 0.27162738088024396 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.79, Z:0.17 [[ 0.99954409 0.01924432 0.0232653 -1.31229286] [-0.01974213 0.99957691 0.02135998 -1.79464035] [-0.02284439 -0.02180955 0.99950111 0.16603812] [ 0. 0. 0. 1. ]] SLAMing on 8.671652532 meters Centerline goodness [0,1] 0.28473468729201545 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.79, Z:0.16 [[ 0.9995438 0.01892193 0.02354036 -1.31207438] [-0.01940737 0.99960009 0.02056731 -1.79234027] [-0.02314177 -0.02101478 0.9995113 0.1646994 ] [ 0. 0. 0. 1. ]] SLAMing on 8.701652531999999 meters Centerline goodness [0,1] 0.31193677801745867 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.79, Z:0.16 [[ 0.99952925 0.01926078 0.02388083 -1.31300498] [-0.01976394 0.99958377 0.02101604 -1.79386501] [-0.0234661 -0.02147813 0.99949389 0.16473003] [ 0. 0. 0. 1. ]] SLAMing on 8.731652532 meters Centerline goodness [0,1] 0.3087525983330306 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.80, Z:0.17 [[ 0.99950539 0.01986973 0.02437561 -1.31466102] [-0.02040532 0.99955139 0.02192368 -1.79701426] [-0.02392905 -0.02241023 0.99946245 0.16522317] [ 0. 0. 0. 1. ]] SLAMing on 8.761652532 meters Centerline goodness [0,1] 0.29945176764622894 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.80, Z:0.16 [[ 0.99949187 0.02003704 0.02478957 -1.31542113] [-0.02058755 0.99954255 0.02215506 -1.79785763] [-0.02433431 -0.02265416 0.99944716 0.16489104] [ 0. 0. 0. 1. ]] SLAMing on 8.791652531999999 meters Centerline goodness [0,1] 0.31344786610541575 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.80, Z:0.16 [[ 0.99948878 0.01992902 0.02500017 -1.31551209] [-0.02047901 0.99954952 0.02194005 -1.79737902] [-0.02455167 -0.02244081 0.99944666 0.16422992] [ 0. 0. 0. 1. ]] SLAMing on 8.821652532 meters Centerline goodness [0,1] 0.29211375554659136 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.80, Z:0.16 [[ 0.99948235 0.01999214 0.02520626 -1.31628122] [-0.02054832 0.99954673 0.02200247 -1.79773042] [-0.02475496 -0.02250903 0.99944011 0.16448818] [ 0. 0. 0. 1. ]] SLAMing on 8.851652532 meters Centerline goodness [0,1] 0.3084379597347897 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.80, Z:0.16 [[ 0.99946928 0.02028759 0.02548673 -1.31736455] [-0.020861 0.99953057 0.02243777 -1.79934854] [-0.02501956 -0.02295754 0.99942332 0.16497941] [ 0. 0. 0. 1. ]] SLAMing on 8.881652531999999 meters Centerline goodness [0,1] 0.3124810755162599 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.80, Z:0.17 [[ 0.99950361 0.01731806 0.02631771 -1.32019653] [-0.01783779 0.99964791 0.0196434 -1.8028672 ] [-0.02596825 -0.02010309 0.99946061 0.16589783] [ 0. 0. 0. 1. ]] SLAMing on 8.911652532 meters Centerline goodness [0,1] 0.3009814612868048 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.81, Z:0.17 [[ 0.99952506 0.01519323 0.02681088 -1.32242825] [-0.01567413 0.99971837 0.01781885 -1.80798727] [-0.0265326 -0.01823062 0.9994817 0.16684789] [ 0. 0. 0. 1. ]] SLAMing on 8.941652531999999 meters Centerline goodness [0,1] 0.3142660930335899 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.81, Z:0.17 [[ 0.99954176 0.01459676 0.02651791 -1.32213247] [-0.01505859 0.99973693 0.0173003 -1.80739158] [-0.02625841 -0.0176917 0.99949862 0.16747594] [ 0. 0. 0. 1. ]] SLAMing on 8.971652531999998 meters Centerline goodness [0,1] 0.31556227937468484 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.81, Z:0.17 [[ 0.99954725 0.01456056 0.02633035 -1.3216399 ] [-0.0150236 0.99973444 0.01747426 -1.80861517] [-0.02606892 -0.01786192 0.99950056 0.16751478] [ 0. 0. 0. 1. ]] SLAMing on 9.001652532 meters Centerline goodness [0,1] 0.3028004196594303 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.81, Z:0.17 [[ 0.99958034 0.01172854 0.02648741 -1.32210507] [-0.01212766 0.99981457 0.01495833 -1.81304971] [-0.02630706 -0.01527329 0.99953723 0.16749937] [ 0. 0. 0. 1. ]] SLAMing on 9.031652531999999 meters Centerline goodness [0,1] 0.31301100232159085 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.81, Z:0.17 [[ 0.99960014 0.01151383 0.02582602 -1.32069078] [-0.01190377 0.99981669 0.01499614 -1.81379502] [-0.02564862 -0.01529757 0.99955397 0.16780731] [ 0. 0. 0. 1. ]] SLAMing on 9.061652532 meters Centerline goodness [0,1] 0.3055729240202505 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.82, Z:0.17 [[ 0.99961022 0.01152577 0.02542774 -1.32034489] [-0.0119186 0.99981111 0.01535209 -1.81551007] [-0.025246 -0.01564917 0.99955877 0.16866978] [ 0. 0. 0. 1. ]] SLAMing on 9.091652532 meters Centerline goodness [0,1] 0.31765086294005906 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.82, Z:0.17 [[ 0.99959046 0.012565 0.02571041 -1.32251053] [-0.01300844 0.99976824 0.01715334 -1.82058182] [-0.02548892 -0.01748076 0.99952225 0.17073112] [ 0. 0. 0. 1. ]] SLAMing on 9.121652531999999 meters Centerline goodness [0,1] 0.3059384727331528 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.82, Z:0.17 [[ 0.99958118 0.01250089 0.02609952 -1.32343355] [-0.01294974 0.99976992 0.01709976 -1.82075693] [-0.02587975 -0.01743058 0.99951309 0.17076886] [ 0. 0. 0. 1. ]] SLAMing on 9.151652532 meters Centerline goodness [0,1] 0.31832298136645965 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.82, Z:0.17 [[ 0.99959542 0.01186101 0.02585178 -1.32220692] [-0.01228526 0.99979144 0.01631432 -1.81880978] [-0.02565288 -0.01662532 0.99953266 0.1700469 ] [ 0. 0. 0. 1. ]] SLAMing on 9.181652532 meters Centerline goodness [0,1] 0.32030555331016086 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.82, Z:0.17 [[ 0.99961768 0.00816257 0.02641727 -1.32360359] [-0.00849692 0.99988491 0.01256884 -1.82038588] [-0.02631163 -0.0127885 0.99957198 0.16975463] [ 0. 0. 0. 1. ]] SLAMing on 9.211652531999999 meters Centerline goodness [0,1] 0.3177687118794684 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.82, Z:0.17 [[ 0.99965102 0.00380757 0.02614072 -1.32361386] [-0.00402536 0.99995759 0.00828374 -1.82078198] [-0.02610807 -0.00838607 0.99962395 0.17063732] [ 0. 0. 0. 1. ]] SLAMing on 9.241652532 meters Centerline goodness [0,1] 0.2985550532773652 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.82, Z:0.17 [[ 0.99967206 0.00298385 0.02543377 -1.32261612] [-0.00318559 0.99996376 0.00789479 -1.82112043] [-0.02540929 -0.00797322 0.99964533 0.17177988] [ 0. 0. 0. 1. ]] SLAMing on 9.271652532 meters Centerline goodness [0,1] 0.3208173948057177 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.82, Z:0.17 [[ 0.99968746 0.0022571 0.02489774 -1.32185811] [-0.00244725 0.99996805 0.00760935 -1.82174686] [-0.02487977 -0.0076679 0.99966104 0.17274877] [ 0. 0. 0. 1. ]] SLAMing on 9.301652531999999 meters Centerline goodness [0,1] 0.31948649630616444 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.82, Z:0.17 [[ 9.99710883e-01 1.60485792e-03 2.39911435e-02 -1.31990649e+00] [-1.78373578e-03 9.99970758e-01 7.43645565e-03 -1.82274973e+00] [-2.39785075e-02 -7.47709951e-03 9.99684512e-01 1.73125417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.331652532 meters Centerline goodness [0,1] 0.32779063915450424 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.82, Z:0.17 [[ 9.99733322e-01 -1.88397487e-04 2.30922088e-02 -1.31794525e+00] [ 5.71657367e-05 9.99983847e-01 5.68347329e-03 -1.81976844e+00] [-2.30929065e-02 -5.68063755e-03 9.99717184e-01 1.73538705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.361652531999999 meters Centerline goodness [0,1] 0.330392829746861 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.82, Z:0.17 [[ 9.99750133e-01 -5.36865682e-04 2.23468774e-02 -1.31701450e+00] [ 4.07134943e-04 9.99983042e-01 5.80946330e-03 -1.82095117e+00] [-2.23496174e-02 -5.79891352e-03 9.99733398e-01 1.74906794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.391652531999998 meters Centerline goodness [0,1] 0.327827140549273 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.82, Z:0.18 [[ 9.99764714e-01 -4.51234013e-04 2.16866844e-02 -1.31673380e+00] [ 3.06607535e-04 9.99977696e-01 6.67176922e-03 -1.82447445e+00] [-2.16892112e-02 -6.66355015e-03 9.99742554e-01 1.76732287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.421652532 meters Centerline goodness [0,1] 0.3218717840062958 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.83, Z:0.18 [[ 9.99774607e-01 -7.33302452e-04 2.12178587e-02 -1.31671338e+00] [ 5.88656698e-04 9.99976552e-01 6.82261303e-03 -1.82593007e+00] [-2.12223642e-02 -6.80858523e-03 9.99751596e-01 1.78364160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.451652531999999 meters Centerline goodness [0,1] 0.33253410167032704 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.83, Z:0.18 [[ 9.99783240e-01 -9.35170286e-04 2.07990055e-02 -1.31559919e+00] [ 7.94039522e-04 9.99976614e-01 6.79268108e-03 -1.82631064e+00] [-2.08048714e-02 -6.77469346e-03 9.99760602e-01 1.78318493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.481652532 meters Centerline goodness [0,1] 0.33427550422967434 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.82, Z:0.18 [[ 0.99995974 -0.00276622 0.00853652 -1.30639711] [ 0.00273976 0.99999141 0.00310937 -1.82253478] [-0.00854504 -0.00308586 0.99995873 0.17744897] [ 0. 0. 0. 1. ]] SLAMing on 9.511652532 meters Centerline goodness [0,1] 0.327472616304919 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.82, Z:0.18 [[ 0.99996469 -0.00384344 0.00747317 -1.30439494] [ 0.0038265 0.99999008 0.002279 -1.82156248] [-0.00748185 -0.00225032 0.99996948 0.17831777] [ 0. 0. 0. 1. ]] SLAMing on 9.541652531999999 meters Centerline goodness [0,1] 0.3325318246110325 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.82, Z:0.18 [[ 0.9999699 -0.00440757 0.00638542 -1.30241061] [ 0.00439418 0.99998812 0.00211021 -1.8220609 ] [-0.00639465 -0.00208209 0.99997739 0.17935284] [ 0. 0. 0. 1. ]] SLAMing on 9.571652532 meters Centerline goodness [0,1] 0.33767310219347013 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.82, Z:0.18 [[ 0.99997093 -0.00455427 0.0061146 -1.30156884] [ 0.00454237 0.99998777 0.00195849 -1.82162084] [-0.00612344 -0.00193066 0.99997939 0.17911817] [ 0. 0. 0. 1. ]] SLAMing on 9.601652532 meters Centerline goodness [0,1] 0.3357844127509999 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.82, Z:0.18 [[ 0.99996813 -0.00431312 0.00671823 -1.30299489] [ 0.00429959 0.9999887 0.00202673 -1.82154975] [-0.0067269 -0.00199778 0.99997538 0.17884951] [ 0. 0. 0. 1. ]] SLAMing on 9.631652531999999 meters Centerline goodness [0,1] 0.33476872068575125 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.82, Z:0.18 [[ 0.9999661 -0.0043048 0.00701868 -1.30432194] [ 0.00429046 0.99998868 0.00205661 -1.82177499] [-0.00702745 -0.00202643 0.99997325 0.17958054] [ 0. 0. 0. 1. ]] SLAMing on 9.661652532 meters Centerline goodness [0,1] 0.3365236746256576 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.82, Z:0.18 [[ 0.99996499 -0.00410938 0.00728885 -1.30541748] [ 0.00409225 0.99998883 0.00236379 -1.82283935] [-0.00729849 -0.00233388 0.99997064 0.18010787] [ 0. 0. 0. 1. ]] SLAMing on 9.691652531999999 meters Centerline goodness [0,1] 0.3325645383183621 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.83, Z:0.18 [[ 0.9999702 -0.00344712 0.00690757 -1.30420351] [ 0.00342304 0.99998804 0.00349431 -1.82618405] [-0.00691953 -0.00347056 0.99997004 0.17973648] [ 0. 0. 0. 1. ]] SLAMing on 9.721652531999998 meters Centerline goodness [0,1] 0.33405390116772393 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.82, Z:0.18 [[ 0.99996894 -0.00468318 0.00633895 -1.3027609 ] [ 0.00466912 0.99998661 0.00223161 -1.82378647] [-0.00634931 -0.00220195 0.99997742 0.17985592] [ 0. 0. 0. 1. ]] SLAMing on 9.751652532 meters Centerline goodness [0,1] 0.3355726426547956 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.82, Z:0.18 [[ 0.99997009 -0.00468456 0.00615464 -1.30260716] [ 0.00467041 0.99998642 0.00231056 -1.82414306] [-0.00616539 -0.00228175 0.99997839 0.18023635] [ 0. 0. 0. 1. ]] SLAMing on 9.781652531999999 meters Centerline goodness [0,1] 0.3187199482807386 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.83, Z:0.18 [[ 0.99997243 -0.00371665 0.00642827 -1.30359642] [ 0.00369376 0.99998681 0.00356908 -1.82766115] [-0.00644145 -0.00354523 0.99997297 0.18040934] [ 0. 0. 0. 1. ]] SLAMing on 9.811652532 meters Centerline goodness [0,1] 0.33571284125379175 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.83, Z:0.18 [[ 0.99997298 -0.00310008 0.00666486 -1.30453974] [ 0.00307093 0.99998569 0.00437972 -1.82985183] [-0.00667835 -0.00435913 0.9999682 0.18079836] [ 0. 0. 0. 1. ]] SLAMing on 9.841652532 meters Centerline goodness [0,1] 0.336765180878553 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.83, Z:0.18 [[ 0.99997243 -0.00418353 0.00613542 -1.30309326] [ 0.00416331 0.99998587 0.0033054 -1.82768754] [-0.00614917 -0.00327977 0.99997572 0.18083544] [ 0. 0. 0. 1. ]] SLAMing on 9.871652531999999 meters Centerline goodness [0,1] 0.33779243908362344 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.83, Z:0.18 [[ 0.99997245 -0.00490293 0.00557269 -1.30201512] [ 0.00488822 0.99998454 0.00265159 -1.82653481] [-0.0055856 -0.00262428 0.99998096 0.18124397] [ 0. 0. 0. 1. ]] SLAMing on 9.901652532 meters Centerline goodness [0,1] 0.3393027166096064 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.82, Z:0.18 [[ 9.99970187e-01 -6.29047263e-03 4.47825995e-03 -1.29928491e+00] [ 6.28385202e-03 9.99979145e-01 1.49092875e-03 -1.82454533e+00] [-4.48754520e-03 -1.46274358e-03 9.99988861e-01 1.81416478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.931652532 meters Centerline goodness [0,1] 0.32518169119582163 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.82, Z:0.18 [[ 9.99969650e-01 -6.52751636e-03 4.25336883e-03 -1.29875933e+00] [ 6.52224833e-03 9.99977947e-01 1.25125093e-03 -1.82405252e+00] [-4.26144259e-03 -1.22347143e-03 9.99990172e-01 1.81480860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.961652531999999 meters Centerline goodness [0,1] 0.32681168226191926 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.82, Z:0.18 [[ 9.99970835e-01 -6.65508399e-03 3.74684276e-03 -1.29748982e+00] [ 6.65037338e-03 9.99977082e-01 1.26827785e-03 -1.82434447e+00] [-3.75519738e-03 -1.24332296e-03 9.99992176e-01 1.81421770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.991652532 meters Centerline goodness [0,1] 0.3406575586816394 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.82, Z:0.18 [[ 9.99962964e-01 -8.13169920e-03 2.81881402e-03 -1.29504628e+00] [ 8.13149395e-03 9.99966935e-01 8.42678181e-05 -1.82268088e+00] [-2.81940606e-03 -6.13435280e-05 9.99996024e-01 1.81454196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.021652532 meters Centerline goodness [0,1] 0.3394878024091508 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.82, Z:0.18 [[ 9.99947755e-01 -1.01448311e-02 1.25307275e-03 -1.29278907e+00] [ 1.01460314e-02 9.99948071e-01 -9.55332904e-04 -1.82266916e+00] [-1.24331599e-03 9.67996708e-04 9.99998759e-01 1.83738047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.051652531999999 meters Centerline goodness [0,1] 0.34384563935223655 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.82, Z:0.18 [[ 9.99943370e-01 -1.06329873e-02 4.42079365e-04 -1.29117856e+00] [ 1.06333998e-02 9.99943021e-01 -9.41486114e-04 -1.82381840e+00] [-4.32043365e-04 9.46133605e-04 9.99999459e-01 1.84404447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.081652532 meters Centerline goodness [0,1] 0.3465848074078577 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.82, Z:0.19 [[ 9.99913609e-01 -1.31394327e-02 -3.61308182e-04 -1.29005610e+00] [ 1.31382243e-02 9.99908680e-01 -3.16524334e-03 -1.82089557e+00] [ 4.02864689e-04 3.16022294e-03 9.99994925e-01 1.85558860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.111652531999999 meters Centerline goodness [0,1] 0.34785251215559154 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.82, Z:0.18 [[ 9.99918061e-01 -1.28003907e-02 1.46763308e-04 -1.29083109e+00] [ 1.28007909e-02 9.99913065e-01 -3.16262899e-03 -1.82013628e+00] [-1.06267663e-04 3.16424853e-03 9.99994988e-01 1.84829432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.141652531999998 meters Centerline goodness [0,1] 0.3448520326520691 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.82, Z:0.18 [[ 9.99957031e-01 -9.25792436e-03 -4.75404256e-04 -1.28921374e+00] [ 9.25811573e-03 9.99957062e-01 4.01926585e-04 -1.81889300e+00] [ 4.71662837e-04 -4.06310663e-04 9.99999806e-01 1.84545624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.171652532 meters Centerline goodness [0,1] 0.3455076106122945 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.82, Z:0.19 [[ 9.99977932e-01 -6.57249343e-03 -9.68871138e-04 -1.28866230e+00] [ 6.57526662e-03 9.99974214e-01 2.88744908e-03 -1.81549111e+00] [ 9.49868414e-04 -2.89375595e-03 9.99995362e-01 1.85159254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.201652531999999 meters Centerline goodness [0,1] 0.34017779397768466 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.81, Z:0.19 [[ 9.99995412e-01 -2.78330014e-03 -1.19571987e-03 -1.28822589e+00] [ 2.79103523e-03 9.99974871e-01 6.51676486e-03 -1.81394057e+00] [ 1.17755171e-03 -6.52007226e-03 9.99978051e-01 1.85250795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.231652532 meters Centerline goodness [0,1] 0.33895549685023374 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.82, Z:0.19 [[ 0.99993936 0.00951296 0.00554811 -1.2926945 ] [-0.00952632 0.99995178 0.00238614 -1.816286 ] [-0.00552515 -0.00243885 0.99998176 0.1870802 ] [ 0. 0. 0. 1. ]] SLAMing on 10.261652532 meters Centerline goodness [0,1] 0.3376917783265191 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.81, Z:0.19 [[ 0.99993665 0.00938861 0.00620825 -1.29401474] [-0.00940036 0.99995407 0.00186665 -1.81447377] [-0.00619044 -0.00192489 0.99997899 0.18662333] [ 0. 0. 0. 1. ]] SLAMing on 10.291652531999999 meters Centerline goodness [0,1] 0.336401148913791 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.81, Z:0.19 [[ 9.99926148e-01 9.78803654e-03 7.20368730e-03 -1.29587732e+00] [-9.80075372e-03 9.99950471e-01 1.73219195e-03 -1.81336899e+00] [-7.18637575e-03 -1.80266559e-03 9.99972553e-01 1.85624369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.321652532 meters Centerline goodness [0,1] 0.3307675167622096 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.82, Z:0.18 [[ 0.99980809 0.01565632 0.01177592 -1.30388157] [-0.01568618 0.99987397 0.00244808 -1.81690696] [-0.01173611 -0.00263233 0.99992766 0.1785531 ] [ 0. 0. 0. 1. ]] SLAMing on 10.351652532 meters Centerline goodness [0,1] 0.331731938701046 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.82, Z:0.18 [[ 0.99977474 0.0169143 0.01282075 -1.30654831] [-0.01696013 0.99985013 0.00347488 -1.8187094 ] [-0.01276006 -0.00369154 0.99991177 0.1783508 ] [ 0. 0. 0. 1. ]] SLAMing on 10.381652531999999 meters Centerline goodness [0,1] 0.3280636411481317 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.82, Z:0.18 [[ 0.99972954 0.01876633 0.01373579 -1.30911209] [-0.0188422 0.9998078 0.00541526 -1.82298653] [-0.01363152 -0.00567261 0.999891 0.17856283] [ 0. 0. 0. 1. ]] SLAMing on 10.411652532 meters Centerline goodness [0,1] 0.32706325423179716 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.83, Z:0.18 [[ 0.99968609 0.02036505 0.01459388 -1.31138177] [-0.0204711 0.99976485 0.00715403 -1.82713757] [-0.01444476 -0.00745054 0.99986791 0.17854631] [ 0. 0. 0. 1. ]] SLAMing on 10.441652531999999 meters Centerline goodness [0,1] 0.32198317696538337 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.83, Z:0.18 [[ 0.9995596 0.02543041 0.01529386 -1.31286173] [-0.02561812 0.99959729 0.01220558 -1.82861789] [-0.0149773 -0.01259201 0.99980854 0.17827968] [ 0. 0. 0. 1. ]] SLAMing on 10.471652531999998 meters Centerline goodness [0,1] 0.32781900012163967 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.83, Z:0.18 [[ 0.99974316 0.01870874 0.01279055 -1.30865357] [-0.01881643 0.99978807 0.00835208 -1.83127392] [-0.01263158 -0.00859061 0.99988332 0.1814374 ] [ 0. 0. 0. 1. ]] SLAMing on 10.501652532 meters Centerline goodness [0,1] 0.33619883754013735 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.84, Z:0.18 [[ 0.99989875 0.0068398 0.01247839 -1.31020741] [-0.00680509 0.99997286 -0.00282184 -1.83634688] [-0.01249735 0.00273664 0.99991816 0.18397087] [ 0. 0. 0. 1. ]] SLAMing on 10.531652531999999 meters Centerline goodness [0,1] 0.33619883754013735 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.84, Z:0.18 [[ 0.99989875 0.0068398 0.01247839 -1.31020741] [-0.00680509 0.99997286 -0.00282184 -1.83634688] [-0.01249735 0.00273664 0.99991816 0.18397087] [ 0. 0. 0. 1. ]] SLAMing on 10.561652531999998 meters Centerline goodness [0,1] 0.3421426830259202 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.84, Z:0.19 [[ 0.99992818 0.00201892 0.01181355 -1.30949409] [-0.00193186 0.99997093 -0.00737651 -1.8369462 ] [-0.0118281 0.00735316 0.99990301 0.18525293] [ 0. 0. 0. 1. ]] SLAMing on 10.591652532 meters Centerline goodness [0,1] 0.3371262829094155 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.83, Z:0.18 [[ 0.99992464 0.00457684 0.01139186 -1.30816129] [-0.00451669 0.99997575 -0.00530017 -1.83186231] [-0.01141584 0.00524831 0.99992106 0.18468296] [ 0. 0. 0. 1. ]] SLAMing on 10.621652531999999 meters Centerline goodness [0,1] 0.3385015017452715 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.83, Z:0.18 [[ 9.99897665e-01 8.50989061e-03 1.14996593e-02 -1.30796498e+00] [-8.49187705e-03 9.99962640e-01 -1.61436526e-03 -1.82993549e+00] [-1.15129677e-02 1.51654636e-03 9.99932574e-01 1.83982001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.651652532 meters Centerline goodness [0,1] 0.33570675105485237 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.83, Z:0.18 [[ 0.99985479 0.01266038 0.01140695 -1.30750279] [-0.01269104 0.99991603 0.00261999 -1.82988246] [-0.01137283 -0.00276438 0.99993151 0.18365773] [ 0. 0. 0. 1. ]] SLAMing on 10.681652532 meters Centerline goodness [0,1] 0.3346839546191248 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.83, Z:0.18 [[ 0.99983416 0.01359447 0.01211793 -1.30967213] [-0.01364317 0.99989915 0.00394502 -1.83275537] [-0.01206307 -0.00410969 0.99991879 0.18442782] [ 0. 0. 0. 1. ]] SLAMing on 10.711652531999999 meters Centerline goodness [0,1] 0.33525847569254463 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.83, Z:0.19 [[ 0.99984058 0.01356569 0.01160977 -1.30907682] [-0.01361681 0.99989789 0.0043357 -1.83465623] [-0.01154976 -0.0044931 0.9999232 0.18528833] [ 0. 0. 0. 1. ]] SLAMing on 10.741652532 meters Centerline goodness [0,1] 0.33742455543403416 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.84, Z:0.19 [[ 0.99986658 0.01095273 0.01211891 -1.31152641] [-0.0109791 0.9999375 0.00211163 -1.8398313 ] [-0.01209503 -0.00224441 0.99992433 0.18641347] [ 0. 0. 0. 1. ]] SLAMing on 10.771652532 meters Centerline goodness [0,1] 0.3390356751491538 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.84, Z:0.19 [[ 9.99913656e-01 6.76147707e-03 1.12677435e-02 -1.31023292e+00] [-6.74186129e-03 9.99975693e-01 -1.77795455e-03 -1.84152492e+00] [-1.12794912e-02 1.70183547e-03 9.99934936e-01 1.87419965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.801652531999999 meters Centerline goodness [0,1] 0.34027552674230144 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.84, Z:0.19 [[ 9.99920416e-01 6.82237946e-03 1.06121448e-02 -1.30889005e+00] [-6.80835839e-03 9.99975902e-01 -1.35679473e-03 -1.84319237e+00] [-1.06211456e-02 1.28443547e-03 9.99942769e-01 1.87756769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.831652532 meters Centerline goodness [0,1] 0.34177959912359 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.84, Z:0.19 [[ 9.99923781e-01 6.64000433e-03 1.04087707e-02 -1.30947923e+00] [-6.62586628e-03 9.99977080e-01 -1.39217913e-03 -1.84350139e+00] [-1.04177762e-02 1.32310589e-03 9.99944858e-01 1.89202939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.861652531999999 meters Centerline goodness [0,1] 0.34043156721710055 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.85, Z:0.19 [[ 9.99907861e-01 7.67720119e-03 1.11951094e-02 -1.31180481e+00] [-7.67429639e-03 9.99970506e-01 -3.02406451e-04 -1.84597365e+00] [-1.11971009e-02 2.16463999e-04 9.99937287e-01 1.89396752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.891652531999998 meters Centerline goodness [0,1] 0.32342045063465397 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.85, Z:0.19 [[ 9.99886672e-01 8.78327724e-03 1.22268689e-02 -1.31407505e+00] [-8.79007240e-03 9.99961240e-01 5.02126696e-04 -1.84692663e+00] [-1.22219847e-02 -6.09544854e-04 9.99925123e-01 1.88761838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.921652532 meters Centerline goodness [0,1] 0.3362349940279774 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.84, Z:0.19 [[ 0.99983702 0.01205977 0.01343516 -1.31452181] [-0.01209136 0.99992432 0.00227206 -1.84017641] [-0.01340675 -0.00243414 0.99990716 0.18530868] [ 0. 0. 0. 1. ]] SLAMing on 10.951652531999999 meters Centerline goodness [0,1] 0.3311137646987391 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.84, Z:0.18 [[ 0.99980423 0.01318125 0.0147563 -1.31758897] [-0.01322571 0.99990827 0.00291969 -1.84083074] [-0.01471646 -0.00311428 0.99988686 0.18469965] [ 0. 0. 0. 1. ]] SLAMing on 10.981652532 meters Centerline goodness [0,1] 0.32311554736692916 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.84, Z:0.18 [[ 0.99975595 0.01525129 0.01598232 -1.32071462] [-0.01532897 0.99987123 0.00474907 -1.84395947] [-0.01590783 -0.0049929 0.999861 0.18456661] [ 0. 0. 0. 1. ]] SLAMing on 11.011652532 meters Centerline goodness [0,1] 0.32005019125295986 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.84, Z:0.18 [[ 0.9996842 0.01935523 0.01602744 -1.32066923] [-0.01949469 0.99977305 0.00859149 -1.84262809] [-0.01585751 -0.00890122 0.99983464 0.18440603] [ 0. 0. 0. 1. ]] SLAMing on 11.041652531999999 meters Centerline goodness [0,1] 0.3261748766480628 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.85, Z:0.18 [[ 0.99963714 0.02118122 0.01664184 -1.32249054] [-0.02135922 0.99971576 0.01059173 -1.84722024] [-0.01641277 -0.01094335 0.99980541 0.18464654] [ 0. 0. 0. 1. ]] SLAMing on 11.071652532 meters Centerline goodness [0,1] 0.3239496392700524 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.85, Z:0.19 [[ 0.99958251 0.0230579 0.0174107 -1.32497202] [-0.02328126 0.99964781 0.01273717 -1.8521451 ] [-0.01711088 -0.01313719 0.99976729 0.18521709] [ 0. 0. 0. 1. ]] SLAMing on 11.101652532 meters Centerline goodness [0,1] 0.32424604540943436 Centerline is valid? [False, False] Translation: X:-1.33, Y:-1.86, Z:0.19 [[ 0.99953794 0.02419038 0.01840456 -1.32816757] [-0.02445281 0.99960056 0.01416997 -1.85617781] [-0.01805443 -0.01461346 0.99973021 0.18589519] [ 0. 0. 0. 1. ]] SLAMing on 11.131652531999999 meters Centerline goodness [0,1] 0.3200121285627653 Centerline is valid? [False, False] Translation: X:-1.33, Y:-1.85, Z:0.18 [[ 0.99942607 0.02800596 0.01905769 -1.3276993 ] [-0.02833932 0.99944598 0.01745336 -1.85357172] [-0.01855834 -0.01798342 0.99966604 0.18331483] [ 0. 0. 0. 1. ]] SLAMing on 11.161652532 meters Centerline goodness [0,1] 0.31929633220229436 Centerline is valid? [False, False] Translation: X:-1.33, Y:-1.85, Z:0.18 [[ 0.99942061 0.02785902 0.0195529 -1.32851677] [-0.0281906 0.99945982 0.01689237 -1.85173463] [-0.01907174 -0.01743379 0.99966611 0.18257904] [ 0. 0. 0. 1. ]] SLAMing on 11.191652531999999 meters Centerline goodness [0,1] 0.31793297105108986 Centerline is valid? [False, False] Translation: X:-1.33, Y:-1.85, Z:0.18 [[ 0.99942638 0.02776161 0.0193962 -1.32808955] [-0.02808876 0.9994642 0.0168031 -1.8518508 ] [-0.01891933 -0.01733827 0.99967067 0.18236234] [ 0. 0. 0. 1. ]] SLAMing on 11.221652531999998 meters Centerline goodness [0,1] 0.32033414915350233 Centerline is valid? [False, False] Translation: X:-1.33, Y:-1.86, Z:0.18 [[ 0.99950164 0.02442573 0.01999663 -1.33056887] [-0.02470036 0.99960233 0.01360393 -1.85513935] [-0.01965639 -0.01409108 0.99970749 0.18313953] [ 0. 0. 0. 1. ]] SLAMing on 11.251652532 meters Centerline goodness [0,1] 0.3069549214310272 Centerline is valid? [False, False] Translation: X:-1.33, Y:-1.86, Z:0.18 [[ 0.99950444 0.02481538 0.01936687 -1.32937654] [-0.02509758 0.99958032 0.01446689 -1.85817958] [-0.01899974 -0.01494579 0.99970777 0.1834736 ] [ 0. 0. 0. 1. ]] SLAMing on 11.281652531999999 meters Centerline goodness [0,1] 0.31300829455796075 Centerline is valid? [False, False] Translation: X:-1.33, Y:-1.86, Z:0.18 [[ 0.99949751 0.02517297 0.01926267 -1.32951063] [-0.02546784 0.9995598 0.01521847 -1.86086818] [-0.0188711 -0.0157014 0.99969863 0.18388836] [ 0. 0. 0. 1. ]] SLAMing on 11.311652531999998 meters Centerline goodness [0,1] 0.31983248700155775 Centerline is valid? [False, False] Translation: X:-1.33, Y:-1.87, Z:0.19 [[ 0.9995099 0.02425644 0.01978859 -1.33259763] [-0.02454992 0.99959015 0.01472527 -1.86532534] [-0.0194233 -0.01520386 0.99969574 0.1857528 ] [ 0. 0. 0. 1. ]] SLAMing on 11.341652532 meters Centerline goodness [0,1] 0.31130452383362006 Centerline is valid? [False, False] Translation: X:-1.33, Y:-1.87, Z:0.19 [[ 0.99948697 0.02481037 0.02025441 -1.3336547 ] [-0.02512326 0.99956662 0.01534253 -1.86703939] [-0.01986498 -0.01584351 0.99967713 0.18546281] [ 0. 0. 0. 1. ]] SLAMing on 11.371652531999999 meters Centerline goodness [0,1] 0.3213346283031848 Centerline is valid? [False, False] Translation: X:-1.33, Y:-1.87, Z:0.19 [[ 0.99947556 0.02500422 0.02057649 -1.33472155] [-0.02532671 0.99955806 0.01556433 -1.86789753] [-0.02017822 -0.0160773 0.99966712 0.18563996] [ 0. 0. 0. 1. ]] SLAMing on 11.401652532 meters Centerline goodness [0,1] 0.3182379246848378 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.87, Z:0.19 [[ 0.99945587 0.02550603 0.02091447 -1.33596387] [-0.02584728 0.99953443 0.01621207 -1.8700036 ] [-0.02049122 -0.01674383 0.99964982 0.18595214] [ 0. 0. 0. 1. ]] SLAMing on 11.431652532 meters Centerline goodness [0,1] 0.30368333805037806 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.87, Z:0.19 [[ 0.99942859 0.02613251 0.02143813 -1.3369273 ] [-0.02649621 0.99950672 0.01686007 -1.87172163] [-0.02098696 -0.01741847 0.999628 0.18543521] [ 0. 0. 0. 1. ]] SLAMing on 11.461652531999999 meters Centerline goodness [0,1] 0.3070359886777194 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.87, Z:0.18 [[ 0.99942302 0.02607443 0.02176561 -1.33716022] [-0.02643756 0.9995132 0.01656572 -1.87085453] [-0.02132307 -0.0171316 0.99962585 0.18448921] [ 0. 0. 0. 1. ]] SLAMing on 11.491652532 meters Centerline goodness [0,1] 0.3076207990623042 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.87, Z:0.18 [[ 0.99941578 0.02570724 0.02252176 -1.33807103] [-0.02606235 0.9995383 0.01561831 -1.86795299] [-0.02210986 -0.01619615 0.99962435 0.18305511] [ 0. 0. 0. 1. ]] SLAMing on 11.521652532 meters Centerline goodness [0,1] 0.3127904627197413 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.87, Z:0.18 [[ 0.99939519 0.02574624 0.02337475 -1.33956397] [-0.02610687 0.99954274 0.01525619 -1.86681668] [-0.02297128 -0.0158572 0.99961036 0.18205138] [ 0. 0. 0. 1. ]] SLAMing on 11.551652531999999 meters Centerline goodness [0,1] 0.3144842071249697 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.87, Z:0.18 [[ 0.99933455 0.02728434 0.02420784 -1.3427447 ] [-0.02770128 0.99947069 0.0170582 -1.87072976] [-0.0237296 -0.01771743 0.9995614 0.18343917] [ 0. 0. 0. 1. ]] SLAMing on 11.581652532 meters Centerline goodness [0,1] 0.3115589061584171 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.88, Z:0.19 [[ 0.99932471 0.0273886 0.02449471 -1.34560708] [-0.02783727 0.99944736 0.01816755 -1.8788437 ] [-0.02398359 -0.01883715 0.99953487 0.18606439] [ 0. 0. 0. 1. ]] SLAMing on 11.611652531999999 meters Centerline goodness [0,1] 0.31740448756822315 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.89, Z:0.19 [[ 0.999334 0.02706669 0.02447362 -1.34779663] [-0.02753234 0.99944234 0.01889406 -1.88675386] [-0.02394857 -0.01955529 0.99952191 0.18873801] [ 0. 0. 0. 1. ]] SLAMing on 11.641652531999998 meters Centerline goodness [0,1] 0.319669481595216 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.89, Z:0.19 [[ 0.99940769 0.02430244 0.02436524 -1.34871455] [-0.02471608 0.99955297 0.01682166 -1.89269542] [-0.02394554 -0.01741391 0.99956159 0.19018144] [ 0. 0. 0. 1. ]] SLAMing on 11.671652532 meters Centerline goodness [0,1] 0.3203516572352466 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.90, Z:0.19 [[ 0.99945146 0.0218386 0.02489703 -1.35025008] [-0.02220042 0.99965055 0.01435019 -1.89626169] [-0.02457494 -0.01489505 0.99958702 0.19002362] [ 0. 0. 0. 1. ]] SLAMing on 11.701652531999999 meters Centerline goodness [0,1] 0.32162975226634904 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.90, Z:0.19 [[ 0.99949418 0.01856262 0.02582284 -1.35269776] [-0.01884279 0.99976575 0.01064894 -1.89704498] [-0.02561912 -0.01113013 0.99960981 0.18969392] [ 0. 0. 0. 1. ]] SLAMing on 11.731652532 meters Centerline goodness [0,1] 0.3198422330097087 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.90, Z:0.19 [[ 0.99973224 0.02002928 0.01158748 -1.34901926] [-0.02016831 0.99972447 0.01200904 -1.90377818] [-0.01134376 -0.01223952 0.99986075 0.19179676] [ 0. 0. 0. 1. ]] SLAMing on 11.761652532 meters Centerline goodness [0,1] 0.31745519134506706 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.90, Z:0.19 [[ 0.99965519 0.0235032 0.01170882 -1.34819799] [-0.0236787 0.99960584 0.01508262 -1.9004684 ] [-0.01134972 -0.01535467 0.99981769 0.19052779] [ 0. 0. 0. 1. ]] SLAMing on 11.791652531999999 meters Centerline goodness [0,1] 0.319018280981719 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.91, Z:0.19 [[ 0.99966605 0.02280106 0.0121613 -1.35120375] [-0.02298346 0.99962218 0.01507539 -1.90679266] [-0.01181297 -0.01534986 0.9998124 0.19249568] [ 0. 0. 0. 1. ]] SLAMing on 11.821652532 meters Centerline goodness [0,1] 0.3136997107546674 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.91, Z:0.19 [[ 0.99969605 0.02115776 0.01265516 -1.35429587] [-0.02133419 0.99967476 0.01397235 -1.91285025] [-0.01235542 -0.0142381 0.99982229 0.19450003] [ 0. 0. 0. 1. ]] SLAMing on 11.851652532 meters Centerline goodness [0,1] 0.3059997570948545 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.92, Z:0.19 [[ 0.99970311 0.02072772 0.0128081 -1.35521598] [-0.0209098 0.99967981 0.01424968 -1.92050299] [-0.01250864 -0.01451327 0.99981643 0.19497548] [ 0. 0. 0. 1. ]] SLAMing on 11.881652531999999 meters Centerline goodness [0,1] 0.2999494898474594 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.92, Z:0.20 [[ 0.99972875 0.01908802 0.01334469 -1.35738569] [-0.0192581 0.99973344 0.01273514 -1.92474417] [-0.01309805 -0.01298868 0.99982985 0.19564521] [ 0. 0. 0. 1. ]] SLAMing on 11.911652532 meters Centerline goodness [0,1] 0.30215464146523696 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.93, Z:0.20 [[ 0.99975754 0.01725514 0.01367898 -1.35971528] [-0.01740849 0.99978605 0.0111717 -1.92909707] [-0.01348328 -0.01140712 0.99984403 0.19693348] [ 0. 0. 0. 1. ]] SLAMing on 11.941652531999999 meters Centerline goodness [0,1] 0.2982151159265024 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.93, Z:0.20 [[ 0.99978328 0.01504853 0.01438524 -1.36235667] [-0.01518206 0.99984225 0.00921819 -1.93373353] [-0.01424425 -0.00943459 0.99985403 0.19773025] [ 0. 0. 0. 1. ]] SLAMing on 11.971652531999998 meters Centerline goodness [0,1] 0.30181546174995955 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.94, Z:0.20 [[ 0.99982404 0.01177476 0.01460276 -1.36466862] [-0.01187146 0.99990806 0.00655336 -1.937479 ] [-0.01452425 -0.00672556 0.9998719 0.20005731] [ 0. 0. 0. 1. ]] SLAMing on 12.001652532 meters Centerline goodness [0,1] 0.32137733142037306 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.94, Z:0.20 [[ 0.99983811 0.01139668 0.01392341 -1.36385255] [-0.01149061 0.99991164 0.00668485 -1.93897624] [-0.01384599 -0.00684375 0.99988072 0.20132154] [ 0. 0. 0. 1. ]] SLAMing on 12.031652531999999 meters Centerline goodness [0,1] 0.3241608158144993 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.94, Z:0.20 [[ 0.99985265 0.00904982 0.014587 -1.36641054] [-0.00912043 0.99994698 0.0047813 -1.94442903] [-0.01454296 -0.00491364 0.99988217 0.20233737] [ 0. 0. 0. 1. ]] SLAMing on 12.061652531999998 meters Centerline goodness [0,1] 0.3177401724626533 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.95, Z:0.20 [[ 9.99904531e-01 3.60204865e-03 1.33399131e-02 -1.36432464e+00] [-3.60853311e-03 9.99993382e-01 4.62056361e-04 -1.94630593e+00] [-1.33381604e-02 -5.10149767e-04 9.99910913e-01 2.04042505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.091652532 meters Centerline goodness [0,1] 0.33493927125506073 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.95, Z:0.21 [[ 9.99919709e-01 -1.76640078e-03 1.25481452e-02 -1.36384022e+00] [ 1.82313524e-03 9.99988162e-01 -4.51134368e-03 -1.94645619e+00] [-1.25400278e-02 4.53385843e-03 9.99911092e-01 2.06155269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.121652531999999 meters Centerline goodness [0,1] 0.33888461694119554 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.95, Z:0.21 [[ 0.99990617 -0.00537227 0.01260145 -1.36522098] [ 0.00547024 0.99995498 -0.00775326 -1.94975729] [-0.01255923 0.00782147 0.99989054 0.20772169] [ 0. 0. 0. 1. ]] SLAMing on 12.151652532 meters Centerline goodness [0,1] 0.31937056289314536 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.95, Z:0.21 [[ 0.99990634 -0.00546673 0.01254667 -1.36417753] [ 0.00556942 0.99995116 -0.0081648 -1.94813067] [-0.01250142 0.00823392 0.99988795 0.20642029] [ 0. 0. 0. 1. ]] SLAMing on 12.181652532 meters Centerline goodness [0,1] 0.3251229533081018 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.94, Z:0.21 [[ 0.99992641 -0.00253989 0.01186292 -1.36191363] [ 0.0026038 0.99998216 -0.00537506 -1.94494405] [-0.01184906 0.00540556 0.99991519 0.20553367] [ 0. 0. 0. 1. ]] SLAMing on 12.211652531999999 meters Centerline goodness [0,1] 0.33049286509462605 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.94, Z:0.21 [[ 9.99938942e-01 1.07700232e-03 1.09978309e-02 -1.35985249e+00] [-1.06122302e-03 9.99998399e-01 -1.44049981e-03 -1.94466366e+00] [-1.09993647e-02 1.42874071e-03 9.99938484e-01 2.05618961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.241652532 meters Centerline goodness [0,1] 0.33793438442389034 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.95, Z:0.21 [[ 9.99948479e-01 2.84321267e-04 1.01468904e-02 -1.35859862e+00] [-2.68958589e-04 9.99998816e-01 -1.51536062e-03 -1.94592082e+00] [-1.01473092e-02 1.51255345e-03 9.99947371e-01 2.06900134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.271652532 meters Centerline goodness [0,1] 0.33785315308022346 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.95, Z:0.21 [[ 0.99994212 -0.00346132 0.01018684 -1.36070927] [ 0.00350989 0.99998254 -0.00475412 -1.94916812] [-0.01017021 0.0047896 0.99993681 0.2095409 ] [ 0. 0. 0. 1. ]] SLAMing on 12.301652531999999 meters Centerline goodness [0,1] 0.3416306062199216 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.95, Z:0.21 [[ 0.99995119 -0.00411044 0.00898453 -1.3575846 ] [ 0.00415615 0.99997848 -0.00507545 -1.94920365] [-0.00896347 0.00511254 0.99994676 0.20947869] [ 0. 0. 0. 1. ]] SLAMing on 12.331652532 meters Centerline goodness [0,1] 0.3172855002631899 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.95, Z:0.21 [[ 0.99995378 -0.00307713 0.00910852 -1.3575137 ] [ 0.00311348 0.99998724 -0.00397865 -1.95139769] [-0.00909616 0.00400683 0.9999506 0.20856626] [ 0. 0. 0. 1. ]] SLAMing on 12.361652531999999 meters Centerline goodness [0,1] 0.33230221790905967 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.95, Z:0.21 [[ 9.99962246e-01 -1.46772608e-03 8.56464974e-03 -1.35481023e+00] [ 1.48951615e-03 9.99995669e-01 -2.53836386e-03 -1.94821941e+00] [-8.56088702e-03 2.55102521e-03 9.99960101e-01 2.06998516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.391652531999998 meters Centerline goodness [0,1] 0.3417017316717915 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.95, Z:0.21 [[ 0.99990701 -0.01013228 0.00912703 -1.35757469] [ 0.01023225 0.99988743 -0.01097442 -1.9488632 ] [-0.00901481 0.01106679 0.99989812 0.2091599 ] [ 0. 0. 0. 1. ]] SLAMing on 12.421652532 meters Centerline goodness [0,1] 0.34332915436567313 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.95, Z:0.21 [[ 0.99989469 -0.01187906 0.0083364 -1.35613896] [ 0.01198288 0.99984985 -0.01251726 -1.94659875] [-0.00818645 0.01261583 0.9998869 0.20987645] [ 0. 0. 0. 1. ]] SLAMing on 12.451652531999999 meters Centerline goodness [0,1] 0.34332915436567313 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.95, Z:0.21 [[ 0.99989469 -0.01187906 0.0083364 -1.35613896] [ 0.01198288 0.99984985 -0.01251726 -1.94659875] [-0.00818645 0.01261583 0.9998869 0.20987645] [ 0. 0. 0. 1. ]] SLAMing on 12.481652532 meters Centerline goodness [0,1] 0.34922558106661816 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.95, Z:0.21 [[ 0.99989665 -0.01188259 0.00809332 -1.35566886] [ 0.01198182 0.99985226 -0.01232493 -1.94740717] [-0.00794567 0.01242063 0.99989129 0.20999657] [ 0. 0. 0. 1. ]] SLAMing on 12.511652532 meters Centerline goodness [0,1] 0.34652662313962446 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.95, Z:0.21 [[ 0.99991414 -0.01035619 0.00802877 -1.35415654] [ 0.01043972 0.99989108 -0.01043233 -1.95123481] [-0.00791985 0.01051525 0.99991335 0.20807157] [ 0. 0. 0. 1. ]] SLAMing on 12.541652531999999 meters Centerline goodness [0,1] 0.3444442190257856 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.95, Z:0.21 [[ 0.99990138 -0.0120938 0.00713986 -1.35206454] [ 0.0121802 0.99985157 -0.01218506 -1.94818746] [-0.00699143 0.01227082 0.99990027 0.20823186] [ 0. 0. 0. 1. ]] SLAMing on 12.571652532 meters Centerline goodness [0,1] 0.3364266320865583 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.95, Z:0.21 [[ 0.99990398 -0.01191154 0.00708124 -1.35237882] [ 0.01199488 0.9998579 -0.01184515 -1.94944477] [-0.00693914 0.01192895 0.99990477 0.20876302] [ 0. 0. 0. 1. ]] SLAMing on 12.601652532 meters Centerline goodness [0,1] 0.3402256019765487 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.95, Z:0.21 [[ 0.99990335 -0.01196627 0.00707755 -1.35366928] [ 0.01204799 0.99985991 -0.0116196 -1.95054146] [-0.00693752 0.01170375 0.99990744 0.21045479] [ 0. 0. 0. 1. ]] SLAMing on 12.631652531999999 meters Centerline goodness [0,1] 0.3456203415991389 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.96, Z:0.21 [[ 0.99995605 -0.00596887 0.00722997 -1.35647009] [ 0.0060032 0.99997077 -0.00473542 -1.95630786] [-0.00720149 0.00477861 0.99996265 0.21329114] [ 0. 0. 0. 1. ]] SLAMing on 12.661652532 meters Centerline goodness [0,1] 0.3395996589386495 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.96, Z:0.21 [[ 9.99980927e-01 -2.52815019e-03 5.63510439e-03 -1.35276862e+00] [ 2.52870159e-03 9.99996799e-01 -9.07287998e-05 -1.96037503e+00] [-5.63485697e-03 1.04976567e-04 9.99984119e-01 2.13553399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.691652531999999 meters Centerline goodness [0,1] 0.3526042089867555 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.96, Z:0.21 [[ 0.99990408 -0.01314218 0.0043718 -1.35016893] [ 0.01318381 0.99986667 -0.00963475 -1.96142555] [-0.0042446 0.00969146 0.99994403 0.2148908 ] [ 0. 0. 0. 1. ]] SLAMing on 12.721652531999998 meters Centerline goodness [0,1] 0.35714720874032857 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.96, Z:0.22 [[ 0.99976398 -0.02130415 0.00425631 -1.35065587] [ 0.02137546 0.99961877 -0.01747585 -1.96402142] [-0.00388238 0.01756271 0.99983823 0.21629603] [ 0. 0. 0. 1. ]] SLAMing on 12.751652532 meters Centerline goodness [0,1] 0.34046396460392525 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.96, Z:0.21 [[ 0.99981143 -0.01909864 0.00351262 -1.34709016] [ 0.01915209 0.99969064 -0.01586876 -1.95894193] [-0.00320846 0.01593304 0.99986791 0.21383214] [ 0. 0. 0. 1. ]] SLAMing on 12.781652531999999 meters Centerline goodness [0,1] 0.334835749380761 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.95, Z:0.21 [[ 0.99986621 -0.0160431 0.0031894 -1.345384 ] [ 0.01608409 0.99978257 -0.01327081 -1.95471074] [-0.0029758 0.01332034 0.99990685 0.21239938] [ 0. 0. 0. 1. ]] SLAMing on 12.811652531999998 meters Centerline goodness [0,1] 0.3383476938672073 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.95, Z:0.21 [[ 0.99990629 -0.01340421 0.00278023 -1.34366803] [ 0.01343413 0.9998488 -0.01104071 -1.95006211] [-0.00263181 0.01107702 0.99993518 0.21131792] [ 0. 0. 0. 1. ]] SLAMing on 12.841652532 meters Centerline goodness [0,1] 0.342128194216467 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.94, Z:0.21 [[ 0.99994153 -0.01039336 0.00298532 -1.34431772] [ 0.01041895 0.99990799 -0.00868684 -1.94472124] [-0.00289476 0.00871744 0.99995781 0.21120633] [ 0. 0. 0. 1. ]] SLAMing on 12.871652531999999 meters Centerline goodness [0,1] 0.3500242777373149 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.94, Z:0.21 [[ 0.99992922 -0.01167659 0.00228286 -1.34345785] [ 0.011698 0.99988547 -0.00960193 -1.94373532] [-0.00217048 0.00962796 0.99995129 0.21256223] [ 0. 0. 0. 1. ]] SLAMing on 12.901652532 meters Centerline goodness [0,1] 0.3487646188458966 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.94, Z:0.21 [[ 9.99927648e-01 -1.18762077e-02 1.91186013e-03 -1.34322798e+00] [ 1.18939510e-02 9.99883626e-01 -9.55344267e-03 -1.94436366e+00] [-1.79817897e-03 9.57549103e-03 9.99952537e-01 2.13508205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.931652532 meters Centerline goodness [0,1] 0.34945473709814734 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.94, Z:0.21 [[ 9.99927314e-01 -1.19637490e-02 1.49527078e-03 -1.34113131e+00] [ 1.19773867e-02 9.99883413e-01 -9.47114197e-03 -1.94483555e+00] [-1.38178608e-03 9.48836299e-03 9.99954030e-01 2.12124069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.961652531999999 meters Centerline goodness [0,1] 0.3500081076698557 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.94, Z:0.21 [[ 9.99920439e-01 -1.25564624e-02 1.20473375e-03 -1.34073556e+00] [ 1.25681170e-02 9.99868884e-01 -1.02106249e-02 -1.94276703e+00] [-1.07636646e-03 1.02249538e-02 9.99947144e-01 2.12595774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.991652532 meters Centerline goodness [0,1] 0.3402777777777778 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.94, Z:0.21 [[ 9.99927514e-01 -1.19604744e-02 1.38350815e-03 -1.34113795e+00] [ 1.19730758e-02 9.99883286e-01 -9.49002186e-03 -1.94478064e+00] [-1.26984151e-03 9.50589881e-03 9.99954012e-01 2.12340501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.021652532 meters Centerline goodness [0,1] 0.3496045152023952 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.95, Z:0.21 [[ 9.99926482e-01 -1.20869891e-02 9.66745201e-04 -1.34008177e+00] [ 1.20956095e-02 9.99881975e-01 -9.47273374e-03 -1.94515816e+00] [-8.52134272e-04 9.48373070e-03 9.99954665e-01 2.12328871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.051652531999999 meters Centerline goodness [0,1] 0.3381376518218624 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.94, Z:0.21 [[ 9.99962213e-01 -8.66219048e-03 7.34598368e-04 -1.33914282e+00] [ 8.66680673e-03 9.99941103e-01 -6.53272400e-03 -1.94144247e+00] [-6.77967403e-04 6.53884377e-03 9.99978392e-01 2.11585042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.081652532 meters Centerline goodness [0,1] 0.33944787504540497 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.94, Z:0.21 [[ 9.99984166e-01 -5.57499284e-03 7.65891268e-04 -1.33829200e+00] [ 5.57797723e-03 9.99976636e-01 -3.95137559e-03 -1.93702871e+00] [-7.43844483e-04 3.95558515e-03 9.99991900e-01 2.10275956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.111652531999999 meters Centerline goodness [0,1] 0.33404255319148934 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.94, Z:0.21 [[ 0.99999092 -0.00378878 0.00194928 -1.34121181] [ 0.00379381 0.99998947 -0.0025834 -1.93880301] [-0.00193947 0.00259078 0.99999476 0.20969457] [ 0. 0. 0. 1. ]] SLAMing on 13.141652531999998 meters Centerline goodness [0,1] 0.34150141643059495 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.94, Z:0.21 [[ 9.99998003e-01 -2.70790400e-04 1.98028605e-03 -1.34085926e+00] [ 2.69829661e-04 9.99999846e-01 4.85402656e-04 -1.93569472e+00] [-1.98041719e-03 -4.84867346e-04 9.99997921e-01 2.08948222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.171652532 meters Centerline goodness [0,1] 0.3374246774780604 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.94, Z:0.21 [[ 0.99998305 0.00487397 0.003186 -1.34398681] [-0.00489001 0.99997531 0.00504688 -1.93519562] [-0.00316133 -0.00506238 0.99998219 0.20892831] [ 0. 0. 0. 1. ]] SLAMing on 13.201652531999999 meters Centerline goodness [0,1] 0.3353012535382127 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.94, Z:0.21 [[ 0.9999655 0.00712296 0.0042738 -1.34704652] [-0.00715405 0.99994774 0.00730333 -1.93976002] [-0.00422156 -0.00733366 0.9999642 0.20916331] [ 0. 0. 0. 1. ]] SLAMing on 13.231652531999998 meters Centerline goodness [0,1] 0.33313768746584627 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.94, Z:0.21 [[ 0.99991504 0.0122735 0.00439012 -1.34754931] [-0.01232776 0.99984521 0.0125534 -1.94207754] [-0.00423536 -0.01260645 0.99991157 0.20933042] [ 0. 0. 0. 1. ]] SLAMing on 13.261652532 meters Centerline goodness [0,1] 0.3212045169385195 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.95, Z:0.21 [[ 0.99990197 0.01307226 0.00501673 -1.3495618 ] [-0.01313954 0.99982091 0.01361965 -1.94558318] [-0.00483779 -0.01368424 0.99989466 0.20983939] [ 0. 0. 0. 1. ]] SLAMing on 13.291652531999999 meters Centerline goodness [0,1] 0.33246316982353896 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.95, Z:0.21 [[ 0.99989881 0.01314634 0.00543614 -1.35100066] [-0.01321923 0.99982014 0.01359896 -1.94559986] [-0.00525639 -0.01366945 0.99989275 0.21024115] [ 0. 0. 0. 1. ]] SLAMing on 13.321652532 meters Centerline goodness [0,1] 0.3293972541803991 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.95, Z:0.21 [[ 0.99989316 0.01340601 0.00582708 -1.35116986] [-0.0134846 0.99981572 0.01366345 -1.94568854] [-0.00564284 -0.01374057 0.99988967 0.208978 ] [ 0. 0. 0. 1. ]] SLAMing on 13.351652532 meters Centerline goodness [0,1] 0.3314715881495872 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.94, Z:0.21 [[ 0.99993657 0.00907895 0.00666487 -1.35274266] [-0.00913713 0.99991997 0.00875049 -1.94351098] [-0.0065849 -0.00881084 0.9999395 0.2079532 ] [ 0. 0. 0. 1. ]] SLAMing on 13.381652531999999 meters Centerline goodness [0,1] 0.32936958107122605 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.94, Z:0.21 [[ 0.99993308 0.0085813 0.00775895 -1.3541277 ] [-0.00863843 0.99993561 0.00735915 -1.9390979 ] [-0.0076953 -0.00742568 0.99994282 0.20606521] [ 0. 0. 0. 1. ]] SLAMing on 13.411652532 meters Centerline goodness [0,1] 0.3291853830278014 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.94, Z:0.21 [[ 0.99991091 0.01002245 0.00881639 -1.35705241] [-0.01010056 0.99990973 0.0088601 -1.94250347] [-0.0087268 -0.00894836 0.99992188 0.20620468] [ 0. 0. 0. 1. ]] SLAMing on 13.441652531999999 meters Centerline goodness [0,1] 0.32869892538400824 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.94, Z:0.21 [[ 0.99989616 0.01065379 0.00970348 -1.35962231] [-0.0107452 0.99989792 0.00941738 -1.94398067] [-0.00960216 -0.00952067 0.99990857 0.20649775] [ 0. 0. 0. 1. ]] SLAMing on 13.471652531999998 meters Centerline goodness [0,1] 0.3196078828509509 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.95, Z:0.21 [[ 0.99988214 0.01143723 0.01024228 -1.3614954 ] [-0.01154381 0.9998792 0.01040829 -1.94692452] [-0.010122 -0.01052529 0.99989338 0.207004 ] [ 0. 0. 0. 1. ]] SLAMing on 13.501652532 meters Centerline goodness [0,1] 0.3277575757575758 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.95, Z:0.21 [[ 0.99986916 0.01226618 0.01054525 -1.36293644] [-0.01238805 0.99985632 0.01157028 -1.9502445 ] [-0.01040181 -0.0116994 0.99987746 0.20783009] [ 0. 0. 0. 1. ]] SLAMing on 13.531652531999999 meters Centerline goodness [0,1] 0.3277074827181954 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.95, Z:0.21 [[ 0.99985207 0.0132267 0.01099482 -1.36450762] [-0.01336813 0.99982754 0.01289111 -1.95433263] [-0.01082242 -0.01303619 0.99985646 0.20823519] [ 0. 0. 0. 1. ]] SLAMing on 13.561652531999998 meters Centerline goodness [0,1] 0.325718794893066 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.96, Z:0.21 [[ 0.99982298 0.01491147 0.01147412 -1.36579865] [-0.01508233 0.99977446 0.01495176 -1.95947289] [-0.01124858 -0.01512217 0.99982238 0.2084062 ] [ 0. 0. 0. 1. ]] SLAMing on 13.591652532 meters Centerline goodness [0,1] 0.3176970555499342 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.96, Z:0.21 [[ 0.99981834 0.01516516 0.01154536 -1.36581238] [-0.01534002 0.99976663 0.01521093 -1.96027049] [-0.01131199 -0.01538527 0.99981765 0.20802168] [ 0. 0. 0. 1. ]] SLAMing on 13.621652531999999 meters Centerline goodness [0,1] 0.3249630424657257 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.96, Z:0.21 [[ 0.99982627 0.01480299 0.01132677 -1.36520103] [-0.01496944 0.99977909 0.01475399 -1.95941087] [-0.01110587 -0.01492098 0.999827 0.20783057] [ 0. 0. 0. 1. ]] SLAMing on 13.651652532 meters Centerline goodness [0,1] 0.3226714172925481 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.96, Z:0.21 [[ 0.99984775 0.01272369 0.01194119 -1.36755919] [-0.01287801 0.99983339 0.01293634 -1.96453086] [-0.0117746 -0.01308815 0.99984502 0.20851499] [ 0. 0. 0. 1. ]] SLAMing on 13.681652532 meters Centerline goodness [0,1] 0.3291613504263119 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.97, Z:0.21 [[ 0.9998912 0.00894288 0.01173051 -1.36793519] [-0.00905669 0.99991208 0.00968508 -1.96815198] [-0.01164286 -0.00979026 0.99988429 0.20961798] [ 0. 0. 0. 1. ]] SLAMing on 13.711652531999999 meters Centerline goodness [0,1] 0.33051344842241603 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.97, Z:0.21 [[ 0.99990258 0.00831883 0.01120817 -1.36660369] [-0.00842343 0.99992111 0.00931804 -1.96839689] [-0.01112977 -0.00941154 0.99989377 0.20976015] [ 0. 0. 0. 1. ]] SLAMing on 13.741652532 meters Centerline goodness [0,1] 0.3314021796378074 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.97, Z:0.21 [[ 0.99990356 0.00812673 0.0112615 -1.36687132] [-0.00823017 0.99992408 0.00917019 -1.96850907] [-0.01118612 -0.00926199 0.99989454 0.20994681] [ 0. 0. 0. 1. ]] SLAMing on 13.771652532 meters Centerline goodness [0,1] 0.3290360446054522 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.97, Z:0.21 [[ 0.99988797 0.00852551 0.01230314 -1.36883286] [-0.00863839 0.99992082 0.00915094 -1.96747093] [-0.01222415 -0.00925619 0.99988244 0.20895574] [ 0. 0. 0. 1. ]] SLAMing on 13.801652531999999 meters Centerline goodness [0,1] 0.3304365441101995 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.97, Z:0.21 [[ 0.99988933 0.00599904 0.01361403 -1.37174991] [-0.00608451 0.99996199 0.00624517 -1.96919794] [-0.01357605 -0.00632732 0.99988782 0.20826289] [ 0. 0. 0. 1. ]] SLAMing on 13.831652532 meters Centerline goodness [0,1] 0.33232646772624064 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.96, Z:0.21 [[ 0.99990314 0.00414477 0.01328624 -1.37050855] [-0.00419673 0.99998365 0.00388506 -1.9643814 ] [-0.01326992 -0.00394044 0.99990419 0.20754226] [ 0. 0. 0. 1. ]] SLAMing on 13.861652531999999 meters Centerline goodness [0,1] 0.3302618522043784 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.96, Z:0.21 [[ 0.99990242 0.00399621 0.01338566 -1.37052865] [-0.00404333 0.99998572 0.00349437 -1.96313018] [-0.01337151 -0.00354815 0.9999043 0.20716433] [ 0. 0. 0. 1. ]] SLAMing on 13.891652531999998 meters Centerline goodness [0,1] 0.32005277044854885 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.97, Z:0.21 [[ 0.99987694 0.0077283 0.01365182 -1.37244386] [-0.00783762 0.99993751 0.00797222 -1.97037461] [-0.01358936 -0.00807824 0.99987503 0.20855745] [ 0. 0. 0. 1. ]] SLAMing on 13.921652532 meters Centerline goodness [0,1] 0.32386767002697714 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.98, Z:0.21 [[ 0.99985693 0.00918683 0.01420269 -1.37491176] [-0.00932697 0.99990816 0.00983271 -1.97533691] [-0.01411105 -0.00996377 0.99985079 0.20978911] [ 0. 0. 0. 1. ]] SLAMing on 13.951652531999999 meters Centerline goodness [0,1] 0.3236564153506193 Centerline is valid? [False, False] Translation: X:-1.38, Y:-1.98, Z:0.21 [[ 0.9998233 0.01118387 0.01510947 -1.37759105] [-0.01136657 0.99986266 0.01206049 -1.98019566] [-0.01497251 -0.01223011 0.99981311 0.21022247] [ 0. 0. 0. 1. ]] SLAMing on 13.981652531999998 meters Centerline goodness [0,1] 0.3232867827391207 Centerline is valid? [False, False] Translation: X:-1.38, Y:-1.98, Z:0.21 [[ 0.99979689 0.01202186 0.0161758 -1.38047583] [-0.01222743 0.99984497 0.01266991 -1.98123891] [-0.01602097 -0.01286513 0.99978889 0.21032344] [ 0. 0. 0. 1. ]] SLAMing on 14.011652532 meters Centerline goodness [0,1] 0.3159228694823496 Centerline is valid? [False, False] Translation: X:-1.38, Y:-1.98, Z:0.21 [[ 0.9997351 0.01472854 0.01768607 -1.38345226] [-0.01498833 0.99978038 0.01464715 -1.98262933] [-0.01746646 -0.01490836 0.9997363 0.20911625] [ 0. 0. 0. 1. ]] SLAMing on 14.041652531999999 meters Centerline goodness [0,1] 0.3231488793051084 Centerline is valid? [False, False] Translation: X:-1.38, Y:-1.98, Z:0.21 [[ 0.99973171 0.01471963 0.0178839 -1.38333312] [-0.01497989 0.99978256 0.01450665 -1.9823719 ] [-0.01766648 -0.01477066 0.99973483 0.20820577] [ 0. 0. 0. 1. ]] SLAMing on 14.071652532 meters Centerline goodness [0,1] 0.32441085287025595 Centerline is valid? [False, False] Translation: X:-1.38, Y:-1.98, Z:0.21 [[ 0.99973258 0.01462499 0.01791293 -1.38303643] [-0.01488235 0.99978672 0.01431916 -1.98206934] [-0.01769969 -0.01458192 0.99973701 0.20762289] [ 0. 0. 0. 1. ]] SLAMing on 14.101652532 meters Centerline goodness [0,1] 0.3165200826814737 Centerline is valid? [False, False] Translation: X:-1.38, Y:-1.98, Z:0.21 [[ 0.99969529 0.01624488 0.01858565 -1.38370806] [-0.01653506 0.99974209 0.01556755 -1.98372954] [-0.01832796 -0.01587012 0.99970607 0.20609741] [ 0. 0. 0. 1. ]] SLAMing on 14.131652531999999 meters Centerline goodness [0,1] 0.31636724525550397 Centerline is valid? [False, False] Translation: X:-1.38, Y:-1.99, Z:0.21 [[ 0.99968059 0.01674631 0.01892843 -1.38476774] [-0.01705186 0.99972501 0.01609797 -1.98518172] [-0.01865364 -0.01641559 0.99969124 0.20613976] [ 0. 0. 0. 1. ]] SLAMing on 14.161652532 meters Centerline goodness [0,1] 0.31481331333360363 Centerline is valid? [False, False] Translation: X:-1.39, Y:-1.99, Z:0.21 [[ 0.99967409 0.01681837 0.01920551 -1.38552071] [-0.0171279 0.99972419 0.01606764 -1.98520652] [-0.01892998 -0.01639136 0.99968644 0.20612333] [ 0. 0. 0. 1. ]] SLAMing on 14.191652531999999 meters Centerline goodness [0,1] 0.32032530193603204 Centerline is valid? [False, False] Translation: X:-1.39, Y:-1.99, Z:0.21 [[ 0.99960782 0.01919001 0.02039467 -1.38830672] [-0.01956338 0.99964171 0.01826802 -1.9883114 ] [-0.0200368 -0.01865984 0.9996251 0.20592557] [ 0. 0. 0. 1. ]] SLAMing on 14.221652531999998 meters Centerline goodness [0,1] 0.3162919307310378 Centerline is valid? [False, False] Translation: X:-1.39, Y:-1.99, Z:0.21 [[ 0.99958631 0.01949902 0.02114217 -1.39030052] [-0.01989103 0.99963112 0.01849248 -1.98889343] [-0.02077379 -0.01890537 0.99960544 0.20598477] [ 0. 0. 0. 1. ]] SLAMing on 14.251652532 meters Centerline goodness [0,1] 0.31513342342524053 Centerline is valid? [False, False] Translation: X:-1.39, Y:-1.99, Z:0.21 [[ 0.9995682 0.01981589 0.02169642 -1.39195201] [-0.02022711 0.99961674 0.01890088 -1.99035271] [-0.02131357 -0.01933158 0.99958593 0.20625552] [ 0. 0. 0. 1. ]] SLAMing on 14.281652531999999 meters Centerline goodness [0,1] 0.3192001294027256 Centerline is valid? [False, False] Translation: X:-1.40, Y:-1.99, Z:0.21 [[ 0.99958467 0.01760138 0.02281857 -1.39525956] [-0.01798168 0.999701 0.01656994 -1.99350297] [-0.0225201 -0.01697337 0.9996023 0.20670326] [ 0. 0. 0. 1. ]] SLAMing on 14.311652531999998 meters Centerline goodness [0,1] 0.3193503367650331 Centerline is valid? [False, False] Translation: X:-1.40, Y:-1.99, Z:0.21 [[ 0.99957971 0.01753526 0.02308504 -1.39591023] [-0.01791643 0.99970482 0.01640962 -1.9932124 ] [-0.02279048 -0.01681632 0.99959882 0.20661488] [ 0. 0. 0. 1. ]] SLAMing on 14.341652532 meters Centerline goodness [0,1] 0.3193503367650331 Centerline is valid? [False, False] Translation: X:-1.40, Y:-1.99, Z:0.21 [[ 0.99957971 0.01753526 0.02308504 -1.39591023] [-0.01791643 0.99970482 0.01640962 -1.9932124 ] [-0.02279048 -0.01681632 0.99959882 0.20661488] [ 0. 0. 0. 1. ]] SLAMing on 14.371652531999999 meters Centerline goodness [0,1] 0.3187541686035936 Centerline is valid? [False, False] Translation: X:-1.40, Y:-1.99, Z:0.21 [[ 0.99956287 0.01784473 0.02357203 -1.39720165] [-0.01823989 0.99969488 0.01665692 -1.99390597] [-0.02326759 -0.01707959 0.99958337 0.2065679 ] [ 0. 0. 0. 1. ]] SLAMing on 14.401652531999998 meters Centerline goodness [0,1] 0.282053354890865 Centerline is valid? [False, False] Translation: X:-1.40, Y:-1.99, Z:0.21 [[ 0.99947784 0.02172459 0.02391854 -1.39745377] [-0.02220972 0.99954909 0.02020737 -1.99168723] [-0.02346876 -0.02072804 0.99950966 0.20585651] [ 0. 0. 0. 1. ]] SLAMing on 14.431652532 meters Centerline goodness [0,1] 0.31543067524375934 Centerline is valid? [False, False] Translation: X:-1.40, Y:-2.00, Z:0.21 [[ 0.99942398 0.0230354 0.02492152 -1.40049735] [-0.02357738 0.99948698 0.02167676 -1.99543753] [-0.0244094 -0.02225185 0.99945437 0.20635707] [ 0. 0. 0. 1. ]] SLAMing on 14.461652531999999 meters Centerline goodness [0,1] 0.3142119488482795 Centerline is valid? [False, False] Translation: X:-1.40, Y:-2.00, Z:0.21 [[ 0.99937838 0.02411664 0.0257145 -1.40312847] [-0.02470728 0.99943232 0.02290409 -1.99862281] [-0.02514753 -0.02352519 0.99940691 0.20702939] [ 0. 0. 0. 1. ]] SLAMing on 14.491652532 meters Centerline goodness [0,1] 0.31608696529866565 Centerline is valid? [False, False] Translation: X:-1.40, Y:-2.00, Z:0.21 [[ 0.99936172 0.02446186 0.02603416 -1.40414085] [-0.02507228 0.9994121 0.02338464 -2.00036301] [-0.02544682 -0.02402245 0.9993875 0.20718898] [ 0. 0. 0. 1. ]] SLAMing on 14.521652532 meters Centerline goodness [0,1] 0.3144030590567908 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.00, Z:0.21 [[ 0.99937181 0.02299778 0.02696448 -1.40586754] [-0.02358382 0.99948804 0.02162095 -2.00290457] [-0.02645344 -0.02224329 0.99940255 0.20640971] [ 0. 0. 0. 1. ]] SLAMing on 14.551652531999999 meters Centerline goodness [0,1] 0.31458859162039376 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.00, Z:0.21 [[ 0.99937692 0.0227716 0.02696707 -1.40573927] [-0.0233488 0.99950075 0.02128587 -2.00220514] [-0.02646889 -0.02190226 0.99940967 0.20615513] [ 0. 0. 0. 1. ]] SLAMing on 14.581652532 meters Centerline goodness [0,1] 0.31196288077466205 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.00, Z:0.21 [[ 0.99937148 0.02298104 0.02699089 -1.40589925] [-0.0235672 0.99948881 0.02160346 -2.0034443 ] [-0.02648062 -0.02222598 0.99940221 0.20618276] [ 0. 0. 0. 1. ]] SLAMing on 14.611652531999999 meters Centerline goodness [0,1] 0.2957092377587077 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.01, Z:0.21 [[ 0.99936507 0.02344029 0.02683295 -1.40605795] [-0.02404648 0.99945771 0.02249575 -2.00652886] [-0.02629109 -0.02312671 0.99938678 0.20682898] [ 0. 0. 0. 1. ]] SLAMing on 14.641652531999998 meters Centerline goodness [0,1] 0.29980821641263755 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.01, Z:0.21 [[ 0.99939216 0.02186457 0.0271524 -1.40854679] [-0.02245177 0.99951644 0.0215128 -2.01293145] [-0.0266689 -0.02210935 0.99939979 0.20866826] [ 0. 0. 0. 1. ]] SLAMing on 14.671652532 meters Centerline goodness [0,1] 0.3127576173927099 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.02, Z:0.21 [[ 0.99941571 0.01988982 0.02779622 -1.41160931] [-0.02044494 0.99959428 0.01983154 -2.01779137] [-0.0273905 -0.02038824 0.99941687 0.21015765] [ 0. 0. 0. 1. ]] SLAMing on 14.701652531999999 meters Centerline goodness [0,1] 0.3139671124399014 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.02, Z:0.21 [[ 0.99943695 0.01911781 0.02757328 -1.41082122] [-0.01964836 0.99962449 0.01910036 -2.01652816] [-0.02719777 -0.01963137 0.99943729 0.20986942] [ 0. 0. 0. 1. ]] SLAMing on 14.731652531999998 meters Centerline goodness [0,1] 0.29950510049489953 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.02, Z:0.21 [[ 0.99950944 0.01431665 0.02785533 -1.4121829 ] [-0.01471724 0.99979044 0.01422966 -2.0157776 ] [-0.02764577 -0.01463263 0.99951068 0.21067579] [ 0. 0. 0. 1. ]] SLAMing on 14.761652532 meters Centerline goodness [0,1] 0.29579825145880023 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.01, Z:0.21 [[ 0.99954701 0.01291809 0.02718255 -1.41104814] [-0.01327816 0.99982592 0.01310765 -2.01481744] [-0.02700849 -0.01346265 0.99954455 0.21150616] [ 0. 0. 0. 1. ]] SLAMing on 14.791652531999999 meters Centerline goodness [0,1] 0.3114135153142603 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.02, Z:0.21 [[ 0.99956857 0.01246541 0.02659487 -1.41035665] [-0.01281708 0.99983212 0.01309393 -2.01595363] [-0.02642718 -0.01342915 0.99956053 0.21261541] [ 0. 0. 0. 1. ]] SLAMing on 14.821652532 meters Centerline goodness [0,1] 0.30549379472045923 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.02, Z:0.21 [[ 0.99957393 0.01273474 0.02626383 -1.41079948] [-0.01310582 0.99981602 0.01400563 -2.0192276 ] [-0.02608064 -0.01434387 0.99955693 0.21445606] [ 0. 0. 0. 1. ]] SLAMing on 14.851652532 meters Centerline goodness [0,1] 0.32107219326950265 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.02, Z:0.21 [[ 0.99955714 0.01293827 0.02679786 -1.41215283] [-0.01332194 0.99981058 0.0141888 -2.01974385] [-0.02660921 -0.01453951 0.99954017 0.21437582] [ 0. 0. 0. 1. ]] SLAMing on 14.881652531999999 meters Centerline goodness [0,1] 0.31293342229231114 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.02, Z:0.21 [[ 0.99952289 0.01367681 0.02769368 -1.41458653] [-0.01409275 0.99978997 0.01488016 -2.02137298] [-0.02748435 -0.01526334 0.9995057 0.21443264] [ 0. 0. 0. 1. ]] SLAMing on 14.911652532 meters Centerline goodness [0,1] 0.31582453519591414 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.02, Z:0.21 [[ 0.99948546 0.01657755 0.02745921 -1.41318601] [-0.01706633 0.99969834 0.0176625 -2.01837848] [-0.02715813 -0.01812204 0.99946687 0.21351229] [ 0. 0. 0. 1. ]] SLAMing on 14.941652531999999 meters Centerline goodness [0,1] 0.3115134633240483 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.02, Z:0.21 [[ 0.99943738 0.01875261 0.02780773 -1.41381309] [-0.01930883 0.99961609 0.01987052 -2.02197444] [-0.02742443 -0.02039628 0.99941578 0.21315883] [ 0. 0. 0. 1. ]] SLAMing on 14.971652531999998 meters Centerline goodness [0,1] 0.2951626237573851 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.03, Z:0.21 [[ 0.99942492 0.01944005 0.02778347 -1.41421968] [-0.02002503 0.99958029 0.02093415 -2.02542241] [-0.02736485 -0.02147847 0.99939474 0.21364768] [ 0. 0. 0. 1. ]] SLAMing on 15.001652532 meters Centerline goodness [0,1] 0.3145652612467218 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.03, Z:0.21 [[ 0.99941687 0.01970745 0.02788429 -1.41508571] [-0.02030972 0.9995629 0.021483 -2.02755441] [-0.02744873 -0.02203679 0.99938028 0.21444742] [ 0. 0. 0. 1. ]] SLAMing on 15.031652531999999 meters Centerline goodness [0,1] 0.3143266591312772 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.03, Z:0.21 [[ 0.99940757 0.02001964 0.02799507 -1.41548367] [-0.02063981 0.99954397 0.02204201 -2.02960365] [-0.02754103 -0.02260676 0.99936501 0.21448444] [ 0. 0. 0. 1. ]] SLAMing on 15.061652531999998 meters Centerline goodness [0,1] 0.3131162114110231 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.03, Z:0.21 [[ 0.99939918 0.01964333 0.02855565 -1.4155664 ] [-0.02024725 0.9995741 0.02101572 -2.02663504] [-0.02813067 -0.02158127 0.99937126 0.21257873] [ 0. 0. 0. 1. ]] SLAMing on 15.091652532 meters Centerline goodness [0,1] 0.3110236220472441 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.03, Z:0.21 [[ 0.99938604 0.01990532 0.02883248 -1.41614939] [-0.02052266 0.99956298 0.02127604 -2.02746821] [-0.02839637 -0.0218547 0.9993578 0.21229031] [ 0. 0. 0. 1. ]] SLAMing on 15.121652531999999 meters Centerline goodness [0,1] 0.31199677126425185 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.03, Z:0.21 [[ 0.99932771 0.02244596 0.02898816 -1.41847692] [-0.02316078 0.99942995 0.02456337 -2.03452125] [-0.02842029 -0.02521825 0.9992779 0.21478839] [ 0. 0. 0. 1. ]] SLAMing on 15.151652531999998 meters Centerline goodness [0,1] 0.309663738261133 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.04, Z:0.22 [[ 0.99930467 0.0230493 0.02930708 -1.42010962] [-0.02379983 0.99939087 0.02552356 -2.03789861] [-0.02870092 -0.02620331 0.99924454 0.21585462] [ 0. 0. 0. 1. ]] SLAMing on 15.181652532 meters Centerline goodness [0,1] 0.3083712006462688 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.04, Z:0.22 [[ 0.99928538 0.02339488 0.02968869 -1.4211646 ] [-0.02416866 0.99937032 0.02597771 -2.03956362] [-0.02906225 -0.02667668 0.99922157 0.2158211 ] [ 0. 0. 0. 1. ]] SLAMing on 15.211652531999999 meters Centerline goodness [0,1] 0.31139260965311033 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.04, Z:0.22 [[ 0.99929138 0.02298229 0.02980875 -1.42131981] [-0.02374058 0.99939698 0.02533901 -2.03779057] [-0.02920842 -0.02602873 0.99923439 0.21548344] [ 0. 0. 0. 1. ]] SLAMing on 15.241652532 meters Centerline goodness [0,1] 0.3087527794623004 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.04, Z:0.22 [[ 0.99927485 0.02299579 0.03034753 -1.42275494] [-0.02376535 0.99939875 0.02524587 -2.03773294] [-0.02974873 -0.02594878 0.99922053 0.21553031] [ 0. 0. 0. 1. ]] SLAMing on 15.271652532 meters Centerline goodness [0,1] 0.3111515519158832 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.04, Z:0.22 [[ 0.99927527 0.02299865 0.03033132 -1.4232841 ] [-0.02377731 0.99939032 0.02556612 -2.03942324] [-0.02972484 -0.02626879 0.99921288 0.21628166] [ 0. 0. 0. 1. ]] SLAMing on 15.301652531999999 meters Centerline goodness [0,1] 0.3097572315093692 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.04, Z:0.22 [[ 0.99927565 0.02309858 0.03024271 -1.4232861 ] [-0.02388816 0.99937616 0.02601227 -2.04156932] [-0.029623 -0.02671587 0.99920405 0.21654811] [ 0. 0. 0. 1. ]] SLAMing on 15.331652532 meters Centerline goodness [0,1] 0.30977009172087766 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.04, Z:0.22 [[ 0.9992927 0.02283072 0.02988087 -1.42281818] [-0.02361021 0.99938311 0.025999 -2.04231727] [-0.02926886 -0.0266861 0.99921529 0.21707153] [ 0. 0. 0. 1. ]] SLAMing on 15.361652531999999 meters Centerline goodness [0,1] 0.2991510006064282 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.04, Z:0.22 [[ 0.99929159 0.02269697 0.03001944 -1.42277744] [-0.02347107 0.99939437 0.0256904 -2.04146982] [-0.02941817 -0.02637679 0.99921911 0.21641006] [ 0. 0. 0. 1. ]] SLAMing on 15.391652531999998 meters Centerline goodness [0,1] 0.30914450703656593 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.04, Z:0.22 [[ 0.99928489 0.02218646 0.03061824 -1.42366415] [-0.02294479 0.99943299 0.02464208 -2.03831425] [-0.03005416 -0.02532699 0.99922735 0.21550319] [ 0. 0. 0. 1. ]] SLAMing on 15.421652532 meters Centerline goodness [0,1] 0.31008503504413343 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.04, Z:0.21 [[ 0.99927112 0.02203897 0.031169 -1.42465057] [-0.02279532 0.99944908 0.02412266 -2.03670906] [-0.03062019 -0.02481559 0.99922299 0.21485597] [ 0. 0. 0. 1. ]] SLAMing on 15.451652531999999 meters Centerline goodness [0,1] 0.3118416273156557 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.04, Z:0.22 [[ 0.99933121 0.01891535 0.03129443 -1.42583549] [-0.01958598 0.99958203 0.02126387 -2.04069942] [-0.03087913 -0.02186258 0.999284 0.21564978] [ 0. 0. 0. 1. ]] SLAMing on 15.481652531999998 meters Centerline goodness [0,1] 0.3130311900676289 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.05, Z:0.22 [[ 0.99938496 0.01556004 0.03142588 -1.42703197] [-0.01614081 0.99970202 0.01831235 -2.04504797] [-0.03113157 -0.01880833 0.99933832 0.21651017] [ 0. 0. 0. 1. ]] SLAMing on 15.511652532 meters Centerline goodness [0,1] 0.31166340271749005 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.05, Z:0.22 [[ 0.99941931 0.01258015 0.03166675 -1.42893538] [-0.01308614 0.99978918 0.01582258 -2.05015297] [-0.03146102 -0.01622779 0.99937324 0.21794057] [ 0. 0. 0. 1. ]] SLAMing on 15.541652531999999 meters Centerline goodness [0,1] 0.3177807837515899 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.06, Z:0.22 [[ 0.99944254 0.00969024 0.03194856 -1.43084395] [-0.01012584 0.99985759 0.01350091 -2.05563463] [-0.03181319 -0.01381689 0.99939833 0.21941499] [ 0. 0. 0. 1. ]] SLAMing on 15.571652532 meters Centerline goodness [0,1] 0.3181680560321337 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.07, Z:0.22 [[ 0.99948511 0.00543175 0.03162287 -1.43332259] [-0.00578846 0.99992053 0.01119937 -2.0682268 ] [-0.03155953 -0.01137665 0.99943713 0.22370435] [ 0. 0. 0. 1. ]] SLAMing on 15.601652532 meters Centerline goodness [0,1] 0.3223382551962348 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.07, Z:0.22 [[ 0.99950729 0.00456176 0.03105415 -1.43262312] [-0.00489508 0.99993113 0.01066605 -2.06830967] [-0.03100336 -0.01081281 0.99946079 0.22472198] [ 0. 0. 0. 1. ]] SLAMing on 15.631652531999999 meters Centerline goodness [0,1] 0.3101544807505662 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.07, Z:0.23 [[ 0.9995161 0.00428227 0.03080966 -1.4323098 ] [-0.00460706 0.99993449 0.01047839 -2.06818153] [-0.03076277 -0.01061526 0.99947034 0.22513201] [ 0. 0. 0. 1. ]] SLAMing on 15.661652532 meters Centerline goodness [0,1] 0.3214372322366825 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.07, Z:0.23 [[ 0.9995282 0.00390338 0.03046535 -1.4318229 ] [-0.00421192 0.99994043 0.01007 -2.06713379] [-0.03042423 -0.01019356 0.9994851 0.22565918] [ 0. 0. 0. 1. ]] SLAMing on 15.691652531999999 meters Centerline goodness [0,1] 0.320705130796911 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.07, Z:0.23 [[ 0.99985761 0.00583306 0.01583485 -1.42516611] [-0.00601844 0.99991362 0.01168462 -2.07130127] [-0.01576532 -0.01177825 0.99980634 0.22764747] [ 0. 0. 0. 1. ]] SLAMing on 15.721652531999998 meters Centerline goodness [0,1] 0.31255434013385364 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.07, Z:0.23 [[ 0.99985286 0.00591467 0.01610215 -1.42547676] [-0.00610279 0.99991341 0.01165909 -2.07130012] [-0.01603179 -0.01175564 0.99980237 0.22704201] [ 0. 0. 0. 1. ]] SLAMing on 15.751652532 meters Centerline goodness [0,1] 0.322928053767359 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.07, Z:0.23 [[ 0.99984443 0.0059225 0.01661438 -1.42660887] [-0.00611289 0.99991597 0.01143205 -2.07048363] [-0.01654528 -0.01153183 0.99979661 0.22672537] [ 0. 0. 0. 1. ]] SLAMing on 15.781652531999999 meters Centerline goodness [0,1] 0.3129049238743117 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.07, Z:0.23 [[ 0.99983093 0.00632466 0.01726589 -1.42806549] [-0.0065282 0.99990957 0.01175762 -2.07118523] [-0.01718997 -0.01186834 0.9997818 0.2263141 ] [ 0. 0. 0. 1. ]] SLAMing on 15.811652531999998 meters Centerline goodness [0,1] 0.31990051763183436 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.07, Z:0.23 [[ 0.9998214 0.00650303 0.0177446 -1.429268 ] [-0.00671335 0.99990762 0.01181865 -2.07127902] [-0.01766611 -0.01193566 0.9997727 0.22624289] [ 0. 0. 0. 1. ]] SLAMing on 15.841652532 meters Centerline goodness [0,1] 0.32155184594578223 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.07, Z:0.23 [[ 0.99981853 0.00677297 0.01780518 -1.42930906] [-0.00698626 0.99990426 0.011944 -2.0712912 ] [-0.01772258 -0.01206622 0.99977013 0.22602295] [ 0. 0. 0. 1. ]] SLAMing on 15.871652531999999 meters Centerline goodness [0,1] 0.3200726978998385 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.07, Z:0.23 [[ 0.99980258 0.0077117 0.0183123 -1.43106047] [-0.00795017 0.99988408 0.01298518 -2.07404557] [-0.01821004 -0.0131282 0.99974799 0.22641576] [ 0. 0. 0. 1. ]] SLAMing on 15.901652531999998 meters Centerline goodness [0,1] 0.319868112306821 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.08, Z:0.23 [[ 0.99976949 0.00959712 0.01920601 -1.43384374] [-0.00988654 0.99983814 0.01503159 -2.07849201] [-0.01905864 -0.01521801 0.99970255 0.22689447] [ 0. 0. 0. 1. ]] SLAMing on 15.931652532 meters Centerline goodness [0,1] 0.3149732079668386 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.08, Z:0.23 [[ 0.99971942 0.01358614 0.01940334 -1.43429664] [-0.01395499 0.99972204 0.01900259 -2.07778056] [-0.01913978 -0.01926803 0.99963114 0.22693689] [ 0. 0. 0. 1. ]] SLAMing on 15.961652531999999 meters Centerline goodness [0,1] 0.3110904534799127 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.06, Z:0.23 [[ 0.99940208 0.02474838 0.02414551 -1.42950143] [-0.02516091 0.99953999 0.01693355 -2.06463089] [-0.02371533 -0.01753094 0.99956503 0.23023097] [ 0. 0. 0. 1. ]] SLAMing on 15.991652532 meters Centerline goodness [0,1] 0.30896297943751394 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.06, Z:0.23 [[ 0.99934678 0.02554143 0.02556653 -1.43245406] [-0.02598542 0.99951456 0.01718707 -2.06446976] [-0.02511514 -0.0178402 0.99952537 0.2290876 ] [ 0. 0. 0. 1. ]] SLAMing on 16.021652532 meters Centerline goodness [0,1] 0.30314102305300983 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.06, Z:0.23 [[ 0.99930584 0.02614273 0.02654039 -1.43423225] [-0.02660562 0.99949733 0.01724025 -2.06366224] [-0.02607634 -0.0179344 0.99949907 0.22794201] [ 0. 0. 0. 1. ]] SLAMing on 16.051652532000002 meters Centerline goodness [0,1] 0.30654455025171345 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.06, Z:0.23 [[ 0.99923702 0.02778508 0.02744767 -1.43660444] [-0.02829235 0.99943273 0.01826919 -2.06448473] [-0.02692449 -0.01903181 0.99945628 0.22777108] [ 0. 0. 0. 1. ]] SLAMing on 16.081652532 meters Centerline goodness [0,1] 0.303691580287325 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.07, Z:0.23 [[ 0.99920268 0.02869104 0.02776384 -1.43753005] [-0.02923467 0.99938475 0.01937674 -2.06745914] [-0.02719082 -0.02017295 0.99942669 0.22776632] [ 0. 0. 0. 1. ]] SLAMing on 16.111652532 meters Centerline goodness [0,1] 0.30271154273254053 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.07, Z:0.23 [[ 0.99918007 0.02911662 0.02813213 -1.43884164] [-0.02968389 0.99935999 0.01996178 -2.06962078] [-0.0275329 -0.02078048 0.99940488 0.22810731] [ 0. 0. 0. 1. ]] SLAMing on 16.141652532000002 meters Centerline goodness [0,1] 0.30387844055210267 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.07, Z:0.23 [[ 0.99914834 0.0295533 0.02879594 -1.44064014] [-0.03014921 0.99933548 0.02048462 -2.07148683] [-0.02817142 -0.02133535 0.99937539 0.22808749] [ 0. 0. 0. 1. ]] SLAMing on 16.171652532 meters Centerline goodness [0,1] 0.2737307288723868 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.07, Z:0.23 [[ 0.99911872 0.02962234 0.02973731 -1.44225478] [-0.03023116 0.99933805 0.02023689 -2.07067402] [-0.02911816 -0.02111805 0.99935287 0.22700006] [ 0. 0. 0. 1. ]] SLAMing on 16.201652532 meters Centerline goodness [0,1] 0.28121907377860356 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.07, Z:0.23 [[ 0.99912731 0.02928203 0.0297855 -1.44247224] [-0.02988088 0.99935609 0.01986296 -2.0700786 ] [-0.02918469 -0.02073564 0.99935894 0.22708892] [ 0. 0. 0. 1. ]] SLAMing on 16.231652532000002 meters Centerline goodness [0,1] 0.29964438697163176 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.07, Z:0.23 [[ 0.99914057 0.02900778 0.02960863 -1.44221056] [-0.02959888 0.99936723 0.0197245 -2.07035897] [-0.02901773 -0.02058393 0.99936694 0.22728248] [ 0. 0. 0. 1. ]] SLAMing on 16.261652532 meters Centerline goodness [0,1] 0.29964438697163176 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.07, Z:0.23 [[ 0.99914057 0.02900778 0.02960863 -1.44221056] [-0.02959888 0.99936723 0.0197245 -2.07035897] [-0.02901773 -0.02058393 0.99936694 0.22728248] [ 0. 0. 0. 1. ]] SLAMing on 16.291652532 meters Centerline goodness [0,1] 0.2975589055490442 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.07, Z:0.23 [[ 0.99915644 0.02872484 0.02934788 -1.44189656] [-0.02930784 0.99937763 0.01963163 -2.07090222] [-0.0287657 -0.0204752 0.99937646 0.22773012] [ 0. 0. 0. 1. ]] SLAMing on 16.321652532 meters Centerline goodness [0,1] 0.29168012924071085 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.08, Z:0.23 [[ 0.99922277 0.02624213 0.02941451 -1.44395692] [-0.02677743 0.99948017 0.01795447 -2.07725917] [-0.02892806 -0.01872816 0.99940604 0.23007824] [ 0. 0. 0. 1. ]] SLAMing on 16.351652532 meters Centerline goodness [0,1] 0.3015056107209171 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.08, Z:0.23 [[ 0.99927784 0.02365259 0.02973823 -1.44596037] [-0.02413303 0.99958228 0.01590165 -2.08327721] [-0.0293497 -0.01660784 0.99943123 0.23134679] [ 0. 0. 0. 1. ]] SLAMing on 16.381652532 meters Centerline goodness [0,1] 0.30219214062026467 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.09, Z:0.23 [[ 0.99932679 0.02126885 0.02989331 -1.44830389] [-0.02170049 0.99966381 0.01418983 -2.08948653] [-0.02958146 -0.01482898 0.99945237 0.23336992] [ 0. 0. 0. 1. ]] SLAMing on 16.411652532 meters Centerline goodness [0,1] 0.3138866396761134 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.10, Z:0.24 [[ 0.99939848 0.01799745 0.02964414 -1.44983772] [-0.01836321 0.99975801 0.01211272 -2.0966915 ] [-0.02941896 -0.0126498 0.99948712 0.23596347] [ 0. 0. 0. 1. ]] SLAMing on 16.441652532 meters Centerline goodness [0,1] 0.31268066870161115 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.10, Z:0.24 [[ 0.99941655 0.01769215 0.02921556 -1.44863044] [-0.01804843 0.99976538 0.01197637 -2.0968068 ] [-0.02899682 -0.01249668 0.99950138 0.23577291] [ 0. 0. 0. 1. ]] SLAMing on 16.471652532 meters Centerline goodness [0,1] 0.3159743248153082 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.10, Z:0.24 [[ 0.99973275 0.01708265 0.01557613 -1.44315579] [-0.01727717 0.99977334 0.01244075 -2.10099073] [-0.01536008 -0.01270653 0.99980129 0.23596252] [ 0. 0. 0. 1. ]] SLAMing on 16.501652532 meters Centerline goodness [0,1] 0.3122876557191393 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.10, Z:0.24 [[ 0.99976127 0.01411149 0.01668143 -1.4463883 ] [-0.01427104 0.99985318 0.00948448 -2.10405073] [-0.01654514 -0.00972027 0.99981587 0.23618109] [ 0. 0. 0. 1. ]] SLAMing on 16.531652532000003 meters Centerline goodness [0,1] 0.32132969586743454 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.11, Z:0.24 [[ 0.99982503 0.00950234 0.01611241 -1.44634822] [-0.00959268 0.99993865 0.00553888 -2.10621406] [-0.01605879 -0.00569247 0.99985484 0.23805363] [ 0. 0. 0. 1. ]] SLAMing on 16.561652532 meters Centerline goodness [0,1] 0.3153637723945485 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.11, Z:0.24 [[ 0.9998314 0.00969429 0.01559479 -1.44579902] [-0.00979358 0.99993217 0.00630333 -2.10943231] [-0.01553263 -0.00645499 0.99985853 0.23907649] [ 0. 0. 0. 1. ]] SLAMing on 16.591652532 meters Centerline goodness [0,1] 0.3231686369606952 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.11, Z:0.24 [[ 0.99983723 0.00966835 0.01523245 -1.44532362] [-0.00977147 0.99992975 0.00670975 -2.11144386] [-0.01516651 -0.0068575 0.99986147 0.23966234] [ 0. 0. 0. 1. ]] SLAMing on 16.621652532000002 meters Centerline goodness [0,1] 0.31983011426837904 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.24 [[ 0.99984586 0.0091441 0.01498818 -1.44492782] [-0.00923917 0.99993756 0.00628597 -2.1109892 ] [-0.01492977 -0.00642348 0.99986791 0.23997264] [ 0. 0. 0. 1. ]] SLAMing on 16.651652532 meters Centerline goodness [0,1] 0.3244604462064362 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.24 [[ 0.99986288 0.0065979 0.01518851 -1.44271452] [-0.00664421 0.99997342 0.0030011 -2.10574483] [-0.01516831 -0.00310161 0.99988014 0.23673195] [ 0. 0. 0. 1. ]] SLAMing on 16.681652532 meters Centerline goodness [0,1] 0.3243784111582777 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.10, Z:0.24 [[ 9.99877618e-01 5.19208712e-03 1.47577823e-02 -1.44209439e+00] [-5.21342968e-03 9.99985419e-01 1.40808675e-03 -2.10246793e+00] [-1.47502562e-02 -1.48485308e-03 9.99890107e-01 2.37187335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.711652532000002 meters Centerline goodness [0,1] 0.32559174590329765 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.10, Z:0.24 [[ 9.99876753e-01 5.35851922e-03 1.47568633e-02 -1.44246328e+00] [-5.38606242e-03 9.99983825e-01 1.82735740e-03 -2.10404943e+00] [-1.47468326e-02 -1.90661358e-03 9.99889442e-01 2.37592352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.741652532 meters Centerline goodness [0,1] 0.3259888720283257 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.10, Z:0.24 [[ 9.99885114e-01 4.91344965e-03 1.43393561e-02 -1.44193955e+00] [-4.93873681e-03 9.99986310e-01 1.72860176e-03 -2.10483705e+00] [-1.43306664e-02 -1.79922148e-03 9.99895692e-01 2.38380699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.771652532 meters Centerline goodness [0,1] 0.32601614502195153 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.24 [[ 0.99989683 0.00475432 0.01355426 -1.44044876] [-0.00478334 0.99998633 0.00210955 -2.10689598] [-0.01354404 -0.00217416 0.99990591 0.23910753] [ 0. 0. 0. 1. ]] SLAMing on 16.801652532000002 meters Centerline goodness [0,1] 0.32649963571602036 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.24 [[ 0.99989457 0.00487566 0.01367755 -1.4410688 ] [-0.00490796 0.99998524 0.00232871 -2.10770968] [-0.01366599 -0.00239559 0.99990375 0.239437 ] [ 0. 0. 0. 1. ]] SLAMing on 16.831652532 meters Centerline goodness [0,1] 0.3233050761729419 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.24 [[ 0.99988663 0.0049198 0.01423135 -1.44279891] [-0.00495187 0.99998528 0.00221927 -2.10712634] [-0.01422022 -0.00228949 0.99989627 0.23979304] [ 0. 0. 0. 1. ]] SLAMing on 16.861652532 meters Centerline goodness [0,1] 0.31839498686072365 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.24 [[ 0.99987247 0.00553187 0.01498148 -1.444713 ] [-0.00557286 0.99998084 0.00269575 -2.10791776] [-0.01496628 -0.00277889 0.99988414 0.23957961] [ 0. 0. 0. 1. ]] SLAMing on 16.891652532000002 meters Centerline goodness [0,1] 0.32473653336569774 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.24 [[ 9.99878726e-01 4.92273127e-03 1.47749779e-02 -1.44354799e+00] [-4.95188364e-03 9.99985863e-01 1.93715561e-03 -2.10623919e+00] [-1.47652330e-02 -2.01008466e-03 9.99888968e-01 2.38692103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.921652532 meters Centerline goodness [0,1] 0.3211641923870393 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.24 [[ 9.99894846e-01 4.22503778e-03 1.38724756e-02 -1.44182177e+00] [-4.24787787e-03 9.99989670e-01 1.61737919e-03 -2.10647964e+00] [-1.38654989e-02 -1.67613770e-03 9.99902464e-01 2.39525853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.951652532 meters Centerline goodness [0,1] 0.29259027258582715 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.24 [[ 9.99908520e-01 3.70247259e-03 1.30093788e-02 -1.44111317e+00] [-3.72378059e-03 9.99991764e-01 1.61405365e-03 -2.10777912e+00] [-1.30032956e-02 -1.66235007e-03 9.99914072e-01 2.41590291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.981652532000002 meters Centerline goodness [0,1] 0.30826474692119477 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.24 [[ 0.99991096 0.00398213 0.01273663 -1.44112244] [-0.00401187 0.99998928 0.00231052 -2.11034813] [-0.01272729 -0.00236142 0.99991622 0.24250177] [ 0. 0. 0. 1. ]] SLAMing on 17.011652532 meters Centerline goodness [0,1] 0.2942558535202139 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.24 [[ 0.99990316 0.00468912 0.01310266 -1.44277786] [-0.00473512 0.99998273 0.00348222 -2.11392753] [-0.01308611 -0.00354392 0.99990809 0.24348403] [ 0. 0. 0. 1. ]] SLAMing on 17.041652532 meters Centerline goodness [0,1] 0.31369056053766275 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.24 [[ 0.99990081 0.00485162 0.01322249 -1.44368849] [-0.00490368 0.99998034 0.00390778 -2.11561832] [-0.01320327 -0.00397223 0.99990494 0.24426002] [ 0. 0. 0. 1. ]] SLAMing on 17.071652532 meters Centerline goodness [0,1] 0.29719054467378314 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.24 [[ 0.99989801 0.00519214 0.01330475 -1.4438763 ] [-0.00525372 0.99997563 0.00459798 -2.11825185] [-0.01328055 -0.00466741 0.99990092 0.24415452] [ 0. 0. 0. 1. ]] SLAMing on 17.101652532 meters Centerline goodness [0,1] 0.3020609790662834 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.24 [[ 0.99991058 0.00379097 0.01282411 -1.44231173] [-0.00383085 0.9999879 0.00308725 -2.11507611] [-0.01281225 -0.0031361 0.999913 0.24386648] [ 0. 0. 0. 1. ]] SLAMing on 17.131652532 meters Centerline goodness [0,1] 0.3100196304616194 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.24 [[ 9.99918206e-01 -3.59554945e-04 1.27848227e-02 -1.44016333e+00] [ 3.87179207e-04 9.99997596e-01 -2.15829797e-03 -2.10729762e+00] [-1.27840160e-02 2.16307146e-03 9.99915941e-01 2.41318855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.161652532 meters Centerline goodness [0,1] 0.310381849488504 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.10, Z:0.24 [[ 0.99992309 -0.00232573 0.01218248 -1.43801962] [ 0.00237693 0.9999884 -0.00418961 -2.10404086] [-0.01217259 0.00421824 0.99991701 0.24046979] [ 0. 0. 0. 1. ]] SLAMing on 17.191652532 meters Centerline goodness [0,1] 0.31995545206034226 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.10, Z:0.24 [[ 0.99989832 -0.00675238 0.01255976 -1.43960563] [ 0.00686134 0.99993903 -0.00865252 -2.10398889] [-0.01250057 0.00873782 0.99988369 0.24143774] [ 0. 0. 0. 1. ]] SLAMing on 17.221652532 meters Centerline goodness [0,1] 0.32591257140542074 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.24 [[ 0.99990577 -0.0066172 0.01202731 -1.4394194 ] [ 0.00671216 0.99994649 -0.00787232 -2.1070457 ] [-0.01197458 0.0079523 0.99989668 0.2428509 ] [ 0. 0. 0. 1. ]] SLAMing on 17.251652532 meters Centerline goodness [0,1] 0.32283241095501636 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.24 [[ 0.99991057 -0.00668524 0.01158234 -1.43892421] [ 0.00677232 0.99994897 -0.007496 -2.10884137] [-0.01153163 0.00757377 0.99990483 0.24367023] [ 0. 0. 0. 1. ]] SLAMing on 17.281652532000003 meters Centerline goodness [0,1] 0.3263559287655673 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.25 [[ 0.99991582 -0.00660863 0.01116641 -1.43940599] [ 0.00668588 0.99995387 -0.00689552 -2.11115526] [-0.01112033 0.0069696 0.99991388 0.24566388] [ 0. 0. 0. 1. ]] SLAMing on 17.311652532 meters Centerline goodness [0,1] 0.32719658500070814 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 0.99992162 -0.00614862 0.01090636 -1.43968605] [ 0.00621162 0.99996416 -0.0057522 -2.11527671] [-0.0108706 0.00581949 0.99992398 0.24685837] [ 0. 0. 0. 1. ]] SLAMing on 17.341652532 meters Centerline goodness [0,1] 0.33069318964469474 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 0.9999272 -0.00652452 0.01015045 -1.43869338] [ 0.00658221 0.99996231 -0.00566115 -2.11653978] [-0.01011313 0.00572755 0.99993246 0.24822723] [ 0. 0. 0. 1. ]] SLAMing on 17.371652532000002 meters Centerline goodness [0,1] 0.3306252279265772 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 0.9999283 -0.00616199 0.0102681 -1.4390746 ] [ 0.00621556 0.9999672 -0.00519294 -2.11798915] [-0.01023577 0.00525639 0.9999338 0.24811866] [ 0. 0. 0. 1. ]] SLAMing on 17.401652532 meters Centerline goodness [0,1] 0.3296816992270708 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 0.99992938 -0.00656485 0.00990691 -1.43860683] [ 0.00661943 0.99996304 -0.00548632 -2.11758015] [-0.00987053 0.00555151 0.99993587 0.24868617] [ 0. 0. 0. 1. ]] SLAMing on 17.431652532 meters Centerline goodness [0,1] 0.3299044372755493 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 0.99992849 -0.0075676 0.00925949 -1.4373782 ] [ 0.00762766 0.99994999 -0.00646858 -2.11567634] [-0.00921007 0.00653875 0.99993621 0.24924102] [ 0. 0. 0. 1. ]] SLAMing on 17.461652532000002 meters Centerline goodness [0,1] 0.3309423945859421 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.25 [[ 0.99992032 -0.0092208 0.00862187 -1.43512716] [ 0.00929259 0.99992217 -0.00832462 -2.1119378 ] [-0.00854444 0.00840408 0.99992818 0.24852302] [ 0. 0. 0. 1. ]] SLAMing on 17.491652532 meters Centerline goodness [0,1] 0.32680506329113923 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.11, Z:0.25 [[ 0.99991858 -0.00923786 0.00880317 -1.4349786 ] [ 0.00931344 0.99991979 -0.00858387 -2.11102198] [-0.00872317 0.00866516 0.99992441 0.24760343] [ 0. 0. 0. 1. ]] SLAMing on 17.521652532 meters Centerline goodness [0,1] 0.33740890688259106 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.11, Z:0.25 [[ 0.99993093 -0.0079688 0.00863907 -1.43320978] [ 0.00803668 0.99993688 -0.00785122 -2.10628129] [-0.00857596 0.00792011 0.99993186 0.24595779] [ 0. 0. 0. 1. ]] SLAMing on 17.551652532000002 meters Centerline goodness [0,1] 0.3159449017981756 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.11, Z:0.25 [[ 0.9999262 -0.00786094 0.00926248 -1.43451603] [ 0.00793497 0.99993665 -0.00798363 -2.10559068] [-0.00919914 0.00805654 0.99992523 0.24540859] [ 0. 0. 0. 1. ]] SLAMing on 17.581652532 meters Centerline goodness [0,1] 0.3252448797862867 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.25 [[ 0.99992259 -0.0076648 0.00980106 -1.43585104] [ 0.00774233 0.99993884 -0.00789771 -2.10571207] [-0.00973993 0.00797298 0.99992078 0.24520667] [ 0. 0. 0. 1. ]] SLAMing on 17.611652532 meters Centerline goodness [0,1] 0.3220688817839653 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.25 [[ 0.9999223 -0.00734371 0.01007306 -1.4370544 ] [ 0.00741851 0.99994504 -0.00740866 -2.107361 ] [-0.01001809 0.00748281 0.99992182 0.24569877] [ 0. 0. 0. 1. ]] SLAMing on 17.641652532000002 meters Centerline goodness [0,1] 0.3344959039662584 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.25 [[ 0.9999289 -0.00596061 0.0103282 -1.43934916] [ 0.00601734 0.99996693 -0.00547056 -2.11232757] [-0.01029525 0.00553232 0.9999317 0.2475486 ] [ 0. 0. 0. 1. ]] SLAMing on 17.671652532 meters Centerline goodness [0,1] 0.33816170661048195 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 0.99993318 -0.00529847 0.01027426 -1.43996453] [ 0.0053433 0.9999763 -0.00434117 -2.11606413] [-0.01025101 0.00439578 0.99993779 0.24842471] [ 0. 0. 0. 1. ]] SLAMing on 17.701652532 meters Centerline goodness [0,1] 0.34063260340632606 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 0.99993758 -0.00510198 0.00994021 -1.44076419] [ 0.00513519 0.99998131 -0.00331838 -2.11996256] [-0.00992309 0.00336922 0.99994509 0.25066794] [ 0. 0. 0. 1. ]] SLAMing on 17.731652532000002 meters Centerline goodness [0,1] 0.34247518736074534 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 0.9999373 -0.00518849 0.00992344 -1.44064384] [ 0.0052224 0.9999806 -0.00339416 -2.11985981] [-0.00990564 0.00344577 0.999945 0.25053707] [ 0. 0. 0. 1. ]] SLAMing on 17.761652532 meters Centerline goodness [0,1] 0.3268844679686074 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 0.99993805 -0.0044763 0.01019101 -1.44091754] [ 0.00450446 0.99998609 -0.00274244 -2.12108636] [-0.01017859 0.00278818 0.99994431 0.24962502] [ 0. 0. 0. 1. ]] SLAMing on 17.791652532 meters Centerline goodness [0,1] 0.34270871382767154 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 0.99993685 -0.00384079 0.01056181 -1.44150146] [ 0.00386545 0.99998985 -0.00231574 -2.12151427] [-0.01055281 0.00235642 0.99994154 0.24874251] [ 0. 0. 0. 1. ]] SLAMing on 17.821652532 meters Centerline goodness [0,1] 0.33410175523740193 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.25 [[ 9.99938499e-01 -6.68776498e-04 1.10702998e-02 -1.44135117e+00] [ 6.74492525e-04 9.99999641e-01 -5.12613463e-04 -2.11404495e+00] [-1.10699530e-02 5.20048771e-04 9.99938591e-01 2.46564619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.851652532 meters Centerline goodness [0,1] 0.3385501971489233 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 9.99932351e-01 9.57185957e-05 1.16311909e-02 -1.44332024e+00] [-1.01330408e-04 9.99999879e-01 4.81891245e-04 -2.11692043e+00] [-1.16311434e-02 -4.83037239e-04 9.99932239e-01 2.47006649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.881652532 meters Centerline goodness [0,1] 0.33549144175130496 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 9.99934580e-01 -2.86097385e-04 1.14347381e-02 -1.44411217e+00] [ 2.82185181e-04 9.99999901e-01 3.43745164e-04 -2.11734065e+00] [-1.14348353e-02 -3.40495963e-04 9.99934562e-01 2.48824287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.911652532 meters Centerline goodness [0,1] 0.33884029802397153 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 9.99938011e-01 1.88723307e-04 1.11327413e-02 -1.44304791e+00] [-2.02118955e-04 9.99999257e-01 1.20215314e-03 -2.11996236e+00] [-1.11325061e-02 -1.20432876e-03 9.99937306e-01 2.48383885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.941652532 meters Centerline goodness [0,1] 0.3423970219308894 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 9.99940282e-01 -1.24123062e-03 1.08577953e-02 -1.44194738e+00] [ 1.24807647e-03 9.99999027e-01 -6.23746949e-04 -2.11547079e+00] [-1.08570105e-02 6.37261059e-04 9.99940858e-01 2.47860621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.971652532 meters Centerline goodness [0,1] 0.3417139384116694 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.25 [[ 9.99937490e-01 -1.67831269e-03 1.10544089e-02 -1.44173982e+00] [ 1.69382625e-03 9.99997594e-01 -1.39416923e-03 -2.11319421e+00] [-1.10520424e-02 1.41280633e-03 9.99937926e-01 2.46816508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.001652532 meters Centerline goodness [0,1] 0.3409164573373309 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.25 [[ 9.99939876e-01 -1.45773233e-03 1.08682643e-02 -1.44102491e+00] [ 1.46884643e-03 9.99998406e-01 -1.01470744e-03 -2.11458285e+00] [-1.08667679e-02 1.03061024e-03 9.99940424e-01 2.46303665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.031652532 meters Centerline goodness [0,1] 0.33580276900655814 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.25 [[ 9.99947570e-01 -2.41622967e-03 9.95085061e-03 -1.44002673e+00] [ 2.43211572e-03 9.99995787e-01 -1.58465977e-03 -2.11449477e+00] [-9.94697978e-03 1.60877830e-03 9.99949233e-01 2.48100348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.061652532 meters Centerline goodness [0,1] 0.34262142597160994 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 9.99952467e-01 -1.34139661e-03 9.65730366e-03 -1.44122304e+00] [ 1.33876953e-03 9.99999065e-01 2.78489556e-04 -2.11990053e+00] [-9.65766820e-03 -2.65547414e-04 9.99953328e-01 2.50393920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.091652532 meters Centerline goodness [0,1] 0.3366553232863393 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 9.99946502e-01 -2.83906239e-04 1.03398578e-02 -1.44366493e+00] [ 2.66332165e-04 9.99998518e-01 1.70098090e-03 -2.12337578e+00] [-1.03403254e-02 -1.69813606e-03 9.99945095e-01 2.51323140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.121652532000002 meters Centerline goodness [0,1] 0.3334820251829923 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 9.99940211e-01 -5.21678697e-05 1.09348831e-02 -1.44407885e+00] [ 3.60296714e-05 9.99998910e-01 1.47603733e-03 -2.12197475e+00] [-1.09349481e-02 -1.47555510e-03 9.99939123e-01 2.49662526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.151652532 meters Centerline goodness [0,1] 0.3334820251829923 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 9.99940211e-01 -5.21678697e-05 1.09348831e-02 -1.44407885e+00] [ 3.60296714e-05 9.99998910e-01 1.47603733e-03 -2.12197475e+00] [-1.09349481e-02 -1.47555510e-03 9.99939123e-01 2.49662526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.181652532 meters Centerline goodness [0,1] 0.33864921275000504 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 9.99935355e-01 -6.31823876e-04 1.13528606e-02 -1.44416777e+00] [ 6.28570112e-04 9.99999760e-01 2.90168864e-04 -2.11834793e+00] [-1.13530412e-02 -2.83014037e-04 9.99935512e-01 2.48238800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.211652532000002 meters Centerline goodness [0,1] 0.3403738279905226 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 9.99933596e-01 -9.46381308e-04 1.14851028e-02 -1.44452862e+00] [ 9.49596816e-04 9.99999511e-01 -2.74522020e-04 -2.11664242e+00] [-1.14848373e-02 2.85410008e-04 9.99934006e-01 2.48162574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.241652532 meters Centerline goodness [0,1] 0.33297581705959733 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.12, Z:0.25 [[ 9.99933669e-01 -6.31620192e-05 1.15175171e-02 -1.44527677e+00] [ 5.09150507e-05 9.99999433e-01 1.06362420e-03 -2.12045094e+00] [-1.15175778e-02 -1.06296723e-03 9.99933106e-01 2.48936393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.271652532 meters Centerline goodness [0,1] 0.3367320049459793 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.12, Z:0.25 [[ 9.99938225e-01 6.97952687e-05 1.11149568e-02 -1.44509784e+00] [-8.79116620e-05 9.99998669e-01 1.62943103e-03 -2.12273505e+00] [-1.11148282e-02 -1.63030751e-03 9.99936899e-01 2.49991559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.301652532000002 meters Centerline goodness [0,1] 0.33681699650286034 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 9.99943542e-01 -2.76920164e-04 1.06224051e-02 -1.44452073e+00] [ 2.59988953e-04 9.99998694e-01 1.59526276e-03 -2.12345047e+00] [-1.06228330e-02 -1.59241099e-03 9.99942308e-01 2.50982773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.331652532 meters Centerline goodness [0,1] 0.3394307707890205 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.13, Z:0.25 [[ 9.99950613e-01 1.99876176e-04 9.93640736e-03 -1.44366917e+00] [-2.28403692e-04 9.99995856e-01 2.86995717e-03 -2.12804416e+00] [-9.93579254e-03 -2.87208494e-03 9.99946514e-01 2.52159507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.361652532 meters Centerline goodness [0,1] 0.3394558511176292 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.13, Z:0.25 [[ 9.99948682e-01 6.96938240e-04 1.01068196e-02 -1.44475264e+00] [-7.34017218e-04 9.99993013e-01 3.66546360e-03 -2.13071553e+00] [-1.01041944e-02 -3.67269408e-03 9.99942207e-01 2.52921774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.391652532000002 meters Centerline goodness [0,1] 0.3341435255514371 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.13, Z:0.25 [[ 9.99942730e-01 1.29972748e-03 1.06229422e-02 -1.44575142e+00] [-1.34622842e-03 9.99989539e-01 4.37142864e-03 -2.13267509e+00] [-1.06171494e-02 -4.38547919e-03 9.99934020e-01 2.52387274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.421652532 meters Centerline goodness [0,1] 0.3377861436638533 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.13, Z:0.25 [[ 9.99941835e-01 8.92300284e-04 1.07485439e-02 -1.44631876e+00] [-9.32904543e-04 9.99992446e-01 3.77323076e-03 -2.13101857e+00] [-1.07450959e-02 -3.78303865e-03 9.99935114e-01 2.52687563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.451652532 meters Centerline goodness [0,1] 0.3351040103807631 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.13, Z:0.25 [[ 9.99942907e-01 -1.01111142e-03 1.06377241e-02 -1.44446879e+00] [ 9.99277186e-04 9.99998876e-01 1.11773425e-03 -2.12526606e+00] [-1.06388423e-02 -1.10704040e-03 9.99942793e-01 2.50549896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.481652532000002 meters Centerline goodness [0,1] 0.332165991902834 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 9.99945242e-01 -1.85285339e-03 1.02995599e-02 -1.44295462e+00] [ 1.85391071e-03 9.99998277e-01 -9.31100087e-05 -2.12214940e+00] [-1.02993697e-02 1.12199375e-04 9.99946954e-01 2.49578615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.511652532 meters Centerline goodness [0,1] 0.33677401038286825 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 9.99948277e-01 -2.52491445e-03 9.85229252e-03 -1.44205481e+00] [ 2.53298086e-03 9.99996467e-01 -8.06341674e-04 -2.12061185e+00] [-9.85022177e-03 8.31255636e-04 9.99951140e-01 2.49809408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.541652532 meters Centerline goodness [0,1] 0.3361244019138756 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 9.99946227e-01 -2.55436452e-03 1.00507934e-02 -1.44315775e+00] [ 2.56228613e-03 9.99996417e-01 -7.75359959e-04 -2.12101747e+00] [-1.00487769e-02 8.01071274e-04 9.99949189e-01 2.50576364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.571652532 meters Centerline goodness [0,1] 0.3355923288558019 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 9.99954696e-01 1.11326118e-03 9.45343729e-03 -1.44086150e+00] [-1.14448515e-03 9.99993906e-01 3.29815454e-03 -2.12167226e+00] [-9.44970797e-03 -3.30882444e-03 9.99949876e-01 2.49691748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.601652532 meters Centerline goodness [0,1] 0.3366960397042439 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 9.99957943e-01 -8.15174071e-04 9.13497009e-03 -1.44037325e+00] [ 8.03732584e-04 9.99998888e-01 1.25609421e-03 -2.11801525e+00] [-9.13598387e-03 -1.24869931e-03 9.99957486e-01 2.50028150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.631652532 meters Centerline goodness [0,1] 0.33707137362859807 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 9.99957570e-01 -9.60324136e-04 9.16160879e-03 -1.44020826e+00] [ 9.50993537e-04 9.99999025e-01 1.02274756e-03 -2.11741303e+00] [-9.16258203e-03 -1.01399154e-03 9.99957509e-01 2.49610391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.661652532 meters Centerline goodness [0,1] 0.33253060811494484 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 9.99953761e-01 -1.85472104e-04 9.61463920e-03 -1.44103767e+00] [ 1.67480741e-04 9.99998234e-01 1.87201815e-03 -2.11954699e+00] [-9.61496942e-03 -1.87032132e-03 9.99952026e-01 2.48934729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.691652532 meters Centerline goodness [0,1] 0.3345771648752789 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 9.99949088e-01 3.23280747e-05 1.00906211e-02 -1.44199956e+00] [-5.11029372e-05 9.99998268e-01 1.86037276e-03 -2.11902085e+00] [-1.00905435e-02 -1.86079370e-03 9.99947358e-01 2.48456987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.721652532 meters Centerline goodness [0,1] 0.33638518098401826 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 9.99950011e-01 1.52490433e-04 9.99761927e-03 -1.44181721e+00] [-1.72839830e-04 9.99997915e-01 2.03459183e-03 -2.11964295e+00] [-9.99728817e-03 -2.03621811e-03 9.99947953e-01 2.48416482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.751652532 meters Centerline goodness [0,1] 0.3339553752535497 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 9.99946223e-01 7.87157824e-04 1.03407769e-02 -1.44329047e+00] [-8.15661169e-04 9.99995879e-01 2.75247448e-03 -2.12156313e+00] [-1.03385676e-02 -2.76076103e-03 9.99942744e-01 2.49040689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.781652532 meters Centerline goodness [0,1] 0.333002612023407 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.25 [[ 0.99994242 0.004287 0.00983731 -1.44180697] [-0.00434797 0.99997142 0.00618501 -2.11985599] [-0.00981052 -0.00622743 0.99993248 0.24874661] [ 0. 0. 0. 1. ]] SLAMing on 18.811652532 meters Centerline goodness [0,1] 0.32691098626969806 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.12, Z:0.25 [[ 0.99991504 0.00650348 0.01129673 -1.44538133] [-0.00659275 0.9999472 0.00788304 -2.12200131] [-0.01124486 -0.00795685 0.99990512 0.24836096] [ 0. 0. 0. 1. ]] SLAMing on 18.841652532 meters Centerline goodness [0,1] 0.3261994117050411 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.12, Z:0.25 [[ 0.99986104 0.01037439 0.01304858 -1.44826696] [-0.01050922 0.99989166 0.01030663 -2.11576857] [-0.01294024 -0.01044232 0.99986174 0.24627986] [ 0. 0. 0. 1. ]] SLAMing on 18.871652532000002 meters Centerline goodness [0,1] 0.3217684176354819 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.12, Z:0.25 [[ 0.99981328 0.01295427 0.01433843 -1.45058251] [-0.01313258 0.99983672 0.01241277 -2.11739472] [-0.01417529 -0.01259875 0.99982015 0.24518767] [ 0. 0. 0. 1. ]] SLAMing on 18.901652532 meters Centerline goodness [0,1] 0.3194478278522127 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.12, Z:0.24 [[ 0.99977305 0.01452846 0.01558099 -1.45347506] [-0.01474538 0.99979468 0.01389882 -2.1203591 ] [-0.01537587 -0.01412541 0.999782 0.24460107] [ 0. 0. 0. 1. ]] SLAMing on 18.931652532 meters Centerline goodness [0,1] 0.3178082191780822 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.12, Z:0.24 [[ 0.99975063 0.01513469 0.01641978 -1.45552427] [-0.01537262 0.99977724 0.01446231 -2.121836 ] [-0.01619724 -0.01471112 0.99976059 0.24430613] [ 0. 0. 0. 1. ]] SLAMing on 18.961652532000002 meters Centerline goodness [0,1] 0.31938701045974216 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.12, Z:0.24 [[ 0.99974924 0.01510958 0.01652759 -1.4552125 ] [-0.0153461 0.99978028 0.01427888 -2.12132262] [-0.01630821 -0.01452893 0.99976145 0.24345315] [ 0. 0. 0. 1. ]] SLAMing on 18.991652532 meters Centerline goodness [0,1] 0.31901218547880217 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.12, Z:0.24 [[ 0.99973979 0.01542358 0.0168069 -1.45581785] [-0.01566881 0.99977124 0.0145584 -2.12234573] [-0.01657851 -0.01481796 0.99975276 0.24315134] [ 0. 0. 0. 1. ]] SLAMing on 19.021652532 meters Centerline goodness [0,1] 0.3186692886248911 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.12, Z:0.24 [[ 0.99972151 0.01610525 0.01724866 -1.45730508] [-0.01637029 0.99974837 0.01533662 -2.12462875] [-0.01699732 -0.01561472 0.9997336 0.24344189] [ 0. 0. 0. 1. ]] SLAMing on 19.051652532000002 meters Centerline goodness [0,1] 0.3078448432852431 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.13, Z:0.24 [[ 0.99967818 0.01770652 0.01816625 -1.45987496] [-0.01801548 0.99969339 0.01698715 -2.12779509] [-0.01785989 -0.01730896 0.99969066 0.24370023] [ 0. 0. 0. 1. ]] SLAMing on 19.081652532 meters Centerline goodness [0,1] 0.31844467809770305 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.13, Z:0.24 [[ 0.99970284 0.01534053 0.01894471 -1.46267644] [-0.01562973 0.99976211 0.015213 -2.13370746] [-0.01870683 -0.01550458 0.99970479 0.24480706] [ 0. 0. 0. 1. ]] SLAMing on 19.111652532 meters Centerline goodness [0,1] 0.32276709661718184 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.14, Z:0.25 [[ 0.99975447 0.01102285 0.01922228 -1.46487365] [-0.01124413 0.99987132 0.01144194 -2.13673842] [-0.01909368 -0.01165526 0.99974976 0.24678671] [ 0. 0. 0. 1. ]] SLAMing on 19.141652532000002 meters Centerline goodness [0,1] 0.32346555747184746 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.14, Z:0.25 [[ 0.99979505 0.00756544 0.01877847 -1.46398104] [-0.00772743 0.99993343 0.00856875 -2.14134943] [-0.0187124 -0.00871211 0.99978695 0.24695007] [ 0. 0. 0. 1. ]] SLAMing on 19.171652532 meters Centerline goodness [0,1] 0.32318558207501213 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.14, Z:0.25 [[ 0.99980984 0.00677583 0.01828571 -1.46218995] [-0.00691613 0.99994705 0.0076203 -2.13917331] [-0.01823311 -0.00774532 0.99980376 0.24627933] [ 0. 0. 0. 1. ]] SLAMing on 19.201652532 meters Centerline goodness [0,1] 0.32280125005073257 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.14, Z:0.25 [[ 0.99982227 0.00578907 0.01794211 -1.46126632] [-0.00590486 0.99996204 0.0064074 -2.13650485] [-0.01790433 -0.00651221 0.9998185 0.24610576] [ 0. 0. 0. 1. ]] SLAMing on 19.231652532000002 meters Centerline goodness [0,1] 0.32555733614621585 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.14, Z:0.25 [[ 0.99983357 0.00534734 0.0174425 -1.4603781 ] [-0.00545375 0.99996677 0.00605874 -2.13603628] [-0.01740952 -0.00615286 0.99982951 0.24665499] [ 0. 0. 0. 1. ]] SLAMing on 19.261652532 meters Centerline goodness [0,1] 0.30843544303797465 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.14, Z:0.25 [[ 0.99984454 0.00532784 0.01680819 -1.460255 ] [-0.00544822 0.99995978 0.00712395 -2.14016519] [-0.01676956 -0.00721441 0.99983335 0.24888356] [ 0. 0. 0. 1. ]] SLAMing on 19.291652532 meters Centerline goodness [0,1] 0.32816171109130676 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.14, Z:0.25 [[ 0.99985642 0.00436026 0.01637456 -1.45894742] [-0.0044644 0.99997001 0.00632868 -2.13927752] [-0.01634647 -0.00640088 0.9998459 0.24890308] [ 0. 0. 0. 1. ]] SLAMing on 19.321652532 meters Centerline goodness [0,1] 0.3136670518824889 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.14, Z:0.25 [[ 0.99987141 0.00238369 0.01585794 -1.45710366] [-0.00245802 0.99998608 0.00466894 -2.13823973] [-0.01584659 -0.00470732 0.99986335 0.2483882 ] [ 0. 0. 0. 1. ]] SLAMing on 19.351652532 meters Centerline goodness [0,1] 0.3216608912395891 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.14, Z:0.25 [[ 9.99888789e-01 4.95464629e-04 1.49051618e-02 -1.45518873e+00] [-5.41499776e-04 9.99995096e-01 3.08465997e-03 -2.13648524e+00] [-1.49035604e-02 -3.09238807e-03 9.99884154e-01 2.48997414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.381652532 meters Centerline goodness [0,1] 0.3319749406970379 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.14, Z:0.25 [[ 9.99890947e-01 -4.52525492e-03 1.40575920e-02 -1.45360304e+00] [ 4.54446981e-03 9.99988782e-01 -1.33522582e-03 -2.13741812e+00] [-1.40513921e-02 1.39896452e-03 9.99900296e-01 2.49991844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.411652532 meters Centerline goodness [0,1] 0.3350145843461352 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.14, Z:0.25 [[ 0.99989527 -0.00628001 0.01303843 -1.4512642 ] [ 0.00631711 0.99997611 -0.0028062 -2.1355186 ] [-0.01302049 0.00288827 0.99991106 0.25039287] [ 0. 0. 0. 1. ]] SLAMing on 19.441652532 meters Centerline goodness [0,1] 0.34209405609296095 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.13, Z:0.25 [[ 0.99989573 -0.00801201 0.01201414 -1.44933565] [ 0.0080626 0.99995881 -0.0041685 -2.13397164] [-0.01198025 0.00426493 0.99991914 0.25122256] [ 0. 0. 0. 1. ]] SLAMing on 19.471652532 meters Centerline goodness [0,1] 0.3437670830718147 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.14, Z:0.25 [[ 0.99990705 -0.00881216 0.01040385 -1.44658662] [ 0.00885343 0.9999531 -0.00392675 -2.13639533] [-0.01036876 0.00401849 0.99993817 0.25311412] [ 0. 0. 0. 1. ]] SLAMing on 19.501652532 meters Centerline goodness [0,1] 0.3435051128885289 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.14, Z:0.25 [[ 0.99990988 -0.00917329 0.0098022 -1.44567204] [ 0.00921358 0.99994926 -0.00407346 -2.13644849] [-0.00976434 0.0041634 0.99994366 0.25396764] [ 0. 0. 0. 1. ]] SLAMing on 19.531652532 meters Centerline goodness [0,1] 0.3250435064146667 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.14, Z:0.25 [[ 0.99991013 -0.00924647 0.00970708 -1.44530559] [ 0.00928681 0.9999484 -0.00411833 -2.13646963] [-0.0096685 0.00420811 0.9999444 0.2537879 ] [ 0. 0. 0. 1. ]] SLAMing on 19.561652532 meters Centerline goodness [0,1] 0.34448850760764005 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.14, Z:0.25 [[ 0.99990746 -0.00941745 0.00981703 -1.44533621] [ 0.0094613 0.99994543 -0.00442991 -2.13556334] [-0.00977478 0.00452238 0.999942 0.25338822] [ 0. 0. 0. 1. ]] SLAMing on 19.591652532 meters Centerline goodness [0,1] 0.3378280030728177 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.14, Z:0.25 [[ 0.99990619 -0.00947523 0.00989125 -1.44518044] [ 0.00952069 0.99994428 -0.00455947 -2.13516225] [-0.0098475 0.00465321 0.99994069 0.25293677] [ 0. 0. 0. 1. ]] SLAMing on 19.621652532000002 meters Centerline goodness [0,1] 0.3443990121857414 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.14, Z:0.25 [[ 0.99991357 -0.00920624 0.0093861 -1.44420361] [ 0.00924349 0.99994954 -0.00393271 -2.13735764] [-0.00934942 0.00401913 0.99994822 0.25320878] [ 0. 0. 0. 1. ]] SLAMing on 19.651652532 meters Centerline goodness [0,1] 0.3474908943747471 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.14, Z:0.25 [[ 0.99989886 -0.01148269 0.00839111 -1.44144812] [ 0.01153073 0.99991728 -0.00569879 -2.13636678] [-0.00832497 0.00579497 0.99994856 0.25311908] [ 0. 0. 0. 1. ]] SLAMing on 19.681652532 meters Centerline goodness [0,1] 0.343988655930315 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.13, Z:0.25 [[ 0.99988704 -0.013119 0.00733513 -1.43922429] [ 0.01317083 0.99988832 -0.00706291 -2.13472391] [-0.00724165 0.00715873 0.99994815 0.2537518 ] [ 0. 0. 0. 1. ]] SLAMing on 19.711652532000002 meters Centerline goodness [0,1] 0.3511629791717319 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.13, Z:0.25 [[ 0.99985561 -0.01578154 0.00630165 -1.43633191] [ 0.01583923 0.9998321 -0.0092133 -2.1329999 ] [-0.00615519 0.00931179 0.9999377 0.25369596] [ 0. 0. 0. 1. ]] SLAMing on 19.741652532 meters Centerline goodness [0,1] 0.3503818185501023 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.13, Z:0.25 [[ 0.99984913 -0.01635664 0.00584618 -1.43557167] [ 0.01641289 0.99981819 -0.00970632 -2.13218865] [-0.00568636 0.00980081 0.9999358 0.25421417] [ 0. 0. 0. 1. ]] SLAMing on 19.771652532 meters Centerline goodness [0,1] 0.3502867216469777 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.13, Z:0.25 [[ 0.99985527 -0.01606471 0.00560079 -1.43512934] [ 0.01611537 0.99982854 -0.0091211 -2.13418506] [-0.0054533 0.00921004 0.99994272 0.25434731] [ 0. 0. 0. 1. ]] SLAMing on 19.801652532000002 meters Centerline goodness [0,1] 0.352173824836177 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.14, Z:0.26 [[ 0.99985944 -0.01616421 0.00445167 -1.4342432 ] [ 0.01619913 0.99983739 -0.00792335 -2.13881136] [-0.00432287 0.00799435 0.9999587 0.25713503] [ 0. 0. 0. 1. ]] SLAMing on 19.831652532 meters Centerline goodness [0,1] 0.35783836416747805 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.14, Z:0.26 [[ 0.99985766 -0.01639465 0.00398467 -1.43412796] [ 0.01642489 0.99983561 -0.00767915 -2.14041386] [-0.00385812 0.00774351 0.99996258 0.25862124] [ 0. 0. 0. 1. ]] SLAMing on 19.861652532 meters Centerline goodness [0,1] 0.35162535554652585 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.14, Z:0.26 [[ 0.99986156 -0.01621321 0.00374176 -1.43394277] [ 0.01623969 0.9998425 -0.00715839 -2.14239562] [-0.00362511 0.00721816 0.99996738 0.25918701] [ 0. 0. 0. 1. ]] SLAMing on 19.891652532000002 meters Centerline goodness [0,1] 0.359263778726866 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.14, Z:0.26 [[ 0.99985656 -0.01669232 0.00286836 -1.43235866] [ 0.01671231 0.99983518 -0.00709293 -2.14372144] [-0.00274949 0.00713985 0.99997073 0.26007172] [ 0. 0. 0. 1. ]] SLAMing on 19.921652532 meters Centerline goodness [0,1] 0.3554574671494244 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.14, Z:0.26 [[ 9.99740922e-01 -2.26760539e-02 1.97124534e-03 -1.43010547e+00] [ 2.26990365e-02 9.99663631e-01 -1.25450378e-02 -2.14241289e+00] [-1.68611033e-03 1.25865330e-02 9.99919365e-01 2.60647770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.951652532 meters Centerline goodness [0,1] 0.3454087129759509 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.14, Z:0.26 [[ 9.99700682e-01 -2.44526582e-02 7.83780222e-04 -1.42701897e+00] [ 2.44612133e-02 9.99603556e-01 -1.39420006e-02 -2.14111204e+00] [-4.42550521e-04 1.39569997e-02 9.99902498e-01 2.60661015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.981652532000002 meters Centerline goodness [0,1] 0.368595410848932 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.14, Z:0.26 [[ 9.99654244e-01 -2.62899685e-02 -4.80153684e-04 -1.42418968e+00] [ 2.62795449e-02 9.99537445e-01 -1.53062802e-02 -2.14015929e+00] [ 8.82333209e-04 1.52883697e-02 9.99882737e-01 2.61298784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.011652532 meters Centerline goodness [0,1] 0.36855151675234166 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.14, Z:0.26 [[ 9.99643482e-01 -2.66494321e-02 -1.64851217e-03 -1.42197520e+00] [ 2.66217703e-02 9.99533171e-01 -1.49906866e-02 -2.14241680e+00] [ 2.04723589e-03 1.49414559e-02 9.99886274e-01 2.62334185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.041652532 meters Centerline goodness [0,1] 0.36648842079580346 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.14, Z:0.26 [[ 0.99963643 -0.02685079 -0.0024597 -1.42160581] [ 0.02681245 0.99953556 -0.01448314 -2.14483433] [ 0.00284744 0.01441193 0.99989209 0.26460438] [ 0. 0. 0. 1. ]] SLAMing on 20.071652532 meters Centerline goodness [0,1] 0.3611619303167053 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.15, Z:0.26 [[ 0.99963949 -0.02675501 -0.00224892 -1.42182854] [ 0.02672021 0.99954072 -0.0142959 -2.14537016] [ 0.00263037 0.01423065 0.99989528 0.26414445] [ 0. 0. 0. 1. ]] SLAMing on 20.101652532 meters Centerline goodness [0,1] 0.3611619303167053 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.15, Z:0.26 [[ 0.99963949 -0.02675501 -0.00224892 -1.42182854] [ 0.02672021 0.99954072 -0.0142959 -2.14537016] [ 0.00263037 0.01423065 0.99989528 0.26414445] [ 0. 0. 0. 1. ]] SLAMing on 20.131652532 meters Centerline goodness [0,1] 0.3693016833512701 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.14, Z:0.26 [[ 0.99955102 -0.02986873 -0.0023699 -1.42070106] [ 0.02982173 0.99939559 -0.01786376 -2.13903507] [ 0.00290204 0.01778506 0.99983762 0.26332416] [ 0. 0. 0. 1. ]] SLAMing on 20.161652532 meters Centerline goodness [0,1] 0.3705475269692652 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.13, Z:0.26 [[ 0.99949782 -0.03156721 -0.0027592 -1.41875787] [ 0.03150605 0.99930454 -0.01994506 -2.1345709 ] [ 0.00338689 0.01984811 0.99979727 0.26220163] [ 0. 0. 0. 1. ]] SLAMing on 20.191652532 meters Centerline goodness [0,1] 0.36800995227801114 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.14, Z:0.26 [[ 0.99935659 -0.03573478 -0.00306996 -1.4171335 ] [ 0.03565126 0.99907754 -0.02393876 -2.13543118] [ 0.00392257 0.02381391 0.99970871 0.2615259 ] [ 0. 0. 0. 1. ]] SLAMing on 20.221652532 meters Centerline goodness [0,1] 0.3783431976732361 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.14, Z:0.26 [[ 0.9992188 -0.03938036 -0.00331361 -1.41811704] [ 0.03927753 0.99886787 -0.02683744 -2.13957737] [ 0.00436673 0.02668632 0.99963432 0.26399142] [ 0. 0. 0. 1. ]] SLAMing on 20.251652532 meters Centerline goodness [0,1] 0.3800281064787471 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.14, Z:0.27 [[ 0.99919969 -0.03974328 -0.00452254 -1.41663309] [ 0.03961211 0.99887377 -0.02611645 -2.14341004] [ 0.0055554 0.0259164 0.99964868 0.26620116] [ 0. 0. 0. 1. ]] SLAMing on 20.281652532 meters Centerline goodness [0,1] 0.36259433000203956 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.15, Z:0.27 [[ 0.99919948 -0.0396705 -0.00516212 -1.41670068] [ 0.03952782 0.99889808 -0.02530183 -2.14672334] [ 0.00616017 0.02507753 0.99966653 0.26842645] [ 0. 0. 0. 1. ]] SLAMing on 20.311652532 meters Centerline goodness [0,1] 0.38164714524752075 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.15, Z:0.27 [[ 0.99932046 -0.03637889 -0.00593229 -1.41477576] [ 0.0362412 0.99910382 -0.02186624 -2.14563413] [ 0.00672244 0.02163639 0.9997433 0.2681062 ] [ 0. 0. 0. 1. ]] SLAMing on 20.341652532 meters Centerline goodness [0,1] 0.3627293274419173 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.14, Z:0.27 [[ 0.999392 -0.03426978 -0.00641959 -1.41268941] [ 0.03413294 0.99921042 -0.02033414 -2.14030123] [ 0.00711137 0.02010266 0.99977263 0.26672491] [ 0. 0. 0. 1. ]] SLAMing on 20.371652532000002 meters Centerline goodness [0,1] 0.3750458117848271 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.14, Z:0.27 [[ 0.99950051 -0.03083945 -0.00690391 -1.41105542] [ 0.03071683 0.99937989 -0.01721396 -2.137808 ] [ 0.0074305 0.01699329 0.99982799 0.2657425 ] [ 0. 0. 0. 1. ]] SLAMing on 20.401652532 meters Centerline goodness [0,1] 0.35754974162835174 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.14, Z:0.27 [[ 0.99960111 -0.02719807 -0.00760785 -1.41005392] [ 0.0270921 0.99953904 -0.01370148 -2.13609231] [ 0.007977 0.0134899 0.99987719 0.26625989] [ 0. 0. 0. 1. ]] SLAMing on 20.431652532 meters Centerline goodness [0,1] 0.3672072365740363 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.15, Z:0.27 [[ 0.99966986 -0.02434031 -0.00822966 -1.4118064 ] [ 0.02426279 0.99966149 -0.00939224 -2.14543524] [ 0.00845549 0.00918947 0.99992203 0.27021271] [ 0. 0. 0. 1. ]] SLAMing on 20.461652532000002 meters Centerline goodness [0,1] 0.3762896038092912 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.15, Z:0.27 [[ 0.99963712 -0.02527572 -0.00931454 -1.4090789 ] [ 0.0251832 0.99963363 -0.00992054 -2.1452599 ] [ 0.00956188 0.00968237 0.99990741 0.27040007] [ 0. 0. 0. 1. ]] SLAMing on 20.491652532 meters Centerline goodness [0,1] 0.37782077393075353 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.14, Z:0.27 [[ 0.99959048 -0.02688094 -0.00981222 -1.40673771] [ 0.02676652 0.99957428 -0.01161122 -2.14214594] [ 0.01012016 0.01134383 0.99988444 0.26915375] [ 0. 0. 0. 1. ]] SLAMing on 20.521652532 meters Centerline goodness [0,1] 0.3775125756063784 Centerline is valid? [False, False] Translation: X:-1.40, Y:-2.13, Z:0.27 [[ 0.99951972 -0.0294653 -0.00959845 -1.40430295] [ 0.02931794 0.99945536 -0.01514746 -2.13491269] [ 0.01003954 0.01485877 0.9998392 0.26555817] [ 0. 0. 0. 1. ]] SLAMing on 20.551652532000002 meters Centerline goodness [0,1] 0.35057893020221786 Centerline is valid? [False, False] Translation: X:-1.40, Y:-2.13, Z:0.27 [[ 0.99949508 -0.03014567 -0.01004106 -1.40357172] [ 0.02998363 0.99942367 -0.0159154 -2.1331215 ] [ 0.01051506 0.0156063 0.99982292 0.26603077] [ 0. 0. 0. 1. ]] SLAMing on 20.581652532 meters Centerline goodness [0,1] 0.3619881849663883 Centerline is valid? [False, False] Translation: X:-1.40, Y:-2.13, Z:0.27 [[ 0.99957213 -0.0270158 -0.01121148 -1.40139433] [ 0.02687371 0.99955896 -0.01263674 -2.13177002] [ 0.01154793 0.01233004 0.9998573 0.26666464] [ 0. 0. 0. 1. ]] SLAMing on 20.611652532 meters Centerline goodness [0,1] 0.36413807147948274 Centerline is valid? [False, False] Translation: X:-1.40, Y:-2.13, Z:0.27 [[ 0.99959857 -0.02616182 -0.01087488 -1.4035034 ] [ 0.02603677 0.999595 -0.01148544 -2.13475994] [ 0.01117095 0.01119769 0.9998749 0.2679958 ] [ 0. 0. 0. 1. ]] SLAMing on 20.641652532000002 meters Centerline goodness [0,1] 0.3695851408321623 Centerline is valid? [False, False] Translation: X:-1.40, Y:-2.14, Z:0.27 [[ 0.9997057 -0.02167418 -0.01089675 -1.4037867 ] [ 0.02159869 0.99974223 -0.00699778 -2.13518006] [ 0.01104562 0.00676037 0.99991614 0.26798053] [ 0. 0. 0. 1. ]] SLAMing on 20.671652532 meters Centerline goodness [0,1] 0.33548413360744167 Centerline is valid? [False, False] Translation: X:-1.40, Y:-2.13, Z:0.27 [[ 0.99973581 -0.02011205 -0.01112698 -1.40252149] [ 0.02004644 0.99978118 -0.00597716 -2.12959975] [ 0.01124476 0.00575253 0.99992023 0.2669616 ] [ 0. 0. 0. 1. ]] SLAMing on 20.701652532 meters Centerline goodness [0,1] 0.35697279257646364 Centerline is valid? [False, False] Translation: X:-1.40, Y:-2.13, Z:0.27 [[ 0.99979892 -0.01655126 -0.01132156 -1.40205941] [ 0.01652002 0.99985948 -0.00284724 -2.1264048 ] [ 0.01136709 0.00265963 0.99993186 0.26661769] [ 0. 0. 0. 1. ]] SLAMing on 20.731652532000002 meters Centerline goodness [0,1] 0.3645892697223805 Centerline is valid? [False, False] Translation: X:-1.40, Y:-2.12, Z:0.27 [[ 9.99838189e-01 -1.38657212e-02 -1.14602482e-02 -1.40100733e+00] [ 1.38593737e-02 9.99903754e-01 -6.33102875e-04 -2.12181599e+00] [ 1.14679236e-02 4.74168569e-04 9.99934129e-01 2.65524164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.761652532 meters Centerline goodness [0,1] 0.3678324522163481 Centerline is valid? [False, False] Translation: X:-1.40, Y:-2.12, Z:0.27 [[ 9.99826218e-01 -1.45389863e-02 -1.16683920e-02 -1.40078022e+00] [ 1.45234295e-02 9.99893526e-01 -1.41687675e-03 -2.12010224e+00] [ 1.16877496e-02 1.24716545e-03 9.99930918e-01 2.65920643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.791652532 meters Centerline goodness [0,1] 0.36264964735055594 Centerline is valid? [False, False] Translation: X:-1.40, Y:-2.12, Z:0.27 [[ 0.99986487 -0.01084155 -0.01235721 -1.3989131 ] [ 0.01086996 0.99993842 0.00223411 -2.11924857] [ 0.01233222 -0.00236813 0.99992115 0.26556141] [ 0. 0. 0. 1. ]] SLAMing on 20.821652532 meters Centerline goodness [0,1] 0.3549147993005002 Centerline is valid? [False, False] Translation: X:-1.40, Y:-2.12, Z:0.27 [[ 0.99993144 -0.00478578 -0.01068667 -1.40316816] [ 0.00486552 0.99996043 0.00744796 -2.11974024] [ 0.01065061 -0.00749945 0.99991516 0.26517599] [ 0. 0. 0. 1. ]] SLAMing on 20.851652532 meters Centerline goodness [0,1] 0.3547124665422986 Centerline is valid? [False, False] Translation: X:-1.40, Y:-2.12, Z:0.26 [[ 9.99950160e-01 -2.16191595e-04 -9.98149632e-03 -1.40409053e+00] [ 3.30519430e-04 9.99934349e-01 1.14537492e-02 -2.11830360e+00] [ 9.97836482e-03 -1.14564774e-02 9.99884584e-01 2.63832267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.881652532 meters Centerline goodness [0,1] 0.3512462793852633 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.11, Z:0.26 [[ 0.99995201 0.00369499 -0.00907359 -1.40561095] [-0.00356366 0.99988927 0.01444777 -2.11414067] [ 0.00912597 -0.01441474 0.99985446 0.26267985] [ 0. 0. 0. 1. ]] SLAMing on 20.911652532 meters Centerline goodness [0,1] 0.34988855116514694 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.11, Z:0.26 [[ 0.99990609 0.0134972 -0.00237352 -1.41009979] [-0.01348055 0.99988534 0.00689741 -2.11118141] [ 0.00246634 -0.00686477 0.9999734 0.26374637] [ 0. 0. 0. 1. ]] SLAMing on 20.941652532 meters Centerline goodness [0,1] 0.34169196518923295 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.12, Z:0.26 [[ 0.99967849 0.02519652 0.00283891 -1.42236739] [-0.02522949 0.99960667 0.01224628 -2.11873553] [-0.00252923 -0.01231397 0.99992098 0.2584118 ] [ 0. 0. 0. 1. ]] SLAMing on 20.971652532 meters Centerline goodness [0,1] 0.33614158433844477 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.12, Z:0.26 [[ 0.99956224 0.02940005 0.00331044 -1.42269493] [-0.02944958 0.99943715 0.01606541 -2.11728091] [-0.00283625 -0.01615587 0.99986546 0.25745388] [ 0. 0. 0. 1. ]] SLAMing on 21.001652532 meters Centerline goodness [0,1] 0.3345942993546821 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.12, Z:0.26 [[ 0.99951391 0.03087415 0.00432898 -1.42496297] [-0.03094534 0.99936833 0.01747363 -2.12022311] [-0.00378676 -0.0175991 0.99983795 0.25684299] [ 0. 0. 0. 1. ]] SLAMing on 21.031652532 meters Centerline goodness [0,1] 0.33519462652747434 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.12, Z:0.26 [[ 0.99951484 0.03079969 0.00463188 -1.4259074 ] [-0.03087523 0.99937466 0.01723385 -2.11967451] [-0.00409818 -0.0173685 0.99984076 0.25695055] [ 0. 0. 0. 1. ]] SLAMing on 21.061652532 meters Centerline goodness [0,1] 0.33303022955059813 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.12, Z:0.26 [[ 0.99948352 0.03173681 0.00504573 -1.42578797] [-0.03182295 0.99933103 0.01802184 -2.12145625] [-0.0044704 -0.0181731 0.99982486 0.25519128] [ 0. 0. 0. 1. ]] SLAMing on 21.091652532 meters Centerline goodness [0,1] 0.33326591290629237 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.12, Z:0.25 [[ 0.99955775 0.0290684 0.00627142 -1.42890253] [-0.02916137 0.99945792 0.01527989 -2.12453973] [-0.00582386 -0.01545602 0.99986359 0.25477555] [ 0. 0. 0. 1. ]] SLAMing on 21.121652532 meters Centerline goodness [0,1] 0.33363001921715385 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.13, Z:0.26 [[ 0.99964183 0.02580657 0.00708699 -1.43185746] [-0.025891 0.99959163 0.01209293 -2.12707693] [-0.00677202 -0.01227208 0.99990176 0.25550947] [ 0. 0. 0. 1. ]] SLAMing on 21.151652532 meters Centerline goodness [0,1] 0.3354802122574635 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.13, Z:0.26 [[ 0.99970283 0.02313915 0.00767072 -1.43433346] [-0.02321432 0.99968189 0.00985966 -2.13248832] [-0.00744014 -0.0100348 0.99992197 0.25637252] [ 0. 0. 0. 1. ]] SLAMing on 21.181652532 meters Centerline goodness [0,1] 0.33679018335455957 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.14, Z:0.26 [[ 0.99980042 0.01892593 0.00639729 -1.43194746] [-0.01896838 0.99979803 0.00664112 -2.13693052] [-0.00627031 -0.00676114 0.99995748 0.25721309] [ 0. 0. 0. 1. ]] SLAMing on 21.211652532000002 meters Centerline goodness [0,1] 0.33915580862834105 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.14, Z:0.26 [[ 0.99986625 0.01503675 0.00643211 -1.43268184] [-0.01505671 0.99988194 0.00306618 -2.13942993] [-0.00638524 -0.00316262 0.99997461 0.25781038] [ 0. 0. 0. 1. ]] SLAMing on 21.241652532 meters Centerline goodness [0,1] 0.3422705901426718 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.14, Z:0.26 [[ 9.99933773e-01 1.03524333e-02 5.02768052e-03 -1.43053015e+00] [-1.03489137e-02 9.99946185e-01 -7.25539009e-04 -2.14200896e+00] [-5.03492105e-03 6.73459927e-04 9.99987098e-01 2.59608774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.271652532 meters Centerline goodness [0,1] 0.3469441464056522 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.14, Z:0.26 [[ 9.99942533e-01 9.87738231e-03 4.16761116e-03 -1.42881063e+00] [-9.87463098e-03 9.99951013e-01 -6.80230043e-04 -2.14335734e+00] [-4.17412590e-03 6.39037330e-04 9.99991084e-01 2.60370573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.301652532000002 meters Centerline goodness [0,1] 0.3465953957358926 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.15, Z:0.26 [[ 9.99947737e-01 9.58910679e-03 3.54579352e-03 -1.42828818e+00] [-9.58769906e-03 9.99953951e-01 -4.13798347e-04 -2.14526652e+00] [-3.54959819e-03 3.79780720e-04 9.99993628e-01 2.61831743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.331652532 meters Centerline goodness [0,1] 0.35155632160600225 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.15, Z:0.26 [[ 9.99959004e-01 8.67903891e-03 2.58158324e-03 -1.42647538e+00] [-8.67781291e-03 9.99962229e-01 -4.85724828e-04 -2.14665709e+00] [-2.58570136e-03 4.63302419e-04 9.99996550e-01 2.62933653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.361652532 meters Centerline goodness [0,1] 0.3536217201904569 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.15, Z:0.26 [[ 0.9999886 0.00394966 0.00268454 -1.42695511] [-0.00393542 0.99997826 -0.00529 -2.14545713] [-0.00270538 0.00527937 0.9999824 0.26324679] [ 0. 0. 0. 1. ]] SLAMing on 21.391652532000002 meters Centerline goodness [0,1] 0.3583797406609487 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.14, Z:0.26 [[ 9.99995829e-01 2.11094526e-03 1.97138811e-03 -1.42406188e+00] [-2.09648552e-03 9.99971096e-01 -7.30828904e-03 -2.14169214e+00] [-1.98675853e-03 7.30412557e-03 9.99971351e-01 2.61748250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.421652532 meters Centerline goodness [0,1] 0.35701245486632316 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.14, Z:0.26 [[ 9.99996489e-01 1.83853727e-03 1.90829859e-03 -1.42428659e+00] [-1.82404678e-03 9.99969702e-01 -7.56757010e-03 -2.14106936e+00] [-1.92215403e-03 7.56406270e-03 9.99969545e-01 2.62231119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.451652532 meters Centerline goodness [0,1] 0.3589451639794238 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.14, Z:0.26 [[ 9.99997561e-01 1.64863886e-03 1.46940000e-03 -1.42385168e+00] [-1.63779219e-03 9.99971628e-01 -7.35258169e-03 -2.14236050e+00] [-1.48148006e-03 7.35015719e-03 9.99971890e-01 2.63071851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.481652532000002 meters Centerline goodness [0,1] 0.35997808352611715 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.14, Z:0.26 [[ 9.99999836e-01 2.27650126e-04 5.26010210e-04 -1.42176973e+00] [-2.23214690e-04 9.99964552e-01 -8.41695099e-03 -2.14111026e+00] [-5.27907683e-04 8.41683219e-03 9.99964438e-01 2.63617112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.511652532 meters Centerline goodness [0,1] 0.360555137870075 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.14, Z:0.26 [[ 9.99999583e-01 -8.20555108e-04 -4.00341431e-04 -1.41956996e+00] [ 8.16828886e-04 9.99957155e-01 -9.22064444e-03 -2.14022632e+00] [ 4.07890326e-04 9.22031359e-03 9.99957409e-01 2.63822540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.541652532 meters Centerline goodness [0,1] 0.3585403474590031 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.14, Z:0.27 [[ 9.99997985e-01 -1.45835954e-03 -1.37958895e-03 -1.41867092e+00] [ 1.44565231e-03 9.99956933e-01 -9.16747017e-03 -2.14136987e+00] [ 1.39289901e-03 9.16545729e-03 9.99957026e-01 2.65987833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.571652532 meters Centerline goodness [0,1] 0.3637066422540942 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.14, Z:0.27 [[ 9.99998404e-01 -9.93272476e-04 -1.48529507e-03 -1.41988169e+00] [ 9.81064122e-04 9.99965917e-01 -8.19774201e-03 -2.14438020e+00] [ 1.49338704e-03 8.19627175e-03 9.99965295e-01 2.67867699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.601652532 meters Centerline goodness [0,1] 0.3648953694100421 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.15, Z:0.27 [[ 9.99998451e-01 -2.29096281e-04 -1.74513793e-03 -1.42066855e+00] [ 2.17337412e-04 9.99977294e-01 -6.73528652e-03 -2.14891566e+00] [ 1.74664134e-03 6.73489680e-03 9.99975795e-01 2.69617140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.631652532 meters Centerline goodness [0,1] 0.36598326445019036 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.15, Z:0.27 [[ 9.99996071e-01 -7.69249524e-04 -2.69558550e-03 -1.41963100e+00] [ 7.51127043e-04 9.99977155e-01 -6.71759735e-03 -2.15008085e+00] [ 2.70069143e-03 6.71554623e-03 9.99973804e-01 2.71462658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.661652532 meters Centerline goodness [0,1] 0.3697082001262497 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.15, Z:0.27 [[ 0.99998342 -0.00466702 -0.0033719 -1.41888504] [ 0.00463402 0.99994194 -0.00972842 -2.15432863] [ 0.00341711 0.00971263 0.99994699 0.2728009 ] [ 0. 0. 0. 1. ]] SLAMing on 21.691652532 meters Centerline goodness [0,1] 0.37111807562375354 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.16, Z:0.27 [[ 0.99995167 -0.00911434 -0.00368614 -1.41869255] [ 0.00906236 0.99986259 -0.01388085 -2.15514894] [ 0.00381215 0.01384678 0.99989686 0.27370349] [ 0. 0. 0. 1. ]] SLAMing on 21.721652532 meters Centerline goodness [0,1] 0.35915335300702145 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.15, Z:0.27 [[ 0.99993544 -0.0103125 -0.00477117 -1.41613371] [ 0.01024078 0.99983774 -0.01481964 -2.15383496] [ 0.00492322 0.01476982 0.9998788 0.27400152] [ 0. 0. 0. 1. ]] SLAMing on 21.751652532 meters Centerline goodness [0,1] 0.3761077270967873 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.16, Z:0.27 [[ 0.99989027 -0.0140243 -0.00477057 -1.41638169] [ 0.0139357 0.99973864 -0.01812333 -2.15667853] [ 0.00502349 0.01805486 0.99982438 0.2743654 ] [ 0. 0. 0. 1. ]] SLAMing on 21.781652532 meters Centerline goodness [0,1] 0.37624246374450054 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.16, Z:0.27 [[ 0.99988752 -0.01415807 -0.00494909 -1.41604002] [ 0.01406555 0.99973443 -0.01825478 -2.15637553] [ 0.00520622 0.01818312 0.99982112 0.27444904] [ 0. 0. 0. 1. ]] SLAMing on 21.811652532 meters Centerline goodness [0,1] 0.36150665118458314 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.15, Z:0.27 [[ 0.9999124 -0.01188439 -0.00582627 -1.41388715] [ 0.01179023 0.99980347 -0.01593792 -2.15346782] [ 0.00601453 0.01586783 0.99985601 0.2743233 ] [ 0. 0. 0. 1. ]] SLAMing on 21.841652532 meters Centerline goodness [0,1] 0.3626641727320782 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.15, Z:0.27 [[ 0.99993612 -0.00944218 -0.00621221 -1.4133297 ] [ 0.00935658 0.99986282 -0.01366725 -2.14937298] [ 0.00634041 0.01360825 0.9998873 0.27474142] [ 0. 0. 0. 1. ]] SLAMing on 21.871652532 meters Centerline goodness [0,1] 0.36971015081913894 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.15, Z:0.27 [[ 0.99995377 -0.00660226 -0.0069905 -1.41133132] [ 0.00652616 0.99991979 -0.01085437 -2.14685625] [ 0.0070616 0.01080824 0.99991665 0.27458516] [ 0. 0. 0. 1. ]] SLAMing on 21.901652532 meters Centerline goodness [0,1] 0.3618528166720938 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.15, Z:0.27 [[ 0.99995574 -0.00647818 -0.00682332 -1.41215233] [ 0.00640441 0.9999214 -0.01077876 -2.14678913] [ 0.00689261 0.01073458 0.99991863 0.27495579] [ 0. 0. 0. 1. ]] SLAMing on 21.931652532 meters Centerline goodness [0,1] 0.3737785846881948 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.14, Z:0.28 [[ 0.99993663 -0.00818288 -0.00773166 -1.41039045] [ 0.00808759 0.99989193 -0.01227672 -2.14484744] [ 0.00783128 0.01221341 0.99989475 0.27557673] [ 0. 0. 0. 1. ]] SLAMing on 21.961652532000002 meters Centerline goodness [0,1] 0.36689987149937786 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.14, Z:0.27 [[ 0.99994416 -0.006967 -0.00794636 -1.40812578] [ 0.0068741 0.9999084 -0.01165936 -2.14080933] [ 0.00802686 0.01160409 0.99990045 0.27355265] [ 0. 0. 0. 1. ]] SLAMing on 21.991652532 meters Centerline goodness [0,1] 0.36689987149937786 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.14, Z:0.27 [[ 0.99994416 -0.006967 -0.00794636 -1.40812578] [ 0.0068741 0.9999084 -0.01165936 -2.14080933] [ 0.00802686 0.01160409 0.99990045 0.27355265] [ 0. 0. 0. 1. ]] SLAMing on 22.021652532 meters Centerline goodness [0,1] 0.36259433000203956 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.14, Z:0.27 [[ 0.99995199 -0.00459774 -0.00865306 -1.40578515] [ 0.00451727 0.99994658 -0.00929656 -2.13813686] [ 0.00869534 0.00925702 0.99991935 0.2728371 ] [ 0. 0. 0. 1. ]] SLAMing on 22.051652532000002 meters Centerline goodness [0,1] 0.3641900121802679 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.14, Z:0.27 [[ 0.99995962 -0.00396194 -0.00806585 -1.4079882 ] [ 0.00389177 0.99995461 -0.00869657 -2.13933175] [ 0.00809994 0.00866483 0.99992965 0.27351619] [ 0. 0. 0. 1. ]] SLAMing on 22.081652532 meters Centerline goodness [0,1] 0.3522463443444259 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.14, Z:0.28 [[ 9.99968225e-01 1.20643639e-03 -7.87994215e-03 -1.40972361e+00] [-1.23060172e-03 9.99994553e-01 -3.06255996e-03 -2.14347035e+00] [ 7.87620445e-03 3.07215972e-03 9.99964263e-01 2.75061686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.111652532 meters Centerline goodness [0,1] 0.3646123502978793 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.14, Z:0.28 [[ 9.99953191e-01 5.10277960e-03 -8.22058556e-03 -1.40930884e+00] [-5.09571737e-03 9.99986630e-01 8.79808023e-04 -2.14308402e+00] [ 8.22496512e-03 -8.37877060e-04 9.99965823e-01 2.75819719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.141652532000002 meters Centerline goodness [0,1] 0.34678649126730776 Centerline is valid? [False, False] Translation: X:-1.41, Y:-2.15, Z:0.28 [[ 0.99994958 0.00729669 -0.00689907 -1.41267499] [-0.00727697 0.99996938 0.00288 -2.1466038 ] [ 0.00691988 -0.00282965 0.99997205 0.27572939] [ 0. 0. 0. 1. ]] SLAMing on 22.171652532 meters Centerline goodness [0,1] 0.35748124351910215 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.15, Z:0.27 [[ 9.99921365e-01 1.23974454e-02 -1.88851577e-03 -1.42263040e+00] [-1.23931236e-02 9.99920595e-01 2.28325127e-03 -2.14911802e+00] [ 1.91667230e-03 -2.25966712e-03 9.99995610e-01 2.69065571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.201652532 meters Centerline goodness [0,1] 0.3553779513147459 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.15, Z:0.27 [[ 9.99902719e-01 1.39398062e-02 -4.84153200e-04 -1.42545918e+00] [-1.39382326e-02 9.99898008e-01 3.11430305e-03 -2.14962297e+00] [ 5.27516602e-04 -3.10725185e-03 9.99995033e-01 2.67948428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.231652532000002 meters Centerline goodness [0,1] 0.35303439728560104 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.15, Z:0.27 [[ 9.99888024e-01 1.49565754e-02 4.90284892e-04 -1.42764780e+00] [-1.49583484e-02 9.99880753e-01 3.83776123e-03 -2.15086484e+00] [-4.32826662e-04 -3.84466534e-03 9.99992516e-01 2.67333940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.261652532 meters Centerline goodness [0,1] 0.3496668291890135 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.15, Z:0.27 [[ 9.99897827e-01 1.42939122e-02 1.42881673e-04 -1.42627990e+00] [-1.42942952e-02 9.99892746e-01 3.18886804e-03 -2.14985855e+00] [-9.72849488e-05 -3.19058462e-03 9.99994905e-01 2.66835808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.291652532 meters Centerline goodness [0,1] 0.3531190389220342 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.15, Z:0.27 [[ 9.99944974e-01 1.04873356e-02 2.53013674e-04 -1.42689864e+00] [-1.04872355e-02 9.99944930e-01 -3.93829551e-04 -2.15210295e+00] [-2.57129964e-04 3.91154467e-04 9.99999890e-01 2.66992958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.321652532 meters Centerline goodness [0,1] 0.36274390243902443 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.16, Z:0.27 [[ 9.99998076e-01 1.92273974e-03 -3.89123012e-04 -1.42524855e+00] [-1.92587238e-03 9.99964386e-01 -8.21694423e-03 -2.15544272e+00] [ 3.73310109e-04 8.21767782e-03 9.99966165e-01 2.66822540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.351652532 meters Centerline goodness [0,1] 0.3694806120993541 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.17, Z:0.26 [[ 0.9999449 -0.01017761 -0.00257191 -1.43303189] [ 0.01015889 0.99992253 -0.00719258 -2.16654305] [ 0.00264491 0.00716605 0.99997083 0.26204379] [ 0. 0. 0. 1. ]] SLAMing on 22.381652532 meters Centerline goodness [0,1] 0.3656178769130576 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.17, Z:0.26 [[ 0.99989736 -0.0140851 -0.00262302 -1.43339922] [ 0.01405637 0.9998443 -0.01066711 -2.16914448] [ 0.00277286 0.01062915 0.99993966 0.26274405] [ 0. 0. 0. 1. ]] SLAMing on 22.411652532 meters Centerline goodness [0,1] 0.362983312983313 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.17, Z:0.27 [[ 0.99984662 -0.01603476 -0.0070446 -1.42677464] [ 0.01598107 0.99984331 -0.0076128 -2.17223209] [ 0.00716556 0.00749905 0.99994621 0.27027581] [ 0. 0. 0. 1. ]] SLAMing on 22.441652532 meters Centerline goodness [0,1] 0.3783657270784573 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.18, Z:0.27 [[ 0.99983979 -0.01613869 -0.0077413 -1.42676551] [ 0.01608513 0.9998466 -0.00693161 -2.17508026] [ 0.00785198 0.00680598 0.99994601 0.27267408] [ 0. 0. 0. 1. ]] SLAMing on 22.471652532 meters Centerline goodness [0,1] 0.38072927276431046 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.18, Z:0.28 [[ 0.99980077 -0.01758726 -0.00943963 -1.42461524] [ 0.01752484 0.99982428 -0.00665483 -2.1780334 ] [ 0.00955501 0.00648807 0.9999333 0.27578726] [ 0. 0. 0. 1. ]] SLAMing on 22.501652532 meters Centerline goodness [0,1] 0.38673537978937933 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.18, Z:0.28 [[ 0.99971003 -0.02190584 -0.00999968 -1.4247092 ] [ 0.02180372 0.99971013 -0.01021033 -2.18064182] [ 0.01022044 0.00998934 0.99989787 0.27806476] [ 0. 0. 0. 1. ]] SLAMing on 22.531652532 meters Centerline goodness [0,1] 0.38556524574129925 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.18, Z:0.28 [[ 0.99969346 -0.02255409 -0.01021234 -1.42292278] [ 0.02244104 0.99968707 -0.01105294 -2.17885679] [ 0.01045844 0.01082037 0.99988676 0.27638263] [ 0. 0. 0. 1. ]] SLAMing on 22.561652532 meters Centerline goodness [0,1] 0.38974484389011166 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.18, Z:0.28 [[ 0.99958116 -0.02723913 -0.00977396 -1.42346673] [ 0.02707956 0.99950356 -0.01610377 -2.17634092] [ 0.01020776 0.01583235 0.99982255 0.27590837] [ 0. 0. 0. 1. ]] SLAMing on 22.591652532 meters Centerline goodness [0,1] 0.3888379672064365 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.17, Z:0.28 [[ 0.99956187 -0.0277778 -0.01022071 -1.42251018] [ 0.02760444 0.99947894 -0.01672841 -2.17480004] [ 0.01068006 0.01643894 0.99980783 0.27614807] [ 0. 0. 0. 1. ]] SLAMing on 22.621652532 meters Centerline goodness [0,1] 0.3898122342697886 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.18, Z:0.28 [[ 0.99957332 -0.02714376 -0.01078831 -1.42253875] [ 0.02697505 0.99951611 -0.01548828 -2.17871535] [ 0.0112035 0.01519066 0.99982185 0.27792055] [ 0. 0. 0. 1. ]] SLAMing on 22.651652532 meters Centerline goodness [0,1] 0.3877338877338877 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.18, Z:0.28 [[ 0.99967445 -0.02301799 -0.01100759 -1.4220119 ] [ 0.02289135 0.99967186 -0.01149606 -2.17790237] [ 0.01126859 0.01124034 0.99987333 0.27753702] [ 0. 0. 0. 1. ]] SLAMing on 22.681652532 meters Centerline goodness [0,1] 0.365704964828219 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.18, Z:0.28 [[ 0.99976696 -0.01891007 -0.01041339 -1.42278487] [ 0.01882766 0.99979109 -0.00795571 -2.17537511] [ 0.01056166 0.00775779 0.99991413 0.27615994] [ 0. 0. 0. 1. ]] SLAMing on 22.711652532000002 meters Centerline goodness [0,1] 0.3820307090783204 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.17, Z:0.27 [[ 0.99982964 -0.01550587 -0.01001268 -1.42306569] [ 0.01545197 0.99986582 -0.00543886 -2.17019738] [ 0.01009567 0.00528321 0.99993508 0.27477193] [ 0. 0. 0. 1. ]] SLAMing on 22.741652532 meters Centerline goodness [0,1] 0.37553953905041126 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.17, Z:0.27 [[ 0.99994748 -0.00871648 -0.00539033 -1.43180841] [ 0.00869569 0.9999547 -0.00386988 -2.16865354] [ 0.00542382 0.00382281 0.99997798 0.26825861] [ 0. 0. 0. 1. ]] SLAMing on 22.771652532 meters Centerline goodness [0,1] 0.3743311155872958 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.16, Z:0.27 [[ 9.99970544e-01 -5.35204333e-03 -5.50157438e-03 -1.43150923e+00] [ 5.34616956e-03 9.99985124e-01 -1.08180577e-03 -2.16497355e+00] [ 5.50728241e-03 1.05236155e-03 9.99984281e-01 2.67957038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.801652532000002 meters Centerline goodness [0,1] 0.36847781847781846 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.17, Z:0.27 [[ 9.99991603e-01 1.04853943e-03 -3.96173181e-03 -1.43525603e+00] [-1.03107211e-03 9.99989751e-01 4.40848415e-03 -2.16623796e+00] [ 3.96631368e-03 -4.40436230e-03 9.99982435e-01 2.67379496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.831652532 meters Centerline goodness [0,1] 0.3538024164889837 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.17, Z:0.27 [[ 9.99679233e-01 2.53233645e-02 3.97400603e-04 -1.44245874e+00] [-2.53259977e-02 9.99634111e-01 9.49934757e-03 -2.17164648e+00] [-1.56699758e-04 -9.50636506e-03 9.99954801e-01 2.69115759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.861652532 meters Centerline goodness [0,1] 0.3507677933051674 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.17, Z:0.26 [[ 0.99952445 0.03028537 0.00580178 -1.45316832] [-0.03033969 0.99949435 0.00951589 -2.17466652] [-0.00551065 -0.00968739 0.99993789 0.26324553] [ 0. 0. 0. 1. ]] SLAMing on 22.891652532000002 meters Centerline goodness [0,1] 0.340742545114995 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.18, Z:0.26 [[ 0.99925058 0.03698551 0.0114169 -1.46519561] [-0.0371113 0.99925049 0.01100968 -2.18084511] [-0.01100114 -0.01142513 0.99987421 0.25780755] [ 0. 0. 0. 1. ]] SLAMing on 22.921652532 meters Centerline goodness [0,1] 0.3288431543338668 Centerline is valid? [False, False] Translation: X:-1.48, Y:-2.19, Z:0.25 [[ 0.99887855 0.04419538 0.01698285 -1.47693418] [-0.04442819 0.99892021 0.01358493 -2.18754553] [-0.01636412 -0.01432421 0.99976349 0.25274982] [ 0. 0. 0. 1. ]] SLAMing on 22.951652532 meters Centerline goodness [0,1] 0.323983368826691 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.20, Z:0.25 [[ 0.9981519 0.05687105 0.02141209 -1.49260026] [-0.0572856 0.99817181 0.01927181 -2.20455079] [-0.02027693 -0.0204628 0.99958497 0.25063275] [ 0. 0. 0. 1. ]] SLAMing on 22.981652532000002 meters Centerline goodness [0,1] 0.3104237099418993 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.21, Z:0.25 [[ 0.99808231 0.05774846 0.02228924 -1.49428095] [-0.05819119 0.99811002 0.01975299 -2.20517639] [-0.02110641 -0.02101215 0.99955641 0.24967024] [ 0. 0. 0. 1. ]] SLAMing on 23.011652532 meters Centerline goodness [0,1] 0.3158916688578306 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.21, Z:0.25 [[ 0.99805746 0.05803907 0.02264434 -1.49564943] [-0.05849145 0.99809046 0.01985424 -2.20526999] [-0.02144878 -0.02114017 0.99954642 0.25007255] [ 0. 0. 0. 1. ]] SLAMing on 23.041652532 meters Centerline goodness [0,1] 0.32961437815688577 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.21, Z:0.25 [[ 0.99800918 0.05863478 0.02323018 -1.49757426] [-0.05911366 0.99804088 0.02049342 -2.20707953] [-0.02198304 -0.02182584 0.99952007 0.25043961] [ 0. 0. 0. 1. ]] SLAMing on 23.071652532 meters Centerline goodness [0,1] 0.32634803424351844 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.21, Z:0.24 [[ 0.99818615 0.05596338 0.02219242 -1.50415467] [-0.05659878 0.99797228 0.02911899 -2.21382861] [-0.02051783 -0.03032224 0.99932957 0.24230603] [ 0. 0. 0. 1. ]] SLAMing on 23.101652532 meters Centerline goodness [0,1] 0.31712751949761975 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.22, Z:0.24 [[ 0.99824757 0.05466672 0.0226568 -1.50700041] [-0.05529506 0.99807451 0.02810195 -2.21892271] [-0.02107693 -0.02930551 0.99934826 0.24368774] [ 0. 0. 0. 1. ]] SLAMing on 23.131652532 meters Centerline goodness [0,1] 0.324091662288324 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.23, Z:0.25 [[ 0.99844974 0.05100522 0.0222841 -1.50979774] [-0.05158428 0.99832405 0.0262328 -2.23176948] [-0.02090875 -0.02734164 0.99940745 0.24749785] [ 0. 0. 0. 1. ]] SLAMing on 23.161652532 meters Centerline goodness [0,1] 0.3332658022690438 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.24, Z:0.25 [[ 0.9986747 0.04647847 0.02210432 -1.51245696] [-0.0469856 0.99863063 0.02300473 -2.24239228] [-0.02100483 -0.02401283 0.99949096 0.25034027] [ 0. 0. 0. 1. ]] SLAMing on 23.191652532 meters Centerline goodness [0,1] 0.32142060773144676 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.25, Z:0.25 [[ 0.99896555 0.03977423 0.0220416 -1.51463997] [-0.04015795 0.99904446 0.01724828 -2.2503429 ] [-0.02133451 -0.01811558 0.99960826 0.25218119] [ 0. 0. 0. 1. ]] SLAMing on 23.221652532 meters Centerline goodness [0,1] 0.3417387955324023 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.26, Z:0.25 [[ 0.99919156 0.03392347 0.02157373 -1.51599726] [-0.03419572 0.9993385 0.01237819 -2.25769669] [-0.02113955 -0.01310591 0.99969063 0.25431473] [ 0. 0. 0. 1. ]] SLAMing on 23.251652532 meters Centerline goodness [0,1] 0.34641305671714506 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.26, Z:0.25 [[ 0.99974885 0.0142244 0.01731747 -1.51352829] [-0.01443817 0.99982033 0.01228222 -2.26111344] [-0.01713965 -0.01252917 0.9997746 0.25412418] [ 0. 0. 0. 1. ]] SLAMing on 23.281652532 meters Centerline goodness [0,1] 0.3569412003655936 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.26, Z:0.26 [[ 0.99981731 0.0097499 0.01644064 -1.51251085] [-0.00989428 0.999913 0.00872361 -2.26442503] [-0.01635416 -0.00888469 0.99982679 0.25572842] [ 0. 0. 0. 1. ]] SLAMing on 23.311652532 meters Centerline goodness [0,1] 0.35799381963080423 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.27, Z:0.26 [[ 0.99986289 0.00515188 0.0157369 -1.51192458] [-0.00522766 0.99997492 0.00477808 -2.26656227] [-0.01571189 -0.00485969 0.99986475 0.25735222] [ 0. 0. 0. 1. ]] SLAMing on 23.341652532 meters Centerline goodness [0,1] 0.3666571823428989 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.27, Z:0.26 [[ 9.99901225e-01 -8.90417145e-04 1.40266616e-02 -1.50954258e+00] [ 8.88042258e-04 9.99999590e-01 1.75539838e-04 -2.26796326e+00] [-1.40268121e-02 -1.63066231e-04 9.99901606e-01 2.60196777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.371652532 meters Centerline goodness [0,1] 0.3683204943189903 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.27, Z:0.26 [[ 9.99919025e-01 -1.85352414e-03 1.25900286e-02 -1.50641829e+00] [ 1.85306784e-03 9.99998282e-01 4.79084668e-05 -2.26944093e+00] [-1.25900958e-02 -2.45744103e-05 9.99920741e-01 2.61087765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.401652532 meters Centerline goodness [0,1] 0.37516550221009104 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.27, Z:0.26 [[ 0.99991383 -0.00745908 0.01080217 -1.50360271] [ 0.00750423 0.99996325 -0.0041449 -2.27195119] [-0.01077086 0.0042256 0.99993306 0.26361258] [ 0. 0. 0. 1. ]] SLAMing on 23.431652532 meters Centerline goodness [0,1] 0.3712533506620096 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.27, Z:0.27 [[ 0.99989642 -0.01334535 0.00538972 -1.49207395] [ 0.01337259 0.99989783 -0.00504953 -2.2678453 ] [-0.00532179 0.00512108 0.99997273 0.26900201] [ 0. 0. 0. 1. ]] SLAMing on 23.461652532000002 meters Centerline goodness [0,1] 0.38736459884539276 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.28, Z:0.27 [[ 0.99975657 -0.0217128 0.00391893 -1.49003103] [ 0.02175598 0.99969904 -0.01133599 -2.2759941 ] [-0.00367161 0.01141849 0.99992807 0.27190324] [ 0. 0. 0. 1. ]] SLAMing on 23.491652532 meters Centerline goodness [0,1] 0.3756060791264312 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.28, Z:0.27 [[ 9.99752461e-01 -2.21170629e-02 2.41917488e-03 -1.48688846e+00] [ 2.21416161e-02 9.99698192e-01 -1.06430118e-02 -2.27973398e+00] [-2.18305259e-03 1.06939417e-02 9.99940435e-01 2.72940864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.521652532 meters Centerline goodness [0,1] 0.3905465529205274 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.28, Z:0.28 [[ 9.99647244e-01 -2.65208316e-02 1.42576022e-03 -1.48579810e+00] [ 2.65382689e-02 9.99549015e-01 -1.40530303e-02 -2.28337795e+00] [-1.05241918e-03 1.40859102e-02 9.99900235e-01 2.75238434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.551652532000002 meters Centerline goodness [0,1] 0.39602140435439726 Centerline is valid? [False, False] Translation: X:-1.48, Y:-2.28, Z:0.28 [[ 0.99954277 -0.03002211 -0.00359519 -1.47757112] [ 0.02997857 0.99948316 -0.01160626 -2.28411895] [ 0.00394177 0.01149317 0.99992618 0.28380199] [ 0. 0. 0. 1. ]] SLAMing on 23.581652532 meters Centerline goodness [0,1] 0.3909883424184888 Centerline is valid? [False, False] Translation: X:-1.48, Y:-2.28, Z:0.29 [[ 0.99950643 -0.03112746 -0.0042409 -1.47691438] [ 0.03107245 0.9994393 -0.01247366 -2.28274118] [ 0.0046268 0.01233573 0.99991321 0.28507377] [ 0. 0. 0. 1. ]] SLAMing on 23.611652532 meters Centerline goodness [0,1] 0.3947142857142857 Centerline is valid? [False, False] Translation: X:-1.48, Y:-2.28, Z:0.28 [[ 0.99947498 -0.03210019 -0.00439719 -1.47646761] [ 0.03203712 0.99939235 -0.0137317 -2.27922167] [ 0.00483531 0.01358361 0.99989605 0.28498702] [ 0. 0. 0. 1. ]] SLAMing on 23.641652532000002 meters Centerline goodness [0,1] 0.3969429819191054 Centerline is valid? [False, False] Translation: X:-1.48, Y:-2.28, Z:0.28 [[ 0.99946231 -0.03256525 -0.00381945 -1.47731076] [ 0.03250519 0.99936119 -0.01485331 -2.27531983] [ 0.00430071 0.01472117 0.99988239 0.28396439] [ 0. 0. 0. 1. ]] SLAMing on 23.671652532 meters Centerline goodness [0,1] 0.39949291512462426 Centerline is valid? [False, False] Translation: X:-1.48, Y:-2.28, Z:0.28 [[ 0.99948579 -0.02932889 -0.0129606 -1.48274718] [ 0.02908405 0.99940218 -0.01869231 -2.28016144] [ 0.01350108 0.01830575 0.99974128 0.27996228] [ 0. 0. 0. 1. ]] SLAMing on 23.701652532 meters Centerline goodness [0,1] 0.3844927980386148 Centerline is valid? [False, False] Translation: X:-1.48, Y:-2.28, Z:0.28 [[ 0.99958968 -0.02545218 -0.01313996 -1.48234456] [ 0.02525152 0.9995653 -0.01521777 -2.2777597 ] [ 0.01352157 0.01487972 0.99979786 0.27947973] [ 0. 0. 0. 1. ]] SLAMing on 23.731652532000002 meters Centerline goodness [0,1] 0.36901552287581696 Centerline is valid? [False, False] Translation: X:-1.48, Y:-2.28, Z:0.28 [[ 0.99968585 -0.0212619 -0.01327127 -1.48263915] [ 0.02111393 0.99971443 -0.0111922 -2.27703482] [ 0.01350545 0.01090848 0.99984929 0.27987783] [ 0. 0. 0. 1. ]] SLAMing on 23.761652532 meters Centerline goodness [0,1] 0.3756167176350662 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.28, Z:0.28 [[ 0.99980844 -0.0148974 -0.01269462 -1.48600041] [ 0.01483884 0.99987888 -0.00469511 -2.28138661] [ 0.01276303 0.00450583 0.9999084 0.28147324] [ 0. 0. 0. 1. ]] SLAMing on 23.791652532 meters Centerline goodness [0,1] 0.37377710745149195 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.28, Z:0.28 [[ 9.99933272e-01 -1.01168505e-04 -1.15517179e-02 -1.49057988e+00] [ 2.11397825e-04 9.99954457e-01 9.54142251e-03 -2.28344790e+00] [ 1.15502265e-02 -9.54322783e-03 9.99887753e-01 2.83035772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.821652532 meters Centerline goodness [0,1] 0.37398506671018805 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.28, Z:0.29 [[ 0.99991713 0.01168826 -0.00539614 -1.49671063] [-0.01166625 0.99992357 0.0040923 -2.28465024] [ 0.00544356 -0.004029 0.99997707 0.2854208 ] [ 0. 0. 0. 1. ]] SLAMing on 23.851652532 meters Centerline goodness [0,1] 0.36605087887243615 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.28, Z:0.28 [[ 0.99984694 0.0170332 -0.00399672 -1.49885368] [-0.01699873 0.99981933 0.00850597 -2.28382774] [ 0.00414088 -0.00843673 0.99995584 0.28357934] [ 0. 0. 0. 1. ]] SLAMing on 23.881652532 meters Centerline goodness [0,1] 0.36605087887243615 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.28, Z:0.28 [[ 0.99984694 0.0170332 -0.00399672 -1.49885368] [-0.01699873 0.99981933 0.00850597 -2.28382774] [ 0.00414088 -0.00843673 0.99995584 0.28357934] [ 0. 0. 0. 1. ]] SLAMing on 23.911652532 meters Centerline goodness [0,1] 0.35989900429638977 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.29, Z:0.28 [[ 9.99592182e-01 2.85554831e-02 2.33146245e-04 -1.51004582e+00] [-2.85561252e-02 9.99510003e-01 1.28179999e-02 -2.29149913e+00] [ 1.32992175e-04 -1.28194302e-02 9.99917819e-01 2.78149685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.941652532 meters Centerline goodness [0,1] 0.35961753636456106 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.29, Z:0.28 [[ 9.99587348e-01 2.87236248e-02 2.96193427e-04 -1.51058718e+00] [-2.87250396e-02 9.99501468e-01 1.31029298e-02 -2.29261503e+00] [ 8.03178734e-05 -1.31060310e-02 9.99914109e-01 2.78582725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.971652532 meters Centerline goodness [0,1] 0.3586268644567894 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.30, Z:0.28 [[ 9.99629372e-01 2.71973927e-02 1.19169336e-03 -1.51310643e+00] [-2.72094239e-02 9.99562140e-01 1.16265430e-02 -2.29731422e+00] [-8.74959910e-04 -1.16546592e-02 9.99931699e-01 2.78722487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.001652532 meters Centerline goodness [0,1] 0.35053916581892164 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.30, Z:0.28 [[ 9.99674543e-01 2.54410456e-02 1.88705015e-03 -1.51504146e+00] [-2.54586783e-02 9.99625888e-01 9.99694132e-03 -2.30194051e+00] [-1.63201154e-03 -1.00417295e-02 9.99948249e-01 2.78595811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.031652532 meters Centerline goodness [0,1] 0.35977360180792806 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.30, Z:0.28 [[ 0.99973931 0.02259251 0.00330047 -1.51844412] [-0.02261426 0.99972177 0.00670719 -2.30359104] [-0.00314802 -0.00678008 0.99997206 0.27791392] [ 0. 0. 0. 1. ]] SLAMing on 24.061652532 meters Centerline goodness [0,1] 0.35821959665919745 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.30, Z:0.28 [[ 0.99980483 0.01930262 0.00420833 -1.51999336] [-0.01931557 0.99980876 0.00305895 -2.30453647] [-0.00414848 -0.00313963 0.99998647 0.27650267] [ 0. 0. 0. 1. ]] SLAMing on 24.091652532 meters Centerline goodness [0,1] 0.359446817164938 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.30, Z:0.28 [[ 9.99823838e-01 1.84122599e-02 3.64435954e-03 -1.51812153e+00] [-1.84200069e-02 9.99828124e-01 2.10371756e-03 -2.30272971e+00] [-3.60499896e-03 -2.17047609e-03 9.99991146e-01 2.75986413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.121652532 meters Centerline goodness [0,1] 0.35113074276874223 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.31, Z:0.28 [[ 9.99856947e-01 1.64088021e-02 4.10334690e-03 -1.52018205e+00] [-1.64112539e-02 9.99865167e-01 5.64554170e-04 -2.30865039e+00] [-4.09352998e-03 -6.31814476e-04 9.99991422e-01 2.76757997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.151652532 meters Centerline goodness [0,1] 0.3668770358306189 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.31, Z:0.28 [[ 9.99916315e-01 1.29361021e-02 -1.43662757e-04 -1.51262527e+00] [-1.29357328e-02 9.99913620e-01 2.32776145e-03 -2.30923213e+00] [ 1.73762507e-04 -2.32570827e-03 9.99997280e-01 2.83652312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.181652532 meters Centerline goodness [0,1] 0.36167311215143494 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.31, Z:0.29 [[ 9.99917534e-01 1.28244363e-02 -6.76948626e-04 -1.51242802e+00] [-1.28223695e-02 9.99913367e-01 2.97397829e-03 -2.31212185e+00] [ 7.15029575e-04 -2.96505296e-03 9.99995349e-01 2.85247816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.211652532000002 meters Centerline goodness [0,1] 0.3312188675409169 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.31, Z:0.29 [[ 9.99969947e-01 7.68110157e-03 -1.05186502e-03 -1.51210966e+00] [-7.68300687e-03 9.99968830e-01 -1.81945259e-03 -2.31178540e+00] [ 1.03785683e-03 1.82747940e-03 9.99997792e-01 2.86157025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.241652532 meters Centerline goodness [0,1] 0.32782111072643216 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.31, Z:0.28 [[ 9.99997712e-01 1.62379855e-03 -1.39228753e-03 -1.51002524e+00] [-1.63538526e-03 9.99963703e-01 -8.36171505e-03 -2.30660115e+00] [ 1.37865925e-03 8.36397285e-03 9.99964071e-01 2.84503584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.271652532 meters Centerline goodness [0,1] 0.36708112515287405 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.31, Z:0.28 [[ 9.99997336e-01 1.65797688e-03 -1.60620932e-03 -1.50884324e+00] [-1.67139937e-03 9.99963393e-01 -8.39163540e-03 -2.30645816e+00] [ 1.59223739e-03 8.39429766e-03 9.99963500e-01 2.83410177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.301652532000002 meters Centerline goodness [0,1] 0.34506094826531863 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.31, Z:0.28 [[ 9.99996873e-01 1.12873819e-03 -2.23168385e-03 -1.50708372e+00] [-1.14828146e-03 9.99960836e-01 -8.77538243e-03 -2.30610928e+00] [ 2.22169134e-03 8.77791759e-03 9.99959005e-01 2.83148483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.331652532 meters Centerline goodness [0,1] 0.34436212321120474 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.31, Z:0.28 [[ 9.99995463e-01 1.04445553e-03 -2.82555990e-03 -1.50654403e+00] [-1.06837647e-03 9.99963493e-01 -8.47768980e-03 -2.30739966e+00] [ 2.81660217e-03 8.48067009e-03 9.99960072e-01 2.84428190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.361652532 meters Centerline goodness [0,1] 0.3540136331264625 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.31, Z:0.29 [[ 9.99993892e-01 2.10390826e-03 -2.79089078e-03 -1.50880657e+00] [-2.12205294e-03 9.99976529e-01 -6.51444293e-03 -2.31299312e+00] [ 2.77711948e-03 6.52032556e-03 9.99974886e-01 2.87067400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.391652532000002 meters Centerline goodness [0,1] 0.3536029621190544 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.32, Z:0.29 [[ 0.99999193 0.0032327 -0.00238498 -1.51087525] [-0.00324446 0.99998252 -0.00494251 -2.31721951] [ 0.00236896 0.00495021 0.99998494 0.28819759] [ 0. 0. 0. 1. ]] SLAMing on 24.421652532 meters Centerline goodness [0,1] 0.357356501922803 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.32, Z:0.29 [[ 9.99989050e-01 4.47601839e-03 -1.36567812e-03 -1.51385281e+00] [-4.48111041e-03 9.99982934e-01 -3.74856706e-03 -2.31982769e+00] [ 1.34887616e-03 3.75464576e-03 9.99992042e-01 2.88382652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.451652532 meters Centerline goodness [0,1] 0.34978728601380094 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.32, Z:0.29 [[ 9.99980707e-01 6.21094695e-03 -9.50716183e-05 -1.51658401e+00] [-6.21115363e-03 9.99977938e-01 -2.35492244e-03 -2.32194559e+00] [ 8.04432225e-05 2.35546751e-03 9.99997223e-01 2.87651692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.481652532000002 meters Centerline goodness [0,1] 0.36072213628592364 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.32, Z:0.29 [[ 9.99926560e-01 1.19525425e-02 2.00266752e-03 -1.52048807e+00] [-1.19562976e-02 9.99926766e-01 1.87365225e-03 -2.32015708e+00] [-1.98012595e-03 -1.89745914e-03 9.99996239e-01 2.85598743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.511652532 meters Centerline goodness [0,1] 0.35942966398177534 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.32, Z:0.28 [[ 9.99920365e-01 1.22696146e-02 2.95295038e-03 -1.52247532e+00] [-1.22744169e-02 9.99923364e-01 1.61368224e-03 -2.31880608e+00] [-2.93292482e-03 -1.64979948e-03 9.99994338e-01 2.84888270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.541652532 meters Centerline goodness [0,1] 0.3593610275587351 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.32, Z:0.28 [[ 0.99989589 0.01383028 0.00411575 -1.52519614] [-0.01384123 0.99990071 0.00264433 -2.32021637] [-0.00407877 -0.00270102 0.99998803 0.28430336] [ 0. 0. 0. 1. ]] SLAMing on 24.571652532 meters Centerline goodness [0,1] 0.35991208254472185 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.32, Z:0.28 [[ 0.99989442 0.01386295 0.00435509 -1.52536779] [-0.01387446 0.99990031 0.0026221 -2.32039793] [-0.0043183 -0.00268225 0.99998708 0.28369098] [ 0. 0. 0. 1. ]] SLAMing on 24.601652532 meters Centerline goodness [0,1] 0.3602643619725471 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.32, Z:0.28 [[ 0.99988177 0.01445907 0.0052328 -1.52801409] [-0.01447363 0.99989145 0.00275603 -2.31980524] [-0.00519238 -0.00283145 0.99998251 0.28416305] [ 0. 0. 0. 1. ]] SLAMing on 24.631652532 meters Centerline goodness [0,1] 0.356556210611913 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.32, Z:0.28 [[ 0.9998401 0.0167241 0.00633149 -1.53049241] [-0.01675562 0.99984732 0.00495892 -2.32389039] [-0.00624759 -0.00506422 0.99996766 0.28362716] [ 0. 0. 0. 1. ]] SLAMing on 24.661652532 meters Centerline goodness [0,1] 0.3566666666666667 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.32, Z:0.28 [[ 0.99983413 0.01687583 0.00685005 -1.53166175] [-0.01691003 0.99984469 0.00496482 -2.3237612 ] [-0.0067652 -0.00507983 0.99996421 0.28333039] [ 0. 0. 0. 1. ]] SLAMing on 24.691652532 meters Centerline goodness [0,1] 0.3534456479769138 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.32, Z:0.28 [[ 0.99981995 0.01729491 0.00780673 -1.53413137] [-0.01733516 0.99983663 0.00511835 -2.32385595] [-0.00771694 -0.00525276 0.99995643 0.28321264] [ 0. 0. 0. 1. ]] SLAMing on 24.721652532 meters Centerline goodness [0,1] 0.35646142267244363 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.33, Z:0.28 [[ 0.99986897 0.01402661 0.00808105 -1.53584504] [-0.01404663 0.9998984 0.00242715 -2.3282856 ] [-0.00804619 -0.00254034 0.9999644 0.28442676] [ 0. 0. 0. 1. ]] SLAMing on 24.751652532 meters Centerline goodness [0,1] 0.359466221851543 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.33, Z:0.29 [[ 9.99909082e-01 1.05230040e-02 8.43173405e-03 -1.53740270e+00] [-1.05166115e-02 9.99944377e-01 -8.02126386e-04 -2.33129304e+00] [-8.43970583e-03 7.13380187e-04 9.99964131e-01 2.85039940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.781652532 meters Centerline goodness [0,1] 0.3559473694913875 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.33, Z:0.28 [[ 9.99915932e-01 1.02470347e-02 7.94522915e-03 -1.53569335e+00] [-1.02388705e-02 9.99947012e-01 -1.06754959e-03 -2.33074973e+00] [-7.95574737e-03 9.86109671e-04 9.99967866e-01 2.84388943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.811652532 meters Centerline goodness [0,1] 0.3580976759304404 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.33, Z:0.28 [[ 9.99920868e-01 9.97239058e-03 7.66873354e-03 -1.53446413e+00] [-9.96246741e-03 9.99949487e-01 -1.33109207e-03 -2.33029888e+00] [-7.68162035e-03 1.25458723e-03 9.99969709e-01 2.83653244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.841652532 meters Centerline goodness [0,1] 0.34531513073817877 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.33, Z:0.28 [[ 9.99920492e-01 1.00117038e-02 7.66654283e-03 -1.53543614e+00] [-1.00018089e-02 9.99949099e-01 -1.32790592e-03 -2.33007832e+00] [-7.67944720e-03 1.25112104e-03 9.99969730e-01 2.84894758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.871652532 meters Centerline goodness [0,1] 0.35965928726799623 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.33, Z:0.29 [[ 9.99910183e-01 1.07357271e-02 8.02309210e-03 -1.53682498e+00] [-1.07351116e-02 9.99942370e-01 -1.19777854e-04 -2.33401818e+00] [-8.02391563e-03 3.36383068e-05 9.99967807e-01 2.85466378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.901652532 meters Centerline goodness [0,1] 0.3539738593927586 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.34, Z:0.29 [[ 9.99910133e-01 1.08060537e-02 7.93444912e-03 -1.53779334e+00] [-1.08088258e-02 9.99941536e-01 3.06574125e-04 -2.33570887e+00] [-7.93067238e-03 -3.92308652e-04 9.99968475e-01 2.87106696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.931652532 meters Centerline goodness [0,1] 0.3523170731707317 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.34, Z:0.29 [[ 9.99900575e-01 1.14631581e-02 8.21195759e-03 -1.53899928e+00] [-1.14743557e-02 9.99933299e-01 1.31775147e-03 -2.33890660e+00] [-8.19630425e-03 -1.41184737e-03 9.99965413e-01 2.87645087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.961652532000002 meters Centerline goodness [0,1] 0.35427989821882955 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.34, Z:0.29 [[ 9.99896330e-01 1.16914376e-02 8.40470254e-03 -1.53883026e+00] [-1.17053092e-02 9.99930205e-01 1.60315957e-03 -2.33993883e+00] [-8.38537269e-03 -1.70137302e-03 9.99963395e-01 2.86686296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.991652532 meters Centerline goodness [0,1] 0.34137159137159134 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.34, Z:0.29 [[ 9.99895150e-01 1.15290046e-02 8.76192769e-03 -1.53910560e+00] [-1.15390761e-02 9.99932818e-01 1.09978496e-03 -2.33837709e+00] [-8.74865962e-03 -1.20077420e-03 9.99961009e-01 2.85743120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.021652532 meters Centerline goodness [0,1] 0.3519022843671247 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.34, Z:0.28 [[ 9.99896335e-01 1.12635609e-02 8.96942683e-03 -1.53895495e+00] [-1.12687433e-02 9.99936367e-01 5.27461200e-04 -2.33668802e+00] [-8.96291498e-03 -6.28480690e-04 9.99959635e-01 2.84776779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.051652532000002 meters Centerline goodness [0,1] 0.35247802734375 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.33, Z:0.28 [[ 9.99896562e-01 1.08540553e-02 9.43686060e-03 -1.53956471e+00] [-1.08499605e-02 9.99941020e-01 -4.85008149e-04 -2.33360640e+00] [-9.44156832e-03 3.82568416e-04 9.99955354e-01 2.83775622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.081652532 meters Centerline goodness [0,1] 0.3472533289896974 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.34, Z:0.29 [[ 9.99912910e-01 8.70708817e-03 9.91765145e-03 -1.54250753e+00] [-8.68593962e-03 9.99959914e-01 -2.17349682e-03 -2.33827155e+00] [-9.93617872e-03 2.08716340e-03 9.99948457e-01 2.85453240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.111652532 meters Centerline goodness [0,1] 0.3600570322843467 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.34, Z:0.29 [[ 0.99992345 0.00810511 0.00934904 -1.54196589] [-0.00808218 0.99996424 -0.00248783 -2.33829006] [-0.00936887 0.00241208 0.9999532 0.28677084] [ 0. 0. 0. 1. ]] SLAMing on 25.141652532000002 meters Centerline goodness [0,1] 0.3249572719134044 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.34, Z:0.29 [[ 9.99930020e-01 8.14476059e-03 8.58009152e-03 -1.54040429e+00] [-8.12956004e-03 9.99965326e-01 -1.80499716e-03 -2.34118637e+00] [-8.59449528e-03 1.73511848e-03 9.99961561e-01 2.87302281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.171652532 meters Centerline goodness [0,1] 0.3653599690786663 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.34, Z:0.29 [[ 9.99977138e-01 5.02822618e-03 4.52110690e-03 -1.53328190e+00] [-5.02507798e-03 9.99987124e-01 -7.07423350e-04 -2.34379292e+00] [-4.52460577e-03 6.84688263e-04 9.99989530e-01 2.92675292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.201652532 meters Centerline goodness [0,1] 0.3680024472315693 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.35, Z:0.29 [[ 9.99989578e-01 1.36932143e-03 4.35543785e-03 -1.53395660e+00] [-1.35299501e-03 9.99992056e-01 -3.74925523e-03 -2.34778916e+00] [-4.36053719e-03 3.74332327e-03 9.99983486e-01 2.94040969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.231652532000002 meters Centerline goodness [0,1] 0.36471449785390264 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.35, Z:0.29 [[ 9.99994798e-01 -8.57690937e-04 3.10954289e-03 -1.53081638e+00] [ 8.74720808e-04 9.99984605e-01 -5.47943041e-03 -2.34656733e+00] [-3.10479536e-03 5.48212189e-03 9.99980153e-01 2.94137529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.261652532 meters Centerline goodness [0,1] 0.3429293753058229 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.35, Z:0.29 [[ 0.99998306 -0.00495171 0.00306017 -1.53089338] [ 0.00498024 0.99994352 -0.00938908 -2.34796087] [-0.00301351 0.00940416 0.99995124 0.29436514] [ 0. 0. 0. 1. ]] SLAMing on 25.291652532 meters Centerline goodness [0,1] 0.3769196209769645 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.35, Z:0.29 [[ 0.99995492 -0.00914002 0.00257399 -1.52947523] [ 0.00917347 0.99986949 -0.0132984 -2.34929826] [-0.0024521 0.01332141 0.99990826 0.29417789] [ 0. 0. 0. 1. ]] SLAMing on 25.321652532 meters Centerline goodness [0,1] 0.3336521632952094 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.35, Z:0.29 [[ 9.99948826e-01 -9.93981835e-03 1.88288747e-03 -1.52820572e+00] [ 9.96519990e-03 9.99852506e-01 -1.39879064e-02 -2.34801258e+00] [-1.74357250e-03 1.40059539e-02 9.99900392e-01 2.94945473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.351652532 meters Centerline goodness [0,1] 0.33797824226867135 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.35, Z:0.30 [[ 9.99950170e-01 -9.86815355e-03 1.50920096e-03 -1.52813669e+00] [ 9.88766157e-03 9.99859758e-01 -1.35165845e-02 -2.34973451e+00] [-1.37560558e-03 1.35308334e-02 9.99907508e-01 2.96047166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.381652532 meters Centerline goodness [0,1] 0.37749679310976725 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.35, Z:0.30 [[ 9.99933034e-01 -1.15357766e-02 9.24222349e-04 -1.52712338e+00] [ 1.15482341e-02 9.99823028e-01 -1.48509336e-02 -2.34754446e+00] [-7.52741735e-04 1.48606123e-02 9.99889292e-01 2.96880088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.411652532 meters Centerline goodness [0,1] 0.3280154849225754 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.35, Z:0.30 [[ 9.99918853e-01 -1.27392320e-02 1.10203099e-05 -1.52523020e+00] [ 1.27377964e-02 9.99792411e-01 -1.59023310e-02 -2.34566047e+00] [ 1.91565462e-04 1.59011810e-02 9.99873550e-01 2.97508671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.441652532 meters Centerline goodness [0,1] 0.33456757471568366 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.35, Z:0.30 [[ 9.99917188e-01 -1.28538692e-02 -6.28092212e-04 -1.52381406e+00] [ 1.28424248e-02 9.99794224e-01 -1.57028925e-02 -2.34679909e+00] [ 8.29805892e-04 1.56935259e-02 9.99876505e-01 2.97829713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.471652532 meters Centerline goodness [0,1] 0.38213944409426404 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.35, Z:0.30 [[ 9.99897325e-01 -1.41811085e-02 -2.05826824e-03 -1.52110905e+00] [ 1.41461207e-02 9.99769995e-01 -1.61196705e-02 -2.34770746e+00] [ 2.28638963e-03 1.60888989e-02 9.99867951e-01 2.99206597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.501652532 meters Centerline goodness [0,1] 0.3344397157343868 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.35, Z:0.30 [[ 0.9998812 -0.01507157 -0.00322995 -1.51963575] [ 0.01501706 0.99975462 -0.01628474 -2.34902509] [ 0.00347459 0.0162343 0.99986218 0.30120535] [ 0. 0. 0. 1. ]] SLAMing on 25.531652532 meters Centerline goodness [0,1] 0.36123392897165796 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.35, Z:0.30 [[ 0.99986807 -0.0158191 -0.00368867 -1.51826454] [ 0.01575456 0.99973284 -0.01691291 -2.34793363] [ 0.00395523 0.01685256 0.99985016 0.30106877] [ 0. 0. 0. 1. ]] SLAMing on 25.561652532 meters Centerline goodness [0,1] 0.3433985330073349 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.34, Z:0.30 [[ 0.99984181 -0.01723259 -0.00440461 -1.51682917] [ 0.01714859 0.99968282 -0.01844417 -2.34468359] [ 0.00472105 0.01836572 0.99982019 0.30152395] [ 0. 0. 0. 1. ]] SLAMing on 25.591652532 meters Centerline goodness [0,1] 0.34849039713541663 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.34, Z:0.30 [[ 0.99984736 -0.01696918 -0.00415999 -1.51690728] [ 0.01689029 0.99968954 -0.01831769 -2.34484105] [ 0.00446953 0.01824463 0.99982356 0.30067021] [ 0. 0. 0. 1. ]] SLAMing on 25.621652532 meters Centerline goodness [0,1] 0.36474683930861784 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.34, Z:0.30 [[ 0.99989154 -0.01384779 -0.00501453 -1.51420729] [ 0.01377018 0.99978971 -0.01519594 -2.34323975] [ 0.0052239 0.01512524 0.99987196 0.29985098] [ 0. 0. 0. 1. ]] SLAMing on 25.651652532 meters Centerline goodness [0,1] 0.3543714012492625 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.34, Z:0.30 [[ 0.99993216 -0.01041445 -0.00521613 -1.51370904] [ 0.0103499 0.99987136 -0.01225311 -2.33953008] [ 0.00534307 0.01219829 0.99991132 0.29964747] [ 0. 0. 0. 1. ]] SLAMing on 25.681652532 meters Centerline goodness [0,1] 0.3588699829031995 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.34, Z:0.30 [[ 0.99995313 -0.00769545 -0.0058746 -1.51170722] [ 0.0076383 0.99992389 -0.00968876 -2.33616546] [ 0.00594871 0.00964343 0.99993581 0.29917143] [ 0. 0. 0. 1. ]] SLAMing on 25.711652532 meters Centerline goodness [0,1] 0.3607660560717263 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.33, Z:0.30 [[ 0.99996655 -0.00488236 -0.00656199 -1.51038 ] [ 0.00483579 0.99996314 -0.00709483 -2.33259544] [ 0.00659639 0.00706286 0.9999533 0.29946064] [ 0. 0. 0. 1. ]] SLAMing on 25.741652532 meters Centerline goodness [0,1] 0.36784109622461214 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.33, Z:0.30 [[ 9.99973067e-01 -1.97712946e-03 -7.06799901e-03 -1.50851477e+00] [ 1.94668929e-03 9.99988813e-01 -4.31104712e-03 -2.32992918e+00] [ 7.07644343e-03 4.29717181e-03 9.99965729e-01 2.98798011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.771652532 meters Centerline goodness [0,1] 0.36784109622461214 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.33, Z:0.30 [[ 9.99973067e-01 -1.97712946e-03 -7.06799901e-03 -1.50851477e+00] [ 1.94668929e-03 9.99988813e-01 -4.31104712e-03 -2.32992918e+00] [ 7.07644343e-03 4.29717181e-03 9.99965729e-01 2.98798011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.801652532000002 meters Centerline goodness [0,1] 0.3692382733111129 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.33, Z:0.30 [[ 9.99972423e-01 1.79638081e-03 -7.20601921e-03 -1.50758251e+00] [-1.80203897e-03 9.99998073e-01 -7.78782624e-04 -2.32837627e+00] [ 7.20460633e-03 7.91746675e-04 9.99973733e-01 2.98163341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.831652532 meters Centerline goodness [0,1] 0.3704403665996058 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.33, Z:0.30 [[ 9.99977081e-01 2.63388299e-03 -6.23700850e-03 -1.51051812e+00] [-2.63488726e-03 9.99996517e-01 -1.52806413e-04 -2.32946214e+00] [ 6.23658430e-03 1.69236725e-04 9.99980538e-01 2.98543326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.861652532 meters Centerline goodness [0,1] 0.3719739008476126 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.33, Z:0.30 [[ 0.99995774 0.00663572 -0.00636289 -1.51018256] [-0.00661206 0.99997117 0.00373304 -2.32850341] [ 0.00638748 -0.00369081 0.99997279 0.29857825] [ 0. 0. 0. 1. ]] SLAMing on 25.891652532000002 meters Centerline goodness [0,1] 0.3697755732639454 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.33, Z:0.30 [[ 0.99995574 0.0078071 -0.0052503 -1.51291731] [-0.00778153 0.99995785 0.0048728 -2.33121659] [ 0.00528812 -0.00483173 0.99997434 0.29842406] [ 0. 0. 0. 1. ]] SLAMing on 25.921652532 meters Centerline goodness [0,1] 0.37519332519332516 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.33, Z:0.30 [[ 9.99983262e-01 2.47377906e-03 -5.23028280e-03 -1.51203129e+00] [-2.47871634e-03 9.99996488e-01 -9.37708401e-04 -2.32726169e+00] [ 5.22794475e-03 9.50657093e-04 9.99985882e-01 2.97313620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.951652532 meters Centerline goodness [0,1] 0.36993349738667103 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.33, Z:0.30 [[ 9.99984483e-01 2.89633886e-03 -4.75864465e-03 -1.51231010e+00] [-2.90012188e-03 9.99995484e-01 -7.88269541e-04 -2.32730112e+00] [ 4.75634007e-03 8.02057959e-04 9.99988367e-01 2.95929802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.981652532000002 meters Centerline goodness [0,1] 0.3716026241799437 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.33, Z:0.30 [[ 9.99980258e-01 4.70785964e-03 -4.16158173e-03 -1.51378030e+00] [-4.70300362e-03 9.99988249e-01 1.17588599e-03 -2.33152083e+00] [ 4.16706874e-03 -1.15629085e-03 9.99990649e-01 2.95669668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.011652532 meters Centerline goodness [0,1] 0.36292226292226293 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.33, Z:0.30 [[ 9.99970605e-01 8.46302910e-04 -7.62060146e-03 -1.50788353e+00] [-8.42035330e-04 9.99999487e-01 5.63196803e-04 -2.32976006e+00] [ 7.62107419e-03 -5.56763432e-04 9.99970804e-01 3.00651948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.041652532 meters Centerline goodness [0,1] 0.37384812547041235 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.33, Z:0.30 [[ 9.99963581e-01 -1.03960805e-03 -8.47088745e-03 -1.50542329e+00] [ 1.03582661e-03 9.99999362e-01 -4.50778996e-04 -2.33111335e+00] [ 8.47135068e-03 4.41988208e-04 9.99964020e-01 3.00576405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.071652532 meters Centerline goodness [0,1] 0.37897395165067926 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.33, Z:0.30 [[ 0.9999479 -0.005341 -0.0086992 -1.50530048] [ 0.00530275 0.9999762 -0.00441423 -2.33240463] [ 0.00872257 0.00436787 0.99995242 0.30125435] [ 0. 0. 0. 1. ]] SLAMing on 26.101652532 meters Centerline goodness [0,1] 0.36592059523083487 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.33, Z:0.30 [[ 0.99988628 -0.01139081 -0.00988339 -1.50232332] [ 0.01129213 0.99988641 -0.00998262 -2.3307523 ] [ 0.00999598 0.00986988 0.99990133 0.30166 ] [ 0. 0. 0. 1. ]] SLAMing on 26.131652532 meters Centerline goodness [0,1] 0.39134965063539406 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.33, Z:0.30 [[ 0.99986558 -0.01226159 -0.01088479 -1.50029921] [ 0.01214748 0.99987121 -0.01048858 -2.33045997] [ 0.011012 0.01035495 0.99988575 0.30241798] [ 0. 0. 0. 1. ]] SLAMing on 26.161652532 meters Centerline goodness [0,1] 0.3910422225390553 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.33, Z:0.30 [[ 0.99983881 -0.01341334 -0.0119347 -1.49888475] [ 0.01327972 0.99984903 -0.01120542 -2.33001934] [ 0.0120832 0.01104512 0.99986599 0.30408987] [ 0. 0. 0. 1. ]] SLAMing on 26.191652532 meters Centerline goodness [0,1] 0.39094164564173517 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.33, Z:0.31 [[ 0.99984647 -0.01284078 -0.0119227 -1.49996734] [ 0.01271855 0.99986635 -0.01027192 -2.33272918] [ 0.012053 0.0101187 0.99987616 0.3052485 ] [ 0. 0. 0. 1. ]] SLAMing on 26.221652532 meters Centerline goodness [0,1] 0.37683311298688094 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.33, Z:0.31 [[ 0.99984923 -0.01252272 -0.01202897 -1.50018485] [ 0.0124069 0.99987641 -0.00965563 -2.33466912] [ 0.0121484 0.00950494 0.99988103 0.30580778] [ 0. 0. 0. 1. ]] SLAMing on 26.251652532 meters Centerline goodness [0,1] 0.3873985894247626 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.33, Z:0.30 [[ 0.99984219 -0.01301367 -0.01209297 -1.49941059] [ 0.01288817 0.99986288 -0.0103983 -2.3325938 ] [ 0.01222663 0.0102408 0.99987281 0.30499363] [ 0. 0. 0. 1. ]] SLAMing on 26.281652532 meters Centerline goodness [0,1] 0.39352370097490486 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.33, Z:0.30 [[ 0.99985055 -0.01267355 -0.01175817 -1.49991181] [ 0.01255423 0.99986951 -0.01016658 -2.33282347] [ 0.01188548 0.01001745 0.99987919 0.30434414] [ 0. 0. 0. 1. ]] SLAMing on 26.311652532 meters Centerline goodness [0,1] 0.38549075391180654 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.33, Z:0.30 [[ 0.99990391 -0.00793711 -0.01136556 -1.50129489] [ 0.00787317 0.99995299 -0.00565918 -2.33281598] [ 0.01140994 0.00556916 0.9999194 0.30440778] [ 0. 0. 0. 1. ]] SLAMing on 26.341652532 meters Centerline goodness [0,1] 0.37591322574736974 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.33, Z:0.31 [[ 9.99921325e-01 -4.35744211e-03 -1.17624829e-02 -1.50117536e+00] [ 4.33229865e-03 9.99988278e-01 -2.16223274e-03 -2.33108632e+00] [ 1.17717668e-02 2.11110404e-03 9.99928482e-01 3.05491070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.371652532 meters Centerline goodness [0,1] 0.3827409718398891 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.33, Z:0.31 [[ 9.99940150e-01 -2.34285342e-03 -1.06867623e-02 -1.50489028e+00] [ 2.33996066e-03 9.99997222e-01 -2.83181894e-04 -2.33373973e+00] [ 1.06873960e-02 2.58158342e-04 9.99942855e-01 3.06497944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.401652532 meters Centerline goodness [0,1] 0.3864786548036895 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.34, Z:0.31 [[ 9.99953011e-01 -7.89651819e-04 -9.66189800e-03 -1.50720622e+00] [ 8.02994619e-04 9.99998729e-01 1.37716954e-03 -2.33733298e+00] [ 9.66079824e-03 -1.38486328e-03 9.99952374e-01 3.06077078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.431652532 meters Centerline goodness [0,1] 0.38330851910016117 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.34, Z:0.30 [[ 9.99948769e-01 -1.48239574e-03 -1.00131094e-02 -1.50524740e+00] [ 1.48789240e-03 9.99998746e-01 5.41518636e-04 -2.33611515e+00] [ 1.00122941e-02 -5.56389322e-04 9.99949721e-01 3.04745015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.461652532 meters Centerline goodness [0,1] 0.3787860233488448 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.33, Z:0.30 [[ 9.99941278e-01 -2.23837486e-03 -1.06033590e-02 -1.50341331e+00] [ 2.23607541e-03 9.99997474e-01 -2.28711034e-04 -2.33481342e+00] [ 1.06038441e-02 2.04987694e-04 9.99943757e-01 3.04426358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.491652532 meters Centerline goodness [0,1] 0.3826423550982989 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.33, Z:0.30 [[ 9.99936752e-01 -2.50971244e-03 -1.09632409e-02 -1.50243227e+00] [ 2.50449540e-03 9.99996744e-01 -4.89570015e-04 -2.33439153e+00] [ 1.09644339e-02 4.62081664e-04 9.99939782e-01 3.04386802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.521652532 meters Centerline goodness [0,1] 0.3888276368981992 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.34, Z:0.30 [[ 9.99926807e-01 -2.88614483e-03 -1.17494836e-02 -1.50077120e+00] [ 2.88275801e-03 9.99995798e-01 -3.05178330e-04 -2.33610579e+00] [ 1.17503150e-02 2.71285075e-04 9.99930926e-01 3.04944069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.551652532000002 meters Centerline goodness [0,1] 0.3847109626430928 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.34, Z:0.31 [[ 0.9999026 -0.00666382 -0.01226286 -1.50063295] [ 0.00662312 0.99997243 -0.00335619 -2.33984395] [ 0.01228489 0.00327464 0.99991918 0.30654118] [ 0. 0. 0. 1. ]] SLAMing on 26.581652532 meters Centerline goodness [0,1] 0.361233570087354 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.34, Z:0.31 [[ 0.99988571 -0.00792118 -0.01287737 -1.49868887] [ 0.00786172 0.99995823 -0.00466127 -2.33725894] [ 0.01291375 0.0045595 0.99990622 0.30614739] [ 0. 0. 0. 1. ]] SLAMing on 26.611652532 meters Centerline goodness [0,1] 0.379077500561007 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.34, Z:0.31 [[ 0.99987584 -0.00857964 -0.01321744 -1.49736427] [ 0.0085089 0.99994922 -0.00539903 -2.33553233] [ 0.01326309 0.00528589 0.99989807 0.30552297] [ 0. 0. 0. 1. ]] SLAMing on 26.641652532000002 meters Centerline goodness [0,1] 0.3928986363914311 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.33, Z:0.31 [[ 0.99987026 -0.00908526 -0.01330128 -1.49719818] [ 0.00900539 0.99994113 -0.00605277 -2.3336905 ] [ 0.01335549 0.0059322 0.99989321 0.30552033] [ 0. 0. 0. 1. ]] SLAMing on 26.671652532 meters Centerline goodness [0,1] 0.38882096425805923 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.33, Z:0.31 [[ 0.99985275 -0.00959575 -0.01422671 -1.4950858 ] [ 0.00951152 0.99993691 -0.00597608 -2.33496462] [ 0.01428316 0.00583988 0.99988094 0.30599676] [ 0. 0. 0. 1. ]] SLAMing on 26.701652532 meters Centerline goodness [0,1] 0.39486792144694405 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.34, Z:0.31 [[ 0.99981387 -0.01299783 -0.01425797 -1.49587103] [ 0.0128751 0.99987956 -0.00866616 -2.33974479] [ 0.01436889 0.00848098 0.99986079 0.30711947] [ 0. 0. 0. 1. ]] SLAMing on 26.731652532000002 meters Centerline goodness [0,1] 0.3840455840455841 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.34, Z:0.31 [[ 0.99972398 -0.01790452 -0.01521152 -1.49444996] [ 0.01770813 0.99975934 -0.01294892 -2.34088932] [ 0.0154397 0.01267597 0.99980045 0.30877976] [ 0. 0. 0. 1. ]] SLAMing on 26.761652532 meters Centerline goodness [0,1] 0.39806991469348696 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.34, Z:0.31 [[ 0.9997114 -0.0178686 -0.016057 -1.49332636] [ 0.01767137 0.99976767 -0.01234252 -2.3434461 ] [ 0.01627381 0.01205521 0.9997949 0.31013328] [ 0. 0. 0. 1. ]] SLAMing on 26.791652532 meters Centerline goodness [0,1] 0.38725010199918397 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.35, Z:0.31 [[ 0.9997257 -0.01673188 -0.0163881 -1.49509984] [ 0.01656783 0.99981178 -0.01009514 -2.34929325] [ 0.01655393 0.00982086 0.99981474 0.31333198] [ 0. 0. 0. 1. ]] SLAMing on 26.821652532 meters Centerline goodness [0,1] 0.39531131940615494 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.35, Z:0.31 [[ 0.99974184 -0.01612379 -0.01600895 -1.49643752] [ 0.01597562 0.99982875 -0.00934033 -2.35126821] [ 0.01615681 0.00908216 0.99982822 0.31360219] [ 0. 0. 0. 1. ]] SLAMing on 26.851652532 meters Centerline goodness [0,1] 0.38885599362966294 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.35, Z:0.31 [[ 0.99970363 -0.01760656 -0.01681239 -1.49424813] [ 0.01742871 0.99979121 -0.01066705 -2.3490707 ] [ 0.01699669 0.01037087 0.99980176 0.31352055] [ 0. 0. 0. 1. ]] SLAMing on 26.881652532 meters Centerline goodness [0,1] 0.4052274256355889 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.35, Z:0.31 [[ 0.99967322 -0.01858724 -0.01754901 -1.49245965] [ 0.01838248 0.99976189 -0.01175808 -2.34656821] [ 0.01776338 0.01143164 0.99977687 0.31359381] [ 0. 0. 0. 1. ]] SLAMing on 26.911652532 meters Centerline goodness [0,1] 0.38886052163967244 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.35, Z:0.31 [[ 0.99967342 -0.0186162 -0.01750675 -1.49259271] [ 0.01840966 0.99975987 -0.01188609 -2.34602052] [ 0.01772382 0.01155991 0.99977609 0.31347586] [ 0. 0. 0. 1. ]] SLAMing on 26.941652532 meters Centerline goodness [0,1] 0.39465408805031443 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.35, Z:0.31 [[ 0.99968721 -0.01809276 -0.01726642 -1.49419137] [ 0.01790141 0.99977732 -0.01117341 -2.34786583] [ 0.01746473 0.01086082 0.99978849 0.31454806] [ 0. 0. 0. 1. ]] SLAMing on 26.971652532 meters Centerline goodness [0,1] 0.3930314727447256 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.35, Z:0.32 [[ 0.99971263 -0.01695141 -0.01694986 -1.49601199] [ 0.01678849 0.99981193 -0.00970871 -2.35147175] [ 0.01711125 0.00942136 0.9998092 0.31548244] [ 0. 0. 0. 1. ]] SLAMing on 27.001652532 meters Centerline goodness [0,1] 0.4032363384075419 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.35, Z:0.32 [[ 0.99973385 -0.01617817 -0.01644649 -1.49785811] [ 0.01603574 0.99983309 -0.00875495 -2.35384676] [ 0.01658539 0.00848889 0.99982642 0.31591825] [ 0. 0. 0. 1. ]] SLAMing on 27.031652532 meters Centerline goodness [0,1] 0.40054701692078465 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.35, Z:0.32 [[ 0.99980397 -0.0117029 -0.01597042 -1.49922846] [ 0.01163082 0.99992178 -0.00459883 -2.35308227] [ 0.01602299 0.00441218 0.99986189 0.31579542] [ 0. 0. 0. 1. ]] SLAMing on 27.061652532 meters Centerline goodness [0,1] 0.39094339622641505 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.35, Z:0.32 [[ 0.99982713 -0.01081431 -0.01512516 -1.50193587] [ 0.01075703 0.99993468 -0.00386335 -2.35421575] [ 0.01516595 0.00369998 0.99987814 0.31612967] [ 0. 0. 0. 1. ]] SLAMing on 27.091652532 meters Centerline goodness [0,1] 0.390543764144596 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.35, Z:0.32 [[ 9.99851523e-01 -7.44405996e-03 -1.55408198e-02 -1.50077499e+00] [ 7.43281888e-03 9.99972071e-01 -7.80961224e-04 -2.35157434e+00] [ 1.55461992e-02 6.65333171e-04 9.99878929e-01 3.15889145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.121652532 meters Centerline goodness [0,1] 0.3848350706839926 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.35, Z:0.32 [[ 9.99862649e-01 -6.93872924e-03 -1.50511231e-02 -1.50211434e+00] [ 6.93578064e-03 9.99975916e-01 -2.48095917e-04 -2.35294847e+00] [ 1.50524821e-02 1.43670553e-04 9.99886695e-01 3.15850593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.151652532 meters Centerline goodness [0,1] 0.3745879288592243 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.35, Z:0.31 [[ 9.99883824e-01 -5.30085676e-03 -1.42912376e-02 -1.50314634e+00] [ 5.31329195e-03 9.99985538e-01 8.32297928e-04 -2.35401389e+00] [ 1.42866190e-02 -9.08134752e-04 9.99897529e-01 3.14604740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.181652532 meters Centerline goodness [0,1] 0.3887857711057172 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.35, Z:0.31 [[ 9.99862402e-01 -6.94263586e-03 -1.50657595e-02 -1.50124818e+00] [ 6.93356783e-03 9.99975749e-01 -6.54046534e-04 -2.35189049e+00] [ 1.50699350e-02 5.49497073e-04 9.99886291e-01 3.14765694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.211652532 meters Centerline goodness [0,1] 0.3847125968202202 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.35, Z:0.32 [[ 9.99855643e-01 -7.56419829e-03 -1.52143619e-02 -1.50141707e+00] [ 7.54446060e-03 9.99970623e-01 -1.35428457e-03 -2.35042485e+00] [ 1.52241590e-02 1.23930491e-03 9.99883338e-01 3.15427394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.241652532 meters Centerline goodness [0,1] 0.38335712828880275 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.35, Z:0.31 [[ 0.99988352 -0.00280413 -0.01500307 -1.50142961] [ 0.00285411 0.99999045 0.00331072 -2.351373 ] [ 0.01499365 -0.00335316 0.99988197 0.31459382] [ 0. 0. 0. 1. ]] SLAMing on 27.271652532 meters Centerline goodness [0,1] 0.3863172920065253 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.35, Z:0.31 [[ 9.99896663e-01 -2.17697270e-03 -1.42099709e-02 -1.50368288e+00] [ 2.23176934e-03 9.99990131e-01 3.84149289e-03 -2.35249010e+00] [ 1.42014678e-02 -3.87280930e-03 9.99891654e-01 3.14707861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.301652532000002 meters Centerline goodness [0,1] 0.38352614719144684 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.35, Z:0.31 [[ 9.99913131e-01 -1.09597132e-03 -1.31350519e-02 -1.50605772e+00] [ 1.15636442e-03 9.99988792e-01 4.59114491e-03 -2.35366926e+00] [ 1.31298729e-02 -4.60593499e-03 9.99903191e-01 3.14036698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.331652532 meters Centerline goodness [0,1] 0.3775399979618873 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.36, Z:0.31 [[ 9.99925349e-01 2.36840925e-04 -1.22164318e-02 -1.50786570e+00] [-1.65958409e-04 9.99983149e-01 5.80291492e-03 -2.35605304e+00] [ 1.22176003e-02 -5.80045431e-03 9.99908538e-01 3.13189036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.361652532 meters Centerline goodness [0,1] 0.3834624796084829 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.36, Z:0.31 [[ 9.99929373e-01 -3.45548630e-03 -1.13714146e-02 -1.51023962e+00] [ 3.47761191e-03 9.99992097e-01 1.92652478e-03 -2.35650881e+00] [ 1.13646677e-02 -1.96593408e-03 9.99933488e-01 3.13378423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.391652532000002 meters Centerline goodness [0,1] 0.38250040763084947 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.36, Z:0.31 [[ 0.99993601 -0.00281101 -0.01095758 -1.51124893] [ 0.00283993 0.99999253 0.00262382 -2.35826125] [ 0.01095012 -0.00265477 0.99993652 0.3131841 ] [ 0. 0. 0. 1. ]] SLAMing on 27.421652532 meters Centerline goodness [0,1] 0.38453072454906756 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.36, Z:0.31 [[ 0.99993591 -0.00289743 -0.01094406 -1.51109832] [ 0.00292466 0.99999266 0.00247344 -2.35791884] [ 0.01093682 -0.00250529 0.99993705 0.31293274] [ 0. 0. 0. 1. ]] SLAMing on 27.451652532 meters Centerline goodness [0,1] 0.38351809585914576 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.36, Z:0.31 [[ 9.99936304e-01 -2.99128140e-03 -1.08830195e-02 -1.51099179e+00] [ 3.01622973e-03 9.99992859e-01 2.27671814e-03 -2.35745643e+00] [ 1.08761315e-02 -2.30939881e-03 9.99938186e-01 3.12584459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.481652532000002 meters Centerline goodness [0,1] 0.35505058746736295 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.36, Z:0.31 [[ 9.99921720e-01 -4.31009522e-03 -1.17463950e-02 -1.50867429e+00] [ 4.32367740e-03 9.99990013e-01 1.13113557e-03 -2.35600456e+00] [ 1.17414023e-02 -1.18183464e-03 9.99930369e-01 3.12611770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.511652532 meters Centerline goodness [0,1] 0.38684581299899945 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.36, Z:0.31 [[ 9.99915260e-01 -4.34001554e-03 -1.22734560e-02 -1.50752249e+00] [ 4.35831974e-03 9.99989429e-01 1.46501188e-03 -2.35763602e+00] [ 1.22669681e-02 -1.51837938e-03 9.99923605e-01 3.12931947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.541652532 meters Centerline goodness [0,1] 0.3867428105241689 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.36, Z:0.31 [[ 9.99908941e-01 -4.42693182e-03 -1.27480530e-02 -1.50664818e+00] [ 4.44928615e-03 9.99988613e-01 1.72572107e-03 -2.35904976e+00] [ 1.27402682e-02 -1.78228366e-03 9.99917251e-01 3.13476298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.571652532 meters Centerline goodness [0,1] 0.38511141947596117 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.36, Z:0.31 [[ 9.99902950e-01 -4.50842477e-03 -1.31819811e-02 -1.50564221e+00] [ 4.53413195e-03 9.99987876e-01 1.92094084e-03 -2.36022352e+00] [ 1.31731608e-02 -1.98052326e-03 9.99911269e-01 3.13681938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.601652532 meters Centerline goodness [0,1] 0.36661364655981077 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.36, Z:0.31 [[ 9.99874253e-01 -8.37968009e-03 -1.34632779e-02 -1.50514036e+00] [ 8.36173491e-03 9.99964076e-01 -1.38863772e-03 -2.36339180e+00] [ 1.34744305e-02 1.27588675e-03 9.99908402e-01 3.14039049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.631652532 meters Centerline goodness [0,1] 0.3818148442758368 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.36, Z:0.31 [[ 9.99851379e-01 -9.55663916e-03 -1.43489074e-02 -1.50300661e+00] [ 9.52311153e-03 9.99951767e-01 -2.40311102e-03 -2.36166851e+00] [ 1.43711810e-02 2.26610762e-03 9.99894161e-01 3.14175098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.661652532 meters Centerline goodness [0,1] 0.3890738282446645 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.36, Z:0.31 [[ 0.99983764 -0.01012047 -0.01490845 -1.50137607] [ 0.01007945 0.99994521 -0.00282397 -2.3611451 ] [ 0.01493621 0.00267325 0.99988488 0.3139591 ] [ 0. 0. 0. 1. ]] SLAMing on 27.691652532 meters Centerline goodness [0,1] 0.3890738282446645 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.36, Z:0.31 [[ 0.99983764 -0.01012047 -0.01490845 -1.50137607] [ 0.01007945 0.99994521 -0.00282397 -2.3611451 ] [ 0.01493621 0.00267325 0.99988488 0.3139591 ] [ 0. 0. 0. 1. ]] SLAMing on 27.721652532 meters Centerline goodness [0,1] 0.38606433726097766 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.36, Z:0.31 [[ 0.9997887 -0.01439294 -0.01467632 -1.50198411] [ 0.01429204 0.99987366 -0.00695672 -2.36172312] [ 0.01477459 0.00674549 0.9998681 0.31410373] [ 0. 0. 0. 1. ]] SLAMing on 27.751652532 meters Centerline goodness [0,1] 0.39202562899177673 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.36, Z:0.32 [[ 0.99976348 -0.01517427 -0.01557982 -1.50100633] [ 0.01506617 0.99986177 -0.00703217 -2.36280925] [ 0.01568437 0.00679578 0.9998539 0.31584372] [ 0. 0. 0. 1. ]] SLAMing on 27.781652532 meters Centerline goodness [0,1] 0.39506072048168184 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.37, Z:0.32 [[ 0.99975572 -0.01509543 -0.01614396 -1.50096817] [ 0.01499387 0.99986714 -0.00639371 -2.36510101] [ 0.01623833 0.00615009 0.99984924 0.31765012] [ 0. 0. 0. 1. ]] SLAMing on 27.811652532 meters Centerline goodness [0,1] 0.3971990282342853 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.37, Z:0.32 [[ 0.99975546 -0.01475782 -0.01646918 -1.50133732] [ 0.01466845 0.9998771 -0.0055343 -2.36780627] [ 0.01654883 0.00529137 0.99984906 0.31913317] [ 0. 0. 0. 1. ]] SLAMing on 27.841652532 meters Centerline goodness [0,1] 0.4007469997550821 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.37, Z:0.32 [[ 0.99975094 -0.0146079 -0.01687233 -1.50155101] [ 0.01452667 0.99988234 -0.00492681 -2.36986951] [ 0.01694232 0.00468048 0.99984551 0.32070064] [ 0. 0. 0. 1. ]] SLAMing on 27.871652532 meters Centerline goodness [0,1] 0.3958890408442367 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.37, Z:0.32 [[ 0.99972544 -0.015348 -0.01770559 -1.50064601] [ 0.01526067 0.99987076 -0.00505695 -2.37069077] [ 0.01778091 0.00478536 0.99983046 0.32243501] [ 0. 0. 0. 1. ]] SLAMing on 27.901652532 meters Centerline goodness [0,1] 0.3879662123561577 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.37, Z:0.32 [[ 0.99971303 -0.01563634 -0.01814852 -1.49976161] [ 0.01554384 0.99986553 -0.00522693 -2.37052552] [ 0.01822781 0.00494333 0.99982164 0.32275849] [ 0. 0. 0. 1. ]] SLAMing on 27.931652532 meters Centerline goodness [0,1] 0.39787820055085177 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.37, Z:0.32 [[ 0.99970841 -0.01560297 -0.01842958 -1.49916183] [ 0.01551292 0.99986707 -0.0050195 -2.37131483] [ 0.01850545 0.00473214 0.99981756 0.3228548 ] [ 0. 0. 0. 1. ]] SLAMing on 27.961652532 meters Centerline goodness [0,1] 0.401385001940637 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.37, Z:0.32 [[ 0.99968233 -0.0162477 -0.01926793 -1.49731272] [ 0.01614581 0.99985489 -0.00543203 -2.37088429] [ 0.01935339 0.00511921 0.9997996 0.32324811] [ 0. 0. 0. 1. ]] SLAMing on 27.991652532 meters Centerline goodness [0,1] 0.3991397060322508 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.37, Z:0.32 [[ 0.99963971 -0.01771802 -0.02016244 -1.4951514 ] [ 0.01758286 0.99982187 -0.0068615 -2.36805709] [ 0.02028042 0.00650452 0.99977317 0.32330873] [ 0. 0. 0. 1. ]] SLAMing on 28.021652532 meters Centerline goodness [0,1] 0.38763277538787744 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.37, Z:0.32 [[ 0.99967198 -0.01666189 -0.01945015 -1.49739297] [ 0.0165496 0.99984552 -0.00592017 -2.36959388] [ 0.01954578 0.00559633 0.9997933 0.32340919] [ 0. 0. 0. 1. ]] SLAMing on 28.051652532000002 meters Centerline goodness [0,1] 0.3884014900156737 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.37, Z:0.32 [[ 0.99967773 -0.01642599 -0.0193554 -1.49771635] [ 0.01632067 0.9998512 -0.00558681 -2.37052236] [ 0.01944429 0.00526912 0.99979706 0.32340344] [ 0. 0. 0. 1. ]] SLAMing on 28.081652532 meters Centerline goodness [0,1] 0.39389490426377927 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.37, Z:0.33 [[ 0.99969676 -0.01556294 -0.01908367 -1.50020099] [ 0.01547985 0.99987008 -0.00449405 -2.37298872] [ 0.01915113 0.00419728 0.99980779 0.32536909] [ 0. 0. 0. 1. ]] SLAMing on 28.111652532 meters Centerline goodness [0,1] 0.39677228490400507 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.38, Z:0.33 [[ 0.99972214 -0.0145417 -0.01855194 -1.50237245] [ 0.01448181 0.99988949 -0.00335888 -2.3756595 ] [ 0.01859873 0.00308928 0.99982226 0.32603362] [ 0. 0. 0. 1. ]] SLAMing on 28.141652532000002 meters Centerline goodness [0,1] 0.3984636074659711 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.38, Z:0.33 [[ 0.99972804 -0.01432044 -0.01840549 -1.50252213] [ 0.01426482 0.99989329 -0.0031495 -2.37620497] [ 0.01844863 0.00288609 0.99982564 0.32564553] [ 0. 0. 0. 1. ]] SLAMing on 28.171652532 meters Centerline goodness [0,1] 0.3960081466395112 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.38, Z:0.32 [[ 0.99974143 -0.01394585 -0.01796067 -1.5031925 ] [ 0.01389458 0.99989904 -0.00297604 -2.37635955] [ 0.01800036 0.00272571 0.99983427 0.32482738] [ 0. 0. 0. 1. ]] SLAMing on 28.201652532 meters Centerline goodness [0,1] 0.38039816232771817 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.37, Z:0.32 [[ 0.99974072 -0.01422721 -0.01777876 -1.50307516] [ 0.01416678 0.99989345 -0.00352071 -2.37486359] [ 0.01782696 0.00326793 0.99983575 0.32394083] [ 0. 0. 0. 1. ]] SLAMing on 28.231652532000002 meters Centerline goodness [0,1] 0.3702524541317169 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.38, Z:0.32 [[ 9.99758029e-01 -1.34259946e-02 -1.74248580e-02 -1.50455873e+00] [ 1.33847639e-02 9.99907343e-01 -2.48067301e-03 -2.37772985e+00] [ 1.74565489e-02 2.24684515e-03 9.99845098e-01 3.24436638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.261652532 meters Centerline goodness [0,1] 0.3758512416914733 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.38, Z:0.32 [[ 9.99771238e-01 -1.29325584e-02 -1.70358537e-02 -1.50596292e+00] [ 1.29016583e-02 9.99914922e-01 -1.92249216e-03 -2.37908907e+00] [ 1.70592670e-02 1.70226161e-03 9.99853031e-01 3.24839132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.291652532 meters Centerline goodness [0,1] 0.3666503348032011 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.38, Z:0.33 [[ 9.99798783e-01 -1.18495510e-02 -1.61858351e-02 -1.50855628e+00] [ 1.18367791e-02 9.99929552e-01 -8.84655724e-04 -2.38117313e+00] [ 1.61951776e-02 6.92889562e-04 9.99868609e-01 3.25006766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.321652532 meters Centerline goodness [0,1] 0.37970813631175604 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.38, Z:0.32 [[ 9.99833024e-01 -8.93401623e-03 -1.59407491e-02 -1.50747317e+00] [ 8.95396873e-03 9.99959215e-01 1.18073292e-03 -2.37604585e+00] [ 1.59295503e-02 -1.32326874e-03 9.99872241e-01 3.22851325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.351652532 meters Centerline goodness [0,1] 0.39355140757628193 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.38, Z:0.32 [[ 9.99841888e-01 -8.73278657e-03 -1.54899033e-02 -1.50831455e+00] [ 8.75258234e-03 9.99960963e-01 1.21064598e-03 -2.37611148e+00] [ 1.54787263e-02 -1.34603122e-03 9.99879291e-01 3.22403329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.381652532 meters Centerline goodness [0,1] 0.3884115354001265 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.38, Z:0.32 [[ 9.99843275e-01 -8.65240572e-03 -1.54454049e-02 -1.50876786e+00] [ 8.67369600e-03 9.99961522e-01 1.31196465e-03 -2.37662079e+00] [ 1.54334590e-02 -1.44572778e-03 9.99879852e-01 3.22754954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.411652532 meters Centerline goodness [0,1] 0.3881010594947025 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.37, Z:0.32 [[ 0.99986184 -0.00507794 -0.01582743 -1.50767333] [ 0.0051527 0.99997574 0.00468641 -2.37463634] [ 0.01580324 -0.00476732 0.99986376 0.32264569] [ 0. 0. 0. 1. ]] SLAMing on 28.441652532 meters Centerline goodness [0,1] 0.3761074592740783 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.38, Z:0.32 [[ 0.99988447 -0.00362247 -0.0147623 -1.51071787] [ 0.00371404 0.999974 0.00618029 -2.37797453] [ 0.01473953 -0.00623441 0.99987193 0.32285985] [ 0. 0. 0. 1. ]] SLAMing on 28.471652532 meters Centerline goodness [0,1] 0.3934740491485673 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.38, Z:0.32 [[ 0.9998775 -0.00410564 -0.01510424 -1.51020717] [ 0.00419411 0.99997421 0.00583082 -2.37764022] [ 0.01507991 -0.00589345 0.99986892 0.32348546] [ 0. 0. 0. 1. ]] SLAMing on 28.501652532 meters Centerline goodness [0,1] 0.38593159775395613 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.38, Z:0.32 [[ 0.99987313 -0.00444014 -0.01529767 -1.50960905] [ 0.00452383 0.99997497 0.00544049 -2.37677522] [ 0.01527313 -0.005509 0.99986818 0.32338533] [ 0. 0. 0. 1. ]] SLAMing on 28.531652532 meters Centerline goodness [0,1] 0.39228728830850845 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.38, Z:0.32 [[ 0.99987817 -0.00433763 -0.01499441 -1.50967334] [ 0.0044194 0.99997552 0.00542415 -2.37676969] [ 0.01497052 -0.00548976 0.99987287 0.32238147] [ 0. 0. 0. 1. ]] SLAMing on 28.561652532 meters Centerline goodness [0,1] 0.39345266036696125 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.37, Z:0.32 [[ 0.9998787 -0.00477857 -0.01482407 -1.50962017] [ 0.00484787 0.99997747 0.00464297 -2.37461124] [ 0.01480155 -0.00471427 0.99987934 0.3217493 ] [ 0. 0. 0. 1. ]] SLAMing on 28.591652532 meters Centerline goodness [0,1] 0.3865378343118069 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.37, Z:0.32 [[ 9.99889480e-01 -7.20290969e-04 -1.48495232e-02 -1.50931352e+00] [ 8.46458393e-04 9.99963585e-01 8.49186204e-03 -2.37356764e+00] [ 1.48428659e-02 -8.50349302e-03 9.99853679e-01 3.21427320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.621652532 meters Centerline goodness [0,1] 0.38803289728781043 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.37, Z:0.32 [[ 9.99889137e-01 -8.76172241e-04 -1.48642222e-02 -1.51008434e+00] [ 1.00117438e-03 9.99964183e-01 8.40424256e-03 -2.37349923e+00] [ 1.48563263e-02 -8.41819253e-03 9.99854201e-01 3.22499343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.651652532 meters Centerline goodness [0,1] 0.3920792886858634 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.37, Z:0.32 [[ 9.99905926e-01 7.50706698e-05 -1.37161834e-02 -1.51290645e+00] [ 4.97640887e-05 9.99958586e-01 9.10070715e-03 -2.37482874e+00] [ 1.37162985e-02 -9.10053359e-03 9.99864513e-01 3.22185232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.681652532 meters Centerline goodness [0,1] 0.384828881043244 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.38, Z:0.32 [[ 9.99916526e-01 7.87950967e-04 -1.28965110e-02 -1.51464851e+00] [-6.63869660e-04 9.99953480e-01 9.62276289e-03 -2.37579066e+00] [ 1.29034933e-02 -9.61339803e-03 9.99870533e-01 3.21530056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.711652532 meters Centerline goodness [0,1] 0.3868687485994826 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.37, Z:0.32 [[ 9.99931227e-01 1.23508011e-03 -1.16625826e-02 -1.51647873e+00] [-1.13154045e-03 9.99959929e-01 8.88036507e-03 -2.37274377e+00] [ 1.16730833e-02 -8.86655766e-03 9.99892556e-01 3.19531415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.741652532 meters Centerline goodness [0,1] 0.3809853984827474 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.37, Z:0.32 [[ 0.9999435 0.00293071 -0.01021779 -1.51981437] [-0.0028285 0.99994597 0.01000297 -2.3743729 ] [ 0.01024655 -0.0099735 0.99989776 0.31884815] [ 0. 0. 0. 1. ]] SLAMing on 28.771652532 meters Centerline goodness [0,1] 0.37986847730928197 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.37, Z:0.32 [[ 0.9999281 0.00786471 -0.00905177 -1.52231547] [-0.00773665 0.99987071 0.01409632 -2.37286601] [ 0.00916146 -0.01402528 0.99985967 0.31817498] [ 0. 0. 0. 1. ]] SLAMing on 28.801652532 meters Centerline goodness [0,1] 0.3655789130611913 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.37, Z:0.32 [[ 0.99988538 0.01277388 -0.00812685 -1.52440912] [-0.01262191 0.99974947 0.01848455 -2.37239636] [ 0.00836093 -0.01837985 0.99979612 0.31768739] [ 0. 0. 0. 1. ]] SLAMing on 28.831652532 meters Centerline goodness [0,1] 0.3708039004132484 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.37, Z:0.32 [[ 0.99982162 0.01759669 -0.00686165 -1.52696594] [-0.01743837 0.99959503 0.02248744 -2.37065194] [ 0.00725458 -0.02236378 0.99972358 0.31669171] [ 0. 0. 0. 1. ]] SLAMing on 28.861652532 meters Centerline goodness [0,1] 0.35123656241744394 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.37, Z:0.32 [[ 9.99635090e-01 2.70105540e-02 -3.43183303e-04 -1.53206619e+00] [-2.70032665e-02 9.99540419e-01 1.37758923e-02 -2.36554842e+00] [ 7.15120065e-04 -1.37615983e-02 9.99905049e-01 3.17092409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.891652532000002 meters Centerline goodness [0,1] 0.35264463145912106 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.37, Z:0.31 [[ 0.99946544 0.03228832 0.00512747 -1.54337201] [-0.03235749 0.99937781 0.01403512 -2.3696702 ] [-0.0046711 -0.01419353 0.99988836 0.31150917] [ 0. 0. 0. 1. ]] SLAMing on 28.921652532 meters Centerline goodness [0,1] 0.351158826155782 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.38, Z:0.31 [[ 0.99892044 0.04526978 0.01042168 -1.55696623] [-0.04547606 0.99875528 0.02048934 -2.38048748] [-0.00948116 -0.02094116 0.99973575 0.30687263] [ 0. 0. 0. 1. ]] SLAMing on 28.951652532 meters Centerline goodness [0,1] 0.3508942891365694 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.39, Z:0.31 [[ 0.99881044 0.04741883 0.01136472 -1.55973951] [-0.04767094 0.99859718 0.02304678 -2.38644639] [-0.01025592 -0.02356113 0.99966979 0.30740965] [ 0. 0. 0. 1. ]] SLAMing on 28.981652532000002 meters Centerline goodness [0,1] 0.3508305243065427 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.39, Z:0.31 [[ 0.99880176 0.04762156 0.01127997 -1.56056643] [-0.04787675 0.99857556 0.0235512 -2.38829948] [-0.01014236 -0.02406303 0.99965899 0.30874263] [ 0. 0. 0. 1. ]] SLAMing on 29.011652532 meters Centerline goodness [0,1] 0.3475752219581073 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.40, Z:0.31 [[ 0.99886853 0.04606015 0.01183746 -1.56330197] [-0.04631817 0.99867251 0.02253531 -2.39511353] [-0.01078377 -0.0230581 0.99967596 0.30997758] [ 0. 0. 0. 1. ]] SLAMing on 29.041652532 meters Centerline goodness [0,1] 0.3500649508808963 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.40, Z:0.31 [[ 0.99894659 0.04403908 0.01289494 -1.56602273] [-0.04429641 0.9988101 0.02040104 -2.39908854] [-0.01198116 -0.02095075 0.99970872 0.30955231] [ 0. 0. 0. 1. ]] SLAMing on 29.071652532 meters Centerline goodness [0,1] 0.3520417487359636 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.40, Z:0.31 [[ 0.99907444 0.04073323 0.01382273 -1.56866095] [-0.04096607 0.99901587 0.0170023 -2.40151718] [-0.01311657 -0.01755282 0.9997599 0.30915386] [ 0. 0. 0. 1. ]] SLAMing on 29.101652532 meters Centerline goodness [0,1] 0.3528203250544131 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.41, Z:0.31 [[ 0.99919688 0.03746593 0.01420941 -1.57083365] [-0.0376653 0.99919187 0.01403332 -2.40540989] [-0.01367216 -0.01455725 0.99980056 0.30993617] [ 0. 0. 0. 1. ]] SLAMing on 29.131652532 meters Centerline goodness [0,1] 0.3569643909077983 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.41, Z:0.31 [[ 0.99935461 0.03332818 0.01340129 -1.57056186] [-0.03347317 0.99938186 0.01074432 -2.40918894] [-0.01303492 -0.01118597 0.99985247 0.3119379 ] [ 0. 0. 0. 1. ]] SLAMing on 29.161652532 meters Centerline goodness [0,1] 0.35896339725581206 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.41, Z:0.31 [[ 0.99943241 0.03060342 0.01408158 -1.57363481] [-0.0307228 0.99949314 0.0083414 -2.41378122] [-0.01381916 -0.00876929 0.99986606 0.31317503] [ 0. 0. 0. 1. ]] SLAMing on 29.191652532 meters Centerline goodness [0,1] 0.36054325097951645 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.41, Z:0.31 [[ 0.99945079 0.03013906 0.01377491 -1.5730915 ] [-0.03025003 0.99951099 0.0079194 -2.4129692 ] [-0.01352949 -0.00833174 0.99987376 0.31357374] [ 0. 0. 0. 1. ]] SLAMing on 29.221652532 meters Centerline goodness [0,1] 0.36132967368100033 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.42, Z:0.31 [[ 0.9994955 0.02823378 0.01454665 -1.57658513] [-0.02832618 0.99957959 0.00618588 -2.41745836] [-0.01436588 -0.00659481 0.99987506 0.3148693 ] [ 0. 0. 0. 1. ]] SLAMing on 29.251652532 meters Centerline goodness [0,1] 0.3615173395708329 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.42, Z:0.31 [[ 0.99951656 0.02752142 0.01446467 -1.57570432] [-0.02760042 0.99960503 0.00529067 -2.41538114] [-0.01431335 -0.00568734 0.99988138 0.31402987] [ 0. 0. 0. 1. ]] SLAMing on 29.281652532 meters Centerline goodness [0,1] 0.3516736188828975 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.43, Z:0.31 [[ 0.99972398 0.01943712 0.01319729 -1.58454541] [-0.01956536 0.99976193 0.0096585 -2.42529665] [-0.01300642 -0.00991405 0.99986626 0.3084396 ] [ 0. 0. 0. 1. ]] SLAMing on 29.311652532 meters Centerline goodness [0,1] 0.36477936239903974 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.43, Z:0.31 [[ 0.99973745 0.0185604 0.01343658 -1.58700618] [-0.01868581 0.99978245 0.00926834 -2.43071424] [-0.01326164 -0.00951698 0.99986677 0.31037797] [ 0. 0. 0. 1. ]] SLAMing on 29.341652532 meters Centerline goodness [0,1] 0.3592954591732844 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.44, Z:0.31 [[ 0.99975422 0.01723237 0.01394758 -1.58959131] [-0.0173534 0.9998124 0.0086034 -2.43748953] [-0.01379671 -0.00884332 0.99986571 0.31186793] [ 0. 0. 0. 1. ]] SLAMing on 29.371652532 meters Centerline goodness [0,1] 0.3600179072890807 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.44, Z:0.31 [[ 0.99976077 0.01691788 0.01386344 -1.59007019] [-0.01703382 0.99982056 0.00828813 -2.4369427 ] [-0.01372073 -0.00852229 0.99986955 0.31279878] [ 0. 0. 0. 1. ]] SLAMing on 29.401652532 meters Centerline goodness [0,1] 0.3632314357190799 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.44, Z:0.31 [[ 0.99967355 0.02115763 0.01432282 -1.59097797] [-0.02133527 0.99969591 0.01236521 -2.43608609] [-0.01405685 -0.01266676 0.99982096 0.31260987] [ 0. 0. 0. 1. ]] SLAMing on 29.431652532 meters Centerline goodness [0,1] 0.36036806318960957 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.44, Z:0.31 [[ 0.9996361 0.02210831 0.01545608 -1.59388797] [-0.02231067 0.99966597 0.01304525 -2.43718219] [-0.01516251 -0.01338534 0.99979544 0.31244545] [ 0. 0. 0. 1. ]] SLAMing on 29.461652532 meters Centerline goodness [0,1] 0.3551719229752537 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.44, Z:0.31 [[ 0.99959922 0.0230078 0.01649357 -1.59661953] [-0.02323439 0.99963644 0.01368037 -2.43820693] [-0.01617282 -0.01405811 0.99977038 0.3124028 ] [ 0. 0. 0. 1. ]] SLAMing on 29.491652532 meters Centerline goodness [0,1] 0.35813338755591706 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.44, Z:0.31 [[ 0.99953558 0.02500958 0.01741089 -1.59990482] [-0.02528487 0.99955581 0.01577534 -2.44222439] [-0.01700862 -0.01620824 0.99972396 0.31347587] [ 0. 0. 0. 1. ]] SLAMing on 29.521652532 meters Centerline goodness [0,1] 0.36068036047738894 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.45, Z:0.32 [[ 0.99955118 0.02422061 0.0176295 -1.60344209] [-0.02449975 0.99957508 0.01579337 -2.44856114] [-0.01723949 -0.0162182 0.99971985 0.31721213] [ 0. 0. 0. 1. ]] SLAMing on 29.551652532 meters Centerline goodness [0,1] 0.35850975128627494 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.45, Z:0.32 [[ 0.99954906 0.02471749 0.01705037 -1.60267726] [-0.02500476 0.99954538 0.01684595 -2.45214235] [-0.01662623 -0.01726469 0.99971271 0.31805988] [ 0. 0. 0. 1. ]] SLAMing on 29.581652532 meters Centerline goodness [0,1] 0.35850975128627494 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.45, Z:0.32 [[ 0.99954906 0.02471749 0.01705037 -1.60267726] [-0.02500476 0.99954538 0.01684595 -2.45214235] [-0.01662623 -0.01726469 0.99971271 0.31805988] [ 0. 0. 0. 1. ]] SLAMing on 29.611652532 meters Centerline goodness [0,1] 0.35600837858174206 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.46, Z:0.32 [[ 0.99956836 0.02359661 0.01750129 -1.60479922] [-0.02388047 0.99958369 0.01619167 -2.45855856] [-0.01711193 -0.01660262 0.99971573 0.31905513] [ 0. 0. 0. 1. ]] SLAMing on 29.641652532000002 meters Centerline goodness [0,1] 0.36118400976502896 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.46, Z:0.32 [[ 0.99958196 0.02294125 0.01759542 -1.60369847] [-0.02320579 0.99961846 0.01498091 -2.45533965] [-0.01724502 -0.01538296 0.99973295 0.31717262] [ 0. 0. 0. 1. ]] SLAMing on 29.671652532 meters Centerline goodness [0,1] 0.35551353988777745 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.45, Z:0.32 [[ 0.99959258 0.02259098 0.01744464 -1.60295439] [-0.02284597 0.99963298 0.0145588 -2.45437181] [-0.01710934 -0.01495141 0.99974183 0.31659886] [ 0. 0. 0. 1. ]] SLAMing on 29.701652532 meters Centerline goodness [0,1] 0.3615719281125478 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.45, Z:0.32 [[ 0.99961089 0.02180976 0.01738959 -1.60208229] [-0.02204416 0.99966715 0.01340344 -2.45142827] [-0.01709148 -0.01378157 0.99975895 0.3156737 ] [ 0. 0. 0. 1. ]] SLAMing on 29.731652532000002 meters Centerline goodness [0,1] 0.35908600728426965 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.45, Z:0.31 [[ 0.99962459 0.02116289 0.01740138 -1.60049312] [-0.02137746 0.99969656 0.01223882 -2.44865533] [-0.01713709 -0.01260623 0.99977368 0.31335492] [ 0. 0. 0. 1. ]] SLAMing on 29.761652532 meters Centerline goodness [0,1] 0.35077073448858664 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.45, Z:0.31 [[ 0.99960429 0.02157772 0.0180464 -1.60223335] [-0.02180562 0.99968372 0.01252893 -2.44931497] [-0.01777035 -0.01291749 0.99975865 0.3133457 ] [ 0. 0. 0. 1. ]] SLAMing on 29.791652532 meters Centerline goodness [0,1] 0.34877290010369855 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.45, Z:0.31 [[ 0.9995696 0.02244431 0.01889108 -1.60470242] [-0.02269984 0.99965221 0.01342265 -2.45159773] [-0.01858325 -0.01384569 0.99973144 0.31369803] [ 0. 0. 0. 1. ]] SLAMing on 29.821652532 meters Centerline goodness [0,1] 0.35798401366770394 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.46, Z:0.32 [[ 0.99949484 0.025081 0.01951939 -1.60822502] [-0.02540402 0.99954141 0.01648047 -2.45656015] [-0.01909709 -0.01696802 0.99967364 0.31596672] [ 0. 0. 0. 1. ]] SLAMing on 29.851652532 meters Centerline goodness [0,1] 0.3552736085371566 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.46, Z:0.32 [[ 0.99928008 0.03132705 0.02139968 -1.61345557] [-0.03180229 0.9992467 0.02224053 -2.45753946] [-0.02068683 -0.02290508 0.99952359 0.31699905] [ 0. 0. 0. 1. ]] SLAMing on 29.881652532 meters Centerline goodness [0,1] 0.35139369277721266 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.45, Z:0.32 [[ 0.99912655 0.03537526 0.02224269 -1.61435359] [-0.03594453 0.99902231 0.02573726 -2.45491254] [-0.02131048 -0.02651428 0.99942126 0.31563335] [ 0. 0. 0. 1. ]] SLAMing on 29.911652532 meters Centerline goodness [0,1] 0.34713414634146345 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.46, Z:0.31 [[ 0.9989907 0.03821119 0.02361121 -1.61695622] [-0.03886903 0.99885024 0.02806076 -2.45728239] [-0.02251183 -0.02895018 0.99932733 0.31459874] [ 0. 0. 0. 1. ]] SLAMing on 29.941652532 meters Centerline goodness [0,1] 0.345161880373148 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.46, Z:0.31 [[ 0.99898406 0.03813262 0.02401549 -1.61797494] [-0.03879382 0.99886334 0.02769594 -2.45618522] [-0.02293207 -0.02859946 0.99932787 0.31451146] [ 0. 0. 0. 1. ]] SLAMing on 29.971652532 meters Centerline goodness [0,1] 0.3432285013281424 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.46, Z:0.31 [[ 0.99886661 0.04042173 0.02513133 -1.62090925] [-0.04116113 0.99871292 0.02963546 -2.45885792] [-0.02390107 -0.0306363 0.99924479 0.31470961] [ 0. 0. 0. 1. ]] SLAMing on 30.001652532 meters Centerline goodness [0,1] 0.34063413445924007 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.46, Z:0.32 [[ 0.99877577 0.04204605 0.02605923 -1.62384404] [-0.04285518 0.99859056 0.03131032 -2.46238709] [-0.02470603 -0.03238876 0.99916995 0.31529899] [ 0. 0. 0. 1. ]] SLAMing on 30.031652532 meters Centerline goodness [0,1] 0.333157627977699 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.47, Z:0.32 [[ 0.99865521 0.04418207 0.02712417 -1.62674607] [-0.04508074 0.99842263 0.03346606 -2.46638512] [-0.02560278 -0.03464383 0.99907172 0.31553471] [ 0. 0. 0. 1. ]] SLAMing on 30.061652532 meters Centerline goodness [0,1] 0.33637342324957853 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.47, Z:0.32 [[ 0.99872123 0.04181696 0.02841205 -1.63130648] [-0.04269214 0.99860945 0.0309282 -2.46906074] [-0.02707922 -0.03210162 0.99911771 0.31668874] [ 0. 0. 0. 1. ]] SLAMing on 30.091652532 meters Centerline goodness [0,1] 0.3380515562035519 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.47, Z:0.32 [[ 0.99876442 0.04023111 0.02917337 -1.63494429] [-0.04108307 0.99872847 0.02921695 -2.47087543] [-0.02796084 -0.03037938 0.99914728 0.3183682 ] [ 0. 0. 0. 1. ]] SLAMing on 30.121652532 meters Centerline goodness [0,1] 0.33733962990737554 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.47, Z:0.32 [[ 0.9986958 0.0415525 0.02966642 -1.63557354] [-0.04245539 0.99863324 0.03048261 -2.47364546] [-0.02835924 -0.03170235 0.99909495 0.31736914] [ 0. 0. 0. 1. ]] SLAMing on 30.151652532 meters Centerline goodness [0,1] 0.33543906537893053 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.48, Z:0.32 [[ 0.99860194 0.04341466 0.0301551 -1.63705687] [-0.04439572 0.99847989 0.03266404 -2.47862149] [-0.02869116 -0.03395713 0.99901138 0.31758931] [ 0. 0. 0. 1. ]] SLAMing on 30.181652532 meters Centerline goodness [0,1] 0.33319175616366326 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.48, Z:0.32 [[ 0.99855648 0.04426328 0.03042556 -1.63795725] [-0.04528799 0.99840003 0.03385814 -2.48214431] [-0.02887821 -0.03518718 0.99896342 0.31773399] [ 0. 0. 0. 1. ]] SLAMing on 30.211652532 meters Centerline goodness [0,1] 0.33331304524244265 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.48, Z:0.32 [[ 0.9985428 0.04438708 0.03069321 -1.63897 ] [-0.04542529 0.99838902 0.03399859 -2.48269677] [-0.02913467 -0.0353433 0.99895046 0.31814611] [ 0. 0. 0. 1. ]] SLAMing on 30.241652532 meters Centerline goodness [0,1] 0.3339351278982494 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.48, Z:0.32 [[ 0.99854687 0.04439763 0.03054516 -1.63837526] [-0.04543541 0.99838291 0.03416426 -2.48364406] [-0.02897896 -0.03550245 0.99894935 0.31774149] [ 0. 0. 0. 1. ]] SLAMing on 30.271652532 meters Centerline goodness [0,1] 0.33624923888776137 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.49, Z:0.32 [[ 0.99862558 0.041917 0.03146283 -1.64135758] [-0.04291584 0.99857335 0.03177266 -2.48801385] [-0.03008613 -0.03307925 0.99899979 0.31806785] [ 0. 0. 0. 1. ]] SLAMing on 30.301652532 meters Centerline goodness [0,1] 0.3365345569723057 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.49, Z:0.32 [[ 0.99879168 0.03752227 0.03173744 -1.64237626] [-0.03838712 0.99889555 0.02709433 -2.48723073] [-0.03068575 -0.0282799 0.99912894 0.31795573] [ 0. 0. 0. 1. ]] SLAMing on 30.331652532 meters Centerline goodness [0,1] 0.3398424813251055 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.49, Z:0.32 [[ 0.99891512 0.03376202 0.03207348 -1.64345437] [-0.03451327 0.99913573 0.02316505 -2.48817516] [-0.03126367 -0.02424688 0.99921703 0.31762322] [ 0. 0. 0. 1. ]] SLAMing on 30.361652532 meters Centerline goodness [0,1] 0.3408298889699327 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.49, Z:0.32 [[ 0.99903392 0.030278 0.03185076 -1.64331539] [-0.03091991 0.99932458 0.01985789 -2.49086232] [-0.03122799 -0.02082353 0.99929535 0.31757221] [ 0. 0. 0. 1. ]] SLAMing on 30.391652532000002 meters Centerline goodness [0,1] 0.34462381967712463 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.50, Z:0.32 [[ 0.99911016 0.0272912 0.03215714 -1.64586002] [-0.02785846 0.99946171 0.01732624 -2.49556527] [-0.03166698 -0.01820667 0.99933264 0.31938 ] [ 0. 0. 0. 1. ]] SLAMing on 30.421652532 meters Centerline goodness [0,1] 0.34529275527203285 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.50, Z:0.32 [[ 0.99914334 0.02604362 0.03216066 -1.6481268 ] [-0.02659867 0.99950243 0.01695306 -2.50225966] [-0.03170314 -0.01779397 0.99933892 0.32193512] [ 0. 0. 0. 1. ]] SLAMing on 30.451652532 meters Centerline goodness [0,1] 0.32743380814012557 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.51, Z:0.32 [[ 0.99918916 0.02374069 0.03251787 -1.65040688] [-0.02424675 0.99958956 0.01525776 -2.50827996] [-0.0321423 -0.01603384 0.99935469 0.32353814] [ 0. 0. 0. 1. ]] SLAMing on 30.481652532000002 meters Centerline goodness [0,1] 0.3479735217673814 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.51, Z:0.33 [[ 0.99923564 0.02128576 0.03278801 -1.65249187] [-0.021732 0.99967517 0.0133141 -2.51316246] [-0.03249396 -0.01401648 0.99937364 0.32518008] [ 0. 0. 0. 1. ]] SLAMing on 30.511652532 meters Centerline goodness [0,1] 0.3504216194249721 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.52, Z:0.33 [[ 0.9995854 0.02144488 0.01921332 -1.64645077] [-0.02172862 0.99965608 0.01468268 -2.51641053] [-0.01889184 -0.01509407 0.99970759 0.32573505] [ 0. 0. 0. 1. ]] SLAMing on 30.541652532 meters Centerline goodness [0,1] 0.35156996240219485 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.51, Z:0.33 [[ 0.99960676 0.0208819 0.01871545 -1.64489678] [-0.0211443 0.99967933 0.01393415 -2.51462433] [-0.01841847 -0.0143244 0.99972775 0.32523021] [ 0. 0. 0. 1. ]] SLAMing on 30.571652532 meters Centerline goodness [0,1] 0.35238424185781914 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.52, Z:0.33 [[ 0.99965745 0.01775669 0.01922739 -1.64756018] [-0.01797041 0.99977801 0.01099994 -2.51786258] [-0.0190278 -0.0113417 0.99975462 0.32663089] [ 0. 0. 0. 1. ]] SLAMing on 30.601652532 meters Centerline goodness [0,1] 0.347615181652121 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.52, Z:0.33 [[ 0.99965877 0.018006 0.01892404 -1.64757142] [-0.01822856 0.99976591 0.01165484 -2.52022389] [-0.01870976 -0.01199582 0.99975299 0.32771368] [ 0. 0. 0. 1. ]] SLAMing on 30.631652532 meters Centerline goodness [0,1] 0.3467982696642905 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.52, Z:0.33 [[ 0.9996493 0.01828745 0.01915343 -1.64842991] [-0.0185214 0.99975513 0.01210921 -2.52186183] [-0.01892729 -0.01245971 0.99974322 0.32804277] [ 0. 0. 0. 1. ]] SLAMing on 30.661652532 meters Centerline goodness [0,1] 0.34750589958499467 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.52, Z:0.33 [[ 0.99954857 0.02229196 0.02014239 -1.64984255] [-0.02260661 0.99962379 0.01553127 -2.51891362] [-0.01978859 -0.01597961 0.99967648 0.32670806] [ 0. 0. 0. 1. ]] SLAMing on 30.691652532 meters Centerline goodness [0,1] 0.34671005796806675 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.52, Z:0.33 [[ 0.99948483 0.0238112 0.02151996 -1.65324487] [-0.02417356 0.99956764 0.01673817 -2.52088403] [-0.0211121 -0.01724977 0.99962829 0.32646384] [ 0. 0. 0. 1. ]] SLAMing on 30.721652532 meters Centerline goodness [0,1] 0.34485419543497686 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.52, Z:0.33 [[ 0.99940616 0.02593986 0.0226817 -1.65649887] [-0.02636593 0.99947759 0.01869207 -2.52347062] [-0.02218499 -0.019279 0.99956798 0.32693997] [ 0. 0. 0. 1. ]] SLAMing on 30.751652532 meters Centerline goodness [0,1] 0.3454622940173715 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.52, Z:0.33 [[ 0.99940785 0.02589442 0.02265881 -1.65652151] [-0.02631879 0.99947989 0.01863542 -2.52351695] [-0.02216447 -0.01922074 0.99956956 0.3270354 ] [ 0. 0. 0. 1. ]] SLAMing on 30.781652532 meters Centerline goodness [0,1] 0.3394582961098026 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.52, Z:0.33 [[ 0.99940171 0.0261085 0.02268391 -1.65661595] [-0.02654086 0.99946767 0.01897263 -2.52478187] [-0.02217649 -0.01956333 0.99956264 0.32703818] [ 0. 0. 0. 1. ]] SLAMing on 30.811652532 meters Centerline goodness [0,1] 0.34515572689459273 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.53, Z:0.33 [[ 0.99940811 0.0261096 0.02239891 -1.65617626] [-0.02653992 0.99946461 0.0191342 -2.52559682] [-0.02188733 -0.01971734 0.99956599 0.3273527 ] [ 0. 0. 0. 1. ]] SLAMing on 30.841652532 meters Centerline goodness [0,1] 0.3443623970462937 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.53, Z:0.33 [[ 0.99941936 0.02598984 0.02203347 -1.65542473] [-0.02641199 0.99946885 0.01908974 -2.52581244] [-0.02152563 -0.0196606 0.99957496 0.3275196 ] [ 0. 0. 0. 1. ]] SLAMing on 30.871652532 meters Centerline goodness [0,1] 0.34237563451776654 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.53, Z:0.33 [[ 0.99949084 0.02239747 0.02272476 -1.65662248] [-0.0227459 0.99962584 0.01519197 -2.526453 ] [-0.02237599 -0.01570113 0.99962632 0.32629179] [ 0. 0. 0. 1. ]] SLAMing on 30.901652532 meters Centerline goodness [0,1] 0.3470483005366727 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.53, Z:0.33 [[ 0.99950804 0.02217069 0.02218424 -1.65512571] [-0.02250993 0.99963166 0.01516071 -2.52690653] [-0.02183994 -0.01565262 0.99963894 0.32601293] [ 0. 0. 0. 1. ]] SLAMing on 30.931652532 meters Centerline goodness [0,1] 0.3472513168866562 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.53, Z:0.33 [[ 0.99956667 0.01881727 0.02263599 -1.65726585] [-0.01909365 0.99974501 0.01205608 -2.53008872] [-0.02240335 -0.01248306 0.99967108 0.32707366] [ 0. 0. 0. 1. ]] SLAMing on 30.961652532 meters Centerline goodness [0,1] 0.3521825800414955 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.54, Z:0.33 [[ 0.99964261 0.01526168 0.0219484 -1.65680219] [-0.01547093 0.99983617 0.00939563 -2.53547451] [-0.02180141 -0.00973184 0.99971495 0.32873727] [ 0. 0. 0. 1. ]] SLAMing on 30.991652532 meters Centerline goodness [0,1] 0.3413910782481515 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.54, Z:0.33 [[ 0.99969255 0.01157586 0.02192714 -1.65731469] [-0.01170967 0.99991353 0.0059839 -2.53826939] [-0.02185598 -0.00623882 0.99974166 0.32926918] [ 0. 0. 0. 1. ]] SLAMing on 31.021652532 meters Centerline goodness [0,1] 0.35488065007618075 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.54, Z:0.33 [[ 0.99973051 0.00914884 0.02133546 -1.65487772] [-0.00922512 0.99995139 0.00347953 -2.53524262] [-0.02130259 -0.00367541 0.99976632 0.3281811 ] [ 0. 0. 0. 1. ]] SLAMing on 31.051652532 meters Centerline goodness [0,1] 0.3546142578125 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.54, Z:0.33 [[ 0.99994694 0.00707964 0.00748298 -1.64964587] [-0.00710919 0.99996701 0.00392953 -2.5412099 ] [-0.00745492 -0.00398252 0.99996428 0.3289863 ] [ 0. 0. 0. 1. ]] SLAMing on 31.081652532 meters Centerline goodness [0,1] 0.35278563147082154 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.54, Z:0.33 [[ 9.99975848e-01 2.06336241e-03 6.63664249e-03 -1.64828546e+00] [-2.05987105e-03 9.99997736e-01 -5.32865409e-04 -2.54187454e+00] [-6.63772696e-03 5.19181912e-04 9.99977835e-01 3.30031621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.111652532 meters Centerline goodness [0,1] 0.3629319286542334 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.54, Z:0.33 [[ 9.99981967e-01 1.14373639e-03 5.89548529e-03 -1.64695953e+00] [-1.13656228e-03 9.99998610e-01 -1.22008857e-03 -2.54095748e+00] [-5.89687255e-03 1.21336598e-03 9.99981877e-01 3.30876417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.141652532000002 meters Centerline goodness [0,1] 0.3627911707862883 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.54, Z:0.33 [[ 9.99982606e-01 1.26370663e-03 5.76109020e-03 -1.64717310e+00] [-1.25860884e-03 9.99998813e-01 -8.88404242e-04 -2.54200329e+00] [-5.76220605e-03 8.81137830e-04 9.99983010e-01 3.31512775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.171652532 meters Centerline goodness [0,1] 0.36071879197362533 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.54, Z:0.33 [[ 9.99980393e-01 1.57101158e-03 6.06180696e-03 -1.64842697e+00] [-1.56808697e-03 9.99998652e-01 -4.87187891e-04 -2.54302301e+00] [-6.06256417e-03 4.77672899e-04 9.99981508e-01 3.32080123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.201652532 meters Centerline goodness [0,1] 0.35669905681517244 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.54, Z:0.33 [[ 0.99996433 0.00562757 0.00629914 -1.64955509] [-0.00564955 0.999978 0.00347687 -2.54213682] [-0.00627943 -0.00351234 0.99997412 0.33288146] [ 0. 0. 0. 1. ]] SLAMing on 31.231652532000002 meters Centerline goodness [0,1] 0.31968949920541134 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.54, Z:0.33 [[ 0.9999479 0.00708121 0.00735276 -1.65235424] [-0.00711681 0.99996302 0.00482722 -2.54473683] [-0.00731831 -0.0048793 0.99996132 0.33291952] [ 0. 0. 0. 1. ]] SLAMing on 31.261652532 meters Centerline goodness [0,1] 0.3432374130001221 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.55, Z:0.33 [[ 0.99992947 0.00851697 0.00827699 -1.65451502] [-0.00856714 0.99994503 0.00604505 -2.5468179 ] [-0.00822505 -0.00611554 0.99994747 0.33251926] [ 0. 0. 0. 1. ]] SLAMing on 31.291652532 meters Centerline goodness [0,1] 0.32072053734988804 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.54, Z:0.33 [[ 0.9999018 0.01026587 0.00953921 -1.65608907] [-0.01032742 0.99992603 0.0064256 -2.54432747] [-0.00947254 -0.00652349 0.99993386 0.3304335 ] [ 0. 0. 0. 1. ]] SLAMing on 31.321652532 meters Centerline goodness [0,1] 0.3308428338762215 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.55, Z:0.33 [[ 0.99988434 0.01127356 0.01020883 -1.65745988] [-0.01134908 0.99990844 0.00737019 -2.54651723] [-0.01012481 -0.0074852 0.99992073 0.32978851] [ 0. 0. 0. 1. ]] SLAMing on 31.351652532 meters Centerline goodness [0,1] 0.34424161019191246 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.55, Z:0.33 [[ 0.99987408 0.01165342 0.0107709 -1.65885858] [-0.01173631 0.99990175 0.00766477 -2.54721559] [-0.01068052 -0.00779022 0.99991262 0.32961907] [ 0. 0. 0. 1. ]] SLAMing on 31.381652532 meters Centerline goodness [0,1] 0.3443429803331367 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.55, Z:0.33 [[ 0.99985107 0.01265387 0.01173569 -1.66111065] [-0.01275545 0.99988147 0.00862213 -2.54935643] [-0.01162519 -0.00877054 0.99989396 0.32917709] [ 0. 0. 0. 1. ]] SLAMing on 31.411652532 meters Centerline goodness [0,1] 0.339826355706472 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.55, Z:0.33 [[ 0.99981704 0.01403029 0.0130014 -1.66400944] [-0.0141548 0.99985436 0.00953415 -2.55019646] [-0.01286573 -0.00971644 0.99987002 0.3287285 ] [ 0. 0. 0. 1. ]] SLAMing on 31.441652532 meters Centerline goodness [0,1] 0.33476394849785407 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.55, Z:0.33 [[ 0.99979858 0.01474702 0.01361319 -1.66537419] [-0.01488662 0.99983705 0.01021122 -2.55187248] [-0.01346039 -0.01041182 0.9998552 0.32828872] [ 0. 0. 0. 1. ]] SLAMing on 31.471652532 meters Centerline goodness [0,1] 0.3353656058204284 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.55, Z:0.33 [[ 0.99980531 0.01454157 0.01333769 -1.66471053] [-0.01467609 0.99984185 0.0100439 -2.55177984] [-0.01318953 -0.01023769 0.9998606 0.32838387] [ 0. 0. 0. 1. ]] SLAMing on 31.501652532 meters Centerline goodness [0,1] 0.3418248249264183 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.55, Z:0.33 [[ 0.99980401 0.01470701 0.0132531 -1.66458667] [-0.01484464 0.99983627 0.01034738 -2.55288981] [-0.01309875 -0.01054209 0.99985863 0.32846817] [ 0. 0. 0. 1. ]] SLAMing on 31.531652532 meters Centerline goodness [0,1] 0.3418248249264183 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.55, Z:0.33 [[ 0.99980401 0.01470701 0.0132531 -1.66458667] [-0.01484464 0.99983627 0.01034738 -2.55288981] [-0.01309875 -0.01054209 0.99985863 0.32846817] [ 0. 0. 0. 1. ]] SLAMing on 31.561652532 meters Centerline goodness [0,1] 0.3380064204152953 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.55, Z:0.33 [[ 0.9997962 0.01468484 0.01385323 -1.66567047] [-0.01482359 0.99984045 0.00996675 -2.5515848 ] [-0.01370466 -0.01017008 0.99985437 0.32781903] [ 0. 0. 0. 1. ]] SLAMing on 31.591652532 meters Centerline goodness [0,1] 0.3398408961766377 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.55, Z:0.33 [[ 0.99977458 0.01531454 0.01470528 -1.66754556] [-0.01546692 0.99982728 0.01030492 -2.55183789] [-0.01454492 -0.01053005 0.99983877 0.32721994] [ 0. 0. 0. 1. ]] SLAMing on 31.621652532 meters Centerline goodness [0,1] 0.3398607926297206 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.55, Z:0.33 [[ 0.99976741 0.01528423 0.01521562 -1.66826274] [-0.01543816 0.99983031 0.01005049 -2.55111343] [-0.01505943 -0.01028306 0.99983372 0.32634438] [ 0. 0. 0. 1. ]] SLAMing on 31.651652532 meters Centerline goodness [0,1] 0.3403464592514368 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.55, Z:0.33 [[ 0.99973611 0.01628935 0.01619794 -1.67125162] [-0.0164678 0.99980449 0.0109453 -2.55269314] [-0.01601648 -0.01120915 0.9998089 0.32691444] [ 0. 0. 0. 1. ]] SLAMing on 31.681652532 meters Centerline goodness [0,1] 0.3396456189490349 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.55, Z:0.33 [[ 0.99972824 0.01650933 0.01645898 -1.67209973] [-0.01669608 0.99979705 0.01127427 -2.55388103] [-0.01626951 -0.01154601 0.99980098 0.3271578 ] [ 0. 0. 0. 1. ]] SLAMing on 31.711652532 meters Centerline goodness [0,1] 0.3397467121285923 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.55, Z:0.33 [[ 0.99972383 0.0165416 0.01669277 -1.67249943] [-0.01673112 0.99979642 0.01127789 -2.55419086] [-0.01650282 -0.01155406 0.99979706 0.32686836] [ 0. 0. 0. 1. ]] SLAMing on 31.741652532 meters Centerline goodness [0,1] 0.33869985382491474 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.55, Z:0.33 [[ 0.99972218 0.01667193 0.0166619 -1.67180234] [-0.0168635 0.99979254 0.01142403 -2.55483616] [-0.01646798 -0.01170184 0.99979592 0.32594794] [ 0. 0. 0. 1. ]] SLAMing on 31.771652532 meters Centerline goodness [0,1] 0.34028511087645197 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.56, Z:0.33 [[ 0.99972041 0.01698025 0.01645531 -1.6713826 ] [-0.01717888 0.99978035 0.01200588 -2.5567649 ] [-0.01624784 -0.01228521 0.99979252 0.32599198] [ 0. 0. 0. 1. ]] SLAMing on 31.801652532 meters Centerline goodness [0,1] 0.3423010643689812 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.56, Z:0.33 [[ 0.99970824 0.01728903 0.01686784 -1.6730152 ] [-0.01749914 0.99977011 0.01238945 -2.55799545] [-0.01664976 -0.01268101 0.99978096 0.32678988] [ 0. 0. 0. 1. ]] SLAMing on 31.831652532 meters Centerline goodness [0,1] 0.34028186150258544 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.56, Z:0.33 [[ 0.99968576 0.01802303 0.0174229 -1.67453702] [-0.01825628 0.99974458 0.01332254 -2.56084493] [-0.01717833 -0.01363643 0.99975945 0.32682961] [ 0. 0. 0. 1. ]] SLAMing on 31.861652532 meters Centerline goodness [0,1] 0.3374194594156502 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.56, Z:0.33 [[ 0.99969356 0.01781406 0.01718844 -1.6738984 ] [-0.01804187 0.99975022 0.01319051 -2.56103416] [-0.01694917 -0.01349658 0.99976526 0.326817 ] [ 0. 0. 0. 1. ]] SLAMing on 31.891652532000002 meters Centerline goodness [0,1] 0.34482408385471686 Centerline is valid? [False, False] Translation: X:-1.68, Y:-2.56, Z:0.33 [[ 0.99975445 0.01388875 0.01726656 -1.67517943] [-0.01405222 0.99985724 0.00938264 -2.56269663] [-0.01713379 -0.00962297 0.9998069 0.32807609] [ 0. 0. 0. 1. ]] SLAMing on 31.921652532 meters Centerline goodness [0,1] 0.3457030457882143 Centerline is valid? [False, False] Translation: X:-1.68, Y:-2.56, Z:0.33 [[ 0.99974973 0.01424726 0.01724808 -1.67567172] [-0.01442092 0.99984614 0.00998669 -2.56468554] [-0.01710314 -0.01023293 0.99980137 0.32873823] [ 0. 0. 0. 1. ]] SLAMing on 31.951652532 meters Centerline goodness [0,1] 0.3439491738724475 Centerline is valid? [False, False] Translation: X:-1.68, Y:-2.57, Z:0.33 [[ 0.99973885 0.01478902 0.01742179 -1.6768279 ] [-0.01497881 0.99982933 0.01081408 -2.56725318] [-0.01725888 -0.01107221 0.99978975 0.32962548] [ 0. 0. 0. 1. ]] SLAMing on 31.981652532000002 meters Centerline goodness [0,1] 0.34415452664042523 Centerline is valid? [False, False] Translation: X:-1.68, Y:-2.57, Z:0.33 [[ 0.99971741 0.01574642 0.01780898 -1.6776241 ] [-0.01596507 0.99979808 0.0122028 -2.57103054] [-0.01761323 -0.01248368 0.99976694 0.32944888] [ 0. 0. 0. 1. ]] SLAMing on 32.011652532 meters Centerline goodness [0,1] 0.34956973534664715 Centerline is valid? [False, False] Translation: X:-1.68, Y:-2.57, Z:0.33 [[ 0.99977156 0.01164744 0.01792092 -1.67819849] [-0.01179626 0.99989662 0.00822156 -2.57228792] [-0.01782331 -0.00843108 0.9998056 0.32966318] [ 0. 0. 0. 1. ]] SLAMing on 32.041652532 meters Centerline goodness [0,1] 0.35105060427578616 Centerline is valid? [False, False] Translation: X:-1.68, Y:-2.57, Z:0.33 [[ 0.99981227 0.00759983 0.01782316 -1.67777592] [-0.007677 0.99996144 0.00426503 -2.57354968] [-0.01779006 -0.00440106 0.99983206 0.3291779 ] [ 0. 0. 0. 1. ]] SLAMing on 32.071652532 meters Centerline goodness [0,1] 0.35415988277434063 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.57, Z:0.33 [[ 0.99989526 -0.00710139 0.01261081 -1.66559378] [ 0.00716666 0.99996112 -0.00513772 -2.56737015] [-0.01257384 0.00522756 0.99990728 0.33381466] [ 0. 0. 0. 1. ]] SLAMing on 32.101652532 meters Centerline goodness [0,1] 0.3658665797302254 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.57, Z:0.33 [[ 0.99986637 -0.0111676 0.01193823 -1.66432149] [ 0.01127017 0.99989985 -0.00855971 -2.57070248] [-0.01184144 0.00869311 0.9998921 0.33445861] [ 0. 0. 0. 1. ]] SLAMing on 32.131652532 meters Centerline goodness [0,1] 0.3711888225829446 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.57, Z:0.34 [[ 0.99981509 -0.01600961 0.01065285 -1.66195632] [ 0.0161408 0.99979352 -0.01234489 -2.57357887] [-0.01045302 0.01251455 0.99986705 0.33596188] [ 0. 0. 0. 1. ]] SLAMing on 32.161652532 meters Centerline goodness [0,1] 0.37558092132083165 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.58, Z:0.34 [[ 0.99975052 -0.01981636 0.01030627 -1.66252462] [ 0.01997429 0.99968106 -0.01545361 -2.57720971] [-0.00999675 0.01565562 0.99982747 0.33809746] [ 0. 0. 0. 1. ]] SLAMing on 32.191652532 meters Centerline goodness [0,1] 0.3533840706523951 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.58, Z:0.34 [[ 0.99974749 -0.02056899 0.00904878 -1.66055201] [ 0.0207065 0.99966738 -0.0153745 -2.57883143] [-0.00872953 0.01555799 0.99984086 0.3398591 ] [ 0. 0. 0. 1. ]] SLAMing on 32.221652532 meters Centerline goodness [0,1] 0.3830169056018925 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.58, Z:0.35 [[ 0.99959407 -0.02816349 0.00430339 -1.65289753] [ 0.02823163 0.99946204 -0.0166915 -2.57833993] [-0.00383099 0.01680622 0.99985143 0.34885259] [ 0. 0. 0. 1. ]] SLAMing on 32.251652532 meters Centerline goodness [0,1] 0.3738397829501642 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.58, Z:0.35 [[ 0.99959152 -0.02836678 0.00348034 -1.6512101 ] [ 0.02842024 0.99946129 -0.01641412 -2.57975719] [-0.00301285 0.01650633 0.99985922 0.34934461] [ 0. 0. 0. 1. ]] SLAMing on 32.281652532 meters Centerline goodness [0,1] 0.3798302525808952 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.57, Z:0.35 [[ 9.99192769e-01 -4.01342193e-02 -1.74757472e-03 -1.63904788e+00] [ 4.00818618e-02 9.98917385e-01 -2.36114926e-02 -2.57292754e+00] [ 2.69331159e-03 2.35223867e-02 9.99719682e-01 3.54209026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.311652532000004 meters Centerline goodness [0,1] 0.39386600455877563 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.58, Z:0.35 [[ 9.99021492e-01 -4.41763655e-02 -2.12290639e-03 -1.63820802e+00] [ 4.41025269e-02 9.98657428e-01 -2.71718427e-02 -2.57549129e+00] [ 3.32040949e-03 2.70516293e-02 9.99628523e-01 3.54905566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.341652532 meters Centerline goodness [0,1] 0.39882578383006484 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.58, Z:0.36 [[ 0.9989742 -0.04514993 -0.00346735 -1.63558581] [ 0.04503873 0.99861166 -0.02731781 -2.57698695] [ 0.00469594 0.02713362 0.99962079 0.35610091] [ 0. 0. 0. 1. ]] SLAMing on 32.371652532 meters Centerline goodness [0,1] 0.39232756341150865 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.58, Z:0.36 [[ 0.99895193 -0.04558605 -0.00411865 -1.63521008] [ 0.04545669 0.99859101 -0.02738022 -2.57761742] [ 0.00536101 0.0271643 0.99961661 0.35781762] [ 0. 0. 0. 1. ]] SLAMing on 32.401652532 meters Centerline goodness [0,1] 0.39665489002797805 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.58, Z:0.36 [[ 0.99894298 -0.0456987 -0.0049557 -1.63440447] [ 0.04555067 0.99860461 -0.02672003 -2.58046871] [ 0.00616986 0.02646605 0.99963067 0.3596333 ] [ 0. 0. 0. 1. ]] SLAMing on 32.431652532 meters Centerline goodness [0,1] 0.3956326530612245 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.58, Z:0.36 [[ 0.99895086 -0.04550365 -0.00515672 -1.63432027] [ 0.04535332 0.99862594 -0.02625459 -2.58208158] [ 0.00634431 0.02599317 0.99964199 0.36010257] [ 0. 0. 0. 1. ]] SLAMing on 32.461652532 meters Centerline goodness [0,1] 0.4011175007137322 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.58, Z:0.36 [[ 0.99890457 -0.04642471 -0.00586615 -1.6328315 ] [ 0.04625036 0.99856491 -0.02700032 -2.58089838] [ 0.00711121 0.02669943 0.99961821 0.36073788] [ 0. 0. 0. 1. ]] SLAMing on 32.491652532 meters Centerline goodness [0,1] 0.4040404040404041 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.58, Z:0.36 [[ 0.998886 -0.04676418 -0.00631397 -1.63194794] [ 0.04657594 0.99854326 -0.02724056 -2.58052238] [ 0.00757866 0.02691614 0.99960897 0.3610673 ] [ 0. 0. 0. 1. ]] SLAMing on 32.521652532 meters Centerline goodness [0,1] 0.4034141958670261 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.58, Z:0.36 [[ 0.99864838 -0.05155874 -0.00656575 -1.63037771] [ 0.05132328 0.998168 -0.03204008 -2.57946648] [ 0.00820567 0.0316598 0.99946502 0.36063696] [ 0. 0. 0. 1. ]] SLAMing on 32.551652532 meters Centerline goodness [0,1] 0.3934322380251757 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.58, Z:0.36 [[ 0.99859481 -0.05247843 -0.00737699 -1.62884991] [ 0.05220893 0.99809356 -0.03291628 -2.57789766] [ 0.00909032 0.03248489 0.99943089 0.36132548] [ 0. 0. 0. 1. ]] SLAMing on 32.581652532 meters Centerline goodness [0,1] 0.40557983742494175 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.58, Z:0.36 [[ 0.99868801 -0.0504589 -0.0087266 -1.62633697] [ 0.05017155 0.99827491 -0.03049617 -2.57653767] [ 0.01025035 0.03001833 0.99949679 0.36194174] [ 0. 0. 0. 1. ]] SLAMing on 32.611652532 meters Centerline goodness [0,1] 0.37958157970007766 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.58, Z:0.36 [[ 0.99871065 -0.04994738 -0.00907181 -1.62672806] [ 0.04966271 0.99833674 -0.02928089 -2.58042983] [ 0.01051922 0.02879261 0.99953006 0.36352064] [ 0. 0. 0. 1. ]] SLAMing on 32.641652532 meters Centerline goodness [0,1] 0.39599330174808034 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.58, Z:0.36 [[ 0.99860247 -0.05181193 -0.01042269 -1.62408154] [ 0.0514767 0.99821734 -0.03020417 -2.58048843] [ 0.01196904 0.02962543 0.99948941 0.36496921] [ 0. 0. 0. 1. ]] SLAMing on 32.671652532 meters Centerline goodness [0,1] 0.39527848748083805 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.58, Z:0.37 [[ 0.9984895 -0.05370934 -0.01157658 -1.62095904] [ 0.05331923 0.99807366 -0.03171811 -2.57876348] [ 0.01325784 0.03105294 0.99942981 0.36502323] [ 0. 0. 0. 1. ]] SLAMing on 32.701652532 meters Centerline goodness [0,1] 0.3540806735052515 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.58, Z:0.37 [[ 0.99839747 -0.05516812 -0.01260815 -1.61844236] [ 0.05472639 0.99795456 -0.03304105 -2.57671473] [ 0.01440517 0.0322981 0.99937447 0.36530597] [ 0. 0. 0. 1. ]] SLAMing on 32.731652532 meters Centerline goodness [0,1] 0.40315375043348767 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.58, Z:0.37 [[ 0.99832489 -0.05619633 -0.01376177 -1.61500134] [ 0.05570741 0.9978799 -0.03365094 -2.57671978] [ 0.01562366 0.03282794 0.9993389 0.36504119] [ 0. 0. 0. 1. ]] SLAMing on 32.761652532 meters Centerline goodness [0,1] 0.391618969746525 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.58, Z:0.37 [[ 0.99820051 -0.05802535 -0.01512599 -1.61236312] [ 0.05747258 0.99774304 -0.03472372 -2.57658453] [ 0.01710671 0.03379191 0.99928248 0.36639528] [ 0. 0. 0. 1. ]] SLAMing on 32.791652532 meters Centerline goodness [0,1] 0.3950491207287433 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.58, Z:0.37 [[ 0.99810964 -0.05922672 -0.01641182 -1.61008909] [ 0.05861857 0.99765461 -0.03534328 -2.57683349] [ 0.0184666 0.03431443 0.99924046 0.36786366] [ 0. 0. 0. 1. ]] SLAMing on 32.821652532 meters Centerline goodness [0,1] 0.3876144913313706 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.58, Z:0.37 [[ 0.99811948 -0.05895664 -0.01678177 -1.60945088] [ 0.05834821 0.99769339 -0.03468991 -2.57908977] [ 0.01878826 0.03364549 0.99925722 0.36819325] [ 0. 0. 0. 1. ]] SLAMing on 32.851652532 meters Centerline goodness [0,1] 0.3817301998897442 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.58, Z:0.37 [[ 0.99826526 -0.05614116 -0.01773798 -1.60747003] [ 0.05555405 0.99794215 -0.03201892 -2.57617072] [ 0.01949906 0.03097796 0.99932985 0.36813781] [ 0. 0. 0. 1. ]] SLAMing on 32.881652532 meters Centerline goodness [0,1] 0.3815929348270505 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.57, Z:0.37 [[ 0.99841123 -0.05319403 -0.01858508 -1.60613238] [ 0.05263582 0.99818284 -0.02933392 -2.57296147] [ 0.0201117 0.02830908 0.99939688 0.36844906] [ 0. 0. 0. 1. ]] SLAMing on 32.911652532 meters Centerline goodness [0,1] 0.381277605103877 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.57, Z:0.37 [[ 0.99859639 -0.04933803 -0.01926153 -1.60489047] [ 0.04884235 0.99848327 -0.02540834 -2.57280883] [ 0.02048591 0.0244319 0.99949158 0.36847634] [ 0. 0. 0. 1. ]] SLAMing on 32.941652532 meters Centerline goodness [0,1] 0.3738842705120611 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.57, Z:0.37 [[ 0.9987009 -0.04663452 -0.02053636 -1.60219204] [ 0.04616763 0.99867688 -0.02265052 -2.57088704] [ 0.02156549 0.02167298 0.9995325 0.36866685] [ 0. 0. 0. 1. ]] SLAMing on 32.971652532 meters Centerline goodness [0,1] 0.3858991339786042 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.57, Z:0.37 [[ 0.99868149 -0.04701666 -0.02060866 -1.60180709] [ 0.04653544 0.99864628 -0.02323933 -2.56912925] [ 0.02167339 0.02224965 0.99951749 0.36842071] [ 0. 0. 0. 1. ]] SLAMing on 33.001652532 meters Centerline goodness [0,1] 0.3935443063802003 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.57, Z:0.37 [[ 0.99876692 -0.04479538 -0.02140107 -1.59926258] [ 0.04434253 0.99879171 -0.02118616 -2.56567395] [ 0.02232426 0.02021106 0.99954647 0.36741633] [ 0. 0. 0. 1. ]] SLAMing on 33.031652532 meters Centerline goodness [0,1] 0.3954768848012725 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.56, Z:0.37 [[ 0.99884669 -0.04275178 -0.02185347 -1.59821498] [ 0.04232272 0.9989091 -0.01973291 -2.55973363] [ 0.02267325 0.01878525 0.99956643 0.36695816] [ 0. 0. 0. 1. ]] SLAMing on 33.061652532000004 meters Centerline goodness [0,1] 0.4017175961813063 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.56, Z:0.37 [[ 0.99887486 -0.04224458 -0.02155035 -1.59900586] [ 0.04183396 0.99894081 -0.01916193 -2.56115563] [ 0.02233701 0.01823884 0.99958411 0.36678356] [ 0. 0. 0. 1. ]] SLAMing on 33.091652532 meters Centerline goodness [0,1] 0.40118589155816375 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.56, Z:0.37 [[ 0.99884387 -0.04265559 -0.02216801 -1.59781019] [ 0.04222706 0.99891865 -0.01945259 -2.56081654] [ 0.0229738 0.01849401 0.99956499 0.36730483] [ 0. 0. 0. 1. ]] SLAMing on 33.121652532 meters Centerline goodness [0,1] 0.3932618620577205 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.56, Z:0.37 [[ 0.9988735 -0.04195767 -0.0221649 -1.59860041] [ 0.04155215 0.99896597 -0.01844997 -2.56367321] [ 0.0229161 0.01750819 0.99958407 0.36806723] [ 0. 0. 0. 1. ]] SLAMing on 33.151652532 meters Centerline goodness [0,1] 0.412808405388279 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.57, Z:0.37 [[ 0.99870944 -0.04528222 -0.02299931 -1.59941077] [ 0.04482739 0.9987961 -0.01992112 -2.57087441] [ 0.02387369 0.01886442 0.99953698 0.37236932] [ 0. 0. 0. 1. ]] SLAMing on 33.181652532 meters Centerline goodness [0,1] 0.3998694303900767 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.57, Z:0.37 [[ 0.99867967 -0.04544551 -0.02395059 -1.59798826] [ 0.04498701 0.99880021 -0.01934705 -2.57353015] [ 0.02480109 0.01824404 0.99952592 0.37376854] [ 0. 0. 0. 1. ]] SLAMing on 33.211652532 meters Centerline goodness [0,1] 0.369496502640863 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.57, Z:0.37 [[ 0.99858131 -0.04692402 -0.02516944 -1.59529053] [ 0.04642085 0.99871738 -0.02021641 -2.57350829] [ 0.02608579 0.01901935 0.99947876 0.37450347] [ 0. 0. 0. 1. ]] SLAMing on 33.241652532 meters Centerline goodness [0,1] 0.36764705882352944 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.57, Z:0.37 [[ 0.99844135 -0.04924716 -0.02625994 -1.59217974] [ 0.04866886 0.99856768 -0.02222475 -2.57135076] [ 0.02731683 0.02091207 0.99940806 0.37438208] [ 0. 0. 0. 1. ]] SLAMing on 33.271652532 meters Centerline goodness [0,1] 0.37559549367192135 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.57, Z:0.37 [[ 0.99830925 -0.05140685 -0.02712906 -1.58894319] [ 0.05075087 0.99841472 -0.02433901 -2.5683481 ] [ 0.02833724 0.02292104 0.99933559 0.37341324] [ 0. 0. 0. 1. ]] SLAMing on 33.301652532 meters Centerline goodness [0,1] 0.37857989132655145 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.57, Z:0.37 [[ 0.99831735 -0.05129701 -0.02703873 -1.58968178] [ 0.05064858 0.99842464 -0.02414476 -2.5688795 ] [ 0.02823469 0.02273466 0.99934275 0.37393437] [ 0. 0. 0. 1. ]] SLAMing on 33.331652532 meters Centerline goodness [0,1] 0.38792241959496665 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.57, Z:0.37 [[ 0.99846293 -0.04789578 -0.02788854 -1.5881027 ] [ 0.0473225 0.9986617 -0.02086602 -2.56691473] [ 0.02885061 0.01951419 0.99939324 0.3740299 ] [ 0. 0. 0. 1. ]] SLAMing on 33.361652532 meters Centerline goodness [0,1] 0.3921700497269096 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.56, Z:0.37 [[ 0.99861974 -0.04457269 -0.02778281 -1.58779276] [ 0.04407374 0.99886029 -0.01832011 -2.56214779] [ 0.02856772 0.01707033 0.99944609 0.37267921] [ 0. 0. 0. 1. ]] SLAMing on 33.391652532 meters Centerline goodness [0,1] 0.38833645773901704 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.56, Z:0.37 [[ 0.99872094 -0.04176772 -0.02849476 -1.58618637] [ 0.04133109 0.99902145 -0.01574427 -2.55902713] [ 0.02912447 0.01454641 0.99946994 0.37246578] [ 0. 0. 0. 1. ]] SLAMing on 33.421652532 meters Centerline goodness [0,1] 0.38833645773901704 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.56, Z:0.37 [[ 0.99872094 -0.04176772 -0.02849476 -1.58618637] [ 0.04133109 0.99902145 -0.01574427 -2.55902713] [ 0.02912447 0.01454641 0.99946994 0.37246578] [ 0. 0. 0. 1. ]] SLAMing on 33.451652532 meters Centerline goodness [0,1] 0.3558392300006118 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.56, Z:0.37 [[ 0.99877411 -0.04087998 -0.02791234 -1.5886317 ] [ 0.04047683 0.99906998 -0.0148592 -2.56083304] [ 0.02849382 0.01371119 0.99949993 0.37328445] [ 0. 0. 0. 1. ]] SLAMing on 33.481652532 meters Centerline goodness [0,1] 0.3931644896874553 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.56, Z:0.37 [[ 0.99899005 -0.03574632 -0.02722274 -1.59082769] [ 0.035485 0.99931995 -0.01002291 -2.56185557] [ 0.02756251 0.00904679 0.99957914 0.37312074] [ 0. 0. 0. 1. ]] SLAMing on 33.511652532 meters Centerline goodness [0,1] 0.3641858090862685 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.56, Z:0.37 [[ 0.99898893 -0.03587863 -0.02708956 -1.59165014] [ 0.03561105 0.99931268 -0.01029662 -2.56081889] [ 0.02744037 0.00932152 0.99957998 0.37357569] [ 0. 0. 0. 1. ]] SLAMing on 33.541652532 meters Centerline goodness [0,1] 0.39757756490124385 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.56, Z:0.37 [[ 0.99902051 -0.03541285 -0.02653194 -1.59317749] [ 0.03515629 0.99933104 -0.01007512 -2.56073592] [ 0.02687098 0.00913249 0.99959719 0.37337371] [ 0. 0. 0. 1. ]] SLAMing on 33.571652532 meters Centerline goodness [0,1] 0.39951435509212974 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.56, Z:0.37 [[ 0.99904952 -0.03503289 -0.02593748 -1.5947519 ] [ 0.03478425 0.99934505 -0.00997615 -2.56036487] [ 0.02626998 0.00906445 0.99961379 0.37312256] [ 0. 0. 0. 1. ]] SLAMing on 33.601652532 meters Centerline goodness [0,1] 0.394211536106462 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.56, Z:0.37 [[ 0.99909509 -0.03417904 -0.0253141 -1.59688207] [ 0.03395533 0.99938087 -0.0092153 -2.56165222] [ 0.02561339 0.00834741 0.99963707 0.37340581] [ 0. 0. 0. 1. ]] SLAMing on 33.631652532 meters Centerline goodness [0,1] 0.37300177619893427 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.56, Z:0.37 [[ 0.99922627 -0.03017857 -0.02522131 -1.59673193] [ 0.03004658 0.99953283 -0.00559605 -2.56016894] [ 0.02537841 0.0048339 0.99966623 0.37250413] [ 0. 0. 0. 1. ]] SLAMing on 33.661652532 meters Centerline goodness [0,1] 0.39464617015637427 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.55, Z:0.38 [[ 0.99942536 -0.02422119 -0.02371233 -1.5893896 ] [ 0.02393274 0.99963699 -0.01237361 -2.55020437] [ 0.02400342 0.011799 0.99964225 0.3782018 ] [ 0. 0. 0. 1. ]] SLAMing on 33.691652532 meters Centerline goodness [0,1] 0.39795003464156176 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.55, Z:0.38 [[ 0.99943658 -0.0241525 -0.02330637 -1.59095145] [ 0.02386372 0.99963594 -0.01259015 -2.54916487] [ 0.02360197 0.01202688 0.99964909 0.37868262] [ 0. 0. 0. 1. ]] SLAMing on 33.721652532 meters Centerline goodness [0,1] 0.39020259931038703 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.55, Z:0.38 [[ 0.99950902 -0.02026984 -0.02389266 -1.59054994] [ 0.02006741 0.99976093 -0.00868216 -2.54874163] [ 0.02406293 0.00819843 0.99967683 0.37975063] [ 0. 0. 0. 1. ]] SLAMing on 33.751652532 meters Centerline goodness [0,1] 0.4053265901258234 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.55, Z:0.38 [[ 0.99958561 -0.01573875 -0.02410203 -1.59075636] [ 0.01564582 0.99986944 -0.00403944 -2.55007454] [ 0.02416246 0.00366067 0.99970134 0.38042303] [ 0. 0. 0. 1. ]] SLAMing on 33.781652532 meters Centerline goodness [0,1] 0.40046116802024245 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.55, Z:0.38 [[ 0.99961509 -0.014909 -0.02339646 -1.59316522] [ 0.01484212 0.99988526 -0.00302995 -2.55278093] [ 0.02343895 0.00268153 0.99972167 0.38094382] [ 0. 0. 0. 1. ]] SLAMing on 33.811652532000004 meters Centerline goodness [0,1] 0.39886620852790633 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.55, Z:0.38 [[ 0.99961538 -0.01544837 -0.02303141 -1.59214938] [ 0.01535272 0.99987279 -0.00432433 -2.5497572 ] [ 0.02309529 0.00396907 0.99972539 0.37848474] [ 0. 0. 0. 1. ]] SLAMing on 33.841652532 meters Centerline goodness [0,1] 0.38947218201463785 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.55, Z:0.38 [[ 0.99960593 -0.01586029 -0.02316125 -1.5909868 ] [ 0.01575217 0.9998642 -0.00484291 -2.54893821] [ 0.02323491 0.00447617 0.99972001 0.37737075] [ 0. 0. 0. 1. ]] SLAMing on 33.871652532 meters Centerline goodness [0,1] 0.4006524620246712 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.55, Z:0.38 [[ 0.9996039 -0.01609081 -0.0230897 -1.59148043] [ 0.01597381 0.99985867 -0.00524265 -2.54775412] [ 0.02317079 0.00487174 0.99971965 0.37756771] [ 0. 0. 0. 1. ]] SLAMing on 33.901652532 meters Centerline goodness [0,1] 0.39598834009417616 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.55, Z:0.38 [[ 0.99962032 -0.01557657 -0.02272834 -1.59313368] [ 0.01547804 0.99987006 -0.00450457 -2.54993423] [ 0.02279556 0.00415107 0.99973153 0.37832537] [ 0. 0. 0. 1. ]] SLAMing on 33.931652532 meters Centerline goodness [0,1] 0.38190524707080997 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.55, Z:0.38 [[ 0.99962115 -0.01561895 -0.02266279 -1.59373469] [ 0.01552402 0.99986999 -0.00435871 -2.55073941] [ 0.02272792 0.00400524 0.99973366 0.37885375] [ 0. 0. 0. 1. ]] SLAMing on 33.961652532 meters Centerline goodness [0,1] 0.39661286378087557 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.55, Z:0.38 [[ 0.99961534 -0.01601154 -0.02264499 -1.59310191] [ 0.01590504 0.99986162 -0.00487528 -2.5496289 ] [ 0.02271992 0.00451323 0.99973168 0.37794243] [ 0. 0. 0. 1. ]] SLAMing on 33.991652532 meters Centerline goodness [0,1] 0.39435472374396674 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.55, Z:0.38 [[ 0.99961009 -0.01643205 -0.0225754 -1.59320045] [ 0.01631165 0.99985179 -0.00550691 -2.54802608] [ 0.02266254 0.00513653 0.99972998 0.37774194] [ 0. 0. 0. 1. ]] SLAMing on 34.021652532 meters Centerline goodness [0,1] 0.3903264615321873 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.55, Z:0.38 [[ 0.99961503 -0.01659906 -0.0222322 -1.59444242] [ 0.01647559 0.99984787 -0.00572575 -2.54736841] [ 0.02232386 0.00535726 0.99973644 0.37808259] [ 0. 0. 0. 1. ]] SLAMing on 34.051652532 meters Centerline goodness [0,1] 0.3774514795430014 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.55, Z:0.38 [[ 0.99961417 -0.01664095 -0.0222394 -1.59488176] [ 0.01651736 0.99984716 -0.0057296 -2.54751567] [ 0.02233135 0.00536005 0.99973626 0.37857259] [ 0. 0. 0. 1. ]] SLAMing on 34.081652532 meters Centerline goodness [0,1] 0.3964077709444874 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.55, Z:0.38 [[ 0.99961262 -0.01665092 -0.02230139 -1.59531694] [ 0.01653049 0.99984783 -0.00557351 -2.54833684] [ 0.0223908 0.0052027 0.99973576 0.3792546 ] [ 0. 0. 0. 1. ]] SLAMing on 34.111652532 meters Centerline goodness [0,1] 0.36371215356147946 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.55, Z:0.38 [[ 0.99962596 -0.01621628 -0.0220221 -1.59670078] [ 0.01610802 0.99985733 -0.00508428 -2.54972142] [ 0.0221014 0.00472765 0.99974456 0.37993676] [ 0. 0. 0. 1. ]] SLAMing on 34.141652532 meters Centerline goodness [0,1] 0.36651242432272657 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.55, Z:0.38 [[ 9.99686858e-01 -1.15669681e-02 -2.21898778e-02 -1.59726938e+00] [ 1.15624323e-02 9.99933097e-01 -3.32704063e-04 -2.55136981e+00] [ 2.21922416e-02 7.60309203e-05 9.99753719e-01 3.80946688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.171652532 meters Centerline goodness [0,1] 0.39478933441888864 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.55, Z:0.38 [[ 9.99917431e-01 -9.44927088e-03 -8.70872259e-03 -1.60572876e+00] [ 9.45248302e-03 9.99955271e-01 3.27755031e-04 -2.54934263e+00] [ 8.70523601e-03 -4.10047021e-04 9.99962025e-01 3.79595138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.201652532 meters Centerline goodness [0,1] 0.3949661969536532 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.55, Z:0.38 [[ 0.9999465 -0.00580144 -0.00856403 -1.60510152] [ 0.00583209 0.99997666 0.00355797 -2.5469133 ] [ 0.00854319 -0.00360773 0.999957 0.37824802] [ 0. 0. 0. 1. ]] SLAMing on 34.231652532 meters Centerline goodness [0,1] 0.38327073393564104 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.54, Z:0.38 [[ 9.99971082e-01 -1.31484648e-03 -7.49046083e-03 -1.60738293e+00] [ 1.36899655e-03 9.99972936e-01 7.22866980e-03 -2.54440787e+00] [ 7.48075352e-03 -7.23871518e-03 9.99945818e-01 3.77580637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.261652532 meters Centerline goodness [0,1] 0.3770692077454034 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.55, Z:0.38 [[ 9.99979007e-01 -5.43037815e-05 -6.47941420e-03 -1.60995079e+00] [ 1.08452844e-04 9.99965074e-01 8.35703366e-03 -2.54694128e+00] [ 6.47873408e-03 -8.35756093e-03 9.99944087e-01 3.77444109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.291652532 meters Centerline goodness [0,1] 0.3696978323640653 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.55, Z:0.38 [[ 9.99983785e-01 9.00449499e-04 -5.62306046e-03 -1.61201068e+00] [-8.49200148e-04 9.99958144e-01 9.10988444e-03 -2.54845294e+00] [ 5.63102809e-03 -9.10496162e-03 9.99942694e-01 3.77114310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.321652532 meters Centerline goodness [0,1] 0.37629810629199756 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.54, Z:0.38 [[ 0.99997649 0.00475699 -0.00493891 -1.61312058] [-0.00469622 0.99991402 0.01224366 -2.54496555] [ 0.00499673 -0.01222018 0.99991285 0.37620551] [ 0. 0. 0. 1. ]] SLAMing on 34.351652532 meters Centerline goodness [0,1] 0.3605366012539696 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.55, Z:0.38 [[ 0.99997822 0.00500187 -0.00430606 -1.61494143] [-0.00494822 0.9999111 0.01238182 -2.54521092] [ 0.00436761 -0.01236024 0.99991407 0.37642895] [ 0. 0. 0. 1. ]] SLAMing on 34.381652532 meters Centerline goodness [0,1] 0.3698345846304095 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.55, Z:0.38 [[ 0.99997793 0.00482911 -0.00456272 -1.61496392] [-0.00477168 0.99991031 0.012514 -2.54618479] [ 0.00462274 -0.01249195 0.99991129 0.37733813] [ 0. 0. 0. 1. ]] SLAMing on 34.411652532 meters Centerline goodness [0,1] 0.3786999124040009 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.55, Z:0.38 [[ 9.99978493e-01 -1.64133884e-03 -6.34979886e-03 -1.61111122e+00] [ 1.68936201e-03 9.99969958e-01 7.56498683e-03 -2.54710718e+00] [ 6.33719139e-03 -7.57555124e-03 9.99951224e-01 3.78758784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.441652532 meters Centerline goodness [0,1] 0.38019123733409443 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.55, Z:0.38 [[ 0.99996165 -0.00575146 -0.00660517 -1.61082306] [ 0.00577753 0.99997557 0.00393393 -2.54953555] [ 0.00658238 -0.00397194 0.99997045 0.37924253] [ 0. 0. 0. 1. ]] SLAMing on 34.471652532 meters Centerline goodness [0,1] 0.3837192696113435 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.55, Z:0.38 [[ 9.99930487e-01 -9.86742600e-03 -6.45413809e-03 -1.61117132e+00] [ 9.86767120e-03 9.99951313e-01 6.14747726e-06 -2.55083210e+00] [ 6.45376320e-03 -6.98343624e-05 9.99979172e-01 3.79250469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.501652532 meters Centerline goodness [0,1] 0.38766905654228445 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.55, Z:0.38 [[ 9.99921477e-01 -1.03578446e-02 -7.05366429e-03 -1.60964453e+00] [ 1.03556294e-02 9.99946318e-01 -3.50502262e-04 -2.55036165e+00] [ 7.05691608e-03 2.77429606e-04 9.99975061e-01 3.79261289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.531652532 meters Centerline goodness [0,1] 0.39251974916524146 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.55, Z:0.38 [[ 9.99928387e-01 -9.90840716e-03 -6.71157037e-03 -1.61087321e+00] [ 9.90910292e-03 9.99950901e-01 7.04185878e-05 -2.55121244e+00] [ 6.71054310e-03 -1.36919186e-04 9.99977475e-01 3.79628448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.561652532000004 meters Centerline goodness [0,1] 0.39136804834869665 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.55, Z:0.38 [[ 9.99939239e-01 -9.25564332e-03 -5.98754172e-03 -1.61261614e+00] [ 9.25962558e-03 9.99956925e-01 6.37711728e-04 -2.55241751e+00] [ 5.98138138e-03 -6.93115374e-04 9.99981871e-01 3.79318446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.591652532 meters Centerline goodness [0,1] 0.3973376689360837 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.55, Z:0.38 [[ 9.99939475e-01 -9.44160935e-03 -5.64826285e-03 -1.61325876e+00] [ 9.44156341e-03 9.99955427e-01 -3.47988036e-05 -2.55008197e+00] [ 5.64833965e-03 -1.85317345e-05 9.99984048e-01 3.78940739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.621652532 meters Centerline goodness [0,1] 0.3946978462537807 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.55, Z:0.38 [[ 0.99996774 -0.00577775 -0.00558024 -1.61275527] [ 0.00579531 0.99997829 0.00313553 -2.54716323] [ 0.00556201 -0.00316777 0.99997951 0.37789902] [ 0. 0. 0. 1. ]] SLAMing on 34.651652532 meters Centerline goodness [0,1] 0.38482478415439314 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.55, Z:0.37 [[ 9.99997718e-01 1.86563000e-03 -1.04117997e-03 -1.62174212e+00] [-1.85849610e-03 9.99975077e-01 6.81115628e-03 -2.54762177e+00] [ 1.05386112e-03 -6.80920571e-03 9.99976262e-01 3.73034032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.681652532 meters Centerline goodness [0,1] 0.38352792807452907 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.55, Z:0.37 [[ 9.99982841e-01 5.84174862e-03 -4.38810541e-04 -1.62192936e+00] [-5.83697023e-03 9.99930957e-01 1.01985344e-02 -2.54525179e+00] [ 4.98357519e-04 -1.01957981e-02 9.99947897e-01 3.71164054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.711652532 meters Centerline goodness [0,1] 0.3738748806306764 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.54, Z:0.37 [[ 9.99954131e-01 9.57630093e-03 1.74023008e-04 -1.62231976e+00] [-9.57775624e-03 9.99869044e-01 1.30446011e-02 -2.54119701e+00] [-4.90811926e-05 -1.30456695e-02 9.99914900e-01 3.69523922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.741652532 meters Centerline goodness [0,1] 0.373355530290726 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.54, Z:0.37 [[ 9.99917566e-01 1.27944923e-02 1.07764155e-03 -1.62239611e+00] [-1.28091250e-02 9.99807106e-01 1.48888027e-02 -2.53560689e+00] [-8.86939003e-04 -1.49013790e-02 9.99888575e-01 3.66685577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.771652532 meters Centerline goodness [0,1] 0.3749061618682411 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.54, Z:0.37 [[ 9.99898025e-01 1.41236723e-02 2.11214337e-03 -1.62504339e+00] [-1.41560215e-02 9.99768920e-01 1.61775582e-02 -2.53878220e+00] [-1.88316876e-03 -1.62058081e-02 9.99866904e-01 3.66550315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.801652532 meters Centerline goodness [0,1] 0.374157805016641 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.54, Z:0.37 [[ 0.99985329 0.01681668 0.00325542 -1.6286145 ] [-0.01687446 0.99968423 0.01861976 -2.54246978] [-0.00294127 -0.01867196 0.99982134 0.36719751] [ 0. 0. 0. 1. ]] SLAMing on 34.831652532 meters Centerline goodness [0,1] 0.358198051948052 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.55, Z:0.37 [[ 0.9993639 0.03455357 0.00882252 -1.63496831] [-0.03471054 0.99922972 0.0183069 -2.55148033] [-0.00818316 -0.01860149 0.99979349 0.36893076] [ 0. 0. 0. 1. ]] SLAMing on 34.861652532 meters Centerline goodness [0,1] 0.3611821540210287 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.55, Z:0.37 [[ 0.99929994 0.03606128 0.00996107 -1.6384624 ] [-0.03625204 0.99914879 0.01968448 -2.55432364] [-0.00924275 -0.02003181 0.99975662 0.36949183] [ 0. 0. 0. 1. ]] SLAMing on 34.891652532 meters Centerline goodness [0,1] 0.3573076456065083 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.56, Z:0.37 [[ 0.9992134 0.03794757 0.01151323 -1.64290088] [-0.03818331 0.9990501 0.02099815 -2.55600686] [-0.01070546 -0.02142125 0.99971322 0.36998171] [ 0. 0. 0. 1. ]] SLAMing on 34.921652532 meters Centerline goodness [0,1] 0.31665956713117915 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.56, Z:0.37 [[ 0.9990245 0.0424813 0.01205762 -1.64368346] [-0.04277622 0.99876284 0.02535709 -2.55609385] [-0.0109655 -0.02584813 0.99960574 0.36953612] [ 0. 0. 0. 1. ]] SLAMing on 34.951652532 meters Centerline goodness [0,1] 0.34311521558620406 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.56, Z:0.37 [[ 0.99878257 0.04753343 0.01318872 -1.64525455] [-0.04790802 0.99840976 0.02971134 -2.55562884] [-0.01175546 -0.03030701 0.99947151 0.36831199] [ 0. 0. 0. 1. ]] SLAMing on 34.981652532 meters Centerline goodness [0,1] 0.3451339972471864 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.57, Z:0.36 [[ 0.99849515 0.0517375 0.01818406 -1.65717108] [-0.05226669 0.99818416 0.02994286 -2.56625559] [-0.01660187 -0.03084822 0.99938619 0.36482252] [ 0. 0. 0. 1. ]] SLAMing on 35.011652532 meters Centerline goodness [0,1] 0.3434063151925141 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.57, Z:0.36 [[ 0.9982129 0.05661598 0.01912183 -1.65843941] [-0.05725335 0.99775942 0.0346149 -2.56698855] [-0.01711923 -0.03564783 0.99921778 0.36384986] [ 0. 0. 0. 1. ]] SLAMing on 35.041652532 meters Centerline goodness [0,1] 0.3217913951511717 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.58, Z:0.36 [[ 0.99760998 0.06440017 0.02503878 -1.67447667] [-0.06529891 0.99718303 0.0369061 -2.57963141] [-0.02259148 -0.0384529 0.999005 0.36082111] [ 0. 0. 0. 1. ]] SLAMing on 35.071652532 meters Centerline goodness [0,1] 0.3323547276776675 Centerline is valid? [False, False] Translation: X:-1.68, Y:-2.58, Z:0.36 [[ 0.99752556 0.06532944 0.02597734 -1.67635156] [-0.06627963 0.99709338 0.037574 -2.58103648] [-0.02344714 -0.03920279 0.99895614 0.35988798] [ 0. 0. 0. 1. ]] SLAMing on 35.101652532 meters Centerline goodness [0,1] 0.33515449523462637 Centerline is valid? [False, False] Translation: X:-1.68, Y:-2.58, Z:0.36 [[ 0.99753501 0.06508409 0.0262289 -1.67661869] [-0.06603135 0.99713018 0.03703048 -2.57974922] [-0.02374353 -0.03867113 0.99896986 0.35917343] [ 0. 0. 0. 1. ]] SLAMing on 35.131652532 meters Centerline goodness [0,1] 0.3387001926391564 Centerline is valid? [False, False] Translation: X:-1.68, Y:-2.58, Z:0.36 [[ 0.99777292 0.06119906 0.02653064 -1.67888203] [-0.06206834 0.99751681 0.03328269 -2.58164069] [-0.02442789 -0.03485528 0.99909378 0.36024169] [ 0. 0. 0. 1. ]] SLAMing on 35.161652532 meters Centerline goodness [0,1] 0.32289552723435344 Centerline is valid? [False, False] Translation: X:-1.68, Y:-2.59, Z:0.36 [[ 0.99791018 0.05865388 0.02711087 -1.68217122] [-0.05949005 0.99774308 0.03113978 -2.58710134] [-0.02522321 -0.03268753 0.99914729 0.36162063] [ 0. 0. 0. 1. ]] SLAMing on 35.191652532 meters Centerline goodness [0,1] 0.3361890454342442 Centerline is valid? [False, False] Translation: X:-1.68, Y:-2.59, Z:0.36 [[ 0.99803036 0.05634654 0.02757669 -1.68488326] [-0.05715035 0.99793603 0.02928349 -2.59315279] [-0.02586975 -0.03080182 0.99919067 0.36265306] [ 0. 0. 0. 1. ]] SLAMing on 35.221652532 meters Centerline goodness [0,1] 0.3435889109875391 Centerline is valid? [False, False] Translation: X:-1.69, Y:-2.60, Z:0.36 [[ 0.99835409 0.04997976 0.02812716 -1.68857441] [-0.05063539 0.99845001 0.0231005 -2.59781909] [-0.02692901 -0.0244867 0.9993374 0.36428543] [ 0. 0. 0. 1. ]] SLAMing on 35.251652532 meters Centerline goodness [0,1] 0.3455874885752006 Centerline is valid? [False, False] Translation: X:-1.69, Y:-2.60, Z:0.37 [[ 0.99849273 0.04693425 0.02845069 -1.6907486 ] [-0.04752748 0.9986586 0.02054621 -2.6029851 ] [-0.02744821 -0.02186743 0.99938402 0.3652309 ] [ 0. 0. 0. 1. ]] SLAMing on 35.281652532 meters Centerline goodness [0,1] 0.34932271887248434 Centerline is valid? [False, False] Translation: X:-1.69, Y:-2.61, Z:0.37 [[ 0.99866243 0.04327795 0.02829093 -1.69196609] [-0.04378244 0.99888846 0.01746268 -2.60716605] [-0.02750373 -0.01867797 0.99944719 0.36664538] [ 0. 0. 0. 1. ]] SLAMing on 35.311652532 meters Centerline goodness [0,1] 0.34932271887248434 Centerline is valid? [False, False] Translation: X:-1.69, Y:-2.61, Z:0.37 [[ 0.99866243 0.04327795 0.02829093 -1.69196609] [-0.04378244 0.99888846 0.01746268 -2.60716605] [-0.02750373 -0.01867797 0.99944719 0.36664538] [ 0. 0. 0. 1. ]] SLAMing on 35.341652532 meters Centerline goodness [0,1] 0.3519904037734315 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.62, Z:0.36 [[ 0.99900756 0.0356448 0.02670835 -1.70137331] [-0.03626323 0.99907664 0.02304009 -2.62174232] [-0.02586243 -0.02398575 0.99937772 0.36260228] [ 0. 0. 0. 1. ]] SLAMing on 35.371652532 meters Centerline goodness [0,1] 0.3569859223695988 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.63, Z:0.37 [[ 0.99925185 0.02855871 0.0260795 -1.70291479] [-0.02901135 0.99943201 0.01714619 -2.62845003] [-0.02557501 -0.01788996 0.99951282 0.36615814] [ 0. 0. 0. 1. ]] SLAMing on 35.401652532 meters Centerline goodness [0,1] 0.3588161260200561 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.63, Z:0.37 [[ 0.99932827 0.02544441 0.02637403 -1.70458442] [-0.02583307 0.99956107 0.01450219 -2.63307544] [-0.02599346 -0.01517378 0.99954695 0.36713288] [ 0. 0. 0. 1. ]] SLAMing on 35.431652532 meters Centerline goodness [0,1] 0.36047361793736543 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.64, Z:0.37 [[ 0.99940223 0.02207702 0.02660446 -1.70628562] [-0.02238939 0.99968317 0.01150116 -2.63677762] [-0.02634212 -0.01208995 0.99957987 0.36827534] [ 0. 0. 0. 1. ]] SLAMing on 35.461652532 meters Centerline goodness [0,1] 0.3525859965845328 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.64, Z:0.37 [[ 0.9994389 0.01987659 0.02695938 -1.70853798] [-0.02014933 0.99974813 0.00988325 -2.64249983] [-0.02675614 -0.01042092 0.99958767 0.36980341] [ 0. 0. 0. 1. ]] SLAMing on 35.491652532 meters Centerline goodness [0,1] 0.3667631117812462 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.65, Z:0.37 [[ 0.99951969 0.01607695 0.02649389 -1.70926272] [-0.01626359 0.99984432 0.00684399 -2.64618597] [-0.02637974 -0.00727159 0.99962555 0.37224672] [ 0. 0. 0. 1. ]] SLAMing on 35.521652532 meters Centerline goodness [0,1] 0.3640453555361033 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.65, Z:0.37 [[ 0.99974958 0.0157498 0.01589739 -1.70438287] [-0.01586583 0.99984821 0.00719884 -2.6510207 ] [-0.0157816 -0.00744926 0.99984771 0.37341624] [ 0. 0. 0. 1. ]] SLAMing on 35.551652532 meters Centerline goodness [0,1] 0.3704526011325213 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.66, Z:0.37 [[ 0.99977896 0.01306863 0.01646913 -1.70695535] [-0.01315014 0.99990177 0.0048505 -2.65547675] [-0.01640413 -0.005066 0.99985261 0.37460834] [ 0. 0. 0. 1. ]] SLAMing on 35.581652532 meters Centerline goodness [0,1] 0.3689029363784666 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.66, Z:0.38 [[ 9.99806028e-01 1.01471295e-02 1.68802419e-02 -1.70857393e+00] [-1.01857529e-02 9.99945696e-01 2.20368409e-03 -2.65939745e+00] [-1.68569642e-02 -2.37519461e-03 9.99855090e-01 3.75169542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.611652532 meters Centerline goodness [0,1] 0.3635272090846188 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.66, Z:0.38 [[ 9.99805678e-01 1.00218945e-02 1.69755000e-02 -1.70890102e+00] [-1.00585211e-02 9.99947262e-01 2.07361121e-03 -2.65920818e+00] [-1.69538232e-02 -2.24395669e-03 9.99853756e-01 3.75299505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.641652532 meters Centerline goodness [0,1] 0.3649661804253932 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.66, Z:0.38 [[ 0.99979036 0.01057559 0.01753255 -1.71068798] [-0.01062416 0.99993997 0.00267987 -2.66070187] [-0.01750315 -0.00286558 0.9998427 0.37570384] [ 0. 0. 0. 1. ]] SLAMing on 35.671652532 meters Centerline goodness [0,1] 0.36705872776850756 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.66, Z:0.38 [[ 0.9997614 0.01123594 0.01873211 -1.71379001] [-0.01129031 0.99993234 0.00279901 -2.6596649 ] [-0.01869939 -0.00300983 0.99982062 0.37582611] [ 0. 0. 0. 1. ]] SLAMing on 35.701652532 meters Centerline goodness [0,1] 0.36595917538336553 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.66, Z:0.38 [[ 0.99974771 0.01159445 0.01923771 -1.71497469] [-0.01165499 0.99992746 0.00303785 -2.6601085 ] [-0.01920109 -0.0032613 0.99981032 0.37554239] [ 0. 0. 0. 1. ]] SLAMing on 35.731652532 meters Centerline goodness [0,1] 0.3651265552139119 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.66, Z:0.38 [[ 0.99974879 0.01157381 0.01919395 -1.71525209] [-0.01163702 0.99992722 0.00318463 -2.66096308] [-0.0191557 -0.00340719 0.99981071 0.37598122] [ 0. 0. 0. 1. ]] SLAMing on 35.761652532 meters Centerline goodness [0,1] 0.37027615539591774 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.66, Z:0.38 [[ 0.99978032 0.01066942 0.01804115 -1.71392367] [-0.01072998 0.99993711 0.00326295 -2.662722 ] [-0.0180052 -0.00345582 0.99983192 0.3783613 ] [ 0. 0. 0. 1. ]] SLAMing on 35.791652532 meters Centerline goodness [0,1] 0.35357259247189177 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.67, Z:0.38 [[ 0.99978998 0.01066543 0.01750001 -1.71338883] [-0.01073256 0.99993538 0.00374674 -2.6650161 ] [-0.01745892 -0.00393377 0.99983984 0.37946794] [ 0. 0. 0. 1. ]] SLAMing on 35.821652532 meters Centerline goodness [0,1] 0.3579344061927072 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.67, Z:0.38 [[ 0.99978133 0.01134517 0.01756632 -1.71381903] [-0.01143065 0.99992327 0.0047734 -2.66824586] [-0.01751082 -0.00497315 0.99983431 0.37971155] [ 0. 0. 0. 1. ]] SLAMing on 35.851652532 meters Centerline goodness [0,1] 0.3664294428629524 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.67, Z:0.38 [[ 0.9997823 0.01132668 0.01752281 -1.71454351] [-0.01141453 0.99992274 0.00492135 -2.66881033] [-0.01746572 -0.00512029 0.99983435 0.38092851] [ 0. 0. 0. 1. ]] SLAMing on 35.881652532 meters Centerline goodness [0,1] 0.37129993684682294 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.67, Z:0.38 [[ 0.99977663 0.01144599 0.01776735 -1.71500019] [-0.0115374 0.99992068 0.00505109 -2.66939922] [-0.01770813 -0.00525495 0.99982939 0.38069699] [ 0. 0. 0. 1. ]] SLAMing on 35.911652532 meters Centerline goodness [0,1] 0.36447132616487454 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.67, Z:0.38 [[ 0.99978674 0.01097432 0.01749402 -1.71393781] [-0.01105588 0.99992843 0.00457242 -2.66870473] [-0.01744259 -0.00476486 0.99983651 0.38019205] [ 0. 0. 0. 1. ]] SLAMing on 35.941652532 meters Centerline goodness [0,1] 0.3728130848726503 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.67, Z:0.38 [[ 9.99827270e-01 6.49002675e-03 1.74157940e-02 -1.71335770e+00] [-6.48788618e-03 9.99978937e-01 -1.79408090e-04 -2.66741442e+00] [-1.74165916e-02 6.63854118e-05 9.99848317e-01 3.79506836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.971652532 meters Centerline goodness [0,1] 0.3700470114170584 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.67, Z:0.38 [[ 9.99837728e-01 6.23744322e-03 1.69000620e-02 -1.71211198e+00] [-6.23414872e-03 9.99980537e-01 -2.47616038e-04 -2.66775820e+00] [-1.69012775e-02 1.42218357e-04 9.99857153e-01 3.79471763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.001652532 meters Centerline goodness [0,1] 0.3617055936793663 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.67, Z:0.38 [[ 9.99854604e-01 5.26804688e-03 1.62178278e-02 -1.71089009e+00] [-5.25336224e-03 9.99985752e-01 -9.47932069e-04 -2.66694308e+00] [-1.62225905e-02 8.62596120e-04 9.99868033e-01 3.80026442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.031652532 meters Centerline goodness [0,1] 0.3713664268000163 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.67, Z:0.38 [[ 9.99855832e-01 5.22345126e-03 1.61564498e-02 -1.71146728e+00] [-5.21283889e-03 9.99986169e-01 -6.98894377e-04 -2.66781767e+00] [-1.61598769e-02 6.14572650e-04 9.99869232e-01 3.81047832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.061652532 meters Centerline goodness [0,1] 0.36830438849798675 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.67, Z:0.38 [[ 9.99867537e-01 4.67606916e-03 1.55898236e-02 -1.71071255e+00] [-4.66333942e-03 9.99988763e-01 -8.52794781e-04 -2.66833805e+00] [-1.55936362e-02 7.79981178e-04 9.99878108e-01 3.81931918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.091652532 meters Centerline goodness [0,1] 0.3722557936071944 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.67, Z:0.38 [[ 9.99892560e-01 2.99403370e-03 1.43493904e-02 -1.70813865e+00] [-2.96920379e-03 9.99994058e-01 -1.75137287e-03 -2.66835645e+00] [-1.43545488e-02 1.70857844e-03 9.99895508e-01 3.82729223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.121652532 meters Centerline goodness [0,1] 0.3786468915075173 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.67, Z:0.38 [[ 9.99907726e-01 1.89816446e-03 1.34512498e-02 -1.70600224e+00] [-1.86410434e-03 9.99995026e-01 -2.54420122e-03 -2.66742971e+00] [-1.34560123e-02 2.51889193e-03 9.99906291e-01 3.82994784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.151652532 meters Centerline goodness [0,1] 0.378863673336587 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.67, Z:0.38 [[ 9.99923181e-01 5.87222305e-04 1.23809288e-02 -1.70403045e+00] [-5.44709762e-04 9.99993946e-01 -3.43680448e-03 -2.66686952e+00] [-1.23828720e-02 3.42979646e-03 9.99917447e-01 3.83839463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.181652532 meters Centerline goodness [0,1] 0.36492148726710605 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.67, Z:0.38 [[ 9.99937833e-01 -1.18748494e-03 1.10868873e-02 -1.70105745e+00] [ 1.23892453e-03 9.99988496e-01 -4.63396363e-03 -2.66617912e+00] [-1.10812570e-02 4.64741137e-03 9.99927801e-01 3.84239207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.211652532 meters Centerline goodness [0,1] 0.37980612577386774 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.67, Z:0.39 [[ 9.99946592e-01 -2.18976396e-03 1.01003738e-02 -1.69941346e+00] [ 2.24219354e-03 9.99984057e-01 -5.18245575e-03 -2.66632608e+00] [-1.00888644e-02 5.20482596e-03 9.99935560e-01 3.85231764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.241652532 meters Centerline goodness [0,1] 0.3759060184054076 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.67, Z:0.39 [[ 9.99951026e-01 -1.60849585e-03 9.76516002e-03 -1.69989534e+00] [ 1.64645858e-03 9.99991114e-01 -3.88077585e-03 -2.67000442e+00] [-9.75883104e-03 3.89666373e-03 9.99944789e-01 3.86916089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.271652532 meters Centerline goodness [0,1] 0.3778425299535414 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.67, Z:0.39 [[ 9.99950628e-01 -1.57306594e-03 9.81161567e-03 -1.70087698e+00] [ 1.60846144e-03 9.99992224e-01 -3.60066351e-03 -2.67101540e+00] [-9.80587529e-03 3.61626734e-03 9.99945382e-01 3.88034427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.301652532 meters Centerline goodness [0,1] 0.3878366531427756 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.67, Z:0.39 [[ 9.99952811e-01 -1.64760822e-03 9.57396673e-03 -1.70082644e+00] [ 1.68074459e-03 9.99992622e-01 -3.45407745e-03 -2.67170670e+00] [-9.56820513e-03 3.47000585e-03 9.99948203e-01 3.88716003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.331652532 meters Centerline goodness [0,1] 0.3636715329953373 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.67, Z:0.39 [[ 9.99956477e-01 -1.78366590e-03 9.15762852e-03 -1.70012826e+00] [ 1.81432850e-03 9.99992773e-01 -3.34109760e-03 -2.67239650e+00] [-9.15160294e-03 3.35756713e-03 9.99952486e-01 3.89113927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.361652532 meters Centerline goodness [0,1] 0.3879398214212908 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.67, Z:0.39 [[ 9.99961284e-01 -1.88152948e-03 8.59594964e-03 -1.69929562e+00] [ 1.90778767e-03 9.99993536e-01 -3.04753927e-03 -2.67373073e+00] [-8.59016004e-03 3.06382053e-03 9.99958410e-01 3.89880724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.391652532 meters Centerline goodness [0,1] 0.3769138243868626 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.67, Z:0.39 [[ 9.99964525e-01 -2.44748277e-03 8.05965043e-03 -1.69863323e+00] [ 2.47485121e-03 9.99991200e-01 -3.38751433e-03 -2.67335753e+00] [-8.05128862e-03 3.40734059e-03 9.99961783e-01 3.90774142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.421652532 meters Centerline goodness [0,1] 0.3858368575146389 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.67, Z:0.39 [[ 9.99965724e-01 -2.36902699e-03 7.93339504e-03 -1.69847306e+00] [ 2.39413768e-03 9.99992150e-01 -3.15718931e-03 -2.67417099e+00] [-7.92585330e-03 3.17607474e-03 9.99963546e-01 3.90920926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.451652532 meters Centerline goodness [0,1] 0.38921644370349284 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.67, Z:0.39 [[ 9.99966143e-01 -2.33494096e-03 7.89061723e-03 -1.69888349e+00] [ 2.35886323e-03 9.99992646e-01 -3.02379088e-03 -2.67444838e+00] [-7.88349883e-03 3.04230139e-03 9.99964297e-01 3.91532563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.481652532 meters Centerline goodness [0,1] 0.34933012990186096 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.68, Z:0.39 [[ 9.99967221e-01 -2.35123735e-03 7.74779410e-03 -1.69894719e+00] [ 2.37365903e-03 9.99993018e-01 -2.88602098e-03 -2.67512353e+00] [-7.74095428e-03 2.90431700e-03 9.99965821e-01 3.92022409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.511652532 meters Centerline goodness [0,1] 0.39114218164030656 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.67, Z:0.39 [[ 0.99996814 -0.00267747 0.00751944 -1.69857333] [ 0.0027016 0.99999123 -0.00320169 -2.67454858] [-0.00751081 0.0032219 0.9999666 0.39223886] [ 0. 0. 0. 1. ]] SLAMing on 36.541652532 meters Centerline goodness [0,1] 0.3860326230473907 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.67, Z:0.39 [[ 9.99978091e-01 -9.63649848e-05 6.61880626e-03 -1.69547491e+00] [ 1.00256040e-04 9.99999822e-01 -5.87549428e-04 -2.67205938e+00] [-6.61874846e-03 5.88200130e-04 9.99977923e-01 3.91175657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.571652532 meters Centerline goodness [0,1] 0.3875121871953201 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.67, Z:0.39 [[ 9.99977011e-01 2.18766601e-05 6.78070055e-03 -1.69650054e+00] [-1.91090103e-05 9.99999916e-01 -4.08230270e-04 -2.67252297e+00] [-6.78070892e-03 4.08091312e-04 9.99976927e-01 3.91844427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.601652532 meters Centerline goodness [0,1] 0.3808477747945651 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.67, Z:0.39 [[ 9.99970503e-01 7.20150785e-04 7.64686261e-03 -1.69918875e+00] [-7.20793836e-04 9.99999737e-01 8.13377948e-05 -2.67294716e+00] [-7.64680202e-03 -8.68472070e-05 9.99970759e-01 3.92295318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.631652532 meters Centerline goodness [0,1] 0.36281188360412386 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.67, Z:0.39 [[ 9.99965767e-01 5.47661110e-04 8.25624552e-03 -1.70008373e+00] [-5.42084109e-04 9.99999623e-01 -6.77711412e-04 -2.66983483e+00] [-8.25661357e-03 6.73212632e-04 9.99965687e-01 3.91311028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.661652532 meters Centerline goodness [0,1] 0.36679977181973755 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.67, Z:0.39 [[ 9.99962189e-01 4.58028218e-04 8.68395881e-03 -1.70082073e+00] [-4.49143985e-04 9.99999374e-01 -1.02498516e-03 -2.66875859e+00] [-8.68442284e-03 1.02104606e-03 9.99961768e-01 3.90714567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.691652532 meters Centerline goodness [0,1] 0.36750518988887537 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.67, Z:0.39 [[ 9.99956489e-01 1.21499874e-03 9.24897125e-03 -1.70226166e+00] [-1.21223666e-03 9.99999219e-01 -3.04237025e-04 -2.67033095e+00] [-9.24933368e-03 2.93011846e-04 9.99957181e-01 3.90525808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.721652532 meters Centerline goodness [0,1] 0.3854537321323275 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.67, Z:0.39 [[ 0.99994979 0.00499535 0.00868741 -1.70140269] [-0.00502915 0.99997985 0.00387412 -2.67115651] [-0.00866788 -0.00391761 0.99995476 0.39141977] [ 0. 0. 0. 1. ]] SLAMing on 36.751652532 meters Centerline goodness [0,1] 0.3703741441147701 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.68, Z:0.39 [[ 0.99993401 0.00654247 0.00944274 -1.70410033] [-0.00659558 0.99996254 0.00560445 -2.67524375] [-0.00940571 -0.00566636 0.99993971 0.39232244] [ 0. 0. 0. 1. ]] SLAMing on 36.781652532 meters Centerline goodness [0,1] 0.3775389750478284 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.68, Z:0.39 [[ 0.99991208 0.00826285 0.01037128 -1.70685432] [-0.00833892 0.99993849 0.00731277 -2.67870001] [-0.01031022 -0.00739862 0.99991948 0.39267028] [ 0. 0. 0. 1. ]] SLAMing on 36.811652532 meters Centerline goodness [0,1] 0.3799885974914481 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.68, Z:0.39 [[ 0.99988978 0.00944719 0.01145368 -1.7098708 ] [-0.0095428 0.99991984 0.00832212 -2.6806455 ] [-0.01137414 -0.0084305 0.99989977 0.3928639 ] [ 0. 0. 0. 1. ]] SLAMing on 36.841652532 meters Centerline goodness [0,1] 0.37488302071042034 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.68, Z:0.39 [[ 0.99982362 0.01408376 0.01242519 -1.71043769] [-0.01423327 0.99982636 0.01202787 -2.67863308] [-0.01225364 -0.01220259 0.99985046 0.39038333] [ 0. 0. 0. 1. ]] SLAMing on 36.871652532 meters Centerline goodness [0,1] 0.3761636078463325 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.68, Z:0.39 [[ 0.99982318 0.01367592 0.01290621 -1.7107551 ] [-0.01382016 0.99984229 0.01115338 -2.67639375] [-0.01275164 -0.01132977 0.99985451 0.38912599] [ 0. 0. 0. 1. ]] SLAMing on 36.901652532 meters Centerline goodness [0,1] 0.37581652795018416 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.67, Z:0.39 [[ 0.99982007 0.01347319 0.01335307 -1.71108212] [-0.01361419 0.99985193 0.01052507 -2.67469961] [-0.01320929 -0.01070496 0.99985545 0.38795741] [ 0. 0. 0. 1. ]] SLAMing on 36.931652532 meters Centerline goodness [0,1] 0.33900550234359084 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.67, Z:0.39 [[ 0.99982128 0.01322074 0.0135136 -1.71094764] [-0.01335728 0.99986013 0.01006454 -2.67354552] [-0.01337865 -0.01024325 0.99985803 0.38720873] [ 0. 0. 0. 1. ]] SLAMing on 36.961652532 meters Centerline goodness [0,1] 0.3404869911918469 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.67, Z:0.39 [[ 0.99982735 0.01282661 0.01344463 -1.71133195] [-0.01296 0.99986718 0.00988189 -2.67371937] [-0.01331609 -0.01005443 0.99986079 0.38798737] [ 0. 0. 0. 1. ]] SLAMing on 36.991652532 meters Centerline goodness [0,1] 0.3608459362087565 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.68, Z:0.39 [[ 0.99984129 0.01105287 0.01397252 -1.71449801] [-0.01117295 0.99990107 0.00854548 -2.67852729] [-0.01387668 -0.00870024 0.99986586 0.38996944] [ 0. 0. 0. 1. ]] SLAMing on 37.021652532 meters Centerline goodness [0,1] 0.35175235071437294 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.68, Z:0.39 [[ 0.99987848 0.00711653 0.01387032 -1.71460045] [-0.0071897 0.99996046 0.00523235 -2.68189347] [-0.01383253 -0.00533144 0.99989011 0.39048279] [ 0. 0. 0. 1. ]] SLAMing on 37.051652532 meters Centerline goodness [0,1] 0.345346993535797 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.68, Z:0.39 [[ 9.99902024e-01 3.00726846e-03 1.36711062e-02 -1.71481943e+00] [-3.02679552e-03 9.99994428e-01 1.40787882e-03 -2.68364564e+00] [-1.36667962e-02 -1.44912052e-03 9.99905555e-01 3.91325609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.081652532 meters Centerline goodness [0,1] 0.36374202230695507 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.69, Z:0.39 [[ 9.99925061e-01 -1.54033637e-03 1.21449175e-02 -1.71274370e+00] [ 1.56166417e-03 9.99997255e-01 -1.74682115e-03 -2.68821776e+00] [-1.21421935e-02 1.76565653e-03 9.99924722e-01 3.93731314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.111652532 meters Centerline goodness [0,1] 0.3558189742963054 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.69, Z:0.39 [[ 9.99936090e-01 -2.08150434e-03 1.11123234e-02 -1.71109931e+00] [ 2.10034182e-03 9.99996377e-01 -1.68378721e-03 -2.68942869e+00] [-1.11087783e-02 1.70701928e-03 9.99936839e-01 3.94996751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.141652532 meters Centerline goodness [0,1] 0.35942944472745797 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.69, Z:0.40 [[ 9.99941071e-01 -1.98531836e-03 1.06730448e-02 -1.71104050e+00] [ 1.99704539e-03 9.99997414e-01 -1.08820683e-03 -2.69157372e+00] [-1.06708568e-02 1.10945726e-03 9.99942449e-01 3.96392229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.171652532 meters Centerline goodness [0,1] 0.37431465666591934 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.69, Z:0.40 [[ 9.99943088e-01 -2.32811377e-03 1.04115629e-02 -1.71111646e+00] [ 2.34136477e-03 9.99996464e-01 -1.26071189e-03 -2.69162674e+00] [-1.04085911e-02 1.28501741e-03 9.99945003e-01 3.97402321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.201652532 meters Centerline goodness [0,1] 0.37431465666591934 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.69, Z:0.40 [[ 9.99943088e-01 -2.32811377e-03 1.04115629e-02 -1.71111646e+00] [ 2.34136477e-03 9.99996464e-01 -1.26071189e-03 -2.69162674e+00] [-1.04085911e-02 1.28501741e-03 9.99945003e-01 3.97402321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.231652532 meters Centerline goodness [0,1] 0.35638806881808005 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.69, Z:0.40 [[ 9.99938700e-01 -1.88273875e-03 1.09110761e-02 -1.71262819e+00] [ 1.89256397e-03 9.99997813e-01 -8.90225852e-04 -2.69212030e+00] [-1.09093762e-02 9.10821191e-04 9.99940076e-01 3.97648790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.261652532 meters Centerline goodness [0,1] 0.383815735833673 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.69, Z:0.40 [[ 9.99936610e-01 -1.50100840e-03 1.11590134e-02 -1.71325748e+00] [ 1.50655156e-03 9.99998746e-01 -4.88353970e-04 -2.69307057e+00] [-1.11582664e-02 5.05134642e-04 9.99937617e-01 3.97457832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.291652532 meters Centerline goodness [0,1] 0.36383251572455066 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.69, Z:0.40 [[ 9.99935908e-01 -1.61250062e-03 1.12061985e-02 -1.71331645e+00] [ 1.62049691e-03 9.99998439e-01 -7.04515751e-04 -2.69244121e+00] [-1.12050449e-02 7.22630208e-04 9.99936960e-01 3.97285101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.321652532 meters Centerline goodness [0,1] 0.3636566966918119 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.69, Z:0.40 [[ 9.99937885e-01 1.71974080e-03 1.10122397e-02 -1.71242628e+00] [-1.74591397e-03 9.99995673e-01 2.36756169e-03 -2.68980484e+00] [-1.10081205e-02 -2.38664105e-03 9.99936561e-01 3.96679853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.351652532 meters Centerline goodness [0,1] 0.3633960345704118 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.69, Z:0.40 [[ 9.99930352e-01 2.18998274e-03 1.15971972e-02 -1.71412199e+00] [-2.22314497e-03 9.99993475e-01 2.84738508e-03 -2.69099681e+00] [-1.15908858e-02 -2.87296902e-03 9.99928696e-01 3.96822519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.381652532 meters Centerline goodness [0,1] 0.3662614291241575 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.69, Z:0.40 [[ 9.99924287e-01 2.57765102e-03 1.20322721e-02 -1.71577089e+00] [-2.61819322e-03 9.99990945e-01 3.35492007e-03 -2.69242845e+00] [-1.20235153e-02 -3.38616887e-03 9.99921981e-01 3.97471013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.411652532 meters Centerline goodness [0,1] 0.36101670770670957 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.69, Z:0.40 [[ 0.99991612 0.0028202 0.01264127 -1.71764886] [-0.00286392 0.99998998 0.00344187 -2.69237334] [-0.01263144 -0.00347779 0.99991417 0.39785146] [ 0. 0. 0. 1. ]] SLAMing on 37.441652532 meters Centerline goodness [0,1] 0.3704456320741297 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.69, Z:0.40 [[ 0.99990028 0.00630114 0.01263789 -1.71732718] [-0.00638558 0.99995749 0.00665191 -2.68954759] [-0.01259544 -0.00673195 0.99989801 0.39748695] [ 0. 0. 0. 1. ]] SLAMing on 37.471652532 meters Centerline goodness [0,1] 0.3753761079938196 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.69, Z:0.40 [[ 0.99988394 0.00697832 0.01354282 -1.71949726] [-0.00707496 0.99994976 0.00710113 -2.69011157] [-0.01349259 -0.00719612 0.99988308 0.39716795] [ 0. 0. 0. 1. ]] SLAMing on 37.501652532 meters Centerline goodness [0,1] 0.37367950593206567 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.69, Z:0.40 [[ 0.99987533 0.00715312 0.01407693 -1.72041843] [-0.00725295 0.99994882 0.00705328 -2.68976119] [-0.01402576 -0.0071545 0.99987604 0.39647938] [ 0. 0. 0. 1. ]] SLAMing on 37.531652532 meters Centerline goodness [0,1] 0.3767703076672636 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.69, Z:0.40 [[ 0.99988164 0.00655182 0.01392036 -1.71982631] [-0.00664011 0.99995807 0.00630589 -2.68815741] [-0.01387846 -0.00639757 0.99988322 0.39619655] [ 0. 0. 0. 1. ]] SLAMing on 37.561652532 meters Centerline goodness [0,1] 0.3786749735320466 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.69, Z:0.40 [[ 0.99988156 0.00635686 0.01401664 -1.71934038] [-0.00644003 0.99996188 0.00589669 -2.68716316] [-0.01397862 -0.00598626 0.99988437 0.39519723] [ 0. 0. 0. 1. ]] SLAMing on 37.591652532 meters Centerline goodness [0,1] 0.3654507354586699 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.69, Z:0.40 [[ 0.99988604 0.00605041 0.01383125 -1.71888804] [-0.00612959 0.99996503 0.00568931 -2.6870121 ] [-0.01379634 -0.00577345 0.99988816 0.39525605] [ 0. 0. 0. 1. ]] SLAMing on 37.621652532 meters Centerline goodness [0,1] 0.3779938296663149 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.68, Z:0.40 [[ 0.9999029 0.00419853 0.01328733 -1.71785381] [-0.00425286 0.9999827 0.00406376 -2.68445841] [-0.01327004 -0.00411988 0.99990346 0.3959252 ] [ 0. 0. 0. 1. ]] SLAMing on 37.651652532 meters Centerline goodness [0,1] 0.3782794386821232 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.69, Z:0.40 [[ 9.99904859e-01 7.14237266e-04 1.37754258e-02 -1.71968804e+00] [-7.24915038e-04 9.99999441e-01 7.70154230e-04 -2.68704313e+00] [-1.37748680e-02 -7.80066971e-04 9.99904818e-01 3.96497830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.681652532 meters Centerline goodness [0,1] 0.3726559004189888 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.69, Z:0.40 [[ 9.99913332e-01 5.16165631e-04 1.31553202e-02 -1.71841355e+00] [-5.27458951e-04 9.99999495e-01 8.55005131e-04 -2.68768848e+00] [-1.31548723e-02 -8.61869921e-04 9.99913099e-01 3.96832220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.711652532 meters Centerline goodness [0,1] 0.3840652063168619 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.69, Z:0.40 [[ 9.99923119e-01 1.98683841e-04 1.23982158e-02 -1.71732129e+00] [-2.12028377e-04 9.99999400e-01 1.07502200e-03 -2.68920379e+00] [-1.23979947e-02 -1.07756813e-03 9.99922561e-01 3.97933180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.741652532 meters Centerline goodness [0,1] 0.3788641411774295 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.70, Z:0.40 [[ 9.99925693e-01 -3.01647102e-03 1.18113864e-02 -1.71877045e+00] [ 3.02165469e-03 9.99995346e-01 -4.21049863e-04 -2.69716835e+00] [-1.18100614e-02 4.56708507e-04 9.99930154e-01 4.02005418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.771652532 meters Centerline goodness [0,1] 0.38770810832840874 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.70, Z:0.40 [[ 9.99931403e-01 -2.83253695e-03 1.13651054e-02 -1.71852264e+00] [ 2.83025315e-03 9.99995971e-01 2.17026701e-04 -2.69946986e+00] [-1.13656744e-02 -1.84845688e-04 9.99935392e-01 4.03133362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.801652532 meters Centerline goodness [0,1] 0.3614948852752985 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.70, Z:0.40 [[ 9.99933082e-01 -2.63377206e-03 1.12647969e-02 -1.71826627e+00] [ 2.62760464e-03 9.99996390e-01 5.62260228e-04 -2.70053275e+00] [-1.12662371e-02 -5.32623170e-04 9.99936392e-01 4.03040870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.831652532 meters Centerline goodness [0,1] 0.38177962645787455 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.70, Z:0.40 [[ 9.99932175e-01 -2.85560828e-03 1.12911847e-02 -1.71824609e+00] [ 2.85384296e-03 9.99995913e-01 1.72453895e-04 -2.69930049e+00] [-1.12916310e-02 -1.40218930e-04 9.99936238e-01 4.02861579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.861652532 meters Centerline goodness [0,1] 0.38256703027831584 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.70, Z:0.40 [[ 0.99990979 -0.00759747 0.01107627 -1.71783883] [ 0.00764589 0.99996137 -0.00433579 -2.69949198] [-0.0110429 0.00442009 0.99992926 0.40327156] [ 0. 0. 0. 1. ]] SLAMing on 37.891652532 meters Centerline goodness [0,1] 0.39296779453730124 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.70, Z:0.40 [[ 0.99991616 -0.00810058 0.01010248 -1.71666448] [ 0.00814431 0.99995761 -0.00429447 -2.70050245] [-0.01006726 0.00437639 0.99993975 0.4048952 ] [ 0. 0. 0. 1. ]] SLAMing on 37.921652532 meters Centerline goodness [0,1] 0.39341026110670163 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.70, Z:0.41 [[ 9.99946923e-01 -4.92604518e-03 9.04901717e-03 -1.71477155e+00] [ 4.93112452e-03 9.99987697e-01 -5.39088456e-04 -2.70088089e+00] [-9.04625027e-03 5.83681673e-04 9.99958911e-01 4.05765379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.951652532 meters Centerline goodness [0,1] 0.3935579640889033 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.70, Z:0.41 [[ 9.99957330e-01 -1.29605722e-03 9.14644681e-03 -1.71495354e+00] [ 1.27030614e-03 9.99995215e-01 2.82066667e-03 -2.69818063e+00] [-9.15005879e-03 -2.80892753e-03 9.99954192e-01 4.05603118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.981652532 meters Centerline goodness [0,1] 0.3932943596846801 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.70, Z:0.41 [[ 9.99953537e-01 -9.82022899e-04 9.58950022e-03 -1.71601226e+00] [ 9.53769797e-04 9.99995193e-01 2.95038273e-03 -2.69810942e+00] [-9.59235147e-03 -2.94109947e-03 9.99949667e-01 4.05407808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.011652532 meters Centerline goodness [0,1] 0.39370415647921764 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.70, Z:0.41 [[ 9.99956931e-01 -1.51053755e-03 9.15719466e-03 -1.71484210e+00] [ 1.48654183e-03 9.99995445e-01 2.62666266e-03 -2.69812552e+00] [-9.16112063e-03 -2.61293698e-03 9.99954622e-01 4.05334401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.041652532 meters Centerline goodness [0,1] 0.3958231458842706 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.70, Z:0.41 [[ 9.99962139e-01 -1.94601000e-03 8.48138533e-03 -1.71380911e+00] [ 1.92547845e-03 9.99995198e-01 2.42827062e-03 -2.69832714e+00] [-8.48607004e-03 -2.41184796e-03 9.99961084e-01 4.06184740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.071652532 meters Centerline goodness [0,1] 0.3958605220228385 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.70, Z:0.41 [[ 9.99971538e-01 -3.46329607e-03 6.70289450e-03 -1.71055644e+00] [ 3.44948007e-03 9.99991905e-01 2.07166316e-03 -2.69938917e+00] [-6.71001502e-03 -2.04848269e-03 9.99975389e-01 4.07980136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.101652532 meters Centerline goodness [0,1] 0.40096618357487923 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.70, Z:0.41 [[ 9.99973532e-01 -4.03522503e-03 6.05415056e-03 -1.70890974e+00] [ 4.02549051e-03 9.99990587e-01 1.61923416e-03 -2.69867728e+00] [-6.06062755e-03 -1.59482037e-03 9.99980362e-01 4.08013455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.131652532 meters Centerline goodness [0,1] 0.39936940602115545 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.69, Z:0.41 [[ 9.99963608e-01 -6.50556254e-03 5.51900935e-03 -1.70583861e+00] [ 6.51215459e-03 9.99978103e-01 -1.17729733e-03 -2.69399401e+00] [-5.51122952e-03 1.21319513e-03 9.99984077e-01 4.05945446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.161652532 meters Centerline goodness [0,1] 0.4015200912869834 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.69, Z:0.41 [[ 9.99961055e-01 -6.85527605e-03 5.55817762e-03 -1.70585701e+00] [ 6.86481736e-03 9.99974993e-01 -1.69936878e-03 -2.69254813e+00] [-5.54638898e-03 1.73745848e-03 9.99983109e-01 4.05764778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.191652532 meters Centerline goodness [0,1] 0.4026462338929312 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.69, Z:0.41 [[ 9.99959101e-01 -7.48309984e-03 5.07926540e-03 -1.70476578e+00] [ 7.49465323e-03 9.99969362e-01 -2.25940910e-03 -2.69139503e+00] [-5.06220239e-03 2.29738403e-03 9.99984548e-01 4.05976925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.221652532 meters Centerline goodness [0,1] 0.40423019766708057 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.69, Z:0.41 [[ 9.99960416e-01 -7.28576083e-03 5.10729052e-03 -1.70547360e+00] [ 7.29577654e-03 9.99971494e-01 -1.94518073e-03 -2.69237415e+00] [-5.09297280e-03 1.98236539e-03 9.99985066e-01 4.06713055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.251652532 meters Centerline goodness [0,1] 0.39933173057332627 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.70, Z:0.41 [[ 9.99965348e-01 -6.52145724e-03 5.17426936e-03 -1.70759192e+00] [ 6.52505692e-03 9.99978481e-01 -6.79111771e-04 -2.69549208e+00] [-5.16972922e-03 7.12850641e-04 9.99986383e-01 4.09145109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.281652532 meters Centerline goodness [0,1] 0.39144154231387795 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.69, Z:0.41 [[ 0.99998392 -0.00293285 0.00485426 -1.70696955] [ 0.00291842 0.99999131 0.00297641 -2.69455753] [-0.00486295 -0.00296219 0.99998379 0.40932505] [ 0. 0. 0. 1. ]] SLAMing on 38.311652532 meters Centerline goodness [0,1] 0.39810474831872833 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.70, Z:0.41 [[ 9.99980436e-01 -1.74012765e-03 6.00821050e-03 -1.70976393e+00] [ 1.71631340e-03 9.99990661e-01 3.96650227e-03 -2.69624924e+00] [-6.01505661e-03 -3.95611270e-03 9.99974084e-01 4.09049931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.341652532 meters Centerline goodness [0,1] 0.39622179607491126 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.69, Z:0.41 [[ 9.99976846e-01 1.73075752e-03 6.58111693e-03 -1.70949690e+00] [-1.77327334e-03 9.99977562e-01 6.45993649e-03 -2.69160693e+00] [-6.56978868e-03 -6.47145703e-03 9.99957478e-01 4.06690300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.371652532 meters Centerline goodness [0,1] 0.3903967446592065 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.69, Z:0.41 [[ 0.99996514 0.00327424 0.00768149 -1.71269043] [-0.00333313 0.99996506 0.00766581 -2.69329361] [-0.00765612 -0.00769115 0.99994111 0.40695314] [ 0. 0. 0. 1. ]] SLAMing on 38.401652532 meters Centerline goodness [0,1] 0.3895381984036488 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.69, Z:0.41 [[ 0.999943 0.00722071 0.00786539 -1.71315739] [-0.00731119 0.99990672 0.0115368 -2.69266267] [-0.00778136 -0.01159365 0.99990251 0.40718474] [ 0. 0. 0. 1. ]] SLAMing on 38.431652532 meters Centerline goodness [0,1] 0.38671150514623454 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.70, Z:0.41 [[ 0.99995397 0.00407057 0.00868882 -1.71641901] [-0.00414381 0.9999559 0.00842764 -2.69516336] [-0.00865413 -0.00846325 0.99992674 0.40853384] [ 0. 0. 0. 1. ]] SLAMing on 38.461652532 meters Centerline goodness [0,1] 0.34325437273209114 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.69, Z:0.41 [[ 0.99995648 0.00372861 0.00855239 -1.71602749] [-0.00379768 0.99996019 0.00807414 -2.69471459] [-0.00852195 -0.00810627 0.99993083 0.40853802] [ 0. 0. 0. 1. ]] SLAMing on 38.491652532 meters Centerline goodness [0,1] 0.3447179654385393 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.70, Z:0.41 [[ 0.99994451 0.00524727 0.0091347 -1.71638327] [-0.00533454 0.99994012 0.00955535 -2.69761326] [-0.00908401 -0.00960355 0.99991262 0.40709587] [ 0. 0. 0. 1. ]] SLAMing on 38.521652532 meters Centerline goodness [0,1] 0.3617095063239494 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.70, Z:0.41 [[ 9.99949415e-01 2.15790813e-03 9.82395276e-03 -1.71796834e+00] [-2.22387947e-03 9.99975019e-01 6.70939166e-03 -2.70115392e+00] [-9.80922909e-03 -6.73089955e-03 9.99929235e-01 4.06871600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.551652532 meters Centerline goodness [0,1] 0.3522347279993475 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.70, Z:0.41 [[ 9.99947852e-01 -1.67608419e-03 1.00739540e-02 -1.71873600e+00] [ 1.64590172e-03 9.99994135e-01 3.00363300e-03 -2.70294135e+00] [-1.00789293e-02 -2.98689562e-03 9.99944745e-01 4.06945008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.581652532 meters Centerline goodness [0,1] 0.35570770672861396 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.70, Z:0.41 [[ 9.99952599e-01 -2.13895918e-03 9.49871301e-03 -1.71723322e+00] [ 2.11415740e-03 9.99994332e-01 2.62034146e-03 -2.70238346e+00] [-9.50426397e-03 -2.60013548e-03 9.99951453e-01 4.06885778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.611652532 meters Centerline goodness [0,1] 0.3792483660130719 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.70, Z:0.41 [[ 9.99956618e-01 -2.23151272e-03 9.04338519e-03 -1.71659193e+00] [ 2.20521405e-03 9.99993314e-01 2.91698458e-03 -2.70389127e+00] [-9.04983402e-03 -2.89691544e-03 9.99954853e-01 4.07524710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.641652532 meters Centerline goodness [0,1] 0.364764874946493 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.71, Z:0.41 [[ 9.99958418e-01 -1.96927538e-03 8.90415064e-03 -1.71739319e+00] [ 1.93715027e-03 9.99991589e-01 3.61506720e-03 -2.70611394e+00] [-8.91119482e-03 -3.59766821e-03 9.99953823e-01 4.09126099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.671652532 meters Centerline goodness [0,1] 0.36838996170455474 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.71, Z:0.41 [[ 9.99960865e-01 -2.10660789e-03 8.59243577e-03 -1.71717288e+00] [ 2.07414726e-03 9.99990686e-01 3.78497877e-03 -2.70719274e+00] [-8.60032921e-03 -3.76700867e-03 9.99955921e-01 4.09948420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.701652532 meters Centerline goodness [0,1] 0.3739585667433949 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.71, Z:0.41 [[ 9.99962570e-01 -2.20493246e-03 8.36639675e-03 -1.71714643e+00] [ 2.17246473e-03 9.99990083e-01 3.88783679e-03 -2.70798340e+00] [-8.37488619e-03 -3.86951557e-03 9.99957443e-01 4.10697733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.731652532 meters Centerline goodness [0,1] 0.3753488845879597 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.71, Z:0.41 [[ 9.99960444e-01 -1.72234747e-03 8.72607796e-03 -1.71758662e+00] [ 1.68297360e-03 9.99988380e-01 4.51754223e-03 -2.70961232e+00] [-8.73375734e-03 -4.50267778e-03 9.99951723e-01 4.10132280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.761652532 meters Centerline goodness [0,1] 0.3814832175100369 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.71, Z:0.41 [[ 9.99958879e-01 -3.89875675e-03 8.18779401e-03 -1.71595595e+00] [ 3.88210808e-03 9.99990367e-01 2.04826293e-03 -2.70518651e+00] [-8.19570082e-03 -2.01639280e-03 9.99964382e-01 4.09611475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.791652532 meters Centerline goodness [0,1] 0.380485223479606 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.70, Z:0.41 [[ 9.99969280e-01 -1.20272518e-03 7.74553340e-03 -1.71387303e+00] [ 1.16952099e-03 9.99990114e-01 4.28998557e-03 -2.70125613e+00] [-7.75061650e-03 -4.28079522e-03 9.99960801e-01 4.08221737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.821652532 meters Centerline goodness [0,1] 0.38018798828125 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.70, Z:0.41 [[ 9.99969194e-01 -9.77101269e-04 7.78816310e-03 -1.71497959e+00] [ 9.39662317e-04 9.99987993e-01 4.80937122e-03 -2.70303105e+00] [-7.79276883e-03 -4.80190482e-03 9.99958106e-01 4.09532243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.851652532 meters Centerline goodness [0,1] 0.38074896767763067 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.71, Z:0.41 [[ 9.99964160e-01 1.67628612e-04 8.46461138e-03 -1.71785028e+00] [-2.20464028e-04 9.99980498e-01 6.24137151e-03 -2.70643159e+00] [-8.46340007e-03 -6.24301397e-03 9.99944696e-01 4.10988468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.881652532 meters Centerline goodness [0,1] 0.38135403296457027 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.71, Z:0.41 [[ 9.99952127e-01 2.05684321e-03 9.56626541e-03 -1.72079507e+00] [-2.13415475e-03 9.99965091e-01 8.07850966e-03 -2.70943475e+00] [-9.54931524e-03 -8.09853881e-03 9.99921609e-01 4.11344879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.911652532 meters Centerline goodness [0,1] 0.38155110677083337 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.71, Z:0.41 [[ 0.99994192 0.00274335 0.01042249 -1.72247427] [-0.0028302 0.99996132 0.00832725 -2.70929331] [-0.01039924 -0.00835627 0.99991101 0.41051461] [ 0. 0. 0. 1. ]] SLAMing on 38.941652532 meters Centerline goodness [0,1] 0.3804724088780289 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.71, Z:0.41 [[ 0.99993012 0.00383193 0.01118332 -1.72371051] [-0.00393423 0.99995049 0.00914018 -2.71053342] [-0.01114774 -0.00918354 0.99989569 0.40952777] [ 0. 0. 0. 1. ]] SLAMing on 38.971652532 meters Centerline goodness [0,1] 0.38331908657955793 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.71, Z:0.41 [[ 0.9999249 0.00407145 0.01155897 -1.72444875] [-0.00417753 0.99994925 0.00916796 -2.71049682] [-0.01152106 -0.00921556 0.99989116 0.40917036] [ 0. 0. 0. 1. ]] SLAMing on 39.001652532 meters Centerline goodness [0,1] 0.3849455803071915 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.71, Z:0.41 [[ 0.9999151 0.00490177 0.01207292 -1.72624134] [-0.00502342 0.99993671 0.01006637 -2.7125561 ] [-0.01202282 -0.01012617 0.99987645 0.40978403] [ 0. 0. 0. 1. ]] SLAMing on 39.031652532 meters Centerline goodness [0,1] 0.3862757863042682 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.71, Z:0.41 [[ 0.99991443 0.00457075 0.01225742 -1.72660381] [-0.0046884 0.99994305 0.00958677 -2.71152226] [-0.0122129 -0.00964342 0.99987892 0.40967356] [ 0. 0. 0. 1. ]] SLAMing on 39.061652532 meters Centerline goodness [0,1] 0.3788434874806297 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.71, Z:0.41 [[ 0.99990848 0.00469792 0.01268738 -1.72726376] [-0.00481825 0.99994355 0.00947019 -2.71110955] [-0.01264217 -0.00953046 0.99987467 0.40899733] [ 0. 0. 0. 1. ]] SLAMing on 39.091652532 meters Centerline goodness [0,1] 0.38235833486154414 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.71, Z:0.41 [[ 0.99990027 0.00502799 0.01319765 -1.72772688] [-0.00515448 0.99994095 0.00956718 -2.71103848] [-0.01314876 -0.00963425 0.99986714 0.40776823] [ 0. 0. 0. 1. ]] SLAMing on 39.121652532 meters Centerline goodness [0,1] 0.38235833486154414 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.71, Z:0.41 [[ 0.99990027 0.00502799 0.01319765 -1.72772688] [-0.00515448 0.99994095 0.00956718 -2.71103848] [-0.01314876 -0.00963425 0.99986714 0.40776823] [ 0. 0. 0. 1. ]] SLAMing on 39.151652532 meters Centerline goodness [0,1] 0.38290978010556564 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.71, Z:0.41 [[ 0.99988936 0.00524767 0.01391866 -1.72890294] [-0.00537726 0.9999424 0.00928931 -2.70953703] [-0.01386911 -0.00936313 0.99985998 0.40680932] [ 0. 0. 0. 1. ]] SLAMing on 39.181652532 meters Centerline goodness [0,1] 0.38548406787937983 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.71, Z:0.41 [[ 0.99987834 0.00569659 0.01452051 -1.73023418] [-0.00583591 0.99993717 0.00957041 -2.71009103] [-0.01446508 -0.00965398 0.99984877 0.40639107] [ 0. 0. 0. 1. ]] SLAMing on 39.211652532 meters Centerline goodness [0,1] 0.3849768123016841 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.71, Z:0.41 [[ 0.9998756 0.00558112 0.0147525 -1.73072908] [-0.00571948 0.9999399 0.00935343 -2.70958366] [-0.01469941 -0.00943665 0.99984743 0.40626472] [ 0. 0. 0. 1. ]] SLAMing on 39.241652532 meters Centerline goodness [0,1] 0.38822142261795856 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.71, Z:0.41 [[ 0.99989611 0.00336078 0.01401663 -1.72977197] [-0.00346206 0.99996803 0.0072075 -2.70661379] [-0.01399196 -0.00725528 0.99987579 0.40732045] [ 0. 0. 0. 1. ]] SLAMing on 39.271652532 meters Centerline goodness [0,1] 0.38806880566060753 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.71, Z:0.41 [[ 0.99989077 0.00396913 0.01423683 -1.73080664] [-0.00408525 0.99995855 0.00813643 -2.70934902] [-0.01420394 -0.0081937 0.99986555 0.40785167] [ 0. 0. 0. 1. ]] SLAMing on 39.301652532 meters Centerline goodness [0,1] 0.38338723127300833 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.71, Z:0.41 [[ 0.99988796 0.00410399 0.01439515 -1.73125194] [-0.00422517 0.99995581 0.00839796 -2.71030651] [-0.01436005 -0.00845785 0.99986112 0.4078488 ] [ 0. 0. 0. 1. ]] SLAMing on 39.331652532 meters Centerline goodness [0,1] 0.38718402375287253 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.71, Z:0.41 [[ 9.99894989e-01 1.64588493e-03 1.43979820e-02 -1.72955189e+00] [-1.72356961e-03 9.99984017e-01 5.38478143e-03 -2.70605376e+00] [-1.43888891e-02 -5.40903190e-03 9.99881844e-01 4.05931490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.361652532 meters Centerline goodness [0,1] 0.38925956061838896 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.71, Z:0.41 [[ 9.99895061e-01 1.93285845e-03 1.43572912e-02 -1.72912395e+00] [-2.01689987e-03 9.99980905e-01 5.84139979e-03 -2.70769948e+00] [-1.43457264e-02 -5.86974402e-03 9.99879866e-01 4.05410157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.391652532 meters Centerline goodness [0,1] 0.39495046080605456 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.71, Z:0.41 [[ 9.99910505e-01 1.49415901e-04 1.33775660e-02 -1.72672039e+00] [-2.06994535e-04 9.99990721e-01 4.30283768e-03 -2.70592042e+00] [-1.33767990e-02 -4.30522168e-03 9.99901258e-01 4.05569652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.421652532 meters Centerline goodness [0,1] 0.3928266612477139 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.71, Z:0.41 [[ 9.99909554e-01 4.88625686e-04 1.34404340e-02 -1.72747127e+00] [-5.54792511e-04 9.99987744e-01 4.91968005e-03 -2.70797352e+00] [-1.34378654e-02 -4.92669174e-03 9.99897570e-01 4.06291588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.451652532 meters Centerline goodness [0,1] 0.3812319694445573 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.71, Z:0.41 [[ 0.99988999 0.00480007 0.01403429 -1.72979873] [-0.00492676 0.9999473 0.00900679 -2.70712984] [-0.01399032 -0.00907494 0.99986095 0.40738199] [ 0. 0. 0. 1. ]] SLAMing on 39.481652532 meters Centerline goodness [0,1] 0.34994095369955613 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.71, Z:0.41 [[ 0.99985892 0.00638957 0.01553417 -1.73341195] [-0.00654634 0.99992795 0.01006229 -2.70814644] [-0.01546876 -0.01016257 0.99982871 0.4070398 ] [ 0. 0. 0. 1. ]] SLAMing on 39.511652532 meters Centerline goodness [0,1] 0.38420538693140205 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.70, Z:0.41 [[ 0.99984054 0.00904504 0.01539748 -1.73212859] [-0.00923531 0.99988132 0.01233125 -2.70425103] [-0.01528411 -0.01247148 0.99980541 0.40586454] [ 0. 0. 0. 1. ]] SLAMing on 39.541652532 meters Centerline goodness [0,1] 0.3038657171922685 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.71, Z:0.41 [[ 0.99980677 0.01044543 0.01665285 -1.73493949] [-0.01066614 0.99985572 0.01322011 -2.70513083] [-0.01651236 -0.01339518 0.99977393 0.4053935 ] [ 0. 0. 0. 1. ]] SLAMing on 39.571652532 meters Centerline goodness [0,1] 0.2945269582909461 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.71, Z:0.41 [[ 0.99979303 0.01112565 0.01703286 -1.73656328] [-0.01136666 0.99983572 0.01411878 -2.70770724] [-0.01687298 -0.01430947 0.99975524 0.40616364] [ 0. 0. 0. 1. ]] SLAMing on 39.601652532 meters Centerline goodness [0,1] 0.2989730554143366 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.71, Z:0.41 [[ 0.99977941 0.01210747 0.01716243 -1.73767038] [-0.01237756 0.99979983 0.01571915 -2.71250775] [-0.01696867 -0.01592811 0.99972914 0.40719024] [ 0. 0. 0. 1. ]] SLAMing on 39.631652532 meters Centerline goodness [0,1] 0.2963875038160171 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.72, Z:0.41 [[ 0.9998123 0.00893307 0.01719217 -1.73824191] [-0.0091567 0.99987391 0.01297352 -2.71690058] [-0.01707411 -0.01312851 0.99976803 0.40785808] [ 0. 0. 0. 1. ]] SLAMing on 39.661652532 meters Centerline goodness [0,1] 0.32209463311344577 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.72, Z:0.41 [[ 0.99981945 0.00870932 0.0168884 -1.73688515] [-0.0089264 0.99987796 0.01282118 -2.71727448] [-0.01677468 -0.01296962 0.99977517 0.40702456] [ 0. 0. 0. 1. ]] SLAMing on 39.691652532 meters Centerline goodness [0,1] 0.30726347914547303 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.72, Z:0.41 [[ 0.99983016 0.00814685 0.01653138 -1.73575218] [-0.00834963 0.99989029 0.01223478 -2.71632452] [-0.01642989 -0.01237073 0.99978849 0.40669681] [ 0. 0. 0. 1. ]] SLAMing on 39.721652532 meters Centerline goodness [0,1] 0.322514471412613 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.72, Z:0.41 [[ 0.99985501 0.00645025 0.01575899 -1.73418932] [-0.00662205 0.99991895 0.01087408 -2.71503427] [-0.01568758 -0.01097686 0.99981669 0.40725472] [ 0. 0. 0. 1. ]] SLAMing on 39.751652532 meters Centerline goodness [0,1] 0.32233806881694205 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.72, Z:0.41 [[ 0.99986041 0.00616165 0.01553021 -1.73360907] [-0.00632937 0.99992193 0.01077361 -2.71549306] [-0.01546261 -0.0108704 0.99982136 0.40732145] [ 0. 0. 0. 1. ]] SLAMing on 39.781652532 meters Centerline goodness [0,1] 0.30856574109808865 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.72, Z:0.41 [[ 9.99905048e-01 9.98795892e-05 1.37798673e-02 -1.73050551e+00] [-1.82900087e-04 9.99981841e-01 6.02363891e-03 -2.71596665e+00] [-1.37790155e-02 -6.02558729e-03 9.99886909e-01 4.09326812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.811652532 meters Centerline goodness [0,1] 0.3278178676694786 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.72, Z:0.41 [[ 9.99921422e-01 -1.70074368e-03 1.24200119e-02 -1.72782096e+00] [ 1.63834267e-03 9.99985994e-01 5.03267867e-03 -2.71649143e+00] [-1.24283972e-02 -5.01193498e-03 9.99910204e-01 4.10376546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.841652532 meters Centerline goodness [0,1] 0.35325921258562165 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.72, Z:0.41 [[ 0.99993365 -0.00370241 0.01090782 -1.72483597] [ 0.00365952 0.99998551 0.00394935 -2.71694245] [-0.01092228 -0.00390917 0.99993271 0.41153214] [ 0. 0. 0. 1. ]] SLAMing on 39.871652532 meters Centerline goodness [0,1] 0.3321210150964098 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.72, Z:0.41 [[ 0.9999405 -0.00501387 0.00968785 -1.72270129] [ 0.00498149 0.99998193 0.00336423 -2.71770658] [-0.00970454 -0.00331577 0.99994741 0.41273351] [ 0. 0. 0. 1. ]] SLAMing on 39.901652532 meters Centerline goodness [0,1] 0.3489142810670136 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.72, Z:0.41 [[ 0.99994567 -0.00573938 0.00870172 -1.72080207] [ 0.00571403 0.99997936 0.00293604 -2.7173638 ] [-0.0087184 -0.00288616 0.99995783 0.41355191] [ 0. 0. 0. 1. ]] SLAMing on 39.931652532 meters Centerline goodness [0,1] 0.358630922135729 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.71, Z:0.41 [[ 9.99940996e-01 -7.09734178e-03 8.22386738e-03 -1.71826310e+00] [ 7.08635458e-03 9.99973961e-01 1.36438384e-03 -2.71435169e+00] [-8.23333673e-03 -1.30602610e-03 9.99965253e-01 4.11897984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.961652532 meters Centerline goodness [0,1] 0.36440626332784987 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.71, Z:0.41 [[ 9.99933878e-01 -8.47829635e-03 7.76905520e-03 -1.71642973e+00] [ 8.48150497e-03 9.99963959e-01 -3.80146416e-04 -2.71053017e+00] [-7.76555221e-03 4.46014560e-04 9.99969748e-01 4.10975104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.991652532 meters Centerline goodness [0,1] 0.3480543796808857 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.71, Z:0.41 [[ 9.99934879e-01 -8.11072591e-03 8.02835999e-03 -1.71758204e+00] [ 8.11034658e-03 9.99967107e-01 7.98041907e-05 -2.71170935e+00] [-8.02874319e-03 -1.46862117e-05 9.99967769e-01 4.11395468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.021652532 meters Centerline goodness [0,1] 0.34136170385890685 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.71, Z:0.41 [[ 9.99937158e-01 -7.50005331e-03 8.33237834e-03 -1.71914920e+00] [ 7.49182820e-03 9.99971418e-01 1.01790199e-03 -2.71439805e+00] [-8.33977450e-03 -9.55413278e-04 9.99964767e-01 4.12366251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.051652532 meters Centerline goodness [0,1] 0.360148262799886 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.72, Z:0.41 [[ 0.9999625 -0.00356238 0.00789406 -1.71862556] [ 0.0035205 0.99997969 0.00531271 -2.71538611] [-0.00791282 -0.00528472 0.99995473 0.41312803] [ 0. 0. 0. 1. ]] SLAMing on 40.081652532 meters Centerline goodness [0,1] 0.3624729999592452 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.72, Z:0.41 [[ 0.99996429 -0.00393279 0.00748042 -1.71786507] [ 0.00389442 0.99997922 0.0051373 -2.71556896] [-0.00750047 -0.00510799 0.99995882 0.41356866] [ 0. 0. 0. 1. ]] SLAMing on 40.111652532 meters Centerline goodness [0,1] 0.3725402413463299 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.72, Z:0.41 [[ 9.99971904e-01 3.20734658e-04 7.48918993e-03 -1.71717874e+00] [-3.89632153e-04 9.99957604e-01 9.19994644e-03 -2.71524694e+00] [-7.48592167e-03 -9.20260599e-03 9.99929634e-01 4.12677004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.141652532 meters Centerline goodness [0,1] 0.37546339674909357 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.72, Z:0.41 [[ 9.99964601e-01 1.65295196e-03 8.25015232e-03 -1.71949496e+00] [-1.74005359e-03 9.99942711e-01 1.05615904e-02 -2.71804556e+00] [-8.23222187e-03 -1.05755722e-02 9.99910190e-01 4.13054269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.171652532 meters Centerline goodness [0,1] 0.36678059895833337 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.72, Z:0.41 [[ 9.99952899e-01 2.71768526e-03 9.31736646e-03 -1.72226687e+00] [-2.82332217e-03 9.99931677e-01 1.13432925e-02 -2.71913057e+00] [-9.28590237e-03 -1.13690641e-02 9.99892252e-01 4.12973074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.201652532 meters Centerline goodness [0,1] 0.37397232397232394 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.72, Z:0.41 [[ 0.99994409 0.00316749 0.01008912 -1.72402706] [-0.00328356 0.99992837 0.01150927 -2.71907095] [-0.01005194 -0.01154175 0.99988287 0.4126005 ] [ 0. 0. 0. 1. ]] SLAMing on 40.231652532 meters Centerline goodness [0,1] 0.37661493459007067 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.72, Z:0.41 [[ 0.99992985 0.00491935 0.01077514 -1.72443387] [-0.00504986 0.99991382 0.01211812 -2.71690745] [-0.0107146 -0.01217168 0.99986852 0.41082972] [ 0. 0. 0. 1. ]] SLAMing on 40.261652532 meters Centerline goodness [0,1] 0.38048363806463426 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.72, Z:0.41 [[ 0.99992354 0.00514374 0.0112456 -1.72527066] [-0.00528096 0.99991155 0.01220671 -2.71717543] [-0.01118182 -0.01226516 0.99986226 0.41026678] [ 0. 0. 0. 1. ]] SLAMing on 40.291652532 meters Centerline goodness [0,1] 0.37580123313595015 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.72, Z:0.41 [[ 0.99991735 0.00517769 0.01176779 -1.72632522] [-0.00531857 0.99991418 0.01197229 -2.7163527 ] [-0.01170479 -0.01203389 0.99985908 0.40982349] [ 0. 0. 0. 1. ]] SLAMing on 40.321652532 meters Centerline goodness [0,1] 0.3773707641331083 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.72, Z:0.41 [[ 0.99991127 0.00528752 0.01222674 -1.72735187] [-0.0054326 0.99991487 0.01186341 -2.71580585] [-0.01216297 -0.01192878 0.99985487 0.40955186] [ 0. 0. 0. 1. ]] SLAMing on 40.351652532 meters Centerline goodness [0,1] 0.37995371122299826 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.71, Z:0.41 [[ 0.99989222 0.0061257 0.01334237 -1.72949214] [-0.00628359 0.99991034 0.01182453 -2.7142229 ] [-0.01326874 -0.0119071 0.99984107 0.4084174 ] [ 0. 0. 0. 1. ]] SLAMing on 40.381652532 meters Centerline goodness [0,1] 0.3787909586145215 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.71, Z:0.41 [[ 0.99988285 0.00618844 0.01399976 -1.73096633] [-0.00634965 0.99991371 0.01150036 -2.71295492] [-0.01392738 -0.0115879 0.99983586 0.40808373] [ 0. 0. 0. 1. ]] SLAMing on 40.411652532 meters Centerline goodness [0,1] 0.3794169701161584 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.71, Z:0.41 [[ 0.99987118 0.00639009 0.01472404 -1.7327653 ] [-0.0065574 0.99991416 0.01134342 -2.71214222] [-0.01465029 -0.01143851 0.99982725 0.4079393 ] [ 0. 0. 0. 1. ]] SLAMing on 40.441652532 meters Centerline goodness [0,1] 0.3745885317186166 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.71, Z:0.41 [[ 0.99986671 0.00655087 0.01495483 -1.73324461] [-0.00672353 0.99991098 0.01152495 -2.71289514] [-0.014878 -0.01162397 0.99982175 0.40786646] [ 0. 0. 0. 1. ]] SLAMing on 40.471652532 meters Centerline goodness [0,1] 0.37730747336748804 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.72, Z:0.41 [[ 0.9998513 0.00756054 0.01549892 -1.73507035] [-0.00776108 0.99988641 0.01292019 -2.71691926] [-0.01539948 -0.01303856 0.99979641 0.40842683] [ 0. 0. 0. 1. ]] SLAMing on 40.501652532 meters Centerline goodness [0,1] 0.3786910197869102 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.72, Z:0.41 [[ 0.99984975 0.00739165 0.01567947 -1.73615429] [-0.00759173 0.99989002 0.01274013 -2.71671936] [-0.01558357 -0.01285725 0.9997959 0.40935403] [ 0. 0. 0. 1. ]] SLAMing on 40.531652532 meters Centerline goodness [0,1] 0.3674725721251524 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.72, Z:0.41 [[ 0.99982789 0.00848354 0.01649882 -1.73836754] [-0.0087108 0.9998675 0.0137514 -2.71886971] [-0.01637998 -0.01389275 0.99976932 0.40938573] [ 0. 0. 0. 1. ]] SLAMing on 40.561652532 meters Centerline goodness [0,1] 0.37572971543640543 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.71, Z:0.41 [[ 0.99963177 0.01630345 0.02169137 -1.73885164] [-0.01638978 0.99985843 0.00380797 -2.71281073] [-0.02162622 -0.00416209 0.99975746 0.40879085] [ 0. 0. 0. 1. ]] SLAMing on 40.591652532 meters Centerline goodness [0,1] 0.3684114424832623 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.71, Z:0.41 [[ 0.99958949 0.01736981 0.02278447 -1.74158953] [-0.01746862 0.99983882 0.00414477 -2.71214122] [-0.0227088 -0.00454108 0.99973181 0.40856579] [ 0. 0. 0. 1. ]] SLAMing on 40.621652532 meters Centerline goodness [0,1] 0.37154061852318443 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.73, Z:0.41 [[ 0.99961588 0.02426633 0.0133882 -1.75114764] [-0.02437007 0.9996738 0.00764105 -2.73149159] [-0.01319841 -0.00796438 0.99988118 0.40938287] [ 0. 0. 0. 1. ]] SLAMing on 40.651652532 meters Centerline goodness [0,1] 0.367005828713012 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.73, Z:0.41 [[ 0.99948582 0.02876697 0.01416174 -1.75249424] [-0.02893666 0.99951009 0.01192717 -2.73131351] [-0.01381169 -0.01233083 0.99982858 0.40875697] [ 0. 0. 0. 1. ]] SLAMing on 40.681652532 meters Centerline goodness [0,1] 0.36040218118424516 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.73, Z:0.41 [[ 0.99948035 0.02870866 0.01465753 -1.75359009] [-0.02888154 0.9995141 0.01172258 -2.73098979] [-0.01431387 -0.01213982 0.99982385 0.40858763] [ 0. 0. 0. 1. ]] SLAMing on 40.711652532 meters Centerline goodness [0,1] 0.36624939231891107 Centerline is valid? [False, False] Translation: X:-1.76, Y:-2.74, Z:0.41 [[ 0.9995088 0.02727935 0.01542701 -1.75742069] [-0.02744147 0.99956935 0.01039652 -2.7353402 ] [-0.01513676 -0.01081476 0.99982694 0.41035896] [ 0. 0. 0. 1. ]] SLAMing on 40.741652532 meters Centerline goodness [0,1] 0.36312747185883787 Centerline is valid? [False, False] Translation: X:-1.76, Y:-2.74, Z:0.41 [[ 0.999464 0.02856638 0.01598972 -1.7597421 ] [-0.02876073 0.99951357 0.01205962 -2.73984205] [-0.01563744 -0.01251303 0.99979943 0.41124545] [ 0. 0. 0. 1. ]] SLAMing on 40.771652532 meters Centerline goodness [0,1] 0.3631249746151659 Centerline is valid? [False, False] Translation: X:-1.76, Y:-2.75, Z:0.41 [[ 0.99937583 0.03105939 0.01683043 -1.76196617] [-0.03131199 0.99939771 0.01495885 -2.74621588] [-0.01635568 -0.01547651 0.99974645 0.41150042] [ 0. 0. 0. 1. ]] SLAMing on 40.801652532 meters Centerline goodness [0,1] 0.33255644278707797 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.75, Z:0.41 [[ 0.99944568 0.02813295 0.01780062 -1.76526992] [-0.02834893 0.99952606 0.01199994 -2.74921949] [-0.01745459 -0.01249792 0.99976954 0.41209267] [ 0. 0. 0. 1. ]] SLAMing on 40.831652532 meters Centerline goodness [0,1] 0.36758018676410886 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.75, Z:0.41 [[ 0.99949574 0.02554465 0.01886092 -1.76850872] [-0.0257246 0.99962524 0.00936053 -2.75265686] [-0.01861474 -0.009841 0.9997783 0.41237485] [ 0. 0. 0. 1. ]] SLAMing on 40.861652532 meters Centerline goodness [0,1] 0.3662619834208233 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.76, Z:0.41 [[ 0.99947874 0.02626739 0.01876901 -1.7678625 ] [-0.02646445 0.99959639 0.01032925 -2.75540694] [-0.01849011 -0.01082057 0.99977049 0.4116592 ] [ 0. 0. 0. 1. ]] SLAMing on 40.891652532 meters Centerline goodness [0,1] 0.33647971093924445 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.76, Z:0.41 [[ 0.99946999 0.02678618 0.01849988 -1.76679517] [-0.02699858 0.99957128 0.01132815 -2.75882376] [-0.01818851 -0.01182162 0.99976469 0.41098385] [ 0. 0. 0. 1. ]] SLAMing on 40.921652532 meters Centerline goodness [0,1] 0.34030742954739535 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.76, Z:0.41 [[ 0.99958996 0.02210572 0.01820039 -1.76557157] [-0.02222451 0.99973284 0.00635005 -2.75750747] [-0.01805515 -0.00675194 0.99981419 0.40992759] [ 0. 0. 0. 1. ]] SLAMing on 40.951652532 meters Centerline goodness [0,1] 0.3525755606109847 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.76, Z:0.41 [[ 0.99958065 0.022379 0.01837699 -1.76634584] [-0.02250969 0.99972256 0.006936 -2.75972658] [-0.01821667 -0.00734675 0.99980707 0.41024752] [ 0. 0. 0. 1. ]] SLAMing on 40.981652532 meters Centerline goodness [0,1] 0.3397657489121152 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.76, Z:0.41 [[ 0.99961871 0.01993822 0.01910217 -1.7701571 ] [-0.02003073 0.99978849 0.00466376 -2.76303013] [-0.01900514 -0.00504462 0.99980666 0.41231662] [ 0. 0. 0. 1. ]] SLAMing on 41.011652532 meters Centerline goodness [0,1] 0.3397657489121152 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.76, Z:0.41 [[ 0.99961871 0.01993822 0.01910217 -1.7701571 ] [-0.02003073 0.99978849 0.00466376 -2.76303013] [-0.01900514 -0.00504462 0.99980666 0.41231662] [ 0. 0. 0. 1. ]] SLAMing on 41.041652532 meters Centerline goodness [0,1] 0.35785518432009744 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.76, Z:0.41 [[ 0.9996657 0.01797847 0.01858111 -1.76892462] [-0.01803467 0.99983327 0.00286138 -2.76041557] [-0.01852657 -0.00319552 0.99982326 0.41240763] [ 0. 0. 0. 1. ]] SLAMing on 41.071652532 meters Centerline goodness [0,1] 0.34546228537836254 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.76, Z:0.41 [[ 9.99699863e-01 1.64564163e-02 1.81485388e-02 -1.76847953e+00] [-1.64803790e-02 9.99863503e-01 1.17158306e-03 -2.75727154e+00] [-1.81267816e-02 -1.47032622e-03 9.99834615e-01 4.13025274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.101652532 meters Centerline goodness [0,1] 0.35645472061657035 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.76, Z:0.41 [[ 9.99690564e-01 1.67539449e-02 1.83870138e-02 -1.76926689e+00] [-1.67859557e-02 9.99857845e-01 1.58798213e-03 -2.75865443e+00] [-1.83577950e-02 -1.89613435e-03 9.99829684e-01 4.13067203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.131652532 meters Centerline goodness [0,1] 0.354659785855056 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.76, Z:0.41 [[ 9.99699319e-01 1.65498493e-02 1.80934860e-02 -1.76934353e+00] [-1.65873310e-02 9.99860571e-01 1.92344158e-03 -2.76065445e+00] [-1.80591305e-02 -2.22298588e-03 9.99834449e-01 4.14123206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.161652532 meters Centerline goodness [0,1] 0.35433662080441575 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.76, Z:0.42 [[ 9.99734436e-01 1.49952882e-02 1.74985475e-02 -1.76928970e+00] [-1.50087709e-02 9.99887158e-01 6.39423627e-04 -2.75927463e+00] [-1.74869846e-02 -9.01885509e-04 9.99846684e-01 4.15845758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.191652532 meters Centerline goodness [0,1] 0.36347737671581093 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.77, Z:0.42 [[ 0.99965886 0.01902862 0.01789042 -1.77245316] [-0.01913093 0.9998015 0.00556489 -2.76701173] [-0.01778097 -0.00590526 0.99982447 0.41853877] [ 0. 0. 0. 1. ]] SLAMing on 41.221652532 meters Centerline goodness [0,1] 0.3595996989606004 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.77, Z:0.42 [[ 0.99962341 0.02015171 0.01862635 -1.77482147] [-0.02028672 0.99976908 0.00708773 -2.77126731] [-0.01847922 -0.00746293 0.99980139 0.41925158] [ 0. 0. 0. 1. ]] SLAMing on 41.251652532 meters Centerline goodness [0,1] 0.3692730045754957 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.77, Z:0.42 [[ 0.99962003 0.01999591 0.0189727 -1.77643429] [-0.02012893 0.99977395 0.00684622 -2.77087535] [-0.01883151 -0.00722552 0.99979656 0.42026536] [ 0. 0. 0. 1. ]] SLAMing on 41.281652532 meters Centerline goodness [0,1] 0.3688226078818335 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.77, Z:0.42 [[ 0.99951314 0.02420481 0.01968771 -1.77776663] [-0.0244123 0.99964821 0.0103679 -2.76817025] [-0.01942983 -0.01084348 0.99975242 0.4197608 ] [ 0. 0. 0. 1. ]] SLAMing on 41.311652532 meters Centerline goodness [0,1] 0.365546560351491 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.77, Z:0.42 [[ 0.99944825 0.02563199 0.0211235 -1.7809289 ] [-0.02587023 0.99960387 0.01108314 -2.76843912] [-0.02083105 -0.0116235 0.99971544 0.41903495] [ 0. 0. 0. 1. ]] SLAMing on 41.341652532 meters Centerline goodness [0,1] 0.3672051663373195 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.77, Z:0.42 [[ 0.99935917 0.02769655 0.0226748 -1.78386729] [-0.02798395 0.99953075 0.01245684 -2.77016361] [-0.02231915 -0.01308338 0.99966528 0.41766543] [ 0. 0. 0. 1. ]] SLAMing on 41.371652532 meters Centerline goodness [0,1] 0.3645763367324093 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.77, Z:0.42 [[ 0.99931354 0.02865692 0.02347808 -1.78485331] [-0.02896231 0.9994989 0.01277211 -2.77018428] [-0.02310031 -0.01344332 0.99964276 0.41610085] [ 0. 0. 0. 1. ]] SLAMing on 41.401652532 meters Centerline goodness [0,1] 0.3125635912254283 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.77, Z:0.42 [[ 0.99923463 0.03049693 0.02449682 -1.78722122] [-0.03086154 0.99941635 0.01464637 -2.77411714] [-0.02403585 -0.01539117 0.99959261 0.41577228] [ 0. 0. 0. 1. ]] SLAMing on 41.431652532 meters Centerline goodness [0,1] 0.35981822627975224 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.78, Z:0.42 [[ 0.99914923 0.0325289 0.0253514 -1.79009507] [-0.03297045 0.99930835 0.0171982 -2.78018562] [-0.02477443 -0.01801941 0.99953065 0.41662699] [ 0. 0. 0. 1. ]] SLAMing on 41.461652532 meters Centerline goodness [0,1] 0.3620338292235582 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.78, Z:0.42 [[ 0.99921561 0.02972982 0.02615904 -1.79268714] [-0.03012178 0.99943785 0.01471934 -2.78487392] [-0.02570673 -0.01549575 0.99954942 0.41721749] [ 0. 0. 0. 1. ]] SLAMing on 41.491652532 meters Centerline goodness [0,1] 0.3651146657961316 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.79, Z:0.42 [[ 0.99929975 0.02614343 0.02676806 -1.79490311] [-0.02644777 0.9995888 0.01107915 -2.786624 ] [-0.02646741 -0.01177935 0.99958027 0.41768922] [ 0. 0. 0. 1. ]] SLAMing on 41.521652532 meters Centerline goodness [0,1] 0.3494634624015668 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.80, Z:0.41 [[ 0.99954388 0.01767677 0.02448593 -1.80311079] [-0.01805808 0.99971772 0.01543993 -2.79624285] [-0.02420609 -0.01587506 0.99958094 0.41220895] [ 0. 0. 0. 1. ]] SLAMing on 41.551652532 meters Centerline goodness [0,1] 0.3494753174635581 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.80, Z:0.41 [[ 0.99953855 0.01765798 0.02471603 -1.80371326] [-0.01804522 0.9997165 0.01553329 -2.79700079] [-0.02443474 -0.01597213 0.99957383 0.41225841] [ 0. 0. 0. 1. ]] SLAMing on 41.581652532 meters Centerline goodness [0,1] 0.33194469970797846 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.80, Z:0.41 [[ 0.99955872 0.01495161 0.02566753 -1.80704664] [-0.01528479 0.99980081 0.01283394 -2.80000049] [-0.02547053 -0.0132206 0.99958815 0.41332355] [ 0. 0. 0. 1. ]] SLAMing on 41.611652532 meters Centerline goodness [0,1] 0.34188348127742063 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.80, Z:0.41 [[ 0.9995597 0.01496749 0.02562001 -1.8073146 ] [-0.01530536 0.99979779 0.01304303 -2.80106724] [-0.02541961 -0.01342941 0.99958666 0.41382062] [ 0. 0. 0. 1. ]] SLAMing on 41.641652532 meters Centerline goodness [0,1] 0.3496656510091818 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.80, Z:0.41 [[ 0.99952127 0.01620185 0.02635789 -1.80977747] [-0.01658694 0.9997579 0.0144574 -2.80411857] [-0.02611727 -0.01488767 0.99954802 0.41468345] [ 0. 0. 0. 1. ]] SLAMing on 41.671652532 meters Centerline goodness [0,1] 0.35325142588466174 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.81, Z:0.41 [[ 0.99946449 0.01801745 0.02731479 -1.81223437] [-0.01847501 0.99969163 0.01659265 -2.80888338] [-0.02700741 -0.01708841 0.99948916 0.41490165] [ 0. 0. 0. 1. ]] SLAMing on 41.701652532 meters Centerline goodness [0,1] 0.3515377217572794 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.81, Z:0.42 [[ 0.9995556 0.0130649 0.02679391 -1.81134983] [-0.01339243 0.99983733 0.01208115 -2.80976146] [-0.02663171 -0.01243462 0.99956797 0.41541344] [ 0. 0. 0. 1. ]] SLAMing on 41.731652532 meters Centerline goodness [0,1] 0.361527465795385 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.81, Z:0.42 [[ 0.99963828 0.00759635 0.02579928 -1.80924544] [-0.00777175 0.99994732 0.00670498 -2.8084396 ] [-0.02574698 -0.00690306 0.99964466 0.41577294] [ 0. 0. 0. 1. ]] SLAMing on 41.761652532 meters Centerline goodness [0,1] 0.36950434338272864 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.81, Z:0.42 [[ 0.99962365 0.00835167 0.02613075 -1.81020263] [-0.00855358 0.99993435 0.00762491 -2.81063328] [-0.02606536 -0.00784555 0.99962945 0.41574369] [ 0. 0. 0. 1. ]] SLAMing on 41.791652532 meters Centerline goodness [0,1] 0.3593149677102918 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.81, Z:0.42 [[ 0.99961174 0.0089914 0.02637262 -1.8111108 ] [-0.00922113 0.99992048 0.00860213 -2.81334392] [-0.02629318 -0.00884197 0.99961517 0.41610039] [ 0. 0. 0. 1. ]] SLAMing on 41.821652532 meters Centerline goodness [0,1] 0.3483428291368008 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.81, Z:0.42 [[ 0.99962657 0.0082404 0.02605406 -1.81075662] [-0.00844795 0.99993338 0.00786617 -2.81192044] [-0.02598751 -0.00808334 0.99962959 0.416716 ] [ 0. 0. 0. 1. ]] SLAMing on 41.851652532 meters Centerline goodness [0,1] 0.3300022433871066 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.81, Z:0.42 [[ 0.99963041 0.0077428 0.02605923 -1.81036815] [-0.00793279 0.99994265 0.00719499 -2.81033122] [-0.02600202 -0.00739906 0.99963451 0.41617609] [ 0. 0. 0. 1. ]] SLAMing on 41.881652532 meters Centerline goodness [0,1] 0.359667741540471 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.82, Z:0.42 [[ 0.99988976 0.00750692 0.01281037 -1.80652951] [-0.00762022 0.99993208 0.00881827 -2.81625023] [-0.0127433 -0.00891492 0.99987906 0.41788535] [ 0. 0. 0. 1. ]] SLAMing on 41.911652532 meters Centerline goodness [0,1] 0.3512473271560941 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.82, Z:0.42 [[ 0.99988018 0.00803711 0.01323014 -1.80769417] [-0.00816155 0.99992271 0.00937905 -2.817686 ] [-0.01315374 -0.00948591 0.99986849 0.41789233] [ 0. 0. 0. 1. ]] SLAMing on 41.941652532 meters Centerline goodness [0,1] 0.3696192221543474 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.82, Z:0.42 [[ 0.99988574 0.00792636 0.01287159 -1.8071528 ] [-0.00805176 0.99992034 0.00972002 -2.8196966 ] [-0.01279352 -0.00982255 0.99986991 0.41845944] [ 0. 0. 0. 1. ]] SLAMing on 41.971652532 meters Centerline goodness [0,1] 0.36885981003628066 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.82, Z:0.42 [[ 0.9999013 0.00513321 0.01307842 -1.80965001] [-0.0052304 0.99995888 0.00740785 -2.82406046] [-0.01303985 -0.00747553 0.99988703 0.42093698] [ 0. 0. 0. 1. ]] SLAMing on 42.001652532 meters Centerline goodness [0,1] 0.3652906692721055 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.83, Z:0.42 [[ 0.99988507 0.00622909 0.01382207 -1.8114015 ] [-0.0063469 0.99994376 0.00849627 -2.82631041] [-0.01376836 -0.00858302 0.99986837 0.42061841] [ 0. 0. 0. 1. ]] SLAMing on 42.031652532 meters Centerline goodness [0,1] 0.3591407473707765 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.83, Z:0.42 [[ 0.99988426 0.00617244 0.0139058 -1.81142238] [-0.00629126 0.99994394 0.00851725 -2.82672481] [-0.01385245 -0.00860375 0.99986703 0.42032746] [ 0. 0. 0. 1. ]] SLAMing on 42.061652532 meters Centerline goodness [0,1] 0.356262061960386 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.82, Z:0.42 [[ 0.99988874 0.00533077 0.01393151 -1.81125511] [-0.00543558 0.99995713 0.00749633 -2.82431568] [-0.01389096 -0.00757122 0.99987485 0.42009354] [ 0. 0. 0. 1. ]] SLAMing on 42.091652532 meters Centerline goodness [0,1] 0.3585603904026027 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.83, Z:0.42 [[ 9.99898767e-01 1.28707969e-03 1.41703818e-02 -1.81245856e+00] [-1.34067022e-03 9.99991983e-01 3.77301968e-03 -2.82650350e+00] [-1.41654120e-02 -3.79163553e-03 9.99892477e-01 4.20906625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.121652532 meters Centerline goodness [0,1] 0.3730696453640969 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.83, Z:0.42 [[ 9.99900926e-01 -3.66306724e-03 1.35911746e-02 -1.81201168e+00] [ 3.67460581e-03 9.99992909e-01 -8.24100423e-04 -2.82678874e+00] [-1.35880594e-02 8.73960985e-04 9.99907296e-01 4.22283804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.151652532 meters Centerline goodness [0,1] 0.3634625943022145 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.83, Z:0.42 [[ 9.99910183e-01 -5.18203570e-03 1.23600909e-02 -1.80910692e+00] [ 5.20420489e-03 9.99984905e-01 -1.76212202e-03 -2.82673158e+00] [-1.23507730e-02 1.82628820e-03 9.99922059e-01 4.22525820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.181652532 meters Centerline goodness [0,1] 0.3838088271153377 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.83, Z:0.42 [[ 0.99989197 -0.00893809 0.01166912 -1.80801576] [ 0.00898759 0.9999508 -0.00419688 -2.83289787] [-0.01163104 0.0043013 0.99992311 0.42361256] [ 0. 0. 0. 1. ]] SLAMing on 42.211652532 meters Centerline goodness [0,1] 0.3863756131176781 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.83, Z:0.43 [[ 0.99984511 -0.01336652 0.01144935 -1.80879621] [ 0.01346074 0.99987584 -0.00819249 -2.83442718] [-0.01133842 0.00834534 0.99990089 0.42552451] [ 0. 0. 0. 1. ]] SLAMing on 42.241652531999996 meters Centerline goodness [0,1] 0.38605038264011526 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.84, Z:0.43 [[ 0.99984648 -0.01359755 0.01105067 -1.80845611] [ 0.01368704 0.99987382 -0.00806279 -2.835384 ] [-0.01093964 0.00821281 0.99990643 0.42632377] [ 0. 0. 0. 1. ]] SLAMing on 42.271652532 meters Centerline goodness [0,1] 0.3861673811894264 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.84, Z:0.43 [[ 0.99988773 -0.01122745 0.00992296 -1.80599622] [ 0.01127814 0.99992356 -0.005067 -2.83512451] [-0.00986531 0.00517834 0.99993793 0.42654369] [ 0. 0. 0. 1. ]] SLAMing on 42.301652532 meters Centerline goodness [0,1] 0.3909041029080046 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.83, Z:0.43 [[ 0.99987657 -0.01288769 0.00898589 -1.80405871] [ 0.0129451 0.99989598 -0.00636061 -2.83354557] [-0.00890298 0.00647615 0.9999394 0.42713836] [ 0. 0. 0. 1. ]] SLAMing on 42.331652532 meters Centerline goodness [0,1] 0.3983437105766492 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.83, Z:0.43 [[ 0.99987619 -0.01319419 0.00857374 -1.80377894] [ 0.01325027 0.99989097 -0.00651694 -2.83343958] [-0.00848682 0.00662974 0.99994201 0.4280173 ] [ 0. 0. 0. 1. ]] SLAMing on 42.361652532 meters Centerline goodness [0,1] 0.3838689376560629 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.83, Z:0.43 [[ 0.99987359 -0.01380699 0.0078847 -1.80233443] [ 0.01385982 0.99988159 -0.00668591 -2.83408535] [-0.00779145 0.00679434 0.99994656 0.42850881] [ 0. 0. 0. 1. ]] SLAMing on 42.391652532 meters Centerline goodness [0,1] 0.40042596348884385 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.84, Z:0.43 [[ 0.99987455 -0.01379636 0.00778132 -1.80272993] [ 0.01384642 0.99988354 -0.00641703 -2.8352657 ] [-0.00769189 0.00652397 0.99994914 0.42935456] [ 0. 0. 0. 1. ]] SLAMing on 42.421652532 meters Centerline goodness [0,1] 0.4016425101132275 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.84, Z:0.43 [[ 0.99987243 -0.01405813 0.00758207 -1.80291572] [ 0.01410691 0.99987989 -0.00641897 -2.83572747] [-0.00749092 0.00652511 0.99995065 0.4302473 ] [ 0. 0. 0. 1. ]] SLAMing on 42.451652532 meters Centerline goodness [0,1] 0.3988320514385708 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.83, Z:0.43 [[ 0.99990382 -0.01202936 0.00690235 -1.80114768] [ 0.01206022 0.99991739 -0.00444611 -2.83206843] [-0.0068483 0.00452893 0.99996629 0.4299138 ] [ 0. 0. 0. 1. ]] SLAMing on 42.481652532 meters Centerline goodness [0,1] 0.4019551934826884 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.83, Z:0.43 [[ 0.999904 -0.01217944 0.00660719 -1.80077567] [ 0.0122077 0.99991644 -0.00425315 -2.83319174] [-0.00655484 0.0043334 0.99996913 0.43041416] [ 0. 0. 0. 1. ]] SLAMing on 42.511652532 meters Centerline goodness [0,1] 0.40455979643765905 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.83, Z:0.43 [[ 0.99989974 -0.01276857 0.00612143 -1.80083513] [ 0.01279681 0.99990756 -0.00459589 -2.83300277] [-0.00606218 0.00467376 0.9999707 0.43205965] [ 0. 0. 0. 1. ]] SLAMing on 42.541652532 meters Centerline goodness [0,1] 0.40141647671768155 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.83, Z:0.43 [[ 9.99933837e-01 -1.03199791e-02 5.08128260e-03 -1.79916819e+00] [ 1.03271166e-02 9.99945721e-01 -1.38045432e-03 -2.83422114e+00] [-5.06676053e-03 1.43283798e-03 9.99986137e-01 4.33009924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.571652532 meters Centerline goodness [0,1] 0.40152687296416933 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.83, Z:0.43 [[ 9.99933897e-01 -1.05450269e-02 4.58295666e-03 -1.79764838e+00] [ 1.05513535e-02 9.99943410e-01 -1.35849903e-03 -2.83495223e+00] [-4.56837190e-03 1.40676562e-03 9.99988575e-01 4.32677902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.601652532 meters Centerline goodness [0,1] 0.4000326024940908 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.83, Z:0.43 [[ 0.99987623 -0.01503395 0.00463742 -1.79801126] [ 0.01506103 0.99986939 -0.0058618 -2.8345672 ] [-0.00454869 0.00593092 0.99997207 0.43311115] [ 0. 0. 0. 1. ]] SLAMing on 42.631652532 meters Centerline goodness [0,1] 0.4013757733637252 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.83, Z:0.43 [[ 0.99985431 -0.01668274 0.00361249 -1.79615539] [ 0.01670865 0.999834 -0.00726573 -2.83263046] [-0.00349068 0.00732503 0.99996708 0.433921 ] [ 0. 0. 0. 1. ]] SLAMing on 42.661652532 meters Centerline goodness [0,1] 0.407392322574076 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.83, Z:0.44 [[ 9.99820633e-01 -1.87780260e-02 2.46749362e-03 -1.79415029e+00] [ 1.87986637e-02 9.99786085e-01 -8.62526508e-03 -2.83233691e+00] [-2.30500033e-03 8.67010357e-03 9.99959757e-01 4.35019567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.691652532 meters Centerline goodness [0,1] 0.38123854145447134 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.83, Z:0.44 [[ 9.99717173e-01 -2.37186005e-02 1.73254448e-03 -1.79277706e+00] [ 2.37388366e-02 9.99636487e-01 -1.27812927e-02 -2.83403592e+00] [-1.42876030e-03 1.28188064e-02 9.99916815e-01 4.36036164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.721652532 meters Centerline goodness [0,1] 0.3943271094786246 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.83, Z:0.44 [[ 9.99608804e-01 -2.78960018e-02 2.01306183e-03 -1.79394629e+00] [ 2.79259886e-02 9.99468144e-01 -1.68395009e-02 -2.83468906e+00] [-1.54223643e-03 1.68891301e-02 9.99856179e-01 4.36937083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.751652532 meters Centerline goodness [0,1] 0.4029762511466721 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.84, Z:0.44 [[ 9.99604220e-01 -2.80767442e-02 1.76046595e-03 -1.79363237e+00] [ 2.81024801e-02 9.99462675e-01 -1.68704262e-02 -2.83508717e+00] [-1.28585337e-03 1.69132227e-02 9.99856134e-01 4.37381831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.781652532 meters Centerline goodness [0,1] 0.3951090279192989 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.84, Z:0.44 [[ 9.99736229e-01 -2.29131098e-02 1.56917001e-03 -1.79384025e+00] [ 2.29292177e-02 9.99674806e-01 -1.11594524e-02 -2.83885840e+00] [-1.31296197e-03 1.11924887e-02 9.99936500e-01 4.37753242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.811652532 meters Centerline goodness [0,1] 0.39354496490941737 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.84, Z:0.44 [[ 9.99739427e-01 -2.27846174e-02 1.39240618e-03 -1.79383056e+00] [ 2.27981473e-02 9.99683595e-01 -1.06280417e-02 -2.84081984e+00] [-1.14980975e-03 1.06570166e-02 9.99942551e-01 4.38251850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.841652532 meters Centerline goodness [0,1] 0.4060420493978363 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.84, Z:0.44 [[ 9.99707454e-01 -2.41807807e-02 5.44005454e-04 -1.79215131e+00] [ 2.41855273e-02 9.99637429e-01 -1.18351705e-02 -2.83912924e+00] [-2.57624549e-04 1.18448653e-02 9.99929814e-01 4.38792519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.871652532 meters Centerline goodness [0,1] 0.31550267357851336 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.84, Z:0.44 [[ 9.99695445e-01 -2.46781411e-02 8.50426117e-05 -1.79093097e+00] [ 2.46773346e-02 9.99620619e-01 -1.22330600e-02 -2.83869507e+00] [ 2.16878833e-04 1.22314330e-02 9.99925170e-01 4.38688099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.901652532 meters Centerline goodness [0,1] 0.405345393061582 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.84, Z:0.44 [[ 9.99692599e-01 -2.47930184e-02 -1.13750152e-04 -1.79016775e+00] [ 2.47897515e-02 9.99617227e-01 -1.22828419e-02 -2.83881553e+00] [ 4.18235335e-04 1.22762463e-02 9.99924557e-01 4.38277865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.931652532 meters Centerline goodness [0,1] 0.40546599547557427 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.84, Z:0.44 [[ 9.99692661e-01 -2.47873844e-02 -4.11049106e-04 -1.78986260e+00] [ 2.47806669e-02 9.99620823e-01 -1.20053298e-02 -2.83990029e+00] [ 7.08473969e-04 1.19914540e-02 9.99927849e-01 4.38757819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.961652532 meters Centerline goodness [0,1] 0.40546599547557427 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.84, Z:0.44 [[ 9.99692661e-01 -2.47873844e-02 -4.11049106e-04 -1.78986260e+00] [ 2.47806669e-02 9.99620823e-01 -1.20053298e-02 -2.83990029e+00] [ 7.08473969e-04 1.19914540e-02 9.99927849e-01 4.38757819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.991652531999996 meters Centerline goodness [0,1] 0.409483813096306 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.84, Z:0.44 [[ 9.99669852e-01 -2.56648530e-02 -1.22569204e-03 -1.78804048e+00] [ 2.56474371e-02 9.99591973e-01 -1.25736189e-02 -2.83948885e+00] [ 1.54789201e-03 1.25380319e-02 9.99920198e-01 4.39175819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.021652532 meters Centerline goodness [0,1] 0.335576903465296 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.84, Z:0.44 [[ 9.99669946e-01 -2.56644327e-02 -1.15556474e-03 -1.78812687e+00] [ 2.56479628e-02 9.99592526e-01 -1.25285206e-02 -2.83968630e+00] [ 1.47663124e-03 1.24947476e-02 9.99920847e-01 4.38976264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.051652532 meters Centerline goodness [0,1] 0.41608848257285125 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.84, Z:0.44 [[ 9.99677614e-01 -2.53790159e-02 -7.57928983e-04 -1.78963387e+00] [ 2.53677686e-02 9.99602339e-01 -1.23142107e-02 -2.83990275e+00] [ 1.07015013e-03 1.22910138e-02 9.99923890e-01 4.39405058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.081652532 meters Centerline goodness [0,1] 0.3748825427952772 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.84, Z:0.44 [[ 9.99681169e-01 -2.52469015e-02 -3.93195682e-04 -1.79101581e+00] [ 2.52401869e-02 9.99606235e-01 -1.22600485e-02 -2.83967533e+00] [ 7.02569093e-04 1.22462153e-02 9.99924765e-01 4.39865052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.111652532 meters Centerline goodness [0,1] 0.38815413503143115 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.84, Z:0.44 [[ 9.99732570e-01 -2.30981337e-02 -1.12482004e-03 -1.78865231e+00] [ 2.30856468e-02 9.99682726e-01 -1.00747707e-02 -2.83704799e+00] [ 1.35717156e-03 1.00461092e-02 9.99948616e-01 4.38963494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.141652532 meters Centerline goodness [0,1] 0.3721462587119586 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.84, Z:0.44 [[ 9.99723642e-01 -2.34626395e-02 -1.46423401e-03 -1.78764724e+00] [ 2.34462602e-02 9.99671539e-01 -1.03482542e-02 -2.83672892e+00] [ 1.70655042e-03 1.03110636e-02 9.99945383e-01 4.38725406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.171652532 meters Centerline goodness [0,1] 0.34519674743594986 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.84, Z:0.44 [[ 9.99717840e-01 -2.36871592e-02 -1.77720504e-03 -1.78698441e+00] [ 2.36673521e-02 9.99665351e-01 -1.04423651e-02 -2.83691831e+00] [ 2.02396027e-03 1.03973569e-02 9.99943898e-01 4.38842300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.201652532 meters Centerline goodness [0,1] 0.3641288792574723 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.84, Z:0.44 [[ 9.99732280e-01 -2.30656250e-02 -1.82920610e-03 -1.78723313e+00] [ 2.30470542e-02 9.99688331e-01 -9.59550951e-03 -2.83914069e+00] [ 2.04996242e-03 9.55078279e-03 9.99952289e-01 4.39223116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.231652532 meters Centerline goodness [0,1] 0.36454630877967076 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.84, Z:0.44 [[ 9.99803183e-01 -1.96967806e-02 -2.37335162e-03 -1.78599406e+00] [ 1.96812039e-02 9.99785714e-01 -6.41690336e-03 -2.83682989e+00] [ 2.49923538e-03 6.36892999e-03 9.99976595e-01 4.38974944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.261652532 meters Centerline goodness [0,1] 0.3674798407675819 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.83, Z:0.44 [[ 9.99865950e-01 -1.62115270e-02 -2.29531925e-03 -1.78544011e+00] [ 1.62038739e-02 9.99863215e-01 -3.31445625e-03 -2.83418078e+00] [ 2.34873768e-03 3.27681889e-03 9.99991873e-01 4.37664142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.291652532 meters Centerline goodness [0,1] 0.37518599294755506 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.83, Z:0.44 [[ 9.99927771e-01 -1.19868547e-02 -8.76054041e-04 -1.78793836e+00] [ 1.19862511e-02 9.99927924e-01 -6.91030907e-04 -2.82882875e+00] [ 8.84274185e-04 6.80480391e-04 9.99999378e-01 4.35653629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.321652532 meters Centerline goodness [0,1] 0.3761378214918444 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.83, Z:0.43 [[ 9.99972561e-01 -7.39196881e-03 -4.86676724e-04 -1.78849479e+00] [ 7.39370721e-03 9.99965922e-01 3.67272452e-03 -2.82864503e+00] [ 4.59511474e-04 -3.67622208e-03 9.99993137e-01 4.34833917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.351652532 meters Centerline goodness [0,1] 0.38028571428571434 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.83, Z:0.43 [[ 9.99975088e-01 -7.05693217e-03 1.51751462e-04 -1.79028130e+00] [ 7.05626221e-03 9.99966957e-01 4.03661025e-03 -2.82980428e+00] [-1.80232533e-04 -4.03543889e-03 9.99991841e-01 4.34932018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.381652532 meters Centerline goodness [0,1] 0.38938251477481145 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.83, Z:0.44 [[ 9.99977884e-01 -6.61401634e-03 6.97235085e-04 -1.79214329e+00] [ 6.61087734e-03 9.99968414e-01 4.41213623e-03 -2.83057697e+00] [-7.26395004e-04 -4.40742932e-03 9.99990023e-01 4.35431206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.411652532 meters Centerline goodness [0,1] 0.38682590796070604 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.83, Z:0.44 [[ 9.99979025e-01 -6.41731027e-03 8.76050340e-04 -1.79255663e+00] [ 6.41307354e-03 9.99968125e-01 4.75622979e-03 -2.83174042e+00] [-9.06544618e-04 -4.75051185e-03 9.99988305e-01 4.35280420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.441652532 meters Centerline goodness [0,1] 0.39250601721535516 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.83, Z:0.44 [[ 9.99970561e-01 -7.66147005e-03 4.22820132e-04 -1.79132055e+00] [ 7.65986295e-03 9.99963892e-01 3.67994843e-03 -2.82999930e+00] [-4.50998680e-04 -3.67660135e-03 9.99993140e-01 4.35244064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.471652532 meters Centerline goodness [0,1] 0.3900264604111541 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.83, Z:0.44 [[ 9.99966332e-01 -8.20557041e-03 6.29692022e-05 -1.79066556e+00] [ 8.20532523e-03 9.99961155e-01 3.21891336e-03 -2.82926039e+00] [-8.93797764e-05 -3.21828830e-03 9.99994817e-01 4.35617221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.501652532 meters Centerline goodness [0,1] 0.39506499857369903 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.83, Z:0.44 [[ 9.99960813e-01 -8.82918338e-03 -6.46533733e-04 -1.78960232e+00] [ 8.83112505e-03 9.99956309e-01 3.06458506e-03 -2.82986118e+00] [ 6.19447702e-04 -3.07017458e-03 9.99995095e-01 4.36612201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.531652532 meters Centerline goodness [0,1] 0.36280226725930764 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.83, Z:0.44 [[ 9.99961292e-01 -8.76793519e-03 -7.32696046e-04 -1.79012055e+00] [ 8.77037002e-03 9.99955798e-01 3.38874254e-03 -2.83106410e+00] [ 7.02951384e-04 -3.39503738e-03 9.99993990e-01 4.37598270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.561652532 meters Centerline goodness [0,1] 0.3649829866134192 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.83, Z:0.44 [[ 9.99965280e-01 -8.32843843e-03 -2.76321480e-04 -1.79202713e+00] [ 8.32945102e-03 9.99957736e-01 3.89176629e-03 -2.83211104e+00] [ 2.43897466e-04 -3.89393277e-03 9.99992389e-01 4.38444293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.591652532 meters Centerline goodness [0,1] 0.3900937627395027 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.83, Z:0.44 [[ 9.99987161e-01 -5.05005904e-03 4.17544780e-04 -1.79235278e+00] [ 5.04739192e-03 9.99968293e-01 6.15933852e-03 -2.82640113e+00] [-4.48636564e-04 -6.15715193e-03 9.99980944e-01 4.36430636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.621652532 meters Centerline goodness [0,1] 0.3925702401826856 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.83, Z:0.44 [[ 9.99987476e-01 -4.87021529e-03 1.15276190e-03 -1.79394950e+00] [ 4.86330972e-03 9.99970655e-01 5.91931898e-03 -2.82519915e+00] [-1.18155643e-03 -5.91363861e-03 9.99981816e-01 4.35934317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.651652532 meters Centerline goodness [0,1] 0.39031902741514357 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.83, Z:0.44 [[ 9.99992288e-01 -3.25175517e-03 2.20239614e-03 -1.79709781e+00] [ 3.23551137e-03 9.99967832e-01 7.33934941e-03 -2.82763581e+00] [-2.22619106e-03 -7.33216693e-03 9.99970641e-01 4.36322333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.681652532 meters Centerline goodness [0,1] 0.38745997103636776 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.82, Z:0.45 [[ 9.99981671e-01 5.42877486e-03 2.68061173e-03 -1.79249685e+00] [-5.44070162e-03 9.99975243e-01 4.46220508e-03 -2.82124745e+00] [-2.65632106e-03 -4.47670770e-03 9.99986451e-01 4.45109584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.711652532 meters Centerline goodness [0,1] 0.386382163528165 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.82, Z:0.45 [[ 0.99994796 0.00975598 0.00298454 -1.79335806] [-0.00978196 0.99991329 0.00881637 -2.82175792] [-0.00289826 -0.00884511 0.99995668 0.44526101] [ 0. 0. 0. 1. ]] SLAMing on 43.741652531999996 meters Centerline goodness [0,1] 0.38316861946001024 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.82, Z:0.45 [[ 0.99991679 0.01213801 0.00436929 -1.79756072] [-0.01218461 0.99986744 0.01080015 -2.82406063] [-0.00423762 -0.01085249 0.99993213 0.44600269] [ 0. 0. 0. 1. ]] SLAMing on 43.771652532 meters Centerline goodness [0,1] 0.36376941214732905 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.82, Z:0.45 [[ 0.99984571 0.01673889 0.00532656 -1.79971658] [-0.01681715 0.999746 0.0150039 -2.82341562] [-0.00507406 -0.01509116 0.99987325 0.44561481] [ 0. 0. 0. 1. ]] SLAMing on 43.801652532 meters Centerline goodness [0,1] 0.37315559173705093 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.83, Z:0.44 [[ 0.99958638 0.0266009 0.01092954 -1.81248489] [-0.02681639 0.99943895 0.02006662 -2.82876509] [-0.01038962 -0.02035141 0.9997389 0.44161689] [ 0. 0. 0. 1. ]] SLAMing on 43.831652532 meters Centerline goodness [0,1] 0.3687849517031012 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.83, Z:0.44 [[ 0.99945894 0.03075005 0.01167304 -1.81327985] [-0.03101996 0.99923792 0.02369245 -2.82684873] [-0.0109356 -0.02404173 0.99965114 0.44043823] [ 0. 0. 0. 1. ]] SLAMing on 43.861652532 meters Centerline goodness [0,1] 0.3662301216089804 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.83, Z:0.44 [[ 0.99935754 0.03321863 0.01345502 -1.81654058] [-0.03355238 0.99911441 0.02538972 -2.8291012 ] [-0.0125997 -0.02582486 0.99958708 0.43879315] [ 0. 0. 0. 1. ]] SLAMing on 43.891652532 meters Centerline goodness [0,1] 0.36368260427263477 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.83, Z:0.44 [[ 0.99934267 0.03328888 0.01435545 -1.81810598] [-0.03363962 0.99912316 0.02492558 -2.82761501] [-0.01351312 -0.02539211 0.99958623 0.43762826] [ 0. 0. 0. 1. ]] SLAMing on 43.921652532 meters Centerline goodness [0,1] 0.36648980504563844 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.83, Z:0.43 [[ 0.99921312 0.03444654 0.01966153 -1.82998221] [-0.03483058 0.99920227 0.01953602 -2.8298099 ] [-0.0189729 -0.02020547 0.99961581 0.43123699] [ 0. 0. 0. 1. ]] SLAMing on 43.951652532 meters Centerline goodness [0,1] 0.3640098436006427 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.83, Z:0.43 [[ 0.99914044 0.03580411 0.02089131 -1.83243597] [-0.03623457 0.9991309 0.02060323 -2.83175263] [-0.02013548 -0.02134251 0.99956944 0.43019928] [ 0. 0. 0. 1. ]] SLAMing on 43.981652532 meters Centerline goodness [0,1] 0.3635662689716743 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.83, Z:0.43 [[ 0.99913633 0.03565488 0.02133845 -1.83368616] [-0.03608861 0.99914243 0.02029828 -2.83103981] [-0.02059642 -0.02105083 0.99956623 0.43014756] [ 0. 0. 0. 1. ]] SLAMing on 44.011652532 meters Centerline goodness [0,1] 0.364650974025974 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.83, Z:0.43 [[ 0.9991256 0.03572345 0.02172279 -1.83498962] [-0.03616544 0.99913949 0.02030621 -2.83120966] [-0.02097869 -0.02107407 0.99955779 0.4303748 ] [ 0. 0. 0. 1. ]] SLAMing on 44.041652532 meters Centerline goodness [0,1] 0.35916336683927297 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.83, Z:0.43 [[ 0.99894403 0.0402603 0.02213424 -1.83539456] [-0.04081245 0.99885184 0.02508684 -2.83274497] [-0.02109882 -0.02596371 0.99944021 0.42989095] [ 0. 0. 0. 1. ]] SLAMing on 44.071652532 meters Centerline goodness [0,1] 0.3592096980526732 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.83, Z:0.43 [[ 0.99894747 0.04012413 0.02222624 -1.83629196] [-0.0406774 0.99885886 0.02502668 -2.83296946] [-0.02119671 -0.02590445 0.99943967 0.43065517] [ 0. 0. 0. 1. ]] SLAMing on 44.101652532 meters Centerline goodness [0,1] 0.3596539328581003 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.84, Z:0.43 [[ 0.99890334 0.04082312 0.02292582 -1.83852185] [-0.04141123 0.99880923 0.02579216 -2.83505739] [-0.02184561 -0.02671326 0.99940441 0.43099843] [ 0. 0. 0. 1. ]] SLAMing on 44.131652532 meters Centerline goodness [0,1] 0.35610479887802593 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.84, Z:0.43 [[ 0.99883425 0.04199091 0.02380958 -1.84066871] [-0.04262955 0.99872655 0.02698153 -2.83773561] [-0.02264628 -0.02796507 0.99935234 0.43056041] [ 0. 0. 0. 1. ]] SLAMing on 44.161652532 meters Centerline goodness [0,1] 0.34308791297994967 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.84, Z:0.43 [[ 0.99878759 0.0428954 0.02415219 -1.84057707] [-0.04356853 0.99865602 0.02807035 -2.840286 ] [-0.02291564 -0.02908859 0.99931413 0.42910509] [ 0. 0. 0. 1. ]] SLAMing on 44.191652532 meters Centerline goodness [0,1] 0.19527853398886674 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.84, Z:0.43 [[ 0.99896283 0.03865764 0.02405923 -1.8419779 ] [-0.0392348 0.99894181 0.02399774 -2.84148385] [-0.02310607 -0.02491681 0.99942246 0.43064917] [ 0. 0. 0. 1. ]] SLAMing on 44.221652532 meters Centerline goodness [0,1] 0.3570383912248629 Centerline is valid? [False, False] Translation: X:-1.85, Y:-2.85, Z:0.43 [[ 0.9990099 0.03683319 0.02495068 -1.84518224] [-0.03739205 0.99905149 0.02231505 -2.84652136] [-0.02410508 -0.02322591 0.99943959 0.43140157] [ 0. 0. 0. 1. ]] SLAMing on 44.251652532 meters Centerline goodness [0,1] 0.34986186723003165 Centerline is valid? [False, False] Translation: X:-1.85, Y:-2.85, Z:0.43 [[ 0.99905888 0.03462533 0.02612363 -1.84871577] [-0.03515459 0.99918014 0.02008006 -2.8504865 ] [-0.02540694 -0.02097953 0.99945703 0.43162631] [ 0. 0. 0. 1. ]] SLAMing on 44.281652532 meters Centerline goodness [0,1] 0.35509382560432634 Centerline is valid? [False, False] Translation: X:-1.85, Y:-2.85, Z:0.43 [[ 0.99904362 0.03469956 0.02660428 -1.84987815] [-0.03523834 0.99917764 0.02005767 -2.85067453] [-0.02588641 -0.02097598 0.9994448 0.43135362] [ 0. 0. 0. 1. ]] SLAMing on 44.311652532 meters Centerline goodness [0,1] 0.21337780399015682 Centerline is valid? [False, False] Translation: X:-1.85, Y:-2.85, Z:0.43 [[ 0.99895663 0.0364421 0.02752485 -1.852601 ] [-0.03705054 0.99907278 0.02192818 -2.85466255] [-0.02670022 -0.02292511 0.99938058 0.43189789] [ 0. 0. 0. 1. ]] SLAMing on 44.341652532 meters Centerline goodness [0,1] 0.21857879144515235 Centerline is valid? [False, False] Translation: X:-1.86, Y:-2.86, Z:0.43 [[ 0.99890609 0.0373162 0.02818019 -1.85538924] [-0.03797011 0.99901329 0.02303721 -2.85782127] [-0.02729272 -0.02408201 0.99933736 0.43325589] [ 0. 0. 0. 1. ]] SLAMing on 44.371652532 meters Centerline goodness [0,1] 0.26113861386138615 Centerline is valid? [False, False] Translation: X:-1.86, Y:-2.86, Z:0.44 [[ 0.99875996 0.04049477 0.02896049 -1.85880349] [-0.04126692 0.99879452 0.02658081 -2.86247066] [-0.0278492 -0.02774296 0.99922708 0.43514768] [ 0. 0. 0. 1. ]] SLAMing on 44.401652532 meters Centerline goodness [0,1] 0.33651677402312397 Centerline is valid? [False, False] Translation: X:-1.86, Y:-2.86, Z:0.44 [[ 0.99841708 0.04712153 0.03070652 -1.86375215] [-0.04813296 0.99829311 0.03307685 -2.86474291] [-0.02909548 -0.03450248 0.998981 0.43651417] [ 0. 0. 0. 1. ]] SLAMing on 44.431652532 meters Centerline goodness [0,1] 0.22742495281008346 Centerline is valid? [False, False] Translation: X:-1.87, Y:-2.87, Z:0.44 [[ 0.99830627 0.04842873 0.03223747 -1.86768095] [-0.04951895 0.99819684 0.03392541 -2.86602054] [-0.03053637 -0.03546432 0.99890431 0.43641564] [ 0. 0. 0. 1. ]] SLAMing on 44.461652532 meters Centerline goodness [0,1] 0.26028898449549476 Centerline is valid? [False, False] Translation: X:-1.88, Y:-2.87, Z:0.43 [[ 0.99805447 0.05013917 0.03705865 -1.8783633 ] [-0.05132721 0.9981744 0.03183359 -2.87198316] [-0.03539489 -0.03367378 0.99880593 0.43267163] [ 0. 0. 0. 1. ]] SLAMing on 44.491652531999996 meters Centerline goodness [0,1] 0.24585074869131196 Centerline is valid? [False, False] Translation: X:-1.89, Y:-2.88, Z:0.43 [[ 0.9976469 0.05413864 0.04206743 -1.89211608] [-0.05544198 0.99799723 0.03045835 -2.88450682] [-0.0403342 -0.03271898 0.9986504 0.42949838] [ 0. 0. 0. 1. ]] SLAMing on 44.521652532 meters Centerline goodness [0,1] 0.2938836803441698 Centerline is valid? [False, False] Translation: X:-1.89, Y:-2.89, Z:0.43 [[ 0.99764002 0.05427558 0.04205424 -1.89283676] [-0.05559895 0.99797293 0.03096421 -2.88666502] [-0.04028839 -0.0332293 0.9986354 0.43041447] [ 0. 0. 0. 1. ]] SLAMing on 44.551652532 meters Centerline goodness [0,1] 0.2525016745488867 Centerline is valid? [False, False] Translation: X:-1.90, Y:-2.89, Z:0.43 [[ 0.99768499 0.05310454 0.0424803 -1.89612437] [-0.0544136 0.99805937 0.03027634 -2.89305432] [-0.04079005 -0.03251775 0.99863846 0.43272014] [ 0. 0. 0. 1. ]] SLAMing on 44.581652532 meters Centerline goodness [0,1] 0.29226308746603946 Centerline is valid? [False, False] Translation: X:-1.90, Y:-2.90, Z:0.43 [[ 0.99773549 0.05173322 0.04298333 -1.89903539] [-0.0530224 0.99816004 0.02941375 -2.90010438] [-0.04138258 -0.03162622 0.99864271 0.43423007] [ 0. 0. 0. 1. ]] SLAMing on 44.611652532 meters Centerline goodness [0,1] 0.25697768762677486 Centerline is valid? [False, False] Translation: X:-1.90, Y:-2.91, Z:0.44 [[ 0.99808143 0.04456478 0.04298191 -1.90207851] [-0.0456012 0.99868465 0.02344131 -2.90832501] [-0.04188072 -0.02535636 0.99880081 0.43710289] [ 0. 0. 0. 1. ]] SLAMing on 44.641652532 meters Centerline goodness [0,1] 0.25614533644575255 Centerline is valid? [False, False] Translation: X:-1.91, Y:-2.92, Z:0.43 [[ 0.99864406 0.03386467 0.03953762 -1.91144961] [-0.0349402 0.99902903 0.02683604 -2.92485204] [-0.03859043 -0.02818111 0.99885765 0.43419942] [ 0. 0. 0. 1. ]] SLAMing on 44.671652532 meters Centerline goodness [0,1] 0.28400251832896684 Centerline is valid? [False, False] Translation: X:-1.91, Y:-2.93, Z:0.44 [[ 0.9988617 0.0267811 0.0394726 -1.91268451] [-0.02759329 0.99941558 0.02017696 -2.9300649 ] [-0.03890917 -0.02124317 0.99901692 0.43528617] [ 0. 0. 0. 1. ]] SLAMing on 44.701652532 meters Centerline goodness [0,1] 0.297079802475157 Centerline is valid? [False, False] Translation: X:-1.91, Y:-2.93, Z:0.44 [[ 0.9990117 0.02259056 0.03827912 -1.91068568] [-0.02324405 0.9995901 0.0167134 -2.93361043] [-0.03788586 -0.01758664 0.9991273 0.43612284] [ 0. 0. 0. 1. ]] SLAMing on 44.731652532 meters Centerline goodness [0,1] 0.2701922099054205 Centerline is valid? [False, False] Translation: X:-1.91, Y:-2.94, Z:0.44 [[ 0.99911769 0.01910075 0.03740315 -1.91009426] [-0.01964741 0.99970466 0.01430282 -2.93975594] [-0.03711891 -0.01502507 0.9991979 0.4378776 ] [ 0. 0. 0. 1. ]] SLAMing on 44.761652532 meters Centerline goodness [0,1] 0.27970604401196997 Centerline is valid? [False, False] Translation: X:-1.90, Y:-2.94, Z:0.45 [[ 0.9994564 0.00512681 0.03256703 -1.89936942] [-0.00541756 0.9999462 0.0088459 -2.9412598 ] [-0.03251993 -0.00901752 0.99943041 0.44529083] [ 0. 0. 0. 1. ]] SLAMing on 44.791652532 meters Centerline goodness [0,1] 0.2840376543461429 Centerline is valid? [False, False] Translation: X:-1.90, Y:-2.95, Z:0.45 [[ 9.99488101e-01 -2.58903421e-03 3.18878308e-02 -1.89971207e+00] [ 2.51598810e-03 9.99994119e-01 2.33063250e-03 -2.94763205e+00] [-3.18936773e-02 -2.24921004e-03 9.99488737e-01 4.48025254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.821652532 meters Centerline goodness [0,1] 0.283487192027878 Centerline is valid? [False, False] Translation: X:-1.91, Y:-2.97, Z:0.44 [[ 0.999496 -0.01281655 0.02904284 -1.90874368] [ 0.01262949 0.99989836 0.00661508 -2.96643105] [-0.02912467 -0.00624495 0.99955628 0.44453312] [ 0. 0. 0. 1. ]] SLAMing on 44.851652532 meters Centerline goodness [0,1] 0.283487192027878 Centerline is valid? [False, False] Translation: X:-1.91, Y:-2.97, Z:0.44 [[ 0.999496 -0.01281655 0.02904284 -1.90874368] [ 0.01262949 0.99989836 0.00661508 -2.96643105] [-0.02912467 -0.00624495 0.99955628 0.44453312] [ 0. 0. 0. 1. ]] SLAMing on 44.881652532 meters Centerline goodness [0,1] 0.2952072380486612 Centerline is valid? [False, False] Translation: X:-1.91, Y:-2.97, Z:0.45 [[ 9.99460169e-01 -1.73444163e-02 2.79023470e-02 -1.90643145e+00] [ 1.72675657e-02 9.99846425e-01 2.99288400e-03 -2.96977130e+00] [-2.79499717e-02 -2.50946274e-03 9.99606173e-01 4.45457458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.911652532 meters Centerline goodness [0,1] 0.31498183895849485 Centerline is valid? [False, False] Translation: X:-1.91, Y:-2.99, Z:0.44 [[ 0.99928468 -0.02925767 0.02396075 -1.9142878 ] [ 0.02912313 0.99955815 0.00594491 -2.98542005] [-0.0241241 -0.00524285 0.99969522 0.4437221 ] [ 0. 0. 0. 1. ]] SLAMing on 44.941652532 meters Centerline goodness [0,1] 0.3083742637617951 Centerline is valid? [False, False] Translation: X:-1.91, Y:-2.98, Z:0.44 [[ 0.99926091 -0.03067734 0.02316335 -1.91248802] [ 0.0305759 0.9995213 0.00472084 -2.98350808] [-0.02329708 -0.00400912 0.99972055 0.44401285] [ 0. 0. 0. 1. ]] SLAMing on 44.971652532 meters Centerline goodness [0,1] 0.29779899230973217 Centerline is valid? [False, False] Translation: X:-1.91, Y:-2.99, Z:0.44 [[ 0.99926912 -0.03074489 0.0227151 -1.91209979] [ 0.03063592 0.99951745 0.00512976 -2.98522667] [-0.02286185 -0.00443011 0.99972882 0.44499399] [ 0. 0. 0. 1. ]] SLAMing on 45.001652532 meters Centerline goodness [0,1] 0.32845687702760606 Centerline is valid? [False, False] Translation: X:-1.91, Y:-2.99, Z:0.45 [[ 9.99137624e-01 -3.50987588e-02 2.21830016e-02 -1.91150479e+00] [ 3.50736225e-02 9.99383573e-01 1.52130690e-03 -2.98818874e+00] [-2.22227234e-02 -7.41956734e-04 9.99752769e-01 4.46553615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.031652532 meters Centerline goodness [0,1] 0.27933553732500715 Centerline is valid? [False, False] Translation: X:-1.91, Y:-2.99, Z:0.45 [[ 0.99885329 -0.04255797 0.02192991 -1.91222121] [ 0.04267577 0.9990768 -0.00493175 -2.99363422] [-0.02169978 0.00586197 0.99974735 0.4493371 ] [ 0. 0. 0. 1. ]] SLAMing on 45.061652532 meters Centerline goodness [0,1] 0.27964908701417934 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.00, Z:0.45 [[ 0.99888145 -0.04208972 0.02154755 -1.91145194] [ 0.04218355 0.99910219 -0.00391851 -2.99690971] [-0.02136327 0.00482308 0.99976015 0.44949296] [ 0. 0. 0. 1. ]] SLAMing on 45.091652532 meters Centerline goodness [0,1] 0.2676153971619638 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.00, Z:0.45 [[ 0.99885167 -0.04333267 0.020436 -1.90919487] [ 0.04343762 0.99904499 -0.00471971 -2.99638969] [-0.02021196 0.00560199 0.99978002 0.45022931] [ 0. 0. 0. 1. ]] SLAMing on 45.121652532 meters Centerline goodness [0,1] 0.29496872007009967 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.00, Z:0.45 [[ 9.99151811e-01 -4.06235259e-02 6.73699163e-03 -1.90474513e+00] [ 4.06243797e-02 9.99174489e-01 1.01241909e-05 -3.00250356e+00] [-6.73184145e-03 2.63570502e-04 9.99977306e-01 4.52024032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.151652532 meters Centerline goodness [0,1] 0.30077225584285916 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.00, Z:0.45 [[ 9.99179432e-01 -3.97728948e-02 7.65373092e-03 -1.90761250e+00] [ 3.97706533e-02 9.99208736e-01 4.44903487e-04 -3.00253795e+00] [-7.66536990e-03 -1.40144535e-04 9.99970611e-01 4.52390715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.181652532 meters Centerline goodness [0,1] 0.30040371910937114 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.00, Z:0.45 [[ 0.99933689 -0.0356205 0.00754671 -1.90778998] [ 0.03558599 0.99935576 0.0046588 -3.00272851] [-0.0077078 -0.00438715 0.99996067 0.45236807] [ 0. 0. 0. 1. ]] SLAMing on 45.211652532 meters Centerline goodness [0,1] 0.3036219638821589 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.00, Z:0.45 [[ 0.99933081 -0.03572618 0.00784683 -1.9088098 ] [ 0.03569273 0.99935329 0.00436277 -3.00182843] [-0.00799762 -0.00407978 0.9999597 0.45269733] [ 0. 0. 0. 1. ]] SLAMing on 45.241652531999996 meters Centerline goodness [0,1] 0.31434624943975875 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.00, Z:0.46 [[ 9.99567930e-01 -2.78432966e-02 9.41833400e-03 -1.90407787e+00] [ 2.78460411e-02 9.99612211e-01 -1.60370019e-04 -2.99540383e+00] [-9.41021644e-03 4.22564044e-04 9.99955634e-01 4.59869288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.271652532 meters Centerline goodness [0,1] 0.3490298492236753 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.00, Z:0.46 [[ 9.99575904e-01 -2.73064508e-02 1.01177762e-02 -1.90609679e+00] [ 2.73057764e-02 9.99627107e-01 2.04819173e-04 -2.99583106e+00] [-1.01195962e-02 7.15414237e-05 9.99948793e-01 4.60009779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.301652532 meters Centerline goodness [0,1] 0.34206339493330074 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.01, Z:0.46 [[ 9.99742173e-01 -2.26471312e-02 -1.64146958e-03 -1.91098850e+00] [ 2.26544373e-02 9.99732873e-01 4.57810580e-03 -3.01357203e+00] [ 1.53735013e-03 -4.61411201e-03 9.99988173e-01 4.62521472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.331652532 meters Centerline goodness [0,1] 0.3442455868563741 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.00, Z:0.47 [[ 9.99803941e-01 -1.96030207e-02 -2.79290748e-03 -1.90470278e+00] [ 1.95973679e-02 9.99805878e-01 -2.03717607e-03 -3.00301321e+00] [ 2.83230012e-03 1.98204303e-03 9.99994025e-01 4.68961401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.361652532 meters Centerline goodness [0,1] 0.3629649276722502 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.00, Z:0.47 [[ 9.99830016e-01 -1.83587109e-02 -1.70184531e-03 -1.90676235e+00] [ 1.83550941e-02 9.99829290e-01 -2.11702806e-03 -2.99947168e+00] [ 1.74042069e-03 2.08543067e-03 9.99996311e-01 4.67523047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.391652532 meters Centerline goodness [0,1] 0.35943901991560834 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.00, Z:0.47 [[ 9.99831257e-01 -1.82988006e-02 -1.61575339e-03 -1.90675773e+00] [ 1.82954108e-02 9.99830444e-01 -2.08840035e-03 -2.99961291e+00] [ 1.65369465e-03 2.05848707e-03 9.99996514e-01 4.67094647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.421652532 meters Centerline goodness [0,1] 0.37671093368095165 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.00, Z:0.47 [[ 9.99821954e-01 -1.87735458e-02 -1.90087614e-03 -1.90596676e+00] [ 1.87685705e-02 9.99820468e-01 -2.60227092e-03 -2.99858224e+00] [ 1.94938872e-03 2.56613087e-03 9.99994807e-01 4.66937292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.451652532 meters Centerline goodness [0,1] 0.3754511163217453 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.00, Z:0.47 [[ 9.99819121e-01 -1.87882641e-02 -2.95389917e-03 -1.90412550e+00] [ 1.87827813e-02 9.99821834e-01 -1.87302842e-03 -3.00159041e+00] [ 2.98856384e-03 1.81720719e-03 9.99993883e-01 4.67995865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.481652532 meters Centerline goodness [0,1] 0.34886043951563583 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.01, Z:0.47 [[ 9.99829665e-01 -1.81906235e-02 -3.12119118e-03 -1.90482730e+00] [ 1.81884720e-02 9.99834319e-01 -7.16341182e-04 -3.00527683e+00] [ 3.13370476e-03 6.59449466e-04 9.99994872e-01 4.69371854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.511652532 meters Centerline goodness [0,1] 0.3643044726288146 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.01, Z:0.47 [[ 9.99845353e-01 -1.73106616e-02 -3.10009861e-03 -1.90618512e+00] [ 1.73131855e-02 9.99849804e-01 7.89149870e-04 -3.00967904e+00] [ 3.08597228e-03 -8.42700413e-04 9.99994883e-01 4.71005173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.541652532 meters Centerline goodness [0,1] 0.35995679377178147 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.01, Z:0.47 [[ 9.99847609e-01 -1.71074883e-02 -3.47738774e-03 -1.90617939e+00] [ 1.71128798e-02 9.99852398e-01 1.52663190e-03 -3.01254969e+00] [ 3.45075764e-03 -1.58590738e-03 9.99992789e-01 4.72220802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.571652532 meters Centerline goodness [0,1] 0.35785292320228157 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.01, Z:0.47 [[ 9.99851819e-01 -1.68465718e-02 -3.54016881e-03 -1.90662536e+00] [ 1.68538102e-02 9.99855914e-01 2.02486091e-03 -3.01419349e+00] [ 3.50554676e-03 -2.08422620e-03 9.99991684e-01 4.72914290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.601652532 meters Centerline goodness [0,1] 0.36612499745774774 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.01, Z:0.47 [[ 9.99851462e-01 -1.68722234e-02 -3.51874142e-03 -1.90614949e+00] [ 1.68792113e-02 9.99855604e-01 1.96576042e-03 -3.01422084e+00] [ 3.48506658e-03 -2.02486201e-03 9.99991877e-01 4.72192038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.631652532 meters Centerline goodness [0,1] 0.38733440507926176 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.01, Z:0.47 [[ 9.99837396e-01 -1.75677915e-02 -4.06880429e-03 -1.90454186e+00] [ 1.75736679e-02 9.99844573e-01 1.41304494e-03 -3.01351567e+00] [ 4.04334781e-03 -1.48431899e-03 9.99990724e-01 4.71881299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.661652532 meters Centerline goodness [0,1] 0.3771883397117498 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.01, Z:0.47 [[ 9.99817819e-01 -1.84751491e-02 -4.79553353e-03 -1.90250573e+00] [ 1.84786302e-02 9.99829023e-01 6.82612891e-04 -3.01263904e+00] [ 4.78210222e-03 -7.71103422e-04 9.99988268e-01 4.71616807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.691652532 meters Centerline goodness [0,1] 0.3790066063126988 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.01, Z:0.47 [[ 9.99802900e-01 -1.91314955e-02 -5.30539579e-03 -1.90153357e+00] [ 1.91328070e-02 9.99816932e-01 1.96557434e-04 -3.01217372e+00] [ 5.30066410e-03 -2.98025806e-04 9.99985907e-01 4.71919066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.721652532 meters Centerline goodness [0,1] 0.38523552943097394 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.01, Z:0.47 [[ 9.99804911e-01 -1.90396393e-02 -5.25662137e-03 -1.90187732e+00] [ 1.90419300e-02 9.99818611e-01 3.86069399e-04 -3.01276730e+00] [ 5.24831726e-03 -4.86090298e-04 9.99986109e-01 4.72078402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.751652532 meters Centerline goodness [0,1] 0.38707704851202607 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.01, Z:0.47 [[ 9.99851365e-01 -1.63005115e-02 -5.61614300e-03 -1.90071561e+00] [ 1.63167451e-02 9.99862791e-01 2.85694125e-03 -3.00939937e+00] [ 5.56880281e-03 -2.94815378e-03 9.99980148e-01 4.71423978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.781652532 meters Centerline goodness [0,1] 0.3936924456034553 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.01, Z:0.47 [[ 9.99846247e-01 -1.65879777e-02 -5.68513761e-03 -1.90135844e+00] [ 1.66027900e-02 9.99858866e-01 2.56822562e-03 -3.00881986e+00] [ 5.64173357e-03 -2.66221989e-03 9.99980542e-01 4.72426716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.811652532 meters Centerline goodness [0,1] 0.3841956304848003 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.00, Z:0.48 [[ 0.99991343 -0.01171536 -0.00598962 -1.89527938] [ 0.01169447 0.99992545 -0.00351174 -3.0017281 ] [ 0.00603032 0.00344139 0.9999759 0.48085028] [ 0. 0. 0. 1. ]] SLAMing on 45.841652532 meters Centerline goodness [0,1] 0.3927989573150863 Centerline is valid? [False, False] Translation: X:-1.89, Y:-3.00, Z:0.48 [[ 9.99945517e-01 -8.18202560e-03 -6.48206282e-03 -1.89428910e+00] [ 8.18169270e-03 9.99966526e-01 -7.78735539e-05 -3.00018608e+00] [ 6.48248300e-03 2.48350651e-05 9.99978988e-01 4.80966496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.871652532 meters Centerline goodness [0,1] 0.40219538521067955 Centerline is valid? [False, False] Translation: X:-1.89, Y:-3.00, Z:0.48 [[ 9.99947620e-01 -8.11374681e-03 -6.23889002e-03 -1.89482675e+00] [ 8.11272730e-03 9.99967073e-01 -1.88702743e-04 -2.99958710e+00] [ 6.24021568e-03 1.38078446e-04 9.99980520e-01 4.80679125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.901652532 meters Centerline goodness [0,1] 0.39280112444236215 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.00, Z:0.48 [[ 9.99953296e-01 -7.86807345e-03 -5.61246968e-03 -1.89615843e+00] [ 7.86565789e-03 9.99968963e-01 -4.52334618e-04 -2.99808646e+00] [ 5.61585448e-03 4.08167726e-04 9.99984148e-01 4.80025135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.931652532 meters Centerline goodness [0,1] 0.39480815860790186 Centerline is valid? [False, False] Translation: X:-1.90, Y:-2.99, Z:0.48 [[ 9.99944881e-01 -8.96708526e-03 -5.46130127e-03 -1.89525685e+00] [ 8.95399415e-03 9.99956992e-01 -2.41681843e-03 -2.99287019e+00] [ 5.48273820e-03 2.36778476e-03 9.99982166e-01 4.78038237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.961652532 meters Centerline goodness [0,1] 0.39480271056755056 Centerline is valid? [False, False] Translation: X:-1.90, Y:-2.99, Z:0.48 [[ 9.99948495e-01 -8.70355851e-03 -5.22061181e-03 -1.89545281e+00] [ 8.69229230e-03 9.99959852e-01 -2.17684567e-03 -2.99350242e+00] [ 5.23934852e-03 2.13135447e-03 9.99984003e-01 4.77320741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.991652531999996 meters Centerline goodness [0,1] 0.3978858178707456 Centerline is valid? [False, False] Translation: X:-1.89, Y:-2.99, Z:0.48 [[ 9.99939666e-01 -9.40430697e-03 -5.67651186e-03 -1.89478391e+00] [ 9.38858493e-03 9.99952034e-01 -2.78998859e-03 -2.99250953e+00] [ 5.70247749e-03 2.73652584e-03 9.99979996e-01 4.77867090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.021652532 meters Centerline goodness [0,1] 0.3957705158503789 Centerline is valid? [False, False] Translation: X:-1.89, Y:-2.99, Z:0.48 [[ 9.99954621e-01 -6.88141894e-03 -6.58806450e-03 -1.89309911e+00] [ 6.88303998e-03 9.99976287e-01 2.23414671e-04 -2.99264637e+00] [ 6.58637086e-03 -2.68750444e-04 9.99978274e-01 4.78454386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.051652532 meters Centerline goodness [0,1] 0.3935721705126377 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.00, Z:0.48 [[ 0.99996975 -0.0044208 -0.00639913 -1.8963281 ] [ 0.00444424 0.99998345 0.00365318 -2.99966227] [ 0.00638288 -0.0036815 0.99997285 0.48184144] [ 0. 0. 0. 1. ]] SLAMing on 46.081652532 meters Centerline goodness [0,1] 0.3945069935053037 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.00, Z:0.48 [[ 9.99981049e-01 -2.64889857e-03 -5.55746874e-03 -1.89951431e+00] [ 2.68023112e-03 9.99980514e-01 5.63806413e-03 -3.00415737e+00] [ 5.54242579e-03 -5.65285258e-03 9.99968663e-01 4.82997361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.111652532 meters Centerline goodness [0,1] 0.3902821635937659 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.01, Z:0.48 [[ 9.99989941e-01 -7.10970485e-04 -4.42853595e-03 -1.90266993e+00] [ 7.44527771e-04 9.99970991e-01 7.58047864e-03 -3.00816963e+00] [ 4.42301799e-03 -7.58369956e-03 9.99961461e-01 4.83301212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.141652532 meters Centerline goodness [0,1] 0.3901470408537331 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.01, Z:0.48 [[ 9.99994568e-01 4.24829662e-04 -3.26852630e-03 -1.90531120e+00] [-3.97811397e-04 9.99965787e-01 8.26240601e-03 -3.00907286e+00] [ 3.27192459e-03 -8.26106087e-03 9.99960524e-01 4.82723576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.171652532 meters Centerline goodness [0,1] 0.3733162414031661 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.01, Z:0.48 [[ 9.99978360e-01 6.42357525e-03 -1.42025065e-03 -1.90883653e+00] [-6.40475377e-03 9.99896514e-01 1.28817607e-02 -3.00834358e+00] [ 1.50285063e-03 -1.28723856e-02 9.99916018e-01 4.80963602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.201652532 meters Centerline goodness [0,1] 0.3844604082297157 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.01, Z:0.48 [[ 9.99970377e-01 7.69280285e-03 -2.56071415e-04 -1.91202215e+00] [-7.68847661e-03 9.99872910e-01 1.39660987e-02 -3.01060141e+00] [ 3.63477315e-04 -1.39637162e-02 9.99902436e-01 4.81147871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.231652532 meters Centerline goodness [0,1] 0.38071489638887757 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.01, Z:0.48 [[ 9.99957449e-01 9.18579982e-03 8.49585501e-04 -1.91438731e+00] [-9.19780773e-03 9.99838871e-01 1.54153097e-02 -3.01375849e+00] [-7.07846659e-04 -1.54224681e-02 9.99880816e-01 4.80558070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.261652532 meters Centerline goodness [0,1] 0.34903932264104864 Centerline is valid? [False, False] Translation: X:-1.92, Y:-3.01, Z:0.48 [[ 9.99954396e-01 9.43256412e-03 1.49422504e-03 -1.91521768e+00] [-9.45457443e-03 9.99835472e-01 1.54803070e-02 -3.01402118e+00] [-1.34796021e-03 -1.54937283e-02 9.99879056e-01 4.79388228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.291652532 meters Centerline goodness [0,1] 0.367677877474618 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.01, Z:0.48 [[ 9.99973050e-01 7.06831865e-03 1.98466631e-03 -1.91317018e+00] [-7.09169607e-03 9.99902489e-01 1.20299966e-02 -3.00822981e+00] [-1.89944093e-03 -1.20437471e-02 9.99925667e-01 4.75339014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.321652532 meters Centerline goodness [0,1] 0.38005122367672173 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.01, Z:0.47 [[ 9.99976294e-01 6.54263234e-03 2.14624777e-03 -1.91316391e+00] [-6.56627570e-03 9.99915712e-01 1.12005521e-02 -3.00637763e+00] [-2.07278577e-03 -1.12143794e-02 9.99934969e-01 4.74719210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.351652532 meters Centerline goodness [0,1] 0.35952288872152904 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.01, Z:0.47 [[ 9.99972661e-01 6.92401244e-03 2.59518669e-03 -1.91423311e+00] [-6.95373101e-03 9.99908273e-01 1.16228926e-02 -3.00777161e+00] [-2.51447159e-03 -1.16406211e-02 9.99929084e-01 4.74480344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.381652532 meters Centerline goodness [0,1] 0.38033040364583337 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.01, Z:0.48 [[ 9.99970882e-01 7.21299085e-03 2.49171978e-03 -1.91441399e+00] [-7.24336769e-03 9.99896818e-01 1.24051579e-02 -3.01082056e+00] [-2.40198438e-03 -1.24228452e-02 9.99919948e-01 4.75112975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.411652532 meters Centerline goodness [0,1] 0.37633663971322073 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.01, Z:0.48 [[ 9.99997414e-01 1.87950254e-03 1.28063317e-03 -1.91307563e+00] [-1.89005807e-03 9.99963837e-01 8.29168696e-03 -3.01332679e+00] [-1.26500261e-03 -8.29408598e-03 9.99964803e-01 4.77667861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.441652532 meters Centerline goodness [0,1] 0.37918336622383175 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.02, Z:0.48 [[ 9.99995776e-01 2.44246278e-03 1.57531207e-03 -1.91388023e+00] [-2.45653114e-03 9.99956560e-01 8.99128275e-03 -3.01535696e+00] [-1.55328277e-03 -8.99511458e-03 9.99958337e-01 4.77604311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.471652532 meters Centerline goodness [0,1] 0.3703921967079862 Centerline is valid? [False, False] Translation: X:-1.92, Y:-3.02, Z:0.48 [[ 9.99987198e-01 4.32689395e-03 2.62336077e-03 -1.91644193e+00] [-4.35470568e-03 9.99933376e-01 1.06902030e-02 -3.01817870e+00] [-2.57693062e-03 -1.07014901e-02 9.99939417e-01 4.77312672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.501652532 meters Centerline goodness [0,1] 0.38170237877215474 Centerline is valid? [False, False] Translation: X:-1.92, Y:-3.02, Z:0.48 [[ 0.99998044 0.00483532 0.00396796 -1.91910065] [-0.00487679 0.99993288 0.01050967 -3.01679049] [-0.00391687 -0.01052881 0.9999369 0.47614792] [ 0. 0. 0. 1. ]] SLAMing on 46.531652532 meters Centerline goodness [0,1] 0.382830626450116 Centerline is valid? [False, False] Translation: X:-1.92, Y:-3.02, Z:0.48 [[ 9.99990899e-01 4.69616731e-04 4.24049029e-03 -1.91936980e+00] [-4.94355061e-04 9.99982856e-01 5.83467483e-03 -3.01535558e+00] [-4.23767753e-03 -5.83671804e-03 9.99973987e-01 4.75485272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.561652532 meters Centerline goodness [0,1] 0.385670948958609 Centerline is valid? [False, False] Translation: X:-1.92, Y:-3.01, Z:0.48 [[ 9.99993736e-01 -9.81018088e-04 3.40080792e-03 -1.91705438e+00] [ 9.65418011e-04 9.99989019e-01 4.58577860e-03 -3.01384395e+00] [-3.40526931e-03 -4.58246668e-03 9.99983702e-01 4.75455653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.591652532 meters Centerline goodness [0,1] 0.38698853005775646 Centerline is valid? [False, False] Translation: X:-1.92, Y:-3.01, Z:0.48 [[ 9.99994901e-01 -1.63802463e-03 2.74115610e-03 -1.91608473e+00] [ 1.62621151e-03 9.99989406e-01 4.30623606e-03 -3.01433292e+00] [-2.74818078e-03 -4.30175641e-03 9.99986971e-01 4.76457202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.621652532 meters Centerline goodness [0,1] 0.38646949942029574 Centerline is valid? [False, False] Translation: X:-1.92, Y:-3.02, Z:0.48 [[ 9.99994389e-01 -6.50336079e-04 3.28630633e-03 -1.91814634e+00] [ 6.31755224e-04 9.99983828e-01 5.65190275e-03 -3.01812841e+00] [-3.28992882e-03 -5.64979489e-03 9.99978628e-01 4.77263766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.651652532 meters Centerline goodness [0,1] 0.38374125874125875 Centerline is valid? [False, False] Translation: X:-1.92, Y:-3.02, Z:0.48 [[ 0.99997835 0.00461909 0.00468631 -1.92100503] [-0.00466762 0.99993505 0.01039786 -3.0185103 ] [-0.00463798 -0.01041951 0.99993496 0.47637909] [ 0. 0. 0. 1. ]] SLAMing on 46.681652532 meters Centerline goodness [0,1] 0.38072367617729663 Centerline is valid? [False, False] Translation: X:-1.92, Y:-3.02, Z:0.48 [[ 0.9999684 0.00524754 0.00597123 -1.92407591] [-0.00531039 0.99993015 0.01055868 -3.01810435] [-0.00591541 -0.01059006 0.99992643 0.47594617] [ 0. 0. 0. 1. ]] SLAMing on 46.711652532 meters Centerline goodness [0,1] 0.3789676894940053 Centerline is valid? [False, False] Translation: X:-1.93, Y:-3.02, Z:0.48 [[ 0.99995926 0.00572151 0.00698151 -1.92657782] [-0.00579493 0.99992765 0.01054123 -3.01716222] [-0.00692069 -0.01058126 0.99992007 0.47571657] [ 0. 0. 0. 1. ]] SLAMing on 46.741652531999996 meters Centerline goodness [0,1] 0.3789676894940053 Centerline is valid? [False, False] Translation: X:-1.93, Y:-3.02, Z:0.48 [[ 0.99995926 0.00572151 0.00698151 -1.92657782] [-0.00579493 0.99992765 0.01054123 -3.01716222] [-0.00692069 -0.01058126 0.99992007 0.47571657] [ 0. 0. 0. 1. ]] SLAMing on 46.771652532 meters Centerline goodness [0,1] 0.3722130764384286 Centerline is valid? [False, False] Translation: X:-1.93, Y:-3.02, Z:0.48 [[ 0.99994663 0.00664205 0.00791376 -1.92903829] [-0.00673081 0.99991415 0.01124262 -3.01833247] [-0.00783841 -0.01129528 0.99990548 0.47571352] [ 0. 0. 0. 1. ]] SLAMing on 46.801652532 meters Centerline goodness [0,1] 0.3625491514373612 Centerline is valid? [False, False] Translation: X:-1.93, Y:-3.02, Z:0.48 [[ 0.99993588 0.00752907 0.00845833 -1.93077637] [-0.00763194 0.9998965 0.01219577 -3.0207197 ] [-0.00836563 -0.01225954 0.99988985 0.47621385] [ 0. 0. 0. 1. ]] SLAMing on 46.831652532 meters Centerline goodness [0,1] 0.37243086412238524 Centerline is valid? [False, False] Translation: X:-1.93, Y:-3.02, Z:0.48 [[ 0.99993512 0.00769251 0.00840076 -1.93076012] [-0.00779769 0.99989072 0.01255988 -3.02229074] [-0.00830323 -0.01262457 0.99988583 0.4763808 ] [ 0. 0. 0. 1. ]] SLAMing on 46.861652532 meters Centerline goodness [0,1] 0.36715093802140564 Centerline is valid? [False, False] Translation: X:-1.93, Y:-3.03, Z:0.48 [[ 0.99993658 0.00693759 0.00887143 -1.93309911] [-0.00704619 0.9998999 0.01226962 -3.02732782] [-0.00878542 -0.01233135 0.99988537 0.47772752] [ 0. 0. 0. 1. ]] SLAMing on 46.891652532 meters Centerline goodness [0,1] 0.3776750626132638 Centerline is valid? [False, False] Translation: X:-1.93, Y:-3.03, Z:0.48 [[ 0.99993848 0.0070652 0.00855115 -1.93279258] [-0.00717551 0.99989054 0.01293882 -3.03022029] [-0.0084588 -0.01299938 0.99987973 0.47856958] [ 0. 0. 0. 1. ]] SLAMing on 46.921652532 meters Centerline goodness [0,1] 0.3778157621634821 Centerline is valid? [False, False] Translation: X:-1.93, Y:-3.03, Z:0.48 [[ 0.9999298 0.00766315 0.00903743 -1.93386174] [-0.00778575 0.99987708 0.01360932 -3.03215642] [-0.00893203 -0.01367873 0.99986655 0.47826841] [ 0. 0. 0. 1. ]] SLAMing on 46.951652532 meters Centerline goodness [0,1] 0.37790922210703903 Centerline is valid? [False, False] Translation: X:-1.93, Y:-3.03, Z:0.48 [[ 0.99993065 0.00738715 0.00917185 -1.93359067] [-0.00750734 0.99988549 0.01313939 -3.03110739] [-0.00907374 -0.01320733 0.99987161 0.47739202] [ 0. 0. 0. 1. ]] SLAMing on 46.981652532 meters Centerline goodness [0,1] 0.3785762215579821 Centerline is valid? [False, False] Translation: X:-1.93, Y:-3.03, Z:0.48 [[ 0.99993155 0.00700982 0.00936743 -1.93309653] [-0.00712546 0.99989812 0.01236873 -3.02928308] [-0.00927978 -0.01243463 0.99987963 0.4759684 ] [ 0. 0. 0. 1. ]] SLAMing on 47.011652532 meters Centerline goodness [0,1] 0.37637440662149557 Centerline is valid? [False, False] Translation: X:-1.93, Y:-3.03, Z:0.47 [[ 0.99992292 0.0071795 0.01012986 -1.93380813] [-0.00729856 0.99990414 0.01176622 -3.02701975] [-0.01004441 -0.01183925 0.99987946 0.47417682] [ 0. 0. 0. 1. ]] SLAMing on 47.041652532 meters Centerline goodness [0,1] 0.3711656441717791 Centerline is valid? [False, False] Translation: X:-1.94, Y:-3.03, Z:0.47 [[ 0.99990694 0.00810903 0.01097081 -1.93580887] [-0.0082481 0.99988545 0.01269057 -3.02930353] [-0.01086664 -0.01277988 0.99985929 0.47382251] [ 0. 0. 0. 1. ]] SLAMing on 47.071652532 meters Centerline goodness [0,1] 0.3706019693432139 Centerline is valid? [False, False] Translation: X:-1.94, Y:-3.03, Z:0.47 [[ 0.99989216 0.00889743 0.01168354 -1.93782453] [-0.00905549 0.99986725 0.01354541 -3.03155216] [-0.01156147 -0.01364975 0.99984 0.47402 ] [ 0. 0. 0. 1. ]] SLAMing on 47.101652532 meters Centerline goodness [0,1] 0.37141348711596645 Centerline is valid? [False, False] Translation: X:-1.94, Y:-3.03, Z:0.47 [[ 0.99987469 0.00981772 0.01241815 -1.93989658] [-0.00999865 0.99984353 0.01459276 -3.03444468] [-0.01227294 -0.01471509 0.9998164 0.47418769] [ 0. 0. 0. 1. ]] SLAMing on 47.131652532 meters Centerline goodness [0,1] 0.3713253940881702 Centerline is valid? [False, False] Translation: X:-1.94, Y:-3.04, Z:0.47 [[ 0.99984794 0.01162115 0.01300153 -1.94162318] [-0.01183859 0.99978921 0.01677432 -3.03952753] [-0.01280386 -0.01692568 0.99977477 0.47448157] [ 0. 0. 0. 1. ]] SLAMing on 47.161652532 meters Centerline goodness [0,1] 0.37260919937397097 Centerline is valid? [False, False] Translation: X:-1.94, Y:-3.05, Z:0.47 [[ 0.99982901 0.01333285 0.01281348 -1.94109944] [-0.01358078 0.99971838 0.01946075 -3.04681482] [-0.01255041 -0.01963144 0.99972851 0.47459965] [ 0. 0. 0. 1. ]] SLAMing on 47.191652532 meters Centerline goodness [0,1] 0.37523360689038754 Centerline is valid? [False, False] Translation: X:-1.94, Y:-3.05, Z:0.48 [[ 0.99986186 0.00985306 0.0133856 -1.9432202 ] [-0.01006832 0.99981953 0.01610991 -3.04937201] [-0.01322445 -0.01624246 0.99978062 0.47528051] [ 0. 0. 0. 1. ]] SLAMing on 47.221652532 meters Centerline goodness [0,1] 0.36839857651245556 Centerline is valid? [False, False] Translation: X:-1.95, Y:-3.05, Z:0.48 [[ 0.99986884 0.00804348 0.01405753 -1.94568411] [-0.00824832 0.99985976 0.01457514 -3.05463337] [-0.01393832 -0.01468918 0.99979495 0.47610823] [ 0. 0. 0. 1. ]] SLAMing on 47.251652532 meters Centerline goodness [0,1] 0.3667215346786157 Centerline is valid? [False, False] Translation: X:-1.94, Y:-3.05, Z:0.48 [[ 0.99988081 0.00711103 0.01370417 -1.94449106] [-0.00729698 0.99988135 0.01356649 -3.05304319] [-0.01360607 -0.01366487 0.99981406 0.4758042 ] [ 0. 0. 0. 1. ]] SLAMing on 47.281652532 meters Centerline goodness [0,1] 0.3795494286527591 Centerline is valid? [False, False] Translation: X:-1.94, Y:-3.05, Z:0.48 [[ 9.99906725e-01 2.42609065e-03 1.34408113e-02 -1.94394896e+00] [-2.54595810e-03 9.99957080e-01 8.90825013e-03 -3.05268313e+00] [-1.34186222e-02 -8.94163896e-03 9.99869985e-01 4.76049445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.311652532 meters Centerline goodness [0,1] 0.376695362624868 Centerline is valid? [False, False] Translation: X:-1.94, Y:-3.05, Z:0.48 [[ 9.99904587e-01 2.56469404e-03 1.35734792e-02 -1.94427570e+00] [-2.68779995e-03 9.99955353e-01 9.05913339e-03 -3.05323119e+00] [-1.35496393e-02 -9.09475182e-03 9.99866838e-01 4.75949774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.341652532 meters Centerline goodness [0,1] 0.3554914469139816 Centerline is valid? [False, False] Translation: X:-1.95, Y:-3.06, Z:0.48 [[ 0.99989245 0.00366017 0.01420184 -1.94620558] [-0.0038076 0.99993901 0.01036747 -3.05645885] [-0.01416302 -0.01042043 0.9998454 0.47622877] [ 0. 0. 0. 1. ]] SLAMing on 47.371652532 meters Centerline goodness [0,1] 0.36765512896079344 Centerline is valid? [False, False] Translation: X:-1.95, Y:-3.06, Z:0.48 [[ 0.99987959 0.00447521 0.01485846 -1.94818075] [-0.00464381 0.99992501 0.01133147 -3.05876829] [-0.01480663 -0.01139911 0.9998254 0.47674312] [ 0. 0. 0. 1. ]] SLAMing on 47.401652532 meters Centerline goodness [0,1] 0.34780137236591013 Centerline is valid? [False, False] Translation: X:-1.95, Y:-3.06, Z:0.48 [[ 0.99987968 0.00469853 0.0147833 -1.948087 ] [-0.00487287 0.99991875 0.01177902 -3.06043352] [-0.01472676 -0.01184964 0.99982134 0.4768375 ] [ 0. 0. 0. 1. ]] SLAMing on 47.431652532 meters Centerline goodness [0,1] 0.37766637575855977 Centerline is valid? [False, False] Translation: X:-1.95, Y:-3.07, Z:0.48 [[ 9.99879709e-01 2.25672362e-03 1.53451824e-02 -1.94992022e+00] [-2.40570927e-03 9.99950085e-01 9.69743497e-03 -3.06575258e+00] [-1.53225320e-02 -9.73318450e-03 9.99835229e-01 4.77323288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.461652532 meters Centerline goodness [0,1] 0.3802310706816382 Centerline is valid? [False, False] Translation: X:-1.95, Y:-3.07, Z:0.48 [[ 9.99892757e-01 1.47145496e-03 1.45708371e-02 -1.94817611e+00] [-1.60526101e-03 9.99956614e-01 9.17570755e-03 -3.06562989e+00] [-1.45567033e-02 -9.19811352e-03 9.99851738e-01 4.77717556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.491652531999996 meters Centerline goodness [0,1] 0.36909749054378327 Centerline is valid? [False, False] Translation: X:-1.95, Y:-3.07, Z:0.48 [[ 0.99990322 -0.00323136 0.0135316 -1.94730648] [ 0.00315841 0.99998039 0.00540842 -3.06807468] [-0.01354881 -0.00536516 0.99989382 0.48025361] [ 0. 0. 0. 1. ]] SLAMing on 47.521652532 meters Centerline goodness [0,1] 0.3733360513709102 Centerline is valid? [False, False] Translation: X:-1.95, Y:-3.07, Z:0.48 [[ 0.99991079 -0.00386017 0.01278746 -1.94590419] [ 0.00379353 0.99997912 0.00523129 -3.06877137] [-0.01280739 -0.00518231 0.99990455 0.48089191] [ 0. 0. 0. 1. ]] SLAMing on 47.551652532 meters Centerline goodness [0,1] 0.3824622697081107 Centerline is valid? [False, False] Translation: X:-1.94, Y:-3.07, Z:0.48 [[ 0.99991423 -0.00552946 0.01187283 -1.94370294] [ 0.00548327 0.99997729 0.00391943 -3.06730566] [-0.01189423 -0.00385399 0.99992183 0.48117124] [ 0. 0. 0. 1. ]] SLAMing on 47.581652532 meters Centerline goodness [0,1] 0.3502285424073134 Centerline is valid? [False, False] Translation: X:-1.94, Y:-3.07, Z:0.48 [[ 9.99915861e-01 -6.75924071e-03 1.10717664e-02 -1.94198181e+00] [ 6.72502504e-03 9.99972505e-01 3.12467352e-03 -3.06693220e+00] [-1.10925824e-02 -3.04995270e-03 9.99933824e-01 4.81564564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.611652532 meters Centerline goodness [0,1] 0.3577141461627694 Centerline is valid? [False, False] Translation: X:-1.94, Y:-3.07, Z:0.48 [[ 0.99981431 -0.01688782 0.00928138 -1.93780744] [ 0.01693851 0.9998419 -0.00540973 -3.06886177] [-0.00918855 0.00556594 0.99994229 0.48273325] [ 0. 0. 0. 1. ]] SLAMing on 47.641652532 meters Centerline goodness [0,1] 0.33920417482061316 Centerline is valid? [False, False] Translation: X:-1.94, Y:-3.07, Z:0.48 [[ 0.99973654 -0.02122775 0.00873067 -1.93632327] [ 0.02130949 0.99972894 -0.00937875 -3.07045595] [-0.00852921 0.00956233 0.9999179 0.48280913] [ 0. 0. 0. 1. ]] SLAMing on 47.671652532 meters Centerline goodness [0,1] 0.33992513020833337 Centerline is valid? [False, False] Translation: X:-1.94, Y:-3.07, Z:0.48 [[ 0.99964549 -0.02531341 0.00825403 -1.93553467] [ 0.02541833 0.99959413 -0.01286442 -3.07349334] [-0.00792503 0.01306966 0.99988318 0.48362316] [ 0. 0. 0. 1. ]] SLAMing on 47.701652532 meters Centerline goodness [0,1] 0.3151918639083464 Centerline is valid? [False, False] Translation: X:-1.93, Y:-3.08, Z:0.49 [[ 9.99445002e-01 -3.31459463e-02 3.32169442e-03 -1.92683022e+00] [ 3.31898760e-02 9.99348451e-01 -1.41811920e-02 -3.07611799e+00] [-2.84948114e-03 1.42835681e-02 9.99893924e-01 4.92002207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.731652532 meters Centerline goodness [0,1] 0.35036823959034624 Centerline is valid? [False, False] Translation: X:-1.93, Y:-3.08, Z:0.49 [[ 9.99306940e-01 -3.71179468e-02 2.81036245e-03 -1.92663014e+00] [ 3.71609006e-02 9.99161318e-01 -1.71967752e-02 -3.08042461e+00] [-2.16969646e-03 1.72892924e-02 9.99848175e-01 4.93948000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.761652532 meters Centerline goodness [0,1] 0.34615855150477126 Centerline is valid? [False, False] Translation: X:-1.92, Y:-3.08, Z:0.50 [[ 9.99242430e-01 -3.88951390e-02 1.31655004e-03 -1.92380479e+00] [ 3.89124418e-02 9.99083655e-01 -1.78233715e-02 -3.08226044e+00] [-6.22101114e-04 1.78610993e-02 9.99840284e-01 4.95367618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.791652532 meters Centerline goodness [0,1] 0.3590632777120476 Centerline is valid? [False, False] Translation: X:-1.92, Y:-3.09, Z:0.50 [[ 9.99081442e-01 -4.28414878e-02 9.38141915e-04 -1.92332601e+00] [ 4.28517427e-02 9.98860286e-01 -2.10203830e-02 -3.08609175e+00] [-3.65282206e-05 2.10412755e-02 9.99778607e-01 4.96526498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.821652532 meters Centerline goodness [0,1] 0.33082660797260943 Centerline is valid? [False, False] Translation: X:-1.92, Y:-3.09, Z:0.50 [[ 9.98830739e-01 -4.83441261e-02 9.71355419e-06 -1.92103460e+00] [ 4.83282198e-02 9.98496908e-01 -2.58516369e-02 -3.08614623e+00] [ 1.24007584e-03 2.58218791e-02 9.99665791e-01 4.97443281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.851652532 meters Centerline goodness [0,1] 0.3278955954323002 Centerline is valid? [False, False] Translation: X:-1.92, Y:-3.09, Z:0.50 [[ 9.98810284e-01 -4.87640819e-02 -2.84868541e-04 -1.92051318e+00] [ 4.87398089e-02 9.98466467e-01 -2.62515583e-02 -3.08532072e+00] [ 1.56456482e-03 2.62064419e-02 9.99655328e-01 4.97714110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.881652532 meters Centerline goodness [0,1] 0.36780299175740305 Centerline is valid? [False, False] Translation: X:-1.92, Y:-3.09, Z:0.50 [[ 9.98809755e-01 -4.87739506e-02 -4.19388208e-04 -1.92057842e+00] [ 4.87463365e-02 9.98469041e-01 -2.61413171e-02 -3.08584146e+00] [ 1.69376145e-03 2.60897589e-02 9.99658169e-01 4.98166710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.911652532 meters Centerline goodness [0,1] 0.35671489708579585 Centerline is valid? [False, False] Translation: X:-1.92, Y:-3.09, Z:0.50 [[ 9.98828101e-01 -4.83953198e-02 -5.63094134e-04 -1.92104505e+00] [ 4.83655368e-02 9.98508239e-01 -2.53391209e-02 -3.08845035e+00] [ 1.78854899e-03 2.52821917e-02 9.99678754e-01 4.99096470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.941652532 meters Centerline goodness [0,1] 0.3813102434242771 Centerline is valid? [False, False] Translation: X:-1.92, Y:-3.09, Z:0.50 [[ 9.98865843e-01 -4.76072597e-02 -7.59399945e-04 -1.92238129e+00] [ 4.75756387e-02 9.98582844e-01 -2.38508457e-02 -3.09254896e+00] [ 1.89379716e-03 2.37876662e-02 9.99715240e-01 5.01263843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.971652532 meters Centerline goodness [0,1] 0.38258009153318073 Centerline is valid? [False, False] Translation: X:-1.92, Y:-3.09, Z:0.50 [[ 9.98881828e-01 -4.72686721e-02 -8.75817440e-04 -1.92284908e+00] [ 4.72358069e-02 9.98615906e-01 -2.31311725e-02 -3.09480322e+00] [ 1.96798503e-03 2.30639379e-02 9.99732055e-01 5.02092079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.001652532 meters Centerline goodness [0,1] 0.39251515955817795 Centerline is valid? [False, False] Translation: X:-1.92, Y:-3.09, Z:0.50 [[ 9.98979797e-01 -4.51178040e-02 -1.93623647e-03 -1.92032218e+00] [ 4.50682085e-02 9.98769619e-01 -2.06907121e-02 -3.09299295e+00] [ 2.86737366e-03 2.05823407e-02 9.99784049e-01 5.01819515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.031652532 meters Centerline goodness [0,1] 0.3818170664376419 Centerline is valid? [False, False] Translation: X:-1.92, Y:-3.10, Z:0.50 [[ 9.98778474e-01 -4.93631109e-02 -2.20057867e-03 -1.91946089e+00] [ 4.92948700e-02 9.98485932e-01 -2.44102426e-02 -3.09502768e+00] [ 3.40221235e-03 2.42719476e-02 9.99699604e-01 5.02303568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.061652532 meters Centerline goodness [0,1] 0.3698520837169337 Centerline is valid? [False, False] Translation: X:-1.92, Y:-3.09, Z:0.50 [[ 0.99866701 -0.05150144 -0.00343673 -1.91615626] [ 0.05139541 0.99834156 -0.02593532 -3.0944577 ] [ 0.00476673 0.02572412 0.99965772 0.5024011 ] [ 0. 0. 0. 1. ]] SLAMing on 48.091652532 meters Centerline goodness [0,1] 0.3495673873468469 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.09, Z:0.50 [[ 0.99854622 -0.0536862 -0.0048212 -1.91309321] [ 0.05353545 0.99819297 -0.02729014 -3.09453169] [ 0.00627759 0.02699236 0.99961593 0.50320783] [ 0. 0. 0. 1. ]] SLAMing on 48.121652532 meters Centerline goodness [0,1] 0.37787565297551984 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.10, Z:0.50 [[ 0.99832457 -0.0576389 -0.00508134 -1.91308711] [ 0.05745795 0.99788125 -0.03052202 -3.09795643] [ 0.00682983 0.03017892 0.99952118 0.50474697] [ 0. 0. 0. 1. ]] SLAMing on 48.151652532 meters Centerline goodness [0,1] 0.3517566321827307 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.10, Z:0.51 [[ 0.99777112 -0.0660389 -0.00957338 -1.90402143] [ 0.06567966 0.99726343 -0.03393878 -3.09724134] [ 0.01178847 0.03323436 0.99937806 0.51105419] [ 0. 0. 0. 1. ]] SLAMing on 48.181652532 meters Centerline goodness [0,1] 0.3564959016393443 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.10, Z:0.51 [[ 0.99769122 -0.06710921 -0.01042066 -1.9017479 ] [ 0.0667139 0.99717475 -0.03452201 -3.09728778] [ 0.01270797 0.0337471 0.99934961 0.51103293] [ 0. 0. 0. 1. ]] SLAMing on 48.211652532 meters Centerline goodness [0,1] 0.38771199475011797 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.10, Z:0.51 [[ 0.99759022 -0.06842221 -0.01149598 -1.89955967] [ 0.06797848 0.99706026 -0.03535201 -3.09687074] [ 0.01388105 0.03448534 0.9993088 0.51181244] [ 0. 0. 0. 1. ]] SLAMing on 48.241652531999996 meters Centerline goodness [0,1] 0.3203485392106612 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.10, Z:0.51 [[ 0.9975961 -0.06829365 -0.01174769 -1.8994512 ] [ 0.06784703 0.9970835 -0.03494681 -3.09824126] [ 0.01410007 0.03406575 0.99932013 0.51238359] [ 0. 0. 0. 1. ]] SLAMing on 48.271652532 meters Centerline goodness [0,1] 0.3269124593583216 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.10, Z:0.51 [[ 0.99742129 -0.07061174 -0.01283546 -1.89696686] [ 0.07010229 0.9968698 -0.03655491 -3.09713224] [ 0.01537649 0.03556085 0.99924921 0.51311839] [ 0. 0. 0. 1. ]] SLAMing on 48.301652532 meters Centerline goodness [0,1] 0.32999610200439033 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.10, Z:0.51 [[ 0.99708425 -0.07513306 -0.0133427 -1.89583313] [ 0.0745446 0.99640832 -0.04016928 -3.09966327] [ 0.01631282 0.03905753 0.9991038 0.51438228] [ 0. 0. 0. 1. ]] SLAMing on 48.331652532 meters Centerline goodness [0,1] 0.3450095476664682 Centerline is valid? [False, False] Translation: X:-1.89, Y:-3.10, Z:0.52 [[ 0.9969771 -0.07631202 -0.01459908 -1.89334187] [ 0.07566881 0.99631223 -0.04044965 -3.10144584] [ 0.01763204 0.03922268 0.99907492 0.51557546] [ 0. 0. 0. 1. ]] SLAMing on 48.361652532 meters Centerline goodness [0,1] 0.33837006663249614 Centerline is valid? [False, False] Translation: X:-1.89, Y:-3.11, Z:0.52 [[ 0.99669733 -0.07983933 -0.01483622 -1.89367335] [ 0.07914015 0.99594012 -0.04289648 -3.10712764] [ 0.01820081 0.04158066 0.99896936 0.51768613] [ 0. 0. 0. 1. ]] SLAMing on 48.391652532 meters Centerline goodness [0,1] 0.3740039431528793 Centerline is valid? [False, False] Translation: X:-1.89, Y:-3.11, Z:0.52 [[ 0.99668783 -0.07982806 -0.01551938 -1.89335085] [ 0.07911102 0.99596631 -0.04233855 -3.10946322] [ 0.01883659 0.04097056 0.99898278 0.51944808] [ 0. 0. 0. 1. ]] SLAMing on 48.421652532 meters Centerline goodness [0,1] 0.3443258772829879 Centerline is valid? [False, False] Translation: X:-1.89, Y:-3.11, Z:0.52 [[ 0.99688347 -0.07712439 -0.01658814 -1.8915074 ] [ 0.07642342 0.99629678 -0.03939785 -3.10800695] [ 0.01956525 0.03800734 0.9990859 0.5197722 ] [ 0. 0. 0. 1. ]] SLAMing on 48.451652532 meters Centerline goodness [0,1] 0.3145639028389874 Centerline is valid? [False, False] Translation: X:-1.89, Y:-3.11, Z:0.52 [[ 0.99683927 -0.07765154 -0.01678423 -1.89092169] [ 0.07692895 0.99622997 -0.04009711 -3.1063799 ] [ 0.01983456 0.03867918 0.99905481 0.51967603] [ 0. 0. 0. 1. ]] SLAMing on 48.481652532 meters Centerline goodness [0,1] 0.3502289950914953 Centerline is valid? [False, False] Translation: X:-1.89, Y:-3.10, Z:0.52 [[ 0.99706867 -0.07444177 -0.01767719 -1.88915513] [ 0.07375102 0.99659183 -0.03695278 -3.10476868] [ 0.02036778 0.03554075 0.99916065 0.51939029] [ 0. 0. 0. 1. ]] SLAMing on 48.511652532 meters Centerline goodness [0,1] 0.3577380952380952 Centerline is valid? [False, False] Translation: X:-1.89, Y:-3.10, Z:0.52 [[ 0.99735906 -0.07036527 -0.01798986 -1.88890741] [ 0.06974342 0.99701471 -0.03312882 -3.10382547] [ 0.02026727 0.03178666 0.99928917 0.51901132] [ 0. 0. 0. 1. ]] SLAMing on 48.541652532 meters Centerline goodness [0,1] 0.3609988304573527 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.10, Z:0.51 [[ 0.99794247 -0.06263083 -0.01371904 -1.89878429] [ 0.0621984 0.99761413 -0.02995662 -3.10375663] [ 0.01556251 0.02904168 0.99945705 0.51411435] [ 0. 0. 0. 1. ]] SLAMing on 48.571652532 meters Centerline goodness [0,1] 0.35089084579152163 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.10, Z:0.51 [[ 0.99820364 -0.05848511 -0.01299907 -1.9007534 ] [ 0.05812041 0.99794828 -0.026856 -3.09948579] [ 0.01454308 0.02605225 0.99955479 0.5131294 ] [ 0. 0. 0. 1. ]] SLAMing on 48.601652532 meters Centerline goodness [0,1] 0.33395556831935014 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.10, Z:0.51 [[ 0.9984507 -0.05426063 -0.01232843 -1.90229932] [ 0.05396207 0.99826921 -0.0233811 -3.09678523] [ 0.01357577 0.02267961 0.99965061 0.51184227] [ 0. 0. 0. 1. ]] SLAMing on 48.631652532 meters Centerline goodness [0,1] 0.33395556831935014 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.10, Z:0.51 [[ 0.9984507 -0.05426063 -0.01232843 -1.90229932] [ 0.05396207 0.99826921 -0.0233811 -3.09678523] [ 0.01357577 0.02267961 0.99965061 0.51184227] [ 0. 0. 0. 1. ]] SLAMing on 48.661652532 meters Centerline goodness [0,1] 0.3495389773679799 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.10, Z:0.51 [[ 0.99894521 -0.04086983 -0.02093131 -1.90870207] [ 0.04048397 0.99900821 -0.01853777 -3.0991335 ] [ 0.02166818 0.01767083 0.99960904 0.50749669] [ 0. 0. 0. 1. ]] SLAMing on 48.691652532 meters Centerline goodness [0,1] 0.39170685849750675 Centerline is valid? [False, False] Translation: X:-1.92, Y:-3.10, Z:0.50 [[ 0.99939478 -0.03084572 -0.01608137 -1.92171945] [ 0.03059554 0.99941045 -0.01557799 -3.10256216] [ 0.01655241 0.01507655 0.99974933 0.50185986] [ 0. 0. 0. 1. ]] SLAMing on 48.721652532 meters Centerline goodness [0,1] 0.39050439044312846 Centerline is valid? [False, False] Translation: X:-1.92, Y:-3.10, Z:0.50 [[ 0.99963597 -0.02226481 -0.0152384 -1.9231184 ] [ 0.022143 0.99972187 -0.008116 -3.09950906] [ 0.01541487 0.00777562 0.99985095 0.49996619] [ 0. 0. 0. 1. ]] SLAMing on 48.751652532 meters Centerline goodness [0,1] 0.3436977871958923 Centerline is valid? [False, False] Translation: X:-1.94, Y:-3.11, Z:0.50 [[ 9.99950219e-01 -3.88455635e-03 -9.19077126e-03 -1.94202403e+00] [ 3.89477317e-03 9.99991817e-01 1.09400156e-03 -3.10526988e+00] [ 9.18644634e-03 -1.12974307e-03 9.99957166e-01 4.95327381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.781652532 meters Centerline goodness [0,1] 0.38901228781611075 Centerline is valid? [False, False] Translation: X:-1.96, Y:-3.11, Z:0.49 [[ 0.9999765 0.00599441 -0.00332643 -1.95515333] [-0.00597862 0.99997091 0.00473602 -3.10765597] [ 0.00335472 -0.00471602 0.99998325 0.48945913] [ 0. 0. 0. 1. ]] SLAMing on 48.811652532 meters Centerline goodness [0,1] 0.3737521900338182 Centerline is valid? [False, False] Translation: X:-1.97, Y:-3.11, Z:0.48 [[ 9.99861430e-01 1.64304895e-02 2.67574046e-03 -1.96972371e+00] [-1.64516270e-02 9.99832021e-01 8.07919017e-03 -3.10978748e+00] [-2.54254595e-03 -8.12209092e-03 9.99963783e-01 4.83881841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.841652532 meters Centerline goodness [0,1] 0.38584586542772137 Centerline is valid? [False, False] Translation: X:-1.98, Y:-3.11, Z:0.48 [[ 0.99965565 0.02478861 0.00860859 -1.98279466] [-0.02486925 0.9996466 0.009391 -3.11146193] [-0.00837276 -0.00960186 0.99991885 0.47704187] [ 0. 0. 0. 1. ]] SLAMing on 48.871652532 meters Centerline goodness [0,1] 0.3602673764196753 Centerline is valid? [False, False] Translation: X:-1.99, Y:-3.11, Z:0.47 [[ 0.9993289 0.03387994 0.01392508 -1.9939225 ] [-0.03404356 0.99935203 0.01168574 -3.11411089] [-0.01352015 -0.01215196 0.99983475 0.46985457] [ 0. 0. 0. 1. ]] SLAMing on 48.901652532 meters Centerline goodness [0,1] 0.3653490874393487 Centerline is valid? [False, False] Translation: X:-2.01, Y:-3.12, Z:0.46 [[ 0.9986545 0.04820412 0.01911928 -2.00910031] [-0.04852426 0.99868323 0.01664923 -3.121208 ] [-0.01829154 -0.01755458 0.99967858 0.46467914] [ 0. 0. 0. 1. ]] SLAMing on 48.931652532 meters Centerline goodness [0,1] 0.33195913974127256 Centerline is valid? [False, False] Translation: X:-2.03, Y:-3.13, Z:0.46 [[ 0.99800205 0.05797723 0.02511069 -2.0251447 ] [-0.05849511 0.99807914 0.02040475 -3.13327366] [-0.02387944 -0.02183283 0.99947641 0.46142825] [ 0. 0. 0. 1. ]] SLAMing on 48.961652532 meters Centerline goodness [0,1] 0.3449150650457654 Centerline is valid? [False, False] Translation: X:-2.04, Y:-3.15, Z:0.46 [[ 0.99623678 0.08184725 0.0285186 -2.04414503] [-0.08262226 0.99621112 0.02714708 -3.15452724] [-0.02618864 -0.02940119 0.99922456 0.46499412] [ 0. 0. 0. 1. ]] SLAMing on 48.991652531999996 meters Centerline goodness [0,1] 0.29387928763903803 Centerline is valid? [False, False] Translation: X:-2.06, Y:-3.17, Z:0.46 [[ 0.99548483 0.08842112 0.03452045 -2.06025335] [-0.08940282 0.9956016 0.02801048 -3.16686026] [-0.0318919 -0.03097023 0.99901139 0.46196467] [ 0. 0. 0. 1. ]] SLAMing on 49.021652532 meters Centerline goodness [0,1] 0.33543944916970436 Centerline is valid? [False, False] Translation: X:-2.08, Y:-3.18, Z:0.46 [[ 0.99456837 0.09597766 0.04027473 -2.07787779] [-0.09720503 0.99482091 0.02970771 -3.18342145] [-0.03721487 -0.03346126 0.99874691 0.4603207 ] [ 0. 0. 0. 1. ]] SLAMing on 49.051652532 meters Centerline goodness [0,1] 0.32117365560872735 Centerline is valid? [False, False] Translation: X:-2.09, Y:-3.20, Z:0.46 [[ 0.99357867 0.10367175 0.04531657 -2.09478002] [-0.10517472 0.99393427 0.0321395 -3.20225566] [-0.04170974 -0.03669928 0.99845554 0.4597623 ] [ 0. 0. 0. 1. ]] SLAMing on 49.081652532 meters Centerline goodness [0,1] 0.3206360796722243 Centerline is valid? [False, False] Translation: X:-2.12, Y:-3.24, Z:0.46 [[ 0.99357289 0.10488264 0.04257388 -2.12118183] [-0.10623593 0.9938616 0.03087154 -3.23988355] [-0.03907466 -0.035196 0.99861625 0.46365837] [ 0. 0. 0. 1. ]] SLAMing on 49.111652532 meters Centerline goodness [0,1] 0.3225584315631709 Centerline is valid? [False, False] Translation: X:-2.13, Y:-3.24, Z:0.46 [[ 0.99337301 0.10624445 0.04384263 -2.12509402] [-0.10768877 0.9936693 0.03200697 -3.2419905 ] [-0.04016451 -0.03651621 0.9985256 0.46441495] [ 0. 0. 0. 1. ]] SLAMing on 49.141652532 meters Centerline goodness [0,1] 0.3179507947757416 Centerline is valid? [False, False] Translation: X:-2.15, Y:-3.27, Z:0.47 [[ 0.99288895 0.11235809 0.03933443 -2.14557191] [-0.11376965 0.99286563 0.03569751 -3.27206765] [-0.0350429 -0.03991873 0.99858825 0.46736133] [ 0. 0. 0. 1. ]] SLAMing on 49.171652532 meters Centerline goodness [0,1] 0.3196143039074977 Centerline is valid? [False, False] Translation: X:-2.15, Y:-3.27, Z:0.47 [[ 0.99228753 0.11703828 0.04083496 -2.14803718] [-0.1186713 0.99212114 0.04015934 -3.27176435] [-0.03581305 -0.04469555 0.99835852 0.46689971] [ 0. 0. 0. 1. ]] SLAMing on 49.201652532 meters Centerline goodness [0,1] 0.31666227421087845 Centerline is valid? [False, False] Translation: X:-2.17, Y:-3.31, Z:0.47 [[ 0.99203276 0.12059071 0.03645385 -2.17178921] [-0.12208123 0.99163642 0.04187348 -3.30743106] [-0.03109941 -0.0459902 0.99845767 0.47070842] [ 0. 0. 0. 1. ]] SLAMing on 49.231652532 meters Centerline goodness [0,1] 0.31870182555780935 Centerline is valid? [False, False] Translation: X:-2.18, Y:-3.31, Z:0.47 [[ 0.99230879 0.11805247 0.03724094 -2.17602829] [-0.11949698 0.99205691 0.03928823 -3.31132916] [-0.03230706 -0.04343624 0.9985337 0.47183796] [ 0. 0. 0. 1. ]] SLAMing on 49.261652532 meters Centerline goodness [0,1] 0.29123601868894233 Centerline is valid? [False, False] Translation: X:-2.18, Y:-3.32, Z:0.47 [[ 0.99239627 0.11709363 0.03793058 -2.17981077] [-0.11854542 0.99219826 0.03859517 -3.31657845] [-0.03311541 -0.0427982 0.99853477 0.4731864 ] [ 0. 0. 0. 1. ]] SLAMing on 49.291652532 meters Centerline goodness [0,1] 0.3180050239040596 Centerline is valid? [False, False] Translation: X:-2.18, Y:-3.33, Z:0.48 [[ 0.99230167 0.11760944 0.03879972 -2.18485954] [-0.11915344 0.992061 0.04021723 -3.32631591] [-0.03376176 -0.04453075 0.99843736 0.47602391] [ 0. 0. 0. 1. ]] SLAMing on 49.321652532 meters Centerline goodness [0,1] 0.3180252815817195 Centerline is valid? [False, False] Translation: X:-2.20, Y:-3.34, Z:0.47 [[ 0.99309543 0.11113139 0.0375671 -2.19514683] [-0.11282285 0.99253203 0.04638084 -3.34014339] [-0.03213219 -0.05029903 0.99821718 0.47161178] [ 0. 0. 0. 1. ]] SLAMing on 49.351652532 meters Centerline goodness [0,1] 0.3211368105248221 Centerline is valid? [False, False] Translation: X:-2.20, Y:-3.34, Z:0.47 [[ 0.993401 0.10819047 0.0380693 -2.19863578] [-0.10982035 0.99299044 0.04369768 -3.34452352] [-0.03307477 -0.0475901 0.99831921 0.47284124] [ 0. 0. 0. 1. ]] SLAMing on 49.381652532 meters Centerline goodness [0,1] 0.3201168191129049 Centerline is valid? [False, False] Translation: X:-2.20, Y:-3.35, Z:0.47 [[ 0.99359317 0.10626028 0.03848839 -2.2022838 ] [-0.10786301 0.99326644 0.04227698 -3.35069184] [-0.03373686 -0.0461576 0.99836431 0.47464283] [ 0. 0. 0. 1. ]] SLAMing on 49.411652532 meters Centerline goodness [0,1] 0.3198026009748599 Centerline is valid? [False, False] Translation: X:-2.21, Y:-3.36, Z:0.48 [[ 0.99380926 0.10408027 0.03886446 -2.20610531] [-0.10566426 0.99354781 0.04120464 -3.35887342] [-0.03432511 -0.04505613 0.99839458 0.47710654] [ 0. 0. 0. 1. ]] SLAMing on 49.441652532 meters Centerline goodness [0,1] 0.3214575555916247 Centerline is valid? [False, False] Translation: X:-2.21, Y:-3.37, Z:0.48 [[ 0.99406784 0.10151929 0.03902504 -2.20910117] [-0.10305192 0.99389141 0.03949906 -3.36626514] [-0.03477674 -0.04328635 0.99845725 0.47903703] [ 0. 0. 0. 1. ]] SLAMing on 49.471652532 meters Centerline goodness [0,1] 0.32234878479624784 Centerline is valid? [False, False] Translation: X:-2.21, Y:-3.37, Z:0.48 [[ 0.9943949 0.09835428 0.03879725 -2.21039772] [-0.09978603 0.99432549 0.03687233 -3.37142483] [-0.03495054 -0.04053708 0.99856658 0.47990316] [ 0. 0. 0. 1. ]] SLAMing on 49.501652532 meters Centerline goodness [0,1] 0.3249355447735439 Centerline is valid? [False, False] Translation: X:-2.21, Y:-3.37, Z:0.48 [[ 0.99479652 0.09444955 0.03819916 -2.21028001] [-0.09573349 0.99484966 0.03330537 -3.37421001] [-0.03485674 -0.03678901 0.99871496 0.48013424] [ 0. 0. 0. 1. ]] SLAMing on 49.531652532 meters Centerline goodness [0,1] 0.327525354969574 Centerline is valid? [False, False] Translation: X:-2.22, Y:-3.39, Z:0.48 [[ 0.99587767 0.08249073 0.03772185 -2.22083254] [-0.08376565 0.99591999 0.03356627 -3.3930423 ] [-0.03479904 -0.03658769 0.99872437 0.47528732] [ 0. 0. 0. 1. ]] SLAMing on 49.561652532 meters Centerline goodness [0,1] 0.33183055115551763 Centerline is valid? [False, False] Translation: X:-2.23, Y:-3.41, Z:0.47 [[ 0.99659388 0.0735217 0.03735224 -2.23210663] [-0.07491683 0.99648692 0.03743389 -3.41039695] [-0.03446882 -0.04010469 0.99860078 0.47143698] [ 0. 0. 0. 1. ]] SLAMing on 49.591652532 meters Centerline goodness [0,1] 0.33074309892389997 Centerline is valid? [False, False] Translation: X:-2.24, Y:-3.42, Z:0.48 [[ 0.99694391 0.06854268 0.03747985 -2.2366928 ] [-0.06980098 0.9970029 0.0333622 -3.41870059] [-0.03508078 -0.03587637 0.99874032 0.47524879] [ 0. 0. 0. 1. ]] SLAMing on 49.621652532 meters Centerline goodness [0,1] 0.33677471801646175 Centerline is valid? [False, False] Translation: X:-2.24, Y:-3.42, Z:0.48 [[ 0.99714143 0.06550444 0.03765808 -2.23952094] [-0.06668931 0.99728841 0.03111847 -3.42472637] [-0.03551757 -0.03354091 0.99880604 0.47741155] [ 0. 0. 0. 1. ]] SLAMing on 49.651652532 meters Centerline goodness [0,1] 0.33702756464904804 Centerline is valid? [False, False] Translation: X:-2.24, Y:-3.43, Z:0.48 [[ 0.99732046 0.06266121 0.03775545 -2.24179336] [-0.06377614 0.99754027 0.02908635 -3.43117462] [-0.03583999 -0.03141631 0.99886361 0.479138 ] [ 0. 0. 0. 1. ]] SLAMing on 49.681652532 meters Centerline goodness [0,1] 0.34106983172099825 Centerline is valid? [False, False] Translation: X:-2.25, Y:-3.45, Z:0.48 [[ 0.9983546 0.04727082 0.03245855 -2.250042 ] [-0.04828375 0.99834731 0.03116625 -3.4528233 ] [-0.03093165 -0.03268219 0.99898704 0.48146326] [ 0. 0. 0. 1. ]] SLAMing on 49.711652532 meters Centerline goodness [0,1] 0.34322635614882135 Centerline is valid? [False, False] Translation: X:-2.25, Y:-3.46, Z:0.48 [[ 0.99850384 0.04400749 0.03245644 -2.25264021] [-0.04496593 0.99855534 0.02941602 -3.46166199] [-0.03111503 -0.03083145 0.99904018 0.48437072] [ 0. 0. 0. 1. ]] SLAMing on 49.741652531999996 meters Centerline goodness [0,1] 0.3479704270962749 Centerline is valid? [False, False] Translation: X:-2.26, Y:-3.47, Z:0.49 [[ 0.99869598 0.03922335 0.03267818 -2.25672401] [-0.04007706 0.99886106 0.02589251 -3.47113805] [-0.03162537 -0.02716839 0.99913048 0.48809461] [ 0. 0. 0. 1. ]] SLAMing on 49.771652532 meters Centerline goodness [0,1] 0.33466880885074535 Centerline is valid? [False, False] Translation: X:-2.26, Y:-3.48, Z:0.49 [[ 0.99883428 0.03571171 0.03247687 -2.25825355] [-0.03647118 0.99906766 0.02310106 -3.47575685] [-0.03162162 -0.0242586 0.99920548 0.49037956] [ 0. 0. 0. 1. ]] SLAMing on 49.801652532 meters Centerline goodness [0,1] 0.3553597949260472 Centerline is valid? [False, False] Translation: X:-2.26, Y:-3.48, Z:0.49 [[ 0.99913035 0.02709527 0.03169202 -2.25799041] [-0.02757993 0.9995077 0.01495689 -3.4781441 ] [-0.03127116 -0.01581794 0.99938577 0.4918328 ] [ 0. 0. 0. 1. ]] SLAMing on 49.831652532 meters Centerline goodness [0,1] 0.35480790719408384 Centerline is valid? [False, False] Translation: X:-2.26, Y:-3.48, Z:0.49 [[ 0.99916905 0.02646808 0.03099433 -2.25649336] [-0.02692918 0.99953137 0.01455513 -3.47805264] [-0.03059456 -0.01537769 0.99941358 0.49201672] [ 0. 0. 0. 1. ]] SLAMing on 49.861652532 meters Centerline goodness [0,1] 0.35072216466573225 Centerline is valid? [False, False] Translation: X:-2.26, Y:-3.48, Z:0.49 [[ 0.99921732 0.02531603 0.03039468 -2.25542039] [-0.02573904 0.99957608 0.0136074 -3.47681159] [-0.03003731 -0.01437908 0.99944535 0.4924412 ] [ 0. 0. 0. 1. ]] SLAMing on 49.891652532 meters Centerline goodness [0,1] 0.3562841974655737 Centerline is valid? [False, False] Translation: X:-2.27, Y:-3.49, Z:0.49 [[ 0.99946418 0.01797695 0.02735293 -2.26583368] [-0.01854936 0.99961117 0.02081911 -3.49285883] [-0.02696803 -0.02131533 0.99940902 0.49093904] [ 0. 0. 0. 1. ]] SLAMing on 49.921652532 meters Centerline goodness [0,1] 0.35519869905478196 Centerline is valid? [False, False] Translation: X:-2.27, Y:-3.49, Z:0.49 [[ 0.99948899 0.01733004 0.02685958 -2.26520745] [-0.01788258 0.99963053 0.02046974 -3.49318476] [-0.02649491 -0.0209396 0.99942961 0.49183917] [ 0. 0. 0. 1. ]] SLAMing on 49.951652532 meters Centerline goodness [0,1] 0.35574912184524177 Centerline is valid? [False, False] Translation: X:-2.26, Y:-3.50, Z:0.49 [[ 0.99948657 0.0175665 0.02679583 -2.26484094] [-0.01813044 0.99961611 0.02095026 -3.49511252] [-0.02641752 -0.02142532 0.99942137 0.49150047] [ 0. 0. 0. 1. ]] SLAMing on 49.981652532 meters Centerline goodness [0,1] 0.3578983767950856 Centerline is valid? [False, False] Translation: X:-2.26, Y:-3.49, Z:0.49 [[ 0.99951578 0.01650622 0.02637704 -2.26302182] [-0.01702841 0.99966098 0.01969678 -3.49300843] [-0.02604297 -0.0201364 0.999458 0.49037578] [ 0. 0. 0. 1. ]] SLAMing on 50.011652532 meters Centerline goodness [0,1] 0.35790052324042587 Centerline is valid? [False, False] Translation: X:-2.26, Y:-3.50, Z:0.49 [[ 0.99949899 0.01695949 0.02672347 -2.26437579] [-0.01750699 0.99963884 0.0203884 -3.49524954] [-0.02636804 -0.02084603 0.99943492 0.49088019] [ 0. 0. 0. 1. ]] SLAMing on 50.041652532 meters Centerline goodness [0,1] 0.35952521290217676 Centerline is valid? [False, False] Translation: X:-2.26, Y:-3.50, Z:0.49 [[ 0.99952098 0.01632763 0.02629114 -2.26428718] [-0.01685815 0.99965613 0.02008522 -3.49553573] [-0.02595415 -0.02051882 0.99945253 0.49228861] [ 0. 0. 0. 1. ]] SLAMing on 50.071652532 meters Centerline goodness [0,1] 0.35955261448522247 Centerline is valid? [False, False] Translation: X:-2.26, Y:-3.50, Z:0.49 [[ 0.99953067 0.01638533 0.02588364 -2.26422213] [-0.01692284 0.99964279 0.02068576 -3.49819465] [-0.02553545 -0.02111407 0.99945092 0.49361527] [ 0. 0. 0. 1. ]] SLAMing on 50.101652532 meters Centerline goodness [0,1] 0.35665202895015047 Centerline is valid? [False, False] Translation: X:-2.27, Y:-3.50, Z:0.49 [[ 0.99956713 0.01332877 0.02622792 -2.26592033] [-0.01380608 0.99974081 0.01810256 -3.50307075] [-0.02597984 -0.01845683 0.99949207 0.49451971] [ 0. 0. 0. 1. ]] SLAMing on 50.131652532 meters Centerline goodness [0,1] 0.36232531686707836 Centerline is valid? [False, False] Translation: X:-2.27, Y:-3.51, Z:0.50 [[ 0.99966526 0.00535487 0.02531205 -2.26506355] [-0.00564518 0.99991895 0.01141155 -3.50938132] [-0.02524889 -0.01155062 0.99961446 0.49641748] [ 0. 0. 0. 1. ]] SLAMing on 50.161652532 meters Centerline goodness [0,1] 0.37252188072460823 Centerline is valid? [False, False] Translation: X:-2.27, Y:-3.51, Z:0.50 [[ 9.99677274e-01 2.16271998e-03 2.53114651e-02 -2.26624025e+00] [-2.38585256e-03 9.99958533e-01 8.78859770e-03 -3.51400507e+00] [-2.52914082e-02 -8.84615081e-03 9.99640981e-01 4.97800648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.191652532 meters Centerline goodness [0,1] 0.3749491166653097 Centerline is valid? [False, False] Translation: X:-2.26, Y:-3.51, Z:0.50 [[ 9.99701480e-01 1.15385644e-03 2.44053181e-02 -2.26455224e+00] [-1.35726183e-03 9.99964471e-01 8.31954765e-03 -3.51449458e+00] [-2.43948515e-02 -8.35018850e-03 9.99667528e-01 4.98590600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.221652532 meters Centerline goodness [0,1] 0.37402439024390244 Centerline is valid? [False, False] Translation: X:-2.26, Y:-3.51, Z:0.50 [[ 9.99699189e-01 1.37162372e-03 2.44877488e-02 -2.26482077e+00] [-1.58046785e-03 9.99962530e-01 8.51119907e-03 -3.51481112e+00] [-2.44751570e-02 -8.54734091e-03 9.99663898e-01 4.98487610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.251652532 meters Centerline goodness [0,1] 0.3321936626167654 Centerline is valid? [False, False] Translation: X:-2.26, Y:-3.51, Z:0.50 [[ 9.99702535e-01 9.11954340e-04 2.43723363e-02 -2.26438748e+00] [-1.10440251e-03 9.99968312e-01 7.88387874e-03 -3.51316781e+00] [-2.43643742e-02 -7.90845043e-03 9.99671863e-01 4.98165234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.281652532 meters Centerline goodness [0,1] 0.37275862068965515 Centerline is valid? [False, False] Translation: X:-2.26, Y:-3.51, Z:0.50 [[ 9.99700936e-01 5.27200033e-04 2.44491364e-02 -2.26447274e+00] [-7.04809698e-04 9.99973424e-01 7.25640736e-03 -3.51146927e+00] [-2.44446611e-02 -7.27146922e-03 9.99674739e-01 4.97888155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.311652532 meters Centerline goodness [0,1] 0.37915607524148454 Centerline is valid? [False, False] Translation: X:-2.26, Y:-3.51, Z:0.50 [[ 9.99705867e-01 -4.83276247e-04 2.42476034e-02 -2.26455313e+00] [ 3.28532938e-04 9.99979559e-01 6.38537594e-03 -3.51038414e+00] [-2.42501936e-02 -6.37553166e-03 9.99685591e-01 4.98688859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.341652532 meters Centerline goodness [0,1] 0.3543636992291578 Centerline is valid? [False, False] Translation: X:-2.26, Y:-3.51, Z:0.50 [[ 9.99715411e-01 -9.96314844e-04 2.38349597e-02 -2.26459940e+00] [ 8.53677200e-04 9.99981673e-01 5.99381469e-03 -3.50994736e+00] [-2.38404946e-02 -5.97176155e-03 9.99697939e-01 5.00132659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.371652532 meters Centerline goodness [0,1] 0.38127008665229245 Centerline is valid? [False, False] Translation: X:-2.26, Y:-3.51, Z:0.50 [[ 9.99728102e-01 2.19934138e-03 2.32138995e-02 -2.26285146e+00] [-2.41677778e-03 9.99953435e-01 9.34275125e-03 -3.50888065e+00] [-2.31922706e-02 -9.39631381e-03 9.99686865e-01 4.99821920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.401652532 meters Centerline goodness [0,1] 0.3745183977168485 Centerline is valid? [False, False] Translation: X:-2.26, Y:-3.51, Z:0.50 [[ 9.99707203e-01 3.36955617e-03 2.39615290e-02 -2.26465058e+00] [-3.62533369e-03 9.99936831e-01 1.06390906e-02 -3.51192694e+00] [-2.39241664e-02 -1.07228440e-02 9.99656268e-01 4.99615708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.431652532 meters Centerline goodness [0,1] 0.3695062508922562 Centerline is valid? [False, False] Translation: X:-2.27, Y:-3.51, Z:0.50 [[ 0.99968659 0.00404992 0.0247046 -2.26700127] [-0.00432849 0.99992754 0.01123309 -3.51309132] [-0.02465731 -0.0113365 0.99963168 0.50000662] [ 0. 0. 0. 1. ]] SLAMing on 50.461652532 meters Centerline goodness [0,1] 0.37332789559543234 Centerline is valid? [False, False] Translation: X:-2.28, Y:-3.54, Z:0.50 [[ 0.99977017 0.01017439 0.01887057 -2.28497081] [-0.01045472 0.99983557 0.01481687 -3.54049992] [-0.01871672 -0.01501075 0.99971214 0.5009945 ] [ 0. 0. 0. 1. ]] SLAMing on 50.491652531999996 meters Centerline goodness [0,1] 0.3751906456532791 Centerline is valid? [False, False] Translation: X:-2.29, Y:-3.54, Z:0.50 [[ 0.99974972 0.01033677 0.01984057 -2.28645023] [-0.01061868 0.99984341 0.01415622 -3.53779675] [-0.01969114 -0.01436336 0.99970293 0.4994122 ] [ 0. 0. 0. 1. ]] SLAMing on 50.521652532 meters Centerline goodness [0,1] 0.373562399495186 Centerline is valid? [False, False] Translation: X:-2.29, Y:-3.55, Z:0.50 [[ 0.99977856 0.01761297 0.01151569 -2.28937084] [-0.01768731 0.99982318 0.00638545 -3.54648661] [-0.01140118 -0.00658772 0.9999133 0.50361954] [ 0. 0. 0. 1. ]] SLAMing on 50.551652532 meters Centerline goodness [0,1] 0.373562399495186 Centerline is valid? [False, False] Translation: X:-2.29, Y:-3.55, Z:0.50 [[ 0.99977856 0.01761297 0.01151569 -2.28937084] [-0.01768731 0.99982318 0.00638545 -3.54648661] [-0.01140118 -0.00658772 0.9999133 0.50361954] [ 0. 0. 0. 1. ]] SLAMing on 50.581652532 meters Centerline goodness [0,1] 0.35362620329580685 Centerline is valid? [False, False] Translation: X:-2.29, Y:-3.55, Z:0.50 [[ 0.99974861 0.01866791 0.01241883 -2.29150633] [-0.01876099 0.99979645 0.00742146 -3.54891666] [-0.01227776 -0.00765259 0.99989534 0.50325462] [ 0. 0. 0. 1. ]] SLAMing on 50.611652532 meters Centerline goodness [0,1] 0.3629972774188305 Centerline is valid? [False, False] Translation: X:-2.29, Y:-3.55, Z:0.50 [[ 0.99971932 0.01955391 0.01337628 -2.29406065] [-0.01966307 0.99977403 0.00807817 -3.55029654] [-0.0132153 -0.00833892 0.9998779 0.50319675] [ 0. 0. 0. 1. ]] SLAMing on 50.641652532 meters Centerline goodness [0,1] 0.3608218063466233 Centerline is valid? [False, False] Translation: X:-2.30, Y:-3.55, Z:0.50 [[ 0.99969366 0.02033538 0.01410868 -2.29597523] [-0.02046143 0.99975149 0.00884807 -3.55232409] [-0.01392524 -0.00913404 0.99986132 0.50306045] [ 0. 0. 0. 1. ]] SLAMing on 50.671652531999996 meters Centerline goodness [0,1] 0.36514304238593076 Centerline is valid? [False, False] Translation: X:-2.30, Y:-3.55, Z:0.50 [[ 0.99964597 0.0216809 0.01542344 -2.29924315] [-0.02183015 0.99971584 0.00957487 -3.55293262] [-0.01521146 -0.00990818 0.99983521 0.50277822] [ 0. 0. 0. 1. ]] SLAMing on 50.701652532 meters Centerline goodness [0,1] 0.360476441702853 Centerline is valid? [False, False] Translation: X:-2.30, Y:-3.55, Z:0.50 [[ 0.99950842 0.02627041 0.01711085 -2.30157865] [-0.02649541 0.99956365 0.013058 -3.54991946] [-0.01676034 -0.01350494 0.99976833 0.50028074] [ 0. 0. 0. 1. ]] SLAMing on 50.731652532 meters Centerline goodness [0,1] 0.35808631079189235 Centerline is valid? [False, False] Translation: X:-2.31, Y:-3.55, Z:0.50 [[ 0.99946254 0.02713645 0.0183912 -2.30522593] [-0.0273854 0.99953483 0.01342229 -3.55000728] [-0.01801842 -0.01391872 0.99974077 0.50054581] [ 0. 0. 0. 1. ]] SLAMing on 50.761652532 meters Centerline goodness [0,1] 0.35580099300841017 Centerline is valid? [False, False] Translation: X:-2.31, Y:-3.55, Z:0.50 [[ 0.99932492 0.03138631 0.01909436 -2.3063013 ] [-0.03171862 0.99934612 0.01735686 -3.54886276] [-0.0185371 -0.01795079 0.99966702 0.49975549] [ 0. 0. 0. 1. ]] SLAMing on 50.791652532 meters Centerline goodness [0,1] 0.3498347827849744 Centerline is valid? [False, False] Translation: X:-2.32, Y:-3.56, Z:0.49 [[ 0.99891119 0.03959404 0.02467279 -2.31848983] [-0.0401097 0.99897943 0.0207679 -3.55823525] [-0.02382533 -0.02173491 0.99947984 0.49461556] [ 0. 0. 0. 1. ]] SLAMing on 50.821652532 meters Centerline goodness [0,1] 0.3513146974880068 Centerline is valid? [False, False] Translation: X:-2.32, Y:-3.56, Z:0.50 [[ 0.99891358 0.0394096 0.02487046 -2.31952967] [-0.03992312 0.99899244 0.02050012 -3.55787581] [-0.0240375 -0.02147076 0.99948047 0.49519571] [ 0. 0. 0. 1. ]] SLAMing on 50.851652532 meters Centerline goodness [0,1] 0.35103519459229726 Centerline is valid? [False, False] Translation: X:-2.32, Y:-3.56, Z:0.50 [[ 0.99884307 0.04053828 0.02586848 -2.32246674] [-0.04110206 0.99892042 0.02164763 -3.56089967] [-0.02496299 -0.02268583 0.99943094 0.49552895] [ 0. 0. 0. 1. ]] SLAMing on 50.881652532 meters Centerline goodness [0,1] 0.3418905512926933 Centerline is valid? [False, False] Translation: X:-2.33, Y:-3.57, Z:0.50 [[ 0.99868586 0.04362679 0.02689334 -2.32562709] [-0.04429641 0.99870989 0.02482712 -3.56588057] [-0.02577552 -0.02598577 0.99932996 0.49621593] [ 0. 0. 0. 1. ]] SLAMing on 50.911652532 meters Centerline goodness [0,1] 0.34609615696448837 Centerline is valid? [False, False] Translation: X:-2.33, Y:-3.57, Z:0.50 [[ 0.99851435 0.04681314 0.027886 -2.32888394] [-0.0476025 0.99846398 0.02834929 -3.57159282] [-0.02651605 -0.02963462 0.99920903 0.49729266] [ 0. 0. 0. 1. ]] SLAMing on 50.941652532 meters Centerline goodness [0,1] 0.34214628418729887 Centerline is valid? [False, False] Translation: X:-2.33, Y:-3.58, Z:0.50 [[ 0.99834009 0.04976714 0.02898776 -2.33284254] [-0.05067371 0.99822066 0.03142738 -3.57555963] [-0.02737213 -0.03284413 0.9990856 0.49888729] [ 0. 0. 0. 1. ]] SLAMing on 50.971652532 meters Centerline goodness [0,1] 0.3398940043692855 Centerline is valid? [False, False] Translation: X:-2.33, Y:-3.58, Z:0.50 [[ 0.9983216 0.04994029 0.02932487 -2.33387207] [-0.05086216 0.99820627 0.03157979 -3.57619955] [-0.02769516 -0.03301832 0.99907095 0.49892936] [ 0. 0. 0. 1. ]] SLAMing on 51.001652532 meters Centerline goodness [0,1] 0.3449662530816797 Centerline is valid? [False, False] Translation: X:-2.34, Y:-3.58, Z:0.50 [[ 0.99827956 0.0505404 0.02972536 -2.33511239] [-0.05149538 0.99815108 0.03228995 -3.5783041 ] [-0.02803846 -0.03376512 0.99903642 0.49897487] [ 0. 0. 0. 1. ]] SLAMing on 51.031652532 meters Centerline goodness [0,1] 0.3431281533804238 Centerline is valid? [False, False] Translation: X:-2.34, Y:-3.58, Z:0.50 [[ 0.99824315 0.05121061 0.02980084 -2.33588758] [-0.05220006 0.99807697 0.03342935 -3.58227268] [-0.02803159 -0.03492622 0.99899669 0.49959452] [ 0. 0. 0. 1. ]] SLAMing on 51.061652532 meters Centerline goodness [0,1] 0.319316848112024 Centerline is valid? [False, False] Translation: X:-2.34, Y:-3.60, Z:0.51 [[ 0.99851471 0.04538355 0.0301447 -2.34200593] [-0.04627 0.99849652 0.02939021 -3.59577295] [-0.02876554 -0.03074135 0.99911336 0.50537141] [ 0. 0. 0. 1. ]] SLAMing on 51.091652532 meters Centerline goodness [0,1] 0.3518297493577165 Centerline is valid? [False, False] Translation: X:-2.35, Y:-3.60, Z:0.51 [[ 0.99859332 0.04307703 0.03091527 -2.34555295] [-0.04392569 0.99866124 0.02731792 -3.60076837] [-0.02969711 -0.02863747 0.99914863 0.50684598] [ 0. 0. 0. 1. ]] SLAMing on 51.121652532 meters Centerline goodness [0,1] 0.35011321365033155 Centerline is valid? [False, False] Translation: X:-2.35, Y:-3.60, Z:0.51 [[ 0.99859794 0.0427934 0.03115897 -2.3459914 ] [-0.04363246 0.99868905 0.02676545 -3.5993356 ] [-0.02997274 -0.02808746 0.99915601 0.50643697] [ 0. 0. 0. 1. ]] SLAMing on 51.151652532 meters Centerline goodness [0,1] 0.3513994859444254 Centerline is valid? [False, False] Translation: X:-2.35, Y:-3.60, Z:0.51 [[ 0.99857112 0.04291661 0.0318415 -2.34737122] [-0.04376653 0.99869045 0.02649309 -3.59826965] [-0.03066281 -0.02784882 0.99914175 0.50563481] [ 0. 0. 0. 1. ]] SLAMing on 51.181652532 meters Centerline goodness [0,1] 0.3562524071108588 Centerline is valid? [False, False] Translation: X:-2.35, Y:-3.60, Z:0.51 [[ 0.99882779 0.03594729 0.03241665 -2.35072034] [-0.03659535 0.99913745 0.01962474 -3.60193831] [-0.03168323 -0.02078803 0.99928176 0.50718045] [ 0. 0. 0. 1. ]] SLAMing on 51.211652532 meters Centerline goodness [0,1] 0.3500091069151843 Centerline is valid? [False, False] Translation: X:-2.35, Y:-3.61, Z:0.51 [[ 0.99889653 0.03339568 0.03302187 -2.35434223] [-0.03398175 0.99927187 0.01734865 -3.60627193] [-0.03241846 -0.01845165 0.99930405 0.50942494] [ 0. 0. 0. 1. ]] SLAMing on 51.241652531999996 meters Centerline goodness [0,1] 0.3570633362346416 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.61, Z:0.51 [[ 0.99887711 0.03365657 0.03334312 -2.35573983] [-0.03426245 0.99925489 0.01776934 -3.60777323] [-0.03272023 -0.0188918 0.99928599 0.51006519] [ 0. 0. 0. 1. ]] SLAMing on 51.271652532 meters Centerline goodness [0,1] 0.35419955474600284 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.61, Z:0.51 [[ 0.99875434 0.03609411 0.03445265 -2.35786767] [-0.03679698 0.99912281 0.01998957 -3.61098828] [-0.03370092 -0.02123243 0.9992064 0.50914798] [ 0. 0. 0. 1. ]] SLAMing on 51.301652532 meters Centerline goodness [0,1] 0.3535453608038982 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.61, Z:0.51 [[ 0.99874689 0.03644994 0.03429347 -2.35737184] [-0.03717488 0.99909344 0.02074443 -3.61383499] [-0.03350625 -0.02199329 0.99919649 0.50880637] [ 0. 0. 0. 1. ]] SLAMing on 51.331652532 meters Centerline goodness [0,1] 0.35609539027892956 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.61, Z:0.51 [[ 0.99889474 0.03222997 0.03421302 -2.35857015] [-0.03281032 0.99932475 0.01653887 -3.61469224] [-0.03365687 -0.01764313 0.99927771 0.51010635] [ 0. 0. 0. 1. ]] SLAMing on 51.361652532 meters Centerline goodness [0,1] 0.3550121261115602 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.62, Z:0.51 [[ 0.99892719 0.0309153 0.03447768 -2.36086574] [-0.03147156 0.99938119 0.01570947 -3.6208686 ] [-0.03397068 -0.01677768 0.99928199 0.51179124] [ 0. 0. 0. 1. ]] SLAMing on 51.391652532 meters Centerline goodness [0,1] 0.35132234417399055 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.63, Z:0.51 [[ 0.99921928 0.03338882 0.02111893 -2.3586776 ] [-0.03380966 0.99923026 0.01989438 -3.63375742] [-0.02043843 -0.02059287 0.99957901 0.51471466] [ 0. 0. 0. 1. ]] SLAMing on 51.421652531999996 meters Centerline goodness [0,1] 0.3563917087107167 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.64, Z:0.51 [[ 0.99921009 0.03374731 0.02098364 -2.35829709] [-0.03417953 0.99920355 0.02059199 -3.63634114] [-0.020272 -0.02129293 0.99956773 0.51447848] [ 0. 0. 0. 1. ]] SLAMing on 51.451652532 meters Centerline goodness [0,1] 0.35673589785033133 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.64, Z:0.52 [[ 0.9993482 0.02944009 0.02089158 -2.35880258] [-0.02978354 0.99942307 0.01632353 -3.63707307] [-0.02039896 -0.01693512 0.99964848 0.51501378] [ 0. 0. 0. 1. ]] SLAMing on 51.481652532 meters Centerline goodness [0,1] 0.34017945757630996 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.64, Z:0.52 [[ 0.99949112 0.02304737 0.0220526 -2.36255178] [-0.02326066 0.99968463 0.00946488 -3.63930837] [-0.0218275 -0.00997302 0.99971201 0.51533776] [ 0. 0. 0. 1. ]] SLAMing on 51.511652532 meters Centerline goodness [0,1] 0.3581101597133661 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.64, Z:0.51 [[ 0.99949203 0.02305094 0.0220078 -2.36186943] [-0.02326454 0.99968421 0.00949973 -3.63990185] [-0.02178187 -0.0100069 0.99971266 0.51439638] [ 0. 0. 0. 1. ]] SLAMing on 51.541652532 meters Centerline goodness [0,1] 0.3441116956697693 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.64, Z:0.51 [[ 0.99947669 0.02355543 0.02216942 -2.36159043] [-0.02378431 0.99966591 0.01011771 -3.6416609 ] [-0.02192368 -0.0106397 0.99970303 0.51326397] [ 0. 0. 0. 1. ]] SLAMing on 51.571652532 meters Centerline goodness [0,1] 0.3617469513430296 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.65, Z:0.51 [[ 0.99954868 0.02046163 0.02199449 -2.3624952 ] [-0.02064137 0.99975513 0.0079761 -3.64805585] [-0.0218259 -0.0084265 0.99972627 0.51466506] [ 0. 0. 0. 1. ]] SLAMing on 51.601652532 meters Centerline goodness [0,1] 0.358890039177476 Centerline is valid? [False, False] Translation: X:-2.37, Y:-3.66, Z:0.52 [[ 9.99710880e-01 1.09313511e-02 2.14163804e-02 -2.36563269e+00] [-1.09423554e-02 9.99940052e-01 3.96706467e-04 -3.65768335e+00] [-2.14107600e-02 -6.30937417e-04 9.99770564e-01 5.20073029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.631652532 meters Centerline goodness [0,1] 0.3769680246713196 Centerline is valid? [False, False] Translation: X:-2.37, Y:-3.67, Z:0.52 [[ 0.99977145 0.0038226 0.02103397 -2.3677949 ] [-0.00371553 0.99997995 -0.0051271 -3.66594617] [-0.02105315 0.00504777 0.99976562 0.52397441] [ 0. 0. 0. 1. ]] SLAMing on 51.661652532 meters Centerline goodness [0,1] 0.36043795323894456 Centerline is valid? [False, False] Translation: X:-2.37, Y:-3.67, Z:0.53 [[ 9.99797643e-01 -5.64676094e-04 2.01085445e-02 -2.36698651e+00] [ 7.34105373e-04 9.99964287e-01 -8.41935096e-03 -3.67032424e+00] [-2.01030722e-02 8.43240904e-03 9.99762352e-01 5.25951118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.691652532 meters Centerline goodness [0,1] 0.38718209562563577 Centerline is valid? [False, False] Translation: X:-2.37, Y:-3.68, Z:0.53 [[ 0.99980862 -0.01363627 0.01402754 -2.36735434] [ 0.0137008 0.99989595 -0.00451467 -3.68015222] [-0.01396451 0.004706 0.99989142 0.52522664] [ 0. 0. 0. 1. ]] SLAMing on 51.721652532 meters Centerline goodness [0,1] 0.38840238129101734 Centerline is valid? [False, False] Translation: X:-2.37, Y:-3.68, Z:0.53 [[ 0.99980589 -0.01473971 0.01307361 -2.36534365] [ 0.01480933 0.99987658 -0.0052447 -3.67959289] [-0.01299469 0.00543729 0.99990078 0.52572099] [ 0. 0. 0. 1. ]] SLAMing on 51.751652532 meters Centerline goodness [0,1] 0.39184145401436166 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.68, Z:0.53 [[ 0.99979713 -0.01623567 0.01192081 -2.36342682] [ 0.01630956 0.99984821 -0.00612746 -3.67936043] [-0.01181952 0.00632064 0.99991017 0.52705653] [ 0. 0. 0. 1. ]] SLAMing on 51.781652532 meters Centerline goodness [0,1] 0.3923649869096666 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.68, Z:0.53 [[ 0.99980588 -0.01564956 0.01197061 -2.36475313] [ 0.01571089 0.99986384 -0.00504646 -3.6825965 ] [-0.01189 0.00523355 0.99991562 0.52848764] [ 0. 0. 0. 1. ]] SLAMing on 51.811652532 meters Centerline goodness [0,1] 0.3891011053315995 Centerline is valid? [False, False] Translation: X:-2.37, Y:-3.69, Z:0.53 [[ 9.99835730e-01 -1.36507376e-02 1.19235528e-02 -2.36757044e+00] [ 1.36758539e-02 9.99904426e-01 -2.02745109e-03 -3.68863212e+00] [-1.18947370e-02 2.19018281e-03 9.99926856e-01 5.32027551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.841652532 meters Centerline goodness [0,1] 0.3934539540557024 Centerline is valid? [False, False] Translation: X:-2.37, Y:-3.69, Z:0.53 [[ 9.99839804e-01 -1.35872757e-02 1.16512764e-02 -2.36753350e+00] [ 1.36071720e-02 9.99906089e-01 -1.63007364e-03 -3.69019398e+00] [-1.16280339e-02 1.78835343e-03 9.99930793e-01 5.32865641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.871652532 meters Centerline goodness [0,1] 0.39004166243267957 Centerline is valid? [False, False] Translation: X:-2.37, Y:-3.69, Z:0.53 [[ 9.99836149e-01 -1.40453008e-02 1.14194741e-02 -2.36675216e+00] [ 1.40709875e-02 9.99898639e-01 -2.17214871e-03 -3.68908851e+00] [-1.13878081e-02 2.33247608e-03 9.99932436e-01 5.32576830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.901652532 meters Centerline goodness [0,1] 0.3910802330793366 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.69, Z:0.53 [[ 9.99894246e-01 -1.42894490e-02 -2.70355252e-03 -2.36242757e+00] [ 1.42841030e-02 9.99896004e-01 -1.98648928e-03 -3.69280128e+00] [ 2.73165720e-03 1.94766138e-03 9.99994372e-01 5.34462777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.931652532 meters Centerline goodness [0,1] 0.3905479731106132 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.69, Z:0.53 [[ 9.99899507e-01 -1.39291848e-02 -2.63688724e-03 -2.36283174e+00] [ 1.39254273e-02 9.99902002e-01 -1.43801994e-03 -3.69444249e+00] [ 2.65665928e-03 1.40115565e-03 9.99995489e-01 5.34587661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.961652532 meters Centerline goodness [0,1] 0.3922758845456582 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.69, Z:0.54 [[ 9.99885120e-01 -1.47783810e-02 -3.36836295e-03 -2.36146794e+00] [ 1.47717989e-02 9.99888949e-01 -1.97066764e-03 -3.69412415e+00] [ 3.39711217e-03 1.92068447e-03 9.99992385e-01 5.35237600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.991652531999996 meters Centerline goodness [0,1] 0.3904092852779475 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.70, Z:0.54 [[ 9.99886459e-01 -1.45982595e-02 -3.73618067e-03 -2.36127692e+00] [ 1.45932054e-02 9.99892566e-01 -1.37645149e-03 -3.69630795e+00] [ 3.75587307e-03 1.32177236e-03 9.99992073e-01 5.36134902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.021652532 meters Centerline goodness [0,1] 0.39099945118604795 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.70, Z:0.54 [[ 9.99891972e-01 -1.41438299e-02 -3.99945774e-03 -2.36201804e+00] [ 1.41423896e-02 9.99899916e-01 -3.88177290e-04 -3.69924614e+00] [ 4.00454777e-03 3.31573466e-04 9.99991927e-01 5.37906870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.051652532 meters Centerline goodness [0,1] 0.3766262852489056 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.70, Z:0.54 [[ 9.99926333e-01 -1.10929709e-02 -4.92690462e-03 -2.35989618e+00] [ 1.11079688e-02 9.99933722e-01 3.02720348e-03 -3.69871659e+00] [ 4.89299740e-03 -3.08170838e-03 9.99983281e-01 5.38025808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.081652532 meters Centerline goodness [0,1] 0.3703854616575666 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.70, Z:0.54 [[ 9.99926264e-01 -1.10839738e-02 -4.96100368e-03 -2.36022162e+00] [ 1.11000015e-02 9.99933225e-01 3.21494277e-03 -3.69953034e+00] [ 4.92503806e-03 -3.26977287e-03 9.99982526e-01 5.38502689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.111652532 meters Centerline goodness [0,1] 0.3901778257592732 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.70, Z:0.54 [[ 9.99927781e-01 -1.11629486e-02 -4.45214733e-03 -2.36146079e+00] [ 1.11758187e-02 9.99933411e-01 2.87643699e-03 -3.69804711e+00] [ 4.41974135e-03 -2.92598565e-03 9.99985952e-01 5.38385456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.141652532 meters Centerline goodness [0,1] 0.37980994241295807 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.70, Z:0.54 [[ 9.99929513e-01 -1.11447106e-02 -4.09436700e-03 -2.36278556e+00] [ 1.11560628e-02 9.99933959e-01 2.76032978e-03 -3.69748404e+00] [ 4.06333352e-03 -2.80581223e-03 9.99987808e-01 5.38797648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.171652531999996 meters Centerline goodness [0,1] 0.3765668240273482 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.70, Z:0.54 [[ 9.99936829e-01 -1.06469790e-02 -3.60269634e-03 -2.36431461e+00] [ 1.06587550e-02 9.99937862e-01 3.26539204e-03 -3.69853765e+00] [ 3.56770592e-03 -3.30358602e-03 9.99988179e-01 5.39000537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.201652532 meters Centerline goodness [0,1] 0.3628271825719396 Centerline is valid? [False, False] Translation: X:-2.37, Y:-3.70, Z:0.54 [[ 9.99940325e-01 -1.04643101e-02 -3.13771254e-03 -2.36565628e+00] [ 1.04747283e-02 9.99939619e-01 3.32247657e-03 -3.69846435e+00] [ 3.10275565e-03 -3.35514498e-03 9.99989558e-01 5.39126703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.231652532 meters Centerline goodness [0,1] 0.380903929508964 Centerline is valid? [False, False] Translation: X:-2.37, Y:-3.70, Z:0.54 [[ 9.99949271e-01 -9.78594881e-03 -2.38547453e-03 -2.36742915e+00] [ 9.79497525e-03 9.99944800e-01 3.80207034e-03 -3.69921340e+00] [ 2.34813599e-03 -3.82524313e-03 9.99989927e-01 5.38905044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.261652532 meters Centerline goodness [0,1] 0.38518804792221795 Centerline is valid? [False, False] Translation: X:-2.37, Y:-3.70, Z:0.54 [[ 9.99944225e-01 -1.01791238e-02 -2.81660048e-03 -2.36632630e+00] [ 1.01890472e-02 9.99941854e-01 3.53155010e-03 -3.69902938e+00] [ 2.78048862e-03 -3.56005160e-03 9.99989797e-01 5.38916005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.291652532 meters Centerline goodness [0,1] 0.3682261248244847 Centerline is valid? [False, False] Translation: X:-2.37, Y:-3.70, Z:0.54 [[ 9.99942706e-01 -1.03057725e-02 -2.89417232e-03 -2.36634304e+00] [ 1.03158205e-02 9.99940740e-01 3.47859787e-03 -3.69924973e+00] [ 2.85815117e-03 -3.50825433e-03 9.99989762e-01 5.39155714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.321652532 meters Centerline goodness [0,1] 0.36345177664974615 Centerline is valid? [False, False] Translation: X:-2.37, Y:-3.70, Z:0.54 [[ 9.99947743e-01 -9.86656490e-03 -2.67636623e-03 -2.36704162e+00] [ 9.87759743e-03 9.99942642e-01 4.14079402e-03 -3.70146948e+00] [ 2.63535730e-03 -4.16701370e-03 9.99987845e-01 5.39257724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.351652532 meters Centerline goodness [0,1] 0.378029177772804 Centerline is valid? [False, False] Translation: X:-2.37, Y:-3.70, Z:0.54 [[ 9.99939304e-01 -1.06594829e-02 -2.78650209e-03 -2.36750815e+00] [ 1.06685909e-02 9.99937728e-01 3.27443284e-03 -3.69978873e+00] [ 2.75142481e-03 -3.30396214e-03 9.99990757e-01 5.40135697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.381652532 meters Centerline goodness [0,1] 0.3693710192702928 Centerline is valid? [False, False] Translation: X:-2.37, Y:-3.70, Z:0.54 [[ 9.99966405e-01 -7.57916290e-03 -3.12169547e-03 -2.36587237e+00] [ 7.59819837e-03 9.99952333e-01 6.13175646e-03 -3.69727065e+00] [ 3.07507308e-03 -6.15526973e-03 9.99976328e-01 5.39008020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.411652532 meters Centerline goodness [0,1] 0.3773274584255518 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.69, Z:0.54 [[ 9.99985177e-01 -3.58315659e-03 -4.09952529e-03 -2.35928658e+00] [ 3.58575793e-03 9.99993374e-01 6.27371594e-04 -3.68847652e+00] [ 4.09725016e-03 -6.42062200e-04 9.99991400e-01 5.44463645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.441652532 meters Centerline goodness [0,1] 0.3773274584255518 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.69, Z:0.54 [[ 9.99985177e-01 -3.58315659e-03 -4.09952529e-03 -2.35928658e+00] [ 3.58575793e-03 9.99993374e-01 6.27371594e-04 -3.68847652e+00] [ 4.09725016e-03 -6.42062200e-04 9.99991400e-01 5.44463645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.471652532 meters Centerline goodness [0,1] 0.3791267954734767 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.69, Z:0.54 [[ 9.99992164e-01 -2.79019516e-03 -2.80820784e-03 -2.36168659e+00] [ 2.79215567e-03 9.99995861e-01 6.94458231e-04 -3.68690947e+00] [ 2.80625854e-03 -7.02293743e-04 9.99995816e-01 5.43198046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.501652532 meters Centerline goodness [0,1] 0.3810502329555858 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.69, Z:0.54 [[ 9.99995384e-01 -2.18663335e-03 -2.10954054e-03 -2.36333721e+00] [ 2.18903943e-03 9.99996955e-01 1.13893996e-03 -3.68774682e+00] [ 2.10704368e-03 -1.14355257e-03 9.99997126e-01 5.42843286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.531652532 meters Centerline goodness [0,1] 0.37861870153071586 Centerline is valid? [False, False] Translation: X:-2.36, Y:-3.69, Z:0.54 [[ 9.99997125e-01 -1.82804781e-03 -1.55162717e-03 -2.36465265e+00] [ 1.83019118e-03 9.99997372e-01 1.38107440e-03 -3.68831062e+00] [ 1.54909843e-03 -1.38391021e-03 9.99997843e-01 5.42593774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.561652532 meters Centerline goodness [0,1] 0.38016898204565763 Centerline is valid? [False, False] Translation: X:-2.37, Y:-3.69, Z:0.54 [[ 9.99999241e-01 -1.04289157e-03 -6.56109756e-04 -2.36726970e+00] [ 1.04421299e-03 9.99997421e-01 2.01691743e-03 -3.68972533e+00] [ 6.54004638e-04 -2.01760101e-03 9.99997751e-01 5.42913061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.591652532 meters Centerline goodness [0,1] 0.337882295601316 Centerline is valid? [False, False] Translation: X:-2.37, Y:-3.69, Z:0.54 [[ 9.99990477e-01 4.33728480e-03 4.84382849e-04 -2.36917262e+00] [-4.34045420e-03 9.99967826e-01 6.74591408e-03 -3.68984525e+00] [-4.55108314e-04 -6.74795228e-03 9.99977129e-01 5.41597242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.621652532 meters Centerline goodness [0,1] 0.3603270904774466 Centerline is valid? [False, False] Translation: X:-2.37, Y:-3.69, Z:0.54 [[ 9.99975368e-01 6.61498286e-03 2.34617871e-03 -2.37273521e+00] [-6.63368783e-03 9.99945543e-01 8.05642203e-03 -3.69016369e+00] [-2.29275785e-03 -8.07178740e-03 9.99964794e-01 5.40106433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.651652532 meters Centerline goodness [0,1] 0.3604881800518135 Centerline is valid? [False, False] Translation: X:-2.37, Y:-3.69, Z:0.54 [[ 9.99946980e-01 9.97089879e-03 2.57275621e-03 -2.37254181e+00] [-9.99829740e-03 9.99890976e-01 1.08659976e-02 -3.68650333e+00] [-2.46413196e-03 -1.08911447e-02 9.99937654e-01 5.39084496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.681652532 meters Centerline goodness [0,1] 0.3596549839032983 Centerline is valid? [False, False] Translation: X:-2.38, Y:-3.69, Z:0.54 [[ 0.99987023 0.01556041 0.00417175 -2.37673032] [-0.01562408 0.99975482 0.01569012 -3.68597591] [-0.00392659 -0.01575326 0.9998682 0.53916892] [ 0. 0. 0. 1. ]] SLAMing on 52.711652532 meters Centerline goodness [0,1] 0.32442237535468177 Centerline is valid? [False, False] Translation: X:-2.38, Y:-3.69, Z:0.54 [[ 0.99985063 0.01648826 0.00518174 -2.37959793] [-0.01657227 0.99972465 0.01661301 -3.68835726] [-0.0049064 -0.0166964 0.99984857 0.53945378] [ 0. 0. 0. 1. ]] SLAMing on 52.741652531999996 meters Centerline goodness [0,1] 0.3629999797681429 Centerline is valid? [False, False] Translation: X:-2.38, Y:-3.69, Z:0.54 [[ 0.99985327 0.0162652 0.00537473 -2.37962768] [-0.01635027 0.99973537 0.01618224 -3.68743782] [-0.0051101 -0.01626775 0.99985461 0.5388017 ] [ 0. 0. 0. 1. ]] SLAMing on 52.771652532 meters Centerline goodness [0,1] 0.36365292367478297 Centerline is valid? [False, False] Translation: X:-2.38, Y:-3.69, Z:0.54 [[ 0.99985489 0.01617263 0.00535298 -2.3789592 ] [-0.01625665 0.99973914 0.01604295 -3.68755482] [-0.00509213 -0.01612764 0.99985697 0.53784936] [ 0. 0. 0. 1. ]] SLAMing on 52.801652532 meters Centerline goodness [0,1] 0.36538149679721077 Centerline is valid? [False, False] Translation: X:-2.38, Y:-3.69, Z:0.54 [[ 0.99985312 0.01630676 0.00527432 -2.37856925] [-0.01638988 0.99973573 0.01611987 -3.6879562 ] [-0.00501006 -0.01620395 0.99985616 0.53744044] [ 0. 0. 0. 1. ]] SLAMing on 52.831652532 meters Centerline goodness [0,1] 0.36374498764632024 Centerline is valid? [False, False] Translation: X:-2.38, Y:-3.69, Z:0.54 [[ 0.9998389 0.01697309 0.0058393 -2.38041336] [-0.01706998 0.9997104 0.01696254 -3.69040699] [-0.0055497 -0.01705949 0.99983907 0.53781169] [ 0. 0. 0. 1. ]] SLAMing on 52.861652532 meters Centerline goodness [0,1] 0.3629224853268569 Centerline is valid? [False, False] Translation: X:-2.38, Y:-3.69, Z:0.54 [[ 0.9998123 0.01810817 0.00688914 -2.38329653] [-0.01822974 0.99967153 0.01801396 -3.69262099] [-0.00656068 -0.01813617 0.999814 0.53784518] [ 0. 0. 0. 1. ]] SLAMing on 52.891652532 meters Centerline goodness [0,1] 0.3611301992804883 Centerline is valid? [False, False] Translation: X:-2.39, Y:-3.70, Z:0.54 [[ 0.99977966 0.01949334 0.00778683 -2.38534604] [-0.01964124 0.999619 0.01939251 -3.69568099] [-0.00740584 -0.01954118 0.99978162 0.53738513] [ 0. 0. 0. 1. ]] SLAMing on 52.921652531999996 meters Centerline goodness [0,1] 0.36585365853658536 Centerline is valid? [False, False] Translation: X:-2.39, Y:-3.70, Z:0.54 [[ 0.99989486 0.01185386 0.00835169 -2.38811467] [-0.01195404 0.99985595 0.01204931 -3.698693 ] [-0.00820766 -0.01214788 0.99989253 0.53875873] [ 0. 0. 0. 1. ]] SLAMing on 52.951652532 meters Centerline goodness [0,1] 0.3621478303108808 Centerline is valid? [False, False] Translation: X:-2.39, Y:-3.70, Z:0.54 [[ 0.99990414 0.0113141 0.00798147 -2.38775325] [-0.01140696 0.99986665 0.01168637 -3.69873624] [-0.00784818 -0.01177629 0.99989986 0.53945625] [ 0. 0. 0. 1. ]] SLAMing on 52.981652532 meters Centerline goodness [0,1] 0.35297693835366595 Centerline is valid? [False, False] Translation: X:-2.39, Y:-3.70, Z:0.54 [[ 0.99989661 0.01183563 0.00816605 -2.38917318] [-0.01193835 0.99984876 0.01264672 -3.70166281] [-0.00801514 -0.0127429 0.99988668 0.5406565 ] [ 0. 0. 0. 1. ]] SLAMing on 53.011652532 meters Centerline goodness [0,1] 0.3511175052177261 Centerline is valid? [False, False] Translation: X:-2.39, Y:-3.70, Z:0.54 [[ 0.99989464 0.01174418 0.00853185 -2.39043209] [-0.01185 0.99985216 0.0124597 -3.70130244] [-0.00838426 -0.01255948 0.99988598 0.54102619] [ 0. 0. 0. 1. ]] SLAMing on 53.041652532 meters Centerline goodness [0,1] 0.3602407685136395 Centerline is valid? [False, False] Translation: X:-2.39, Y:-3.70, Z:0.54 [[ 0.99988761 0.01194408 0.00906145 -2.39144894] [-0.01205608 0.99985034 0.01240768 -3.70090701] [-0.00891189 -0.01251553 0.99988196 0.54045063] [ 0. 0. 0. 1. ]] SLAMing on 53.071652532 meters Centerline goodness [0,1] 0.3553973758390623 Centerline is valid? [False, False] Translation: X:-2.39, Y:-3.70, Z:0.54 [[ 0.99988112 0.01221561 0.00940922 -2.39210123] [-0.0123334 0.99984501 0.01256366 -3.70125266] [-0.00925429 -0.01267822 0.9998768 0.53995715] [ 0. 0. 0. 1. ]] SLAMing on 53.101652532 meters Centerline goodness [0,1] 0.3656810253914172 Centerline is valid? [False, False] Translation: X:-2.39, Y:-3.70, Z:0.54 [[ 0.99992761 0.00756632 0.0093559 -2.39168845] [-0.00763805 0.99994153 0.00765461 -3.69974753] [-0.00929743 -0.00772552 0.99992693 0.53952202] [ 0. 0. 0. 1. ]] SLAMing on 53.131652532 meters Centerline goodness [0,1] 0.36786430786066027 Centerline is valid? [False, False] Translation: X:-2.39, Y:-3.70, Z:0.54 [[ 0.99993017 0.00717567 0.00939008 -2.39151434] [-0.00724176 0.99994912 0.00702247 -3.69824484] [-0.00933921 -0.00708998 0.99993125 0.53908865] [ 0. 0. 0. 1. ]] SLAMing on 53.161652532 meters Centerline goodness [0,1] 0.3695881303713313 Centerline is valid? [False, False] Translation: X:-2.39, Y:-3.70, Z:0.54 [[ 0.99991592 0.00798669 0.0102158 -2.39330646] [-0.00806564 0.99993775 0.00770991 -3.69972911] [-0.01015359 -0.00779165 0.99991809 0.53849779] [ 0. 0. 0. 1. ]] SLAMing on 53.191652532 meters Centerline goodness [0,1] 0.34713743941268327 Centerline is valid? [False, False] Translation: X:-2.40, Y:-3.70, Z:0.54 [[ 0.99989423 0.00906064 0.01137725 -2.39632638] [-0.00915643 0.99992283 0.00839622 -3.70047774] [-0.0113003 -0.00849951 0.99990003 0.53838592] [ 0. 0. 0. 1. ]] SLAMing on 53.221652532 meters Centerline goodness [0,1] 0.3600356210407011 Centerline is valid? [False, False] Translation: X:-2.40, Y:-3.70, Z:0.54 [[ 0.99976655 0.0178087 0.01223503 -2.39706923] [-0.01801003 0.99970088 0.01654672 -3.69856109] [-0.01193669 -0.01676321 0.99978823 0.53656951] [ 0. 0. 0. 1. ]] SLAMing on 53.251652532 meters Centerline goodness [0,1] 0.3570388349514563 Centerline is valid? [False, False] Translation: X:-2.40, Y:-3.70, Z:0.54 [[ 0.99975826 0.01778457 0.01292755 -2.39829913] [-0.01799229 0.99970796 0.01613305 -3.69727844] [-0.01263685 -0.01636175 0.99978628 0.53577258] [ 0. 0. 0. 1. ]] SLAMing on 53.281652532 meters Centerline goodness [0,1] 0.33499251345554615 Centerline is valid? [False, False] Translation: X:-2.40, Y:-3.70, Z:0.54 [[ 0.99972918 0.01848056 0.01414304 -2.40116163] [-0.01871033 0.99969224 0.01628982 -3.69691394] [-0.01383764 -0.01655003 0.99976728 0.53523413] [ 0. 0. 0. 1. ]] SLAMing on 53.311652532 meters Centerline goodness [0,1] 0.33366404794686966 Centerline is valid? [False, False] Translation: X:-2.40, Y:-3.70, Z:0.54 [[ 0.99966039 0.02097424 0.01546573 -2.4047723 ] [-0.02125858 0.99960366 0.0184555 -3.69989879] [-0.01507251 -0.01877801 0.99971006 0.53551558] [ 0. 0. 0. 1. ]] SLAMing on 53.341652532 meters Centerline goodness [0,1] 0.3323418720407916 Centerline is valid? [False, False] Translation: X:-2.41, Y:-3.70, Z:0.54 [[ 0.99961752 0.02222297 0.01646049 -2.40757049] [-0.02254635 0.99955113 0.01972813 -3.70301082] [-0.01601468 -0.02009171 0.99966987 0.53575988] [ 0. 0. 0. 1. ]] SLAMing on 53.371652532 meters Centerline goodness [0,1] 0.3499868524848804 Centerline is valid? [False, False] Translation: X:-2.41, Y:-3.71, Z:0.54 [[ 0.99953851 0.02474582 0.01761869 -2.41053548] [-0.02513324 0.99943939 0.02211837 -3.70692433] [-0.01706148 -0.02255097 0.9996001 0.53580171] [ 0. 0. 0. 1. ]] SLAMing on 53.401652532 meters Centerline goodness [0,1] 0.3484701114488349 Centerline is valid? [False, False] Translation: X:-2.41, Y:-3.71, Z:0.54 [[ 0.99947493 0.0263225 0.01889412 -2.41381952] [-0.02676324 0.99936633 0.02346611 -3.70931882] [-0.01826446 -0.02395945 0.99954607 0.53564165] [ 0. 0. 0. 1. ]] SLAMing on 53.431652532 meters Centerline goodness [0,1] 0.34494407023079876 Centerline is valid? [False, False] Translation: X:-2.42, Y:-3.71, Z:0.53 [[ 0.99928595 0.03172116 0.02052691 -2.4170846 ] [-0.03229506 0.99907881 0.02825885 -3.70944367] [-0.0196116 -0.02890159 0.99938986 0.53482738] [ 0. 0. 0. 1. ]] SLAMing on 53.461652532 meters Centerline goodness [0,1] 0.3362430379746836 Centerline is valid? [False, False] Translation: X:-2.42, Y:-3.71, Z:0.54 [[ 0.99921942 0.03300629 0.02170567 -2.42054063] [-0.03363726 0.99900226 0.02937725 -3.71174063] [-0.02071438 -0.03008444 0.9993327 0.53522292] [ 0. 0. 0. 1. ]] SLAMing on 53.491652531999996 meters Centerline goodness [0,1] 0.3246884609160058 Centerline is valid? [False, False] Translation: X:-2.43, Y:-3.71, Z:0.54 [[ 0.99876182 0.04103686 0.02812138 -2.42673674] [-0.04162108 0.99892285 0.02051419 -3.71495962] [-0.02724925 -0.02165924 0.99939399 0.53826575] [ 0. 0. 0. 1. ]] SLAMing on 53.521652532 meters Centerline goodness [0,1] 0.3144903492089184 Centerline is valid? [False, False] Translation: X:-2.43, Y:-3.71, Z:0.54 [[ 0.99856437 0.04526579 0.02863934 -2.42690258] [-0.04597242 0.99864184 0.02451546 -3.71405465] [-0.02749074 -0.02579689 0.99928914 0.53706658] [ 0. 0. 0. 1. ]] SLAMing on 53.551652532 meters Centerline goodness [0,1] 0.33075849796776735 Centerline is valid? [False, False] Translation: X:-2.44, Y:-3.73, Z:0.53 [[ 0.99797772 0.0534704 0.03437132 -2.44123919] [-0.05441279 0.99815089 0.02709332 -3.72547586] [-0.03285908 -0.02890877 0.99904182 0.53319349] [ 0. 0. 0. 1. ]] SLAMing on 53.581652532 meters Centerline goodness [0,1] 0.3194896576824312 Centerline is valid? [False, False] Translation: X:-2.45, Y:-3.74, Z:0.53 [[ 0.99760981 0.05696118 0.03911649 -2.45272051] [-0.0580496 0.997941 0.02727633 -3.73622105] [-0.03748226 -0.02948183 0.9988623 0.53044264] [ 0. 0. 0. 1. ]] SLAMing on 53.611652532 meters Centerline goodness [0,1] 0.32140618998524273 Centerline is valid? [False, False] Translation: X:-2.47, Y:-3.75, Z:0.53 [[ 0.99719044 0.06045663 0.04422923 -2.465475 ] [-0.06166646 0.99774443 0.02651975 -3.7474537 ] [-0.04252617 -0.0291727 0.99866935 0.52736684] [ 0. 0. 0. 1. ]] SLAMing on 53.641652532 meters Centerline goodness [0,1] 0.3166347220821144 Centerline is valid? [False, False] Translation: X:-2.47, Y:-3.77, Z:0.53 [[ 0.99679793 0.07141338 0.03597236 -2.47427126] [-0.07256256 0.99685925 0.03172227 -3.76790332] [-0.03359399 -0.03423094 0.99884918 0.52588731] [ 0. 0. 0. 1. ]] SLAMing on 53.671652531999996 meters Centerline goodness [0,1] 0.31468432635425714 Centerline is valid? [False, False] Translation: X:-2.47, Y:-3.77, Z:0.53 [[ 0.99645712 0.07575185 0.03653581 -2.47485081] [-0.07706571 0.9963758 0.03600205 -3.76770168] [-0.03367617 -0.03869016 0.99868363 0.52559419] [ 0. 0. 0. 1. ]] SLAMing on 53.701652532 meters Centerline goodness [0,1] 0.31327051512277804 Centerline is valid? [False, False] Translation: X:-2.48, Y:-3.77, Z:0.53 [[ 0.99611373 0.07986837 0.0371279 -2.47547178] [-0.08134674 0.99587581 0.04017554 -3.76758911] [-0.03376603 -0.04303964 0.9985026 0.52532055] [ 0. 0. 0. 1. ]] SLAMing on 53.731652532 meters Centerline goodness [0,1] 0.30844437276997194 Centerline is valid? [False, False] Translation: X:-2.48, Y:-3.77, Z:0.53 [[ 0.99585229 0.08247516 0.03841966 -2.47911271] [-0.0841003 0.99553772 0.04279943 -3.7719494 ] [-0.03471833 -0.04585301 0.9983447 0.52593318] [ 0. 0. 0. 1. ]] SLAMing on 53.761652532 meters Centerline goodness [0,1] 0.3054347826086956 Centerline is valid? [False, False] Translation: X:-2.49, Y:-3.79, Z:0.52 [[ 0.99554316 0.08375042 0.04335537 -2.49468439] [-0.08541834 0.99561405 0.03816239 -3.78840011] [-0.0399691 -0.04169565 0.99833058 0.52314831] [ 0. 0. 0. 1. ]] SLAMing on 53.791652532 meters Centerline goodness [0,1] 0.3063315650402404 Centerline is valid? [False, False] Translation: X:-2.49, Y:-3.79, Z:0.52 [[ 0.99553915 0.08376677 0.04341573 -2.49459631] [-0.08543478 0.99561496 0.03810188 -3.78842722] [-0.04003368 -0.04164112 0.99833027 0.52241557] [ 0. 0. 0. 1. ]] SLAMing on 53.821652532 meters Centerline goodness [0,1] 0.30650553877139974 Centerline is valid? [False, False] Translation: X:-2.50, Y:-3.79, Z:0.52 [[ 0.99567491 0.08180659 0.04403574 -2.49828371] [-0.08342532 0.99585382 0.03626819 -3.79315114] [-0.04088618 -0.03978502 0.99837141 0.52389664] [ 0. 0. 0. 1. ]] SLAMing on 53.851652532 meters Centerline goodness [0,1] 0.30931366622335066 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.81, Z:0.52 [[ 0.99659652 0.07185069 0.04040866 -2.50906042] [-0.07347553 0.99648347 0.04027445 -3.8128365 ] [-0.03737282 -0.04310643 0.99837123 0.52167092] [ 0. 0. 0. 1. ]] SLAMing on 53.881652532 meters Centerline goodness [0,1] 0.3132882655635153 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.82, Z:0.52 [[ 0.99694212 0.06702823 0.04017005 -2.51228856] [-0.06850164 0.99698314 0.03649851 -3.8223945 ] [-0.03760243 -0.03913861 0.99852603 0.52497041] [ 0. 0. 0. 1. ]] SLAMing on 53.911652532 meters Centerline goodness [0,1] 0.31421778028532277 Centerline is valid? [False, False] Translation: X:-2.52, Y:-3.83, Z:0.53 [[ 0.99727935 0.06195704 0.03994021 -2.51604692] [-0.06328873 0.99744996 0.03298665 -3.83402376] [-0.0377946 -0.03542467 0.99865743 0.52909663] [ 0. 0. 0. 1. ]] SLAMing on 53.941652532 meters Centerline goodness [0,1] 0.3196605659920987 Centerline is valid? [False, False] Translation: X:-2.53, Y:-3.86, Z:0.53 [[ 0.99807216 0.04539213 0.04232631 -2.52505273] [-0.04698117 0.99819779 0.03733547 -3.85608571] [-0.04055529 -0.03925203 0.998406 0.5322621 ] [ 0. 0. 0. 1. ]] SLAMing on 53.971652532 meters Centerline goodness [0,1] 0.32796306004758635 Centerline is valid? [False, False] Translation: X:-2.53, Y:-3.86, Z:0.54 [[ 0.99834496 0.03912794 0.04214671 -2.52738931] [-0.04049133 0.99866747 0.03199579 -3.86422729] [-0.04083862 -0.03364941 0.99859898 0.53505313] [ 0. 0. 0. 1. ]] SLAMing on 54.001652532 meters Centerline goodness [0,1] 0.32721003387643166 Centerline is valid? [False, False] Translation: X:-2.53, Y:-3.87, Z:0.54 [[ 0.99857993 0.03273121 0.0420332 -2.5291622 ] [-0.03385223 0.9990823 0.0262407 -3.87111803] [-0.04113573 -0.02762636 0.99877156 0.53694903] [ 0. 0. 0. 1. ]] SLAMing on 54.031652532 meters Centerline goodness [0,1] 0.337418860621699 Centerline is valid? [False, False] Translation: X:-2.53, Y:-3.88, Z:0.54 [[ 0.9987874 0.0260254 0.04179002 -2.53062876] [-0.02688796 0.99943409 0.02021252 -3.87759027] [-0.04124033 -0.02131166 0.99892194 0.53897568] [ 0. 0. 0. 1. ]] SLAMing on 54.061652532 meters Centerline goodness [0,1] 0.3455569234495146 Centerline is valid? [False, False] Translation: X:-2.53, Y:-3.89, Z:0.54 [[ 0.99936934 0.00952701 0.03420747 -2.53153157] [-0.01027563 0.99971006 0.02177614 -3.89360818] [-0.03399009 -0.02211391 0.99917749 0.54104723] [ 0. 0. 0. 1. ]] SLAMing on 54.091652532 meters Centerline goodness [0,1] 0.3532688775407222 Centerline is valid? [False, False] Translation: X:-2.53, Y:-3.89, Z:0.54 [[ 9.99451117e-01 3.52701045e-03 3.29397047e-02 -2.52916507e+00] [-4.07139597e-03 9.99856000e-01 1.64743034e-02 -3.89402245e+00] [-3.28768564e-02 -1.65993715e-02 9.99321556e-01 5.42182429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.121652532 meters Centerline goodness [0,1] 0.3561132197367358 Centerline is valid? [False, False] Translation: X:-2.53, Y:-3.90, Z:0.54 [[ 9.99492094e-01 -1.49688200e-03 3.18325866e-02 -2.52717298e+00] [ 1.10654487e-03 9.99924031e-01 1.22762701e-02 -3.89626374e+00] [-3.18485444e-02 -1.22348107e-02 9.99417820e-01 5.43312263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.151652532 meters Centerline goodness [0,1] 0.3656020550577479 Centerline is valid? [False, False] Translation: X:-2.52, Y:-3.90, Z:0.55 [[ 0.9995468 -0.0133696 0.02697116 -2.51821797] [ 0.01318446 0.99988836 0.00703058 -3.89748723] [-0.02706215 -0.0066718 0.99961149 0.55093632] [ 0. 0. 0. 1. ]] SLAMing on 54.181652532 meters Centerline goodness [0,1] 0.36856801764432123 Centerline is valid? [False, False] Translation: X:-2.52, Y:-3.90, Z:0.55 [[ 9.99494983e-01 -1.73617000e-02 2.66148583e-02 -2.51842817e+00] [ 1.72651524e-02 9.99843522e-01 3.85311334e-03 -3.90140474e+00] [-2.66775902e-02 -3.39165787e-03 9.99638336e-01 5.52764646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.211652532 meters Centerline goodness [0,1] 0.3660076491895502 Centerline is valid? [False, False] Translation: X:-2.52, Y:-3.91, Z:0.55 [[ 9.99432058e-01 -2.12582519e-02 2.61466635e-02 -2.51818634e+00] [ 2.12451329e-02 9.99773993e-01 7.79466995e-04 -3.90563320e+00] [-2.61573243e-02 -2.23534962e-04 9.99657814e-01 5.54404615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.241652531999996 meters Centerline goodness [0,1] 0.37758949203389147 Centerline is valid? [False, False] Translation: X:-2.52, Y:-3.91, Z:0.56 [[ 0.99929239 -0.0275124 0.02564742 -2.51933564] [ 0.02762388 0.99961037 -0.00400254 -3.9146412 ] [-0.02552731 0.00470819 0.99966304 0.55813436] [ 0. 0. 0. 1. ]] SLAMing on 54.271652532 meters Centerline goodness [0,1] 0.37838275806190247 Centerline is valid? [False, False] Translation: X:-2.52, Y:-3.92, Z:0.56 [[ 9.99302376e-01 -2.79294227e-02 2.47933354e-02 -2.51857855e+00] [ 2.80314770e-02 9.99599901e-01 -3.77817096e-03 -3.91645760e+00] [-2.46778935e-02 4.47052903e-03 9.99685459e-01 5.60057228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.301652532 meters Centerline goodness [0,1] 0.36190977565400506 Centerline is valid? [False, False] Translation: X:-2.52, Y:-3.92, Z:0.56 [[ 0.99929696 -0.02898673 0.02377711 -2.51701874] [ 0.0290927 0.99956821 -0.00412294 -3.91739272] [-0.02364734 0.00481178 0.99970878 0.56155843] [ 0. 0. 0. 1. ]] SLAMing on 54.331652532 meters Centerline goodness [0,1] 0.3764307854378963 Centerline is valid? [False, False] Translation: X:-2.52, Y:-3.92, Z:0.56 [[ 0.99929277 -0.02979311 0.02294197 -2.51550213] [ 0.02990516 0.99954235 -0.00455658 -3.91735437] [-0.02279572 0.00523944 0.99972641 0.56238549] [ 0. 0. 0. 1. ]] SLAMing on 54.361652532 meters Centerline goodness [0,1] 0.3538661047171341 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.91, Z:0.56 [[ 0.99927617 -0.03082092 0.02229796 -2.51388256] [ 0.03095598 0.99950428 -0.0057377 -3.91485657] [-0.02211007 0.0064238 0.9997349 0.56247373] [ 0. 0. 0. 1. ]] SLAMing on 54.391652532 meters Centerline goodness [0,1] 0.3538661047171341 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.91, Z:0.56 [[ 0.99927617 -0.03082092 0.02229796 -2.51388256] [ 0.03095598 0.99950428 -0.0057377 -3.91485657] [-0.02211007 0.0064238 0.9997349 0.56247373] [ 0. 0. 0. 1. ]] SLAMing on 54.421652531999996 meters Centerline goodness [0,1] 0.3760176596865 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.92, Z:0.56 [[ 0.99929899 -0.03006858 0.02230255 -2.51372765] [ 0.03017803 0.99953401 -0.0045876 -3.91812946] [-0.02215422 0.00525743 0.99974074 0.56214686] [ 0. 0. 0. 1. ]] SLAMing on 54.451652532 meters Centerline goodness [0,1] 0.35578191262707226 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.92, Z:0.56 [[ 0.99946625 -0.03149061 0.00869245 -2.50892447] [ 0.03152644 0.99949485 -0.00401536 -3.92433169] [-0.00856161 0.00428726 0.99995416 0.56420719] [ 0. 0. 0. 1. ]] SLAMing on 54.481652532 meters Centerline goodness [0,1] 0.3679852619645315 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.93, Z:0.57 [[ 9.99460893e-01 -3.18869921e-02 7.81934798e-03 -2.50765402e+00] [ 3.19179142e-02 9.99483032e-01 -3.86215728e-03 -3.92579635e+00] [-7.69215305e-03 4.10965245e-03 9.99961970e-01 5.65507324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.511652532 meters Centerline goodness [0,1] 0.37237748076144184 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.92, Z:0.56 [[ 0.99944587 -0.03236776 0.00776387 -2.50689846] [ 0.03240368 0.99946453 -0.0045457 -3.92403203] [-0.00761258 0.00479476 0.99995953 0.5647177 ] [ 0. 0. 0. 1. ]] SLAMing on 54.541652532 meters Centerline goodness [0,1] 0.3732056447530927 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.92, Z:0.56 [[ 0.99943635 -0.03265427 0.00778988 -2.50623154] [ 0.03269458 0.99945235 -0.00510493 -3.92240872] [-0.00761892 0.00535674 0.99995663 0.56363264] [ 0. 0. 0. 1. ]] SLAMing on 54.571652532 meters Centerline goodness [0,1] 0.3769953812494936 Centerline is valid? [False, False] Translation: X:-2.50, Y:-3.92, Z:0.56 [[ 9.99519427e-01 -3.01443356e-02 7.22732717e-03 -2.50447334e+00] [ 3.01658317e-02 9.99540747e-01 -2.88392896e-03 -3.91913156e+00] [-7.13707387e-03 3.10056136e-03 9.99969724e-01 5.62844807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.601652532 meters Centerline goodness [0,1] 0.3823880778342479 Centerline is valid? [False, False] Translation: X:-2.50, Y:-3.92, Z:0.56 [[ 9.99634495e-01 -2.61505124e-02 6.85766287e-03 -2.50399208e+00] [ 2.61424302e-02 9.99657427e-01 1.26558770e-03 -3.91939073e+00] [-6.88840938e-03 -1.08584915e-03 9.99975685e-01 5.63008999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.631652532 meters Centerline goodness [0,1] 0.3806261242143132 Centerline is valid? [False, False] Translation: X:-2.50, Y:-3.92, Z:0.56 [[ 0.99972346 -0.02256241 0.00662913 -2.50360965] [ 0.02253158 0.99973513 0.00468936 -3.91731451] [-0.00673317 -0.0045387 0.99996703 0.56300191] [ 0. 0. 0. 1. ]] SLAMing on 54.661652532 meters Centerline goodness [0,1] 0.3792790063617085 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.93, Z:0.57 [[ 9.99913894e-01 -1.31195871e-02 -2.85996081e-04 -2.51049596e+00] [ 1.31195662e-02 9.99913932e-01 -7.49056481e-05 -3.93181371e+00] [ 2.86954197e-04 7.11470537e-05 9.99999956e-01 5.68641727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.691652532 meters Centerline goodness [0,1] 0.3774596048453963 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.93, Z:0.57 [[ 9.99943956e-01 -1.05740920e-02 -5.22035763e-04 -2.50931568e+00] [ 1.05751546e-02 9.99941925e-01 2.07663024e-03 -3.92783519e+00] [ 5.00046967e-04 -2.08203447e-03 9.99997708e-01 5.67633916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.721652532 meters Centerline goodness [0,1] 0.37486601816085907 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.93, Z:0.57 [[ 9.99949095e-01 -1.00892284e-02 1.23886850e-04 -2.51068969e+00] [ 1.00888976e-02 9.99946151e-01 2.43074539e-03 -3.92848000e+00] [-1.48404524e-04 -2.42937177e-03 9.99997038e-01 5.67103141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.751652532 meters Centerline goodness [0,1] 0.37438264108169383 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.93, Z:0.57 [[ 9.99953686e-01 -9.61611689e-03 3.94077393e-04 -2.51171384e+00] [ 9.61489068e-03 9.99949265e-01 3.00356838e-03 -3.93010950e+00] [-4.22940064e-04 -2.99964026e-03 9.99995412e-01 5.67397289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.781652532 meters Centerline goodness [0,1] 0.3762675427922446 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.93, Z:0.57 [[ 9.99950028e-01 -9.99711610e-03 8.35083972e-06 -2.51016383e+00] [ 9.99705687e-03 9.99946365e-01 2.70683883e-03 -3.92991453e+00] [-3.54109738e-05 -2.70662007e-03 9.99996336e-01 5.66692021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.811652532 meters Centerline goodness [0,1] 0.37648800470483257 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.93, Z:0.57 [[ 9.99957450e-01 -9.21148713e-03 4.96411935e-04 -2.51103059e+00] [ 9.20970668e-03 9.99951545e-01 3.47690290e-03 -3.93161143e+00] [-5.28415328e-04 -3.47218315e-03 9.99993832e-01 5.66033533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.841652532 meters Centerline goodness [0,1] 0.3710699463508452 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.93, Z:0.57 [[ 9.99960632e-01 -8.86418010e-03 4.00414612e-04 -2.51143920e+00] [ 8.86238704e-03 9.99951580e-01 4.27742261e-03 -3.93453580e+00] [-4.38311068e-04 -4.27370558e-03 9.99990772e-01 5.66823759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.871652532 meters Centerline goodness [0,1] 0.38251321840244723 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.94, Z:0.57 [[ 9.99892662e-01 -1.46362410e-02 -6.67290034e-04 -2.51011843e+00] [ 1.46359694e-02 9.99892804e-01 -4.10141794e-04 -3.93603479e+00] [ 6.73221437e-04 4.00331334e-04 9.99999693e-01 5.69032140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.901652532 meters Centerline goodness [0,1] 0.38316374103052664 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.94, Z:0.57 [[ 9.99890462e-01 -1.47411603e-02 -1.32748530e-03 -2.50852794e+00] [ 1.47410951e-02 9.99891342e-01 -5.88809712e-05 -3.93776799e+00] [ 1.32820903e-03 3.93059345e-05 9.99999117e-01 5.69124155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.931652532 meters Centerline goodness [0,1] 0.37474397193324005 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.94, Z:0.57 [[ 9.99870669e-01 -1.59416452e-02 -2.12346997e-03 -2.50676273e+00] [ 1.59392174e-02 9.99872295e-01 -1.15539613e-03 -3.93602195e+00] [ 2.14161771e-03 1.12140025e-03 9.99997078e-01 5.69338268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.961652532 meters Centerline goodness [0,1] 0.37501013048058995 Centerline is valid? [False, False] Translation: X:-2.50, Y:-3.93, Z:0.57 [[ 9.99844482e-01 -1.73727498e-02 -3.03299569e-03 -2.50437785e+00] [ 1.73656882e-02 9.99846469e-01 -2.33927039e-03 -3.93465817e+00] [ 3.07316959e-03 2.28623653e-03 9.99992664e-01 5.69237861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.991652531999996 meters Centerline goodness [0,1] 0.3782329773843842 Centerline is valid? [False, False] Translation: X:-2.50, Y:-3.94, Z:0.57 [[ 9.99823014e-01 -1.82991170e-02 -4.36837161e-03 -2.50313877e+00] [ 1.82905715e-02 9.99830737e-01 -1.98822509e-03 -3.93756992e+00] [ 4.40401496e-03 1.90797319e-03 9.99988482e-01 5.72124544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.021652532 meters Centerline goodness [0,1] 0.36691741519495524 Centerline is valid? [False, False] Translation: X:-2.50, Y:-3.94, Z:0.57 [[ 9.99823842e-01 -1.81592236e-02 -4.74639551e-03 -2.50360874e+00] [ 1.81538638e-02 9.99834521e-01 -1.16990171e-03 -3.94050113e+00] [ 4.76685459e-03 1.08353020e-03 9.99988051e-01 5.73979032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.051652532 meters Centerline goodness [0,1] 0.3809398152846849 Centerline is valid? [False, False] Translation: X:-2.50, Y:-3.94, Z:0.57 [[ 9.99822242e-01 -1.82292379e-02 -4.81451117e-03 -2.50403520e+00] [ 1.82246039e-02 9.99833413e-01 -1.00462846e-03 -3.94136870e+00] [ 4.83202274e-03 9.16707321e-04 9.99987906e-01 5.74692328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.081652532 meters Centerline goodness [0,1] 0.3702524586839704 Centerline is valid? [False, False] Translation: X:-2.50, Y:-3.94, Z:0.57 [[ 9.99817776e-01 -1.84721941e-02 -4.81597828e-03 -2.50381355e+00] [ 1.84657182e-02 9.99828534e-01 -1.38568408e-03 -3.94028785e+00] [ 4.84074913e-03 1.29650108e-03 9.99987443e-01 5.74308331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.111652532 meters Centerline goodness [0,1] 0.38050135886099057 Centerline is valid? [False, False] Translation: X:-2.50, Y:-3.94, Z:0.57 [[ 9.99821402e-01 -1.84382492e-02 -4.14660210e-03 -2.50496263e+00] [ 1.84293244e-02 9.99827788e-01 -2.18032507e-03 -3.93680301e+00] [ 4.18608938e-03 2.10351659e-03 9.99989026e-01 5.73263607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.141652532 meters Centerline goodness [0,1] 0.38183071185341333 Centerline is valid? [False, False] Translation: X:-2.50, Y:-3.93, Z:0.57 [[ 9.99856516e-01 -1.62106967e-02 -4.91540568e-03 -2.50377195e+00] [ 1.62122027e-02 9.99868538e-01 2.66679775e-04 -3.93483689e+00] [ 4.91043643e-03 -3.46331064e-04 9.99987884e-01 5.73858566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.171652531999996 meters Centerline goodness [0,1] 0.3833235180634811 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.94, Z:0.58 [[ 9.99889635e-01 -1.41261702e-02 -4.60104714e-03 -2.50693338e+00] [ 1.41399952e-02 9.99895566e-01 2.98621014e-03 -3.93972624e+00] [ 4.55838292e-03 -3.05093935e-03 9.99984956e-01 5.76647411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.201652532 meters Centerline goodness [0,1] 0.369876362750472 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.94, Z:0.58 [[ 9.99892419e-01 -1.40104253e-02 -4.34258053e-03 -2.50775563e+00] [ 1.40236876e-02 9.99897046e-01 3.03874371e-03 -3.93978403e+00] [ 4.29955935e-03 -3.09931579e-03 9.99985954e-01 5.76762075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.231652532 meters Centerline goodness [0,1] 0.3827095306756565 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.94, Z:0.58 [[ 9.99913012e-01 -1.27240418e-02 -3.47377617e-03 -2.50971185e+00] [ 1.27380043e-02 9.99910758e-01 4.02731772e-03 -3.94121536e+00] [ 3.42222241e-03 -4.07121637e-03 9.99985857e-01 5.76149044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.261652532 meters Centerline goodness [0,1] 0.3565784395376709 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.94, Z:0.58 [[ 9.99908332e-01 -1.30514016e-02 -3.60394148e-03 -2.50909966e+00] [ 1.30649241e-02 9.99907602e-01 3.75443952e-03 -3.94097791e+00] [ 3.55460778e-03 -3.80118058e-03 9.99986458e-01 5.75822846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.291652532 meters Centerline goodness [0,1] 0.3811965465526327 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.94, Z:0.58 [[ 9.99901582e-01 -1.34748417e-02 -3.90584712e-03 -2.50830746e+00] [ 1.34872321e-02 9.99904039e-01 3.16347342e-03 -3.93943806e+00] [ 3.86284501e-03 -3.21584114e-03 9.99987368e-01 5.75779133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.321652532 meters Centerline goodness [0,1] 0.3679300884056498 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.94, Z:0.58 [[ 0.99990428 -0.01314194 -0.00432632 -2.5077476 ] [ 0.01316008 0.99990462 0.00419057 -3.94346686] [ 0.00427083 -0.0042471 0.99998186 0.57640522] [ 0. 0. 0. 1. ]] SLAMing on 55.351652532 meters Centerline goodness [0,1] 0.3342002600780234 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.95, Z:0.58 [[ 9.99762524e-01 -2.12472558e-02 -4.84248946e-03 -2.50841798e+00] [ 2.12341573e-02 9.99770774e-01 -2.74045729e-03 -3.94858555e+00] [ 4.89960663e-03 2.63698032e-03 9.99984520e-01 5.79468903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.381652532 meters Centerline goodness [0,1] 0.35371383257762146 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.96, Z:0.58 [[ 0.99958902 -0.028104 -0.00565245 -2.50891994] [ 0.02806248 0.99957955 -0.00729461 -3.95974934] [ 0.00585508 0.00713299 0.99995742 0.58349965] [ 0. 0. 0. 1. ]] SLAMing on 55.411652532 meters Centerline goodness [0,1] 0.3893411836361791 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.97, Z:0.58 [[ 0.99959001 -0.0278433 -0.00667603 -2.5072551 ] [ 0.02780389 0.99959583 -0.00592616 -3.96501492] [ 0.00683833 0.00573811 0.99996015 0.58472783] [ 0. 0. 0. 1. ]] SLAMing on 55.441652532 meters Centerline goodness [0,1] 0.3683311298688091 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.97, Z:0.59 [[ 0.9994423 -0.03259914 -0.00723844 -2.50681532] [ 0.032527 0.99942212 -0.00986986 -3.96713049] [ 0.007556 0.00962891 0.99992509 0.58650392] [ 0. 0. 0. 1. ]] SLAMing on 55.471652532 meters Centerline goodness [0,1] 0.38355689648142866 Centerline is valid? [False, False] Translation: X:-2.50, Y:-3.97, Z:0.59 [[ 0.99925346 -0.0377455 -0.00823452 -2.50465878] [ 0.0376258 0.99919047 -0.01423723 -3.9680327 ] [ 0.00876524 0.01391677 0.99986474 0.58764241] [ 0. 0. 0. 1. ]] SLAMing on 55.501652532 meters Centerline goodness [0,1] 0.37239625711960944 Centerline is valid? [False, False] Translation: X:-2.50, Y:-3.97, Z:0.59 [[ 0.99916809 -0.03965791 -0.00950677 -2.50175433] [ 0.03950671 0.99909757 -0.01559708 -3.96718931] [ 0.01011674 0.01520853 0.99983316 0.58821452] [ 0. 0. 0. 1. ]] SLAMing on 55.531652532 meters Centerline goodness [0,1] 0.3333401201262344 Centerline is valid? [False, False] Translation: X:-2.50, Y:-3.97, Z:0.59 [[ 0.99907822 -0.0415653 -0.01072571 -2.49875297] [ 0.04138089 0.99900088 -0.01687771 -3.96702868] [ 0.01141652 0.01641831 0.99980003 0.58853843] [ 0. 0. 0. 1. ]] SLAMing on 55.561652532 meters Centerline goodness [0,1] 0.3786595545421231 Centerline is valid? [False, False] Translation: X:-2.50, Y:-3.97, Z:0.59 [[ 0.99888153 -0.0458284 -0.0116382 -2.49690148] [ 0.04558837 0.9987578 -0.02011381 -3.97103695] [ 0.01254553 0.01956074 0.99972996 0.58978873] [ 0. 0. 0. 1. ]] SLAMing on 55.591652532 meters Centerline goodness [0,1] 0.34548632280616187 Centerline is valid? [False, False] Translation: X:-2.50, Y:-3.97, Z:0.59 [[ 0.99867849 -0.04995852 -0.01205891 -2.49673345] [ 0.0496671 0.99849252 -0.02336382 -3.9747435 ] [ 0.01320795 0.02273401 0.9996543 0.59164727] [ 0. 0. 0. 1. ]] SLAMing on 55.621652532 meters Centerline goodness [0,1] 0.3750915900024424 Centerline is valid? [False, False] Translation: X:-2.49, Y:-3.98, Z:0.59 [[ 0.99858744 -0.0514385 -0.01331167 -2.49460143] [ 0.05111334 0.99841133 -0.02371162 -3.97685299] [ 0.01451021 0.02299773 0.99963021 0.59326032] [ 0. 0. 0. 1. ]] SLAMing on 55.651652532 meters Centerline goodness [0,1] 0.34109616951915245 Centerline is valid? [False, False] Translation: X:-2.49, Y:-3.98, Z:0.60 [[ 0.99829671 -0.05654777 -0.0143538 -2.49298111] [ 0.05614257 0.99805175 -0.02721613 -3.98051353] [ 0.01586484 0.02636391 0.99952651 0.59562841] [ 0. 0. 0. 1. ]] SLAMing on 55.681652532 meters Centerline goodness [0,1] 0.33572024330207295 Centerline is valid? [False, False] Translation: X:-2.49, Y:-3.98, Z:0.60 [[ 0.99827739 -0.05673665 -0.01493992 -2.49189652] [ 0.0563192 0.99804714 -0.02701946 -3.98166717] [ 0.01644374 0.02613152 0.99952326 0.59618024] [ 0. 0. 0. 1. ]] SLAMing on 55.711652532 meters Centerline goodness [0,1] 0.3857582489249394 Centerline is valid? [False, False] Translation: X:-2.49, Y:-3.98, Z:0.60 [[ 0.99823236 -0.05732868 -0.01567103 -2.49065073] [ 0.05688899 0.99801006 -0.02719501 -3.98224194] [ 0.0171989 0.02625543 0.9995073 0.5970291 ] [ 0. 0. 0. 1. ]] SLAMing on 55.741652531999996 meters Centerline goodness [0,1] 0.3643352365415987 Centerline is valid? [False, False] Translation: X:-2.49, Y:-3.98, Z:0.60 [[ 0.9981505 -0.05842994 -0.01677836 -2.48873228] [ 0.05795168 0.99793499 -0.02770115 -3.98273335] [ 0.01836229 0.02667758 0.99947543 0.59831668] [ 0. 0. 0. 1. ]] SLAMing on 55.771652532 meters Centerline goodness [0,1] 0.36621838823218245 Centerline is valid? [False, False] Translation: X:-2.49, Y:-3.98, Z:0.60 [[ 0.99788019 -0.06279531 -0.01708455 -2.48805933] [ 0.06223412 0.99756104 -0.03160517 -3.98414313] [ 0.01902754 0.03047493 0.99935441 0.59931256] [ 0. 0. 0. 1. ]] SLAMing on 55.801652532 meters Centerline goodness [0,1] 0.3561345700105768 Centerline is valid? [False, False] Translation: X:-2.49, Y:-3.98, Z:0.60 [[ 0.99781828 -0.06361969 -0.01764119 -2.48625404] [ 0.06302649 0.99748715 -0.03235818 -3.98305956] [ 0.01965547 0.03117572 0.99932064 0.59894885] [ 0. 0. 0. 1. ]] SLAMing on 55.831652532 meters Centerline goodness [0,1] 0.37720781469635545 Centerline is valid? [False, False] Translation: X:-2.49, Y:-3.98, Z:0.60 [[ 0.99751144 -0.06821779 -0.01781185 -2.48531591] [ 0.06753484 0.99704982 -0.0364789 -3.98437996] [ 0.02024781 0.0351852 0.99917567 0.59931676] [ 0. 0. 0. 1. ]] SLAMing on 55.861652532 meters Centerline goodness [0,1] 0.38747581712656554 Centerline is valid? [False, False] Translation: X:-2.48, Y:-3.98, Z:0.60 [[ 0.99744012 -0.06902849 -0.01866212 -2.48412632] [ 0.06830381 0.99697745 -0.03702085 -3.98406019] [ 0.02116121 0.03565139 0.99914022 0.60048701] [ 0. 0. 0. 1. ]] SLAMing on 55.891652532 meters Centerline goodness [0,1] 0.38623832678887515 Centerline is valid? [False, False] Translation: X:-2.49, Y:-3.99, Z:0.60 [[ 0.99776871 -0.06405778 -0.01882032 -2.48532378] [ 0.06344182 0.99748254 -0.03168136 -3.98674787] [ 0.02080238 0.03041667 0.99932081 0.60132045] [ 0. 0. 0. 1. ]] SLAMing on 55.921652531999996 meters Centerline goodness [0,1] 0.39455809980884204 Centerline is valid? [False, False] Translation: X:-2.48, Y:-3.99, Z:0.60 [[ 0.99765837 -0.06548874 -0.01972321 -2.48320026] [ 0.06482337 0.99736177 -0.03267148 -3.98567686] [ 0.02181079 0.03131645 0.99927152 0.60177578] [ 0. 0. 0. 1. ]] SLAMing on 55.951652532 meters Centerline goodness [0,1] 0.3827452098307915 Centerline is valid? [False, False] Translation: X:-2.48, Y:-3.99, Z:0.60 [[ 0.99731593 -0.07040234 -0.02011067 -2.48178013] [ 0.06962097 0.99687895 -0.03721939 -3.98561614] [ 0.02266823 0.03571937 0.99910474 0.60225271] [ 0. 0. 0. 1. ]] SLAMing on 55.981652532 meters Centerline goodness [0,1] 0.36234838446641526 Centerline is valid? [False, False] Translation: X:-2.48, Y:-3.98, Z:0.60 [[ 0.99664436 -0.07948449 -0.01955097 -2.48141478] [ 0.07851723 0.99584773 -0.046069 -3.9847924 ] [ 0.02313156 0.04437932 0.99874692 0.60196192] [ 0. 0. 0. 1. ]] SLAMing on 56.011652532 meters Centerline goodness [0,1] 0.3659708787292536 Centerline is valid? [False, False] Translation: X:-2.48, Y:-3.98, Z:0.60 [[ 0.99648575 -0.08124366 -0.02038678 -2.47869912] [ 0.08019683 0.99563361 -0.04777226 -3.98194297] [ 0.02417896 0.04596942 0.99865018 0.60157906] [ 0. 0. 0. 1. ]] SLAMing on 56.041652532 meters Centerline goodness [0,1] 0.3758691706939091 Centerline is valid? [False, False] Translation: X:-2.48, Y:-3.98, Z:0.60 [[ 0.99642437 -0.08187219 -0.0208669 -2.47739674] [ 0.08078807 0.99555714 -0.0483659 -3.98092419] [ 0.02473401 0.04650717 0.99861169 0.60148774] [ 0. 0. 0. 1. ]] SLAMing on 56.071652532 meters Centerline goodness [0,1] 0.3606400326131268 Centerline is valid? [False, False] Translation: X:-2.48, Y:-3.98, Z:0.60 [[ 0.99705262 -0.07357107 -0.021757 -2.47719112] [ 0.07265142 0.99653857 -0.04040597 -3.97954649] [ 0.0246544 0.0387062 0.99894644 0.60185594] [ 0. 0. 0. 1. ]] SLAMing on 56.101652532 meters Centerline goodness [0,1] 0.38803202868727205 Centerline is valid? [False, False] Translation: X:-2.48, Y:-3.98, Z:0.60 [[ 0.99710923 -0.07277244 -0.02184848 -2.47794176] [ 0.07188429 0.99665007 -0.03900358 -3.98388402] [ 0.02461367 0.03732026 0.99900018 0.60301337] [ 0. 0. 0. 1. ]] SLAMing on 56.131652532 meters Centerline goodness [0,1] 0.38048959758263745 Centerline is valid? [False, False] Translation: X:-2.48, Y:-3.99, Z:0.61 [[ 0.99686867 -0.07602691 -0.02174333 -2.47911584] [ 0.0750846 0.99632194 -0.04129036 -3.98963999] [ 0.02480253 0.03952847 0.99891057 0.60501355] [ 0. 0. 0. 1. ]] SLAMing on 56.161652532 meters Centerline goodness [0,1] 0.3846106758080313 Centerline is valid? [False, False] Translation: X:-2.48, Y:-3.99, Z:0.61 [[ 0.99652416 -0.08030775 -0.02214207 -2.47814018] [ 0.07925754 0.9958466 -0.04480833 -3.99271665] [ 0.02564856 0.04289765 0.99875019 0.60616093] [ 0. 0. 0. 1. ]] SLAMing on 56.191652532 meters Centerline goodness [0,1] 0.3930139924420386 Centerline is valid? [False, False] Translation: X:-2.48, Y:-3.99, Z:0.61 [[ 0.99612147 -0.08501525 -0.02268112 -2.47604342] [ 0.08382799 0.99527607 -0.04897364 -3.99411993] [ 0.02673749 0.04688238 0.99854251 0.60652865] [ 0. 0. 0. 1. ]] SLAMing on 56.221652532 meters Centerline goodness [0,1] 0.3611190466473493 Centerline is valid? [False, False] Translation: X:-2.47, Y:-3.99, Z:0.61 [[ 0.99639795 -0.08144048 -0.02363425 -2.47411611] [ 0.0803117 0.99573907 -0.04531806 -3.99379305] [ 0.02722427 0.04325672 0.99869299 0.60618766] [ 0. 0. 0. 1. ]] SLAMing on 56.251652532 meters Centerline goodness [0,1] 0.36038609881027694 Centerline is valid? [False, False] Translation: X:-2.47, Y:-3.99, Z:0.61 [[ 0.99669021 -0.07755317 -0.02437462 -2.47325993] [ 0.07650123 0.99620649 -0.04147519 -3.99349354] [ 0.02749869 0.03947323 0.99884217 0.60648781] [ 0. 0. 0. 1. ]] SLAMing on 56.281652532 meters Centerline goodness [0,1] 0.36038609881027694 Centerline is valid? [False, False] Translation: X:-2.47, Y:-3.99, Z:0.61 [[ 0.99669021 -0.07755317 -0.02437462 -2.47325993] [ 0.07650123 0.99620649 -0.04147519 -3.99349354] [ 0.02749869 0.03947323 0.99884217 0.60648781] [ 0. 0. 0. 1. ]] SLAMing on 56.311652532 meters Centerline goodness [0,1] 0.385361875637105 Centerline is valid? [False, False] Translation: X:-2.47, Y:-3.99, Z:0.61 [[ 0.99700993 -0.0732816 -0.02451529 -2.47397026] [ 0.07233445 0.99667456 -0.03751735 -3.99252586] [ 0.0271831 0.03563187 0.99899522 0.60659817] [ 0. 0. 0. 1. ]] SLAMing on 56.341652532 meters Centerline goodness [0,1] 0.40035025556437986 Centerline is valid? [False, False] Translation: X:-2.47, Y:-3.99, Z:0.61 [[ 0.99751533 -0.06582645 -0.02510078 -2.47324684] [ 0.06504753 0.99741044 -0.03067953 -3.98888395] [ 0.0270553 0.02897056 0.99921405 0.60583504] [ 0. 0. 0. 1. ]] SLAMing on 56.371652532 meters Centerline goodness [0,1] 0.37144429048822236 Centerline is valid? [False, False] Translation: X:-2.47, Y:-3.99, Z:0.61 [[ 0.99776906 -0.06181951 -0.02520428 -2.47352237] [ 0.06113398 0.9977611 -0.02711884 -3.98695603] [ 0.02682433 0.02551751 0.99931442 0.60554743] [ 0. 0. 0. 1. ]] SLAMing on 56.401652532 meters Centerline goodness [0,1] 0.3829193811074919 Centerline is valid? [False, False] Translation: X:-2.47, Y:-3.99, Z:0.60 [[ 0.99803246 -0.05748873 -0.02502505 -2.47423259] [ 0.05691036 0.99810874 -0.02324136 -3.98564856] [ 0.02631383 0.02177145 0.99941662 0.60485931] [ 0. 0. 0. 1. ]] SLAMing on 56.431652532 meters Centerline goodness [0,1] 0.38875444839857654 Centerline is valid? [False, False] Translation: X:-2.49, Y:-3.99, Z:0.60 [[ 0.99883675 -0.04350787 -0.02078989 -2.49067972] [ 0.04315119 0.99891862 -0.0173078 -3.9942452 ] [ 0.02152043 0.01639055 0.99963404 0.60115985] [ 0. 0. 0. 1. ]] SLAMing on 56.461652532 meters Centerline goodness [0,1] 0.3535688830058039 Centerline is valid? [False, False] Translation: X:-2.49, Y:-3.99, Z:0.60 [[ 0.99910067 -0.03765126 -0.01949957 -2.49408615] [ 0.03741269 0.99922224 -0.01245837 -3.99376017] [ 0.01995347 0.01171763 0.99973224 0.60013847] [ 0. 0. 0. 1. ]] SLAMing on 56.491652531999996 meters Centerline goodness [0,1] 0.3555596225801204 Centerline is valid? [False, False] Translation: X:-2.49, Y:-3.99, Z:0.60 [[ 0.9991999 -0.034797 -0.01971634 -2.49318727] [ 0.03460048 0.99934894 -0.01022264 -3.98947245] [ 0.02005922 0.00953226 0.99975335 0.59911716] [ 0. 0. 0. 1. ]] SLAMing on 56.521652532 meters Centerline goodness [0,1] 0.35910872788576764 Centerline is valid? [False, False] Translation: X:-2.50, Y:-3.99, Z:0.60 [[ 0.99942415 -0.02880451 -0.01793491 -2.4980169 ] [ 0.02870414 0.99957096 -0.00582886 -3.9873292 ] [ 0.01809511 0.0053107 0.99982217 0.59830624] [ 0. 0. 0. 1. ]] SLAMing on 56.551652532 meters Centerline goodness [0,1] 0.3564392631557568 Centerline is valid? [False, False] Translation: X:-2.51, Y:-3.99, Z:0.60 [[ 0.99990942 -0.00715642 -0.01139864 -2.51346694] [ 0.00709858 0.99996176 -0.00510689 -3.98931687] [ 0.01143475 0.00502551 0.99992199 0.60143098] [ 0. 0. 0. 1. ]] SLAMing on 56.581652532 meters Centerline goodness [0,1] 0.34460488637055997 Centerline is valid? [False, False] Translation: X:-2.53, Y:-3.99, Z:0.59 [[ 9.99978012e-01 3.30936875e-03 -5.74660161e-03 -2.52608891e+00] [-3.31591718e-03 9.99993863e-01 -1.13037760e-03 -3.99304887e+00] [ 5.74282551e-03 1.14940800e-03 9.99982849e-01 5.94987719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.611652532 meters Centerline goodness [0,1] 0.3448751775928557 Centerline is valid? [False, False] Translation: X:-2.54, Y:-3.99, Z:0.59 [[ 9.99929633e-01 1.18614230e-02 -1.89829884e-04 -2.53780989e+00] [-1.18613397e-02 9.99929558e-01 4.34188031e-04 -3.99302834e+00] [ 1.94966600e-04 -4.31905842e-04 9.99999888e-01 5.87745239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.641652532 meters Centerline goodness [0,1] 0.3662926364060629 Centerline is valid? [False, False] Translation: X:-2.55, Y:-4.00, Z:0.58 [[ 9.99745662e-01 2.18872921e-02 5.43671799e-03 -2.55061592e+00] [-2.19058754e-02 9.99754316e-01 3.38238503e-03 -3.99564090e+00] [-5.36135102e-03 -3.50062083e-03 9.99979501e-01 5.81058940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.671652531999996 meters Centerline goodness [0,1] 0.3570386579139314 Centerline is valid? [False, False] Translation: X:-2.57, Y:-4.00, Z:0.58 [[ 0.99902361 0.04300056 0.01013839 -2.56624572] [-0.04314289 0.99896707 0.01426477 -3.99637406] [-0.00951452 -0.01468824 0.99984685 0.57638949] [ 0. 0. 0. 1. ]] SLAMing on 56.701652532 meters Centerline goodness [0,1] 0.349304106480825 Centerline is valid? [False, False] Translation: X:-2.58, Y:-4.01, Z:0.57 [[ 0.99838839 0.05461326 0.01542742 -2.58105636] [-0.05490054 0.99831379 0.01885511 -4.0061571 ] [-0.01437166 -0.01967169 0.9997032 0.57192957] [ 0. 0. 0. 1. ]] SLAMing on 56.731652532 meters Centerline goodness [0,1] 0.3303607538623311 Centerline is valid? [False, False] Translation: X:-2.59, Y:-4.02, Z:0.57 [[ 0.99672156 0.07954537 0.01478732 -2.5949548 ] [-0.07983794 0.99659957 0.02037665 -4.01903768] [-0.01311616 -0.02149044 0.99968301 0.5705929 ] [ 0. 0. 0. 1. ]] SLAMing on 56.761652532 meters Centerline goodness [0,1] 0.33014044659997976 Centerline is valid? [False, False] Translation: X:-2.61, Y:-4.03, Z:0.57 [[ 0.99614773 0.08520431 0.02073476 -2.60988009] [-0.08562415 0.9961211 0.02027936 -4.02897596] [-0.01892645 -0.02197663 0.99957932 0.56628753] [ 0. 0. 0. 1. ]] SLAMing on 56.791652532 meters Centerline goodness [0,1] 0.32531579159772384 Centerline is valid? [False, False] Translation: X:-2.62, Y:-4.04, Z:0.56 [[ 0.99539925 0.09210667 0.02639493 -2.62443003] [-0.09267624 0.99546987 0.02123309 -4.03891029] [-0.02431965 -0.02358158 0.99942607 0.5621406 ] [ 0. 0. 0. 1. ]] SLAMing on 56.821652532 meters Centerline goodness [0,1] 0.321072394718779 Centerline is valid? [False, False] Translation: X:-2.64, Y:-4.05, Z:0.56 [[ 0.9945082 0.0996781 0.03190178 -2.64142457] [-0.10041878 0.99469034 0.02252097 -4.05429873] [-0.02948754 -0.02560083 0.99923725 0.55963247] [ 0. 0. 0. 1. ]] SLAMing on 56.851652532 meters Centerline goodness [0,1] 0.3154171704957678 Centerline is valid? [False, False] Translation: X:-2.66, Y:-4.07, Z:0.56 [[ 0.99358397 0.10728295 0.03579481 -2.65860144] [-0.1081727 0.99384438 0.02391674 -4.07231693] [-0.03300861 -0.02763531 0.99907293 0.55974582] [ 0. 0. 0. 1. ]] SLAMing on 56.881652532 meters Centerline goodness [0,1] 0.3032026460148435 Centerline is valid? [False, False] Translation: X:-2.67, Y:-4.09, Z:0.56 [[ 0.99212848 0.12186109 0.02882617 -2.66914915] [-0.12277955 0.99189901 0.03258135 -4.08903223] [-0.02462225 -0.03586415 0.99905331 0.55674549] [ 0. 0. 0. 1. ]] SLAMing on 56.911652532 meters Centerline goodness [0,1] 0.29877299377430344 Centerline is valid? [False, False] Translation: X:-2.69, Y:-4.12, Z:0.56 [[ 0.99154909 0.12744954 0.02422828 -2.68932211] [-0.12825656 0.99111155 0.03532921 -4.12072152] [-0.01951023 -0.03813808 0.999082 0.5580547 ] [ 0. 0. 0. 1. ]] SLAMing on 56.941652532 meters Centerline goodness [0,1] 0.300888342767359 Centerline is valid? [False, False] Translation: X:-2.69, Y:-4.12, Z:0.56 [[ 0.99140436 0.1283809 0.02521383 -2.69190514] [-0.12924084 0.99095608 0.03609503 -4.12196821] [-0.02035189 -0.03904343 0.99903024 0.55760237] [ 0. 0. 0. 1. ]] SLAMing on 56.971652532 meters Centerline goodness [0,1] 0.2977170054856405 Centerline is valid? [False, False] Translation: X:-2.69, Y:-4.12, Z:0.56 [[ 0.99139074 0.12844539 0.02542006 -2.69273807] [-0.12932092 0.99093217 0.0364628 -4.12316378] [-0.02050608 -0.03943623 0.99901165 0.55738141] [ 0. 0. 0. 1. ]] SLAMing on 57.001652532 meters Centerline goodness [0,1] 0.3028427419354839 Centerline is valid? [False, False] Translation: X:-2.70, Y:-4.13, Z:0.56 [[ 0.99170456 0.12596006 0.02561496 -2.69581175] [-0.12681157 0.99131292 0.03489284 -4.13043649] [-0.02099734 -0.03785166 0.99906274 0.55869474] [ 0. 0. 0. 1. ]] SLAMing on 57.031652532 meters Centerline goodness [0,1] 0.3041408660924988 Centerline is valid? [False, False] Translation: X:-2.70, Y:-4.14, Z:0.56 [[ 0.99179379 0.12521852 0.02579526 -2.69915739] [-0.12608228 0.99139741 0.03513464 -4.13825788] [-0.02117385 -0.03809865 0.99904963 0.56091868] [ 0. 0. 0. 1. ]] SLAMing on 57.061652532 meters Centerline goodness [0,1] 0.30433553441974115 Centerline is valid? [False, False] Translation: X:-2.70, Y:-4.15, Z:0.56 [[ 0.9919464 0.12403737 0.02563337 -2.70262155] [-0.12489963 0.99154001 0.03533386 -4.14726218] [-0.0210338 -0.0382509 0.99904677 0.56436519] [ 0. 0. 0. 1. ]] SLAMing on 57.091652532 meters Centerline goodness [0,1] 0.3033145716072545 Centerline is valid? [False, False] Translation: X:-2.71, Y:-4.16, Z:0.56 [[ 0.99271257 0.11802569 0.02432465 -2.71325189] [-0.11897077 0.99200996 0.04197859 -4.16075881] [-0.01917574 -0.0445666 0.99882236 0.5596987 ] [ 0. 0. 0. 1. ]] SLAMing on 57.121652532 meters Centerline goodness [0,1] 0.31088616802036606 Centerline is valid? [False, False] Translation: X:-2.72, Y:-4.17, Z:0.56 [[ 0.99308352 0.1147897 0.02466661 -2.71644956] [-0.11569622 0.99251268 0.0391531 -4.16524252] [-0.01998755 -0.04173613 0.99892872 0.56094916] [ 0. 0. 0. 1. ]] SLAMing on 57.151652532 meters Centerline goodness [0,1] 0.31708401544089415 Centerline is valid? [False, False] Translation: X:-2.72, Y:-4.17, Z:0.56 [[ 0.99337581 0.11217033 0.02494646 -2.72033112] [-0.11304866 0.99289522 0.03713599 -4.17083925] [-0.02060366 -0.03971015 0.9989988 0.5632461 ] [ 0. 0. 0. 1. ]] SLAMing on 57.181652532 meters Centerline goodness [0,1] 0.3164513455045389 Centerline is valid? [False, False] Translation: X:-2.73, Y:-4.18, Z:0.57 [[ 0.99373009 0.10888026 0.02540846 -2.72675402] [-0.10974005 0.99333216 0.03533176 -4.18349851] [-0.02139211 -0.03789856 0.99905259 0.56761788] [ 0. 0. 0. 1. ]] SLAMing on 57.211652532 meters Centerline goodness [0,1] 0.31977508545539124 Centerline is valid? [False, False] Translation: X:-2.73, Y:-4.19, Z:0.57 [[ 0.99427669 0.10378655 0.02534215 -2.73099123] [-0.10455307 0.99403392 0.03106801 -4.19185675] [-0.02196651 -0.0335398 0.99919595 0.57063598] [ 0. 0. 0. 1. ]] SLAMing on 57.241652531999996 meters Centerline goodness [0,1] 0.3153762091714899 Centerline is valid? [False, False] Translation: X:-2.74, Y:-4.21, Z:0.57 [[ 0.99502849 0.09617183 0.0258704 -2.74259757] [-0.09704204 0.99467185 0.03479584 -4.20685689] [-0.02238618 -0.03713337 0.99905954 0.56613484] [ 0. 0. 0. 1. ]] SLAMing on 57.271652532 meters Centerline goodness [0,1] 0.32330173616023605 Centerline is valid? [False, False] Translation: X:-2.75, Y:-4.21, Z:0.57 [[ 0.99521084 0.09420036 0.02610912 -2.74615768] [-0.09505066 0.99490854 0.0335018 -4.2134643 ] [-0.02282031 -0.03582305 0.99909756 0.56844171] [ 0. 0. 0. 1. ]] SLAMing on 57.301652532 meters Centerline goodness [0,1] 0.31760923630628624 Centerline is valid? [False, False] Translation: X:-2.75, Y:-4.22, Z:0.57 [[ 0.99548087 0.09135383 0.02592914 -2.74764119] [-0.09215412 0.99524456 0.03155754 -4.2202569 ] [-0.02292293 -0.03380441 0.99916555 0.56960914] [ 0. 0. 0. 1. ]] SLAMing on 57.331652532 meters Centerline goodness [0,1] 0.33249085063792794 Centerline is valid? [False, False] Translation: X:-2.75, Y:-4.23, Z:0.57 [[ 0.99570089 0.08890032 0.02600897 -2.75081544] [-0.08966538 0.99552315 0.0298962 -4.2271217 ] [-0.02323475 -0.03209978 0.99921457 0.57198855] [ 0. 0. 0. 1. ]] SLAMing on 57.361652532 meters Centerline goodness [0,1] 0.31470582286673543 Centerline is valid? [False, False] Translation: X:-2.76, Y:-4.24, Z:0.57 [[ 0.9963878 0.08152155 0.02378208 -2.76150312] [-0.08234077 0.99596162 0.03578346 -4.2420029 ] [-0.02076891 -0.03761243 0.99907655 0.56913024] [ 0. 0. 0. 1. ]] SLAMing on 57.391652532 meters Centerline goodness [0,1] 0.30665051972953883 Centerline is valid? [False, False] Translation: X:-2.77, Y:-4.25, Z:0.57 [[ 0.99671102 0.07742176 0.02393779 -2.76553181] [-0.07818073 0.99640649 0.03258662 -4.25014413] [-0.02132885 -0.03435092 0.99918221 0.57210285] [ 0. 0. 0. 1. ]] SLAMing on 57.421652531999996 meters Centerline goodness [0,1] 0.33802163209298575 Centerline is valid? [False, False] Translation: X:-2.77, Y:-4.26, Z:0.57 [[ 0.99680617 0.0760329 0.02442232 -2.76895608] [-0.0767886 0.99654467 0.03165803 -4.25618192] [-0.02193088 -0.03343227 0.99920034 0.5738183 ] [ 0. 0. 0. 1. ]] SLAMing on 57.451652532 meters Centerline goodness [0,1] 0.339794064203513 Centerline is valid? [False, False] Translation: X:-2.77, Y:-4.26, Z:0.58 [[ 0.9969368 0.07418622 0.02476743 -2.77312611] [-0.07492449 0.99672743 0.03034391 -4.26157593] [-0.02243527 -0.03210665 0.99923262 0.57682077] [ 0. 0. 0. 1. ]] SLAMing on 57.481652532 meters Centerline goodness [0,1] 0.3407465921289826 Centerline is valid? [False, False] Translation: X:-2.78, Y:-4.27, Z:0.58 [[ 0.99704425 0.07261776 0.02508842 -2.77659194] [-0.07334604 0.99687189 0.02944151 -4.26806162] [-0.02287196 -0.03119463 0.9992516 0.57918423] [ 0. 0. 0. 1. ]] SLAMing on 57.511652532 meters Centerline goodness [0,1] 0.32726425793907976 Centerline is valid? [False, False] Translation: X:-2.79, Y:-4.29, Z:0.58 [[ 0.99781587 0.06216811 0.0223299 -2.78676676] [-0.06289041 0.99746643 0.03324931 -4.28645991] [-0.02020628 -0.03458103 0.99919761 0.57721901] [ 0. 0. 0. 1. ]] SLAMing on 57.541652532 meters Centerline goodness [0,1] 0.34622165481184264 Centerline is valid? [False, False] Translation: X:-2.79, Y:-4.29, Z:0.58 [[ 0.99798385 0.05929981 0.02262225 -2.78984996] [-0.05998748 0.99771648 0.0310376 -4.29235767] [-0.02073007 -0.03233208 0.99926218 0.57927742] [ 0. 0. 0. 1. ]] SLAMing on 57.571652532 meters Centerline goodness [0,1] 0.2857720209347909 Centerline is valid? [False, False] Translation: X:-2.79, Y:-4.30, Z:0.58 [[ 0.99814509 0.05637633 0.02298033 -2.79331693] [-0.05702776 0.99795848 0.02875253 -4.29780846] [-0.02131246 -0.03000971 0.99932237 0.5817313 ] [ 0. 0. 0. 1. ]] SLAMing on 57.601652531999996 meters Centerline goodness [0,1] 0.29269774411728966 Centerline is valid? [False, False] Translation: X:-2.80, Y:-4.31, Z:0.59 [[ 0.99835268 0.05246441 0.02322513 -2.7980343 ] [-0.05306495 0.99825139 0.02604353 -4.3082527 ] [-0.02181816 -0.02723306 0.99939098 0.58575275] [ 0. 0. 0. 1. ]] SLAMing on 57.631652532 meters Centerline goodness [0,1] 0.30588497638306067 Centerline is valid? [False, False] Translation: X:-2.80, Y:-4.32, Z:0.59 [[ 0.99846821 0.05010237 0.02347291 -2.80023987] [-0.05067474 0.99841565 0.02445918 -4.31562634] [-0.02221025 -0.0256112 0.99942522 0.58702175] [ 0. 0. 0. 1. ]] SLAMing on 57.661652532 meters Centerline goodness [0,1] 0.30842047776047254 Centerline is valid? [False, False] Translation: X:-2.80, Y:-4.32, Z:0.59 [[ 0.9986335 0.04669165 0.0234737 -2.80166838] [-0.04719837 0.99865376 0.02151678 -4.32009439] [-0.02243745 -0.0225953 0.99949288 0.58804323] [ 0. 0. 0. 1. ]] SLAMing on 57.691652532 meters Centerline goodness [0,1] 0.3111651962275631 Centerline is valid? [False, False] Translation: X:-2.80, Y:-4.32, Z:0.59 [[ 0.99880705 0.04290337 0.02331903 -2.80252012] [-0.0433292 0.99889737 0.01807291 -4.32307741] [-0.02251793 -0.01906174 0.9995647 0.58889944] [ 0. 0. 0. 1. ]] SLAMing on 57.721652532 meters Centerline goodness [0,1] 0.32957170063616836 Centerline is valid? [False, False] Translation: X:-2.81, Y:-4.34, Z:0.58 [[ 0.99925579 0.03198729 0.02155635 -2.81053789] [-0.03242159 0.99927199 0.02010794 -4.3353675 ] [-0.02089745 -0.02079187 0.9995654 0.58344412] [ 0. 0. 0. 1. ]] SLAMing on 57.751652532 meters Centerline goodness [0,1] 0.3395002938256094 Centerline is valid? [False, False] Translation: X:-2.81, Y:-4.34, Z:0.58 [[ 0.999369 0.02814628 0.02166561 -2.81177965] [-0.02850852 0.99945576 0.01659644 -4.33816964] [-0.02118669 -0.01720362 0.99962751 0.5842295 ] [ 0. 0. 0. 1. ]] SLAMing on 57.781652532 meters Centerline goodness [0,1] 0.34469980763389696 Centerline is valid? [False, False] Translation: X:-2.81, Y:-4.34, Z:0.59 [[ 0.9994796 0.02426975 0.02124856 -2.81172191] [-0.02455782 0.99960856 0.01340317 -4.3423723 ] [-0.02091495 -0.01391802 0.99968438 0.58519002] [ 0. 0. 0. 1. ]] SLAMing on 57.811652532 meters Centerline goodness [0,1] 0.3536906498136445 Centerline is valid? [False, False] Translation: X:-2.81, Y:-4.35, Z:0.59 [[ 0.99966982 0.01592276 0.02016713 -2.81090895] [-0.01605199 0.99985155 0.006262 -4.34764157] [-0.02006443 -0.00658365 0.99977701 0.58730875] [ 0. 0. 0. 1. ]] SLAMing on 57.841652532 meters Centerline goodness [0,1] 0.3609196334441651 Centerline is valid? [False, False] Translation: X:-2.81, Y:-4.35, Z:0.59 [[ 9.99745218e-01 1.14497636e-02 1.94525791e-02 -2.80998874e+00] [-1.14957821e-02 9.99931378e-01 2.25549593e-03 -4.34946561e+00] [-1.94254194e-02 -2.47854388e-03 9.99808237e-01 5.88301138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.871652532 meters Centerline goodness [0,1] 0.3266515176107775 Centerline is valid? [False, False] Translation: X:-2.81, Y:-4.35, Z:0.59 [[ 9.99792264e-01 7.22171626e-03 1.90598166e-02 -2.80958587e+00] [-7.19169693e-03 9.99972790e-01 -1.64307949e-03 -4.35124816e+00] [-1.90711639e-02 1.50566574e-03 9.99816995e-01 5.88867281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.901652532 meters Centerline goodness [0,1] 0.3504551365409623 Centerline is valid? [False, False] Translation: X:-2.81, Y:-4.36, Z:0.59 [[ 9.99815691e-01 3.52714934e-03 1.88717383e-02 -2.80992823e+00] [-3.43810303e-03 9.99982814e-01 -4.74886685e-03 -4.35511253e+00] [-1.88881639e-02 4.68310861e-03 9.99810635e-01 5.89742071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.931652532 meters Centerline goodness [0,1] 0.3588541983648794 Centerline is valid? [False, False] Translation: X:-2.81, Y:-4.36, Z:0.59 [[ 9.99825223e-01 -3.73379512e-03 1.83188940e-02 -2.81130670e+00] [ 3.92804187e-03 9.99936324e-01 -1.05791303e-02 -4.36211890e+00] [-1.82782272e-02 1.06492387e-02 9.99776225e-01 5.93365078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.961652532 meters Centerline goodness [0,1] 0.3678373382624769 Centerline is valid? [False, False] Translation: X:-2.81, Y:-4.37, Z:0.60 [[ 0.99981172 -0.0073163 0.01797209 -2.81168535] [ 0.00755537 0.9998834 -0.0132707 -4.3671431 ] [-0.0178729 0.01340399 0.99975042 0.59504513] [ 0. 0. 0. 1. ]] SLAMing on 57.991652531999996 meters Centerline goodness [0,1] 0.3701814634939343 Centerline is valid? [False, False] Translation: X:-2.81, Y:-4.37, Z:0.60 [[ 0.9997794 -0.01127595 0.01772022 -2.81186253] [ 0.01157352 0.99979221 -0.01678083 -4.36993146] [-0.01752731 0.01698221 0.99970215 0.59617952] [ 0. 0. 0. 1. ]] SLAMing on 58.021652532 meters Centerline goodness [0,1] 0.36395393707983836 Centerline is valid? [False, False] Translation: X:-2.81, Y:-4.37, Z:0.60 [[ 0.99973127 -0.01576257 0.01699797 -2.81028737] [ 0.01611222 0.99965728 -0.02063308 -4.37239456] [-0.01666691 0.02090141 0.99964261 0.59674501] [ 0. 0. 0. 1. ]] SLAMing on 58.051652532 meters Centerline goodness [0,1] 0.36819472616632865 Centerline is valid? [False, False] Translation: X:-2.81, Y:-4.38, Z:0.60 [[ 0.99967676 -0.01968392 0.01609097 -2.80907351] [ 0.0200613 0.99951929 -0.0236376 -4.37717873] [-0.01561795 0.02395276 0.99959109 0.5983694 ] [ 0. 0. 0. 1. ]] SLAMing on 58.081652532 meters Centerline goodness [0,1] 0.3715901462600948 Centerline is valid? [False, False] Translation: X:-2.82, Y:-4.39, Z:0.59 [[ 0.99945016 -0.02978388 0.01457075 -2.81730018] [ 0.03006588 0.99935703 -0.01953358 -4.39239681] [-0.0139796 0.01996092 0.99970302 0.59432762] [ 0. 0. 0. 1. ]] SLAMing on 58.111652532 meters Centerline goodness [0,1] 0.3725346671546501 Centerline is valid? [False, False] Translation: X:-2.82, Y:-4.39, Z:0.60 [[ 0.9993182 -0.03401598 0.01435462 -2.81700392] [ 0.03434692 0.99913423 -0.02347504 -4.39391375] [-0.01354367 0.02395207 0.99962136 0.59508495] [ 0. 0. 0. 1. ]] SLAMing on 58.141652532 meters Centerline goodness [0,1] 0.3568812566126801 Centerline is valid? [False, False] Translation: X:-2.82, Y:-4.41, Z:0.59 [[ 0.99879799 -0.04712723 0.01347551 -2.8234051 ] [ 0.04742957 0.99860807 -0.02307306 -4.40848234] [-0.01236938 0.02368447 0.99964296 0.58822535] [ 0. 0. 0. 1. ]] SLAMing on 58.171652531999996 meters Centerline goodness [0,1] 0.3568812566126801 Centerline is valid? [False, False] Translation: X:-2.82, Y:-4.41, Z:0.59 [[ 0.99879799 -0.04712723 0.01347551 -2.8234051 ] [ 0.04742957 0.99860807 -0.02307306 -4.40848234] [-0.01236938 0.02368447 0.99964296 0.58822535] [ 0. 0. 0. 1. ]] SLAMing on 58.201652532 meters Centerline goodness [0,1] 0.3741502137187055 Centerline is valid? [False, False] Translation: X:-2.82, Y:-4.42, Z:0.59 [[ 9.98736903e-01 -5.02437382e-02 -4.06739964e-04 -2.81859178e+00] [ 5.02211851e-02 9.98474388e-01 -2.29505600e-02 -4.41671467e+00] [ 1.55924136e-03 2.29011442e-02 9.99736518e-01 5.90744081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.231652532 meters Centerline goodness [0,1] 0.3707201889020071 Centerline is valid? [False, False] Translation: X:-2.82, Y:-4.42, Z:0.59 [[ 9.98710650e-01 -5.07474319e-02 -1.31758988e-03 -2.81748031e+00] [ 5.07043037e-02 9.98453625e-01 -2.27910388e-02 -4.41842488e+00] [ 2.47213908e-03 2.26948457e-02 9.99739382e-01 5.92267271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.261652532 meters Centerline goodness [0,1] 0.3752779647877267 Centerline is valid? [False, False] Translation: X:-2.82, Y:-4.42, Z:0.59 [[ 9.98681321e-01 -5.12879367e-02 -2.27309378e-03 -2.81653460e+00] [ 5.12244778e-02 9.98436762e-01 -2.23626026e-02 -4.42118203e+00] [ 3.41647214e-03 2.22166755e-02 9.99747342e-01 5.94267301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.291652532 meters Centerline goodness [0,1] 0.3516279638728619 Centerline is valid? [False, False] Translation: X:-2.81, Y:-4.42, Z:0.60 [[ 0.99822971 -0.05907103 -0.00693264 -2.80751038] [ 0.05889959 0.9980043 -0.02276504 -4.42149389] [ 0.00826356 0.02231641 0.99971681 0.60324423] [ 0. 0. 0. 1. ]] SLAMing on 58.321652532 meters Centerline goodness [0,1] 0.391855739579717 Centerline is valid? [False, False] Translation: X:-2.81, Y:-4.42, Z:0.61 [[ 0.99814584 -0.06030336 -0.00826953 -2.80575598] [ 0.06010166 0.99793215 -0.02278645 -4.42408323] [ 0.00962653 0.02224719 0.99970615 0.60558185] [ 0. 0. 0. 1. ]] SLAMing on 58.351652531999996 meters Centerline goodness [0,1] 0.3668272961163066 Centerline is valid? [False, False] Translation: X:-2.81, Y:-4.43, Z:0.61 [[ 0.99792842 -0.0637758 -0.00845654 -2.80672224] [ 0.06354302 0.99765553 -0.0254111 -4.42872387] [ 0.01005732 0.0248211 0.99964132 0.608122 ] [ 0. 0. 0. 1. ]] SLAMing on 58.381652532 meters Centerline goodness [0,1] 0.3900770239265815 Centerline is valid? [False, False] Translation: X:-2.81, Y:-4.43, Z:0.61 [[ 0.9976474 -0.06794015 -0.00915375 -2.80599089] [ 0.06765757 0.99730779 -0.02827751 -4.43394048] [ 0.01105028 0.02759167 0.9995582 0.61044458] [ 0. 0. 0. 1. ]] SLAMing on 58.411652532 meters Centerline goodness [0,1] 0.3516308671439936 Centerline is valid? [False, False] Translation: X:-2.79, Y:-4.43, Z:0.62 [[ 0.99660452 -0.08110087 -0.01421559 -2.7937786 ] [ 0.08056415 0.99613629 -0.03495595 -4.43456369] [ 0.01699562 0.03369199 0.99928775 0.61712711] [ 0. 0. 0. 1. ]] SLAMing on 58.441652532 meters Centerline goodness [0,1] 0.3121660752885518 Centerline is valid? [False, False] Translation: X:-2.79, Y:-4.44, Z:0.62 [[ 0.99589511 -0.08936213 -0.01439913 -2.79322609] [ 0.08868972 0.9951725 -0.04202177 -4.43951982] [ 0.01808477 0.04057222 0.99901293 0.61924626] [ 0. 0. 0. 1. ]] SLAMing on 58.471652532 meters Centerline goodness [0,1] 0.34415704293245264 Centerline is valid? [False, False] Translation: X:-2.79, Y:-4.45, Z:0.62 [[ 0.99364808 -0.11104514 -0.0182337 -2.78596155] [ 0.11018269 0.99298297 -0.04294884 -4.450913 ] [ 0.02287502 0.04066699 0.99891087 0.6187117 ] [ 0. 0. 0. 1. ]] SLAMing on 58.501652532 meters Centerline goodness [0,1] 0.2905867142769193 Centerline is valid? [False, False] Translation: X:-2.77, Y:-4.45, Z:0.63 [[ 0.99244715 -0.12044432 -0.02327687 -2.77331866] [ 0.11929267 0.9918035 -0.04577195 -4.45152717] [ 0.02859905 0.04264948 0.99868069 0.62502447] [ 0. 0. 0. 1. ]] SLAMing on 58.531652532 meters Centerline goodness [0,1] 0.2729420465517596 Centerline is valid? [False, False] Translation: X:-2.76, Y:-4.45, Z:0.63 [[ 0.99113945 -0.12979248 -0.02822229 -2.76152273] [ 0.12831702 0.99052289 -0.04898109 -4.45166401] [ 0.0343122 0.04492569 0.9984009 0.63174633] [ 0. 0. 0. 1. ]] SLAMing on 58.561652532 meters Centerline goodness [0,1] 0.35348425965907926 Centerline is valid? [False, False] Translation: X:-2.76, Y:-4.47, Z:0.63 [[ 0.9889497 -0.14479858 -0.03180977 -2.76201708] [ 0.14327579 0.98862044 -0.04584408 -4.46727975] [ 0.03808595 0.04077992 0.99844202 0.63105113] [ 0. 0. 0. 1. ]] SLAMing on 58.591652532 meters Centerline goodness [0,1] 0.31837390999608317 Centerline is valid? [False, False] Translation: X:-2.74, Y:-4.47, Z:0.63 [[ 0.98266408 -0.18186989 -0.03598125 -2.740857 ] [ 0.17974673 0.98215194 -0.05539565 -4.47205641] [ 0.04541386 0.0479678 0.99781595 0.63294914] [ 0. 0. 0. 1. ]] SLAMing on 58.621652532 meters Centerline goodness [0,1] 0.31621084860772064 Centerline is valid? [False, False] Translation: X:-2.74, Y:-4.49, Z:0.63 [[ 0.97876827 -0.2015467 -0.03730414 -2.74123591] [ 0.19927574 0.97828565 -0.05697693 -4.49085995] [ 0.04797762 0.0483334 0.99767832 0.63148099] [ 0. 0. 0. 1. ]] SLAMing on 58.651652532 meters Centerline goodness [0,1] 0.3134674281930304 Centerline is valid? [False, False] Translation: X:-2.74, Y:-4.51, Z:0.63 [[ 0.97433638 -0.2217083 -0.03891078 -2.73903659] [ 0.2192957 0.9739279 -0.05808478 -4.50745916] [ 0.05077417 0.04806115 0.99755306 0.63069013] [ 0. 0. 0. 1. ]] SLAMing on 58.681652532 meters Centerline goodness [0,1] 0.30898106626806177 Centerline is valid? [False, False] Translation: X:-2.74, Y:-4.53, Z:0.63 [[ 0.96952888 -0.24178147 -0.0394394 -2.73939384] [ 0.23928593 0.96915249 -0.0590398 -4.52835788] [ 0.05249752 0.0478035 0.99747623 0.63117251] [ 0. 0. 0. 1. ]] SLAMing on 58.711652532 meters Centerline goodness [0,1] 0.30948065745890885 Centerline is valid? [False, False] Translation: X:-2.72, Y:-4.54, Z:0.64 [[ 0.95918925 -0.28034856 -0.0368873 -2.7180276 ] [ 0.27776046 0.95859608 -0.06279073 -4.54031908] [ 0.05296331 0.04998236 0.9973448 0.63586025] [ 0. 0. 0. 1. ]] SLAMing on 58.741652531999996 meters Centerline goodness [0,1] 0.2758333853224364 Centerline is valid? [False, False] Translation: X:-2.71, Y:-4.55, Z:0.64 [[ 0.95444483 -0.29588975 -0.0385269 -2.70649106] [ 0.29274648 0.95355043 -0.07100048 -4.54832333] [ 0.05774566 0.05648743 0.99673196 0.64327799] [ 0. 0. 0. 1. ]] SLAMing on 58.771652532 meters Centerline goodness [0,1] 0.316624947851481 Centerline is valid? [False, False] Translation: X:-2.70, Y:-4.57, Z:0.64 [[ 0.94812349 -0.31559054 -0.03826822 -2.70481967] [ 0.31238383 0.94722225 -0.07201634 -4.56795338] [ 0.05897618 0.05632601 0.99666905 0.64211531] [ 0. 0. 0. 1. ]] SLAMing on 58.801652532 meters Centerline goodness [0,1] 0.2855321994232939 Centerline is valid? [False, False] Translation: X:-2.68, Y:-4.58, Z:0.64 [[ 0.93368992 -0.35595867 -0.03894308 -2.67597864] [ 0.35208484 0.93242727 -0.0813366 -4.57947583] [ 0.06526405 0.06223189 0.9959256 0.64494648] [ 0. 0. 0. 1. ]] SLAMing on 58.831652532 meters Centerline goodness [0,1] 0.2830404968840534 Centerline is valid? [False, False] Translation: X:-2.66, Y:-4.59, Z:0.65 [[ 0.92647136 -0.37434066 -0.0389857 -2.66109882] [ 0.36971321 0.92458978 -0.09190148 -4.58809087] [ 0.07044824 0.07073056 0.99500464 0.65159771] [ 0. 0. 0. 1. ]] SLAMing on 58.861652532 meters Centerline goodness [0,1] 0.29292399378855916 Centerline is valid? [False, False] Translation: X:-2.66, Y:-4.61, Z:0.65 [[ 0.91765818 -0.39566083 -0.03682364 -2.65793923] [ 0.39104092 0.91562917 -0.09332861 -4.61059758] [ 0.07064327 0.07124421 0.99495417 0.65078337] [ 0. 0. 0. 1. ]] SLAMing on 58.891652532 meters Centerline goodness [0,1] 0.2908022494155311 Centerline is valid? [False, False] Translation: X:-2.65, Y:-4.63, Z:0.65 [[ 0.90875126 -0.41584674 -0.03525109 -2.65355035] [ 0.41130936 0.90672819 -0.09310537 -4.63213742] [ 0.07068073 0.07011052 0.99503203 0.65075683] [ 0. 0. 0. 1. ]] SLAMing on 58.921652531999996 meters Centerline goodness [0,1] 0.30343652012879063 Centerline is valid? [False, False] Translation: X:-2.63, Y:-4.66, Z:0.65 [[ 0.88813231 -0.45809511 -0.03701158 -2.63341089] [ 0.45383057 0.88686516 -0.08664874 -4.66338436] [ 0.07251765 0.06015856 0.99555117 0.6478562 ] [ 0. 0. 0. 1. ]] SLAMing on 58.951652532 meters Centerline goodness [0,1] 0.3230249207448931 Centerline is valid? [False, False] Translation: X:-2.62, Y:-4.68, Z:0.65 [[ 0.87749786 -0.47759392 -0.0436068 -2.62113295] [ 0.47282199 0.87675922 -0.08793541 -4.68004481] [ 0.08023008 0.05654488 0.99517125 0.65088721] [ 0. 0. 0. 1. ]] SLAMing on 58.981652532 meters Centerline goodness [0,1] 0.30117716427653884 Centerline is valid? [False, False] Translation: X:-2.62, Y:-4.71, Z:0.65 [[ 0.86566458 -0.49835375 -0.04762743 -2.61792357] [ 0.49376151 0.86562358 -0.08303844 -4.70631467] [ 0.08260994 0.04836684 0.99540758 0.64831304] [ 0. 0. 0. 1. ]] SLAMing on 59.011652532 meters Centerline goodness [0,1] 0.37915261382799326 Centerline is valid? [False, False] Translation: X:-2.60, Y:-4.74, Z:0.65 [[ 0.84461839 -0.53242299 -0.0560851 -2.60436611] [ 0.52805987 0.84575484 -0.07649528 -4.74349091] [ 0.08816209 0.03499302 0.9954913 0.64817027] [ 0. 0. 0. 1. ]] SLAMing on 59.041652532 meters Centerline goodness [0,1] 0.33013950150897997 Centerline is valid? [False, False] Translation: X:-2.61, Y:-4.78, Z:0.65 [[ 0.83250167 -0.550747 -0.06015575 -2.60749584] [ 0.54663731 0.83421765 -0.07258486 -4.77623243] [ 0.09015889 0.02754364 0.99554644 0.64889047] [ 0. 0. 0. 1. ]] SLAMing on 59.071652532 meters Centerline goodness [0,1] 0.3525146298023917 Centerline is valid? [False, False] Translation: X:-2.62, Y:-4.82, Z:0.65 [[ 0.82212171 -0.56524393 -0.06793524 -2.61774822] [ 0.56133693 0.82471666 -0.0688715 -4.81714979] [ 0.09495652 0.0184862 0.99530976 0.65219042] [ 0. 0. 0. 1. ]] SLAMing on 59.101652531999996 meters Centerline goodness [0,1] 0.37159229404092453 Centerline is valid? [False, False] Translation: X:-2.61, Y:-4.84, Z:0.66 [[ 0.81239675 -0.5783195 -0.07455251 -2.61350963] [ 0.57409543 0.81566852 -0.07140948 -4.83928071] [ 0.10210763 0.01521257 0.99465703 0.65865317] [ 0. 0. 0. 1. ]] SLAMing on 59.131652532 meters Centerline goodness [0,1] 0.40511020945279086 Centerline is valid? [False, False] Translation: X:-2.61, Y:-4.88, Z:0.66 [[ 7.93066871e-01 -6.03638203e-01 -8.16447067e-02 -2.61039414e+00] [ 6.00078656e-01 7.97252836e-01 -6.55249766e-02 -4.87901123e+00] [ 1.04644853e-01 2.97244238e-03 9.94505213e-01 6.59015994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.161652532 meters Centerline goodness [0,1] 0.39871056059702814 Centerline is valid? [False, False] Translation: X:-2.61, Y:-4.90, Z:0.66 [[ 7.84361876e-01 -6.14259690e-01 -8.63798682e-02 -2.61215638e+00] [ 6.10324049e-01 7.89102003e-01 -6.94448291e-02 -4.90115948e+00] [ 1.10819686e-01 1.75016548e-03 9.93838988e-01 6.62720141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.191652532 meters Centerline goodness [0,1] 0.3993122236612925 Centerline is valid? [False, False] Translation: X:-2.62, Y:-4.93, Z:0.66 [[ 7.76950503e-01 -6.23145630e-01 -8.96517666e-02 -2.61768241e+00] [ 6.18773303e-01 7.82103765e-01 -7.37109269e-02 -4.92500772e+00] [ 1.16049626e-01 1.79562202e-03 9.93241793e-01 6.63537214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.221652532 meters Centerline goodness [0,1] 0.4008521134656352 Centerline is valid? [False, False] Translation: X:-2.62, Y:-4.95, Z:0.66 [[ 7.70251973e-01 -6.30653525e-01 -9.48052181e-02 -2.62092469e+00] [ 6.25953324e-01 7.76064501e-01 -7.68526315e-02 -4.94639452e+00] [ 1.22042347e-01 -1.47750335e-04 9.92524883e-01 6.64358109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.251652532 meters Centerline goodness [0,1] 0.4081600361663653 Centerline is valid? [False, False] Translation: X:-2.62, Y:-4.98, Z:0.67 [[ 0.75676645 -0.64500133 -0.10619713 -2.62412632] [ 0.63970067 0.7641627 -0.0826948 -4.98423504] [ 0.13449013 -0.00535373 0.99090047 0.66799275] [ 0. 0. 0. 1. ]] SLAMing on 59.281652532 meters Centerline goodness [0,1] 0.4299880908757787 Centerline is valid? [False, False] Translation: X:-2.64, Y:-5.02, Z:0.67 [[ 7.51539075e-01 -6.51098297e-01 -1.06113267e-01 -2.63939657e+00] [ 6.45132796e-01 7.58989790e-01 -8.79668929e-02 -5.01628165e+00] [ 1.37813981e-01 -2.34659151e-03 9.90455350e-01 6.65738880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.311652532 meters Centerline goodness [0,1] 0.4391436744486481 Centerline is valid? [False, False] Translation: X:-2.65, Y:-5.06, Z:0.66 [[ 0.7417634 -0.66094073 -0.11377354 -2.65443852] [ 0.65517491 0.75037748 -0.08763257 -5.05931186] [ 0.14329304 -0.00953893 0.98963433 0.66465172] [ 0. 0. 0. 1. ]] SLAMing on 59.341652532 meters Centerline goodness [0,1] 0.46573429828031554 Centerline is valid? [False, False] Translation: X:-2.67, Y:-5.09, Z:0.66 [[ 0.73875526 -0.66392881 -0.11592755 -2.67027129] [ 0.65789241 0.74773056 -0.08986983 -5.09020955] [ 0.14634974 -0.00987605 0.98918361 0.66281773] [ 0. 0. 0. 1. ]] SLAMing on 59.371652532 meters Centerline goodness [0,1] 0.48114133482893995 Centerline is valid? [False, False] Translation: X:-2.68, Y:-5.12, Z:0.66 [[ 0.73400673 -0.6684907 -0.11980944 -2.6810738 ] [ 0.66223281 0.74362686 -0.09201523 -5.11536534] [ 0.15060484 -0.01180194 0.98852359 0.66303195] [ 0. 0. 0. 1. ]] SLAMing on 59.401652532 meters Centerline goodness [0,1] 0.4675952976371328 Centerline is valid? [False, False] Translation: X:-2.69, Y:-5.14, Z:0.66 [[ 0.73008448 -0.67199489 -0.12409479 -2.69309163] [ 0.66561508 0.74041679 -0.0934855 -5.14064237] [ 0.15470365 -0.01434706 0.98785674 0.66307896] [ 0. 0. 0. 1. ]] SLAMing on 59.431652532 meters Centerline goodness [0,1] 0.5001415494951401 Centerline is valid? [False, False] Translation: X:-2.71, Y:-5.18, Z:0.66 [[ 0.72806485 -0.67405082 -0.12480812 -2.71435255] [ 0.66725403 0.73856862 -0.09637662 -5.17655697] [ 0.1571421 -0.01311029 0.98748898 0.66101189] [ 0. 0. 0. 1. ]] SLAMing on 59.461652532 meters Centerline goodness [0,1] 0.4600333651096282 Centerline is valid? [False, False] Translation: X:-2.73, Y:-5.21, Z:0.66 [[ 0.72167751 -0.68105248 -0.12389149 -2.72927591] [ 0.67358016 0.73216 -0.1011509 -5.21147672] [ 0.15959746 -0.01045252 0.98712684 0.66050382] [ 0. 0. 0. 1. ]] SLAMing on 59.491652531999996 meters Centerline goodness [0,1] 0.5081811263318112 Centerline is valid? [False, False] Translation: X:-2.75, Y:-5.24, Z:0.66 [[ 0.71948755 -0.68283781 -0.12676823 -2.74612284] [ 0.67527875 0.73046847 -0.10205112 -5.2419033 ] [ 0.16228455 -0.01217938 0.98666883 0.65941847] [ 0. 0. 0. 1. ]] SLAMing on 59.521652532 meters Centerline goodness [0,1] 0.4747904206000336 Centerline is valid? [False, False] Translation: X:-2.77, Y:-5.28, Z:0.66 [[ 0.71747578 -0.68496522 -0.12669313 -2.7685583 ] [ 0.6769142 0.72850335 -0.10521421 -5.2782657 ] [ 0.16436445 -0.01027173 0.9863462 0.65664611] [ 0. 0. 0. 1. ]] SLAMing on 59.551652532 meters Centerline goodness [0,1] 0.5148145473800756 Centerline is valid? [False, False] Translation: X:-2.78, Y:-5.31, Z:0.65 [[ 0.71458075 -0.68747769 -0.12941706 -2.78430844] [ 0.67930896 0.72610751 -0.10633538 -5.30907783] [ 0.1670739 -0.01192895 0.98587221 0.65493376] [ 0. 0. 0. 1. ]] SLAMing on 59.581652532 meters Centerline goodness [0,1] 0.49284904613752023 Centerline is valid? [False, False] Translation: X:-2.81, Y:-5.34, Z:0.65 [[ 0.713456 -0.68830541 -0.13121049 -2.80608929] [ 0.68004329 0.72530774 -0.10709719 -5.34327212] [ 0.16888356 -0.01281968 0.98555264 0.65330641] [ 0. 0. 0. 1. ]] SLAMing on 59.611652532 meters Centerline goodness [0,1] 0.5270987280436099 Centerline is valid? [False, False] Translation: X:-2.83, Y:-5.38, Z:0.65 [[ 0.71140303 -0.69035602 -0.13158377 -2.82858415] [ 0.6817411 0.72337195 -0.10937135 -5.37708215] [ 0.17068918 -0.01189896 0.98525307 0.65066044] [ 0. 0. 0. 1. ]] SLAMing on 59.641652532 meters Centerline goodness [0,1] 0.5374690188074063 Centerline is valid? [False, False] Translation: X:-2.85, Y:-5.41, Z:0.65 [[ 0.7084396 -0.693202 -0.13260589 -2.8483262 ] [ 0.68428457 0.72064708 -0.11145587 -5.4100308 ] [ 0.17282348 -0.01178041 0.98488236 0.64883348] [ 0. 0. 0. 1. ]] SLAMing on 59.671652531999996 meters Centerline goodness [0,1] 0.5425542238827696 Centerline is valid? [False, False] Translation: X:-2.87, Y:-5.44, Z:0.64 [[ 0.70868951 -0.6928975 -0.1328617 -2.87438181] [ 0.68382666 0.72094821 -0.1123155 -5.44459539] [ 0.17360954 -0.01125755 0.98475022 0.64444321] [ 0. 0. 0. 1. ]] SLAMing on 59.701652532 meters Centerline goodness [0,1] 0.5321731109978398 Centerline is valid? [False, False] Translation: X:-2.90, Y:-5.48, Z:0.64 [[ 0.7095736 -0.69179557 -0.13388128 -2.90460002] [ 0.68206547 0.722037 -0.11597098 -5.48290184] [ 0.17689545 -0.00902585 0.98418826 0.64102833] [ 0. 0. 0. 1. ]] SLAMing on 59.731652532 meters Centerline goodness [0,1] 0.5481120584652862 Centerline is valid? [False, False] Translation: X:-2.94, Y:-5.52, Z:0.64 [[ 0.7110049 -0.68994523 -0.13582199 -2.93724778] [ 0.67937498 0.72383144 -0.12048937 -5.52237692] [ 0.18144329 -0.00660553 0.98337922 0.63798767] [ 0. 0. 0. 1. ]] SLAMing on 59.761652532 meters Centerline goodness [0,1] 0.535923557587104 Centerline is valid? [False, False] Translation: X:-2.97, Y:-5.56, Z:0.63 [[ 0.71253822 -0.68820603 -0.13660798 -2.96589243] [ 0.67741258 0.72549107 -0.12155204 -5.55704318] [ 0.18276072 -0.00592949 0.98313954 0.63282742] [ 0. 0. 0. 1. ]] SLAMing on 59.791652532 meters Centerline goodness [0,1] 0.5411861614497528 Centerline is valid? [False, False] Translation: X:-3.00, Y:-5.59, Z:0.63 [[ 0.71658109 -0.68424908 -0.13533193 -3.00057124] [ 0.6738026 0.72922581 -0.11924674 -5.59172196] [ 0.18028201 -0.00573705 0.98359823 0.62583053] [ 0. 0. 0. 1. ]] SLAMing on 59.821652532 meters Centerline goodness [0,1] 0.5250632301577742 Centerline is valid? [False, False] Translation: X:-3.03, Y:-5.63, Z:0.62 [[ 0.71843195 -0.68232768 -0.13522005 -3.02994168] [ 0.67212994 0.73101907 -0.11769649 -5.62576718] [ 0.179156 -0.00632853 0.98380032 0.62106136] [ 0. 0. 0. 1. ]] SLAMing on 59.851652531999996 meters Centerline goodness [0,1] 0.4993397517466568 Centerline is valid? [False, False] Translation: X:-3.06, Y:-5.66, Z:0.62 [[ 0.72097467 -0.67965964 -0.13512326 -3.06159144] [ 0.66968753 0.73349686 -0.11619369 -5.6619842 ] [ 0.17808465 -0.00671765 0.98399224 0.61701161] [ 0. 0. 0. 1. ]] SLAMing on 59.881652532 meters Centerline goodness [0,1] 0.48717887612601873 Centerline is valid? [False, False] Translation: X:-3.10, Y:-5.70, Z:0.61 [[ 0.72560069 -0.67487503 -0.13434034 -3.098069 ] [ 0.66544756 0.73789244 -0.11266892 -5.69705025] [ 0.17516616 -0.00764381 0.98450921 0.6116624 ] [ 0. 0. 0. 1. ]] SLAMing on 59.911652532 meters Centerline goodness [0,1] 0.48923376746839053 Centerline is valid? [False, False] Translation: X:-3.13, Y:-5.73, Z:0.61 [[ 0.72726482 -0.67310218 -0.13423613 -3.12776568] [ 0.66387715 0.73950478 -0.11135442 -5.73043518] [ 0.17422116 -0.00813215 0.98467297 0.6071877 ] [ 0. 0. 0. 1. ]] SLAMing on 59.941652532 meters Centerline goodness [0,1] 0.5031649320784239 Centerline is valid? [False, False] Translation: X:-3.16, Y:-5.77, Z:0.60 [[ 0.72972184 -0.67048358 -0.13400673 -3.1587231 ] [ 0.6615298 0.7418733 -0.10955517 -5.76535425] [ 0.17287096 -0.00870465 0.98490602 0.60245527] [ 0. 0. 0. 1. ]] SLAMing on 59.971652532 meters Centerline goodness [0,1] 0.466074959977399 Centerline is valid? [False, False] Translation: X:-3.20, Y:-5.80, Z:0.60 [[ 0.73581002 -0.6640683 -0.13265331 -3.19800534] [ 0.65578797 0.74760851 -0.10499362 -5.80429126] [ 0.16889568 -0.00973709 0.98558583 0.59732416] [ 0. 0. 0. 1. ]] SLAMing on 60.001652532 meters Centerline goodness [0,1] 0.47131619114711754 Centerline is valid? [False, False] Translation: X:-3.23, Y:-5.84, Z:0.59 [[ 0.73796647 -0.66182875 -0.13186428 -3.2289673 ] [ 0.65390824 0.74958159 -0.10262287 -5.8385522 ] [ 0.1667618 -0.01049491 0.98594136 0.59294268] [ 0. 0. 0. 1. ]] SLAMing on 60.031652532 meters Centerline goodness [0,1] 0.4718685639393372 Centerline is valid? [False, False] Translation: X:-3.26, Y:-5.87, Z:0.59 [[ 0.74032901 -0.65886886 -0.13343459 -3.25730285] [ 0.65151687 0.75213528 -0.09908727 -5.87149404] [ 0.16564638 -0.01357771 0.98609174 0.59083223] [ 0. 0. 0. 1. ]] SLAMing on 60.061652532 meters Centerline goodness [0,1] 0.4718685639393372 Centerline is valid? [False, False] Translation: X:-3.28, Y:-5.90, Z:0.59 [[ 0.74011718 -0.65848284 -0.13648042 -3.27888618] [ 0.6512845 0.75242462 -0.09841592 -5.90111221] [ 0.16749642 -0.01604827 0.98574206 0.58872972] [ 0. 0. 0. 1. ]] SLAMing on 60.091652532 meters Centerline goodness [0,1] 0.46619665701746194 Centerline is valid? [False, False] Translation: X:-3.31, Y:-5.94, Z:0.59 [[ 0.74318189 -0.65556998 -0.1338233 -3.31374098] [ 0.64888179 0.75495714 -0.09482691 -5.93880567] [ 0.16319654 -0.01636186 0.9864579 0.58501694] [ 0. 0. 0. 1. ]] SLAMing on 60.121652532 meters Centerline goodness [0,1] 0.46255178513243034 Centerline is valid? [False, False] Translation: X:-3.34, Y:-5.97, Z:0.58 [[ 0.74436062 -0.65396604 -0.13511359 -3.34019572] [ 0.64762249 0.75629815 -0.09272657 -5.97012799] [ 0.16282619 -0.01848059 0.98648168 0.58207829] [ 0. 0. 0. 1. ]] SLAMing on 60.151652532 meters Centerline goodness [0,1] 0.4453226706341826 Centerline is valid? [False, False] Translation: X:-3.37, Y:-6.00, Z:0.58 [[ 0.7464013 -0.65148077 -0.13585985 -3.36880761] [ 0.64544357 0.75840198 -0.09071398 -6.00316572] [ 0.16213479 -0.01998083 0.98656631 0.57788395] [ 0. 0. 0. 1. ]] SLAMing on 60.181652532 meters Centerline goodness [0,1] 0.44198229103889486 Centerline is valid? [False, False] Translation: X:-3.40, Y:-6.03, Z:0.57 [[ 0.74787375 -0.64957852 -0.13686709 -3.3961037 ] [ 0.64387922 0.75998005 -0.08859945 -6.03490085] [ 0.16156856 -0.02186467 0.98661925 0.5741778 ] [ 0. 0. 0. 1. ]] SLAMing on 60.211652532 meters Centerline goodness [0,1] 0.4501726975590533 Centerline is valid? [False, False] Translation: X:-3.43, Y:-6.07, Z:0.57 [[ 0.74774468 -0.65061156 -0.13259898 -3.42777512] [ 0.64515508 0.75912631 -0.08661512 -6.07263426] [ 0.15701217 -0.02078091 0.98737801 0.57169186] [ 0. 0. 0. 1. ]] SLAMing on 60.241652531999996 meters Centerline goodness [0,1] 0.44744035209636324 Centerline is valid? [False, False] Translation: X:-3.46, Y:-6.11, Z:0.57 [[ 0.7495442 -0.64874484 -0.13158126 -3.45754901] [ 0.64354155 0.76071079 -0.08469573 -6.10960189] [ 0.1550412 -0.02119481 0.98768062 0.56815776] [ 0. 0. 0. 1. ]] SLAMing on 60.271652532 meters Centerline goodness [0,1] 0.4564420310034345 Centerline is valid? [False, False] Translation: X:-3.48, Y:-6.14, Z:0.57 [[ 0.74898803 -0.64898619 -0.13354349 -3.48063172] [ 0.64409273 0.76042718 -0.08303655 -6.14144824] [ 0.15543968 -0.023821 0.98755813 0.56799275] [ 0. 0. 0. 1. ]] SLAMing on 60.301652532 meters Centerline goodness [0,1] 0.4538998862871597 Centerline is valid? [False, False] Translation: X:-3.50, Y:-6.17, Z:0.57 [[ 0.74659194 -0.65112847 -0.13649975 -3.4999897 ] [ 0.64629483 0.75852232 -0.0833479 -6.16808903] [ 0.1578083 -0.02599221 0.98712762 0.56777465] [ 0. 0. 0. 1. ]] SLAMing on 60.331652532 meters Centerline goodness [0,1] 0.44524721850330085 Centerline is valid? [False, False] Translation: X:-3.53, Y:-6.21, Z:0.56 [[ 0.74932064 -0.64815844 -0.13568059 -3.53158658] [ 0.64381228 0.76100761 -0.07983215 -6.20639054] [ 0.15499784 -0.02753295 0.98753107 0.56441112] [ 0. 0. 0. 1. ]] SLAMing on 60.361652532 meters Centerline goodness [0,1] 0.4432636348998229 Centerline is valid? [False, False] Translation: X:-3.56, Y:-6.24, Z:0.56 [[ 0.75297766 -0.64347215 -0.1377252 -3.5592251 ] [ 0.63979204 0.76483071 -0.07549922 -6.24238349] [ 0.1539181 -0.03126626 0.9875888 0.56133491] [ 0. 0. 0. 1. ]] SLAMing on 60.391652532 meters Centerline goodness [0,1] 0.43857270868276543 Centerline is valid? [False, False] Translation: X:-3.59, Y:-6.28, Z:0.56 [[ 0.75734664 -0.63799163 -0.13925783 -3.58804138] [ 0.63489467 0.76928128 -0.07151967 -6.2792509 ] [ 0.15275739 -0.03424888 0.98767008 0.55672047] [ 0. 0. 0. 1. ]] SLAMing on 60.421652531999996 meters Centerline goodness [0,1] 0.4406030613419266 Centerline is valid? [False, False] Translation: X:-3.61, Y:-6.32, Z:0.55 [[ 0.7592487 -0.63550349 -0.14027374 -3.6144437 ] [ 0.63277276 0.77124544 -0.06913104 -6.31545859] [ 0.1521185 -0.03627375 0.9876964 0.55383483] [ 0. 0. 0. 1. ]] SLAMing on 60.451652532 meters Centerline goodness [0,1] 0.44528808537234654 Centerline is valid? [False, False] Translation: X:-3.64, Y:-6.36, Z:0.55 [[ 0.75447376 -0.6419267 -0.13674597 -3.63718583] [ 0.63842551 0.76611944 -0.0739856 -6.35639655] [ 0.15225708 -0.03148192 0.98783939 0.55406953] [ 0. 0. 0. 1. ]] SLAMing on 60.481652532 meters Centerline goodness [0,1] 0.4393767245577017 Centerline is valid? [False, False] Translation: X:-3.66, Y:-6.39, Z:0.55 [[ 0.75528721 -0.64052252 -0.13882413 -3.66059947] [ 0.63743934 0.76716756 -0.07158926 -6.39253043] [ 0.1523559 -0.03442151 0.9877261 0.55351406] [ 0. 0. 0. 1. ]] SLAMing on 60.511652532 meters Centerline goodness [0,1] 0.44511159207800977 Centerline is valid? [False, False] Translation: X:-3.68, Y:-6.42, Z:0.55 [[ 0.75247773 -0.64297677 -0.14268196 -3.67669978] [ 0.64007482 0.7649694 -0.07159633 -6.41980357] [ 0.15518211 -0.03745248 0.98717568 0.55422827] [ 0. 0. 0. 1. ]] SLAMing on 60.541652532 meters Centerline goodness [0,1] 0.4384310986964618 Centerline is valid? [False, False] Translation: X:-3.70, Y:-6.45, Z:0.55 [[ 0.75115861 -0.64365738 -0.1465125 -3.69525419] [ 0.64102863 0.76423355 -0.0709181 -6.44824303] [ 0.15761673 -0.04064797 0.98666342 0.55322162] [ 0. 0. 0. 1. ]] SLAMing on 60.571652532 meters Centerline goodness [0,1] 0.4428090045397107 Centerline is valid? [False, False] Translation: X:-3.71, Y:-6.48, Z:0.55 [[ 0.74855099 -0.64598795 -0.14956932 -3.71293293] [ 0.64344413 0.76214989 -0.07146462 -6.47904386] [ 0.16015952 -0.04274459 0.98616521 0.55301118] [ 0. 0. 0. 1. ]] SLAMing on 60.601652531999996 meters Centerline goodness [0,1] 0.44280486088302917 Centerline is valid? [False, False] Translation: X:-3.73, Y:-6.51, Z:0.55 [[ 0.74814597 -0.64595634 -0.15171688 -3.73472257] [ 0.64366766 0.76205174 -0.07049179 -6.51140771] [ 0.16115073 -0.0449171 0.98590714 0.55118584] [ 0. 0. 0. 1. ]] SLAMing on 60.631652532 meters Centerline goodness [0,1] 0.4399292452830189 Centerline is valid? [False, False] Translation: X:-3.76, Y:-6.54, Z:0.55 [[ 0.74717408 -0.64665738 -0.15350941 -3.75602512] [ 0.64454881 0.76135282 -0.06999083 -6.54344971] [ 0.16213491 -0.04664897 0.98566533 0.5495132 ] [ 0. 0. 0. 1. ]] SLAMing on 60.661652532 meters Centerline goodness [0,1] 0.4479635863638519 Centerline is valid? [False, False] Translation: X:-3.78, Y:-6.58, Z:0.55 [[ 0.74584434 -0.64764774 -0.1557839 -3.7769787 ] [ 0.64575494 0.76037699 -0.06947941 -6.57794881] [ 0.16345267 -0.0487774 0.9853446 0.54971744] [ 0. 0. 0. 1. ]] SLAMing on 60.691652532 meters Centerline goodness [0,1] 0.4415002135028704 Centerline is valid? [False, False] Translation: X:-3.80, Y:-6.61, Z:0.55 [[ 0.74521265 -0.64768902 -0.15860968 -3.79826831] [ 0.6461936 0.7601397 -0.06798132 -6.60825533] [ 0.16459627 -0.05183202 0.98499823 0.54860978] [ 0. 0. 0. 1. ]] SLAMing on 60.721652532 meters Centerline goodness [0,1] 0.4426646386386862 Centerline is valid? [False, False] Translation: X:-3.82, Y:-6.64, Z:0.55 [[ 0.74384201 -0.64840705 -0.16207207 -3.81755119] [ 0.64723318 0.75931591 -0.06729453 -6.63618998] [ 0.16669816 -0.05484192 0.98448163 0.54748404] [ 0. 0. 0. 1. ]] SLAMing on 60.751652532 meters Centerline goodness [0,1] 0.44154823966292933 Centerline is valid? [False, False] Translation: X:-3.84, Y:-6.67, Z:0.55 [[ 0.74330022 -0.64841389 -0.16451202 -3.83908437] [ 0.64753004 0.75913953 -0.06642306 -6.66595732] [ 0.16795721 -0.0571542 0.98413605 0.54500035] [ 0. 0. 0. 1. ]] SLAMing on 60.781652532 meters Centerline goodness [0,1] 0.44322046075003596 Centerline is valid? [False, False] Translation: X:-3.86, Y:-6.70, Z:0.54 [[ 0.73985865 -0.65199726 -0.16585759 -3.85865942] [ 0.65091843 0.75605321 -0.06847438 -6.69775408] [ 0.17004227 -0.0572984 0.98376955 0.54468591] [ 0. 0. 0. 1. ]] SLAMing on 60.811652532 meters Centerline goodness [0,1] 0.4463783445921581 Centerline is valid? [False, False] Translation: X:-3.87, Y:-6.72, Z:0.54 [[ 0.73640104 -0.6550776 -0.16907643 -3.8743036 ] [ 0.65405262 0.75323304 -0.0696789 -6.72203185] [ 0.17299904 -0.05927327 0.98313682 0.54324483] [ 0. 0. 0. 1. ]] SLAMing on 60.841652532 meters Centerline goodness [0,1] 0.4439118390943033 Centerline is valid? [False, False] Translation: X:-3.89, Y:-6.75, Z:0.54 [[ 0.73445989 -0.6564612 -0.17212599 -3.89269933] [ 0.65563731 0.75184207 -0.0698084 -6.7484718 ] [ 0.17523807 -0.06158075 0.98259831 0.54098641] [ 0. 0. 0. 1. ]] SLAMing on 60.871652532 meters Centerline goodness [0,1] 0.44573344267039694 Centerline is valid? [False, False] Translation: X:-3.91, Y:-6.78, Z:0.54 [[ 0.73398503 -0.65628155 -0.17481564 -3.91328129] [ 0.65575487 0.75180431 -0.06910732 -6.77608467] [ 0.17678101 -0.06391247 0.98217293 0.53698932] [ 0. 0. 0. 1. ]] SLAMing on 60.901652532 meters Centerline goodness [0,1] 0.4460929772502473 Centerline is valid? [False, False] Translation: X:-3.94, Y:-6.81, Z:0.53 [[ 0.73645121 -0.65331386 -0.17555803 -3.94051662] [ 0.65303837 0.75430283 -0.06758787 -6.81039408] [ 0.17658001 -0.06487096 0.98214625 0.53018947] [ 0. 0. 0. 1. ]] SLAMing on 60.931652532 meters Centerline goodness [0,1] 0.4437284290300002 Centerline is valid? [False, False] Translation: X:-3.96, Y:-6.84, Z:0.53 [[ 0.73600041 -0.65323161 -0.17774099 -3.9624546 ] [ 0.65318474 0.75421608 -0.06714008 -6.84032259] [ 0.17791313 -0.06668258 0.98178427 0.52711234] [ 0. 0. 0. 1. ]] SLAMing on 60.961652532 meters Centerline goodness [0,1] 0.4527530481904394 Centerline is valid? [False, False] Translation: X:-3.98, Y:-6.87, Z:0.52 [[ 0.73514334 -0.6536376 -0.17978362 -3.98416946] [ 0.65376194 0.75372421 -0.06704588 -6.86993536] [ 0.17933098 -0.06824735 0.98141872 0.52419383] [ 0. 0. 0. 1. ]] SLAMing on 60.991652531999996 meters Centerline goodness [0,1] 0.44946789168747425 Centerline is valid? [False, False] Translation: X:-4.00, Y:-6.90, Z:0.52 [[ 0.73418755 -0.6539365 -0.18258066 -4.00482886] [ 0.65429648 0.75327251 -0.06690773 -6.89935639] [ 0.1812864 -0.07033907 0.98091165 0.52184026] [ 0. 0. 0. 1. ]] SLAMing on 61.021652532 meters Centerline goodness [0,1] 0.4512450150763544 Centerline is valid? [False, False] Translation: X:-4.03, Y:-6.93, Z:0.52 [[ 0.73239526 -0.65610231 -0.18200806 -4.0290687 ] [ 0.65625741 0.7514582 -0.06809395 -6.93364797] [ 0.18144805 -0.06957245 0.98093643 0.51885204] [ 0. 0. 0. 1. ]] SLAMing on 61.051652532 meters Centerline goodness [0,1] 0.4514465072142875 Centerline is valid? [False, False] Translation: X:-4.05, Y:-6.96, Z:0.51 [[ 0.73190107 -0.65593491 -0.18458121 -4.04968644] [ 0.65638916 0.75139813 -0.06748429 -6.96123128] [ 0.18295928 -0.07176528 0.98049765 0.51451488] [ 0. 0. 0. 1. ]] SLAMing on 61.081652532 meters Centerline goodness [0,1] 0.4538538440906098 Centerline is valid? [False, False] Translation: X:-4.07, Y:-6.99, Z:0.51 [[ 0.7311594 -0.65587011 -0.18772409 -4.06942309] [ 0.65662768 0.75122062 -0.06713919 -6.98834694] [ 0.18505679 -0.07417538 0.97992448 0.51072613] [ 0. 0. 0. 1. ]] SLAMing on 61.111652532 meters Centerline goodness [0,1] 0.4551778000146438 Centerline is valid? [False, False] Translation: X:-4.09, Y:-7.02, Z:0.51 [[ 0.72994033 -0.65646617 -0.19036618 -4.089015 ] [ 0.65742212 0.75051302 -0.06727817 -7.01528984] [ 0.18703814 -0.07604189 0.97940511 0.50679917] [ 0. 0. 0. 1. ]] SLAMing on 61.141652532 meters Centerline goodness [0,1] 0.46208838291100507 Centerline is valid? [False, False] Translation: X:-4.11, Y:-7.05, Z:0.50 [[ 0.72942756 -0.65689118 -0.19086492 -4.11232328] [ 0.65777576 0.75014509 -0.06792199 -7.04824231] [ 0.18779374 -0.07600214 0.97926359 0.50168146] [ 0. 0. 0. 1. ]] SLAMing on 61.171652531999996 meters Centerline goodness [0,1] 0.46448302109165907 Centerline is valid? [False, False] Translation: X:-4.13, Y:-7.08, Z:0.50 [[ 0.72788888 -0.65782069 -0.1935193 -4.13167892] [ 0.65891588 0.74912928 -0.06808211 -7.07568583] [ 0.1897568 -0.07795673 0.97873138 0.49834542] [ 0. 0. 0. 1. ]] SLAMing on 61.201652532 meters Centerline goodness [0,1] 0.4667175046738168 Centerline is valid? [False, False] Translation: X:-4.15, Y:-7.10, Z:0.50 [[ 0.725192 -0.659884 -0.19659519 -4.14869929] [ 0.66111844 0.7471028 -0.06899142 -7.10114424] [ 0.19240315 -0.07994068 0.97805445 0.49569801] [ 0. 0. 0. 1. ]] SLAMing on 61.231652532 meters Centerline goodness [0,1] 0.4710109141192158 Centerline is valid? [False, False] Translation: X:-4.17, Y:-7.13, Z:0.49 [[ 0.72358427 -0.66098719 -0.19880076 -4.16839573] [ 0.66224547 0.74601123 -0.06998695 -7.13038487] [ 0.19456807 -0.08101345 0.97753777 0.491422 ] [ 0. 0. 0. 1. ]] SLAMing on 61.261652532 meters Centerline goodness [0,1] 0.4734656548928492 Centerline is valid? [False, False] Translation: X:-4.19, Y:-7.16, Z:0.49 [[ 0.72233824 -0.66122328 -0.20251231 -4.18661398] [ 0.6628568 0.74548907 -0.06976325 -7.15607965] [ 0.1970998 -0.083844 0.97679161 0.48757536] [ 0. 0. 0. 1. ]] SLAMing on 61.291652532 meters Centerline goodness [0,1] 0.4741249413333992 Centerline is valid? [False, False] Translation: X:-4.20, Y:-7.18, Z:0.48 [[ 0.72117651 -0.66132826 -0.20627499 -4.20499927] [ 0.66334891 0.74507167 -0.0695445 -7.18112434] [ 0.1996814 -0.08667843 0.97601956 0.48354858] [ 0. 0. 0. 1. ]] SLAMing on 61.321652532 meters Centerline goodness [0,1] 0.4740261344267964 Centerline is valid? [False, False] Translation: X:-4.22, Y:-7.21, Z:0.48 [[ 0.72038436 -0.66085746 -0.21050839 -4.22339034] [ 0.66343362 0.74507494 -0.06869622 -7.20666237] [ 0.20224293 -0.09017066 0.97517539 0.48005261] [ 0. 0. 0. 1. ]] SLAMing on 61.351652531999996 meters Centerline goodness [0,1] 0.48046739614794276 Centerline is valid? [False, False] Translation: X:-4.25, Y:-7.24, Z:0.47 [[ 0.71976483 -0.66112426 -0.21178601 -4.24618171] [ 0.66371505 0.7447721 -0.06925929 -7.23703197] [ 0.20352131 -0.09071516 0.97485888 0.47422129] [ 0. 0. 0. 1. ]] SLAMing on 61.381652532 meters Centerline goodness [0,1] 0.48272017837235226 Centerline is valid? [False, False] Translation: X:-4.27, Y:-7.26, Z:0.47 [[ 0.71825755 -0.66197039 -0.21424586 -4.26651058] [ 0.66470698 0.74383215 -0.06984524 -7.26414837] [ 0.20559844 -0.09224385 0.9742794 0.47028112] [ 0. 0. 0. 1. ]] SLAMing on 61.411652532 meters Centerline goodness [0,1] 0.4855284714292807 Centerline is valid? [False, False] Translation: X:-4.29, Y:-7.29, Z:0.47 [[ 0.71717505 -0.66260678 -0.21589858 -4.28800651] [ 0.66550342 0.7431081 -0.06996813 -7.2921609 ] [ 0.20679734 -0.09350184 0.97390568 0.46538969] [ 0. 0. 0. 1. ]] SLAMing on 61.441652532 meters Centerline goodness [0,1] 0.4841867282800427 Centerline is valid? [False, False] Translation: X:-4.31, Y:-7.32, Z:0.46 [[ 0.71769419 -0.661748 -0.2168055 -4.31235214] [ 0.66481844 0.74377138 -0.06943037 -7.32255462] [ 0.20719913 -0.09430652 0.97374268 0.45876257] [ 0. 0. 0. 1. ]] SLAMing on 61.471652532 meters Centerline goodness [0,1] 0.4871514760285026 Centerline is valid? [False, False] Translation: X:-4.34, Y:-7.35, Z:0.45 [[ 0.71855988 -0.66040202 -0.2180387 -4.33790538] [ 0.66361489 0.74487475 -0.06911502 -7.3539321 ] [ 0.20805522 -0.09503045 0.97348972 0.45207798] [ 0. 0. 0. 1. ]] SLAMing on 61.501652532 meters Centerline goodness [0,1] 0.4860232656199618 Centerline is valid? [False, False] Translation: X:-4.36, Y:-7.38, Z:0.45 [[ 0.71808699 -0.66012281 -0.22042904 -4.3597708 ] [ 0.66365419 0.74487612 -0.06872178 -7.38162573] [ 0.20955714 -0.09694044 0.97297911 0.44707979] [ 0. 0. 0. 1. ]] SLAMing on 61.531652532 meters Centerline goodness [0,1] 0.4869341002628056 Centerline is valid? [False, False] Translation: X:-4.38, Y:-7.41, Z:0.44 [[ 0.7178216 -0.65958492 -0.22288985 -4.38206452] [ 0.66349421 0.74507848 -0.06806973 -7.40995105] [ 0.2109682 -0.0990242 0.9724642 0.44249338] [ 0. 0. 0. 1. ]] SLAMing on 61.561652532 meters Centerline goodness [0,1] 0.4835006817900087 Centerline is valid? [False, False] Translation: X:-4.41, Y:-7.44, Z:0.44 [[ 0.71854336 -0.65854947 -0.22362475 -4.40816302] [ 0.66261128 0.74591151 -0.06754482 -7.44366573] [ 0.21128588 -0.0996424 0.97233208 0.43705111] [ 0. 0. 0. 1. ]] SLAMing on 61.591652532 meters Centerline goodness [0,1] 0.48746960448612975 Centerline is valid? [False, False] Translation: X:-4.43, Y:-7.47, Z:0.43 [[ 0.71836133 -0.65822763 -0.22515194 -4.43148871] [ 0.66243429 0.74606616 -0.06757294 -7.47455398] [ 0.21245662 -0.10060657 0.97197762 0.4321868 ] [ 0. 0. 0. 1. ]] SLAMing on 61.621652532 meters Centerline goodness [0,1] 0.4865508684863523 Centerline is valid? [False, False] Translation: X:-4.46, Y:-7.51, Z:0.43 [[ 0.71897973 -0.65731534 -0.2258422 -4.45660028] [ 0.66175493 0.74674843 -0.06668735 -7.505733 ] [ 0.21248192 -0.10150533 0.97187864 0.42597563] [ 0. 0. 0. 1. ]] SLAMing on 61.651652532 meters Centerline goodness [0,1] 0.4877873563218391 Centerline is valid? [False, False] Translation: X:-4.48, Y:-7.53, Z:0.42 [[ 0.71823071 -0.65737884 -0.22803006 -4.47860942] [ 0.66216297 0.74642818 -0.06622069 -7.53389288] [ 0.21374014 -0.10343133 0.97139956 0.42161404] [ 0. 0. 0. 1. ]] SLAMing on 61.681652532 meters Centerline goodness [0,1] 0.48047660419510985 Centerline is valid? [False, False] Translation: X:-4.50, Y:-7.56, Z:0.42 [[ 0.71724473 -0.65786277 -0.22973153 -4.5007392 ] [ 0.66281331 0.74583375 -0.06641185 -7.56227079] [ 0.21503141 -0.10463557 0.97098552 0.4166251 ] [ 0. 0. 0. 1. ]] SLAMing on 61.711652532 meters Centerline goodness [0,1] 0.48966885774525615 Centerline is valid? [False, False] Translation: X:-4.52, Y:-7.59, Z:0.41 [[ 0.71721612 -0.6573162 -0.23137944 -4.52394095] [ 0.66250916 0.7461353 -0.06605848 -7.59197696] [ 0.21606168 -0.10591279 0.97061827 0.41115284] [ 0. 0. 0. 1. ]] SLAMing on 61.741652531999996 meters Centerline goodness [0,1] 0.4942654559024754 Centerline is valid? [False, False] Translation: X:-4.55, Y:-7.62, Z:0.41 [[ 0.71553942 -0.65860941 -0.23288836 -4.54540879] [ 0.66370279 0.74494391 -0.06750686 -7.62338319] [ 0.21794942 -0.10626484 0.97015763 0.40710289] [ 0. 0. 0. 1. ]] SLAMing on 61.771652532 meters Centerline goodness [0,1] 0.49735133925240615 Centerline is valid? [False, False] Translation: X:-4.56, Y:-7.65, Z:0.41 [[ 0.71282084 -0.65952279 -0.23857101 -4.55916773] [ 0.66546779 0.74342722 -0.06684755 -7.64549566] [ 0.22144767 -0.111111 0.96882159 0.40633693] [ 0. 0. 0. 1. ]] SLAMing on 61.801652532 meters Centerline goodness [0,1] 0.4890634320938556 Centerline is valid? [False, False] Translation: X:-4.58, Y:-7.67, Z:0.40 [[ 0.71205391 -0.65915658 -0.24185083 -4.57925254] [ 0.66561982 0.7433444 -0.06625223 -7.67207672] [ 0.22344906 -0.11380554 0.96804897 0.40186399] [ 0. 0. 0. 1. ]] SLAMing on 61.831652532 meters Centerline goodness [0,1] 0.5024582595023585 Centerline is valid? [False, False] Translation: X:-4.60, Y:-7.70, Z:0.40 [[ 0.71047629 -0.65988899 -0.24447898 -4.59970447] [ 0.66656513 0.7424409 -0.06687633 -7.70083166] [ 0.22564214 -0.11544711 0.96734564 0.39767375] [ 0. 0. 0. 1. ]] SLAMing on 61.861652532 meters Centerline goodness [0,1] 0.4994009584664537 Centerline is valid? [False, False] Translation: X:-4.62, Y:-7.73, Z:0.39 [[ 0.70814854 -0.66142318 -0.24707291 -4.6182043 ] [ 0.66817696 0.74086708 -0.06823137 -7.72533322] [ 0.22817799 -0.11677048 0.96659167 0.39233538] [ 0. 0. 0. 1. ]] SLAMing on 61.891652532 meters Centerline goodness [0,1] 0.5006763527054108 Centerline is valid? [False, False] Translation: X:-4.64, Y:-7.76, Z:0.38 [[ 0.7080521 -0.6612977 -0.24768444 -4.64311734] [ 0.66767216 0.74114466 -0.07013191 -7.7560502 ] [ 0.22994807 -0.11571496 0.96629909 0.3837943 ] [ 0. 0. 0. 1. ]] SLAMing on 61.921652531999996 meters Centerline goodness [0,1] 0.5011991006744941 Centerline is valid? [False, False] Translation: X:-4.67, Y:-7.78, Z:0.38 [[ 0.70850343 -0.66042323 -0.24872484 -4.66709144] [ 0.66709304 0.74174694 -0.06927013 -7.78460271] [ 0.23023849 -0.11684449 0.96609399 0.37598591] [ 0. 0. 0. 1. ]] SLAMing on 61.951652532 meters Centerline goodness [0,1] 0.4975692453441699 Centerline is valid? [False, False] Translation: X:-4.70, Y:-7.82, Z:0.37 [[ 0.7110711 -0.65781361 -0.2483126 -4.69650446] [ 0.66466391 0.74406167 -0.06777987 -7.81678652] [ 0.22934641 -0.11684812 0.96630572 0.36575979] [ 0. 0. 0. 1. ]] SLAMing on 61.981652532 meters Centerline goodness [0,1] 0.4975692453441699 Centerline is valid? [False, False] Translation: X:-4.72, Y:-7.85, Z:0.36 [[ 0.71082928 -0.65770544 -0.24928956 -4.7201114 ] [ 0.66448483 0.74414865 -0.06857625 -7.846025 ] [ 0.23061146 -0.11690312 0.96599794 0.35821894] [ 0. 0. 0. 1. ]] SLAMing on 62.011652532 meters Centerline goodness [0,1] 0.5009222333000998 Centerline is valid? [False, False] Translation: X:-4.74, Y:-7.87, Z:0.35 [[ 0.71056893 -0.65757883 -0.25036351 -4.74373093] [ 0.66438807 0.74419621 -0.06899629 -7.87498259] [ 0.23169008 -0.11731191 0.96569023 0.35106233] [ 0. 0. 0. 1. ]] SLAMing on 62.041652532 meters Centerline goodness [0,1] 0.5007357158889693 Centerline is valid? [False, False] Translation: X:-4.77, Y:-7.90, Z:0.34 [[ 0.70956575 -0.65930835 -0.24865426 -4.76898518] [ 0.66563065 0.74294684 -0.0704687 -7.90497105] [ 0.2311975 -0.11550972 0.96602548 0.34223906] [ 0. 0. 0. 1. ]] SLAMing on 62.071652532 meters Centerline goodness [0,1] 0.5032554194626687 Centerline is valid? [False, False] Translation: X:-4.80, Y:-7.94, Z:0.33 [[ 0.70979911 -0.66053191 -0.24470965 -4.79835606] [ 0.66611487 0.74238793 -0.07177151 -7.93790467] [ 0.22907687 -0.11206138 0.96693642 0.3310952 ] [ 0. 0. 0. 1. ]] SLAMing on 62.101652531999996 meters Centerline goodness [0,1] 0.5073038189251171 Centerline is valid? [False, False] Translation: X:-4.83, Y:-7.97, Z:0.32 [[ 0.70964282 -0.66205869 -0.24100904 -4.82823133] [ 0.66668267 0.74163287 -0.07426242 -7.97088788] [ 0.22790631 -0.10797675 0.9676775 0.32017786] [ 0. 0. 0. 1. ]] SLAMing on 62.131652532 meters Centerline goodness [0,1] 0.5082746435059602 Centerline is valid? [False, False] Translation: X:-4.85, Y:-8.00, Z:0.31 [[ 0.70983892 -0.66149667 -0.24197283 -4.85284581] [ 0.66612729 0.74209755 -0.07460335 -7.99865639] [ 0.22891731 -0.10822835 0.96741071 0.31190796] [ 0. 0. 0. 1. ]] SLAMing on 62.161652532 meters Centerline goodness [0,1] 0.5074723041463234 Centerline is valid? [False, False] Translation: X:-4.88, Y:-8.03, Z:0.30 [[ 0.71148011 -0.65957388 -0.24240123 -4.87982344] [ 0.6642527 0.74381209 -0.07424235 -8.02841177] [ 0.22926928 -0.10819372 0.96733123 0.3022055 ] [ 0. 0. 0. 1. ]] SLAMing on 62.191652532 meters Centerline goodness [0,1] 0.5063003970113185 Centerline is valid? [False, False] Translation: X:-4.91, Y:-8.06, Z:0.29 [[ 0.71658271 -0.65305493 -0.24500709 -4.91360807] [ 0.65792673 0.7494901 -0.07346435 -8.06377425] [ 0.23160664 -0.10855343 0.96673394 0.29277104] [ 0. 0. 0. 1. ]] SLAMing on 62.221652532 meters Centerline goodness [0,1] 0.49719612376408084 Centerline is valid? [False, False] Translation: X:-4.94, Y:-8.09, Z:0.28 [[ 0.71668418 -0.65296107 -0.24496047 -4.93905964] [ 0.65790693 0.74954172 -0.07311416 -8.09224589] [ 0.23134879 -0.10876143 0.96677231 0.2846977 ] [ 0. 0. 0. 1. ]] SLAMing on 62.251652532 meters Centerline goodness [0,1] 0.4904788815450011 Centerline is valid? [False, False] Translation: X:-4.96, Y:-8.11, Z:0.28 [[ 0.7191587 -0.65238343 -0.23917905 -4.9582324 ] [ 0.65479462 0.75146738 -0.08087506 -8.11207165] [ 0.23249681 -0.09845116 0.96760147 0.27933354] [ 0. 0. 0. 1. ]] SLAMing on 62.281652532 meters Centerline goodness [0,1] 0.5020889653477513 Centerline is valid? [False, False] Translation: X:-4.98, Y:-8.13, Z:0.27 [[ 0.72199014 -0.65121862 -0.23376171 -4.97663849] [ 0.65133266 0.75368026 -0.08793084 -8.13218269] [ 0.23344379 -0.08877144 0.96830968 0.27415743] [ 0. 0. 0. 1. ]] SLAMing on 62.311652532 meters Centerline goodness [0,1] 0.4992272783024654 Centerline is valid? [False, False] Translation: X:-5.00, Y:-8.17, Z:0.27 [[ 0.72313898 -0.64978255 -0.23420644 -5.00386225] [ 0.65009191 0.75485443 -0.08703619 -8.16622503] [ 0.23334636 -0.08931645 0.96828304 0.26771941] [ 0. 0. 0. 1. ]] SLAMing on 62.341652532 meters Centerline goodness [0,1] 0.5036662824631533 Centerline is valid? [False, False] Translation: X:-5.02, Y:-8.19, Z:0.26 [[ 0.72183994 -0.6502598 -0.236874 -5.02471525] [ 0.65077183 0.75423104 -0.0873588 -8.19287035] [ 0.23546364 -0.09109185 0.96760485 0.2626842 ] [ 0. 0. 0. 1. ]] SLAMing on 62.371652532 meters Centerline goodness [0,1] 0.49767270945614894 Centerline is valid? [False, False] Translation: X:-5.04, Y:-8.22, Z:0.26 [[ 0.72176717 -0.64885082 -0.24092481 -5.04478922] [ 0.65004563 0.75501676 -0.08596725 -8.21937833] [ 0.2376822 -0.09456378 0.96672895 0.25771559] [ 0. 0. 0. 1. ]] SLAMing on 62.401652532 meters Centerline goodness [0,1] 0.5003676290377923 Centerline is valid? [False, False] Translation: X:-5.06, Y:-8.24, Z:0.25 [[ 0.72042579 -0.64872355 -0.24524363 -5.06289795] [ 0.65053691 0.75467318 -0.085265 -8.24402012] [ 0.24039221 -0.09811293 0.96570463 0.25382796] [ 0. 0. 0. 1. ]] SLAMing on 62.431652532 meters Centerline goodness [0,1] 0.500293901542983 Centerline is valid? [False, False] Translation: X:-5.09, Y:-8.28, Z:0.25 [[ 0.72042649 -0.64811352 -0.24684921 -5.08719468] [ 0.64990235 0.75514411 -0.08593198 -8.27647534] [ 0.2421004 -0.09852021 0.96523633 0.24700689] [ 0. 0. 0. 1. ]] SLAMing on 62.461652532 meters Centerline goodness [0,1] 0.5033920305650119 Centerline is valid? [False, False] Translation: X:-5.11, Y:-8.30, Z:0.24 [[ 0.71865098 -0.64908039 -0.24947027 -5.10714927] [ 0.65104014 0.75409113 -0.08656394 -8.30321023] [ 0.24431027 -0.1002059 0.96450571 0.24213438] [ 0. 0. 0. 1. ]] SLAMing on 62.491652531999996 meters Centerline goodness [0,1] 0.5089947866950584 Centerline is valid? [False, False] Translation: X:-5.13, Y:-8.34, Z:0.24 [[ 0.71951619 -0.64749548 -0.25108972 -5.13316375] [ 0.64958538 0.75535882 -0.08644013 -8.3369805 ] [ 0.24563243 -0.10090914 0.9640965 0.23539394] [ 0. 0. 0. 1. ]] SLAMing on 62.521652532 meters Centerline goodness [0,1] 0.5095023510971787 Centerline is valid? [False, False] Translation: X:-5.16, Y:-8.37, Z:0.23 [[ 0.7187992 -0.64761262 -0.25283513 -5.15578919] [ 0.64986993 0.75509991 -0.08656331 -8.36530143] [ 0.24697528 -0.10208831 0.96362918 0.22890259] [ 0. 0. 0. 1. ]] SLAMing on 62.551652532 meters Centerline goodness [0,1] 0.508741429970617 Centerline is valid? [False, False] Translation: X:-5.18, Y:-8.39, Z:0.22 [[ 0.71846492 -0.64728118 -0.25462761 -5.17859171] [ 0.64980794 0.75519124 -0.08623128 -8.39333448] [ 0.24810843 -0.10350489 0.96318687 0.22203393] [ 0. 0. 0. 1. ]] SLAMing on 62.581652532 meters Centerline goodness [0,1] 0.5111149152625272 Centerline is valid? [False, False] Translation: X:-5.20, Y:-8.42, Z:0.22 [[ 0.71795079 -0.647146 -0.25641513 -5.20097139] [ 0.649926 0.75511473 -0.08601127 -8.42164513] [ 0.24928469 -0.104899 0.96273223 0.21534955] [ 0. 0. 0. 1. ]] SLAMing on 62.611652532 meters Centerline goodness [0,1] 0.4949546901787901 Centerline is valid? [False, False] Translation: X:-5.23, Y:-8.45, Z:0.21 [[ 0.71698587 -0.64824896 -0.25632897 -5.22544658] [ 0.65064268 0.75430483 -0.08768308 -8.45184093] [ 0.25019065 -0.10391103 0.96260435 0.20638325] [ 0. 0. 0. 1. ]] SLAMing on 62.641652532 meters Centerline goodness [0,1] 0.5152930246204249 Centerline is valid? [False, False] Translation: X:-5.24, Y:-8.48, Z:0.20 [[ 0.71606665 -0.64763777 -0.26041098 -5.24424718] [ 0.65083438 0.75429956 -0.08629471 -8.47705258] [ 0.2523156 -0.10769165 0.96163369 0.20202711] [ 0. 0. 0. 1. ]] SLAMing on 62.671652531999996 meters Centerline goodness [0,1] 0.5078033268101761 Centerline is valid? [False, False] Translation: X:-5.27, Y:-8.51, Z:0.19 [[ 0.71632727 -0.64725585 -0.26064364 -5.26931654] [ 0.65058394 0.75456965 -0.08582064 -8.5072593 ] [ 0.25222169 -0.1080949 0.96161308 0.19360325] [ 0. 0. 0. 1. ]] SLAMing on 62.701652532 meters Centerline goodness [0,1] 0.5009054867603152 Centerline is valid? [False, False] Translation: X:-5.29, Y:-8.54, Z:0.18 [[ 0.716782 -0.64669997 -0.26077331 -5.294567 ] [ 0.6500387 0.75505022 -0.08572548 -8.53766123] [ 0.25233561 -0.10806626 0.96158641 0.18432373] [ 0. 0. 0. 1. ]] SLAMing on 62.731652532 meters Centerline goodness [0,1] 0.49532824576851575 Centerline is valid? [False, False] Translation: X:-5.32, Y:-8.57, Z:0.17 [[ 0.71688538 -0.64633376 -0.26139631 -5.31972387] [ 0.64942304 0.7554481 -0.08687854 -8.56784608] [ 0.25362388 -0.10747483 0.96131373 0.17483212] [ 0. 0. 0. 1. ]] SLAMing on 62.761652532 meters Centerline goodness [0,1] 0.5098699460752019 Centerline is valid? [False, False] Translation: X:-5.35, Y:-8.60, Z:0.16 [[ 0.71759664 -0.64560362 -0.26124898 -5.34573681] [ 0.64859986 0.75613908 -0.08701675 -8.59833223] [ 0.25371889 -0.10700313 0.96134128 0.16478831] [ 0. 0. 0. 1. ]] SLAMing on 62.791652532 meters Centerline goodness [0,1] 0.4900717178123628 Centerline is valid? [False, False] Translation: X:-5.37, Y:-8.63, Z:0.15 [[ 0.71857962 -0.64471519 -0.2607406 -5.37286278] [ 0.647528 0.75702383 -0.08730645 -8.62890206] [ 0.25367464 -0.1061002 0.96145303 0.1542642 ] [ 0. 0. 0. 1. ]] SLAMing on 62.821652532 meters Centerline goodness [0,1] 0.5057563392596911 Centerline is valid? [False, False] Translation: X:-5.40, Y:-8.66, Z:0.14 [[ 0.71995108 -0.64323144 -0.26062185 -5.40243253] [ 0.64554869 0.75853573 -0.08882812 -8.6612841 ] [ 0.25482802 -0.1042922 0.96134584 0.14378936] [ 0. 0. 0. 1. ]] SLAMing on 62.851652531999996 meters Centerline goodness [0,1] 0.5011156924569489 Centerline is valid? [False, False] Translation: X:-5.43, Y:-8.69, Z:0.13 [[ 0.72143826 -0.64209378 -0.25931143 -5.43105832] [ 0.64420445 0.75967893 -0.08881744 -8.69313411] [ 0.25402256 -0.10297328 0.96170112 0.132811 ] [ 0. 0. 0. 1. ]] SLAMing on 62.881652532 meters Centerline goodness [0,1] 0.5033896663599826 Centerline is valid? [False, False] Translation: X:-5.46, Y:-8.72, Z:0.12 [[ 0.72293208 -0.64086652 -0.25818464 -5.45925567] [ 0.64295087 0.76081298 -0.08819176 -8.72440996] [ 0.25294937 -0.10224339 0.9620618 0.12241691] [ 0. 0. 0. 1. ]] SLAMing on 62.911652532 meters Centerline goodness [0,1] 0.48496122532795405 Centerline is valid? [False, False] Translation: X:-5.49, Y:-8.76, Z:0.11 [[ 0.72397887 -0.64018841 -0.25693073 -5.48752187] [ 0.64212138 0.76152353 -0.08810246 -8.75536796] [ 0.25206097 -0.1011964 0.96240561 0.11220344] [ 0. 0. 0. 1. ]] SLAMing on 62.941652532 meters Centerline goodness [0,1] 0.4814084845571446 Centerline is valid? [False, False] Translation: X:-5.52, Y:-8.79, Z:0.10 [[ 0.72677106 -0.63746188 -0.2558245 -5.51996169] [ 0.6394402 0.76391115 -0.08692523 -8.78897986] [ 0.25083871 -0.10040973 0.96280726 0.10177289] [ 0. 0. 0. 1. ]] SLAMing on 62.971652532 meters Centerline goodness [0,1] 0.48668745502518584 Centerline is valid? [False, False] Translation: X:-5.55, Y:-8.82, Z:0.09 [[ 0.72749064 -0.63694403 -0.25506796 -5.54695064] [ 0.63893513 0.7643868 -0.08645649 -8.81982207] [ 0.25003852 -0.10007559 0.96305016 0.09258992] [ 0. 0. 0. 1. ]] SLAMing on 63.001652532 meters Centerline goodness [0,1] 0.4878924196018377 Centerline is valid? [False, False] Translation: X:-5.57, Y:-8.85, Z:0.08 [[ 0.72827136 -0.63648898 -0.25397361 -5.57409464] [ 0.63836819 0.76487342 -0.08634062 -8.85155025] [ 0.24921252 -0.09924927 0.96334973 0.08304839] [ 0. 0. 0. 1. ]] SLAMing on 63.031652532 meters Centerline goodness [0,1] 0.4808458547357304 Centerline is valid? [False, False] Translation: X:-5.60, Y:-8.89, Z:0.07 [[ 0.72912543 -0.63671339 -0.25094256 -5.60469712] [ 0.63801781 0.76504992 -0.08736069 -8.88560037] [ 0.24760731 -0.09640892 0.96405184 0.07206325] [ 0. 0. 0. 1. ]] SLAMing on 63.061652532 meters Centerline goodness [0,1] 0.4908411752029308 Centerline is valid? [False, False] Translation: X:-5.63, Y:-8.92, Z:0.06 [[ 0.72862233 -0.6379185 -0.24933809 -5.63352993] [ 0.6386992 0.76429404 -0.08898287 -8.91964951] [ 0.24733144 -0.09441713 0.96431974 0.06400761] [ 0. 0. 0. 1. ]] SLAMing on 63.091652532 meters Centerline goodness [0,1] 0.4885218432076601 Centerline is valid? [False, False] Translation: X:-5.66, Y:-8.95, Z:0.06 [[ 0.72714269 -0.63929005 -0.25014344 -5.6556031 ] [ 0.6401075 0.7630632 -0.08942557 -8.9476597 ] [ 0.24804413 -0.09509354 0.96407019 0.05739264] [ 0. 0. 0. 1. ]] SLAMing on 63.121652532 meters Centerline goodness [0,1] 0.480572989028889 Centerline is valid? [False, False] Translation: X:-5.68, Y:-8.98, Z:0.05 [[ 0.72662649 -0.63980901 -0.25031655 -5.67979384] [ 0.64068624 0.76258471 -0.08936274 -8.97803453] [ 0.24806266 -0.09544104 0.96403108 0.05026685] [ 0. 0. 0. 1. ]] SLAMing on 63.151652532 meters Centerline goodness [0,1] 0.4865149700598802 Centerline is valid? [False, False] Translation: X:-5.71, Y:-9.01, Z:0.04 [[ 0.72793754 -0.63822889 -0.25054105 -5.70800354] [ 0.63933125 0.7638476 -0.08827455 -9.01320347] [ 0.24771455 -0.09592036 0.96407302 0.04293914] [ 0. 0. 0. 1. ]] SLAMing on 63.181652532 meters Centerline goodness [0,1] 0.4961806470151576 Centerline is valid? [False, False] Translation: X:-5.73, Y:-9.04, Z:0.03 [[ 0.72853636 -0.63715293 -0.2515371 -5.73260052] [ 0.63853805 0.76461417 -0.08737468 -9.04316545] [ 0.24799987 -0.09696038 0.96389561 0.03499152] [ 0. 0. 0. 1. ]] SLAMing on 63.211652532 meters Centerline goodness [0,1] 0.4829093704210804 Centerline is valid? [False, False] Translation: X:-5.75, Y:-9.07, Z:0.03 [[ 0.72683878 -0.63886744 -0.25209876 -5.75404526] [ 0.64009524 0.76317607 -0.08854585 -9.07097904] [ 0.2489648 -0.09700866 0.96364197 0.02751347] [ 0. 0. 0. 1. ]] SLAMing on 63.241652531999996 meters Centerline goodness [0,1] 0.4878980891719745 Centerline is valid? [False, False] Translation: X:-5.77, Y:-9.10, Z:0.02 [[ 0.72481514 -0.64038712 -0.2540617 -5.77366711] [ 0.64166336 0.76175128 -0.08946012 -9.09738884] [ 0.25082093 -0.09818004 0.96304182 0.02159624] [ 0. 0. 0. 1. ]] SLAMing on 63.271652532 meters Centerline goodness [0,1] 0.4980454611263935 Centerline is valid? [False, False] Translation: X:-5.80, Y:-9.13, Z:0.01 [[ 0.72325097 -0.6420763 -0.2542559 -5.79636605] [ 0.64290247 0.76045183 -0.09159379 -9.1276166 ] [ 0.25215957 -0.09721645 0.96278996 0.01313764] [ 0. 0. 0. 1. ]] SLAMing on 63.301652532 meters Centerline goodness [0,1] 0.4997580215844747 Centerline is valid? [False, False] Translation: X:-5.81, Y:-9.15, Z:0.01 [[ 7.21691592e-01 -6.42351670e-01 -2.57964298e-01 -5.81459613e+00] [ 6.43603620e-01 7.59863853e-01 -9.15494669e-02 -9.15219258e+00] [ 2.54824699e-01 -9.99562758e-02 9.61807213e-01 7.79165734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.331652532 meters Centerline goodness [0,1] 0.5017432569851339 Centerline is valid? [False, False] Translation: X:-5.84, Y:-9.18, Z:0.00 [[ 7.21110151e-01 -6.41966439e-01 -2.60536449e-01 -5.83593572e+00] [ 6.43451531e-01 7.59978960e-01 -9.16630133e-02 -9.17909106e+00] [ 2.56846798e-01 -1.01543448e-01 9.61102830e-01 6.28530246e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.361652532 meters Centerline goodness [0,1] 0.4972062985269574 Centerline is valid? [False, False] Translation: X:-5.86, Y:-9.20, Z:-0.01 [[ 7.20682960e-01 -6.40947463e-01 -2.64201478e-01 -5.85590243e+00] [ 6.43043588e-01 7.60436763e-01 -9.07241597e-02 -9.20485295e+00] [ 2.59057936e-01 -1.04509710e-01 9.60190974e-01 -5.54162551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.391652532 meters Centerline goodness [0,1] 0.5005672902836451 Centerline is valid? [False, False] Translation: X:-5.88, Y:-9.24, Z:-0.01 [[ 0.72125875 -0.63985407 -0.2652783 -5.8821577 ] [ 0.64185169 0.76137165 -0.09132147 -9.2360965 ] [ 0.26040779 -0.10440291 0.95983739 -0.01450732] [ 0. 0. 0. 1. ]] SLAMing on 63.421652531999996 meters Centerline goodness [0,1] 0.4975389663658737 Centerline is valid? [False, False] Translation: X:-5.91, Y:-9.27, Z:-0.02 [[ 0.72157497 -0.63933047 -0.26568049 -5.90692267] [ 0.64147413 0.76174659 -0.09084646 -9.26611566] [ 0.26046211 -0.10487463 0.95977122 -0.02313782] [ 0. 0. 0. 1. ]] SLAMing on 63.451652532 meters Centerline goodness [0,1] 0.5051322827815528 Centerline is valid? [False, False] Translation: X:-5.93, Y:-9.30, Z:-0.03 [[ 0.72175281 -0.63882196 -0.26641956 -5.93190007] [ 0.64111015 0.76209123 -0.09052472 -9.29725868] [ 0.26086519 -0.10546781 0.95959674 -0.03037347] [ 0. 0. 0. 1. ]] SLAMing on 63.481652532 meters Centerline goodness [0,1] 0.5022228630476053 Centerline is valid? [False, False] Translation: X:-5.96, Y:-9.33, Z:-0.04 [[ 0.72183052 -0.63877891 -0.26631222 -5.95729233] [ 0.6410872 0.76212581 -0.09039612 -9.32849585] [ 0.26070655 -0.10547868 0.95963865 -0.03852437] [ 0. 0. 0. 1. ]] SLAMing on 63.511652532 meters Centerline goodness [0,1] 0.495571163082567 Centerline is valid? [False, False] Translation: X:-5.98, Y:-9.36, Z:-0.05 [[ 0.72164456 -0.63900766 -0.26626742 -5.98301424] [ 0.64121834 0.76196946 -0.09078314 -9.35958255] [ 0.26089877 -0.10522239 0.95961455 -0.04648335] [ 0. 0. 0. 1. ]] SLAMing on 63.541652532 meters Centerline goodness [0,1] 0.4993252361673415 Centerline is valid? [False, False] Translation: X:-6.01, Y:-9.39, Z:-0.06 [[ 0.72302925 -0.63707305 -0.26714532 -6.01111675] [ 0.63927428 0.76360002 -0.09079322 -9.39179868] [ 0.26183409 -0.10513298 0.95936957 -0.05590482] [ 0. 0. 0. 1. ]] SLAMing on 63.571652532 meters Centerline goodness [0,1] 0.4943176345950111 Centerline is valid? [False, False] Translation: X:-6.03, Y:-9.42, Z:-0.06 [[ 0.72327908 -0.63576842 -0.26956611 -6.03323772] [ 0.63837995 0.7644348 -0.09005821 -9.41711385] [ 0.26332188 -0.10694838 0.95876151 -0.06454801] [ 0. 0. 0. 1. ]] SLAMing on 63.601652531999996 meters Centerline goodness [0,1] 0.49195700786265595 Centerline is valid? [False, False] Translation: X:-6.05, Y:-9.44, Z:-0.07 [[ 0.72337203 -0.63442205 -0.27247307 -6.05429687] [ 0.63755115 0.7652316 -0.08915791 -9.44253653] [ 0.26506875 -0.10922118 0.95802364 -0.07259835] [ 0. 0. 0. 1. ]] SLAMing on 63.631652532 meters Centerline goodness [0,1] 0.4939776415434547 Centerline is valid? [False, False] Translation: X:-6.08, Y:-9.47, Z:-0.08 [[ 0.72511245 -0.63230636 -0.27276473 -6.0828409 ] [ 0.63537262 0.76705165 -0.08906956 -9.47481492] [ 0.26554389 -0.1087218 0.95794886 -0.08304818] [ 0. 0. 0. 1. ]] SLAMing on 63.661652532 meters Centerline goodness [0,1] 0.49583614133050924 Centerline is valid? [False, False] Translation: X:-6.10, Y:-9.49, Z:-0.09 [[ 0.72698122 -0.63219193 -0.2680143 -6.09965374] [ 0.63258674 0.76842938 -0.09669699 -9.49252856] [ 0.26708112 -0.09924539 0.95854996 -0.08814322] [ 0. 0. 0. 1. ]] SLAMing on 63.691652532 meters Centerline goodness [0,1] 0.4893078425227223 Centerline is valid? [False, False] Translation: X:-6.12, Y:-9.52, Z:-0.10 [[ 0.72730623 -0.63139656 -0.26900564 -6.12462012] [ 0.63199262 0.76898003 -0.0962031 -9.52335917] [ 0.26760227 -0.10004046 0.95832193 -0.09580334] [ 0. 0. 0. 1. ]] SLAMing on 63.721652532 meters Centerline goodness [0,1] 0.48793120061668915 Centerline is valid? [False, False] Translation: X:-6.15, Y:-9.55, Z:-0.10 [[ 0.72719846 -0.63088028 -0.27050411 -6.14887452] [ 0.6317366 0.76924546 -0.0957616 -9.55315524] [ 0.26849816 -0.10124966 0.95794428 -0.10261144] [ 0. 0. 0. 1. ]] SLAMing on 63.751652532 meters Centerline goodness [0,1] 0.4869452011861424 Centerline is valid? [False, False] Translation: X:-6.17, Y:-9.58, Z:-0.11 [[ 0.73063647 -0.62794435 -0.26806016 -6.17265566] [ 0.62601273 0.77283193 -0.10410989 -9.5762201 ] [ 0.27254066 -0.09174259 0.95776035 -0.107869 ] [ 0. 0. 0. 1. ]] SLAMing on 63.781652532 meters Centerline goodness [0,1] 0.4885562321003105 Centerline is valid? [False, False] Translation: X:-6.19, Y:-9.60, Z:-0.11 [[ 0.73166074 -0.62458616 -0.27306537 -6.19435305] [ 0.62373979 0.77502088 -0.10144605 -9.60257143] [ 0.27499317 -0.09609765 0.95663159 -0.11354132] [ 0. 0. 0. 1. ]] SLAMing on 63.811652532 meters Centerline goodness [0,1] 0.48832904637130703 Centerline is valid? [False, False] Translation: X:-6.21, Y:-9.63, Z:-0.12 [[ 0.73119364 -0.62287979 -0.27816657 -6.21346607] [ 0.62295112 0.77586348 -0.0998387 -9.62553584] [ 0.27800679 -0.10028275 0.9553301 -0.11892977] [ 0. 0. 0. 1. ]] SLAMing on 63.841652532 meters Centerline goodness [0,1] 0.48495511669658886 Centerline is valid? [False, False] Translation: X:-6.24, Y:-9.65, Z:-0.12 [[ 0.73494472 -0.61852102 -0.2780072 -6.23551103] [ 0.61609168 0.78032116 -0.10737749 -9.64502929] [ 0.28335014 -0.0923614 0.95455857 -0.12399229] [ 0. 0. 0. 1. ]] SLAMing on 63.871652532 meters Centerline goodness [0,1] 0.48495511669658886 Centerline is valid? [False, False] Translation: X:-6.25, Y:-9.67, Z:-0.13 [[ 0.73383241 -0.61708144 -0.28407832 -6.25281057] [ 0.61574784 0.78084071 -0.10555748 -9.66830342] [ 0.28695748 -0.09745911 0.95297278 -0.12698045] [ 0. 0. 0. 1. ]] SLAMing on 63.901652532 meters Centerline goodness [0,1] 0.47998664185869 Centerline is valid? [False, False] Translation: X:-6.28, Y:-9.70, Z:-0.13 [[ 0.73536111 -0.61375404 -0.28731517 -6.27678616] [ 0.61345541 0.78303555 -0.10260503 -9.69594317] [ 0.28795224 -0.1008033 0.95232463 -0.13465161] [ 0. 0. 0. 1. ]] SLAMing on 63.931652532 meters Centerline goodness [0,1] 0.46875521143537824 Centerline is valid? [False, False] Translation: X:-6.30, Y:-9.73, Z:-0.14 [[ 0.73629676 -0.61192943 -0.28880696 -6.30273182] [ 0.61228089 0.78421086 -0.10062526 -9.72536608] [ 0.28806111 -0.10274093 0.95208461 -0.14235362] [ 0. 0. 0. 1. ]] SLAMing on 63.961652532 meters Centerline goodness [0,1] 0.4811843953062147 Centerline is valid? [False, False] Translation: X:-6.33, Y:-9.76, Z:-0.15 [[ 0.73756675 -0.60928638 -0.29114496 -6.32817992] [ 0.61057409 0.7858893 -0.09786362 -9.75507407] [ 0.28843467 -0.10558462 0.9516603 -0.14913529] [ 0. 0. 0. 1. ]] SLAMing on 63.991652531999996 meters Centerline goodness [0,1] 0.4765157984628523 Centerline is valid? [False, False] Translation: X:-6.35, Y:-9.77, Z:-0.16 [[ 0.74110065 -0.60806345 -0.28465534 -6.34744395] [ 0.60730953 0.78789922 -0.10193111 -9.77398518] [ 0.2862603 -0.09733269 0.95319535 -0.15611078] [ 0. 0. 0. 1. ]] SLAMing on 64.02165253199999 meters Centerline goodness [0,1] 0.47446520572663164 Centerline is valid? [False, False] Translation: X:-6.37, Y:-9.80, Z:-0.16 [[ 0.74147389 -0.60543211 -0.28925495 -6.36889838] [ 0.60597368 0.78932846 -0.09877492 -9.80282441] [ 0.28811867 -0.10204187 0.95214237 -0.16002474] [ 0. 0. 0. 1. ]] SLAMing on 64.05165253199999 meters Centerline goodness [0,1] 0.4726318539099048 Centerline is valid? [False, False] Translation: X:-6.39, Y:-9.83, Z:-0.16 [[ 0.74047455 -0.60399733 -0.29476205 -6.38720654] [ 0.60582492 0.78974095 -0.09636075 -9.82797916] [ 0.2909873 -0.10722151 0.95069971 -0.16307767] [ 0. 0. 0. 1. ]] SLAMing on 64.08165253199999 meters Centerline goodness [0,1] 0.46911049671083993 Centerline is valid? [False, False] Translation: X:-6.41, Y:-9.86, Z:-0.17 [[ 0.73913618 -0.60355183 -0.29900318 -6.40770538] [ 0.60631578 0.78953993 -0.09490984 -9.85754468] [ 0.29335795 -0.11113904 0.94952052 -0.16647572] [ 0. 0. 0. 1. ]] SLAMing on 64.111652532 meters Centerline goodness [0,1] 0.46932133626878525 Centerline is valid? [False, False] Translation: X:-6.42, Y:-9.88, Z:-0.17 [[ 0.73742139 -0.60273201 -0.30483409 -6.42394141] [ 0.60672646 0.78943127 -0.09317338 -9.88159816] [ 0.29680414 -0.11624286 0.94783696 -0.1694948 ] [ 0. 0. 0. 1. ]] SLAMing on 64.141652532 meters Centerline goodness [0,1] 0.47187665113598154 Centerline is valid? [False, False] Translation: X:-6.44, Y:-9.91, Z:-0.17 [[ 0.73590335 -0.60177321 -0.310347 -6.44078099] [ 0.606961 0.78944472 -0.0915171 -9.90654836] [ 0.30007434 -0.12102078 0.94620788 -0.1730245 ] [ 0. 0. 0. 1. ]] SLAMing on 64.171652532 meters Centerline goodness [0,1] 0.4727478453464298 Centerline is valid? [False, False] Translation: X:-6.46, Y:-9.93, Z:-0.18 [[ 0.73452394 -0.60063867 -0.31576537 -6.45801685] [ 0.60703877 0.78957816 -0.08983463 -9.93093061] [ 0.30327959 -0.12569614 0.94457502 -0.17705765] [ 0. 0. 0. 1. ]] SLAMing on 64.201652532 meters Centerline goodness [0,1] 0.4795874102279848 Centerline is valid? [False, False] Translation: X:-6.48, Y:-9.96, Z:-0.18 [[ 0.73430232 -0.59899191 -0.31938816 -6.4796145 ] [ 0.60635463 0.79029984 -0.08809215 -9.96069233] [ 0.3051789 -0.12897622 0.94352052 -0.18290777] [ 0. 0. 0. 1. ]] SLAMing on 64.231652532 meters Centerline goodness [0,1] 0.47830181844526554 Centerline is valid? [False, False] Translation: X:-6.50, Y:-9.99, Z:-0.19 [[ 0.73437487 -0.59777949 -0.32148598 -6.50367635] [ 0.60591821 0.79082425 -0.08637206 -9.9901277 ] [ 0.30587035 -0.13136474 0.94296693 -0.18995832] [ 0. 0. 0. 1. ]] SLAMing on 64.26165253199999 meters Centerline goodness [0,1] 0.4751274431639728 Centerline is valid? [False, False] Translation: X:-6.53, Y:-10.02, Z:-0.20 [[ 0.73421908 -0.59656291 -0.32409108 -6.52672044] [ 0.60557197 0.79127861 -0.08462119 -10.01762524] [ 0.3069282 -0.13412998 0.94223364 -0.19690167] [ 0. 0. 0. 1. ]] SLAMing on 64.29165253199999 meters Centerline goodness [0,1] 0.4754153623886347 Centerline is valid? [False, False] Translation: X:-6.55, Y:-10.05, Z:-0.21 [[ 0.73577642 -0.59359723 -0.32599905 -6.55272245] [ 0.60343122 0.79315788 -0.08228814 -10.04705543] [ 0.30741472 -0.13617233 0.94178197 -0.2064361 ] [ 0. 0. 0. 1. ]] SLAMing on 64.32165253199999 meters Centerline goodness [0,1] 0.473643727615797 Centerline is valid? [False, False] Translation: X:-6.58, Y:-10.08, Z:-0.22 [[ 0.73713285 -0.59169827 -0.32638675 -6.57953748] [ 0.60190586 0.79446113 -0.08087551 -10.07615688] [ 0.30715548 -0.1368381 0.94177006 -0.21748009] [ 0. 0. 0. 1. ]] SLAMing on 64.35165253199999 meters Centerline goodness [0,1] 0.47685662867426515 Centerline is valid? [False, False] Translation: X:-6.60, Y:-10.10, Z:-0.23 [[ 0.73800871 -0.58984663 -0.32775615 -6.60455234] [ 0.60078929 0.79550995 -0.07884256 -10.10368321] [ 0.3072383 -0.13872589 0.94146681 -0.22699999] [ 0. 0. 0. 1. ]] SLAMing on 64.38165253199999 meters Centerline goodness [0,1] 0.4707472900863823 Centerline is valid? [False, False] Translation: X:-6.63, Y:-10.13, Z:-0.24 [[ 0.73892094 -0.58806514 -0.32890003 -6.63029345] [ 0.59970734 0.79652224 -0.07683384 -10.13127129] [ 0.30715949 -0.14046963 0.94123394 -0.2364588 ] [ 0. 0. 0. 1. ]] SLAMing on 64.41165253199999 meters Centerline goodness [0,1] 0.46428742171439497 Centerline is valid? [False, False] Translation: X:-6.66, Y:-10.16, Z:-0.25 [[ 0.74044088 -0.58661198 -0.32807574 -6.65960401] [ 0.59820601 0.79770835 -0.07622963 -10.1617925 ] [ 0.30642597 -0.13981335 0.94157068 -0.24878984] [ 0. 0. 0. 1. ]] SLAMing on 64.44165253199999 meters Centerline goodness [0,1] 0.4705488140542352 Centerline is valid? [False, False] Translation: X:-6.68, Y:-10.19, Z:-0.26 [[ 0.74065046 -0.58592202 -0.32883474 -6.68498286] [ 0.59775441 0.79809651 -0.07570748 -10.19063283] [ 0.30680053 -0.14048964 0.94134802 -0.25855864] [ 0. 0. 0. 1. ]] SLAMing on 64.471652532 meters Centerline goodness [0,1] 0.46799101166571044 Centerline is valid? [False, False] Translation: X:-6.71, Y:-10.22, Z:-0.27 [[ 0.7412778 -0.58531663 -0.3284991 -6.71114675] [ 0.59747875 0.79842731 -0.07438393 -10.21840121] [ 0.3058208 -0.14113207 0.9415707 -0.26929287] [ 0. 0. 0. 1. ]] SLAMing on 64.501652532 meters Centerline goodness [0,1] 0.47180222142601214 Centerline is valid? [False, False] Translation: X:-6.74, Y:-10.25, Z:-0.28 [[ 0.74238101 -0.58391485 -0.32850249 -6.73869336] [ 0.59637784 0.79936603 -0.0731261 -10.24844366] [ 0.30529315 -0.14162418 0.94166803 -0.27988822] [ 0. 0. 0. 1. ]] SLAMing on 64.531652532 meters Centerline goodness [0,1] 0.4694179389312977 Centerline is valid? [False, False] Translation: X:-6.77, Y:-10.28, Z:-0.29 [[ 0.7444185 -0.58183917 -0.32757332 -6.76904059] [ 0.594447 0.80092971 -0.0717242 -10.27968577] [ 0.30409516 -0.14133216 0.94209944 -0.29207178] [ 0. 0. 0. 1. ]] SLAMing on 64.561652532 meters Centerline goodness [0,1] 0.468436873747495 Centerline is valid? [False, False] Translation: X:-6.80, Y:-10.31, Z:-0.30 [[ 0.74521418 -0.5813772 -0.32658287 -6.7968692 ] [ 0.59399298 0.8013225 -0.07109571 -10.31028106] [ 0.30303162 -0.1410064 0.94249087 -0.30309197] [ 0. 0. 0. 1. ]] SLAMing on 64.591652532 meters Centerline goodness [0,1] 0.46938678119780486 Centerline is valid? [False, False] Translation: X:-6.82, Y:-10.34, Z:-0.31 [[ 0.74611066 -0.58067034 -0.32579262 -6.82445262] [ 0.59342578 0.80183037 -0.07009923 -10.34093111] [ 0.30193496 -0.14103196 0.94283894 -0.31392954] [ 0. 0. 0. 1. ]] SLAMing on 64.621652532 meters Centerline goodness [0,1] 0.468017235222701 Centerline is valid? [False, False] Translation: X:-6.86, Y:-10.37, Z:-0.33 [[ 0.74833274 -0.57843961 -0.32466249 -6.85551175] [ 0.5913195 0.8035123 -0.06862387 -10.37146315] [ 0.30056507 -0.14062576 0.94333718 -0.32659366] [ 0. 0. 0. 1. ]] SLAMing on 64.65165253199999 meters Centerline goodness [0,1] 0.4680376139817629 Centerline is valid? [False, False] Translation: X:-6.88, Y:-10.40, Z:-0.34 [[ 0.74951323 -0.57724911 -0.32405768 -6.88354777] [ 0.59023039 0.80438874 -0.06772623 -10.40079636] [ 0.29976325 -0.14050698 0.94360997 -0.33813854] [ 0. 0. 0. 1. ]] SLAMing on 64.68165253199999 meters Centerline goodness [0,1] 0.4676484560570071 Centerline is valid? [False, False] Translation: X:-6.91, Y:-10.43, Z:-0.35 [[ 0.75013396 -0.57724964 -0.32261725 -6.91160262] [ 0.59010267 0.80450926 -0.0674069 -10.43102685] [ 0.29845917 -0.1398131 0.94412627 -0.34950685] [ 0. 0. 0. 1. ]] SLAMing on 64.71165253199999 meters Centerline goodness [0,1] 0.46303723568360344 Centerline is valid? [False, False] Translation: X:-6.94, Y:-10.46, Z:-0.36 [[ 0.75064827 -0.57763294 -0.32072942 -6.94018133] [ 0.59028744 0.80439294 -0.06717692 -10.4623536 ] [ 0.29679609 -0.13889631 0.94478564 -0.36046974] [ 0. 0. 0. 1. ]] SLAMing on 64.74165253199999 meters Centerline goodness [0,1] 0.4583923011604868 Centerline is valid? [False, False] Translation: X:-6.96, Y:-10.48, Z:-0.37 [[ 0.75457546 -0.575238 -0.31578019 -6.96223401] [ 0.58518128 0.80762163 -0.07287099 -10.48131978] [ 0.29694907 -0.129802 0.94602996 -0.36844403] [ 0. 0. 0. 1. ]] SLAMing on 64.77165253199999 meters Centerline goodness [0,1] 0.45417452830188676 Centerline is valid? [False, False] Translation: X:-6.99, Y:-10.51, Z:-0.38 [[ 0.75515618 -0.57490626 -0.31499516 -6.98952482] [ 0.58482632 0.80791175 -0.07250369 -10.51015146] [ 0.29617111 -0.12946585 0.94631985 -0.37988275] [ 0. 0. 0. 1. ]] SLAMing on 64.80165253199999 meters Centerline goodness [0,1] 0.44890835832083953 Centerline is valid? [False, False] Translation: X:-7.00, Y:-10.52, Z:-0.39 [[ 0.7563957 -0.5765989 -0.3088677 -6.99998475] [ 0.58427703 0.80786617 -0.07728263 -10.51741177] [ 0.29408484 -0.12200805 0.94795999 -0.38887685] [ 0. 0. 0. 1. ]] SLAMing on 64.83165253199999 meters Centerline goodness [0,1] 0.4514133860119468 Centerline is valid? [False, False] Translation: X:-7.03, Y:-10.55, Z:-0.40 [[ 0.75723786 -0.57578154 -0.30832845 -7.02735127] [ 0.58348656 0.80848536 -0.07677796 -10.5470582 ] [ 0.29348637 -0.12176633 0.94817652 -0.40015728] [ 0. 0. 0. 1. ]] SLAMing on 64.861652532 meters Centerline goodness [0,1] 0.4489133502681344 Centerline is valid? [False, False] Translation: X:-7.06, Y:-10.58, Z:-0.41 [[ 0.75889537 -0.57413002 -0.3073313 -7.05786682] [ 0.58205745 0.80965785 -0.07525487 -10.58037844] [ 0.29203928 -0.1217739 0.94862225 -0.41018128] [ 0. 0. 0. 1. ]] SLAMing on 64.891652532 meters Centerline goodness [0,1] 0.4550792303338993 Centerline is valid? [False, False] Translation: X:-7.09, Y:-10.61, Z:-0.42 [[ 0.75919216 -0.57457041 -0.30577131 -7.08599483] [ 0.58228312 0.80948608 -0.07535686 -10.61213713] [ 0.29081545 -0.12083513 0.94911814 -0.42038069] [ 0. 0. 0. 1. ]] SLAMing on 64.921652532 meters Centerline goodness [0,1] 0.4449714474491482 Centerline is valid? [False, False] Translation: X:-7.11, Y:-10.64, Z:-0.43 [[ 0.75984388 -0.57412134 -0.30499504 -7.11334558] [ 0.58189506 0.80982444 -0.07471628 -10.64403088] [ 0.28988865 -0.12070239 0.94941851 -0.43033628] [ 0. 0. 0. 1. ]] SLAMing on 64.951652532 meters Centerline goodness [0,1] 0.4538056937990895 Centerline is valid? [False, False] Translation: X:-7.14, Y:-10.67, Z:-0.44 [[ 0.7582536 -0.57579803 -0.30579096 -7.13829014] [ 0.58351964 0.80857229 -0.07560216 -10.67337178] [ 0.29078567 -0.12110942 0.9490923 -0.43719495] [ 0. 0. 0. 1. ]] SLAMing on 64.981652532 meters Centerline goodness [0,1] 0.4405442945594086 Centerline is valid? [False, False] Translation: X:-7.16, Y:-10.70, Z:-0.44 [[ 0.75725203 -0.57472763 -0.31025396 -7.15757712] [ 0.58346256 0.80875393 -0.07408453 -10.6960004 ] [ 0.29349754 -0.12492091 0.94776261 -0.44315783] [ 0. 0. 0. 1. ]] SLAMing on 65.01165253199999 meters Centerline goodness [0,1] 0.45081081081081076 Centerline is valid? [False, False] Translation: X:-7.18, Y:-10.72, Z:-0.45 [[ 0.75824559 -0.57317002 -0.31070847 -7.18389822] [ 0.58216726 0.80977607 -0.07310266 -10.72387669] [ 0.29350453 -0.12545453 0.94768995 -0.45447932] [ 0. 0. 0. 1. ]] SLAMing on 65.04165253199999 meters Centerline goodness [0,1] 0.4549296766770763 Centerline is valid? [False, False] Translation: X:-7.21, Y:-10.75, Z:-0.47 [[ 0.75975176 -0.5712284 -0.31060487 -7.21133587] [ 0.58042382 0.81112619 -0.07198954 -10.75343317] [ 0.29306221 -0.12558828 0.94780912 -0.46623364] [ 0. 0. 0. 1. ]] SLAMing on 65.07165253199999 meters Centerline goodness [0,1] 0.43898145975123215 Centerline is valid? [False, False] Translation: X:-7.24, Y:-10.78, Z:-0.48 [[ 0.75909158 -0.57270723 -0.3094938 -7.23868459] [ 0.58123191 0.81036832 -0.07397739 -10.7845731 ] [ 0.29317135 -0.12373206 0.94801948 -0.47683587] [ 0. 0. 0. 1. ]] SLAMing on 65.10165253199999 meters Centerline goodness [0,1] 0.44183649566643246 Centerline is valid? [False, False] Translation: X:-7.26, Y:-10.81, Z:-0.49 [[ 0.75910357 -0.57254495 -0.3097645 -7.26402648] [ 0.58120667 0.81041888 -0.073621 -10.81360096] [ 0.29319033 -0.12415123 0.94795881 -0.48658676] [ 0. 0. 0. 1. ]] SLAMing on 65.13165253199999 meters Centerline goodness [0,1] 0.4413636576348917 Centerline is valid? [False, False] Translation: X:-7.29, Y:-10.84, Z:-0.50 [[ 0.75984965 -0.57161369 -0.30965511 -7.29092181] [ 0.58046 0.81103058 -0.07277081 -10.84281237] [ 0.29273656 -0.12444753 0.94806019 -0.49711371] [ 0. 0. 0. 1. ]] SLAMing on 65.16165253199999 meters Centerline goodness [0,1] 0.4430663583490996 Centerline is valid? [False, False] Translation: X:-7.32, Y:-10.87, Z:-0.51 [[ 0.76081336 -0.57072659 -0.30892424 -7.31958139] [ 0.57940246 0.81178386 -0.07279941 -10.8739132 ] [ 0.29232827 -0.1236047 0.9482964 -0.50870224] [ 0. 0. 0. 1. ]] SLAMing on 65.19165253199999 meters Centerline goodness [0,1] 0.4451051079170373 Centerline is valid? [False, False] Translation: X:-7.35, Y:-10.90, Z:-0.52 [[ 0.76051791 -0.57175961 -0.30773926 -7.34592016] [ 0.58001582 0.81125041 -0.07385405 -10.9028444 ] [ 0.29188036 -0.12232631 0.94860009 -0.52005018] [ 0. 0. 0. 1. ]] SLAMing on 65.221652532 meters Centerline goodness [0,1] 0.4490604058297015 Centerline is valid? [False, False] Translation: X:-7.37, Y:-10.93, Z:-0.53 [[ 0.76049996 -0.57211337 -0.30712553 -7.37230648] [ 0.58019431 0.81108874 -0.07422686 -10.93303012] [ 0.29157224 -0.12174296 0.94876988 -0.53041435] [ 0. 0. 0. 1. ]] SLAMing on 65.251652532 meters Centerline goodness [0,1] 0.45612386344947486 Centerline is valid? [False, False] Translation: X:-7.40, Y:-10.97, Z:-0.54 [[ 0.75959201 -0.57454301 -0.30482833 -7.40015611] [ 0.5819368 0.80967717 -0.0759766 -10.96648619] [ 0.29046436 -0.1196796 0.94937203 -0.54039393] [ 0. 0. 0. 1. ]] SLAMing on 65.281652532 meters Centerline goodness [0,1] 0.45759526382558846 Centerline is valid? [False, False] Translation: X:-7.42, Y:-10.99, Z:-0.55 [[ 0.75897728 -0.57499231 -0.30551158 -7.4244903 ] [ 0.58243154 0.80929795 -0.07622553 -10.99465317] [ 0.29107899 -0.12008614 0.94913241 -0.54942316] [ 0. 0. 0. 1. ]] SLAMing on 65.311652532 meters Centerline goodness [0,1] 0.4588965419967559 Centerline is valid? [False, False] Translation: X:-7.45, Y:-11.02, Z:-0.56 [[ 0.75891711 -0.57482422 -0.305977 -7.44948717] [ 0.58241084 0.80934213 -0.0759139 -11.02338419] [ 0.29127723 -0.12059197 0.94900746 -0.55922389] [ 0. 0. 0. 1. ]] SLAMing on 65.341652532 meters Centerline goodness [0,1] 0.464063051405717 Centerline is valid? [False, False] Translation: X:-7.47, Y:-11.05, Z:-0.57 [[ 0.75795905 -0.57518574 -0.30766774 -7.47226775] [ 0.58307826 0.80887703 -0.0757476 -11.05027623] [ 0.29243431 -0.12198079 0.94847397 -0.56719745] [ 0. 0. 0. 1. ]] SLAMing on 65.371652532 meters Centerline goodness [0,1] 0.46714262152164177 Centerline is valid? [False, False] Translation: X:-7.50, Y:-11.08, Z:-0.58 [[ 0.75757927 -0.57525816 -0.3084667 -7.49699792] [ 0.58327035 0.80874 -0.07573186 -11.07878723] [ 0.29303473 -0.1225466 0.94821568 -0.57626597] [ 0. 0. 0. 1. ]] SLAMing on 65.40165253199999 meters Centerline goodness [0,1] 0.42733486271078214 Centerline is valid? [False, False] Translation: X:-7.53, Y:-11.11, Z:-0.59 [[ 0.75750348 -0.57636445 -0.30658196 -7.52636258] [ 0.58418007 0.8080795 -0.0757705 -11.11353582] [ 0.29141402 -0.12170266 0.94882366 -0.5851063 ] [ 0. 0. 0. 1. ]] SLAMing on 65.43165253199999 meters Centerline goodness [0,1] 0.427130574452003 Centerline is valid? [False, False] Translation: X:-7.55, Y:-11.15, Z:-0.59 [[ 0.75832909 -0.57527649 -0.30658432 -7.55359933] [ 0.5833687 0.80877114 -0.07463385 -11.1452104 ] [ 0.29089165 -0.12225467 0.94891298 -0.594402 ] [ 0. 0. 0. 1. ]] SLAMing on 65.46165253199999 meters Centerline goodness [0,1] 0.46669668033078215 Centerline is valid? [False, False] Translation: X:-7.58, Y:-11.18, Z:-0.60 [[ 0.75873429 -0.57481862 -0.3064406 -7.58014252] [ 0.58316542 0.80900894 -0.07363842 -11.17621147] [ 0.29024192 -0.12283357 0.94903717 -0.60362716] [ 0. 0. 0. 1. ]] SLAMing on 65.49165253199999 meters Centerline goodness [0,1] 0.47087667515650666 Centerline is valid? [False, False] Translation: X:-7.60, Y:-11.21, Z:-0.61 [[ 0.7569145 -0.57666839 -0.30746385 -7.60352752] [ 0.58495249 0.80761963 -0.07470695 -11.20611859] [ 0.29139498 -0.12330496 0.94862261 -0.61043905] [ 0. 0. 0. 1. ]] SLAMing on 65.52165253199999 meters Centerline goodness [0,1] 0.44118278800028643 Centerline is valid? [False, False] Translation: X:-7.62, Y:-11.22, Z:-0.62 [[ 0.75821277 -0.57847046 -0.30080777 -7.61625537] [ 0.58439665 0.80752556 -0.07989381 -11.2160841 ] [ 0.28912617 -0.11521455 0.9503324 -0.61894657] [ 0. 0. 0. 1. ]] SLAMing on 65.55165253199999 meters Centerline goodness [0,1] 0.4739573369045341 Centerline is valid? [False, False] Translation: X:-7.63, Y:-11.22, Z:-0.62 [[ 0.75780493 -0.58211755 -0.29473859 -7.62530078] [ 0.58620811 0.80577132 -0.08421777 -11.22332994] [ 0.28651655 -0.10895751 0.95185951 -0.6239326 ] [ 0. 0. 0. 1. ]] SLAMing on 65.58165253199999 meters Centerline goodness [0,1] 0.48004613055909273 Centerline is valid? [False, False] Translation: X:-7.65, Y:-11.25, Z:-0.63 [[ 0.75652025 -0.58211456 -0.29802643 -7.64682808] [ 0.586884 0.80537316 -0.08331415 -11.25358885] [ 0.28852087 -0.1118781 0.95091482 -0.62824661] [ 0. 0. 0. 1. ]] SLAMing on 65.611652532 meters Centerline goodness [0,1] 0.4818153409773803 Centerline is valid? [False, False] Translation: X:-7.65, Y:-11.26, Z:-0.63 [[ 0.75528603 -0.5856521 -0.29420167 -7.65017088] [ 0.58942864 0.80325226 -0.08578862 -11.25636483] [ 0.28656044 -0.10861595 0.95188533 -0.63071515] [ 0. 0. 0. 1. ]] SLAMing on 65.641652532 meters Centerline goodness [0,1] 0.4590526037790209 Centerline is valid? [False, False] Translation: X:-7.65, Y:-11.26, Z:-0.63 [[ 0.75392022 -0.5890161 -0.29097135 -7.6538737 ] [ 0.59193032 0.80116183 -0.08808076 -11.25835824] [ 0.28499612 -0.1058289 0.9526686 -0.63176449] [ 0. 0. 0. 1. ]] SLAMing on 65.671652532 meters Centerline goodness [0,1] 0.45671484131175877 Centerline is valid? [False, False] Translation: X:-7.67, Y:-11.27, Z:-0.64 [[ 0.75549149 -0.59020074 -0.28442169 -7.66803115] [ 0.59093652 0.80132226 -0.09314858 -11.2685234 ] [ 0.28288979 -0.0977022 0.95416332 -0.63997048] [ 0. 0. 0. 1. ]] SLAMing on 65.701652532 meters Centerline goodness [0,1] 0.48259266353797525 Centerline is valid? [False, False] Translation: X:-7.67, Y:-11.27, Z:-0.64 [[ 0.75625612 -0.58934291 -0.28416828 -7.67124574] [ 0.59027972 0.80191569 -0.09220128 -11.26988883] [ 0.28221717 -0.09801099 0.95433082 -0.63972655] [ 0. 0. 0. 1. ]] SLAMing on 65.731652532 meters Centerline goodness [0,1] 0.45723109334227097 Centerline is valid? [False, False] Translation: X:-7.69, Y:-11.29, Z:-0.64 [[ 0.75531654 -0.58828469 -0.28882183 -7.68668027] [ 0.58715384 0.80321101 -0.10051087 -11.28794976] [ 0.29111388 -0.09366532 0.95209218 -0.6368276 ] [ 0. 0. 0. 1. ]] SLAMing on 65.76165253199999 meters Centerline goodness [0,1] 0.45475232346459715 Centerline is valid? [False, False] Translation: X:-7.69, Y:-11.29, Z:-0.64 [[ 0.75436422 -0.59088756 -0.28598342 -7.69151336] [ 0.5890238 0.80158989 -0.10249203 -11.29000091] [ 0.28980268 -0.09113472 0.95273757 -0.6370798 ] [ 0. 0. 0. 1. ]] SLAMing on 65.79165253199999 meters Centerline goodness [0,1] 0.45475232346459715 Centerline is valid? [False, False] Translation: X:-7.69, Y:-11.29, Z:-0.64 [[ 0.75436422 -0.59088756 -0.28598342 -7.69151336] [ 0.5890238 0.80158989 -0.10249203 -11.29000091] [ 0.28980268 -0.09113472 0.95273757 -0.6370798 ] [ 0. 0. 0. 1. ]] SLAMing on 65.82165253199999 meters Centerline goodness [0,1] 0.4591184427897622 Centerline is valid? [False, False] Translation: X:-7.70, Y:-11.29, Z:-0.64 [[ 0.75348377 -0.59319664 -0.28351357 -7.69622425] [ 0.59072637 0.80012232 -0.10414718 -11.29251426] [ 0.28862529 -0.08900573 0.95329608 -0.63675081] [ 0. 0. 0. 1. ]] SLAMing on 65.85165253199999 meters Centerline goodness [0,1] 0.46085059455312616 Centerline is valid? [False, False] Translation: X:-7.70, Y:-11.29, Z:-0.64 [[ 0.75160135 -0.59717993 -0.28012772 -7.69883949] [ 0.59366107 0.79752408 -0.10734002 -11.291696 ] [ 0.28750991 -0.08562402 0.95394265 -0.63884437] [ 0. 0. 0. 1. ]] SLAMing on 65.88165253199999 meters Centerline goodness [0,1] 0.4619509275882705 Centerline is valid? [False, False] Translation: X:-7.71, Y:-11.31, Z:-0.64 [[ 0.75106281 -0.59409111 -0.28802849 -7.71448286] [ 0.59233829 0.79901639 -0.10348028 -11.31271068] [ 0.2916162 -0.09289012 0.9520144 -0.64098054] [ 0. 0. 0. 1. ]] SLAMing on 65.91165253199999 meters Centerline goodness [0,1] 0.4621826684481771 Centerline is valid? [False, False] Translation: X:-7.72, Y:-11.31, Z:-0.64 [[ 0.7497808 -0.59713506 -0.28505873 -7.7190692 ] [ 0.59455629 0.79705991 -0.10582212 -11.31314915] [ 0.29039898 -0.09014007 0.95265062 -0.64179119] [ 0. 0. 0. 1. ]] SLAMing on 65.94165253199999 meters Centerline goodness [0,1] 0.4616079923882017 Centerline is valid? [False, False] Translation: X:-7.74, Y:-11.34, Z:-0.64 [[ 0.74900862 -0.59490711 -0.29167039 -7.73740617] [ 0.59393374 0.79797408 -0.10237229 -11.33592254] [ 0.29364741 -0.09655516 0.95102487 -0.64379072] [ 0. 0. 0. 1. ]] SLAMing on 65.971652532 meters Centerline goodness [0,1] 0.46054536393193635 Centerline is valid? [False, False] Translation: X:-7.74, Y:-11.34, Z:-0.64 [[ 0.74918417 -0.59512001 -0.29078386 -7.74082706] [ 0.59410662 0.79786274 -0.10223682 -11.33671917] [ 0.29284879 -0.09616241 0.95131087 -0.64376304] [ 0. 0. 0. 1. ]] SLAMing on 66.001652532 meters Centerline goodness [0,1] 0.4568918695539236 Centerline is valid? [False, False] Translation: X:-7.75, Y:-11.34, Z:-0.64 [[ 0.75015368 -0.59414206 -0.29028378 -7.74558079] [ 0.59322282 0.79860777 -0.10154957 -11.33687701] [ 0.29215775 -0.09602518 0.95153718 -0.6439684 ] [ 0. 0. 0. 1. ]] SLAMing on 66.031652532 meters Centerline goodness [0,1] 0.45747115588797393 Centerline is valid? [False, False] Translation: X:-7.77, Y:-11.36, Z:-0.65 [[ 0.74978166 -0.59185444 -0.29586447 -7.76530557] [ 0.59235219 0.79963857 -0.09847355 -11.35991828] [ 0.29486665 -0.10142231 0.95014061 -0.6480962 ] [ 0. 0. 0. 1. ]] SLAMing on 66.061652532 meters Centerline goodness [0,1] 0.45351409876194515 Centerline is valid? [False, False] Translation: X:-7.77, Y:-11.36, Z:-0.65 [[ 0.75032018 -0.59141079 -0.29538604 -7.76886019] [ 0.59195865 0.79998302 -0.09804143 -11.35964114] [ 0.29428657 -0.10129386 0.95033413 -0.64835395] [ 0. 0. 0. 1. ]] SLAMing on 66.091652532 meters Centerline goodness [0,1] 0.45055280392479047 Centerline is valid? [False, False] Translation: X:-7.77, Y:-11.36, Z:-0.65 [[ 0.75113092 -0.59065017 -0.29484694 -7.77290141] [ 0.59128845 0.80055818 -0.09738876 -11.35989108] [ 0.29356482 -0.10118788 0.95056862 -0.64868362] [ 0. 0. 0. 1. ]] SLAMing on 66.121652532 meters Centerline goodness [0,1] 0.45198586373955574 Centerline is valid? [False, False] Translation: X:-7.78, Y:-11.36, Z:-0.65 [[ 0.75318521 -0.58913942 -0.29262054 -7.77931962] [ 0.58966578 0.8018474 -0.09661785 -11.36321456] [ 0.29155841 -0.09977718 0.95133496 -0.65240353] [ 0. 0. 0. 1. ]] SLAMing on 66.15165253199999 meters Centerline goodness [0,1] 0.4519158878504673 Centerline is valid? [False, False] Translation: X:-7.78, Y:-11.36, Z:-0.65 [[ 0.75377956 -0.58852112 -0.29233416 -7.78181969] [ 0.58917275 0.80228702 -0.095974 -11.364288 ] [ 0.29101863 -0.09989208 0.95148816 -0.65233491] [ 0. 0. 0. 1. ]] SLAMing on 66.18165253199999 meters Centerline goodness [0,1] 0.45007468957146857 Centerline is valid? [False, False] Translation: X:-7.78, Y:-11.37, Z:-0.65 [[ 0.75438955 -0.58788106 -0.29204842 -7.78462283] [ 0.58865003 0.80274488 -0.09535089 -11.36511269] [ 0.29049535 -0.0999826 0.95163855 -0.65221595] [ 0. 0. 0. 1. ]] SLAMing on 66.21165253199999 meters Centerline goodness [0,1] 0.44801922448789133 Centerline is valid? [False, False] Translation: X:-7.79, Y:-11.37, Z:-0.65 [[ 0.75533506 -0.58685136 -0.29167522 -7.78889558] [ 0.5877824 0.80348487 -0.09446649 -11.36644123] [ 0.28979441 -0.1000877 0.95184119 -0.65182931] [ 0. 0. 0. 1. ]] SLAMing on 66.24165253199999 meters Centerline goodness [0,1] 0.4499602673771794 Centerline is valid? [False, False] Translation: X:-7.79, Y:-11.37, Z:-0.65 [[ 0.75569704 -0.58637043 -0.29170483 -7.78996886] [ 0.58744888 0.80379602 -0.09389231 -11.36789857] [ 0.28952685 -0.10040754 0.95188893 -0.65134822] [ 0. 0. 0. 1. ]] SLAMing on 66.27165253199999 meters Centerline goodness [0,1] 0.4474976613657624 Centerline is valid? [False, False] Translation: X:-7.81, Y:-11.39, Z:-0.65 [[ 0.75447531 -0.58497686 -0.29760557 -7.8077956 ] [ 0.58743415 0.80410315 -0.09131942 -11.39117747] [ 0.29272533 -0.10592543 0.95031136 -0.65403469] [ 0. 0. 0. 1. ]] SLAMing on 66.30165253199999 meters Centerline goodness [0,1] 0.44803328113679386 Centerline is valid? [False, False] Translation: X:-7.81, Y:-11.39, Z:-0.65 [[ 0.75359313 -0.5873199 -0.29521641 -7.81267374] [ 0.58913181 0.80266673 -0.09300453 -11.39260879] [ 0.2915838 -0.1038338 0.95089296 -0.65401871] [ 0. 0. 0. 1. ]] SLAMing on 66.33165253199999 meters Centerline goodness [0,1] 0.45088555539978503 Centerline is valid? [False, False] Translation: X:-7.82, Y:-11.39, Z:-0.65 [[ 0.75204169 -0.59077273 -0.2922685 -7.81607893] [ 0.59173562 0.8004666 -0.09540535 -11.39325574] [ 0.29031405 -0.10119688 0.95156552 -0.654988 ] [ 0. 0. 0. 1. ]] SLAMing on 66.361652532 meters Centerline goodness [0,1] 0.44732418044270106 Centerline is valid? [False, False] Translation: X:-7.82, Y:-11.39, Z:-0.65 [[ 0.75062403 -0.59391726 -0.28952694 -7.82011596] [ 0.59412976 0.79843508 -0.09752564 -11.39484539] [ 0.28909063 -0.09881148 0.95218848 -0.65493746] [ 0. 0. 0. 1. ]] SLAMing on 66.391652532 meters Centerline goodness [0,1] 0.44644649317306573 Centerline is valid? [False, False] Translation: X:-7.84, Y:-11.42, Z:-0.66 [[ 0.74962016 -0.59219899 -0.29558413 -7.83780118] [ 0.59404729 0.7989113 -0.09406677 -11.41783371] [ 0.29185174 -0.10507661 0.95067422 -0.65743509] [ 0. 0. 0. 1. ]] SLAMing on 66.421652532 meters Centerline goodness [0,1] 0.4450264217706078 Centerline is valid? [False, False] Translation: X:-7.84, Y:-11.42, Z:-0.66 [[ 0.74996775 -0.59181157 -0.29547831 -7.83917343] [ 0.59377039 0.79917392 -0.09358295 -11.41874822] [ 0.29152204 -0.10526208 0.95075486 -0.65730761] [ 0. 0. 0. 1. ]] SLAMing on 66.451652532 meters Centerline goodness [0,1] 0.4466030739090888 Centerline is valid? [False, False] Translation: X:-7.84, Y:-11.42, Z:-0.66 [[ 0.74906398 -0.59425106 -0.29286318 -7.84414473] [ 0.5954533 0.79768401 -0.0955803 -11.41993533] [ 0.29041097 -0.10279058 0.95136511 -0.65762199] [ 0. 0. 0. 1. ]] SLAMing on 66.481652532 meters Centerline goodness [0,1] 0.44860948819817714 Centerline is valid? [False, False] Translation: X:-7.87, Y:-11.45, Z:-0.66 [[ 0.74844409 -0.59371887 -0.29551541 -7.86698018] [ 0.59568369 0.79770138 -0.09398638 -11.45020141] [ 0.29153453 -0.10569016 0.95070353 -0.66239399] [ 0. 0. 0. 1. ]] SLAMing on 66.51165253199999 meters Centerline goodness [0,1] 0.44860948819817714 Centerline is valid? [False, False] Translation: X:-7.88, Y:-11.47, Z:-0.67 [[ 0.74719048 -0.59217561 -0.30171913 -7.88400315] [ 0.59544687 0.79812501 -0.09186668 -11.47343169] [ 0.29521079 -0.1110158 0.94896053 -0.66518581] [ 0. 0. 0. 1. ]] SLAMing on 66.54165253199999 meters Centerline goodness [0,1] 0.4298917471772785 Centerline is valid? [False, False] Translation: X:-7.91, Y:-11.50, Z:-0.67 [[ 0.74814586 -0.58856543 -0.30637967 -7.90545203] [ 0.59313038 0.80019067 -0.08883267 -11.5016201 ] [ 0.297446 -0.1152633 0.94775538 -0.67173383] [ 0. 0. 0. 1. ]] SLAMing on 66.57165253199999 meters Centerline goodness [0,1] 0.44947995792918083 Centerline is valid? [False, False] Translation: X:-7.92, Y:-11.53, Z:-0.68 [[ 0.74763765 -0.58701643 -0.31056345 -7.92477073] [ 0.59253301 0.80080996 -0.0872241 -11.52785448] [ 0.29990428 -0.11880708 0.94654229 -0.67794699] [ 0. 0. 0. 1. ]] SLAMing on 66.60165253199999 meters Centerline goodness [0,1] 0.455395649728108 Centerline is valid? [False, False] Translation: X:-7.94, Y:-11.55, Z:-0.68 [[ 0.74301089 -0.59096438 -0.31415907 -7.93958715] [ 0.59672183 0.79750865 -0.08889889 -11.54954543] [ 0.30308066 -0.12141273 0.94519896 -0.68137511] [ 0. 0. 0. 1. ]] SLAMing on 66.63165253199999 meters Centerline goodness [0,1] 0.4535452322738386 Centerline is valid? [False, False] Translation: X:-7.96, Y:-11.58, Z:-0.69 [[ 0.74144432 -0.59145562 -0.31692362 -7.96000874] [ 0.59761188 0.79683418 -0.08896817 -11.57654418] [ 0.30515629 -0.12343238 0.94426907 -0.68790372] [ 0. 0. 0. 1. ]] SLAMing on 66.66165253199999 meters Centerline goodness [0,1] 0.44550418297284 Centerline is valid? [False, False] Translation: X:-7.99, Y:-11.61, Z:-0.70 [[ 0.74559866 -0.5848141 -0.31949196 -7.98918264] [ 0.59220994 0.80131663 -0.08472928 -11.60951464] [ 0.3055651 -0.12603228 0.94379332 -0.69873073] [ 0. 0. 0. 1. ]] SLAMing on 66.69165253199999 meters Centerline goodness [0,1] 0.44900922846301583 Centerline is valid? [False, False] Translation: X:-8.01, Y:-11.63, Z:-0.70 [[ 0.74436354 -0.58351289 -0.32470852 -8.00699683] [ 0.59215081 0.80154574 -0.08295686 -11.6314992 ] [ 0.30867513 -0.13052635 0.94216906 -0.70406699] [ 0. 0. 0. 1. ]] SLAMing on 66.721652532 meters Centerline goodness [0,1] 0.45091412612358894 Centerline is valid? [False, False] Translation: X:-8.02, Y:-11.65, Z:-0.71 [[ 0.74242609 -0.58321498 -0.32964193 -8.02394079] [ 0.59284986 0.80111377 -0.08213259 -11.65240185] [ 0.31198164 -0.13445079 0.94052668 -0.70957198] [ 0. 0. 0. 1. ]] SLAMing on 66.751652532 meters Centerline goodness [0,1] 0.45242727549752704 Centerline is valid? [False, False] Translation: X:-8.05, Y:-11.68, Z:-0.72 [[ 0.74354432 -0.58164383 -0.3298974 -8.05108033] [ 0.59140921 0.80224405 -0.08148393 -11.68496155] [ 0.31205286 -0.13451745 0.94049353 -0.72038693] [ 0. 0. 0. 1. ]] SLAMing on 66.781652532 meters Centerline goodness [0,1] 0.45042552692659366 Centerline is valid? [False, False] Translation: X:-8.08, Y:-11.72, Z:-0.73 [[ 0.74348286 -0.58206348 -0.32929522 -8.07687086] [ 0.59163566 0.80203604 -0.08188672 -11.71628048] [ 0.3117699 -0.13394142 0.94066956 -0.73084486] [ 0. 0. 0. 1. ]] SLAMing on 66.811652532 meters Centerline goodness [0,1] 0.45295205110804293 Centerline is valid? [False, False] Translation: X:-8.10, Y:-11.75, Z:-0.74 [[ 0.74354726 -0.58194329 -0.32936224 -8.10182123] [ 0.59160274 0.80208691 -0.0816259 -11.74704336] [ 0.31167878 -0.13415889 0.94066877 -0.74098171] [ 0. 0. 0. 1. ]] SLAMing on 66.841652532 meters Centerline goodness [0,1] 0.4544751458904591 Centerline is valid? [False, False] Translation: X:-8.13, Y:-11.78, Z:-0.75 [[ 0.74381199 -0.58129442 -0.32990986 -8.12596376] [ 0.59106268 0.80250812 -0.08139794 -11.77661979] [ 0.31207151 -0.13445264 0.9404966 -0.75187009] [ 0. 0. 0. 1. ]] SLAMing on 66.871652532 meters Centerline goodness [0,1] 0.45752601047464714 Centerline is valid? [False, False] Translation: X:-8.15, Y:-11.80, Z:-0.76 [[ 0.7422146 -0.58262615 -0.33115594 -8.14719292] [ 0.59216788 0.80153132 -0.0829744 -11.80334648] [ 0.31377491 -0.1345151 0.93992074 -0.76221841] [ 0. 0. 0. 1. ]] SLAMing on 66.90165253199999 meters Centerline goodness [0,1] 0.4570771649109636 Centerline is valid? [False, False] Translation: X:-8.17, Y:-11.83, Z:-0.77 [[ 0.74097789 -0.58317746 -0.33295017 -8.16925989] [ 0.59306686 0.80087389 -0.08290182 -11.83068826] [ 0.31499757 -0.1360333 0.93929307 -0.77001967] [ 0. 0. 0. 1. ]] SLAMing on 66.93165253199999 meters Centerline goodness [0,1] 0.4545540016453167 Centerline is valid? [False, False] Translation: X:-8.19, Y:-11.86, Z:-0.78 [[ 0.74074391 -0.58313925 -0.33353722 -8.193512 ] [ 0.59320962 0.80079647 -0.08262781 -11.86024072] [ 0.31527895 -0.13665144 0.93910892 -0.77960895] [ 0. 0. 0. 1. ]] SLAMing on 66.96165253199999 meters Centerline goodness [0,1] 0.457405535046674 Centerline is valid? [False, False] Translation: X:-8.22, Y:-11.89, Z:-0.79 [[ 0.74190884 -0.58186805 -0.3331679 -8.21991568] [ 0.59230196 0.80162784 -0.08106293 -11.89131547] [ 0.31424459 -0.1371947 0.93937636 -0.79091239] [ 0. 0. 0. 1. ]] SLAMing on 66.99165253199999 meters Centerline goodness [0,1] 0.4572041793438525 Centerline is valid? [False, False] Translation: X:-8.25, Y:-11.92, Z:-0.80 [[ 0.74236055 -0.58099612 -0.33368296 -8.2456856 ] [ 0.59159425 0.80219634 -0.08060564 -11.92227057] [ 0.31451081 -0.13756647 0.93923289 -0.80178083] [ 0. 0. 0. 1. ]] SLAMing on 67.02165253199999 meters Centerline goodness [0,1] 0.458368674017529 Centerline is valid? [False, False] Translation: X:-8.27, Y:-11.95, Z:-0.81 [[ 0.74284341 -0.58022425 -0.33395132 -8.27118697] [ 0.59129407 0.80256376 -0.07913743 -11.95040089] [ 0.31393468 -0.13867672 0.93926236 -0.81208287] [ 0. 0. 0. 1. ]] SLAMing on 67.05165253199999 meters Centerline goodness [0,1] 0.4534343219839079 Centerline is valid? [False, False] Translation: X:-8.30, Y:-11.98, Z:-0.82 [[ 0.74261353 -0.5806003 -0.33380899 -8.29607693] [ 0.5918102 0.80222231 -0.0787404 -11.97900076] [ 0.31350572 -0.13907788 0.93934632 -0.8222096 ] [ 0. 0. 0. 1. ]] SLAMing on 67.08165253199999 meters Centerline goodness [0,1] 0.4588226953706548 Centerline is valid? [False, False] Translation: X:-8.32, Y:-12.01, Z:-0.83 [[ 0.74192471 -0.58196125 -0.33296969 -8.32044467] [ 0.59324104 0.80119283 -0.07845458 -12.00626617] [ 0.31243046 -0.13932389 0.93966806 -0.83241603] [ 0. 0. 0. 1. ]] SLAMing on 67.111652532 meters Centerline goodness [0,1] 0.4594908780337359 Centerline is valid? [False, False] Translation: X:-8.35, Y:-12.04, Z:-0.84 [[ 0.7424103 -0.58354568 -0.32909177 -8.35150305] [ 0.59425335 0.80041787 -0.07870321 -12.04083345] [ 0.30933785 -0.13713381 0.94101244 -0.8441357 ] [ 0. 0. 0. 1. ]] SLAMing on 67.141652532 meters Centerline goodness [0,1] 0.4589245882967111 Centerline is valid? [False, False] Translation: X:-8.38, Y:-12.07, Z:-0.85 [[ 0.74296429 -0.58349669 -0.32792631 -8.378472 ] [ 0.5944137 0.80041677 -0.0774942 -12.07164784] [ 0.30769533 -0.13734847 0.94151951 -0.85460917] [ 0. 0. 0. 1. ]] SLAMing on 67.171652532 meters Centerline goodness [0,1] 0.4568179125696008 Centerline is valid? [False, False] Translation: X:-8.41, Y:-12.10, Z:-0.87 [[ 0.74446356 -0.58192811 -0.32731283 -8.40651734] [ 0.59330599 0.8014367 -0.07541366 -12.10214286] [ 0.30620584 -0.13805394 0.94190185 -0.86549344] [ 0. 0. 0. 1. ]] SLAMing on 67.201652532 meters Centerline goodness [0,1] 0.4578267567247304 Centerline is valid? [False, False] Translation: X:-8.43, Y:-12.13, Z:-0.87 [[ 0.74512957 -0.58077319 -0.32784818 -8.43247655] [ 0.59280278 0.80199613 -0.07339669 -12.13076915] [ 0.30555981 -0.13965927 0.94187499 -0.87497373] [ 0. 0. 0. 1. ]] SLAMing on 67.231652532 meters Centerline goodness [0,1] 0.45596260617852225 Centerline is valid? [False, False] Translation: X:-8.44, Y:-12.14, Z:-0.88 [[ 0.74576747 -0.58355611 -0.32139251 -8.44336979] [ 0.59303032 0.80130875 -0.07886274 -12.13700932] [ 0.30355547 -0.13178223 0.94365646 -0.88387474] [ 0. 0. 0. 1. ]] SLAMing on 67.26165253199999 meters Centerline goodness [0,1] 0.4551887912609831 Centerline is valid? [False, False] Translation: X:-8.47, Y:-12.17, Z:-0.89 [[ 0.74615558 -0.5829627 -0.32156857 -8.46848499] [ 0.59284514 0.80157505 -0.07753756 -12.16668391] [ 0.30296285 -0.13278528 0.9437063 -0.8934458 ] [ 0. 0. 0. 1. ]] SLAMing on 67.29165253199999 meters Centerline goodness [0,1] 0.4568550776158312 Centerline is valid? [False, False] Translation: X:-8.49, Y:-12.19, Z:-0.90 [[ 0.74531669 -0.58370616 -0.32216479 -8.49172606] [ 0.59384209 0.80086914 -0.0772022 -12.19452411] [ 0.30307524 -0.13377493 0.94353043 -0.90207734] [ 0. 0. 0. 1. ]] SLAMing on 67.32165253199999 meters Centerline goodness [0,1] 0.4619213539074166 Centerline is valid? [False, False] Translation: X:-8.52, Y:-12.22, Z:-0.91 [[ 0.74526743 -0.58393873 -0.32185715 -8.51669916] [ 0.59432745 0.80059347 -0.07632156 -12.22292083] [ 0.30224384 -0.13440857 0.94370705 -0.91203476] [ 0. 0. 0. 1. ]] SLAMing on 67.35165253199999 meters Centerline goodness [0,1] 0.4531397322270413 Centerline is valid? [False, False] Translation: X:-8.55, Y:-12.25, Z:-0.92 [[ 0.74698985 -0.58224596 -0.3209296 -8.54615902] [ 0.59311493 0.80171165 -0.07398052 -12.25447655] [ 0.30036786 -0.13508544 0.94420923 -0.92275152] [ 0. 0. 0. 1. ]] SLAMing on 67.38165253199999 meters Centerline goodness [0,1] 0.4523034846984486 Centerline is valid? [False, False] Translation: X:-8.56, Y:-12.26, Z:-0.93 [[ 0.74843783 -0.58400244 -0.31429597 -8.55999869] [ 0.59235829 0.80177203 -0.0792039 -12.26350543] [ 0.29824899 -0.12689663 0.94601521 -0.9313671 ] [ 0. 0. 0. 1. ]] SLAMing on 67.41165253199999 meters Centerline goodness [0,1] 0.4516265712537074 Centerline is valid? [False, False] Translation: X:-8.57, Y:-12.27, Z:-0.94 [[ 0.74874836 -0.58628318 -0.30927 -8.56789929] [ 0.59338576 0.80078634 -0.08145293 -12.26783845] [ 0.29541367 -0.12252866 0.94747955 -0.93652268] [ 0. 0. 0. 1. ]] SLAMing on 67.44165253199999 meters Centerline goodness [0,1] 0.4472094935965222 Centerline is valid? [False, False] Translation: X:-8.58, Y:-12.28, Z:-0.94 [[ 0.75012663 -0.58766398 -0.30325086 -8.57810999] [ 0.59320078 0.80063999 -0.08419293 -12.27565032] [ 0.29227192 -0.11673329 0.94918411 -0.94413095] [ 0. 0. 0. 1. ]] SLAMing on 67.471652532 meters Centerline goodness [0,1] 0.45495537811178954 Centerline is valid? [False, False] Translation: X:-8.60, Y:-12.31, Z:-0.95 [[ 0.75000438 -0.58797162 -0.30295677 -8.60439291] [ 0.59363039 0.80036923 -0.08373802 -12.30649217] [ 0.29171285 -0.11704046 0.94931825 -0.95288519] [ 0. 0. 0. 1. ]] SLAMing on 67.501652532 meters Centerline goodness [0,1] 0.45781605688671945 Centerline is valid? [False, False] Translation: X:-8.61, Y:-12.31, Z:-0.96 [[ 0.75055865 -0.58994348 -0.29770522 -8.61237145] [ 0.59427846 0.79961719 -0.08628705 -12.31138412] [ 0.2889547 -0.11215631 0.95075031 -0.95893958] [ 0. 0. 0. 1. ]] SLAMing on 67.531652532 meters Centerline goodness [0,1] 0.4590682313259785 Centerline is valid? [False, False] Translation: X:-8.62, Y:-12.32, Z:-0.96 [[ 0.75186547 -0.5903311 -0.29361116 -8.62089111] [ 0.59359274 0.79991224 -0.08825002 -12.31628678] [ 0.28695989 -0.10793331 0.95184265 -0.96413353] [ 0. 0. 0. 1. ]] SLAMing on 67.561652532 meters Centerline goodness [0,1] 0.4586587476032362 Centerline is valid? [False, False] Translation: X:-8.64, Y:-12.34, Z:-0.97 [[ 0.75169588 -0.58856284 -0.29756863 -8.64284144] [ 0.59272653 0.80074554 -0.0864976 -12.34308346] [ 0.28918603 -0.11135694 0.95077393 -0.96997649] [ 0. 0. 0. 1. ]] SLAMing on 67.591652532 meters Centerline goodness [0,1] 0.4584649215149601 Centerline is valid? [False, False] Translation: X:-8.66, Y:-12.35, Z:-0.98 [[ 0.75332867 -0.58973408 -0.29104921 -8.65504534] [ 0.59184978 0.80090384 -0.09092236 -12.35246807] [ 0.28672244 -0.10376299 0.9523778 -0.97855069] [ 0. 0. 0. 1. ]] SLAMing on 67.621652532 meters Centerline goodness [0,1] 0.4525130510101365 Centerline is valid? [False, False] Translation: X:-8.68, Y:-12.38, Z:-0.98 [[ 0.75232747 -0.58963134 -0.29383373 -8.67670188] [ 0.59250765 0.80058138 -0.08946588 -12.38024434] [ 0.2879897 -0.10679109 0.95166044 -0.98360059] [ 0. 0. 0. 1. ]] SLAMing on 67.65165253199999 meters Centerline goodness [0,1] 0.4659402460456942 Centerline is valid? [False, False] Translation: X:-8.68, Y:-12.38, Z:-0.99 [[ 0.75240767 -0.59197448 -0.28887524 -8.68363259] [ 0.59371694 0.79942021 -0.09180152 -12.38478022] [ 0.28527687 -0.10243795 0.95295518 -0.98854863] [ 0. 0. 0. 1. ]] SLAMing on 67.68165253199999 meters Centerline goodness [0,1] 0.4659402460456942 Centerline is valid? [False, False] Translation: X:-8.68, Y:-12.38, Z:-0.99 [[ 0.75240767 -0.59197448 -0.28887524 -8.68363259] [ 0.59371694 0.79942021 -0.09180152 -12.38478022] [ 0.28527687 -0.10243795 0.95295518 -0.98854863] [ 0. 0. 0. 1. ]] SLAMing on 67.71165253199999 meters Centerline goodness [0,1] 0.4554073033707865 Centerline is valid? [False, False] Translation: X:-8.71, Y:-12.41, Z:-1.00 [[ 0.75288086 -0.58960393 -0.29246816 -8.70599805] [ 0.59226468 0.80074203 -0.0896368 -12.41197852] [ 0.28704175 -0.10573273 0.95206493 -0.99547587] [ 0. 0. 0. 1. ]] SLAMing on 67.74165253199999 meters Centerline goodness [0,1] 0.4559966295290703 Centerline is valid? [False, False] Translation: X:-8.73, Y:-12.44, Z:-1.00 [[ 0.75294056 -0.587539 -0.29644297 -8.72735585] [ 0.5912105 0.80176334 -0.08743966 -12.43736248] [ 0.28905132 -0.10942333 0.95103936 -1.00173378] [ 0. 0. 0. 1. ]] SLAMing on 67.77165253199999 meters Centerline goodness [0,1] 0.4695240096178537 Centerline is valid? [False, False] Translation: X:-8.73, Y:-12.44, Z:-1.00 [[ 0.75172511 -0.59044997 -0.29373149 -8.73183006] [ 0.5932535 0.79998696 -0.08983958 -12.43729519] [ 0.28802714 -0.10672257 0.9516568 -1.00247965] [ 0. 0. 0. 1. ]] SLAMing on 67.80165253199999 meters Centerline goodness [0,1] 0.46108204074004855 Centerline is valid? [False, False] Translation: X:-8.76, Y:-12.47, Z:-1.01 [[ 0.7532049 -0.58833364 -0.29418686 -8.75969229] [ 0.59153698 0.80143373 -0.08824958 -12.46833316] [ 0.28769147 -0.10755239 0.95166491 -1.01198909] [ 0. 0. 0. 1. ]] SLAMing on 67.83165253199999 meters Centerline goodness [0,1] 0.4666323715100781 Centerline is valid? [False, False] Translation: X:-8.77, Y:-12.47, Z:-1.02 [[ 0.7536124 -0.5903638 -0.28903103 -8.76715894] [ 0.5924199 0.80053272 -0.09047663 -12.47407331] [ 0.28479292 -0.10304343 0.95303465 -1.01724874] [ 0. 0. 0. 1. ]] SLAMing on 67.861652532 meters Centerline goodness [0,1] 0.46924855761369744 Centerline is valid? [False, False] Translation: X:-8.77, Y:-12.48, Z:-1.02 [[ 0.75389487 -0.59166042 -0.28562294 -8.77432309] [ 0.5930652 0.79992265 -0.09163746 -12.4793003 ] [ 0.28269452 -0.10030802 0.95395079 -1.01877055] [ 0. 0. 0. 1. ]] SLAMing on 67.891652532 meters Centerline goodness [0,1] 0.4698251682872102 Centerline is valid? [False, False] Translation: X:-8.79, Y:-12.50, Z:-1.02 [[ 0.75222774 -0.59132557 -0.29066733 -8.7922663 ] [ 0.59380914 0.79956965 -0.08988376 -12.50317781] [ 0.28555934 -0.10498786 0.952593 -1.02164937] [ 0. 0. 0. 1. ]] SLAMing on 67.921652532 meters Centerline goodness [0,1] 0.45420783406909115 Centerline is valid? [False, False] Translation: X:-8.82, Y:-12.53, Z:-1.03 [[ 0.75243137 -0.58991647 -0.29299419 -8.81656823] [ 0.59330495 0.8002088 -0.08749353 -12.53323407] [ 0.28607041 -0.10800203 0.95210256 -1.02761736] [ 0. 0. 0. 1. ]] SLAMing on 67.951652532 meters Centerline goodness [0,1] 0.46371109393662613 Centerline is valid? [False, False] Translation: X:-8.83, Y:-12.56, Z:-1.03 [[ 0.75063453 -0.58933986 -0.29870775 -8.83295936] [ 0.59397438 0.79991814 -0.08558857 -12.55551929] [ 0.2893825 -0.11317901 0.95049896 -1.03075719] [ 0. 0. 0. 1. ]] SLAMing on 67.981652532 meters Centerline goodness [0,1] 0.45985966723769744 Centerline is valid? [False, False] Translation: X:-8.85, Y:-12.58, Z:-1.03 [[ 0.74874186 -0.58888251 -0.30430745 -8.84941321] [ 0.5946951 0.79954906 -0.08401811 -12.57743066] [ 0.29278553 -0.11806227 0.94886139 -1.03431958] [ 0. 0. 0. 1. ]] SLAMing on 68.01165253199999 meters Centerline goodness [0,1] 0.4584761278813201 Centerline is valid? [False, False] Translation: X:-8.87, Y:-12.60, Z:-1.04 [[ 0.74654049 -0.58886245 -0.30970681 -8.86513905] [ 0.59576459 0.79887292 -0.08286506 -12.59929921] [ 0.29621251 -0.12265023 0.94721437 -1.03811418] [ 0. 0. 0. 1. ]] SLAMing on 68.04165253199999 meters Centerline goodness [0,1] 0.4765693241105786 Centerline is valid? [False, False] Translation: X:-8.89, Y:-12.63, Z:-1.05 [[ 0.74506297 -0.58996358 -0.31116578 -8.88669306] [ 0.59692958 0.79793069 -0.0835565 -12.62961857] [ 0.29758401 -0.1234892 0.94667533 -1.04534364] [ 0. 0. 0. 1. ]] SLAMing on 68.07165253199999 meters Centerline goodness [0,1] 0.4737676222916075 Centerline is valid? [False, False] Translation: X:-8.91, Y:-12.66, Z:-1.05 [[ 0.74359263 -0.59049307 -0.31366851 -8.90755109] [ 0.59797964 0.79718703 -0.08314562 -12.65713227] [ 0.29914938 -0.12574091 0.94588523 -1.05130304] [ 0. 0. 0. 1. ]] SLAMing on 68.10165253199999 meters Centerline goodness [0,1] 0.47759565433973006 Centerline is valid? [False, False] Translation: X:-8.93, Y:-12.69, Z:-1.06 [[ 0.74296919 -0.59098741 -0.31421437 -8.93281385] [ 0.59886356 0.79661377 -0.08227354 -12.69011032] [ 0.29893012 -0.12704483 0.94578031 -1.0578736 ] [ 0. 0. 0. 1. ]] SLAMing on 68.13165253199999 meters Centerline goodness [0,1] 0.47996013383640634 Centerline is valid? [False, False] Translation: X:-8.96, Y:-12.72, Z:-1.06 [[ 0.74244594 -0.59027693 -0.31677623 -8.95597582] [ 0.59892367 0.79671371 -0.08085606 -12.7188045 ] [ 0.30010743 -0.12969352 0.94504768 -1.06390107] [ 0. 0. 0. 1. ]] SLAMing on 68.16165253199999 meters Centerline goodness [0,1] 0.4885670188768847 Centerline is valid? [False, False] Translation: X:-8.98, Y:-12.75, Z:-1.07 [[ 0.74146222 -0.58995764 -0.31966195 -8.9777032 ] [ 0.59935355 0.79649889 -0.07977989 -12.74618431] [ 0.30167714 -0.13243675 0.94416704 -1.06990324] [ 0. 0. 0. 1. ]] SLAMing on 68.19165253199999 meters Centerline goodness [0,1] 0.48865818104245184 Centerline is valid? [False, False] Translation: X:-9.00, Y:-12.77, Z:-1.08 [[ 0.7401529 -0.58947029 -0.32357143 -8.99676528] [ 0.59969699 0.79632427 -0.07893784 -12.77037382] [ 0.3041993 -0.13561874 0.94290527 -1.07603341] [ 0. 0. 0. 1. ]] SLAMing on 68.221652532 meters Centerline goodness [0,1] 0.48839689951880916 Centerline is valid? [False, False] Translation: X:-9.02, Y:-12.80, Z:-1.09 [[ 0.73980636 -0.5881446 -0.3267606 -9.01728694] [ 0.59886687 0.7969791 -0.07863076 -12.79511052] [ 0.30666762 -0.13751456 0.94183051 -1.08567185] [ 0. 0. 0. 1. ]] SLAMing on 68.251652532 meters Centerline goodness [0,1] 0.4931380217592264 Centerline is valid? [False, False] Translation: X:-9.04, Y:-12.82, Z:-1.10 [[ 0.73931372 -0.58782734 -0.32844214 -9.03948951] [ 0.5989056 0.79698459 -0.07827924 -12.8207739 ] [ 0.30777801 -0.13883292 0.94127473 -1.09521578] [ 0. 0. 0. 1. ]] SLAMing on 68.281652532 meters Centerline goodness [0,1] 0.4766776651553636 Centerline is valid? [False, False] Translation: X:-9.06, Y:-12.85, Z:-1.11 [[ 0.73821726 -0.58880282 -0.32916031 -9.06191155] [ 0.59980206 0.79622876 -0.07910279 -12.84677412] [ 0.30866285 -0.13903599 0.94095496 -1.10520802] [ 0. 0. 0. 1. ]] SLAMing on 68.311652532 meters Centerline goodness [0,1] 0.4972738744315611 Centerline is valid? [False, False] Translation: X:-9.09, Y:-12.88, Z:-1.12 [[ 0.73856634 -0.58860279 -0.32873473 -9.08804396] [ 0.59942402 0.79648469 -0.07939138 -12.87724004] [ 0.30856217 -0.13841569 0.94107943 -1.11639709] [ 0. 0. 0. 1. ]] SLAMing on 68.341652532 meters Centerline goodness [0,1] 0.4876826226392683 Centerline is valid? [False, False] Translation: X:-9.12, Y:-12.91, Z:-1.13 [[ 0.74015602 -0.58753898 -0.32705812 -9.11858133] [ 0.59793503 0.79757929 -0.07963025 -12.91085793] [ 0.30764066 -0.1366207 0.94164325 -1.12909758] [ 0. 0. 0. 1. ]] SLAMing on 68.371652532 meters Centerline goodness [0,1] 0.5004276550249465 Centerline is valid? [False, False] Translation: X:-9.14, Y:-12.94, Z:-1.14 [[ 0.74029386 -0.58709471 -0.32754359 -9.1439815 ] [ 0.59776632 0.79777689 -0.07891426 -12.93906421] [ 0.30763685 -0.13737478 0.94153478 -1.13893429] [ 0. 0. 0. 1. ]] SLAMing on 68.40165253199999 meters Centerline goodness [0,1] 0.48633789131928806 Centerline is valid? [False, False] Translation: X:-9.17, Y:-12.97, Z:-1.15 [[ 0.74134342 -0.58593483 -0.32724657 -9.17182452] [ 0.59691576 0.7985474 -0.07754753 -12.96910529] [ 0.30675969 -0.13784929 0.94175159 -1.1494188 ] [ 0. 0. 0. 1. ]] SLAMing on 68.43165253199999 meters Centerline goodness [0,1] 0.4939990057524324 Centerline is valid? [False, False] Translation: X:-9.20, Y:-13.00, Z:-1.16 [[ 0.74261241 -0.5849883 -0.32606057 -9.20144424] [ 0.59556979 0.79950966 -0.07798024 -13.00072689] [ 0.30630611 -0.13628273 0.94212716 -1.16216913] [ 0. 0. 0. 1. ]] SLAMing on 68.46165253199999 meters Centerline goodness [0,1] 0.48841548381001865 Centerline is valid? [False, False] Translation: X:-9.23, Y:-13.03, Z:-1.17 [[ 0.74244389 -0.58495488 -0.32650399 -9.22569573] [ 0.59550002 0.79953075 -0.07829631 -13.02729212] [ 0.30684978 -0.13630251 0.94194736 -1.17332935] [ 0. 0. 0. 1. ]] SLAMing on 68.49165253199999 meters Centerline goodness [0,1] 0.4832393668467363 Centerline is valid? [False, False] Translation: X:-9.25, Y:-13.06, Z:-1.19 [[ 0.74423486 -0.58342079 -0.32516866 -9.2547345 ] [ 0.59377439 0.80085296 -0.07788779 -13.05787048] [ 0.30585364 -0.13511001 0.94244302 -1.18674056] [ 0. 0. 0. 1. ]] SLAMing on 68.52165253199999 meters Centerline goodness [0,1] 0.44470582700134087 Centerline is valid? [False, False] Translation: X:-9.28, Y:-13.09, Z:-1.20 [[ 0.74643943 -0.58149315 -0.32356435 -9.28454847] [ 0.59182751 0.80240379 -0.07673563 -13.08844147] [ 0.30425051 -0.13421578 0.94308947 -1.20026491] [ 0. 0. 0. 1. ]] SLAMing on 68.55165253199999 meters Centerline goodness [0,1] 0.46298599216311975 Centerline is valid? [False, False] Translation: X:-9.31, Y:-13.12, Z:-1.21 [[ 0.74703721 -0.5807653 -0.32349199 -9.31151922] [ 0.59131045 0.80286639 -0.07587831 -13.11678957] [ 0.30378834 -0.13460027 0.94318366 -1.21064865] [ 0. 0. 0. 1. ]] SLAMing on 68.58165253199999 meters Centerline goodness [0,1] 0.47517199419665845 Centerline is valid? [False, False] Translation: X:-9.35, Y:-13.15, Z:-1.22 [[ 0.74919709 -0.58034515 -0.31922285 -9.347277 ] [ 0.59040873 0.80358759 -0.07526297 -13.15260991] [ 0.30020202 -0.13208516 0.94468633 -1.22284103] [ 0. 0. 0. 1. ]] SLAMing on 68.611652532 meters Centerline goodness [0,1] 0.4639818623784593 Centerline is valid? [False, False] Translation: X:-9.38, Y:-13.19, Z:-1.23 [[ 0.75026266 -0.5808201 -0.31583849 -9.37903651] [ 0.59051338 0.80353997 -0.07494978 -13.1857756 ] [ 0.29732119 -0.13027483 0.94584807 -1.23447955] [ 0. 0. 0. 1. ]] SLAMing on 68.641652532 meters Centerline goodness [0,1] 0.4504685096265908 Centerline is valid? [False, False] Translation: X:-9.41, Y:-13.22, Z:-1.25 [[ 0.75200605 -0.57980962 -0.3135406 -9.40886451] [ 0.5895979 0.80436044 -0.07333893 -13.21691449] [ 0.29472227 -0.12971156 0.94673845 -1.24643109] [ 0. 0. 0. 1. ]] SLAMing on 68.671652532 meters Centerline goodness [0,1] 0.4637072305466088 Centerline is valid? [False, False] Translation: X:-9.44, Y:-13.25, Z:-1.26 [[ 0.7534006 -0.5786225 -0.31238365 -9.43943504] [ 0.58818471 0.8054017 -0.07325875 -13.24866154] [ 0.29398348 -0.1285461 0.94712703 -1.25830878] [ 0. 0. 0. 1. ]] SLAMing on 68.701652532 meters Centerline goodness [0,1] 0.4911306133881057 Centerline is valid? [False, False] Translation: X:-9.46, Y:-13.27, Z:-1.27 [[ 0.75210191 -0.5793484 -0.31416261 -9.46103122] [ 0.58911039 0.80469258 -0.07361254 -13.27411802] [ 0.29545163 -0.12971232 0.94651099 -1.26658948] [ 0. 0. 0. 1. ]] SLAMing on 68.731652532 meters Centerline goodness [0,1] 0.45592010080739254 Centerline is valid? [False, False] Translation: X:-9.48, Y:-13.30, Z:-1.28 [[ 0.75077848 -0.58042155 -0.31534505 -9.48298483] [ 0.59008279 0.80387665 -0.07473042 -13.29976336] [ 0.29687367 -0.1299737 0.94603005 -1.27575904] [ 0. 0. 0. 1. ]] SLAMing on 68.76165253199999 meters Centerline goodness [0,1] 0.4809964346468436 Centerline is valid? [False, False] Translation: X:-9.51, Y:-13.33, Z:-1.29 [[ 0.75128639 -0.57987204 -0.31514628 -9.50874646] [ 0.58947479 0.80432542 -0.07470005 -13.32992852] [ 0.29679664 -0.12964966 0.94609869 -1.28661574] [ 0. 0. 0. 1. ]] SLAMing on 68.79165253199999 meters Centerline goodness [0,1] 0.47772911522154404 Centerline is valid? [False, False] Translation: X:-9.54, Y:-13.36, Z:-1.30 [[ 0.7509584 -0.58124458 -0.31339466 -9.5377656 ] [ 0.59016946 0.80366001 -0.07635839 -13.36229142] [ 0.29624565 -0.12761398 0.94654804 -1.29766814] [ 0. 0. 0. 1. ]] SLAMing on 68.82165253199999 meters Centerline goodness [0,1] 0.48601845610283345 Centerline is valid? [False, False] Translation: X:-9.57, Y:-13.39, Z:-1.31 [[ 0.75170741 -0.58052267 -0.31293674 -9.56524226] [ 0.58972098 0.80410677 -0.07510967 -13.39267961] [ 0.29523742 -0.12808486 0.94679942 -1.3072843 ] [ 0. 0. 0. 1. ]] SLAMing on 68.85165253199999 meters Centerline goodness [0,1] 0.47467206251744354 Centerline is valid? [False, False] Translation: X:-9.59, Y:-13.42, Z:-1.32 [[ 0.75278673 -0.57976263 -0.31174899 -9.59409816] [ 0.58904378 0.80469456 -0.07412211 -13.42389428] [ 0.29383595 -0.12783566 0.94726896 -1.31780298] [ 0. 0. 0. 1. ]] SLAMing on 68.88165253199999 meters Centerline goodness [0,1] 0.47822850762932634 Centerline is valid? [False, False] Translation: X:-9.62, Y:-13.45, Z:-1.33 [[ 0.75237323 -0.58143451 -0.30962627 -9.62242347] [ 0.59032148 0.80369649 -0.07478303 -13.45423542] [ 0.29232698 -0.12651429 0.94791301 -1.32817542] [ 0. 0. 0. 1. ]] SLAMing on 68.91165253199999 meters Centerline goodness [0,1] 0.4719592472843154 Centerline is valid? [False, False] Translation: X:-9.65, Y:-13.49, Z:-1.34 [[ 0.75262513 -0.58158454 -0.30873101 -9.6501717 ] [ 0.59034305 0.80367721 -0.07481991 -13.4873204 ] [ 0.29163418 -0.12594587 0.94820206 -1.33809533] [ 0. 0. 0. 1. ]] SLAMing on 68.94165253199999 meters Centerline goodness [0,1] 0.48003451975556277 Centerline is valid? [False, False] Translation: X:-9.67, Y:-13.51, Z:-1.35 [[ 0.75143279 -0.58282954 -0.30928707 -9.67284664] [ 0.59141025 0.80278816 -0.07592816 -13.51377838] [ 0.29254517 -0.12586064 0.94793271 -1.34762126] [ 0. 0. 0. 1. ]] SLAMing on 68.971652532 meters Centerline goodness [0,1] 0.4847415114496725 Centerline is valid? [False, False] Translation: X:-9.68, Y:-13.52, Z:-1.36 [[ 0.75236074 -0.58512632 -0.30262271 -9.68400837] [ 0.59108529 0.80243057 -0.08199609 -13.5228287 ] [ 0.29081179 -0.11718519 0.94957682 -1.35662495] [ 0. 0. 0. 1. ]] SLAMing on 69.001652532 meters Centerline goodness [0,1] 0.487410071942446 Centerline is valid? [False, False] Translation: X:-9.71, Y:-13.55, Z:-1.36 [[ 0.75100891 -0.58611967 -0.30405484 -9.70604478] [ 0.59205622 0.80162136 -0.08290132 -13.54961435] [ 0.29232695 -0.11775793 0.94904058 -1.36494308] [ 0. 0. 0. 1. ]] SLAMing on 69.031652532 meters Centerline goodness [0,1] 0.49869935084717953 Centerline is valid? [False, False] Translation: X:-9.73, Y:-13.58, Z:-1.37 [[ 0.75069988 -0.58692188 -0.3032695 -9.73246908] [ 0.59296702 0.80100115 -0.08238491 -13.58281761] [ 0.29127272 -0.11798247 0.94933679 -1.37348043] [ 0. 0. 0. 1. ]] SLAMing on 69.061652532 meters Centerline goodness [0,1] 0.4938210810177043 Centerline is valid? [False, False] Translation: X:-9.75, Y:-13.61, Z:-1.38 [[ 0.74927408 -0.58774054 -0.30520388 -9.75483234] [ 0.59417021 0.80013267 -0.08215516 -13.6116404 ] [ 0.29248952 -0.11978632 0.94873659 -1.37924604] [ 0. 0. 0. 1. ]] SLAMing on 69.091652532 meters Centerline goodness [0,1] 0.4899967047968743 Centerline is valid? [False, False] Translation: X:-9.78, Y:-13.64, Z:-1.39 [[ 0.7474842 -0.58897656 -0.30720351 -9.77608266] [ 0.59552779 0.79904457 -0.08291216 -13.63939797] [ 0.29430261 -0.1209727 0.94802509 -1.3858486 ] [ 0. 0. 0. 1. ]] SLAMing on 69.121652532 meters Centerline goodness [0,1] 0.5013657985211699 Centerline is valid? [False, False] Translation: X:-9.80, Y:-13.67, Z:-1.39 [[ 0.74686375 -0.58858907 -0.30944701 -9.79845994] [ 0.59555149 0.79907001 -0.08249572 -13.66784992] [ 0.2958259 -0.12267857 0.94733152 -1.39304846] [ 0. 0. 0. 1. ]] SLAMing on 69.15165253199999 meters Centerline goodness [0,1] 0.5036581034686871 Centerline is valid? [False, False] Translation: X:-9.82, Y:-13.70, Z:-1.40 [[ 0.74410501 -0.59103005 -0.31143412 -9.81597436] [ 0.59786213 0.79714945 -0.08434231 -13.69530546] [ 0.29810838 -0.12343513 0.94651739 -1.40085149] [ 0. 0. 0. 1. ]] SLAMing on 69.18165253199999 meters Centerline goodness [0,1] 0.5132875768874534 Centerline is valid? [False, False] Translation: X:-9.83, Y:-13.72, Z:-1.41 [[ 0.74090377 -0.59329931 -0.31473407 -9.83327959] [ 0.60055615 0.79505263 -0.08499194 -13.71834911] [ 0.3006558 -0.12604463 0.94536704 -1.40600263] [ 0. 0. 0. 1. ]] SLAMing on 69.21165253199999 meters Centerline goodness [0,1] 0.5202388852023889 Centerline is valid? [False, False] Translation: X:-9.86, Y:-13.75, Z:-1.41 [[ 0.74013554 -0.59287142 -0.31733714 -9.85511101] [ 0.60062881 0.79504995 -0.08450215 -13.74509512] [ 0.30239778 -0.12805878 0.94454038 -1.41363085] [ 0. 0. 0. 1. ]] SLAMing on 69.24165253199999 meters Centerline goodness [0,1] 0.5072123925246927 Centerline is valid? [False, False] Translation: X:-9.88, Y:-13.77, Z:-1.42 [[ 0.74080587 -0.59170792 -0.31794404 -9.88080394] [ 0.59990978 0.79573811 -0.0831211 -13.7742357 ] [ 0.3021836 -0.12916114 0.94445883 -1.42374097] [ 0. 0. 0. 1. ]] SLAMing on 69.27165253199999 meters Centerline goodness [0,1] 0.5004870631281333 Centerline is valid? [False, False] Translation: X:-9.91, Y:-13.81, Z:-1.43 [[ 0.74017532 -0.59315659 -0.31671083 -9.90876706] [ 0.60087815 0.79487287 -0.0843953 -13.80932504] [ 0.30180448 -0.1278373 0.94476012 -1.43259879] [ 0. 0. 0. 1. ]] SLAMing on 69.30165253199999 meters Centerline goodness [0,1] 0.5147331400598831 Centerline is valid? [False, False] Translation: X:-9.93, Y:-13.84, Z:-1.44 [[ 0.73886708 -0.59409714 -0.31800005 -9.93152564] [ 0.60209842 0.79395609 -0.08432808 -13.83897634] [ 0.30257714 -0.12916009 0.94433296 -1.43920289] [ 0. 0. 0. 1. ]] SLAMing on 69.33165253199999 meters Centerline goodness [0,1] 0.5108314863802101 Centerline is valid? [False, False] Translation: X:-9.96, Y:-13.87, Z:-1.45 [[ 0.73905191 -0.59399507 -0.31776112 -9.95803913] [ 0.60227174 0.79392962 -0.08333367 -13.87102287] [ 0.30177976 -0.12979064 0.94450165 -1.4481564 ] [ 0. 0. 0. 1. ]] SLAMing on 69.361652532 meters Centerline goodness [0,1] 0.49856767724994033 Centerline is valid? [False, False] Translation: X:-9.98, Y:-13.90, Z:-1.46 [[ 0.73767677 -0.59474543 -0.3195479 -9.98114867] [ 0.60312172 0.79321123 -0.08402458 -13.90172776] [ 0.30344222 -0.1307433 0.94383738 -1.45520497] [ 0. 0. 0. 1. ]] SLAMing on 69.391652532 meters Centerline goodness [0,1] 0.5109798105444455 Centerline is valid? [False, False] Translation: X:-10.00, Y:-13.93, Z:-1.46 [[ 0.7370786 -0.59436989 -0.32162022 -10.00398213] [ 0.6032103 0.79320336 -0.08346115 -13.92999974] [ 0.30471704 -0.1324872 0.94318326 -1.46302757] [ 0. 0. 0. 1. ]] SLAMing on 69.421652532 meters Centerline goodness [0,1] 0.5234369392003446 Centerline is valid? [False, False] Translation: X:-10.02, Y:-13.96, Z:-1.47 [[ 0.73591832 -0.59427729 -0.32443602 -10.02480504] [ 0.60375137 0.79285978 -0.08281097 -13.95702839] [ 0.30644495 -0.13493658 0.94227576 -1.46982912] [ 0. 0. 0. 1. ]] SLAMing on 69.451652532 meters Centerline goodness [0,1] 0.5174274953822535 Centerline is valid? [False, False] Translation: X:-10.05, Y:-13.98, Z:-1.48 [[ 0.73457448 -0.59489892 -0.32633665 -10.04645147] [ 0.60459105 0.79217945 -0.08319489 -13.98462694] [ 0.30800973 -0.13618737 0.94158537 -1.4778796 ] [ 0. 0. 0. 1. ]] SLAMing on 69.481652532 meters Centerline goodness [0,1] 0.5182564053353804 Centerline is valid? [False, False] Translation: X:-10.07, Y:-14.02, Z:-1.49 [[ 0.73340433 -0.59530877 -0.32821571 -10.06872959] [ 0.6053424 0.79161001 -0.08315155 -14.01514553] [ 0.30931969 -0.13769918 0.94093585 -1.48528725] [ 0. 0. 0. 1. ]] SLAMing on 69.51165253199999 meters Centerline goodness [0,1] 0.5227814282619684 Centerline is valid? [False, False] Translation: X:-10.09, Y:-14.04, Z:-1.49 [[ 0.73201435 -0.5953303 -0.33126549 -10.090555 ] [ 0.60601144 0.79114846 -0.08266957 -14.04137613] [ 0.31129588 -0.14023536 0.939909 -1.49160059] [ 0. 0. 0. 1. ]] SLAMing on 69.54165253199999 meters Centerline goodness [0,1] 0.5255776969229657 Centerline is valid? [False, False] Translation: X:-10.11, Y:-14.07, Z:-1.50 [[ 0.73081305 -0.59541447 -0.33375725 -10.11260312] [ 0.6067995 0.79063543 -0.08179233 -14.06704794] [ 0.31258064 -0.14274883 0.93910389 -1.49881085] [ 0. 0. 0. 1. ]] SLAMing on 69.57165253199999 meters Centerline goodness [0,1] 0.5207537129311596 Centerline is valid? [False, False] Translation: X:-10.14, Y:-14.10, Z:-1.51 [[ 0.73023545 -0.59528182 -0.33525473 -10.13662187] [ 0.60705061 0.79048817 -0.08135116 -14.09537246] [ 0.31344176 -0.14411108 0.93860868 -1.5071612 ] [ 0. 0. 0. 1. ]] SLAMing on 69.60165253199999 meters Centerline goodness [0,1] 0.5207537129311596 Centerline is valid? [False, False] Translation: X:-10.14, Y:-14.10, Z:-1.51 [[ 0.73023545 -0.59528182 -0.33525473 -10.13662187] [ 0.60705061 0.79048817 -0.08135116 -14.09537246] [ 0.31344176 -0.14411108 0.93860868 -1.5071612 ] [ 0. 0. 0. 1. ]] SLAMing on 69.63165253199999 meters Centerline goodness [0,1] 0.5248187259720667 Centerline is valid? [False, False] Translation: X:-10.15, Y:-14.10, Z:-1.52 [[ 0.73000512 -0.59981439 -0.32759004 -10.14541786] [ 0.6089309 0.78846765 -0.08672903 -14.10403762] [ 0.31031546 -0.13616706 0.94083093 -1.51549321] [ 0. 0. 0. 1. ]] SLAMing on 69.66165253199999 meters Centerline goodness [0,1] 0.5246900046286146 Centerline is valid? [False, False] Translation: X:-10.15, Y:-14.11, Z:-1.52 [[ 0.72851721 -0.60334629 -0.32440087 -10.14897279] [ 0.61143683 0.786249 -0.08920496 -14.10518103] [ 0.30888134 -0.13336329 0.94170407 -1.51665753] [ 0. 0. 0. 1. ]] SLAMing on 69.69165253199999 meters Centerline goodness [0,1] 0.5246564662313615 Centerline is valid? [False, False] Translation: X:-10.15, Y:-14.11, Z:-1.52 [[ 0.72703901 -0.60678178 -0.3212945 -10.15265389] [ 0.61394508 0.78403553 -0.09143155 -14.10679011] [ 0.3073853 -0.13078287 0.9425551 -1.51747961] [ 0. 0. 0. 1. ]] SLAMing on 69.721652532 meters Centerline goodness [0,1] 0.5279072605247102 Centerline is valid? [False, False] Translation: X:-10.15, Y:-14.11, Z:-1.52 [[ 0.72484923 -0.61074634 -0.3187201 -10.1521875 ] [ 0.61701647 0.78132142 -0.0939548 -14.10890984] [ 0.30640539 -0.12855248 0.94318079 -1.51783747] [ 0. 0. 0. 1. ]] SLAMing on 69.751652532 meters Centerline goodness [0,1] 0.505425638274525 Centerline is valid? [False, False] Translation: X:-10.17, Y:-14.13, Z:-1.52 [[ 0.7227926 -0.61013944 -0.32450074 -10.16810519] [ 0.61771854 0.78094504 -0.09245889 -14.13086155] [ 0.30983006 -0.13362152 0.94135574 -1.52159424] [ 0. 0. 0. 1. ]] SLAMing on 69.781652532 meters Centerline goodness [0,1] 0.521442162267649 Centerline is valid? [False, False] Translation: X:-10.18, Y:-14.15, Z:-1.53 [[ 0.720466 -0.60996998 -0.32994752 -10.18391387] [ 0.61873692 0.78026291 -0.0914025 -14.15186149] [ 0.31319859 -0.13829831 0.93956384 -1.52609567] [ 0. 0. 0. 1. ]] SLAMing on 69.811652532 meters Centerline goodness [0,1] 0.5271183546002391 Centerline is valid? [False, False] Translation: X:-10.20, Y:-14.17, Z:-1.53 [[ 0.71874375 -0.60905799 -0.33534428 -10.20096654] [ 0.61910393 0.78013786 -0.08997356 -14.17434926] [ 0.31641388 -0.14294503 0.93778941 -1.53072114] [ 0. 0. 0. 1. ]] SLAMing on 69.841652532 meters Centerline goodness [0,1] 0.5271627314588028 Centerline is valid? [False, False] Translation: X:-10.22, Y:-14.20, Z:-1.54 [[ 0.71641547 -0.61104519 -0.33670856 -10.22119104] [ 0.6212162 0.77836334 -0.09077964 -14.2032331 ] [ 0.31755207 -0.14413287 0.93722271 -1.53825797] [ 0. 0. 0. 1. ]] SLAMing on 69.87165253199998 meters Centerline goodness [0,1] 0.5324202709680592 Centerline is valid? [False, False] Translation: X:-10.24, Y:-14.23, Z:-1.55 [[ 0.71498172 -0.61189045 -0.33821771 -10.2433933 ] [ 0.62247014 0.77738891 -0.09053953 -14.23076845] [ 0.31832697 -0.14579632 0.9367024 -1.54571099] [ 0. 0. 0. 1. ]] SLAMing on 69.90165253199999 meters Centerline goodness [0,1] 0.5275060974107562 Centerline is valid? [False, False] Translation: X:-10.27, Y:-14.26, Z:-1.56 [[ 0.71534439 -0.61161451 -0.33794985 -10.26938209] [ 0.62266487 0.77741682 -0.08894689 -14.26114786] [ 0.3171291 -0.14680184 0.93695163 -1.55555392] [ 0. 0. 0. 1. ]] SLAMing on 69.93165253199999 meters Centerline goodness [0,1] 0.5361614558798007 Centerline is valid? [False, False] Translation: X:-10.29, Y:-14.29, Z:-1.57 [[ 0.71358165 -0.6146344 -0.33619308 -10.2938048 ] [ 0.62539101 0.77513789 -0.08970699 -14.29199758] [ 0.315733 -0.14623887 0.937511 -1.56515179] [ 0. 0. 0. 1. ]] SLAMing on 69.96165253199999 meters Centerline goodness [0,1] 0.5406230606925655 Centerline is valid? [False, False] Translation: X:-10.30, Y:-14.29, Z:-1.57 [[ 0.71164151 -0.6183804 -0.33342471 -10.29534572] [ 0.62817323 0.77259746 -0.09214966 -14.29367582] [ 0.31458662 -0.14387095 0.93826244 -1.56543706] [ 0. 0. 0. 1. ]] SLAMing on 69.99165253199999 meters Centerline goodness [0,1] 0.5383660909271392 Centerline is valid? [False, False] Translation: X:-10.32, Y:-14.32, Z:-1.57 [[ 0.71022037 -0.61851175 -0.33619972 -10.316728 ] [ 0.62879356 0.77209684 -0.09211482 -14.32061383] [ 0.31655283 -0.1459784 0.9372751 -1.5726067 ] [ 0. 0. 0. 1. ]] SLAMing on 70.02165253199999 meters Centerline goodness [0,1] 0.540924207077977 Centerline is valid? [False, False] Translation: X:-10.34, Y:-14.34, Z:-1.58 [[ 0.70908251 -0.61730444 -0.34078911 -10.33566112] [ 0.62868807 0.77232917 -0.09087881 -14.34446565] [ 0.31930127 -0.14980947 0.93573705 -1.57873192] [ 0. 0. 0. 1. ]] SLAMing on 70.05165253199999 meters Centerline goodness [0,1] 0.540876762570317 Centerline is valid? [False, False] Translation: X:-10.36, Y:-14.38, Z:-1.59 [[ 0.71079957 -0.6152499 -0.34092747 -10.36337081] [ 0.62673235 0.77400535 -0.09012367 -14.37593482] [ 0.31932826 -0.1496104 0.93575968 -1.59181729] [ 0. 0. 0. 1. ]] SLAMing on 70.08165253199999 meters Centerline goodness [0,1] 0.5460493704768514 Centerline is valid? [False, False] Translation: X:-10.37, Y:-14.38, Z:-1.59 [[ 0.70939403 -0.61866193 -0.33766481 -10.36719676] [ 0.62902779 0.77184312 -0.09264039 -14.37635249] [ 0.31793734 -0.14668201 0.93669645 -1.5934373 ] [ 0. 0. 0. 1. ]] SLAMing on 70.111652532 meters Centerline goodness [0,1] 0.5441431616517127 Centerline is valid? [False, False] Translation: X:-10.37, Y:-14.38, Z:-1.59 [[ 0.70778625 -0.62229174 -0.33435251 -10.37098256] [ 0.63153535 0.7694747 -0.09524593 -14.37670291] [ 0.31654656 -0.14374167 0.93762285 -1.59491162] [ 0. 0. 0. 1. ]] SLAMing on 70.141652532 meters Centerline goodness [0,1] 0.5353206910246227 Centerline is valid? [False, False] Translation: X:-10.40, Y:-14.41, Z:-1.61 [[ 0.70896868 -0.62181692 -0.3327268 -10.40069686] [ 0.63077551 0.77010711 -0.09516981 -14.40961844] [ 0.31541348 -0.1424035 0.93820871 -1.60744076] [ 0. 0. 0. 1. ]] SLAMing on 70.171652532 meters Centerline goodness [0,1] 0.5346130030959753 Centerline is valid? [False, False] Translation: X:-10.43, Y:-14.44, Z:-1.62 [[ 0.71000223 -0.62060037 -0.33279425 -10.42841178] [ 0.62979631 0.77102908 -0.09418475 -14.43952984] [ 0.31504514 -0.14272121 0.93828419 -1.61838624] [ 0. 0. 0. 1. ]] SLAMing on 70.201652532 meters Centerline goodness [0,1] 0.530426164519326 Centerline is valid? [False, False] Translation: X:-10.46, Y:-14.47, Z:-1.63 [[ 0.71101306 -0.61924597 -0.33315891 -10.45557407] [ 0.62865639 0.77205666 -0.09337906 -14.46873906] [ 0.31504216 -0.14304875 0.93823531 -1.62989004] [ 0. 0. 0. 1. ]] SLAMing on 70.231652532 meters Centerline goodness [0,1] 0.5339580191361535 Centerline is valid? [False, False] Translation: X:-10.46, Y:-14.47, Z:-1.64 [[ 0.71166228 -0.62149496 -0.32753749 -10.46428086] [ 0.62925537 0.7712268 -0.09616078 -14.4723479 ] [ 0.31236914 -0.13767072 0.93993207 -1.63733697] [ 0. 0. 0. 1. ]] SLAMing on 70.26165253199999 meters Centerline goodness [0,1] 0.5243418946538945 Centerline is valid? [False, False] Translation: X:-10.50, Y:-14.50, Z:-1.65 [[ 0.71490403 -0.61835823 -0.32641282 -10.49681953] [ 0.62642655 0.77380305 -0.09390754 -14.50400739] [ 0.31064774 -0.13733877 0.94055093 -1.65066676] [ 0. 0. 0. 1. ]] SLAMing on 70.29165253199999 meters Centerline goodness [0,1] 0.524597001742032 Centerline is valid? [False, False] Translation: X:-10.52, Y:-14.53, Z:-1.66 [[ 0.71620498 -0.61649572 -0.32708326 -10.52493913] [ 0.62496794 0.77514583 -0.09254197 -14.53427518] [ 0.31058896 -0.13813753 0.94045336 -1.66061178] [ 0. 0. 0. 1. ]] SLAMing on 70.32165253199999 meters Centerline goodness [0,1] 0.5093641221748296 Centerline is valid? [False, False] Translation: X:-10.55, Y:-14.56, Z:-1.67 [[ 0.7176598 -0.61482937 -0.32703096 -10.55377245] [ 0.62346178 0.77646749 -0.0916169 -14.5647964 ] [ 0.31025767 -0.13814154 0.94056212 -1.67176857] [ 0. 0. 0. 1. ]] SLAMing on 70.35165253199999 meters Centerline goodness [0,1] 0.5217635564240352 Centerline is valid? [False, False] Translation: X:-10.58, Y:-14.60, Z:-1.68 [[ 0.71984851 -0.61292996 -0.32578365 -10.58377376] [ 0.62188207 0.77797143 -0.08957206 -14.59523501] [ 0.30835177 -0.13812069 0.94119172 -1.68447026] [ 0. 0. 0. 1. ]] SLAMing on 70.38165253199999 meters Centerline goodness [0,1] 0.5042188947958836 Centerline is valid? [False, False] Translation: X:-10.61, Y:-14.63, Z:-1.70 [[ 0.72133511 -0.61105424 -0.32601897 -10.61231009] [ 0.62024986 0.779398 -0.08848092 -14.62550202] [ 0.30816518 -0.13838883 0.94121345 -1.69549086] [ 0. 0. 0. 1. ]] SLAMing on 70.41165253199999 meters Centerline goodness [0,1] 0.5141231950994214 Centerline is valid? [False, False] Translation: X:-10.62, Y:-14.63, Z:-1.70 [[ 0.72435549 -0.60958084 -0.32205642 -10.62374711] [ 0.61764992 0.78132341 -0.0896789 -14.63282204] [ 0.30629675 -0.13395872 0.94246345 -1.70224272] [ 0. 0. 0. 1. ]] SLAMing on 70.44165253199999 meters Centerline goodness [0,1] 0.5032652763953291 Centerline is valid? [False, False] Translation: X:-10.66, Y:-14.67, Z:-1.71 [[ 0.72709617 -0.60704557 -0.32066624 -10.65657127] [ 0.61550648 0.78329299 -0.08720013 -14.66733418] [ 0.30411007 -0.13396927 0.94316982 -1.71308998] [ 0. 0. 0. 1. ]] SLAMing on 70.471652532 meters Centerline goodness [0,1] 0.49354292623941964 Centerline is valid? [False, False] Translation: X:-10.68, Y:-14.70, Z:-1.72 [[ 0.72841982 -0.60527819 -0.32100293 -10.68493008] [ 0.61422868 0.78449154 -0.08541753 -14.69785809] [ 0.30352545 -0.13494938 0.94321841 -1.72277181] [ 0. 0. 0. 1. ]] SLAMing on 70.501652532 meters Centerline goodness [0,1] 0.49778323936195845 Centerline is valid? [False, False] Translation: X:-10.70, Y:-14.71, Z:-1.73 [[ 0.73196934 -0.60352326 -0.31619702 -10.69858311] [ 0.61081011 0.78687873 -0.08793676 -14.7076324 ] [ 0.30188059 -0.12876933 0.94460922 -1.73153074] [ 0. 0. 0. 1. ]] SLAMing on 70.531652532 meters Centerline goodness [0,1] 0.49745253544820955 Centerline is valid? [False, False] Translation: X:-10.71, Y:-14.72, Z:-1.74 [[ 0.73566406 -0.60149653 -0.31144873 -10.71255019] [ 0.60681077 0.78955839 -0.09153272 -14.71888208] [ 0.30096357 -0.12165311 0.94584431 -1.74117627] [ 0. 0. 0. 1. ]] SLAMing on 70.561652532 meters Centerline goodness [0,1] 0.5018626673396304 Centerline is valid? [False, False] Translation: X:-10.72, Y:-14.72, Z:-1.75 [[ 0.73510424 -0.60481304 -0.30630531 -10.71862265] [ 0.60868115 0.7877475 -0.09466326 -14.72020865] [ 0.29854482 -0.11685491 0.94721482 -1.74701559] [ 0. 0. 0. 1. ]] SLAMing on 70.591652532 meters Centerline goodness [0,1] 0.4916774907394045 Centerline is valid? [False, False] Translation: X:-10.74, Y:-14.74, Z:-1.75 [[ 0.73850411 -0.60091454 -0.30579959 -10.74246969] [ 0.60180021 0.79198333 -0.10295101 -14.74118981] [ 0.30405293 -0.10800051 0.94651345 -1.75317725] [ 0. 0. 0. 1. ]] SLAMing on 70.62165253199998 meters Centerline goodness [0,1] 0.48847793800603656 Centerline is valid? [False, False] Translation: X:-10.76, Y:-14.77, Z:-1.76 [[ 0.73917457 -0.59746892 -0.3108888 -10.76456229] [ 0.60004175 0.79382931 -0.09891876 -14.76630428] [ 0.30589352 -0.11342803 0.94528474 -1.75809938] [ 0. 0. 0. 1. ]] SLAMing on 70.65165253199999 meters Centerline goodness [0,1] 0.4877757330975312 Centerline is valid? [False, False] Translation: X:-10.79, Y:-14.79, Z:-1.76 [[ 0.74021198 -0.59411418 -0.31482467 -10.7887323 ] [ 0.59808541 0.79573013 -0.09543271 -14.79383887] [ 0.3072134 -0.11765161 0.94434 -1.76416193] [ 0. 0. 0. 1. ]] SLAMing on 70.68165253199999 meters Centerline goodness [0,1] 0.4819521266450505 Centerline is valid? [False, False] Translation: X:-10.82, Y:-14.83, Z:-1.77 [[ 0.74216094 -0.5920192 -0.31418212 -10.81890336] [ 0.59673912 0.79710061 -0.09237445 -14.82679139] [ 0.30512221 -0.11892805 0.94485796 -1.77322088] [ 0. 0. 0. 1. ]] SLAMing on 70.71165253199999 meters Centerline goodness [0,1] 0.48208926785118844 Centerline is valid? [False, False] Translation: X:-10.84, Y:-14.85, Z:-1.78 [[ 0.74133865 -0.59133337 -0.31739858 -10.84142833] [ 0.59689666 0.79714369 -0.09097424 -14.8543997 ] [ 0.30680838 -0.12201143 0.94391834 -1.77859809] [ 0. 0. 0. 1. ]] SLAMing on 70.74165253199999 meters Centerline goodness [0,1] 0.48414039262343844 Centerline is valid? [False, False] Translation: X:-10.86, Y:-14.88, Z:-1.79 [[ 0.7420895 -0.58823049 -0.32138461 -10.86395078] [ 0.59524104 0.79876414 -0.08754402 -14.88111385] [ 0.30820656 -0.12633582 0.94289341 -1.78518281] [ 0. 0. 0. 1. ]] SLAMing on 70.77165253199999 meters Centerline goodness [0,1] 0.48770756182057107 Centerline is valid? [False, False] Translation: X:-10.88, Y:-14.91, Z:-1.79 [[ 0.73925952 -0.58993656 -0.32476178 -10.88288404] [ 0.59753279 0.79703797 -0.08766438 -14.90607273] [ 0.31056389 -0.12924908 0.94172435 -1.7901346 ] [ 0. 0. 0. 1. ]] SLAMing on 70.80165253199999 meters Centerline goodness [0,1] 0.4861622293389417 Centerline is valid? [False, False] Translation: X:-10.90, Y:-14.93, Z:-1.80 [[ 0.73835034 -0.58836883 -0.32963751 -10.90163216] [ 0.59719875 0.79749269 -0.08578497 -14.92984204] [ 0.3133567 -0.13351975 0.94020213 -1.79588099] [ 0. 0. 0. 1. ]] SLAMing on 70.83165253199999 meters Centerline goodness [0,1] 0.4896736786621304 Centerline is valid? [False, False] Translation: X:-10.92, Y:-14.95, Z:-1.80 [[ 0.73582148 -0.58943681 -0.33336316 -10.92035653] [ 0.59903128 0.79614881 -0.08549034 -14.95395032] [ 0.31579783 -0.13678933 0.93891448 -1.80056712] [ 0. 0. 0. 1. ]] SLAMing on 70.861652532 meters Centerline goodness [0,1] 0.49332949419330074 Centerline is valid? [False, False] Translation: X:-10.94, Y:-14.98, Z:-1.81 [[ 0.73486362 -0.5888907 -0.33642711 -10.94192946] [ 0.59947187 0.79598829 -0.08388157 -14.98048714] [ 0.31718912 -0.14003708 0.93796625 -1.80655563] [ 0. 0. 0. 1. ]] SLAMing on 70.891652532 meters Centerline goodness [0,1] 0.48942960669978164 Centerline is valid? [False, False] Translation: X:-10.97, Y:-15.01, Z:-1.81 [[ 0.73575748 -0.58703981 -0.33770579 -10.9679316 ] [ 0.59879316 0.79684033 -0.08057444 -15.01228929] [ 0.31639799 -0.14293267 0.93779665 -1.81421337] [ 0. 0. 0. 1. ]] SLAMing on 70.921652532 meters Centerline goodness [0,1] 0.4773864534201643 Centerline is valid? [False, False] Translation: X:-10.99, Y:-15.03, Z:-1.82 [[ 0.73398569 -0.58616205 -0.3430438 -10.98546191] [ 0.59925622 0.79664491 -0.07904975 -15.03474391] [ 0.31962006 -0.14754975 0.93598723 -1.81861923] [ 0. 0. 0. 1. ]] SLAMing on 70.951652532 meters Centerline goodness [0,1] 0.4801284047624751 Centerline is valid? [False, False] Translation: X:-10.99, Y:-15.04, Z:-1.82 [[ 0.735022 -0.58523123 -0.34241361 -10.98733169] [ 0.59852776 0.7973048 -0.07790753 -15.03832696] [ 0.31860193 -0.1476803 0.9363137 -1.81958058] [ 0. 0. 0. 1. ]] SLAMing on 70.981652532 meters Centerline goodness [0,1] 0.4816076784643072 Centerline is valid? [False, False] Translation: X:-11.01, Y:-15.06, Z:-1.83 [[ 0.73277863 -0.58648614 -0.34506448 -11.00707637] [ 0.60033149 0.79594294 -0.07795476 -15.06372906] [ 0.32037102 -0.15002949 0.93533607 -1.82593893] [ 0. 0. 0. 1. ]] SLAMing on 71.01165253199999 meters Centerline goodness [0,1] 0.4901484934403383 Centerline is valid? [False, False] Translation: X:-11.03, Y:-15.09, Z:-1.83 [[ 0.73199511 -0.58624831 -0.34712543 -11.02877677] [ 0.60063315 0.79577177 -0.07737642 -15.09425501] [ 0.32159442 -0.15185588 0.93462122 -1.83417125] [ 0. 0. 0. 1. ]] SLAMing on 71.04165253199999 meters Centerline goodness [0,1] 0.4775400038557933 Centerline is valid? [False, False] Translation: X:-11.05, Y:-15.12, Z:-1.84 [[ 0.72966104 -0.58642767 -0.35170634 -11.04549731] [ 0.60189572 0.79488621 -0.07666456 -15.1162594 ] [ 0.32452474 -0.1557514 0.93296581 -1.83954648] [ 0. 0. 0. 1. ]] SLAMing on 71.07165253199999 meters Centerline goodness [0,1] 0.49129804205946337 Centerline is valid? [False, False] Translation: X:-11.06, Y:-15.14, Z:-1.85 [[ 0.72674924 -0.58839941 -0.35443148 -11.06413115] [ 0.60450803 0.79289088 -0.07677302 -15.13980021] [ 0.32619869 -0.15846195 0.93192501 -1.84552777] [ 0. 0. 0. 1. ]] SLAMing on 71.10165253199999 meters Centerline goodness [0,1] 0.4876933130037029 Centerline is valid? [False, False] Translation: X:-11.08, Y:-15.16, Z:-1.85 [[ 0.72346547 -0.59061499 -0.35745159 -11.0823418 ] [ 0.60743858 0.79063276 -0.07692991 -15.16340066] [ 0.3280489 -0.16147375 0.93075784 -1.85041395] [ 0. 0. 0. 1. ]] SLAMing on 71.13165253199999 meters Centerline goodness [0,1] 0.4846030356100408 Centerline is valid? [False, False] Translation: X:-11.11, Y:-15.19, Z:-1.86 [[ 0.72110243 -0.59377725 -0.3569872 -11.10532548] [ 0.61073443 0.78806969 -0.07713377 -15.19457551] [ 0.32713107 -0.16240302 0.93091918 -1.85758187] [ 0. 0. 0. 1. ]] SLAMing on 71.16165253199999 meters Centerline goodness [0,1] 0.4891932064621458 Centerline is valid? [False, False] Translation: X:-11.13, Y:-15.22, Z:-1.87 [[ 0.7205381 -0.59353156 -0.3585319 -11.12857621] [ 0.6109288 0.78796532 -0.07665933 -15.22334212] [ 0.32801044 -0.1638015 0.93036456 -1.86665259] [ 0. 0. 0. 1. ]] SLAMing on 71.19165253199999 meters Centerline goodness [0,1] 0.48552804397528826 Centerline is valid? [False, False] Translation: X:-11.15, Y:-15.25, Z:-1.88 [[ 0.72125539 -0.59202278 -0.35958265 -11.15321064] [ 0.61008631 0.7887825 -0.0749457 -15.25260447] [ 0.32800207 -0.16532146 0.93009863 -1.87715266] [ 0. 0. 0. 1. ]] SLAMing on 71.221652532 meters Centerline goodness [0,1] 0.48500413846827983 Centerline is valid? [False, False] Translation: X:-11.17, Y:-15.28, Z:-1.89 [[ 0.72045279 -0.59158013 -0.36191261 -11.17490809] [ 0.61040324 0.78862937 -0.07397021 -15.27991577] [ 0.32917422 -0.16762059 0.92927266 -1.88531144] [ 0. 0. 0. 1. ]] SLAMing on 71.251652532 meters Centerline goodness [0,1] 0.4894293824018793 Centerline is valid? [False, False] Translation: X:-11.20, Y:-15.31, Z:-1.90 [[ 0.71845182 -0.5943961 -0.36127588 -11.19801958] [ 0.61278728 0.78662449 -0.07558875 -15.3127424 ] [ 0.32911811 -0.16707839 0.92939017 -1.89504279] [ 0. 0. 0. 1. ]] SLAMing on 71.281652532 meters Centerline goodness [0,1] 0.49327530672961073 Centerline is valid? [False, False] Translation: X:-11.22, Y:-15.34, Z:-1.90 [[ 0.71715142 -0.59512377 -0.36265898 -11.21924557] [ 0.61373342 0.78585278 -0.07593877 -15.34072386] [ 0.33018953 -0.16811634 0.92882279 -1.90440241] [ 0. 0. 0. 1. ]] SLAMing on 71.311652532 meters Centerline goodness [0,1] 0.49363269948814326 Centerline is valid? [False, False] Translation: X:-11.24, Y:-15.37, Z:-1.91 [[ 0.71472019 -0.59707451 -0.36424865 -11.23843796] [ 0.61579175 0.7841322 -0.07705327 -15.36740932] [ 0.33162563 -0.16922979 0.92810868 -1.91286318] [ 0. 0. 0. 1. ]] SLAMing on 71.341652532 meters Centerline goodness [0,1] 0.50106673282064 Centerline is valid? [False, False] Translation: X:-11.26, Y:-15.39, Z:-1.92 [[ 0.71165283 -0.59928798 -0.36661175 -11.25639701] [ 0.61831362 0.78203877 -0.07812569 -15.39262011] [ 0.33352439 -0.17108267 0.92708802 -1.91981743] [ 0. 0. 0. 1. ]] SLAMing on 71.37165253199998 meters Centerline goodness [0,1] 0.5103987646018581 Centerline is valid? [False, False] Translation: X:-11.27, Y:-15.42, Z:-1.93 [[ 0.70840657 -0.60171989 -0.36890825 -11.2749305 ] [ 0.62119293 0.77967982 -0.07885892 -15.42177884] [ 0.33508129 -0.17329902 0.92611445 -1.92529267] [ 0. 0. 0. 1. ]] SLAMing on 71.40165253199999 meters Centerline goodness [0,1] 0.5148728908327328 Centerline is valid? [False, False] Translation: X:-11.29, Y:-15.45, Z:-1.93 [[ 0.70492142 -0.60405593 -0.3717556 -11.29289005] [ 0.62397726 0.77734633 -0.0799066 -15.44570792] [ 0.33725091 -0.17563917 0.92488524 -1.93113946] [ 0. 0. 0. 1. ]] SLAMing on 71.43165253199999 meters Centerline goodness [0,1] 0.5225366876310272 Centerline is valid? [False, False] Translation: X:-11.31, Y:-15.47, Z:-1.94 [[ 0.70301151 -0.60474207 -0.37424839 -11.31310943] [ 0.62517206 0.77636094 -0.08014723 -15.47157859] [ 0.33902023 -0.17762521 0.92385852 -1.93912877] [ 0. 0. 0. 1. ]] SLAMing on 71.46165253199999 meters Centerline goodness [0,1] 0.5201481703959554 Centerline is valid? [False, False] Translation: X:-11.33, Y:-15.50, Z:-1.95 [[ 0.70131401 -0.60514727 -0.37676974 -11.33330542] [ 0.62613166 0.77557958 -0.08022131 -15.49709511] [ 0.34076063 -0.17964713 0.92282669 -1.94753291] [ 0. 0. 0. 1. ]] SLAMing on 71.49165253199999 meters Centerline goodness [0,1] 0.5201481703959554 Centerline is valid? [False, False] Translation: X:-11.36, Y:-15.52, Z:-1.96 [[ 0.70080931 -0.60519609 -0.37762944 -11.35699529] [ 0.62635965 0.77539225 -0.08025244 -15.523614 ] [ 0.34137941 -0.18029018 0.92247252 -1.95861611] [ 0. 0. 0. 1. ]] SLAMing on 71.52165253199999 meters Centerline goodness [0,1] 0.5268145919518616 Centerline is valid? [False, False] Translation: X:-11.38, Y:-15.55, Z:-1.97 [[ 0.69759745 -0.60743336 -0.37997698 -11.37603474] [ 0.62907966 0.77311158 -0.08097702 -15.54993743] [ 0.34295275 -0.18254643 0.92144463 -1.96506159] [ 0. 0. 0. 1. ]] SLAMing on 71.55165253199999 meters Centerline goodness [0,1] 0.5235042735042735 Centerline is valid? [False, False] Translation: X:-11.40, Y:-15.58, Z:-1.98 [[ 0.69693619 -0.60691283 -0.38201671 -11.39800778] [ 0.62915914 0.77310461 -0.08042405 -15.57514081] [ 0.34414927 -0.18429888 0.92064934 -1.97520857] [ 0. 0. 0. 1. ]] SLAMing on 71.58165253199999 meters Centerline goodness [0,1] 0.5196646838842456 Centerline is valid? [False, False] Translation: X:-11.42, Y:-15.60, Z:-1.99 [[ 0.69775964 -0.60580669 -0.38226919 -11.42327416] [ 0.62831183 0.77388286 -0.07955854 -15.60310699] [ 0.34402867 -0.18467152 0.92061974 -1.98846138] [ 0. 0. 0. 1. ]] SLAMing on 71.611652532 meters Centerline goodness [0,1] 0.5308400431434519 Centerline is valid? [False, False] Translation: X:-11.45, Y:-15.63, Z:-2.00 [[ 0.69616753 -0.60743783 -0.38258339 -11.44631841] [ 0.62992024 0.7724992 -0.08028373 -15.63067794] [ 0.34431274 -0.18510609 0.92042624 -1.99890616] [ 0. 0. 0. 1. ]] SLAMing on 71.641652532 meters Centerline goodness [0,1] 0.5283448984192991 Centerline is valid? [False, False] Translation: X:-11.47, Y:-15.66, Z:-2.01 [[ 0.69659009 -0.60718173 -0.3822206 -11.47184538] [ 0.62971525 0.77271069 -0.07985547 -15.65921879] [ 0.34383273 -0.18506361 0.9206142 -2.01162887] [ 0. 0. 0. 1. ]] SLAMing on 71.671652532 meters Centerline goodness [0,1] 0.51977768876427 Centerline is valid? [False, False] Translation: X:-11.50, Y:-15.69, Z:-2.03 [[ 0.69816676 -0.60628483 -0.38076486 -11.50015263] [ 0.62858468 0.77368234 -0.07935326 -15.6897403 ] [ 0.34270173 -0.18394115 0.92126065 -2.02616768] [ 0. 0. 0. 1. ]] SLAMing on 71.701652532 meters Centerline goodness [0,1] 0.5271665580672649 Centerline is valid? [False, False] Translation: X:-11.53, Y:-15.72, Z:-2.04 [[ 0.69805311 -0.60709235 -0.37968505 -11.5261544 ] [ 0.62917012 0.77318675 -0.07954382 -15.71834715] [ 0.3418579 -0.18336068 0.92168977 -2.03874931] [ 0. 0. 0. 1. ]] SLAMing on 71.731652532 meters Centerline goodness [0,1] 0.5213886393131676 Centerline is valid? [False, False] Translation: X:-11.56, Y:-15.75, Z:-2.05 [[ 0.69998803 -0.60637429 -0.37726249 -11.55706229] [ 0.62830307 0.7740182 -0.07830122 -15.75151099] [ 0.33948788 -0.18222526 0.9227903 -2.05314384] [ 0. 0. 0. 1. ]] SLAMing on 71.76165253199999 meters Centerline goodness [0,1] 0.5212848393950756 Centerline is valid? [False, False] Translation: X:-11.59, Y:-15.78, Z:-2.07 [[ 0.69984908 -0.60838502 -0.37427121 -11.58568262] [ 0.62954463 0.77291651 -0.0792062 -15.7825094 ] [ 0.33746826 -0.18018804 0.92393043 -2.06684499] [ 0. 0. 0. 1. ]] SLAMing on 71.79165253199999 meters Centerline goodness [0,1] 0.5249543898233074 Centerline is valid? [False, False] Translation: X:-11.61, Y:-15.81, Z:-2.08 [[ 0.69875858 -0.60956667 -0.37438604 -11.60934352] [ 0.63082717 0.77185678 -0.07933596 -15.81018685] [ 0.33733296 -0.18073621 0.92387277 -2.07705416] [ 0. 0. 0. 1. ]] SLAMing on 71.82165253199999 meters Centerline goodness [0,1] 0.5254118471784087 Centerline is valid? [False, False] Translation: X:-11.63, Y:-15.84, Z:-2.09 [[ 0.69770225 -0.61092666 -0.37413925 -11.63319779] [ 0.63193853 0.77085141 -0.08026088 -15.83727337] [ 0.33743928 -0.18043481 0.92389286 -2.08871979] [ 0. 0. 0. 1. ]] SLAMing on 71.85165253199999 meters Centerline goodness [0,1] 0.5164810467961845 Centerline is valid? [False, False] Translation: X:-11.67, Y:-15.88, Z:-2.11 [[ 0.69605009 -0.61075311 -0.37748499 -11.67041427] [ 0.63451699 0.76929222 -0.07468378 -15.87750843] [ 0.33600962 -0.18753699 0.92299914 -2.10640526] [ 0. 0. 0. 1. ]] SLAMing on 71.88165253199999 meters Centerline goodness [0,1] 0.5312953057041444 Centerline is valid? [False, False] Translation: X:-11.69, Y:-15.90, Z:-2.11 [[ 0.69458694 -0.60936162 -0.38239692 -11.68814575] [ 0.63474845 0.76927231 -0.07290077 -15.8978681 ] [ 0.33859029 -0.19208993 0.92111784 -2.11273819] [ 0. 0. 0. 1. ]] SLAMing on 71.91165253199999 meters Centerline goodness [0,1] 0.5031581575333917 Centerline is valid? [False, False] Translation: X:-11.72, Y:-15.93, Z:-2.13 [[ 0.6963425 -0.60869572 -0.38025864 -11.71650661] [ 0.63346714 0.77031392 -0.07304683 -15.92657199] [ 0.33738182 -0.19001574 0.92199107 -2.12939448] [ 0. 0. 0. 1. ]] SLAMing on 71.94165253199999 meters Centerline goodness [0,1] 0.5073863495295081 Centerline is valid? [False, False] Translation: X:-11.75, Y:-15.96, Z:-2.15 [[ 0.69773476 -0.60931708 -0.37669472 -11.74944488] [ 0.63254406 0.7708593 -0.07525924 -15.95995058] [ 0.33623537 -0.18576502 0.92327522 -2.14618274] [ 0. 0. 0. 1. ]] SLAMing on 71.971652532 meters Centerline goodness [0,1] 0.5125697977416552 Centerline is valid? [False, False] Translation: X:-11.78, Y:-15.99, Z:-2.16 [[ 0.69955546 -0.60802429 -0.37540462 -11.77863595] [ 0.63095259 0.77219502 -0.07492448 -15.98989672] [ 0.33544148 -0.18444868 0.92382774 -2.16086595] [ 0. 0. 0. 1. ]] SLAMing on 72.001652532 meters Centerline goodness [0,1] 0.5076866040533861 Centerline is valid? [False, False] Translation: X:-11.81, Y:-16.02, Z:-2.18 [[ 0.70134026 -0.60681984 -0.37402075 -11.80812001] [ 0.62944971 0.77345515 -0.07456672 -16.02004978] [ 0.33453684 -0.18313061 0.92441781 -2.17557006] [ 0. 0. 0. 1. ]] SLAMing on 72.031652532 meters Centerline goodness [0,1] 0.5074003607521436 Centerline is valid? [False, False] Translation: X:-11.84, Y:-16.05, Z:-2.19 [[ 0.70196556 -0.60703798 -0.37249059 -11.83554323] [ 0.6292493 0.77358933 -0.0748657 -16.04822728] [ 0.33360107 -0.1818363 0.92501129 -2.18981361] [ 0. 0. 0. 1. ]] SLAMing on 72.061652532 meters Centerline goodness [0,1] 0.49645355137424885 Centerline is valid? [False, False] Translation: X:-11.87, Y:-16.08, Z:-2.21 [[ 0.70448573 -0.60528547 -0.37057975 -11.86708893] [ 0.62691997 0.77548142 -0.07483263 -16.08040095] [ 0.33267281 -0.17960532 0.92578115 -2.20579832] [ 0. 0. 0. 1. ]] SLAMing on 72.091652532 meters Centerline goodness [0,1] 0.5048803874806382 Centerline is valid? [False, False] Translation: X:-11.89, Y:-16.11, Z:-2.22 [[ 0.70566924 -0.60406338 -0.37032195 -11.89415478] [ 0.6256584 0.77653665 -0.07444728 -16.10907944] [ 0.33253944 -0.17915989 0.92591536 -2.21923186] [ 0. 0. 0. 1. ]] SLAMing on 72.12165253199998 meters Centerline goodness [0,1] 0.4883623761889547 Centerline is valid? [False, False] Translation: X:-11.92, Y:-16.14, Z:-2.23 [[ 0.70625939 -0.60461265 -0.36829502 -11.92188438] [ 0.62559418 0.77652408 -0.07511509 -16.13830096] [ 0.33140549 -0.17735249 0.92666957 -2.23377321] [ 0. 0. 0. 1. ]] SLAMing on 72.15165253199999 meters Centerline goodness [0,1] 0.49693115977609736 Centerline is valid? [False, False] Translation: X:-11.95, Y:-16.17, Z:-2.25 [[ 0.70747763 -0.6040564 -0.36686683 -11.95024707] [ 0.62469545 0.77725047 -0.07508192 -16.16786011] [ 0.33050113 -0.17606126 0.92723861 -2.24797955] [ 0. 0. 0. 1. ]] SLAMing on 72.18165253199999 meters Centerline goodness [0,1] 0.47300714408464883 Centerline is valid? [False, False] Translation: X:-11.98, Y:-16.20, Z:-2.26 [[ 0.71010074 -0.60214483 -0.36493635 -11.98231723] [ 0.62240485 0.77914219 -0.07449599 -16.19954549] [ 0.32919468 -0.17423849 0.92804731 -2.26367854] [ 0. 0. 0. 1. ]] SLAMing on 72.21165253199999 meters Centerline goodness [0,1] 0.48145331436141503 Centerline is valid? [False, False] Translation: X:-12.01, Y:-16.23, Z:-2.28 [[ 0.71013008 -0.60243457 -0.3644007 -12.00748298] [ 0.62235579 0.77911179 -0.07522024 -16.22617384] [ 0.32922415 -0.17337073 0.92819936 -2.2771966 ] [ 0. 0. 0. 1. ]] SLAMing on 72.24165253199999 meters Centerline goodness [0,1] 0.47484584516002737 Centerline is valid? [False, False] Translation: X:-12.04, Y:-16.26, Z:-2.29 [[ 0.71133687 -0.60162795 -0.36337812 -12.03526459] [ 0.6212618 0.77998428 -0.07522171 -16.25558999] [ 0.3286847 -0.17224497 0.92860004 -2.29129686] [ 0. 0. 0. 1. ]] SLAMing on 72.27165253199999 meters Centerline goodness [0,1] 0.4784014105201293 Centerline is valid? [False, False] Translation: X:-12.07, Y:-16.29, Z:-2.31 [[ 0.7137603 -0.60106808 -0.35953219 -12.07067559] [ 0.61943121 0.78131621 -0.07648502 -16.29246328] [ 0.32688103 -0.16811349 0.92999282 -2.30691034] [ 0. 0. 0. 1. ]] SLAMing on 72.30165253199999 meters Centerline goodness [0,1] 0.47597964874516907 Centerline is valid? [False, False] Translation: X:-12.10, Y:-16.32, Z:-2.32 [[ 0.71521256 -0.59991418 -0.35857214 -12.09928517] [ 0.61800133 0.78245384 -0.0764221 -16.32338164] [ 0.32641285 -0.16694001 0.93036857 -2.32040833] [ 0. 0. 0. 1. ]] SLAMing on 72.33165253199999 meters Centerline goodness [0,1] 0.47213178958705604 Centerline is valid? [False, False] Translation: X:-12.13, Y:-16.35, Z:-2.33 [[ 0.71533133 -0.60022478 -0.35781464 -12.1253509 ] [ 0.61809292 0.78235364 -0.07670679 -16.35100718] [ 0.3259789 -0.16629192 0.93063675 -2.33320464] [ 0. 0. 0. 1. ]] SLAMing on 72.361652532 meters Centerline goodness [0,1] 0.4730461191799946 Centerline is valid? [False, False] Translation: X:-12.16, Y:-16.38, Z:-2.35 [[ 0.71537524 -0.60099845 -0.35642549 -12.15533734] [ 0.61819948 0.78213674 -0.07804822 -16.38082789] [ 0.32568033 -0.16450829 0.93105819 -2.34610962] [ 0. 0. 0. 1. ]] SLAMing on 72.391652532 meters Centerline goodness [0,1] 0.4614158163265306 Centerline is valid? [False, False] Translation: X:-12.18, Y:-16.41, Z:-2.36 [[ 0.71411733 -0.60113114 -0.35871688 -12.17736238] [ 0.61865665 0.78173725 -0.07842723 -16.40511751] [ 0.3275674 -0.16591634 0.93014589 -2.3553186 ] [ 0. 0. 0. 1. ]] SLAMing on 72.421652532 meters Centerline goodness [0,1] 0.452785693229832 Centerline is valid? [False, False] Translation: X:-12.20, Y:-16.43, Z:-2.37 [[ 0.7146908 -0.60023893 -0.35906864 -12.20288774] [ 0.617734 0.78246239 -0.0784685 -16.43180594] [ 0.32805756 -0.16572819 0.93000667 -2.36844855] [ 0. 0. 0. 1. ]] SLAMing on 72.451652532 meters Centerline goodness [0,1] 0.4663893307231127 Centerline is valid? [False, False] Translation: X:-12.23, Y:-16.46, Z:-2.38 [[ 0.7164965 -0.5980607 -0.35910468 -12.23066207] [ 0.61561202 0.7842051 -0.07774444 -16.46041703] [ 0.32810762 -0.16536555 0.93005356 -2.38247796] [ 0. 0. 0. 1. ]] SLAMing on 72.481652532 meters Centerline goodness [0,1] 0.45673789901052686 Centerline is valid? [False, False] Translation: X:-12.27, Y:-16.49, Z:-2.40 [[ 0.72177891 -0.59230165 -0.35806977 -12.26734178] [ 0.6098755 0.78888506 -0.07557927 -16.49442092] [ 0.32724162 -0.16382646 0.93063087 -2.3987786 ] [ 0. 0. 0. 1. ]] SLAMing on 72.51165253199999 meters Centerline goodness [0,1] 0.44728659573434393 Centerline is valid? [False, False] Translation: X:-12.30, Y:-16.52, Z:-2.41 [[ 0.72214905 -0.59343811 -0.35543209 -12.29708598] [ 0.61014223 0.78854877 -0.076924 -16.52464468] [ 0.32592517 -0.16131353 0.93153139 -2.41268991] [ 0. 0. 0. 1. ]] SLAMing on 72.54165253199999 meters Centerline goodness [0,1] 0.45754156049023176 Centerline is valid? [False, False] Translation: X:-12.33, Y:-16.56, Z:-2.43 [[ 0.72337142 -0.5932069 -0.35332614 -12.32672438] [ 0.60950216 0.78904588 -0.07690067 -16.55621918] [ 0.32440855 -0.1597253 0.93233413 -2.42589455] [ 0. 0. 0. 1. ]] SLAMing on 72.57165253199999 meters Centerline goodness [0,1] 0.45227311260202974 Centerline is valid? [False, False] Translation: X:-12.36, Y:-16.59, Z:-2.44 [[ 0.72599071 -0.59084633 -0.35190638 -12.35781462] [ 0.60705373 0.79103933 -0.0757796 -16.58901284] [ 0.32314589 -0.1586108 0.93296267 -2.43946019] [ 0. 0. 0. 1. ]] SLAMing on 72.60165253199999 meters Centerline goodness [0,1] 0.4373096078526183 Centerline is valid? [False, False] Translation: X:-12.38, Y:-16.62, Z:-2.45 [[ 0.72639809 -0.59103939 -0.35073958 -12.38478418] [ 0.60695463 0.79108929 -0.07605143 -16.61964113] [ 0.32241571 -0.1576394 0.93337984 -2.45173736] [ 0. 0. 0. 1. ]] SLAMing on 72.63165253199999 meters Centerline goodness [0,1] 0.44485481715465924 Centerline is valid? [False, False] Translation: X:-12.41, Y:-16.65, Z:-2.47 [[ 0.72692254 -0.59096982 -0.3497689 -12.41264472] [ 0.60595223 0.79164616 -0.07821923 -16.65094194] [ 0.32311841 -0.15508393 0.93356492 -2.46593951] [ 0. 0. 0. 1. ]] SLAMing on 72.66165253199999 meters Centerline goodness [0,1] 0.45883096981343197 Centerline is valid? [False, False] Translation: X:-12.44, Y:-16.68, Z:-2.48 [[ 0.72618664 -0.59171286 -0.35004122 -12.43662133] [ 0.60667069 0.79105559 -0.07862391 -16.67899614] [ 0.32342484 -0.15526411 0.93342885 -2.47644996] [ 0. 0. 0. 1. ]] SLAMing on 72.69165253199999 meters Centerline goodness [0,1] 0.44667201283079394 Centerline is valid? [False, False] Translation: X:-12.46, Y:-16.71, Z:-2.49 [[ 0.72655055 -0.59095327 -0.35056888 -12.46249297] [ 0.60622962 0.79147651 -0.07778549 -16.70834357] [ 0.32343462 -0.15601014 0.93330107 -2.48684997] [ 0. 0. 0. 1. ]] SLAMing on 72.721652532 meters Centerline goodness [0,1] 0.44252048931151045 Centerline is valid? [False, False] Translation: X:-12.50, Y:-16.75, Z:-2.50 [[ 0.72464058 -0.59094007 -0.35452202 -12.49778035] [ 0.60933282 0.78973724 -0.07091263 -16.74869855] [ 0.32188436 -0.16463573 0.93235483 -2.50160518] [ 0. 0. 0. 1. ]] SLAMing on 72.751652532 meters Centerline goodness [0,1] 0.4449299638288059 Centerline is valid? [False, False] Translation: X:-12.52, Y:-16.77, Z:-2.51 [[ 0.72345891 -0.59145906 -0.35606656 -12.51980891] [ 0.61006309 0.78913837 -0.07129976 -16.7747241 ] [ 0.32315668 -0.16564062 0.93173652 -2.511289 ] [ 0. 0. 0. 1. ]] SLAMing on 72.781652532 meters Centerline goodness [0,1] 0.4443875560756778 Centerline is valid? [False, False] Translation: X:-12.54, Y:-16.80, Z:-2.52 [[ 0.72245211 -0.59243575 -0.35648678 -12.54250544] [ 0.61100306 0.78835661 -0.07189661 -16.80179104] [ 0.32363282 -0.16587266 0.93152995 -2.52201439] [ 0. 0. 0. 1. ]] SLAMing on 72.811652532 meters Centerline goodness [0,1] 0.4562386803074061 Centerline is valid? [False, False] Translation: X:-12.57, Y:-16.83, Z:-2.53 [[ 0.72202931 -0.59402495 -0.35469429 -12.56992267] [ 0.6118125 0.7875747 -0.07356324 -16.83442228] [ 0.32304665 -0.16389159 0.93208391 -2.53456687] [ 0. 0. 0. 1. ]] SLAMing on 72.841652532 meters Centerline goodness [0,1] 0.46031357177853993 Centerline is valid? [False, False] Translation: X:-12.59, Y:-16.86, Z:-2.54 [[ 0.72146248 -0.59407126 -0.35576849 -12.59326035] [ 0.61225958 0.78727809 -0.07301651 -16.86207921] [ 0.32346575 -0.165144 0.93171743 -2.54400167] [ 0. 0. 0. 1. ]] SLAMing on 72.87165253199998 meters Centerline goodness [0,1] 0.46162159506791445 Centerline is valid? [False, False] Translation: X:-12.62, Y:-16.89, Z:-2.55 [[ 0.72159315 -0.59360184 -0.35628666 -12.61834272] [ 0.61214297 0.78744715 -0.07216634 -16.89142321] [ 0.32339499 -0.16602364 0.93158566 -2.55410205] [ 0. 0. 0. 1. ]] SLAMing on 72.90165253199999 meters Centerline goodness [0,1] 0.46422940480882935 Centerline is valid? [False, False] Translation: X:-12.64, Y:-16.92, Z:-2.57 [[ 0.72092969 -0.59487912 -0.35549854 -12.64313539] [ 0.61317321 0.78658927 -0.07277319 -16.92062728] [ 0.32292259 -0.16551783 0.9318395 -2.56530147] [ 0. 0. 0. 1. ]] SLAMing on 72.93165253199999 meters Centerline goodness [0,1] 0.46600482829974876 Centerline is valid? [False, False] Translation: X:-12.67, Y:-16.95, Z:-2.58 [[ 0.72030004 -0.59682593 -0.35350625 -12.67126712] [ 0.61431007 0.7855383 -0.07451653 -16.9530333 ] [ 0.3221661 -0.16348819 0.93245945 -2.57733244] [ 0. 0. 0. 1. ]] SLAMing on 72.96165253199999 meters Centerline goodness [0,1] 0.470467829046339 Centerline is valid? [False, False] Translation: X:-12.70, Y:-16.98, Z:-2.59 [[ 0.72117931 -0.5953842 -0.35414412 -12.69666412] [ 0.61317789 0.786509 -0.07359667 -16.98137598] [ 0.32235583 -0.16407695 0.93229044 -2.58918433] [ 0. 0. 0. 1. ]] SLAMing on 72.99165253199999 meters Centerline goodness [0,1] 0.47582615563069175 Centerline is valid? [False, False] Translation: X:-12.72, Y:-17.01, Z:-2.60 [[ 0.72152342 -0.59480696 -0.35441308 -12.72154084] [ 0.6128086 0.78685295 -0.07299351 -17.00996286] [ 0.32228803 -0.16452085 0.93223565 -2.60078237] [ 0. 0. 0. 1. ]] SLAMing on 73.02165253199999 meters Centerline goodness [0,1] 0.45550217908082413 Centerline is valid? [False, False] Translation: X:-12.75, Y:-17.04, Z:-2.62 [[ 0.72201988 -0.59585594 -0.35162907 -12.7516684 ] [ 0.61288702 0.78664659 -0.07454285 -17.04218552] [ 0.32102461 -0.16168747 0.93316685 -2.61503271] [ 0. 0. 0. 1. ]] SLAMing on 73.05165253199999 meters Centerline goodness [0,1] 0.47309006288062583 Centerline is valid? [False, False] Translation: X:-12.78, Y:-17.07, Z:-2.63 [[ 0.72251837 -0.59583809 -0.35063396 -12.77804845] [ 0.61286376 0.78671525 -0.07400764 -17.07167584] [ 0.31994566 -0.16141897 0.93358379 -2.62699021] [ 0. 0. 0. 1. ]] SLAMing on 73.08165253199999 meters Centerline goodness [0,1] 0.46437157657322725 Centerline is valid? [False, False] Translation: X:-12.81, Y:-17.10, Z:-2.64 [[ 0.72269318 -0.59717669 -0.34798646 -12.80659694] [ 0.61347358 0.78614205 -0.07503893 -17.10303297] [ 0.31837829 -0.15925038 0.93449162 -2.64019595] [ 0. 0. 0. 1. ]] SLAMing on 73.111652532 meters Centerline goodness [0,1] 0.4755090399543662 Centerline is valid? [False, False] Translation: X:-12.83, Y:-17.13, Z:-2.65 [[ 0.72363545 -0.5964285 -0.34731078 -12.83312712] [ 0.61292409 0.78667894 -0.07389388 -17.13219692] [ 0.31729449 -0.15940292 0.93483416 -2.65211533] [ 0. 0. 0. 1. ]] SLAMing on 73.141652532 meters Centerline goodness [0,1] 0.4799801538079881 Centerline is valid? [False, False] Translation: X:-12.86, Y:-17.16, Z:-2.66 [[ 0.72479584 -0.59546854 -0.34653745 -12.86148889] [ 0.61192255 0.78750922 -0.07334862 -17.16457212] [ 0.31657823 -0.15889131 0.93516404 -2.66414123] [ 0. 0. 0. 1. ]] SLAMing on 73.171652532 meters Centerline goodness [0,1] 0.4681226396342676 Centerline is valid? [False, False] Translation: X:-12.88, Y:-17.19, Z:-2.67 [[ 0.72287141 -0.59694759 -0.34800934 -12.88230413] [ 0.61349159 0.78620134 -0.07426657 -17.18914242] [ 0.31793866 -0.15981563 0.9345448 -2.67328213] [ 0. 0. 0. 1. ]] SLAMing on 73.201652532 meters Centerline goodness [0,1] 0.479280085514704 Centerline is valid? [False, False] Translation: X:-12.91, Y:-17.22, Z:-2.69 [[ 0.72325785 -0.59644878 -0.34806167 -12.90717519] [ 0.61310241 0.78654461 -0.07384449 -17.21740836] [ 0.31781049 -0.15998884 0.93455875 -2.6851577 ] [ 0. 0. 0. 1. ]] SLAMing on 73.231652532 meters Centerline goodness [0,1] 0.4796567465761967 Centerline is valid? [False, False] Translation: X:-12.93, Y:-17.25, Z:-2.70 [[ 0.72230865 -0.5982588 -0.34692453 -12.93374098] [ 0.614175 0.78551536 -0.07585963 -17.24950382] [ 0.31789824 -0.15827831 0.93482014 -2.69650897] [ 0. 0. 0. 1. ]] SLAMing on 73.26165253199999 meters Centerline goodness [0,1] 0.4813546613346663 Centerline is valid? [False, False] Translation: X:-12.96, Y:-17.27, Z:-2.71 [[ 0.72112002 -0.59843059 -0.34909419 -12.95513115] [ 0.61481865 0.78502715 -0.0756994 -17.27471047] [ 0.31934925 -0.16004127 0.93402508 -2.70526121] [ 0. 0. 0. 1. ]] SLAMing on 73.29165253199999 meters Centerline goodness [0,1] 0.49265367316341824 Centerline is valid? [False, False] Translation: X:-12.98, Y:-17.30, Z:-2.71 [[ 0.72067631 -0.59827608 -0.35027331 -12.97836596] [ 0.6151232 0.78485917 -0.07496362 -17.30179598] [ 0.31976416 -0.16143673 0.9336429 -2.71479409] [ 0. 0. 0. 1. ]] SLAMing on 73.32165253199999 meters Centerline goodness [0,1] 0.4871782041980436 Centerline is valid? [False, False] Translation: X:-13.00, Y:-17.33, Z:-2.72 [[ 0.71930107 -0.59897506 -0.35190174 -13.00044393] [ 0.6161941 0.78401897 -0.07496051 -17.3281803 ] [ 0.32079712 -0.16292061 0.93303059 -2.72298093] [ 0. 0. 0. 1. ]] SLAMing on 73.35165253199999 meters Centerline goodness [0,1] 0.4954986583745016 Centerline is valid? [False, False] Translation: X:-13.03, Y:-17.36, Z:-2.73 [[ 0.71851016 -0.60099433 -0.35006994 -13.02824971] [ 0.61743287 0.78287017 -0.0767525 -17.35980196] [ 0.32018713 -0.16099724 0.93357383 -2.73469532] [ 0. 0. 0. 1. ]] SLAMing on 73.38165253199999 meters Centerline goodness [0,1] 0.49624796084828715 Centerline is valid? [False, False] Translation: X:-13.05, Y:-17.39, Z:-2.75 [[ 0.7185486 -0.60070658 -0.35048469 -13.05310481] [ 0.61739738 0.78295509 -0.07616952 -17.38725791] [ 0.3201693 -0.16165683 0.93346595 -2.74573903] [ 0. 0. 0. 1. ]] SLAMing on 73.41165253199999 meters Centerline goodness [0,1] 0.49624796084828715 Centerline is valid? [False, False] Translation: X:-13.08, Y:-17.42, Z:-2.76 [[ 0.71881253 -0.60056549 -0.35018515 -13.07898144] [ 0.61723103 0.78309867 -0.0760416 -17.41616585] [ 0.31989749 -0.16148549 0.93358879 -2.75743364] [ 0. 0. 0. 1. ]] SLAMing on 73.44165253199999 meters Centerline goodness [0,1] 0.49457216636999524 Centerline is valid? [False, False] Translation: X:-13.11, Y:-17.44, Z:-2.77 [[ 0.71982648 -0.59910875 -0.35059741 -13.105299 ] [ 0.61598524 0.78415315 -0.075273 -17.44384431] [ 0.32001877 -0.16177934 0.93349635 -2.76975249] [ 0. 0. 0. 1. ]] SLAMing on 73.471652532 meters Centerline goodness [0,1] 0.49666024566582445 Centerline is valid? [False, False] Translation: X:-13.13, Y:-17.47, Z:-2.78 [[ 0.7212699 -0.59777339 -0.34990957 -13.13297338] [ 0.61480367 0.78519173 -0.07409727 -17.47288396] [ 0.31903947 -0.16168156 0.93384843 -2.78253725] [ 0. 0. 0. 1. ]] SLAMing on 73.501652532 meters Centerline goodness [0,1] 0.49824000798861623 Centerline is valid? [False, False] Translation: X:-13.16, Y:-17.50, Z:-2.80 [[ 0.72275287 -0.59713097 -0.34794092 -13.16289264] [ 0.61401523 0.78588554 -0.07327487 -17.50474203] [ 0.31719644 -0.1606814 0.93464855 -2.79554017] [ 0. 0. 0. 1. ]] SLAMing on 73.531652532 meters Centerline goodness [0,1] 0.49792169649301843 Centerline is valid? [False, False] Translation: X:-13.19, Y:-17.54, Z:-2.81 [[ 0.72355726 -0.59715758 -0.34621917 -13.1911598 ] [ 0.61405557 0.7859451 -0.0722915 -17.53501365] [ 0.31527868 -0.16029077 0.93536422 -2.80725601] [ 0. 0. 0. 1. ]] SLAMing on 73.561652532 meters Centerline goodness [0,1] 0.497651882221394 Centerline is valid? [False, False] Translation: X:-13.22, Y:-17.56, Z:-2.82 [[ 0.72413941 -0.59738605 -0.34460416 -13.21861595] [ 0.61424661 0.78586198 -0.07156848 -17.56445482] [ 0.31356532 -0.15984638 0.93601599 -2.81904966] [ 0. 0. 0. 1. ]] SLAMing on 73.591652532 meters Centerline goodness [0,1] 0.4961317198968459 Centerline is valid? [False, False] Translation: X:-13.25, Y:-17.59, Z:-2.83 [[ 0.72449725 -0.59753441 -0.34359331 -13.24537478] [ 0.61443823 0.78577125 -0.07091684 -17.59357994] [ 0.312361 -0.15973781 0.9364371 -2.8302144 ] [ 0. 0. 0. 1. ]] SLAMing on 73.62165253199998 meters Centerline goodness [0,1] 0.5012233398413366 Centerline is valid? [False, False] Translation: X:-13.27, Y:-17.62, Z:-2.84 [[ 0.72565087 -0.59682512 -0.34238951 -13.2727555 ] [ 0.61378782 0.78637115 -0.0698923 -17.62208165] [ 0.31095872 -0.1594371 0.9369549 -2.84286572] [ 0. 0. 0. 1. ]] SLAMing on 73.65165253199999 meters Centerline goodness [0,1] 0.5031101713667543 Centerline is valid? [False, False] Translation: X:-13.30, Y:-17.65, Z:-2.85 [[ 0.72717845 -0.5954498 -0.34154213 -13.30201294] [ 0.61272327 0.7873549 -0.06813554 -17.65222542] [ 0.30948617 -0.15972412 0.93739347 -2.85426258] [ 0. 0. 0. 1. ]] SLAMing on 73.68165253199999 meters Centerline goodness [0,1] 0.4884515209592609 Centerline is valid? [False, False] Translation: X:-13.31, Y:-17.66, Z:-2.86 [[ 0.72798649 -0.59731377 -0.33652923 -13.31033838] [ 0.61300681 0.78691312 -0.07064281 -17.6568672 ] [ 0.30701519 -0.1548677 0.93901952 -2.86052303] [ 0. 0. 0. 1. ]] SLAMing on 73.71165253199999 meters Centerline goodness [0,1] 0.4977614877496802 Centerline is valid? [False, False] Translation: X:-13.32, Y:-17.66, Z:-2.87 [[ 0.72872784 -0.59915897 -0.3316086 -13.31813952] [ 0.61343697 0.78638168 -0.07279377 -17.66270752] [ 0.30438597 -0.15037413 0.94060449 -2.86606568] [ 0. 0. 0. 1. ]] SLAMing on 73.74165253199999 meters Centerline goodness [0,1] 0.49273048774497763 Centerline is valid? [False, False] Translation: X:-13.34, Y:-17.69, Z:-2.88 [[ 0.72757693 -0.60137326 -0.33012424 -13.3440595 ] [ 0.61531944 0.78483705 -0.07357165 -17.69209881] [ 0.30333776 -0.14960283 0.94106599 -2.87610977] [ 0. 0. 0. 1. ]] SLAMing on 73.77165253199999 meters Centerline goodness [0,1] 0.48863747673621316 Centerline is valid? [False, False] Translation: X:-13.37, Y:-17.72, Z:-2.89 [[ 0.72845225 -0.59999228 -0.3307062 -13.36988511] [ 0.61445669 0.78566408 -0.07193704 -17.71833266] [ 0.30298565 -0.15080194 0.94098803 -2.88715864] [ 0. 0. 0. 1. ]] SLAMing on 73.80165253199999 meters Centerline goodness [0,1] 0.4976213130352045 Centerline is valid? [False, False] Translation: X:-13.37, Y:-17.72, Z:-2.89 [[ 0.72909951 -0.5995664 -0.33005155 -13.37262708] [ 0.61397301 0.78606726 -0.07166182 -17.71817203] [ 0.30240874 -0.15039414 0.94123884 -2.88854343] [ 0. 0. 0. 1. ]] SLAMing on 73.83165253199999 meters Centerline goodness [0,1] 0.4948355198746818 Centerline is valid? [False, False] Translation: X:-13.40, Y:-17.75, Z:-2.90 [[ 0.72807454 -0.60123333 -0.32928095 -13.39696763] [ 0.61537158 0.78489678 -0.07249045 -17.74621229] [ 0.30203523 -0.14985168 0.94144527 -2.89934347] [ 0. 0. 0. 1. ]] SLAMing on 73.861652532 meters Centerline goodness [0,1] 0.4987372189392639 Centerline is valid? [False, False] Translation: X:-13.40, Y:-17.75, Z:-2.90 [[ 0.72668726 -0.60458637 -0.32619157 -13.40056243] [ 0.61772927 0.78282773 -0.07477502 -17.74844145] [ 0.30055977 -0.14716003 0.94234163 -2.90002804] [ 0. 0. 0. 1. ]] SLAMing on 73.891652532 meters Centerline goodness [0,1] 0.5009678763078582 Centerline is valid? [False, False] Translation: X:-13.40, Y:-17.75, Z:-2.90 [[ 0.7254278 -0.60769227 -0.32320984 -13.40451762] [ 0.61990397 0.78090126 -0.07689149 -17.75087831] [ 0.29912133 -0.14457984 0.94319833 -2.90044759] [ 0. 0. 0. 1. ]] SLAMing on 73.921652532 meters Centerline goodness [0,1] 0.4955624203197019 Centerline is valid? [False, False] Translation: X:-13.41, Y:-17.76, Z:-2.90 [[ 0.72625396 -0.60875438 -0.31933256 -13.41215729] [ 0.62003082 0.78067979 -0.07810793 -17.75759062] [ 0.29684502 -0.14126984 0.94441827 -2.90356782] [ 0. 0. 0. 1. ]] SLAMing on 73.951652532 meters Centerline goodness [0,1] 0.5016930853413162 Centerline is valid? [False, False] Translation: X:-13.42, Y:-17.76, Z:-2.90 [[ 0.72493882 -0.61186486 -0.31636229 -13.41502257] [ 0.62225977 0.77869669 -0.0801514 -17.76106465] [ 0.29539209 -0.13875467 0.94524635 -2.9040223 ] [ 0. 0. 0. 1. ]] SLAMing on 73.981652532 meters Centerline goodness [0,1] 0.4960637645616186 Centerline is valid? [False, False] Translation: X:-13.42, Y:-17.76, Z:-2.90 [[ 0.72363997 -0.61499258 -0.31325599 -13.41929382] [ 0.62445276 0.77671069 -0.0823363 -17.76264289] [ 0.29394549 -0.13603173 0.94609271 -2.90497267] [ 0. 0. 0. 1. ]] SLAMing on 74.01165253199999 meters Centerline goodness [0,1] 0.5049793956043955 Centerline is valid? [False, False] Translation: X:-13.42, Y:-17.76, Z:-2.91 [[ 0.72230367 -0.61818865 -0.31003258 -13.42357944] [ 0.62668206 0.77466686 -0.08462176 -17.76392385] [ 0.29248418 -0.13316924 0.94695246 -2.90615221] [ 0. 0. 0. 1. ]] SLAMing on 74.04165253199999 meters Centerline goodness [0,1] 0.5009458297506448 Centerline is valid? [False, False] Translation: X:-13.43, Y:-17.77, Z:-2.91 [[ 0.72126165 -0.62098199 -0.30685992 -13.42835626] [ 0.6285635 0.77291071 -0.08670043 -17.76576865] [ 0.29101472 -0.13034725 0.94779746 -2.9073288 ] [ 0. 0. 0. 1. ]] SLAMing on 74.07165253199999 meters Centerline goodness [0,1] 0.5102146430419675 Centerline is valid? [False, False] Translation: X:-13.43, Y:-17.77, Z:-2.91 [[ 0.71947301 -0.62457693 -0.30374701 -13.43012615] [ 0.63115682 0.77049449 -0.08932695 -17.76714119] [ 0.28982695 -0.12744367 0.94855598 -2.90865728] [ 0. 0. 0. 1. ]] SLAMing on 74.10165253199999 meters Centerline goodness [0,1] 0.5079232077285162 Centerline is valid? [False, False] Translation: X:-13.43, Y:-17.77, Z:-2.91 [[ 0.7181476 -0.62774769 -0.30032792 -13.43415727] [ 0.63332099 0.76842867 -0.09177092 -17.76824162] [ 0.28838957 -0.12429891 0.949411 -2.91046275] [ 0. 0. 0. 1. ]] SLAMing on 74.13165253199999 meters Centerline goodness [0,1] 0.5117008920849087 Centerline is valid? [False, False] Translation: X:-13.44, Y:-17.77, Z:-2.91 [[ 0.71627466 -0.63143333 -0.2970565 -13.4367191 ] [ 0.63598725 0.7658929 -0.09448963 -17.76924315] [ 0.28717736 -0.12124362 0.95017322 -2.91160959] [ 0. 0. 0. 1. ]] SLAMing on 74.16165253199999 meters Centerline goodness [0,1] 0.5082905792252213 Centerline is valid? [False, False] Translation: X:-13.45, Y:-17.78, Z:-2.92 [[ 0.7167371 -0.63393404 -0.29054358 -13.44762351] [ 0.63660693 0.764879 -0.09844661 -17.7783602 ] [ 0.28463934 -0.11440172 0.95178395 -2.91775106] [ 0. 0. 0. 1. ]] SLAMing on 74.19165253199999 meters Centerline goodness [0,1] 0.5171012193912957 Centerline is valid? [False, False] Translation: X:-13.45, Y:-17.78, Z:-2.92 [[ 0.71708805 -0.63362112 -0.29036013 -13.44911882] [ 0.63638815 0.7651206 -0.09798257 -17.77945912] [ 0.28424434 -0.11451961 0.95188781 -2.91765986] [ 0. 0. 0. 1. ]] SLAMing on 74.221652532 meters Centerline goodness [0,1] 0.5167888654156829 Centerline is valid? [False, False] Translation: X:-13.47, Y:-17.80, Z:-2.92 [[ 0.71567619 -0.63244898 -0.29633744 -13.4665595 ] [ 0.63650301 0.76526975 -0.09605274 -17.804174 ] [ 0.28752654 -0.11987701 0.95024102 -2.91980345] [ 0. 0. 0. 1. ]] SLAMing on 74.251652532 meters Centerline goodness [0,1] 0.5173536061215871 Centerline is valid? [False, False] Translation: X:-13.47, Y:-17.80, Z:-2.92 [[ 0.7139597 -0.63591721 -0.29303728 -13.4701496 ] [ 0.63900544 0.76285791 -0.09858934 -17.80492339] [ 0.28624047 -0.1168636 0.95100436 -2.92094994] [ 0. 0. 0. 1. ]] SLAMing on 74.281652532 meters Centerline goodness [0,1] 0.5168124488936243 Centerline is valid? [False, False] Translation: X:-13.49, Y:-17.83, Z:-2.93 [[ 0.71388194 -0.63368578 -0.2980183 -13.4904311 ] [ 0.6378393 0.76406701 -0.09676066 -17.83151506] [ 0.2890218 -0.1210121 0.94964334 -2.92639314] [ 0. 0. 0. 1. ]] SLAMing on 74.311652532 meters Centerline goodness [0,1] 0.5141421890079434 Centerline is valid? [False, False] Translation: X:-13.50, Y:-17.83, Z:-2.93 [[ 0.71365243 -0.63613735 -0.29330784 -13.49727778] [ 0.63909906 0.76270327 -0.09917715 -17.83390902] [ 0.28679714 -0.11667475 0.95085982 -2.93132066] [ 0. 0. 0. 1. ]] SLAMing on 74.341652532 meters Centerline goodness [0,1] 0.5135603286152628 Centerline is valid? [False, False] Translation: X:-13.52, Y:-17.86, Z:-2.94 [[ 0.71321503 -0.63436339 -0.29817347 -13.51693152] [ 0.63835023 0.76354184 -0.09753386 -17.85965063] [ 0.28953983 -0.12077649 0.94951552 -2.93625086] [ 0. 0. 0. 1. ]] SLAMing on 74.37165253199998 meters Centerline goodness [0,1] 0.5123653917564055 Centerline is valid? [False, False] Translation: X:-13.54, Y:-17.89, Z:-2.95 [[ 0.71449565 -0.63260651 -0.29883937 -13.54374549] [ 0.63673055 0.76496405 -0.09697525 -17.89363033] [ 0.28994855 -0.12099176 0.94936338 -2.94520588] [ 0. 0. 0. 1. ]] SLAMing on 74.40165253199999 meters Centerline goodness [0,1] 0.5138221451572951 Centerline is valid? [False, False] Translation: X:-13.56, Y:-17.92, Z:-2.95 [[ 0.71340131 -0.63183136 -0.30306387 -13.56396429] [ 0.63689556 0.76499462 -0.09564143 -17.92078898] [ 0.29227148 -0.12478931 0.94815875 -2.94911937] [ 0. 0. 0. 1. ]] SLAMing on 74.43165253199999 meters Centerline goodness [0,1] 0.5147619755288056 Centerline is valid? [False, False] Translation: X:-13.59, Y:-17.95, Z:-2.96 [[ 0.71275649 -0.63124888 -0.30578267 -13.58647297] [ 0.63692461 0.76507758 -0.09478047 -17.94696069] [ 0.29377753 -0.12720511 0.94737196 -2.9557167 ] [ 0. 0. 0. 1. ]] SLAMing on 74.46165253199999 meters Centerline goodness [0,1] 0.5117901769145119 Centerline is valid? [False, False] Translation: X:-13.61, Y:-17.97, Z:-2.96 [[ 0.71369058 -0.62868167 -0.30887717 -13.60993693] [ 0.63535937 0.76666851 -0.0924006 -17.97481982] [ 0.29489696 -0.13030257 0.94660289 -2.96308016] [ 0. 0. 0. 1. ]] SLAMing on 74.49165253199999 meters Centerline goodness [0,1] 0.513848738665283 Centerline is valid? [False, False] Translation: X:-13.64, Y:-18.01, Z:-2.97 [[ 0.71524354 -0.6269526 -0.30879946 -13.6385062 ] [ 0.63359974 0.76816539 -0.09205059 -18.00615621] [ 0.29492042 -0.12981667 0.94666234 -2.97466949] [ 0. 0. 0. 1. ]] SLAMing on 74.52165253199999 meters Centerline goodness [0,1] 0.5009238501145574 Centerline is valid? [False, False] Translation: X:-13.66, Y:-18.04, Z:-2.98 [[ 0.71664217 -0.62461258 -0.31029522 -13.66474184] [ 0.63190645 0.76978608 -0.09013117 -18.03608938] [ 0.29515801 -0.13148575 0.94635788 -2.98352087] [ 0. 0. 0. 1. ]] SLAMing on 74.55165253199999 meters Centerline goodness [0,1] 0.49894431896297753 Centerline is valid? [False, False] Translation: X:-13.69, Y:-18.07, Z:-2.99 [[ 0.71821967 -0.62275773 -0.31037609 -13.69300273] [ 0.6304927 0.77115479 -0.08831334 -18.06799284] [ 0.29434582 -0.13226148 0.94650274 -2.99313421] [ 0. 0. 0. 1. ]] SLAMing on 74.58165253199999 meters Centerline goodness [0,1] 0.5017082462824136 Centerline is valid? [False, False] Translation: X:-13.72, Y:-18.10, Z:-3.00 [[ 0.71698342 -0.62497781 -0.30876774 -13.72023788] [ 0.63226163 0.76956587 -0.0895187 -18.10239368] [ 0.29356432 -0.13103857 0.94691546 -3.00126568] [ 0. 0. 0. 1. ]] SLAMing on 74.611652532 meters Centerline goodness [0,1] 0.49240972733972 Centerline is valid? [False, False] Translation: X:-13.74, Y:-18.13, Z:-3.01 [[ 0.71660553 -0.62452942 -0.31054712 -13.74374181] [ 0.63226216 0.76964595 -0.08882383 -18.1309521 ] [ 0.29448443 -0.13269554 0.94639887 -3.00880513] [ 0. 0. 0. 1. ]] SLAMing on 74.641652532 meters Centerline goodness [0,1] 0.4955760888213524 Centerline is valid? [False, False] Translation: X:-13.77, Y:-18.16, Z:-3.02 [[ 0.71718201 -0.62352534 -0.31123323 -13.76946107] [ 0.6315601 0.77032271 -0.0879475 -18.16029763] [ 0.29458752 -0.13348813 0.94625531 -3.01852905] [ 0. 0. 0. 1. ]] SLAMing on 74.671652532 meters Centerline goodness [0,1] 0.49702388242498474 Centerline is valid? [False, False] Translation: X:-13.79, Y:-18.19, Z:-3.03 [[ 0.71767397 -0.62244232 -0.31226532 -13.79471106] [ 0.63077321 0.77104724 -0.08724286 -18.18895784] [ 0.29507496 -0.13435667 0.94598047 -3.02819219] [ 0. 0. 0. 1. ]] SLAMing on 74.701652532 meters Centerline goodness [0,1] 0.5075127251370399 Centerline is valid? [False, False] Translation: X:-13.82, Y:-18.22, Z:-3.04 [[ 0.71953031 -0.6196956 -0.31345413 -13.82210424] [ 0.62807171 0.77327409 -0.08702364 -18.22042119] [ 0.29631413 -0.13425552 0.94560742 -3.03998095] [ 0. 0. 0. 1. ]] SLAMing on 74.731652532 meters Centerline goodness [0,1] 0.5075127251370399 Centerline is valid? [False, False] Translation: X:-13.83, Y:-18.22, Z:-3.04 [[ 0.71905927 -0.62265001 -0.30864337 -13.82806946] [ 0.62982066 0.77159312 -0.08927484 -18.22286941] [ 0.29373408 -0.13019607 0.94697902 -3.04459768] [ 0. 0. 0. 1. ]] SLAMing on 74.76165253199999 meters Centerline goodness [0,1] 0.5041698256254739 Centerline is valid? [False, False] Translation: X:-13.85, Y:-18.26, Z:-3.05 [[ 0.71826313 -0.62319166 -0.30940301 -13.85344244] [ 0.6302781 0.77113117 -0.09003466 -18.25556144] [ 0.29469916 -0.13034136 0.94665914 -3.0521397 ] [ 0. 0. 0. 1. ]] SLAMing on 74.79165253199999 meters Centerline goodness [0,1] 0.5036029214196731 Centerline is valid? [False, False] Translation: X:-13.88, Y:-18.29, Z:-3.06 [[ 0.71905759 -0.62240524 -0.30914058 -13.88057469] [ 0.62962738 0.77174934 -0.08928781 -18.28690501] [ 0.29415224 -0.1304403 0.9468156 -3.06206146] [ 0. 0. 0. 1. ]] SLAMing on 74.82165253199999 meters Centerline goodness [0,1] 0.5055940981043581 Centerline is valid? [False, False] Translation: X:-13.90, Y:-18.31, Z:-3.07 [[ 0.71782303 -0.62274917 -0.31130945 -13.90299031] [ 0.63046435 0.77111921 -0.08882485 -18.31499656] [ 0.2953723 -0.13250899 0.94614828 -3.06797943] [ 0. 0. 0. 1. ]] SLAMing on 74.85165253199999 meters Centerline goodness [0,1] 0.5075916613777278 Centerline is valid? [False, False] Translation: X:-13.92, Y:-18.34, Z:-3.07 [[ 0.71536356 -0.62423075 -0.31399197 -13.92271114] [ 0.63231115 0.769549 -0.08931374 -18.33924459] [ 0.29738459 -0.13464883 0.94521537 -3.07397222] [ 0. 0. 0. 1. ]] SLAMing on 74.88165253199999 meters Centerline goodness [0,1] 0.5059098205165621 Centerline is valid? [False, False] Translation: X:-13.95, Y:-18.37, Z:-3.09 [[ 0.71639507 -0.62260825 -0.31486039 -13.95010834] [ 0.63061615 0.77090831 -0.08957483 -18.37012133] [ 0.29849852 -0.13438508 0.94490173 -3.08506479] [ 0. 0. 0. 1. ]] SLAMing on 74.91165253199999 meters Centerline goodness [0,1] 0.5054757848624969 Centerline is valid? [False, False] Translation: X:-13.98, Y:-18.40, Z:-3.10 [[ 0.71746122 -0.62121787 -0.31517894 -13.97660117] [ 0.62940252 0.77198497 -0.08883512 -18.40046296] [ 0.29849937 -0.13463866 0.94486537 -3.09542979] [ 0. 0. 0. 1. ]] SLAMing on 74.94165253199999 meters Centerline goodness [0,1] 0.5060346293013429 Centerline is valid? [False, False] Translation: X:-14.00, Y:-18.43, Z:-3.10 [[ 0.7175059 -0.62061174 -0.31626944 -14.00097191] [ 0.62910383 0.77229573 -0.0882478 -18.42999329] [ 0.29902116 -0.135648 0.94455596 -3.10409588] [ 0. 0. 0. 1. ]] SLAMing on 74.971652532 meters Centerline goodness [0,1] 0.5072305261878722 Centerline is valid? [False, False] Translation: X:-14.03, Y:-18.46, Z:-3.11 [[ 0.71745321 -0.62024513 -0.31710703 -14.02549683] [ 0.62885284 0.77250514 -0.08820384 -18.45914563] [ 0.29967481 -0.13613152 0.9442792 -3.11356553] [ 0. 0. 0. 1. ]] SLAMing on 75.001652532 meters Centerline goodness [0,1] 0.5071749423333738 Centerline is valid? [False, False] Translation: X:-14.06, Y:-18.49, Z:-3.13 [[ 0.71979204 -0.61802726 -0.31613562 -14.05630204] [ 0.62668009 0.77439907 -0.08705253 -18.49349164] [ 0.29861597 -0.13545618 0.94471166 -3.12505534] [ 0. 0. 0. 1. ]] SLAMing on 75.031652532 meters Centerline goodness [0,1] 0.48874303226273497 Centerline is valid? [False, False] Translation: X:-14.07, Y:-18.51, Z:-3.14 [[ 0.72211585 -0.61862976 -0.30958991 -14.07199897] [ 0.6243913 0.77552212 -0.09327889 -18.50601414] [ 0.29779892 -0.12594708 0.94628386 -3.13506471] [ 0. 0. 0. 1. ]] SLAMing on 75.061652532 meters Centerline goodness [0,1] 0.48895791874969663 Centerline is valid? [False, False] Translation: X:-14.10, Y:-18.53, Z:-3.14 [[ 0.72231158 -0.6176488 -0.31108832 -14.09580763] [ 0.62366681 0.77614831 -0.09291676 -18.53402931] [ 0.2988406 -0.1269006 0.94582796 -3.14448219] [ 0. 0. 0. 1. ]] SLAMing on 75.091652532 meters Centerline goodness [0,1] 0.49863912515188336 Centerline is valid? [False, False] Translation: X:-14.12, Y:-18.56, Z:-3.15 [[ 0.72009175 -0.61917895 -0.31318573 -14.11667362] [ 0.6251116 0.77479299 -0.0945056 -18.56208272] [ 0.30116999 -0.12772333 0.94497798 -3.15171763] [ 0. 0. 0. 1. ]] SLAMing on 75.12165253199998 meters Centerline goodness [0,1] 0.5021148330011183 Centerline is valid? [False, False] Translation: X:-14.13, Y:-18.58, Z:-3.16 [[ 0.71833208 -0.61825889 -0.31899055 -14.1331387 ] [ 0.62543329 0.77470339 -0.09310137 -18.58483344] [ 0.30468381 -0.13262961 0.94317398 -3.15534673] [ 0. 0. 0. 1. ]] SLAMing on 75.15165253199999 meters Centerline goodness [0,1] 0.5019438235008261 Centerline is valid? [False, False] Translation: X:-14.16, Y:-18.61, Z:-3.16 [[ 0.71801088 -0.61728686 -0.32158562 -14.15557062] [ 0.62498786 0.77513907 -0.09246397 -18.61245895] [ 0.30635037 -0.13459698 0.94235508 -3.16319072] [ 0. 0. 0. 1. ]] SLAMing on 75.18165253199999 meters Centerline goodness [0,1] 0.5000121279743857 Centerline is valid? [False, False] Translation: X:-14.18, Y:-18.64, Z:-3.17 [[ 0.71747466 -0.61572814 -0.32574373 -14.17526498] [ 0.62430952 0.77581463 -0.0913744 -18.63804325] [ 0.30897854 -0.1378061 0.94103227 -3.17006799] [ 0. 0. 0. 1. ]] SLAMing on 75.21165253199999 meters Centerline goodness [0,1] 0.4930335118369721 Centerline is valid? [False, False] Translation: X:-14.20, Y:-18.67, Z:-3.18 [[ 0.71816475 -0.61423683 -0.32703595 -14.20205292] [ 0.62292379 0.77693567 -0.09130675 -18.67082643] [ 0.31016986 -0.13814518 0.94059054 -3.17964622] [ 0. 0. 0. 1. ]] SLAMing on 75.24165253199999 meters Centerline goodness [0,1] 0.4948970934037963 Centerline is valid? [False, False] Translation: X:-14.22, Y:-18.70, Z:-3.19 [[ 0.7164009 -0.61480621 -0.32982278 -14.22263027] [ 0.6238454 0.77614556 -0.09173323 -18.69678186] [ 0.31238865 -0.14004066 0.93957541 -3.18659719] [ 0. 0. 0. 1. ]] SLAMing on 75.27165253199999 meters Centerline goodness [0,1] 0.4866057358966278 Centerline is valid? [False, False] Translation: X:-14.25, Y:-18.73, Z:-3.20 [[ 0.71667231 -0.61370766 -0.33127588 -14.24742029] [ 0.6230243 0.77685218 -0.09133134 -18.7257719 ] [ 0.31340313 -0.14093829 0.93910323 -3.19629203] [ 0. 0. 0. 1. ]] SLAMing on 75.30165253199999 meters Centerline goodness [0,1] 0.4866057358966278 Centerline is valid? [False, False] Translation: X:-14.27, Y:-18.75, Z:-3.20 [[ 0.71621287 -0.61293353 -0.33369389 -14.27040977] [ 0.62246104 0.77726177 -0.09168639 -18.7538826 ] [ 0.31556516 -0.14204448 0.93821213 -3.20477957] [ 0. 0. 0. 1. ]] SLAMing on 75.33165253199999 meters Centerline goodness [0,1] 0.4874772699721178 Centerline is valid? [False, False] Translation: X:-14.30, Y:-18.79, Z:-3.22 [[ 0.71736449 -0.61157624 -0.33371049 -14.29866255] [ 0.62103195 0.77841846 -0.0915643 -18.78841593] [ 0.31576496 -0.14155989 0.93821815 -3.21552463] [ 0. 0. 0. 1. ]] SLAMing on 75.361652532 meters Centerline goodness [0,1] 0.48938387706626596 Centerline is valid? [False, False] Translation: X:-14.32, Y:-18.82, Z:-3.22 [[ 0.71581837 -0.61204681 -0.33615884 -14.31925404] [ 0.62169764 0.77779997 -0.09229982 -18.81526228] [ 0.31795614 -0.14291925 0.93727156 -3.22337695] [ 0. 0. 0. 1. ]] SLAMing on 75.391652532 meters Centerline goodness [0,1] 0.4882781312752522 Centerline is valid? [False, False] Translation: X:-14.34, Y:-18.84, Z:-3.23 [[ 0.71596649 -0.61099056 -0.33776105 -14.34283859] [ 0.6208551 0.77848632 -0.09218453 -18.84292842] [ 0.31926623 -0.14369964 0.93670672 -3.23376691] [ 0. 0. 0. 1. ]] SLAMing on 75.421652532 meters Centerline goodness [0,1] 0.48228389247156 Centerline is valid? [False, False] Translation: X:-14.37, Y:-18.88, Z:-3.25 [[ 0.71861948 -0.60820592 -0.33715219 -14.37344116] [ 0.61824552 0.78073876 -0.09066133 -18.87736808] [ 0.31836854 -0.14329183 0.93707466 -3.24650731] [ 0. 0. 0. 1. ]] SLAMing on 75.451652532 meters Centerline goodness [0,1] 0.48077758995411735 Centerline is valid? [False, False] Translation: X:-14.40, Y:-18.91, Z:-3.26 [[ 0.71958229 -0.60671688 -0.33778092 -14.40029306] [ 0.61732556 0.78166693 -0.08891555 -18.90901559] [ 0.31797874 -0.14453874 0.93701551 -3.25568416] [ 0. 0. 0. 1. ]] SLAMing on 75.481652532 meters Centerline goodness [0,1] 0.4775339350093155 Centerline is valid? [False, False] Translation: X:-14.42, Y:-18.94, Z:-3.26 [[ 0.71836259 -0.60676256 -0.34028575 -14.42249345] [ 0.61791541 0.78123977 -0.08857182 -18.93765682] [ 0.31958682 -0.14664113 0.93614136 -3.26218566] [ 0. 0. 0. 1. ]] SLAMing on 75.51165253199999 meters Centerline goodness [0,1] 0.47730844556203 Centerline is valid? [False, False] Translation: X:-14.44, Y:-18.97, Z:-3.27 [[ 0.71753009 -0.60629092 -0.34287299 -14.4446494 ] [ 0.61791457 0.78126306 -0.08837208 -18.96580963] [ 0.32145319 -0.14845659 0.93521574 -3.2700635 ] [ 0. 0. 0. 1. ]] SLAMing on 75.54165253199999 meters Centerline goodness [0,1] 0.47505932490677516 Centerline is valid? [False, False] Translation: X:-14.47, Y:-19.00, Z:-3.28 [[ 0.71755737 -0.6057004 -0.34385819 -14.47020311] [ 0.61743963 0.78163766 -0.08837913 -18.99718994] [ 0.32230378 -0.14889458 0.93485329 -3.28012611] [ 0. 0. 0. 1. ]] SLAMing on 75.57165253199999 meters Centerline goodness [0,1] 0.47264043445583925 Centerline is valid? [False, False] Translation: X:-14.49, Y:-19.02, Z:-3.29 [[ 0.71697816 -0.60520454 -0.34593322 -14.49261857] [ 0.61743009 0.78170017 -0.08789154 -19.02394443] [ 0.32360841 -0.15057326 0.93413344 -3.28916304] [ 0. 0. 0. 1. ]] SLAMing on 75.60165253199999 meters Centerline goodness [0,1] 0.4739599757428745 Centerline is valid? [False, False] Translation: X:-14.51, Y:-19.05, Z:-3.30 [[ 0.71527947 -0.60558426 -0.34877352 -14.51297031] [ 0.61831332 0.78099059 -0.08799058 -19.04941112] [ 0.32567455 -0.15271346 0.93306735 -3.29653104] [ 0. 0. 0. 1. ]] SLAMing on 75.63165253199999 meters Centerline goodness [0,1] 0.4759697072673431 Centerline is valid? [False, False] Translation: X:-14.54, Y:-19.08, Z:-3.31 [[ 0.71600595 -0.60425031 -0.34959555 -14.53918312] [ 0.6171994 0.78193398 -0.08743077 -19.08105711] [ 0.32619071 -0.15316922 0.93281231 -3.30769113] [ 0. 0. 0. 1. ]] SLAMing on 75.66165253199999 meters Centerline goodness [0,1] 0.4733006170740003 Centerline is valid? [False, False] Translation: X:-14.56, Y:-19.11, Z:-3.32 [[ 0.71620819 -0.60311398 -0.35114008 -14.56335432] [ 0.61695215 0.7823548 -0.08538742 -19.10925144] [ 0.32621447 -0.15548146 0.93242138 -3.31614971] [ 0. 0. 0. 1. ]] SLAMing on 75.69165253199999 meters Centerline goodness [0,1] 0.4733597106585431 Centerline is valid? [False, False] Translation: X:-14.59, Y:-19.14, Z:-3.32 [[ 0.7156482 -0.60305865 -0.35237469 -14.58699759] [ 0.61744869 0.78206559 -0.08444244 -19.13718291] [ 0.32650386 -0.15714221 0.93204161 -3.3245544 ] [ 0. 0. 0. 1. ]] SLAMing on 75.721652532 meters Centerline goodness [0,1] 0.4728490917446726 Centerline is valid? [False, False] Translation: X:-14.61, Y:-19.16, Z:-3.33 [[ 0.7157233 -0.60245137 -0.35325983 -14.61075751] [ 0.61746474 0.78221052 -0.0829698 -19.16447125] [ 0.32630882 -0.15874207 0.93183878 -3.33436069] [ 0. 0. 0. 1. ]] SLAMing on 75.751652532 meters Centerline goodness [0,1] 0.47309941520467835 Centerline is valid? [False, False] Translation: X:-14.64, Y:-19.20, Z:-3.35 [[ 0.71647834 -0.60145686 -0.35342387 -14.6375155 ] [ 0.61662885 0.78293609 -0.08234041 -19.1979811 ] [ 0.32623251 -0.15893623 0.9318324 -3.34510078] [ 0. 0. 0. 1. ]] SLAMing on 75.781652532 meters Centerline goodness [0,1] 0.4695203562650573 Centerline is valid? [False, False] Translation: X:-14.66, Y:-19.22, Z:-3.35 [[ 0.71513695 -0.60218671 -0.35489479 -14.65948471] [ 0.61769314 0.78209396 -0.08236639 -19.22459348] [ 0.32716102 -0.16031283 0.93127089 -3.35373048] [ 0. 0. 0. 1. ]] SLAMing on 75.811652532 meters Centerline goodness [0,1] 0.47817088314787304 Centerline is valid? [False, False] Translation: X:-14.68, Y:-19.25, Z:-3.36 [[ 0.71433866 -0.60169823 -0.35732271 -14.68146188] [ 0.61792977 0.78199934 -0.08148514 -19.25138635] [ 0.32845559 -0.16259235 0.93041961 -3.36171709] [ 0. 0. 0. 1. ]] SLAMing on 75.841652532 meters Centerline goodness [0,1] 0.4701565319159311 Centerline is valid? [False, False] Translation: X:-14.70, Y:-19.28, Z:-3.37 [[ 0.71313441 -0.60157818 -0.35992083 -14.70240346] [ 0.61864778 0.78153333 -0.08050208 -19.2776403 ] [ 0.32971842 -0.16525541 0.92950332 -3.36924951] [ 0. 0. 0. 1. ]] SLAMing on 75.87165253199998 meters Centerline goodness [0,1] 0.475184587550731 Centerline is valid? [False, False] Translation: X:-14.73, Y:-19.31, Z:-3.38 [[ 0.71216085 -0.6024315 -0.36042087 -14.72708514] [ 0.61959253 0.78075888 -0.0807506 -19.30881926] [ 0.3300485 -0.16580666 0.92928797 -3.37828345] [ 0. 0. 0. 1. ]] SLAMing on 75.90165253199999 meters Centerline goodness [0,1] 0.4869980411361411 Centerline is valid? [False, False] Translation: X:-14.74, Y:-19.33, Z:-3.38 [[ 0.7097497 -0.6022985 -0.36536541 -14.74374104] [ 0.62095786 0.77982525 -0.07927111 -19.33113085] [ 0.33266605 -0.17061388 0.92748273 -3.38217463] [ 0. 0. 0. 1. ]] SLAMing on 75.93165253199999 meters Centerline goodness [0,1] 0.4780517727886149 Centerline is valid? [False, False] Translation: X:-14.77, Y:-19.36, Z:-3.39 [[ 0.70917493 -0.60201774 -0.36694081 -14.76761777] [ 0.62120354 0.77969557 -0.07861919 -19.36133131] [ 0.33343227 -0.17219017 0.92691611 -3.39085612] [ 0. 0. 0. 1. ]] SLAMing on 75.96165253199999 meters Centerline goodness [0,1] 0.48480384936416754 Centerline is valid? [False, False] Translation: X:-14.79, Y:-19.39, Z:-3.40 [[ 0.70850122 -0.60079097 -0.37023808 -14.78818984] [ 0.6210097 0.77998172 -0.07730117 -19.38531908] [ 0.33522078 -0.17515346 0.92571502 -3.39905466] [ 0. 0. 0. 1. ]] SLAMing on 75.99165253199999 meters Centerline goodness [0,1] 0.48313943478367805 Centerline is valid? [False, False] Translation: X:-14.81, Y:-19.41, Z:-3.41 [[ 0.70886732 -0.59896638 -0.37248678 -14.81077081] [ 0.62012224 0.78086283 -0.07550922 -19.41072417] [ 0.33608856 -0.17746132 0.92496052 -3.40913323] [ 0. 0. 0. 1. ]] SLAMing on 76.02165253199999 meters Centerline goodness [0,1] 0.4745128719164854 Centerline is valid? [False, False] Translation: X:-14.83, Y:-19.44, Z:-3.42 [[ 0.70902431 -0.59750801 -0.37452465 -14.83323456] [ 0.61972141 0.78138322 -0.07338686 -19.43546707] [ 0.33649651 -0.18006787 0.92430821 -3.41864035] [ 0. 0. 0. 1. ]] SLAMing on 76.05165253199999 meters Centerline goodness [0,1] 0.47700387768124475 Centerline is valid? [False, False] Translation: X:-14.86, Y:-19.47, Z:-3.43 [[ 0.71150497 -0.59514703 -0.37357822 -14.86262674] [ 0.61767507 0.78319442 -0.0713022 -19.46654615] [ 0.33501967 -0.18001809 0.92485421 -3.43220495] [ 0. 0. 0. 1. ]] SLAMing on 76.08165253199999 meters Centerline goodness [0,1] 0.47471275655504275 Centerline is valid? [False, False] Translation: X:-14.89, Y:-19.50, Z:-3.45 [[ 0.71396945 -0.5930332 -0.37223548 -14.89223037] [ 0.61583973 0.784831 -0.06915002 -19.49912384] [ 0.3331502 -0.17986639 0.92555876 -3.44571007] [ 0. 0. 0. 1. ]] SLAMing on 76.111652532 meters Centerline goodness [0,1] 0.4812013457429828 Centerline is valid? [False, False] Translation: X:-14.92, Y:-19.53, Z:-3.46 [[ 0.7143072 -0.59254115 -0.37237107 -14.91689103] [ 0.61582543 0.7849629 -0.0677665 -19.52683061] [ 0.33245192 -0.18090947 0.92560655 -3.45667436] [ 0. 0. 0. 1. ]] SLAMing on 76.141652532 meters Centerline goodness [0,1] 0.48014644454272937 Centerline is valid? [False, False] Translation: X:-14.94, Y:-19.55, Z:-3.47 [[ 0.71310027 -0.59419895 -0.3720425 -14.93931021] [ 0.61767058 0.78353448 -0.06750386 -19.55284104] [ 0.33161885 -0.18166269 0.92575786 -3.46709792] [ 0. 0. 0. 1. ]] SLAMing on 76.171652532 meters Centerline goodness [0,1] 0.48154786750804135 Centerline is valid? [False, False] Translation: X:-14.96, Y:-19.58, Z:-3.48 [[ 0.71229544 -0.59530473 -0.37181646 -14.96317606] [ 0.6187619 0.78265487 -0.06771313 -19.58089733] [ 0.33131391 -0.18183411 0.92583338 -3.47776125] [ 0. 0. 0. 1. ]] SLAMing on 76.201652532 meters Centerline goodness [0,1] 0.4766254438594343 Centerline is valid? [False, False] Translation: X:-14.99, Y:-19.61, Z:-3.49 [[ 0.71354046 -0.59381969 -0.37180396 -14.98951054] [ 0.61756921 0.78370201 -0.06647877 -19.61155208] [ 0.33085991 -0.18217939 0.92592785 -3.49079037] [ 0. 0. 0. 1. ]] SLAMing on 76.231652532 meters Centerline goodness [0,1] 0.47851663030956637 Centerline is valid? [False, False] Translation: X:-15.01, Y:-19.64, Z:-3.50 [[ 0.7128184 -0.59385021 -0.37313785 -15.01171907] [ 0.61799076 0.78339298 -0.06620313 -19.63711485] [ 0.33162832 -0.18340494 0.92541088 -3.50122453] [ 0. 0. 0. 1. ]] SLAMing on 76.26165253199999 meters Centerline goodness [0,1] 0.47920035278553574 Centerline is valid? [False, False] Translation: X:-15.04, Y:-19.67, Z:-3.51 [[ 0.71154616 -0.59662293 -0.37113762 -15.03791507] [ 0.62030246 0.78149219 -0.06704338 -19.66759206] [ 0.33004077 -0.18251312 0.92615444 -3.51223974] [ 0. 0. 0. 1. ]] SLAMing on 76.29165253199999 meters Centerline goodness [0,1] 0.46787644598791855 Centerline is valid? [False, False] Translation: X:-15.07, Y:-19.70, Z:-3.53 [[ 0.71292794 -0.59591893 -0.36961382 -15.06603264] [ 0.61968553 0.78209734 -0.06567794 -19.69886733] [ 0.32821272 -0.1822207 0.92686139 -3.52503957] [ 0. 0. 0. 1. ]] SLAMing on 76.32165253199999 meters Centerline goodness [0,1] 0.47707992078820627 Centerline is valid? [False, False] Translation: X:-15.09, Y:-19.73, Z:-3.54 [[ 0.7124885 -0.59633496 -0.36979015 -15.09040769] [ 0.62025388 0.78166418 -0.06546937 -19.72720722] [ 0.32809339 -0.1827176 0.92680581 -3.53530196] [ 0. 0. 0. 1. ]] SLAMing on 76.35165253199999 meters Centerline goodness [0,1] 0.4756919021818714 Centerline is valid? [False, False] Translation: X:-15.11, Y:-19.75, Z:-3.55 [[ 0.71190128 -0.59694702 -0.36993353 -15.11387833] [ 0.62100274 0.78108032 -0.06533858 -19.75491927] [ 0.32795147 -0.18321511 0.92675782 -3.54601803] [ 0. 0. 0. 1. ]] SLAMing on 76.38165253199999 meters Centerline goodness [0,1] 0.47223578823989065 Centerline is valid? [False, False] Translation: X:-15.14, Y:-19.78, Z:-3.56 [[ 0.71130676 -0.59737292 -0.37038939 -15.13735734] [ 0.62151124 0.78066207 -0.06550198 -19.78295924] [ 0.32827806 -0.18360917 0.92656419 -3.55659785] [ 0. 0. 0. 1. ]] SLAMing on 76.41165253199999 meters Centerline goodness [0,1] 0.4795102998313907 Centerline is valid? [False, False] Translation: X:-15.16, Y:-19.81, Z:-3.57 [[ 0.71081475 -0.59784015 -0.37058 -15.16183153] [ 0.62157682 0.78049306 -0.06687927 -19.81278751] [ 0.32921823 -0.18280517 0.92638957 -3.56901299] [ 0. 0. 0. 1. ]] SLAMing on 76.44165253199999 meters Centerline goodness [0,1] 0.47852565670400626 Centerline is valid? [False, False] Translation: X:-15.18, Y:-19.84, Z:-3.58 [[ 0.709593 -0.59782458 -0.37293907 -15.18271312] [ 0.62210435 0.78007996 -0.06679396 -19.83793794] [ 0.33085337 -0.18461049 0.92544855 -3.5779741 ] [ 0. 0. 0. 1. ]] SLAMing on 76.471652532 meters Centerline goodness [0,1] 0.4840288826337046 Centerline is valid? [False, False] Translation: X:-15.21, Y:-19.87, Z:-3.59 [[ 0.7096184 -0.59781047 -0.37291335 -15.20738273] [ 0.62216144 0.78005314 -0.06657504 -19.86681282] [ 0.33069149 -0.18476943 0.92547469 -3.58962307] [ 0. 0. 0. 1. ]] SLAMing on 76.501652532 meters Centerline goodness [0,1] 0.4925340198602427 Centerline is valid? [False, False] Translation: X:-15.23, Y:-19.90, Z:-3.60 [[ 0.70827718 -0.60035574 -0.37137102 -15.23388458] [ 0.6241962 0.77832301 -0.06776718 -19.89937321] [ 0.32973102 -0.18381043 0.9260082 -3.59994112] [ 0. 0. 0. 1. ]] SLAMing on 76.531652532 meters Centerline goodness [0,1] 0.4818678224246431 Centerline is valid? [False, False] Translation: X:-15.26, Y:-19.93, Z:-3.61 [[ 0.70690546 -0.60193416 -0.37142959 -15.25704485] [ 0.62559794 0.7771115 -0.06873809 -19.92658514] [ 0.33001801 -0.18377426 0.92591314 -3.61047604] [ 0. 0. 0. 1. ]] SLAMing on 76.561652532 meters Centerline goodness [0,1] 0.48349733748865054 Centerline is valid? [False, False] Translation: X:-15.28, Y:-19.95, Z:-3.62 [[ 0.7052994 -0.60336503 -0.37216044 -15.27932695] [ 0.62703403 0.775879 -0.06957088 -19.95322153] [ 0.3307281 -0.18428896 0.9255574 -3.62013218] [ 0. 0. 0. 1. ]] SLAMing on 76.591652532 meters Centerline goodness [0,1] 0.4845044868337175 Centerline is valid? [False, False] Translation: X:-15.30, Y:-19.98, Z:-3.63 [[ 0.70512461 -0.60364829 -0.37203228 -15.30413013] [ 0.6273635 0.77562415 -0.06944222 -19.98197954] [ 0.3304759 -0.18443406 0.92561858 -3.63147617] [ 0. 0. 0. 1. ]] SLAMing on 76.62165253199998 meters Centerline goodness [0,1] 0.4820135082223962 Centerline is valid? [False, False] Translation: X:-15.33, Y:-20.01, Z:-3.64 [[ 0.70554704 -0.60308496 -0.372145 -15.32962696] [ 0.62686975 0.77604856 -0.06915886 -20.01095106] [ 0.33051126 -0.18449161 0.92559449 -3.64356857] [ 0. 0. 0. 1. ]] SLAMing on 76.65165253199999 meters Centerline goodness [0,1] 0.47938521590631866 Centerline is valid? [False, False] Translation: X:-15.36, Y:-20.04, Z:-3.66 [[ 0.70873758 -0.59956387 -0.37177172 -15.36096835] [ 0.62342019 0.77894639 -0.06774803 -20.04203323] [ 0.33020951 -0.18375442 0.9258488 -3.65858126] [ 0. 0. 0. 1. ]] SLAMing on 76.68165253199999 meters Centerline goodness [0,1] 0.48120282385128366 Centerline is valid? [False, False] Translation: X:-15.39, Y:-20.07, Z:-3.67 [[ 0.70782932 -0.60232901 -0.36902224 -15.38817359] [ 0.62514313 0.77738539 -0.06977123 -20.07111947] [ 0.32889773 -0.1813056 0.92679802 -3.67209364] [ 0. 0. 0. 1. ]] SLAMing on 76.71165253199999 meters Centerline goodness [0,1] 0.4814162754303599 Centerline is valid? [False, False] Translation: X:-15.42, Y:-20.10, Z:-3.69 [[ 0.70815426 -0.60421545 -0.36529609 -15.41826033] [ 0.62589364 0.77664581 -0.07126315 -20.10285034] [ 0.32676398 -0.1781712 0.92815965 -3.68666926] [ 0. 0. 0. 1. ]] SLAMing on 76.74165253199999 meters Centerline goodness [0,1] 0.4807072384487643 Centerline is valid? [False, False] Translation: X:-15.45, Y:-20.13, Z:-3.70 [[ 0.71008048 -0.60276586 -0.36394921 -15.44750836] [ 0.62440923 0.77793999 -0.0701605 -20.13463239] [ 0.32542099 -0.17743365 0.92877257 -3.69968997] [ 0. 0. 0. 1. ]] SLAMing on 76.77165253199999 meters Centerline goodness [0,1] 0.475128561331676 Centerline is valid? [False, False] Translation: X:-15.48, Y:-20.16, Z:-3.71 [[ 0.71186459 -0.60140944 -0.3627058 -15.47661321] [ 0.6229623 0.77917539 -0.0693086 -20.16462342] [ 0.32429428 -0.1766137 0.92932278 -3.71324938] [ 0. 0. 0. 1. ]] SLAMing on 76.80165253199999 meters Centerline goodness [0,1] 0.46810674674286823 Centerline is valid? [False, False] Translation: X:-15.51, Y:-20.20, Z:-3.73 [[ 0.71565475 -0.59788601 -0.36106869 -15.51016977] [ 0.61920721 0.78227316 -0.06805241 -20.19568485] [ 0.32314193 -0.17487431 0.93005283 -3.72963366] [ 0. 0. 0. 1. ]] SLAMing on 76.83165253199999 meters Centerline goodness [0,1] 0.4719384049198586 Centerline is valid? [False, False] Translation: X:-15.54, Y:-20.23, Z:-3.74 [[ 0.71841586 -0.59559211 -0.35937262 -15.54055372] [ 0.61683142 0.78426616 -0.06667527 -20.22604487] [ 0.32155505 -0.17377175 0.93080918 -3.74488669] [ 0. 0. 0. 1. ]] SLAMing on 76.861652532 meters Centerline goodness [0,1] 0.4681380844171542 Centerline is valid? [False, False] Translation: X:-15.57, Y:-20.26, Z:-3.76 [[ 0.71871693 -0.59628972 -0.3576095 -15.57012648] [ 0.6168138 0.78417509 -0.06789815 -20.25661177] [ 0.32091543 -0.17177892 0.93139964 -3.75781003] [ 0. 0. 0. 1. ]] SLAMing on 76.891652532 meters Centerline goodness [0,1] 0.47249511211952977 Centerline is valid? [False, False] Translation: X:-15.60, Y:-20.29, Z:-3.77 [[ 0.72071427 -0.59478696 -0.35608906 -15.59901129] [ 0.61506242 0.78559759 -0.06733973 -20.28691928] [ 0.3197955 -0.1704843 0.9320225 -3.77229445] [ 0. 0. 0. 1. ]] SLAMing on 76.921652532 meters Centerline goodness [0,1] 0.46928705531218406 Centerline is valid? [False, False] Translation: X:-15.63, Y:-20.32, Z:-3.79 [[ 0.7230761 -0.59282233 -0.35457388 -15.62900758] [ 0.61305203 0.78727415 -0.0660805 -20.31797607] [ 0.31832084 -0.16959101 0.93269005 -3.78627751] [ 0. 0. 0. 1. ]] SLAMing on 76.951652532 meters Centerline goodness [0,1] 0.46760002876801 Centerline is valid? [False, False] Translation: X:-15.66, Y:-20.35, Z:-3.80 [[ 0.72501229 -0.59117747 -0.35336436 -15.65814758] [ 0.61144839 0.78862396 -0.06483144 -20.3475989 ] [ 0.31699849 -0.16906048 0.93323658 -3.79980738] [ 0. 0. 0. 1. ]] SLAMing on 76.981652532 meters Centerline goodness [0,1] 0.4580958966166758 Centerline is valid? [False, False] Translation: X:-15.69, Y:-20.38, Z:-3.81 [[ 0.7278651 -0.58888333 -0.35132438 -15.69069218] [ 0.60900863 0.79061837 -0.06349075 -20.3796729 ] [ 0.31515216 -0.16774688 0.93409855 -3.81398759] [ 0. 0. 0. 1. ]] SLAMing on 77.01165253199999 meters Centerline goodness [0,1] 0.4577082440348621 Centerline is valid? [False, False] Translation: X:-15.72, Y:-20.41, Z:-3.83 [[ 0.72873284 -0.58942867 -0.34860047 -15.7207317 ] [ 0.6087821 0.79072273 -0.06435773 -20.41163729] [ 0.31358061 -0.16532213 0.93505925 -3.82735726] [ 0. 0. 0. 1. ]] SLAMing on 77.04165253199999 meters Centerline goodness [0,1] 0.4587234650846973 Centerline is valid? [False, False] Translation: X:-15.75, Y:-20.44, Z:-3.84 [[ 0.73001585 -0.58897743 -0.34667339 -15.7493716 ] [ 0.60806981 0.79130579 -0.06392372 -20.44323188] [ 0.31197429 -0.16413629 0.93580517 -3.84014034] [ 0. 0. 0. 1. ]] SLAMing on 77.07165253199999 meters Centerline goodness [0,1] 0.4603923812248206 Centerline is valid? [False, False] Translation: X:-15.77, Y:-20.47, Z:-3.85 [[ 0.72939961 -0.59042215 -0.34551107 -15.77470414] [ 0.60913681 0.79041664 -0.06476015 -20.47225637] [ 0.31133352 -0.16322748 0.93617745 -3.85162772] [ 0. 0. 0. 1. ]] SLAMing on 77.10165253199999 meters Centerline goodness [0,1] 0.4749838798270962 Centerline is valid? [False, False] Translation: X:-15.80, Y:-20.50, Z:-3.86 [[ 0.72627614 -0.59424876 -0.34553057 -15.79701826] [ 0.61230819 0.78771495 -0.06770401 -20.50022569] [ 0.31241262 -0.1623994 0.93596196 -3.86027349] [ 0. 0. 0. 1. ]] SLAMing on 77.13165253199999 meters Centerline goodness [0,1] 0.47516627589836835 Centerline is valid? [False, False] Translation: X:-15.81, Y:-20.52, Z:-3.87 [[ 0.72245973 -0.59721849 -0.34839922 -15.8141249 ] [ 0.61567712 0.78498094 -0.06889571 -20.52198034] [ 0.31463254 -0.16472705 0.93481087 -3.8656795 ] [ 0. 0. 0. 1. ]] SLAMing on 77.16165253199999 meters Centerline goodness [0,1] 0.4825025749119739 Centerline is valid? [False, False] Translation: X:-15.83, Y:-20.55, Z:-3.87 [[ 0.71892487 -0.60001734 -0.35089346 -15.83212454] [ 0.61875103 0.78244168 -0.07022949 -20.54551569] [ 0.31669257 -0.16662596 0.93377813 -3.87154952] [ 0. 0. 0. 1. ]] SLAMing on 77.19165253199999 meters Centerline goodness [0,1] 0.49134823359769286 Centerline is valid? [False, False] Translation: X:-15.87, Y:-20.59, Z:-3.88 [[ 0.71382516 -0.60489833 -0.35291875 -15.86560203] [ 0.62562419 0.77725903 -0.06680405 -20.58688988] [ 0.31471894 -0.1731081 0.93326608 -3.88499817] [ 0. 0. 0. 1. ]] SLAMing on 77.221652532 meters Centerline goodness [0,1] 0.49134823359769286 Centerline is valid? [False, False] Translation: X:-15.89, Y:-20.61, Z:-3.90 [[ 0.7137319 -0.60551175 -0.35205438 -15.89046517] [ 0.62587458 0.77699498 -0.06752632 -20.61451192] [ 0.31443247 -0.1721462 0.93354052 -3.89774881] [ 0. 0. 0. 1. ]] SLAMing on 77.251652532 meters Centerline goodness [0,1] 0.49921978153883084 Centerline is valid? [False, False] Translation: X:-15.91, Y:-20.64, Z:-3.90 [[ 0.71214652 -0.60530816 -0.3555972 -15.90941295] [ 0.62650058 0.77652357 -0.06714295 -20.63809775] [ 0.31677178 -0.17496624 0.93222446 -3.90477259] [ 0. 0. 0. 1. ]] SLAMing on 77.281652532 meters Centerline goodness [0,1] 0.4941382789602652 Centerline is valid? [False, False] Translation: X:-15.93, Y:-20.66, Z:-3.92 [[ 0.71207864 -0.60438756 -0.35729494 -15.9323068 ] [ 0.62603955 0.77694436 -0.06657278 -20.66397924] [ 0.31783405 -0.17627572 0.93161601 -3.91510933] [ 0. 0. 0. 1. ]] SLAMing on 77.311652532 meters Centerline goodness [0,1] 0.4827396210143018 Centerline is valid? [False, False] Translation: X:-15.96, Y:-20.69, Z:-3.93 [[ 0.71371057 -0.603042 -0.35631105 -15.95954547] [ 0.62465747 0.77812791 -0.06572676 -20.69258199] [ 0.31689157 -0.17566248 0.9320528 -3.92926649] [ 0. 0. 0. 1. ]] SLAMing on 77.341652532 meters Centerline goodness [0,1] 0.4809745610892153 Centerline is valid? [False, False] Translation: X:-15.99, Y:-20.73, Z:-3.95 [[ 0.71956197 -0.59644553 -0.35564491 -15.9925305 ] [ 0.61827227 0.78343789 -0.06296397 -20.72662074] [ 0.31618028 -0.17457891 0.93249785 -3.94616995] [ 0. 0. 0. 1. ]] SLAMing on 77.37165253199998 meters Centerline goodness [0,1] 0.4744845667977595 Centerline is valid? [False, False] Translation: X:-16.02, Y:-20.76, Z:-3.96 [[ 0.72311597 -0.59372941 -0.35297122 -16.0241965 ] [ 0.61530445 0.78589472 -0.06139972 -20.76062705] [ 0.31385303 -0.17278564 0.93361737 -3.96134936] [ 0. 0. 0. 1. ]] SLAMing on 77.40165253199999 meters Centerline goodness [0,1] 0.47688779532261527 Centerline is valid? [False, False] Translation: X:-16.05, Y:-20.79, Z:-3.97 [[ 0.72204797 -0.59742012 -0.34890676 -16.05141882] [ 0.61775469 0.78379152 -0.06363965 -20.79240998] [ 0.31148977 -0.1695879 0.93499415 -3.9740766 ] [ 0. 0. 0. 1. ]] SLAMing on 77.43165253199999 meters Centerline goodness [0,1] 0.48124701385570956 Centerline is valid? [False, False] Translation: X:-16.08, Y:-20.82, Z:-3.99 [[ 0.72146069 -0.60020153 -0.34532971 -16.07924072] [ 0.61942268 0.78231162 -0.06560546 -20.82454493] [ 0.30953194 -0.1665733 0.93618551 -3.98686615] [ 0. 0. 0. 1. ]] SLAMing on 77.46165253199999 meters Centerline goodness [0,1] 0.47934396529118695 Centerline is valid? [False, False] Translation: X:-16.11, Y:-20.86, Z:-4.00 [[ 0.72406111 -0.59867908 -0.34251842 -16.11043017] [ 0.61742683 0.78393631 -0.06502284 -20.85847266] [ 0.30744044 -0.16439956 0.93725832 -4.00193001] [ 0. 0. 0. 1. ]] SLAMing on 77.49165253199999 meters Centerline goodness [0,1] 0.4715189873417721 Centerline is valid? [False, False] Translation: X:-16.13, Y:-20.89, Z:-4.01 [[ 0.72382951 -0.59936243 -0.34181211 -16.13478843] [ 0.61793764 0.7835096 -0.06531284 -20.88521533] [ 0.30695914 -0.16394321 0.93749598 -4.01455577] [ 0. 0. 0. 1. ]] SLAMing on 77.52165253199999 meters Centerline goodness [0,1] 0.47324164469464836 Centerline is valid? [False, False] Translation: X:-16.16, Y:-20.91, Z:-4.02 [[ 0.7231064 -0.59949488 -0.34310789 -16.15707483] [ 0.6183217 0.78320516 -0.06532962 -20.91009522] [ 0.30788864 -0.16491079 0.93702135 -4.024849 ] [ 0. 0. 0. 1. ]] SLAMing on 77.55165253199999 meters Centerline goodness [0,1] 0.47621652475859777 Centerline is valid? [False, False] Translation: X:-16.19, Y:-20.94, Z:-4.04 [[ 0.72288886 -0.60181239 -0.33949012 -16.18601791] [ 0.61947528 0.7821186 -0.067386 -20.94365523] [ 0.30607527 -0.16159315 0.93819272 -4.03823064] [ 0. 0. 0. 1. ]] SLAMing on 77.58165253199999 meters Centerline goodness [0,1] 0.4747672009335778 Centerline is valid? [False, False] Translation: X:-16.22, Y:-20.98, Z:-4.05 [[ 0.72345368 -0.60346713 -0.33532402 -16.21590476] [ 0.62024599 0.78144072 -0.0681566 -20.97560322] [ 0.30316611 -0.15867524 0.93963423 -4.05228559] [ 0. 0. 0. 1. ]] SLAMing on 77.611652532 meters Centerline goodness [0,1] 0.4761258687993907 Centerline is valid? [False, False] Translation: X:-16.25, Y:-21.01, Z:-4.07 [[ 0.72445664 -0.60472772 -0.33085791 -16.2466864 ] [ 0.62054428 0.78113345 -0.06895896 -21.00749535] [ 0.30014558 -0.15535421 0.94115764 -4.06720356] [ 0. 0. 0. 1. ]] SLAMing on 77.641652532 meters Centerline goodness [0,1] 0.48352798458647506 Centerline is valid? [False, False] Translation: X:-16.27, Y:-21.04, Z:-4.08 [[ 0.72411755 -0.60512903 -0.33086649 -16.27075603] [ 0.62100604 0.78077402 -0.06887264 -21.03504334] [ 0.3000088 -0.1555982 0.94116094 -4.07764376] [ 0. 0. 0. 1. ]] SLAMing on 77.671652532 meters Centerline goodness [0,1] 0.4634105684280714 Centerline is valid? [False, False] Translation: X:-16.30, Y:-21.07, Z:-4.09 [[ 0.72528785 -0.6047748 -0.32894525 -16.29955943] [ 0.6203869 0.78129468 -0.06854715 -21.06632589] [ 0.29845876 -0.15435691 0.94185791 -4.09062747] [ 0. 0. 0. 1. ]] SLAMing on 77.701652532 meters Centerline goodness [0,1] 0.4754285442571503 Centerline is valid? [False, False] Translation: X:-16.33, Y:-21.10, Z:-4.10 [[ 0.72650041 -0.60403209 -0.32763149 -16.3270668 ] [ 0.61960685 0.78198267 -0.06775294 -21.09660485] [ 0.29712709 -0.15378018 0.94237315 -4.10291854] [ 0. 0. 0. 1. ]] SLAMing on 77.731652532 meters Centerline goodness [0,1] 0.46830558136210965 Centerline is valid? [False, False] Translation: X:-16.36, Y:-21.13, Z:-4.12 [[ 0.72673042 -0.60547003 -0.32445175 -16.35653495] [ 0.61997201 0.78151696 -0.06975639 -21.13058726] [ 0.29579995 -0.15045691 0.94332662 -4.11600275] [ 0. 0. 0. 1. ]] SLAMing on 77.76165253199999 meters Centerline goodness [0,1] 0.47057281738467405 Centerline is valid? [False, False] Translation: X:-16.38, Y:-21.16, Z:-4.13 [[ 0.72723898 -0.60549124 -0.32327052 -16.38257543] [ 0.61979412 0.78165841 -0.06975233 -21.16037826] [ 0.29492155 -0.14963456 0.94373237 -4.12790331] [ 0. 0. 0. 1. ]] SLAMing on 77.79165253199999 meters Centerline goodness [0,1] 0.47062187276626166 Centerline is valid? [False, False] Translation: X:-16.41, Y:-21.19, Z:-4.14 [[ 0.7262953 -0.60681598 -0.3229079 -16.40625696] [ 0.62090267 0.78070519 -0.07056406 -21.18699121] [ 0.29491527 -0.14924403 0.94379617 -4.13879893] [ 0. 0. 0. 1. ]] SLAMing on 77.82165253199999 meters Centerline goodness [0,1] 0.4703353600608018 Centerline is valid? [False, False] Translation: X:-16.43, Y:-21.22, Z:-4.15 [[ 0.72747083 -0.60584033 -0.32209266 -16.43370405] [ 0.62011199 0.78144711 -0.06929307 -21.2166592 ] [ 0.29367892 -0.14932483 0.94416883 -4.1502924 ] [ 0. 0. 0. 1. ]] SLAMing on 77.85165253199999 meters Centerline goodness [0,1] 0.4671090047393365 Centerline is valid? [False, False] Translation: X:-16.46, Y:-21.25, Z:-4.16 [[ 0.729549 -0.60391117 -0.32101334 -16.4637405 ] [ 0.61811214 0.783102 -0.06847363 -21.24712568] [ 0.29273818 -0.14846737 0.9445961 -4.16334285] [ 0. 0. 0. 1. ]] SLAMing on 77.88165253199999 meters Centerline goodness [0,1] 0.47014200033188724 Centerline is valid? [False, False] Translation: X:-16.49, Y:-21.27, Z:-4.17 [[ 0.7290556 -0.60460497 -0.32082824 -16.48800074] [ 0.61873149 0.78258609 -0.06877754 -21.27488815] [ 0.29265896 -0.14836388 0.94463691 -4.17357608] [ 0. 0. 0. 1. ]] SLAMing on 77.91165253199999 meters Centerline goodness [0,1] 0.4692627795904857 Centerline is valid? [False, False] Translation: X:-16.52, Y:-21.31, Z:-4.19 [[ 0.73033301 -0.6040665 -0.31893157 -16.51618263] [ 0.61794001 0.78324081 -0.06843959 -21.30578137] [ 0.29114229 -0.14709689 0.94530348 -4.1861959 ] [ 0. 0. 0. 1. ]] SLAMing on 77.94165253199999 meters Centerline goodness [0,1] 0.4571516065203053 Centerline is valid? [False, False] Translation: X:-16.55, Y:-21.34, Z:-4.20 [[ 0.73669395 -0.59740682 -0.31683926 -16.55341606] [ 0.61152571 0.78855387 -0.06495459 -21.34222638] [ 0.28864914 -0.1459037 0.9462525 -4.20149159] [ 0. 0. 0. 1. ]] SLAMing on 77.971652532 meters Centerline goodness [0,1] 0.4620812946932631 Centerline is valid? [False, False] Translation: X:-16.58, Y:-21.37, Z:-4.21 [[ 0.73702895 -0.59783703 -0.31524468 -16.58076254] [ 0.61171185 0.78840622 -0.06499425 -21.37181276] [ 0.28739684 -0.14493626 0.9467822 -4.2128417 ] [ 0. 0. 0. 1. ]] SLAMing on 78.001652532 meters Centerline goodness [0,1] 0.45691679188580014 Centerline is valid? [False, False] Translation: X:-16.61, Y:-21.40, Z:-4.22 [[ 0.73981542 -0.59690123 -0.31045459 -16.60641428] [ 0.60703213 0.79116866 -0.07459325 -21.39638594] [ 0.29014674 -0.13327068 0.947657 -4.22028359] [ 0. 0. 0. 1. ]] SLAMing on 78.031652532 meters Centerline goodness [0,1] 0.453304783641968 Centerline is valid? [False, False] Translation: X:-16.63, Y:-21.43, Z:-4.23 [[ 0.74000035 -0.59710262 -0.30962548 -16.63248859] [ 0.60704828 0.79113315 -0.07483794 -21.42680674] [ 0.28964092 -0.13257752 0.94790893 -4.23108379] [ 0. 0. 0. 1. ]] SLAMing on 78.061652532 meters Centerline goodness [0,1] 0.4657247144707406 Centerline is valid? [False, False] Translation: X:-16.66, Y:-21.46, Z:-4.24 [[ 0.7402595 -0.5962644 -0.31061978 -16.65728139] [ 0.6063874 0.79166645 -0.07455575 -21.45574903] [ 0.2903622 -0.13316532 0.94760582 -4.24068443] [ 0. 0. 0. 1. ]] SLAMing on 78.091652532 meters Centerline goodness [0,1] 0.4576554123953729 Centerline is valid? [False, False] Translation: X:-16.68, Y:-21.48, Z:-4.25 [[ 0.74010058 -0.59477703 -0.31383344 -16.67779866] [ 0.60562418 0.79235376 -0.07344981 -21.47909166] [ 0.29235336 -0.13570487 0.94663282 -4.24981545] [ 0. 0. 0. 1. ]] SLAMing on 78.12165253199998 meters Centerline goodness [0,1] 0.47007021581382247 Centerline is valid? [False, False] Translation: X:-16.69, Y:-21.50, Z:-4.26 [[ 0.73793344 -0.59466039 -0.31911324 -16.69358716] [ 0.60656818 0.79170387 -0.0726638 -21.4977746 ] [ 0.29585347 -0.13994289 0.94492683 -4.25520776] [ 0. 0. 0. 1. ]] SLAMing on 78.15165253199999 meters Centerline goodness [0,1] 0.44994728827456953 Centerline is valid? [False, False] Translation: X:-16.71, Y:-21.52, Z:-4.26 [[ 0.73707622 -0.59379142 -0.32269243 -16.7131465 ] [ 0.60645009 0.79186392 -0.0719015 -21.52064513] [ 0.29822298 -0.14269996 0.94376892 -4.26320626] [ 0. 0. 0. 1. ]] SLAMing on 78.18165253199999 meters Centerline goodness [0,1] 0.45770667912190566 Centerline is valid? [False, False] Translation: X:-16.74, Y:-21.55, Z:-4.27 [[ 0.73854389 -0.59363898 -0.31960238 -16.74312281] [ 0.60674834 0.79190858 -0.06882777 -21.55222406] [ 0.29395471 -0.14308589 0.94504871 -4.27403042] [ 0. 0. 0. 1. ]] SLAMing on 78.21165253199999 meters Centerline goodness [0,1] 0.451127294725331 Centerline is valid? [False, False] Translation: X:-16.77, Y:-21.59, Z:-4.28 [[ 0.73872943 -0.59531504 -0.31603614 -16.77290943] [ 0.60824771 0.7908358 -0.06792251 -21.58519915] [ 0.29036798 -0.1420519 0.94631268 -4.28416007] [ 0. 0. 0. 1. ]] SLAMing on 78.24165253199999 meters Centerline goodness [0,1] 0.4554770483365308 Centerline is valid? [False, False] Translation: X:-16.80, Y:-21.62, Z:-4.30 [[ 0.73957563 -0.596508 -0.31177891 -16.804292 ] [ 0.60894022 0.79032922 -0.06761313 -21.61875958] [ 0.28673976 -0.13984969 0.94774594 -4.29611043] [ 0. 0. 0. 1. ]] SLAMing on 78.27165253199999 meters Centerline goodness [0,1] 0.4491776507640266 Centerline is valid? [False, False] Translation: X:-16.82, Y:-21.63, Z:-4.30 [[ 0.74198395 -0.59697962 -0.3050822 -16.82103976] [ 0.6068783 0.79145934 -0.07273822 -21.63303806] [ 0.28488339 -0.13117717 0.9495441 -4.30438756] [ 0. 0. 0. 1. ]] SLAMing on 78.30165253199999 meters Centerline goodness [0,1] 0.4451639955273947 Centerline is valid? [False, False] Translation: X:-16.86, Y:-21.67, Z:-4.32 [[ 0.74526955 -0.59392334 -0.30303195 -16.85527127] [ 0.60413171 0.79380267 -0.07001562 -21.66935694] [ 0.28213148 -0.1308907 0.95040489 -4.31517819] [ 0. 0. 0. 1. ]] SLAMing on 78.33165253199999 meters Centerline goodness [0,1] 0.4536709214571881 Centerline is valid? [False, False] Translation: X:-16.87, Y:-21.68, Z:-4.32 [[ 0.74723677 -0.59511472 -0.29576289 -16.87028075] [ 0.60276292 0.79434389 -0.07546288 -21.68358185] [ 0.27984652 -0.12188626 0.95227605 -4.32384009] [ 0. 0. 0. 1. ]] SLAMing on 78.361652532 meters Centerline goodness [0,1] 0.44326788218793833 Centerline is valid? [False, False] Translation: X:-16.90, Y:-21.72, Z:-4.33 [[ 0.74752876 -0.59593879 -0.29335595 -16.89980379] [ 0.6031247 0.79400762 -0.0761085 -21.71855296] [ 0.27828287 -0.12003692 0.95296893 -4.33417028] [ 0. 0. 0. 1. ]] SLAMing on 78.391652532 meters Centerline goodness [0,1] 0.4344163098119531 Centerline is valid? [False, False] Translation: X:-16.92, Y:-21.75, Z:-4.34 [[ 0.74626807 -0.59574306 -0.29694138 -16.9210866 ] [ 0.60364311 0.79369164 -0.07528998 -21.74650364] [ 0.28053337 -0.12306011 0.95192292 -4.33810954] [ 0. 0. 0. 1. ]] SLAMing on 78.421652532 meters Centerline goodness [0,1] 0.4442075670610285 Centerline is valid? [False, False] Translation: X:-16.95, Y:-21.78, Z:-4.35 [[ 0.74666201 -0.59580317 -0.29582839 -16.9525852 ] [ 0.60329422 0.79387241 -0.07617532 -21.78384053] [ 0.28023549 -0.12159434 0.95219897 -4.34627189] [ 0. 0. 0. 1. ]] SLAMing on 78.451652532 meters Centerline goodness [0,1] 0.44289022479006335 Centerline is valid? [False, False] Translation: X:-16.98, Y:-21.81, Z:-4.35 [[ 0.74805049 -0.59230645 -0.2993218 -16.97667695] [ 0.60090876 0.79595072 -0.07328786 -21.81300243] [ 0.28165428 -0.12504207 0.95133346 -4.35322083] [ 0. 0. 0. 1. ]] SLAMing on 78.481652532 meters Centerline goodness [0,1] 0.4405898876404495 Centerline is valid? [False, False] Translation: X:-17.00, Y:-21.84, Z:-4.36 [[ 0.74702752 -0.59134726 -0.30374052 -16.99616656] [ 0.60102516 0.79601847 -0.07157756 -21.83769375] [ 0.28411026 -0.12908529 0.95006229 -4.35829143] [ 0. 0. 0. 1. ]] SLAMing on 78.51165253199999 meters Centerline goodness [0,1] 0.4472228732130302 Centerline is valid? [False, False] Translation: X:-17.02, Y:-21.86, Z:-4.36 [[ 0.7463729 -0.59022242 -0.30751421 -17.01685189] [ 0.60069094 0.79636331 -0.07053995 -21.86298853] [ 0.2865273 -0.13207189 0.94892525 -4.36475383] [ 0. 0. 0. 1. ]] SLAMing on 78.54165253199999 meters Centerline goodness [0,1] 0.43683633223645824 Centerline is valid? [False, False] Translation: X:-17.04, Y:-21.88, Z:-4.37 [[ 0.74921802 -0.58556561 -0.30949195 -17.03869451] [ 0.59369692 0.8008914 -0.07808291 -21.88478318] [ 0.29359211 -0.1252433 0.94769077 -4.36888958] [ 0. 0. 0. 1. ]] SLAMing on 78.57165253199999 meters Centerline goodness [0,1] 0.4263549515292351 Centerline is valid? [False, False] Translation: X:-17.06, Y:-21.91, Z:-4.38 [[ 0.74766009 -0.58640344 -0.31166551 -17.06034037] [ 0.59467067 0.80009577 -0.07882611 -21.9115691 ] [ 0.29558615 -0.12640321 0.9469166 -4.37623503] [ 0. 0. 0. 1. ]] SLAMing on 78.60165253199999 meters Centerline goodness [0,1] 0.43945798694283966 Centerline is valid? [False, False] Translation: X:-17.08, Y:-21.94, Z:-4.38 [[ 0.74718522 -0.58568649 -0.31414261 -17.08348361] [ 0.59448961 0.80030219 -0.07809294 -21.94002232] [ 0.297147 -0.12840463 0.9461585 -4.38294991] [ 0. 0. 0. 1. ]] SLAMing on 78.63165253199999 meters Centerline goodness [0,1] 0.4512077521932404 Centerline is valid? [False, False] Translation: X:-17.11, Y:-21.97, Z:-4.39 [[ 0.74719023 -0.5844277 -0.31646647 -17.10678043] [ 0.59375228 0.80093283 -0.07723229 -21.96854041] [ 0.29860508 -0.13019547 0.94545447 -4.39090966] [ 0. 0. 0. 1. ]] SLAMing on 78.66165253199999 meters Centerline goodness [0,1] 0.4301206230237733 Centerline is valid? [False, False] Translation: X:-17.13, Y:-22.00, Z:-4.40 [[ 0.75058835 -0.57844 -0.31941241 -17.13473414] [ 0.58860394 0.80497203 -0.07460184 -21.99811086] [ 0.30027075 -0.13201214 0.94467469 -4.40258519] [ 0. 0. 0. 1. ]] SLAMing on 78.69165253199999 meters Centerline goodness [0,1] 0.4340812642142037 Centerline is valid? [False, False] Translation: X:-17.16, Y:-22.02, Z:-4.41 [[ 0.75027539 -0.57707033 -0.32260915 -17.15635995] [ 0.58807282 0.80549066 -0.07317893 -22.02231811] [ 0.30208805 -0.13481332 0.9436992 -4.41069038] [ 0. 0. 0. 1. ]] SLAMing on 78.721652532 meters Centerline goodness [0,1] 0.4200936768149883 Centerline is valid? [False, False] Translation: X:-17.19, Y:-22.06, Z:-4.42 [[ 0.75240673 -0.57458697 -0.32207752 -17.18696876] [ 0.58587348 0.80724527 -0.07146563 -22.05503056] [ 0.30105877 -0.13492545 0.94401204 -4.42183766] [ 0. 0. 0. 1. ]] SLAMing on 78.751652532 meters Centerline goodness [0,1] 0.41834059090696263 Centerline is valid? [False, False] Translation: X:-17.21, Y:-22.08, Z:-4.43 [[ 0.75256843 -0.57369028 -0.32329587 -17.2117681 ] [ 0.58566913 0.80754961 -0.06968002 -22.08451035] [ 0.3010522 -0.13690542 0.94372903 -4.42947339] [ 0. 0. 0. 1. ]] SLAMing on 78.781652532 meters Centerline goodness [0,1] 0.3999624932605077 Centerline is valid? [False, False] Translation: X:-17.24, Y:-22.12, Z:-4.44 [[ 0.75354043 -0.5729435 -0.32235472 -17.24043528] [ 0.58524641 0.80799668 -0.06802943 -22.11703512] [ 0.29943856 -0.13739402 0.94417129 -4.4390934 ] [ 0. 0. 0. 1. ]] SLAMing on 78.811652532 meters Centerline goodness [0,1] 0.4302522590361446 Centerline is valid? [False, False] Translation: X:-17.26, Y:-22.14, Z:-4.44 [[ 0.75122646 -0.57442199 -0.32511257 -17.26063856] [ 0.58760183 0.80637312 -0.06698114 -22.14347967] [ 0.30063748 -0.14071873 0.94330024 -4.44300429] [ 0. 0. 0. 1. ]] SLAMing on 78.841652532 meters Centerline goodness [0,1] 0.42451561135628824 Centerline is valid? [False, False] Translation: X:-17.28, Y:-22.17, Z:-4.45 [[ 0.74783578 -0.57717214 -0.32804568 -17.27739796] [ 0.59081926 0.80396344 -0.06764156 -22.16732229] [ 0.30277755 -0.14323093 0.94223705 -4.44860681] [ 0. 0. 0. 1. ]] SLAMing on 78.87165253199998 meters Centerline goodness [0,1] 0.4234924978767576 Centerline is valid? [False, False] Translation: X:-17.28, Y:-22.17, Z:-4.46 [[ 0.74830958 -0.57923499 -0.32329492 -17.28425955] [ 0.5913609 0.80332 -0.07049298 -22.16983595] [ 0.30054128 -0.13843341 0.94366897 -4.45517132] [ 0. 0. 0. 1. ]] SLAMing on 78.90165253199999 meters Centerline goodness [0,1] 0.41540025052586793 Centerline is valid? [False, False] Translation: X:-17.31, Y:-22.20, Z:-4.47 [[ 0.75120905 -0.57472813 -0.32461137 -17.31219649] [ 0.58779132 0.80621961 -0.06716624 -22.20388379] [ 0.30031038 -0.14034785 0.94345967 -4.46560936] [ 0. 0. 0. 1. ]] SLAMing on 78.93165253199999 meters Centerline goodness [0,1] 0.4278568226327836 Centerline is valid? [False, False] Translation: X:-17.32, Y:-22.22, Z:-4.47 [[ 0.75105605 -0.5777561 -0.31955078 -17.32178998] [ 0.5893752 0.80482857 -0.06991315 -22.21576656] [ 0.29757635 -0.13582661 0.94498648 -4.46650919] [ 0. 0. 0. 1. ]] SLAMing on 78.96165253199999 meters Centerline goodness [0,1] 0.4464797478028276 Centerline is valid? [False, False] Translation: X:-17.34, Y:-22.24, Z:-4.48 [[ 0.74731947 -0.58180719 -0.32095793 -17.33729856] [ 0.59284054 0.80197009 -0.07337624 -22.23955368] [ 0.30008948 -0.13544139 0.94424675 -4.47593674] [ 0. 0. 0. 1. ]] SLAMing on 78.99165253199999 meters Centerline goodness [0,1] 0.4594114966785774 Centerline is valid? [False, False] Translation: X:-17.34, Y:-22.24, Z:-4.48 [[ 0.74298862 -0.59052414 -0.31503834 -17.33972961] [ 0.59928194 0.79655538 -0.07975385 -22.23844855] [ 0.29804206 -0.12954058 0.94572203 -4.47882106] [ 0. 0. 0. 1. ]] SLAMing on 79.02165253199999 meters Centerline goodness [0,1] 0.4499483011518023 Centerline is valid? [False, False] Translation: X:-17.35, Y:-22.26, Z:-4.48 [[ 0.73968116 -0.59185075 -0.32028809 -17.35401075] [ 0.60156495 0.79485592 -0.07952157 -22.25829959] [ 0.30164779 -0.13385348 0.94397662 -4.48256708] [ 0. 0. 0. 1. ]] SLAMing on 79.05165253199999 meters Centerline goodness [0,1] 0.4499483011518023 Centerline is valid? [False, False] Translation: X:-17.36, Y:-22.26, Z:-4.48 [[ 0.73815179 -0.59498024 -0.31801014 -17.35744869] [ 0.60386999 0.79287883 -0.0817569 -22.25814018] [ 0.30078725 -0.13168778 0.94455564 -4.48244362] [ 0. 0. 0. 1. ]] SLAMing on 79.08165253199999 meters Centerline goodness [0,1] 0.4499483011518023 Centerline is valid? [False, False] Translation: X:-17.36, Y:-22.26, Z:-4.48 [[ 0.73660042 -0.59813458 -0.31568155 -17.36092546] [ 0.60620113 0.79086372 -0.08399268 -22.25800781] [ 0.29990001 -0.12949747 0.94514041 -4.4823411 ] [ 0. 0. 0. 1. ]] SLAMing on 79.111652532 meters Centerline goodness [0,1] 0.4499483011518023 Centerline is valid? [False, False] Translation: X:-17.36, Y:-22.26, Z:-4.48 [[ 0.73504091 -0.60126874 -0.31335404 -17.3643905 ] [ 0.60851965 0.78884056 -0.08622301 -22.25788241] [ 0.29902958 -0.12730465 0.94571393 -4.48222281] [ 0. 0. 0. 1. ]] SLAMing on 79.141652532 meters Centerline goodness [0,1] 0.4499483011518023 Centerline is valid? [False, False] Translation: X:-17.37, Y:-22.26, Z:-4.48 [[ 0.73347961 -0.6043665 -0.3110447 -17.36782905] [ 0.61081288 0.78682013 -0.08844045 -22.25776228] [ 0.29818667 -0.12512084 0.94627136 -4.48207841] [ 0. 0. 0. 1. ]] SLAMing on 79.171652532 meters Centerline goodness [0,1] 0.4625180201826046 Centerline is valid? [False, False] Translation: X:-17.39, Y:-22.28, Z:-4.49 [[ 0.73226426 -0.60274479 -0.31699805 -17.38525094] [ 0.61068502 0.78718128 -0.08607815 -22.2802197 ] [ 0.30141809 -0.13055401 0.94451193 -4.48595115] [ 0. 0. 0. 1. ]] SLAMing on 79.201652532 meters Centerline goodness [0,1] 0.46099613918131455 Centerline is valid? [False, False] Translation: X:-17.39, Y:-22.29, Z:-4.49 [[ 0.73423083 -0.60226229 -0.31334521 -17.39454262] [ 0.60924835 0.78816089 -0.08728604 -22.28595276] [ 0.29953553 -0.12681695 0.94561934 -4.49139091] [ 0. 0. 0. 1. ]] SLAMing on 79.231652532 meters Centerline goodness [0,1] 0.4595672525792892 Centerline is valid? [False, False] Translation: X:-17.42, Y:-22.31, Z:-4.50 [[ 0.74085543 -0.59568387 -0.31031268 -17.41643378] [ 0.60124732 0.79409938 -0.08892596 -22.30697429] [ 0.29939086 -0.12069339 0.94646617 -4.49871544] [ 0. 0. 0. 1. ]] SLAMing on 79.26165253199999 meters Centerline goodness [0,1] 0.4595672525792892 Centerline is valid? [False, False] Translation: X:-17.42, Y:-22.31, Z:-4.50 [[ 0.73932735 -0.59876535 -0.30801806 -17.41985872] [ 0.60354228 0.79210587 -0.0911318 -22.30693668] [ 0.29854948 -0.11852569 0.94700574 -4.49855677] [ 0. 0. 0. 1. ]] SLAMing on 79.29165253199999 meters Centerline goodness [0,1] 0.4572036532300483 Centerline is valid? [False, False] Translation: X:-17.43, Y:-22.32, Z:-4.50 [[ 0.73963272 -0.60151619 -0.30186372 -17.43058856] [ 0.6043906 0.79097247 -0.09526048 -22.31593276] [ 0.29606661 -0.11198583 0.94857985 -4.50383393] [ 0. 0. 0. 1. ]] SLAMing on 79.32165253199999 meters Centerline goodness [0,1] 0.45012781613589126 Centerline is valid? [False, False] Translation: X:-17.44, Y:-22.33, Z:-4.51 [[ 0.74040227 -0.6039865 -0.29496574 -17.44249311] [ 0.60471399 0.79013794 -0.10001513 -22.32622712] [ 0.29347141 -0.10431848 0.95025901 -4.51093351] [ 0. 0. 0. 1. ]] SLAMing on 79.35165253199999 meters Centerline goodness [0,1] 0.4456285911832726 Centerline is valid? [False, False] Translation: X:-17.46, Y:-22.35, Z:-4.52 [[ 0.74325996 -0.60358576 -0.28852879 -17.46039978] [ 0.60138728 0.79174729 -0.1070961 -22.34584722] [ 0.29308357 -0.0939173 0.95146285 -4.5199206 ] [ 0. 0. 0. 1. ]] SLAMing on 79.38165253199999 meters Centerline goodness [0,1] 0.453905448297258 Centerline is valid? [False, False] Translation: X:-17.48, Y:-22.37, Z:-4.52 [[ 0.74179357 -0.60242415 -0.29466497 -17.47660678] [ 0.60146666 0.79196893 -0.10499081 -22.36827556] [ 0.2966145 -0.09934965 0.9498155 -4.52329301] [ 0. 0. 0. 1. ]] SLAMing on 79.41165253199999 meters Centerline goodness [0,1] 0.4527672551402092 Centerline is valid? [False, False] Translation: X:-17.49, Y:-22.39, Z:-4.53 [[ 0.74131595 -0.59915182 -0.30243636 -17.491958 ] [ 0.60011109 0.79350877 -0.10104706 -22.39092292] [ 0.30052844 -0.10658762 0.94779836 -4.52575436] [ 0. 0. 0. 1. ]] SLAMing on 79.44165253199999 meters Centerline goodness [0,1] 0.4495242626070409 Centerline is valid? [False, False] Translation: X:-17.51, Y:-22.41, Z:-4.53 [[ 0.7403416 -0.5974201 -0.308194 -17.50929855] [ 0.59975702 0.79408773 -0.09857071 -22.4140969 ] [ 0.3036212 -0.11186552 0.94620308 -4.53020152] [ 0. 0. 0. 1. ]] SLAMing on 79.471652532 meters Centerline goodness [0,1] 0.4626365795724465 Centerline is valid? [False, False] Translation: X:-17.53, Y:-22.44, Z:-4.53 [[ 0.73939111 -0.59569588 -0.31376298 -17.52845671] [ 0.59943597 0.79463618 -0.09607215 -22.44010276] [ 0.3065572 -0.11704593 0.94462846 -4.53372153] [ 0. 0. 0. 1. ]] SLAMing on 79.501652532 meters Centerline goodness [0,1] 0.45612113708871005 Centerline is valid? [False, False] Translation: X:-17.55, Y:-22.47, Z:-4.54 [[ 0.73973216 -0.59279843 -0.31841224 -17.54935404] [ 0.59808944 0.79606377 -0.09258238 -22.46737952] [ 0.30835914 -0.12195283 0.94342045 -4.5391057 ] [ 0. 0. 0. 1. ]] SLAMing on 79.531652532 meters Centerline goodness [0,1] 0.4604943563366195 Centerline is valid? [False, False] Translation: X:-17.57, Y:-22.49, Z:-4.54 [[ 0.73901208 -0.5910031 -0.32338286 -17.56879877] [ 0.597894 0.79656942 -0.0894423 -22.49332024] [ 0.31045758 -0.12724973 0.94203163 -4.54292163] [ 0. 0. 0. 1. ]] SLAMing on 79.561652532 meters Centerline goodness [0,1] 0.46183934363671053 Centerline is valid? [False, False] Translation: X:-17.59, Y:-22.53, Z:-4.55 [[ 0.73843911 -0.59086357 -0.32494296 -17.5921869 ] [ 0.59883118 0.7961534 -0.08683885 -22.52567881] [ 0.31001436 -0.13046077 0.94173833 -4.54827762] [ 0. 0. 0. 1. ]] SLAMing on 79.591652532 meters Centerline goodness [0,1] 0.45995171737935325 Centerline is valid? [False, False] Translation: X:-17.61, Y:-22.55, Z:-4.55 [[ 0.73572179 -0.59203004 -0.32895878 -17.61021623] [ 0.6008619 0.79467552 -0.08634694 -22.55161209] [ 0.31253547 -0.13413147 0.94038839 -4.55158004] [ 0. 0. 0. 1. ]] SLAMing on 79.62165253199998 meters Centerline goodness [0,1] 0.4483385130289266 Centerline is valid? [False, False] Translation: X:-17.63, Y:-22.58, Z:-4.56 [[ 0.73472994 -0.59086953 -0.33323432 -17.62886249] [ 0.60078969 0.79489565 -0.08480954 -22.57810623] [ 0.31499788 -0.13789164 0.93902195 -4.55739453] [ 0. 0. 0. 1. ]] SLAMing on 79.65165253199999 meters Centerline goodness [0,1] 0.4796253264020315 Centerline is valid? [False, False] Translation: X:-17.65, Y:-22.60, Z:-4.56 [[ 0.73327326 -0.58977165 -0.33834853 -17.64609213] [ 0.60101683 0.79490821 -0.08306452 -22.60283888] [ 0.31794512 -0.14244417 0.93734762 -4.56200544] [ 0. 0. 0. 1. ]] SLAMing on 79.68165253199999 meters Centerline goodness [0,1] 0.4824709050687699 Centerline is valid? [False, False] Translation: X:-17.67, Y:-22.63, Z:-4.57 [[ 0.73091316 -0.59126419 -0.34084103 -17.66638247] [ 0.60295965 0.79340766 -0.08333035 -22.63165018] [ 0.31969613 -0.14460613 0.93642055 -4.56790886] [ 0. 0. 0. 1. ]] SLAMing on 79.71165253199999 meters Centerline goodness [0,1] 0.48410940434342953 Centerline is valid? [False, False] Translation: X:-17.68, Y:-22.65, Z:-4.57 [[ 0.72877563 -0.59076166 -0.34624665 -17.68258102] [ 0.60396283 0.79283362 -0.08150929 -22.6546344 ] [ 0.32266854 -0.14971812 0.9345959 -4.57170468] [ 0. 0. 0. 1. ]] SLAMing on 79.74165253199999 meters Centerline goodness [0,1] 0.4832835533288371 Centerline is valid? [False, False] Translation: X:-17.70, Y:-22.68, Z:-4.58 [[ 0.72695451 -0.58983433 -0.35161428 -17.69916815] [ 0.60481306 0.79244937 -0.0788997 -22.67739763] [ 0.32517427 -0.15530442 0.93281415 -4.5753735 ] [ 0. 0. 0. 1. ]] SLAMing on 79.77165253199999 meters Centerline goodness [0,1] 0.4788209185642609 Centerline is valid? [False, False] Translation: X:-17.72, Y:-22.71, Z:-4.58 [[ 0.72692009 -0.58899004 -0.3530976 -17.72263226] [ 0.60485042 0.79261442 -0.07693079 -22.70632038] [ 0.32518172 -0.15764869 0.93241822 -4.58390051] [ 0. 0. 0. 1. ]] SLAMing on 79.80165253199999 meters Centerline goodness [0,1] 0.48290970709271364 Centerline is valid? [False, False] Translation: X:-17.74, Y:-22.73, Z:-4.59 [[ 0.7243718 -0.59072949 -0.3554211 -17.74193423] [ 0.60695247 0.79094245 -0.07758057 -22.73282355] [ 0.32694677 -0.15952654 0.93148113 -4.590554 ] [ 0. 0. 0. 1. ]] SLAMing on 79.83165253199999 meters Centerline goodness [0,1] 0.49662719596234106 Centerline is valid? [False, False] Translation: X:-17.76, Y:-22.76, Z:-4.60 [[ 0.72299399 -0.59173929 -0.35654495 -17.76377304] [ 0.6083113 0.78991035 -0.07745328 -22.76291635] [ 0.32747069 -0.16089206 0.93106213 -4.59875984] [ 0. 0. 0. 1. ]] SLAMing on 79.861652532 meters Centerline goodness [0,1] 0.497944088951607 Centerline is valid? [False, False] Translation: X:-17.79, Y:-22.79, Z:-4.61 [[ 0.72157938 -0.59249534 -0.35815147 -17.78537551] [ 0.60932528 0.78909576 -0.07778552 -22.79077544] [ 0.32870336 -0.16210232 0.93041761 -4.60729721] [ 0. 0. 0. 1. ]] SLAMing on 79.891652532 meters Centerline goodness [0,1] 0.49724605186196136 Centerline is valid? [False, False] Translation: X:-17.81, Y:-22.82, Z:-4.62 [[ 0.72068276 -0.59466618 -0.35635444 -17.81147466] [ 0.61068391 0.7878537 -0.07969759 -22.82464995] [ 0.32814863 -0.16018324 0.93094565 -4.6193299 ] [ 0. 0. 0. 1. ]] SLAMing on 79.921652532 meters Centerline goodness [0,1] 0.4985107421875 Centerline is valid? [False, False] Translation: X:-17.83, Y:-22.85, Z:-4.63 [[ 0.71846917 -0.59635453 -0.35799905 -17.83124055] [ 0.612358 0.78641355 -0.0810643 -22.85066466] [ 0.32987836 -0.16098138 0.93019636 -4.62830589] [ 0. 0. 0. 1. ]] SLAMing on 79.951652532 meters Centerline goodness [0,1] 0.4963051776451013 Centerline is valid? [False, False] Translation: X:-17.85, Y:-22.88, Z:-4.64 [[ 0.71798105 -0.59649946 -0.35873612 -17.85427982] [ 0.61242907 0.78629196 -0.08170425 -22.87900241] [ 0.33080787 -0.16103832 0.92985634 -4.63987286] [ 0. 0. 0. 1. ]] SLAMing on 79.981652532 meters Centerline goodness [0,1] 0.5031271376917814 Centerline is valid? [False, False] Translation: X:-17.88, Y:-22.91, Z:-4.65 [[ 0.71857917 -0.59519911 -0.35969709 -17.87874773] [ 0.61143297 0.78713804 -0.08101501 -22.90804496] [ 0.33135132 -0.16171496 0.92954536 -4.65178449] [ 0. 0. 0. 1. ]] SLAMing on 80.01165253199999 meters Centerline goodness [0,1] 0.5039093041438624 Centerline is valid? [False, False] Translation: X:-17.90, Y:-22.94, Z:-4.66 [[ 0.71768008 -0.59577992 -0.36052961 -17.90214653] [ 0.61210642 0.78657919 -0.08135671 -22.93664876] [ 0.33205578 -0.1622944 0.92919292 -4.66172456] [ 0. 0. 0. 1. ]] SLAMing on 80.04165253199999 meters Centerline goodness [0,1] 0.5135594054532926 Centerline is valid? [False, False] Translation: X:-17.93, Y:-22.97, Z:-4.67 [[ 0.71469534 -0.60011993 -0.35925846 -17.92545935] [ 0.61546513 0.78361133 -0.0845929 -22.96945051] [ 0.33228488 -0.16065291 0.92939626 -4.67123235] [ 0. 0. 0. 1. ]] SLAMing on 80.07165253199999 meters Centerline goodness [0,1] 0.510248378265052 Centerline is valid? [False, False] Translation: X:-17.95, Y:-23.00, Z:-4.68 [[ 0.71281217 -0.60170199 -0.36035196 -17.9461164 ] [ 0.61694484 0.78230596 -0.0858862 -22.99648824] [ 0.33358338 -0.16109655 0.92885415 -4.68112845] [ 0. 0. 0. 1. ]] SLAMing on 80.10165253199999 meters Centerline goodness [0,1] 0.5168716960624475 Centerline is valid? [False, False] Translation: X:-17.97, Y:-23.02, Z:-4.69 [[ 0.71080736 -0.60282059 -0.36243653 -17.96635237] [ 0.6182206 0.78119033 -0.08686171 -23.02216072] [ 0.33549394 -0.16232378 0.92795194 -4.69004778] [ 0. 0. 0. 1. ]] SLAMing on 80.13165253199999 meters Centerline goodness [0,1] 0.5035761130497192 Centerline is valid? [False, False] Translation: X:-18.00, Y:-23.07, Z:-4.71 [[ 0.70940441 -0.60318549 -0.36457187 -18.00350983] [ 0.62077776 0.77968199 -0.08204248 -23.06547623] [ 0.33373695 -0.16811681 0.92755398 -4.70874819] [ 0. 0. 0. 1. ]] SLAMing on 80.16165253199999 meters Centerline goodness [0,1] 0.5041580041580042 Centerline is valid? [False, False] Translation: X:-18.02, Y:-23.09, Z:-4.72 [[ 0.70940676 -0.60161326 -0.367156 -18.02470132] [ 0.61991735 0.78046767 -0.08107217 -23.09106168] [ 0.33532748 -0.17009323 0.92661954 -4.71938571] [ 0. 0. 0. 1. ]] SLAMing on 80.19165253199999 meters Centerline goodness [0,1] 0.5064536867612878 Centerline is valid? [False, False] Translation: X:-18.05, Y:-23.12, Z:-4.73 [[ 0.70889717 -0.60160545 -0.36815171 -18.04720777] [ 0.62002964 0.78035532 -0.08129463 -23.11771455] [ 0.33619644 -0.17063544 0.92620489 -4.7309601 ] [ 0. 0. 0. 1. ]] SLAMing on 80.221652532 meters Centerline goodness [0,1] 0.5162322363036631 Centerline is valid? [False, False] Translation: X:-18.08, Y:-23.15, Z:-4.74 [[ 0.70703903 -0.60681743 -0.36313691 -18.07747444] [ 0.62319083 0.7773666 -0.08564086 -23.15281006] [ 0.33425887 -0.16575216 0.92779159 -4.74486592] [ 0. 0. 0. 1. ]] SLAMing on 80.251652532 meters Centerline goodness [0,1] 0.5170361553340277 Centerline is valid? [False, False] Translation: X:-18.11, Y:-23.18, Z:-4.76 [[ 0.70706937 -0.60913153 -0.35918197 -18.10657773] [ 0.62466007 0.77609267 -0.08648683 -23.1840338 ] [ 0.33144035 -0.16321444 0.9292515 -4.75938134] [ 0. 0. 0. 1. ]] SLAMing on 80.281652532 meters Centerline goodness [0,1] 0.514899308909861 Centerline is valid? [False, False] Translation: X:-18.15, Y:-23.23, Z:-4.78 [[ 0.70679256 -0.60896274 -0.36001202 -18.14855427] [ 0.62662931 0.77510964 -0.08087493 -23.23111037] [ 0.32829861 -0.16843229 0.92943563 -4.77796644] [ 0. 0. 0. 1. ]] SLAMing on 80.311652532 meters Centerline goodness [0,1] 0.5151034174892118 Centerline is valid? [False, False] Translation: X:-18.18, Y:-23.27, Z:-4.79 [[ 0.70926249 -0.60740088 -0.3577861 -18.17960291] [ 0.62471574 0.77672269 -0.08020041 -23.26544264] [ 0.32661438 -0.16663146 0.93035316 -4.79280979] [ 0. 0. 0. 1. ]] SLAMing on 80.341652532 meters Centerline goodness [0,1] 0.5225650844170375 Centerline is valid? [False, False] Translation: X:-18.20, Y:-23.29, Z:-4.80 [[ 0.70662091 -0.60987238 -0.35880716 -18.20000892] [ 0.62697347 0.77470769 -0.08205037 -23.28996261] [ 0.32801092 -0.16698407 0.92979845 -4.80224775] [ 0. 0. 0. 1. ]] SLAMing on 80.37165253199998 meters Centerline goodness [0,1] 0.5258241621742479 Centerline is valid? [False, False] Translation: X:-18.22, Y:-23.32, Z:-4.81 [[ 0.7062591 -0.61025528 -0.35886846 -18.22392627] [ 0.62724755 0.77443829 -0.08249755 -23.31666488] [ 0.32826604 -0.16683472 0.92973522 -4.81451571] [ 0. 0. 0. 1. ]] SLAMing on 80.40165253199999 meters Centerline goodness [0,1] 0.5194100148735746 Centerline is valid? [False, False] Translation: X:-18.26, Y:-23.35, Z:-4.83 [[ 0.70967757 -0.60761669 -0.3565946 -18.25634374] [ 0.62395647 0.77710538 -0.08237445 -23.34968481] [ 0.32716367 -0.16404021 0.93062062 -4.83213941] [ 0. 0. 0. 1. ]] SLAMing on 80.43165253199999 meters Centerline goodness [0,1] 0.5179027182397106 Centerline is valid? [False, False] Translation: X:-18.28, Y:-23.38, Z:-4.85 [[ 0.71092659 -0.60651387 -0.35598358 -18.28365776] [ 0.62281786 0.77807423 -0.08184377 -23.37891324] [ 0.32662103 -0.16352802 0.93090133 -4.8454002 ] [ 0. 0. 0. 1. ]] SLAMing on 80.46165253199999 meters Centerline goodness [0,1] 0.5187943876667245 Centerline is valid? [False, False] Translation: X:-18.31, Y:-23.41, Z:-4.86 [[ 0.71084084 -0.60827967 -0.35313048 -18.31257913] [ 0.62362901 0.77724891 -0.08349249 -23.40924093] [ 0.32525707 -0.16087254 0.93184112 -4.85938217] [ 0. 0. 0. 1. ]] SLAMing on 80.49165253199999 meters Centerline goodness [0,1] 0.517658681155841 Centerline is valid? [False, False] Translation: X:-18.34, Y:-23.44, Z:-4.87 [[ 0.71234123 -0.60777754 -0.35096501 -18.34103976] [ 0.62285076 0.77792714 -0.08298369 -23.43910411] [ 0.32346083 -0.15948612 0.93270428 -4.87393845] [ 0. 0. 0. 1. ]] SLAMing on 80.52165253199999 meters Centerline goodness [0,1] 0.5222800997358481 Centerline is valid? [False, False] Translation: X:-18.37, Y:-23.47, Z:-4.89 [[ 0.71221097 -0.60968089 -0.34791486 -18.37040176] [ 0.62379621 0.77699208 -0.08462622 -23.47040918] [ 0.32192208 -0.15675625 0.93369891 -4.88727447] [ 0. 0. 0. 1. ]] SLAMing on 80.55165253199999 meters Centerline goodness [0,1] 0.5212354260642362 Centerline is valid? [False, False] Translation: X:-18.40, Y:-23.51, Z:-4.90 [[ 0.71402925 -0.6098682 -0.34383572 -18.40450982] [ 0.62270123 0.77768975 -0.08626606 -23.50606934] [ 0.32000844 -0.15251043 0.93505891 -4.90304872] [ 0. 0. 0. 1. ]] SLAMing on 80.58165253199999 meters Centerline goodness [0,1] 0.515024630541872 Centerline is valid? [False, False] Translation: X:-18.43, Y:-23.53, Z:-4.92 [[ 0.71541728 -0.60863858 -0.34312855 -18.43129807] [ 0.62137637 0.77879375 -0.08585859 -23.53412688] [ 0.31948322 -0.15178725 0.93535614 -4.91743764] [ 0. 0. 0. 1. ]] SLAMing on 80.611652532 meters Centerline goodness [0,1] 0.5157328486158532 Centerline is valid? [False, False] Translation: X:-18.45, Y:-23.56, Z:-4.93 [[ 0.71459356 -0.60818658 -0.34563727 -18.45153844] [ 0.62139577 0.77879932 -0.08566749 -23.55800613] [ 0.32128388 -0.1535601 0.93444955 -4.92759956] [ 0. 0. 0. 1. ]] SLAMing on 80.641652532 meters Centerline goodness [0,1] 0.524078902061095 Centerline is valid? [False, False] Translation: X:-18.47, Y:-23.58, Z:-4.94 [[ 0.71276221 -0.60927813 -0.34749127 -18.47168073] [ 0.62261656 0.77772639 -0.08654643 -23.58141393] [ 0.32298398 -0.1546668 0.93368064 -4.93724567] [ 0. 0. 0. 1. ]] SLAMing on 80.671652532 meters Centerline goodness [0,1] 0.5217156200073737 Centerline is valid? [False, False] Translation: X:-18.51, Y:-23.62, Z:-4.95 [[ 0.71475643 -0.60862532 -0.34452643 -18.50545242] [ 0.62093503 0.77892674 -0.08782267 -23.61698842] [ 0.32181195 -0.15115671 0.93465968 -4.9521189 ] [ 0. 0. 0. 1. ]] SLAMing on 80.701652532 meters Centerline goodness [0,1] 0.5242282093474471 Centerline is valid? [False, False] Translation: X:-18.53, Y:-23.65, Z:-4.97 [[ 0.71513053 -0.60984545 -0.34157994 -18.53449454] [ 0.62142184 0.77843019 -0.08877683 -23.64763942] [ 0.32003628 -0.14877822 0.93565048 -4.96583157] [ 0. 0. 0. 1. ]] SLAMing on 80.731652532 meters Centerline goodness [0,1] 0.5160309088679014 Centerline is valid? [False, False] Translation: X:-18.56, Y:-23.68, Z:-4.98 [[ 0.71618509 -0.60926481 -0.34040463 -18.5619235 ] [ 0.6207217 0.77903338 -0.08838305 -23.67751338] [ 0.31903525 -0.14799791 0.93611598 -4.97879374] [ 0. 0. 0. 1. ]] SLAMing on 80.76165253199999 meters Centerline goodness [0,1] 0.5154391974553463 Centerline is valid? [False, False] Translation: X:-18.59, Y:-23.71, Z:-4.99 [[ 0.71760602 -0.6088778 -0.33809678 -18.59037975] [ 0.62007179 0.77960582 -0.0878962 -23.70786763] [ 0.31710026 -0.14656944 0.93699777 -4.99278084] [ 0. 0. 0. 1. ]] SLAMing on 80.79165253199999 meters Centerline goodness [0,1] 0.5198612400449505 Centerline is valid? [False, False] Translation: X:-18.62, Y:-23.74, Z:-5.01 [[ 0.71837416 -0.60999826 -0.33442592 -18.622332 ] [ 0.62007261 0.77940244 -0.08967603 -23.74289838] [ 0.3153546 -0.14294741 0.93814579 -5.00678685] [ 0. 0. 0. 1. ]] SLAMing on 80.82165253199999 meters Centerline goodness [0,1] 0.5245461643568221 Centerline is valid? [False, False] Translation: X:-18.64, Y:-23.77, Z:-5.02 [[ 0.71728548 -0.61051701 -0.33581322 -18.64438029] [ 0.62070193 0.7788452 -0.09016247 -23.76885728] [ 0.31659224 -0.14376768 0.93760344 -5.01644013] [ 0. 0. 0. 1. ]] SLAMing on 80.85165253199999 meters Centerline goodness [0,1] 0.5209532637330472 Centerline is valid? [False, False] Translation: X:-18.67, Y:-23.80, Z:-5.03 [[ 0.71759286 -0.60975929 -0.33653246 -18.66851096] [ 0.62015146 0.77933561 -0.08971161 -23.79663322] [ 0.31697422 -0.14432469 0.93738878 -5.02774065] [ 0. 0. 0. 1. ]] SLAMing on 80.88165253199999 meters Centerline goodness [0,1] 0.5213516614986449 Centerline is valid? [False, False] Translation: X:-18.69, Y:-23.82, Z:-5.04 [[ 0.71563635 -0.61133204 -0.33784279 -18.6890064 ] [ 0.62164978 0.7779936 -0.09098087 -23.82163332] [ 0.31845904 -0.14491068 0.93679493 -5.03745468] [ 0. 0. 0. 1. ]] SLAMing on 80.91165253199999 meters Centerline goodness [0,1] 0.5298156760573669 Centerline is valid? [False, False] Translation: X:-18.71, Y:-23.85, Z:-5.05 [[ 0.71500144 -0.61144427 -0.33898208 -18.71400313] [ 0.62125161 0.77806504 -0.09306575 -23.85006414] [ 0.32065462 -0.14405102 0.93617836 -5.0493212 ] [ 0. 0. 0. 1. ]] SLAMing on 80.94165253199999 meters Centerline goodness [0,1] 0.5247541580672574 Centerline is valid? [False, False] Translation: X:-18.74, Y:-23.88, Z:-5.06 [[ 0.71629783 -0.60986385 -0.33909218 -18.74078034] [ 0.62002949 0.77920519 -0.09166622 -23.87975289] [ 0.3201263 -0.14458684 0.93627656 -5.06089909] [ 0. 0. 0. 1. ]] SLAMing on 80.971652532 meters Centerline goodness [0,1] 0.5115016361653133 Centerline is valid? [False, False] Translation: X:-18.78, Y:-23.92, Z:-5.07 [[ 0.71945868 -0.60852478 -0.33477872 -18.77622257] [ 0.61840255 0.7806839 -0.09006071 -23.91794306] [ 0.31616053 -0.14223305 0.93798309 -5.074809 ] [ 0. 0. 0. 1. ]] SLAMing on 81.001652532 meters Centerline goodness [0,1] 0.5258400758072745 Centerline is valid? [False, False] Translation: X:-18.80, Y:-23.95, Z:-5.08 [[ 0.71834963 -0.6094888 -0.33540603 -18.79915216] [ 0.61964833 0.77972827 -0.08977625 -23.94678127] [ 0.31624318 -0.14334306 0.93778623 -5.08292806] [ 0. 0. 0. 1. ]] SLAMing on 81.031652532 meters Centerline goodness [0,1] 0.5258400758072745 Centerline is valid? [False, False] Translation: X:-18.80, Y:-23.95, Z:-5.08 [[ 0.71834963 -0.6094888 -0.33540603 -18.79915216] [ 0.61964833 0.77972827 -0.08977625 -23.94678127] [ 0.31624318 -0.14334306 0.93778623 -5.08292806] [ 0. 0. 0. 1. ]] SLAMing on 81.061652532 meters Centerline goodness [0,1] 0.523122510443991 Centerline is valid? [False, False] Translation: X:-18.82, Y:-23.97, Z:-5.09 [[ 0.71685598 -0.60991126 -0.33782503 -18.82040248] [ 0.62048689 0.77905273 -0.08984917 -23.97400383] [ 0.31798353 -0.14520709 0.93691055 -5.08996933] [ 0. 0. 0. 1. ]] SLAMing on 81.091652532 meters Centerline goodness [0,1] 0.5145408970334137 Centerline is valid? [False, False] Translation: X:-18.84, Y:-24.00, Z:-5.10 [[ 0.71588016 -0.60997817 -0.33976791 -18.84234611] [ 0.62075993 0.77879154 -0.09022666 -24.00118238] [ 0.31964467 -0.14632283 0.93617141 -5.09886963] [ 0. 0. 0. 1. ]] SLAMing on 81.12165253199998 meters Centerline goodness [0,1] 0.5124917897195125 Centerline is valid? [False, False] Translation: X:-18.87, Y:-24.03, Z:-5.11 [[ 0.71680367 -0.60886186 -0.33982309 -18.86864869] [ 0.61920225 0.77991066 -0.09125753 -24.03325903] [ 0.32059488 -0.14500549 0.93605146 -5.11244717] [ 0. 0. 0. 1. ]] SLAMing on 81.15165253199999 meters Centerline goodness [0,1] 0.5206275845293116 Centerline is valid? [False, False] Translation: X:-18.89, Y:-24.06, Z:-5.12 [[ 0.71474215 -0.60964632 -0.3427463 -18.8881154 ] [ 0.62026297 0.77896817 -0.09210017 -24.05838699] [ 0.32313699 -0.14676496 0.93490242 -5.12003324] [ 0. 0. 0. 1. ]] SLAMing on 81.18165253199999 meters Centerline goodness [0,1] 0.5308396242444838 Centerline is valid? [False, False] Translation: X:-18.89, Y:-24.06, Z:-5.12 [[ 0.71335501 -0.61320817 -0.33926446 -18.89243249] [ 0.62267407 0.77673524 -0.09465395 -24.05837675] [ 0.32156124 -0.14372931 0.9359168 -5.12229314] [ 0. 0. 0. 1. ]] SLAMing on 81.21165253199999 meters Centerline goodness [0,1] 0.5123231345991051 Centerline is valid? [False, False] Translation: X:-18.91, Y:-24.08, Z:-5.13 [[ 0.71209783 -0.61158041 -0.34479861 -18.9106276 ] [ 0.62244969 0.77712713 -0.0928967 -24.08216457] [ 0.32476615 -0.14846825 0.93406859 -5.1268057 ] [ 0. 0. 0. 1. ]] SLAMing on 81.24165253199999 meters Centerline goodness [0,1] 0.4947882657379864 Centerline is valid? [False, False] Translation: X:-18.94, Y:-24.12, Z:-5.14 [[ 0.7134471 -0.61056536 -0.34380689 -18.93927191] [ 0.62182924 0.7778484 -0.0909959 -24.11536919] [ 0.32298859 -0.14886842 0.93462108 -5.13780638] [ 0. 0. 0. 1. ]] SLAMing on 81.27165253199999 meters Centerline goodness [0,1] 0.5068417115138644 Centerline is valid? [False, False] Translation: X:-18.96, Y:-24.14, Z:-5.15 [[ 0.71366332 -0.60951675 -0.34521586 -18.96325268] [ 0.6213469 0.77837313 -0.08979589 -24.14350643] [ 0.32343885 -0.15041478 0.9342177 -5.14737192] [ 0. 0. 0. 1. ]] SLAMing on 81.30165253199999 meters Centerline goodness [0,1] 0.49686812256644663 Centerline is valid? [False, False] Translation: X:-18.99, Y:-24.17, Z:-5.16 [[ 0.71314714 -0.60925812 -0.34673579 -18.98670679] [ 0.62139025 0.77835762 -0.08963027 -24.17119265] [ 0.32449241 -0.15153867 0.93367056 -5.15662031] [ 0. 0. 0. 1. ]] SLAMing on 81.33165253199999 meters Centerline goodness [0,1] 0.48569220738451135 Centerline is valid? [False, False] Translation: X:-19.01, Y:-24.20, Z:-5.17 [[ 0.71481269 -0.60674068 -0.3477191 -19.01244564] [ 0.61964681 0.78001683 -0.0872444 -24.20029551] [ 0.32416147 -0.15309962 0.93353085 -5.16762054] [ 0. 0. 0. 1. ]] SLAMing on 81.361652532 meters Centerline goodness [0,1] 0.5041254523522316 Centerline is valid? [False, False] Translation: X:-19.04, Y:-24.23, Z:-5.18 [[ 0.71468445 -0.60632282 -0.34871016 -19.03611096] [ 0.61990625 0.77998216 -0.08569761 -24.22696873] [ 0.32394812 -0.15492086 0.93330442 -5.17696119] [ 0. 0. 0. 1. ]] SLAMing on 81.391652532 meters Centerline goodness [0,1] 0.4880231576408154 Centerline is valid? [False, False] Translation: X:-19.06, Y:-24.26, Z:-5.19 [[ 0.71591196 -0.60555483 -0.3475247 -19.06375208] [ 0.61952194 0.78049719 -0.0837658 -24.2576227 ] [ 0.32196684 -0.15533024 0.93392177 -5.18890782] [ 0. 0. 0. 1. ]] SLAMing on 81.421652532 meters Centerline goodness [0,1] 0.49453269568143043 Centerline is valid? [False, False] Translation: X:-19.07, Y:-24.26, Z:-5.19 [[ 0.71681578 -0.60475378 -0.3470562 -19.06654753] [ 0.61884519 0.78112106 -0.08294888 -24.25921978] [ 0.32125655 -0.15531499 0.93416887 -5.18963932] [ 0. 0. 0. 1. ]] SLAMing on 81.451652532 meters Centerline goodness [0,1] 0.47654951460988126 Centerline is valid? [False, False] Translation: X:-19.09, Y:-24.29, Z:-5.20 [[ 0.71796793 -0.6033167 -0.34717576 -19.09298664] [ 0.61785592 0.78207342 -0.0813341 -24.28817243] [ 0.32058715 -0.15610933 0.93426643 -5.20111676] [ 0. 0. 0. 1. ]] SLAMing on 81.481652532 meters Centerline goodness [0,1] 0.47689713322091065 Centerline is valid? [False, False] Translation: X:-19.12, Y:-24.32, Z:-5.21 [[ 0.71810038 -0.60311426 -0.34725356 -19.11813689] [ 0.61804517 0.78204304 -0.08018015 -24.31834938] [ 0.31992502 -0.15704099 0.93433726 -5.21149964] [ 0. 0. 0. 1. ]] SLAMing on 81.51165253199999 meters Centerline goodness [0,1] 0.47624668754516986 Centerline is valid? [False, False] Translation: X:-19.12, Y:-24.32, Z:-5.21 [[ 0.71709622 -0.60618894 -0.34395929 -19.12309981] [ 0.62007935 0.78021288 -0.08227678 -24.31987418] [ 0.31823674 -0.15428168 0.93537294 -5.21311186] [ 0. 0. 0. 1. ]] SLAMing on 81.54165253199999 meters Centerline goodness [0,1] 0.4918558915084096 Centerline is valid? [False, False] Translation: X:-19.15, Y:-24.35, Z:-5.22 [[ 0.71687224 -0.60567499 -0.34532883 -19.1470408 ] [ 0.62009336 0.78030215 -0.08131899 -24.34732495] [ 0.31871371 -0.15584079 0.93495199 -5.22207166] [ 0. 0. 0. 1. ]] SLAMing on 81.57165253199999 meters Centerline goodness [0,1] 0.4747757306839009 Centerline is valid? [False, False] Translation: X:-19.17, Y:-24.38, Z:-5.23 [[ 0.71815585 -0.60443985 -0.34482552 -19.17481522] [ 0.61927319 0.78113945 -0.0795102 -24.37977288] [ 0.31741595 -0.15644049 0.93529326 -5.23293904] [ 0. 0. 0. 1. ]] SLAMing on 81.60165253199999 meters Centerline goodness [0,1] 0.4746966486902927 Centerline is valid? [False, False] Translation: X:-19.18, Y:-24.38, Z:-5.23 [[ 0.71715945 -0.6075266 -0.34145829 -19.17969814] [ 0.62130519 0.77930497 -0.08163109 -24.38179172] [ 0.3156932 -0.1536073 0.93634534 -5.23444754] [ 0. 0. 0. 1. ]] SLAMing on 81.63165253199999 meters Centerline goodness [0,1] 0.47349891487822526 Centerline is valid? [False, False] Translation: X:-19.20, Y:-24.41, Z:-5.24 [[ 0.71558058 -0.60719882 -0.34533176 -19.19835148] [ 0.62206081 0.77882866 -0.08041313 -24.40554774] [ 0.31778102 -0.15727528 0.93502925 -5.24013962] [ 0. 0. 0. 1. ]] SLAMing on 81.66165253199999 meters Centerline goodness [0,1] 0.47360943895978813 Centerline is valid? [False, False] Translation: X:-19.21, Y:-24.41, Z:-5.24 [[ 0.71606341 -0.60903351 -0.34107385 -19.20592845] [ 0.62276526 0.77810471 -0.08195419 -24.41014857] [ 0.31530402 -0.15372455 0.93645723 -5.24416713] [ 0. 0. 0. 1. ]] SLAMing on 81.69165253199999 meters Centerline goodness [0,1] 0.46154217915569196 Centerline is valid? [False, False] Translation: X:-19.23, Y:-24.44, Z:-5.25 [[ 0.71567781 -0.60726141 -0.34502007 -19.22632845] [ 0.62227664 0.7787183 -0.0798098 -24.43564698] [ 0.31713886 -0.15757982 0.93519599 -5.25068422] [ 0. 0. 0. 1. ]] SLAMing on 81.721652532 meters Centerline goodness [0,1] 0.47836934405580855 Centerline is valid? [False, False] Translation: X:-19.25, Y:-24.46, Z:-5.26 [[ 0.71459134 -0.60702429 -0.34767905 -19.24830344] [ 0.62285187 0.77836056 -0.07880605 -24.46492581] [ 0.31845684 -0.16023843 0.93429593 -5.25699926] [ 0. 0. 0. 1. ]] SLAMing on 81.751652532 meters Centerline goodness [0,1] 0.46481257557436517 Centerline is valid? [False, False] Translation: X:-19.27, Y:-24.49, Z:-5.27 [[ 0.71541569 -0.60536419 -0.34887617 -19.27314446] [ 0.62184366 0.77933509 -0.07711861 -24.49454444] [ 0.31857629 -0.16177457 0.93399044 -5.26679147] [ 0. 0. 0. 1. ]] SLAMing on 81.781652532 meters Centerline goodness [0,1] 0.4709649355984631 Centerline is valid? [False, False] Translation: X:-19.29, Y:-24.52, Z:-5.27 [[ 0.71491327 -0.60404945 -0.3521694 -19.2934136 ] [ 0.62176058 0.7796071 -0.07501035 -24.51961344] [ 0.31986372 -0.16533916 0.93292559 -5.27397606] [ 0. 0. 0. 1. ]] SLAMing on 81.811652532 meters Centerline goodness [0,1] 0.46477242577003786 Centerline is valid? [False, False] Translation: X:-19.31, Y:-24.54, Z:-5.28 [[ 0.71343273 -0.60328622 -0.35645403 -19.31152281] [ 0.62220619 0.77937328 -0.07373435 -24.5424312 ] [ 0.32229366 -0.16918341 0.93139882 -5.28025565] [ 0. 0. 0. 1. ]] SLAMing on 81.841652532 meters Centerline goodness [0,1] 0.46630825236866846 Centerline is valid? [False, False] Translation: X:-19.33, Y:-24.57, Z:-5.29 [[ 0.7132145 -0.60251114 -0.35819743 -19.334563 ] [ 0.62202073 0.77960636 -0.07282942 -24.56917677] [ 0.32313354 -0.17086323 0.93080099 -5.28967291] [ 0. 0. 0. 1. ]] SLAMing on 81.87165253199998 meters Centerline goodness [0,1] 0.4625400882544428 Centerline is valid? [False, False] Translation: X:-19.36, Y:-24.60, Z:-5.30 [[ 0.7141353 -0.60148548 -0.35808657 -19.36197587] [ 0.62107463 0.78041309 -0.07226138 -24.60113121] [ 0.32291962 -0.17079409 0.93088791 -5.30152488] [ 0. 0. 0. 1. ]] SLAMing on 81.90165253199999 meters Centerline goodness [0,1] 0.45982691705035794 Centerline is valid? [False, False] Translation: X:-19.39, Y:-24.63, Z:-5.31 [[ 0.71523931 -0.59978925 -0.35872773 -19.38763272] [ 0.61996201 0.78145845 -0.07049686 -24.63008278] [ 0.32261408 -0.17197544 0.93077635 -5.31249944] [ 0. 0. 0. 1. ]] SLAMing on 81.93165253199999 meters Centerline goodness [0,1] 0.46320304592992434 Centerline is valid? [False, False] Translation: X:-19.41, Y:-24.66, Z:-5.32 [[ 0.71427794 -0.6005243 -0.35941285 -19.41034523] [ 0.62096982 0.78067497 -0.07030701 -24.65694423] [ 0.32280568 -0.17296578 0.93052637 -5.32204874] [ 0. 0. 0. 1. ]] SLAMing on 81.96165253199999 meters Centerline goodness [0,1] 0.4647608947165446 Centerline is valid? [False, False] Translation: X:-19.44, Y:-24.69, Z:-5.33 [[ 0.715223 -0.59951566 -0.35921725 -19.4365642 ] [ 0.62021578 0.78137408 -0.06918766 -24.68743627] [ 0.32216213 -0.1733076 0.93068579 -5.3334335 ] [ 0. 0. 0. 1. ]] SLAMing on 81.99165253199999 meters Centerline goodness [0,1] 0.4633969907407407 Centerline is valid? [False, False] Translation: X:-19.46, Y:-24.72, Z:-5.34 [[ 0.71517549 -0.59954658 -0.35926024 -19.46094827] [ 0.62042665 0.78124959 -0.06870115 -24.71735647] [ 0.32186145 -0.17376125 0.93070523 -5.34366527] [ 0. 0. 0. 1. ]] SLAMing on 82.02165253199999 meters Centerline goodness [0,1] 0.4719732022363601 Centerline is valid? [False, False] Translation: X:-19.49, Y:-24.75, Z:-5.36 [[ 0.71506938 -0.60003889 -0.358649 -19.48670936] [ 0.62051407 0.78109667 -0.06964405 -24.74782844] [ 0.32192867 -0.17274642 0.93087088 -5.35616453] [ 0. 0. 0. 1. ]] SLAMing on 82.05165253199999 meters Centerline goodness [0,1] 0.46856345079915274 Centerline is valid? [False, False] Translation: X:-19.50, Y:-24.77, Z:-5.36 [[ 0.71253124 -0.60006532 -0.36362186 -19.50304827] [ 0.62184663 0.78010787 -0.0688367 -24.76813771] [ 0.32497079 -0.17706873 0.92899981 -5.36109653] [ 0. 0. 0. 1. ]] SLAMing on 82.08165253199999 meters Centerline goodness [0,1] 0.46619687823179967 Centerline is valid? [False, False] Translation: X:-19.52, Y:-24.79, Z:-5.37 [[ 0.71171919 -0.59878157 -0.3673097 -19.52315892] [ 0.62165304 0.7803705 -0.06759711 -24.79152341] [ 0.32711356 -0.18022903 0.92763905 -5.36901699] [ 0. 0. 0. 1. ]] SLAMing on 82.111652532 meters Centerline goodness [0,1] 0.4654187664986801 Centerline is valid? [False, False] Translation: X:-19.55, Y:-24.82, Z:-5.38 [[ 0.71406716 -0.59648195 -0.36649335 -19.5529478 ] [ 0.6192175 0.78236749 -0.06686399 -24.82343313] [ 0.32661565 -0.17919372 0.92801499 -5.38358106] [ 0. 0. 0. 1. ]] SLAMing on 82.141652532 meters Centerline goodness [0,1] 0.46359252417168495 Centerline is valid? [False, False] Translation: X:-19.58, Y:-24.85, Z:-5.40 [[ 0.71626025 -0.59449281 -0.36544431 -19.58107652] [ 0.61728443 0.78400578 -0.06553529 -24.85444168] [ 0.32547071 -0.17864276 0.92852333 -5.39764741] [ 0. 0. 0. 1. ]] SLAMing on 82.171652532 meters Centerline goodness [0,1] 0.46251859672697604 Centerline is valid? [False, False] Translation: X:-19.61, Y:-24.89, Z:-5.41 [[ 0.71886616 -0.59221235 -0.36402743 -19.61049976] [ 0.61518287 0.78581825 -0.06355874 -24.88709736] [ 0.32369967 -0.17825321 0.92921705 -5.41127851] [ 0. 0. 0. 1. ]] SLAMing on 82.201652532 meters Centerline goodness [0,1] 0.4661856016110085 Centerline is valid? [False, False] Translation: X:-19.64, Y:-24.92, Z:-5.42 [[ 0.71914623 -0.59446549 -0.35977698 -19.64076903] [ 0.61642135 0.78476707 -0.06453957 -24.92190695] [ 0.32070768 -0.17536082 0.93080351 -5.42440237] [ 0. 0. 0. 1. ]] SLAMing on 82.231652532 meters Centerline goodness [0,1] 0.46415834948900214 Centerline is valid? [False, False] Translation: X:-19.67, Y:-24.95, Z:-5.44 [[ 0.7203449 -0.5940625 -0.35804045 -19.66831589] [ 0.61599753 0.78518805 -0.06345679 -24.95355241] [ 0.31882639 -0.17484126 0.93154724 -5.43709486] [ 0. 0. 0. 1. ]] SLAMing on 82.26165253199999 meters Centerline goodness [0,1] 0.465043486571729 Centerline is valid? [False, False] Translation: X:-19.70, Y:-24.98, Z:-5.45 [[ 0.72145748 -0.59322516 -0.35718764 -19.69505186] [ 0.6152166 0.78587184 -0.06256187 -24.98387508] [ 0.31781698 -0.17461204 0.93193509 -5.44961738] [ 0. 0. 0. 1. ]] SLAMing on 82.29165253199999 meters Centerline goodness [0,1] 0.4652703058125912 Centerline is valid? [False, False] Translation: X:-19.72, Y:-25.01, Z:-5.46 [[ 0.72059303 -0.59583368 -0.3545813 -19.72118047] [ 0.61715278 0.78426345 -0.06366547 -25.01409793] [ 0.31601919 -0.17295394 0.93285519 -5.46208917] [ 0. 0. 0. 1. ]] SLAMing on 82.32165253199999 meters Centerline goodness [0,1] 0.4586752146975097 Centerline is valid? [False, False] Translation: X:-19.75, Y:-25.05, Z:-5.47 [[ 0.71915873 -0.59860498 -0.3528212 -19.74806408] [ 0.61896696 0.78262442 -0.06617342 -25.04609207] [ 0.31573823 -0.17079547 0.93334789 -5.47351002] [ 0. 0. 0. 1. ]] SLAMing on 82.35165253199999 meters Centerline goodness [0,1] 0.466168832723008 Centerline is valid? [False, False] Translation: X:-19.77, Y:-25.07, Z:-5.49 [[ 0.72009812 -0.59768308 -0.35246791 -19.77426723] [ 0.61823535 0.7832873 -0.06516182 -25.07464719] [ 0.31502975 -0.17098522 0.93355252 -5.48599438] [ 0. 0. 0. 1. ]] SLAMing on 82.38165253199999 meters Centerline goodness [0,1] 0.4658113532110092 Centerline is valid? [False, False] Translation: X:-19.80, Y:-25.10, Z:-5.50 [[ 0.71911256 -0.59890645 -0.35240344 -19.79750757] [ 0.61951997 0.78226343 -0.06526049 -25.10108342] [ 0.31475726 -0.17139133 0.93356997 -5.49668683] [ 0. 0. 0. 1. ]] SLAMing on 82.41165253199999 meters Centerline goodness [0,1] 0.4680550568521843 Centerline is valid? [False, False] Translation: X:-19.82, Y:-25.13, Z:-5.51 [[ 0.71871985 -0.60105606 -0.34953311 -19.82460253] [ 0.62084241 0.78110231 -0.06658741 -25.13063354] [ 0.31304388 -0.16914728 0.93455483 -5.51022519] [ 0. 0. 0. 1. ]] SLAMing on 82.44165253199999 meters Centerline goodness [0,1] 0.46993265105577264 Centerline is valid? [False, False] Translation: X:-19.86, Y:-25.17, Z:-5.53 [[ 0.72077418 -0.60077325 -0.34576882 -19.85778057] [ 0.61929866 0.78219631 -0.06810371 -25.16696271] [ 0.31137398 -0.16504677 0.93584497 -5.52628316] [ 0. 0. 0. 1. ]] SLAMing on 82.471652532 meters Centerline goodness [0,1] 0.4745250431778929 Centerline is valid? [False, False] Translation: X:-19.88, Y:-25.20, Z:-5.54 [[ 0.7207484 -0.60178923 -0.34405155 -19.88399159] [ 0.61984854 0.78170124 -0.06878196 -25.19567835] [ 0.31033776 -0.16368536 0.93642809 -5.53928476] [ 0. 0. 0. 1. ]] SLAMing on 82.501652532 meters Centerline goodness [0,1] 0.4724077665254136 Centerline is valid? [False, False] Translation: X:-19.91, Y:-25.23, Z:-5.55 [[ 0.72178423 -0.60141381 -0.34253314 -19.91164507] [ 0.61932016 0.7821638 -0.06828122 -25.22721563] [ 0.30898229 -0.16285337 0.9370212 -5.55167057] [ 0. 0. 0. 1. ]] SLAMing on 82.531652532 meters Centerline goodness [0,1] 0.4769216029126446 Centerline is valid? [False, False] Translation: X:-19.94, Y:-25.26, Z:-5.56 [[ 0.72327391 -0.60079244 -0.3404751 -19.94280194] [ 0.61829531 0.78298305 -0.06817953 -25.26254919] [ 0.30754798 -0.16120168 0.93777836 -5.56339195] [ 0. 0. 0. 1. ]] SLAMing on 82.561652532 meters Centerline goodness [0,1] 0.47054606285099776 Centerline is valid? [False, False] Translation: X:-19.97, Y:-25.29, Z:-5.58 [[ 0.7243551 -0.60011501 -0.33936952 -19.96967651] [ 0.61758597 0.78360326 -0.06747964 -25.29223808] [ 0.30642661 -0.16071063 0.93822962 -5.57599044] [ 0. 0. 0. 1. ]] SLAMing on 82.591652532 meters Centerline goodness [0,1] 0.4790277479027748 Centerline is valid? [False, False] Translation: X:-20.00, Y:-25.32, Z:-5.59 [[ 0.7250607 -0.59958332 -0.33880205 -19.99598551] [ 0.61709709 0.78403856 -0.06689331 -25.32119718] [ 0.30574198 -0.16057205 0.93847667 -5.58798287] [ 0. 0. 0. 1. ]] SLAMing on 82.62165253199998 meters Centerline goodness [0,1] 0.4697522474187472 Centerline is valid? [False, False] Translation: X:-20.02, Y:-25.35, Z:-5.60 [[ 0.72589952 -0.59847779 -0.3389605 -20.02218139] [ 0.61618943 0.78481932 -0.06610008 -25.35036518] [ 0.30558218 -0.16088186 0.93847566 -5.5992993 ] [ 0. 0. 0. 1. ]] SLAMing on 82.65165253199999 meters Centerline goodness [0,1] 0.4772543035620619 Centerline is valid? [False, False] Translation: X:-20.05, Y:-25.38, Z:-5.61 [[ 0.72688672 -0.59854521 -0.33671847 -20.05132271] [ 0.6152256 0.78541093 -0.06802309 -25.38176732] [ 0.30517726 -0.15771274 0.93914511 -5.61434035] [ 0. 0. 0. 1. ]] SLAMing on 82.68165253199999 meters Centerline goodness [0,1] 0.4707565389475692 Centerline is valid? [False, False] Translation: X:-20.08, Y:-25.41, Z:-5.63 [[ 0.72776648 -0.59844854 -0.3349855 -20.07848556] [ 0.61474782 0.78576875 -0.06820983 -25.41262937] [ 0.30404121 -0.15629078 0.9397511 -5.62730777] [ 0. 0. 0. 1. ]] SLAMing on 82.71165253199999 meters Centerline goodness [0,1] 0.463480806301911 Centerline is valid? [False, False] Translation: X:-20.11, Y:-25.44, Z:-5.64 [[ 0.72837343 -0.59891379 -0.3328279 -20.10607929] [ 0.61468902 0.78576722 -0.06875527 -25.44338013] [ 0.30270374 -0.15450614 0.9404777 -5.64057943] [ 0. 0. 0. 1. ]] SLAMing on 82.74165253199999 meters Centerline goodness [0,1] 0.4774579936782565 Centerline is valid? [False, False] Translation: X:-20.14, Y:-25.48, Z:-5.65 [[ 0.72936073 -0.59927716 -0.32999973 -20.13796784] [ 0.61430855 0.78598907 -0.06961449 -25.47689406] [ 0.30109455 -0.15194758 0.94141065 -5.65324284] [ 0. 0. 0. 1. ]] SLAMing on 82.77165253199999 meters Centerline goodness [0,1] 0.46630107067397863 Centerline is valid? [False, False] Translation: X:-20.16, Y:-25.51, Z:-5.67 [[ 0.72984184 -0.59941192 -0.32868867 -20.1646757 ] [ 0.6143558 0.78598801 -0.0692084 -25.50585658] [ 0.29982969 -0.1514206 0.94189912 -5.66530407] [ 0. 0. 0. 1. ]] SLAMing on 82.80165253199999 meters Centerline goodness [0,1] 0.4759006181757893 Centerline is valid? [False, False] Translation: X:-20.19, Y:-25.53, Z:-5.68 [[ 0.72928933 -0.59966169 -0.32945853 -20.18889467] [ 0.61472249 0.78569131 -0.06932111 -25.53287817] [ 0.30042192 -0.15197042 0.94162182 -5.67511332] [ 0. 0. 0. 1. ]] SLAMing on 82.83165253199999 meters Centerline goodness [0,1] 0.4701153773406469 Centerline is valid? [False, False] Translation: X:-20.22, Y:-25.56, Z:-5.69 [[ 0.73009986 -0.59874224 -0.32933558 -20.21554629] [ 0.6138699 0.7864015 -0.06882179 -25.56136121] [ 0.3001965 -0.15192242 0.94170146 -5.68681854] [ 0. 0. 0. 1. ]] SLAMing on 82.861652532 meters Centerline goodness [0,1] 0.46839814551991676 Centerline is valid? [False, False] Translation: X:-20.25, Y:-25.60, Z:-5.70 [[ 0.73345599 -0.59598379 -0.32687251 -20.24884962] [ 0.61045045 0.78905149 -0.06890563 -25.59594207] [ 0.29898588 -0.14900022 0.94255312 -5.70180687] [ 0. 0. 0. 1. ]] SLAMing on 82.891652532 meters Centerline goodness [0,1] 0.4719319447406459 Centerline is valid? [False, False] Translation: X:-20.28, Y:-25.63, Z:-5.71 [[ 0.73367998 -0.59740639 -0.32375808 -20.2782115 ] [ 0.61101839 0.78848964 -0.07028951 -25.62920404] [ 0.29727129 -0.14625214 0.94352535 -5.71405495] [ 0. 0. 0. 1. ]] SLAMing on 82.921652532 meters Centerline goodness [0,1] 0.4719319447406459 Centerline is valid? [False, False] Translation: X:-20.30, Y:-25.66, Z:-5.72 [[ 0.73389039 -0.59698108 -0.32406554 -20.30340631] [ 0.61054382 0.78883774 -0.07050723 -25.6588037 ] [ 0.29772661 -0.14611164 0.94340355 -5.72458528] [ 0. 0. 0. 1. ]] SLAMing on 82.951652532 meters Centerline goodness [0,1] 0.465717736778533 Centerline is valid? [False, False] Translation: X:-20.33, Y:-25.69, Z:-5.74 [[ 0.7345551 -0.59669033 -0.32309357 -20.33027836] [ 0.61007651 0.78920103 -0.07048675 -25.68887531] [ 0.29704454 -0.14533539 0.9437384 -5.73630866] [ 0. 0. 0. 1. ]] SLAMing on 82.981652532 meters Centerline goodness [0,1] 0.46735810186829585 Centerline is valid? [False, False] Translation: X:-20.36, Y:-25.72, Z:-5.75 [[ 0.7361385 -0.59515515 -0.32232044 -20.35882492] [ 0.60870838 0.79037168 -0.06918612 -25.71970506] [ 0.29592942 -0.14526859 0.94409894 -5.74774118] [ 0. 0. 0. 1. ]] SLAMing on 83.01165253199999 meters Centerline goodness [0,1] 0.46349664922209854 Centerline is valid? [False, False] Translation: X:-20.39, Y:-25.75, Z:-5.76 [[ 0.7362444 -0.59662381 -0.31934966 -20.39033976] [ 0.60952739 0.78966388 -0.07005221 -25.75188278] [ 0.29397371 -0.14307682 0.94504417 -5.75939451] [ 0. 0. 0. 1. ]] SLAMing on 83.04165253199999 meters Centerline goodness [0,1] 0.46184757942511345 Centerline is valid? [False, False] Translation: X:-20.42, Y:-25.78, Z:-5.77 [[ 0.73706316 -0.59564724 -0.31928398 -20.4170703 ] [ 0.60866344 0.79038507 -0.06942813 -25.78180893] [ 0.29371197 -0.14316357 0.94511241 -5.77009525] [ 0. 0. 0. 1. ]] SLAMing on 83.07165253199999 meters Centerline goodness [0,1] 0.4677328049816021 Centerline is valid? [False, False] Translation: X:-20.45, Y:-25.81, Z:-5.78 [[ 0.73838065 -0.59464333 -0.31810898 -20.44662378] [ 0.60733654 0.79138792 -0.06962391 -25.814701 ] [ 0.293149 -0.14179026 0.94549415 -5.78201986] [ 0. 0. 0. 1. ]] SLAMing on 83.10165253199999 meters Centerline goodness [0,1] 0.4673201074407427 Centerline is valid? [False, False] Translation: X:-20.47, Y:-25.85, Z:-5.79 [[ 0.7389029 -0.5945167 -0.31713153 -20.4737433 ] [ 0.60702145 0.79162315 -0.06969751 -25.84519224] [ 0.29248499 -0.14100595 0.94581703 -5.79312864] [ 0. 0. 0. 1. ]] SLAMing on 83.13165253199999 meters Centerline goodness [0,1] 0.46499929481453617 Centerline is valid? [False, False] Translation: X:-20.50, Y:-25.88, Z:-5.80 [[ 0.74049493 -0.59313601 -0.31600148 -20.50259638] [ 0.60565572 0.79275145 -0.0687479 -25.87644928] [ 0.29128749 -0.14048063 0.94626465 -5.80482284] [ 0. 0. 0. 1. ]] SLAMing on 83.16165253199999 meters Centerline goodness [0,1] 0.46168815943728014 Centerline is valid? [False, False] Translation: X:-20.53, Y:-25.91, Z:-5.82 [[ 0.74198795 -0.59202262 -0.31458402 -20.53134006] [ 0.60457718 0.79366883 -0.06764782 -25.90614544] [ 0.28972457 -0.13999645 0.94681607 -5.81714057] [ 0. 0. 0. 1. ]] SLAMing on 83.19165253199999 meters Centerline goodness [0,1] 0.46139456577655147 Centerline is valid? [False, False] Translation: X:-20.56, Y:-25.94, Z:-5.83 [[ 0.74319003 -0.59121728 -0.31325821 -20.55985539] [ 0.6037579 0.79436186 -0.06682539 -25.93538721] [ 0.2883487 -0.13946816 0.94731392 -5.82913749] [ 0. 0. 0. 1. ]] SLAMing on 83.221652532 meters Centerline goodness [0,1] 0.46052539567842243 Centerline is valid? [False, False] Translation: X:-20.59, Y:-25.97, Z:-5.84 [[ 0.74617918 -0.58865661 -0.31096629 -20.5935323 ] [ 0.60091353 0.79658412 -0.06600505 -25.96941714] [ 0.28656512 -0.13761226 0.9481262 -5.84203052] [ 0. 0. 0. 1. ]] SLAMing on 83.251652532 meters Centerline goodness [0,1] 0.463509568602011 Centerline is valid? [False, False] Translation: X:-20.61, Y:-25.98, Z:-5.85 [[ 0.74783835 -0.59017341 -0.3040282 -20.60798774] [ 0.59998962 0.79685121 -0.07099722 -25.98122656] [ 0.28416591 -0.12931932 0.95001382 -5.84999033] [ 0. 0. 0. 1. ]] SLAMing on 83.281652532 meters Centerline goodness [0,1] 0.44733592712531745 Centerline is valid? [False, False] Translation: X:-20.64, Y:-26.02, Z:-5.86 [[ 0.74945417 -0.59004405 -0.30027731 -20.64232526] [ 0.59904163 0.79748169 -0.07191711 -26.01624653] [ 0.28189992 -0.12598003 0.95113693 -5.8628829 ] [ 0. 0. 0. 1. ]] SLAMing on 83.311652532 meters Centerline goodness [0,1] 0.45409637431261063 Centerline is valid? [False, False] Translation: X:-20.67, Y:-26.05, Z:-5.87 [[ 0.7502211 -0.58921468 -0.29999061 -20.66944962] [ 0.59832728 0.79808093 -0.07121307 -26.04607512] [ 0.28137657 -0.12606702 0.95128037 -5.87324669] [ 0. 0. 0. 1. ]] SLAMing on 83.341652532 meters Centerline goodness [0,1] 0.4645746164574617 Centerline is valid? [False, False] Translation: X:-20.70, Y:-26.08, Z:-5.88 [[ 0.7513989 -0.58766905 -0.30007464 -20.69713203] [ 0.59688279 0.79921816 -0.07057811 -26.07638272] [ 0.28130167 -0.12607708 0.95130118 -5.88384593] [ 0. 0. 0. 1. ]] SLAMing on 83.37165253199998 meters Centerline goodness [0,1] 0.438588344555375 Centerline is valid? [False, False] Translation: X:-20.72, Y:-26.11, Z:-5.89 [[ 0.75180025 -0.58694725 -0.3004818 -20.72306677] [ 0.59630443 0.799689 -0.07013218 -26.10577215] [ 0.28145589 -0.12645324 0.95120564 -5.89360796] [ 0. 0. 0. 1. ]] SLAMing on 83.40165253199999 meters Centerline goodness [0,1] 0.4522710936956572 Centerline is valid? [False, False] Translation: X:-20.75, Y:-26.13, Z:-5.90 [[ 0.75100466 -0.58832231 -0.29978135 -20.74832236] [ 0.59729477 0.79883772 -0.07139504 -26.13367424] [ 0.28147995 -0.12543983 0.95133269 -5.90410674] [ 0. 0. 0. 1. ]] SLAMing on 83.43165253199999 meters Centerline goodness [0,1] 0.4467872651696352 Centerline is valid? [False, False] Translation: X:-20.78, Y:-26.17, Z:-5.92 [[ 0.75196904 -0.5889329 -0.29614286 -20.7804949 ] [ 0.5970291 0.79891017 -0.07279283 -26.17011159] [ 0.27946164 -0.12206795 0.9523658 -5.9159118 ] [ 0. 0. 0. 1. ]] SLAMing on 83.46165253199999 meters Centerline goodness [0,1] 0.46293758275453556 Centerline is valid? [False, False] Translation: X:-20.81, Y:-26.20, Z:-5.93 [[ 0.75022843 -0.59176691 -0.29490545 -20.80571694] [ 0.59927215 0.79703948 -0.07483955 -26.19962316] [ 0.27933886 -0.12058186 0.95259111 -5.92506579] [ 0. 0. 0. 1. ]] SLAMing on 83.49165253199999 meters Centerline goodness [0,1] 0.4740286868124217 Centerline is valid? [False, False] Translation: X:-20.83, Y:-26.23, Z:-5.93 [[ 0.75011005 -0.59001622 -0.29869009 -20.82690876] [ 0.59842296 0.79783326 -0.07315773 -26.22528126] [ 0.28146914 -0.12386666 0.951542 -5.93153373] [ 0. 0. 0. 1. ]] SLAMing on 83.52165253199999 meters Centerline goodness [0,1] 0.4625176803394625 Centerline is valid? [False, False] Translation: X:-20.86, Y:-26.25, Z:-5.94 [[ 0.75193811 -0.58775734 -0.29854712 -20.85568173] [ 0.59637622 0.79947953 -0.071888 -26.25442751] [ 0.28093501 -0.12399107 0.95168363 -5.94351776] [ 0. 0. 0. 1. ]] SLAMing on 83.55165253199999 meters Centerline goodness [0,1] 0.4474938677280511 Centerline is valid? [False, False] Translation: X:-20.88, Y:-26.28, Z:-5.95 [[ 0.75115409 -0.58722842 -0.30154654 -20.87670214] [ 0.59653577 0.79945146 -0.07086912 -26.2786244 ] [ 0.28268819 -0.12664967 0.95081399 -5.95083451] [ 0. 0. 0. 1. ]] SLAMing on 83.58165253199999 meters Centerline goodness [0,1] 0.4358010947212172 Centerline is valid? [False, False] Translation: X:-20.90, Y:-26.31, Z:-5.96 [[ 0.74945204 -0.59050521 -0.29937475 -20.90422375] [ 0.59859335 0.79756658 -0.07465629 -26.31108374] [ 0.28285623 -0.12325242 0.95121038 -5.96109872] [ 0. 0. 0. 1. ]] SLAMing on 83.611652532 meters Centerline goodness [0,1] 0.45065453532633926 Centerline is valid? [False, False] Translation: X:-20.93, Y:-26.34, Z:-5.97 [[ 0.75006181 -0.59075956 -0.29733889 -20.93225639] [ 0.59831929 0.79768766 -0.07555408 -26.34283659] [ 0.28181787 -0.12123336 0.9517779 -5.97309452] [ 0. 0. 0. 1. ]] SLAMing on 83.641652532 meters Centerline goodness [0,1] 0.45694689035128366 Centerline is valid? [False, False] Translation: X:-20.96, Y:-26.37, Z:-5.98 [[ 0.75146222 -0.58922661 -0.29684428 -20.95996952] [ 0.5967921 0.79888492 -0.07498053 -26.37376684] [ 0.28132494 -0.12080928 0.95197762 -5.98454686] [ 0. 0. 0. 1. ]] SLAMing on 83.671652532 meters Centerline goodness [0,1] 0.4658413890627535 Centerline is valid? [False, False] Translation: X:-20.99, Y:-26.41, Z:-5.99 [[ 0.75078104 -0.5909784 -0.29508028 -20.98935214] [ 0.59773092 0.79796055 -0.07730916 -26.40615752] [ 0.28115047 -0.11833636 0.95233971 -5.99494684] [ 0. 0. 0. 1. ]] SLAMing on 83.701652532 meters Centerline goodness [0,1] 0.4547434263871192 Centerline is valid? [False, False] Translation: X:-21.02, Y:-26.44, Z:-6.01 [[ 0.75168774 -0.58991075 -0.29490821 -21.01695381] [ 0.59680871 0.79872729 -0.07651202 -26.4361005 ] [ 0.28068649 -0.11849064 0.95245738 -6.00508292] [ 0. 0. 0. 1. ]] SLAMing on 83.731652532 meters Centerline goodness [0,1] 0.45317961895502 Centerline is valid? [False, False] Translation: X:-21.04, Y:-26.46, Z:-6.02 [[ 0.75249305 -0.58883604 -0.29500226 -21.04396455] [ 0.59591219 0.79947167 -0.07572129 -26.46497801] [ 0.28043337 -0.11881569 0.95249145 -6.01549518] [ 0. 0. 0. 1. ]] SLAMing on 83.76165253199999 meters Centerline goodness [0,1] 0.4546591040629703 Centerline is valid? [False, False] Translation: X:-21.08, Y:-26.50, Z:-6.03 [[ 0.75431725 -0.58703293 -0.29393509 -21.07544285] [ 0.59387083 0.80099384 -0.07567234 -26.49757951] [ 0.27986235 -0.11747852 0.9528252 -6.02719504] [ 0. 0. 0. 1. ]] SLAMing on 83.79165253199999 meters Centerline goodness [0,1] 0.47168674698795177 Centerline is valid? [False, False] Translation: X:-21.10, Y:-26.53, Z:-6.04 [[ 0.75504369 -0.58632526 -0.29348207 -21.1022396 ] [ 0.59309054 0.8015815 -0.07556921 -26.52800556] [ 0.27955793 -0.11700338 0.95297302 -6.03787682] [ 0. 0. 0. 1. ]] SLAMing on 83.82165253199999 meters Centerline goodness [0,1] 0.4630917762010004 Centerline is valid? [False, False] Translation: X:-21.13, Y:-26.56, Z:-6.05 [[ 0.75629006 -0.58605286 -0.29080471 -21.13465142] [ 0.59193884 0.80226346 -0.07734172 -26.56216804] [ 0.27862833 -0.11364583 0.95365134 -6.05051905] [ 0. 0. 0. 1. ]] SLAMing on 83.85165253199999 meters Centerline goodness [0,1] 0.46329166860276005 Centerline is valid? [False, False] Translation: X:-21.16, Y:-26.58, Z:-6.06 [[ 0.75957298 -0.5836763 -0.28700324 -21.15546354] [ 0.58695156 0.80523284 -0.08418991 -26.58020672] [ 0.28024409 -0.10450862 0.95422282 -6.05691871] [ 0. 0. 0. 1. ]] SLAMing on 83.88165253199999 meters Centerline goodness [0,1] 0.4263046952815548 Centerline is valid? [False, False] Translation: X:-21.19, Y:-26.61, Z:-6.07 [[ 0.7616629 -0.58120196 -0.28648544 -21.18562621] [ 0.58485024 0.8069649 -0.08220612 -26.61026973] [ 0.27896206 -0.10493772 0.95455133 -6.06785281] [ 0. 0. 0. 1. ]] SLAMing on 83.91165253199999 meters Centerline goodness [0,1] 0.4529645731199704 Centerline is valid? [False, False] Translation: X:-21.21, Y:-26.64, Z:-6.08 [[ 0.76099811 -0.58148495 -0.2876754 -21.21021075] [ 0.58530678 0.80663988 -0.08214675 -26.63678354] [ 0.27981755 -0.10586484 0.9541985 -6.07566951] [ 0. 0. 0. 1. ]] SLAMing on 83.94165253199999 meters Centerline goodness [0,1] 0.4543881106777744 Centerline is valid? [False, False] Translation: X:-21.24, Y:-26.67, Z:-6.09 [[ 0.76176362 -0.58033914 -0.28796298 -21.23657993] [ 0.58432063 0.80742172 -0.08148347 -26.66610932] [ 0.27979561 -0.10619156 0.95416863 -6.08573766] [ 0. 0. 0. 1. ]] SLAMing on 83.971652532 meters Centerline goodness [0,1] 0.4492290723591994 Centerline is valid? [False, False] Translation: X:-21.27, Y:-26.70, Z:-6.10 [[ 0.76417914 -0.57743151 -0.28740753 -21.26787877] [ 0.58133729 0.80962818 -0.08092688 -26.70084351] [ 0.27942297 -0.10523808 0.95438344 -6.09666885] [ 0. 0. 0. 1. ]] SLAMing on 84.001652532 meters Centerline goodness [0,1] 0.4267510084341768 Centerline is valid? [False, False] Translation: X:-21.30, Y:-26.73, Z:-6.11 [[ 0.76702956 -0.57387426 -0.28693898 -21.29879058] [ 0.57813204 0.81212785 -0.07881435 -26.7324152 ] [ 0.27826066 -0.10543568 0.95470117 -6.10854215] [ 0. 0. 0. 1. ]] SLAMing on 84.031652532 meters Centerline goodness [0,1] 0.4461292166952544 Centerline is valid? [False, False] Translation: X:-21.32, Y:-26.76, Z:-6.12 [[ 0.7664432 -0.57375859 -0.28873155 -21.32246527] [ 0.5783957 0.81199797 -0.0782158 -26.75887138] [ 0.27932642 -0.10705312 0.95420982 -6.11601189] [ 0. 0. 0. 1. ]] SLAMing on 84.061652532 meters Centerline goodness [0,1] 0.421433327975384 Centerline is valid? [False, False] Translation: X:-21.35, Y:-26.79, Z:-6.13 [[ 0.7652965 -0.57598617 -0.28733464 -21.35042119] [ 0.57961896 0.81079819 -0.08153625 -26.79108916] [ 0.27993416 -0.1041452 0.95435352 -6.12632183] [ 0. 0. 0. 1. ]] SLAMing on 84.091652532 meters Centerline goodness [0,1] 0.44041034585637895 Centerline is valid? [False, False] Translation: X:-21.38, Y:-26.82, Z:-6.14 [[ 0.76704793 -0.57377737 -0.2870836 -21.37895712] [ 0.57766227 0.8123334 -0.08012955 -26.82203624] [ 0.27918412 -0.10437416 0.9545482 -6.13744363] [ 0. 0. 0. 1. ]] SLAMing on 84.12165253199998 meters Centerline goodness [0,1] 0.41769599193345097 Centerline is valid? [False, False] Translation: X:-21.41, Y:-26.85, Z:-6.15 [[ 0.76830105 -0.57180555 -0.28766631 -21.40576232] [ 0.5761922 0.81356004 -0.07824716 -26.85050939] [ 0.27877597 -0.10563371 0.95452893 -6.14741601] [ 0. 0. 0. 1. ]] SLAMing on 84.15165253199999 meters Centerline goodness [0,1] 0.4350555619200367 Centerline is valid? [False, False] Translation: X:-21.42, Y:-26.87, Z:-6.15 [[ 0.76601116 -0.57250997 -0.29233413 -21.42275643] [ 0.57767793 0.81256498 -0.07762969 -26.87180753] [ 0.28198424 -0.10940977 0.95316021 -6.15194602] [ 0. 0. 0. 1. ]] SLAMing on 84.18165253199999 meters Centerline goodness [0,1] 0.44674085850556444 Centerline is valid? [False, False] Translation: X:-21.45, Y:-26.90, Z:-6.16 [[ 0.76534281 -0.57309898 -0.29292993 -21.4467675 ] [ 0.57835365 0.81207708 -0.0777037 -26.90017316] [ 0.2824136 -0.10994713 0.95297124 -6.16056556] [ 0. 0. 0. 1. ]] SLAMing on 84.21165253199999 meters Centerline goodness [0,1] 0.45204941692645195 Centerline is valid? [False, False] Translation: X:-21.46, Y:-26.91, Z:-6.17 [[ 0.76548085 -0.57630074 -0.28621063 -21.45775606] [ 0.57956282 0.81074852 -0.08242436 -26.91022069] [ 0.27954607 -0.10278277 0.95461495 -6.16626528] [ 0. 0. 0. 1. ]] SLAMing on 84.24165253199999 meters Centerline goodness [0,1] 0.4466364812419146 Centerline is valid? [False, False] Translation: X:-21.49, Y:-26.95, Z:-6.18 [[ 0.76662501 -0.57554921 -0.28465628 -21.48936727] [ 0.57884268 0.81135015 -0.08156032 -26.94540898] [ 0.2778979 -0.10224502 0.95515376 -6.17518621] [ 0. 0. 0. 1. ]] SLAMing on 84.27165253199999 meters Centerline goodness [0,1] 0.44942809703901854 Centerline is valid? [False, False] Translation: X:-21.52, Y:-26.98, Z:-6.18 [[ 0.76770328 -0.57391419 -0.28505118 -21.51703098] [ 0.57771891 0.81234242 -0.07962828 -26.97560143] [ 0.27725897 -0.10354857 0.95519902 -6.18396659] [ 0. 0. 0. 1. ]] SLAMing on 84.30165253199999 meters Centerline goodness [0,1] 0.441047028733381 Centerline is valid? [False, False] Translation: X:-21.54, Y:-27.00, Z:-6.19 [[ 0.76790985 -0.57278372 -0.28676345 -21.54229714] [ 0.57714003 0.81289382 -0.07818582 -27.00458227] [ 0.2778918 -0.105463 0.95480558 -6.19127264] [ 0. 0. 0. 1. ]] SLAMing on 84.33165253199999 meters Centerline goodness [0,1] 0.4388805712311413 Centerline is valid? [False, False] Translation: X:-21.57, Y:-27.04, Z:-6.20 [[ 0.76774857 -0.572557 -0.28764668 -21.56794915] [ 0.57689419 0.81303222 -0.07856025 -27.03517425] [ 0.27884624 -0.10562718 0.95450913 -6.20024586] [ 0. 0. 0. 1. ]] SLAMing on 84.361652532 meters Centerline goodness [0,1] 0.43466341058839797 Centerline is valid? [False, False] Translation: X:-21.60, Y:-27.07, Z:-6.21 [[ 0.76943892 -0.57034847 -0.2875176 -21.59654676] [ 0.57486188 0.81457586 -0.07745956 -27.06547879] [ 0.27838384 -0.1056825 0.95463797 -6.21121482] [ 0. 0. 0. 1. ]] SLAMing on 84.391652532 meters Centerline goodness [0,1] 0.44234661024744737 Centerline is valid? [False, False] Translation: X:-21.61, Y:-27.08, Z:-6.22 [[ 0.77320004 -0.56755697 -0.2829148 -21.61072538] [ 0.57051498 0.81733659 -0.08045842 -27.07705469] [ 0.27690136 -0.09919667 0.95576444 -6.22000647] [ 0. 0. 0. 1. ]] SLAMing on 84.421652532 meters Centerline goodness [0,1] 0.4354964816262705 Centerline is valid? [False, False] Translation: X:-21.62, Y:-27.09, Z:-6.23 [[ 0.77648671 -0.56526673 -0.27846349 -21.62370415] [ 0.56699117 0.81956761 -0.0826435 -27.08721365] [ 0.27493528 -0.09371476 0.9568846 -6.22757279] [ 0. 0. 0. 1. ]] SLAMing on 84.451652532 meters Centerline goodness [0,1] 0.43979589480732373 Centerline is valid? [False, False] Translation: X:-21.63, Y:-27.09, Z:-6.23 [[ 0.77335284 -0.57249414 -0.27235244 -21.62786744] [ 0.57236796 0.81522149 -0.08836764 -27.09051111] [ 0.27261752 -0.08754645 0.95813115 -6.23015827] [ 0. 0. 0. 1. ]] SLAMing on 84.48165253199998 meters Centerline goodness [0,1] 0.4067007802912779 Centerline is valid? [False, False] Translation: X:-21.64, Y:-27.10, Z:-6.24 [[ 0.77474535 -0.57384473 -0.26546538 -21.64109942] [ 0.57174834 0.81510069 -0.09335254 -27.10311447] [ 0.26995088 -0.07945495 0.95959024 -6.2377284 ] [ 0. 0. 0. 1. ]] SLAMing on 84.51165253199999 meters Centerline goodness [0,1] 0.4139165194756903 Centerline is valid? [False, False] Translation: X:-21.66, Y:-27.13, Z:-6.24 [[ 0.77165257 -0.57589732 -0.26998996 -21.65778622] [ 0.57446668 0.8132487 -0.09281476 -27.12741742] [ 0.27302075 -0.08347949 0.95837928 -6.23936437] [ 0. 0. 0. 1. ]] SLAMing on 84.54165253199999 meters Centerline goodness [0,1] 0.4222552825495711 Centerline is valid? [False, False] Translation: X:-21.67, Y:-27.15, Z:-6.24 [[ 0.76868287 -0.57728954 -0.27543319 -21.67262776] [ 0.57684972 0.81171777 -0.09142571 -27.15045152] [ 0.27635312 -0.08860618 0.95696285 -6.24142261] [ 0. 0. 0. 1. ]] SLAMing on 84.57165253199999 meters Centerline goodness [0,1] 0.4196994681468751 Centerline is valid? [False, False] Translation: X:-21.69, Y:-27.18, Z:-6.25 [[ 0.76892079 -0.57427791 -0.28100836 -21.692801 ] [ 0.57536153 0.81320211 -0.08752966 -27.17584832] [ 0.27878294 -0.09437802 0.95570543 -6.24532285] [ 0. 0. 0. 1. ]] SLAMing on 84.60165253199999 meters Centerline goodness [0,1] 0.42215353150347457 Centerline is valid? [False, False] Translation: X:-21.70, Y:-27.19, Z:-6.25 [[ 0.76789858 -0.57855225 -0.27497103 -21.70393837] [ 0.58121015 0.80974884 -0.08063236 -27.18773275] [ 0.26930751 -0.09789848 0.95806542 -6.25496524] [ 0. 0. 0. 1. ]] SLAMing on 84.63165253199999 meters Centerline goodness [0,1] 0.42646032115429366 Centerline is valid? [False, False] Translation: X:-21.71, Y:-27.19, Z:-6.25 [[ 0.76644422 -0.58176932 -0.27222733 -21.70713197] [ 0.58371423 0.8077308 -0.08275658 -27.190176 ] [ 0.26803164 -0.09547466 0.95866763 -6.2548631 ] [ 0. 0. 0. 1. ]] SLAMing on 84.66165253199999 meters Centerline goodness [0,1] 0.43131289492160074 Centerline is valid? [False, False] Translation: X:-21.71, Y:-27.19, Z:-6.25 [[ 0.76441256 -0.5855133 -0.26990297 -21.70721631] [ 0.58673673 0.80528337 -0.08519804 -27.19308387] [ 0.26723296 -0.09323553 0.95911088 -6.25441466] [ 0. 0. 0. 1. ]] SLAMing on 84.69165253199999 meters Centerline goodness [0,1] 0.4327328029948526 Centerline is valid? [False, False] Translation: X:-21.71, Y:-27.20, Z:-6.25 [[ 0.76344623 -0.58801823 -0.26717861 -21.71211099] [ 0.58859047 0.80373317 -0.08703012 -27.19518111] [ 0.26591561 -0.09081596 0.95970899 -6.25435711] [ 0. 0. 0. 1. ]] SLAMing on 84.721652532 meters Centerline goodness [0,1] 0.4360187353629976 Centerline is valid? [False, False] Translation: X:-21.71, Y:-27.20, Z:-6.25 [[ 0.76412963 -0.58723062 -0.26695712 -21.71437179] [ 0.58798256 0.80427266 -0.08615104 -27.19685612] [ 0.26529684 -0.09113557 0.95984993 -6.25425227] [ 0. 0. 0. 1. ]] SLAMing on 84.751652532 meters Centerline goodness [0,1] 0.43616274170139047 Centerline is valid? [False, False] Translation: X:-21.72, Y:-27.20, Z:-6.25 [[ 0.76461206 -0.58663154 -0.26689294 -21.71586048] [ 0.5875429 0.80467006 -0.08543669 -27.19838368] [ 0.26488062 -0.09148513 0.95993163 -6.25399026] [ 0. 0. 0. 1. ]] SLAMing on 84.781652532 meters Centerline goodness [0,1] 0.433022025606816 Centerline is valid? [False, False] Translation: X:-21.73, Y:-27.21, Z:-6.26 [[ 0.76518116 -0.58891912 -0.26013855 -21.72756792] [ 0.58801906 0.80381269 -0.09010408 -27.20917236] [ 0.26216668 -0.08402048 0.96135799 -6.26045328] [ 0. 0. 0. 1. ]] SLAMing on 84.811652532 meters Centerline goodness [0,1] 0.43635682334480896 Centerline is valid? [False, False] Translation: X:-21.73, Y:-27.21, Z:-6.26 [[ 0.76362265 -0.59224276 -0.25715554 -21.73049392] [ 0.59060701 0.80164811 -0.092432 -27.21107828] [ 0.26089044 -0.0812947 0.96193937 -6.26101134] [ 0. 0. 0. 1. ]] SLAMing on 84.841652532 meters Centerline goodness [0,1] 0.43635682334480896 Centerline is valid? [False, False] Translation: X:-21.73, Y:-27.21, Z:-6.26 [[ 0.76362265 -0.59224276 -0.25715554 -21.73049392] [ 0.59060701 0.80164811 -0.092432 -27.21107828] [ 0.26089044 -0.0812947 0.96193937 -6.26101134] [ 0. 0. 0. 1. ]] SLAMing on 84.87165253199998 meters Centerline goodness [0,1] 0.439825663136189 Centerline is valid? [False, False] Translation: X:-21.73, Y:-27.21, Z:-6.26 [[ 0.76393049 -0.59173133 -0.25741842 -21.73044797] [ 0.5902895 0.80196492 -0.09170915 -27.2134229 ] [ 0.26070772 -0.08189198 0.96193825 -6.26028001] [ 0. 0. 0. 1. ]] SLAMing on 84.90165253199999 meters Centerline goodness [0,1] 0.44112329474747003 Centerline is valid? [False, False] Translation: X:-21.73, Y:-27.21, Z:-6.26 [[ 0.76217921 -0.59523927 -0.25450552 -21.73330079] [ 0.59305689 0.7996377 -0.09414387 -27.21492569] [ 0.25955034 -0.07918175 0.96247799 -6.26059543] [ 0. 0. 0. 1. ]] SLAMing on 84.93165253199999 meters Centerline goodness [0,1] 0.44904054181168285 Centerline is valid? [False, False] Translation: X:-21.75, Y:-27.23, Z:-6.27 [[ 0.76332231 -0.5968493 -0.24720428 -21.74716642] [ 0.59256204 0.7992852 -0.10006697 -27.22630155] [ 0.25731162 -0.07010052 0.96378247 -6.26941311] [ 0. 0. 0. 1. ]] SLAMing on 84.96165253199999 meters Centerline goodness [0,1] 0.44812683499706396 Centerline is valid? [False, False] Translation: X:-21.76, Y:-27.23, Z:-6.27 [[ 0.76542673 -0.59550371 -0.24392058 -21.75670461] [ 0.59080409 0.80053595 -0.10046255 -27.2333075 ] [ 0.25509302 -0.06721255 0.96457764 -6.27322327] [ 0. 0. 0. 1. ]] SLAMing on 84.99165253199999 meters Centerline goodness [0,1] 0.44252374809428874 Centerline is valid? [False, False] Translation: X:-21.77, Y:-27.25, Z:-6.27 [[ 0.76438408 -0.5928779 -0.25340239 -21.76972236] [ 0.58992616 0.80170376 -0.09621961 -27.25160679] [ 0.26020013 -0.07593996 0.96256377 -6.27244147] [ 0. 0. 0. 1. ]] SLAMing on 85.02165253199999 meters Centerline goodness [0,1] 0.45270429021192615 Centerline is valid? [False, False] Translation: X:-21.78, Y:-27.27, Z:-6.28 [[ 0.76579329 -0.59386878 -0.24673975 -21.78458241] [ 0.58895946 0.80173308 -0.10173894 -27.26546847] [ 0.258239 -0.06740871 0.96372646 -6.27950124] [ 0. 0. 0. 1. ]] SLAMing on 85.05165253199999 meters Centerline goodness [0,1] 0.4515102214048242 Centerline is valid? [False, False] Translation: X:-21.79, Y:-27.27, Z:-6.28 [[ 0.76565152 -0.59476396 -0.24501752 -21.78981808] [ 0.5895711 0.80118781 -0.10248908 -27.26841049] [ 0.25726186 -0.06598433 0.9640863 -6.27860799] [ 0. 0. 0. 1. ]] SLAMing on 85.08165253199999 meters Centerline goodness [0,1] 0.4514768926367362 Centerline is valid? [False, False] Translation: X:-21.80, Y:-27.28, Z:-6.27 [[ 0.76519137 -0.5915981 -0.2539564 -21.79845255] [ 0.58540853 0.80352096 -0.10793944 -27.28204984] [ 0.26791606 -0.06607392 0.96117388 -6.27022293] [ 0. 0. 0. 1. ]] SLAMing on 85.111652532 meters Centerline goodness [0,1] 0.4610192610710002 Centerline is valid? [False, False] Translation: X:-21.81, Y:-27.30, Z:-6.27 [[ 0.76319781 -0.59116855 -0.26086175 -21.81277577] [ 0.58608543 0.80331417 -0.10578382 -27.30381949] [ 0.27209 -0.07215329 0.95956289 -6.2715941 ] [ 0. 0. 0. 1. ]] SLAMing on 85.141652532 meters Centerline goodness [0,1] 0.46439584755537766 Centerline is valid? [False, False] Translation: X:-21.82, Y:-27.31, Z:-6.27 [[ 0.76189729 -0.59406924 -0.25805864 -21.81672686] [ 0.58834146 0.80139095 -0.107828 -27.30595055] [ 0.27086315 -0.06967273 0.96009315 -6.27167366] [ 0. 0. 0. 1. ]] SLAMing on 85.171652532 meters Centerline goodness [0,1] 0.43640165397988906 Centerline is valid? [False, False] Translation: X:-21.82, Y:-27.31, Z:-6.27 [[ 0.76235423 -0.59350756 -0.25800156 -21.81812495] [ 0.58793375 0.80177925 -0.10716317 -27.3074448 ] [ 0.27046244 -0.06999153 0.96018293 -6.27138328] [ 0. 0. 0. 1. ]] SLAMing on 85.201652532 meters Centerline goodness [0,1] 0.4347754796092853 Centerline is valid? [False, False] Translation: X:-21.82, Y:-27.31, Z:-6.27 [[ 0.76288006 -0.59283332 -0.25799742 -21.81987025] [ 0.58745093 0.80224021 -0.10635814 -27.30925993] [ 0.27002856 -0.07042232 0.96027354 -6.27081537] [ 0. 0. 0. 1. ]] SLAMing on 85.23165253199998 meters Centerline goodness [0,1] 0.4572037271152315 Centerline is valid? [False, False] Translation: X:-21.82, Y:-27.31, Z:-6.27 [[ 0.76323139 -0.59238877 -0.25797945 -21.82111893] [ 0.58714099 0.80254182 -0.10579266 -27.31045662] [ 0.26970968 -0.07072603 0.96034083 -6.2704639 ] [ 0. 0. 0. 1. ]] SLAMing on 85.26165253199999 meters Centerline goodness [0,1] 0.43945925682957687 Centerline is valid? [False, False] Translation: X:-21.83, Y:-27.33, Z:-6.27 [[ 0.76058342 -0.59228321 -0.26592004 -21.83411453] [ 0.58842153 0.80194516 -0.1031701 -27.3298573 ] [ 0.2743592 -0.07800361 0.95845838 -6.26990151] [ 0. 0. 0. 1. ]] SLAMing on 85.29165253199999 meters Centerline goodness [0,1] 0.4410318835151459 Centerline is valid? [False, False] Translation: X:-21.85, Y:-27.36, Z:-6.27 [[ 0.76098621 -0.58882 -0.27238024 -21.85359597] [ 0.58642226 0.80388028 -0.09942548 -27.35672093] [ 0.27750482 -0.08406842 0.95703896 -6.27277124] [ 0. 0. 0. 1. ]] SLAMing on 85.32165253199999 meters Centerline goodness [0,1] 0.44059197605910405 Centerline is valid? [False, False] Translation: X:-21.87, Y:-27.38, Z:-6.27 [[ 0.76059631 -0.58577881 -0.2799222 -21.87105792] [ 0.58510996 0.80532163 -0.09541174 -27.37988105] [ 0.28131757 -0.09121545 0.95526968 -6.2741464 ] [ 0. 0. 0. 1. ]] SLAMing on 85.35165253199999 meters Centerline goodness [0,1] 0.44456349576073795 Centerline is valid? [False, False] Translation: X:-21.89, Y:-27.40, Z:-6.28 [[ 0.76081673 -0.58165518 -0.28781097 -21.88863685] [ 0.58293651 0.80742706 -0.09081057 -27.40230889] [ 0.2852068 -0.09868532 0.95337206 -6.27632765] [ 0. 0. 0. 1. ]] SLAMing on 85.38165253199999 meters Centerline goodness [0,1] 0.4499697209670658 Centerline is valid? [False, False] Translation: X:-21.91, Y:-27.43, Z:-6.28 [[ 0.76121137 -0.58025568 -0.28958695 -21.91427636] [ 0.58231772 0.80812158 -0.08857536 -27.43336089] [ 0.28541782 -0.10120704 0.95304449 -6.28267417] [ 0. 0. 0. 1. ]] SLAMing on 85.41165253199999 meters Centerline goodness [0,1] 0.44467490095548823 Centerline is valid? [False, False] Translation: X:-21.94, Y:-27.46, Z:-6.29 [[ 0.76123038 -0.57817718 -0.29366557 -21.93529264] [ 0.58161925 0.80899555 -0.08511901 -27.46029731] [ 0.28678801 -0.10600637 0.95211096 -6.28728151] [ 0. 0. 0. 1. ]] SLAMing on 85.44165253199999 meters Centerline goodness [0,1] 0.446946538165356 Centerline is valid? [False, False] Translation: X:-21.96, Y:-27.49, Z:-6.29 [[ 0.7600443 -0.5779322 -0.29719864 -21.95639649] [ 0.58232784 0.80867285 -0.08332178 -27.48832963] [ 0.28849081 -0.1097388 0.9511732 -6.29112116] [ 0. 0. 0. 1. ]] SLAMing on 85.471652532 meters Centerline goodness [0,1] 0.4510293637085103 Centerline is valid? [False, False] Translation: X:-21.97, Y:-27.51, Z:-6.29 [[ 0.75818541 -0.57772011 -0.302315 -21.9739286 ] [ 0.58325752 0.80817418 -0.08164046 -27.51293179] [ 0.29148851 -0.1144289 0.94970547 -6.29409673] [ 0. 0. 0. 1. ]] SLAMing on 85.501652532 meters Centerline goodness [0,1] 0.45044897577401555 Centerline is valid? [False, False] Translation: X:-22.00, Y:-27.54, Z:-6.30 [[ 0.75741177 -0.57743235 -0.30479386 -21.99720295] [ 0.58382985 0.80794164 -0.07983115 -27.54333768] [ 0.29235274 -0.1174827 0.94906675 -6.29923169] [ 0. 0. 0. 1. ]] SLAMing on 85.531652532 meters Centerline goodness [0,1] 0.45253661394258937 Centerline is valid? [False, False] Translation: X:-22.02, Y:-27.57, Z:-6.30 [[ 0.75604688 -0.57719366 -0.30861076 -22.01784156] [ 0.58454209 0.80757041 -0.07836183 -27.57044192] [ 0.29445486 -0.12115076 0.94795508 -6.30346047] [ 0. 0. 0. 1. ]] SLAMing on 85.561652532 meters Centerline goodness [0,1] 0.45459873865847655 Centerline is valid? [False, False] Translation: X:-22.04, Y:-27.60, Z:-6.31 [[ 0.75572976 -0.57520035 -0.31307682 -22.03858542] [ 0.5837825 0.80834911 -0.07595862 -27.59784338] [ 0.29676679 -0.12536458 0.94668537 -6.30835481] [ 0. 0. 0. 1. ]] SLAMing on 85.591652532 meters Centerline goodness [0,1] 0.4570582428430404 Centerline is valid? [False, False] Translation: X:-22.06, Y:-27.63, Z:-6.31 [[ 0.75337722 -0.57682039 -0.31575464 -22.05899025] [ 0.58603528 0.80675771 -0.0755291 -27.62817979] [ 0.29830422 -0.12814145 0.94582998 -6.31214287] [ 0. 0. 0. 1. ]] SLAMing on 85.62165253199998 meters Centerline goodness [0,1] 0.45660572936298527 Centerline is valid? [False, False] Translation: X:-22.08, Y:-27.66, Z:-6.32 [[ 0.75175969 -0.57710111 -0.3190794 -22.07979872] [ 0.58720096 0.80602003 -0.07434212 -27.65582607] [ 0.30008731 -0.13147632 0.9448077 -6.31667556] [ 0. 0. 0. 1. ]] SLAMing on 85.65165253199999 meters Centerline goodness [0,1] 0.46005418777241136 Centerline is valid? [False, False] Translation: X:-22.10, Y:-27.68, Z:-6.32 [[ 0.7500191 -0.57730007 -0.32279402 -22.09940051] [ 0.58829251 0.8053145 -0.07335171 -27.68156048] [ 0.30229665 -0.13488212 0.94362257 -6.32165919] [ 0. 0. 0. 1. ]] SLAMing on 85.68165253199999 meters Centerline goodness [0,1] 0.4641660769049304 Centerline is valid? [False, False] Translation: X:-22.12, Y:-27.71, Z:-6.33 [[ 0.74802152 -0.57779391 -0.32652412 -22.11840566] [ 0.58956917 0.8044272 -0.07283602 -27.7062236 ] [ 0.30474909 -0.13802565 0.94237833 -6.32725574] [ 0. 0. 0. 1. ]] SLAMing on 85.71165253199999 meters Centerline goodness [0,1] 0.4668353472534229 Centerline is valid? [False, False] Translation: X:-22.14, Y:-27.73, Z:-6.33 [[ 0.74632421 -0.57842451 -0.32927991 -22.13927366] [ 0.59067929 0.80361064 -0.07285543 -27.73415515] [ 0.3067542 -0.14012505 0.94141746 -6.33391195] [ 0. 0. 0. 1. ]] SLAMing on 85.74165253199999 meters Centerline goodness [0,1] 0.45753224054041286 Centerline is valid? [False, False] Translation: X:-22.16, Y:-27.76, Z:-6.34 [[ 0.74561431 -0.57736409 -0.33273113 -22.15986848] [ 0.59058692 0.80381296 -0.07135696 -27.75955777] [ 0.30865254 -0.14330189 0.94031813 -6.34108876] [ 0. 0. 0. 1. ]] SLAMing on 85.77165253199999 meters Centerline goodness [0,1] 0.4627194019964991 Centerline is valid? [False, False] Translation: X:-22.18, Y:-27.79, Z:-6.35 [[ 0.74473143 -0.57718079 -0.33501855 -22.18266809] [ 0.59114647 0.80350276 -0.07020807 -27.7866235 ] [ 0.30971108 -0.14575888 0.93959214 -6.34798013] [ 0. 0. 0. 1. ]] SLAMing on 85.80165253199999 meters Centerline goodness [0,1] 0.461578449905482 Centerline is valid? [False, False] Translation: X:-22.21, Y:-27.82, Z:-6.36 [[ 0.74456939 -0.57680426 -0.33602571 -22.20797454] [ 0.59127505 0.80350421 -0.06909993 -27.81554076] [ 0.3098552 -0.14723393 0.9393146 -6.35643755] [ 0. 0. 0. 1. ]] SLAMing on 85.83165253199999 meters Centerline goodness [0,1] 0.474959230460164 Centerline is valid? [False, False] Translation: X:-22.23, Y:-27.84, Z:-6.36 [[ 0.74147289 -0.57935873 -0.33846922 -22.22737217] [ 0.59431946 0.8012207 -0.06949653 -27.84057554] [ 0.31145197 -0.14962905 0.9384076 -6.36130487] [ 0. 0. 0. 1. ]] SLAMing on 85.861652532 meters Centerline goodness [0,1] 0.4663160886867538 Centerline is valid? [False, False] Translation: X:-22.25, Y:-27.87, Z:-6.37 [[ 0.74103716 -0.57950769 -0.33916776 -22.25152213] [ 0.59470653 0.80096091 -0.06917926 -27.86874199] [ 0.31175003 -0.15044088 0.9381788 -6.37107249] [ 0. 0. 0. 1. ]] SLAMing on 85.891652532 meters Centerline goodness [0,1] 0.46855152147122947 Centerline is valid? [False, False] Translation: X:-22.28, Y:-27.90, Z:-6.38 [[ 0.74101226 -0.57909784 -0.33992136 -22.27654689] [ 0.59465586 0.80106602 -0.06839324 -27.89746282] [ 0.31190583 -0.151456 0.93796366 -6.38072688] [ 0. 0. 0. 1. ]] SLAMing on 85.921652532 meters Centerline goodness [0,1] 0.4716717569903165 Centerline is valid? [False, False] Translation: X:-22.30, Y:-27.93, Z:-6.39 [[ 0.74137799 -0.57869113 -0.3398165 -22.30375109] [ 0.59466662 0.80117731 -0.06698161 -27.92741403] [ 0.31101493 -0.15241884 0.93810352 -6.39083634] [ 0. 0. 0. 1. ]] SLAMing on 85.951652532 meters Centerline goodness [0,1] 0.46005020365634175 Centerline is valid? [False, False] Translation: X:-22.33, Y:-27.96, Z:-6.40 [[ 0.74127256 -0.57873453 -0.33997255 -22.32934066] [ 0.59501257 0.80098854 -0.06616191 -27.95597176] [ 0.3106043 -0.15324393 0.93810515 -6.40057322] [ 0. 0. 0. 1. ]] SLAMing on 85.98165253199998 meters Centerline goodness [0,1] 0.4771104279971624 Centerline is valid? [False, False] Translation: X:-22.35, Y:-27.98, Z:-6.41 [[ 0.74165722 -0.57809255 -0.34022577 -22.35467723] [ 0.5948996 0.8012046 -0.06454195 -27.98384225] [ 0.30990167 -0.15453217 0.9381262 -6.41068272] [ 0. 0. 0. 1. ]] SLAMing on 86.01165253199999 meters Centerline goodness [0,1] 0.4644167450611477 Centerline is valid? [False, False] Translation: X:-22.38, Y:-28.01, Z:-6.42 [[ 0.74302175 -0.57703213 -0.33904662 -22.38226872] [ 0.59407086 0.80194625 -0.0629447 -28.01346927] [ 0.30821827 -0.15464843 0.93866147 -6.42299413] [ 0. 0. 0. 1. ]] SLAMing on 86.04165253199999 meters Centerline goodness [0,1] 0.4615420869073428 Centerline is valid? [False, False] Translation: X:-22.41, Y:-28.04, Z:-6.44 [[ 0.74487003 -0.57546656 -0.33764906 -22.41184449] [ 0.59247541 0.80320666 -0.06190274 -28.04482349] [ 0.30682493 -0.15393927 0.93923435 -6.43593142] [ 0. 0. 0. 1. ]] SLAMing on 86.07165253199999 meters Centerline goodness [0,1] 0.46565587493220784 Centerline is valid? [False, False] Translation: X:-22.44, Y:-28.08, Z:-6.45 [[ 0.7452226 -0.57708366 -0.33409239 -22.44291397] [ 0.59341947 0.80246766 -0.06244192 -28.07787348] [ 0.30413255 -0.15172379 0.94046971 -6.44838389] [ 0. 0. 0. 1. ]] SLAMing on 86.10165253199999 meters Centerline goodness [0,1] 0.4675014766686355 Centerline is valid? [False, False] Translation: X:-22.47, Y:-28.11, Z:-6.46 [[ 0.74472148 -0.57957976 -0.33087342 -22.47134929] [ 0.59523395 0.80104533 -0.06342653 -28.10863931] [ 0.30180534 -0.14971199 0.94154121 -6.4604159 ] [ 0. 0. 0. 1. ]] SLAMing on 86.13165253199999 meters Centerline goodness [0,1] 0.46818224829674493 Centerline is valid? [False, False] Translation: X:-22.49, Y:-28.13, Z:-6.47 [[ 0.74279141 -0.581541 -0.33176949 -22.49301531] [ 0.59717354 0.79951966 -0.06443657 -28.13489797] [ 0.30272874 -0.15026103 0.94115723 -6.4688345 ] [ 0. 0. 0. 1. ]] SLAMing on 86.16165253199999 meters Centerline goodness [0,1] 0.4745987720171633 Centerline is valid? [False, False] Translation: X:-22.52, Y:-28.17, Z:-6.48 [[ 0.74241293 -0.58333082 -0.32946653 -22.52118822] [ 0.59833731 0.79855547 -0.06558679 -28.16798942] [ 0.3013561 -0.14843964 0.9418865 -6.48036124] [ 0. 0. 0. 1. ]] SLAMing on 86.19165253199999 meters Centerline goodness [0,1] 0.47909540098821746 Centerline is valid? [False, False] Translation: X:-22.55, Y:-28.20, Z:-6.49 [[ 0.74276107 -0.58257527 -0.33001826 -22.54662698] [ 0.59783264 0.79898804 -0.0649172 -28.19609864] [ 0.3014998 -0.14907772 0.94173972 -6.49105993] [ 0. 0. 0. 1. ]] SLAMing on 86.221652532 meters Centerline goodness [0,1] 0.47364921030756446 Centerline is valid? [False, False] Translation: X:-22.57, Y:-28.22, Z:-6.50 [[ 0.74318597 -0.58197283 -0.33012458 -22.57221895] [ 0.59768891 0.79921761 -0.06339703 -28.22390447] [ 0.30073672 -0.15019602 0.94180602 -6.50134028] [ 0. 0. 0. 1. ]] SLAMing on 86.251652532 meters Centerline goodness [0,1] 0.47625943687384265 Centerline is valid? [False, False] Translation: X:-22.59, Y:-28.25, Z:-6.51 [[ 0.74130589 -0.58311981 -0.33232043 -22.59292157] [ 0.59908166 0.7981193 -0.06408396 -28.24864584] [ 0.30259997 -0.15158126 0.94098692 -6.509251 ] [ 0. 0. 0. 1. ]] SLAMing on 86.281652532 meters Centerline goodness [0,1] 0.48733223282853655 Centerline is valid? [False, False] Translation: X:-22.62, Y:-28.28, Z:-6.52 [[ 0.7400381 -0.5855197 -0.33092339 -22.61959376] [ 0.60060578 0.79676405 -0.06663141 -28.28144971] [ 0.30268186 -0.14944472 0.94130227 -6.51989568] [ 0. 0. 0. 1. ]] SLAMing on 86.311652532 meters Centerline goodness [0,1] 0.4910911006801417 Centerline is valid? [False, False] Translation: X:-22.64, Y:-28.31, Z:-6.53 [[ 0.73897267 -0.58655716 -0.33146657 -22.64295423] [ 0.60175162 0.79588224 -0.06683154 -28.30919982] [ 0.30300887 -0.15007387 0.94109695 -6.52899155] [ 0. 0. 0. 1. ]] SLAMing on 86.341652532 meters Centerline goodness [0,1] 0.4907627057724103 Centerline is valid? [False, False] Translation: X:-22.67, Y:-28.34, Z:-6.54 [[ 0.73921141 -0.58699014 -0.33016521 -22.66961256] [ 0.60205701 0.79566748 -0.066638 -28.33880454] [ 0.30181757 -0.14951871 0.94156801 -6.54073849] [ 0. 0. 0. 1. ]] SLAMing on 86.37165253199998 meters Centerline goodness [0,1] 0.48953471587355046 Centerline is valid? [False, False] Translation: X:-22.70, Y:-28.37, Z:-6.55 [[ 0.73892737 -0.58837172 -0.3283368 -22.69728782] [ 0.60297819 0.79490249 -0.06743397 -28.3696973 ] [ 0.30067198 -0.14815112 0.94215052 -6.5520939 ] [ 0. 0. 0. 1. ]] SLAMing on 86.40165253199999 meters Centerline goodness [0,1] 0.4930350665054414 Centerline is valid? [False, False] Translation: X:-22.71, Y:-28.39, Z:-6.56 [[ 0.7347868 -0.59199724 -0.33110063 -22.71412308] [ 0.60676213 0.79185888 -0.06927641 -28.39367847] [ 0.30319642 -0.14999593 0.94104896 -6.55641782] [ 0. 0. 0. 1. ]] SLAMing on 86.43165253199999 meters Centerline goodness [0,1] 0.5037197315958377 Centerline is valid? [False, False] Translation: X:-22.74, Y:-28.43, Z:-6.57 [[ 0.73387735 -0.59402684 -0.3294786 -22.74072054] [ 0.60831877 0.79056679 -0.0703734 -28.42843158] [ 0.30227853 -0.14878258 0.94153674 -6.56613915] [ 0. 0. 0. 1. ]] SLAMing on 86.46165253199999 meters Centerline goodness [0,1] 0.4923844282238443 Centerline is valid? [False, False] Translation: X:-22.76, Y:-28.45, Z:-6.57 [[ 0.73245851 -0.59305898 -0.33434351 -22.75878406] [ 0.60865999 0.79045209 -0.0686914 -28.45172165] [ 0.30502058 -0.15318791 0.93994463 -6.57116678] [ 0. 0. 0. 1. ]] SLAMing on 86.49165253199999 meters Centerline goodness [0,1] 0.49745351755732636 Centerline is valid? [False, False] Translation: X:-22.78, Y:-28.47, Z:-6.58 [[ 0.72915472 -0.59506596 -0.33797915 -22.77584887] [ 0.61127747 0.78837683 -0.06929528 -28.47299324] [ 0.30769019 -0.15607206 0.93859909 -6.5765973 ] [ 0. 0. 0. 1. ]] SLAMing on 86.52165253199999 meters Centerline goodness [0,1] 0.4941233964569334 Centerline is valid? [False, False] Translation: X:-22.80, Y:-28.51, Z:-6.59 [[ 0.72903729 -0.59618523 -0.33625556 -22.80449556] [ 0.61163035 0.78795377 -0.07097298 -28.50722331] [ 0.30726688 -0.15392215 0.93909267 -6.5885134 ] [ 0. 0. 0. 1. ]] SLAMing on 86.55165253199999 meters Centerline goodness [0,1] 0.5020340146056952 Centerline is valid? [False, False] Translation: X:-22.83, Y:-28.54, Z:-6.60 [[ 0.7278911 -0.59766663 -0.33610883 -22.82862641] [ 0.61281933 0.78692209 -0.07215323 -28.53626016] [ 0.30761504 -0.1534543 0.93905525 -6.59846322] [ 0. 0. 0. 1. ]] SLAMing on 86.58165253199999 meters Centerline goodness [0,1] 0.5114852262687739 Centerline is valid? [False, False] Translation: X:-22.83, Y:-28.54, Z:-6.60 [[ 0.72650194 -0.60101903 -0.33312317 -22.83190421] [ 0.61519534 0.78485903 -0.0743707 -28.53812243] [ 0.30615294 -0.15090536 0.93994572 -6.59907804] [ 0. 0. 0. 1. ]] SLAMing on 86.611652532 meters Centerline goodness [0,1] 0.5007138285826811 Centerline is valid? [False, False] Translation: X:-22.86, Y:-28.57, Z:-6.61 [[ 0.72591813 -0.60266425 -0.33141919 -22.86034481] [ 0.6165059 0.78377964 -0.07489959 -28.57068748] [ 0.30489892 -0.14995092 0.94050591 -6.60954996] [ 0. 0. 0. 1. ]] SLAMing on 86.641652532 meters Centerline goodness [0,1] 0.4975725164502057 Centerline is valid? [False, False] Translation: X:-22.88, Y:-28.60, Z:-6.62 [[ 0.72437218 -0.60345125 -0.33336395 -22.88234301] [ 0.6175706 0.78290498 -0.07527517 -28.59725878] [ 0.30641719 -0.15134854 0.93978834 -6.6173467 ] [ 0. 0. 0. 1. ]] SLAMing on 86.671652532 meters Centerline goodness [0,1] 0.489566652706265 Centerline is valid? [False, False] Translation: X:-22.91, Y:-28.63, Z:-6.63 [[ 0.72359948 -0.60354227 -0.33487389 -22.90540025] [ 0.61781308 0.78267836 -0.07564114 -28.62511708] [ 0.30775117 -0.15215558 0.93922196 -6.62654163] [ 0. 0. 0. 1. ]] SLAMing on 86.701652532 meters Centerline goodness [0,1] 0.4952615384615384 Centerline is valid? [False, False] Translation: X:-22.93, Y:-28.65, Z:-6.63 [[ 0.72225837 -0.60397077 -0.33698984 -22.92720345] [ 0.6183979 0.78214208 -0.07640553 -28.65174136] [ 0.30972064 -0.15320928 0.93840292 -6.63495949] [ 0. 0. 0. 1. ]] SLAMing on 86.73165253199998 meters Centerline goodness [0,1] 0.4952615384615384 Centerline is valid? [False, False] Translation: X:-22.95, Y:-28.68, Z:-6.64 [[ 0.72169209 -0.60356358 -0.33892703 -22.95037621] [ 0.6181705 0.78228337 -0.07679821 -28.67804475] [ 0.31148958 -0.15409003 0.93767292 -6.64426318] [ 0. 0. 0. 1. ]] SLAMing on 86.76165253199999 meters Centerline goodness [0,1] 0.4996410269106033 Centerline is valid? [False, False] Translation: X:-22.98, Y:-28.71, Z:-6.66 [[ 0.72097403 -0.60459326 -0.33861991 -22.97668352] [ 0.61842215 0.78184155 -0.07923285 -28.70837101] [ 0.31265076 -0.15228522 0.93758131 -6.65639542] [ 0. 0. 0. 1. ]] SLAMing on 86.79165253199999 meters Centerline goodness [0,1] 0.4921297783488596 Centerline is valid? [False, False] Translation: X:-23.00, Y:-28.74, Z:-6.67 [[ 0.72118014 -0.60386695 -0.33947595 -23.00260244] [ 0.61794762 0.78226568 -0.07874738 -28.7369336 ] [ 0.31311333 -0.15298731 0.93731261 -6.66647123] [ 0. 0. 0. 1. ]] SLAMing on 86.82165253199999 meters Centerline goodness [0,1] 0.499727965179543 Centerline is valid? [False, False] Translation: X:-23.03, Y:-28.77, Z:-6.68 [[ 0.72176051 -0.60293361 -0.3399012 -23.02985844] [ 0.61715159 0.78293617 -0.07832539 -28.7662513 ] [ 0.31334595 -0.15323839 0.93719385 -6.67694614] [ 0. 0. 0. 1. ]] SLAMing on 86.85165253199999 meters Centerline goodness [0,1] 0.4948138658257163 Centerline is valid? [False, False] Translation: X:-23.06, Y:-28.80, Z:-6.69 [[ 0.72339251 -0.60119229 -0.33951598 -23.05863373] [ 0.6158692 0.78414462 -0.07630431 -28.79686658] [ 0.31210319 -0.15389947 0.93750016 -6.68791311] [ 0. 0. 0. 1. ]] SLAMing on 86.88165253199999 meters Centerline goodness [0,1] 0.4908630937760967 Centerline is valid? [False, False] Translation: X:-23.09, Y:-28.83, Z:-6.70 [[ 0.72618659 -0.59868758 -0.33797368 -23.09189013] [ 0.61375052 0.78605402 -0.07368437 -28.82987121] [ 0.30977949 -0.15392292 0.9382667 -6.69974098] [ 0. 0. 0. 1. ]] SLAMing on 86.91165253199999 meters Centerline goodness [0,1] 0.48827962003878156 Centerline is valid? [False, False] Translation: X:-23.12, Y:-28.86, Z:-6.71 [[ 0.72701946 -0.59753853 -0.33821651 -23.11933464] [ 0.6128853 0.78682329 -0.07266852 -28.85856628] [ 0.30953887 -0.1544565 0.93825843 -6.71040908] [ 0. 0. 0. 1. ]] SLAMing on 86.94165253199999 meters Centerline goodness [0,1] 0.4852782147070389 Centerline is valid? [False, False] Translation: X:-23.15, Y:-28.89, Z:-6.72 [[ 0.727563 -0.59651049 -0.3388618 -23.14541018] [ 0.61248726 0.7872988 -0.07085168 -28.88565181] [ 0.30904925 -0.15599947 0.93816455 -6.72014445] [ 0. 0. 0. 1. ]] SLAMing on 86.971652532 meters Centerline goodness [0,1] 0.4809254245631307 Centerline is valid? [False, False] Translation: X:-23.18, Y:-28.92, Z:-6.73 [[ 0.7297191 -0.59424314 -0.3382087 -23.17622119] [ 0.61034254 0.78907767 -0.06955878 -28.91588454] [ 0.30820776 -0.15566478 0.93849691 -6.7328322 ] [ 0. 0. 0. 1. ]] SLAMing on 87.001652532 meters Centerline goodness [0,1] 0.47670788367462325 Centerline is valid? [False, False] Translation: X:-23.19, Y:-28.92, Z:-6.74 [[ 0.73098047 -0.59638831 -0.3316452 -23.18811686] [ 0.6097047 0.78906307 -0.07509762 -28.92315852] [ 0.30647633 -0.14731074 0.94041045 -6.74283042] [ 0. 0. 0. 1. ]] SLAMing on 87.031652532 meters Centerline goodness [0,1] 0.47688337225021504 Centerline is valid? [False, False] Translation: X:-23.21, Y:-28.95, Z:-6.75 [[ 0.73213969 -0.59424544 -0.33293218 -23.21477389] [ 0.60809486 0.79044421 -0.07361107 -28.95159173] [ 0.30690735 -0.14856076 0.94007318 -6.7528259 ] [ 0. 0. 0. 1. ]] SLAMing on 87.061652532 meters Centerline goodness [0,1] 0.4671741897581514 Centerline is valid? [False, False] Translation: X:-23.24, Y:-28.98, Z:-6.76 [[ 0.73322894 -0.59161437 -0.335213 -23.23991984] [ 0.60632439 0.79199322 -0.07153654 -28.97856341] [ 0.30780847 -0.15079516 0.93942257 -6.76207042] [ 0. 0. 0. 1. ]] SLAMing on 87.091652532 meters Centerline goodness [0,1] 0.4532353084376065 Centerline is valid? [False, False] Translation: X:-23.27, Y:-29.01, Z:-6.77 [[ 0.73687313 -0.58646072 -0.3362764 -23.27124514] [ 0.60211924 0.79550951 -0.06794885 -29.00765364] [ 0.3073604 -0.15240881 0.93930886 -6.77407898] [ 0. 0. 0. 1. ]] SLAMing on 87.12165253199998 meters Centerline goodness [0,1] 0.46031630524426337 Centerline is valid? [False, False] Translation: X:-23.30, Y:-29.04, Z:-6.78 [[ 0.73894744 -0.58308793 -0.33758726 -23.29861585] [ 0.59968845 0.79759288 -0.06495663 -29.03549037] [ 0.30713262 -0.15444765 0.93905031 -6.78463638] [ 0. 0. 0. 1. ]] SLAMing on 87.15165253199999 meters Centerline goodness [0,1] 0.4625723488242559 Centerline is valid? [False, False] Translation: X:-23.33, Y:-29.06, Z:-6.79 [[ 0.73960716 -0.58203254 -0.33796358 -23.3260244 ] [ 0.59900928 0.79819998 -0.06375482 -29.06271028] [ 0.3068699 -0.1552898 0.93899731 -6.79472646] [ 0. 0. 0. 1. ]] SLAMing on 87.18165253199999 meters Centerline goodness [0,1] 0.45867549029079313 Centerline is valid? [False, False] Translation: X:-23.33, Y:-29.06, Z:-6.79 [[ 0.74037193 -0.58136105 -0.33744441 -23.329732 ] [ 0.5984198 0.79869739 -0.06305729 -29.06364622] [ 0.30617502 -0.15524757 0.93923109 -6.79483749] [ 0. 0. 0. 1. ]] SLAMing on 87.21165253199999 meters Centerline goodness [0,1] 0.4395227119946221 Centerline is valid? [False, False] Translation: X:-23.35, Y:-29.08, Z:-6.80 [[ 0.74578776 -0.57526506 -0.33596238 -23.35299277] [ 0.59014511 0.80447399 -0.0674563 -29.08495406] [ 0.30907825 -0.14795848 0.93945672 -6.80102957] [ 0. 0. 0. 1. ]] SLAMing on 87.24165253199999 meters Centerline goodness [0,1] 0.44800824011306206 Centerline is valid? [False, False] Translation: X:-23.36, Y:-29.09, Z:-6.80 [[ 0.74620631 -0.57494119 -0.33558721 -23.35553065] [ 0.58985678 0.80471713 -0.06707699 -29.08543836] [ 0.3086181 -0.14789511 0.93961796 -6.80104596] [ 0. 0. 0. 1. ]] SLAMing on 87.27165253199999 meters Centerline goodness [0,1] 0.4446143188170374 Centerline is valid? [False, False] Translation: X:-23.38, Y:-29.11, Z:-6.81 [[ 0.74649868 -0.57352709 -0.33735204 -23.37974906] [ 0.5893907 0.80524712 -0.06477406 -29.11150504] [ 0.30880144 -0.15047841 0.93914744 -6.80935293] [ 0. 0. 0. 1. ]] SLAMing on 87.30165253199999 meters Centerline goodness [0,1] 0.44219680724326904 Centerline is valid? [False, False] Translation: X:-23.41, Y:-29.14, Z:-6.82 [[ 0.74762217 -0.57238532 -0.33680281 -23.40886711] [ 0.58880299 0.8058549 -0.06252129 -29.14012993] [ 0.30720046 -0.1515682 0.93949718 -6.81973419] [ 0. 0. 0. 1. ]] SLAMing on 87.33165253199999 meters Centerline goodness [0,1] 0.4432325824541393 Centerline is valid? [False, False] Translation: X:-23.41, Y:-29.14, Z:-6.82 [[ 0.74624647 -0.5759932 -0.33368853 -23.41356117] [ 0.591316 0.80380861 -0.06509308 -29.14012045] [ 0.30571488 -0.14873989 0.94043334 -6.82085497] [ 0. 0. 0. 1. ]] SLAMing on 87.361652532 meters Centerline goodness [0,1] 0.43978497181322995 Centerline is valid? [False, False] Translation: X:-23.42, Y:-29.14, Z:-6.82 [[ 0.7448102 -0.5795335 -0.33075473 -23.41800971] [ 0.59381354 0.80175608 -0.0676215 -29.1403007 ] [ 0.30437355 -0.14604145 0.94129094 -6.82160345] [ 0. 0. 0. 1. ]] SLAMing on 87.391652532 meters Centerline goodness [0,1] 0.4488922696586479 Centerline is valid? [False, False] Translation: X:-23.42, Y:-29.14, Z:-6.82 [[ 0.74339597 -0.58299389 -0.32784226 -23.42247117] [ 0.59622999 0.79974013 -0.07018204 -29.14024816] [ 0.30310431 -0.14329635 0.94212204 -6.82241958] [ 0. 0. 0. 1. ]] SLAMing on 87.421652532 meters Centerline goodness [0,1] 0.4358919888589907 Centerline is valid? [False, False] Translation: X:-23.44, Y:-29.16, Z:-6.83 [[ 0.74875539 -0.57837795 -0.3237967 -23.4416328 ] [ 0.58967113 0.80432443 -0.07314491 -29.15587096] [ 0.302743 -0.13616592 0.94329503 -6.83197982] [ 0. 0. 0. 1. ]] SLAMing on 87.451652532 meters Centerline goodness [0,1] 0.41995485114988473 Centerline is valid? [False, False] Translation: X:-23.46, Y:-29.17, Z:-6.84 [[ 0.75297191 -0.57521183 -0.31963205 -23.45675903] [ 0.58501953 0.80753565 -0.0750888 -29.16633985] [ 0.30130625 -0.13045123 0.94456181 -6.8404011 ] [ 0. 0. 0. 1. ]] SLAMing on 87.48165253199998 meters Centerline goodness [0,1] 0.4171181948256045 Centerline is valid? [False, False] Translation: X:-23.48, Y:-29.19, Z:-6.85 [[ 0.75454547 -0.57235173 -0.32105238 -23.48212671] [ 0.58336995 0.80907025 -0.07130801 -29.19492406] [ 0.30056719 -0.13348718 0.94437309 -6.8494254 ] [ 0. 0. 0. 1. ]] SLAMing on 87.51165253199999 meters Centerline goodness [0,1] 0.42342066889317465 Centerline is valid? [False, False] Translation: X:-23.51, Y:-29.23, Z:-6.86 [[ 0.75418323 -0.57344614 -0.31994873 -23.50885248] [ 0.5841053 0.80846379 -0.07216162 -29.22659677] [ 0.30004776 -0.13246066 0.94468276 -6.85978858] [ 0. 0. 0. 1. ]] SLAMing on 87.54165253199999 meters Centerline goodness [0,1] 0.428527679623086 Centerline is valid? [False, False] Translation: X:-23.52, Y:-29.24, Z:-6.87 [[ 0.75569744 -0.57503653 -0.31345554 -23.52197667] [ 0.58347624 0.80851473 -0.07654676 -29.2390149 ] [ 0.2974506 -0.12504767 0.94651266 -6.86673099] [ 0. 0. 0. 1. ]] SLAMing on 87.57165253199999 meters Centerline goodness [0,1] 0.4346687429218573 Centerline is valid? [False, False] Translation: X:-23.54, Y:-29.27, Z:-6.87 [[ 0.75373571 -0.57712021 -0.31434812 -23.5434233 ] [ 0.5859115 0.80677533 -0.07629736 -29.26631551] [ 0.29764106 -0.12667214 0.94623674 -6.87327538] [ 0. 0. 0. 1. ]] SLAMing on 87.60165253199999 meters Centerline goodness [0,1] 0.43018948063899576 Centerline is valid? [False, False] Translation: X:-23.57, Y:-29.29, Z:-6.88 [[ 0.75293952 -0.5770198 -0.31643361 -23.56593435] [ 0.58660059 0.80642142 -0.0747277 -29.29290269] [ 0.2982982 -0.1293547 0.94566672 -6.8802159 ] [ 0. 0. 0. 1. ]] SLAMing on 87.63165253199999 meters Centerline goodness [0,1] 0.43255792029036744 Centerline is valid? [False, False] Translation: X:-23.59, Y:-29.32, Z:-6.89 [[ 0.7529894 -0.57497262 -0.32002103 -23.58861158] [ 0.58538938 0.80743155 -0.07330467 -29.31915676] [ 0.30054325 -0.13213927 0.94457025 -6.88854606] [ 0. 0. 0. 1. ]] SLAMing on 87.66165253199999 meters Centerline goodness [0,1] 0.43270226994442873 Centerline is valid? [False, False] Translation: X:-23.61, Y:-29.34, Z:-6.90 [[ 0.75302356 -0.57305447 -0.32336373 -23.61021437] [ 0.58443157 0.80829123 -0.07144946 -29.34454672] [ 0.3023165 -0.13518084 0.94357346 -6.89673556] [ 0. 0. 0. 1. ]] SLAMing on 87.69165253199999 meters Centerline goodness [0,1] 0.43436630347625116 Centerline is valid? [False, False] Translation: X:-23.63, Y:-29.37, Z:-6.90 [[ 0.75169011 -0.57363335 -0.32543318 -23.63167622] [ 0.58549568 0.8075542 -0.07107053 -29.37120775] [ 0.30357336 -0.1371167 0.94289036 -6.90429018] [ 0. 0. 0. 1. ]] SLAMing on 87.721652532 meters Centerline goodness [0,1] 0.43430898929620154 Centerline is valid? [False, False] Translation: X:-23.66, Y:-29.40, Z:-6.91 [[ 0.75092316 -0.57538461 -0.32410948 -23.65842128] [ 0.58686815 0.80647384 -0.07201194 -29.40472398] [ 0.30282038 -0.13613409 0.94327479 -6.91421568] [ 0. 0. 0. 1. ]] SLAMing on 87.751652532 meters Centerline goodness [0,1] 0.43677833890509044 Centerline is valid? [False, False] Translation: X:-23.68, Y:-29.43, Z:-6.92 [[ 0.7496752 -0.57710736 -0.32393548 -23.68140655] [ 0.58879789 0.80509572 -0.07167937 -29.43198201] [ 0.30216576 -0.13699628 0.94335989 -6.92316993] [ 0. 0. 0. 1. ]] SLAMing on 87.781652532 meters Centerline goodness [0,1] 0.4440662636264102 Centerline is valid? [False, False] Translation: X:-23.68, Y:-29.43, Z:-6.92 [[ 0.74818794 -0.58052455 -0.32125699 -23.68464685] [ 0.59136969 0.80301491 -0.07381692 -29.43437963] [ 0.30082669 -0.13475272 0.9441107 -6.92293522] [ 0. 0. 0. 1. ]] SLAMing on 87.811652532 meters Centerline goodness [0,1] 0.4524713014009212 Centerline is valid? [False, False] Translation: X:-23.70, Y:-29.46, Z:-6.93 [[ 0.74352566 -0.58451643 -0.32482325 -23.70072194] [ 0.59580311 0.79961231 -0.07509201 -29.45733917] [ 0.30362519 -0.13769786 0.94278897 -6.92501672] [ 0. 0. 0. 1. ]] SLAMing on 87.841652532 meters Centerline goodness [0,1] 0.4493255342007879 Centerline is valid? [False, False] Translation: X:-23.72, Y:-29.48, Z:-6.93 [[ 0.74145315 -0.58630767 -0.32632888 -23.72269982] [ 0.59770485 0.79811469 -0.07590691 -29.48447679] [ 0.30495268 -0.13876694 0.94220359 -6.93201959] [ 0. 0. 0. 1. ]] SLAMing on 87.87165253199998 meters Centerline goodness [0,1] 0.4577581050364876 Centerline is valid? [False, False] Translation: X:-23.74, Y:-29.51, Z:-6.94 [[ 0.73960596 -0.58723523 -0.32884314 -23.74357693] [ 0.59908373 0.7970737 -0.07597502 -29.51024154] [ 0.30672742 -0.140813 0.94132353 -6.93889522] [ 0. 0. 0. 1. ]] SLAMing on 87.90165253199999 meters Centerline goodness [0,1] 0.4534716908951798 Centerline is valid? [False, False] Translation: X:-23.77, Y:-29.54, Z:-6.95 [[ 0.74050604 -0.58557966 -0.32976851 -23.77106669] [ 0.59751585 0.79826931 -0.07576882 -29.53986077] [ 0.30761276 -0.14093464 0.94101637 -6.95045564] [ 0. 0. 0. 1. ]] SLAMing on 87.93165253199999 meters Centerline goodness [0,1] 0.4467028111490602 Centerline is valid? [False, False] Translation: X:-23.80, Y:-29.57, Z:-6.96 [[ 0.74271387 -0.58193915 -0.33124453 -23.79764169] [ 0.59477643 0.80058086 -0.0728786 -29.56769567] [ 0.30759894 -0.14288849 0.94072619 -6.96202305] [ 0. 0. 0. 1. ]] SLAMing on 87.96165253199999 meters Centerline goodness [0,1] 0.4305254378648874 Centerline is valid? [False, False] Translation: X:-23.83, Y:-29.60, Z:-6.97 [[ 0.74503784 -0.57881962 -0.33149128 -23.82594576] [ 0.59229675 0.80264703 -0.07030158 -29.59611202] [ 0.30676242 -0.14396387 0.94083538 -6.97429374] [ 0. 0. 0. 1. ]] SLAMing on 87.99165253199999 meters Centerline goodness [0,1] 0.43970871707003645 Centerline is valid? [False, False] Translation: X:-23.85, Y:-29.63, Z:-6.99 [[ 0.74664317 -0.57734381 -0.33045136 -23.85472598] [ 0.59104485 0.80370466 -0.06873721 -29.62563931] [ 0.3052703 -0.14398941 0.94131668 -6.98643736] [ 0. 0. 0. 1. ]] SLAMing on 88.02165253199999 meters Centerline goodness [0,1] 0.4396311387518764 Centerline is valid? [False, False] Translation: X:-23.88, Y:-29.65, Z:-6.99 [[ 0.7487638 -0.57713219 -0.32599266 -23.87944162] [ 0.58695815 0.80580997 -0.07842465 -29.64921315] [ 0.30794952 -0.13262251 0.94211377 -6.99310796] [ 0. 0. 0. 1. ]] SLAMing on 88.05165253199999 meters Centerline goodness [0,1] 0.44199871081719866 Centerline is valid? [False, False] Translation: X:-23.91, Y:-29.68, Z:-7.00 [[ 0.74977309 -0.57626506 -0.32520593 -23.90702548] [ 0.58648343 0.80632594 -0.07665288 -29.67981168] [ 0.30639436 -0.13325562 0.9425314 -7.00347813] [ 0. 0. 0. 1. ]] SLAMing on 88.08165253199999 meters Centerline goodness [0,1] 0.437677968940681 Centerline is valid? [False, False] Translation: X:-23.93, Y:-29.71, Z:-7.01 [[ 0.74840953 -0.57813486 -0.32502809 -23.93202859] [ 0.58801059 0.80507798 -0.0780576 -29.70860195] [ 0.30680078 -0.1327009 0.94247745 -7.01325721] [ 0. 0. 0. 1. ]] SLAMing on 88.111652532 meters Centerline goodness [0,1] 0.437677968940681 Centerline is valid? [False, False] Translation: X:-23.96, Y:-29.74, Z:-7.02 [[ 0.74858451 -0.57740173 -0.32592709 -23.95726426] [ 0.58765784 0.80542402 -0.07713894 -29.73702275] [ 0.30704966 -0.13378859 0.9422426 -7.02292487] [ 0. 0. 0. 1. ]] SLAMing on 88.141652532 meters Centerline goodness [0,1] 0.44240313036839096 Centerline is valid? [False, False] Translation: X:-23.99, Y:-29.77, Z:-7.04 [[ 0.7515838 -0.57391031 -0.32519032 -23.98935565] [ 0.5846058 0.80787769 -0.07463041 -29.76785879] [ 0.30554517 -0.13401714 0.94269908 -7.0359914 ] [ 0. 0. 0. 1. ]] SLAMing on 88.171652532 meters Centerline goodness [0,1] 0.44170724720710397 Centerline is valid? [False, False] Translation: X:-24.02, Y:-29.80, Z:-7.05 [[ 0.75247618 -0.57290846 -0.32489305 -24.01734069] [ 0.58415461 0.80839292 -0.0725553 -29.79703453] [ 0.30420879 -0.13519163 0.94296354 -7.04600469] [ 0. 0. 0. 1. ]] SLAMing on 88.201652532 meters Centerline goodness [0,1] 0.44134799235181643 Centerline is valid? [False, False] Translation: X:-24.05, Y:-29.83, Z:-7.06 [[ 0.75351379 -0.57271203 -0.32282798 -24.04854848] [ 0.58383444 0.80868184 -0.07190985 -29.82934948] [ 0.30224876 -0.13429303 0.94372192 -7.05727252] [ 0. 0. 0. 1. ]] SLAMing on 88.23165253199998 meters Centerline goodness [0,1] 0.4432575811886157 Centerline is valid? [False, False] Translation: X:-24.06, Y:-29.84, Z:-7.07 [[ 0.7559164 -0.57332731 -0.31604778 -24.06483095] [ 0.58139049 0.80982768 -0.07851257 -29.84214543] [ 0.30095764 -0.12439824 0.94548907 -7.06805681] [ 0. 0. 0. 1. ]] SLAMing on 88.26165253199999 meters Centerline goodness [0,1] 0.44810733109726886 Centerline is valid? [False, False] Translation: X:-24.09, Y:-29.87, Z:-7.07 [[ 0.75410857 -0.57449062 -0.31824644 -24.08608901] [ 0.5828562 0.80874494 -0.07880536 -29.86816675] [ 0.30265314 -0.12606412 0.9447269 -7.07489524] [ 0. 0. 0. 1. ]] SLAMing on 88.29165253199999 meters Centerline goodness [0,1] 0.450865110028557 Centerline is valid? [False, False] Translation: X:-24.11, Y:-29.89, Z:-7.08 [[ 0.7518315 -0.57643413 -0.3201142 -24.10745623] [ 0.58483301 0.80720116 -0.079979 -29.89300607] [ 0.30449918 -0.12708262 0.94399696 -7.08221375] [ 0. 0. 0. 1. ]] SLAMing on 88.32165253199999 meters Centerline goodness [0,1] 0.45527910151105155 Centerline is valid? [False, False] Translation: X:-24.14, Y:-29.92, Z:-7.09 [[ 0.75198574 -0.57610188 -0.32034992 -24.13613096] [ 0.58485103 0.80729208 -0.07892259 -29.92296167] [ 0.3040834 -0.12800832 0.94400591 -7.09067392] [ 0. 0. 0. 1. ]] SLAMing on 88.35165253199999 meters Centerline goodness [0,1] 0.4563429445799264 Centerline is valid? [False, False] Translation: X:-24.16, Y:-29.95, Z:-7.10 [[ 0.75334749 -0.57319994 -0.3223498 -24.16136436] [ 0.58283433 0.80898907 -0.07642538 -29.94931881] [ 0.30458449 -0.13030166 0.94353048 -7.10099199] [ 0. 0. 0. 1. ]] SLAMing on 88.38165253199999 meters Centerline goodness [0,1] 0.4521639547645179 Centerline is valid? [False, False] Translation: X:-24.19, Y:-29.98, Z:-7.11 [[ 0.75547623 -0.57060723 -0.32196746 -24.19025614] [ 0.58053441 0.81079734 -0.07474941 -29.97703632] [ 0.30370291 -0.13044179 0.94379525 -7.11425967] [ 0. 0. 0. 1. ]] SLAMing on 88.41165253199999 meters Centerline goodness [0,1] 0.4552806850618458 Centerline is valid? [False, False] Translation: X:-24.22, Y:-30.01, Z:-7.13 [[ 0.75804812 -0.56763763 -0.32117063 -24.22002297] [ 0.57792085 0.81285726 -0.07259865 -30.00561357] [ 0.30227561 -0.13057794 0.94423454 -7.12766638] [ 0. 0. 0. 1. ]] SLAMing on 88.44165253199999 meters Centerline goodness [0,1] 0.45373999382408137 Centerline is valid? [False, False] Translation: X:-24.25, Y:-30.03, Z:-7.13 [[ 0.76109961 -0.56409973 -0.32018568 -24.24609571] [ 0.57133855 0.81672761 -0.08079772 -30.02929511] [ 0.30708246 -0.12143931 0.94390299 -7.1330622 ] [ 0. 0. 0. 1. ]] SLAMing on 88.471652532 meters Centerline goodness [0,1] 0.45669310033714805 Centerline is valid? [False, False] Translation: X:-24.27, Y:-30.06, Z:-7.14 [[ 0.76168837 -0.56381553 -0.31928494 -24.27340987] [ 0.57100531 0.81698972 -0.08050297 -30.05817602] [ 0.30624134 -0.12099523 0.94423323 -7.14470513] [ 0. 0. 0. 1. ]] SLAMing on 88.501652532 meters Centerline goodness [0,1] 0.46174487082066873 Centerline is valid? [False, False] Translation: X:-24.29, Y:-30.07, Z:-7.15 [[ 0.76317538 -0.56566367 -0.3123907 -24.28785415] [ 0.56988646 0.81707479 -0.08728239 -30.06843267] [ 0.30461904 -0.11141546 0.94593543 -7.1545399 ] [ 0. 0. 0. 1. ]] SLAMing on 88.531652532 meters Centerline goodness [0,1] 0.43020037377871356 Centerline is valid? [False, False] Translation: X:-24.32, Y:-30.10, Z:-7.17 [[ 0.76457617 -0.56417315 -0.31165997 -24.31840928] [ 0.56848761 0.81814392 -0.08638502 -30.0972701 ] [ 0.30371882 -0.1111269 0.94625879 -7.16619091] [ 0. 0. 0. 1. ]] SLAMing on 88.561652532 meters Centerline goodness [0,1] 0.45030315898742534 Centerline is valid? [False, False] Translation: X:-24.34, Y:-30.12, Z:-7.17 [[ 0.764918 -0.56343502 -0.31215609 -24.34425086] [ 0.56872997 0.81828935 -0.08335921 -30.12301959] [ 0.3024015 -0.11376957 0.94636664 -7.17455847] [ 0. 0. 0. 1. ]] SLAMing on 88.591652532 meters Centerline goodness [0,1] 0.4464336124964713 Centerline is valid? [False, False] Translation: X:-24.37, Y:-30.15, Z:-7.18 [[ 0.76628089 -0.56205553 -0.31129917 -24.37346446] [ 0.56792376 0.81909463 -0.08091104 -30.15168415] [ 0.30045998 -0.11479361 0.94686125 -7.18492457] [ 0. 0. 0. 1. ]] SLAMing on 88.62165253199998 meters Centerline goodness [0,1] 0.44050751879699246 Centerline is valid? [False, False] Translation: X:-24.40, Y:-30.18, Z:-7.20 [[ 0.76761568 -0.560644 -0.3105551 -24.40235625] [ 0.56707806 0.81991379 -0.07851019 -30.18023064] [ 0.29864468 -0.11584333 0.94730759 -7.19530294] [ 0. 0. 0. 1. ]] SLAMing on 88.65165253199999 meters Centerline goodness [0,1] 0.44050751879699246 Centerline is valid? [False, False] Translation: X:-24.43, Y:-30.21, Z:-7.20 [[ 0.76768283 -0.55989357 -0.31174071 -24.42718648] [ 0.56683127 0.8202045 -0.0772456 -30.2077952 ] [ 0.29894045 -0.11740426 0.9470221 -7.20386507] [ 0. 0. 0. 1. ]] SLAMing on 88.68165253199999 meters Centerline goodness [0,1] 0.4341121604837008 Centerline is valid? [False, False] Translation: X:-24.46, Y:-30.24, Z:-7.22 [[ 0.7709812 -0.55583597 -0.31086069 -24.46038899] [ 0.56319366 0.8229447 -0.07466541 -30.23834392] [ 0.29732288 -0.11750914 0.94751818 -7.21624413] [ 0. 0. 0. 1. ]] SLAMing on 88.71165253199999 meters Centerline goodness [0,1] 0.4229094484502294 Centerline is valid? [False, False] Translation: X:-24.48, Y:-30.25, Z:-7.23 [[ 0.77431246 -0.55392858 -0.30594663 -24.48005944] [ 0.5585537 0.82550572 -0.08098185 -30.25318956] [ 0.29741886 -0.10818236 0.94859823 -7.22516693] [ 0. 0. 0. 1. ]] SLAMing on 88.74165253199999 meters Centerline goodness [0,1] 0.42945315970355136 Centerline is valid? [False, False] Translation: X:-24.49, Y:-30.26, Z:-7.23 [[ 0.7751926 -0.55618505 -0.29955737 -24.49324939] [ 0.55818311 0.8250933 -0.08747953 -30.26071625] [ 0.29581759 -0.09939438 0.95005932 -7.23376305] [ 0. 0. 0. 1. ]] SLAMing on 88.77165253199999 meters Centerline goodness [0,1] 0.443505067962072 Centerline is valid? [False, False] Translation: X:-24.52, Y:-30.29, Z:-7.24 [[ 0.77573604 -0.55420232 -0.30181683 -24.51732978] [ 0.55729122 0.82601757 -0.08438883 -30.28700297] [ 0.29607449 -0.10273641 0.94962368 -7.24118103] [ 0. 0. 0. 1. ]] SLAMing on 88.80165253199999 meters Centerline goodness [0,1] 0.44043473179852755 Centerline is valid? [False, False] Translation: X:-24.54, Y:-30.32, Z:-7.25 [[ 0.77539223 -0.5548536 -0.30150351 -24.54456389] [ 0.558333 0.8254392 -0.08315272 -30.31724169] [ 0.29501041 -0.10386339 0.94983223 -7.24844519] [ 0. 0. 0. 1. ]] SLAMing on 88.83165253199999 meters Centerline goodness [0,1] 0.431772084023034 Centerline is valid? [False, False] Translation: X:-24.55, Y:-30.32, Z:-7.25 [[ 0.77498003 -0.55610807 -0.30024951 -24.54897796] [ 0.55925481 0.8247273 -0.08401746 -30.31846366] [ 0.29434675 -0.10280413 0.9501533 -7.24747923] [ 0. 0. 0. 1. ]] SLAMing on 88.861652532 meters Centerline goodness [0,1] 0.43322407420322195 Centerline is valid? [False, False] Translation: X:-24.57, Y:-30.35, Z:-7.25 [[ 0.77581422 -0.55382917 -0.30230042 -24.57364575] [ 0.55818205 0.82581138 -0.08042615 -30.34533718] [ 0.29418548 -0.10634291 0.94981371 -7.25480509] [ 0. 0. 0. 1. ]] SLAMing on 88.891652532 meters Centerline goodness [0,1] 0.4279805748541953 Centerline is valid? [False, False] Translation: X:-24.60, Y:-30.37, Z:-7.26 [[ 0.7757926 -0.55204312 -0.30560469 -24.5980849 ] [ 0.55739925 0.82656185 -0.07811258 -30.37067813] [ 0.2957227 -0.10974467 0.948949 -7.26132405] [ 0. 0. 0. 1. ]] SLAMing on 88.921652532 meters Centerline goodness [0,1] 0.43501486436269043 Centerline is valid? [False, False] Translation: X:-24.60, Y:-30.37, Z:-7.26 [[ 0.77613244 -0.55179804 -0.30518414 -24.60036231] [ 0.5571438 0.82675146 -0.07792822 -30.37024459] [ 0.29531207 -0.10954883 0.94909949 -7.26181698] [ 0. 0. 0. 1. ]] SLAMing on 88.951652532 meters Centerline goodness [0,1] 0.4321656936335836 Centerline is valid? [False, False] Translation: X:-24.62, Y:-30.38, Z:-7.27 [[ 0.77779465 -0.55283096 -0.29902074 -24.61559569] [ 0.5555031 0.82721767 -0.08442292 -30.38052694] [ 0.29402685 -0.10044325 0.95050479 -7.2705483 ] [ 0. 0. 0. 1. ]] SLAMing on 88.98165253199998 meters Centerline goodness [0,1] 0.43221495132610355 Centerline is valid? [False, False] Translation: X:-24.63, Y:-30.40, Z:-7.28 [[ 0.7804791 -0.55179752 -0.29389092 -24.63373344] [ 0.5519653 0.8289374 -0.09053777 -30.39607887] [ 0.29357569 -0.09155475 0.9515414 -7.27790021] [ 0. 0. 0. 1. ]] SLAMing on 89.01165253199999 meters Centerline goodness [0,1] 0.42515758121493386 Centerline is valid? [False, False] Translation: X:-24.65, Y:-30.42, Z:-7.28 [[ 0.77883996 -0.55137052 -0.29899643 -24.65187489] [ 0.55254923 0.82872362 -0.08891862 -30.41846339] [ 0.2968125 -0.09595687 0.95010242 -7.28193715] [ 0. 0. 0. 1. ]] SLAMing on 89.04165253199999 meters Centerline goodness [0,1] 0.41816631719624875 Centerline is valid? [False, False] Translation: X:-24.67, Y:-30.44, Z:-7.29 [[ 0.77853422 -0.54976692 -0.30272232 -24.67296593] [ 0.55217038 0.82928533 -0.08598673 -30.44277805] [ 0.29831583 -0.10021069 0.94919201 -7.28775811] [ 0. 0. 0. 1. ]] SLAMing on 89.07165253199999 meters Centerline goodness [0,1] 0.43105472797181865 Centerline is valid? [False, False] Translation: X:-24.70, Y:-30.47, Z:-7.30 [[ 0.7815808 -0.54480829 -0.30383446 -24.70165261] [ 0.54875415 0.83210435 -0.08044392 -30.47253778] [ 0.29664849 -0.103857 0.9493226 -7.29704568] [ 0. 0. 0. 1. ]] SLAMing on 89.10165253199999 meters Centerline goodness [0,1] 0.42308134323212354 Centerline is valid? [False, False] Translation: X:-24.70, Y:-30.47, Z:-7.30 [[ 0.78223628 -0.54414322 -0.30333901 -24.70420791] [ 0.54818232 0.83254095 -0.07982297 -30.47333553] [ 0.29597728 -0.10384466 0.94953343 -7.29765899] [ 0. 0. 0. 1. ]] SLAMing on 89.13165253199999 meters Centerline goodness [0,1] 0.4195216102571172 Centerline is valid? [False, False] Translation: X:-24.71, Y:-30.48, Z:-7.30 [[ 0.78329084 -0.54476881 -0.2994702 -24.71209172] [ 0.54778849 0.83260698 -0.08181317 -30.47789054] [ 0.29391024 -0.09996282 0.9505915 -7.30233531] [ 0. 0. 0. 1. ]] SLAMing on 89.16165253199999 meters Centerline goodness [0,1] 0.42742028318176584 Centerline is valid? [False, False] Translation: X:-24.71, Y:-30.48, Z:-7.30 [[ 0.77950347 -0.55288388 -0.29443804 -24.71493318] [ 0.55398965 0.82787075 -0.0878947 -30.47894188] [ 0.2923522 -0.0946014 0.95162007 -7.30315374] [ 0. 0. 0. 1. ]] SLAMing on 89.19165253199999 meters Centerline goodness [0,1] 0.42873321469017955 Centerline is valid? [False, False] Translation: X:-24.73, Y:-30.50, Z:-7.31 [[ 0.77553029 -0.55647447 -0.29814249 -24.73103272] [ 0.55787847 0.82514239 -0.08894749 -30.50116973] [ 0.29550701 -0.0973458 0.95036803 -7.30664906] [ 0. 0. 0. 1. ]] SLAMing on 89.221652532 meters Centerline goodness [0,1] 0.4273896419881822 Centerline is valid? [False, False] Translation: X:-24.75, Y:-30.52, Z:-7.31 [[ 0.77180518 -0.55957895 -0.30197378 -24.7482205 ] [ 0.56143074 0.82266757 -0.08951873 -30.52429241] [ 0.29851683 -0.10044635 0.94910391 -7.30983812] [ 0. 0. 0. 1. ]] SLAMing on 89.251652532 meters Centerline goodness [0,1] 0.43113744734040094 Centerline is valid? [False, False] Translation: X:-24.76, Y:-30.54, Z:-7.31 [[ 0.76975296 -0.55902485 -0.30817462 -24.76456733] [ 0.56223268 0.82234821 -0.08739466 -30.54370693] [ 0.30228263 -0.10599354 0.94730701 -7.3130786 ] [ 0. 0. 0. 1. ]] SLAMing on 89.281652532 meters Centerline goodness [0,1] 0.4432493696944464 Centerline is valid? [False, False] Translation: X:-24.78, Y:-30.56, Z:-7.32 [[ 0.76891237 -0.5572109 -0.313512 -24.78315608] [ 0.56186354 0.82289875 -0.08454006 -30.56423404] [ 0.30509528 -0.11114706 0.94581351 -7.31842045] [ 0. 0. 0. 1. ]] SLAMing on 89.311652532 meters Centerline goodness [0,1] 0.423950383879372 Centerline is valid? [False, False] Translation: X:-24.81, Y:-30.59, Z:-7.33 [[ 0.76921326 -0.55503406 -0.3166199 -24.80520317] [ 0.56084027 0.82388052 -0.08172566 -30.58850655] [ 0.30621749 -0.11470873 0.94502527 -7.32658083] [ 0. 0. 0. 1. ]] SLAMing on 89.341652532 meters Centerline goodness [0,1] 0.43337024732373575 Centerline is valid? [False, False] Translation: X:-24.83, Y:-30.62, Z:-7.34 [[ 0.77007237 -0.55346586 -0.31727606 -24.83171575] [ 0.56003973 0.82466409 -0.07927575 -30.61665108] [ 0.30552259 -0.11663913 0.94501389 -7.33569287] [ 0. 0. 0. 1. ]] SLAMing on 89.37165253199998 meters Centerline goodness [0,1] 0.43702285674746866 Centerline is valid? [False, False] Translation: X:-24.86, Y:-30.65, Z:-7.35 [[ 0.77090499 -0.55317739 -0.31575351 -24.85986058] [ 0.56019121 0.8247563 -0.07721954 -30.6461782 ] [ 0.3031358 -0.11735342 0.94569385 -7.34576537] [ 0. 0. 0. 1. ]] SLAMing on 89.40165253199999 meters Centerline goodness [0,1] 0.4335294796353987 Centerline is valid? [False, False] Translation: X:-24.87, Y:-30.65, Z:-7.35 [[ 0.77053378 -0.55574758 -0.31212547 -24.86553047] [ 0.56183821 0.82344895 -0.0791811 -30.650239 ] [ 0.3010241 -0.11435231 0.94673547 -7.34763985] [ 0. 0. 0. 1. ]] SLAMing on 89.43165253199999 meters Centerline goodness [0,1] 0.43384729018557844 Centerline is valid? [False, False] Translation: X:-24.87, Y:-30.65, Z:-7.35 [[ 0.76915529 -0.55912543 -0.30948164 -24.86852747] [ 0.56436833 0.82148845 -0.08151758 -30.65244213] [ 0.29981415 -0.11196196 0.94740487 -7.34771547] [ 0. 0. 0. 1. ]] SLAMing on 89.46165253199999 meters Centerline goodness [0,1] 0.4336814862741474 Centerline is valid? [False, False] Translation: X:-24.89, Y:-30.68, Z:-7.36 [[ 0.76854887 -0.55898868 -0.3112303 -24.89129326] [ 0.56491868 0.82125703 -0.08002361 -30.67981084] [ 0.30033237 -0.11431775 0.9469593 -7.35517088] [ 0. 0. 0. 1. ]] SLAMing on 89.49165253199999 meters Centerline goodness [0,1] 0.4283131273325761 Centerline is valid? [False, False] Translation: X:-24.91, Y:-30.71, Z:-7.36 [[ 0.76752878 -0.55927428 -0.31322812 -24.91369589] [ 0.56565121 0.82080378 -0.07949753 -30.70803267] [ 0.30155975 -0.11616123 0.9463447 -7.36261218] [ 0. 0. 0. 1. ]] SLAMing on 89.52165253199999 meters Centerline goodness [0,1] 0.4448724791719849 Centerline is valid? [False, False] Translation: X:-24.93, Y:-30.73, Z:-7.37 [[ 0.76478651 -0.56085482 -0.31708591 -24.93158133] [ 0.56801817 0.81921605 -0.07899638 -30.73111348] [ 0.30406737 -0.11969519 0.9451011 -7.3668759 ] [ 0. 0. 0. 1. ]] SLAMing on 89.55165253199999 meters Centerline goodness [0,1] 0.4451185495118549 Centerline is valid? [False, False] Translation: X:-24.95, Y:-30.76, Z:-7.37 [[ 0.76262656 -0.56222496 -0.31984969 -24.95171754] [ 0.56984189 0.81794141 -0.07907002 -30.75697341] [ 0.30607344 -0.12196285 0.94416318 -7.37267792] [ 0. 0. 0. 1. ]] SLAMing on 89.58165253199999 meters Centerline goodness [0,1] 0.4356650200391462 Centerline is valid? [False, False] Translation: X:-24.98, Y:-30.79, Z:-7.38 [[ 0.76240729 -0.56220358 -0.32040951 -24.97677539] [ 0.57017864 0.81779029 -0.07820078 -30.78871426] [ 0.30599254 -0.12306982 0.94404575 -7.38128654] [ 0. 0. 0. 1. ]] SLAMing on 89.611652532 meters Centerline goodness [0,1] 0.44646521171423237 Centerline is valid? [False, False] Translation: X:-25.00, Y:-30.81, Z:-7.39 [[ 0.76096035 -0.56277483 -0.32283717 -24.998258 ] [ 0.57117969 0.81710481 -0.07806078 -30.81468985] [ 0.30772245 -0.12499688 0.94322992 -7.38857338] [ 0. 0. 0. 1. ]] SLAMing on 89.641652532 meters Centerline goodness [0,1] 0.44222921767517775 Centerline is valid? [False, False] Translation: X:-25.02, Y:-30.84, Z:-7.40 [[ 0.76185469 -0.56100291 -0.32381039 -25.02399954] [ 0.56996176 0.81811266 -0.07638898 -30.84305594] [ 0.30776782 -0.12636223 0.94303317 -7.39897182] [ 0. 0. 0. 1. ]] SLAMing on 89.671652532 meters Centerline goodness [0,1] 0.44601815339384465 Centerline is valid? [False, False] Translation: X:-25.05, Y:-30.87, Z:-7.41 [[ 0.76188797 -0.56045319 -0.32468283 -25.04883864] [ 0.56994684 0.81825037 -0.07501287 -30.87162612] [ 0.30771305 -0.12790055 0.94284364 -7.40806142] [ 0. 0. 0. 1. ]] SLAMing on 89.701652532 meters Centerline goodness [0,1] 0.4501527483034444 Centerline is valid? [False, False] Translation: X:-25.07, Y:-30.90, Z:-7.41 [[ 0.76012387 -0.56154293 -0.32692696 -25.06976803] [ 0.57151962 0.81717276 -0.0747931 -30.89758261] [ 0.30915534 -0.12999316 0.94208532 -7.41490964] [ 0. 0. 0. 1. ]] SLAMing on 89.73165253199998 meters Centerline goodness [0,1] 0.44606182387438964 Centerline is valid? [False, False] Translation: X:-25.10, Y:-30.93, Z:-7.43 [[ 0.75976353 -0.56236577 -0.32634969 -25.09587857] [ 0.57221015 0.81665901 -0.07512392 -30.92884034] [ 0.30876353 -0.12966419 0.94225913 -7.42520037] [ 0. 0. 0. 1. ]] SLAMing on 89.76165253199999 meters Centerline goodness [0,1] 0.4486795980369245 Centerline is valid? [False, False] Translation: X:-25.12, Y:-30.96, Z:-7.44 [[ 0.76060444 -0.56117263 -0.32644473 -25.12233034] [ 0.57135565 0.81737224 -0.07386022 -30.95798433] [ 0.3082752 -0.13033763 0.94232611 -7.43617215] [ 0. 0. 0. 1. ]] SLAMing on 89.79165253199999 meters Centerline goodness [0,1] 0.44250128763403096 Centerline is valid? [False, False] Translation: X:-25.14, Y:-30.98, Z:-7.44 [[ 0.75920938 -0.56205607 -0.32816779 -25.1445493 ] [ 0.57252837 0.81654166 -0.0739661 -30.98428106] [ 0.30953577 -0.13172961 0.94171913 -7.44423784] [ 0. 0. 0. 1. ]] SLAMing on 89.82165253199999 meters Centerline goodness [0,1] 0.4419214997070885 Centerline is valid? [False, False] Translation: X:-25.17, Y:-31.01, Z:-7.45 [[ 0.75825163 -0.5624508 -0.32970223 -25.16758977] [ 0.57322878 0.8160621 -0.07383367 -31.0113314 ] [ 0.3105853 -0.13301031 0.94119341 -7.45279259] [ 0. 0. 0. 1. ]] SLAMing on 89.85165253199999 meters Centerline goodness [0,1] 0.46160729002331113 Centerline is valid? [False, False] Translation: X:-25.19, Y:-31.04, Z:-7.46 [[ 0.75558571 -0.56645529 -0.328966 -25.191494 ] [ 0.57673812 0.81339345 -0.07592258 -31.04177109] [ 0.31058554 -0.13236122 0.94128483 -7.46075473] [ 0. 0. 0. 1. ]] SLAMing on 89.88165253199999 meters Centerline goodness [0,1] 0.43773177486738957 Centerline is valid? [False, False] Translation: X:-25.20, Y:-31.04, Z:-7.46 [[ 0.75428616 -0.56968452 -0.32636168 -25.19537633] [ 0.57908143 0.81151302 -0.07817491 -31.0432019 ] [ 0.30938179 -0.13002373 0.94200676 -7.46081956] [ 0. 0. 0. 1. ]] SLAMing on 89.91165253199999 meters Centerline goodness [0,1] 0.4486991831531234 Centerline is valid? [False, False] Translation: X:-25.22, Y:-31.07, Z:-7.47 [[ 0.75403578 -0.56926231 -0.32767432 -25.22018082] [ 0.57901505 0.81161642 -0.077591 -31.07155333] [ 0.31011549 -0.13122197 0.94159927 -7.46969546] [ 0. 0. 0. 1. ]] SLAMing on 89.94165253199999 meters Centerline goodness [0,1] 0.4458271465271395 Centerline is valid? [False, False] Translation: X:-25.24, Y:-31.09, Z:-7.47 [[ 0.75229065 -0.56858695 -0.33281774 -25.23837853] [ 0.57971953 0.81129732 -0.07564346 -31.09442527] [ 0.31302402 -0.13603508 0.93995235 -7.47350962] [ 0. 0. 0. 1. ]] SLAMing on 89.971652532 meters Centerline goodness [0,1] 0.43660908146889454 Centerline is valid? [False, False] Translation: X:-25.27, Y:-31.12, Z:-7.48 [[ 0.75292169 -0.56755641 -0.3331496 -25.26545945] [ 0.57930262 0.81177271 -0.07371254 -31.1249375 ] [ 0.31227778 -0.13749467 0.93998819 -7.48268801] [ 0. 0. 0. 1. ]] SLAMing on 90.001652532 meters Centerline goodness [0,1] 0.4442847719562759 Centerline is valid? [False, False] Translation: X:-25.27, Y:-31.13, Z:-7.48 [[ 0.75411239 -0.56645963 -0.33232212 -25.2694424 ] [ 0.57831045 0.8125669 -0.0727465 -31.12674128] [ 0.31124191 -0.13732632 0.94035629 -7.48381973] [ 0. 0. 0. 1. ]] SLAMing on 90.031652532 meters Centerline goodness [0,1] 0.43372021991447773 Centerline is valid? [False, False] Translation: X:-25.28, Y:-31.14, Z:-7.49 [[ 0.75787731 -0.56418901 -0.32758624 -25.28280702] [ 0.57431963 0.81516706 -0.07523053 -31.13628844] [ 0.30948175 -0.1311237 0.94182144 -7.4933557 ] [ 0. 0. 0. 1. ]] SLAMing on 90.061652532 meters Centerline goodness [0,1] 0.437922138836773 Centerline is valid? [False, False] Translation: X:-25.28, Y:-31.14, Z:-7.49 [[ 0.75831974 -0.56375891 -0.32730272 -25.28455606] [ 0.57397733 0.81545369 -0.07473494 -31.13750665] [ 0.3090327 -0.13119136 0.94195946 -7.49337825] [ 0. 0. 0. 1. ]] SLAMing on 90.091652532 meters Centerline goodness [0,1] 0.43019370516625 Centerline is valid? [False, False] Translation: X:-25.29, Y:-31.14, Z:-7.49 [[ 0.75907161 -0.56290037 -0.3270374 -25.28715436] [ 0.57329469 0.81601161 -0.07387996 -31.13998202] [ 0.30845337 -0.13140862 0.94211904 -7.49287866] [ 0. 0. 0. 1. ]] SLAMing on 90.12165253199998 meters Centerline goodness [0,1] 0.4300891181988743 Centerline is valid? [False, False] Translation: X:-25.30, Y:-31.15, Z:-7.50 [[ 0.76184885 -0.5628509 -0.32060131 -25.30462807] [ 0.57028514 0.81753283 -0.08009329 -31.15432539] [ 0.30718267 -0.12181518 0.94382195 -7.50281581] [ 0. 0. 0. 1. ]] SLAMing on 90.15165253199999 meters Centerline goodness [0,1] 0.4298535442296426 Centerline is valid? [False, False] Translation: X:-25.33, Y:-31.18, Z:-7.51 [[ 0.76115992 -0.56191069 -0.32387027 -25.32579271] [ 0.5704081 0.81764633 -0.07803256 -31.17969221] [ 0.30865867 -0.12534297 0.94287802 -7.50895585] [ 0. 0. 0. 1. ]] SLAMing on 90.18165253199999 meters Centerline goodness [0,1] 0.42462035238786067 Centerline is valid? [False, False] Translation: X:-25.33, Y:-31.18, Z:-7.51 [[ 0.76160036 -0.56163335 -0.32331543 -25.32756381] [ 0.57012431 0.81787138 -0.0777475 -31.17973903] [ 0.30809602 -0.12511746 0.94309197 -7.50998816] [ 0. 0. 0. 1. ]] SLAMing on 90.21165253199999 meters Centerline goodness [0,1] 0.4329703342095381 Centerline is valid? [False, False] Translation: X:-25.35, Y:-31.20, Z:-7.51 [[ 0.75865841 -0.56390144 -0.32627073 -25.34732697] [ 0.5729337 0.81589006 -0.07791262 -31.20476652] [ 0.31013609 -0.12782244 0.94205999 -7.51452772] [ 0. 0. 0. 1. ]] SLAMing on 90.24165253199999 meters Centerline goodness [0,1] 0.4341864287391406 Centerline is valid? [False, False] Translation: X:-25.37, Y:-31.23, Z:-7.52 [[ 0.75754229 -0.56349496 -0.32954987 -25.3683985 ] [ 0.57347204 0.8156523 -0.07642739 -31.23062785] [ 0.31186456 -0.13109065 0.94103971 -7.52040281] [ 0. 0. 0. 1. ]] SLAMing on 90.27165253199999 meters Centerline goodness [0,1] 0.42930073532855606 Centerline is valid? [False, False] Translation: X:-25.39, Y:-31.26, Z:-7.53 [[ 0.75793021 -0.56088438 -0.33309234 -25.39059174] [ 0.57223449 0.81680647 -0.07331354 -31.25682865] [ 0.3131924 -0.13504038 0.94003969 -7.52742894] [ 0. 0. 0. 1. ]] SLAMing on 90.30165253199999 meters Centerline goodness [0,1] 0.42481070817412503 Centerline is valid? [False, False] Translation: X:-25.41, Y:-31.28, Z:-7.53 [[ 0.75568171 -0.56183717 -0.33657711 -25.41027844] [ 0.5737993 0.8157057 -0.07333875 -31.28018638] [ 0.3157523 -0.13770696 0.93879565 -7.53391614] [ 0. 0. 0. 1. ]] SLAMing on 90.33165253199999 meters Centerline goodness [0,1] 0.436285654018328 Centerline is valid? [False, False] Translation: X:-25.41, Y:-31.28, Z:-7.54 [[ 0.75427142 -0.56550252 -0.33358884 -25.41441859] [ 0.57642248 0.81361798 -0.07591386 -31.27999064] [ 0.31434336 -0.13502845 0.93965716 -7.53518813] [ 0. 0. 0. 1. ]] SLAMing on 90.361652532 meters Centerline goodness [0,1] 0.4184989158059176 Centerline is valid? [False, False] Translation: X:-25.42, Y:-31.28, Z:-7.54 [[ 0.75449873 -0.56541253 -0.33322716 -25.41560517] [ 0.5763372 0.81369729 -0.07571101 -31.2799729 ] [ 0.31395399 -0.13492735 0.93980184 -7.53580652] [ 0. 0. 0. 1. ]] SLAMing on 90.391652532 meters Centerline goodness [0,1] 0.43423149015932516 Centerline is valid? [False, False] Translation: X:-25.44, Y:-31.31, Z:-7.54 [[ 0.75374242 -0.56582289 -0.33424066 -25.44085046] [ 0.57722984 0.81314521 -0.07483695 -31.31000156] [ 0.31413065 -0.1365259 0.9395119 -7.54278004] [ 0. 0. 0. 1. ]] SLAMing on 90.421652532 meters Centerline goodness [0,1] 0.44554013758775324 Centerline is valid? [False, False] Translation: X:-25.44, Y:-31.31, Z:-7.54 [[ 0.75240404 -0.56921005 -0.3314937 -25.44460393] [ 0.57971083 0.81116908 -0.07707182 -31.31208754] [ 0.3127675 -0.13418134 0.94030413 -7.54275449] [ 0. 0. 0. 1. ]] SLAMing on 90.451652532 meters Centerline goodness [0,1] 0.44060125691773755 Centerline is valid? [False, False] Translation: X:-25.45, Y:-31.31, Z:-7.54 [[ 0.75278935 -0.56899326 -0.33099073 -25.44726117] [ 0.57956631 0.81131981 -0.07657061 -31.31404232] [ 0.3121075 -0.13418954 0.94052224 -7.54229206] [ 0. 0. 0. 1. ]] SLAMing on 90.48165253199998 meters Centerline goodness [0,1] 0.4388202471104026 Centerline is valid? [False, False] Translation: X:-25.47, Y:-31.34, Z:-7.55 [[ 0.75226258 -0.56862402 -0.33281788 -25.47135856] [ 0.57995964 0.81118154 -0.07504216 -31.34156423] [ 0.3126465 -0.13656953 0.9400005 -7.54955424] [ 0. 0. 0. 1. ]] SLAMing on 90.51165253199999 meters Centerline goodness [0,1] 0.43238742964352717 Centerline is valid? [False, False] Translation: X:-25.47, Y:-31.34, Z:-7.55 [[ 0.75278524 -0.5681397 -0.33246303 -25.47320157] [ 0.57956605 0.81151386 -0.07448791 -31.34250189] [ 0.3121179 -0.13661089 0.94017014 -7.54992896] [ 0. 0. 0. 1. ]] SLAMing on 90.54165253199999 meters Centerline goodness [0,1] 0.43238742964352717 Centerline is valid? [False, False] Translation: X:-25.48, Y:-31.34, Z:-7.55 [[ 0.75136119 -0.57133623 -0.33019885 -25.47691891] [ 0.58195019 0.80960614 -0.07662817 -31.34243948] [ 0.31111147 -0.13458385 0.94079586 -7.54982171] [ 0. 0. 0. 1. ]] SLAMing on 90.57165253199999 meters Centerline goodness [0,1] 0.4473413218498409 Centerline is valid? [False, False] Translation: X:-25.48, Y:-31.34, Z:-7.55 [[ 0.75184002 -0.57093295 -0.32980624 -25.47858791] [ 0.58159217 0.80990248 -0.07621367 -31.34296711] [ 0.31062379 -0.13451224 0.94096723 -7.55047264] [ 0. 0. 0. 1. ]] SLAMing on 90.60165253199999 meters Centerline goodness [0,1] 0.444595417701354 Centerline is valid? [False, False] Translation: X:-25.50, Y:-31.36, Z:-7.56 [[ 0.74891579 -0.57257104 -0.33359787 -25.49561783] [ 0.58393213 0.80821192 -0.07626772 -31.36370244] [ 0.31328646 -0.13768042 0.9396253 -7.55618986] [ 0. 0. 0. 1. ]] SLAMing on 90.63165253199999 meters Centerline goodness [0,1] 0.4313372460074356 Centerline is valid? [False, False] Translation: X:-25.50, Y:-31.36, Z:-7.56 [[ 0.74939014 -0.57210872 -0.33332572 -25.49755003] [ 0.58355235 0.80853193 -0.0757811 -31.36452937] [ 0.31285951 -0.1377234 0.93976124 -7.55628715] [ 0. 0. 0. 1. ]] SLAMing on 90.66165253199999 meters Centerline goodness [0,1] 0.4324797906639877 Centerline is valid? [False, False] Translation: X:-25.50, Y:-31.37, Z:-7.56 [[ 0.75012951 -0.57139776 -0.33288184 -25.50031104] [ 0.58296736 0.80902449 -0.07502287 -31.36561952] [ 0.31217746 -0.13778238 0.93997939 -7.5567412 ] [ 0. 0. 0. 1. ]] SLAMing on 90.69165253199999 meters Centerline goodness [0,1] 0.43296852029029476 Centerline is valid? [False, False] Translation: X:-25.50, Y:-31.37, Z:-7.56 [[ 0.74866443 -0.57512759 -0.32974206 -25.50426484] [ 0.58558836 0.80686942 -0.07776893 -31.36505681] [ 0.31078584 -0.13487028 0.94086246 -7.55838696] [ 0. 0. 0. 1. ]] SLAMing on 90.721652532 meters Centerline goodness [0,1] 0.4314675863354617 Centerline is valid? [False, False] Translation: X:-25.51, Y:-31.36, Z:-7.56 [[ 0.74726379 -0.57862861 -0.32678091 -25.50852808] [ 0.58806084 0.80481676 -0.08033954 -31.36491494] [ 0.30948551 -0.13213223 0.94167924 -7.55946372] [ 0. 0. 0. 1. ]] SLAMing on 90.751652532 meters Centerline goodness [0,1] 0.4363360205631499 Centerline is valid? [False, False] Translation: X:-25.51, Y:-31.37, Z:-7.56 [[ 0.74548844 -0.58252855 -0.32389424 -25.51098181] [ 0.59094589 0.80242684 -0.08303083 -31.36620082] [ 0.30826926 -0.12950544 0.94244279 -7.55984791] [ 0. 0. 0. 1. ]] SLAMing on 90.781652532 meters Centerline goodness [0,1] 0.4429035803652861 Centerline is valid? [False, False] Translation: X:-25.53, Y:-31.39, Z:-7.57 [[ 0.74452358 -0.58261642 -0.32594899 -25.53273755] [ 0.59206265 0.80182624 -0.08084862 -31.39302226] [ 0.30845819 -0.13278852 0.94192396 -7.565756 ] [ 0. 0. 0. 1. ]] SLAMing on 90.811652532 meters Centerline goodness [0,1] 0.4409533620528189 Centerline is valid? [False, False] Translation: X:-25.55, Y:-31.42, Z:-7.57 [[ 0.74131201 -0.5848566 -0.32924043 -25.55083942] [ 0.59510396 0.79960842 -0.08048389 -31.41624475] [ 0.31033495 -0.13626861 0.9408098 -7.56931108] [ 0. 0. 0. 1. ]] SLAMing on 90.841652532 meters Centerline goodness [0,1] 0.4399354068665309 Centerline is valid? [False, False] Translation: X:-25.57, Y:-31.44, Z:-7.58 [[ 0.74052802 -0.58475667 -0.33117653 -25.57327155] [ 0.59594695 0.79917473 -0.07853013 -31.44331889] [ 0.31058893 -0.13920988 0.94029523 -7.57585336] [ 0. 0. 0. 1. ]] SLAMing on 90.87165253199998 meters Centerline goodness [0,1] 0.4328970047048959 Centerline is valid? [False, False] Translation: X:-25.60, Y:-31.48, Z:-7.59 [[ 0.74309805 -0.5808542 -0.33228554 -25.60071228] [ 0.59314167 0.80161472 -0.07481174 -31.47538069] [ 0.3098197 -0.14149994 0.94020717 -7.58606825] [ 0. 0. 0. 1. ]] SLAMing on 90.90165253199999 meters Centerline goodness [0,1] 0.433798275741221 Centerline is valid? [False, False] Translation: X:-25.62, Y:-31.50, Z:-7.59 [[ 0.74178451 -0.58134153 -0.33436173 -25.62183088] [ 0.59395254 0.80099876 -0.07497583 -31.50054665] [ 0.31140989 -0.14297908 0.93945775 -7.59478014] [ 0. 0. 0. 1. ]] SLAMing on 90.93165253199999 meters Centerline goodness [0,1] 0.43186651398658593 Centerline is valid? [False, False] Translation: X:-25.64, Y:-31.53, Z:-7.60 [[ 0.74093101 -0.58102144 -0.33680161 -25.64345317] [ 0.59421482 0.80086138 -0.0743626 -31.52760558] [ 0.31293766 -0.14503496 0.93863458 -7.60266479] [ 0. 0. 0. 1. ]] SLAMing on 90.96165253199999 meters Centerline goodness [0,1] 0.44154600653900045 Centerline is valid? [False, False] Translation: X:-25.66, Y:-31.56, Z:-7.61 [[ 0.73896871 -0.58295603 -0.33776843 -25.66495894] [ 0.59617761 0.79931977 -0.07523404 -31.55538949] [ 0.31384312 -0.14577437 0.93821763 -7.61103739] [ 0. 0. 0. 1. ]] SLAMing on 90.99165253199999 meters Centerline goodness [0,1] 0.4295527828403196 Centerline is valid? [False, False] Translation: X:-25.69, Y:-31.58, Z:-7.62 [[ 0.73913318 -0.58256364 -0.33808543 -25.68963506] [ 0.59580534 0.79959699 -0.0752373 -31.58484975] [ 0.3141626 -0.14582272 0.93810319 -7.62217601] [ 0. 0. 0. 1. ]] SLAMing on 91.02165253199999 meters Centerline goodness [0,1] 0.44296147653825513 Centerline is valid? [False, False] Translation: X:-25.71, Y:-31.61, Z:-7.63 [[ 0.7394634 -0.58170854 -0.33883485 -25.71347864] [ 0.59560324 0.79991311 -0.07345609 -31.61220442] [ 0.31376847 -0.14749305 0.93797396 -7.63209081] [ 0. 0. 0. 1. ]] SLAMing on 91.05165253199999 meters Centerline goodness [0,1] 0.44637809806349127 Centerline is valid? [False, False] Translation: X:-25.74, Y:-31.64, Z:-7.64 [[ 0.73795463 -0.58278653 -0.34026874 -25.73524794] [ 0.59694096 0.798895 -0.07367677 -31.63886535] [ 0.31477683 -0.14875024 0.93743742 -7.64027287] [ 0. 0. 0. 1. ]] SLAMing on 91.08165253199999 meters Centerline goodness [0,1] 0.4456379600224173 Centerline is valid? [False, False] Translation: X:-25.76, Y:-31.67, Z:-7.65 [[ 0.73723554 -0.58448366 -0.33891386 -25.76244667] [ 0.59855627 0.79768851 -0.07364393 -31.66932109] [ 0.31339136 -0.14856609 0.93793068 -7.649724 ] [ 0. 0. 0. 1. ]] SLAMing on 91.111652532 meters Centerline goodness [0,1] 0.4306780531056046 Centerline is valid? [False, False] Translation: X:-25.79, Y:-31.70, Z:-7.66 [[ 0.73882731 -0.58301624 -0.33797377 -25.79089463] [ 0.59754155 0.798649 -0.07144143 -31.70156945] [ 0.31157393 -0.14917049 0.93844012 -7.66030966] [ 0. 0. 0. 1. ]] SLAMing on 91.141652532 meters Centerline goodness [0,1] 0.425884000466799 Centerline is valid? [False, False] Translation: X:-25.82, Y:-31.73, Z:-7.67 [[ 0.74031249 -0.58185413 -0.3367242 -25.81846166] [ 0.59677346 0.79941003 -0.0693184 -31.73235861] [ 0.3095139 -0.14963079 0.93904833 -7.6716804 ] [ 0. 0. 0. 1. ]] SLAMing on 91.171652532 meters Centerline goodness [0,1] 0.435732287874545 Centerline is valid? [False, False] Translation: X:-25.85, Y:-31.76, Z:-7.68 [[ 0.74151524 -0.58047862 -0.33645165 -25.8454602 ] [ 0.59560164 0.80037746 -0.06822471 -31.76411038] [ 0.3088913 -0.14980149 0.93922611 -7.68297281] [ 0. 0. 0. 1. ]] SLAMing on 91.201652532 meters Centerline goodness [0,1] 0.4305834071725039 Centerline is valid? [False, False] Translation: X:-25.87, Y:-31.79, Z:-7.69 [[ 0.74166199 -0.57980689 -0.33728544 -25.86978536] [ 0.59521999 0.80071275 -0.0676185 -31.79180464] [ 0.30927442 -0.15060896 0.93897086 -7.69341744] [ 0. 0. 0. 1. ]] SLAMing on 91.23165253199998 meters Centerline goodness [0,1] 0.43194990805614397 Centerline is valid? [False, False] Translation: X:-25.89, Y:-31.82, Z:-7.70 [[ 0.74176173 -0.57859333 -0.33914494 -25.8922326 ] [ 0.59473922 0.80119775 -0.06608644 -31.81740874] [ 0.30995934 -0.1526824 0.93840998 -7.70296921] [ 0. 0. 0. 1. ]] SLAMing on 91.26165253199999 meters Centerline goodness [0,1] 0.43053424466452783 Centerline is valid? [False, False] Translation: X:-25.92, Y:-31.85, Z:-7.71 [[ 0.74222404 -0.57775666 -0.3395596 -25.91724891] [ 0.59433495 0.80160311 -0.06479526 -31.84538705] [ 0.30962793 -0.15371954 0.93835007 -7.71347345] [ 0. 0. 0. 1. ]] SLAMing on 91.29165253199999 meters Centerline goodness [0,1] 0.4330823923044751 Centerline is valid? [False, False] Translation: X:-25.94, Y:-31.87, Z:-7.72 [[ 0.74102486 -0.57845421 -0.34098811 -25.93879453] [ 0.59534181 0.80085544 -0.06479734 -31.87068013] [ 0.31056448 -0.15498804 0.93783176 -7.72275017] [ 0. 0. 0. 1. ]] SLAMing on 91.32165253199999 meters Centerline goodness [0,1] 0.4389562626568283 Centerline is valid? [False, False] Translation: X:-25.96, Y:-31.90, Z:-7.73 [[ 0.73952501 -0.58170367 -0.33870872 -25.96456796] [ 0.59798536 0.79876871 -0.06619717 -31.90210681] [ 0.30905706 -0.15358839 0.93855971 -7.73305611] [ 0. 0. 0. 1. ]] SLAMing on 91.35165253199999 meters Centerline goodness [0,1] 0.44109895748303285 Centerline is valid? [False, False] Translation: X:-25.99, Y:-31.93, Z:-7.74 [[ 0.73924798 -0.58267281 -0.33764599 -25.98945101] [ 0.59939549 0.79784895 -0.06451427 -31.93062418] [ 0.30698121 -0.15469145 0.93905969 -7.7423957 ] [ 0. 0. 0. 1. ]] SLAMing on 91.38165253199999 meters Centerline goodness [0,1] 0.43955044652225617 Centerline is valid? [False, False] Translation: X:-26.02, Y:-31.96, Z:-7.75 [[ 0.73974626 -0.58252149 -0.33681477 -26.01535129] [ 0.59986243 0.79768771 -0.06212388 -31.95974141] [ 0.3048615 -0.15608661 0.93951926 -7.75186701] [ 0. 0. 0. 1. ]] SLAMing on 91.41165253199999 meters Centerline goodness [0,1] 0.44383357405768065 Centerline is valid? [False, False] Translation: X:-26.04, Y:-31.99, Z:-7.76 [[ 0.73947595 -0.58240839 -0.337603 -26.03941651] [ 0.60045668 0.79737648 -0.06035337 -31.98749099] [ 0.304347 -0.15808611 0.93935174 -7.76004166] [ 0. 0. 0. 1. ]] SLAMing on 91.44165253199999 meters Centerline goodness [0,1] 0.43007743259632425 Centerline is valid? [False, False] Translation: X:-26.06, Y:-32.02, Z:-7.77 [[ 0.73958981 -0.58250943 -0.33717901 -26.06381254] [ 0.60078934 0.79719572 -0.05942348 -32.01516691] [ 0.3034124 -0.15862456 0.93956328 -7.77108298] [ 0. 0. 0. 1. ]] SLAMing on 91.471652532 meters Centerline goodness [0,1] 0.43613598209289317 Centerline is valid? [False, False] Translation: X:-26.09, Y:-32.04, Z:-7.78 [[ 0.74031475 -0.58194209 -0.33656718 -26.08943229] [ 0.60033703 0.79759843 -0.05858485 -32.04450329] [ 0.30253845 -0.15868252 0.93983528 -7.78282766] [ 0. 0. 0. 1. ]] SLAMing on 91.501652532 meters Centerline goodness [0,1] 0.43463318838546783 Centerline is valid? [False, False] Translation: X:-26.10, Y:-32.05, Z:-7.79 [[ 0.7405085 -0.58594548 -0.32911253 -26.09922581] [ 0.60120575 0.79642809 -0.06522226 -32.0534425 ] [ 0.30033115 -0.14956671 0.94203556 -7.79242316] [ 0. 0. 0. 1. ]] SLAMing on 91.531652532 meters Centerline goodness [0,1] 0.44077683549641566 Centerline is valid? [False, False] Translation: X:-26.10, Y:-32.06, Z:-7.79 [[ 0.73951788 -0.58910924 -0.32567409 -26.10273743] [ 0.60338287 0.79461125 -0.06724638 -32.05701992] [ 0.29839976 -0.14677627 0.94308765 -7.79401568] [ 0. 0. 0. 1. ]] SLAMing on 91.561652532 meters Centerline goodness [0,1] 0.44093174125611134 Centerline is valid? [False, False] Translation: X:-26.13, Y:-32.09, Z:-7.80 [[ 0.73886746 -0.58981047 -0.3258811 -26.12646204] [ 0.60430925 0.79394384 -0.0668095 -32.08748575] [ 0.29813623 -0.1475696 0.94304719 -7.80241128] [ 0. 0. 0. 1. ]] SLAMing on 91.591652532 meters Centerline goodness [0,1] 0.4424342105263158 Centerline is valid? [False, False] Translation: X:-26.15, Y:-32.12, Z:-7.81 [[ 0.73740912 -0.59093138 -0.32715116 -26.14861875] [ 0.60585029 0.79280075 -0.0664259 -32.11856442] [ 0.29861883 -0.14922156 0.94263446 -7.80880904] [ 0. 0. 0. 1. ]] SLAMing on 91.62165253199998 meters Centerline goodness [0,1] 0.4460762358265953 Centerline is valid? [False, False] Translation: X:-26.17, Y:-32.14, Z:-7.81 [[ 0.73456111 -0.593057 -0.32970194 -26.16722363] [ 0.60830616 0.7908466 -0.06727005 -32.14430006] [ 0.30063863 -0.15114576 0.94168539 -7.8143334 ] [ 0. 0. 0. 1. ]] SLAMing on 91.65165253199999 meters Centerline goodness [0,1] 0.44771883351860176 Centerline is valid? [False, False] Translation: X:-26.19, Y:-32.17, Z:-7.82 [[ 0.73198787 -0.59484819 -0.33218878 -26.18604821] [ 0.61044387 0.78913756 -0.067972 -32.1710165 ] [ 0.30257566 -0.15302793 0.94076056 -7.82019964] [ 0. 0. 0. 1. ]] SLAMing on 91.68165253199999 meters Centerline goodness [0,1] 0.45233414651476755 Centerline is valid? [False, False] Translation: X:-26.21, Y:-32.20, Z:-7.83 [[ 0.73048805 -0.5955387 -0.33424671 -26.20693614] [ 0.611498 0.78830662 -0.06813865 -32.19869629] [ 0.30406809 -0.15461672 0.94001929 -7.82760162] [ 0. 0. 0. 1. ]] SLAMing on 91.71165253199999 meters Centerline goodness [0,1] 0.44568932776300796 Centerline is valid? [False, False] Translation: X:-26.23, Y:-32.23, Z:-7.84 [[ 0.7320243 -0.5935087 -0.33449641 -26.23411926] [ 0.60954236 0.78987035 -0.06754961 -32.23191201] [ 0.30430008 -0.15444178 0.93997298 -7.83935037] [ 0. 0. 0. 1. ]] SLAMing on 91.74165253199999 meters Centerline goodness [0,1] 0.45551365070329 Centerline is valid? [False, False] Translation: X:-26.25, Y:-32.25, Z:-7.84 [[ 0.73013725 -0.59296028 -0.33955516 -26.25100559] [ 0.61029362 0.78940248 -0.06622256 -32.25431586] [ 0.30731303 -0.15887679 0.93825203 -7.84411349] [ 0. 0. 0. 1. ]] SLAMing on 91.77165253199999 meters Centerline goodness [0,1] 0.460716828863043 Centerline is valid? [False, False] Translation: X:-26.27, Y:-32.28, Z:-7.85 [[ 0.72799029 -0.59437654 -0.34168211 -26.27147802] [ 0.6120176 0.78801528 -0.06683092 -32.27923237] [ 0.30897346 -0.1604632 0.93743638 -7.8514738 ] [ 0. 0. 0. 1. ]] SLAMing on 91.80165253199999 meters Centerline goodness [0,1] 0.45589041095890415 Centerline is valid? [False, False] Translation: X:-26.30, Y:-32.32, Z:-7.86 [[ 0.72887632 -0.59476013 -0.33911606 -26.30166673] [ 0.61195764 0.78806122 -0.06683834 -32.31573143] [ 0.306997 -0.15880778 0.93836716 -7.86259319] [ 0. 0. 0. 1. ]] SLAMing on 91.83165253199999 meters Centerline goodness [0,1] 0.46582665139366175 Centerline is valid? [False, False] Translation: X:-26.33, Y:-32.35, Z:-7.87 [[ 0.73004735 -0.59421315 -0.33755237 -26.32836933] [ 0.61148446 0.78853237 -0.06560076 -32.34748563] [ 0.30515181 -0.15851637 0.93901807 -7.87447079] [ 0. 0. 0. 1. ]] SLAMing on 91.861652532 meters Centerline goodness [0,1] 0.4686908385055957 Centerline is valid? [False, False] Translation: X:-26.35, Y:-32.38, Z:-7.88 [[ 0.72903382 -0.5951895 -0.33802241 -26.35136418] [ 0.61227276 0.78782958 -0.06668298 -32.37663298] [ 0.30599306 -0.15834776 0.93877273 -7.88410601] [ 0. 0. 0. 1. ]] SLAMing on 91.891652532 meters Centerline goodness [0,1] 0.4661356493366282 Centerline is valid? [False, False] Translation: X:-26.38, Y:-32.41, Z:-7.89 [[ 0.72829386 -0.59652494 -0.33726258 -26.37727385] [ 0.61328899 0.78696316 -0.06756913 -32.40926903] [ 0.3057199 -0.15762924 0.93898262 -7.89391229] [ 0. 0. 0. 1. ]] SLAMing on 91.921652532 meters Centerline goodness [0,1] 0.4668511611117796 Centerline is valid? [False, False] Translation: X:-26.40, Y:-32.44, Z:-7.90 [[ 0.72802333 -0.59672965 -0.33748444 -26.40175748] [ 0.61353477 0.78676742 -0.06761741 -32.4388749 ] [ 0.30587108 -0.15783139 0.93889943 -7.90405887] [ 0. 0. 0. 1. ]] SLAMing on 91.951652532 meters Centerline goodness [0,1] 0.47263477673835474 Centerline is valid? [False, False] Translation: X:-26.43, Y:-32.47, Z:-7.91 [[ 0.72828748 -0.59585867 -0.33845206 -26.42628219] [ 0.61306981 0.78720829 -0.06669724 -32.46832206] [ 0.3061744 -0.15891998 0.9386169 -7.91389523] [ 0. 0. 0. 1. ]] SLAMing on 91.98165253199998 meters Centerline goodness [0,1] 0.48246989841469 Centerline is valid? [False, False] Translation: X:-26.45, Y:-32.50, Z:-7.92 [[ 0.72745331 -0.59599361 -0.34000487 -26.44859681] [ 0.61349514 0.78687531 -0.06671547 -32.49586231] [ 0.30730343 -0.16005894 0.93805423 -7.92286398] [ 0. 0. 0. 1. ]] SLAMing on 92.01165253199999 meters Centerline goodness [0,1] 0.47015916721010553 Centerline is valid? [False, False] Translation: X:-26.47, Y:-32.52, Z:-7.93 [[ 0.72569764 -0.5973733 -0.34133279 -26.46907237] [ 0.61470366 0.78579299 -0.06832849 -32.52413976] [ 0.30903453 -0.16023269 0.93745567 -7.9325912 ] [ 0. 0. 0. 1. ]] SLAMing on 92.04165253199999 meters Centerline goodness [0,1] 0.481307846596264 Centerline is valid? [False, False] Translation: X:-26.49, Y:-32.55, Z:-7.94 [[ 0.7247255 -0.59780293 -0.34264354 -26.49195071] [ 0.61540301 0.78524289 -0.06835747 -32.55297082] [ 0.3099227 -0.16132346 0.93697527 -7.94078333] [ 0. 0. 0. 1. ]] SLAMing on 92.07165253199999 meters Centerline goodness [0,1] 0.48227636768370874 Centerline is valid? [False, False] Translation: X:-26.52, Y:-32.58, Z:-7.95 [[ 0.7248508 -0.59800226 -0.34203014 -26.51817745] [ 0.61562832 0.78509879 -0.06798282 -32.58461811] [ 0.30918133 -0.16128605 0.93722661 -7.95092997] [ 0. 0. 0. 1. ]] SLAMing on 92.10165253199999 meters Centerline goodness [0,1] 0.476402968424116 Centerline is valid? [False, False] Translation: X:-26.54, Y:-32.62, Z:-7.96 [[ 0.7246577 -0.59790756 -0.34260438 -26.54312269] [ 0.61579644 0.78500965 -0.06748768 -32.61500901] [ 0.30929914 -0.16206909 0.93705264 -7.96017208] [ 0. 0. 0. 1. ]] SLAMing on 92.13165253199999 meters Centerline goodness [0,1] 0.4652997990849894 Centerline is valid? [False, False] Translation: X:-26.57, Y:-32.65, Z:-7.97 [[ 0.72566316 -0.59646062 -0.34299813 -26.57015414] [ 0.61463914 0.78600291 -0.06646919 -32.64753809] [ 0.30924378 -0.16258583 0.93698139 -7.97079064] [ 0. 0. 0. 1. ]] SLAMing on 92.16165253199999 meters Centerline goodness [0,1] 0.46811755592137116 Centerline is valid? [False, False] Translation: X:-26.59, Y:-32.68, Z:-7.98 [[ 0.72533239 -0.59623405 -0.34408994 -26.59437307] [ 0.61482611 0.78591433 -0.06578393 -32.67602235] [ 0.30964783 -0.16384027 0.93662938 -7.97991473] [ 0. 0. 0. 1. ]] SLAMing on 92.19165253199999 meters Centerline goodness [0,1] 0.4863206403104535 Centerline is valid? [False, False] Translation: X:-26.62, Y:-32.70, Z:-7.99 [[ 0.72327309 -0.59803651 -0.34529461 -26.61621247] [ 0.61675042 0.78433923 -0.06656494 -32.70229405] [ 0.31063637 -0.16481597 0.93613073 -7.98783568] [ 0. 0. 0. 1. ]] SLAMing on 92.221652532 meters Centerline goodness [0,1] 0.45731840590620976 Centerline is valid? [False, False] Translation: X:-26.64, Y:-32.74, Z:-8.00 [[ 0.72258752 -0.59997024 -0.34337003 -26.64419436] [ 0.61812851 0.78316238 -0.06763017 -32.73630595] [ 0.30949057 -0.16337809 0.93676207 -7.99796781] [ 0. 0. 0. 1. ]] SLAMing on 92.251652532 meters Centerline goodness [0,1] 0.493778857837181 Centerline is valid? [False, False] Translation: X:-26.65, Y:-32.74, Z:-8.00 [[ 0.72339417 -0.60204304 -0.33800156 -26.65171075] [ 0.61862305 0.78257063 -0.06991947 -32.7426105 ] [ 0.30660462 -0.15851622 0.93854473 -8.00463148] [ 0. 0. 0. 1. ]] SLAMing on 92.281652532 meters Centerline goodness [0,1] 0.48928458488408866 Centerline is valid? [False, False] Translation: X:-26.68, Y:-32.77, Z:-8.01 [[ 0.7241813 -0.60071439 -0.3386793 -26.67819667] [ 0.61753883 0.78348873 -0.06921854 -32.77288059] [ 0.30693199 -0.15902084 0.93835235 -8.01488812] [ 0. 0. 0. 1. ]] SLAMing on 92.311652532 meters Centerline goodness [0,1] 0.5024910686076749 Centerline is valid? [False, False] Translation: X:-26.70, Y:-32.80, Z:-8.02 [[ 0.72369869 -0.59917037 -0.34242528 -26.69860996] [ 0.6170983 0.78397817 -0.0675863 -32.7971048 ] [ 0.30894965 -0.16239794 0.937111 -8.02226309] [ 0. 0. 0. 1. ]] SLAMing on 92.341652532 meters Centerline goodness [0,1] 0.4914370269745779 Centerline is valid? [False, False] Translation: X:-26.73, Y:-32.83, Z:-8.03 [[ 0.72530284 -0.59695524 -0.34289974 -26.72773998] [ 0.6151642 0.78559405 -0.06644547 -32.82854615] [ 0.30904497 -0.16274655 0.93701909 -8.03340712] [ 0. 0. 0. 1. ]] SLAMing on 92.37165253199998 meters Centerline goodness [0,1] 0.46913550267119963 Centerline is valid? [False, False] Translation: X:-26.76, Y:-32.86, Z:-8.04 [[ 0.72566456 -0.59688987 -0.34224762 -26.7551478 ] [ 0.61490671 0.78577909 -0.06664056 -32.85960432] [ 0.3087081 -0.16209166 0.93724362 -8.04433716] [ 0. 0. 0. 1. ]] SLAMing on 92.40165253199999 meters Centerline goodness [0,1] 0.46201531542482066 Centerline is valid? [False, False] Translation: X:-26.78, Y:-32.89, Z:-8.06 [[ 0.72517829 -0.59798418 -0.34136691 -26.78073311] [ 0.61563089 0.78513494 -0.06754058 -32.88901232] [ 0.30840729 -0.16117705 0.93750035 -8.05543051] [ 0. 0. 0. 1. ]] SLAMing on 92.43165253199999 meters Centerline goodness [0,1] 0.46235983752097876 Centerline is valid? [False, False] Translation: X:-26.81, Y:-32.92, Z:-8.07 [[ 0.72522252 -0.59814652 -0.34098832 -26.80656422] [ 0.6156586 0.78509286 -0.06777676 -32.91965464] [ 0.30824793 -0.16077915 0.93762107 -8.06626842] [ 0. 0. 0. 1. ]] SLAMing on 92.46165253199999 meters Centerline goodness [0,1] 0.46235983752097876 Centerline is valid? [False, False] Translation: X:-26.83, Y:-32.95, Z:-8.08 [[ 0.72515824 -0.5978318 -0.34167626 -26.83152745] [ 0.61544175 0.78526182 -0.06778883 -32.94849512] [ 0.30883164 -0.16112421 0.93736973 -8.07632774] [ 0. 0. 0. 1. ]] SLAMing on 92.49165253199999 meters Centerline goodness [0,1] 0.46968336770593233 Centerline is valid? [False, False] Translation: X:-26.86, Y:-32.98, Z:-8.09 [[ 0.72612761 -0.59671067 -0.34157732 -26.8603832 ] [ 0.61435553 0.78615005 -0.06734525 -32.98047687] [ 0.30871665 -0.16094867 0.93743776 -8.08731736] [ 0. 0. 0. 1. ]] SLAMing on 92.52165253199999 meters Centerline goodness [0,1] 0.46797515648503085 Centerline is valid? [False, False] Translation: X:-26.89, Y:-33.01, Z:-8.10 [[ 0.72665021 -0.59608401 -0.34156012 -26.88711494] [ 0.61385975 0.78658536 -0.06678074 -33.008592 ] [ 0.30847313 -0.16114377 0.93748441 -8.0984922 ] [ 0. 0. 0. 1. ]] SLAMing on 92.55165253199999 meters Centerline goodness [0,1] 0.47012464232019013 Centerline is valid? [False, False] Translation: X:-26.91, Y:-33.04, Z:-8.11 [[ 0.72713877 -0.59544246 -0.34163941 -26.91345517] [ 0.61333039 0.78703684 -0.06632386 -33.03752778] [ 0.30837484 -0.16131119 0.93748795 -8.1094555 ] [ 0. 0. 0. 1. ]] SLAMing on 92.58165253199999 meters Centerline goodness [0,1] 0.47728594977213223 Centerline is valid? [False, False] Translation: X:-26.94, Y:-33.07, Z:-8.12 [[ 0.72667339 -0.59737077 -0.33925499 -26.94198993] [ 0.61417245 0.78616942 -0.0687738 -33.06918506] [ 0.30779536 -0.15838498 0.93817707 -8.12243821] [ 0. 0. 0. 1. ]] SLAMing on 92.611652532 meters Centerline goodness [0,1] 0.47623656954796245 Centerline is valid? [False, False] Translation: X:-26.97, Y:-33.10, Z:-8.13 [[ 0.72710774 -0.59666594 -0.33956457 -26.96803471] [ 0.61361908 0.78664193 -0.06830885 -33.09838917] [ 0.30787329 -0.1586954 0.93809904 -8.13308959] [ 0. 0. 0. 1. ]] SLAMing on 92.641652532 meters Centerline goodness [0,1] 0.4768795902589873 Centerline is valid? [False, False] Translation: X:-27.00, Y:-33.13, Z:-8.15 [[ 0.72847395 -0.59548808 -0.33870289 -26.99686226] [ 0.61248396 0.78760396 -0.06740468 -33.1279736 ] [ 0.30690243 -0.15834753 0.93847587 -8.14536046] [ 0. 0. 0. 1. ]] SLAMing on 92.671652532 meters Centerline goodness [0,1] 0.48092265419749813 Centerline is valid? [False, False] Translation: X:-27.03, Y:-33.16, Z:-8.16 [[ 0.729801 -0.59501453 -0.33667226 -27.02858099] [ 0.61184243 0.78816483 -0.06667109 -33.16137279] [ 0.30502351 -0.15733374 0.93925862 -8.15669962] [ 0. 0. 0. 1. ]] SLAMing on 92.701652532 meters Centerline goodness [0,1] 0.4804477325134512 Centerline is valid? [False, False] Translation: X:-27.04, Y:-33.17, Z:-8.17 [[ 0.73157752 -0.5965345 -0.33006201 -27.04283429] [ 0.61054079 0.78868919 -0.07217551 -33.17219661] [ 0.30337152 -0.14871434 0.94119592 -8.16585826] [ 0. 0. 0. 1. ]] SLAMing on 92.73165253199998 meters Centerline goodness [0,1] 0.47381294964028775 Centerline is valid? [False, False] Translation: X:-27.07, Y:-33.20, Z:-8.18 [[ 0.73297981 -0.59507324 -0.32958827 -27.07120247] [ 0.60914766 0.78983974 -0.07136044 -33.20276438] [ 0.30278661 -0.14846216 0.94142406 -8.1774977 ] [ 0. 0. 0. 1. ]] SLAMing on 92.76165253199999 meters Centerline goodness [0,1] 0.4832264548238897 Centerline is valid? [False, False] Translation: X:-27.09, Y:-33.23, Z:-8.19 [[ 0.73185527 -0.59580068 -0.33077092 -27.09445513] [ 0.60999075 0.78914866 -0.07180305 -33.22806163] [ 0.30380774 -0.14921776 0.94097551 -8.18673902] [ 0. 0. 0. 1. ]] SLAMing on 92.79165253199999 meters Centerline goodness [0,1] 0.4873766928607256 Centerline is valid? [False, False] Translation: X:-27.12, Y:-33.26, Z:-8.20 [[ 0.73170647 -0.59578908 -0.33112084 -27.1200734 ] [ 0.6100762 0.78909331 -0.07168524 -33.25519351] [ 0.30399452 -0.14955639 0.94086142 -8.19717337] [ 0. 0. 0. 1. ]] SLAMing on 92.82165253199999 meters Centerline goodness [0,1] 0.4606221045665122 Centerline is valid? [False, False] Translation: X:-27.15, Y:-33.29, Z:-8.21 [[ 0.73583235 -0.59176453 -0.32918915 -27.15468928] [ 0.60608656 0.7923492 -0.06958325 -33.2876931 ] [ 0.30200966 -0.14831552 0.9416967 -8.2122082 ] [ 0. 0. 0. 1. ]] SLAMing on 92.85165253199999 meters Centerline goodness [0,1] 0.48250106700810924 Centerline is valid? [False, False] Translation: X:-27.18, Y:-33.32, Z:-8.22 [[ 0.73720371 -0.59060162 -0.32820788 -27.1837216 ] [ 0.60489876 0.79331907 -0.06886466 -33.3176392 ] [ 0.30104515 -0.14776525 0.94209195 -8.22418105] [ 0. 0. 0. 1. ]] SLAMing on 92.88165253199999 meters Centerline goodness [0,1] 0.459066401816118 Centerline is valid? [False, False] Translation: X:-27.21, Y:-33.35, Z:-8.24 [[ 0.73929888 -0.58915044 -0.32609651 -27.21441051] [ 0.60326959 0.794636 -0.06796643 -33.34807889] [ 0.29917048 -0.1464766 0.94289004 -8.23766981] [ 0. 0. 0. 1. ]] SLAMing on 92.91165253199999 meters Centerline goodness [0,1] 0.47535128530476056 Centerline is valid? [False, False] Translation: X:-27.25, Y:-33.38, Z:-8.25 [[ 0.74257422 -0.58675462 -0.32295904 -27.24976156] [ 0.60090816 0.79661799 -0.06564418 -33.38112235] [ 0.29579201 -0.14532304 0.94413362 -8.25040413] [ 0. 0. 0. 1. ]] SLAMing on 92.94165253199999 meters Centerline goodness [0,1] 0.4722848553175498 Centerline is valid? [False, False] Translation: X:-27.28, Y:-33.41, Z:-8.26 [[ 0.74450406 -0.58539929 -0.32096943 -27.28079661] [ 0.59943407 0.79780788 -0.06466368 -33.41123201] [ 0.29392601 -0.14425764 0.94487948 -8.26310489] [ 0. 0. 0. 1. ]] SLAMing on 92.971652532 meters Centerline goodness [0,1] 0.47063508796589126 Centerline is valid? [False, False] Translation: X:-27.30, Y:-33.42, Z:-8.27 [[ 0.7475372 -0.58432737 -0.31583169 -27.29796485] [ 0.59567791 0.80012911 -0.07043607 -33.42346068] [ 0.29386385 -0.13548038 0.94619718 -8.27197732] [ 0. 0. 0. 1. ]] SLAMing on 93.001652532 meters Centerline goodness [0,1] 0.45152781344102333 Centerline is valid? [False, False] Translation: X:-27.33, Y:-33.45, Z:-8.28 [[ 0.74991185 -0.58198023 -0.31453334 -27.32860718] [ 0.59337751 0.80195149 -0.06911537 -33.45289033] [ 0.29246426 -0.13480658 0.94672691 -8.28486772] [ 0. 0. 0. 1. ]] SLAMing on 93.031652532 meters Centerline goodness [0,1] 0.4534370645610776 Centerline is valid? [False, False] Translation: X:-27.36, Y:-33.48, Z:-8.29 [[ 0.75334647 -0.57757535 -0.31444524 -27.35565752] [ 0.5860444 0.80656737 -0.07746644 -33.47575248] [ 0.29836398 -0.1259198 0.94610948 -8.29096028] [ 0. 0. 0. 1. ]] SLAMing on 93.061652532 meters Centerline goodness [0,1] 0.47264891916313334 Centerline is valid? [False, False] Translation: X:-27.38, Y:-33.50, Z:-8.30 [[ 0.75416642 -0.57639812 -0.31463982 -27.38316977] [ 0.58518011 0.80730591 -0.07629812 -33.50369046] [ 0.29798868 -0.12657948 0.94613973 -8.30102327] [ 0. 0. 0. 1. ]] SLAMing on 93.091652532 meters Centerline goodness [0,1] 0.45311059907834106 Centerline is valid? [False, False] Translation: X:-27.41, Y:-33.53, Z:-8.31 [[ 0.75620064 -0.57413544 -0.31389344 -27.41334043] [ 0.58335495 0.80883385 -0.0740595 -33.53239479] [ 0.29640782 -0.12710746 0.94656542 -8.31241385] [ 0. 0. 0. 1. ]] SLAMing on 93.12165253199998 meters Centerline goodness [0,1] 0.4277361593276082 Centerline is valid? [False, False] Translation: X:-27.45, Y:-33.56, Z:-8.33 [[ 0.76278518 -0.56486752 -0.31477526 -27.45101875] [ 0.57501978 0.81518771 -0.06943523 -33.56357787] [ 0.29582263 -0.12803784 0.9466231 -8.3267451 ] [ 0. 0. 0. 1. ]] SLAMing on 93.15165253199999 meters Centerline goodness [0,1] 0.44176843828887224 Centerline is valid? [False, False] Translation: X:-27.48, Y:-33.59, Z:-8.34 [[ 0.76451743 -0.56279908 -0.31427742 -27.4803877 ] [ 0.57324022 0.81657544 -0.06782469 -33.59007461] [ 0.2948029 -0.1283033 0.94690523 -8.3389977 ] [ 0. 0. 0. 1. ]] SLAMing on 93.18165253199999 meters Centerline goodness [0,1] 0.433219722790275 Centerline is valid? [False, False] Translation: X:-27.50, Y:-33.60, Z:-8.35 [[ 0.7673337 -0.56200653 -0.30878416 -27.49917884] [ 0.56955095 0.81857201 -0.07450894 -33.60334611] [ 0.29463659 -0.11869509 0.94820924 -8.34803218] [ 0. 0. 0. 1. ]] SLAMing on 93.21165253199999 meters Centerline goodness [0,1] 0.4317374080362196 Centerline is valid? [False, False] Translation: X:-27.51, Y:-33.61, Z:-8.36 [[ 0.76902425 -0.56314501 -0.3024391 -27.51495073] [ 0.56794508 0.81907252 -0.08098511 -33.61437047] [ 0.29332591 -0.10948928 0.94972207 -8.35649643] [ 0. 0. 0. 1. ]] SLAMing on 93.24165253199999 meters Centerline goodness [0,1] 0.4402625721164767 Centerline is valid? [False, False] Translation: X:-27.54, Y:-33.64, Z:-8.37 [[ 0.76961995 -0.56261909 -0.30190212 -27.54255258] [ 0.56745511 0.81945549 -0.08054439 -33.64336481] [ 0.29271116 -0.10932733 0.94993037 -8.3667881 ] [ 0. 0. 0. 1. ]] SLAMing on 93.27165253199999 meters Centerline goodness [0,1] 0.4385964912280702 Centerline is valid? [False, False] Translation: X:-27.58, Y:-33.67, Z:-8.38 [[ 0.7725865 -0.55935616 -0.30038439 -27.57589272] [ 0.5645399 0.82170028 -0.07812393 -33.67418656] [ 0.29052504 -0.10922148 0.95061342 -8.37860413] [ 0. 0. 0. 1. ]] SLAMing on 93.30165253199999 meters Centerline goodness [0,1] 0.42620801880395964 Centerline is valid? [False, False] Translation: X:-27.60, Y:-33.70, Z:-8.39 [[ 0.77193459 -0.5593732 -0.3020242 -27.59986947] [ 0.56519285 0.82138449 -0.07671093 -33.6991647 ] [ 0.29098803 -0.1114861 0.95020883 -8.38578812] [ 0. 0. 0. 1. ]] SLAMing on 93.33165253199999 meters Centerline goodness [0,1] 0.4205741734192274 Centerline is valid? [False, False] Translation: X:-27.60, Y:-33.70, Z:-8.39 [[ 0.772447 -0.5589078 -0.30157537 -27.60304787] [ 0.56475868 0.82171867 -0.07632863 -33.69899851] [ 0.29047078 -0.11135749 0.95038215 -8.38608696] [ 0. 0. 0. 1. ]] SLAMing on 93.361652532 meters Centerline goodness [0,1] 0.4337945775677804 Centerline is valid? [False, False] Translation: X:-27.64, Y:-33.73, Z:-8.40 [[ 0.77772261 -0.55176427 -0.30117061 -27.63865539] [ 0.55806634 0.82656125 -0.07320156 -33.73237034] [ 0.28932596 -0.11114267 0.95075643 -8.40020332] [ 0. 0. 0. 1. ]] SLAMing on 93.391652532 meters Centerline goodness [0,1] 0.4212454212454212 Centerline is valid? [False, False] Translation: X:-27.65, Y:-33.74, Z:-8.41 [[ 0.77955048 -0.55217505 -0.29564128 -27.6544614 ] [ 0.55578618 0.82746927 -0.07997702 -33.74416588] [ 0.28879539 -0.10196721 0.95194533 -8.40839779] [ 0. 0. 0. 1. ]] SLAMing on 93.421652532 meters Centerline goodness [0,1] 0.4235013823020386 Centerline is valid? [False, False] Translation: X:-27.67, Y:-33.75, Z:-8.42 [[ 0.78047402 -0.55421547 -0.28931905 -27.66750166] [ 0.5554357 0.82709828 -0.08602106 -33.75360342] [ 0.2869695 -0.09356092 0.95335978 -8.41605579] [ 0. 0. 0. 1. ]] SLAMing on 93.451652532 meters Centerline goodness [0,1] 0.4298962342719518 Centerline is valid? [False, False] Translation: X:-27.67, Y:-33.76, Z:-8.42 [[ 0.78010426 -0.55692283 -0.28508651 -27.67355957] [ 0.55718496 0.82567888 -0.08831375 -33.7570006 ] [ 0.28457385 -0.08995198 0.95442463 -8.41938736] [ 0. 0. 0. 1. ]] SLAMing on 93.48165253199998 meters Centerline goodness [0,1] 0.42711222349996614 Centerline is valid? [False, False] Translation: X:-27.69, Y:-33.77, Z:-8.43 [[ 0.7827188 -0.55533131 -0.28099541 -27.68547565] [ 0.55466483 0.82721462 -0.08979361 -33.76571257] [ 0.28230872 -0.08557512 0.95549918 -8.4250746 ] [ 0. 0. 0. 1. ]] SLAMing on 93.51165253199999 meters Centerline goodness [0,1] 0.43478654124457305 Centerline is valid? [False, False] Translation: X:-27.69, Y:-33.77, Z:-8.42 [[ 0.78150268 -0.55836992 -0.27834616 -27.6898188 ] [ 0.55700824 0.82540708 -0.09189656 -33.76744681] [ 0.28106117 -0.0832237 0.95607449 -8.42499308] [ 0. 0. 0. 1. ]] SLAMing on 93.54165253199999 meters Centerline goodness [0,1] 0.4187395602907318 Centerline is valid? [False, False] Translation: X:-27.69, Y:-33.77, Z:-8.42 [[ 0.78036607 -0.56125906 -0.27571192 -27.69401245] [ 0.55924334 0.82367263 -0.09386316 -33.76983118] [ 0.27977791 -0.08094242 0.95664656 -8.42481813] [ 0. 0. 0. 1. ]] SLAMing on 93.57165253199999 meters Centerline goodness [0,1] 0.4282350277368957 Centerline is valid? [False, False] Translation: X:-27.71, Y:-33.78, Z:-8.43 [[ 0.78243912 -0.56149866 -0.26927363 -27.70906426] [ 0.55752642 0.8242641 -0.09875721 -33.78437282] [ 0.27740462 -0.07285566 0.95798681 -8.43227561] [ 0. 0. 0. 1. ]] SLAMing on 93.60165253199999 meters Centerline goodness [0,1] 0.44099576031015486 Centerline is valid? [False, False] Translation: X:-27.72, Y:-33.80, Z:-8.44 [[ 0.78394498 -0.56259118 -0.26252891 -27.72190948] [ 0.55688058 0.824154 -0.10321924 -33.79931307] [ 0.27443448 -0.06527905 0.95938749 -8.43943577] [ 0. 0. 0. 1. ]] SLAMing on 93.63165253199999 meters Centerline goodness [0,1] 0.42763740380031334 Centerline is valid? [False, False] Translation: X:-27.72, Y:-33.80, Z:-8.44 [[ 0.78236904 -0.56589724 -0.26011345 -27.72402418] [ 0.55957257 0.82205628 -0.10536607 -33.80199268] [ 0.27345426 -0.06311719 0.95981195 -8.43910716] [ 0. 0. 0. 1. ]] SLAMing on 93.66165253199999 meters Centerline goodness [0,1] 0.43164815234640674 Centerline is valid? [False, False] Translation: X:-27.72, Y:-33.80, Z:-8.44 [[ 0.78039956 -0.56962432 -0.25788497 -27.72405352] [ 0.56263323 0.81964305 -0.10783836 -33.80467802] [ 0.27280098 -0.06093765 0.96013865 -8.43887779] [ 0. 0. 0. 1. ]] SLAMing on 93.69165253199999 meters Centerline goodness [0,1] 0.44127619871196777 Centerline is valid? [False, False] Translation: X:-27.72, Y:-33.81, Z:-8.44 [[ 0.77860138 -0.57310866 -0.25559023 -27.72497753] [ 0.56549728 0.81736687 -0.1101101 -33.80758647] [ 0.27201604 -0.0588037 0.96049435 -8.43845964] [ 0. 0. 0. 1. ]] SLAMing on 93.721652532 meters Centerline goodness [0,1] 0.44029424531103645 Centerline is valid? [False, False] Translation: X:-27.74, Y:-33.83, Z:-8.44 [[ 0.77744341 -0.57155399 -0.26250291 -27.74090259] [ 0.5652972 0.81795302 -0.10673301 -33.83353428] [ 0.27571873 -0.06541329 0.95901006 -8.439387 ] [ 0. 0. 0. 1. ]] SLAMing on 93.751652532 meters Centerline goodness [0,1] 0.4544005544005544 Centerline is valid? [False, False] Translation: X:-27.76, Y:-33.86, Z:-8.44 [[ 0.77428464 -0.573684 -0.26715157 -27.7566726 ] [ 0.56821781 0.81607606 -0.10558595 -33.86432686] [ 0.27858897 -0.0700467 0.95785262 -8.43976705] [ 0. 0. 0. 1. ]] SLAMing on 93.781652532 meters Centerline goodness [0,1] 0.4612177779836487 Centerline is valid? [False, False] Translation: X:-27.76, Y:-33.87, Z:-8.44 [[ 0.77229961 -0.57724838 -0.26521241 -27.7557253 ] [ 0.5712216 0.81370358 -0.10766789 -33.86861726] [ 0.2779554 -0.06834319 0.9581597 -8.43882787] [ 0. 0. 0. 1. ]] SLAMing on 93.811652532 meters Centerline goodness [0,1] 0.4742135722953421 Centerline is valid? [False, False] Translation: X:-27.77, Y:-33.90, Z:-8.44 [[ 0.76771486 -0.58134656 -0.26953678 -27.76823782] [ 0.57598483 0.81038665 -0.10730772 -33.89726596] [ 0.28081198 -0.07286737 0.95699267 -8.43881063] [ 0. 0. 0. 1. ]] SLAMing on 93.841652532 meters Centerline goodness [0,1] 0.48429160033711016 Centerline is valid? [False, False] Translation: X:-27.77, Y:-33.90, Z:-8.44 [[ 0.76564022 -0.58498863 -0.26755066 -27.76756925] [ 0.57904273 0.80791699 -0.10945159 -33.9010446 ] [ 0.28018666 -0.07112272 0.95730716 -8.43786861] [ 0. 0. 0. 1. ]] SLAMing on 93.87165253199998 meters Centerline goodness [0,1] 0.48493034837557847 Centerline is valid? [False, False] Translation: X:-27.78, Y:-33.92, Z:-8.44 [[ 0.76267092 -0.58545617 -0.27490751 -27.77972972] [ 0.58095301 0.80691171 -0.10671034 -33.92464725] [ 0.28430031 -0.07832347 0.95553062 -8.43684225] [ 0. 0. 0. 1. ]] SLAMing on 93.90165253199999 meters Centerline goodness [0,1] 0.48341857779244346 Centerline is valid? [False, False] Translation: X:-27.79, Y:-33.95, Z:-8.44 [[ 0.75999313 -0.58560779 -0.28191126 -27.79260285] [ 0.58261432 0.80608982 -0.10382557 -33.94871257] [ 0.28804686 -0.08533882 0.95380621 -8.43667693] [ 0. 0. 0. 1. ]] SLAMing on 93.93165253199999 meters Centerline goodness [0,1] 0.4889346981328784 Centerline is valid? [False, False] Translation: X:-27.80, Y:-33.97, Z:-8.44 [[ 0.75510604 -0.58943168 -0.28702815 -27.8035333 ] [ 0.58729661 0.8027361 -0.10342843 -33.97422765] [ 0.29137185 -0.09047123 0.95232211 -8.43691616] [ 0. 0. 0. 1. ]] SLAMing on 93.96165253199999 meters Centerline goodness [0,1] 0.4706903109251688 Centerline is valid? [False, False] Translation: X:-27.82, Y:-34.00, Z:-8.44 [[ 0.75163529 -0.59109165 -0.29266883 -27.81734302] [ 0.5900304 0.80088693 -0.10219711 -33.99820215] [ 0.2948025 -0.09586855 0.95073693 -8.43783973] [ 0. 0. 0. 1. ]] SLAMing on 93.99165253199999 meters Centerline goodness [0,1] 0.4744391408114559 Centerline is valid? [False, False] Translation: X:-27.83, Y:-34.02, Z:-8.44 [[ 0.74969104 -0.59030278 -0.29917549 -27.83245215] [ 0.59071148 0.80070752 -0.0996364 -34.0230045 ] [ 0.29836771 -0.10202988 0.94898188 -8.43923426] [ 0. 0. 0. 1. ]] SLAMing on 94.02165253199999 meters Centerline goodness [0,1] 0.4948759697346997 Centerline is valid? [False, False] Translation: X:-27.85, Y:-34.05, Z:-8.44 [[ 0.74537213 -0.59323569 -0.30412466 -27.84641225] [ 0.59445741 0.79794135 -0.09954899 -34.0455106 ] [ 0.30172966 -0.10658812 0.94741659 -8.44062269] [ 0. 0. 0. 1. ]] SLAMing on 94.05165253199999 meters Centerline goodness [0,1] 0.4948562384595093 Centerline is valid? [False, False] Translation: X:-27.86, Y:-34.07, Z:-8.44 [[ 0.74387057 -0.59212409 -0.30991231 -27.86184328] [ 0.59469191 0.79803992 -0.09733349 -34.07155675] [ 0.3049559 -0.11189883 0.94576982 -8.44472708] [ 0. 0. 0. 1. ]] SLAMing on 94.08165253199999 meters Centerline goodness [0,1] 0.5107020341112238 Centerline is valid? [False, False] Translation: X:-27.87, Y:-34.09, Z:-8.45 [[ 0.74108465 -0.59207508 -0.31660802 -27.8747606 ] [ 0.59559832 0.79739697 -0.0970604 -34.09065183] [ 0.30992932 -0.11664123 0.94357758 -8.44774091] [ 0. 0. 0. 1. ]] SLAMing on 94.111652532 meters Centerline goodness [0,1] 0.5129726443768997 Centerline is valid? [False, False] Translation: X:-27.87, Y:-34.09, Z:-8.45 [[ 0.73896763 -0.59601604 -0.3141524 -27.87453512] [ 0.59864665 0.79478344 -0.09970695 -34.09269237] [ 0.30911007 -0.11438608 0.94412223 -8.44792382] [ 0. 0. 0. 1. ]] SLAMing on 94.141652532 meters Centerline goodness [0,1] 0.5046147084676238 Centerline is valid? [False, False] Translation: X:-27.89, Y:-34.12, Z:-8.45 [[ 0.73746651 -0.59491476 -0.31971796 -27.89155995] [ 0.59890224 0.79485409 -0.09758628 -34.11891735] [ 0.31218464 -0.11951319 0.94247406 -8.45109453] [ 0. 0. 0. 1. ]] SLAMing on 94.171652532 meters Centerline goodness [0,1] 0.5046411646880649 Centerline is valid? [False, False] Translation: X:-27.91, Y:-34.14, Z:-8.45 [[ 0.73542674 -0.59414603 -0.32578828 -27.90718277] [ 0.59960411 0.79457289 -0.09554495 -34.14182842] [ 0.31563019 -0.12507768 0.94060255 -8.4541602 ] [ 0. 0. 0. 1. ]] SLAMing on 94.201652532 meters Centerline goodness [0,1] 0.5148192564673634 Centerline is valid? [False, False] Translation: X:-27.92, Y:-34.17, Z:-8.46 [[ 0.7336308 -0.59331286 -0.33130906 -27.92377326] [ 0.60004461 0.79442813 -0.09397032 -34.16583153] [ 0.31895504 -0.12986069 0.93883113 -8.45894488] [ 0. 0. 0. 1. ]] SLAMing on 94.23165253199998 meters Centerline goodness [0,1] 0.512292472696998 Centerline is valid? [False, False] Translation: X:-27.94, Y:-34.19, Z:-8.47 [[ 0.73249607 -0.59275711 -0.33479623 -27.94461261] [ 0.60031553 0.79434213 -0.09296157 -34.19291751] [ 0.32104638 -0.1328894 0.93769378 -8.46517728] [ 0. 0. 0. 1. ]] SLAMing on 94.26165253199999 meters Centerline goodness [0,1] 0.5190425975427324 Centerline is valid? [False, False] Translation: X:-27.97, Y:-34.22, Z:-8.47 [[ 0.73087362 -0.59284525 -0.33816898 -27.96500933] [ 0.6012107 0.79375797 -0.09216281 -34.21953805] [ 0.32306261 -0.13595144 0.93656167 -8.47092656] [ 0. 0. 0. 1. ]] SLAMing on 94.29165253199999 meters Centerline goodness [0,1] 0.5266962743646681 Centerline is valid? [False, False] Translation: X:-27.98, Y:-34.25, Z:-8.48 [[ 0.72799706 -0.59482709 -0.3408827 -27.98475212] [ 0.60362302 0.79186645 -0.09266484 -34.24975233] [ 0.32505313 -0.13830491 0.93552777 -8.475368 ] [ 0. 0. 0. 1. ]] SLAMing on 94.32165253199999 meters Centerline goodness [0,1] 0.5286462191929668 Centerline is valid? [False, False] Translation: X:-28.00, Y:-34.28, Z:-8.48 [[ 0.72560567 -0.59576803 -0.34432087 -28.00407067] [ 0.60545612 0.79054888 -0.09195304 -34.27587617] [ 0.32698515 -0.14174953 0.93433815 -8.47983269] [ 0. 0. 0. 1. ]] SLAMing on 94.35165253199999 meters Centerline goodness [0,1] 0.5286462191929668 Centerline is valid? [False, False] Translation: X:-28.02, Y:-34.30, Z:-8.49 [[ 0.72410681 -0.59451683 -0.34959842 -28.0219714 ] [ 0.6054773 0.790696 -0.09053772 -34.29834148] [ 0.33025227 -0.14611493 0.93251481 -8.48505408] [ 0. 0. 0. 1. ]] SLAMing on 94.38165253199999 meters Centerline goodness [0,1] 0.5268559275928582 Centerline is valid? [False, False] Translation: X:-28.03, Y:-34.30, Z:-8.49 [[ 0.72283894 -0.5978358 -0.34654903 -28.02532521] [ 0.60782643 0.78864276 -0.09268029 -34.30053148] [ 0.32871098 -0.14364873 0.93344209 -8.4861626 ] [ 0. 0. 0. 1. ]] SLAMing on 94.41165253199999 meters Centerline goodness [0,1] 0.5282780801583374 Centerline is valid? [False, False] Translation: X:-28.05, Y:-34.33, Z:-8.49 [[ 0.72272335 -0.5953017 -0.35112226 -28.04525996] [ 0.60660335 0.78983453 -0.09051956 -34.32636214] [ 0.33121494 -0.14757134 0.93194386 -8.49360022] [ 0. 0. 0. 1. ]] SLAMing on 94.44165253199999 meters Centerline goodness [0,1] 0.5281388496867959 Centerline is valid? [False, False] Translation: X:-28.06, Y:-34.35, Z:-8.50 [[ 0.72071782 -0.59431265 -0.35687293 -28.06131848] [ 0.60720892 0.78958254 -0.08863829 -34.34809699] [ 0.33445949 -0.15281323 0.92993815 -8.49812643] [ 0. 0. 0. 1. ]] SLAMing on 94.471652532 meters Centerline goodness [0,1] 0.530724031470969 Centerline is valid? [False, False] Translation: X:-28.08, Y:-34.38, Z:-8.51 [[ 0.71902151 -0.59498797 -0.35916206 -28.08281638] [ 0.60823806 0.78875071 -0.08898752 -34.3784254 ] [ 0.33623584 -0.15447209 0.92902305 -8.50577838] [ 0. 0. 0. 1. ]] SLAMing on 94.501652532 meters Centerline goodness [0,1] 0.5313279457248329 Centerline is valid? [False, False] Translation: X:-28.10, Y:-34.40, Z:-8.51 [[ 0.71665274 -0.59613993 -0.36197519 -28.10265178] [ 0.60983397 0.78745938 -0.08950003 -34.40471752] [ 0.3383953 -0.15660432 0.9278813 -8.5124027 ] [ 0. 0. 0. 1. ]] SLAMing on 94.531652532 meters Centerline goodness [0,1] 0.5341703274760383 Centerline is valid? [False, False] Translation: X:-28.13, Y:-34.43, Z:-8.52 [[ 0.71579619 -0.59592923 -0.36401122 -28.12517886] [ 0.61037666 0.78716061 -0.08842233 -34.43196827] [ 0.33922874 -0.15889159 0.92718786 -8.52079934] [ 0. 0. 0. 1. ]] SLAMing on 94.561652532 meters Centerline goodness [0,1] 0.5164835164835164 Centerline is valid? [False, False] Translation: X:-28.15, Y:-34.46, Z:-8.53 [[ 0.71514175 -0.59526839 -0.36637116 -28.14960729] [ 0.6104382 0.78721661 -0.08749411 -34.46118637] [ 0.34049594 -0.16107626 0.92634602 -8.52898112] [ 0. 0. 0. 1. ]] SLAMing on 94.591652532 meters Centerline goodness [0,1] 0.5192759051186018 Centerline is valid? [False, False] Translation: X:-28.17, Y:-34.49, Z:-8.54 [[ 0.7140785 -0.59423669 -0.37010086 -28.16937749] [ 0.61040437 0.78735685 -0.08646209 -34.4852293 ] [ 0.34278039 -0.16417047 0.92495927 -8.53698585] [ 0. 0. 0. 1. ]] SLAMing on 94.62165253199998 meters Centerline goodness [0,1] 0.5313326348351045 Centerline is valid? [False, False] Translation: X:-28.19, Y:-34.51, Z:-8.55 [[ 0.71363046 -0.59280449 -0.37324845 -28.19048587] [ 0.60979404 0.78793194 -0.08552478 -34.5093883 ] [ 0.34479384 -0.16657159 0.92378088 -8.54664768] [ 0. 0. 0. 1. ]] SLAMing on 94.65165253199999 meters Centerline goodness [0,1] 0.5225025528629423 Centerline is valid? [False, False] Translation: X:-28.22, Y:-34.54, Z:-8.56 [[ 0.71364512 -0.59293206 -0.37301771 -28.21818449] [ 0.60968637 0.78795615 -0.08606765 -34.53888868] [ 0.34495387 -0.16600206 0.92382366 -8.55893619] [ 0. 0. 0. 1. ]] SLAMing on 94.68165253199999 meters Centerline goodness [0,1] 0.5342264863790018 Centerline is valid? [False, False] Translation: X:-28.25, Y:-34.57, Z:-8.57 [[ 0.71508475 -0.59130265 -0.37284712 -28.24547519] [ 0.60861721 0.78900298 -0.08402015 -34.56725178] [ 0.34385883 -0.16683965 0.92408097 -8.57121685] [ 0. 0. 0. 1. ]] SLAMing on 94.71165253199999 meters Centerline goodness [0,1] 0.5089567442669383 Centerline is valid? [False, False] Translation: X:-28.27, Y:-34.60, Z:-8.58 [[ 0.71671787 -0.58972429 -0.37221064 -28.27363593] [ 0.60729209 0.79017731 -0.08255987 -34.59659411] [ 0.34279996 -0.16686844 0.9244691 -8.58448637] [ 0. 0. 0. 1. ]] SLAMing on 94.74165253199999 meters Centerline goodness [0,1] 0.5046291712050698 Centerline is valid? [False, False] Translation: X:-28.30, Y:-34.62, Z:-8.60 [[ 0.71826429 -0.58833866 -0.37142164 -28.30211919] [ 0.60633811 0.79111313 -0.0805861 -34.62482242] [ 0.34124846 -0.16732497 0.92496046 -8.59716646] [ 0. 0. 0. 1. ]] SLAMing on 94.77165253199999 meters Centerline goodness [0,1] 0.49229595352958555 Centerline is valid? [False, False] Translation: X:-28.34, Y:-34.66, Z:-8.61 [[ 0.7221266 -0.58452332 -0.36995359 -28.33688024] [ 0.60285529 0.7940438 -0.07784565 -34.6556129 ] [ 0.33926195 -0.16681406 0.92578313 -8.61238953] [ 0. 0. 0. 1. ]] SLAMing on 94.80165253199999 meters Centerline goodness [0,1] 0.49104859335038364 Centerline is valid? [False, False] Translation: X:-28.36, Y:-34.68, Z:-8.62 [[ 0.72274124 -0.58411852 -0.36939229 -28.36372332] [ 0.60276505 0.79423618 -0.07657143 -34.68309844] [ 0.33811151 -0.16731543 0.92611347 -8.62424079] [ 0. 0. 0. 1. ]] SLAMing on 94.83165253199999 meters Centerline goodness [0,1] 0.4879383543154433 Centerline is valid? [False, False] Translation: X:-28.39, Y:-34.71, Z:-8.64 [[ 0.72435061 -0.58296365 -0.36806192 -28.39243297] [ 0.6015949 0.7952179 -0.07557831 -34.71212188] [ 0.33674883 -0.16667898 0.92672452 -8.63842093] [ 0. 0. 0. 1. ]] SLAMing on 94.861652532 meters Centerline goodness [0,1] 0.49182094230580864 Centerline is valid? [False, False] Translation: X:-28.42, Y:-34.74, Z:-8.65 [[ 0.72623077 -0.58101962 -0.36743035 -28.41938784] [ 0.60028775 0.79644982 -0.07295406 -34.7388209 ] [ 0.33502757 -0.16758246 0.92718533 -8.65174376] [ 0. 0. 0. 1. ]] SLAMing on 94.891652532 meters Centerline goodness [0,1] 0.4900363423498134 Centerline is valid? [False, False] Translation: X:-28.45, Y:-34.77, Z:-8.67 [[ 0.72800388 -0.57953453 -0.36626505 -28.44973878] [ 0.59883072 0.79764694 -0.07184103 -34.76824529] [ 0.33378455 -0.16703021 0.92773314 -8.66581488] [ 0. 0. 0. 1. ]] SLAMing on 94.921652532 meters Centerline goodness [0,1] 0.48371493850566327 Centerline is valid? [False, False] Translation: X:-28.48, Y:-34.79, Z:-8.68 [[ 0.72801348 -0.57927842 -0.3666509 -28.47506 ] [ 0.59899662 0.79761441 -0.07081178 -34.79397204] [ 0.33346578 -0.16807071 0.92765986 -8.67696129] [ 0. 0. 0. 1. ]] SLAMing on 94.951652532 meters Centerline goodness [0,1] 0.48399494064993187 Centerline is valid? [False, False] Translation: X:-28.50, Y:-34.82, Z:-8.69 [[ 0.72758642 -0.57968986 -0.36684829 -28.49953075] [ 0.5996135 0.79718204 -0.07045881 -34.81952523] [ 0.33328912 -0.16870231 0.92760869 -8.6880546 ] [ 0. 0. 0. 1. ]] SLAMing on 94.98165253199998 meters Centerline goodness [0,1] 0.48421129396893303 Centerline is valid? [False, False] Translation: X:-28.53, Y:-34.85, Z:-8.70 [[ 0.72958738 -0.57846331 -0.36480469 -28.52944465] [ 0.59826278 0.79829348 -0.06934811 -34.84984719] [ 0.33133654 -0.16765357 0.92849792 -8.70261771] [ 0. 0. 0. 1. ]] SLAMing on 95.01165253199999 meters Centerline goodness [0,1] 0.48532090041524 Centerline is valid? [False, False] Translation: X:-28.55, Y:-34.87, Z:-8.71 [[ 0.72815989 -0.57932603 -0.36628476 -28.5513308 ] [ 0.59939175 0.79741957 -0.06965312 -34.87387118] [ 0.3324345 -0.16882945 0.92789219 -8.71233457] [ 0. 0. 0. 1. ]] SLAMing on 95.04165253199999 meters Centerline goodness [0,1] 0.48641172474036687 Centerline is valid? [False, False] Translation: X:-28.58, Y:-34.90, Z:-8.73 [[ 0.72925824 -0.57857143 -0.36529101 -28.57855411] [ 0.59882125 0.79795781 -0.06838456 -34.90170106] [ 0.33105216 -0.16887402 0.92837817 -8.72562844] [ 0. 0. 0. 1. ]] SLAMing on 95.07165253199999 meters Centerline goodness [0,1] 0.48058558340200686 Centerline is valid? [False, False] Translation: X:-28.61, Y:-34.93, Z:-8.74 [[ 0.73050946 -0.57782425 -0.36397123 -28.60598613] [ 0.59839375 0.79843355 -0.06654914 -34.92872332] [ 0.32906055 -0.16918333 0.92902969 -8.73869792] [ 0. 0. 0. 1. ]] SLAMing on 95.10165253199999 meters Centerline goodness [0,1] 0.4788984176832951 Centerline is valid? [False, False] Translation: X:-28.61, Y:-34.93, Z:-8.74 [[ 0.73295075 -0.57623538 -0.36157433 -28.61391716] [ 0.59660838 0.79986769 -0.06534617 -34.93409518] [ 0.3268664 -0.16782275 0.93005047 -8.7423558 ] [ 0. 0. 0. 1. ]] SLAMing on 95.13165253199999 meters Centerline goodness [0,1] 0.47550369618785326 Centerline is valid? [False, False] Translation: X:-28.64, Y:-34.96, Z:-8.75 [[ 0.7323935 -0.57741811 -0.36081588 -28.63844038] [ 0.59788225 0.79894683 -0.06496749 -34.96138073] [ 0.32578611 -0.16814364 0.9303715 -8.75346785] [ 0. 0. 0. 1. ]] SLAMing on 95.16165253199999 meters Centerline goodness [0,1] 0.4782461404442724 Centerline is valid? [False, False] Translation: X:-28.67, Y:-34.99, Z:-8.77 [[ 0.73212684 -0.57968275 -0.35771245 -28.66625784] [ 0.59938382 0.79773621 -0.06599977 -34.99032661] [ 0.3236191 -0.16608685 0.93149656 -8.7671774 ] [ 0. 0. 0. 1. ]] SLAMing on 95.19165253199999 meters Centerline goodness [0,1] 0.4737832231923207 Centerline is valid? [False, False] Translation: X:-28.69, Y:-35.02, Z:-8.78 [[ 0.73257926 -0.58076946 -0.35501332 -28.69296071] [ 0.59988441 0.797321 -0.0664674 -35.01908684] [ 0.32166181 -0.16427432 0.93249538 -8.78179355] [ 0. 0. 0. 1. ]] SLAMing on 95.221652532 meters Centerline goodness [0,1] 0.47534564439717686 Centerline is valid? [False, False] Translation: X:-28.72, Y:-35.05, Z:-8.79 [[ 0.73097881 -0.58462627 -0.3519689 -28.72073877] [ 0.60255553 0.79506947 -0.06921969 -35.05212416] [ 0.32030738 -0.16148268 0.93344873 -8.79377025] [ 0. 0. 0. 1. ]] SLAMing on 95.251652532 meters Centerline goodness [0,1] 0.47215794041076076 Centerline is valid? [False, False] Translation: X:-28.75, Y:-35.08, Z:-8.81 [[ 0.73193913 -0.58399983 -0.35101183 -28.7476962 ] [ 0.60210254 0.79551542 -0.06802749 -35.0809707 ] [ 0.31896337 -0.16155313 0.93389665 -8.80661274] [ 0. 0. 0. 1. ]] SLAMing on 95.281652532 meters Centerline goodness [0,1] 0.4739358234541372 Centerline is valid? [False, False] Translation: X:-28.78, Y:-35.11, Z:-8.82 [[ 0.73196508 -0.58476025 -0.34968925 -28.77571171] [ 0.60247346 0.79518222 -0.06863642 -35.11253282] [ 0.31820252 -0.16043903 0.93434815 -8.81892946] [ 0. 0. 0. 1. ]] SLAMing on 95.311652532 meters Centerline goodness [0,1] 0.4732632596351335 Centerline is valid? [False, False] Translation: X:-28.80, Y:-35.14, Z:-8.83 [[ 0.73228801 -0.58517542 -0.34831595 -28.80176375] [ 0.60267977 0.79502863 -0.0686045 -35.14226764] [ 0.31706682 -0.15968472 0.93486332 -8.83145025] [ 0. 0. 0. 1. ]] SLAMing on 95.341652532 meters Centerline goodness [0,1] 0.4767795873000532 Centerline is valid? [False, False] Translation: X:-28.83, Y:-35.17, Z:-8.84 [[ 0.73130556 -0.58809143 -0.34545715 -28.82907479] [ 0.60493212 0.79321676 -0.06974455 -35.1749367 ] [ 0.31503857 -0.15797355 0.93583923 -8.843075 ] [ 0. 0. 0. 1. ]] SLAMing on 95.37165253199998 meters Centerline goodness [0,1] 0.4767795873000532 Centerline is valid? [False, False] Translation: X:-28.85, Y:-35.20, Z:-8.86 [[ 0.73143407 -0.58840292 -0.34465376 -28.85460527] [ 0.60511268 0.7930763 -0.06977549 -35.20307749] [ 0.31439283 -0.15751819 0.93613309 -8.85521514] [ 0. 0. 0. 1. ]] SLAMing on 95.40165253199999 meters Centerline goodness [0,1] 0.4820229062968153 Centerline is valid? [False, False] Translation: X:-28.88, Y:-35.23, Z:-8.87 [[ 0.732048 -0.5879483 -0.34412573 -28.88115489] [ 0.60478048 0.79339668 -0.06900932 -35.23335295] [ 0.31360212 -0.1576024 0.93638411 -8.86744066] [ 0. 0. 0. 1. ]] SLAMing on 95.43165253199999 meters Centerline goodness [0,1] 0.4794848250531606 Centerline is valid? [False, False] Translation: X:-28.90, Y:-35.26, Z:-8.87 [[ 0.72937102 -0.58967102 -0.34685155 -28.90000341] [ 0.6069109 0.79170586 -0.06972084 -35.25685164] [ 0.31571677 -0.15965563 0.93532508 -8.87422806] [ 0. 0. 0. 1. ]] SLAMing on 95.46165253199999 meters Centerline goodness [0,1] 0.4909143770896933 Centerline is valid? [False, False] Translation: X:-28.93, Y:-35.29, Z:-8.89 [[ 0.72871 -0.59062802 -0.34661258 -28.92539946] [ 0.60759384 0.79109996 -0.07064401 -35.28749725] [ 0.31592953 -0.15912067 0.9353444 -8.88535166] [ 0. 0. 0. 1. ]] SLAMing on 95.49165253199999 meters Centerline goodness [0,1] 0.4909143770896933 Centerline is valid? [False, False] Translation: X:-28.93, Y:-35.29, Z:-8.89 [[ 0.72728456 -0.59364102 -0.34445248 -28.92883956] [ 0.60973036 0.78925562 -0.07283165 -35.28721261] [ 0.31509691 -0.1570538 0.93597438 -8.88532215] [ 0. 0. 0. 1. ]] SLAMing on 95.52165253199999 meters Centerline goodness [0,1] 0.4818542533630117 Centerline is valid? [False, False] Translation: X:-28.96, Y:-35.32, Z:-8.90 [[ 0.72705122 -0.59560464 -0.34154302 -28.95819736] [ 0.61073837 0.78830952 -0.07461059 -35.32118815] [ 0.31368003 -0.15434771 0.93690001 -8.8981221 ] [ 0. 0. 0. 1. ]] SLAMing on 95.55165253199999 meters Centerline goodness [0,1] 0.4836686763032372 Centerline is valid? [False, False] Translation: X:-28.98, Y:-35.35, Z:-8.91 [[ 0.72559279 -0.59678555 -0.34258155 -28.98038201] [ 0.61191521 0.78731398 -0.075475 -35.34828625] [ 0.31476163 -0.15486674 0.9364515 -8.90710829] [ 0. 0. 0. 1. ]] SLAMing on 95.58165253199999 meters Centerline goodness [0,1] 0.48038906541829385 Centerline is valid? [False, False] Translation: X:-29.01, Y:-35.38, Z:-8.92 [[ 0.72534464 -0.59873033 -0.33970156 -29.0096307 ] [ 0.61274287 0.7864462 -0.07777248 -35.38131209] [ 0.31372174 -0.15173786 0.93731227 -8.92088468] [ 0. 0. 0. 1. ]] SLAMing on 95.611652532 meters Centerline goodness [0,1] 0.48148506469947994 Centerline is valid? [False, False] Translation: X:-29.04, Y:-35.41, Z:-8.93 [[ 0.72583029 -0.59821053 -0.33957996 -29.03541676] [ 0.61255947 0.78670688 -0.07657141 -35.40878717] [ 0.31295572 -0.15243507 0.93745521 -8.93229471] [ 0. 0. 0. 1. ]] SLAMing on 95.641652532 meters Centerline goodness [0,1] 0.48364542507378916 Centerline is valid? [False, False] Translation: X:-29.05, Y:-35.43, Z:-8.94 [[ 0.72413283 -0.59772169 -0.34403551 -29.05383486] [ 0.61326554 0.78628306 -0.07526179 -35.43166978] [ 0.3154949 -0.15648559 0.93593548 -8.93762344] [ 0. 0. 0. 1. ]] SLAMing on 95.671652532 meters Centerline goodness [0,1] 0.4802096162669951 Centerline is valid? [False, False] Translation: X:-29.08, Y:-35.46, Z:-8.95 [[ 0.7234266 -0.59818977 -0.34470705 -29.07749037] [ 0.6138616 0.785808 -0.07536398 -35.45786958] [ 0.31595552 -0.15708212 0.93568014 -8.94814598] [ 0. 0. 0. 1. ]] SLAMing on 95.701652532 meters Centerline goodness [0,1] 0.4774407033476644 Centerline is valid? [False, False] Translation: X:-29.10, Y:-35.49, Z:-8.96 [[ 0.72344518 -0.59925411 -0.3428142 -29.10414007] [ 0.61440957 0.7853039 -0.07614897 -35.48699914] [ 0.31484591 -0.15553872 0.93631179 -8.96155808] [ 0. 0. 0. 1. ]] SLAMing on 95.73165253199998 meters Centerline goodness [0,1] 0.48178987763377024 Centerline is valid? [False, False] Translation: X:-29.13, Y:-35.52, Z:-8.97 [[ 0.72351934 -0.60103903 -0.33951707 -29.13427034] [ 0.61521414 0.78451465 -0.07777104 -35.52081527] [ 0.31309955 -0.15260685 0.93737923 -8.97477683] [ 0. 0. 0. 1. ]] SLAMing on 95.76165253199999 meters Centerline goodness [0,1] 0.4605253618810565 Centerline is valid? [False, False] Translation: X:-29.16, Y:-35.55, Z:-8.99 [[ 0.72417935 -0.60062888 -0.33883507 -29.16095061] [ 0.61472339 0.7849212 -0.0775491 -35.55026918] [ 0.31253706 -0.15213039 0.93764435 -8.98727312] [ 0. 0. 0. 1. ]] SLAMing on 95.79165253199999 meters Centerline goodness [0,1] 0.4749178426445003 Centerline is valid? [False, False] Translation: X:-29.19, Y:-35.58, Z:-9.00 [[ 0.72469248 -0.60031971 -0.33828548 -29.18768729] [ 0.61428401 0.78526278 -0.07757271 -35.57842776] [ 0.31221142 -0.151587 0.93784082 -8.99998682] [ 0. 0. 0. 1. ]] SLAMing on 95.82165253199999 meters Centerline goodness [0,1] 0.4545695683626718 Centerline is valid? [False, False] Translation: X:-29.21, Y:-35.61, Z:-9.01 [[ 0.72487116 -0.59984906 -0.33873722 -29.21307829] [ 0.61397207 0.78554185 -0.07721588 -35.60639797] [ 0.31241014 -0.15200363 0.9377072 -9.01090839] [ 0. 0. 0. 1. ]] SLAMing on 95.85165253199999 meters Centerline goodness [0,1] 0.4721040476479883 Centerline is valid? [False, False] Translation: X:-29.24, Y:-35.64, Z:-9.02 [[ 0.72453212 -0.60282993 -0.33413962 -29.24396551] [ 0.61564388 0.78400323 -0.07950822 -35.63999272] [ 0.30989647 -0.14810475 0.93916407 -9.02467321] [ 0. 0. 0. 1. ]] SLAMing on 95.88165253199999 meters Centerline goodness [0,1] 0.4843061338787834 Centerline is valid? [False, False] Translation: X:-29.27, Y:-35.67, Z:-9.03 [[ 0.72390345 -0.60379742 -0.33375511 -29.26961473] [ 0.61636657 0.78335522 -0.08029231 -35.66959028] [ 0.30992909 -0.14759161 0.93923409 -9.03492075] [ 0. 0. 0. 1. ]] SLAMing on 95.91165253199999 meters Centerline goodness [0,1] 0.4774100789550638 Centerline is valid? [False, False] Translation: X:-29.28, Y:-35.68, Z:-9.04 [[ 0.72604581 -0.60459895 -0.32759363 -29.2803062 ] [ 0.61526883 0.78391868 -0.08316113 -35.67873185] [ 0.3070859 -0.14117936 0.94115176 -9.04421523] [ 0. 0. 0. 1. ]] SLAMing on 95.94165253199999 meters Centerline goodness [0,1] 0.4761510554892747 Centerline is valid? [False, False] Translation: X:-29.31, Y:-35.71, Z:-9.05 [[ 0.72577615 -0.60435281 -0.32864367 -29.30528121] [ 0.61530977 0.78393062 -0.08274467 -35.70748284] [ 0.30764081 -0.14216355 0.94082233 -9.05325267] [ 0. 0. 0. 1. ]] SLAMing on 95.971652532 meters Centerline goodness [0,1] 0.46189106158872584 Centerline is valid? [False, False] Translation: X:-29.33, Y:-35.74, Z:-9.06 [[ 0.72538731 -0.60483728 -0.32861087 -29.33381948] [ 0.61515796 0.7838313 -0.08478908 -35.73814168] [ 0.30885909 -0.14064267 0.94065175 -9.06432095] [ 0. 0. 0. 1. ]] SLAMing on 96.001652532 meters Centerline goodness [0,1] 0.4647433550560153 Centerline is valid? [False, False] Translation: X:-29.36, Y:-35.77, Z:-9.08 [[ 0.72724341 -0.60276329 -0.32831912 -29.36296851] [ 0.61304702 0.78554134 -0.0842506 -35.76816706] [ 0.30869141 -0.14000436 0.94080199 -9.07761117] [ 0. 0. 0. 1. ]] SLAMing on 96.031652532 meters Centerline goodness [0,1] 0.4762860850615803 Centerline is valid? [False, False] Translation: X:-29.39, Y:-35.80, Z:-9.09 [[ 0.72322821 -0.60818726 -0.32718376 -29.38751901] [ 0.61729099 0.7817279 -0.08861899 -35.79846561] [ 0.30966561 -0.13787584 0.94079619 -9.08534378] [ 0. 0. 0. 1. ]] SLAMing on 96.061652532 meters Centerline goodness [0,1] 0.47460480093676816 Centerline is valid? [False, False] Translation: X:-29.41, Y:-35.82, Z:-9.09 [[ 0.7224553 -0.60714553 -0.33080604 -29.40787076] [ 0.61698178 0.78205299 -0.08790111 -35.82261203] [ 0.31207662 -0.14059668 0.93959606 -9.09321923] [ 0. 0. 0. 1. ]] SLAMing on 96.091652532 meters Centerline goodness [0,1] 0.47428306897643935 Centerline is valid? [False, False] Translation: X:-29.43, Y:-35.85, Z:-9.11 [[ 0.72352027 -0.60561652 -0.3312809 -29.43467568] [ 0.61545758 0.78327132 -0.08773829 -35.85016791] [ 0.31261859 -0.14040891 0.93944396 -9.10582487] [ 0. 0. 0. 1. ]] SLAMing on 96.12165253199998 meters Centerline goodness [0,1] 0.48106588436621445 Centerline is valid? [False, False] Translation: X:-29.48, Y:-35.89, Z:-9.12 [[ 0.72315678 -0.60447055 -0.33415509 -29.47521084] [ 0.61627277 0.78314878 -0.08298105 -35.89366202] [ 0.31185276 -0.14592237 0.93885809 -9.1224141 ] [ 0. 0. 0. 1. ]] SLAMing on 96.15165253199999 meters Centerline goodness [0,1] 0.46743602853456045 Centerline is valid? [False, False] Translation: X:-29.51, Y:-35.92, Z:-9.14 [[ 0.72694937 -0.59968057 -0.33455617 -29.50917269] [ 0.61159478 0.78694625 -0.08165426 -35.92491083] [ 0.31224419 -0.1452543 0.93883159 -9.13654402] [ 0. 0. 0. 1. ]] SLAMing on 96.18165253199999 meters Centerline goodness [0,1] 0.4655784762090104 Centerline is valid? [False, False] Translation: X:-29.54, Y:-35.96, Z:-9.15 [[ 0.72942349 -0.59743133 -0.3331924 -29.5401082 ] [ 0.60921621 0.7888767 -0.08080328 -35.95597026] [ 0.31112213 -0.1440464 0.93939004 -9.1504748 ] [ 0. 0. 0. 1. ]] SLAMing on 96.21165253199999 meters Centerline goodness [0,1] 0.4407856450048496 Centerline is valid? [False, False] Translation: X:-29.57, Y:-35.99, Z:-9.16 [[ 0.7304841 -0.59701358 -0.33161389 -29.56831719] [ 0.6085479 0.78940592 -0.0806706 -35.98633942] [ 0.30993942 -0.14287434 0.93995983 -9.16317192] [ 0. 0. 0. 1. ]] SLAMing on 96.24165253199999 meters Centerline goodness [0,1] 0.46632730106924525 Centerline is valid? [False, False] Translation: X:-29.60, Y:-36.02, Z:-9.18 [[ 0.72996414 -0.59900922 -0.32915089 -29.59613621] [ 0.60957889 0.78838181 -0.08287156 -36.01582582] [ 0.3091374 -0.14015016 0.94063383 -9.17649194] [ 0. 0. 0. 1. ]] SLAMing on 96.27165253199999 meters Centerline goodness [0,1] 0.46632730106924525 Centerline is valid? [False, False] Translation: X:-29.62, Y:-36.04, Z:-9.19 [[ 0.72991467 -0.59915734 -0.32899097 -29.62130265] [ 0.60947289 0.78838661 -0.08360234 -36.04381507] [ 0.30946303 -0.13948851 0.94062511 -9.18841113] [ 0. 0. 0. 1. ]] SLAMing on 96.30165253199999 meters Centerline goodness [0,1] 0.46787603930461075 Centerline is valid? [False, False] Translation: X:-29.66, Y:-36.08, Z:-9.20 [[ 0.73186986 -0.59850502 -0.32581935 -29.65540487] [ 0.60779843 0.78952541 -0.08503353 -36.07784829] [ 0.30813565 -0.13579901 0.94160026 -9.20335086] [ 0. 0. 0. 1. ]] SLAMing on 96.33165253199999 meters Centerline goodness [0,1] 0.44141596372324343 Centerline is valid? [False, False] Translation: X:-29.70, Y:-36.13, Z:-9.22 [[ 0.73165285 -0.59763252 -0.32790162 -29.69856983] [ 0.60855495 0.7893825 -0.08084647 -36.1268612 ] [ 0.30715628 -0.1403946 0.94124618 -9.21960413] [ 0. 0. 0. 1. ]] SLAMing on 96.361652532 meters Centerline goodness [0,1] 0.461946859550425 Centerline is valid? [False, False] Translation: X:-29.72, Y:-36.15, Z:-9.23 [[ 0.73010627 -0.59962359 -0.32771388 -29.72228461] [ 0.61009903 0.78800739 -0.08260464 -36.15295994] [ 0.30777265 -0.13962775 0.94115891 -9.23036034] [ 0. 0. 0. 1. ]] SLAMing on 96.391652532 meters Centerline goodness [0,1] 0.4421773664650587 Centerline is valid? [False, False] Translation: X:-29.77, Y:-36.20, Z:-9.25 [[ 0.73114816 -0.59735568 -0.32952779 -29.76771748] [ 0.60949652 0.78895663 -0.07785523 -36.20129216] [ 0.30649039 -0.14392233 0.94093039 -9.24890448] [ 0. 0. 0. 1. ]] SLAMing on 96.421652532 meters Centerline goodness [0,1] 0.44030375815804157 Centerline is valid? [False, False] Translation: X:-29.79, Y:-36.23, Z:-9.26 [[ 0.73179412 -0.5969483 -0.3288314 -29.79441154] [ 0.60884434 0.78943025 -0.07815657 -36.22907289] [ 0.30624489 -0.14301262 0.94114901 -9.26210847] [ 0. 0. 0. 1. ]] SLAMing on 96.451652532 meters Centerline goodness [0,1] 0.4795905993063472 Centerline is valid? [False, False] Translation: X:-29.82, Y:-36.26, Z:-9.27 [[ 0.73246992 -0.59587026 -0.32928173 -29.82003141] [ 0.60799996 0.79015475 -0.07740492 -36.25670556] [ 0.30630681 -0.1435065 0.94105368 -9.27338559] [ 0. 0. 0. 1. ]] SLAMing on 96.48165253199998 meters Centerline goodness [0,1] 0.4427686050452718 Centerline is valid? [False, False] Translation: X:-29.85, Y:-36.29, Z:-9.29 [[ 0.73115911 -0.59873455 -0.32699128 -29.84697696] [ 0.6098923 0.78844224 -0.07993883 -36.28634706] [ 0.30567588 -0.14098146 0.94164032 -9.28504818] [ 0. 0. 0. 1. ]] SLAMing on 96.51165253199999 meters Centerline goodness [0,1] 0.4507931880572359 Centerline is valid? [False, False] Translation: X:-29.88, Y:-36.32, Z:-9.30 [[ 0.73130052 -0.60073196 -0.3229871 -29.87836728] [ 0.61074862 0.78756963 -0.08197687 -36.32054218] [ 0.30362095 -0.1373142 0.94284629 -9.29821445] [ 0. 0. 0. 1. ]] SLAMing on 96.54165253199999 meters Centerline goodness [0,1] 0.4488293828535458 Centerline is valid? [False, False] Translation: X:-29.91, Y:-36.35, Z:-9.31 [[ 0.73334717 -0.59871246 -0.32209521 -29.90715675] [ 0.60873412 0.78922382 -0.0810465 -36.34979544] [ 0.30272876 -0.13663512 0.94323175 -9.31181785] [ 0. 0. 0. 1. ]] SLAMing on 96.57165253199999 meters Centerline goodness [0,1] 0.45429932071457924 Centerline is valid? [False, False] Translation: X:-29.94, Y:-36.38, Z:-9.33 [[ 0.73559076 -0.59621955 -0.32160299 -29.93586218] [ 0.60637384 0.79116506 -0.0798036 -36.37874138] [ 0.30202152 -0.13630884 0.94350565 -9.32562861] [ 0. 0. 0. 1. ]] SLAMing on 96.60165253199999 meters Centerline goodness [0,1] 0.4440866723157003 Centerline is valid? [False, False] Translation: X:-29.96, Y:-36.40, Z:-9.33 [[ 0.73481688 -0.59644665 -0.32294819 -29.95898604] [ 0.60671801 0.79086652 -0.08014615 -36.40491927] [ 0.30321182 -0.13704574 0.943017 -9.33499128] [ 0. 0. 0. 1. ]] SLAMing on 96.63165253199999 meters Centerline goodness [0,1] 0.4500737231393972 Centerline is valid? [False, False] Translation: X:-29.99, Y:-36.44, Z:-9.35 [[ 0.73406221 -0.59852261 -0.32081672 -29.98787026] [ 0.60792444 0.78971627 -0.08231705 -36.43872893] [ 0.3026228 -0.13460649 0.94355738 -9.34549121] [ 0. 0. 0. 1. ]] SLAMing on 96.66165253199999 meters Centerline goodness [0,1] 0.45143993983065245 Centerline is valid? [False, False] Translation: X:-30.02, Y:-36.47, Z:-9.36 [[ 0.73428864 -0.59971545 -0.31805906 -30.0169661 ] [ 0.60827709 0.78927631 -0.08391598 -36.47014256] [ 0.30136219 -0.13184949 0.9443498 -9.35865729] [ 0. 0. 0. 1. ]] SLAMing on 96.69165253199999 meters Centerline goodness [0,1] 0.44775613886536836 Centerline is valid? [False, False] Translation: X:-30.04, Y:-36.50, Z:-9.37 [[ 0.73461534 -0.59907904 -0.31850371 -30.04203352] [ 0.60777472 0.78970138 -0.08355605 -36.49888575] [ 0.3015795 -0.13219695 0.94423184 -9.36915946] [ 0. 0. 0. 1. ]] SLAMing on 96.721652532 meters Centerline goodness [0,1] 0.46621572477998396 Centerline is valid? [False, False] Translation: X:-30.07, Y:-36.53, Z:-9.38 [[ 0.73304396 -0.60109729 -0.31832152 -30.06877308] [ 0.60910986 0.78840054 -0.08608002 -36.52925391] [ 0.30270732 -0.13079234 0.94406654 -9.37874279] [ 0. 0. 0. 1. ]] SLAMing on 96.751652532 meters Centerline goodness [0,1] 0.46641782000630194 Centerline is valid? [False, False] Translation: X:-30.09, Y:-36.55, Z:-9.39 [[ 0.73176579 -0.60061024 -0.32215862 -30.08857249] [ 0.60942174 0.78824611 -0.08528315 -36.55273574] [ 0.30516221 -0.13392317 0.94283647 -9.38522873] [ 0. 0. 0. 1. ]] SLAMing on 96.781652532 meters Centerline goodness [0,1] 0.4630674252511803 Centerline is valid? [False, False] Translation: X:-30.11, Y:-36.58, Z:-9.40 [[ 0.7326924 -0.59902269 -0.32300723 -30.11464425] [ 0.60831432 0.78925738 -0.08382413 -36.58017899] [ 0.30514839 -0.13507262 0.94267696 -9.39571684] [ 0. 0. 0. 1. ]] SLAMing on 96.811652532 meters Centerline goodness [0,1] 0.46100318933024065 Centerline is valid? [False, False] Translation: X:-30.14, Y:-36.61, Z:-9.41 [[ 0.73488907 -0.59658617 -0.32252597 -30.14345396] [ 0.60617521 0.79108288 -0.08209439 -36.61022514] [ 0.30412116 -0.13517698 0.94299391 -9.40809034] [ 0. 0. 0. 1. ]] SLAMing on 96.841652532 meters Centerline goodness [0,1] 0.475181598062954 Centerline is valid? [False, False] Translation: X:-30.17, Y:-36.64, Z:-9.42 [[ 0.73452595 -0.59696863 -0.32264545 -30.16931505] [ 0.60637234 0.79085652 -0.08281634 -36.64184039] [ 0.30460502 -0.13481253 0.9428899 -9.41771067] [ 0. 0. 0. 1. ]] SLAMing on 96.87165253199998 meters Centerline goodness [0,1] 0.466818280792587 Centerline is valid? [False, False] Translation: X:-30.19, Y:-36.67, Z:-9.43 [[ 0.73457018 -0.59658615 -0.32325162 -30.19406889] [ 0.60624188 0.79101716 -0.08223524 -36.67038564] [ 0.30475798 -0.13556112 0.94273313 -9.42726367] [ 0. 0. 0. 1. ]] SLAMing on 96.90165253199999 meters Centerline goodness [0,1] 0.4624126508209009 Centerline is valid? [False, False] Translation: X:-30.22, Y:-36.70, Z:-9.44 [[ 0.73617611 -0.59495835 -0.32259773 -30.22215806] [ 0.60485838 0.79222548 -0.08077823 -36.70094111] [ 0.30362982 -0.13565894 0.94308302 -9.43864023] [ 0. 0. 0. 1. ]] SLAMing on 96.93165253199999 meters Centerline goodness [0,1] 0.4472869716607022 Centerline is valid? [False, False] Translation: X:-30.25, Y:-36.73, Z:-9.45 [[ 0.73744872 -0.59338632 -0.32258651 -30.25053202] [ 0.60343803 0.79339378 -0.07993024 -36.73324889] [ 0.30336764 -0.13571652 0.94315911 -9.44914712] [ 0. 0. 0. 1. ]] SLAMing on 96.96165253199999 meters Centerline goodness [0,1] 0.46678249957769247 Centerline is valid? [False, False] Translation: X:-30.27, Y:-36.76, Z:-9.46 [[ 0.73699927 -0.59184682 -0.3264191 -30.27091651] [ 0.60289063 0.7939668 -0.07835563 -36.7581365 ] [ 0.30554046 -0.13904697 0.94197185 -9.45603861] [ 0. 0. 0. 1. ]] SLAMing on 96.99165253199999 meters Centerline goodness [0,1] 0.4731436837029894 Centerline is valid? [False, False] Translation: X:-30.29, Y:-36.79, Z:-9.47 [[ 0.73712548 -0.59087166 -0.32789742 -30.29487693] [ 0.60245346 0.79441225 -0.07719454 -36.78503835] [ 0.30609779 -0.14064088 0.94155419 -9.46523896] [ 0. 0. 0. 1. ]] SLAMing on 97.02165253199999 meters Centerline goodness [0,1] 0.4733883420189152 Centerline is valid? [False, False] Translation: X:-30.32, Y:-36.81, Z:-9.47 [[ 0.73649814 -0.58967062 -0.33144993 -30.31516882] [ 0.6024107 0.79464229 -0.07513308 -36.80875729] [ 0.3076879 -0.14433361 0.94047646 -9.47185016] [ 0. 0. 0. 1. ]] SLAMing on 97.05165253199999 meters Centerline goodness [0,1] 0.4670644276572199 Centerline is valid? [False, False] Translation: X:-30.34, Y:-36.84, Z:-9.48 [[ 0.73837783 -0.58750627 -0.33111111 -30.34454391] [ 0.60051115 0.7962192 -0.07362983 -36.84071366] [ 0.30689501 -0.14446928 0.94071466 -9.48357146] [ 0. 0. 0. 1. ]] SLAMing on 97.08165253199999 meters Centerline goodness [0,1] 0.4587465100606527 Centerline is valid? [False, False] Translation: X:-30.37, Y:-36.87, Z:-9.49 [[ 0.73792078 -0.58738961 -0.33233471 -30.36778815] [ 0.60071244 0.79610225 -0.07325144 -36.86681959] [ 0.30759954 -0.14558383 0.94031264 -9.49315294] [ 0. 0. 0. 1. ]] SLAMing on 97.111652532 meters Centerline goodness [0,1] 0.4672334481346788 Centerline is valid? [False, False] Translation: X:-30.37, Y:-36.87, Z:-9.49 [[ 0.73666272 -0.59080423 -0.32905684 -30.37242958] [ 0.60302388 0.79411419 -0.07579486 -36.86716799] [ 0.30608862 -0.14259388 0.94126337 -9.49477073] [ 0. 0. 0. 1. ]] SLAMing on 97.141652532 meters Centerline goodness [0,1] 0.4655421338851725 Centerline is valid? [False, False] Translation: X:-30.38, Y:-36.87, Z:-9.50 [[ 0.73719833 -0.59050937 -0.32838592 -30.37581518] [ 0.60269681 0.7943918 -0.07548655 -36.86680526] [ 0.3054426 -0.14226858 0.94152242 -9.49569754] [ 0. 0. 0. 1. ]] SLAMing on 97.171652532 meters Centerline goodness [0,1] 0.4600067336828435 Centerline is valid? [False, False] Translation: X:-30.38, Y:-36.87, Z:-9.50 [[ 0.73746805 -0.59278548 -0.32364526 -30.38335202] [ 0.60374736 0.79340242 -0.07747078 -36.87128186] [ 0.30270448 -0.13826774 0.9430016 -9.50026613] [ 0. 0. 0. 1. ]] SLAMing on 97.201652532 meters Centerline goodness [0,1] 0.4603075444497837 Centerline is valid? [False, False] Translation: X:-30.39, Y:-36.87, Z:-9.50 [[ 0.73658425 -0.59560374 -0.32046812 -30.38836083] [ 0.60560617 0.79177494 -0.07958404 -36.87326007] [ 0.30113918 -0.13545712 0.94391025 -9.5013858 ] [ 0. 0. 0. 1. ]] SLAMing on 97.23165253199998 meters Centerline goodness [0,1] 0.4596990607628906 Centerline is valid? [False, False] Translation: X:-30.40, Y:-36.88, Z:-9.50 [[ 0.73688928 -0.59745752 -0.31628895 -30.39561103] [ 0.60646415 0.79095871 -0.08115141 -36.87798525] [ 0.29865602 -0.13201831 0.94518556 -9.50480041] [ 0. 0. 0. 1. ]] SLAMing on 97.26165253199999 meters Centerline goodness [0,1] 0.4507881996613484 Centerline is valid? [False, False] Translation: X:-30.41, Y:-36.89, Z:-9.51 [[ 0.73903254 -0.59822803 -0.30976464 -30.41210101] [ 0.60474204 0.79173785 -0.08624523 -36.89051684] [ 0.2968467 -0.12358967 0.94689367 -9.51308289] [ 0. 0. 0. 1. ]] SLAMing on 97.29165253199999 meters Centerline goodness [0,1] 0.4566062948910683 Centerline is valid? [False, False] Translation: X:-30.43, Y:-36.92, Z:-9.52 [[ 0.73934067 -0.59607507 -0.31316111 -30.4341204 ] [ 0.60403023 0.79265846 -0.0827045 -36.91591993] [ 0.2975279 -0.12801198 0.94609201 -9.51904916] [ 0. 0. 0. 1. ]] SLAMing on 97.32165253199999 meters Centerline goodness [0,1] 0.44838924895158216 Centerline is valid? [False, False] Translation: X:-30.44, Y:-36.92, Z:-9.52 [[ 0.7382103 -0.59898309 -0.3102657 -30.43888058] [ 0.60610233 0.79086295 -0.08470984 -36.9177815 ] [ 0.29611742 -0.12551909 0.94686823 -9.51936145] [ 0. 0. 0. 1. ]] SLAMing on 97.35165253199999 meters Centerline goodness [0,1] 0.45216976633285644 Centerline is valid? [False, False] Translation: X:-30.44, Y:-36.92, Z:-9.52 [[ 0.7368976 -0.60219342 -0.30715632 -30.44285328] [ 0.60840123 0.78885066 -0.0869631 -36.91934148] [ 0.29466907 -0.12279138 0.94767738 -9.52026101] [ 0. 0. 0. 1. ]] SLAMing on 97.38165253199999 meters Centerline goodness [0,1] 0.44720022894209677 Centerline is valid? [False, False] Translation: X:-30.45, Y:-36.93, Z:-9.53 [[ 0.73641306 -0.60598576 -0.30079404 -30.45204258] [ 0.61031813 0.78689999 -0.09110536 -36.92694102] [ 0.29190338 -0.11648887 0.94932753 -9.52512693] [ 0. 0. 0. 1. ]] SLAMing on 97.41165253199999 meters Centerline goodness [0,1] 0.45665760221363483 Centerline is valid? [False, False] Translation: X:-30.46, Y:-36.93, Z:-9.53 [[ 0.73474821 -0.60943887 -0.29787468 -30.45536377] [ 0.61293963 0.78459582 -0.09335099 -36.92870436] [ 0.29060295 -0.11398973 0.95002961 -9.5252151 ] [ 0. 0. 0. 1. ]] SLAMing on 97.44165253199999 meters Centerline goodness [0,1] 0.4450330493712268 Centerline is valid? [False, False] Translation: X:-30.47, Y:-36.95, Z:-9.53 [[ 0.73295549 -0.60862694 -0.30389059 -30.47207015] [ 0.61348667 0.78440675 -0.09132449 -36.95147499] [ 0.29395637 -0.11949604 0.94831975 -9.52725247] [ 0. 0. 0. 1. ]] SLAMing on 97.471652532 meters Centerline goodness [0,1] 0.4539581893161069 Centerline is valid? [False, False] Translation: X:-30.49, Y:-36.98, Z:-9.53 [[ 0.73413696 -0.60470829 -0.30882164 -30.49498636] [ 0.61094223 0.78674701 -0.0881971 -36.98001555] [ 0.29629802 -0.12392344 0.94702189 -9.532965 ] [ 0. 0. 0. 1. ]] SLAMing on 97.501652532 meters Centerline goodness [0,1] 0.45236051502145924 Centerline is valid? [False, False] Translation: X:-30.51, Y:-37.00, Z:-9.54 [[ 0.73332981 -0.60248631 -0.31502008 -30.51320051] [ 0.61034082 0.78752561 -0.08536686 -37.00186892] [ 0.29951874 -0.12966755 0.94523799 -9.53665427] [ 0. 0. 0. 1. ]] SLAMing on 97.531652532 meters Centerline goodness [0,1] 0.4562963316091817 Centerline is valid? [False, False] Translation: X:-30.53, Y:-37.02, Z:-9.54 [[ 0.73257322 -0.60039121 -0.32072866 -30.53159237] [ 0.60978031 0.78823809 -0.08275683 -37.02435719] [ 0.30249702 -0.13494858 0.94354885 -9.54090648] [ 0. 0. 0. 1. ]] SLAMing on 97.561652532 meters Centerline goodness [0,1] 0.44626780355356543 Centerline is valid? [False, False] Translation: X:-30.55, Y:-37.05, Z:-9.55 [[ 0.73342568 -0.59751157 -0.32413993 -30.55417178] [ 0.60813047 0.78980565 -0.07990225 -37.05031237] [ 0.30375007 -0.13851701 0.94262874 -9.54872022] [ 0. 0. 0. 1. ]] SLAMing on 97.591652532 meters Centerline goodness [0,1] 0.4491918515684774 Centerline is valid? [False, False] Translation: X:-30.56, Y:-37.05, Z:-9.55 [[ 0.73237817 -0.60037063 -0.32121226 -30.55883025] [ 0.61010274 0.78807652 -0.08191489 -37.05287761] [ 0.30231914 -0.1359798 0.94345781 -9.54899402] [ 0. 0. 0. 1. ]] SLAMing on 97.62165253199998 meters Centerline goodness [0,1] 0.446516309948949 Centerline is valid? [False, False] Translation: X:-30.56, Y:-37.05, Z:-9.55 [[ 0.73118045 -0.60348543 -0.3180888 -30.56342025] [ 0.61227562 0.78615881 -0.08410047 -37.05479983] [ 0.30082172 -0.13326539 0.94432337 -9.54961177] [ 0. 0. 0. 1. ]] SLAMing on 97.65165253199999 meters Centerline goodness [0,1] 0.44959585541937497 Centerline is valid? [False, False] Translation: X:-30.57, Y:-37.06, Z:-9.55 [[ 0.73111998 -0.60468213 -0.31594794 -30.56917045] [ 0.61293129 0.78554333 -0.08507004 -37.05776766] [ 0.29963113 -0.13145797 0.94495502 -9.5496416 ] [ 0. 0. 0. 1. ]] SLAMing on 97.68165253199999 meters Centerline goodness [0,1] 0.44915700737618547 Centerline is valid? [False, False] Translation: X:-30.57, Y:-37.06, Z:-9.55 [[ 0.73210403 -0.60366365 -0.31561668 -30.5726013 ] [ 0.6120945 0.78629976 -0.08410118 -37.05982015] [ 0.29893815 -0.13161642 0.94515242 -9.54951773] [ 0. 0. 0. 1. ]] SLAMing on 97.71165253199999 meters Centerline goodness [0,1] 0.4185885167464115 Centerline is valid? [False, False] Translation: X:-30.60, Y:-37.09, Z:-9.56 [[ 0.73359144 -0.60020447 -0.31874472 -30.59774856] [ 0.61001587 0.78829664 -0.08043034 -37.09000807] [ 0.29954004 -0.13543633 0.94442192 -9.55606628] [ 0. 0. 0. 1. ]] SLAMing on 97.74165253199999 meters Centerline goodness [0,1] 0.4234579126190362 Centerline is valid? [False, False] Translation: X:-30.60, Y:-37.09, Z:-9.56 [[ 0.73257304 -0.60291509 -0.31595906 -30.60271339] [ 0.61190772 0.78663456 -0.0823105 -37.09155001] [ 0.29817056 -0.13303933 0.94519567 -9.55649425] [ 0. 0. 0. 1. ]] SLAMing on 97.77165253199999 meters Centerline goodness [0,1] 0.42867454226114576 Centerline is valid? [False, False] Translation: X:-30.63, Y:-37.12, Z:-9.56 [[ 0.73215269 -0.60253302 -0.31765768 -30.62620848] [ 0.61221748 0.78654499 -0.08085011 -37.12272424] [ 0.29856692 -0.13528096 0.94475227 -9.56282364] [ 0. 0. 0. 1. ]] SLAMing on 97.80165253199999 meters Centerline goodness [0,1] 0.43397677828793957 Centerline is valid? [False, False] Translation: X:-30.63, Y:-37.12, Z:-9.56 [[ 0.73012867 -0.6064654 -0.31482035 -30.62758421] [ 0.61514167 0.78397173 -0.08360058 -37.12391472] [ 0.29751111 -0.13261994 0.94546237 -9.56333016] [ 0. 0. 0. 1. ]] SLAMing on 97.83165253199999 meters Centerline goodness [0,1] 0.43464264264264263 Centerline is valid? [False, False] Translation: X:-30.65, Y:-37.15, Z:-9.57 [[ 0.72925703 -0.60525432 -0.31914163 -30.64612444] [ 0.61495059 0.78427184 -0.08217942 -37.15000719] [ 0.30003324 -0.13632642 0.94413726 -9.56885529] [ 0. 0. 0. 1. ]] SLAMing on 97.861652532 meters Centerline goodness [0,1] 0.4378282452816614 Centerline is valid? [False, False] Translation: X:-30.65, Y:-37.15, Z:-9.57 [[ 0.72970674 -0.60489624 -0.31879243 -30.64795411] [ 0.61464516 0.78455526 -0.08175793 -37.15072452] [ 0.29956534 -0.13628491 0.94429181 -9.56924679] [ 0. 0. 0. 1. ]] SLAMing on 97.891652532 meters Centerline goodness [0,1] 0.4371430619608593 Centerline is valid? [False, False] Translation: X:-30.67, Y:-37.18, Z:-9.58 [[ 0.73096193 -0.60115355 -0.32296914 -30.67188975] [ 0.61245232 0.78664309 -0.07806925 -37.17874247] [ 0.30099304 -0.14073755 0.94318404 -9.57557507] [ 0. 0. 0. 1. ]] SLAMing on 97.921652532 meters Centerline goodness [0,1] 0.43708403902578663 Centerline is valid? [False, False] Translation: X:-30.68, Y:-37.18, Z:-9.58 [[ 0.7307362 -0.6036204 -0.31885265 -30.67854013] [ 0.61382083 0.78537528 -0.08006031 -37.18181409] [ 0.29874503 -0.13721543 0.94441693 -9.57880523] [ 0. 0. 0. 1. ]] SLAMing on 97.951652532 meters Centerline goodness [0,1] 0.43808704380870434 Centerline is valid? [False, False] Translation: X:-30.69, Y:-37.19, Z:-9.58 [[ 0.73059357 -0.60589949 -0.31483145 -30.68505351] [ 0.615111 0.78418891 -0.08176922 -37.18623732] [ 0.29643126 -0.13391623 0.94561882 -9.58144266] [ 0. 0. 0. 1. ]] SLAMing on 97.98165253199998 meters Centerline goodness [0,1] 0.4375179340028694 Centerline is valid? [False, False] Translation: X:-30.69, Y:-37.19, Z:-9.58 [[ 0.73069217 -0.60803003 -0.31046486 -30.69151374] [ 0.6162277 0.78313777 -0.08341855 -37.19194666] [ 0.29385774 -0.13036376 0.94691759 -9.58475942] [ 0. 0. 0. 1. ]] SLAMing on 98.01165253199999 meters Centerline goodness [0,1] 0.4471626372049645 Centerline is valid? [False, False] Translation: X:-30.71, Y:-37.21, Z:-9.59 [[ 0.73310063 -0.60819781 -0.30439923 -30.70828798] [ 0.61314105 0.7846938 -0.09117947 -37.2100068 ] [ 0.29431534 -0.11979593 0.94817056 -9.59380232] [ 0. 0. 0. 1. ]] SLAMing on 98.04165253199999 meters Centerline goodness [0,1] 0.43621418843038395 Centerline is valid? [False, False] Translation: X:-30.73, Y:-37.24, Z:-9.60 [[ 0.73355751 -0.60530896 -0.30902175 -30.72903761] [ 0.61146781 0.78628606 -0.08866431 -37.23598653] [ 0.29664879 -0.12391649 0.94691298 -9.60030835] [ 0. 0. 0. 1. ]] SLAMing on 98.07165253199999 meters Centerline goodness [0,1] 0.44745875846285876 Centerline is valid? [False, False] Translation: X:-30.75, Y:-37.26, Z:-9.61 [[ 0.73285132 -0.60366081 -0.31388304 -30.74817296] [ 0.61104812 0.78684332 -0.08658975 -37.26044051] [ 0.29924761 -0.12834023 0.94550497 -9.60544132] [ 0. 0. 0. 1. ]] SLAMing on 98.10165253199999 meters Centerline goodness [0,1] 0.45040859600219185 Centerline is valid? [False, False] Translation: X:-30.77, Y:-37.29, Z:-9.61 [[ 0.73277864 -0.60288322 -0.31554284 -30.77148156] [ 0.61108213 0.78703154 -0.08461664 -37.2880873 ] [ 0.29935612 -0.13081733 0.94513107 -9.61318177] [ 0. 0. 0. 1. ]] SLAMing on 98.13165253199999 meters Centerline goodness [0,1] 0.456120671137736 Centerline is valid? [False, False] Translation: X:-30.80, Y:-37.32, Z:-9.62 [[ 0.73331523 -0.60244045 -0.31514169 -30.79867438] [ 0.61071735 0.78737231 -0.08407836 -37.32288905] [ 0.29878605 -0.13080656 0.94531293 -9.62189978] [ 0. 0. 0. 1. ]] SLAMing on 98.16165253199999 meters Centerline goodness [0,1] 0.456120671137736 Centerline is valid? [False, False] Translation: X:-30.80, Y:-37.32, Z:-9.62 [[ 0.73174642 -0.60562427 -0.31267623 -30.80234528] [ 0.61308684 0.78529317 -0.08625058 -37.3229164 ] [ 0.29777795 -0.12858413 0.94593573 -9.6218651 ] [ 0. 0. 0. 1. ]] SLAMing on 98.19165253199999 meters Centerline goodness [0,1] 0.44010007147962826 Centerline is valid? [False, False] Translation: X:-30.81, Y:-37.33, Z:-9.63 [[ 0.73295009 -0.607295 -0.3065566 -30.81235161] [ 0.61293189 0.78502863 -0.08969136 -37.33210836] [ 0.29512482 -0.12215903 0.94761728 -9.62911933] [ 0. 0. 0. 1. ]] SLAMing on 98.221652532 meters Centerline goodness [0,1] 0.449656422981485 Centerline is valid? [False, False] Translation: X:-30.84, Y:-37.36, Z:-9.64 [[ 0.73386041 -0.60606897 -0.30680499 -30.83829231] [ 0.61227427 0.78576704 -0.08769472 -37.36311048] [ 0.2942263 -0.12349312 0.94772376 -9.63827914] [ 0. 0. 0. 1. ]] SLAMing on 98.251652532 meters Centerline goodness [0,1] 0.4515890437106318 Centerline is valid? [False, False] Translation: X:-30.86, Y:-37.39, Z:-9.65 [[ 0.73306967 -0.60622213 -0.30838869 -30.86126939] [ 0.61289611 0.7853662 -0.08693843 -37.39104042] [ 0.29490205 -0.1252783 0.94727933 -9.64538251] [ 0. 0. 0. 1. ]] SLAMing on 98.281652532 meters Centerline goodness [0,1] 0.4580248970556733 Centerline is valid? [False, False] Translation: X:-30.89, Y:-37.42, Z:-9.65 [[ 0.73349517 -0.605428 -0.30893651 -30.88826061] [ 0.61233835 0.78587732 -0.08624721 -37.42366009] [ 0.29500267 -0.12591176 0.94716401 -9.65376664] [ 0. 0. 0. 1. ]] SLAMing on 98.311652532 meters Centerline goodness [0,1] 0.46003052561289703 Centerline is valid? [False, False] Translation: X:-30.91, Y:-37.45, Z:-9.66 [[ 0.73214061 -0.60626115 -0.31051174 -30.9099884 ] [ 0.61336833 0.78504247 -0.08653098 -37.45093329] [ 0.29622528 -0.12710522 0.94662287 -9.66150462] [ 0. 0. 0. 1. ]] SLAMing on 98.341652532 meters Centerline goodness [0,1] 0.46937802465015377 Centerline is valid? [False, False] Translation: X:-30.92, Y:-37.46, Z:-9.67 [[ 0.73245646 -0.60923649 -0.30387238 -30.92035729] [ 0.61416463 0.78388659 -0.09123391 -37.45906125] [ 0.29378451 -0.1198028 0.9483343 -9.66851742] [ 0. 0. 0. 1. ]] SLAMing on 98.37165253199998 meters Centerline goodness [0,1] 0.4555294452752261 Centerline is valid? [False, False] Translation: X:-30.95, Y:-37.49, Z:-9.68 [[ 0.73487337 -0.60584525 -0.30481578 -30.94874237] [ 0.61119388 0.78640184 -0.089522 -37.49067322] [ 0.29394417 -0.12051421 0.94819468 -9.67964845] [ 0. 0. 0. 1. ]] SLAMing on 98.40165253199999 meters Centerline goodness [0,1] 0.45868229376734915 Centerline is valid? [False, False] Translation: X:-30.97, Y:-37.52, Z:-9.69 [[ 0.73525213 -0.60410774 -0.30734043 -30.97121888] [ 0.61018951 0.78736583 -0.08788515 -37.51662367] [ 0.29508145 -0.12291816 0.94753262 -9.68852667] [ 0. 0. 0. 1. ]] SLAMing on 98.43165253199999 meters Centerline goodness [0,1] 0.44426532644255845 Centerline is valid? [False, False] Translation: X:-30.99, Y:-37.54, Z:-9.70 [[ 0.73433163 -0.60353503 -0.31064857 -30.99121775] [ 0.61027943 0.7873809 -0.08712246 -37.54156979] [ 0.29718021 -0.12560565 0.94652372 -9.69569203] [ 0. 0. 0. 1. ]] SLAMing on 98.46165253199999 meters Centerline goodness [0,1] 0.44613233481846626 Centerline is valid? [False, False] Translation: X:-31.02, Y:-37.57, Z:-9.71 [[ 0.7349595 -0.60289973 -0.31039723 -31.01877348] [ 0.6094034 0.78800291 -0.08762938 -37.57284384] [ 0.29742565 -0.12475308 0.94655938 -9.70680557] [ 0. 0. 0. 1. ]] SLAMing on 98.49165253199999 meters Centerline goodness [0,1] 0.4448066520208821 Centerline is valid? [False, False] Translation: X:-31.05, Y:-37.60, Z:-9.72 [[ 0.73590928 -0.60192806 -0.31003249 -31.04581092] [ 0.60844527 0.78879059 -0.08719947 -37.6044816 ] [ 0.29703852 -0.1244669 0.9467186 -9.71768606] [ 0. 0. 0. 1. ]] SLAMing on 98.52165253199999 meters Centerline goodness [0,1] 0.4657937185691242 Centerline is valid? [False, False] Translation: X:-31.07, Y:-37.64, Z:-9.73 [[ 0.73601747 -0.60311309 -0.307462 -31.07480121] [ 0.60886366 0.78829188 -0.08877477 -37.6373675 ] [ 0.29591102 -0.12186265 0.94741024 -9.72976694] [ 0. 0. 0. 1. ]] SLAMing on 98.55165253199999 meters Centerline goodness [0,1] 0.4557432992866791 Centerline is valid? [False, False] Translation: X:-31.10, Y:-37.67, Z:-9.74 [[ 0.73749133 -0.60178945 -0.30652241 -31.10389174] [ 0.60729189 0.78949411 -0.08885721 -37.6702062 ] [ 0.29547098 -0.12061715 0.94770692 -9.74175001] [ 0. 0. 0. 1. ]] SLAMing on 98.58165253199999 meters Centerline goodness [0,1] 0.4536196956809375 Centerline is valid? [False, False] Translation: X:-31.13, Y:-37.70, Z:-9.75 [[ 0.73798183 -0.60048008 -0.30790664 -31.12917303] [ 0.60626028 0.79035152 -0.08827764 -37.69881727] [ 0.29636344 -0.12152427 0.94731228 -9.75161072] [ 0. 0. 0. 1. ]] SLAMing on 98.611652532 meters Centerline goodness [0,1] 0.4498349056603773 Centerline is valid? [False, False] Translation: X:-31.16, Y:-37.73, Z:-9.76 [[ 0.73865016 -0.59957029 -0.30807695 -31.15571362] [ 0.60539701 0.79104419 -0.08799747 -37.72747204] [ 0.29646315 -0.12150953 0.94728298 -9.76275208] [ 0. 0. 0. 1. ]] SLAMing on 98.641652532 meters Centerline goodness [0,1] 0.4488133358447919 Centerline is valid? [False, False] Translation: X:-31.18, Y:-37.76, Z:-9.77 [[ 0.74033629 -0.59780463 -0.30746024 -31.18454457] [ 0.60372325 0.79242879 -0.08703358 -37.75827031] [ 0.29566943 -0.12118678 0.94757235 -9.7743863 ] [ 0. 0. 0. 1. ]] SLAMing on 98.671652532 meters Centerline goodness [0,1] 0.44507201355549275 Centerline is valid? [False, False] Translation: X:-31.21, Y:-37.79, Z:-9.79 [[ 0.7427326 -0.59548649 -0.30617661 -31.2143756 ] [ 0.60152805 0.79425712 -0.08555483 -37.79017436] [ 0.2941297 -0.12062946 0.94812249 -9.78689389] [ 0. 0. 0. 1. ]] SLAMing on 98.701652532 meters Centerline goodness [0,1] 0.44295665270391116 Centerline is valid? [False, False] Translation: X:-31.24, Y:-37.82, Z:-9.80 [[ 0.74332685 -0.59582894 -0.30406096 -31.24314239] [ 0.60144031 0.79426481 -0.08609863 -37.82212515] [ 0.29280498 -0.1188751 0.9487539 -9.79847143] [ 0. 0. 0. 1. ]] SLAMing on 98.73165253199998 meters Centerline goodness [0,1] 0.4421022914412083 Centerline is valid? [False, False] Translation: X:-31.28, Y:-37.86, Z:-9.81 [[ 0.74533031 -0.59501217 -0.30073784 -31.27658413] [ 0.59991009 0.79534357 -0.08681295 -37.85730856] [ 0.29084467 -0.11571134 0.94974747 -9.81165075] [ 0. 0. 0. 1. ]] SLAMing on 98.76165253199999 meters Centerline goodness [0,1] 0.45022347682898145 Centerline is valid? [False, False] Translation: X:-31.30, Y:-37.89, Z:-9.82 [[ 0.74508261 -0.59512622 -0.30112571 -31.3015311 ] [ 0.6000389 0.79523093 -0.08695447 -37.88546403] [ 0.29121336 -0.11589887 0.94961162 -9.82148979] [ 0. 0. 0. 1. ]] SLAMing on 98.79165253199999 meters Centerline goodness [0,1] 0.43500903141054215 Centerline is valid? [False, False] Translation: X:-31.33, Y:-37.91, Z:-9.83 [[ 0.74601961 -0.59408545 -0.30086079 -31.32851144] [ 0.59899627 0.79605304 -0.08662 -37.91399223] [ 0.29096083 -0.11559427 0.94972615 -9.83295871] [ 0. 0. 0. 1. ]] SLAMing on 98.82165253199999 meters Centerline goodness [0,1] 0.44577550637659413 Centerline is valid? [False, False] Translation: X:-31.36, Y:-37.95, Z:-9.85 [[ 0.74901135 -0.59076004 -0.29997429 -31.35978748] [ 0.59528444 0.79881472 -0.08678416 -37.9460381 ] [ 0.29089249 -0.1135677 0.94999155 -9.84767378] [ 0. 0. 0. 1. ]] SLAMing on 98.85165253199999 meters Centerline goodness [0,1] 0.42817951603826676 Centerline is valid? [False, False] Translation: X:-31.39, Y:-37.98, Z:-9.86 [[ 0.74978382 -0.58966972 -0.3001897 -31.38549475] [ 0.5943072 0.7995979 -0.08626794 -37.97509347] [ 0.29090065 -0.11372259 0.94997052 -9.85871033] [ 0. 0. 0. 1. ]] SLAMing on 98.88165253199999 meters Centerline goodness [0,1] 0.4548626560194834 Centerline is valid? [False, False] Translation: X:-31.41, Y:-38.00, Z:-9.87 [[ 0.7485716 -0.5903594 -0.30185484 -31.40756751] [ 0.59519135 0.79891693 -0.08648123 -38.00116573] [ 0.29221195 -0.11492399 0.94942333 -9.86697749] [ 0. 0. 0. 1. ]] SLAMing on 98.91165253199999 meters Centerline goodness [0,1] 0.45854825096126794 Centerline is valid? [False, False] Translation: X:-31.43, Y:-38.03, Z:-9.87 [[ 0.74829487 -0.58980336 -0.30362277 -31.4315225 ] [ 0.59513386 0.7990665 -0.08548927 -38.02975744] [ 0.29303664 -0.11672501 0.94894931 -9.87440783] [ 0. 0. 0. 1. ]] SLAMing on 98.94165253199999 meters Centerline goodness [0,1] 0.44527153558052435 Centerline is valid? [False, False] Translation: X:-31.46, Y:-38.06, Z:-9.88 [[ 0.74893615 -0.5891582 -0.30329403 -31.45797382] [ 0.59471656 0.79948564 -0.08446848 -38.059979 ] [ 0.29224452 -0.11711248 0.94914583 -9.88433993] [ 0. 0. 0. 1. ]] SLAMing on 98.971652532 meters Centerline goodness [0,1] 0.4449930963469144 Centerline is valid? [False, False] Translation: X:-31.49, Y:-38.09, Z:-9.89 [[ 0.74914813 -0.58965168 -0.30180783 -31.48757594] [ 0.5947812 0.7993451 -0.08533894 -38.09408722] [ 0.29156886 -0.11557811 0.94954163 -9.89425793] [ 0. 0. 0. 1. ]] SLAMing on 99.001652532 meters Centerline goodness [0,1] 0.4320383805289024 Centerline is valid? [False, False] Translation: X:-31.51, Y:-38.12, Z:-9.90 [[ 0.74922498 -0.58962424 -0.30167066 -31.51239249] [ 0.59473732 0.79937887 -0.08532849 -38.12343952] [ 0.2914609 -0.11548456 0.94958615 -9.90485512] [ 0. 0. 0. 1. ]] SLAMing on 99.031652532 meters Centerline goodness [0,1] 0.43633221225710017 Centerline is valid? [False, False] Translation: X:-31.54, Y:-38.15, Z:-9.92 [[ 0.75060964 -0.5878176 -0.30175427 -31.53928896] [ 0.59318723 0.80065623 -0.0841339 -38.15406028] [ 0.29105683 -0.11584506 0.94966618 -9.91563514] [ 0. 0. 0. 1. ]] SLAMing on 99.061652532 meters Centerline goodness [0,1] 0.4354026845637584 Centerline is valid? [False, False] Translation: X:-31.57, Y:-38.19, Z:-9.93 [[ 0.75248529 -0.58546971 -0.30164731 -31.56725893] [ 0.59133793 0.80224927 -0.08194853 -38.18544969] [ 0.28997472 -0.11671043 0.94989123 -9.9262063 ] [ 0. 0. 0. 1. ]] SLAMing on 99.091652532 meters Centerline goodness [0,1] 0.43848499662453155 Centerline is valid? [False, False] Translation: X:-31.60, Y:-38.22, Z:-9.94 [[ 0.75323714 -0.5849855 -0.30070879 -31.59646266] [ 0.59082625 0.80266865 -0.08153153 -38.21973117] [ 0.28906428 -0.11625407 0.95022462 -9.93577105] [ 0. 0. 0. 1. ]] SLAMing on 99.12165253199998 meters Centerline goodness [0,1] 0.40916393099112947 Centerline is valid? [False, False] Translation: X:-31.62, Y:-38.25, Z:-9.94 [[ 0.75245335 -0.58551645 -0.30163627 -31.61939932] [ 0.59159291 0.80213017 -0.08127121 -38.24949401] [ 0.28953719 -0.11729308 0.94995292 -9.94350129] [ 0. 0. 0. 1. ]] SLAMing on 99.15165253199999 meters Centerline goodness [0,1] 0.4385772338736046 Centerline is valid? [False, False] Translation: X:-31.64, Y:-38.28, Z:-9.95 [[ 0.75264069 -0.58542863 -0.3013392 -31.64474842] [ 0.59149582 0.8022136 -0.08115437 -38.28182904] [ 0.2892485 -0.1171608 0.95005718 -9.95277475] [ 0. 0. 0. 1. ]] SLAMing on 99.18165253199999 meters Centerline goodness [0,1] 0.4379539809738038 Centerline is valid? [False, False] Translation: X:-31.67, Y:-38.31, Z:-9.96 [[ 0.75181409 -0.58616607 -0.3019684 -31.66790547] [ 0.59242137 0.80154907 -0.08096918 -38.31266122] [ 0.28950387 -0.11801876 0.94987319 -9.9602462 ] [ 0. 0. 0. 1. ]] SLAMing on 99.21165253199999 meters Centerline goodness [0,1] 0.44284235781154446 Centerline is valid? [False, False] Translation: X:-31.69, Y:-38.34, Z:-9.97 [[ 0.75005736 -0.58734459 -0.30403996 -31.6885949 ] [ 0.59383631 0.80046205 -0.08135692 -38.34047381] [ 0.291157 -0.11952761 0.94917899 -9.96659315] [ 0. 0. 0. 1. ]] SLAMing on 99.24165253199999 meters Centerline goodness [0,1] 0.43702343970629765 Centerline is valid? [False, False] Translation: X:-31.71, Y:-38.37, Z:-9.98 [[ 0.75026908 -0.58577333 -0.3065386 -31.7130411 ] [ 0.59266728 0.80138397 -0.08080364 -38.37068279] [ 0.29298774 -0.12105093 0.9484223 -9.97514318] [ 0. 0. 0. 1. ]] SLAMing on 99.27165253199999 meters Centerline goodness [0,1] 0.4254741908087194 Centerline is valid? [False, False] Translation: X:-31.73, Y:-38.40, Z:-9.98 [[ 0.74948977 -0.58573471 -0.30851245 -31.73479779] [ 0.59301564 0.80116474 -0.08042087 -38.39728578] [ 0.29427459 -0.12267808 0.94781462 -9.98354425] [ 0. 0. 0. 1. ]] SLAMing on 99.30165253199999 meters Centerline goodness [0,1] 0.4306410377805132 Centerline is valid? [False, False] Translation: X:-31.76, Y:-38.43, Z:-9.99 [[ 0.7486451 -0.58570778 -0.31060733 -31.75688034] [ 0.59344464 0.80090025 -0.07988892 -38.42516049] [ 0.29555705 -0.12451981 0.94717519 -9.99080946] [ 0. 0. 0. 1. ]] SLAMing on 99.33165253199999 meters Centerline goodness [0,1] 0.4375846259828491 Centerline is valid? [False, False] Translation: X:-31.78, Y:-38.46, Z:-10.00 [[ 0.74671064 -0.58788173 -0.31115637 -31.78000131] [ 0.59525271 0.79936481 -0.08179307 -38.45592813] [ 0.2968121 -0.12414091 0.94683241 -9.99884122] [ 0. 0. 0. 1. ]] SLAMing on 99.361652532 meters Centerline goodness [0,1] 0.4381024740016145 Centerline is valid? [False, False] Translation: X:-31.80, Y:-38.48, Z:-10.01 [[ 0.74646155 -0.58716302 -0.31310499 -31.80322052] [ 0.59495651 0.79964952 -0.08116278 -38.48343759] [ 0.29803004 -0.12569895 0.94624409 -10.0072472 ] [ 0. 0. 0. 1. ]] SLAMing on 99.391652532 meters Centerline goodness [0,1] 0.4371540563012234 Centerline is valid? [False, False] Translation: X:-31.82, Y:-38.49, Z:-10.02 [[ 0.74751937 -0.58938139 -0.30634029 -31.81542932] [ 0.59476453 0.79924543 -0.08638229 -38.49250319] [ 0.29575319 -0.1176279 0.94799458 -10.01590579] [ 0. 0. 0. 1. ]] SLAMing on 99.421652532 meters Centerline goodness [0,1] 0.43953377735490007 Centerline is valid? [False, False] Translation: X:-31.84, Y:-38.52, Z:-10.02 [[ 0.74665561 -0.58874458 -0.30965339 -31.83656412] [ 0.59496116 0.79924703 -0.08500237 -38.51886096] [ 0.29753424 -0.12076424 0.94704244 -10.0217769 ] [ 0. 0. 0. 1. ]] SLAMing on 99.451652532 meters Centerline goodness [0,1] 0.43870429915445996 Centerline is valid? [False, False] Translation: X:-31.86, Y:-38.55, Z:-10.03 [[ 0.74715209 -0.58778597 -0.31027635 -31.86305014] [ 0.59440157 0.79979133 -0.08378903 -38.55191822] [ 0.29740635 -0.1218256 0.94694666 -10.02998908] [ 0. 0. 0. 1. ]] SLAMing on 99.48165253199998 meters Centerline goodness [0,1] 0.44454519423499095 Centerline is valid? [False, False] Translation: X:-31.88, Y:-38.58, Z:-10.03 [[ 0.74344933 -0.59077565 -0.31347605 -31.88029132] [ 0.59770011 0.79721191 -0.08489848 -38.57590172] [ 0.3000628 -0.12424695 0.94579332 -10.033674 ] [ 0. 0. 0. 1. ]] SLAMing on 99.51165253199999 meters Centerline goodness [0,1] 0.4490557909097437 Centerline is valid? [False, False] Translation: X:-31.90, Y:-38.60, Z:-10.04 [[ 0.7415297 -0.59157161 -0.31650709 -31.90054034] [ 0.59902132 0.79623147 -0.08478748 -38.6023656 ] [ 0.30217077 -0.12672206 0.94479328 -10.03901616] [ 0. 0. 0. 1. ]] SLAMing on 99.54165253199999 meters Centerline goodness [0,1] 0.4456581494849057 Centerline is valid? [False, False] Translation: X:-31.93, Y:-38.63, Z:-10.05 [[ 0.74252062 -0.58933747 -0.31834647 -31.92684395] [ 0.59744341 0.79759833 -0.08305582 -38.63384453] [ 0.30286052 -0.12852334 0.944329 -10.04771569] [ 0. 0. 0. 1. ]] SLAMing on 99.57165253199999 meters Centerline goodness [0,1] 0.4451327433628318 Centerline is valid? [False, False] Translation: X:-31.95, Y:-38.66, Z:-10.06 [[ 0.74288427 -0.58703181 -0.32173999 -31.94881853] [ 0.59623349 0.79874694 -0.08067813 -38.65975681] [ 0.30434946 -0.13189765 0.94338455 -10.05551848] [ 0. 0. 0. 1. ]] SLAMing on 99.60165253199999 meters Centerline goodness [0,1] 0.44814823658635594 Centerline is valid? [False, False] Translation: X:-31.97, Y:-38.69, Z:-10.06 [[ 0.74324763 -0.58462317 -0.32526714 -31.97072441] [ 0.59497044 0.79993078 -0.0782363 -38.68594832] [ 0.30592995 -0.13537539 0.94238016 -10.06301987] [ 0. 0. 0. 1. ]] SLAMing on 99.63165253199999 meters Centerline goodness [0,1] 0.4393686120928455 Centerline is valid? [False, False] Translation: X:-31.98, Y:-38.70, Z:-10.07 [[ 0.74432277 -0.58683337 -0.31876357 -31.98249461] [ 0.59486438 0.79953983 -0.08290015 -38.69576218] [ 0.30351274 -0.12791662 0.94420197 -10.07079326] [ 0. 0. 0. 1. ]] SLAMing on 99.66165253199999 meters Centerline goodness [0,1] 0.4365145823862957 Centerline is valid? [False, False] Translation: X:-32.01, Y:-38.73, Z:-10.08 [[ 0.743493 -0.58756392 -0.31935372 -32.00675112] [ 0.59560903 0.79894445 -0.08329257 -38.72743773] [ 0.30408559 -0.12828252 0.94396798 -10.07911678] [ 0. 0. 0. 1. ]] SLAMing on 99.69165253199999 meters Centerline goodness [0,1] 0.43636668102004694 Centerline is valid? [False, False] Translation: X:-32.03, Y:-38.76, Z:-10.09 [[ 0.74384602 -0.58644164 -0.32059211 -32.03141852] [ 0.59515306 0.79946589 -0.08152993 -38.75657697] [ 0.304115 -0.13015566 0.94370205 -10.08714093] [ 0. 0. 0. 1. ]] SLAMing on 99.721652532 meters Centerline goodness [0,1] 0.4377441698823191 Centerline is valid? [False, False] Translation: X:-32.05, Y:-38.78, Z:-10.10 [[ 0.7432322 -0.58649847 -0.32190907 -32.05478119] [ 0.59564963 0.79917123 -0.08078901 -38.78425606] [ 0.3046431 -0.13170002 0.94331738 -10.09524627] [ 0. 0. 0. 1. ]] SLAMing on 99.751652532 meters Centerline goodness [0,1] 0.44212940839147474 Centerline is valid? [False, False] Translation: X:-32.08, Y:-38.81, Z:-10.10 [[ 0.74215486 -0.5862398 -0.32485237 -32.07703547] [ 0.59598942 0.79897128 -0.08025898 -38.81119098] [ 0.30659872 -0.13404398 0.94235314 -10.10216679] [ 0. 0. 0. 1. ]] SLAMing on 99.781652532 meters Centerline goodness [0,1] 0.4422538581169997 Centerline is valid? [False, False] Translation: X:-32.10, Y:-38.83, Z:-10.11 [[ 0.74090035 -0.58488879 -0.33010874 -32.09536553] [ 0.59604799 0.79913767 -0.07813939 -38.83264905] [ 0.30950519 -0.13886715 0.94070317 -10.10705677] [ 0. 0. 0. 1. ]] SLAMing on 99.811652532 meters Centerline goodness [0,1] 0.440094813963511 Centerline is valid? [False, False] Translation: X:-32.12, Y:-38.86, Z:-10.11 [[ 0.74029428 -0.58335293 -0.33416124 -32.11606495] [ 0.59582464 0.7995312 -0.07578166 -38.85684842] [ 0.31137979 -0.14300077 0.93946443 -10.11272166] [ 0. 0. 0. 1. ]] SLAMing on 99.841652532 meters Centerline goodness [0,1] 0.4403163950143816 Centerline is valid? [False, False] Translation: X:-32.12, Y:-38.86, Z:-10.11 [[ 0.73933553 -0.58617993 -0.3313247 -32.1210123 ] [ 0.59775619 0.79789644 -0.07777412 -38.85847322] [ 0.30995243 -0.14055022 0.94030587 -10.11335149] [ 0. 0. 0. 1. ]] SLAMing on 99.87165253199998 meters Centerline goodness [0,1] 0.43976221295364115 Centerline is valid? [False, False] Translation: X:-32.14, Y:-38.87, Z:-10.12 [[ 0.74149691 -0.58751651 -0.32404736 -32.1362707 ] [ 0.59607285 0.79854068 -0.0838447 -38.87302836] [ 0.30802514 -0.13098525 0.94231809 -10.12366275] [ 0. 0. 0. 1. ]] SLAMing on 99.90165253199999 meters Centerline goodness [0,1] 0.42723004694835676 Centerline is valid? [False, False] Translation: X:-32.16, Y:-38.90, Z:-10.13 [[ 0.74017084 -0.58678941 -0.32836766 -32.15510482] [ 0.59640927 0.7984362 -0.08243554 -38.89627107] [ 0.31055293 -0.13482513 0.94094583 -10.12920524] [ 0. 0. 0. 1. ]] SLAMing on 99.93165253199999 meters Centerline goodness [0,1] 0.42891052076340275 Centerline is valid? [False, False] Translation: X:-32.18, Y:-38.92, Z:-10.14 [[ 0.74032961 -0.5846092 -0.33187972 -32.17729312] [ 0.59546472 0.79940393 -0.07984436 -38.92303591] [ 0.3119837 -0.13851152 0.93993656 -10.13567065] [ 0. 0. 0. 1. ]] SLAMing on 99.96165253199999 meters Centerline goodness [0,1] 0.42656489280245025 Centerline is valid? [False, False] Translation: X:-32.18, Y:-38.93, Z:-10.14 [[ 0.74107272 -0.58466151 -0.33012443 -32.18371972] [ 0.59531636 0.7995365 -0.07962304 -38.92710091] [ 0.31049906 -0.13752201 0.94057325 -10.13589097] [ 0. 0. 0. 1. ]] SLAMing on 99.99165253199999 meters Centerline goodness [0,1] 0.4242763816699251 Centerline is valid? [False, False] Translation: X:-32.21, Y:-38.96, Z:-10.15 [[ 0.74251807 -0.58273119 -0.33028968 -32.2119064 ] [ 0.59421998 0.80063611 -0.07671011 -38.95846748] [ 0.30914322 -0.13930608 0.94075729 -10.14517409] [ 0. 0. 0. 1. ]] SLAMing on 100.02165253199999 meters Centerline goodness [0,1] 0.42645834819623785 Centerline is valid? [False, False] Translation: X:-32.23, Y:-38.98, Z:-10.15 [[ 0.74213729 -0.58145459 -0.33338086 -32.23343151] [ 0.59394035 0.8010153 -0.07489555 -38.98433037] [ 0.31059153 -0.14242557 0.93981267 -10.15199231] [ 0. 0. 0. 1. ]] SLAMing on 100.05165253199999 meters Centerline goodness [0,1] 0.4253328878919487 Centerline is valid? [False, False] Translation: X:-32.26, Y:-39.02, Z:-10.16 [[ 0.74262347 -0.58077423 -0.33348415 -32.26014367] [ 0.59329365 0.80151439 -0.07468154 -39.01558908] [ 0.31066546 -0.14239376 0.93979306 -10.16266243] [ 0. 0. 0. 1. ]] SLAMing on 100.08165253199999 meters Centerline goodness [0,1] 0.4253328878919487 Centerline is valid? [False, False] Translation: X:-32.26, Y:-39.02, Z:-10.16 [[ 0.74112244 -0.58399807 -0.33118543 -32.2636561 ] [ 0.59565427 0.7995475 -0.07694014 -39.01547673] [ 0.30973137 -0.14024995 0.94042354 -10.16259326] [ 0. 0. 0. 1. ]] SLAMing on 100.111652532 meters Centerline goodness [0,1] 0.42651996856469243 Centerline is valid? [False, False] Translation: X:-32.27, Y:-39.02, Z:-10.17 [[ 0.74205231 -0.58569279 -0.32607105 -32.27214407] [ 0.59584211 0.79915912 -0.07947876 -39.02016949] [ 0.30713279 -0.13530947 0.9419983 -10.1692436 ] [ 0. 0. 0. 1. ]] SLAMing on 100.141652532 meters Centerline goodness [0,1] 0.4267424981557718 Centerline is valid? [False, False] Translation: X:-32.29, Y:-39.05, Z:-10.18 [[ 0.74241476 -0.58358806 -0.32900655 -32.29430453] [ 0.59474864 0.80018745 -0.07729231 -39.04501853] [ 0.30837378 -0.13829324 0.94115917 -10.17787183] [ 0. 0. 0. 1. ]] SLAMing on 100.171652532 meters Centerline goodness [0,1] 0.4216491654165774 Centerline is valid? [False, False] Translation: X:-32.32, Y:-39.07, Z:-10.19 [[ 0.74246204 -0.58168696 -0.33225052 -32.31622706] [ 0.59379048 0.80106481 -0.07555161 -39.06975839] [ 0.31010159 -0.14119299 0.94016038 -10.18599047] [ 0. 0. 0. 1. ]] SLAMing on 100.201652532 meters Centerline goodness [0,1] 0.4248235545733229 Centerline is valid? [False, False] Translation: X:-32.32, Y:-39.07, Z:-10.19 [[ 0.74419036 -0.58135802 -0.3289431 -32.32484636] [ 0.59260681 0.8018544 -0.07646369 -39.07477225] [ 0.30821725 -0.13803038 0.94124903 -10.19036949] [ 0. 0. 0. 1. ]] SLAMing on 100.23165253199998 meters Centerline goodness [0,1] 0.423976816551462 Centerline is valid? [False, False] Translation: X:-32.34, Y:-39.09, Z:-10.20 [[ 0.74654502 -0.58202594 -0.32236058 -32.34222722] [ 0.59034795 0.8029202 -0.08251337 -39.08765711] [ 0.30685474 -0.12870496 0.94301389 -10.1998268 ] [ 0. 0. 0. 1. ]] SLAMing on 100.26165253199999 meters Centerline goodness [0,1] 0.4224221847622214 Centerline is valid? [False, False] Translation: X:-32.35, Y:-39.09, Z:-10.21 [[ 0.74828935 -0.58210684 -0.31814253 -32.35204067] [ 0.58931579 0.80351463 -0.08409009 -39.093915 ] [ 0.3045816 -0.1245627 0.94430619 -10.20509184] [ 0. 0. 0. 1. ]] SLAMing on 100.29165253199999 meters Centerline goodness [0,1] 0.423811217834697 Centerline is valid? [False, False] Translation: X:-32.36, Y:-39.10, Z:-10.21 [[ 0.74818633 -0.58473977 -0.31352291 -32.35917912] [ 0.59069187 0.80223631 -0.08660259 -39.09603239] [ 0.30215944 -0.12040056 0.94562327 -10.20978377] [ 0. 0. 0. 1. ]] SLAMing on 100.32165253199999 meters Centerline goodness [0,1] 0.4250773920646549 Centerline is valid? [False, False] Translation: X:-32.38, Y:-39.11, Z:-10.21 [[ 0.75098708 -0.58027365 -0.31512043 -32.3787311 ] [ 0.58393501 0.80641611 -0.09334327 -39.11262193] [ 0.30828283 -0.11391026 0.94445018 -10.21390319] [ 0. 0. 0. 1. ]] SLAMing on 100.35165253199999 meters Centerline goodness [0,1] 0.42308600576205546 Centerline is valid? [False, False] Translation: X:-32.39, Y:-39.12, Z:-10.22 [[ 0.75206214 -0.58229575 -0.30876237 -32.39245561] [ 0.58326521 0.80614755 -0.09963848 -39.12148166] [ 0.30692709 -0.10515602 0.9459059 -10.22234552] [ 0. 0. 0. 1. ]] SLAMing on 100.38165253199999 meters Centerline goodness [0,1] 0.42241867043847237 Centerline is valid? [False, False] Translation: X:-32.41, Y:-39.14, Z:-10.23 [[ 0.75191252 -0.57871785 -0.31577398 -32.41115618] [ 0.58160622 0.80783261 -0.09560685 -39.14425827] [ 0.31042191 -0.11176813 0.94400536 -10.22527683] [ 0. 0. 0. 1. ]] SLAMing on 100.41165253199999 meters Centerline goodness [0,1] 0.4154694325694396 Centerline is valid? [False, False] Translation: X:-32.43, Y:-39.16, Z:-10.23 [[ 0.75826896 -0.57084989 -0.31489456 -32.43478857] [ 0.57220173 0.81421635 -0.09816781 -39.1624874 ] [ 0.31243139 -0.10574561 0.94403628 -10.23158961] [ 0. 0. 0. 1. ]] SLAMing on 100.44165253199999 meters Centerline goodness [0,1] 0.41337279761349865 Centerline is valid? [False, False] Translation: X:-32.46, Y:-39.19, Z:-10.23 [[ 0.75909352 -0.56581845 -0.32191072 -32.45532077] [ 0.56941373 0.8167825 -0.09292122 -39.18528353] [ 0.31550758 -0.11276449 0.9421991 -10.23496509] [ 0. 0. 0. 1. ]] SLAMing on 100.471652532 meters Centerline goodness [0,1] 0.41395564843840704 Centerline is valid? [False, False] Translation: X:-32.48, Y:-39.21, Z:-10.24 [[ 0.76043679 -0.56133921 -0.32654888 -32.47806811] [ 0.56699475 0.81905139 -0.0875887 -39.20907113] [ 0.31662728 -0.11854583 0.9411132 -10.24099321] [ 0. 0. 0. 1. ]] SLAMing on 100.501652532 meters Centerline goodness [0,1] 0.41795228167709053 Centerline is valid? [False, False] Translation: X:-32.48, Y:-39.21, Z:-10.24 [[ 0.76124716 -0.56048314 -0.32613098 -32.48227745] [ 0.56626139 0.81963623 -0.086859 -39.20975328] [ 0.31599177 -0.11855422 0.94132571 -10.24083327] [ 0. 0. 0. 1. ]] SLAMing on 100.531652532 meters Centerline goodness [0,1] 0.412849549341345 Centerline is valid? [False, False] Translation: X:-32.49, Y:-39.21, Z:-10.24 [[ 0.76203215 -0.55965182 -0.3257251 -32.48574232] [ 0.56558143 0.82019047 -0.08605369 -39.2112634 ] [ 0.31531673 -0.11864839 0.94154018 -10.24066675] [ 0. 0. 0. 1. ]] SLAMing on 100.561652532 meters Centerline goodness [0,1] 0.40932129198728284 Centerline is valid? [False, False] Translation: X:-32.51, Y:-39.24, Z:-10.25 [[ 0.76167086 -0.55983458 -0.32625565 -32.51071762] [ 0.56592164 0.81997808 -0.08584082 -39.23766443] [ 0.31557914 -0.11925268 0.94137591 -10.25052266] [ 0. 0. 0. 1. ]] SLAMing on 100.59165253199998 meters Centerline goodness [0,1] 0.4134688340652519 Centerline is valid? [False, False] Translation: X:-32.51, Y:-39.24, Z:-10.25 [[ 0.76235707 -0.5590595 -0.32598186 -32.51379402] [ 0.56529463 0.82048656 -0.08511041 -39.23873849] [ 0.31504552 -0.11939127 0.94153707 -10.25035798] [ 0. 0. 0. 1. ]] SLAMing on 100.62165253199998 meters Centerline goodness [0,1] 0.4084121396194289 Centerline is valid? [False, False] Translation: X:-32.53, Y:-39.26, Z:-10.26 [[ 0.76127961 -0.55751004 -0.33111314 -32.53247254] [ 0.56519152 0.82081582 -0.0825829 -39.26105008] [ 0.3178237 -0.12427366 0.93997029 -10.25519572] [ 0. 0. 0. 1. ]] SLAMing on 100.65165253199999 meters Centerline goodness [0,1] 0.4109196719057875 Centerline is valid? [False, False] Translation: X:-32.56, Y:-39.29, Z:-10.26 [[ 0.7624792 -0.55400668 -0.3342186 -32.55742745] [ 0.5632521 0.82254954 -0.07848138 -39.2860898 ] [ 0.31839056 -0.1284089 0.93922234 -10.26297057] [ 0. 0. 0. 1. ]] SLAMing on 100.68165253199999 meters Centerline goodness [0,1] 0.4043629538067115 Centerline is valid? [False, False] Translation: X:-32.58, Y:-39.31, Z:-10.27 [[ 0.76293394 -0.55177407 -0.33686375 -32.58022544] [ 0.56234961 0.82347227 -0.07520857 -39.3102546 ] [ 0.31889609 -0.13205603 0.93854488 -10.27123776] [ 0. 0. 0. 1. ]] SLAMing on 100.71165253199999 meters Centerline goodness [0,1] 0.40968589377498577 Centerline is valid? [False, False] Translation: X:-32.58, Y:-39.31, Z:-10.27 [[ 0.76375394 -0.55080489 -0.33659157 -32.58395597] [ 0.56158659 0.82407946 -0.07425328 -39.31163062] [ 0.31827727 -0.13231408 0.93871858 -10.27095291] [ 0. 0. 0. 1. ]] SLAMing on 100.74165253199999 meters Centerline goodness [0,1] 0.4092568091610018 Centerline is valid? [False, False] Translation: X:-32.59, Y:-39.31, Z:-10.27 [[ 0.76209022 -0.55475831 -0.33385881 -32.58692675] [ 0.5645002 0.82183076 -0.07703065 -39.3129839 ] [ 0.31710884 -0.12975907 0.93947037 -10.27099176] [ 0. 0. 0. 1. ]] SLAMing on 100.77165253199999 meters Centerline goodness [0,1] 0.4083758891118001 Centerline is valid? [False, False] Translation: X:-32.59, Y:-39.31, Z:-10.27 [[ 0.76279836 -0.55395371 -0.33357749 -32.589861 ] [ 0.56384098 0.82235236 -0.0762886 -39.31405381] [ 0.31657859 -0.12989184 0.93963083 -10.27097526] [ 0. 0. 0. 1. ]] SLAMing on 100.80165253199999 meters Centerline goodness [0,1] 0.4073602039190696 Centerline is valid? [False, False] Translation: X:-32.59, Y:-39.32, Z:-10.27 [[ 0.76373086 -0.5528544 -0.33326744 -32.59391528] [ 0.56293033 0.82306372 -0.07533629 -39.31517846] [ 0.31595034 -0.1300697 0.93981767 -10.27093453] [ 0. 0. 0. 1. ]] SLAMing on 100.83165253199999 meters Centerline goodness [0,1] 0.4075018208302986 Centerline is valid? [False, False] Translation: X:-32.60, Y:-39.32, Z:-10.27 [[ 0.76408644 -0.55262949 -0.33282512 -32.59593649] [ 0.56285552 0.82317825 -0.07464072 -39.31725854] [ 0.31522307 -0.1303005 0.94002989 -10.27063648] [ 0. 0. 0. 1. ]] SLAMing on 100.861652532 meters Centerline goodness [0,1] 0.39742598572013277 Centerline is valid? [False, False] Translation: X:-32.60, Y:-39.32, Z:-10.27 [[ 0.76378816 -0.55385439 -0.3314709 -32.60097524] [ 0.5636695 0.82253817 -0.07554898 -39.32027708] [ 0.3144906 -0.12913662 0.94043575 -10.2691074 ] [ 0. 0. 0. 1. ]] SLAMing on 100.891652532 meters Centerline goodness [0,1] 0.4083266977590718 Centerline is valid? [False, False] Translation: X:-32.61, Y:-39.32, Z:-10.27 [[ 0.76270882 -0.55659615 -0.32935692 -32.60512947] [ 0.56571287 0.82096725 -0.07734166 -39.3228264 ] [ 0.31343932 -0.12733228 0.94103256 -10.26808874] [ 0. 0. 0. 1. ]] SLAMing on 100.921652532 meters Centerline goodness [0,1] 0.4038229605188304 Centerline is valid? [False, False] Translation: X:-32.61, Y:-39.32, Z:-10.27 [[ 0.76302115 -0.55608249 -0.32950112 -32.60588664] [ 0.56538523 0.82125044 -0.07672843 -39.32489061] [ 0.31327028 -0.12774965 0.94103228 -10.26722388] [ 0. 0. 0. 1. ]] SLAMing on 100.951652532 meters Centerline goodness [0,1] 0.40052284610138666 Centerline is valid? [False, False] Translation: X:-32.63, Y:-39.35, Z:-10.27 [[ 0.76182199 -0.55663939 -0.33133041 -32.62817574] [ 0.56696396 0.82035755 -0.07460139 -39.35110085] [ 0.31333548 -0.13101942 0.94056089 -10.27330703] [ 0. 0. 0. 1. ]] SLAMing on 100.98165253199998 meters Centerline goodness [0,1] 0.40270042961380215 Centerline is valid? [False, False] Translation: X:-32.63, Y:-39.36, Z:-10.28 [[ 0.76304474 -0.5564763 -0.32878085 -32.63291994] [ 0.56703208 0.82047996 -0.0727135 -39.35580615] [ 0.31022144 -0.13094564 0.94160283 -10.27658259] [ 0. 0. 0. 1. ]] SLAMing on 101.01165253199999 meters Centerline goodness [0,1] 0.41040107377664536 Centerline is valid? [False, False] Translation: X:-32.65, Y:-39.38, Z:-10.28 [[ 0.76208923 -0.55523276 -0.33307144 -32.65140896] [ 0.56720821 0.82058466 -0.07011173 -39.37795111] [ 0.31224164 -0.13548946 0.94029132 -10.28245772] [ 0. 0. 0. 1. ]] SLAMing on 101.04165253199999 meters Centerline goodness [0,1] 0.40978066096581756 Centerline is valid? [False, False] Translation: X:-32.65, Y:-39.38, Z:-10.28 [[ 0.76292122 -0.55422321 -0.33284808 -32.65402955] [ 0.5664125 0.82121739 -0.06912951 -39.37984349] [ 0.31165381 -0.13578895 0.94044312 -10.28241015] [ 0. 0. 0. 1. ]] SLAMing on 101.07165253199999 meters Centerline goodness [0,1] 0.4126032870244257 Centerline is valid? [False, False] Translation: X:-32.68, Y:-39.41, Z:-10.29 [[ 0.76312906 -0.55404437 -0.33266932 -32.67883985] [ 0.56684551 0.82108257 -0.06715345 -39.40964439] [ 0.31035497 -0.13732536 0.94064953 -10.29182943] [ 0. 0. 0. 1. ]] SLAMing on 101.10165253199999 meters Centerline goodness [0,1] 0.4031300470871909 Centerline is valid? [False, False] Translation: X:-32.68, Y:-39.41, Z:-10.29 [[ 0.76175985 -0.55754099 -0.3299545 -32.68191213] [ 0.56936615 0.81912915 -0.06963932 -39.41114417] [ 0.30910212 -0.13481649 0.94142466 -10.29235185] [ 0. 0. 0. 1. ]] SLAMing on 101.13165253199999 meters Centerline goodness [0,1] 0.39352158330860365 Centerline is valid? [False, False] Translation: X:-32.68, Y:-39.41, Z:-10.29 [[ 0.76026539 -0.56110767 -0.32734496 -32.68396824] [ 0.57201918 0.81707144 -0.07203003 -39.41352562] [ 0.30788082 -0.13248566 0.94215548 -10.29263089] [ 0. 0. 0. 1. ]] SLAMing on 101.16165253199999 meters Centerline goodness [0,1] 0.41509347507331373 Centerline is valid? [False, False] Translation: X:-32.70, Y:-39.44, Z:-10.30 [[ 0.75799272 -0.5635795 -0.32836746 -32.70375795] [ 0.57417788 0.81537729 -0.07402461 -39.4428075 ] [ 0.30946213 -0.13243122 0.94164493 -10.30130901] [ 0. 0. 0. 1. ]] SLAMing on 101.19165253199999 meters Centerline goodness [0,1] 0.4043187236383642 Centerline is valid? [False, False] Translation: X:-32.72, Y:-39.47, Z:-10.31 [[ 0.75737291 -0.56202078 -0.33244386 -32.72246837] [ 0.57368409 0.8158765 -0.0723333 -39.46777455] [ 0.31188595 -0.13593447 0.94034514 -10.30848062] [ 0. 0. 0. 1. ]] SLAMing on 101.221652532 meters Centerline goodness [0,1] 0.4120969964177459 Centerline is valid? [False, False] Translation: X:-32.74, Y:-39.49, Z:-10.31 [[ 0.75475238 -0.56224389 -0.33798027 -32.73759503] [ 0.5751992 0.81491329 -0.07114928 -39.48948023] [ 0.31542786 -0.14070589 0.93845997 -10.31191771] [ 0. 0. 0. 1. ]] SLAMing on 101.251652532 meters Centerline goodness [0,1] 0.41211841953691974 Centerline is valid? [False, False] Translation: X:-32.76, Y:-39.51, Z:-10.32 [[ 0.75270827 -0.56344184 -0.34053422 -32.75695056] [ 0.57689071 0.81371158 -0.07120797 -39.51463036] [ 0.31721818 -0.1428522 0.9375318 -10.31904285] [ 0. 0. 0. 1. ]] SLAMing on 101.281652532 meters Centerline goodness [0,1] 0.4197425091464827 Centerline is valid? [False, False] Translation: X:-32.78, Y:-39.55, Z:-10.33 [[ 0.75091949 -0.56612239 -0.3400373 -32.78037264] [ 0.57953466 0.81178588 -0.07171651 -39.54629764] [ 0.3166378 -0.14321008 0.93767338 -10.32713904] [ 0. 0. 0. 1. ]] SLAMing on 101.311652532 meters Centerline goodness [0,1] 0.42302962808287514 Centerline is valid? [False, False] Translation: X:-32.80, Y:-39.57, Z:-10.34 [[ 0.7503984 -0.56721725 -0.3393624 -32.80387848] [ 0.58094336 0.81086624 -0.07071598 -39.57441418] [ 0.31528884 -0.14408518 0.93799382 -10.33729971] [ 0. 0. 0. 1. ]] SLAMing on 101.34165253199998 meters Centerline goodness [0,1] 0.4225375005805043 Centerline is valid? [False, False] Translation: X:-32.82, Y:-39.60, Z:-10.34 [[ 0.74886021 -0.56854106 -0.34054287 -32.8249925 ] [ 0.58278072 0.80960081 -0.07009398 -39.60153317] [ 0.31555508 -0.14597123 0.9376126 -10.34480691] [ 0. 0. 0. 1. ]] SLAMing on 101.37165253199998 meters Centerline goodness [0,1] 0.425638399404083 Centerline is valid? [False, False] Translation: X:-32.85, Y:-39.63, Z:-10.35 [[ 0.74805838 -0.56962543 -0.34049306 -32.84779424] [ 0.58411321 0.80868327 -0.06959255 -39.63029804] [ 0.31499273 -0.1468272 0.93766804 -10.35433445] [ 0. 0. 0. 1. ]] SLAMing on 101.40165253199999 meters Centerline goodness [0,1] 0.43666877030596263 Centerline is valid? [False, False] Translation: X:-32.87, Y:-39.66, Z:-10.36 [[ 0.74563286 -0.57242796 -0.34111268 -32.86841949] [ 0.5868381 0.80660175 -0.0708142 -39.66048816] [ 0.31567812 -0.14737652 0.93735131 -10.36191697] [ 0. 0. 0. 1. ]] SLAMing on 101.43165253199999 meters Centerline goodness [0,1] 0.4328207772725142 Centerline is valid? [False, False] Translation: X:-32.89, Y:-39.69, Z:-10.37 [[ 0.74263555 -0.5747593 -0.3437211 -32.88596483] [ 0.58942503 0.80461258 -0.07194957 -39.68504658] [ 0.317916 -0.14916551 0.93631142 -10.36844818] [ 0. 0. 0. 1. ]] SLAMing on 101.46165253199999 meters Centerline goodness [0,1] 0.44160455218791883 Centerline is valid? [False, False] Translation: X:-32.91, Y:-39.72, Z:-10.38 [[ 0.74111503 -0.57635355 -0.34433282 -32.90811356] [ 0.59086325 0.80345209 -0.07311191 -39.71583608] [ 0.31879323 -0.14926927 0.93599656 -10.37751989] [ 0. 0. 0. 1. ]] SLAMing on 101.49165253199999 meters Centerline goodness [0,1] 0.44133314476971663 Centerline is valid? [False, False] Translation: X:-32.93, Y:-39.74, Z:-10.39 [[ 0.73988767 -0.57698539 -0.34591052 -32.92927048] [ 0.59200687 0.80265872 -0.07257304 -39.74329627] [ 0.31952168 -0.1510855 0.93545661 -10.38574246] [ 0. 0. 0. 1. ]] SLAMing on 101.52165253199999 meters Centerline goodness [0,1] 0.4421845841305837 Centerline is valid? [False, False] Translation: X:-32.95, Y:-39.77, Z:-10.39 [[ 0.73803606 -0.57816324 -0.34789372 -32.94930332] [ 0.59355494 0.80149341 -0.07280693 -39.76927242] [ 0.32092882 -0.1527599 0.93470268 -10.39373982] [ 0. 0. 0. 1. ]] SLAMing on 101.55165253199999 meters Centerline goodness [0,1] 0.4266496441828026 Centerline is valid? [False, False] Translation: X:-32.97, Y:-39.80, Z:-10.40 [[ 0.73759272 -0.5787045 -0.34793402 -32.97309627] [ 0.59417232 0.80104176 -0.07274165 -39.79808329] [ 0.3208056 -0.15307906 0.93469277 -10.40438923] [ 0. 0. 0. 1. ]] SLAMing on 101.58165253199999 meters Centerline goodness [0,1] 0.42959964012595586 Centerline is valid? [False, False] Translation: X:-33.00, Y:-39.83, Z:-10.42 [[ 0.73724809 -0.58037043 -0.34588354 -33.00111374] [ 0.59526692 0.80013473 -0.073768 -39.83114025] [ 0.3195662 -0.15150771 0.93537311 -10.41602053] [ 0. 0. 0. 1. ]] SLAMing on 101.611652532 meters Centerline goodness [0,1] 0.4470334463223268 Centerline is valid? [False, False] Translation: X:-33.03, Y:-39.86, Z:-10.43 [[ 0.73746705 -0.58085763 -0.34459652 -33.02707141] [ 0.5957034 0.79984591 -0.07337557 -39.86096522] [ 0.31824488 -0.15116526 0.93587887 -10.4277819 ] [ 0. 0. 0. 1. ]] SLAMing on 101.641652532 meters Centerline goodness [0,1] 0.4572072072072072 Centerline is valid? [False, False] Translation: X:-33.05, Y:-39.89, Z:-10.44 [[ 0.73676016 -0.58185885 -0.34441943 -33.05047214] [ 0.59663091 0.7991198 -0.07375032 -39.88860041] [ 0.31814466 -0.15115498 0.9359146 -10.43882198] [ 0. 0. 0. 1. ]] SLAMing on 101.671652532 meters Centerline goodness [0,1] 0.44173801674453905 Centerline is valid? [False, False] Translation: X:-33.08, Y:-39.92, Z:-10.45 [[ 0.73775573 -0.58104562 -0.3436604 -33.07829996] [ 0.59544829 0.79995557 -0.07424568 -39.91914171] [ 0.31805318 -0.14985682 0.93615443 -10.45227536] [ 0. 0. 0. 1. ]] SLAMing on 101.701652532 meters Centerline goodness [0,1] 0.4561984252713215 Centerline is valid? [False, False] Translation: X:-33.10, Y:-39.95, Z:-10.46 [[ 0.73880888 -0.57987033 -0.34338292 -33.1046917 ] [ 0.59466814 0.80068232 -0.07264724 -39.94750849] [ 0.31706661 -0.15052646 0.93638163 -10.46380818] [ 0. 0. 0. 1. ]] SLAMing on 101.73165253199998 meters Centerline goodness [0,1] 0.41622132891936625 Centerline is valid? [False, False] Translation: X:-33.13, Y:-39.98, Z:-10.48 [[ 0.73937564 -0.58022872 -0.34155277 -33.13160405] [ 0.59488585 0.80056006 -0.0722109 -39.9764829 ] [ 0.31533234 -0.14979394 0.93708446 -10.47650303] [ 0. 0. 0. 1. ]] SLAMing on 101.76165253199999 meters Centerline goodness [0,1] 0.4358950173320443 Centerline is valid? [False, False] Translation: X:-33.16, Y:-40.00, Z:-10.49 [[ 0.73911312 -0.58124343 -0.3403937 -33.15694778] [ 0.59587017 0.79985086 -0.07195374 -40.00459805] [ 0.31408683 -0.1496485 0.93752589 -10.48788852] [ 0. 0. 0. 1. ]] SLAMing on 101.79165253199999 meters Centerline goodness [0,1] 0.435626767200754 Centerline is valid? [False, False] Translation: X:-33.19, Y:-40.04, Z:-10.50 [[ 0.74069116 -0.58068094 -0.33791457 -33.18766422] [ 0.59492583 0.80057751 -0.07168617 -40.0373017 ] [ 0.3121536 -0.14793679 0.93844277 -10.50122067] [ 0. 0. 0. 1. ]] SLAMing on 101.82165253199999 meters Centerline goodness [0,1] 0.4364287059709927 Centerline is valid? [False, False] Translation: X:-33.22, Y:-40.07, Z:-10.51 [[ 0.74153073 -0.58052941 -0.33632986 -33.21503571] [ 0.59495038 0.80068182 -0.07030407 -40.06755892] [ 0.31010679 -0.14796695 0.93911637 -10.51276373] [ 0. 0. 0. 1. ]] SLAMing on 101.85165253199999 meters Centerline goodness [0,1] 0.43573128490303725 Centerline is valid? [False, False] Translation: X:-33.24, Y:-40.10, Z:-10.53 [[ 0.74223822 -0.58082865 -0.33424618 -33.24258309] [ 0.59505358 0.8006406 -0.06989904 -40.09815372] [ 0.30821043 -0.14701265 0.93989021 -10.5250202 ] [ 0. 0. 0. 1. ]] SLAMing on 101.88165253199999 meters Centerline goodness [0,1] 0.4397321954784412 Centerline is valid? [False, False] Translation: X:-33.27, Y:-40.13, Z:-10.54 [[ 0.74218873 -0.58240164 -0.33160855 -33.27056909] [ 0.59615285 0.79978098 -0.07037161 -40.13120054] [ 0.30619875 -0.14546037 0.94078882 -10.53652899] [ 0. 0. 0. 1. ]] SLAMing on 101.91165253199999 meters Centerline goodness [0,1] 0.44906346694380805 Centerline is valid? [False, False] Translation: X:-33.29, Y:-40.16, Z:-10.55 [[ 0.740457 -0.58400495 -0.33265845 -33.29185835] [ 0.59776274 0.79849853 -0.07127277 -40.1576091 ] [ 0.30725094 -0.14607641 0.94035022 -10.54537997] [ 0. 0. 0. 1. ]] SLAMing on 101.94165253199999 meters Centerline goodness [0,1] 0.4159832202111614 Centerline is valid? [False, False] Translation: X:-33.32, Y:-40.19, Z:-10.56 [[ 0.74093332 -0.58322095 -0.33297318 -33.31675559] [ 0.59728999 0.79893897 -0.07029359 -40.18581518] [ 0.30702195 -0.14679868 0.94031254 -10.55637743] [ 0. 0. 0. 1. ]] SLAMing on 101.971652532 meters Centerline goodness [0,1] 0.4159832202111614 Centerline is valid? [False, False] Translation: X:-33.34, Y:-40.21, Z:-10.57 [[ 0.74109776 -0.58284598 -0.33326366 -33.34149124] [ 0.59706961 0.79913993 -0.06988025 -40.21449926] [ 0.30705372 -0.1471935 0.94024044 -10.5667732 ] [ 0. 0. 0. 1. ]] SLAMing on 102.001652532 meters Centerline goodness [0,1] 0.44533371107491093 Centerline is valid? [False, False] Translation: X:-33.37, Y:-40.25, Z:-10.58 [[ 0.74089402 -0.58277126 -0.33384684 -33.36697457] [ 0.59683093 0.79924928 -0.07066426 -40.2450847 ] [ 0.30800794 -0.14689539 0.93997492 -10.57720451] [ 0. 0. 0. 1. ]] SLAMing on 102.031652532 meters Centerline goodness [0,1] 0.44453110228776704 Centerline is valid? [False, False] Translation: X:-33.39, Y:-40.27, Z:-10.59 [[ 0.73994253 -0.58318633 -0.3352294 -33.38931035] [ 0.59749452 0.79874836 -0.07072029 -40.27213055] [ 0.30900704 -0.14796877 0.93947852 -10.58616282] [ 0. 0. 0. 1. ]] SLAMing on 102.061652532 meters Centerline goodness [0,1] 0.4218532253111935 Centerline is valid? [False, False] Translation: X:-33.41, Y:-40.30, Z:-10.60 [[ 0.74012869 -0.58262817 -0.33578853 -33.41379131] [ 0.59713411 0.79905722 -0.07027387 -40.30084714] [ 0.30925778 -0.14849908 0.93931233 -10.59678654] [ 0. 0. 0. 1. ]] SLAMing on 102.09165253199998 meters Centerline goodness [0,1] 0.42327779747134586 Centerline is valid? [False, False] Translation: X:-33.44, Y:-40.33, Z:-10.61 [[ 0.74031988 -0.58258396 -0.33544359 -33.43915913] [ 0.59723054 0.79903922 -0.06965639 -40.33018317] [ 0.30861328 -0.14876914 0.93948155 -10.60742577] [ 0. 0. 0. 1. ]] SLAMing on 102.12165253199998 meters Centerline goodness [0,1] 0.4412496740702112 Centerline is valid? [False, False] Translation: X:-33.47, Y:-40.36, Z:-10.62 [[ 0.7386729 -0.58546779 -0.33405063 -33.46535376] [ 0.5995283 0.7971609 -0.07141649 -40.36143999] [ 0.30810415 -0.14751938 0.93984566 -10.61699021] [ 0. 0. 0. 1. ]] SLAMing on 102.15165253199999 meters Centerline goodness [0,1] 0.4342542485521693 Centerline is valid? [False, False] Translation: X:-33.49, Y:-40.39, Z:-10.63 [[ 0.738938 -0.58537605 -0.3336248 -33.49128779] [ 0.5994721 0.79723452 -0.0710657 -40.39138732] [ 0.30757737 -0.14748561 0.94002349 -10.62777133] [ 0. 0. 0. 1. ]] SLAMing on 102.18165253199999 meters Centerline goodness [0,1] 0.4391101815761954 Centerline is valid? [False, False] Translation: X:-33.52, Y:-40.42, Z:-10.64 [[ 0.73970612 -0.58457338 -0.33332989 -33.51774314] [ 0.59887811 0.79776793 -0.07008101 -40.42145182] [ 0.30688739 -0.14778462 0.94020202 -10.63865602] [ 0. 0. 0. 1. ]] SLAMing on 102.21165253199999 meters Centerline goodness [0,1] 0.441978590586504 Centerline is valid? [False, False] Translation: X:-33.55, Y:-40.45, Z:-10.65 [[ 0.74104507 -0.58366595 -0.33194317 -33.54633293] [ 0.59809582 0.79846966 -0.06875755 -40.45443546] [ 0.30517799 -0.14758138 0.94079016 -10.65025403] [ 0. 0. 0. 1. ]] SLAMing on 102.24165253199999 meters Centerline goodness [0,1] 0.43592973782415445 Centerline is valid? [False, False] Translation: X:-33.57, Y:-40.48, Z:-10.66 [[ 0.73998221 -0.58470338 -0.33248801 -33.56920123] [ 0.59917687 0.79762433 -0.06915563 -40.48147008] [ 0.30563606 -0.14804519 0.94056856 -10.65970215] [ 0. 0. 0. 1. ]] SLAMing on 102.27165253199999 meters Centerline goodness [0,1] 0.436907766296843 Centerline is valid? [False, False] Translation: X:-33.60, Y:-40.51, Z:-10.67 [[ 0.74063826 -0.58428711 -0.33175825 -33.59569629] [ 0.59876038 0.79797849 -0.06867559 -40.51147562] [ 0.30486221 -0.14777992 0.94086138 -10.67124237] [ 0. 0. 0. 1. ]] SLAMing on 102.30165253199999 meters Centerline goodness [0,1] 0.438949400576781 Centerline is valid? [False, False] Translation: X:-33.62, Y:-40.54, Z:-10.68 [[ 0.74065045 -0.58607392 -0.32856397 -33.62498212] [ 0.59977125 0.79711731 -0.06984584 -40.54491571] [ 0.30283885 -0.14533187 0.94189558 -10.68373885] [ 0. 0. 0. 1. ]] SLAMing on 102.33165253199999 meters Centerline goodness [0,1] 0.4454580098127947 Centerline is valid? [False, False] Translation: X:-33.65, Y:-40.57, Z:-10.69 [[ 0.74086468 -0.58591038 -0.32837258 -33.65043523] [ 0.59973247 0.79719241 -0.06931974 -40.5739098 ] [ 0.30239128 -0.14557915 0.94200118 -10.69440836] [ 0. 0. 0. 1. ]] SLAMing on 102.361652532 meters Centerline goodness [0,1] 0.4508976468063801 Centerline is valid? [False, False] Translation: X:-33.66, Y:-40.58, Z:-10.70 [[ 0.74081377 -0.58971382 -0.32160934 -33.66009985] [ 0.60100141 0.79574695 -0.07472686 -40.58141155] [ 0.29998711 -0.13792898 0.94391913 -10.70179058] [ 0. 0. 0. 1. ]] SLAMing on 102.391652532 meters Centerline goodness [0,1] 0.45456283761174054 Centerline is valid? [False, False] Translation: X:-33.69, Y:-40.61, Z:-10.71 [[ 0.74000175 -0.59166627 -0.31988815 -33.68759009] [ 0.60240499 0.79455793 -0.07606526 -40.61293596] [ 0.29917491 -0.1364138 0.94439698 -10.71221913] [ 0. 0. 0. 1. ]] SLAMing on 102.421652532 meters Centerline goodness [0,1] 0.44618460513162284 Centerline is valid? [False, False] Translation: X:-33.70, Y:-40.62, Z:-10.72 [[ 0.74214773 -0.5924543 -0.31339216 -33.70213968] [ 0.60048951 0.79544508 -0.08172805 -40.6235358 ] [ 0.29770638 -0.12753441 0.94610036 -10.72210597] [ 0. 0. 0. 1. ]] SLAMing on 102.451652532 meters Centerline goodness [0,1] 0.40868345340846945 Centerline is valid? [False, False] Translation: X:-33.73, Y:-40.65, Z:-10.73 [[ 0.74435416 -0.58846411 -0.31566892 -33.72753433] [ 0.59756545 0.79796946 -0.07848749 -40.65178506] [ 0.29808123 -0.13021035 0.94561771 -10.73231243] [ 0. 0. 0. 1. ]] SLAMing on 102.48165253199998 meters Centerline goodness [0,1] 0.43532013028696415 Centerline is valid? [False, False] Translation: X:-33.74, Y:-40.66, Z:-10.74 [[ 0.74475938 -0.59135387 -0.30924759 -33.73733996] [ 0.59806672 0.79705042 -0.08382622 -40.65847388] [ 0.29605688 -0.12252033 0.94727984 -10.74056926] [ 0. 0. 0. 1. ]] SLAMing on 102.51165253199999 meters Centerline goodness [0,1] 0.4574569334729228 Centerline is valid? [False, False] Translation: X:-33.76, Y:-40.68, Z:-10.75 [[ 0.74427473 -0.59019436 -0.31261118 -33.7583169 ] [ 0.5976197 0.79749332 -0.08279555 -40.68322424] [ 0.29817079 -0.12519997 0.9462659 -10.74808338] [ 0. 0. 0. 1. ]] SLAMing on 102.54165253199999 meters Centerline goodness [0,1] 0.4156691020728718 Centerline is valid? [False, False] Translation: X:-33.79, Y:-40.72, Z:-10.76 [[ 0.74572063 -0.58838491 -0.3125763 -33.78681957] [ 0.59612574 0.79875743 -0.08136752 -40.71503106] [ 0.29754806 -0.12565734 0.94640128 -10.75845841] [ 0. 0. 0. 1. ]] SLAMing on 102.57165253199999 meters Centerline goodness [0,1] 0.4519706778370145 Centerline is valid? [False, False] Translation: X:-33.80, Y:-40.72, Z:-10.77 [[ 0.74687721 -0.59000222 -0.30671127 -33.79565996] [ 0.59616441 0.79843732 -0.08417747 -40.72191767] [ 0.29455462 -0.11998011 0.94807297 -10.76635958] [ 0. 0. 0. 1. ]] SLAMing on 102.60165253199999 meters Centerline goodness [0,1] 0.4442513687217329 Centerline is valid? [False, False] Translation: X:-33.82, Y:-40.75, Z:-10.77 [[ 0.74681881 -0.58911901 -0.30854573 -33.81954417] [ 0.59586054 0.7987953 -0.08292331 -40.74946379] [ 0.29531658 -0.12192154 0.94758813 -10.77417974] [ 0. 0. 0. 1. ]] SLAMing on 102.63165253199999 meters Centerline goodness [0,1] 0.4406598114824336 Centerline is valid? [False, False] Translation: X:-33.85, Y:-40.78, Z:-10.79 [[ 0.74887471 -0.58669933 -0.30817295 -33.84992021] [ 0.59374246 0.80054252 -0.08125 -40.78128561] [ 0.29437488 -0.12212929 0.94785435 -10.78510583] [ 0. 0. 0. 1. ]] SLAMing on 102.66165253199999 meters Centerline goodness [0,1] 0.44183719656002096 Centerline is valid? [False, False] Translation: X:-33.87, Y:-40.81, Z:-10.79 [[ 0.74834779 -0.5874473 -0.30802802 -33.8749263 ] [ 0.595012 0.79975852 -0.07966829 -40.80986177] [ 0.29314895 -0.12366078 0.94803571 -10.79255826] [ 0. 0. 0. 1. ]] SLAMing on 102.69165253199999 meters Centerline goodness [0,1] 0.4467339200114474 Centerline is valid? [False, False] Translation: X:-33.90, Y:-40.84, Z:-10.80 [[ 0.74676126 -0.58906003 -0.30879752 -33.89888969] [ 0.59689588 0.79837028 -0.07949969 -40.83950684] [ 0.29336485 -0.12495268 0.9477995 -10.79821346] [ 0. 0. 0. 1. ]] SLAMing on 102.721652532 meters Centerline goodness [0,1] 0.4523752742535534 Centerline is valid? [False, False] Translation: X:-33.92, Y:-40.87, Z:-10.80 [[ 0.74396814 -0.59138572 -0.31108572 -33.9204757 ] [ 0.59956378 0.79632177 -0.07996823 -40.86708281] [ 0.2950164 -0.12702192 0.94701149 -10.80208918] [ 0. 0. 0. 1. ]] SLAMing on 102.751652532 meters Centerline goodness [0,1] 0.4510528700546109 Centerline is valid? [False, False] Translation: X:-33.94, Y:-40.89, Z:-10.81 [[ 0.74284608 -0.59057587 -0.31527741 -33.93922499] [ 0.5996484 0.79636676 -0.07887823 -40.88866201] [ 0.29766003 -0.13046121 0.9457158 -10.8089225 ] [ 0. 0. 0. 1. ]] SLAMing on 102.781652532 meters Centerline goodness [0,1] 0.43408474818091025 Centerline is valid? [False, False] Translation: X:-33.96, Y:-40.91, Z:-10.82 [[ 0.74358277 -0.58777362 -0.31875827 -33.96168212] [ 0.59782464 0.79794078 -0.07678685 -40.91337491] [ 0.2994835 -0.13346417 0.94472057 -10.81758457] [ 0. 0. 0. 1. ]] SLAMing on 102.811652532 meters Centerline goodness [0,1] 0.43316902076026165 Centerline is valid? [False, False] Translation: X:-34.00, Y:-40.95, Z:-10.83 [[ 0.74968818 -0.57947524 -0.31964993 -33.99560807] [ 0.59035636 0.80386286 -0.07269029 -40.94575397] [ 0.29907693 -0.13421232 0.94474338 -10.83237659] [ 0. 0. 0. 1. ]] SLAMing on 102.84165253199998 meters Centerline goodness [0,1] 0.44372427496806544 Centerline is valid? [False, False] Translation: X:-34.01, Y:-40.96, Z:-10.84 [[ 0.75264294 -0.57888308 -0.31372438 -34.01138985] [ 0.5873562 0.80561704 -0.0774201 -40.95924026] [ 0.29755889 -0.12599827 0.94635255 -10.8411127 ] [ 0. 0. 0. 1. ]] SLAMing on 102.87165253199998 meters Centerline goodness [0,1] 0.4275625074060908 Centerline is valid? [False, False] Translation: X:-34.04, Y:-40.99, Z:-10.85 [[ 0.75120928 -0.58104155 -0.31316981 -34.03614983] [ 0.58934602 0.80408815 -0.07818899 -40.98846901] [ 0.29724718 -0.12582909 0.94647301 -10.84916563] [ 0. 0. 0. 1. ]] SLAMing on 102.90165253199999 meters Centerline goodness [0,1] 0.4269329407294833 Centerline is valid? [False, False] Translation: X:-34.06, Y:-41.02, Z:-10.86 [[ 0.75190356 -0.58046075 -0.31258015 -34.06307745] [ 0.58885819 0.80451261 -0.0774951 -41.0185015 ] [ 0.29645754 -0.12579654 0.94672496 -10.85977544] [ 0. 0. 0. 1. ]] SLAMing on 102.93165253199999 meters Centerline goodness [0,1] 0.43096135162673865 Centerline is valid? [False, False] Translation: X:-34.09, Y:-41.05, Z:-10.87 [[ 0.75390256 -0.57756448 -0.3131297 -34.09031075] [ 0.58667917 0.80635694 -0.0748067 -41.04776877] [ 0.2957 -0.12730971 0.9467596 -10.87022264] [ 0. 0. 0. 1. ]] SLAMing on 102.96165253199999 meters Centerline goodness [0,1] 0.4315637840646106 Centerline is valid? [False, False] Translation: X:-34.12, Y:-41.08, Z:-10.88 [[ 0.75583526 -0.5753896 -0.31247378 -34.12071727] [ 0.58492398 0.80782583 -0.07267302 -41.07962202] [ 0.29423969 -0.12784458 0.94714242 -10.8806047 ] [ 0. 0. 0. 1. ]] SLAMing on 102.99165253199999 meters Centerline goodness [0,1] 0.43160433117405084 Centerline is valid? [False, False] Translation: X:-34.15, Y:-41.11, Z:-10.89 [[ 0.75698405 -0.5741327 -0.31200446 -34.148398 ] [ 0.58408527 0.80859628 -0.07082697 -41.10946141] [ 0.29294973 -0.12862233 0.94743694 -10.89084289] [ 0. 0. 0. 1. ]] SLAMing on 103.02165253199999 meters Centerline goodness [0,1] 0.4241594903857496 Centerline is valid? [False, False] Translation: X:-34.18, Y:-41.14, Z:-10.90 [[ 0.75827459 -0.57224259 -0.31234286 -34.17512896] [ 0.58290867 0.80966547 -0.06825908 -41.13853924] [ 0.29195398 -0.13030823 0.94751392 -10.90031156] [ 0. 0. 0. 1. ]] SLAMing on 103.05165253199999 meters Centerline goodness [0,1] 0.43211222216956546 Centerline is valid? [False, False] Translation: X:-34.20, Y:-41.17, Z:-10.91 [[ 0.75871219 -0.57215706 -0.31143555 -34.2027774 ] [ 0.58285927 0.80974881 -0.06768997 -41.16941585] [ 0.29091386 -0.1301659 0.94785335 -10.91065478] [ 0. 0. 0. 1. ]] SLAMing on 103.08165253199999 meters Centerline goodness [0,1] 0.4294282192300398 Centerline is valid? [False, False] Translation: X:-34.23, Y:-41.20, Z:-10.92 [[ 0.75913291 -0.57158102 -0.31146808 -34.22893563] [ 0.58266203 0.81000215 -0.06634364 -41.19815082] [ 0.29021057 -0.13111698 0.94793785 -10.92015363] [ 0. 0. 0. 1. ]] SLAMing on 103.111652532 meters Centerline goodness [0,1] 0.4303033173111074 Centerline is valid? [False, False] Translation: X:-34.25, Y:-41.23, Z:-10.93 [[ 0.75947324 -0.57125213 -0.31124172 -34.25475481] [ 0.58275899 0.81005989 -0.06476826 -41.22613562] [ 0.28912344 -0.13218915 0.94812112 -10.92960546] [ 0. 0. 0. 1. ]] SLAMing on 103.141652532 meters Centerline goodness [0,1] 0.4303351387147891 Centerline is valid? [False, False] Translation: X:-34.28, Y:-41.26, Z:-10.94 [[ 0.76072401 -0.57039072 -0.30976346 -34.28413925] [ 0.58216791 0.81062673 -0.06296694 -41.25750745] [ 0.2870183 -0.13243388 0.94872639 -10.93972117] [ 0. 0. 0. 1. ]] SLAMing on 103.171652532 meters Centerline goodness [0,1] 0.4233616346995246 Centerline is valid? [False, False] Translation: X:-34.31, Y:-41.29, Z:-10.95 [[ 0.76169482 -0.57005825 -0.30798473 -34.31256532] [ 0.58194916 0.81088569 -0.06164076 -41.28698746] [ 0.28487923 -0.13228 0.94939234 -10.95088643] [ 0. 0. 0. 1. ]] SLAMing on 103.201652532 meters Centerline goodness [0,1] 0.4364542962472824 Centerline is valid? [False, False] Translation: X:-34.32, Y:-41.29, Z:-10.95 [[ 0.76222827 -0.56946254 -0.30776693 -34.31506953] [ 0.58148157 0.81127118 -0.06097749 -41.28800225] [ 0.28440684 -0.13248203 0.9495058 -10.95054343] [ 0. 0. 0. 1. ]] SLAMing on 103.23165253199998 meters Centerline goodness [0,1] 0.4149998819278815 Centerline is valid? [False, False] Translation: X:-34.34, Y:-41.32, Z:-10.96 [[ 0.76262878 -0.56954348 -0.30662286 -34.34225532] [ 0.58173108 0.81117543 -0.0598612 -41.31717003] [ 0.28281849 -0.13272017 0.94994687 -10.96047971] [ 0. 0. 0. 1. ]] SLAMing on 103.26165253199999 meters Centerline goodness [0,1] 0.42069095803716905 Centerline is valid? [False, False] Translation: X:-34.36, Y:-41.33, Z:-10.97 [[ 0.76387048 -0.5715238 -0.29977065 -34.35648222] [ 0.58101455 0.8112074 -0.06606541 -41.32637845] [ 0.28093412 -0.12370569 0.95172103 -10.96944361] [ 0. 0. 0. 1. ]] SLAMing on 103.29165253199999 meters Centerline goodness [0,1] 0.4221030752515471 Centerline is valid? [False, False] Translation: X:-34.38, Y:-41.35, Z:-10.98 [[ 0.76416233 -0.57082836 -0.30035132 -34.38211828] [ 0.58055629 0.81159026 -0.0653884 -41.35364726] [ 0.28108776 -0.1244035 0.9515847 -10.97867242] [ 0. 0. 0. 1. ]] SLAMing on 103.32165253199999 meters Centerline goodness [0,1] 0.4204671594908008 Centerline is valid? [False, False] Translation: X:-34.41, Y:-41.38, Z:-10.99 [[ 0.76460171 -0.57010738 -0.30060239 -34.40809667] [ 0.58014284 0.81197169 -0.06431367 -41.38151163] [ 0.28074633 -0.12521798 0.95157867 -10.98817288] [ 0. 0. 0. 1. ]] SLAMing on 103.35165253199999 meters Centerline goodness [0,1] 0.4257476998376356 Centerline is valid? [False, False] Translation: X:-34.44, Y:-41.41, Z:-11.00 [[ 0.76616499 -0.56833326 -0.29998085 -34.43795731] [ 0.57860534 0.81318299 -0.06284328 -41.41249811] [ 0.27965525 -0.1254222 0.951873 -10.99828628] [ 0. 0. 0. 1. ]] SLAMing on 103.38165253199999 meters Centerline goodness [0,1] 0.42765787370103914 Centerline is valid? [False, False] Translation: X:-34.47, Y:-41.44, Z:-11.01 [[ 0.76716422 -0.5675223 -0.2989607 -34.46636564] [ 0.57804441 0.81369705 -0.06133325 -41.44239509] [ 0.27807143 -0.12575989 0.95229236 -11.00801532] [ 0. 0. 0. 1. ]] SLAMing on 103.41165253199999 meters Centerline goodness [0,1] 0.42845730933696724 Centerline is valid? [False, False] Translation: X:-34.48, Y:-41.45, Z:-11.01 [[ 0.76743206 -0.57046225 -0.29261041 -34.47795663] [ 0.57869272 0.81280023 -0.06686194 -41.4492737 ] [ 0.27597602 -0.11801952 0.95389131 -11.0147621 ] [ 0. 0. 0. 1. ]] SLAMing on 103.44165253199999 meters Centerline goodness [0,1] 0.42518985862834446 Centerline is valid? [False, False] Translation: X:-34.50, Y:-41.47, Z:-11.02 [[ 0.7719549 -0.56415377 -0.29294396 -34.50447381] [ 0.57014897 0.81825825 -0.07337303 -41.47018343] [ 0.28109748 -0.11038103 0.95331015 -11.02093577] [ 0. 0. 0. 1. ]] SLAMing on 103.471652532 meters Centerline goodness [0,1] 0.4284681743996269 Centerline is valid? [False, False] Translation: X:-34.53, Y:-41.50, Z:-11.03 [[ 0.77252834 -0.5629865 -0.29367698 -34.53056646] [ 0.56956079 0.8188354 -0.07147792 -41.4973802 ] [ 0.28071421 -0.11204817 0.95322859 -11.02909385] [ 0. 0. 0. 1. ]] SLAMing on 103.501652532 meters Centerline goodness [0,1] 0.4223262530277623 Centerline is valid? [False, False] Translation: X:-34.56, Y:-41.53, Z:-11.04 [[ 0.77358499 -0.56185461 -0.29306255 -34.55925101] [ 0.56848812 0.81964048 -0.07078658 -41.52643947] [ 0.27997769 -0.11184315 0.95346924 -11.03923124] [ 0. 0. 0. 1. ]] SLAMing on 103.531652532 meters Centerline goodness [0,1] 0.4227220032460005 Centerline is valid? [False, False] Translation: X:-34.59, Y:-41.56, Z:-11.05 [[ 0.77802047 -0.55578009 -0.29290381 -34.59329177] [ 0.56307767 0.82366511 -0.06722587 -41.55697543] [ 0.27861745 -0.11262449 0.95377568 -11.05121797] [ 0. 0. 0. 1. ]] SLAMing on 103.561652532 meters Centerline goodness [0,1] 0.4248689103970802 Centerline is valid? [False, False] Translation: X:-34.61, Y:-41.57, Z:-11.06 [[ 0.77951834 -0.55688162 -0.28676476 -34.60805176] [ 0.56169538 0.82407762 -0.0734464 -41.56525989] [ 0.27721737 -0.10382162 0.95518145 -11.05966341] [ 0. 0. 0. 1. ]] SLAMing on 103.59165253199998 meters Centerline goodness [0,1] 0.4257537659461579 Centerline is valid? [False, False] Translation: X:-34.62, Y:-41.57, Z:-11.07 [[ 0.78064087 -0.5587583 -0.27998034 -34.62282193] [ 0.56100477 0.82392613 -0.08012101 -41.57373194] [ 0.2754514 -0.09452458 0.95665649 -11.0682899 ] [ 0. 0. 0. 1. ]] SLAMing on 103.62165253199998 meters Centerline goodness [0,1] 0.4101976248337842 Centerline is valid? [False, False] Translation: X:-34.66, Y:-41.60, Z:-11.08 [[ 0.78595177 -0.55111962 -0.28026233 -34.6568859 ] [ 0.55430614 0.82888279 -0.07548525 -41.60462929] [ 0.27390602 -0.09602336 0.95695089 -11.08065866] [ 0. 0. 0. 1. ]] SLAMing on 103.65165253199999 meters Centerline goodness [0,1] 0.42357008746622704 Centerline is valid? [False, False] Translation: X:-34.67, Y:-41.61, Z:-11.09 [[ 0.78737364 -0.55124848 -0.27598527 -34.66644041] [ 0.55332109 0.8293202 -0.07787031 -41.6099437 ] [ 0.27180605 -0.09139544 0.95800227 -11.08591078] [ 0. 0. 0. 1. ]] SLAMing on 103.68165253199999 meters Centerline goodness [0,1] 0.41879225392460184 Centerline is valid? [False, False] Translation: X:-34.69, Y:-41.64, Z:-11.09 [[ 0.78763321 -0.55025564 -0.27722311 -34.69173451] [ 0.55287624 0.82977231 -0.07619566 -41.63803996] [ 0.27195916 -0.09325584 0.9577795 -11.09292768] [ 0. 0. 0. 1. ]] SLAMing on 103.71165253199999 meters Centerline goodness [0,1] 0.4221436606138519 Centerline is valid? [False, False] Translation: X:-34.72, Y:-41.67, Z:-11.10 [[ 0.78655383 -0.55102341 -0.27875845 -34.71501131] [ 0.55397825 0.82908015 -0.07572457 -41.66578879] [ 0.2728391 -0.09486467 0.95737115 -11.09887111] [ 0. 0. 0. 1. ]] SLAMing on 103.74165253199999 meters Centerline goodness [0,1] 0.4204014297497938 Centerline is valid? [False, False] Translation: X:-34.74, Y:-41.69, Z:-11.10 [[ 0.78988524 -0.54698363 -0.27729085 -34.73769482] [ 0.54759066 0.83265551 -0.08263944 -41.6858408 ] [ 0.27609018 -0.08656621 0.95722542 -11.10370806] [ 0. 0. 0. 1. ]] SLAMing on 103.77165253199999 meters Centerline goodness [0,1] 0.43189323059988993 Centerline is valid? [False, False] Translation: X:-34.76, Y:-41.71, Z:-11.11 [[ 0.78874844 -0.54595685 -0.28250137 -34.7561431 ] [ 0.54765341 0.8328285 -0.08045148 -41.70851194] [ 0.27919823 -0.09125685 0.9558873 -11.10771524] [ 0. 0. 0. 1. ]] SLAMing on 103.80165253199999 meters Centerline goodness [0,1] 0.43005860048259226 Centerline is valid? [False, False] Translation: X:-34.77, Y:-41.73, Z:-11.11 [[ 0.78648224 -0.54626374 -0.2881694 -34.77230262] [ 0.54897847 0.83209027 -0.07904698 -41.72878271] [ 0.28296345 -0.09602975 0.95431125 -11.11088278] [ 0. 0. 0. 1. ]] SLAMing on 103.83165253199999 meters Centerline goodness [0,1] 0.4317790481438115 Centerline is valid? [False, False] Translation: X:-34.79, Y:-41.76, Z:-11.12 [[ 0.78515085 -0.54651402 -0.29130836 -34.79360852] [ 0.54967151 0.83166115 -0.07874621 -41.75504011] [ 0.28530575 -0.09829625 0.95338265 -11.11721921] [ 0. 0. 0. 1. ]] SLAMing on 103.861652532 meters Centerline goodness [0,1] 0.44304320860037216 Centerline is valid? [False, False] Translation: X:-34.81, Y:-41.78, Z:-11.12 [[ 0.78244878 -0.54855744 -0.29471789 -34.81230836] [ 0.552106 0.83001248 -0.07910907 -41.77958049] [ 0.28801539 -0.10081672 0.95230411 -11.12126484] [ 0. 0. 0. 1. ]] SLAMing on 103.891652532 meters Centerline goodness [0,1] 0.44304320860037216 Centerline is valid? [False, False] Translation: X:-34.84, Y:-41.81, Z:-11.13 [[ 0.78205394 -0.54772554 -0.29730181 -34.83539083] [ 0.5519094 0.83026548 -0.07781549 -41.80641367] [ 0.28946096 -0.10322775 0.95160726 -11.12770051] [ 0. 0. 0. 1. ]] SLAMing on 103.921652532 meters Centerline goodness [0,1] 0.4368630518300398 Centerline is valid? [False, False] Translation: X:-34.86, Y:-41.83, Z:-11.13 [[ 0.78118957 -0.54759746 -0.29979972 -34.85780928] [ 0.55229624 0.83007912 -0.0770553 -41.83433422] [ 0.29105278 -0.10538346 0.95088517 -11.13388719] [ 0. 0. 0. 1. ]] SLAMing on 103.951652532 meters Centerline goodness [0,1] 0.4345000229663314 Centerline is valid? [False, False] Translation: X:-34.88, Y:-41.86, Z:-11.14 [[ 0.78149587 -0.54514979 -0.30344013 -34.87966589] [ 0.55087713 0.83124342 -0.07462417 -41.86061354] [ 0.29291396 -0.10883975 0.94992385 -11.14095062] [ 0. 0. 0. 1. ]] SLAMing on 103.98165253199998 meters Centerline goodness [0,1] 0.43937331272064417 Centerline is valid? [False, False] Translation: X:-34.90, Y:-41.89, Z:-11.15 [[ 0.78069621 -0.54466111 -0.30636206 -34.90258722] [ 0.55110033 0.8312055 -0.07338823 -41.89003492] [ 0.29462155 -0.11154232 0.9490819 -11.14681845] [ 0. 0. 0. 1. ]] SLAMing on 104.01165253199999 meters Centerline goodness [0,1] 0.45927727588603195 Centerline is valid? [False, False] Translation: X:-34.92, Y:-41.91, Z:-11.15 [[ 0.77666321 -0.54829504 -0.31010774 -34.91875023] [ 0.55510999 0.82843645 -0.0744712 -41.9128985 ] [ 0.29773674 -0.11430486 0.94778016 -11.14961931] [ 0. 0. 0. 1. ]] SLAMing on 104.04165253199999 meters Centerline goodness [0,1] 0.4428524986067248 Centerline is valid? [False, False] Translation: X:-34.94, Y:-41.94, Z:-11.16 [[ 0.77456305 -0.5501776 -0.31202033 -34.93953182] [ 0.5571607 0.82699951 -0.07512496 -41.94041051] [ 0.29937273 -0.11565645 0.9471006 -11.1557097 ] [ 0. 0. 0. 1. ]] SLAMing on 104.07165253199999 meters Centerline goodness [0,1] 0.45969635674594866 Centerline is valid? [False, False] Translation: X:-34.96, Y:-41.97, Z:-11.16 [[ 0.77432306 -0.54966178 -0.3135215 -34.96333423] [ 0.5572401 0.82706914 -0.0737571 -41.96976238] [ 0.29984542 -0.11759493 0.94671229 -11.16313484] [ 0. 0. 0. 1. ]] SLAMing on 104.10165253199999 meters Centerline goodness [0,1] 0.4464910235486127 Centerline is valid? [False, False] Translation: X:-34.99, Y:-42.00, Z:-11.17 [[ 0.77653357 -0.54594017 -0.31455514 -34.99122783] [ 0.55442905 0.82923805 -0.07051734 -42.0032639 ] [ 0.29933934 -0.11963942 0.94661627 -11.17285044] [ 0. 0. 0. 1. ]] SLAMing on 104.13165253199999 meters Centerline goodness [0,1] 0.4456821904984788 Centerline is valid? [False, False] Translation: X:-35.01, Y:-42.03, Z:-11.18 [[ 0.77284055 -0.54931885 -0.31775192 -35.00753534] [ 0.55803989 0.82669428 -0.07188909 -42.02544873] [ 0.30217373 -0.12175944 0.9454447 -11.17777923] [ 0. 0. 0. 1. ]] SLAMing on 104.16165253199999 meters Centerline goodness [0,1] 0.4531367392937641 Centerline is valid? [False, False] Translation: X:-35.03, Y:-42.05, Z:-11.19 [[ 0.77218133 -0.54939192 -0.31922485 -35.03034523] [ 0.55841601 0.82646572 -0.07159585 -42.05398181] [ 0.30316258 -0.12297528 0.94497065 -11.18607701] [ 0. 0. 0. 1. ]] SLAMing on 104.19165253199999 meters Centerline goodness [0,1] 0.45937071857136114 Centerline is valid? [False, False] Translation: X:-35.04, Y:-42.06, Z:-11.19 [[ 0.772106 -0.55349352 -0.31224549 -35.03957155] [ 0.56033621 0.82473654 -0.07637382 -42.06470629] [ 0.29979268 -0.11599377 0.9469265 -11.19267609] [ 0. 0. 0. 1. ]] SLAMing on 104.221652532 meters Centerline goodness [0,1] 0.4463571141050837 Centerline is valid? [False, False] Translation: X:-35.06, Y:-42.09, Z:-11.20 [[ 0.77018499 -0.55430012 -0.31554154 -35.05920217] [ 0.56191774 0.82374152 -0.07548744 -42.09134734] [ 0.30176736 -0.1191691 0.94590443 -11.19723798] [ 0. 0. 0. 1. ]] SLAMing on 104.251652532 meters Centerline goodness [0,1] 0.46825755234948785 Centerline is valid? [False, False] Translation: X:-35.08, Y:-42.12, Z:-11.20 [[ 0.76827018 -0.5552462 -0.31853192 -35.07891537] [ 0.56347338 0.82271684 -0.07506504 -42.11793417] [ 0.30374115 -0.12181403 0.94493527 -11.20263615] [ 0. 0. 0. 1. ]] SLAMing on 104.281652532 meters Centerline goodness [0,1] 0.48008430935785973 Centerline is valid? [False, False] Translation: X:-35.10, Y:-42.15, Z:-11.21 [[ 0.76528235 -0.55772691 -0.3213777 -35.09761642] [ 0.56637352 0.82067883 -0.07554666 -42.14723037] [ 0.30588228 -0.1242053 0.94393277 -11.2068594 ] [ 0. 0. 0. 1. ]] SLAMing on 104.311652532 meters Centerline goodness [0,1] 0.48365573849181587 Centerline is valid? [False, False] Translation: X:-35.11, Y:-42.17, Z:-11.21 [[ 0.76316087 -0.55739394 -0.32695181 -35.11419554] [ 0.5673815 0.82013908 -0.07382493 -42.17006448] [ 0.30929552 -0.12916611 0.94215306 -11.21005469] [ 0. 0. 0. 1. ]] SLAMing on 104.34165253199998 meters Centerline goodness [0,1] 0.4599340854964036 Centerline is valid? [False, False] Translation: X:-35.13, Y:-42.19, Z:-11.21 [[ 0.76119484 -0.55699956 -0.33216548 -35.13107968] [ 0.56831219 0.81964843 -0.07209512 -42.19346446] [ 0.31241586 -0.13389526 0.9404618 -11.21388642] [ 0. 0. 0. 1. ]] SLAMing on 104.37165253199998 meters Centerline goodness [0,1] 0.46070670013516124 Centerline is valid? [False, False] Translation: X:-35.15, Y:-42.22, Z:-11.22 [[ 0.75815121 -0.5591221 -0.33554317 -35.14880891] [ 0.57105416 0.81772202 -0.07230381 -42.21746587] [ 0.31480769 -0.1367961 0.93924594 -11.21859517] [ 0. 0. 0. 1. ]] SLAMing on 104.40165253199999 meters Centerline goodness [0,1] 0.5004985044865404 Centerline is valid? [False, False] Translation: X:-35.17, Y:-42.25, Z:-11.22 [[ 0.75250929 -0.56618138 -0.33640513 -35.16546727] [ 0.57768547 0.81274653 -0.07564768 -42.24722539] [ 0.31624241 -0.13741078 0.93867407 -11.22207613] [ 0. 0. 0. 1. ]] SLAMing on 104.43165253199999 meters Centerline goodness [0,1] 0.4989775051124744 Centerline is valid? [False, False] Translation: X:-35.18, Y:-42.27, Z:-11.23 [[ 0.74991885 -0.56657936 -0.34148142 -35.18115352] [ 0.57931639 0.81168943 -0.07451706 -42.26930545] [ 0.31939668 -0.14194403 0.93692991 -11.22611502] [ 0. 0. 0. 1. ]] SLAMing on 104.46165253199999 meters Centerline goodness [0,1] 0.5013893628430751 Centerline is valid? [False, False] Translation: X:-35.20, Y:-42.29, Z:-11.23 [[ 0.74799178 -0.5657479 -0.34704122 -35.19751901] [ 0.57998162 0.81138255 -0.07266136 -42.29120913] [ 0.32269121 -0.14692743 0.93503086 -11.23043089] [ 0. 0. 0. 1. ]] SLAMing on 104.49165253199999 meters Centerline goodness [0,1] 0.5066949586595448 Centerline is valid? [False, False] Translation: X:-35.21, Y:-42.31, Z:-11.23 [[ 0.74530016 -0.56591924 -0.35250969 -35.213366 ] [ 0.5815996 0.81034684 -0.07127348 -42.31271474] [ 0.32599015 -0.15189936 0.93309003 -11.23386363] [ 0. 0. 0. 1. ]] SLAMing on 104.52165253199999 meters Centerline goodness [0,1] 0.5099448191293685 Centerline is valid? [False, False] Translation: X:-35.23, Y:-42.34, Z:-11.24 [[ 0.74249479 -0.5684745 -0.35431375 -35.23340771] [ 0.58426209 0.80831797 -0.07252498 -42.34093954] [ 0.32762677 -0.15316266 0.93230998 -11.24077049] [ 0. 0. 0. 1. ]] SLAMing on 104.55165253199999 meters Centerline goodness [0,1] 0.5185039756552469 Centerline is valid? [False, False] Translation: X:-35.24, Y:-42.34, Z:-11.24 [[ 0.74126787 -0.57186703 -0.3514115 -35.23619843] [ 0.58663695 0.80638686 -0.07481524 -42.34322903] [ 0.32615798 -0.15069284 0.933227 -11.24186237] [ 0. 0. 0. 1. ]] SLAMing on 104.58165253199999 meters Centerline goodness [0,1] 0.5163528977482466 Centerline is valid? [False, False] Translation: X:-35.24, Y:-42.35, Z:-11.24 [[ 0.73973562 -0.57543636 -0.34880397 -35.2373167 ] [ 0.58930524 0.80423352 -0.07699205 -42.34677193] [ 0.32482387 -0.14859824 0.93402785 -11.24211757] [ 0. 0. 0. 1. ]] SLAMing on 104.611652532 meters Centerline goodness [0,1] 0.5230643523906208 Centerline is valid? [False, False] Translation: X:-35.26, Y:-42.38, Z:-11.25 [[ 0.7364773 -0.57916233 -0.34953138 -35.2590536 ] [ 0.59296668 0.80139362 -0.07847793 -42.37766563] [ 0.32556367 -0.14946325 0.93363217 -11.2478505 ] [ 0. 0. 0. 1. ]] SLAMing on 104.641652532 meters Centerline goodness [0,1] 0.5243733280491429 Centerline is valid? [False, False] Translation: X:-35.27, Y:-42.40, Z:-11.25 [[ 0.73294183 -0.58065964 -0.35444414 -35.27433237] [ 0.59573837 0.7994104 -0.07770979 -42.39808508] [ 0.32846928 -0.15419922 0.93184255 -11.25088825] [ 0. 0. 0. 1. ]] SLAMing on 104.671652532 meters Centerline goodness [0,1] 0.5274218730638646 Centerline is valid? [False, False] Translation: X:-35.29, Y:-42.42, Z:-11.25 [[ 0.73082635 -0.58001353 -0.35982933 -35.2908529 ] [ 0.5966186 0.79891548 -0.07602825 -42.42062174] [ 0.33157064 -0.15911742 0.92991535 -11.25486449] [ 0. 0. 0. 1. ]] SLAMing on 104.701652532 meters Centerline goodness [0,1] 0.5254048156322066 Centerline is valid? [False, False] Translation: X:-35.30, Y:-42.43, Z:-11.26 [[ 0.73312814 -0.57945502 -0.35602671 -35.29920444] [ 0.59520031 0.79994443 -0.07632496 -42.43177178] [ 0.32902846 -0.15595123 0.93135358 -11.25962417] [ 0. 0. 0. 1. ]] SLAMing on 104.73165253199998 meters Centerline goodness [0,1] 0.5286241460130654 Centerline is valid? [False, False] Translation: X:-35.32, Y:-42.46, Z:-11.26 [[ 0.72920274 -0.58221417 -0.35956921 -35.31610622] [ 0.59889127 0.79719063 -0.07626495 -42.45529142] [ 0.33104775 -0.15973025 0.92999658 -11.26259023] [ 0. 0. 0. 1. ]] SLAMing on 104.76165253199999 meters Centerline goodness [0,1] 0.5158433133732535 Centerline is valid? [False, False] Translation: X:-35.33, Y:-42.48, Z:-11.27 [[ 0.72632843 -0.58380997 -0.36278497 -35.33482834] [ 0.60138458 0.79534792 -0.0758833 -42.47996139] [ 0.33284169 -0.16305709 0.92877812 -11.26727775] [ 0. 0. 0. 1. ]] SLAMing on 104.79165253199999 meters Centerline goodness [0,1] 0.5350526788835073 Centerline is valid? [False, False] Translation: X:-35.36, Y:-42.51, Z:-11.28 [[ 0.72666023 -0.58187151 -0.36522657 -35.35687958] [ 0.60045587 0.79623822 -0.07387451 -42.5076164 ] [ 0.33379283 -0.16562077 0.92798282 -11.27738623] [ 0. 0. 0. 1. ]] SLAMing on 104.82165253199999 meters Centerline goodness [0,1] 0.5410538448046904 Centerline is valid? [False, False] Translation: X:-35.36, Y:-42.51, Z:-11.28 [[ 0.72465017 -0.58619245 -0.36229898 -35.3579099 ] [ 0.60358634 0.79359405 -0.07675951 -42.50839291] [ 0.33251416 -0.16305492 0.92889581 -11.27865713] [ 0. 0. 0. 1. ]] SLAMing on 104.85165253199999 meters Centerline goodness [0,1] 0.5410860526647348 Centerline is valid? [False, False] Translation: X:-35.38, Y:-42.53, Z:-11.29 [[ 0.7217873 -0.58838871 -0.36444727 -35.37678939] [ 0.60616085 0.79156195 -0.0774513 -42.5330822 ] [ 0.33405407 -0.1650103 0.92799756 -11.28624216] [ 0. 0. 0. 1. ]] SLAMing on 104.88165253199999 meters Centerline goodness [0,1] 0.5428787687649804 Centerline is valid? [False, False] Translation: X:-35.38, Y:-42.53, Z:-11.29 [[ 0.72014186 -0.59228614 -0.36137629 -35.37919034] [ 0.60888884 0.78920103 -0.08010069 -42.53445033] [ 0.33264107 -0.16235413 0.92897312 -11.2874706 ] [ 0. 0. 0. 1. ]] SLAMing on 104.91165253199999 meters Centerline goodness [0,1] 0.5391330675682495 Centerline is valid? [False, False] Translation: X:-35.40, Y:-42.56, Z:-11.29 [[ 0.71792537 -0.59175521 -0.36661824 -35.39667415] [ 0.60986556 0.78859692 -0.07860596 -42.55594168] [ 0.3356295 -0.16715462 0.92704486 -11.29152638] [ 0. 0. 0. 1. ]] SLAMing on 104.94165253199999 meters Centerline goodness [0,1] 0.5343461528787383 Centerline is valid? [False, False] Translation: X:-35.42, Y:-42.58, Z:-11.30 [[ 0.71795628 -0.59123794 -0.36739145 -35.42125525] [ 0.61004094 0.788622 -0.07697655 -42.58113749] [ 0.33524444 -0.16885803 0.92687547 -11.30179046] [ 0. 0. 0. 1. ]] SLAMing on 104.971652532 meters Centerline goodness [0,1] 0.5347854519845063 Centerline is valid? [False, False] Translation: X:-35.45, Y:-42.61, Z:-11.31 [[ 0.71879251 -0.5898746 -0.3679474 -35.44726179] [ 0.60929382 0.78936969 -0.07520994 -42.60701155] [ 0.33481096 -0.17012773 0.92679997 -11.31325724] [ 0. 0. 0. 1. ]] SLAMing on 105.001652532 meters Centerline goodness [0,1] 0.5277023629964807 Centerline is valid? [False, False] Translation: X:-35.48, Y:-42.64, Z:-11.33 [[ 0.72147109 -0.58741627 -0.36663551 -35.47800473] [ 0.60722413 0.79119465 -0.07273153 -42.63893831] [ 0.33280374 -0.17015623 0.9275174 -11.32668023] [ 0. 0. 0. 1. ]] SLAMing on 105.031652532 meters Centerline goodness [0,1] 0.5282881708570426 Centerline is valid? [False, False] Translation: X:-35.50, Y:-42.67, Z:-11.34 [[ 0.72144225 -0.58866878 -0.36467814 -35.50325562] [ 0.60839172 0.79034532 -0.07220649 -42.66584117] [ 0.33072736 -0.16977435 0.92832973 -11.33910423] [ 0. 0. 0. 1. ]] SLAMing on 105.061652532 meters Centerline goodness [0,1] 0.5319037264752193 Centerline is valid? [False, False] Translation: X:-35.53, Y:-42.70, Z:-11.35 [[ 0.7214579 -0.59056989 -0.3615601 -35.53135483] [ 0.60949207 0.78940333 -0.07322427 -42.69784424] [ 0.32866079 -0.16753979 0.92946894 -11.35256985] [ 0. 0. 0. 1. ]] SLAMing on 105.09165253199998 meters Centerline goodness [0,1] 0.5327205515036467 Centerline is valid? [False, False] Translation: X:-35.56, Y:-42.72, Z:-11.36 [[ 0.72139395 -0.59071573 -0.36144944 -35.55647677] [ 0.60989019 0.78916385 -0.07248707 -42.7237163 ] [ 0.32806209 -0.16815273 0.92956975 -11.36415741] [ 0. 0. 0. 1. ]] SLAMing on 105.12165253199998 meters Centerline goodness [0,1] 0.5288751526631938 Centerline is valid? [False, False] Translation: X:-35.58, Y:-42.75, Z:-11.38 [[ 0.7211644 -0.59079154 -0.36178346 -35.58113747] [ 0.61030844 0.78891014 -0.07172447 -42.74834854] [ 0.32778885 -0.16907436 0.92949897 -11.3753502 ] [ 0. 0. 0. 1. ]] SLAMing on 105.15165253199999 meters Centerline goodness [0,1] 0.5323021154037144 Centerline is valid? [False, False] Translation: X:-35.60, Y:-42.77, Z:-11.38 [[ 0.71971202 -0.58970959 -0.36641126 -35.60013861] [ 0.61066674 0.78878719 -0.07000653 -42.76999486] [ 0.33030402 -0.17337063 0.92781565 -11.3811326 ] [ 0. 0. 0. 1. ]] SLAMing on 105.18165253199999 meters Centerline goodness [0,1] 0.5283721392046865 Centerline is valid? [False, False] Translation: X:-35.63, Y:-42.80, Z:-11.39 [[ 0.71942524 -0.59213897 -0.363041 -35.62912 ] [ 0.61243594 0.78736245 -0.0705874 -42.79949488] [ 0.3276424 -0.171557 0.92909561 -11.39473825] [ 0. 0. 0. 1. ]] SLAMing on 105.21165253199999 meters Centerline goodness [0,1] 0.5316361470894745 Centerline is valid? [False, False] Translation: X:-35.65, Y:-42.83, Z:-11.41 [[ 0.71906136 -0.59350628 -0.361526 -35.65484544] [ 0.6135388 0.78648095 -0.07083678 -42.82647325] [ 0.32637539 -0.17087424 0.9296672 -11.4070717 ] [ 0. 0. 0. 1. ]] SLAMing on 105.24165253199999 meters Centerline goodness [0,1] 0.5283597595666263 Centerline is valid? [False, False] Translation: X:-35.69, Y:-42.86, Z:-11.42 [[ 0.7214928 -0.59169159 -0.35965149 -35.68580457] [ 0.61179489 0.78799443 -0.06907819 -42.85712339] [ 0.32427636 -0.17019353 0.9305262 -11.4213715 ] [ 0. 0. 0. 1. ]] SLAMing on 105.27165253199999 meters Centerline goodness [0,1] 0.5299208704253215 Centerline is valid? [False, False] Translation: X:-35.69, Y:-42.86, Z:-11.43 [[ 0.72197495 -0.59345042 -0.35576505 -35.69203894] [ 0.61312428 0.78700638 -0.06855338 -42.86191024] [ 0.3206724 -0.16863437 0.93205776 -11.4250908 ] [ 0. 0. 0. 1. ]] SLAMing on 105.30165253199999 meters Centerline goodness [0,1] 0.5287504333613986 Centerline is valid? [False, False] Translation: X:-35.72, Y:-42.89, Z:-11.44 [[ 0.7212569 -0.59498786 -0.35465183 -35.71785246] [ 0.61424289 0.7860472 -0.06953756 -42.88848575] [ 0.32014708 -0.16768792 0.93240903 -11.43685524] [ 0. 0. 0. 1. ]] SLAMing on 105.33165253199999 meters Centerline goodness [0,1] 0.529050625077361 Centerline is valid? [False, False] Translation: X:-35.75, Y:-42.92, Z:-11.45 [[ 0.72287689 -0.59468878 -0.35184409 -35.74855236] [ 0.61355932 0.78662955 -0.06898486 -42.92052477] [ 0.31779548 -0.16600965 0.93351316 -11.45100033] [ 0. 0. 0. 1. ]] SLAMing on 105.361652532 meters Centerline goodness [0,1] 0.5323143996631079 Centerline is valid? [False, False] Translation: X:-35.77, Y:-42.95, Z:-11.46 [[ 0.72319609 -0.59427465 -0.35188784 -35.77420398] [ 0.61337404 0.78683986 -0.06822993 -42.94709614] [ 0.3174267 -0.16649525 0.93355215 -11.46248002] [ 0. 0. 0. 1. ]] SLAMing on 105.391652532 meters Centerline goodness [0,1] 0.5302467300832343 Centerline is valid? [False, False] Translation: X:-35.80, Y:-42.97, Z:-11.47 [[ 0.72384972 -0.59345072 -0.35193441 -35.80017363] [ 0.61278134 0.78737618 -0.06736304 -42.97260379] [ 0.31708142 -0.16689812 0.93359755 -11.47479507] [ 0. 0. 0. 1. ]] SLAMing on 105.421652532 meters Centerline goodness [0,1] 0.5273778063177653 Centerline is valid? [False, False] Translation: X:-35.82, Y:-43.00, Z:-11.48 [[ 0.72414723 -0.5913435 -0.35485722 -35.82264177] [ 0.61154931 0.78845461 -0.06593009 -42.99598576] [ 0.31877615 -0.16926959 0.93259293 -11.48469847] [ 0. 0. 0. 1. ]] SLAMing on 105.451652532 meters Centerline goodness [0,1] 0.5276143386897405 Centerline is valid? [False, False] Translation: X:-35.85, Y:-43.03, Z:-11.50 [[ 0.72444226 -0.59317379 -0.35118125 -35.85300473] [ 0.61266836 0.78754793 -0.0663758 -43.02687179] [ 0.31594445 -0.1670722 0.93395181 -11.49785024] [ 0. 0. 0. 1. ]] SLAMing on 105.48165253199998 meters Centerline goodness [0,1] 0.5267453075153943 Centerline is valid? [False, False] Translation: X:-35.86, Y:-43.03, Z:-11.50 [[ 0.72293909 -0.59674867 -0.34820984 -35.85635032] [ 0.61519045 0.78537802 -0.06871736 -43.029056 ] [ 0.31448334 -0.16453691 0.93489456 -11.49816684] [ 0. 0. 0. 1. ]] SLAMing on 105.51165253199999 meters Centerline goodness [0,1] 0.520854451504438 Centerline is valid? [False, False] Translation: X:-35.88, Y:-43.06, Z:-11.51 [[ 0.72317956 -0.59634541 -0.34840133 -35.88230294] [ 0.61488459 0.78564231 -0.06843321 -43.05682816] [ 0.31452866 -0.16473711 0.93484406 -11.5089847 ] [ 0. 0. 0. 1. ]] SLAMing on 105.54165253199999 meters Centerline goodness [0,1] 0.510430983703122 Centerline is valid? [False, False] Translation: X:-35.91, Y:-43.09, Z:-11.52 [[ 0.72747599 -0.59087453 -0.34877783 -35.91399779] [ 0.60985518 0.78976519 -0.06593633 -43.08620179] [ 0.31441269 -0.16473687 0.93488311 -11.52447638] [ 0. 0. 0. 1. ]] SLAMing on 105.57165253199999 meters Centerline goodness [0,1] 0.5090815374797506 Centerline is valid? [False, False] Translation: X:-35.94, Y:-43.11, Z:-11.54 [[ 0.72756358 -0.59074667 -0.34881171 -35.93976767] [ 0.60991024 0.78976901 -0.06537894 -43.11274921] [ 0.31410308 -0.1651765 0.93490961 -11.53549235] [ 0. 0. 0. 1. ]] SLAMing on 105.60165253199999 meters Centerline goodness [0,1] 0.5067013599096666 Centerline is valid? [False, False] Translation: X:-35.97, Y:-43.14, Z:-11.55 [[ 0.72785829 -0.5905819 -0.34847572 -35.96610726] [ 0.60986953 0.78985018 -0.06477533 -43.13981475] [ 0.31349875 -0.16537747 0.93507691 -11.54675881] [ 0. 0. 0. 1. ]] SLAMing on 105.63165253199999 meters Centerline goodness [0,1] 0.5055937193326792 Centerline is valid? [False, False] Translation: X:-35.98, Y:-43.15, Z:-11.56 [[ 0.73024249 -0.59168785 -0.34154268 -35.98176268] [ 0.60775599 0.79095877 -0.07082992 -43.15211059] [ 0.31205538 -0.15585159 0.93719353 -11.5575946 ] [ 0. 0. 0. 1. ]] SLAMing on 105.66165253199999 meters Centerline goodness [0,1] 0.4924212694986756 Centerline is valid? [False, False] Translation: X:-36.00, Y:-43.17, Z:-11.57 [[ 0.73257451 -0.59304349 -0.33411676 -35.99784892] [ 0.60598973 0.79176799 -0.07668043 -43.1667125 ] [ 0.31001779 -0.14629719 0.93940732 -11.56792314] [ 0. 0. 0. 1. ]] SLAMing on 105.69165253199999 meters Centerline goodness [0,1] 0.4912431108389467 Centerline is valid? [False, False] Translation: X:-36.02, Y:-43.19, Z:-11.58 [[ 0.73321089 -0.59163674 -0.335213 -36.02379707] [ 0.60519772 0.792531 -0.07503559 -43.19432273] [ 0.31006051 -0.14785323 0.93914956 -11.57754923] [ 0. 0. 0. 1. ]] SLAMing on 105.721652532 meters Centerline goodness [0,1] 0.4969230769230769 Centerline is valid? [False, False] Translation: X:-36.03, Y:-43.20, Z:-11.58 [[ 0.73387083 -0.5911286 -0.33466488 -36.02694734] [ 0.60474048 0.79293288 -0.07447422 -43.19510701] [ 0.30939063 -0.14773094 0.9393897 -11.57811641] [ 0. 0. 0. 1. ]] SLAMing on 105.751652532 meters Centerline goodness [0,1] 0.4830708565586739 Centerline is valid? [False, False] Translation: X:-36.06, Y:-43.23, Z:-11.59 [[ 0.73416983 -0.59086038 -0.33448269 -36.05561144] [ 0.60441317 0.79318052 -0.07449421 -43.22565333] [ 0.30932083 -0.14747434 0.939453 -11.58858756] [ 0. 0. 0. 1. ]] SLAMing on 105.781652532 meters Centerline goodness [0,1] 0.4830708565586739 Centerline is valid? [False, False] Translation: X:-36.07, Y:-43.25, Z:-11.59 [[ 0.73264654 -0.58959566 -0.34000882 -36.07327218] [ 0.60438515 0.79331063 -0.07332696 -43.24772081] [ 0.31296586 -0.15177354 0.93755915 -11.59302847] [ 0. 0. 0. 1. ]] SLAMing on 105.811652532 meters Centerline goodness [0,1] 0.48679327657716653 Centerline is valid? [False, False] Translation: X:-36.10, Y:-43.27, Z:-11.60 [[ 0.73317725 -0.58760157 -0.34230908 -36.09655415] [ 0.60301521 0.79445759 -0.07217889 -43.27266492] [ 0.31436248 -0.15349766 0.93681092 -11.60337466] [ 0. 0. 0. 1. ]] SLAMing on 105.84165253199998 meters Centerline goodness [0,1] 0.4925336953359837 Centerline is valid? [False, False] Translation: X:-36.13, Y:-43.30, Z:-11.62 [[ 0.73481333 -0.58556596 -0.34228918 -36.12513093] [ 0.60119704 0.79593916 -0.07101387 -43.30224876] [ 0.31402467 -0.1536013 0.93690722 -11.61575888] [ 0. 0. 0. 1. ]] SLAMing on 105.87165253199998 meters Centerline goodness [0,1] 0.4788217639655339 Centerline is valid? [False, False] Translation: X:-36.15, Y:-43.33, Z:-11.62 [[ 0.73414233 -0.58595972 -0.34305429 -36.14947727] [ 0.60191987 0.79543509 -0.07053715 -43.32939565] [ 0.31420935 -0.15470689 0.93666337 -11.62462955] [ 0. 0. 0. 1. ]] SLAMing on 105.90165253199999 meters Centerline goodness [0,1] 0.4819784904563511 Centerline is valid? [False, False] Translation: X:-36.18, Y:-43.36, Z:-11.63 [[ 0.73474922 -0.58509598 -0.3432292 -36.17649762] [ 0.60136141 0.79594816 -0.06950528 -43.35834482] [ 0.31385991 -0.15533584 0.93667643 -11.63481223] [ 0. 0. 0. 1. ]] SLAMing on 105.93165253199999 meters Centerline goodness [0,1] 0.47436145043696587 Centerline is valid? [False, False] Translation: X:-36.21, Y:-43.39, Z:-11.65 [[ 0.7366198 -0.58310394 -0.34260919 -36.20571696] [ 0.59968149 0.79736611 -0.06774501 -43.38800395] [ 0.31268734 -0.15555407 0.93703231 -11.64686508] [ 0. 0. 0. 1. ]] SLAMing on 105.96165253199999 meters Centerline goodness [0,1] 0.4741917596856241 Centerline is valid? [False, False] Translation: X:-36.23, Y:-43.42, Z:-11.66 [[ 0.73571682 -0.58533981 -0.34073166 -36.23414277] [ 0.60131206 0.79602014 -0.06910682 -43.41776473] [ 0.31168024 -0.154043 0.93761729 -11.65778058] [ 0. 0. 0. 1. ]] SLAMing on 105.99165253199999 meters Centerline goodness [0,1] 0.4726720647773279 Centerline is valid? [False, False] Translation: X:-36.26, Y:-43.44, Z:-11.67 [[ 0.73402129 -0.58623705 -0.34283942 -36.25592282] [ 0.60261718 0.79502126 -0.06923675 -43.44283962] [ 0.31315378 -0.15577968 0.93683905 -11.66516948] [ 0. 0. 0. 1. ]] SLAMing on 106.02165253199999 meters Centerline goodness [0,1] 0.4787613176651897 Centerline is valid? [False, False] Translation: X:-36.28, Y:-43.47, Z:-11.67 [[ 0.73248496 -0.58703334 -0.34475736 -36.27792336] [ 0.60362611 0.794203 -0.06983634 -43.46857118] [ 0.31480359 -0.15695048 0.93609041 -11.67351957] [ 0. 0. 0. 1. ]] SLAMing on 106.05165253199999 meters Centerline goodness [0,1] 0.4674786027666563 Centerline is valid? [False, False] Translation: X:-36.31, Y:-43.50, Z:-11.69 [[ 0.73423654 -0.58443528 -0.34544479 -36.30714971] [ 0.6012466 0.79608679 -0.06890819 -43.49756926] [ 0.31527641 -0.1571026 0.93590574 -11.68621185] [ 0. 0. 0. 1. ]] SLAMing on 106.08165253199999 meters Centerline goodness [0,1] 0.4666666666666667 Centerline is valid? [False, False] Translation: X:-36.33, Y:-43.52, Z:-11.70 [[ 0.7362967 -0.58122356 -0.34647706 -36.33409814] [ 0.59853615 0.79827415 -0.06717776 -43.52487193] [ 0.31562898 -0.15791628 0.93564993 -11.69904349] [ 0. 0. 0. 1. ]] SLAMing on 106.111652532 meters Centerline goodness [0,1] 0.47116117355686793 Centerline is valid? [False, False] Translation: X:-36.35, Y:-43.53, Z:-11.71 [[ 0.73975839 -0.57958065 -0.34182421 -36.34635645] [ 0.59479985 0.80077469 -0.0705197 -43.53228617] [ 0.31459603 -0.15114945 0.93711428 -11.70969962] [ 0. 0. 0. 1. ]] SLAMing on 106.141652532 meters Centerline goodness [0,1] 0.4631456070135316 Centerline is valid? [False, False] Translation: X:-36.38, Y:-43.57, Z:-11.72 [[ 0.74074433 -0.57952942 -0.33976975 -36.37660095] [ 0.59458001 0.80098848 -0.06994332 -43.56521332] [ 0.31268587 -0.15021018 0.93790429 -11.72095355] [ 0. 0. 0. 1. ]] SLAMing on 106.171652532 meters Centerline goodness [0,1] 0.46246927134299143 Centerline is valid? [False, False] Translation: X:-36.40, Y:-43.60, Z:-11.73 [[ 0.74162976 -0.57928767 -0.33824708 -36.4040791 ] [ 0.59460612 0.80111227 -0.06828401 -43.59503608] [ 0.31052997 -0.15048233 0.93857669 -11.73217452] [ 0. 0. 0. 1. ]] SLAMing on 106.201652532 meters Centerline goodness [0,1] 0.4650634666411685 Centerline is valid? [False, False] Translation: X:-36.42, Y:-43.60, Z:-11.74 [[ 0.74285219 -0.58176353 -0.33124284 -36.41618715] [ 0.59430183 0.80085352 -0.07374941 -43.6041836 ] [ 0.30818171 -0.14207332 0.94065892 -11.74176783] [ 0. 0. 0. 1. ]] SLAMing on 106.23165253199998 meters Centerline goodness [0,1] 0.45900150562818154 Centerline is valid? [False, False] Translation: X:-36.44, Y:-43.63, Z:-11.75 [[ 0.74244332 -0.58164489 -0.33236597 -36.44086434] [ 0.59415606 0.8009051 -0.07436129 -43.63342216] [ 0.30944546 -0.14226821 0.94021448 -11.75196282] [ 0. 0. 0. 1. ]] SLAMing on 106.26165253199999 meters Centerline goodness [0,1] 0.46349684452094086 Centerline is valid? [False, False] Translation: X:-36.46, Y:-43.66, Z:-11.76 [[ 0.74164886 -0.58033358 -0.33640735 -36.46085133] [ 0.59385345 0.80125316 -0.07301678 -43.65830677] [ 0.31192154 -0.14562385 0.93888159 -11.75891953] [ 0. 0. 0. 1. ]] SLAMing on 106.29165253199999 meters Centerline goodness [0,1] 0.45600363349508766 Centerline is valid? [False, False] Translation: X:-36.48, Y:-43.68, Z:-11.77 [[ 0.74058703 -0.57927392 -0.34054747 -36.48097414] [ 0.59388068 0.80135994 -0.07160994 -43.68282776] [ 0.31438288 -0.14921117 0.93749636 -11.76503864] [ 0. 0. 0. 1. ]] SLAMing on 106.32165253199999 meters Centerline goodness [0,1] 0.4545150021534191 Centerline is valid? [False, False] Translation: X:-36.50, Y:-43.71, Z:-11.77 [[ 0.73972611 -0.57783506 -0.34483608 -36.50115075] [ 0.59363445 0.80168986 -0.06993931 -43.7073923 ] [ 0.31686498 -0.15297064 0.93605372 -11.77120231] [ 0. 0. 0. 1. ]] SLAMing on 106.35165253199999 meters Centerline goodness [0,1] 0.47413380551301687 Centerline is valid? [False, False] Translation: X:-36.51, Y:-43.71, Z:-11.77 [[ 0.73838395 -0.58128787 -0.34189701 -36.50510582] [ 0.59610186 0.79965754 -0.07218308 -43.70889433] [ 0.31535967 -0.15050661 0.93696107 -11.77186328] [ 0. 0. 0. 1. ]] SLAMing on 106.38165253199999 meters Centerline goodness [0,1] 0.46552636643571976 Centerline is valid? [False, False] Translation: X:-36.53, Y:-43.74, Z:-11.78 [[ 0.73716873 -0.58306611 -0.3414911 -36.52997184] [ 0.59770057 0.79839399 -0.07294569 -43.73999679] [ 0.3151766 -0.15033614 0.93705003 -11.78107054] [ 0. 0. 0. 1. ]] SLAMing on 106.41165253199999 meters Centerline goodness [0,1] 0.45603785428033417 Centerline is valid? [False, False] Translation: X:-36.55, Y:-43.77, Z:-11.79 [[ 0.73511909 -0.58414719 -0.34405229 -36.55033005] [ 0.59930239 0.79718727 -0.07300074 -43.766411 ] [ 0.31691729 -0.15252712 0.93610839 -11.78733138] [ 0. 0. 0. 1. ]] SLAMing on 106.44165253199999 meters Centerline goodness [0,1] 0.4606896551724138 Centerline is valid? [False, False] Translation: X:-36.58, Y:-43.80, Z:-11.80 [[ 0.73581067 -0.58324632 -0.34410228 -36.57727405] [ 0.59888901 0.7976463 -0.0713606 -43.79815685] [ 0.31609272 -0.15357118 0.93621647 -11.79732768] [ 0. 0. 0. 1. ]] SLAMing on 106.471652532 meters Centerline goodness [0,1] 0.45949673360754895 Centerline is valid? [False, False] Translation: X:-36.60, Y:-43.82, Z:-11.81 [[ 0.73664512 -0.58038729 -0.34713768 -36.60003058] [ 0.59714081 0.79916522 -0.06897688 -43.82452567] [ 0.31745367 -0.1564786 0.93527409 -11.80674104] [ 0. 0. 0. 1. ]] SLAMing on 106.501652532 meters Centerline goodness [0,1] 0.4639602520601066 Centerline is valid? [False, False] Translation: X:-36.62, Y:-43.85, Z:-11.81 [[ 0.73396561 -0.58065269 -0.35233071 -36.61628675] [ 0.59877511 0.7980387 -0.06784244 -43.84642054] [ 0.32056644 -0.16117285 0.93341334 -11.81025251] [ 0. 0. 0. 1. ]] SLAMing on 106.531652532 meters Centerline goodness [0,1] 0.46390676217069327 Centerline is valid? [False, False] Translation: X:-36.63, Y:-43.87, Z:-11.82 [[ 0.73059645 -0.58297866 -0.35547814 -36.63416734] [ 0.60167681 0.79579705 -0.06849861 -43.86932133] [ 0.32282169 -0.16383811 0.93217125 -11.81558934] [ 0. 0. 0. 1. ]] SLAMing on 106.561652532 meters Centerline goodness [0,1] 0.46703002579200936 Centerline is valid? [False, False] Translation: X:-36.66, Y:-43.90, Z:-11.83 [[ 0.73091025 -0.58376618 -0.35353537 -36.66360415] [ 0.60215839 0.79543138 -0.06851421 -43.90348303] [ 0.3212094 -0.16280655 0.93290865 -11.8267483 ] [ 0. 0. 0. 1. ]] SLAMing on 106.59165253199998 meters Centerline goodness [0,1] 0.46966893865628045 Centerline is valid? [False, False] Translation: X:-36.69, Y:-43.93, Z:-11.84 [[ 0.73159615 -0.581748 -0.35543824 -36.68711658] [ 0.6009332 0.79650709 -0.06675137 -43.93017568] [ 0.32194155 -0.1647596 0.93231321 -11.83713765] [ 0. 0. 0. 1. ]] SLAMing on 106.62165253199998 meters Centerline goodness [0,1] 0.4769069449863441 Centerline is valid? [False, False] Translation: X:-36.70, Y:-43.95, Z:-11.84 [[ 0.72972413 -0.58142795 -0.3597836 -36.70460657] [ 0.60170285 0.7959911 -0.0659685 -43.95265324] [ 0.32474047 -0.16834402 0.93070077 -11.84341577] [ 0. 0. 0. 1. ]] SLAMing on 106.65165253199999 meters Centerline goodness [0,1] 0.4737266201103677 Centerline is valid? [False, False] Translation: X:-36.72, Y:-43.98, Z:-11.85 [[ 0.72881418 -0.57990656 -0.36405805 -36.72400581] [ 0.60136824 0.79635449 -0.06462016 -43.97555195] [ 0.32739292 -0.17183686 0.92913184 -11.85092088] [ 0. 0. 0. 1. ]] SLAMing on 106.68165253199999 meters Centerline goodness [0,1] 0.4703887994536319 Centerline is valid? [False, False] Translation: X:-36.75, Y:-44.00, Z:-11.86 [[ 0.73057171 -0.57821787 -0.36322043 -36.75250326] [ 0.60000728 0.79752869 -0.06276352 -44.00462013] [ 0.3259697 -0.17208165 0.92958682 -11.86398502] [ 0. 0. 0. 1. ]] SLAMing on 106.71165253199999 meters Centerline goodness [0,1] 0.46551050317537856 Centerline is valid? [False, False] Translation: X:-36.79, Y:-44.04, Z:-11.88 [[ 0.73457104 -0.57523604 -0.35987342 -36.78767515] [ 0.59673147 0.80012599 -0.06090935 -44.04162844] [ 0.32298133 -0.17000555 0.93101083 -11.87911205] [ 0. 0. 0. 1. ]] SLAMing on 106.74165253199999 meters Centerline goodness [0,1] 0.463680328269259 Centerline is valid? [False, False] Translation: X:-36.80, Y:-44.05, Z:-11.89 [[ 0.73662214 -0.57650792 -0.35359078 -36.79888137] [ 0.59565945 0.80064431 -0.06448653 -44.05123116] [ 0.32027744 -0.16311748 0.93317472 -11.88857807] [ 0. 0. 0. 1. ]] SLAMing on 106.77165253199999 meters Centerline goodness [0,1] 0.4648392687153702 Centerline is valid? [False, False] Translation: X:-36.83, Y:-44.08, Z:-11.90 [[ 0.7373785 -0.57702959 -0.35115494 -36.82851613] [ 0.59597282 0.80045978 -0.06387902 -44.08328014] [ 0.31794549 -0.16217579 0.93413579 -11.90051954] [ 0. 0. 0. 1. ]] SLAMing on 106.80165253199999 meters Centerline goodness [0,1] 0.46384544169955655 Centerline is valid? [False, False] Translation: X:-36.85, Y:-44.11, Z:-11.91 [[ 0.73756366 -0.57652504 -0.35159456 -36.85442671] [ 0.59597774 0.80056506 -0.06249894 -44.11225466] [ 0.31750652 -0.16344558 0.93406378 -11.90972268] [ 0. 0. 0. 1. ]] SLAMing on 106.83165253199999 meters Centerline goodness [0,1] 0.4631279205607477 Centerline is valid? [False, False] Translation: X:-36.88, Y:-44.14, Z:-11.92 [[ 0.73875571 -0.57487409 -0.35179509 -36.88180276] [ 0.59491331 0.80151206 -0.06046961 -44.14126063] [ 0.31673042 -0.16461531 0.93412185 -11.92065211] [ 0. 0. 0. 1. ]] SLAMing on 106.861652532 meters Centerline goodness [0,1] 0.46120165409875946 Centerline is valid? [False, False] Translation: X:-36.91, Y:-44.17, Z:-11.93 [[ 0.73851049 -0.57438356 -0.35310874 -36.90602052] [ 0.59511824 0.8014664 -0.05904148 -44.16791489] [ 0.31691725 -0.1665387 0.93371747 -11.9295808 ] [ 0. 0. 0. 1. ]] SLAMing on 106.891652532 meters Centerline goodness [0,1] 0.46372370181199074 Centerline is valid? [False, False] Translation: X:-36.93, Y:-44.20, Z:-11.94 [[ 0.73795599 -0.57527663 -0.35281405 -36.93219801] [ 0.59599514 0.80080686 -0.05914531 -44.19780323] [ 0.31656083 -0.16662882 0.9338223 -11.93972023] [ 0. 0. 0. 1. ]] SLAMing on 106.921652532 meters Centerline goodness [0,1] 0.46140000972904605 Centerline is valid? [False, False] Translation: X:-36.96, Y:-44.22, Z:-11.95 [[ 0.73723763 -0.57562255 -0.35375042 -36.95569349] [ 0.59671751 0.80030451 -0.05865921 -44.22446249] [ 0.31687362 -0.16784329 0.93349865 -11.94922711] [ 0. 0. 0. 1. ]] SLAMing on 106.951652532 meters Centerline goodness [0,1] 0.46871204391973964 Centerline is valid? [False, False] Translation: X:-36.98, Y:-44.25, Z:-11.96 [[ 0.73702902 -0.57531112 -0.35469049 -36.98022767] [ 0.59681103 0.80028785 -0.05793064 -44.25096751] [ 0.31718263 -0.16898663 0.93318739 -11.95918295] [ 0. 0. 0. 1. ]] SLAMing on 106.98165253199998 meters Centerline goodness [0,1] 0.454633578906553 Centerline is valid? [False, False] Translation: X:-37.01, Y:-44.28, Z:-11.97 [[ 0.73794602 -0.57418838 -0.35460314 -37.00670429] [ 0.59594872 0.80100903 -0.05682999 -44.27838834] [ 0.31667144 -0.16938783 0.93328825 -11.97152095] [ 0. 0. 0. 1. ]] SLAMing on 107.01165253199999 meters Centerline goodness [0,1] 0.46510106150937913 Centerline is valid? [False, False] Translation: X:-37.04, Y:-44.31, Z:-11.98 [[ 0.73826673 -0.57455451 -0.35334029 -37.03520883] [ 0.59613702 0.80087711 -0.05671423 -44.30802627] [ 0.31556757 -0.168769 0.93377413 -11.98339396] [ 0. 0. 0. 1. ]] SLAMing on 107.04165253199999 meters Centerline goodness [0,1] 0.459859137885132 Centerline is valid? [False, False] Translation: X:-37.06, Y:-44.34, Z:-12.00 [[ 0.73824599 -0.57518988 -0.35234848 -37.06181465] [ 0.59661904 0.80051537 -0.05675269 -44.33630146] [ 0.31470395 -0.16832036 0.9341465 -11.99501995] [ 0. 0. 0. 1. ]] SLAMing on 107.07165253199999 meters Centerline goodness [0,1] 0.465734569689945 Centerline is valid? [False, False] Translation: X:-37.09, Y:-44.36, Z:-12.01 [[ 0.73868304 -0.57517089 -0.35146239 -37.08772434] [ 0.59691892 0.80039466 -0.0552828 -44.36357141] [ 0.31310568 -0.16895808 0.93456835 -12.00614846] [ 0. 0. 0. 1. ]] SLAMing on 107.10165253199999 meters Centerline goodness [0,1] 0.46168300850417987 Centerline is valid? [False, False] Translation: X:-37.12, Y:-44.40, Z:-12.02 [[ 0.74107385 -0.57355215 -0.34906658 -37.11977488] [ 0.59497599 0.80189664 -0.05445491 -44.39564607] [ 0.31114805 -0.16733112 0.9355144 -12.02047044] [ 0. 0. 0. 1. ]] SLAMing on 107.13165253199999 meters Centerline goodness [0,1] 0.4635646990963276 Centerline is valid? [False, False] Translation: X:-37.15, Y:-44.42, Z:-12.03 [[ 0.74216347 -0.57299602 -0.34766212 -37.14764895] [ 0.59433268 0.80242018 -0.05376359 -44.42365979] [ 0.30977742 -0.16672559 0.9360772 -12.03369235] [ 0. 0. 0. 1. ]] SLAMing on 107.16165253199999 meters Centerline goodness [0,1] 0.45882381204055156 Centerline is valid? [False, False] Translation: X:-37.18, Y:-44.45, Z:-12.05 [[ 0.74304383 -0.5730228 -0.34573219 -37.17605609] [ 0.59417464 0.80257427 -0.05320753 -44.45224716] [ 0.30796489 -0.16588977 0.93682347 -12.04663403] [ 0. 0. 0. 1. ]] SLAMing on 107.19165253199999 meters Centerline goodness [0,1] 0.45728956713696134 Centerline is valid? [False, False] Translation: X:-37.20, Y:-44.48, Z:-12.06 [[ 0.74345571 -0.5741396 -0.34298299 -37.20449206] [ 0.59474184 0.80213049 -0.05356143 -44.48032361] [ 0.30586885 -0.16416578 0.93781333 -12.06028659] [ 0. 0. 0. 1. ]] SLAMing on 107.221652532 meters Centerline goodness [0,1] 0.4486081882533002 Centerline is valid? [False, False] Translation: X:-37.24, Y:-44.51, Z:-12.07 [[ 0.74626968 -0.57219069 -0.34011672 -37.23837102] [ 0.59272032 0.80375012 -0.05165618 -44.51366802] [ 0.30292604 -0.16304465 0.93896339 -12.07334196] [ 0. 0. 0. 1. ]] SLAMing on 107.251652532 meters Centerline goodness [0,1] 0.4483995981053538 Centerline is valid? [False, False] Translation: X:-37.27, Y:-44.54, Z:-12.09 [[ 0.74569848 -0.57472038 -0.33709088 -37.2669986 ] [ 0.59457328 0.80231804 -0.05261529 -44.54223931] [ 0.30069318 -0.16119009 0.94000073 -12.0854828 ] [ 0. 0. 0. 1. ]] SLAMing on 107.281652532 meters Centerline goodness [0,1] 0.45592487275681615 Centerline is valid? [False, False] Translation: X:-37.29, Y:-44.57, Z:-12.10 [[ 0.74579314 -0.57462392 -0.3370459 -37.29322654] [ 0.59472593 0.8022588 -0.05178693 -44.56947186] [ 0.30015605 -0.1618276 0.94006286 -12.09576035] [ 0. 0. 0. 1. ]] SLAMing on 107.311652532 meters Centerline goodness [0,1] 0.4580924164954365 Centerline is valid? [False, False] Translation: X:-37.32, Y:-44.60, Z:-12.11 [[ 0.74495902 -0.57588089 -0.33674511 -37.31982544] [ 0.59557377 0.80153759 -0.05319195 -44.59605799] [ 0.30054609 -0.16093073 0.9400922 -12.10693202] [ 0. 0. 0. 1. ]] SLAMing on 107.34165253199998 meters Centerline goodness [0,1] 0.4693965311290553 Centerline is valid? [False, False] Translation: X:-37.34, Y:-44.62, Z:-12.12 [[ 0.74269671 -0.57751672 -0.33893367 -37.33992392] [ 0.59736128 0.80012699 -0.05437188 -44.61832054] [ 0.30259065 -0.16208403 0.93923781 -12.11520901] [ 0. 0. 0. 1. ]] SLAMing on 107.37165253199998 meters Centerline goodness [0,1] 0.46690270567689773 Centerline is valid? [False, False] Translation: X:-37.36, Y:-44.64, Z:-12.12 [[ 0.74079626 -0.57911193 -0.34036784 -37.36133374] [ 0.59880225 0.79893253 -0.05605964 -44.6417523 ] [ 0.30439575 -0.16228426 0.93861976 -12.12475837] [ 0. 0. 0. 1. ]] SLAMing on 107.40165253199999 meters Centerline goodness [0,1] 0.473837626033354 Centerline is valid? [False, False] Translation: X:-37.39, Y:-44.67, Z:-12.14 [[ 0.74331825 -0.57674698 -0.33888184 -37.39352031] [ 0.59591688 0.80107388 -0.05624689 -44.67230991] [ 0.30390962 -0.16013607 0.93914609 -12.13992543] [ 0. 0. 0. 1. ]] SLAMing on 107.43165253199999 meters Centerline goodness [0,1] 0.4673303253837523 Centerline is valid? [False, False] Translation: X:-37.43, Y:-44.70, Z:-12.15 [[ 0.74640608 -0.57388854 -0.33694201 -37.4253391 ] [ 0.59320454 0.80323812 -0.05400834 -44.70137042] [ 0.30163943 -0.15956338 0.9399751 -12.15427208] [ 0. 0. 0. 1. ]] SLAMing on 107.46165253199999 meters Centerline goodness [0,1] 0.4620236593435365 Centerline is valid? [False, False] Translation: X:-37.46, Y:-44.73, Z:-12.17 [[ 0.7500379 -0.57014672 -0.33522512 -37.45561049] [ 0.58999154 0.80582933 -0.05048827 -44.72915936] [ 0.29891995 -0.15991187 0.94078428 -12.168664 ] [ 0. 0. 0. 1. ]] SLAMing on 107.49165253199999 meters Centerline goodness [0,1] 0.46137757284783953 Centerline is valid? [False, False] Translation: X:-37.47, Y:-44.74, Z:-12.17 [[ 0.75233585 -0.56949757 -0.33115446 -37.46676077] [ 0.58825733 0.80703549 -0.05144933 -44.73860739] [ 0.29655367 -0.15609686 0.94217285 -12.17282725] [ 0. 0. 0. 1. ]] SLAMing on 107.52165253199999 meters Centerline goodness [0,1] 0.4656828855460462 Centerline is valid? [False, False] Translation: X:-37.49, Y:-44.76, Z:-12.18 [[ 0.75416768 -0.57154671 -0.32336584 -37.48871671] [ 0.58617397 0.80789676 -0.06085143 -44.75967983] [ 0.29602565 -0.14365646 0.94431543 -12.18166123] [ 0. 0. 0. 1. ]] SLAMing on 107.55165253199999 meters Centerline goodness [0,1] 0.4468752972510226 Centerline is valid? [False, False] Translation: X:-37.49, Y:-44.76, Z:-12.19 [[ 0.75589707 -0.57054792 -0.32108361 -37.49400039] [ 0.58483556 0.80889028 -0.06052996 -44.76346933] [ 0.29425666 -0.14202669 0.94511451 -12.18570007] [ 0. 0. 0. 1. ]] SLAMing on 107.58165253199999 meters Centerline goodness [0,1] 0.4488743524243799 Centerline is valid? [False, False] Translation: X:-37.52, Y:-44.79, Z:-12.19 [[ 0.7542198 -0.57245453 -0.32163381 -37.51685686] [ 0.58657847 0.80753344 -0.06176925 -44.79011624] [ 0.29509014 -0.14207588 0.94484721 -12.19448405] [ 0. 0. 0. 1. ]] SLAMing on 107.611652532 meters Centerline goodness [0,1] 0.46838580519078143 Centerline is valid? [False, False] Translation: X:-37.54, Y:-44.82, Z:-12.21 [[ 0.75501945 -0.57130895 -0.32179451 -37.54352819] [ 0.58545681 0.80836629 -0.06151633 -44.81775071] [ 0.29527267 -0.14195076 0.94480899 -12.20698974] [ 0. 0. 0. 1. ]] SLAMing on 107.641652532 meters Centerline goodness [0,1] 0.47070033349213913 Centerline is valid? [False, False] Translation: X:-37.57, Y:-44.84, Z:-12.22 [[ 0.75486843 -0.57087087 -0.3229243 -37.56812395] [ 0.58563931 0.80834679 -0.06001719 -44.84407448] [ 0.29529689 -0.14381208 0.94451989 -12.21553119] [ 0. 0. 0. 1. ]] SLAMing on 107.671652532 meters Centerline goodness [0,1] 0.47447654891498536 Centerline is valid? [False, False] Translation: X:-37.59, Y:-44.87, Z:-12.22 [[ 0.75310307 -0.5723094 -0.3244961 -37.59037184] [ 0.58731932 0.80709873 -0.06039581 -44.8689396 ] [ 0.29646548 -0.14509855 0.9439569 -12.22299352] [ 0. 0. 0. 1. ]] SLAMing on 107.701652532 meters Centerline goodness [0,1] 0.47447654891498536 Centerline is valid? [False, False] Translation: X:-37.62, Y:-44.90, Z:-12.23 [[ 0.75284642 -0.57241052 -0.32491301 -37.61512778] [ 0.58750598 0.80696513 -0.06036558 -44.89540311] [ 0.29674736 -0.14544233 0.94381541 -12.23318472] [ 0. 0. 0. 1. ]] SLAMing on 107.73165253199998 meters Centerline goodness [0,1] 0.4687537197952625 Centerline is valid? [False, False] Translation: X:-37.64, Y:-44.93, Z:-12.24 [[ 0.75326374 -0.57211006 -0.32447469 -37.64227801] [ 0.58736628 0.8071271 -0.05955414 -44.92519827] [ 0.29596384 -0.14572551 0.94401773 -12.24303925] [ 0. 0. 0. 1. ]] SLAMing on 107.76165253199999 meters Centerline goodness [0,1] 0.46792281389732426 Centerline is valid? [False, False] Translation: X:-37.67, Y:-44.96, Z:-12.25 [[ 0.75410546 -0.57289168 -0.32112315 -37.67390842] [ 0.58745538 0.80701497 -0.0601914 -44.96007837] [ 0.29363434 -0.14325486 0.9451227 -12.25488628] [ 0. 0. 0. 1. ]] SLAMing on 107.79165253199999 meters Centerline goodness [0,1] 0.46390572069278113 Centerline is valid? [False, False] Translation: X:-37.70, Y:-44.99, Z:-12.26 [[ 0.75376147 -0.57316311 -0.32144626 -37.69869916] [ 0.58786976 0.80673028 -0.05996169 -44.98833307] [ 0.29368826 -0.14377173 0.94502746 -12.26422071] [ 0. 0. 0. 1. ]] SLAMing on 107.82165253199999 meters Centerline goodness [0,1] 0.46820518952529 Centerline is valid? [False, False] Translation: X:-37.72, Y:-45.02, Z:-12.27 [[ 0.75298533 -0.57426186 -0.32130425 -37.72308885] [ 0.58884591 0.80597554 -0.06053042 -45.01532196] [ 0.29372367 -0.14362017 0.9450395 -12.27443601] [ 0. 0. 0. 1. ]] SLAMing on 107.85165253199999 meters Centerline goodness [0,1] 0.4732839033723989 Centerline is valid? [False, False] Translation: X:-37.75, Y:-45.05, Z:-12.28 [[ 0.75271582 -0.57598916 -0.3188344 -37.75248427] [ 0.59010112 0.80500974 -0.06115535 -45.04824607] [ 0.29188962 -0.14211194 0.94583542 -12.28473728] [ 0. 0. 0. 1. ]] SLAMing on 107.88165253199999 meters Centerline goodness [0,1] 0.47174870714422523 Centerline is valid? [False, False] Translation: X:-37.78, Y:-45.08, Z:-12.29 [[ 0.75225169 -0.57590314 -0.32008275 -37.77681844] [ 0.59039223 0.8048407 -0.06056785 -45.07571293] [ 0.29249684 -0.1434121 0.94545152 -12.29300335] [ 0. 0. 0. 1. ]] SLAMing on 107.91165253199999 meters Centerline goodness [0,1] 0.4728592997339852 Centerline is valid? [False, False] Translation: X:-37.80, Y:-45.10, Z:-12.30 [[ 0.75193429 -0.57627734 -0.32015505 -37.80215426] [ 0.59076044 0.80455977 -0.06070975 -45.1039365 ] [ 0.29256953 -0.1434852 0.94541793 -12.30296395] [ 0. 0. 0. 1. ]] SLAMing on 107.94165253199999 meters Centerline goodness [0,1] 0.47749994006377217 Centerline is valid? [False, False] Translation: X:-37.83, Y:-45.13, Z:-12.31 [[ 0.75099403 -0.57643789 -0.32206726 -37.8254789 ] [ 0.59126541 0.80419381 -0.06064259 -45.13026977] [ 0.29396119 -0.14488501 0.94477254 -12.31060993] [ 0. 0. 0. 1. ]] SLAMing on 107.971652532 meters Centerline goodness [0,1] 0.46894661582459485 Centerline is valid? [False, False] Translation: X:-37.85, Y:-45.16, Z:-12.32 [[ 0.75203916 -0.57558576 -0.32115125 -37.85363815] [ 0.59059352 0.80478125 -0.05938377 -45.16122788] [ 0.29263696 -0.14501093 0.94516424 -12.3216288 ] [ 0. 0. 0. 1. ]] SLAMing on 108.001652532 meters Centerline goodness [0,1] 0.46431745574211525 Centerline is valid? [False, False] Translation: X:-37.88, Y:-45.19, Z:-12.33 [[ 0.75152948 -0.5774247 -0.3190363 -37.88231497] [ 0.59161032 0.80388677 -0.06134562 -45.19180515] [ 0.29189154 -0.14264212 0.94575502 -12.3331247 ] [ 0. 0. 0. 1. ]] SLAMing on 108.031652532 meters Centerline goodness [0,1] 0.46903716499916026 Centerline is valid? [False, False] Translation: X:-37.91, Y:-45.22, Z:-12.34 [[ 0.75034491 -0.57817651 -0.32045973 -37.90520997] [ 0.59248051 0.8032048 -0.06187804 -45.21778164] [ 0.29317122 -0.14343627 0.94523895 -12.34150338] [ 0. 0. 0. 1. ]] SLAMing on 108.061652532 meters Centerline goodness [0,1] 0.46858556978448385 Centerline is valid? [False, False] Translation: X:-37.94, Y:-45.25, Z:-12.35 [[ 0.7522624 -0.57620142 -0.31952028 -37.93562118] [ 0.59038142 0.80479012 -0.0613403 -45.24895526] [ 0.29249114 -0.14249483 0.94559196 -12.35416227] [ 0. 0. 0. 1. ]] SLAMing on 108.09165253199998 meters Centerline goodness [0,1] 0.46825396825396826 Centerline is valid? [False, False] Translation: X:-37.96, Y:-45.28, Z:-12.36 [[ 0.75298508 -0.57548889 -0.31910188 -37.96339144] [ 0.58976341 0.805295 -0.06065549 -45.27933696] [ 0.29187771 -0.14252194 0.94577741 -12.36421721] [ 0. 0. 0. 1. ]] SLAMing on 108.12165253199998 meters Centerline goodness [0,1] 0.4713133501865896 Centerline is valid? [False, False] Translation: X:-37.99, Y:-45.31, Z:-12.37 [[ 0.7521007 -0.5776127 -0.3173454 -37.99168681] [ 0.59145166 0.80398158 -0.06163242 -45.31042136] [ 0.29073952 -0.14134067 0.9463051 -12.37310228] [ 0. 0. 0. 1. ]] SLAMing on 108.15165253199999 meters Centerline goodness [0,1] 0.4750500446180932 Centerline is valid? [False, False] Translation: X:-38.01, Y:-45.34, Z:-12.38 [[ 0.75003426 -0.57989589 -0.31807132 -38.01430641] [ 0.59359669 0.8022951 -0.06297261 -45.33743328] [ 0.29170462 -0.14157447 0.94597309 -12.38048415] [ 0. 0. 0. 1. ]] SLAMing on 108.18165253199999 meters Centerline goodness [0,1] 0.46695513440340364 Centerline is valid? [False, False] Translation: X:-38.04, Y:-45.37, Z:-12.39 [[ 0.74957882 -0.58077165 -0.31754666 -38.04153729] [ 0.59388939 0.80193378 -0.06478889 -45.36703136] [ 0.29227894 -0.14002321 0.9460267 -12.39166194] [ 0. 0. 0. 1. ]] SLAMing on 108.21165253199999 meters Centerline goodness [0,1] 0.4872918280402788 Centerline is valid? [False, False] Translation: X:-38.06, Y:-45.39, Z:-12.40 [[ 0.74779684 -0.58177418 -0.3199042 -38.06293935] [ 0.5951014 0.80097271 -0.06555182 -45.39109607] [ 0.29437089 -0.14135599 0.94517949 -12.39919789] [ 0. 0. 0. 1. ]] SLAMing on 108.24165253199999 meters Centerline goodness [0,1] 0.47751652662420996 Centerline is valid? [False, False] Translation: X:-38.09, Y:-45.42, Z:-12.41 [[ 0.74765925 -0.58100837 -0.321613 -38.08783161] [ 0.59437677 0.80146371 -0.06612243 -45.41587278] [ 0.29617884 -0.14172225 0.94455963 -12.40996541] [ 0. 0. 0. 1. ]] SLAMing on 108.27165253199999 meters Centerline goodness [0,1] 0.47045191193511005 Centerline is valid? [False, False] Translation: X:-38.12, Y:-45.45, Z:-12.42 [[ 0.74975179 -0.57840097 -0.3214414 -38.1175938 ] [ 0.59189142 0.80338864 -0.065048 -45.44511402] [ 0.2958662 -0.14148855 0.94469264 -12.42241364] [ 0. 0. 0. 1. ]] SLAMing on 108.30165253199999 meters Centerline goodness [0,1] 0.47361957280805256 Centerline is valid? [False, False] Translation: X:-38.15, Y:-45.47, Z:-12.43 [[ 0.75288291 -0.57343691 -0.32301305 -38.14596063] [ 0.58767213 0.80669332 -0.06234863 -45.47300061] [ 0.29632547 -0.14288455 0.94433851 -12.43460585] [ 0. 0. 0. 1. ]] SLAMing on 108.33165253199999 meters Centerline goodness [0,1] 0.45683453237410077 Centerline is valid? [False, False] Translation: X:-38.18, Y:-45.50, Z:-12.45 [[ 0.75695887 -0.56722282 -0.32445575 -38.17638056] [ 0.58253461 0.8107155 -0.05825632 -45.50311831] [ 0.29608563 -0.14490907 0.94410522 -12.44611075] [ 0. 0. 0. 1. ]] SLAMing on 108.361652532 meters Centerline goodness [0,1] 0.4573330787953992 Centerline is valid? [False, False] Translation: X:-38.20, Y:-45.52, Z:-12.45 [[ 0.75881673 -0.56698854 -0.32050144 -38.20082276] [ 0.57848992 0.81282402 -0.06831195 -45.52346602] [ 0.29924336 -0.1335706 0.94478162 -12.45281257] [ 0. 0. 0. 1. ]] SLAMing on 108.391652532 meters Centerline goodness [0,1] 0.45706603932112255 Centerline is valid? [False, False] Translation: X:-38.23, Y:-45.55, Z:-12.46 [[ 0.76006053 -0.56574686 -0.31974753 -38.2301533 ] [ 0.5771683 0.81379529 -0.06792635 -45.55399503] [ 0.29863815 -0.13292 0.94506483 -12.46407241] [ 0. 0. 0. 1. ]] SLAMing on 108.421652532 meters Centerline goodness [0,1] 0.4565513940409238 Centerline is valid? [False, False] Translation: X:-38.26, Y:-45.58, Z:-12.47 [[ 0.76088627 -0.56447187 -0.32003687 -38.25796097] [ 0.57612241 0.81460831 -0.0670543 -45.5833255 ] [ 0.29855496 -0.13335972 0.94502916 -12.47390165] [ 0. 0. 0. 1. ]] SLAMing on 108.451652532 meters Centerline goodness [0,1] 0.45649784997611087 Centerline is valid? [False, False] Translation: X:-38.29, Y:-45.61, Z:-12.49 [[ 0.76272218 -0.56214019 -0.31977066 -38.28803427] [ 0.57400853 0.81620801 -0.06571675 -45.61281367] [ 0.2979414 -0.13342746 0.94521322 -12.48532995] [ 0. 0. 0. 1. ]] SLAMing on 108.48165253199998 meters Centerline goodness [0,1] 0.4519027860106698 Centerline is valid? [False, False] Translation: X:-38.32, Y:-45.64, Z:-12.50 [[ 0.76552514 -0.55868781 -0.31912253 -38.32031444] [ 0.57113095 0.81845237 -0.06281054 -45.64237774] [ 0.29627807 -0.13417771 0.94562976 -12.49701702] [ 0. 0. 0. 1. ]] SLAMing on 108.51165253199999 meters Centerline goodness [0,1] 0.45006062623332777 Centerline is valid? [False, False] Translation: X:-38.35, Y:-45.67, Z:-12.51 [[ 0.76629587 -0.55748325 -0.31937918 -38.34784858] [ 0.57002228 0.81925908 -0.06236313 -45.67080373] [ 0.2964207 -0.13426464 0.94557272 -12.50786484] [ 0. 0. 0. 1. ]] SLAMing on 108.54165253199999 meters Centerline goodness [0,1] 0.44067554709800194 Centerline is valid? [False, False] Translation: X:-38.38, Y:-45.70, Z:-12.52 [[ 0.76726207 -0.55615092 -0.31938233 -38.37555449] [ 0.56885955 0.82012979 -0.06152997 -45.69947748] [ 0.29615491 -0.13447407 0.94562624 -12.51859831] [ 0. 0. 0. 1. ]] SLAMing on 108.57165253199999 meters Centerline goodness [0,1] 0.4499359369809709 Centerline is valid? [False, False] Translation: X:-38.40, Y:-45.73, Z:-12.53 [[ 0.76852464 -0.55419575 -0.31974513 -38.40354629] [ 0.5672989 0.82132208 -0.06001662 -45.72866945] [ 0.29587469 -0.13526681 0.9456009 -12.52877558] [ 0. 0. 0. 1. ]] SLAMing on 108.60165253199999 meters Centerline goodness [0,1] 0.45112282201015996 Centerline is valid? [False, False] Translation: X:-38.43, Y:-45.76, Z:-12.54 [[ 0.76905892 -0.55460277 -0.31774856 -38.43463855] [ 0.56743231 0.82123046 -0.06000912 -45.75990508] [ 0.29422602 -0.13415025 0.94627415 -12.53935384] [ 0. 0. 0. 1. ]] SLAMing on 108.63165253199999 meters Centerline goodness [0,1] 0.4509576457775989 Centerline is valid? [False, False] Translation: X:-38.46, Y:-45.79, Z:-12.55 [[ 0.76940277 -0.55336747 -0.31906711 -38.46018697] [ 0.56686988 0.82174731 -0.05822276 -45.78674054] [ 0.29441112 -0.13607278 0.94594201 -12.54780982] [ 0. 0. 0. 1. ]] SLAMing on 108.66165253199999 meters Centerline goodness [0,1] 0.4469906586259903 Centerline is valid? [False, False] Translation: X:-38.49, Y:-45.81, Z:-12.56 [[ 0.77102917 -0.55093927 -0.31934298 -38.48851475] [ 0.56487196 0.82324572 -0.05644601 -45.81486416] [ 0.29399606 -0.13686637 0.94595661 -12.55890394] [ 0. 0. 0. 1. ]] SLAMing on 108.69165253199999 meters Centerline goodness [0,1] 0.4395471947818689 Centerline is valid? [False, False] Translation: X:-38.52, Y:-45.84, Z:-12.57 [[ 0.7724905 -0.5490017 -0.31914818 -38.51752896] [ 0.5630549 0.8245511 -0.0555397 -45.84315563] [ 0.29364537 -0.13679406 0.94607599 -12.57095125] [ 0. 0. 0. 1. ]] SLAMing on 108.721652532 meters Centerline goodness [0,1] 0.4440613931523022 Centerline is valid? [False, False] Translation: X:-38.54, Y:-45.87, Z:-12.58 [[ 0.77231124 -0.54896024 -0.31965294 -38.54265506] [ 0.56317941 0.82448569 -0.05524765 -45.86959362] [ 0.29387804 -0.13735358 0.94592267 -12.58087747] [ 0. 0. 0. 1. ]] SLAMing on 108.751652532 meters Centerline goodness [0,1] 0.45322264934084855 Centerline is valid? [False, False] Translation: X:-38.57, Y:-45.90, Z:-12.59 [[ 0.77306312 -0.5476847 -0.32002326 -38.56952511] [ 0.56223929 0.82520469 -0.05407586 -45.89688429] [ 0.29370122 -0.13812559 0.94586517 -12.59096952] [ 0. 0. 0. 1. ]] SLAMing on 108.781652532 meters Centerline goodness [0,1] 0.45184730807342044 Centerline is valid? [False, False] Translation: X:-38.60, Y:-45.93, Z:-12.60 [[ 0.77435932 -0.54605769 -0.31966958 -38.59785885] [ 0.56106915 0.82612959 -0.05207031 -45.92579477] [ 0.2925219 -0.13903561 0.94609727 -12.60108866] [ 0. 0. 0. 1. ]] SLAMing on 108.811652532 meters Centerline goodness [0,1] 0.45014842387975307 Centerline is valid? [False, False] Translation: X:-38.63, Y:-45.95, Z:-12.61 [[ 0.77628478 -0.54436995 -0.31787309 -38.62857645] [ 0.55954589 0.82727406 -0.05025962 -45.95470031] [ 0.29032799 -0.1388488 0.94680023 -12.61311109] [ 0. 0. 0. 1. ]] SLAMing on 108.84165253199998 meters Centerline goodness [0,1] 0.44655777887765447 Centerline is valid? [False, False] Translation: X:-38.65, Y:-45.98, Z:-12.62 [[ 0.775899 -0.54565707 -0.31660559 -38.65472912] [ 0.56087484 0.82640446 -0.04975022 -45.98145682] [ 0.28879083 -0.13897496 0.94725172 -12.62308171] [ 0. 0. 0. 1. ]] SLAMing on 108.87165253199998 meters Centerline goodness [0,1] 0.44186156056430914 Centerline is valid? [False, False] Translation: X:-38.68, Y:-46.01, Z:-12.63 [[ 0.77663841 -0.54480333 -0.31626272 -38.68216163] [ 0.56027211 0.82688353 -0.0485674 -46.00906272] [ 0.28797211 -0.13947387 0.94742762 -12.63362975] [ 0. 0. 0. 1. ]] SLAMing on 108.90165253199999 meters Centerline goodness [0,1] 0.4405463560669848 Centerline is valid? [False, False] Translation: X:-38.70, Y:-46.02, Z:-12.64 [[ 0.77985634 -0.5427326 -0.31187403 -38.70269706] [ 0.55535128 0.82977419 -0.05531491 -46.02326217] [ 0.28880623 -0.13006196 0.94851191 -12.64260657] [ 0. 0. 0. 1. ]] SLAMing on 108.93165253199999 meters Centerline goodness [0,1] 0.4382451455742159 Centerline is valid? [False, False] Translation: X:-38.73, Y:-46.05, Z:-12.65 [[ 0.77980028 -0.54306466 -0.31143586 -38.72873631] [ 0.55584308 0.82948899 -0.05464871 -46.0510305 ] [ 0.2880104 -0.13049439 0.94869448 -12.6521971 ] [ 0. 0. 0. 1. ]] SLAMing on 108.96165253199999 meters Centerline goodness [0,1] 0.44371279936260954 Centerline is valid? [False, False] Translation: X:-38.73, Y:-46.06, Z:-12.65 [[ 0.77941905 -0.54585043 -0.30749512 -38.73385674] [ 0.55760587 0.82816479 -0.05673414 -46.05547924] [ 0.28562499 -0.12724142 0.94985682 -12.65480229] [ 0. 0. 0. 1. ]] SLAMing on 108.99165253199999 meters Centerline goodness [0,1] 0.4364032518801396 Centerline is valid? [False, False] Translation: X:-38.76, Y:-46.08, Z:-12.66 [[ 0.77945791 -0.54665076 -0.30597111 -38.76018067] [ 0.55859832 0.82757712 -0.05553394 -46.0835018 ] [ 0.28357237 -0.12762858 0.95041973 -12.66460114] [ 0. 0. 0. 1. ]] SLAMing on 109.02165253199999 meters Centerline goodness [0,1] 0.4429124164614844 Centerline is valid? [False, False] Translation: X:-38.79, Y:-46.11, Z:-12.67 [[ 0.7795246 -0.54735392 -0.30454078 -38.7877842 ] [ 0.55979528 0.82691327 -0.05332628 -46.11365345] [ 0.28101716 -0.12891134 0.95100537 -12.6727859 ] [ 0. 0. 0. 1. ]] SLAMing on 109.05165253199999 meters Centerline goodness [0,1] 0.43375842551492516 Centerline is valid? [False, False] Translation: X:-38.79, Y:-46.11, Z:-12.67 [[ 0.77804751 -0.55096399 -0.30179589 -38.79148618] [ 0.56249657 0.82491274 -0.05582634 -46.11449448] [ 0.27971358 -0.12632361 0.95173665 -12.67300887] [ 0. 0. 0. 1. ]] SLAMing on 109.08165253199999 meters Centerline goodness [0,1] 0.4373272105337145 Centerline is valid? [False, False] Translation: X:-38.79, Y:-46.12, Z:-12.67 [[ 0.77650236 -0.55469696 -0.29892369 -38.79439221] [ 0.56527896 0.82282499 -0.05847002 -46.11544828] [ 0.27839502 -0.12357316 0.95248406 -12.67379426] [ 0. 0. 0. 1. ]] SLAMing on 109.111652532 meters Centerline goodness [0,1] 0.45137744290087123 Centerline is valid? [False, False] Translation: X:-38.80, Y:-46.12, Z:-12.68 [[ 0.77528247 -0.56010538 -0.29192303 -38.80196513] [ 0.56835108 0.82026181 -0.06440197 -46.12222195] [ 0.2755252 -0.11598506 0.9542711 -12.68004783] [ 0. 0. 0. 1. ]] SLAMing on 109.141652532 meters Centerline goodness [0,1] 0.4459491285916156 Centerline is valid? [False, False] Translation: X:-38.81, Y:-46.13, Z:-12.68 [[ 0.77478409 -0.56293835 -0.28776731 -38.80717 ] [ 0.57016509 0.81881917 -0.06668536 -46.12575807] [ 0.27316914 -0.11240812 0.95537586 -12.6832678 ] [ 0. 0. 0. 1. ]] SLAMing on 109.171652532 meters Centerline goodness [0,1] 0.44598990994389176 Centerline is valid? [False, False] Translation: X:-38.81, Y:-46.13, Z:-12.68 [[ 0.77342865 -0.56612528 -0.28514959 -38.81064282] [ 0.57257396 0.81695133 -0.06891715 -46.1273691 ] [ 0.27196908 -0.10996673 0.95600216 -12.6833323 ] [ 0. 0. 0. 1. ]] SLAMing on 109.201652532 meters Centerline goodness [0,1] 0.44249793412820215 Centerline is valid? [False, False] Translation: X:-38.81, Y:-46.13, Z:-12.68 [[ 0.77154719 -0.57007505 -0.2823639 -38.81257655] [ 0.5756199 0.81456751 -0.0717043 -46.1282024 ] [ 0.27088129 -0.10721102 0.95662381 -12.68385803] [ 0. 0. 0. 1. ]] SLAMing on 109.23165253199998 meters Centerline goodness [0,1] 0.4528484676638076 Centerline is valid? [False, False] Translation: X:-38.82, Y:-46.13, Z:-12.69 [[ 0.77100572 -0.57292972 -0.27803186 -38.81726795] [ 0.57741908 0.81306697 -0.07422469 -46.13175235] [ 0.26858406 -0.10331324 0.95769984 -12.68777232] [ 0. 0. 0. 1. ]] SLAMing on 109.26165253199999 meters Centerline goodness [0,1] 0.4579171597633136 Centerline is valid? [False, False] Translation: X:-38.82, Y:-46.13, Z:-12.69 [[ 0.7691722 -0.57660926 -0.27549208 -38.81890317] [ 0.58030431 0.81077443 -0.07675759 -46.13375644] [ 0.26762107 -0.10082944 0.95823399 -12.68753875] [ 0. 0. 0. 1. ]] SLAMing on 109.29165253199999 meters Centerline goodness [0,1] 0.4599411457591722 Centerline is valid? [False, False] Translation: X:-38.82, Y:-46.13, Z:-12.69 [[ 0.76711923 -0.5805531 -0.27292159 -38.82002967] [ 0.58339264 0.80828219 -0.07957968 -46.13495854] [ 0.26679789 -0.09817335 0.95873921 -12.68758768] [ 0. 0. 0. 1. ]] SLAMing on 109.32165253199999 meters Centerline goodness [0,1] 0.4616497829232996 Centerline is valid? [False, False] Translation: X:-38.82, Y:-46.13, Z:-12.69 [[ 0.76560583 -0.58387759 -0.2700642 -38.8232721 ] [ 0.58579272 0.80625555 -0.08245531 -46.1345766 ] [ 0.26588457 -0.09507337 0.95930519 -12.68889689] [ 0. 0. 0. 1. ]] SLAMing on 109.35165253199999 meters Centerline goodness [0,1] 0.46055961588495475 Centerline is valid? [False, False] Translation: X:-38.83, Y:-46.14, Z:-12.69 [[ 0.7662585 -0.58308447 -0.26992667 -38.82588417] [ 0.58517447 0.80678932 -0.08161998 -46.13575782] [ 0.2653653 -0.09541219 0.95941533 -12.68856037] [ 0. 0. 0. 1. ]] SLAMing on 109.38165253199999 meters Centerline goodness [0,1] 0.4622043519394513 Centerline is valid? [False, False] Translation: X:-38.83, Y:-46.14, Z:-12.69 [[ 0.76495615 -0.58597735 -0.26734367 -38.83005381] [ 0.58736323 0.80497786 -0.08375614 -46.13729229] [ 0.26428494 -0.09295807 0.95995431 -12.68824862] [ 0. 0. 0. 1. ]] SLAMing on 109.41165253199999 meters Centerline goodness [0,1] 0.46630491445903033 Centerline is valid? [False, False] Translation: X:-38.83, Y:-46.14, Z:-12.69 [[ 0.76342821 -0.5891882 -0.26464057 -38.83323486] [ 0.58983418 0.80292443 -0.08606973 -46.13920717] [ 0.26319765 -0.09038599 0.9604985 -12.68801521] [ 0. 0. 0. 1. ]] SLAMing on 109.44165253199999 meters Centerline goodness [0,1] 0.4679716567528497 Centerline is valid? [False, False] Translation: X:-38.84, Y:-46.14, Z:-12.69 [[ 0.76238679 -0.59171755 -0.26198611 -38.8368739 ] [ 0.59164893 0.80135512 -0.08821291 -46.14188232] [ 0.26214104 -0.08775145 0.96103161 -12.68803198] [ 0. 0. 0. 1. ]] SLAMing on 109.471652532 meters Centerline goodness [0,1] 0.45922716294928256 Centerline is valid? [False, False] Translation: X:-38.84, Y:-46.14, Z:-12.69 [[ 0.76116343 -0.59442378 -0.25940431 -38.84121895] [ 0.59363882 0.79963186 -0.0904535 -46.14278437] [ 0.26119566 -0.08514257 0.96152357 -12.6880231 ] [ 0. 0. 0. 1. ]] SLAMing on 109.501652532 meters Centerline goodness [0,1] 0.4632318168920836 Centerline is valid? [False, False] Translation: X:-38.84, Y:-46.14, Z:-12.69 [[ 0.76177812 -0.59370101 -0.25925511 -38.84384936] [ 0.59306253 0.80014104 -0.08972819 -46.14396115] [ 0.26071237 -0.08540152 0.96163176 -12.6875471 ] [ 0. 0. 0. 1. ]] SLAMing on 109.531652532 meters Centerline goodness [0,1] 0.47226220533754926 Centerline is valid? [False, False] Translation: X:-38.85, Y:-46.15, Z:-12.69 [[ 0.76219715 -0.59318575 -0.25920297 -38.84559221] [ 0.59266953 0.80049531 -0.08916329 -46.14506892] [ 0.26038115 -0.0856617 0.96169836 -12.68704127] [ 0. 0. 0. 1. ]] SLAMing on 109.561652532 meters Centerline goodness [0,1] 0.44793954422009685 Centerline is valid? [False, False] Translation: X:-38.85, Y:-46.15, Z:-12.69 [[ 0.76071389 -0.59625342 -0.25650779 -38.84986955] [ 0.59502166 0.79848868 -0.09146062 -46.14611297] [ 0.25935228 -0.08305232 0.96220513 -12.68668808] [ 0. 0. 0. 1. ]] SLAMing on 109.59165253199998 meters Centerline goodness [0,1] 0.44793954422009685 Centerline is valid? [False, False] Translation: X:-38.85, Y:-46.15, Z:-12.69 [[ 0.76071389 -0.59625342 -0.25650779 -38.84986955] [ 0.59502166 0.79848868 -0.09146062 -46.14611297] [ 0.25935228 -0.08305232 0.96220513 -12.68668808] [ 0. 0. 0. 1. ]] SLAMing on 109.62165253199998 meters Centerline goodness [0,1] 0.45781710914454277 Centerline is valid? [False, False] Translation: X:-38.86, Y:-46.15, Z:-12.69 [[ 0.76200488 -0.59641141 -0.25227366 -38.85865269] [ 0.59422047 0.7988286 -0.09367442 -46.152335 ] [ 0.25739191 -0.0785258 0.96311116 -12.69146035] [ 0. 0. 0. 1. ]] SLAMing on 109.65165253199999 meters Centerline goodness [0,1] 0.4514119895250902 Centerline is valid? [False, False] Translation: X:-38.86, Y:-46.15, Z:-12.69 [[ 0.7605536 -0.59937729 -0.24960987 -38.86258138] [ 0.59645688 0.79687074 -0.09610518 -46.1531964 ] [ 0.25651006 -0.07578839 0.96356562 -12.69137797] [ 0. 0. 0. 1. ]] SLAMing on 109.68165253199999 meters Centerline goodness [0,1] 0.46419793931373476 Centerline is valid? [False, False] Translation: X:-38.87, Y:-46.15, Z:-12.69 [[ 0.75892085 -0.60260529 -0.24679141 -38.86608938] [ 0.59897437 0.79468721 -0.09849849 -46.15433683] [ 0.25547769 -0.07306917 0.96404982 -12.69137968] [ 0. 0. 0. 1. ]] SLAMing on 109.71165253199999 meters Centerline goodness [0,1] 0.45542424958638617 Centerline is valid? [False, False] Translation: X:-38.88, Y:-46.17, Z:-12.69 [[ 0.76030166 -0.59786774 -0.25395975 -38.88110306] [ 0.59297773 0.79842398 -0.10438658 -46.17121233] [ 0.26517692 -0.07122718 0.96156533 -12.68798951] [ 0. 0. 0. 1. ]] SLAMing on 109.74165253199999 meters Centerline goodness [0,1] 0.4587015073477295 Centerline is valid? [False, False] Translation: X:-38.88, Y:-46.17, Z:-12.69 [[ 0.76030296 -0.59767074 -0.25441913 -38.88055311] [ 0.59290465 0.79852458 -0.10403156 -46.17269522] [ 0.26533655 -0.07175078 0.96148237 -12.68680073] [ 0. 0. 0. 1. ]] SLAMing on 109.77165253199999 meters Centerline goodness [0,1] 0.4584899860490411 Centerline is valid? [False, False] Translation: X:-38.88, Y:-46.17, Z:-12.69 [[ 0.76065204 -0.59719337 -0.25449668 -38.881799 ] [ 0.59255913 0.79885153 -0.10348869 -46.17404052] [ 0.26510782 -0.07208544 0.96152043 -12.68606668] [ 0. 0. 0. 1. ]] SLAMing on 109.80165253199999 meters Centerline goodness [0,1] 0.459344301100722 Centerline is valid? [False, False] Translation: X:-38.90, Y:-46.20, Z:-12.69 [[ 0.75920253 -0.59636283 -0.26069693 -38.89943239] [ 0.59298044 0.79890017 -0.10066137 -46.1989371 ] [ 0.26830152 -0.07816581 0.96015853 -12.68635608] [ 0. 0. 0. 1. ]] SLAMing on 109.83165253199999 meters Centerline goodness [0,1] 0.4641841281881104 Centerline is valid? [False, False] Translation: X:-38.91, Y:-46.22, Z:-12.69 [[ 0.75742753 -0.59556093 -0.26760177 -38.91472284] [ 0.59343516 0.79886437 -0.09823657 -46.22123059] [ 0.27228339 -0.08439722 0.95850867 -12.68731931] [ 0. 0. 0. 1. ]] SLAMing on 109.861652532 meters Centerline goodness [0,1] 0.45688838355126016 Centerline is valid? [False, False] Translation: X:-38.92, Y:-46.22, Z:-12.69 [[ 0.75764121 -0.59530732 -0.26756118 -38.91578707] [ 0.59322721 0.79904618 -0.09801369 -46.22142848] [ 0.27214201 -0.08446536 0.95854282 -12.68717 ] [ 0. 0. 0. 1. ]] SLAMing on 109.891652532 meters Centerline goodness [0,1] 0.4649569813467327 Centerline is valid? [False, False] Translation: X:-38.93, Y:-46.24, Z:-12.69 [[ 0.75775781 -0.59123677 -0.27611988 -38.93173157] [ 0.59107601 0.8011864 -0.09343187 -46.24266546] [ 0.27646385 -0.09240911 0.95657112 -12.68886901] [ 0. 0. 0. 1. ]] SLAMing on 109.921652532 meters Centerline goodness [0,1] 0.4525430516619944 Centerline is valid? [False, False] Translation: X:-38.95, Y:-46.25, Z:-12.70 [[ 0.76383043 -0.58439089 -0.27395323 -38.94625224] [ 0.58357439 0.80664619 -0.09361015 -46.2509183 ] [ 0.27568825 -0.08836981 0.95717646 -12.69803543] [ 0. 0. 0. 1. ]] SLAMing on 109.951652532 meters Centerline goodness [0,1] 0.451984574868322 Centerline is valid? [False, False] Translation: X:-38.95, Y:-46.25, Z:-12.70 [[ 0.76532025 -0.58247379 -0.27387806 -38.95108187] [ 0.58193648 0.80798604 -0.09224149 -46.25279515] [ 0.2750179 -0.08878535 0.95733083 -12.69765324] [ 0. 0. 0. 1. ]] SLAMing on 109.98165253199998 meters Centerline goodness [0,1] 0.45413190024984684 Centerline is valid? [False, False] Translation: X:-38.95, Y:-46.26, Z:-12.70 [[ 0.76360104 -0.58582493 -0.27151908 -38.95300073] [ 0.58458866 0.80580375 -0.09453265 -46.25592148] [ 0.27417067 -0.08654175 0.95777919 -12.69650594] [ 0. 0. 0. 1. ]] SLAMing on 110.01165253199999 meters Centerline goodness [0,1] 0.45184172695779223 Centerline is valid? [False, False] Translation: X:-38.96, Y:-46.26, Z:-12.70 [[ 0.7624021 -0.58867267 -0.2687146 -38.95711087] [ 0.58676994 0.80398404 -0.09649195 -46.25889798] [ 0.27284442 -0.08410798 0.95837455 -12.69613245] [ 0. 0. 0. 1. ]] SLAMing on 110.04165253199999 meters Centerline goodness [0,1] 0.44696184644371173 Centerline is valid? [False, False] Translation: X:-38.96, Y:-46.26, Z:-12.70 [[ 0.76317679 -0.58763607 -0.26878435 -38.95951573] [ 0.58597976 0.80468443 -0.09544993 -46.26155886] [ 0.27237641 -0.08465702 0.95845933 -12.69501214] [ 0. 0. 0. 1. ]] SLAMing on 110.07165253199999 meters Centerline goodness [0,1] 0.44735851719433595 Centerline is valid? [False, False] Translation: X:-38.98, Y:-46.28, Z:-12.70 [[ 0.76198733 -0.58584997 -0.27596217 -38.97578336] [ 0.58572534 0.80524982 -0.09218762 -46.28315287] [ 0.2762266 -0.09139223 0.95673733 -12.69639832] [ 0. 0. 0. 1. ]] SLAMing on 110.10165253199999 meters Centerline goodness [0,1] 0.4455464159811986 Centerline is valid? [False, False] Translation: X:-38.98, Y:-46.28, Z:-12.70 [[ 0.76222088 -0.58563773 -0.27576762 -38.97726662] [ 0.58555498 0.80540284 -0.09193272 -46.28299865] [ 0.2759433 -0.09140407 0.95681795 -12.69660054] [ 0. 0. 0. 1. ]] SLAMing on 110.13165253199999 meters Centerline goodness [0,1] 0.4492518351214003 Centerline is valid? [False, False] Translation: X:-38.99, Y:-46.31, Z:-12.70 [[ 0.76115001 -0.58376862 -0.28260374 -38.99352015] [ 0.58519693 0.80601179 -0.08882309 -46.30546668] [ 0.27963408 -0.09777114 0.95511548 -12.69903926] [ 0. 0. 0. 1. ]] SLAMing on 110.16165253199999 meters Centerline goodness [0,1] 0.44971013809680915 Centerline is valid? [False, False] Translation: X:-39.01, Y:-46.33, Z:-12.70 [[ 0.75879829 -0.58379762 -0.2888001 -39.00869214] [ 0.58647965 0.80528596 -0.08692612 -46.32853647] [ 0.28331393 -0.10341599 0.95343503 -12.7002565 ] [ 0. 0. 0. 1. ]] SLAMing on 110.19165253199999 meters Centerline goodness [0,1] 0.45051130056916133 Centerline is valid? [False, False] Translation: X:-39.01, Y:-46.33, Z:-12.70 [[ 0.75728952 -0.58708104 -0.28609165 -39.01200193] [ 0.5889714 0.80321237 -0.08923323 -46.33013244] [ 0.28217949 -0.10092441 0.95403826 -12.70027404] [ 0. 0. 0. 1. ]] SLAMing on 110.221652532 meters Centerline goodness [0,1] 0.4588376866992284 Centerline is valid? [False, False] Translation: X:-39.01, Y:-46.33, Z:-12.70 [[ 0.75751593 -0.58666227 -0.28635118 -39.01223657] [ 0.58873758 0.80345158 -0.08862066 -46.33195464] [ 0.28205971 -0.10145414 0.95401749 -12.69946571] [ 0. 0. 0. 1. ]] SLAMing on 110.251652532 meters Centerline goodness [0,1] 0.462192033701749 Centerline is valid? [False, False] Translation: X:-39.03, Y:-46.35, Z:-12.70 [[ 0.75448873 -0.58728289 -0.29299415 -39.02738553] [ 0.59078868 0.80217098 -0.08654743 -46.35410833] [ 0.28585923 -0.10779856 0.95218904 -12.69896945] [ 0. 0. 0. 1. ]] SLAMing on 110.281652532 meters Centerline goodness [0,1] 0.4545476044080783 Centerline is valid? [False, False] Translation: X:-39.03, Y:-46.35, Z:-12.70 [[ 0.75491035 -0.58679557 -0.29288449 -39.0293205 ] [ 0.59042063 0.80250041 -0.0860033 -46.3547426 ] [ 0.28550628 -0.10800027 0.95227208 -12.69877684] [ 0. 0. 0. 1. ]] SLAMing on 110.311652532 meters Centerline goodness [0,1] 0.44471500508286244 Centerline is valid? [False, False] Translation: X:-39.03, Y:-46.36, Z:-12.70 [[ 0.75578501 -0.58582835 -0.29256481 -39.0327377 ] [ 0.58962646 0.80318101 -0.08509351 -46.35574954] [ 0.28483269 -0.10819155 0.95245206 -12.69893935] [ 0. 0. 0. 1. ]] SLAMing on 110.34165253199998 meters Centerline goodness [0,1] 0.46050759013282727 Centerline is valid? [False, False] Translation: X:-39.04, Y:-46.36, Z:-12.70 [[ 0.75429837 -0.58919048 -0.28963519 -39.03638823] [ 0.59208226 0.80109512 -0.08766525 -46.35605437] [ 0.28367687 -0.10536211 0.95311398 -12.70003765] [ 0. 0. 0. 1. ]] SLAMing on 110.37165253199998 meters Centerline goodness [0,1] 0.4492121786518185 Centerline is valid? [False, False] Translation: X:-39.04, Y:-46.36, Z:-12.70 [[ 0.75329256 -0.59160914 -0.28731331 -39.0410101 ] [ 0.5937815 0.79961275 -0.08968267 -46.35705435] [ 0.28279648 -0.10304404 0.9536289 -12.69984849] [ 0. 0. 0. 1. ]] SLAMing on 110.40165253199999 meters Centerline goodness [0,1] 0.4611936050097253 Centerline is valid? [False, False] Translation: X:-39.04, Y:-46.36, Z:-12.70 [[ 0.75387034 -0.59091181 -0.2872329 -39.04284083] [ 0.59327071 0.80008167 -0.0888774 -46.35898308] [ 0.28232849 -0.10340483 0.95372851 -12.6993787 ] [ 0. 0. 0. 1. ]] SLAMing on 110.43165253199999 meters Centerline goodness [0,1] 0.4543249797898141 Centerline is valid? [False, False] Translation: X:-39.05, Y:-46.36, Z:-12.70 [[ 0.75237788 -0.59402045 -0.28472307 -39.04587418] [ 0.5957211 0.7980446 -0.09078095 -46.36228008] [ 0.28114745 -0.10131396 0.95430162 -12.6985548 ] [ 0. 0. 0. 1. ]] SLAMing on 110.46165253199999 meters Centerline goodness [0,1] 0.4549346016646849 Centerline is valid? [False, False] Translation: X:-39.05, Y:-46.36, Z:-12.70 [[ 0.75080891 -0.59726419 -0.28206643 -39.04931457] [ 0.5982453 0.79591082 -0.09288993 -46.36420281] [ 0.27997955 -0.09900233 0.95488742 -12.69825511] [ 0. 0. 0. 1. ]] SLAMing on 110.49165253199999 meters Centerline goodness [0,1] 0.45766225102449254 Centerline is valid? [False, False] Translation: X:-39.07, Y:-46.39, Z:-12.70 [[ 0.75007562 -0.59535078 -0.28800003 -39.06671248] [ 0.59775096 0.79661831 -0.08996149 -46.39025193] [ 0.28298474 -0.10467437 0.95339546 -12.70094109] [ 0. 0. 0. 1. ]] SLAMing on 110.52165253199999 meters Centerline goodness [0,1] 0.46673033305479283 Centerline is valid? [False, False] Translation: X:-39.08, Y:-46.41, Z:-12.70 [[ 0.74679198 -0.59632307 -0.29444955 -39.07971629] [ 0.60017441 0.79502347 -0.08791114 -46.41233289] [ 0.28651775 -0.11106975 0.95161499 -12.70095336] [ 0. 0. 0. 1. ]] SLAMing on 110.55165253199999 meters Centerline goodness [0,1] 0.4699445684255993 Centerline is valid? [False, False] Translation: X:-39.09, Y:-46.43, Z:-12.70 [[ 0.74250342 -0.59935358 -0.29910526 -39.09302431] [ 0.60386226 0.79217762 -0.08834585 -46.4343518 ] [ 0.28989489 -0.11502128 0.9501216 -12.70360049] [ 0. 0. 0. 1. ]] SLAMing on 110.58165253199999 meters Centerline goodness [0,1] 0.4771197846567967 Centerline is valid? [False, False] Translation: X:-39.11, Y:-46.46, Z:-12.71 [[ 0.74125411 -0.59785025 -0.30515147 -39.10866521] [ 0.60372547 0.7925214 -0.08617074 -46.45736116] [ 0.29335627 -0.12035329 0.94839717 -12.70776797] [ 0. 0. 0. 1. ]] SLAMing on 110.611652532 meters Centerline goodness [0,1] 0.47773503245972593 Centerline is valid? [False, False] Translation: X:-39.13, Y:-46.48, Z:-12.71 [[ 0.74098133 -0.5955536 -0.31026211 -39.12710742] [ 0.60270335 0.79354969 -0.08383057 -46.48327801] [ 0.296134 -0.12487912 0.94694765 -12.71308061] [ 0. 0. 0. 1. ]] SLAMing on 110.641652532 meters Centerline goodness [0,1] 0.4744356550260467 Centerline is valid? [False, False] Translation: X:-39.13, Y:-46.49, Z:-12.71 [[ 0.7395319 -0.59893473 -0.30719662 -39.13024408] [ 0.60519386 0.79141064 -0.08607892 -46.48514603] [ 0.29467433 -0.1222554 0.94774504 -12.71403002] [ 0. 0. 0. 1. ]] SLAMing on 110.671652532 meters Centerline goodness [0,1] 0.484555517958138 Centerline is valid? [False, False] Translation: X:-39.15, Y:-46.52, Z:-12.72 [[ 0.73821878 -0.59877584 -0.31064534 -39.15001404] [ 0.60578998 0.79105279 -0.0851703 -46.51562035] [ 0.29673478 -0.12531153 0.94670243 -12.71857513] [ 0. 0. 0. 1. ]] SLAMing on 110.701652532 meters Centerline goodness [0,1] 0.48259297896601083 Centerline is valid? [False, False] Translation: X:-39.17, Y:-46.54, Z:-12.72 [[ 0.73648328 -0.59932303 -0.31369458 -39.16998428] [ 0.60689569 0.79023271 -0.08491103 -46.54391385] [ 0.29878085 -0.12784434 0.94571974 -12.72365055] [ 0. 0. 0. 1. ]] SLAMing on 110.73165253199998 meters Centerline goodness [0,1] 0.4874820563976545 Centerline is valid? [False, False] Translation: X:-39.17, Y:-46.55, Z:-12.72 [[ 0.73415548 -0.60384922 -0.31045426 -39.17179112] [ 0.61035389 0.7872401 -0.08787014 -46.54536098] [ 0.29746236 -0.12497662 0.94651835 -12.72407827] [ 0. 0. 0. 1. ]] SLAMing on 110.76165253199999 meters Centerline goodness [0,1] 0.4838316046369737 Centerline is valid? [False, False] Translation: X:-39.19, Y:-46.57, Z:-12.73 [[ 0.73301858 -0.60341889 -0.31395766 -39.19140539] [ 0.61060541 0.78711938 -0.08720155 -46.57494556] [ 0.29974122 -0.12778389 0.94542397 -12.72973828] [ 0. 0. 0. 1. ]] SLAMing on 110.79165253199999 meters Centerline goodness [0,1] 0.4807992964627712 Centerline is valid? [False, False] Translation: X:-39.21, Y:-46.60, Z:-12.74 [[ 0.73266827 -0.60143736 -0.31854405 -39.21003736] [ 0.60969768 0.78801018 -0.08549088 -46.60079803] [ 0.30243336 -0.13157911 0.94404502 -12.73631683] [ 0. 0. 0. 1. ]] SLAMing on 110.82165253199999 meters Centerline goodness [0,1] 0.4999144191505489 Centerline is valid? [False, False] Translation: X:-39.22, Y:-46.62, Z:-12.74 [[ 0.73004383 -0.60164033 -0.32413719 -39.22437362] [ 0.61114612 0.78701246 -0.08433152 -46.62371051] [ 0.30583725 -0.13652948 0.94224375 -12.73937765] [ 0. 0. 0. 1. ]] SLAMing on 110.85165253199999 meters Centerline goodness [0,1] 0.4878323734836417 Centerline is valid? [False, False] Translation: X:-39.24, Y:-46.65, Z:-12.75 [[ 0.72763662 -0.60277805 -0.32741957 -39.24268082] [ 0.61278286 0.78570281 -0.08466557 -46.64883728] [ 0.30828902 -0.13903133 0.94107819 -12.74521771] [ 0. 0. 0. 1. ]] SLAMing on 110.88165253199999 meters Centerline goodness [0,1] 0.49012810110398075 Centerline is valid? [False, False] Translation: X:-39.27, Y:-46.68, Z:-12.75 [[ 0.72759044 -0.60154089 -0.32978889 -39.26606356] [ 0.61207532 0.78633512 -0.08390996 -46.68044455] [ 0.30979986 -0.14080355 0.94031825 -12.7530655 ] [ 0. 0. 0. 1. ]] SLAMing on 110.91165253199999 meters Centerline goodness [0,1] 0.48727362325982504 Centerline is valid? [False, False] Translation: X:-39.29, Y:-46.71, Z:-12.76 [[ 0.72625627 -0.60170585 -0.33241826 -39.28701017] [ 0.61292363 0.78575136 -0.08318307 -46.70868498] [ 0.31124984 -0.14333478 0.93945659 -12.75906692] [ 0. 0. 0. 1. ]] SLAMing on 110.94165253199999 meters Centerline goodness [0,1] 0.49661962100276347 Centerline is valid? [False, False] Translation: X:-39.31, Y:-46.74, Z:-12.77 [[ 0.72530142 -0.60237859 -0.3332835 -39.30974448] [ 0.61371254 0.785109 -0.08343132 -46.73806979] [ 0.31192111 -0.1440274 0.93912796 -12.76785012] [ 0. 0. 0. 1. ]] SLAMing on 110.971652532 meters Centerline goodness [0,1] 0.49396311202192533 Centerline is valid? [False, False] Translation: X:-39.33, Y:-46.77, Z:-12.78 [[ 0.72565722 -0.60127853 -0.33449324 -39.33407171] [ 0.61321595 0.78565287 -0.08194972 -46.76846535] [ 0.31207018 -0.14564918 0.93882827 -12.77650157] [ 0. 0. 0. 1. ]] SLAMing on 111.001652532 meters Centerline goodness [0,1] 0.4940847440847441 Centerline is valid? [False, False] Translation: X:-39.36, Y:-46.80, Z:-12.78 [[ 0.72543957 -0.60087735 -0.33568413 -39.35843202] [ 0.61344704 0.78561685 -0.08055373 -46.79982325] [ 0.31212202 -0.14748757 0.93852398 -12.78410189] [ 0. 0. 0. 1. ]] SLAMing on 111.031652532 meters Centerline goodness [0,1] 0.49387248821632346 Centerline is valid? [False, False] Translation: X:-39.38, Y:-46.83, Z:-12.79 [[ 0.72275423 -0.60268875 -0.33821973 -39.3777118 ] [ 0.61560466 0.78385294 -0.08127401 -46.8256525 ] [ 0.31409747 -0.14946851 0.93755104 -12.78990362] [ 0. 0. 0. 1. ]] SLAMing on 111.061652532 meters Centerline goodness [0,1] 0.49982643193652365 Centerline is valid? [False, False] Translation: X:-39.40, Y:-46.86, Z:-12.80 [[ 0.72125824 -0.60318999 -0.34051195 -39.39942492] [ 0.6166177 0.7830778 -0.08106645 -46.85500474] [ 0.31554582 -0.15149585 0.93673894 -12.79624613] [ 0. 0. 0. 1. ]] SLAMing on 111.09165253199998 meters Centerline goodness [0,1] 0.49242067134740863 Centerline is valid? [False, False] Translation: X:-39.42, Y:-46.88, Z:-12.80 [[ 0.72095733 -0.60132029 -0.34443349 -39.41956259] [ 0.6158847 0.78383619 -0.07928967 -46.88025577] [ 0.31765792 -0.15496685 0.93545642 -12.80344832] [ 0. 0. 0. 1. ]] SLAMing on 111.12165253199998 meters Centerline goodness [0,1] 0.4989324726911619 Centerline is valid? [False, False] Translation: X:-39.44, Y:-46.90, Z:-12.81 [[ 0.72003087 -0.60005475 -0.34855393 -39.4382745 ] [ 0.61575163 0.7840853 -0.07784714 -46.90451207] [ 0.32000856 -0.1585703 0.93405031 -12.81034062] [ 0. 0. 0. 1. ]] SLAMing on 111.15165253199999 meters Centerline goodness [0,1] 0.4969596187734233 Centerline is valid? [False, False] Translation: X:-39.46, Y:-46.93, Z:-12.82 [[ 0.71863006 -0.59899487 -0.35323644 -39.45621993] [ 0.61580958 0.78413595 -0.07687242 -46.9273132 ] [ 0.32303158 -0.16228355 0.93237045 -12.81657129] [ 0. 0. 0. 1. ]] SLAMing on 111.18165253199999 meters Centerline goodness [0,1] 0.499306896381009 Centerline is valid? [False, False] Translation: X:-39.48, Y:-46.96, Z:-12.83 [[ 0.72011398 -0.59683926 -0.35386262 -39.482049 ] [ 0.61421857 0.78556192 -0.07502013 -46.95664618] [ 0.32275596 -0.16332595 0.93228388 -12.82845067] [ 0. 0. 0. 1. ]] SLAMing on 111.21165253199999 meters Centerline goodness [0,1] 0.5002474879968322 Centerline is valid? [False, False] Translation: X:-39.49, Y:-46.96, Z:-12.83 [[ 0.71870274 -0.60036419 -0.35075519 -39.48629693] [ 0.61663191 0.78343165 -0.07745933 -46.95745573] [ 0.32129653 -0.16061661 0.93325819 -12.82948093] [ 0. 0. 0. 1. ]] SLAMing on 111.24165253199999 meters Centerline goodness [0,1] 0.5002724390727165 Centerline is valid? [False, False] Translation: X:-39.49, Y:-46.96, Z:-12.84 [[ 0.71933354 -0.60251113 -0.34574499 -39.49389642] [ 0.61730493 0.7826847 -0.07961965 -46.9628071 ] [ 0.31858104 -0.156157 0.93494444 -12.83523577] [ 0. 0. 0. 1. ]] SLAMing on 111.27165253199999 meters Centerline goodness [0,1] 0.49759146266149556 Centerline is valid? [False, False] Translation: X:-39.50, Y:-46.97, Z:-12.85 [[ 0.72176652 -0.60298867 -0.33979074 -39.50461125] [ 0.61573828 0.78360371 -0.08265346 -46.97161096] [ 0.31610038 -0.14956566 0.93686214 -12.84506435] [ 0. 0. 0. 1. ]] SLAMing on 111.30165253199999 meters Centerline goodness [0,1] 0.49417042569449576 Centerline is valid? [False, False] Translation: X:-39.52, Y:-46.99, Z:-12.85 [[ 0.72545127 -0.60151118 -0.33452167 -39.52385258] [ 0.61134309 0.78642264 -0.08831233 -46.98988498] [ 0.31619627 -0.14044122 0.938241 -12.85399706] [ 0. 0. 0. 1. ]] SLAMing on 111.33165253199999 meters Centerline goodness [0,1] 0.49882747895633284 Centerline is valid? [False, False] Translation: X:-39.53, Y:-46.99, Z:-12.85 [[ 0.72404016 -0.60484205 -0.33155987 -39.52827486] [ 0.61373657 0.78430519 -0.09051409 -46.99138267] [ 0.31479085 -0.13795458 0.93908213 -12.85435294] [ 0. 0. 0. 1. ]] SLAMing on 111.361652532 meters Centerline goodness [0,1] 0.49769187094225975 Centerline is valid? [False, False] Translation: X:-39.55, Y:-47.02, Z:-12.86 [[ 0.72351825 -0.60259941 -0.33674217 -39.54728819] [ 0.61291096 0.78520934 -0.08824085 -47.01600041] [ 0.31758698 -0.1425491 0.93745307 -12.85968118] [ 0. 0. 0. 1. ]] SLAMing on 111.391652532 meters Centerline goodness [0,1] 0.49113631899430366 Centerline is valid? [False, False] Translation: X:-39.57, Y:-47.04, Z:-12.87 [[ 0.72526035 -0.59817542 -0.34085713 -39.57061765] [ 0.60999957 0.7878618 -0.08470135 -47.04286768] [ 0.31921458 -0.14649217 0.93629167 -12.8685541 ] [ 0. 0. 0. 1. ]] SLAMing on 111.421652532 meters Centerline goodness [0,1] 0.4913359966667483 Centerline is valid? [False, False] Translation: X:-39.60, Y:-47.07, Z:-12.88 [[ 0.72632274 -0.59565244 -0.34300648 -39.59504382] [ 0.60836096 0.7893557 -0.08255018 -47.07068652] [ 0.31992534 -0.14871368 0.93569868 -12.87857134] [ 0. 0. 0. 1. ]] SLAMing on 111.451652532 meters Centerline goodness [0,1] 0.4913359966667483 Centerline is valid? [False, False] Translation: X:-39.60, Y:-47.07, Z:-12.88 [[ 0.72483714 -0.59879136 -0.34067585 -39.59867764] [ 0.61064089 0.7873658 -0.08469236 -47.07055393] [ 0.31894957 -0.14664243 0.93635846 -12.87863375] [ 0. 0. 0. 1. ]] SLAMing on 111.48165253199998 meters Centerline goodness [0,1] 0.49436802111075817 Centerline is valid? [False, False] Translation: X:-39.63, Y:-47.10, Z:-12.89 [[ 0.72671159 -0.59692131 -0.33996354 -39.62697971] [ 0.60916116 0.7887211 -0.08271462 -47.09881505] [ 0.31751054 -0.14698292 0.93679405 -12.89119496] [ 0. 0. 0. 1. ]] SLAMing on 111.51165253199999 meters Centerline goodness [0,1] 0.49436802111075817 Centerline is valid? [False, False] Translation: X:-39.63, Y:-47.10, Z:-12.89 [[ 0.72520636 -0.60010351 -0.33756705 -39.63066044] [ 0.61148688 0.78669201 -0.08484971 -47.09872663] [ 0.31647991 -0.14488427 0.93746947 -12.89128662] [ 0. 0. 0. 1. ]] SLAMing on 111.54165253199999 meters Centerline goodness [0,1] 0.49436802111075817 Centerline is valid? [False, False] Translation: X:-39.63, Y:-47.10, Z:-12.89 [[ 0.72369357 -0.60326947 -0.33516199 -39.63434927] [ 0.61380715 0.78465127 -0.0869665 -47.09865266] [ 0.31544952 -0.14278772 0.93813819 -12.89137206] [ 0. 0. 0. 1. ]] SLAMing on 111.57165253199999 meters Centerline goodness [0,1] 0.49383918570106655 Centerline is valid? [False, False] Translation: X:-39.64, Y:-47.10, Z:-12.89 [[ 0.72415658 -0.60286831 -0.33488364 -39.63686243] [ 0.61346556 0.78496416 -0.08655215 -47.09925906] [ 0.31505121 -0.14276227 0.9382759 -12.89129342] [ 0. 0. 0. 1. ]] SLAMing on 111.60165253199999 meters Centerline goodness [0,1] 0.48571080521378973 Centerline is valid? [False, False] Translation: X:-39.64, Y:-47.10, Z:-12.89 [[ 0.72503014 -0.60311071 -0.33254889 -39.64355641] [ 0.61327812 0.7850883 -0.08675431 -47.10189407] [ 0.31340269 -0.14104547 0.93908728 -12.89342472] [ 0. 0. 0. 1. ]] SLAMing on 111.63165253199999 meters Centerline goodness [0,1] 0.48805651308442977 Centerline is valid? [False, False] Translation: X:-39.65, Y:-47.10, Z:-12.89 [[ 0.72594118 -0.60233097 -0.33197409 -39.64753213] [ 0.61259481 0.78570546 -0.08599145 -47.10289604] [ 0.31262917 -0.14094087 0.93936078 -12.89387897] [ 0. 0. 0. 1. ]] SLAMing on 111.66165253199999 meters Centerline goodness [0,1] 0.4806210910144647 Centerline is valid? [False, False] Translation: X:-39.68, Y:-47.13, Z:-12.90 [[ 0.72873398 -0.59814287 -0.3334245 -39.67566082] [ 0.60962486 0.7884366 -0.0820077 -47.13244426] [ 0.3119364 -0.14350206 0.9392033 -12.90419179] [ 0. 0. 0. 1. ]] SLAMing on 111.69165253199999 meters Centerline goodness [0,1] 0.4892777202820766 Centerline is valid? [False, False] Translation: X:-39.68, Y:-47.13, Z:-12.90 [[ 0.72937484 -0.59766203 -0.33288502 -39.67917785] [ 0.60918014 0.78883166 -0.08151183 -47.13268595] [ 0.31130676 -0.14333427 0.9394378 -12.90468207] [ 0. 0. 0. 1. ]] SLAMing on 111.721652532 meters Centerline goodness [0,1] 0.48334616865614166 Centerline is valid? [False, False] Translation: X:-39.68, Y:-47.13, Z:-12.91 [[ 0.72832738 -0.60051511 -0.33003157 -39.68434005] [ 0.61105585 0.78714372 -0.08375862 -47.13292043] [ 0.31008059 -0.14066403 0.94024659 -12.90563333] [ 0. 0. 0. 1. ]] SLAMing on 111.751652532 meters Centerline goodness [0,1] 0.4860299051087894 Centerline is valid? [False, False] Translation: X:-39.69, Y:-47.14, Z:-12.91 [[ 0.73047278 -0.60034493 -0.32556948 -39.69459646] [ 0.60957486 0.78809856 -0.08555202 -47.13996933] [ 0.30794157 -0.13596555 0.94163972 -12.91149235] [ 0. 0. 0. 1. ]] SLAMing on 111.781652532 meters Centerline goodness [0,1] 0.4814230383015349 Centerline is valid? [False, False] Translation: X:-39.70, Y:-47.14, Z:-12.91 [[ 0.73244708 -0.59882591 -0.32392717 -39.70054861] [ 0.6080934 0.78937801 -0.08428985 -47.14335346] [ 0.30617593 -0.13524012 0.9423197 -12.91415954] [ 0. 0. 0. 1. ]] SLAMing on 111.811652532 meters Centerline goodness [0,1] 0.47153657198731247 Centerline is valid? [False, False] Translation: X:-39.70, Y:-47.14, Z:-12.92 [[ 0.73338088 -0.59812406 -0.32311003 -39.70452882] [ 0.60743952 0.78995615 -0.08358529 -47.14455389] [ 0.30523713 -0.13496995 0.94266293 -12.91506832] [ 0. 0. 0. 1. ]] SLAMing on 111.84165253199998 meters Centerline goodness [0,1] 0.46977924264339743 Centerline is valid? [False, False] Translation: X:-39.71, Y:-47.15, Z:-12.92 [[ 0.73449084 -0.59803034 -0.32075367 -39.71141924] [ 0.60705374 0.79027759 -0.08334921 -47.14637753] [ 0.30332979 -0.13349549 0.9434882 -12.91781371] [ 0. 0. 0. 1. ]] SLAMing on 111.87165253199998 meters Centerline goodness [0,1] 0.4756394784789759 Centerline is valid? [False, False] Translation: X:-39.71, Y:-47.15, Z:-12.92 [[ 0.73509424 -0.5975064 -0.32034757 -39.71458294] [ 0.60661044 0.7906775 -0.08278205 -47.14679284] [ 0.30275442 -0.13347357 0.94367609 -12.91800627] [ 0. 0. 0. 1. ]] SLAMing on 111.90165253199999 meters Centerline goodness [0,1] 0.4592793217145549 Centerline is valid? [False, False] Translation: X:-39.73, Y:-47.16, Z:-12.93 [[ 0.73689746 -0.5985235 -0.31424792 -39.72999528] [ 0.60490304 0.79133991 -0.08873254 -47.15814086] [ 0.30178543 -0.12470274 0.94518505 -12.92618988] [ 0. 0. 0. 1. ]] SLAMing on 111.93165253199999 meters Centerline goodness [0,1] 0.46997690531177827 Centerline is valid? [False, False] Translation: X:-39.75, Y:-47.18, Z:-12.93 [[ 0.73701365 -0.59628437 -0.31820721 -39.75038589] [ 0.60377988 0.7924432 -0.08650803 -47.1848122 ] [ 0.30374453 -0.12836951 0.94406596 -12.93269554] [ 0. 0. 0. 1. ]] SLAMing on 111.96165253199999 meters Centerline goodness [0,1] 0.4698857613944176 Centerline is valid? [False, False] Translation: X:-39.76, Y:-47.19, Z:-12.94 [[ 0.7388893 -0.59649394 -0.31342875 -39.76000594] [ 0.60266345 0.79306604 -0.08856083 -47.19183277] [ 0.3013957 -0.1234554 0.94547311 -12.93926061] [ 0. 0. 0. 1. ]] SLAMing on 111.99165253199999 meters Centerline goodness [0,1] 0.45418906547102045 Centerline is valid? [False, False] Translation: X:-39.76, Y:-47.19, Z:-12.94 [[ 0.73896794 -0.59651326 -0.31320649 -39.76121735] [ 0.60265787 0.79307196 -0.08854573 -47.19150087] [ 0.30121399 -0.1233239 0.94554817 -12.93941935] [ 0. 0. 0. 1. ]] SLAMing on 112.02165253199999 meters Centerline goodness [0,1] 0.4715817128380756 Centerline is valid? [False, False] Translation: X:-39.78, Y:-47.22, Z:-12.94 [[ 0.73834202 -0.59463313 -0.31821769 -39.78003751] [ 0.60207327 0.79376332 -0.08629933 -47.21557337] [ 0.30390597 -0.12787194 0.94408153 -12.94451995] [ 0. 0. 0. 1. ]] SLAMing on 112.05165253199999 meters Centerline goodness [0,1] 0.4531089534123798 Centerline is valid? [False, False] Translation: X:-39.78, Y:-47.22, Z:-12.94 [[ 0.73890947 -0.59407785 -0.31793759 -39.78285975] [ 0.60162663 0.79416623 -0.08570536 -47.21626003] [ 0.30341095 -0.12795122 0.94423 -12.94444803] [ 0. 0. 0. 1. ]] SLAMing on 112.08165253199999 meters Centerline goodness [0,1] 0.46992954789343533 Centerline is valid? [False, False] Translation: X:-39.81, Y:-47.25, Z:-12.95 [[ 0.7392108 -0.59310886 -0.31904432 -39.80779807] [ 0.60120116 0.79463942 -0.08429328 -47.24702324] [ 0.30352029 -0.12949931 0.94398377 -12.95261274] [ 0. 0. 0. 1. ]] SLAMing on 112.111652532 meters Centerline goodness [0,1] 0.45062849162011176 Centerline is valid? [False, False] Translation: X:-39.83, Y:-47.27, Z:-12.96 [[ 0.73985673 -0.59037709 -0.32259403 -39.8293481 ] [ 0.59960236 0.79610795 -0.0817872 -47.27477241] [ 0.30510496 -0.13291733 0.94299732 -12.95992159] [ 0. 0. 0. 1. ]] SLAMing on 112.141652532 meters Centerline goodness [0,1] 0.45703715768165853 Centerline is valid? [False, False] Translation: X:-39.85, Y:-47.30, Z:-12.97 [[ 0.74048216 -0.58834704 -0.32485985 -39.85200507] [ 0.59854844 0.79714518 -0.07936826 -47.30281235] [ 0.30565655 -0.13567357 0.942426 -12.96818626] [ 0. 0. 0. 1. ]] SLAMing on 112.171652532 meters Centerline goodness [0,1] 0.4584825789645067 Centerline is valid? [False, False] Translation: X:-39.88, Y:-47.33, Z:-12.98 [[ 0.74015466 -0.58863904 -0.32507715 -39.87654942] [ 0.59942454 0.79664736 -0.07773806 -47.33319129] [ 0.30473151 -0.13732103 0.94248694 -12.97602772] [ 0. 0. 0. 1. ]] SLAMing on 112.201652532 meters Centerline goodness [0,1] 0.4563987991342596 Centerline is valid? [False, False] Translation: X:-39.89, Y:-47.34, Z:-12.98 [[ 0.741596 -0.59039637 -0.31853964 -39.88937059] [ 0.59852971 0.7967576 -0.08330377 -47.3429419 ] [ 0.30298112 -0.1288777 0.94424201 -12.98468216] [ 0. 0. 0. 1. ]] SLAMing on 112.23165253199998 meters Centerline goodness [0,1] 0.44777571825764595 Centerline is valid? [False, False] Translation: X:-39.89, Y:-47.34, Z:-12.99 [[ 0.7403235 -0.59347861 -0.3157598 -39.89363571] [ 0.60073092 0.79486515 -0.08550881 -47.34400126] [ 0.30173411 -0.1263825 0.9449783 -12.98512989] [ 0. 0. 0. 1. ]] SLAMing on 112.26165253199999 meters Centerline goodness [0,1] 0.4640917461131442 Centerline is valid? [False, False] Translation: X:-39.92, Y:-47.37, Z:-12.99 [[ 0.73981308 -0.59288288 -0.31806681 -39.91579263] [ 0.600607 0.79501974 -0.08494028 -47.37296327] [ 0.30322903 -0.12819323 0.94425561 -12.99242797] [ 0. 0. 0. 1. ]] SLAMing on 112.29165253199999 meters Centerline goodness [0,1] 0.470452640402347 Centerline is valid? [False, False] Translation: X:-39.92, Y:-47.37, Z:-12.99 [[ 0.73934714 -0.59423515 -0.31662343 -39.92040257] [ 0.60155931 0.79420182 -0.08584799 -47.37424773] [ 0.3024768 -0.12699631 0.94465852 -12.99170687] [ 0. 0. 0. 1. ]] SLAMing on 112.32165253199999 meters Centerline goodness [0,1] 0.4602861256909285 Centerline is valid? [False, False] Translation: X:-39.93, Y:-47.38, Z:-12.99 [[ 0.73980079 -0.59485281 -0.31439613 -39.92659482] [ 0.60178882 0.79398914 -0.08620597 -47.37684358] [ 0.30090698 -0.12542483 0.94536956 -12.99301021] [ 0. 0. 0. 1. ]] SLAMing on 112.35165253199999 meters Centerline goodness [0,1] 0.4546529694130742 Centerline is valid? [False, False] Translation: X:-39.95, Y:-47.40, Z:-13.00 [[ 0.73939238 -0.59298624 -0.31885142 -39.94624189] [ 0.60122496 0.79468199 -0.08372027 -47.40342613] [ 0.30303044 -0.1297993 0.94409994 -12.99804866] [ 0. 0. 0. 1. ]] SLAMing on 112.38165253199999 meters Centerline goodness [0,1] 0.4566008858381838 Centerline is valid? [False, False] Translation: X:-39.97, Y:-47.43, Z:-13.01 [[ 0.73901337 -0.59223866 -0.32111151 -39.96833804] [ 0.60115619 0.79486335 -0.08248332 -47.43281886] [ 0.30408957 -0.1320819 0.94344258 -13.00506283] [ 0. 0. 0. 1. ]] SLAMing on 112.41165253199999 meters Centerline goodness [0,1] 0.417001323150491 Centerline is valid? [False, False] Translation: X:-39.99, Y:-47.46, Z:-13.01 [[ 0.73835014 -0.59214415 -0.32280703 -39.98972489] [ 0.60116255 0.79481084 -0.08294162 -47.46329333] [ 0.30568392 -0.13281954 0.94282358 -13.01386829] [ 0. 0. 0. 1. ]] SLAMing on 112.44165253199999 meters Centerline goodness [0,1] 0.42587388224364187 Centerline is valid? [False, False] Translation: X:-40.01, Y:-47.49, Z:-13.02 [[ 0.73765942 -0.59180942 -0.3249926 -40.01049901] [ 0.60115449 0.79482302 -0.08288336 -47.49115612] [ 0.30736275 -0.13423107 0.94207758 -13.02258999] [ 0. 0. 0. 1. ]] SLAMing on 112.471652532 meters Centerline goodness [0,1] 0.4229456428355818 Centerline is valid? [False, False] Translation: X:-40.03, Y:-47.52, Z:-13.03 [[ 0.73672525 -0.59085353 -0.32882824 -40.0288203 ] [ 0.60099227 0.79503186 -0.08205259 -47.51581927] [ 0.30990999 -0.13717301 0.94081845 -13.02992655] [ 0. 0. 0. 1. ]] SLAMing on 112.501652532 meters Centerline goodness [0,1] 0.4282565827630205 Centerline is valid? [False, False] Translation: X:-40.05, Y:-47.55, Z:-13.04 [[ 0.73626913 -0.5911804 -0.32926205 -40.05258137] [ 0.60146142 0.79469202 -0.08190702 -47.54691796] [ 0.31008375 -0.13773281 0.9406794 -13.03919489] [ 0. 0. 0. 1. ]] SLAMing on 112.531652532 meters Centerline goodness [0,1] 0.43184556915090844 Centerline is valid? [False, False] Translation: X:-40.08, Y:-47.58, Z:-13.05 [[ 0.73671088 -0.59004945 -0.33030096 -40.07653174] [ 0.60083067 0.79530071 -0.08061816 -47.57797829] [ 0.31025729 -0.13906268 0.94042649 -13.04857326] [ 0. 0. 0. 1. ]] SLAMing on 112.561652532 meters Centerline goodness [0,1] 0.4374086363319952 Centerline is valid? [False, False] Translation: X:-40.10, Y:-47.61, Z:-13.06 [[ 0.73637083 -0.59017953 -0.33082642 -40.10002688] [ 0.60115937 0.79508422 -0.08030253 -47.60857902] [ 0.31042777 -0.13974696 0.94026878 -13.05783674] [ 0. 0. 0. 1. ]] SLAMing on 112.59165253199998 meters Centerline goodness [0,1] 0.4419263456090652 Centerline is valid? [False, False] Translation: X:-40.12, Y:-47.64, Z:-13.07 [[ 0.73587746 -0.59022399 -0.33184335 -40.12351343] [ 0.60154834 0.79484392 -0.07976678 -47.63930122] [ 0.31084393 -0.14092124 0.93995598 -13.0659057 ] [ 0. 0. 0. 1. ]] SLAMing on 112.62165253199998 meters Centerline goodness [0,1] 0.4488871334975141 Centerline is valid? [False, False] Translation: X:-40.15, Y:-47.67, Z:-13.08 [[ 0.73717737 -0.58904912 -0.3310448 -40.15139496] [ 0.60057269 0.79570859 -0.07848742 -47.67399712] [ 0.30964814 -0.14095732 0.94034518 -13.07662979] [ 0. 0. 0. 1. ]] SLAMing on 112.65165253199999 meters Centerline goodness [0,1] 0.45297692504715115 Centerline is valid? [False, False] Translation: X:-40.18, Y:-47.70, Z:-13.09 [[ 0.73687239 -0.58990953 -0.33019059 -40.17622707] [ 0.60120764 0.79518207 -0.07896099 -47.70499656] [ 0.30914148 -0.14032893 0.94060583 -13.08754576] [ 0. 0. 0. 1. ]] SLAMing on 112.68165253199999 meters Centerline goodness [0,1] 0.45632719645770214 Centerline is valid? [False, False] Translation: X:-40.20, Y:-47.74, Z:-13.10 [[ 0.73677497 -0.5898966 -0.33043101 -40.20001759] [ 0.60121206 0.79517259 -0.07902289 -47.73602161] [ 0.30936501 -0.14043702 0.94051621 -13.09782039] [ 0. 0. 0. 1. ]] SLAMing on 112.71165253199999 meters Centerline goodness [0,1] 0.4571760604299826 Centerline is valid? [False, False] Translation: X:-40.22, Y:-47.77, Z:-13.11 [[ 0.73755631 -0.58856791 -0.33105665 -40.22450844] [ 0.60031035 0.7959826 -0.07771218 -47.7676311 ] [ 0.30925423 -0.14141962 0.9404054 -13.10767312] [ 0. 0. 0. 1. ]] SLAMing on 112.74165253199999 meters Centerline goodness [0,1] 0.46285236225047055 Centerline is valid? [False, False] Translation: X:-40.25, Y:-47.80, Z:-13.12 [[ 0.73582826 -0.59113271 -0.33033148 -40.24849577] [ 0.60227 0.79429252 -0.07981377 -47.79876934] [ 0.30956036 -0.14021951 0.94048438 -13.11743221] [ 0. 0. 0. 1. ]] SLAMing on 112.77165253199999 meters Centerline goodness [0,1] 0.4516624397961795 Centerline is valid? [False, False] Translation: X:-40.27, Y:-47.83, Z:-13.13 [[ 0.73632264 -0.59029649 -0.330725 -40.27330774] [ 0.60165837 0.79482505 -0.07912237 -47.82913671] [ 0.30957417 -0.14072387 0.9404045 -13.12807154] [ 0. 0. 0. 1. ]] SLAMing on 112.80165253199999 meters Centerline goodness [0,1] 0.469070005585552 Centerline is valid? [False, False] Translation: X:-40.30, Y:-47.86, Z:-13.14 [[ 0.73727468 -0.58896427 -0.33097906 -40.29975905] [ 0.60064959 0.79570406 -0.07794307 -47.86146449] [ 0.30926706 -0.14133698 0.9404136 -13.13854352] [ 0. 0. 0. 1. ]] SLAMing on 112.83165253199999 meters Centerline goodness [0,1] 0.4754425446024638 Centerline is valid? [False, False] Translation: X:-40.32, Y:-47.89, Z:-13.15 [[ 0.73698328 -0.58891989 -0.33170621 -40.32275568] [ 0.6009168 0.79556064 -0.07734511 -47.89051699] [ 0.30944248 -0.14232579 0.94020674 -13.14824334] [ 0. 0. 0. 1. ]] SLAMing on 112.861652532 meters Centerline goodness [0,1] 0.47445000582004426 Centerline is valid? [False, False] Translation: X:-40.35, Y:-47.92, Z:-13.16 [[ 0.73710352 -0.58942837 -0.3305338 -40.34769726] [ 0.60113167 0.79535586 -0.07778036 -47.92075062] [ 0.30873795 -0.14136216 0.94058366 -13.16054423] [ 0. 0. 0. 1. ]] SLAMing on 112.891652532 meters Centerline goodness [0,1] 0.46145789694176786 Centerline is valid? [False, False] Translation: X:-40.37, Y:-47.95, Z:-13.17 [[ 0.73715293 -0.58965285 -0.33002285 -40.37235055] [ 0.60115529 0.79529738 -0.07819455 -47.95088003] [ 0.30857394 -0.14075364 0.94072872 -13.17198837] [ 0. 0. 0. 1. ]] SLAMing on 112.921652532 meters Centerline goodness [0,1] 0.4329968835759803 Centerline is valid? [False, False] Translation: X:-40.40, Y:-47.98, Z:-13.18 [[ 0.73727394 -0.59066877 -0.32792917 -40.40031969] [ 0.60143036 0.79494215 -0.07967747 -47.98362094] [ 0.30774772 -0.13848243 0.94133626 -13.18433633] [ 0. 0. 0. 1. ]] SLAMing on 112.951652532 meters Centerline goodness [0,1] 0.46949885998790186 Centerline is valid? [False, False] Translation: X:-40.43, Y:-48.01, Z:-13.20 [[ 0.73787335 -0.59061579 -0.32667402 -40.42617786] [ 0.60122778 0.79511163 -0.07951513 -48.01330018] [ 0.3067052 -0.1377334 0.9417863 -13.19708979] [ 0. 0. 0. 1. ]] SLAMing on 112.98165253199998 meters Centerline goodness [0,1] 0.47291419533412415 Centerline is valid? [False, False] Translation: X:-40.45, Y:-48.04, Z:-13.21 [[ 0.73700207 -0.59129926 -0.32740362 -40.4490293 ] [ 0.60198269 0.79451041 -0.07981259 -48.04127746] [ 0.30731871 -0.13826927 0.94150774 -13.2065368 ] [ 0. 0. 0. 1. ]] SLAMing on 113.01165253199999 meters Centerline goodness [0,1] 0.47271670927260057 Centerline is valid? [False, False] Translation: X:-40.47, Y:-48.07, Z:-13.22 [[ 0.73752446 -0.59082378 -0.32708553 -40.47469409] [ 0.60153418 0.79488516 -0.07946204 -48.07193052] [ 0.3069435 -0.13814793 0.94164794 -13.21782765] [ 0. 0. 0. 1. ]] SLAMing on 113.04165253199999 meters Centerline goodness [0,1] 0.48060013956734127 Centerline is valid? [False, False] Translation: X:-40.50, Y:-48.11, Z:-13.23 [[ 0.73986855 -0.5888686 -0.32531261 -40.50462191] [ 0.59956696 0.79649735 -0.07817569 -48.10720851] [ 0.30514584 -0.13720696 0.94236949 -13.2300895 ] [ 0. 0. 0. 1. ]] SLAMing on 113.07165253199999 meters Centerline goodness [0,1] 0.45488029465930013 Centerline is valid? [False, False] Translation: X:-40.53, Y:-48.14, Z:-13.24 [[ 0.74000897 -0.58897158 -0.3248064 -40.52985829] [ 0.59970098 0.79642748 -0.07785882 -48.13904121] [ 0.30454138 -0.13717049 0.94257032 -13.23999912] [ 0. 0. 0. 1. ]] SLAMing on 113.10165253199999 meters Centerline goodness [0,1] 0.47540869241680817 Centerline is valid? [False, False] Translation: X:-40.56, Y:-48.17, Z:-13.25 [[ 0.74167135 -0.58735362 -0.32394342 -40.55716175] [ 0.59812946 0.79769987 -0.07691597 -48.17111404] [ 0.30358649 -0.13671373 0.94294464 -13.25235342] [ 0. 0. 0. 1. ]] SLAMing on 113.13165253199999 meters Centerline goodness [0,1] 0.46012112741672495 Centerline is valid? [False, False] Translation: X:-40.58, Y:-48.20, Z:-13.26 [[ 0.7410731 -0.58910056 -0.32213535 -40.58366696] [ 0.59922316 0.79672547 -0.07848645 -48.2037341 ] [ 0.30288985 -0.13486677 0.94343452 -13.26383729] [ 0. 0. 0. 1. ]] SLAMing on 113.16165253199999 meters Centerline goodness [0,1] 0.46855082577343565 Centerline is valid? [False, False] Translation: X:-40.61, Y:-48.23, Z:-13.27 [[ 0.74200801 -0.58781461 -0.32233227 -40.60933459] [ 0.59811387 0.79763266 -0.07772988 -48.23469296] [ 0.3027935 -0.13511521 0.9434299 -13.27467487] [ 0. 0. 0. 1. ]] SLAMing on 113.19165253199999 meters Centerline goodness [0,1] 0.47834829779274224 Centerline is valid? [False, False] Translation: X:-40.64, Y:-48.27, Z:-13.29 [[ 0.74119216 -0.589972 -0.32026119 -40.63543974] [ 0.59971915 0.79630462 -0.07896771 -48.26637929] [ 0.3016142 -0.13353651 0.94403224 -13.28548426] [ 0. 0. 0. 1. ]] SLAMing on 113.221652532 meters Centerline goodness [0,1] 0.4778736171010688 Centerline is valid? [False, False] Translation: X:-40.65, Y:-48.29, Z:-13.29 [[ 0.73727405 -0.59341738 -0.32292845 -40.65199817] [ 0.60328393 0.79343543 -0.08067665 -48.29045205] [ 0.3040978 -0.13533675 0.94297852 -13.29035098] [ 0. 0. 0. 1. ]] SLAMing on 113.251652532 meters Centerline goodness [0,1] 0.4757540956711276 Centerline is valid? [False, False] Translation: X:-40.68, Y:-48.32, Z:-13.30 [[ 0.73768567 -0.59294287 -0.32286004 -40.67774058] [ 0.60274967 0.79383725 -0.08071717 -48.32349424] [ 0.304159 -0.13505989 0.94299848 -13.30110478] [ 0. 0. 0. 1. ]] SLAMing on 113.281652532 meters Centerline goodness [0,1] 0.4672257883146699 Centerline is valid? [False, False] Translation: X:-40.70, Y:-48.35, Z:-13.31 [[ 0.73818802 -0.5919126 -0.32360149 -40.70265161] [ 0.60216265 0.79440982 -0.07945553 -48.35408629] [ 0.30410293 -0.13620761 0.94285147 -13.31043174] [ 0. 0. 0. 1. ]] SLAMing on 113.311652532 meters Centerline goodness [0,1] 0.47083158042350304 Centerline is valid? [False, False] Translation: X:-40.72, Y:-48.38, Z:-13.32 [[ 0.73572016 -0.59378982 -0.32577522 -40.7217809 ] [ 0.60430035 0.79271519 -0.08014807 -48.3798842 ] [ 0.30583807 -0.13789953 0.94204394 -13.31707647] [ 0. 0. 0. 1. ]] SLAMing on 113.34165253199998 meters Centerline goodness [0,1] 0.4796175373134328 Centerline is valid? [False, False] Translation: X:-40.75, Y:-48.41, Z:-13.33 [[ 0.73586644 -0.59302827 -0.32683031 -40.74584432] [ 0.60399386 0.79305595 -0.07908015 -48.41041853] [ 0.30609149 -0.13921107 0.9417687 -13.32579184] [ 0. 0. 0. 1. ]] SLAMing on 113.37165253199998 meters Centerline goodness [0,1] 0.4668173556415156 Centerline is valid? [False, False] Translation: X:-40.77, Y:-48.45, Z:-13.34 [[ 0.73710515 -0.59224559 -0.32545531 -40.77428557] [ 0.60322898 0.7937286 -0.07816457 -48.4468954 ] [ 0.30461581 -0.13870857 0.94232114 -13.33624398] [ 0. 0. 0. 1. ]] SLAMing on 113.40165253199999 meters Centerline goodness [0,1] 0.4668173556415156 Centerline is valid? [False, False] Translation: X:-40.80, Y:-48.48, Z:-13.35 [[ 0.73726547 -0.59176315 -0.32596933 -40.79909715] [ 0.60268673 0.79410868 -0.07848634 -48.47704506] [ 0.3053004 -0.13859212 0.94211671 -13.34644717] [ 0. 0. 0. 1. ]] SLAMing on 113.43165253199999 meters Centerline goodness [0,1] 0.4757857376360155 Centerline is valid? [False, False] Translation: X:-40.82, Y:-48.50, Z:-13.35 [[ 0.73456327 -0.59411957 -0.32777849 -40.81756669] [ 0.60499871 0.79219006 -0.0800717 -48.5037302 ] [ 0.30723502 -0.13948783 0.94135529 -13.35358003] [ 0. 0. 0. 1. ]] SLAMing on 113.46165253199999 meters Centerline goodness [0,1] 0.4798201025977372 Centerline is valid? [False, False] Translation: X:-40.84, Y:-48.53, Z:-13.36 [[ 0.7336522 -0.59522507 -0.32781331 -40.84021256] [ 0.60583697 0.79143701 -0.08117281 -48.53347789] [ 0.30775968 -0.13904881 0.94124885 -13.36411693] [ 0. 0. 0. 1. ]] SLAMing on 113.49165253199999 meters Centerline goodness [0,1] 0.4785513361462729 Centerline is valid? [False, False] Translation: X:-40.86, Y:-48.56, Z:-13.37 [[ 0.73024612 -0.59913988 -0.32828647 -40.86053943] [ 0.60916102 0.7885692 -0.08415143 -48.56280626] [ 0.30929508 -0.13852807 0.94082226 -13.37194699] [ 0. 0. 0. 1. ]] SLAMing on 113.52165253199999 meters Centerline goodness [0,1] 0.47106161980068306 Centerline is valid? [False, False] Translation: X:-40.89, Y:-48.59, Z:-13.38 [[ 0.731193 -0.59758781 -0.32900701 -40.88617719] [ 0.60800824 0.78958975 -0.0829096 -48.59461886] [ 0.30932633 -0.13941605 0.94068081 -13.38204135] [ 0. 0. 0. 1. ]] SLAMing on 113.55165253199999 meters Centerline goodness [0,1] 0.47935678110486146 Centerline is valid? [False, False] Translation: X:-40.91, Y:-48.62, Z:-13.39 [[ 0.73084475 -0.59697247 -0.33089246 -40.90904549] [ 0.60803944 0.78968972 -0.08172016 -48.62362704] [ 0.31008706 -0.14147092 0.94012339 -13.38987181] [ 0. 0. 0. 1. ]] SLAMing on 113.58165253199999 meters Centerline goodness [0,1] 0.47211113449800046 Centerline is valid? [False, False] Translation: X:-40.93, Y:-48.66, Z:-13.40 [[ 0.73070889 -0.59649354 -0.33205419 -40.9330952 ] [ 0.60787586 0.78986698 -0.08122247 -48.65610025] [ 0.31072732 -0.14249775 0.93975684 -13.39870162] [ 0. 0. 0. 1. ]] SLAMing on 113.611652532 meters Centerline goodness [0,1] 0.4718932834074421 Centerline is valid? [False, False] Translation: X:-40.96, Y:-48.69, Z:-13.41 [[ 0.72938917 -0.59767983 -0.33282166 -40.9554428 ] [ 0.60904491 0.78889105 -0.08194633 -48.68633885] [ 0.3115377 -0.14293257 0.93942245 -13.40711129] [ 0. 0. 0. 1. ]] SLAMing on 113.641652532 meters Centerline goodness [0,1] 0.4735820371886329 Centerline is valid? [False, False] Translation: X:-40.98, Y:-48.72, Z:-13.42 [[ 0.72808185 -0.59881505 -0.33364256 -40.97805336] [ 0.61009133 0.78798226 -0.08290073 -48.71624369] [ 0.31254662 -0.14319391 0.93904745 -13.41567792] [ 0. 0. 0. 1. ]] SLAMing on 113.671652532 meters Centerline goodness [0,1] 0.4715445252742626 Centerline is valid? [False, False] Translation: X:-41.00, Y:-48.75, Z:-13.43 [[ 0.72791067 -0.59886387 -0.33392832 -41.00232846] [ 0.61033632 0.78783821 -0.08246534 -48.74696869] [ 0.312467 -0.14378118 0.93898421 -13.42547214] [ 0. 0. 0. 1. ]] SLAMing on 113.701652532 meters Centerline goodness [0,1] 0.47238314140300675 Centerline is valid? [False, False] Translation: X:-41.03, Y:-48.78, Z:-13.44 [[ 0.72812939 -0.5986553 -0.33382545 -41.02853327] [ 0.61022308 0.78796659 -0.08207587 -48.78049143] [ 0.31217846 -0.14394614 0.93905491 -13.43554908] [ 0. 0. 0. 1. ]] SLAMing on 113.73165253199998 meters Centerline goodness [0,1] 0.4739812354504197 Centerline is valid? [False, False] Translation: X:-41.05, Y:-48.81, Z:-13.44 [[ 0.72617508 -0.60042776 -0.33489739 -41.0498025 ] [ 0.61196359 0.78650314 -0.08314668 -48.80908426] [ 0.31332142 -0.14456596 0.93857891 -13.44356176] [ 0. 0. 0. 1. ]] SLAMing on 113.76165253199999 meters Centerline goodness [0,1] 0.4737462292609351 Centerline is valid? [False, False] Translation: X:-41.07, Y:-48.84, Z:-13.45 [[ 0.72441896 -0.60184128 -0.33616103 -41.07114558] [ 0.61338519 0.78529265 -0.0841075 -48.83800236] [ 0.31460416 -0.14526713 0.93804141 -13.45165007] [ 0. 0. 0. 1. ]] SLAMing on 113.79165253199999 meters Centerline goodness [0,1] 0.48739912218604 Centerline is valid? [False, False] Translation: X:-41.09, Y:-48.87, Z:-13.46 [[ 0.72327262 -0.60204198 -0.33826345 -41.0926457 ] [ 0.61397024 0.78483919 -0.08407139 -48.86588058] [ 0.31609692 -0.14687716 0.93728856 -13.45958372] [ 0. 0. 0. 1. ]] SLAMing on 113.82165253199999 meters Centerline goodness [0,1] 0.47482628595821375 Centerline is valid? [False, False] Translation: X:-41.12, Y:-48.90, Z:-13.47 [[ 0.72293773 -0.60218779 -0.33871949 -41.11752923] [ 0.61386502 0.78481273 -0.0850806 -48.89641743] [ 0.31706587 -0.14642007 0.93703276 -13.47075886] [ 0. 0. 0. 1. ]] SLAMing on 113.85165253199999 meters Centerline goodness [0,1] 0.48457294404584306 Centerline is valid? [False, False] Translation: X:-41.14, Y:-48.92, Z:-13.48 [[ 0.72363493 -0.59930093 -0.34233154 -41.13947866] [ 0.61197416 0.78648514 -0.08323916 -48.92266322] [ 0.31912397 -0.14926329 0.9358848 -13.47980871] [ 0. 0. 0. 1. ]] SLAMing on 113.88165253199999 meters Centerline goodness [0,1] 0.47974776221629156 Centerline is valid? [False, False] Translation: X:-41.16, Y:-48.95, Z:-13.49 [[ 0.72566943 -0.59525237 -0.34507752 -41.16402246] [ 0.60892702 0.78911242 -0.08068133 -48.95072362] [ 0.32033071 -0.15157905 0.93510001 -13.49060112] [ 0. 0. 0. 1. ]] SLAMing on 113.91165253199999 meters Centerline goodness [0,1] 0.46351224105461397 Centerline is valid? [False, False] Translation: X:-41.19, Y:-48.98, Z:-13.50 [[ 0.72782301 -0.59253756 -0.34521428 -41.19323527] [ 0.60635211 0.79119701 -0.07965177 -48.98277101] [ 0.32032917 -0.15134902 0.93513779 -13.50308192] [ 0. 0. 0. 1. ]] SLAMing on 113.94165253199999 meters Centerline goodness [0,1] 0.47910202162670423 Centerline is valid? [False, False] Translation: X:-41.22, Y:-49.01, Z:-13.51 [[ 0.72838802 -0.59191887 -0.34508396 -41.21928802] [ 0.60577606 0.79167315 -0.07930317 -49.01349983] [ 0.32013475 -0.15128013 0.93521552 -13.51415676] [ 0. 0. 0. 1. ]] SLAMing on 113.971652532 meters Centerline goodness [0,1] 0.4662306805617634 Centerline is valid? [False, False] Translation: X:-41.25, Y:-49.05, Z:-13.53 [[ 0.72978685 -0.59039318 -0.34474199 -41.2469848 ] [ 0.60438895 0.79282881 -0.07833572 -49.04630244] [ 0.31957026 -0.15118987 0.93542315 -13.52520624] [ 0. 0. 0. 1. ]] SLAMing on 114.001652532 meters Centerline goodness [0,1] 0.4719375763843189 Centerline is valid? [False, False] Translation: X:-41.27, Y:-49.08, Z:-13.54 [[ 0.73039603 -0.58941567 -0.34512433 -41.27255879] [ 0.60368986 0.7934462 -0.0774705 -49.07726333] [ 0.31949992 -0.15176392 0.93535422 -13.53546765] [ 0. 0. 0. 1. ]] SLAMing on 114.031652532 meters Centerline goodness [0,1] 0.4602776344792009 Centerline is valid? [False, False] Translation: X:-41.30, Y:-49.11, Z:-13.55 [[ 0.7314075 -0.58816564 -0.34511484 -41.29961673] [ 0.60238077 0.7944549 -0.07732283 -49.10869208] [ 0.3196568 -0.15133605 0.93536994 -13.54771187] [ 0. 0. 0. 1. ]] SLAMing on 114.061652532 meters Centerline goodness [0,1] 0.4593270173146031 Centerline is valid? [False, False] Translation: X:-41.32, Y:-49.13, Z:-13.56 [[ 0.731262 -0.58666677 -0.34796262 -41.32117998] [ 0.60168206 0.79510388 -0.07608233 -49.13439829] [ 0.3213014 -0.15372675 0.93441613 -13.55656004] [ 0. 0. 0. 1. ]] SLAMing on 114.09165253199998 meters Centerline goodness [0,1] 0.4579837840371186 Centerline is valid? [False, False] Translation: X:-41.34, Y:-49.16, Z:-13.57 [[ 0.73057527 -0.58692086 -0.34897519 -41.34449948] [ 0.60193564 0.79485497 -0.07667498 -49.16163427] [ 0.32238681 -0.15404376 0.93398997 -13.56723176] [ 0. 0. 0. 1. ]] SLAMing on 114.12165253199998 meters Centerline goodness [0,1] 0.4564554706185808 Centerline is valid? [False, False] Translation: X:-41.37, Y:-49.19, Z:-13.58 [[ 0.72930531 -0.58715007 -0.3512386 -41.36606121] [ 0.60250536 0.79439855 -0.07693008 -49.18767801] [ 0.32419294 -0.15551763 0.93312015 -13.57572691] [ 0. 0. 0. 1. ]] SLAMing on 114.15165253199999 meters Centerline goodness [0,1] 0.46000986540765276 Centerline is valid? [False, False] Translation: X:-41.39, Y:-49.22, Z:-13.59 [[ 0.73134054 -0.58509645 -0.35043281 -41.39444695] [ 0.60081411 0.79586866 -0.0749365 -49.2197549 ] [ 0.32274358 -0.15574087 0.93358522 -13.58836761] [ 0. 0. 0. 1. ]] SLAMing on 114.18165253199999 meters Centerline goodness [0,1] 0.4527192322167859 Centerline is valid? [False, False] Translation: X:-41.42, Y:-49.25, Z:-13.60 [[ 0.73050843 -0.58484949 -0.35257411 -41.41689041] [ 0.601108 0.79569315 -0.07444185 -49.24720794] [ 0.32407808 -0.15755472 0.93281826 -13.59662636] [ 0. 0. 0. 1. ]] SLAMing on 114.21165253199999 meters Centerline goodness [0,1] 0.4532394432538094 Centerline is valid? [False, False] Translation: X:-41.44, Y:-49.28, Z:-13.61 [[ 0.72947139 -0.58519659 -0.35414185 -41.43972785] [ 0.60173314 0.79520899 -0.07456468 -49.27539744] [ 0.32525178 -0.15870608 0.93221439 -13.605337 ] [ 0. 0. 0. 1. ]] SLAMing on 114.24165253199999 meters Centerline goodness [0,1] 0.4489589460063522 Centerline is valid? [False, False] Translation: X:-41.47, Y:-49.31, Z:-13.61 [[ 0.7311864 -0.58416453 -0.35230419 -41.4680716 ] [ 0.60178428 0.79556879 -0.07018536 -49.3094754 ] [ 0.32128201 -0.16069255 0.93325011 -13.61481848] [ 0. 0. 0. 1. ]] SLAMing on 114.27165253199999 meters Centerline goodness [0,1] 0.4375117680286198 Centerline is valid? [False, False] Translation: X:-41.50, Y:-49.34, Z:-13.63 [[ 0.73263991 -0.58238292 -0.35223416 -41.49562567] [ 0.60051702 0.79669858 -0.06819587 -49.34064421] [ 0.32034057 -0.16155959 0.93342403 -13.62576186] [ 0. 0. 0. 1. ]] SLAMing on 114.30165253199999 meters Centerline goodness [0,1] 0.44044171316898595 Centerline is valid? [False, False] Translation: X:-41.52, Y:-49.37, Z:-13.64 [[ 0.73300317 -0.58122872 -0.35338297 -41.52057866] [ 0.59999241 0.79722023 -0.06670089 -49.36956569] [ 0.32049253 -0.16313514 0.93309778 -13.6355564 ] [ 0. 0. 0. 1. ]] SLAMing on 114.33165253199999 meters Centerline goodness [0,1] 0.4391895090659471 Centerline is valid? [False, False] Translation: X:-41.55, Y:-49.40, Z:-13.65 [[ 0.73137635 -0.58376521 -0.35257171 -41.54586507] [ 0.60202133 0.79554678 -0.06837866 -49.40126878] [ 0.32040437 -0.16224516 0.93328321 -13.64514961] [ 0. 0. 0. 1. ]] SLAMing on 114.361652532 meters Centerline goodness [0,1] 0.444671255637313 Centerline is valid? [False, False] Translation: X:-41.57, Y:-49.43, Z:-13.65 [[ 0.73100824 -0.58385436 -0.35318699 -41.57003972] [ 0.60226702 0.79536883 -0.0682851 -49.43214592] [ 0.32078248 -0.1627959 0.93305739 -13.65444105] [ 0. 0. 0. 1. ]] SLAMing on 114.391652532 meters Centerline goodness [0,1] 0.4426576084374555 Centerline is valid? [False, False] Translation: X:-41.60, Y:-49.46, Z:-13.66 [[ 0.73202676 -0.58233467 -0.35358613 -41.5964372 ] [ 0.60132127 0.79623963 -0.06644684 -49.46377803] [ 0.32023358 -0.163978 0.93303894 -13.66410196] [ 0. 0. 0. 1. ]] SLAMing on 114.421652532 meters Centerline goodness [0,1] 0.44189747731483686 Centerline is valid? [False, False] Translation: X:-41.62, Y:-49.49, Z:-13.67 [[ 0.73314996 -0.58035783 -0.354508 -41.62256874] [ 0.60013215 0.79732341 -0.0641622 -49.49356009] [ 0.31989456 -0.16571114 0.93284902 -13.67398203] [ 0. 0. 0. 1. ]] SLAMing on 114.451652532 meters Centerline goodness [0,1] 0.43372865275142314 Centerline is valid? [False, False] Translation: X:-41.65, Y:-49.52, Z:-13.68 [[ 0.73500393 -0.5772484 -0.35574361 -41.65002618] [ 0.59801753 0.79914547 -0.06116824 -49.52460008] [ 0.31960016 -0.16778201 0.93257972 -13.68397491] [ 0. 0. 0. 1. ]] SLAMing on 114.48165253199998 meters Centerline goodness [0,1] 0.4322874638059524 Centerline is valid? [False, False] Translation: X:-41.68, Y:-49.55, Z:-13.69 [[ 0.73591296 -0.57617091 -0.35561103 -41.67577592] [ 0.59747406 0.79969577 -0.05925725 -49.55446229] [ 0.31852294 -0.16886019 0.93275365 -13.69485051] [ 0. 0. 0. 1. ]] SLAMing on 114.51165253199999 meters Centerline goodness [0,1] 0.4308440018966335 Centerline is valid? [False, False] Translation: X:-41.70, Y:-49.58, Z:-13.70 [[ 0.73522533 -0.57615304 -0.35705937 -41.69877345] [ 0.59800755 0.7993543 -0.05847797 -49.58302984] [ 0.3191092 -0.17052971 0.93224939 -13.7031241 ] [ 0. 0. 0. 1. ]] SLAMing on 114.54165253199999 meters Centerline goodness [0,1] 0.4345516210895809 Centerline is valid? [False, False] Translation: X:-41.73, Y:-49.62, Z:-13.71 [[ 0.73597226 -0.57575597 -0.35615994 -41.72605705] [ 0.59779497 0.79959764 -0.05731302 -49.61618751] [ 0.31778296 -0.17072983 0.9326657 -13.71374578] [ 0. 0. 0. 1. ]] SLAMing on 114.57165253199999 meters Centerline goodness [0,1] 0.43216617210682495 Centerline is valid? [False, False] Translation: X:-41.75, Y:-49.64, Z:-13.72 [[ 0.7363752 -0.57480803 -0.35685753 -41.75056226] [ 0.59736013 0.80001728 -0.05597524 -49.64478993] [ 0.3176672 -0.17195368 0.93248028 -13.72420819] [ 0. 0. 0. 1. ]] SLAMing on 114.60165253199999 meters Centerline goodness [0,1] 0.43379017125483954 Centerline is valid? [False, False] Translation: X:-41.77, Y:-49.67, Z:-13.73 [[ 0.73548686 -0.57388481 -0.36016011 -41.7705943 ] [ 0.59740011 0.80006354 -0.05487667 -49.6694773 ] [ 0.31964386 -0.17479862 0.93127506 -13.73205079] [ 0. 0. 0. 1. ]] SLAMing on 114.63165253199999 meters Centerline goodness [0,1] 0.4322482607973027 Centerline is valid? [False, False] Translation: X:-41.79, Y:-49.70, Z:-13.74 [[ 0.7352775 -0.57347943 -0.36123169 -41.79441295] [ 0.59734945 0.80013532 -0.05437932 -49.69622961] [ 0.32021966 -0.17579766 0.93088912 -13.74253657] [ 0. 0. 0. 1. ]] SLAMing on 114.66165253199999 meters Centerline goodness [0,1] 0.43371351338534136 Centerline is valid? [False, False] Translation: X:-41.82, Y:-49.73, Z:-13.75 [[ 0.73692805 -0.57162349 -0.3608097 -41.82259382] [ 0.59593977 0.80132083 -0.0523519 -49.72790712] [ 0.31904991 -0.17644126 0.93116896 -13.75410982] [ 0. 0. 0. 1. ]] SLAMing on 114.69165253199999 meters Centerline goodness [0,1] 0.43505570040293906 Centerline is valid? [False, False] Translation: X:-41.85, Y:-49.76, Z:-13.76 [[ 0.73667673 -0.57193219 -0.36083371 -41.84637743] [ 0.59668396 0.80084308 -0.05117245 -49.75501292] [ 0.31823835 -0.17760613 0.93122522 -13.76418608] [ 0. 0. 0. 1. ]] SLAMing on 114.721652532 meters Centerline goodness [0,1] 0.423210134269583 Centerline is valid? [False, False] Translation: X:-41.87, Y:-49.78, Z:-13.77 [[ 0.73678207 -0.57200154 -0.36050855 -41.87144863] [ 0.59705594 0.8006333 -0.05010524 -49.78416143] [ 0.31729542 -0.17832713 0.93140917 -13.7743719 ] [ 0. 0. 0. 1. ]] SLAMing on 114.751652532 meters Centerline goodness [0,1] 0.41556008726169025 Centerline is valid? [False, False] Translation: X:-41.90, Y:-49.81, Z:-13.78 [[ 7.36419977e-01 -5.72454617e-01 -3.60529235e-01 -4.18950923e+01] [ 5.97855214e-01 8.00091836e-01 -4.92158243e-02 -4.98111211e+01] [ 3.16630323e-01 -1.79300766e-01 9.31448589e-01 -1.37847336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.781652532 meters Centerline goodness [0,1] 0.43038155235944375 Centerline is valid? [False, False] Translation: X:-41.92, Y:-49.84, Z:-13.80 [[ 7.35499936e-01 -5.73393683e-01 -3.60914850e-01 -4.19189211e+01] [ 5.98871909e-01 7.99315787e-01 -4.94642219e-02 -4.98385088e+01] [ 3.16847410e-01 -1.79760833e-01 9.31286080e-01 -1.37950328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.811652532 meters Centerline goodness [0,1] 0.4283500238435861 Centerline is valid? [False, False] Translation: X:-41.94, Y:-49.86, Z:-13.81 [[ 7.35108646e-01 -5.73608326e-01 -3.61370677e-01 -4.19420080e+01] [ 5.99652852e-01 7.98811255e-01 -4.81355908e-02 -4.98636641e+01] [ 3.16277940e-01 -1.81312068e-01 9.31178930e-01 -1.38052291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84165253199998 meters Centerline goodness [0,1] 0.4278647195928269 Centerline is valid? [False, False] Translation: X:-41.96, Y:-49.88, Z:-13.81 [[ 0.73690923 -0.57528324 -0.35498448 -41.95662269] [ 0.59806095 0.79960742 -0.0543238 -49.87531564] [ 0.3150998 -0.17227065 0.93329253 -13.81484903] [ 0. 0. 0. 1. ]] SLAMing on 114.87165253199998 meters Centerline goodness [0,1] 0.4372782051587396 Centerline is valid? [False, False] Translation: X:-41.97, Y:-49.88, Z:-13.82 [[ 0.73876198 -0.57511305 -0.35139113 -41.96548982] [ 0.59685227 0.80044642 -0.05525302 -49.88173978] [ 0.3130465 -0.16890976 0.93459691 -13.8194097 ] [ 0. 0. 0. 1. ]] SLAMing on 114.90165253199999 meters Centerline goodness [0,1] 0.42266765062965694 Centerline is valid? [False, False] Translation: X:-41.99, Y:-49.91, Z:-13.83 [[ 0.73897194 -0.5752043 -0.35079979 -41.98982882] [ 0.59749641 0.80010006 -0.05327229 -49.90829012] [ 0.31131738 -0.17023488 0.93493399 -13.83016197] [ 0. 0. 0. 1. ]] SLAMing on 114.93165253199999 meters Centerline goodness [0,1] 0.4225918522748905 Centerline is valid? [False, False] Translation: X:-42.00, Y:-49.92, Z:-13.84 [[ 0.74085068 -0.57659911 -0.34449053 -42.00448992] [ 0.59585776 0.80091159 -0.0591113 -49.9205661 ] [ 0.30998999 -0.16147471 0.93692696 -13.83917744] [ 0. 0. 0. 1. ]] SLAMing on 114.96165253199999 meters Centerline goodness [0,1] 0.42935521576298274 Centerline is valid? [False, False] Translation: X:-42.02, Y:-49.93, Z:-13.85 [[ 0.74187268 -0.57933105 -0.33763954 -42.01678113] [ 0.59575331 0.8005637 -0.06462012 -49.93038086] [ 0.30773841 -0.15320997 0.93905473 -13.84785009] [ 0. 0. 0. 1. ]] SLAMing on 114.99165253199999 meters Centerline goodness [0,1] 0.4323269566882946 Centerline is valid? [False, False] Translation: X:-42.02, Y:-49.94, Z:-13.85 [[ 0.74101776 -0.58362581 -0.33207468 -42.02422443] [ 0.59823313 0.79840868 -0.0682694 -49.93628014] [ 0.3049751 -0.14806924 0.9407793 -13.85158551] [ 0. 0. 0. 1. ]] SLAMing on 115.02165253199999 meters Centerline goodness [0,1] 0.42685759440626425 Centerline is valid? [False, False] Translation: X:-42.03, Y:-49.94, Z:-13.85 [[ 0.73953368 -0.58716882 -0.32912416 -42.02738648] [ 0.60080777 0.79627192 -0.07057659 -49.93815138] [ 0.3035127 -0.14554658 0.94164549 -13.85219461] [ 0. 0. 0. 1. ]] SLAMing on 115.05165253199999 meters Centerline goodness [0,1] 0.4447641656475553 Centerline is valid? [False, False] Translation: X:-42.03, Y:-49.94, Z:-13.85 [[ 0.73805102 -0.59068218 -0.3261522 -42.03082582] [ 0.60337278 0.79412592 -0.07283757 -49.93977982] [ 0.30202977 -0.14303352 0.94250699 -13.85280491] [ 0. 0. 0. 1. ]] SLAMing on 115.08165253199999 meters Centerline goodness [0,1] 0.41993010340865566 Centerline is valid? [False, False] Translation: X:-42.05, Y:-49.96, Z:-13.86 [[ 0.73742085 -0.58920574 -0.33022278 -42.05016734] [ 0.6030219 0.7945513 -0.07108313 -49.9645106 ] [ 0.30426153 -0.14671339 0.94122266 -13.85937836] [ 0. 0. 0. 1. ]] SLAMing on 115.111652532 meters Centerline goodness [0,1] 0.43868602645198385 Centerline is valid? [False, False] Translation: X:-42.07, Y:-49.99, Z:-13.87 [[ 0.73815818 -0.5867875 -0.33287074 -42.07321717] [ 0.60158116 0.7958372 -0.06887135 -49.99324128] [ 0.30532376 -0.14941082 0.94045404 -13.86837198] [ 0. 0. 0. 1. ]] SLAMing on 115.141652532 meters Centerline goodness [0,1] 0.42940585052903724 Centerline is valid? [False, False] Translation: X:-42.08, Y:-50.00, Z:-13.87 [[ 0.73776904 -0.58983858 -0.32830976 -42.07876341] [ 0.60332802 0.79430339 -0.07125602 -49.99655144] [ 0.30280711 -0.14550799 0.94187859 -13.87274939] [ 0. 0. 0. 1. ]] SLAMing on 115.171652532 meters Centerline goodness [0,1] 0.4298821387504791 Centerline is valid? [False, False] Translation: X:-42.08, Y:-50.00, Z:-13.88 [[ 0.73743152 -0.59280327 -0.3236959 -42.08408635] [ 0.60501596 0.79280553 -0.07358718 -50.00055197] [ 0.30025062 -0.14157568 0.94329523 -13.87714413] [ 0. 0. 0. 1. ]] SLAMing on 115.20165253199998 meters Centerline goodness [0,1] 0.45362457993278926 Centerline is valid? [False, False] Translation: X:-42.09, Y:-50.00, Z:-13.88 [[ 0.73652014 -0.59538377 -0.32102375 -42.08827229] [ 0.60688873 0.79123292 -0.07507689 -50.00488388] [ 0.29870412 -0.13953005 0.94409068 -13.87655357] [ 0. 0. 0. 1. ]] SLAMing on 115.23165253199998 meters Centerline goodness [0,1] 0.43948296122209163 Centerline is valid? [False, False] Translation: X:-42.09, Y:-50.01, Z:-13.88 [[ 0.73531538 -0.59850267 -0.31797146 -42.0924542 ] [ 0.60910209 0.78932971 -0.07715726 -50.00695592] [ 0.29716315 -0.13694216 0.94495551 -13.87734394] [ 0. 0. 0. 1. ]] SLAMing on 115.26165253199999 meters Centerline goodness [0,1] 0.45118030899145956 Centerline is valid? [False, False] Translation: X:-42.10, Y:-50.01, Z:-13.88 [[ 0.73414309 -0.60194961 -0.31415059 -42.09679778] [ 0.61143853 0.78727484 -0.0796319 -50.00848326] [ 0.29525725 -0.13362257 0.94602757 -13.87991915] [ 0. 0. 0. 1. ]] SLAMing on 115.29165253199999 meters Centerline goodness [0,1] 0.44155937740199847 Centerline is valid? [False, False] Translation: X:-42.11, Y:-50.02, Z:-13.89 [[ 0.73368324 -0.6063515 -0.30667043 -42.10630086] [ 0.61332041 0.78522214 -0.08523064 -50.01749961] [ 0.29248414 -0.12555494 0.94799208 -13.88755202] [ 0. 0. 0. 1. ]] SLAMing on 115.32165253199999 meters Centerline goodness [0,1] 0.44155937740199847 Centerline is valid? [False, False] Translation: X:-42.11, Y:-50.02, Z:-13.89 [[ 0.73214221 -0.60940195 -0.30429763 -42.1099633 ] [ 0.61562207 0.783194 -0.08727326 -50.01743485] [ 0.29150857 -0.1234359 0.94857068 -13.88747418] [ 0. 0. 0. 1. ]] SLAMing on 115.35165253199999 meters Centerline goodness [0,1] 0.4451121313366825 Centerline is valid? [False, False] Translation: X:-42.11, Y:-50.02, Z:-13.89 [[ 0.73062506 -0.61273021 -0.30124527 -42.1133866 ] [ 0.6180527 0.78101561 -0.08958506 -50.01905609] [ 0.29016873 -0.12073236 0.94932913 -13.88819242] [ 0. 0. 0. 1. ]] SLAMing on 115.38165253199999 meters Centerline goodness [0,1] 0.44795028662266967 Centerline is valid? [False, False] Translation: X:-42.12, Y:-50.02, Z:-13.89 [[ 0.72933166 -0.61579528 -0.29811323 -42.11739257] [ 0.62026138 0.77901616 -0.0917041 -50.02097761] [ 0.28870598 -0.11802542 0.95011518 -13.88908735] [ 0. 0. 0. 1. ]] SLAMing on 115.41165253199999 meters Centerline goodness [0,1] 0.44725423075068704 Centerline is valid? [False, False] Translation: X:-42.13, Y:-50.04, Z:-13.89 [[ 0.72712564 -0.61552435 -0.30400342 -42.1322355 ] [ 0.6210309 0.77850257 -0.09085356 -50.04226073] [ 0.29259003 -0.12273356 0.94832882 -13.89261281] [ 0. 0. 0. 1. ]] SLAMing on 115.44165253199999 meters Centerline goodness [0,1] 0.4539304201276032 Centerline is valid? [False, False] Translation: X:-42.15, Y:-50.06, Z:-13.90 [[ 0.72958987 -0.61548163 -0.29812914 -42.14924714] [ 0.6181333 0.77999444 -0.09756999 -50.06075111] [ 0.29259161 -0.11309747 0.94952573 -13.90073637] [ 0. 0. 0. 1. ]] SLAMing on 115.471652532 meters Centerline goodness [0,1] 0.45046846022303044 Centerline is valid? [False, False] Translation: X:-42.15, Y:-50.06, Z:-13.90 [[ 0.72811114 -0.6185911 -0.29529514 -42.15296175] [ 0.62050312 0.77786473 -0.0995105 -50.06320579] [ 0.29125598 -0.11077685 0.95020968 -13.90067816] [ 0. 0. 0. 1. ]] SLAMing on 115.501652532 meters Centerline goodness [0,1] 0.4572275652614072 Centerline is valid? [False, False] Translation: X:-42.17, Y:-50.09, Z:-13.90 [[ 0.72539819 -0.61860547 -0.30186873 -42.16695362] [ 0.62192896 0.77695835 -0.0976734 -50.08604404] [ 0.29496073 -0.1168888 0.94833284 -13.90140191] [ 0. 0. 0. 1. ]] SLAMing on 115.531652532 meters Centerline goodness [0,1] 0.44656092320320606 Centerline is valid? [False, False] Translation: X:-42.18, Y:-50.11, Z:-13.90 [[ 0.72340653 -0.61759019 -0.30865084 -42.18228109] [ 0.62248152 0.77680133 -0.09537536 -50.11046197] [ 0.29866327 -0.12313428 0.94638164 -13.90204976] [ 0. 0. 0. 1. ]] SLAMing on 115.561652532 meters Centerline goodness [0,1] 0.4515568428674873 Centerline is valid? [False, False] Translation: X:-42.20, Y:-50.14, Z:-13.91 [[ 0.72403614 -0.61447514 -0.31335597 -42.20370796] [ 0.62053814 0.77863523 -0.09305694 -50.14142527] [ 0.30117118 -0.12707275 0.94506531 -13.9074457 ] [ 0. 0. 0. 1. ]] SLAMing on 115.59165253199998 meters Centerline goodness [0,1] 0.44974759063790726 Centerline is valid? [False, False] Translation: X:-42.22, Y:-50.17, Z:-13.91 [[ 0.72374089 -0.61181887 -0.31918144 -42.22223317] [ 0.61938041 0.77986499 -0.09043503 -50.16632162] [ 0.30424829 -0.1322432 0.94336881 -13.91224195] [ 0. 0. 0. 1. ]] SLAMing on 115.62165253199998 meters Centerline goodness [0,1] 0.43850215803052583 Centerline is valid? [False, False] Translation: X:-42.24, Y:-50.19, Z:-13.92 [[ 0.72324464 -0.60964883 -0.32441563 -42.24120236] [ 0.61850239 0.78079357 -0.08840925 -50.19176243] [ 0.30720023 -0.13671033 0.94177402 -13.91753735] [ 0. 0. 0. 1. ]] SLAMing on 115.65165253199999 meters Centerline goodness [0,1] 0.4408212560386473 Centerline is valid? [False, False] Translation: X:-42.26, Y:-50.22, Z:-13.92 [[ 0.72264868 -0.60776 -0.32925169 -42.26045709] [ 0.6179059 0.78149536 -0.08635562 -50.21768966] [ 0.30979216 -0.14104179 0.94028508 -13.92271832] [ 0. 0. 0. 1. ]] SLAMing on 115.68165253199999 meters Centerline goodness [0,1] 0.4500097115664756 Centerline is valid? [False, False] Translation: X:-42.29, Y:-50.25, Z:-13.93 [[ 0.72212624 -0.60862451 -0.32880071 -42.28630982] [ 0.61860625 0.78088673 -0.08684591 -50.25289716] [ 0.30961266 -0.14068447 0.94039773 -13.93112628] [ 0. 0. 0. 1. ]] SLAMing on 115.71165253199999 meters Centerline goodness [0,1] 0.4583404369322195 Centerline is valid? [False, False] Translation: X:-42.31, Y:-50.28, Z:-13.94 [[ 0.72042301 -0.6089601 -0.33190101 -42.30629519] [ 0.61960425 0.78013808 -0.08645892 -50.28125906] [ 0.31157865 -0.14336028 0.93934369 -13.93636528] [ 0. 0. 0. 1. ]] SLAMing on 115.74165253199999 meters Centerline goodness [0,1] 0.45817694369973194 Centerline is valid? [False, False] Translation: X:-42.33, Y:-50.31, Z:-13.94 [[ 0.7198942 -0.60848369 -0.33391607 -42.32878254] [ 0.6195157 0.7802392 -0.08618055 -50.31082769] [ 0.31297387 -0.14482536 0.93865487 -13.94466451] [ 0. 0. 0. 1. ]] SLAMing on 115.77165253199999 meters Centerline goodness [0,1] 0.46294894645603923 Centerline is valid? [False, False] Translation: X:-42.35, Y:-50.34, Z:-13.95 [[ 0.71880949 -0.60809247 -0.33695173 -42.35047446] [ 0.61965143 0.78014725 -0.08603707 -50.34009368] [ 0.31519046 -0.14694835 0.93758261 -13.95185314] [ 0. 0. 0. 1. ]] SLAMing on 115.80165253199999 meters Centerline goodness [0,1] 0.470543677458766 Centerline is valid? [False, False] Translation: X:-42.37, Y:-50.36, Z:-13.96 [[ 0.71603045 -0.60818061 -0.34266127 -42.3652724 ] [ 0.62113187 0.7790969 -0.08487185 -50.36099618] [ 0.31858375 -0.15206701 0.93561745 -13.95537366] [ 0. 0. 0. 1. ]] SLAMing on 115.83165253199999 meters Centerline goodness [0,1] 0.4733929227378474 Centerline is valid? [False, False] Translation: X:-42.38, Y:-50.38, Z:-13.96 [[ 0.71378408 -0.60782741 -0.3479341 -42.3810857 ] [ 0.62201426 0.77849356 -0.08394074 -50.38299554] [ 0.32188594 -0.1565044 0.93375362 -13.96019125] [ 0. 0. 0. 1. ]] SLAMing on 115.861652532 meters Centerline goodness [0,1] 0.478063836562722 Centerline is valid? [False, False] Translation: X:-42.40, Y:-50.41, Z:-13.97 [[ 0.71348587 -0.60743393 -0.34923048 -42.40397994] [ 0.621885 0.77861622 -0.0837606 -50.4117724 ] [ 0.32279555 -0.15741919 0.93328572 -13.97042532] [ 0. 0. 0. 1. ]] SLAMing on 115.891652532 meters Centerline goodness [0,1] 0.48008154042636797 Centerline is valid? [False, False] Translation: X:-42.43, Y:-50.44, Z:-13.98 [[ 0.71313957 -0.60702398 -0.35064773 -42.42698777] [ 0.6217759 0.77872707 -0.0835397 -50.44149864] [ 0.32376948 -0.15844885 0.93277397 -13.9800067 ] [ 0. 0. 0. 1. ]] SLAMing on 115.921652532 meters Centerline goodness [0,1] 0.48724338728780103 Centerline is valid? [False, False] Translation: X:-42.45, Y:-50.47, Z:-13.99 [[ 0.71230171 -0.60804668 -0.35057883 -42.45126953] [ 0.62239899 0.77807928 -0.0849243 -50.47461734] [ 0.32441606 -0.15770818 0.93267483 -13.99022357] [ 0. 0. 0. 1. ]] SLAMing on 115.95165253199998 meters Centerline goodness [0,1] 0.4930411607936038 Centerline is valid? [False, False] Translation: X:-42.47, Y:-50.50, Z:-14.00 [[ 0.71174107 -0.608134 -0.35156463 -42.47452939] [ 0.62270876 0.77784132 -0.08483322 -50.50466292] [ 0.32505146 -0.15854309 0.93231198 -13.99974982] [ 0. 0. 0. 1. ]] SLAMing on 115.98165253199998 meters Centerline goodness [0,1] 0.4896935244686109 Centerline is valid? [False, False] Translation: X:-42.50, Y:-50.54, Z:-14.01 [[ 0.71094734 -0.60986927 -0.35016189 -42.50068806] [ 0.62396043 0.77671616 -0.08593826 -50.53610916] [ 0.3243875 -0.15738959 0.93273858 -14.01093123] [ 0. 0. 0. 1. ]] SLAMing on 116.01165253199999 meters Centerline goodness [0,1] 0.49208231428642013 Centerline is valid? [False, False] Translation: X:-42.52, Y:-50.57, Z:-14.02 [[ 0.71037013 -0.61053743 -0.35016898 -42.52473389] [ 0.62475591 0.77609688 -0.08575362 -50.56648362] [ 0.32412085 -0.15785333 0.93275292 -14.02102815] [ 0. 0. 0. 1. ]] SLAMing on 116.04165253199999 meters Centerline goodness [0,1] 0.49080832323032386 Centerline is valid? [False, False] Translation: X:-42.56, Y:-50.61, Z:-14.04 [[ 0.70830914 -0.61115929 -0.35324563 -42.55914371] [ 0.62810833 0.7740312 -0.07972211 -50.60883132] [ 0.32214605 -0.16540862 0.93212762 -14.03652507] [ 0. 0. 0. 1. ]] SLAMing on 116.07165253199999 meters Centerline goodness [0,1] 0.4899755259449705 Centerline is valid? [False, False] Translation: X:-42.58, Y:-50.64, Z:-14.05 [[ 0.70847181 -0.61074187 -0.35364115 -42.5832771 ] [ 0.62781512 0.77429468 -0.07947282 -50.63702498] [ 0.32235984 -0.16571701 0.93199893 -14.04852014] [ 0. 0. 0. 1. ]] SLAMing on 116.10165253199999 meters Centerline goodness [0,1] 0.49434735387045814 Centerline is valid? [False, False] Translation: X:-42.61, Y:-50.67, Z:-14.06 [[ 0.70862704 -0.61043157 -0.35386582 -42.60749963] [ 0.62763059 0.7744771 -0.0791522 -50.66520386] [ 0.32237797 -0.16600763 0.93194094 -14.06041749] [ 0. 0. 0. 1. ]] SLAMing on 116.13165253199999 meters Centerline goodness [0,1] 0.4991843796342066 Centerline is valid? [False, False] Translation: X:-42.64, Y:-50.70, Z:-14.07 [[ 0.7081933 -0.6119945 -0.3520298 -42.63618033] [ 0.6284272 0.77366453 -0.08076166 -50.69875017] [ 0.32177866 -0.16403023 0.93249803 -14.07187917] [ 0. 0. 0. 1. ]] SLAMing on 116.16165253199999 meters Centerline goodness [0,1] 0.49648914602185634 Centerline is valid? [False, False] Translation: X:-42.66, Y:-50.73, Z:-14.09 [[ 0.70867042 -0.61320106 -0.34895658 -42.66453646] [ 0.62896229 0.77316974 -0.08133258 -50.72931262] [ 0.31967589 -0.16184254 0.93360287 -14.08625648] [ 0. 0. 0. 1. ]] SLAMing on 116.19165253199999 meters Centerline goodness [0,1] 0.49160482260410765 Centerline is valid? [False, False] Translation: X:-42.69, Y:-50.76, Z:-14.10 [[ 0.7102193 -0.61218181 -0.34759456 -42.6919809 ] [ 0.62787089 0.77414103 -0.08052206 -50.75993015] [ 0.31838136 -0.16105618 0.93418104 -14.09995956] [ 0. 0. 0. 1. ]] SLAMing on 116.221652532 meters Centerline goodness [0,1] 0.4872685185185185 Centerline is valid? [False, False] Translation: X:-42.72, Y:-50.79, Z:-14.11 [[ 0.71174826 -0.61122978 -0.34613952 -42.72007909] [ 0.62682514 0.7750683 -0.07974568 -50.7902872 ] [ 0.31702471 -0.1602101 0.93478771 -14.11356264] [ 0. 0. 0. 1. ]] SLAMing on 116.251652532 meters Centerline goodness [0,1] 0.49458191021451214 Centerline is valid? [False, False] Translation: X:-42.75, Y:-50.83, Z:-14.13 [[ 0.71318994 -0.6115721 -0.34254881 -42.75336462] [ 0.62626363 0.77543905 -0.08054902 -50.82520187] [ 0.31488726 -0.1570791 0.93604069 -14.127653 ] [ 0. 0. 0. 1. ]] SLAMing on 116.281652532 meters Centerline goodness [0,1] 0.48875617488756173 Centerline is valid? [False, False] Translation: X:-42.78, Y:-50.86, Z:-14.14 [[ 0.71352978 -0.61310162 -0.33908946 -42.78256062] [ 0.62694887 0.77477529 -0.0815988 -50.85679647] [ 0.31274649 -0.15436859 0.93720861 -14.14154355] [ 0. 0. 0. 1. ]] SLAMing on 116.311652532 meters Centerline goodness [0,1] 0.49573257467994314 Centerline is valid? [False, False] Translation: X:-42.81, Y:-50.89, Z:-14.16 [[ 0.71470779 -0.61310863 -0.33658666 -42.81051232] [ 0.62653035 0.77511961 -0.08154333 -50.88751892] [ 0.31088984 -0.1526021 0.93811519 -14.15573553] [ 0. 0. 0. 1. ]] SLAMing on 116.34165253199998 meters Centerline goodness [0,1] 0.48518211112196075 Centerline is valid? [False, False] Translation: X:-42.84, Y:-50.92, Z:-14.17 [[ 0.717307 -0.61054325 -0.33571954 -42.84128083] [ 0.62376862 0.77739805 -0.08102458 -50.92080285] [ 0.31045672 -0.15129182 0.93847078 -14.1696701 ] [ 0. 0. 0. 1. ]] SLAMing on 116.37165253199998 meters Centerline goodness [0,1] 0.48487208821166905 Centerline is valid? [False, False] Translation: X:-42.87, Y:-50.95, Z:-14.18 [[ 0.71777346 -0.60984826 -0.33598566 -42.86621009] [ 0.62324342 0.77787611 -0.08047606 -50.94801627] [ 0.3104334 -0.15163727 0.93842274 -14.18162522] [ 0. 0. 0. 1. ]] SLAMing on 116.40165253199999 meters Centerline goodness [0,1] 0.48616658548465663 Centerline is valid? [False, False] Translation: X:-42.89, Y:-50.98, Z:-14.19 [[ 0.7181033 -0.61031368 -0.33443216 -42.89243835] [ 0.62343972 0.7777072 -0.08058802 -50.97655697] [ 0.30927427 -0.15062777 0.93896789 -14.19465762] [ 0. 0. 0. 1. ]] SLAMing on 116.43165253199999 meters Centerline goodness [0,1] 0.4839180930583623 Centerline is valid? [False, False] Translation: X:-42.92, Y:-51.01, Z:-14.21 [[ 0.7191217 -0.61038491 -0.33210577 -42.92049596] [ 0.62321004 0.77792123 -0.08029823 -51.00691161] [ 0.30736496 -0.14922745 0.93981804 -14.20823423] [ 0. 0. 0. 1. ]] SLAMing on 116.46165253199999 meters Centerline goodness [0,1] 0.4830430352724273 Centerline is valid? [False, False] Translation: X:-42.95, Y:-51.04, Z:-14.22 [[ 0.72151929 -0.60829549 -0.33073632 -42.95087466] [ 0.62083589 0.77985471 -0.07993387 -51.03985901] [ 0.30654969 -0.14765915 0.94033189 -14.22225165] [ 0. 0. 0. 1. ]] SLAMing on 116.49165253199999 meters Centerline goodness [0,1] 0.4871738919600427 Centerline is valid? [False, False] Translation: X:-42.98, Y:-51.07, Z:-14.24 [[ 0.72255336 -0.60756187 -0.32982604 -42.97734168] [ 0.62005672 0.78052696 -0.07941869 -51.06903029] [ 0.30568988 -0.14712661 0.9406952 -14.23512891] [ 0. 0. 0. 1. ]] SLAMing on 116.52165253199999 meters Centerline goodness [0,1] 0.48443367655966085 Centerline is valid? [False, False] Translation: X:-43.00, Y:-51.10, Z:-14.25 [[ 0.72338893 -0.60656963 -0.32982077 -43.00322096] [ 0.6192049 0.78127171 -0.07873888 -51.09773941] [ 0.30544025 -0.14726781 0.94075419 -14.24671568] [ 0. 0. 0. 1. ]] SLAMing on 116.55165253199999 meters Centerline goodness [0,1] 0.4751702576282688 Centerline is valid? [False, False] Translation: X:-43.03, Y:-51.13, Z:-14.26 [[ 0.72379511 -0.60652959 -0.32900228 -43.02905279] [ 0.61915387 0.78135259 -0.07833661 -51.12598662] [ 0.30458025 -0.14700338 0.94107432 -14.25853533] [ 0. 0. 0. 1. ]] SLAMing on 116.58165253199999 meters Centerline goodness [0,1] 0.4815513779003654 Centerline is valid? [False, False] Translation: X:-43.06, Y:-51.16, Z:-14.27 [[ 0.72401078 -0.60784405 -0.32608893 -43.05964444] [ 0.61939119 0.78094544 -0.08049075 -51.15819928] [ 0.30358349 -0.14370044 0.94190618 -14.27194844] [ 0. 0. 0. 1. ]] SLAMing on 116.611652532 meters Centerline goodness [0,1] 0.5035323720120004 Centerline is valid? [False, False] Translation: X:-43.09, Y:-51.19, Z:-14.28 [[ 0.72514994 -0.60650571 -0.32604968 -43.08609501] [ 0.6181162 0.78201067 -0.07994798 -51.18795155] [ 0.30346323 -0.14356231 0.94196599 -14.28350246] [ 0. 0. 0. 1. ]] SLAMing on 116.641652532 meters Centerline goodness [0,1] 0.48377259856240473 Centerline is valid? [False, False] Translation: X:-43.12, Y:-51.22, Z:-14.30 [[ 0.72789343 -0.60411054 -0.3243788 -43.117548 ] [ 0.61542487 0.78418199 -0.07944072 -51.22097965] [ 0.30236299 -0.1418064 0.94258558 -14.29802905] [ 0. 0. 0. 1. ]] SLAMing on 116.671652532 meters Centerline goodness [0,1] 0.47949770586814777 Centerline is valid? [False, False] Translation: X:-43.14, Y:-51.25, Z:-14.31 [[ 0.72871489 -0.60329047 -0.3240605 -43.14356653] [ 0.61476956 0.7847837 -0.07856803 -51.25006351] [ 0.30171674 -0.14196884 0.94276819 -14.30942468] [ 0. 0. 0. 1. ]] SLAMing on 116.70165253199998 meters Centerline goodness [0,1] 0.4784118029941419 Centerline is valid? [False, False] Translation: X:-43.17, Y:-51.28, Z:-14.32 [[ 0.72994386 -0.60268419 -0.32241857 -43.17168489] [ 0.61396323 0.7854495 -0.07821916 -51.2806903 ] [ 0.30038495 -0.14085755 0.94335997 -14.32230781] [ 0. 0. 0. 1. ]] SLAMing on 116.73165253199998 meters Centerline goodness [0,1] 0.4994942440152208 Centerline is valid? [False, False] Translation: X:-43.20, Y:-51.31, Z:-14.33 [[ 0.72987652 -0.60284754 -0.32226558 -43.19636214] [ 0.61408158 0.78534669 -0.07832233 -51.30802836] [ 0.30030663 -0.14073173 0.94340368 -14.33335329] [ 0. 0. 0. 1. ]] SLAMing on 116.76165253199999 meters Centerline goodness [0,1] 0.4995546997231918 Centerline is valid? [False, False] Translation: X:-43.22, Y:-51.34, Z:-14.35 [[ 0.73065686 -0.60264088 -0.32088087 -43.22297961] [ 0.61360212 0.78571008 -0.07843539 -51.33769251] [ 0.29938771 -0.13958383 0.94386617 -14.34594014] [ 0. 0. 0. 1. ]] SLAMing on 116.79165253199999 meters Centerline goodness [0,1] 0.4827718775529819 Centerline is valid? [False, False] Translation: X:-43.26, Y:-51.37, Z:-14.36 [[ 0.73258846 -0.60230264 -0.31708939 -43.25602586] [ 0.61222136 0.78665165 -0.07977583 -51.37242318] [ 0.29748809 -0.13568605 0.94503446 -14.36093154] [ 0. 0. 0. 1. ]] SLAMing on 116.82165253199999 meters Centerline goodness [0,1] 0.48809381069998325 Centerline is valid? [False, False] Translation: X:-43.28, Y:-51.40, Z:-14.37 [[ 0.73290287 -0.60205864 -0.31682609 -43.28126269] [ 0.61211099 0.78679928 -0.07916457 -51.40085691] [ 0.29694025 -0.1359128 0.94517416 -14.37171907] [ 0. 0. 0. 1. ]] SLAMing on 116.85165253199999 meters Centerline goodness [0,1] 0.49846279483114764 Centerline is valid? [False, False] Translation: X:-43.30, Y:-51.43, Z:-14.38 [[ 0.73095097 -0.60407725 -0.3174923 -43.30304383] [ 0.61407344 0.78516919 -0.08014453 -51.4264198 ] [ 0.29769866 -0.13638186 0.94486798 -14.38022142] [ 0. 0. 0. 1. ]] SLAMing on 116.88165253199999 meters Centerline goodness [0,1] 0.491804457225018 Centerline is valid? [False, False] Translation: X:-43.33, Y:-51.46, Z:-14.39 [[ 0.73056022 -0.60537409 -0.31591769 -43.33255993] [ 0.61472262 0.78449677 -0.08173688 -51.45887062] [ 0.2973178 -0.13448804 0.94525927 -14.3909036 ] [ 0. 0. 0. 1. ]] SLAMing on 116.91165253199999 meters Centerline goodness [0,1] 0.5022154096711613 Centerline is valid? [False, False] Translation: X:-43.35, Y:-51.48, Z:-14.40 [[ 0.7325092 -0.60523896 -0.31163452 -43.35136705] [ 0.61134043 0.78623351 -0.08999856 -51.47763883] [ 0.29948814 -0.12459001 0.94593033 -14.3973298 ] [ 0. 0. 0. 1. ]] SLAMing on 116.94165253199999 meters Centerline goodness [0,1] 0.46687901139955934 Centerline is valid? [False, False] Translation: X:-43.37, Y:-51.50, Z:-14.41 [[ 0.73267524 -0.6039849 -0.31367056 -43.37447783] [ 0.61067831 0.78688902 -0.08875621 -51.50491976] [ 0.30043133 -0.12652233 0.94537459 -14.40591519] [ 0. 0. 0. 1. ]] SLAMing on 116.971652532 meters Centerline goodness [0,1] 0.47412409895346885 Centerline is valid? [False, False] Translation: X:-43.40, Y:-51.54, Z:-14.42 [[ 0.73356479 -0.6025869 -0.3142797 -43.40074022] [ 0.60913319 0.7880393 -0.08916739 -51.53815495] [ 0.30139585 -0.12602814 0.94513356 -14.41693002] [ 0. 0. 0. 1. ]] SLAMing on 117.001652532 meters Centerline goodness [0,1] 0.49635788565677863 Centerline is valid? [False, False] Translation: X:-43.42, Y:-51.55, Z:-14.42 [[ 0.73475799 -0.60372201 -0.30927404 -43.41571838] [ 0.60720103 0.78862016 -0.096877 -51.55447997] [ 0.30238652 -0.11661037 0.94602559 -14.42305541] [ 0. 0. 0. 1. ]] SLAMing on 117.031652532 meters Centerline goodness [0,1] 0.5002277576658436 Centerline is valid? [False, False] Translation: X:-43.43, Y:-51.58, Z:-14.43 [[ 0.73291203 -0.6032818 -0.31446944 -43.43281991] [ 0.60791649 0.78825314 -0.09536527 -51.57819868] [ 0.30541365 -0.1212768 0.94446516 -14.42660297] [ 0. 0. 0. 1. ]] SLAMing on 117.061652532 meters Centerline goodness [0,1] 0.4821634062140391 Centerline is valid? [False, False] Translation: X:-43.45, Y:-51.61, Z:-14.43 [[ 0.73229986 -0.60208999 -0.31815806 -43.45334379] [ 0.60765106 0.7886426 -0.09382451 -51.60547719] [ 0.3074038 -0.1246214 0.94338349 -14.43253879] [ 0. 0. 0. 1. ]] SLAMing on 117.09165253199998 meters Centerline goodness [0,1] 0.47935922609070447 Centerline is valid? [False, False] Translation: X:-43.48, Y:-51.64, Z:-14.44 [[ 0.73312288 -0.60031913 -0.31960567 -43.47825914] [ 0.60646819 0.78973944 -0.09223861 -51.63548302] [ 0.30777781 -0.12620844 0.9430505 -14.44158906] [ 0. 0. 0. 1. ]] SLAMing on 117.12165253199998 meters Centerline goodness [0,1] 0.4773983584196798 Centerline is valid? [False, False] Translation: X:-43.50, Y:-51.67, Z:-14.45 [[ 0.73464317 -0.59728534 -0.3217913 -43.50282439] [ 0.6042872 0.79168047 -0.08988333 -51.66705024] [ 0.30844188 -0.12842219 0.94253453 -14.45096504] [ 0. 0. 0. 1. ]] SLAMing on 117.15165253199999 meters Centerline goodness [0,1] 0.48140075211382305 Centerline is valid? [False, False] Translation: X:-43.52, Y:-51.69, Z:-14.46 [[ 0.73207871 -0.59857383 -0.32522321 -43.52093783] [ 0.60608385 0.79027019 -0.09019642 -51.69035734] [ 0.31100342 -0.13108166 0.94132591 -14.45708194] [ 0. 0. 0. 1. ]] SLAMing on 117.18165253199999 meters Centerline goodness [0,1] 0.4937322413504931 Centerline is valid? [False, False] Translation: X:-43.54, Y:-51.71, Z:-14.46 [[ 0.73095981 -0.59727113 -0.3300984 -43.53936024] [ 0.60604826 0.79051017 -0.08831299 -51.71479089] [ 0.31369294 -0.13550231 0.93980629 -14.46219255] [ 0. 0. 0. 1. ]] SLAMing on 117.21165253199999 meters Centerline goodness [0,1] 0.4937322413504931 Centerline is valid? [False, False] Translation: X:-43.54, Y:-51.71, Z:-14.46 [[ 0.72934207 -0.60069409 -0.32745497 -43.5432806 ] [ 0.60858107 0.78830318 -0.0905935 -51.71479071] [ 0.31255277 -0.13320924 0.94051372 -14.46231448] [ 0. 0. 0. 1. ]] SLAMing on 117.24165253199999 meters Centerline goodness [0,1] 0.481291584193833 Centerline is valid? [False, False] Translation: X:-43.57, Y:-51.75, Z:-14.47 [[ 0.73007658 -0.59904062 -0.32884422 -43.56834615] [ 0.60764658 0.78924193 -0.08867248 -51.74805326] [ 0.31265607 -0.13508337 0.94021203 -14.47096062] [ 0. 0. 0. 1. ]] SLAMing on 117.27165253199999 meters Centerline goodness [0,1] 0.48920055430783194 Centerline is valid? [False, False] Translation: X:-43.59, Y:-51.78, Z:-14.48 [[ 0.7283991 -0.59968914 -0.33137244 -43.58871392] [ 0.60876315 0.78838739 -0.08861576 -51.77582237] [ 0.31439176 -0.13717969 0.93932931 -14.47765779] [ 0. 0. 0. 1. ]] SLAMing on 117.30165253199999 meters Centerline goodness [0,1] 0.4908295272483799 Centerline is valid? [False, False] Translation: X:-43.60, Y:-51.80, Z:-14.48 [[ 0.72643967 -0.59930376 -0.33633378 -43.6047006 ] [ 0.60953543 0.78792051 -0.08745185 -51.79936944] [ 0.31741451 -0.14147886 0.93767359 -14.48258563] [ 0. 0. 0. 1. ]] SLAMing on 117.33165253199999 meters Centerline goodness [0,1] 0.4862086318866975 Centerline is valid? [False, False] Translation: X:-43.63, Y:-51.83, Z:-14.49 [[ 0.72560081 -0.59924286 -0.33824763 -43.62651954] [ 0.61002941 0.78761784 -0.08673092 -51.82812179] [ 0.31838275 -0.14340898 0.93705192 -14.49074457] [ 0. 0. 0. 1. ]] SLAMing on 117.361652532 meters Centerline goodness [0,1] 0.46700263978881684 Centerline is valid? [False, False] Translation: X:-43.65, Y:-51.86, Z:-14.50 [[ 0.72474145 -0.5991619 -0.34022765 -43.64863916] [ 0.61063989 0.78726259 -0.08565358 -51.8591265 ] [ 0.31916886 -0.14567987 0.93643399 -14.49812201] [ 0. 0. 0. 1. ]] SLAMing on 117.391652532 meters Centerline goodness [0,1] 0.4782640075059542 Centerline is valid? [False, False] Translation: X:-43.65, Y:-51.86, Z:-14.50 [[ 0.72397145 -0.60232027 -0.33626721 -43.65304686] [ 0.6126983 0.7854311 -0.0877427 -51.86229275] [ 0.31696393 -0.14250714 0.9376703 -14.50109522] [ 0. 0. 0. 1. ]] SLAMing on 117.421652532 meters Centerline goodness [0,1] 0.4722476953520923 Centerline is valid? [False, False] Translation: X:-43.66, Y:-51.87, Z:-14.51 [[ 0.72361796 -0.60543633 -0.3313969 -43.65773911] [ 0.61446025 0.78377481 -0.09019781 -51.86710018] [ 0.31434957 -0.13836147 0.93917009 -14.50613897] [ 0. 0. 0. 1. ]] SLAMing on 117.45165253199998 meters Centerline goodness [0,1] 0.42571456207380176 Centerline is valid? [False, False] Translation: X:-43.66, Y:-51.87, Z:-14.51 [[ 0.72265862 -0.60945825 -0.3260754 -43.66337316] [ 0.61698704 0.78143781 -0.09317697 -51.87235789] [ 0.31159512 -0.13384915 0.94074061 -14.5101962 ] [ 0. 0. 0. 1. ]] SLAMing on 117.48165253199998 meters Centerline goodness [0,1] 0.48715888897003334 Centerline is valid? [False, False] Translation: X:-43.67, Y:-51.88, Z:-14.51 [[ 0.71955242 -0.61673537 -0.31918928 -43.66730404] [ 0.6220354 0.77675806 -0.09858443 -51.87627851] [ 0.30873335 -0.12761036 0.94254937 -14.51445902] [ 0. 0. 0. 1. ]] SLAMing on 117.51165253199999 meters Centerline goodness [0,1] 0.49134204420564176 Centerline is valid? [False, False] Translation: X:-43.68, Y:-51.90, Z:-14.52 [[ 0.71682593 -0.61700941 -0.32474601 -43.68175818] [ 0.62352175 0.77570362 -0.09749116 -51.89836309] [ 0.31205962 -0.13260201 0.94076325 -14.51785928] [ 0. 0. 0. 1. ]] SLAMing on 117.54165253199999 meters Centerline goodness [0,1] 0.48758834894470393 Centerline is valid? [False, False] Translation: X:-43.69, Y:-51.90, Z:-14.53 [[ 0.71625054 -0.6215242 -0.31732133 -43.69057489] [ 0.62524264 0.7735039 -0.10374661 -51.90418695] [ 0.30993032 -0.12409426 0.94262602 -14.52682186] [ 0. 0. 0. 1. ]] SLAMing on 117.57165253199999 meters Centerline goodness [0,1] 0.49210274995714676 Centerline is valid? [False, False] Translation: X:-43.71, Y:-51.93, Z:-14.53 [[ 0.71748743 -0.61756796 -0.3222136 -43.71254296] [ 0.62267058 0.77597299 -0.10073362 -51.93436535] [ 0.31223891 -0.12835782 0.94129227 -14.53367804] [ 0. 0. 0. 1. ]] SLAMing on 117.60165253199999 meters Centerline goodness [0,1] 0.4996211102691339 Centerline is valid? [False, False] Translation: X:-43.72, Y:-51.93, Z:-14.54 [[ 0.71626303 -0.62059055 -0.31911541 -43.71725404] [ 0.62473362 0.77401354 -0.10300942 -51.93490054] [ 0.31092632 -0.12558029 0.94210107 -14.53501473] [ 0. 0. 0. 1. ]] SLAMing on 117.63165253199999 meters Centerline goodness [0,1] 0.49799560009777566 Centerline is valid? [False, False] Translation: X:-43.73, Y:-51.95, Z:-14.54 [[ 0.71720832 -0.6229038 -0.31241492 -43.72962847] [ 0.62456038 0.77343143 -0.1082966 -51.94528996] [ 0.30908988 -0.11745076 0.94375249 -14.5430733 ] [ 0. 0. 0. 1. ]] SLAMing on 117.66165253199999 meters Centerline goodness [0,1] 0.49690792207474765 Centerline is valid? [False, False] Translation: X:-43.75, Y:-51.97, Z:-14.55 [[ 0.71623992 -0.62130275 -0.31777865 -43.74770879] [ 0.6242364 0.77397433 -0.10626692 -51.97019766] [ 0.31197645 -0.12225639 0.9421911 -14.54758723] [ 0. 0. 0. 1. ]] SLAMing on 117.69165253199999 meters Centerline goodness [0,1] 0.5008690543220152 Centerline is valid? [False, False] Translation: X:-43.77, Y:-52.00, Z:-14.55 [[ 0.71600381 -0.61927326 -0.32224087 -43.76796021] [ 0.6233677 0.77495565 -0.1041943 -51.99773666] [ 0.31424713 -0.12627103 0.94090614 -14.55310819] [ 0. 0. 0. 1. ]] SLAMing on 117.721652532 meters Centerline goodness [0,1] 0.4911764705882353 Centerline is valid? [False, False] Translation: X:-43.79, Y:-52.03, Z:-14.56 [[ 0.7163409 -0.61825724 -0.32344041 -43.79326703] [ 0.62285382 0.77553288 -0.10296535 -52.030131 ] [ 0.31449775 -0.1276978 0.94062981 -14.56148546] [ 0. 0. 0. 1. ]] SLAMing on 117.751652532 meters Centerline goodness [0,1] 0.4970715808562256 Centerline is valid? [False, False] Translation: X:-43.81, Y:-52.06, Z:-14.57 [[ 0.71600805 -0.6160504 -0.32835101 -43.81314305] [ 0.6220332 0.77651687 -0.10048013 -52.05709035] [ 0.31687092 -0.13230065 0.93919612 -14.566448 ] [ 0. 0. 0. 1. ]] SLAMing on 117.781652532 meters Centerline goodness [0,1] 0.4547520711649845 Centerline is valid? [False, False] Translation: X:-43.84, Y:-52.08, Z:-14.57 [[ 0.71638194 -0.61365301 -0.33200437 -43.83516423] [ 0.6207188 0.77784036 -0.09834913 -52.08470416] [ 0.31859863 -0.13562581 0.93813674 -14.57393322] [ 0. 0. 0. 1. ]] SLAMing on 117.811652532 meters Centerline goodness [0,1] 0.4524507647949958 Centerline is valid? [False, False] Translation: X:-43.86, Y:-52.11, Z:-14.58 [[ 0.71727051 -0.61099889 -0.33496771 -43.85852716] [ 0.61911382 0.77941422 -0.09597682 -52.11262808] [ 0.31972033 -0.1385418 0.93732869 -14.58262986] [ 0. 0. 0. 1. ]] SLAMing on 117.84165253199998 meters Centerline goodness [0,1] 0.45340781577791867 Centerline is valid? [False, False] Translation: X:-43.89, Y:-52.14, Z:-14.59 [[ 0.71962253 -0.60692027 -0.33732952 -43.88552591] [ 0.61623618 0.78210515 -0.09254462 -52.14273362] [ 0.31999436 -0.14127746 0.93682671 -14.59268643] [ 0. 0. 0. 1. ]] SLAMing on 117.87165253199998 meters Centerline goodness [0,1] 0.45296685608370124 Centerline is valid? [False, False] Translation: X:-43.91, Y:-52.17, Z:-14.60 [[ 0.72145383 -0.60494046 -0.33697391 -43.91357118] [ 0.61469596 0.78354566 -0.09058184 -52.17337146] [ 0.31883106 -0.14178589 0.93714648 -14.60473728] [ 0. 0. 0. 1. ]] SLAMing on 117.90165253199999 meters Centerline goodness [0,1] 0.453808989312381 Centerline is valid? [False, False] Translation: X:-43.94, Y:-52.20, Z:-14.62 [[ 0.72164117 -0.60464635 -0.3371006 -43.938848 ] [ 0.6145797 0.78369863 -0.09004583 -52.20330793] [ 0.31863116 -0.1421944 0.93715257 -14.61551972] [ 0. 0. 0. 1. ]] SLAMing on 117.93165253199999 meters Centerline goodness [0,1] 0.4986647066029646 Centerline is valid? [False, False] Translation: X:-43.96, Y:-52.23, Z:-14.62 [[ 0.71884122 -0.60713825 -0.33860072 -43.95998746] [ 0.61713078 0.78155352 -0.09123429 -52.23181462] [ 0.32002641 -0.14337796 0.93649659 -14.6214717 ] [ 0. 0. 0. 1. ]] SLAMing on 117.96165253199999 meters Centerline goodness [0,1] 0.46809343279931515 Centerline is valid? [False, False] Translation: X:-43.98, Y:-52.26, Z:-14.63 [[ 0.71803455 -0.60681987 -0.34087539 -43.98258705] [ 0.61738519 0.78142698 -0.09059473 -52.25846618] [ 0.32134391 -0.14540127 0.93573317 -14.62969774] [ 0. 0. 0. 1. ]] SLAMing on 117.99165253199999 meters Centerline goodness [0,1] 0.46430751947639637 Centerline is valid? [False, False] Translation: X:-44.00, Y:-52.28, Z:-14.64 [[ 0.71851686 -0.60469609 -0.34362213 -44.00491733] [ 0.61617386 0.78259288 -0.08875898 -52.28329684] [ 0.32258844 -0.14795615 0.9349041 -14.63999261] [ 0. 0. 0. 1. ]] SLAMing on 118.02165253199999 meters Centerline goodness [0,1] 0.4596591875926781 Centerline is valid? [False, False] Translation: X:-44.03, Y:-52.31, Z:-14.65 [[ 0.72249907 -0.5986596 -0.3458349 -44.03404005] [ 0.6113285 0.78681348 -0.0848647 -52.31218963] [ 0.32291263 -0.15010407 0.93444968 -14.65311792] [ 0. 0. 0. 1. ]] SLAMing on 118.05165253199999 meters Centerline goodness [0,1] 0.4607399844418514 Centerline is valid? [False, False] Translation: X:-44.06, Y:-52.34, Z:-14.66 [[ 0.72300845 -0.59776075 -0.34632482 -44.05927251] [ 0.61088128 0.78729876 -0.08357465 -52.34141625] [ 0.32261874 -0.15113817 0.9343845 -14.66387354] [ 0. 0. 0. 1. ]] SLAMing on 118.08165253199999 meters Centerline goodness [0,1] 0.46493209921531475 Centerline is valid? [False, False] Translation: X:-44.09, Y:-52.37, Z:-14.68 [[ 0.72366039 -0.59735063 -0.34567018 -44.08565674] [ 0.61056337 0.78762006 -0.08286747 -52.37211018] [ 0.32175771 -0.15108564 0.93468985 -14.67549765] [ 0. 0. 0. 1. ]] SLAMing on 118.111652532 meters Centerline goodness [0,1] 0.4684853044681212 Centerline is valid? [False, False] Translation: X:-44.11, Y:-52.40, Z:-14.69 [[ 0.7234647 -0.59846805 -0.3441436 -44.11104285] [ 0.61168017 0.78680485 -0.08237419 -52.4016801 ] [ 0.32007217 -0.150911 0.93529657 -14.68708375] [ 0. 0. 0. 1. ]] SLAMing on 118.141652532 meters Centerline goodness [0,1] 0.47106128914341416 Centerline is valid? [False, False] Translation: X:-44.14, Y:-52.43, Z:-14.70 [[ 0.72370097 -0.59999732 -0.34096937 -44.14032636] [ 0.61242539 0.78611198 -0.08344513 -52.43359756] [ 0.31810696 -0.14842898 0.9363636 -14.70096787] [ 0. 0. 0. 1. ]] SLAMing on 118.171652532 meters Centerline goodness [0,1] 0.47079447785542106 Centerline is valid? [False, False] Translation: X:-44.17, Y:-52.47, Z:-14.71 [[ 0.72569941 -0.59826039 -0.33977179 -44.1707125 ] [ 0.61072964 0.78755298 -0.08227764 -52.46677104] [ 0.31681174 -0.14779987 0.93690209 -14.71361295] [ 0. 0. 0. 1. ]] SLAMing on 118.20165253199998 meters Centerline goodness [0,1] 0.47545660708624937 Centerline is valid? [False, False] Translation: X:-44.19, Y:-52.49, Z:-14.72 [[ 0.72451982 -0.59891997 -0.34112446 -44.1934287 ] [ 0.6116636 0.78682327 -0.08232118 -52.49336415] [ 0.31770847 -0.14901009 0.9364066 -14.72273482] [ 0. 0. 0. 1. ]] SLAMing on 118.23165253199998 meters Centerline goodness [0,1] 0.4762565413167823 Centerline is valid? [False, False] Translation: X:-44.22, Y:-52.53, Z:-14.73 [[ 0.72635617 -0.59700217 -0.34058055 -44.22313548] [ 0.60991171 0.78831176 -0.08106951 -52.52582545] [ 0.31688233 -0.14883872 0.93671374 -14.73492238] [ 0. 0. 0. 1. ]] SLAMing on 118.26165253199999 meters Centerline goodness [0,1] 0.47599581477966757 Centerline is valid? [False, False] Translation: X:-44.25, Y:-52.55, Z:-14.75 [[ 0.72672547 -0.59637797 -0.34088622 -44.24853396] [ 0.60963204 0.78863227 -0.08004952 -52.55481443] [ 0.31657364 -0.14964113 0.93669027 -14.74550465] [ 0. 0. 0. 1. ]] SLAMing on 118.29165253199999 meters Centerline goodness [0,1] 0.483033106134372 Centerline is valid? [False, False] Translation: X:-44.27, Y:-52.58, Z:-14.75 [[ 0.72435044 -0.59858118 -0.34207751 -44.26914981] [ 0.61172068 0.78685855 -0.0815563 -52.57937502] [ 0.31798468 -0.15018054 0.93612582 -14.75460673] [ 0. 0. 0. 1. ]] SLAMing on 118.32165253199999 meters Centerline goodness [0,1] 0.48513042842876974 Centerline is valid? [False, False] Translation: X:-44.29, Y:-52.61, Z:-14.77 [[ 0.72379596 -0.59895776 -0.3425916 -44.29318214] [ 0.61213204 0.78651185 -0.08181368 -52.6075557 ] [ 0.31845529 -0.15049489 0.93591534 -14.76503264] [ 0. 0. 0. 1. ]] SLAMing on 118.35165253199999 meters Centerline goodness [0,1] 0.47700743267942003 Centerline is valid? [False, False] Translation: X:-44.32, Y:-52.64, Z:-14.78 [[ 0.72458618 -0.59849416 -0.3417303 -44.32020544] [ 0.61163537 0.78694611 -0.08135105 -52.63785132] [ 0.31761146 -0.1500685 0.93627048 -14.77713801] [ 0. 0. 0. 1. ]] SLAMing on 118.38165253199999 meters Centerline goodness [0,1] 0.48054847712656235 Centerline is valid? [False, False] Translation: X:-44.35, Y:-52.67, Z:-14.79 [[ 0.72923779 -0.59334386 -0.34081566 -44.35438555] [ 0.6065839 0.79105546 -0.07929212 -52.67233594] [ 0.31665158 -0.14891048 0.93678036 -14.79289032] [ 0. 0. 0. 1. ]] SLAMing on 118.41165253199999 meters Centerline goodness [0,1] 0.4697065243754548 Centerline is valid? [False, False] Translation: X:-44.38, Y:-52.70, Z:-14.80 [[ 0.72985668 -0.59257757 -0.34082408 -44.38047695] [ 0.60602175 0.79156514 -0.0785001 -52.7011953 ] [ 0.31630186 -0.14925298 0.936844 -14.80438775] [ 0. 0. 0. 1. ]] SLAMing on 118.44165253199999 meters Centerline goodness [0,1] 0.4740830701967452 Centerline is valid? [False, False] Translation: X:-44.40, Y:-52.73, Z:-14.81 [[ 0.72808073 -0.59484982 -0.34066427 -44.40326012] [ 0.60788303 0.78996546 -0.08020474 -52.72766969] [ 0.31682278 -0.1486885 0.93675774 -14.81492189] [ 0. 0. 0. 1. ]] SLAMing on 118.471652532 meters Centerline goodness [0,1] 0.4786395084425952 Centerline is valid? [False, False] Translation: X:-44.41, Y:-52.73, Z:-14.82 [[ 0.72860033 -0.59729642 -0.33522908 -44.40981985] [ 0.60871517 0.78904756 -0.08288425 -52.73360543] [ 0.31401816 -0.14366954 0.9384837 -14.82185336] [ 0. 0. 0. 1. ]] SLAMing on 118.501652532 meters Centerline goodness [0,1] 0.4752944033021731 Centerline is valid? [False, False] Translation: X:-44.44, Y:-52.77, Z:-14.84 [[ 0.73139769 -0.59466851 -0.33380651 -44.44076855] [ 0.6058375 0.79132208 -0.08228174 -52.76800845] [ 0.31307882 -0.14205183 0.93904362 -14.83626239] [ 0. 0. 0. 1. ]] SLAMing on 118.531652532 meters Centerline goodness [0,1] 0.4736242424242424 Centerline is valid? [False, False] Translation: X:-44.47, Y:-52.80, Z:-14.85 [[ 0.73282674 -0.59291758 -0.33378691 -44.4684525 ] [ 0.60437415 0.79257445 -0.08097919 -52.79858021] [ 0.31256497 -0.14238847 0.93916381 -14.84766085] [ 0. 0. 0. 1. ]] SLAMing on 118.561652532 meters Centerline goodness [0,1] 0.47735707182186427 Centerline is valid? [False, False] Translation: X:-44.49, Y:-52.83, Z:-14.86 [[ 0.73174107 -0.59354022 -0.33505972 -44.49209663] [ 0.60508303 0.79197984 -0.08150126 -52.82580432] [ 0.31373482 -0.14310113 0.93866529 -14.85722984] [ 0. 0. 0. 1. ]] SLAMing on 118.59165253199998 meters Centerline goodness [0,1] 0.4781163569314377 Centerline is valid? [False, False] Translation: X:-44.52, Y:-52.86, Z:-14.87 [[ 0.73188398 -0.59317824 -0.33538846 -44.51761951] [ 0.60509313 0.79207847 -0.08046115 -52.85525348] [ 0.31338178 -0.14405303 0.93863762 -14.86688163] [ 0. 0. 0. 1. ]] SLAMing on 118.62165253199998 meters Centerline goodness [0,1] 0.47791106264388705 Centerline is valid? [False, False] Translation: X:-44.54, Y:-52.89, Z:-14.88 [[ 0.73204596 -0.5928236 -0.33566186 -44.54355032] [ 0.60491425 0.79226345 -0.07998358 -52.88568866] [ 0.31334878 -0.14449498 0.93858071 -14.87679636] [ 0. 0. 0. 1. ]] SLAMing on 118.65165253199999 meters Centerline goodness [0,1] 0.4780514954989836 Centerline is valid? [False, False] Translation: X:-44.57, Y:-52.92, Z:-14.89 [[ 0.73278839 -0.59184875 -0.33576217 -44.57018666] [ 0.60407352 0.79296414 -0.07939183 -52.91586259] [ 0.31323532 -0.14464763 0.93859507 -14.8878425 ] [ 0. 0. 0. 1. ]] SLAMing on 118.68165253199999 meters Centerline goodness [0,1] 0.4801041817392563 Centerline is valid? [False, False] Translation: X:-44.60, Y:-52.94, Z:-14.90 [[ 0.73318937 -0.59109381 -0.33621637 -44.59633431] [ 0.60311985 0.79362595 -0.08002681 -52.94343862] [ 0.31413339 -0.14410396 0.93837853 -14.90065644] [ 0. 0. 0. 1. ]] SLAMing on 118.71165253199999 meters Centerline goodness [0,1] 0.4804063161948777 Centerline is valid? [False, False] Translation: X:-44.62, Y:-52.97, Z:-14.91 [[ 0.73396319 -0.58913257 -0.33796575 -44.62050863] [ 0.60177549 0.7947906 -0.0785759 -52.96932184] [ 0.31490362 -0.14570769 0.93787258 -14.91150965] [ 0. 0. 0. 1. ]] SLAMing on 118.74165253199999 meters Centerline goodness [0,1] 0.4743346691944038 Centerline is valid? [False, False] Translation: X:-44.65, Y:-53.00, Z:-14.92 [[ 0.73581166 -0.58710939 -0.3374667 -44.64947451] [ 0.59997306 0.79628969 -0.07716904 -52.9991062 ] [ 0.31402792 -0.14568905 0.93816905 -14.92379355] [ 0. 0. 0. 1. ]] SLAMing on 118.77165253199999 meters Centerline goodness [0,1] 0.47271377601111086 Centerline is valid? [False, False] Translation: X:-44.67, Y:-53.01, Z:-14.93 [[ 0.73831162 -0.58741333 -0.33142349 -44.66557178] [ 0.5972383 0.79771593 -0.08340084 -53.01111386] [ 0.31337257 -0.13636299 0.93978868 -14.93382447] [ 0. 0. 0. 1. ]] SLAMing on 118.80165253199999 meters Centerline goodness [0,1] 0.4692041522491349 Centerline is valid? [False, False] Translation: X:-44.69, Y:-53.04, Z:-14.95 [[ 0.73900944 -0.58687936 -0.33081363 -44.69271178] [ 0.59697565 0.79804027 -0.0821693 -53.03978901] [ 0.31222606 -0.13676379 0.94011199 -14.94500838] [ 0. 0. 0. 1. ]] SLAMing on 118.83165253199999 meters Centerline goodness [0,1] 0.47430424725156795 Centerline is valid? [False, False] Translation: X:-44.72, Y:-53.07, Z:-14.95 [[ 0.73925781 -0.5862523 -0.33137008 -44.71838254] [ 0.59687667 0.79826501 -0.08069211 -53.06803283] [ 0.31182707 -0.13813479 0.94004396 -14.95430597] [ 0. 0. 0. 1. ]] SLAMing on 118.861652532 meters Centerline goodness [0,1] 0.4677146196598526 Centerline is valid? [False, False] Translation: X:-44.74, Y:-53.10, Z:-14.96 [[ 0.73955204 -0.58565158 -0.33177554 -44.74418298] [ 0.59674265 0.79850125 -0.07933458 -53.09628827] [ 0.3113856 -0.13931256 0.9400165 -14.96391363] [ 0. 0. 0. 1. ]] SLAMing on 118.891652532 meters Centerline goodness [0,1] 0.4701974183750949 Centerline is valid? [False, False] Translation: X:-44.76, Y:-53.11, Z:-14.97 [[ 0.7445115 -0.58200209 -0.32707215 -44.76212949] [ 0.59080129 0.8025171 -0.08318737 -53.11088133] [ 0.31089622 -0.1313007 0.9413308 -14.97483239] [ 0. 0. 0. 1. ]] SLAMing on 118.921652532 meters Centerline goodness [0,1] 0.467168311208916 Centerline is valid? [False, False] Translation: X:-44.77, Y:-53.12, Z:-14.98 [[ 0.74748137 -0.57988302 -0.32404828 -44.77014556] [ 0.58828039 0.80443307 -0.08254465 -53.11531683] [ 0.30854139 -0.12893066 0.94243254 -14.981477 ] [ 0. 0. 0. 1. ]] SLAMing on 118.95165253199998 meters Centerline goodness [0,1] 0.4606269474081768 Centerline is valid? [False, False] Translation: X:-44.77, Y:-53.12, Z:-14.98 [[ 0.74808864 -0.57939179 -0.32352517 -44.77308173] [ 0.58783764 0.80480756 -0.08204689 -53.11581987] [ 0.3079128 -0.12880193 0.9426557 -14.98198958] [ 0. 0. 0. 1. ]] SLAMing on 118.98165253199998 meters Centerline goodness [0,1] 0.4570268228182849 Centerline is valid? [False, False] Translation: X:-44.78, Y:-53.12, Z:-14.98 [[ 0.74850931 -0.57898962 -0.32327207 -44.77514887] [ 0.587525 0.80508477 -0.08156531 -53.11676647] [ 0.30748689 -0.12887803 0.94278432 -14.98189418] [ 0. 0. 0. 1. ]] SLAMing on 119.01165253199999 meters Centerline goodness [0,1] 0.4543826156638149 Centerline is valid? [False, False] Translation: X:-44.78, Y:-53.12, Z:-14.98 [[ 0.74937484 -0.579996 -0.31944012 -44.78352414] [ 0.58761693 0.80488104 -0.08290267 -53.12271934] [ 0.30519452 -0.12558325 0.94397307 -14.98476084] [ 0. 0. 0. 1. ]] SLAMing on 119.04165253199999 meters Centerline goodness [0,1] 0.4495322269756946 Centerline is valid? [False, False] Translation: X:-44.79, Y:-53.13, Z:-14.99 [[ 0.75204298 -0.57905964 -0.31483534 -44.79417646] [ 0.58517379 0.80640127 -0.08537347 -53.12971507] [ 0.30331995 -0.12002887 0.94529894 -14.99295948] [ 0. 0. 0. 1. ]] SLAMing on 119.07165253199999 meters Centerline goodness [0,1] 0.4499976557738291 Centerline is valid? [False, False] Translation: X:-44.80, Y:-53.13, Z:-15.00 [[ 0.75328104 -0.57827396 -0.31331597 -44.79861849] [ 0.58425872 0.80710834 -0.08495807 -53.13054662] [ 0.30200897 -0.11906028 0.94584102 -14.99582044] [ 0. 0. 0. 1. ]] SLAMing on 119.10165253199999 meters Centerline goodness [0,1] 0.44927332395686825 Centerline is valid? [False, False] Translation: X:-44.82, Y:-53.16, Z:-15.00 [[ 0.75423275 -0.57479693 -0.31739793 -44.82140923] [ 0.58216449 0.80896491 -0.08161056 -53.15521372] [ 0.30367329 -0.12322445 0.94477419 -15.00335751] [ 0. 0. 0. 1. ]] SLAMing on 119.13165253199999 meters Centerline goodness [0,1] 0.44927332395686825 Centerline is valid? [False, False] Translation: X:-44.83, Y:-53.16, Z:-15.00 [[ 0.7527514 -0.57805575 -0.31498711 -44.82523606] [ 0.58461584 0.80696864 -0.08382079 -53.15522453] [ 0.30263781 -0.12105024 0.94538733 -15.00330593] [ 0. 0. 0. 1. ]] SLAMing on 119.16165253199999 meters Centerline goodness [0,1] 0.45013924968990615 Centerline is valid? [False, False] Translation: X:-44.84, Y:-53.16, Z:-15.01 [[ 0.75575118 -0.57581565 -0.31189179 -44.83521028] [ 0.5821145 0.80887797 -0.08281997 -53.16190664] [ 0.29997143 -0.11896545 0.94650112 -15.0083476 ] [ 0. 0. 0. 1. ]] SLAMing on 119.19165253199999 meters Centerline goodness [0,1] 0.4453755939979869 Centerline is valid? [False, False] Translation: X:-44.84, Y:-53.16, Z:-15.01 [[ 0.75433885 -0.57913882 -0.30914581 -44.839061 ] [ 0.58460355 0.8068502 -0.08503787 -53.1642396 ] [ 0.29868309 -0.11658037 0.94720506 -15.00808308] [ 0. 0. 0. 1. ]] SLAMing on 119.221652532 meters Centerline goodness [0,1] 0.43653526339212523 Centerline is valid? [False, False] Translation: X:-44.86, Y:-53.19, Z:-15.01 [[ 0.75418159 -0.57773915 -0.31213396 -44.86121771] [ 0.58434797 0.80731176 -0.0823721 -53.19172718] [ 0.29957901 -0.12027133 0.94646037 -15.01386237] [ 0. 0. 0. 1. ]] SLAMing on 119.251652532 meters Centerline goodness [0,1] 0.4373860182370821 Centerline is valid? [False, False] Translation: X:-44.87, Y:-53.19, Z:-15.01 [[ 0.75359504 -0.57966402 -0.30997443 -44.86627709] [ 0.58564861 0.80621601 -0.08385376 -53.19376656] [ 0.29851335 -0.11834432 0.94703981 -15.01370513] [ 0. 0. 0. 1. ]] SLAMing on 119.281652532 meters Centerline goodness [0,1] 0.4601966752516975 Centerline is valid? [False, False] Translation: X:-44.88, Y:-53.21, Z:-15.01 [[ 0.74772932 -0.5850213 -0.31408747 -44.87969329] [ 0.59131842 0.8018578 -0.08582885 -53.21431409] [ 0.30206519 -0.12154896 0.94550646 -15.01469476] [ 0. 0. 0. 1. ]] SLAMing on 119.311652532 meters Centerline goodness [0,1] 0.4546559461480928 Centerline is valid? [False, False] Translation: X:-44.90, Y:-53.24, Z:-15.02 [[ 0.74621972 -0.58366992 -0.32013365 -44.89674573] [ 0.59138937 0.80202516 -0.08375111 -53.23554311] [ 0.30563825 -0.12682691 0.94366318 -15.01860987] [ 0. 0. 0. 1. ]] SLAMing on 119.34165253199998 meters Centerline goodness [0,1] 0.4560927709716637 Centerline is valid? [False, False] Translation: X:-44.92, Y:-53.26, Z:-15.02 [[ 0.74645742 -0.58059528 -0.32513142 -44.91770806] [ 0.58974657 0.80352618 -0.08089901 -53.25992747] [ 0.30822119 -0.13135747 0.94220216 -15.02481963] [ 0. 0. 0. 1. ]] SLAMing on 119.37165253199998 meters Centerline goodness [0,1] 0.4584296420816698 Centerline is valid? [False, False] Translation: X:-44.94, Y:-53.29, Z:-15.03 [[ 0.74670972 -0.5781598 -0.32887055 -44.94034669] [ 0.58854533 0.80466333 -0.07830276 -53.28500077] [ 0.30990158 -0.1350858 0.94112318 -15.03250187] [ 0. 0. 0. 1. ]] SLAMing on 119.40165253199999 meters Centerline goodness [0,1] 0.4584296420816698 Centerline is valid? [False, False] Translation: X:-44.96, Y:-53.31, Z:-15.04 [[ 0.74514546 -0.57721091 -0.33404461 -44.95797527] [ 0.5887896 0.8046166 -0.07693458 -53.30745405] [ 0.31318532 -0.13935454 0.93941219 -15.0372015 ] [ 0. 0. 0. 1. ]] SLAMing on 119.43165253199999 meters Centerline goodness [0,1] 0.45918438642662507 Centerline is valid? [False, False] Translation: X:-44.98, Y:-53.34, Z:-15.04 [[ 0.7444028 -0.57753025 -0.33514667 -44.98197456] [ 0.58953025 0.80413642 -0.07628046 -53.33707313] [ 0.31355792 -0.14079571 0.93907295 -15.04488904] [ 0. 0. 0. 1. ]] SLAMing on 119.46165253199999 meters Centerline goodness [0,1] 0.4598552040412506 Centerline is valid? [False, False] Translation: X:-45.01, Y:-53.37, Z:-15.05 [[ 0.74361081 -0.57778837 -0.33645737 -45.00532555] [ 0.59043977 0.80358629 -0.07503302 -53.36504119] [ 0.31372573 -0.14286245 0.93870468 -15.05223596] [ 0. 0. 0. 1. ]] SLAMing on 119.49165253199999 meters Centerline goodness [0,1] 0.45696702275894097 Centerline is valid? [False, False] Translation: X:-45.03, Y:-53.39, Z:-15.06 [[ 0.74374762 -0.57732278 -0.33695384 -45.02983265] [ 0.59066699 0.80359826 -0.07309138 -53.39244574] [ 0.31297284 -0.14466597 0.9386798 -15.06141104] [ 0. 0. 0. 1. ]] SLAMing on 119.52165253199999 meters Centerline goodness [0,1] 0.4605424402876367 Centerline is valid? [False, False] Translation: X:-45.06, Y:-53.42, Z:-15.07 [[ 0.74770187 -0.57209727 -0.33711515 -45.05957505] [ 0.58653423 0.80701145 -0.06863027 -53.42359751] [ 0.31131898 -0.1464146 0.9389586 -15.07451417] [ 0. 0. 0. 1. ]] SLAMing on 119.55165253199999 meters Centerline goodness [0,1] 0.4583612465060408 Centerline is valid? [False, False] Translation: X:-45.09, Y:-53.45, Z:-15.09 [[ 0.7505299 -0.56943429 -0.33533484 -45.08929038] [ 0.58408288 0.8089694 -0.06645073 -53.45436138] [ 0.30911494 -0.14599008 0.93975255 -15.08901753] [ 0. 0. 0. 1. ]] SLAMing on 119.58165253199999 meters Centerline goodness [0,1] 0.4601527630791883 Centerline is valid? [False, False] Translation: X:-45.10, Y:-53.46, Z:-15.10 [[ 0.75360324 -0.56811972 -0.33063898 -45.1004673 ] [ 0.58113276 0.81089667 -0.06878456 -53.46274933] [ 0.30719191 -0.14030888 0.94124734 -15.09765285] [ 0. 0. 0. 1. ]] SLAMing on 119.611652532 meters Centerline goodness [0,1] 0.4597447395653673 Centerline is valid? [False, False] Translation: X:-45.11, Y:-53.47, Z:-15.11 [[ 0.7549847 -0.57027856 -0.32369811 -45.11369721] [ 0.58035137 0.81090323 -0.07502151 -53.47300855] [ 0.305271 -0.13121855 0.94318148 -15.1072188 ] [ 0. 0. 0. 1. ]] SLAMing on 119.641652532 meters Centerline goodness [0,1] 0.4272023166555584 Centerline is valid? [False, False] Translation: X:-45.14, Y:-53.50, Z:-15.12 [[ 0.75523883 -0.569991 -0.32361175 -45.13998844] [ 0.5803568 0.81099234 -0.0740095 -53.50478601] [ 0.3046314 -0.13191543 0.94329106 -15.11641121] [ 0. 0. 0. 1. ]] SLAMing on 119.671652532 meters Centerline goodness [0,1] 0.46237400469461964 Centerline is valid? [False, False] Translation: X:-45.16, Y:-53.53, Z:-15.13 [[ 0.75482438 -0.57021542 -0.32418286 -45.1643314 ] [ 0.58089755 0.81066522 -0.07334802 -53.53378907] [ 0.30462794 -0.13295216 0.94314662 -15.1250574 ] [ 0. 0. 0. 1. ]] SLAMing on 119.70165253199998 meters Centerline goodness [0,1] 0.4626226336879923 Centerline is valid? [False, False] Translation: X:-45.19, Y:-53.56, Z:-15.13 [[ 0.75466257 -0.57003003 -0.32488486 -45.18780325] [ 0.58160586 0.810378 -0.07086701 -53.56067752] [ 0.30367587 -0.13547426 0.94309474 -15.13317491] [ 0. 0. 0. 1. ]] SLAMing on 119.73165253199998 meters Centerline goodness [0,1] 0.4627706025646918 Centerline is valid? [False, False] Translation: X:-45.21, Y:-53.59, Z:-15.14 [[ 0.75319591 -0.57076281 -0.32699501 -45.2092272 ] [ 0.58297325 0.80946276 -0.07008724 -53.58557584] [ 0.30469348 -0.13783992 0.94242349 -15.14017483] [ 0. 0. 0. 1. ]] SLAMing on 119.76165253199999 meters Centerline goodness [0,1] 0.46000366938812953 Centerline is valid? [False, False] Translation: X:-45.24, Y:-53.61, Z:-15.15 [[ 0.75417679 -0.56917776 -0.32749663 -45.23569726] [ 0.58175221 0.81044769 -0.06883975 -53.61409213] [ 0.30460094 -0.13860455 0.94234126 -15.15159547] [ 0. 0. 0. 1. ]] SLAMing on 119.79165253199999 meters Centerline goodness [0,1] 0.4451703112822629 Centerline is valid? [False, False] Translation: X:-45.26, Y:-53.64, Z:-15.16 [[ 0.7542375 -0.56868762 -0.32820753 -45.26030591] [ 0.58161924 0.81061646 -0.06797072 -53.6430288 ] [ 0.30470454 -0.13962575 0.94215699 -15.16102559] [ 0. 0. 0. 1. ]] SLAMing on 119.82165253199999 meters Centerline goodness [0,1] 0.4533290491381883 Centerline is valid? [False, False] Translation: X:-45.28, Y:-53.67, Z:-15.17 [[ 0.75222616 -0.57034145 -0.32994913 -45.28155282] [ 0.58338854 0.80926906 -0.06885779 -53.66974856] [ 0.30629008 -0.14069191 0.94148403 -15.16828732] [ 0. 0. 0. 1. ]] SLAMing on 119.85165253199999 meters Centerline goodness [0,1] 0.4534566229952045 Centerline is valid? [False, False] Translation: X:-45.31, Y:-53.70, Z:-15.18 [[ 0.75343343 -0.56894898 -0.32959843 -45.30943313] [ 0.5821467 0.81024394 -0.06789678 -53.70111474] [ 0.30568494 -0.14071894 0.94167664 -15.17991454] [ 0. 0. 0. 1. ]] SLAMing on 119.88165253199999 meters Centerline goodness [0,1] 0.44708552043459326 Centerline is valid? [False, False] Translation: X:-45.33, Y:-53.73, Z:-15.19 [[ 0.75141001 -0.57047487 -0.33157416 -45.33014071] [ 0.58413179 0.80882002 -0.06782503 -53.72635144] [ 0.30687629 -0.1427186 0.94098796 -15.18670652] [ 0. 0. 0. 1. ]] SLAMing on 119.91165253199999 meters Centerline goodness [0,1] 0.446980820409287 Centerline is valid? [False, False] Translation: X:-45.35, Y:-53.75, Z:-15.19 [[ 0.74941605 -0.5720221 -0.33341612 -45.35112799] [ 0.58597834 0.80745172 -0.06819904 -53.75229905] [ 0.30822878 -0.14426517 0.94030983 -15.19385005] [ 0. 0. 0. 1. ]] SLAMing on 119.94165253199999 meters Centerline goodness [0,1] 0.4500898244967525 Centerline is valid? [False, False] Translation: X:-45.38, Y:-53.78, Z:-15.20 [[ 0.74873083 -0.57290867 -0.33343335 -45.37634823] [ 0.58694347 0.80675224 -0.06817757 -53.78259034] [ 0.30805762 -0.14465988 0.94030528 -15.20278543] [ 0. 0. 0. 1. ]] SLAMing on 119.971652532 meters Centerline goodness [0,1] 0.45044235554326795 Centerline is valid? [False, False] Translation: X:-45.40, Y:-53.81, Z:-15.21 [[ 0.74946369 -0.57184426 -0.33361401 -45.40251191] [ 0.58606716 0.80745073 -0.06744324 -53.81199651] [ 0.30794391 -0.14497396 0.94029416 -15.21398224] [ 0. 0. 0. 1. ]] SLAMing on 120.001652532 meters Centerline goodness [0,1] 0.4476754911908496 Centerline is valid? [False, False] Translation: X:-45.42, Y:-53.84, Z:-15.22 [[ 0.74836618 -0.57232228 -0.33525404 -45.42488429] [ 0.58683949 0.80688535 -0.067494 -53.83785908] [ 0.3091399 -0.14623008 0.93970702 -15.22256202] [ 0. 0. 0. 1. ]] SLAMing on 120.031652532 meters Centerline goodness [0,1] 0.44291088697578873 Centerline is valid? [False, False] Translation: X:-45.45, Y:-53.87, Z:-15.23 [[ 0.7487067 -0.57141168 -0.33604607 -45.44965874] [ 0.58623256 0.80738746 -0.06675982 -53.86535898] [ 0.30946672 -0.14701762 0.93947654 -15.23320288] [ 0. 0. 0. 1. ]] SLAMing on 120.061652532 meters Centerline goodness [0,1] 0.44579814481517377 Centerline is valid? [False, False] Translation: X:-45.48, Y:-53.89, Z:-15.24 [[ 0.75020992 -0.56965135 -0.33568202 -45.47696994] [ 0.58486967 0.80852303 -0.064946 -53.89487427] [ 0.30840322 -0.1476071 0.93973379 -15.24483593] [ 0. 0. 0. 1. ]] SLAMing on 120.09165253199998 meters Centerline goodness [0,1] 0.44430132259919497 Centerline is valid? [False, False] Translation: X:-45.50, Y:-53.92, Z:-15.25 [[ 0.75638209 -0.56358218 -0.33205611 -45.49820886] [ 0.57655536 0.81417799 -0.06854279 -53.91539508] [ 0.30898227 -0.13960419 0.94076598 -15.25467777] [ 0. 0. 0. 1. ]] SLAMing on 120.12165253199998 meters Centerline goodness [0,1] 0.44452117863720075 Centerline is valid? [False, False] Translation: X:-45.53, Y:-53.95, Z:-15.27 [[ 0.75759383 -0.56253608 -0.33106606 -45.52532121] [ 0.5758881 0.81480636 -0.06665952 -53.94539279] [ 0.30725312 -0.14015617 0.94125011 -15.26600259] [ 0. 0. 0. 1. ]] SLAMing on 120.15165253199999 meters Centerline goodness [0,1] 0.44549828495131105 Centerline is valid? [False, False] Translation: X:-45.55, Y:-53.97, Z:-15.28 [[ 0.75755508 -0.56262696 -0.33100031 -45.55065493] [ 0.57623952 0.81462377 -0.06584924 -53.97437572] [ 0.30668928 -0.14085104 0.94133027 -15.2756858 ] [ 0. 0. 0. 1. ]] SLAMing on 120.18165253199999 meters Centerline goodness [0,1] 0.4385617605082639 Centerline is valid? [False, False] Translation: X:-45.57, Y:-53.99, Z:-15.29 [[ 0.76038762 -0.56294265 -0.32389234 -45.56787927] [ 0.57367915 0.81596324 -0.07138786 -53.98993422] [ 0.30447151 -0.13152784 0.9433968 -15.28561343] [ 0. 0. 0. 1. ]] SLAMing on 120.21165253199999 meters Centerline goodness [0,1] 0.423899776616079 Centerline is valid? [False, False] Translation: X:-45.59, Y:-54.02, Z:-15.29 [[ 0.7603575 -0.56243412 -0.32484508 -45.59244881] [ 0.57355871 0.81612385 -0.07051433 -54.01817321] [ 0.30477349 -0.13270162 0.94313488 -15.29490632] [ 0. 0. 0. 1. ]] SLAMing on 120.24165253199999 meters Centerline goodness [0,1] 0.42495220986204196 Centerline is valid? [False, False] Translation: X:-45.62, Y:-54.04, Z:-15.30 [[ 0.7605579 -0.56177318 -0.32551894 -45.61659566] [ 0.57344779 0.81633303 -0.06897833 -54.04471576] [ 0.30448204 -0.1342061 0.94301612 -15.30491007] [ 0. 0. 0. 1. ]] SLAMing on 120.27165253199999 meters Centerline goodness [0,1] 0.4386866359447005 Centerline is valid? [False, False] Translation: X:-45.64, Y:-54.07, Z:-15.32 [[ 0.76071606 -0.56112572 -0.32626524 -45.64051024] [ 0.57323461 0.81657803 -0.06784102 -54.07115487] [ 0.30448837 -0.13541877 0.9428407 -15.31546704] [ 0. 0. 0. 1. ]] SLAMing on 120.30165253199999 meters Centerline goodness [0,1] 0.43654541684904047 Centerline is valid? [False, False] Translation: X:-45.67, Y:-54.10, Z:-15.33 [[ 0.76091726 -0.56055593 -0.3267751 -45.66526158] [ 0.5731154 0.81676709 -0.06656025 -54.09858509] [ 0.30420989 -0.136633 0.94275541 -15.32533966] [ 0. 0. 0. 1. ]] SLAMing on 120.33165253199999 meters Centerline goodness [0,1] 0.4261334809280015 Centerline is valid? [False, False] Translation: X:-45.69, Y:-54.13, Z:-15.34 [[ 0.76172066 -0.56035046 -0.3252522 -45.69345934] [ 0.57289465 0.81698139 -0.06582649 -54.13031952] [ 0.3026109 -0.13619384 0.94333339 -15.33690849] [ 0. 0. 0. 1. ]] SLAMing on 120.361652532 meters Centerline goodness [0,1] 0.4354125397337264 Centerline is valid? [False, False] Translation: X:-45.70, Y:-54.13, Z:-15.34 [[ 0.7613315 -0.56191933 -0.32345172 -45.69862802] [ 0.57398634 0.81613524 -0.06680532 -54.13184165] [ 0.30151955 -0.13479587 0.94388349 -15.33663439] [ 0. 0. 0. 1. ]] SLAMing on 120.391652532 meters Centerline goodness [0,1] 0.42648856898978016 Centerline is valid? [False, False] Translation: X:-45.72, Y:-54.16, Z:-15.35 [[ 0.76078451 -0.5625721 -0.32360403 -45.72283771] [ 0.57489222 0.81554408 -0.06623294 -54.15863418] [ 0.30117415 -0.13564844 0.94387162 -15.34612433] [ 0. 0. 0. 1. ]] SLAMing on 120.421652532 meters Centerline goodness [0,1] 0.428269460527525 Centerline is valid? [False, False] Translation: X:-45.73, Y:-54.16, Z:-15.35 [[ 0.75960085 -0.56577874 -0.32078181 -45.72730581] [ 0.57716478 0.81374653 -0.06853764 -54.15929092] [ 0.29981222 -0.13308271 0.94467011 -15.34688135] [ 0. 0. 0. 1. ]] SLAMing on 120.45165253199998 meters Centerline goodness [0,1] 0.4260632522466329 Centerline is valid? [False, False] Translation: X:-45.75, Y:-54.19, Z:-15.36 [[ 0.7595712 -0.56590789 -0.32062418 -45.75274501] [ 0.57724421 0.81368085 -0.06864839 -54.19023372] [ 0.29973441 -0.13293511 0.94471559 -15.35721084] [ 0. 0. 0. 1. ]] SLAMing on 120.48165253199998 meters Centerline goodness [0,1] 0.42815839385668686 Centerline is valid? [False, False] Translation: X:-45.76, Y:-54.19, Z:-15.36 [[ 0.75847561 -0.56898806 -0.31775357 -45.75733764] [ 0.57938116 0.81196135 -0.07096643 -54.19087388] [ 0.29838267 -0.13027413 0.94551385 -15.35811022] [ 0. 0. 0. 1. ]] SLAMing on 120.51165253199999 meters Centerline goodness [0,1] 0.4246667283836326 Centerline is valid? [False, False] Translation: X:-45.78, Y:-54.22, Z:-15.37 [[ 0.75787038 -0.56909058 -0.31901161 -45.78011643] [ 0.5801239 0.81155314 -0.06955398 -54.21781775] [ 0.29847739 -0.13235335 0.94519513 -15.36595992] [ 0. 0. 0. 1. ]] SLAMing on 120.54165253199999 meters Centerline goodness [0,1] 0.4240797723434283 Centerline is valid? [False, False] Translation: X:-45.78, Y:-54.22, Z:-15.37 [[ 0.75656628 -0.57240794 -0.31615916 -45.78453853] [ 0.58253547 0.80962528 -0.07182853 -54.21891351] [ 0.29708568 -0.12983088 0.94598311 -15.36631474] [ 0. 0. 0. 1. ]] SLAMing on 120.57165253199999 meters Centerline goodness [0,1] 0.42494430003713335 Centerline is valid? [False, False] Translation: X:-45.81, Y:-54.25, Z:-15.37 [[ 0.75607943 -0.57265309 -0.31687906 -45.80868714] [ 0.58339097 0.80914522 -0.0702779 -54.2487826 ] [ 0.29664603 -0.13172871 0.9458587 -15.37357123] [ 0. 0. 0. 1. ]] SLAMing on 120.60165253199999 meters Centerline goodness [0,1] 0.426699141730457 Centerline is valid? [False, False] Translation: X:-45.81, Y:-54.25, Z:-15.37 [[ 0.75497694 -0.57564399 -0.31407613 -45.81305003] [ 0.5855275 0.80741705 -0.07235511 -54.2502394 ] [ 0.2952412 -0.12927377 0.94663664 -15.37409045] [ 0. 0. 0. 1. ]] SLAMing on 120.63165253199999 meters Centerline goodness [0,1] 0.42207988117617024 Centerline is valid? [False, False] Translation: X:-45.83, Y:-54.28, Z:-15.38 [[ 0.75501265 -0.57376904 -0.31740351 -45.83349081] [ 0.58491302 0.80811436 -0.06948338 -54.27621242] [ 0.29636574 -0.13319262 0.94574155 -15.38102239] [ 0. 0. 0. 1. ]] SLAMing on 120.66165253199999 meters Centerline goodness [0,1] 0.42719869706840385 Centerline is valid? [False, False] Translation: X:-45.84, Y:-54.28, Z:-15.38 [[ 0.75311808 -0.57783463 -0.31451598 -45.83549204] [ 0.58792781 0.8056688 -0.07237874 -54.27632037] [ 0.29521866 -0.13040295 0.94648878 -15.38207749] [ 0. 0. 0. 1. ]] SLAMing on 120.69165253199999 meters Centerline goodness [0,1] 0.42824160447761195 Centerline is valid? [False, False] Translation: X:-45.86, Y:-54.30, Z:-15.39 [[ 0.75204243 -0.5780491 -0.3166882 -45.85590849] [ 0.58886967 0.80509154 -0.07113453 -54.30274695] [ 0.29608225 -0.13299189 0.94585858 -15.3889854 ] [ 0. 0. 0. 1. ]] SLAMing on 120.721652532 meters Centerline goodness [0,1] 0.4305016597316378 Centerline is valid? [False, False] Translation: X:-45.86, Y:-54.31, Z:-15.39 [[ 0.75118746 -0.58198653 -0.3114628 -45.8607643 ] [ 0.59217279 0.80262797 -0.07155234 -54.30983638] [ 0.29163125 -0.13069058 0.94756065 -15.39263803] [ 0. 0. 0. 1. ]] SLAMing on 120.751652532 meters Centerline goodness [0,1] 0.4206173041426201 Centerline is valid? [False, False] Translation: X:-45.88, Y:-54.34, Z:-15.40 [[ 0.75163293 -0.58021493 -0.31368546 -45.8831546 ] [ 0.59145527 0.80339629 -0.06881182 -54.33786707] [ 0.29193938 -0.13380969 0.94703029 -15.40018813] [ 0. 0. 0. 1. ]] SLAMing on 120.781652532 meters Centerline goodness [0,1] 0.42050336197235716 Centerline is valid? [False, False] Translation: X:-45.90, Y:-54.36, Z:-15.40 [[ 0.75026523 -0.57929467 -0.31862168 -45.90033062] [ 0.59200132 0.80320306 -0.06632707 -54.36094044] [ 0.29434083 -0.13886156 0.94555853 -15.40435302] [ 0. 0. 0. 1. ]] SLAMing on 120.811652532 meters Centerline goodness [0,1] 0.424088785046729 Centerline is valid? [False, False] Translation: X:-45.92, Y:-54.39, Z:-15.41 [[ 0.7483573 -0.58031436 -0.32124228 -45.92000295] [ 0.59370679 0.80199515 -0.0656965 -54.38751466] [ 0.29575938 -0.14155927 0.94471549 -15.40970015] [ 0. 0. 0. 1. ]] SLAMing on 120.84165253199998 meters Centerline goodness [0,1] 0.4253258148295468 Centerline is valid? [False, False] Translation: X:-45.94, Y:-54.41, Z:-15.42 [[ 0.74619833 -0.58267462 -0.32199122 -45.93978338] [ 0.59650587 0.79995417 -0.06522325 -54.41298654] [ 0.29558215 -0.14340017 0.94449329 -15.41671614] [ 0. 0. 0. 1. ]] SLAMing on 120.87165253199998 meters Centerline goodness [0,1] 0.42769564499776 Centerline is valid? [False, False] Translation: X:-45.94, Y:-54.42, Z:-15.42 [[ 0.74285438 -0.58974342 -0.31681235 -45.94318734] [ 0.60175406 0.7956051 -0.07003273 -54.41692327] [ 0.29335887 -0.138619 0.94589923 -15.41709638] [ 0. 0. 0. 1. ]] SLAMing on 120.90165253199999 meters Centerline goodness [0,1] 0.43388478512260165 Centerline is valid? [False, False] Translation: X:-45.95, Y:-54.42, Z:-15.42 [[ 0.7409983 -0.59355063 -0.3140369 -45.94500978] [ 0.60461406 0.79320576 -0.07257041 -54.4182003 ] [ 0.29217009 -0.13609657 0.94663317 -15.41757434] [ 0. 0. 0. 1. ]] SLAMing on 120.93165253199999 meters Centerline goodness [0,1] 0.43337584431533704 Centerline is valid? [False, False] Translation: X:-45.95, Y:-54.42, Z:-15.42 [[ 0.73934154 -0.59708494 -0.31122927 -45.94753256] [ 0.60726852 0.79096356 -0.07484378 -54.41980968] [ 0.29085911 -0.13366462 0.94738311 -15.41804318] [ 0. 0. 0. 1. ]] SLAMing on 120.96165253199999 meters Centerline goodness [0,1] 0.43411475564798185 Centerline is valid? [False, False] Translation: X:-45.96, Y:-54.44, Z:-15.42 [[ 0.73711095 -0.59681277 -0.31698889 -45.96219222] [ 0.60835347 0.7902775 -0.07326345 -54.44293552] [ 0.29423375 -0.138838 0.94559532 -15.42082179] [ 0. 0. 0. 1. ]] SLAMing on 120.99165253199999 meters Centerline goodness [0,1] 0.4348042468480424 Centerline is valid? [False, False] Translation: X:-45.97, Y:-54.46, Z:-15.43 [[ 0.73373663 -0.60508431 -0.30903646 -45.9713961 ] [ 0.61738905 0.78366594 -0.06854532 -54.45582311] [ 0.28365704 -0.14050152 0.94857683 -15.43138021] [ 0. 0. 0. 1. ]] SLAMing on 121.02165253199999 meters Centerline goodness [0,1] 0.4348042468480424 Centerline is valid? [False, False] Translation: X:-45.98, Y:-54.46, Z:-15.43 [[ 0.73214388 -0.60825956 -0.30657079 -45.97506523] [ 0.61973759 0.78161432 -0.07074156 -54.45585872] [ 0.28264935 -0.13820045 0.94921546 -15.43128215] [ 0. 0. 0. 1. ]] SLAMing on 121.05165253199999 meters Centerline goodness [0,1] 0.4400847094655689 Centerline is valid? [False, False] Translation: X:-46.00, Y:-54.49, Z:-15.44 [[ 0.73122256 -0.6085525 -0.30818408 -45.99620277] [ 0.62045291 0.78109203 -0.07023835 -54.48543735] [ 0.28346385 -0.13985385 0.94873028 -15.43818579] [ 0. 0. 0. 1. ]] SLAMing on 121.08165253199999 meters Centerline goodness [0,1] 0.4402570003835826 Centerline is valid? [False, False] Translation: X:-46.02, Y:-54.52, Z:-15.45 [[ 0.72931473 -0.61088299 -0.30809413 -46.0186174 ] [ 0.62253312 0.77931478 -0.07156115 -54.51901762] [ 0.2838178 -0.1396082 0.94866064 -15.44528354] [ 0. 0. 0. 1. ]] SLAMing on 121.111652532 meters Centerline goodness [0,1] 0.45016292888633314 Centerline is valid? [False, False] Translation: X:-46.02, Y:-54.52, Z:-15.45 [[ 0.72799341 -0.61426093 -0.30448169 -46.02187093] [ 0.62491919 0.77719555 -0.07377721 -54.5215375 ] [ 0.28196027 -0.13656713 0.94965669 -15.44718909] [ 0. 0. 0. 1. ]] SLAMing on 121.141652532 meters Centerline goodness [0,1] 0.44887265035334845 Centerline is valid? [False, False] Translation: X:-46.04, Y:-54.55, Z:-15.45 [[ 0.72712348 -0.61401034 -0.30705495 -46.04274425] [ 0.6251334 0.77704986 -0.07349653 -54.55022427] [ 0.28372464 -0.13850926 0.94884957 -15.45387524] [ 0. 0. 0. 1. ]] SLAMing on 121.171652532 meters Centerline goodness [0,1] 0.4549105954656537 Centerline is valid? [False, False] Translation: X:-46.06, Y:-54.58, Z:-15.46 [[ 0.72613524 -0.61402454 -0.30935656 -46.06400174] [ 0.62546093 0.7767708 -0.07365971 -54.58157377] [ 0.28552802 -0.14000353 0.94808901 -15.46042104] [ 0. 0. 0. 1. ]] SLAMing on 121.20165253199998 meters Centerline goodness [0,1] 0.4671142245573069 Centerline is valid? [False, False] Translation: X:-46.08, Y:-54.61, Z:-15.47 [[ 0.72299913 -0.61614964 -0.312461 -46.08085565] [ 0.62799769 0.77464754 -0.07443174 -54.60657876] [ 0.28790823 -0.1424107 0.94701005 -15.46501583] [ 0. 0. 0. 1. ]] SLAMing on 121.23165253199998 meters Centerline goodness [0,1] 0.4635803676183027 Centerline is valid? [False, False] Translation: X:-46.09, Y:-54.62, Z:-15.47 [[ 0.72277377 -0.62027988 -0.30471452 -46.09084197] [ 0.62962003 0.77280534 -0.07969019 -54.61658701] [ 0.28491523 -0.13425638 0.94910407 -15.47268955] [ 0. 0. 0. 1. ]] SLAMing on 121.26165253199999 meters Centerline goodness [0,1] 0.4566977278841685 Centerline is valid? [False, False] Translation: X:-46.10, Y:-54.63, Z:-15.48 [[ 0.72304073 -0.62327496 -0.29789331 -46.10085106] [ 0.63029625 0.77171073 -0.08478911 -54.62521346] [ 0.28273439 -0.12645506 0.95082616 -15.48018044] [ 0. 0. 0. 1. ]] SLAMing on 121.29165253199999 meters Centerline goodness [0,1] 0.4663287295523557 Centerline is valid? [False, False] Translation: X:-46.12, Y:-54.64, Z:-15.49 [[ 0.72498958 -0.6231993 -0.29327929 -46.11660166] [ 0.62761403 0.77314032 -0.09140389 -54.64247992] [ 0.28370888 -0.11779933 0.9516473 -15.48572371] [ 0. 0. 0. 1. ]] SLAMing on 121.32165253199999 meters Centerline goodness [0,1] 0.4626256667404075 Centerline is valid? [False, False] Translation: X:-46.14, Y:-54.67, Z:-15.49 [[ 0.72310451 -0.62349132 -0.29728512 -46.13568877] [ 0.62869274 0.77235369 -0.09063779 -54.67192443] [ 0.28612113 -0.1213604 0.95047691 -15.48850961] [ 0. 0. 0. 1. ]] SLAMing on 121.35165253199999 meters Centerline goodness [0,1] 0.47225768437592064 Centerline is valid? [False, False] Translation: X:-46.15, Y:-54.68, Z:-15.49 [[ 0.72399704 -0.62539034 -0.29105878 -46.14784176] [ 0.62849243 0.77195244 -0.09532419 -54.68365282] [ 0.28429837 -0.11391381 0.95194437 -15.49460387] [ 0. 0. 0. 1. ]] SLAMing on 121.38165253199999 meters Centerline goodness [0,1] 0.47068067969747573 Centerline is valid? [False, False] Translation: X:-46.17, Y:-54.71, Z:-15.50 [[ 0.72306803 -0.62398854 -0.29632907 -46.16637799] [ 0.62825452 0.77237822 -0.09342451 -54.71262331] [ 0.28717394 -0.1186178 0.95050563 -15.49725584] [ 0. 0. 0. 1. ]] SLAMing on 121.41165253199999 meters Centerline goodness [0,1] 0.47190596798386897 Centerline is valid? [False, False] Translation: X:-46.19, Y:-54.74, Z:-15.50 [[ 0.72212461 -0.62356168 -0.29951107 -46.18745298] [ 0.62843639 0.77231321 -0.09273628 -54.74109709] [ 0.28914315 -0.1212565 0.94957522 -15.50266057] [ 0. 0. 0. 1. ]] SLAMing on 121.44165253199999 meters Centerline goodness [0,1] 0.4746729615422445 Centerline is valid? [False, False] Translation: X:-46.21, Y:-54.77, Z:-15.51 [[ 0.72111073 -0.6221904 -0.30475961 -46.20533598] [ 0.62822415 0.77268938 -0.091025 -54.76737928] [ 0.29211939 -0.12581824 0.94806963 -15.50624771] [ 0. 0. 0. 1. ]] SLAMing on 121.471652532 meters Centerline goodness [0,1] 0.47483959782688856 Centerline is valid? [False, False] Translation: X:-46.22, Y:-54.79, Z:-15.51 [[ 0.7205996 -0.62044486 -0.30949054 -46.22485124] [ 0.62763767 0.7733916 -0.08908638 -54.79480438] [ 0.29463057 -0.13005231 0.94672025 -15.51044512] [ 0. 0. 0. 1. ]] SLAMing on 121.501652532 meters Centerline goodness [0,1] 0.47723805305379197 Centerline is valid? [False, False] Translation: X:-46.25, Y:-54.82, Z:-15.52 [[ 0.72060014 -0.61824892 -0.31385301 -46.24567665] [ 0.62669036 0.77443426 -0.08666474 -54.82332047] [ 0.2966389 -0.13423803 0.94550807 -15.51525881] [ 0. 0. 0. 1. ]] SLAMing on 121.531652532 meters Centerline goodness [0,1] 0.47404623283464764 Centerline is valid? [False, False] Translation: X:-46.27, Y:-54.86, Z:-15.52 [[ 0.72173085 -0.61621603 -0.31524972 -46.27283618] [ 0.62529554 0.77576363 -0.08483088 -54.85584272] [ 0.29683342 -0.13589918 0.94520968 -15.5233326 ] [ 0. 0. 0. 1. ]] SLAMing on 121.561652532 meters Centerline goodness [0,1] 0.47257166678927875 Centerline is valid? [False, False] Translation: X:-46.29, Y:-54.88, Z:-15.53 [[ 0.72062116 -0.61483723 -0.32043771 -46.29096716] [ 0.62519172 0.77604009 -0.08304875 -54.88095571] [ 0.29973397 -0.14048832 0.94362205 -15.52730958] [ 0. 0. 0. 1. ]] SLAMing on 121.59165253199998 meters Centerline goodness [0,1] 0.47251614170328726 Centerline is valid? [False, False] Translation: X:-46.31, Y:-54.91, Z:-15.53 [[ 0.72023963 -0.61396524 -0.32295753 -46.31355288] [ 0.62488668 0.77636169 -0.08233571 -54.90916549] [ 0.30128312 -0.14251042 0.94282515 -15.5347122 ] [ 0. 0. 0. 1. ]] SLAMing on 121.62165253199998 meters Centerline goodness [0,1] 0.4782182103610675 Centerline is valid? [False, False] Translation: X:-46.34, Y:-54.94, Z:-15.54 [[ 0.72137496 -0.61229228 -0.32359904 -46.34035106] [ 0.62345585 0.77759943 -0.08149807 -54.94084588] [ 0.30153106 -0.14295905 0.94267796 -15.54483956] [ 0. 0. 0. 1. ]] SLAMing on 121.65165253199999 meters Centerline goodness [0,1] 0.449393605292172 Centerline is valid? [False, False] Translation: X:-46.36, Y:-54.97, Z:-15.55 [[ 0.72048057 -0.61199522 -0.32614352 -46.3625279 ] [ 0.62373434 0.77743447 -0.08093893 -54.96822491] [ 0.30308945 -0.14511198 0.94184887 -15.5515735 ] [ 0. 0. 0. 1. ]] SLAMing on 121.68165253199999 meters Centerline goodness [0,1] 0.4777366628274561 Centerline is valid? [False, False] Translation: X:-46.39, Y:-55.00, Z:-15.56 [[ 0.72057822 -0.61112253 -0.32756111 -46.38716802] [ 0.62348807 0.77777882 -0.07951566 -54.998084 ] [ 0.3033639 -0.14693319 0.94147808 -15.55915712] [ 0. 0. 0. 1. ]] SLAMing on 121.71165253199999 meters Centerline goodness [0,1] 0.4750324492444836 Centerline is valid? [False, False] Translation: X:-46.41, Y:-55.03, Z:-15.57 [[ 0.7217289 -0.60961783 -0.32783152 -46.41415813] [ 0.62254131 0.77873472 -0.07755358 -55.02942995] [ 0.30257183 -0.148116 0.94154763 -15.56842622] [ 0. 0. 0. 1. ]] SLAMing on 121.74165253199999 meters Centerline goodness [0,1] 0.4818121774015999 Centerline is valid? [False, False] Translation: X:-46.44, Y:-55.06, Z:-15.58 [[ 0.72321802 -0.60745365 -0.32856622 -46.442129 ] [ 0.62116384 0.78008729 -0.07496204 -55.06175407] [ 0.30184629 -0.14987956 0.94150142 -15.57659865] [ 0. 0. 0. 1. ]] SLAMing on 121.77165253199999 meters Centerline goodness [0,1] 0.45237513439546473 Centerline is valid? [False, False] Translation: X:-46.47, Y:-55.09, Z:-15.58 [[ 0.72302141 -0.60646809 -0.33081186 -46.46506836] [ 0.62087029 0.78043402 -0.07377553 -55.08998758] [ 0.30291934 -0.15204997 0.94080853 -15.58395347] [ 0. 0. 0. 1. ]] SLAMing on 121.80165253199999 meters Centerline goodness [0,1] 0.4572308143370226 Centerline is valid? [False, False] Translation: X:-46.49, Y:-55.12, Z:-15.59 [[ 0.72229726 -0.60646696 -0.33239208 -46.48782528] [ 0.62114829 0.78021346 -0.07376824 -55.11810143] [ 0.30407478 -0.15318217 0.94025196 -15.59249834] [ 0. 0. 0. 1. ]] SLAMing on 121.83165253199999 meters Centerline goodness [0,1] 0.4610340355770878 Centerline is valid? [False, False] Translation: X:-46.51, Y:-55.15, Z:-15.60 [[ 0.72206273 -0.60626409 -0.33327056 -46.51155944] [ 0.62109779 0.78025767 -0.07372579 -55.14637682] [ 0.30473421 -0.15375896 0.93994428 -15.60257401] [ 0. 0. 0. 1. ]] SLAMing on 121.861652532 meters Centerline goodness [0,1] 0.4655168195718654 Centerline is valid? [False, False] Translation: X:-46.54, Y:-55.18, Z:-15.61 [[ 0.72197724 -0.60576695 -0.33435799 -46.53731005] [ 0.62066012 0.78057882 -0.07401159 -55.17702383] [ 0.30582654 -0.15408798 0.93953553 -15.61185403] [ 0. 0. 0. 1. ]] SLAMing on 121.891652532 meters Centerline goodness [0,1] 0.46968769136558486 Centerline is valid? [False, False] Translation: X:-46.56, Y:-55.21, Z:-15.62 [[ 0.72194551 -0.60524844 -0.33536399 -46.56181834] [ 0.62035902 0.78084158 -0.07376386 -55.205427 ] [ 0.30651161 -0.15479258 0.93919641 -15.62173422] [ 0. 0. 0. 1. ]] SLAMing on 121.921652532 meters Centerline goodness [0,1] 0.4905374345933786 Centerline is valid? [False, False] Translation: X:-46.59, Y:-55.23, Z:-15.63 [[ 0.72250252 -0.60403081 -0.33635826 -46.58742697] [ 0.61954123 0.78158287 -0.07277966 -55.23422232] [ 0.30685302 -0.15580432 0.93891759 -15.6315331 ] [ 0. 0. 0. 1. ]] SLAMing on 121.95165253199998 meters Centerline goodness [0,1] 0.48382996406658685 Centerline is valid? [False, False] Translation: X:-46.61, Y:-55.26, Z:-15.64 [[ 0.72254408 -0.60399918 -0.3363258 -46.61265532] [ 0.61946393 0.78163352 -0.07289363 -55.26271879] [ 0.30691122 -0.15567284 0.93892038 -15.64267821] [ 0. 0. 0. 1. ]] SLAMing on 121.98165253199998 meters Centerline goodness [0,1] 0.4763972579346686 Centerline is valid? [False, False] Translation: X:-46.64, Y:-55.30, Z:-15.66 [[ 0.72419733 -0.6035424 -0.33357877 -46.64467599] [ 0.61825596 0.78252438 -0.07358779 -55.2956434 ] [ 0.30544687 -0.15294498 0.93984576 -15.65630509] [ 0. 0. 0. 1. ]] SLAMing on 122.01165253199999 meters Centerline goodness [0,1] 0.4776024775049379 Centerline is valid? [False, False] Translation: X:-46.67, Y:-55.33, Z:-15.67 [[ 0.725185 -0.602667 -0.33301532 -46.67184233] [ 0.61739374 0.78325743 -0.07302584 -55.32571949] [ 0.30484699 -0.15264433 0.94008937 -15.66797118] [ 0. 0. 0. 1. ]] SLAMing on 122.04165253199999 meters Centerline goodness [0,1] 0.4799815251476772 Centerline is valid? [False, False] Translation: X:-46.70, Y:-55.35, Z:-15.68 [[ 0.72605702 -0.60163673 -0.33297815 -46.69857206] [ 0.61644991 0.78405067 -0.07248493 -55.35473002] [ 0.30468134 -0.15263616 0.94014439 -15.67941229] [ 0. 0. 0. 1. ]] SLAMing on 122.07165253199999 meters Centerline goodness [0,1] 0.48224715833353526 Centerline is valid? [False, False] Translation: X:-46.73, Y:-55.39, Z:-15.69 [[ 0.72793244 -0.60053196 -0.33087117 -46.72945533] [ 0.61475097 0.78534333 -0.07291838 -55.38590252] [ 0.30363729 -0.15032372 0.94085449 -15.69372101] [ 0. 0. 0. 1. ]] SLAMing on 122.10165253199999 meters Centerline goodness [0,1] 0.4794477489240292 Centerline is valid? [False, False] Translation: X:-46.76, Y:-55.42, Z:-15.71 [[ 0.73037692 -0.59813853 -0.32981791 -46.759265 ] [ 0.61234931 0.78732023 -0.07179951 -55.41722174] [ 0.30261837 -0.14952307 0.94131024 -15.70677709] [ 0. 0. 0. 1. ]] SLAMing on 122.13165253199999 meters Centerline goodness [0,1] 0.4776216528885783 Centerline is valid? [False, False] Translation: X:-46.79, Y:-55.45, Z:-15.72 [[ 0.73309231 -0.59570631 -0.32819149 -46.78992701] [ 0.60981467 0.78938721 -0.07066759 -55.44882097] [ 0.30116729 -0.14833012 0.94196414 -15.72065026] [ 0. 0. 0. 1. ]] SLAMing on 122.16165253199999 meters Centerline goodness [0,1] 0.47837186897880535 Centerline is valid? [False, False] Translation: X:-46.82, Y:-55.48, Z:-15.73 [[ 0.73322152 -0.59642375 -0.32659594 -46.81701276] [ 0.61014395 0.78908376 -0.07121224 -55.47797193] [ 0.30018423 -0.14705619 0.94247754 -15.73288918] [ 0. 0. 0. 1. ]] SLAMing on 122.19165253199999 meters Centerline goodness [0,1] 0.47894345773111857 Centerline is valid? [False, False] Translation: X:-46.85, Y:-55.51, Z:-15.75 [[ 0.73657543 -0.59307089 -0.32515159 -46.85047864] [ 0.60683837 0.79178042 -0.06950509 -55.51149126] [ 0.29867011 -0.14611872 0.94310418 -15.74579682] [ 0. 0. 0. 1. ]] SLAMing on 122.221652532 meters Centerline goodness [0,1] 0.4796001534183527 Centerline is valid? [False, False] Translation: X:-46.88, Y:-55.54, Z:-15.76 [[ 0.73782954 -0.59214649 -0.3239909 -46.87853258] [ 0.60583854 0.79259718 -0.06891571 -55.54194417] [ 0.29760247 -0.14543813 0.94354678 -15.75776104] [ 0. 0. 0. 1. ]] SLAMing on 122.251652532 meters Centerline goodness [0,1] 0.4829909141035169 Centerline is valid? [False, False] Translation: X:-46.90, Y:-55.57, Z:-15.77 [[ 0.73758724 -0.59329878 -0.3224308 -46.90484213] [ 0.60659033 0.79195845 -0.0696419 -55.57064244] [ 0.29667025 -0.14421643 0.94402774 -15.76942253] [ 0. 0. 0. 1. ]] SLAMing on 122.281652532 meters Centerline goodness [0,1] 0.4841086287880594 Centerline is valid? [False, False] Translation: X:-46.94, Y:-55.60, Z:-15.78 [[ 0.7400724 -0.59110197 -0.32076675 -46.93625087] [ 0.6039625 0.79396452 -0.06963944 -55.6032453 ] [ 0.29584143 -0.14219286 0.94459464 -15.78323593] [ 0. 0. 0. 1. ]] SLAMing on 122.311652532 meters Centerline goodness [0,1] 0.48453362566131264 Centerline is valid? [False, False] Translation: X:-46.96, Y:-55.63, Z:-15.80 [[ 0.74030206 -0.59151176 -0.31947879 -46.96332267] [ 0.60402674 0.79386827 -0.07017736 -55.63190992] [ 0.29513481 -0.14102129 0.94499124 -15.79522929] [ 0. 0. 0. 1. ]] SLAMing on 122.34165253199998 meters Centerline goodness [0,1] 0.4858664384375817 Centerline is valid? [False, False] Translation: X:-46.99, Y:-55.66, Z:-15.81 [[ 0.74155196 -0.59016461 -0.3190712 -46.99113373] [ 0.60268986 0.79493233 -0.06962421 -55.66068629] [ 0.29472976 -0.14067101 0.94516985 -15.80699623] [ 0. 0. 0. 1. ]] SLAMing on 122.37165253199998 meters Centerline goodness [0,1] 0.4759939273175823 Centerline is valid? [False, False] Translation: X:-47.02, Y:-55.69, Z:-15.82 [[ 0.74319106 -0.58849483 -0.31834083 -47.01993377] [ 0.60099033 0.79627561 -0.06896208 -55.69015919] [ 0.29407087 -0.14006776 0.94546462 -15.81918134] [ 0. 0. 0. 1. ]] SLAMing on 122.40165253199999 meters Centerline goodness [0,1] 0.48587957497048406 Centerline is valid? [False, False] Translation: X:-47.05, Y:-55.72, Z:-15.83 [[ 0.74554216 -0.58611358 -0.31723454 -47.05138259] [ 0.59855555 0.79818775 -0.06802627 -55.72115913] [ 0.29308385 -0.13916604 0.94590416 -15.83154629] [ 0. 0. 0. 1. ]] SLAMing on 122.43165253199999 meters Centerline goodness [0,1] 0.4647239263803681 Centerline is valid? [False, False] Translation: X:-47.08, Y:-55.75, Z:-15.84 [[ 0.7469118 -0.58606903 -0.31407937 -47.08270688] [ 0.59792675 0.79863427 -0.06831479 -55.75322776] [ 0.29087174 -0.13677133 0.94693571 -15.84438532] [ 0. 0. 0. 1. ]] SLAMing on 122.46165253199999 meters Centerline goodness [0,1] 0.47574028668427004 Centerline is valid? [False, False] Translation: X:-47.11, Y:-55.79, Z:-15.86 [[ 0.74829364 -0.5858673 -0.3111529 -47.11434849] [ 0.59722119 0.79915024 -0.06845246 -55.78554068] [ 0.28876197 -0.13460457 0.94789141 -15.85646134] [ 0. 0. 0. 1. ]] SLAMing on 122.49165253199999 meters Centerline goodness [0,1] 0.4715041749970599 Centerline is valid? [False, False] Translation: X:-47.14, Y:-55.82, Z:-15.87 [[ 0.75010687 -0.58420753 -0.30990521 -47.14409413] [ 0.59565119 0.80043009 -0.06716644 -55.81704438] [ 0.28729659 -0.1342134 0.94839202 -15.86777474] [ 0. 0. 0. 1. ]] SLAMing on 122.52165253199999 meters Centerline goodness [0,1] 0.4739900646733527 Centerline is valid? [False, False] Translation: X:-47.18, Y:-55.85, Z:-15.88 [[ 0.75356109 -0.58080834 -0.30790804 -47.17800641] [ 0.59216228 0.80313409 -0.06572262 -55.85034444] [ 0.28546369 -0.13280552 0.94914339 -15.88095702] [ 0. 0. 0. 1. ]] SLAMing on 122.55165253199999 meters Centerline goodness [0,1] 0.47695620625892376 Centerline is valid? [False, False] Translation: X:-47.21, Y:-55.88, Z:-15.89 [[ 0.75376344 -0.58222819 -0.30471464 -47.20788476] [ 0.59280706 0.80254874 -0.06704702 -55.88194187] [ 0.28358501 -0.1300994 0.95008088 -15.89283431] [ 0. 0. 0. 1. ]] SLAMing on 122.58165253199999 meters Centerline goodness [0,1] 0.4857788441379953 Centerline is valid? [False, False] Translation: X:-47.23, Y:-55.91, Z:-15.90 [[ 0.75712458 -0.57887248 -0.30276893 -47.23319086] [ 0.58651264 0.80644269 -0.07518721 -55.9055597 ] [ 0.28768959 -0.12065172 0.95009361 -15.89818004] [ 0. 0. 0. 1. ]] SLAMing on 122.611652532 meters Centerline goodness [0,1] 0.4696818508806535 Centerline is valid? [False, False] Translation: X:-47.26, Y:-55.94, Z:-15.91 [[ 0.75948804 -0.57633855 -0.30168159 -47.26353655] [ 0.58418759 0.80828682 -0.07346609 -55.93655135] [ 0.2861866 -0.12044203 0.95057401 -15.9099438 ] [ 0. 0. 0. 1. ]] SLAMing on 122.641652532 meters Centerline goodness [0,1] 0.4725424827522341 Centerline is valid? [False, False] Translation: X:-47.29, Y:-55.97, Z:-15.92 [[ 0.76131812 -0.57431235 -0.30093196 -47.29291873] [ 0.58234157 0.80974071 -0.07209904 -55.96689385] [ 0.28508423 -0.12035489 0.95091623 -15.92101904] [ 0. 0. 0. 1. ]] SLAMing on 122.671652532 meters Centerline goodness [0,1] 0.4727369222604241 Centerline is valid? [False, False] Translation: X:-47.32, Y:-56.00, Z:-15.93 [[ 0.76256238 -0.57300901 -0.30026537 -47.32129013] [ 0.58113902 0.81068482 -0.07118687 -55.99666171] [ 0.28421129 -0.12021149 0.95119564 -15.93178376] [ 0. 0. 0. 1. ]] SLAMing on 122.70165253199998 meters Centerline goodness [0,1] 0.46947654343722667 Centerline is valid? [False, False] Translation: X:-47.35, Y:-56.03, Z:-15.94 [[ 0.76368324 -0.57198901 -0.29936012 -47.3497589 ] [ 0.58012982 0.81146477 -0.07052879 -56.02720967] [ 0.28326188 -0.11980607 0.95152993 -15.9423062 ] [ 0. 0. 0. 1. ]] SLAMing on 122.73165253199998 meters Centerline goodness [0,1] 0.4533651419920173 Centerline is valid? [False, False] Translation: X:-47.38, Y:-56.06, Z:-15.95 [[ 0.76571715 -0.57025759 -0.29746182 -47.38155393] [ 0.57828673 0.81285147 -0.06969182 -56.06073959] [ 0.28153456 -0.118654 0.9521867 -15.95357803] [ 0. 0. 0. 1. ]] SLAMing on 122.76165253199999 meters Centerline goodness [0,1] 0.4585425119776265 Centerline is valid? [False, False] Translation: X:-47.41, Y:-56.09, Z:-15.96 [[ 0.76640783 -0.57031979 -0.29555773 -47.41045013] [ 0.57808429 0.81299019 -0.06975312 -56.0926194 ] [ 0.28006712 -0.11739794 0.95277496 -15.96410812] [ 0. 0. 0. 1. ]] SLAMing on 122.79165253199999 meters Centerline goodness [0,1] 0.4703378192804175 Centerline is valid? [False, False] Translation: X:-47.44, Y:-56.13, Z:-15.97 [[ 0.76617591 -0.57163078 -0.29362003 -47.43904309] [ 0.57891533 0.81230781 -0.07080298 -56.12505186] [ 0.278983 -0.1157336 0.9532965 -15.974104 ] [ 0. 0. 0. 1. ]] SLAMing on 122.82165253199999 meters Centerline goodness [0,1] 0.4666224681084541 Centerline is valid? [False, False] Translation: X:-47.46, Y:-56.15, Z:-15.98 [[ 0.76644 -0.57119153 -0.29378556 -47.46480738] [ 0.57856044 0.8125872 -0.0704972 -56.15415815] [ 0.27899379 -0.11594083 0.95326816 -15.98359698] [ 0. 0. 0. 1. ]] SLAMing on 122.85165253199999 meters Centerline goodness [0,1] 0.4682343799990859 Centerline is valid? [False, False] Translation: X:-47.49, Y:-56.18, Z:-15.99 [[ 0.76682124 -0.57027318 -0.29457374 -47.49036283] [ 0.57787218 0.81313088 -0.0698707 -56.1833756 ] [ 0.27937239 -0.11664763 0.95307104 -15.99238406] [ 0. 0. 0. 1. ]] SLAMing on 122.88165253199999 meters Centerline goodness [0,1] 0.4391817933047524 Centerline is valid? [False, False] Translation: X:-47.51, Y:-56.21, Z:-16.00 [[ 0.7661341 -0.57033012 -0.29624667 -47.5133494 ] [ 0.57817148 0.81292411 -0.06980068 -56.21077606] [ 0.28063549 -0.11780469 0.95255749 -16.00009605] [ 0. 0. 0. 1. ]] SLAMing on 122.91165253199999 meters Centerline goodness [0,1] 0.4556301096938191 Centerline is valid? [False, False] Translation: X:-47.54, Y:-56.24, Z:-16.01 [[ 0.76662716 -0.56936713 -0.29682296 -47.54014922] [ 0.57707926 0.81365729 -0.0702947 -56.241765 ] [ 0.28153565 -0.11740055 0.95234174 -16.01017402] [ 0. 0. 0. 1. ]] SLAMing on 122.94165253199999 meters Centerline goodness [0,1] 0.4556301096938191 Centerline is valid? [False, False] Translation: X:-47.56, Y:-56.27, Z:-16.02 [[ 0.76626244 -0.56906156 -0.29834681 -47.56379887] [ 0.57704263 0.81370868 -0.06999985 -56.26883961] [ 0.28260162 -0.11852057 0.95188718 -16.01779186] [ 0. 0. 0. 1. ]] SLAMing on 122.971652532 meters Centerline goodness [0,1] 0.4580680621078185 Centerline is valid? [False, False] Translation: X:-47.59, Y:-56.30, Z:-16.03 [[ 0.7665205 -0.56838037 -0.29898172 -47.58940746] [ 0.57681709 0.81398719 -0.06860692 -56.29851405] [ 0.28236212 -0.11986915 0.95178938 -16.0256119 ] [ 0. 0. 0. 1. ]] SLAMing on 123.001652532 meters Centerline goodness [0,1] 0.45905621891687487 Centerline is valid? [False, False] Translation: X:-47.62, Y:-56.33, Z:-16.03 [[ 0.7665943 -0.56821127 -0.29911393 -47.61505551] [ 0.57690248 0.81399653 -0.06777301 -56.32876739] [ 0.28198709 -0.12060517 0.95180758 -16.03383746] [ 0. 0. 0. 1. ]] SLAMing on 123.031652532 meters Centerline goodness [0,1] 0.42632364763983 Centerline is valid? [False, False] Translation: X:-47.64, Y:-56.36, Z:-16.04 [[ 0.76741366 -0.56765984 -0.29805803 -47.64388098] [ 0.57641709 0.81440801 -0.06695466 -56.36260443] [ 0.28074832 -0.12042382 0.95219666 -16.04298441] [ 0. 0. 0. 1. ]] SLAMing on 123.061652532 meters Centerline goodness [0,1] 0.426284112836534 Centerline is valid? [False, False] Translation: X:-47.66, Y:-56.37, Z:-16.05 [[ 0.76830173 -0.5697881 -0.29164015 -47.65578017] [ 0.5763414 0.81402511 -0.07206733 -56.37152813] [ 0.27846551 -0.11271484 0.95380938 -16.05039535] [ 0. 0. 0. 1. ]] SLAMing on 123.09165253199998 meters Centerline goodness [0,1] 0.4528223861051761 Centerline is valid? [False, False] Translation: X:-47.68, Y:-56.40, Z:-16.06 [[ 0.76807514 -0.56924021 -0.29330217 -47.6798639 ] [ 0.57629979 0.81415345 -0.07094167 -56.39993658] [ 0.27917583 -0.11454144 0.95338403 -16.05736596] [ 0. 0. 0. 1. ]] SLAMing on 123.12165253199998 meters Centerline goodness [0,1] 0.4673827673827674 Centerline is valid? [False, False] Translation: X:-47.69, Y:-56.41, Z:-16.06 [[ 0.76810688 -0.57277674 -0.28624924 -47.69044257] [ 0.57775171 0.81268128 -0.07584256 -56.40902008] [ 0.27607025 -0.1071258 0.95514882 -16.06399443] [ 0. 0. 0. 1. ]] SLAMing on 123.15165253199999 meters Centerline goodness [0,1] 0.4669335431321733 Centerline is valid? [False, False] Translation: X:-47.70, Y:-56.42, Z:-16.07 [[ 0.76922263 -0.57448623 -0.27975366 -47.7028955 ] [ 0.5774161 0.81245053 -0.08071427 -56.41820835] [ 0.27365525 -0.09944703 0.95667293 -16.07162077] [ 0. 0. 0. 1. ]] SLAMing on 123.18165253199999 meters Centerline goodness [0,1] 0.4395739261317587 Centerline is valid? [False, False] Translation: X:-47.72, Y:-56.43, Z:-16.08 [[ 0.77139769 -0.57471756 -0.27321297 -47.71889512] [ 0.57529952 0.81334582 -0.08659693 -56.43118749] [ 0.27198541 -0.09037862 0.95804783 -16.08032935] [ 0. 0. 0. 1. ]] SLAMing on 123.21165253199999 meters Centerline goodness [0,1] 0.46108616139636094 Centerline is valid? [False, False] Translation: X:-47.72, Y:-56.43, Z:-16.08 [[ 0.77185471 -0.5742985 -0.27280312 -47.72110312] [ 0.5749764 0.81363394 -0.08603459 -56.43230622] [ 0.27137141 -0.09044915 0.95821527 -16.08043595] [ 0. 0. 0. 1. ]] SLAMing on 123.24165253199999 meters Centerline goodness [0,1] 0.4574756292402806 Centerline is valid? [False, False] Translation: X:-47.73, Y:-56.44, Z:-16.09 [[ 0.77391258 -0.57422991 -0.26705679 -47.73350356] [ 0.5733477 0.81439727 -0.08960743 -56.4420098 ] [ 0.26894558 -0.08376808 0.9595057 -16.08821378] [ 0. 0. 0. 1. ]] SLAMing on 123.27165253199999 meters Centerline goodness [0,1] 0.4419858812637426 Centerline is valid? [False, False] Translation: X:-47.75, Y:-56.46, Z:-16.10 [[ 0.7771052 -0.57298067 -0.2603856 -47.75307662] [ 0.56994575 0.8161698 -0.09501949 -56.45901265] [ 0.26696319 -0.07456553 0.96081769 -16.09656035] [ 0. 0. 0. 1. ]] SLAMing on 123.30165253199999 meters Centerline goodness [0,1] 0.4501734906315059 Centerline is valid? [False, False] Translation: X:-47.76, Y:-56.46, Z:-16.10 [[ 0.77693909 -0.57408508 -0.25844142 -47.75901675] [ 0.57071775 0.81553269 -0.09585236 -56.46148435] [ 0.26579483 -0.07302566 0.96125978 -16.09587561] [ 0. 0. 0. 1. ]] SLAMing on 123.33165253199999 meters Centerline goodness [0,1] 0.4430347510013196 Centerline is valid? [False, False] Translation: X:-47.77, Y:-56.47, Z:-16.10 [[ 0.77827763 -0.57418478 -0.25415697 -47.768661 ] [ 0.57006405 0.81580623 -0.0974021 -56.46757004] [ 0.26326964 -0.06907987 0.96224584 -16.10009609] [ 0. 0. 0. 1. ]] SLAMing on 123.361652532 meters Centerline goodness [0,1] 0.44667485686469943 Centerline is valid? [False, False] Translation: X:-47.78, Y:-56.48, Z:-16.11 [[ 0.78127479 -0.57217833 -0.2494427 -47.78227897] [ 0.56679523 0.81771289 -0.10044299 -56.47895422] [ 0.26144381 -0.06290936 0.96316642 -16.10708921] [ 0. 0. 0. 1. ]] SLAMing on 123.391652532 meters Centerline goodness [0,1] 0.4442778725955995 Centerline is valid? [False, False] Translation: X:-47.80, Y:-56.50, Z:-16.11 [[ 0.78089509 -0.5688766 -0.25803543 -47.79712183] [ 0.565082 0.81938942 -0.09634998 -56.49573636] [ 0.26624275 -0.07057195 0.96131909 -16.109491 ] [ 0. 0. 0. 1. ]] SLAMing on 123.421652532 meters Centerline goodness [0,1] 0.4408243149896385 Centerline is valid? [False, False] Translation: X:-47.81, Y:-56.51, Z:-16.12 [[ 0.78385529 -0.56669494 -0.25382618 -47.81085587] [ 0.56152089 0.82141728 -0.09983957 -56.50639413] [ 0.26507579 -0.06426892 0.96208333 -16.11643413] [ 0. 0. 0. 1. ]] SLAMing on 123.45165253199998 meters Centerline goodness [0,1] 0.44206968991186 Centerline is valid? [False, False] Translation: X:-47.83, Y:-56.52, Z:-16.12 [[ 0.78833326 -0.56162105 -0.25122196 -47.82918487] [ 0.5550196 0.82537125 -0.10351587 -56.52117932] [ 0.26548807 -0.0578281 0.9623783 -16.12280707] [ 0. 0. 0. 1. ]] SLAMing on 123.48165253199998 meters Centerline goodness [0,1] 0.4411060706225637 Centerline is valid? [False, False] Translation: X:-47.84, Y:-56.53, Z:-16.12 [[ 7.89659599e-01 -5.58784602e-01 -2.53372227e-01 -4.78419453e+01] [ 5.50461210e-01 8.27625927e-01 -1.09671239e-01 -5.65330553e+01] [ 2.70980024e-01 -5.28686360e-02 9.61132007e-01 -1.61221640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51165253199999 meters Centerline goodness [0,1] 0.44422220201836526 Centerline is valid? [False, False] Translation: X:-47.84, Y:-56.53, Z:-16.12 [[ 7.90028536e-01 -5.58410342e-01 -2.53047035e-01 -4.78440310e+01] [ 5.50136532e-01 8.27882299e-01 -1.09364961e-01 -5.65331550e+01] [ 2.70563686e-01 -5.28089778e-02 9.61252570e-01 -1.61222901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54165253199999 meters Centerline goodness [0,1] 0.42059009578890294 Centerline is valid? [False, False] Translation: X:-47.85, Y:-56.53, Z:-16.12 [[ 7.91223167e-01 -5.56930363e-01 -2.52575674e-01 -4.78493495e+01] [ 5.48765987e-01 8.28888353e-01 -1.08627755e-01 -5.65320816e+01] [ 2.69855130e-01 -5.26561426e-02 9.61460108e-01 -1.61229432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57165253199999 meters Centerline goodness [0,1] 0.4360682298933345 Centerline is valid? [False, False] Translation: X:-47.85, Y:-56.53, Z:-16.12 [[ 7.93154703e-01 -5.52950372e-01 -2.55247923e-01 -4.78479996e+01] [ 5.45688107e-01 8.31345958e-01 -1.05301419e-01 -5.65325825e+01] [ 2.70425788e-01 -5.57654407e-02 9.61124398e-01 -1.61220829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60165253199999 meters Centerline goodness [0,1] 0.43491604982848886 Centerline is valid? [False, False] Translation: X:-47.86, Y:-56.55, Z:-16.12 [[ 0.7923959 -0.55003281 -0.26376627 -47.86280153] [ 0.5444939 0.83269972 -0.10068546 -56.55262992] [ 0.27501841 -0.06383638 0.95931736 -16.12285121] [ 0. 0. 0. 1. ]] SLAMing on 123.63165253199999 meters Centerline goodness [0,1] 0.4192172097096535 Centerline is valid? [False, False] Translation: X:-47.87, Y:-56.55, Z:-16.12 [[ 0.79291141 -0.54938798 -0.2635609 -47.86524792] [ 0.54397866 0.83311074 -0.10006849 -56.55354251] [ 0.27455184 -0.06402606 0.95943835 -16.12251214] [ 0. 0. 0. 1. ]] SLAMing on 123.66165253199999 meters Centerline goodness [0,1] 0.413837770234054 Centerline is valid? [False, False] Translation: X:-47.87, Y:-56.55, Z:-16.12 [[ 0.79586547 -0.54411569 -0.26558664 -47.86836601] [ 0.5397999 0.83632229 -0.09581799 -56.55470987] [ 0.2742521 -0.06710541 0.95931363 -16.12197967] [ 0. 0. 0. 1. ]] SLAMing on 123.69165253199999 meters Centerline goodness [0,1] 0.43371573535684615 Centerline is valid? [False, False] Translation: X:-47.89, Y:-56.58, Z:-16.12 [[ 0.79458234 -0.54286111 -0.27192044 -47.88568314] [ 0.53986702 0.83663092 -0.09269473 -56.57641798] [ 0.27781741 -0.07314728 0.95784496 -16.12408584] [ 0. 0. 0. 1. ]] SLAMing on 123.721652532 meters Centerline goodness [0,1] 0.4290796008769967 Centerline is valid? [False, False] Translation: X:-47.89, Y:-56.58, Z:-16.12 [[ 0.79526772 -0.54192946 -0.27177512 -47.8882348 ] [ 0.5391821 0.83718941 -0.0916327 -56.57854945] [ 0.27718571 -0.07366375 0.95798838 -16.12350655] [ 0. 0. 0. 1. ]] SLAMing on 123.751652532 meters Centerline goodness [0,1] 0.41850299266964064 Centerline is valid? [False, False] Translation: X:-47.89, Y:-56.58, Z:-16.12 [[ 0.79541595 -0.54154834 -0.27210084 -47.8879895 ] [ 0.53900257 0.83737858 -0.09095794 -56.58077662] [ 0.27710953 -0.07431366 0.95796022 -16.12250731] [ 0. 0. 0. 1. ]] SLAMing on 123.781652532 meters Centerline goodness [0,1] 0.42813606417783356 Centerline is valid? [False, False] Translation: X:-47.89, Y:-56.58, Z:-16.12 [[ 0.79594707 -0.54072588 -0.27218337 -47.88898986] [ 0.53842914 0.8378541 -0.08996984 -56.58327197] [ 0.27669897 -0.07494023 0.95803008 -16.12199761] [ 0. 0. 0. 1. ]] SLAMing on 123.811652532 meters Centerline goodness [0,1] 0.4254058058867112 Centerline is valid? [False, False] Translation: X:-47.89, Y:-56.59, Z:-16.12 [[ 0.7956233 -0.54094874 -0.27268666 -47.88653483] [ 0.53879623 0.83765179 -0.08965545 -56.58543048] [ 0.27691547 -0.07559058 0.95791643 -16.12112632] [ 0. 0. 0. 1. ]] SLAMing on 123.84165253199998 meters Centerline goodness [0,1] 0.44311742261756937 Centerline is valid? [False, False] Translation: X:-47.88, Y:-56.59, Z:-16.12 [[ 0.79369903 -0.54467498 -0.27087086 -47.88497034] [ 0.54188988 0.83539783 -0.09200998 -56.58931085] [ 0.27640046 -0.07375394 0.9582083 -16.12061232] [ 0. 0. 0. 1. ]] SLAMing on 123.87165253199998 meters Centerline goodness [0,1] 0.4387997556063452 Centerline is valid? [False, False] Translation: X:-47.88, Y:-56.59, Z:-16.12 [[ 0.79347454 -0.54474014 -0.27139701 -47.88268843] [ 0.5422085 0.83526985 -0.09129198 -56.59246343] [ 0.27642014 -0.07471591 0.95812809 -16.11951717] [ 0. 0. 0. 1. ]] SLAMing on 123.90165253199999 meters Centerline goodness [0,1] 0.4351778387323465 Centerline is valid? [False, False] Translation: X:-47.89, Y:-56.61, Z:-16.13 [[ 0.7922568 -0.54906773 -0.26618374 -47.89278547] [ 0.54840659 0.83198955 -0.08392611 -56.60541292] [ 0.2675432 -0.07948589 0.96026175 -16.12783643] [ 0. 0. 0. 1. ]] SLAMing on 123.93165253199999 meters Centerline goodness [0,1] 0.43974946670902737 Centerline is valid? [False, False] Translation: X:-47.89, Y:-56.61, Z:-16.13 [[ 0.79236461 -0.54860833 -0.26680934 -47.89110131] [ 0.54824554 0.83219167 -0.08296905 -56.60877276] [ 0.26755402 -0.08053529 0.96017129 -16.12670813] [ 0. 0. 0. 1. ]] SLAMing on 123.96165253199999 meters Centerline goodness [0,1] 0.44063336613047155 Centerline is valid? [False, False] Translation: X:-47.89, Y:-56.61, Z:-16.13 [[ 0.78958613 -0.55330667 -0.2653403 -47.88592468] [ 0.55234104 0.82921988 -0.08552059 -56.61318181] [ 0.26734456 -0.07903247 0.96035449 -16.12580131] [ 0. 0. 0. 1. ]] SLAMing on 123.99165253199999 meters Centerline goodness [0,1] 0.4585806986055502 Centerline is valid? [False, False] Translation: X:-47.88, Y:-56.62, Z:-16.13 [[ 0.78768388 -0.55694289 -0.26337942 -47.88494428] [ 0.55533442 0.82697026 -0.08788555 -56.61669376] [ 0.26675418 -0.07703763 0.9606807 -16.12543157] [ 0. 0. 0. 1. ]] SLAMing on 124.02165253199999 meters Centerline goodness [0,1] 0.46100880334573346 Centerline is valid? [False, False] Translation: X:-47.88, Y:-56.62, Z:-16.13 [[ 0.78569506 -0.56065621 -0.26143429 -47.88382517] [ 0.55839187 0.8246444 -0.09033348 -56.62002005] [ 0.26623635 -0.07500821 0.9609849 -16.12502716] [ 0. 0. 0. 1. ]] SLAMing on 124.05165253199999 meters Centerline goodness [0,1] 0.45840005569867015 Centerline is valid? [False, False] Translation: X:-47.88, Y:-56.62, Z:-16.12 [[ 0.78365099 -0.56438739 -0.25953418 -47.88265844] [ 0.56149794 0.82226887 -0.09270366 -56.6234717 ] [ 0.26572765 -0.07308059 0.96127418 -16.12438936] [ 0. 0. 0. 1. ]] SLAMing on 124.08165253199999 meters Centerline goodness [0,1] 0.47151736062432825 Centerline is valid? [False, False] Translation: X:-47.88, Y:-56.64, Z:-16.13 [[ 0.77952261 -0.57179401 -0.25572664 -47.88450718] [ 0.57079494 0.81658531 -0.08591604 -56.63768481] [ 0.2579489 -0.07899398 0.96292384 -16.12983044] [ 0. 0. 0. 1. ]] SLAMing on 124.111652532 meters Centerline goodness [0,1] 0.47476433390535744 Centerline is valid? [False, False] Translation: X:-47.89, Y:-56.66, Z:-16.13 [[ 0.77550455 -0.57383011 -0.26327114 -47.89426384] [ 0.57412485 0.81444641 -0.08401011 -56.65803841] [ 0.26262776 -0.08600028 0.96105703 -16.12819518] [ 0. 0. 0. 1. ]] SLAMing on 124.141652532 meters Centerline goodness [0,1] 0.48190345350324504 Centerline is valid? [False, False] Translation: X:-47.89, Y:-56.66, Z:-16.13 [[ 0.77112938 -0.58171376 -0.25878289 -47.89182711] [ 0.58051085 0.80932501 -0.08944377 -56.66219878] [ 0.26147013 -0.08125356 0.96178544 -16.12874858] [ 0. 0. 0. 1. ]] SLAMing on 124.171652532 meters Centerline goodness [0,1] 0.4866559027448001 Centerline is valid? [False, False] Translation: X:-47.89, Y:-56.67, Z:-16.13 [[ 0.76909365 -0.58531464 -0.25671332 -47.89104346] [ 0.58348964 0.80692428 -0.09172262 -56.66563521] [ 0.26083481 -0.07924628 0.96212537 -16.12819885] [ 0. 0. 0. 1. ]] SLAMing on 124.20165253199998 meters Centerline goodness [0,1] 0.48860868319243445 Centerline is valid? [False, False] Translation: X:-47.90, Y:-56.69, Z:-16.13 [[ 0.7660694 -0.58608808 -0.26389098 -47.90347984] [ 0.58562942 0.80565142 -0.08924108 -56.6880201 ] [ 0.26490727 -0.08617746 0.96041532 -16.12705099] [ 0. 0. 0. 1. ]] SLAMing on 124.23165253199998 meters Centerline goodness [0,1] 0.48844298298250244 Centerline is valid? [False, False] Translation: X:-47.90, Y:-56.69, Z:-16.13 [[ 0.76437583 -0.58937611 -0.26146777 -47.90459105] [ 0.5882895 0.80347788 -0.09131678 -56.6913994 ] [ 0.2639035 -0.0840184 0.96088285 -16.12678119] [ 0. 0. 0. 1. ]] SLAMing on 124.26165253199999 meters Centerline goodness [0,1] 0.49411366548214763 Centerline is valid? [False, False] Translation: X:-47.90, Y:-56.70, Z:-16.12 [[ 0.76221508 -0.59283669 -0.25994773 -47.90251652] [ 0.59126452 0.80107133 -0.09322545 -56.69629632] [ 0.26350414 -0.08264003 0.96111196 -16.12487748] [ 0. 0. 0. 1. ]] SLAMing on 124.29165253199999 meters Centerline goodness [0,1] 0.4946786588765788 Centerline is valid? [False, False] Translation: X:-47.90, Y:-56.70, Z:-16.12 [[ 0.76232065 -0.59233578 -0.26077874 -47.90065019] [ 0.59108225 0.80131918 -0.09224607 -56.69996528] [ 0.26360766 -0.0838206 0.96098133 -16.12312206] [ 0. 0. 0. 1. ]] SLAMing on 124.32165253199999 meters Centerline goodness [0,1] 0.4945118848586174 Centerline is valid? [False, False] Translation: X:-47.92, Y:-56.72, Z:-16.12 [[ 0.76022916 -0.59197276 -0.2676189 -47.91543042] [ 0.59209229 0.80087667 -0.08957272 -56.72302225] [ 0.26735435 -0.0903593 0.95935231 -16.12330595] [ 0. 0. 0. 1. ]] SLAMing on 124.35165253199999 meters Centerline goodness [0,1] 0.49694530643910007 Centerline is valid? [False, False] Translation: X:-47.93, Y:-56.75, Z:-16.12 [[ 0.75839629 -0.59135173 -0.27411349 -47.93116974] [ 0.5928275 0.80061642 -0.08699946 -56.74577761] [ 0.27090704 -0.09652194 0.95775409 -16.12445854] [ 0. 0. 0. 1. ]] SLAMing on 124.38165253199999 meters Centerline goodness [0,1] 0.5098005919169375 Centerline is valid? [False, False] Translation: X:-47.94, Y:-56.76, Z:-16.12 [[ 0.75783858 -0.59042805 -0.27762458 -47.94373301] [ 0.5897719 0.80190288 -0.09550328 -56.76257589] [ 0.27901576 -0.0913591 0.95593081 -16.1226842 ] [ 0. 0. 0. 1. ]] SLAMing on 124.41165253199999 meters Centerline goodness [0,1] 0.5049295774647887 Centerline is valid? [False, False] Translation: X:-47.96, Y:-56.78, Z:-16.12 [[ 0.7552839 -0.59057272 -0.2842008 -47.95833272] [ 0.59126568 0.80106316 -0.09328826 -56.78362507] [ 0.28275629 -0.09757906 0.95421549 -16.12381167] [ 0. 0. 0. 1. ]] SLAMing on 124.44165253199999 meters Centerline goodness [0,1] 0.5056720188500499 Centerline is valid? [False, False] Translation: X:-47.98, Y:-56.81, Z:-16.13 [[ 0.75371568 -0.58939673 -0.29073041 -47.97500053] [ 0.59156815 0.80115477 -0.09054372 -56.80591279] [ 0.28628622 -0.10374263 0.95251124 -16.12559281] [ 0. 0. 0. 1. ]] SLAMing on 124.471652532 meters Centerline goodness [0,1] 0.4952332311882873 Centerline is valid? [False, False] Translation: X:-48.00, Y:-56.83, Z:-16.13 [[ 0.75455597 -0.58588068 -0.29561651 -47.99817577] [ 0.58948058 0.80308487 -0.08699046 -56.83483934] [ 0.28837117 -0.10862102 0.95133776 -16.13021243] [ 0. 0. 0. 1. ]] SLAMing on 124.501652532 meters Centerline goodness [0,1] 0.4989289713256414 Centerline is valid? [False, False] Translation: X:-48.02, Y:-56.86, Z:-16.13 [[ 0.75386502 -0.5841138 -0.30082985 -48.01822386] [ 0.58903147 0.8036887 -0.08441797 -56.85908017] [ 0.29108326 -0.1135585 0.94993421 -16.13414044] [ 0. 0. 0. 1. ]] SLAMing on 124.531652532 meters Centerline goodness [0,1] 0.49649518542773285 Centerline is valid? [False, False] Translation: X:-48.02, Y:-56.86, Z:-16.13 [[ 0.7545413 -0.58323385 -0.30084166 -48.02083407] [ 0.58835958 0.80427096 -0.08355374 -56.86100944] [ 0.29068958 -0.11395833 0.95000688 -16.13318214] [ 0. 0. 0. 1. ]] SLAMing on 124.561652532 meters Centerline goodness [0,1] 0.5005687456133983 Centerline is valid? [False, False] Translation: X:-48.04, Y:-56.89, Z:-16.14 [[ 0.75447995 -0.58083454 -0.30559982 -48.04219265] [ 0.58729281 0.80533927 -0.08072063 -56.88637537] [ 0.29299687 -0.11857448 0.94873227 -16.13793895] [ 0. 0. 0. 1. ]] SLAMing on 124.59165253199998 meters Centerline goodness [0,1] 0.49145112854790274 Centerline is valid? [False, False] Translation: X:-48.06, Y:-56.91, Z:-16.14 [[ 0.75427452 -0.57906683 -0.30943748 -48.06433194] [ 0.58659559 0.80606088 -0.07855874 -56.91221909] [ 0.29491621 -0.12225981 0.94766923 -16.1436755 ] [ 0. 0. 0. 1. ]] SLAMing on 124.62165253199998 meters Centerline goodness [0,1] 0.490302635074753 Centerline is valid? [False, False] Translation: X:-48.09, Y:-56.94, Z:-16.15 [[ 0.75500563 -0.57718391 -0.31116752 -48.09093895] [ 0.58533404 0.80713529 -0.07692001 -56.94076071] [ 0.29555128 -0.12406191 0.94723708 -16.15209062] [ 0. 0. 0. 1. ]] SLAMing on 124.65165253199999 meters Centerline goodness [0,1] 0.49385068004244237 Centerline is valid? [False, False] Translation: X:-48.12, Y:-56.97, Z:-16.16 [[ 0.75625824 -0.57349181 -0.31492955 -48.11513477] [ 0.58317216 0.80906888 -0.07292308 -56.96672961] [ 0.29662049 -0.12850946 0.94630947 -16.15878201] [ 0. 0. 0. 1. ]] SLAMing on 124.68165253199999 meters Centerline goodness [0,1] 0.4966743782533256 Centerline is valid? [False, False] Translation: X:-48.14, Y:-56.99, Z:-16.17 [[ 0.75665153 -0.5712019 -0.31813025 -48.13857785] [ 0.58207195 0.8101077 -0.07012672 -56.99173737] [ 0.29777628 -0.1321132 0.94544983 -16.16600383] [ 0. 0. 0. 1. ]] SLAMing on 124.71165253199999 meters Centerline goodness [0,1] 0.48631604284510777 Centerline is valid? [False, False] Translation: X:-48.16, Y:-57.02, Z:-16.17 [[ 0.75597566 -0.57108413 -0.3199433 -48.16275421] [ 0.58256687 0.80984652 -0.0690251 -57.01631217] [ 0.29852411 -0.13420707 0.94491895 -16.1738193 ] [ 0. 0. 0. 1. ]] SLAMing on 124.74165253199999 meters Centerline goodness [0,1] 0.4863592699327569 Centerline is valid? [False, False] Translation: X:-48.19, Y:-57.04, Z:-16.18 [[ 0.75658302 -0.57002349 -0.32039874 -48.19086289] [ 0.58193629 0.81041619 -0.06764429 -57.04430519] [ 0.29821516 -0.13527314 0.94486449 -16.1830956 ] [ 0. 0. 0. 1. ]] SLAMing on 124.77165253199999 meters Centerline goodness [0,1] 0.49361610041116644 Centerline is valid? [False, False] Translation: X:-48.22, Y:-57.07, Z:-16.19 [[ 0.75706635 -0.56928151 -0.32057619 -48.21801497] [ 0.58152989 0.81080256 -0.06649962 -57.07184214] [ 0.297781 -0.13608001 0.94488555 -16.19304279] [ 0. 0. 0. 1. ]] SLAMing on 124.80165253199999 meters Centerline goodness [0,1] 0.4920779719608219 Centerline is valid? [False, False] Translation: X:-48.24, Y:-57.10, Z:-16.20 [[ 0.75693401 -0.56909476 -0.32121964 -48.24382603] [ 0.58187421 0.81067003 -0.06508844 -57.09750435] [ 0.29744462 -0.13764177 0.94476528 -16.20188038] [ 0. 0. 0. 1. ]] SLAMing on 124.83165253199999 meters Centerline goodness [0,1] 0.4920779719608219 Centerline is valid? [False, False] Translation: X:-48.26, Y:-57.12, Z:-16.21 [[ 0.75584361 -0.56850704 -0.32480793 -48.2640387 ] [ 0.5820476 0.81060536 -0.06433925 -57.12026036] [ 0.29986837 -0.14042327 0.94358904 -16.20898738] [ 0. 0. 0. 1. ]] SLAMing on 124.861652532 meters Centerline goodness [0,1] 0.49879033223944236 Centerline is valid? [False, False] Translation: X:-48.28, Y:-57.14, Z:-16.21 [[ 0.75456926 -0.56783884 -0.32891379 -48.28428439] [ 0.58246986 0.81041861 -0.06285331 -57.14189801] [ 0.30224841 -0.14415519 0.94226598 -16.21481236] [ 0. 0. 0. 1. ]] SLAMing on 124.891652532 meters Centerline goodness [0,1] 0.48772515805797445 Centerline is valid? [False, False] Translation: X:-48.32, Y:-57.17, Z:-16.23 [[ 0.75733158 -0.56500644 -0.32743945 -48.31731281] [ 0.57994486 0.81240732 -0.06048389 -57.17094799] [ 0.300188 -0.14409046 0.94293431 -16.22772279] [ 0. 0. 0. 1. ]] SLAMing on 124.921652532 meters Centerline goodness [0,1] 0.48359642449600604 Centerline is valid? [False, False] Translation: X:-48.35, Y:-57.20, Z:-16.24 [[ 0.75988623 -0.56256 -0.32572867 -48.34821353] [ 0.57793514 0.81404286 -0.05766454 -57.19866402] [ 0.29759686 -0.14443156 0.94370315 -16.24048994] [ 0. 0. 0. 1. ]] SLAMing on 124.95165253199998 meters Centerline goodness [0,1] 0.4798853297952995 Centerline is valid? [False, False] Translation: X:-48.36, Y:-57.21, Z:-16.25 [[ 0.76375299 -0.55990959 -0.32122052 -48.36343657] [ 0.57353773 0.8169545 -0.06033085 -57.20871869] [ 0.29620237 -0.13815422 0.94508072 -16.24935418] [ 0. 0. 0. 1. ]] SLAMing on 124.98165253199998 meters Centerline goodness [0,1] 0.47433694961523076 Centerline is valid? [False, False] Translation: X:-48.40, Y:-57.24, Z:-16.26 [[ 0.76631922 -0.55742884 -0.31941812 -48.39652658] [ 0.57112023 0.81876633 -0.05868031 -57.23739209] [ 0.2942389 -0.1374583 0.94579526 -16.26239269] [ 0. 0. 0. 1. ]] SLAMing on 125.01165253199999 meters Centerline goodness [0,1] 0.46827524575513857 Centerline is valid? [False, False] Translation: X:-48.43, Y:-57.27, Z:-16.28 [[ 0.76817504 -0.55610529 -0.31726017 -48.42734628] [ 0.56978071 0.81979221 -0.05736448 -57.26606313] [ 0.29198811 -0.13670276 0.94660197 -16.27539922] [ 0. 0. 0. 1. ]] SLAMing on 125.04165253199999 meters Centerline goodness [0,1] 0.4648253566659639 Centerline is valid? [False, False] Translation: X:-48.44, Y:-57.27, Z:-16.28 [[ 0.76926037 -0.55817329 -0.31093578 -48.43940341] [ 0.56926904 0.81972341 -0.06313717 -57.27237202] [ 0.29012282 -0.12843719 0.9483315 -16.28457993] [ 0. 0. 0. 1. ]] SLAMing on 125.07165253199999 meters Centerline goodness [0,1] 0.4662765486209871 Centerline is valid? [False, False] Translation: X:-48.47, Y:-57.29, Z:-16.29 [[ 0.77356059 -0.55317804 -0.30918937 -48.46539908] [ 0.56159702 0.82444643 -0.06997761 -57.29237613] [ 0.29362015 -0.11950791 0.94842241 -16.29170303] [ 0. 0. 0. 1. ]] SLAMing on 125.10165253199999 meters Centerline goodness [0,1] 0.4662182605255196 Centerline is valid? [False, False] Translation: X:-48.49, Y:-57.32, Z:-16.30 [[ 0.77424014 -0.55079368 -0.31173469 -48.49002389] [ 0.56003253 0.82568004 -0.06794139 -57.31657843] [ 0.2948148 -0.12197862 0.94773702 -16.30075517] [ 0. 0. 0. 1. ]] SLAMing on 125.13165253199999 meters Centerline goodness [0,1] 0.46344465604533425 Centerline is valid? [False, False] Translation: X:-48.52, Y:-57.34, Z:-16.31 [[ 0.77630036 -0.54737172 -0.31263711 -48.51808235] [ 0.55752676 0.82763661 -0.06466489 -57.34291892] [ 0.29414565 -0.12410418 0.94766898 -16.3111703 ] [ 0. 0. 0. 1. ]] SLAMing on 125.16165253199999 meters Centerline goodness [0,1] 0.4555074443698335 Centerline is valid? [False, False] Translation: X:-48.55, Y:-57.37, Z:-16.32 [[ 0.77877889 -0.54457636 -0.31135193 -48.54934861] [ 0.55522085 0.82939572 -0.06190751 -57.37129344] [ 0.29194733 -0.12465682 0.94827603 -16.3233012 ] [ 0. 0. 0. 1. ]] SLAMing on 125.19165253199999 meters Centerline goodness [0,1] 0.4442904656319291 Centerline is valid? [False, False] Translation: X:-48.58, Y:-57.39, Z:-16.33 [[ 0.78379381 -0.5387755 -0.30884983 -48.57780195] [ 0.54684083 0.83447516 -0.06794342 -57.39352419] [ 0.29433376 -0.11563806 0.94868091 -16.33039741] [ 0. 0. 0. 1. ]] SLAMing on 125.221652532 meters Centerline goodness [0,1] 0.45386637155899845 Centerline is valid? [False, False] Translation: X:-48.59, Y:-57.40, Z:-16.34 [[ 0.78606123 -0.53799625 -0.30441384 -48.58907282] [ 0.54477044 0.83564671 -0.07014095 -57.40077965] [ 0.29211799 -0.11070058 0.94995393 -16.33674954] [ 0. 0. 0. 1. ]] SLAMing on 125.251652532 meters Centerline goodness [0,1] 0.45137656951964056 Centerline is valid? [False, False] Translation: X:-48.61, Y:-57.42, Z:-16.34 [[ 0.78458486 -0.53915264 -0.30617155 -48.61180806] [ 0.54655963 0.83456943 -0.06903941 -57.42457766] [ 0.2927442 -0.11317373 0.94946961 -16.34286415] [ 0. 0. 0. 1. ]] SLAMing on 125.281652532 meters Centerline goodness [0,1] 0.44959686708131763 Centerline is valid? [False, False] Translation: X:-48.64, Y:-57.45, Z:-16.35 [[ 0.78430453 -0.53892256 -0.30729283 -48.6375118 ] [ 0.54673388 0.83452879 -0.06814519 -57.45107812] [ 0.29316969 -0.11456082 0.94917193 -16.35096069] [ 0. 0. 0. 1. ]] SLAMing on 125.311652532 meters Centerline goodness [0,1] 0.4444189462089223 Centerline is valid? [False, False] Translation: X:-48.66, Y:-57.46, Z:-16.36 [[ 0.7885105 -0.53517706 -0.3030457 -48.65523701] [ 0.54098751 0.83792966 -0.07215546 -57.4620576 ] [ 0.29254693 -0.1070486 0.95024044 -16.36113178] [ 0. 0. 0. 1. ]] SLAMing on 125.34165253199998 meters Centerline goodness [0,1] 0.4450483922755837 Centerline is valid? [False, False] Translation: X:-48.68, Y:-57.49, Z:-16.37 [[ 0.78829701 -0.53331232 -0.30686445 -48.67694821] [ 0.54018475 0.83864309 -0.06984408 -57.48513529] [ 0.29459846 -0.11070562 0.94918703 -16.36822049] [ 0. 0. 0. 1. ]] SLAMing on 125.37165253199998 meters Centerline goodness [0,1] 0.441809257305381 Centerline is valid? [False, False] Translation: X:-48.70, Y:-57.51, Z:-16.38 [[ 0.78793978 -0.53185723 -0.31028824 -48.69897761] [ 0.53964079 0.83914443 -0.0680032 -57.50850053] [ 0.29654464 -0.11386177 0.94820714 -16.37539194] [ 0. 0. 0. 1. ]] SLAMing on 125.40165253199999 meters Centerline goodness [0,1] 0.4439967029947798 Centerline is valid? [False, False] Translation: X:-48.73, Y:-57.54, Z:-16.39 [[ 0.78949552 -0.53053133 -0.308599 -48.72941721] [ 0.53889928 0.83984673 -0.06515393 -57.53875721] [ 0.29374206 -0.11486504 0.94895818 -16.38553503] [ 0. 0. 0. 1. ]] SLAMing on 125.43165253199999 meters Centerline goodness [0,1] 0.44741475908436046 Centerline is valid? [False, False] Translation: X:-48.73, Y:-57.54, Z:-16.39 [[ 0.78812421 -0.53403873 -0.3060439 -48.73284729] [ 0.54158897 0.83793156 -0.06746918 -57.54106988] [ 0.292475 -0.11257591 0.94962363 -16.38516361] [ 0. 0. 0. 1. ]] SLAMing on 125.46165253199999 meters Centerline goodness [0,1] 0.4504349422754711 Centerline is valid? [False, False] Translation: X:-48.75, Y:-57.56, Z:-16.39 [[ 0.78444362 -0.53769704 -0.30907943 -48.75141948] [ 0.54548311 0.83530036 -0.06871306 -57.56453297] [ 0.29512097 -0.11469609 0.9485507 -16.38872304] [ 0. 0. 0. 1. ]] SLAMing on 125.49165253199999 meters Centerline goodness [0,1] 0.45312822867638614 Centerline is valid? [False, False] Translation: X:-48.77, Y:-57.59, Z:-16.39 [[ 0.78026867 -0.54193566 -0.31222836 -48.76971998] [ 0.54999444 0.83222596 -0.07004329 -57.58736253] [ 0.29780351 -0.11707128 0.94742144 -16.39190381] [ 0. 0. 0. 1. ]] SLAMing on 125.52165253199999 meters Centerline goodness [0,1] 0.45420354997018764 Centerline is valid? [False, False] Translation: X:-48.79, Y:-57.61, Z:-16.40 [[ 0.77838569 -0.54162439 -0.31742517 -48.78758662] [ 0.55084489 0.83179062 -0.06851477 -57.60769415] [ 0.30114055 -0.12152112 0.94580494 -16.39644908] [ 0. 0. 0. 1. ]] SLAMing on 125.55165253199999 meters Centerline goodness [0,1] 0.44332002386525315 Centerline is valid? [False, False] Translation: X:-48.81, Y:-57.63, Z:-16.41 [[ 0.78002883 -0.53763474 -0.32016232 -48.8137079 ] [ 0.54764077 0.83407621 -0.06638119 -57.63340198] [ 0.30272861 -0.1235547 0.94503419 -16.40754444] [ 0. 0. 0. 1. ]] SLAMing on 125.58165253199999 meters Centerline goodness [0,1] 0.44659083106360575 Centerline is valid? [False, False] Translation: X:-48.84, Y:-57.66, Z:-16.42 [[ 0.78144286 -0.53391177 -0.3229323 -48.83841382] [ 0.5450992 0.83599234 -0.06311624 -57.65895026] [ 0.30366743 -0.1267084 0.94431513 -16.41676144] [ 0. 0. 0. 1. ]] SLAMing on 125.611652532 meters Centerline goodness [0,1] 0.44442411071714516 Centerline is valid? [False, False] Translation: X:-48.86, Y:-57.68, Z:-16.43 [[ 0.78214614 -0.53267721 -0.32326832 -48.86448416] [ 0.54463681 0.83648015 -0.06059465 -57.68477481] [ 0.30268492 -0.12866996 0.94436533 -16.42624303] [ 0. 0. 0. 1. ]] SLAMing on 125.641652532 meters Centerline goodness [0,1] 0.4438306553281225 Centerline is valid? [False, False] Translation: X:-48.89, Y:-57.71, Z:-16.44 [[ 0.78219999 -0.53297358 -0.32264894 -48.89182848] [ 0.54510782 0.8362283 -0.05983055 -57.71397503] [ 0.30169628 -0.12907901 0.94462583 -16.43553878] [ 0. 0. 0. 1. ]] SLAMing on 125.671652532 meters Centerline goodness [0,1] 0.4284076841960479 Centerline is valid? [False, False] Translation: X:-48.90, Y:-57.72, Z:-16.44 [[ 0.78235873 -0.53570033 -0.31771051 -48.90141306] [ 0.54644896 0.8351533 -0.06254998 -57.72250861] [ 0.29884503 -0.12467605 0.94612237 -16.43783193] [ 0. 0. 0. 1. ]] SLAMing on 125.70165253199998 meters Centerline goodness [0,1] 0.4495039955910719 Centerline is valid? [False, False] Translation: X:-48.93, Y:-57.75, Z:-16.45 [[ 0.78327671 -0.53444665 -0.31756003 -48.9288297 ] [ 0.54551378 0.83586398 -0.06120562 -57.75128883] [ 0.29814813 -0.12529243 0.9462608 -16.44839241] [ 0. 0. 0. 1. ]] SLAMing on 125.73165253199998 meters Centerline goodness [0,1] 0.4311624072547403 Centerline is valid? [False, False] Translation: X:-48.95, Y:-57.78, Z:-16.46 [[ 0.78380292 -0.53329781 -0.31819243 -48.95435649] [ 0.54510448 0.83629672 -0.05889748 -57.77743936] [ 0.29751318 -0.1272841 0.94619483 -16.45757484] [ 0. 0. 0. 1. ]] SLAMing on 125.76165253199999 meters Centerline goodness [0,1] 0.4322134477564249 Centerline is valid? [False, False] Translation: X:-48.98, Y:-57.80, Z:-16.47 [[ 7.83883611e-01 -5.32804534e-01 -3.18819405e-01 -4.89798119e+01] [ 5.45091264e-01 8.36398924e-01 -5.75530545e-02 -5.78037403e+01] [ 2.97324735e-01 -1.28670776e-01 9.46066506e-01 -1.64671159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79165253199999 meters Centerline goodness [0,1] 0.4294421110299489 Centerline is valid? [False, False] Translation: X:-49.01, Y:-57.83, Z:-16.48 [[ 7.84747728e-01 -5.31378891e-01 -3.19072840e-01 -4.90081024e+01] [ 5.43879732e-01 8.37246454e-01 -5.66852004e-02 -5.78314741e+01] [ 2.97263923e-01 -1.29053669e-01 9.46033462e-01 -1.64783719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82165253199999 meters Centerline goodness [0,1] 0.438787133223984 Centerline is valid? [False, False] Translation: X:-49.03, Y:-57.85, Z:-16.49 [[ 7.83970749e-01 -5.30639863e-01 -3.22197457e-01 -4.90291600e+01] [ 5.44058355e-01 8.37237699e-01 -5.50775977e-02 -5.78541375e+01] [ 2.98982226e-01 -1.32114993e-01 9.45068916e-01 -1.64857431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85165253199999 meters Centerline goodness [0,1] 0.43421982179075225 Centerline is valid? [False, False] Translation: X:-49.06, Y:-57.88, Z:-16.50 [[ 7.84801472e-01 -5.30138825e-01 -3.20997626e-01 -4.90579088e+01] [ 5.43498899e-01 8.37632952e-01 -5.45892293e-02 -5.78836389e+01] [ 2.97818059e-01 -1.31620149e-01 9.45505442e-01 -1.64973718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88165253199999 meters Centerline goodness [0,1] 0.4323603800669902 Centerline is valid? [False, False] Translation: X:-49.08, Y:-57.91, Z:-16.51 [[ 7.85027981e-01 -5.30193770e-01 -3.20352361e-01 -4.90842725e+01] [ 5.43712901e-01 8.37545778e-01 -5.37898743e-02 -5.79108896e+01] [ 2.96828824e-01 -1.31953155e-01 9.45770064e-01 -1.65079749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91165253199999 meters Centerline goodness [0,1] 0.4428243737366855 Centerline is valid? [False, False] Translation: X:-49.11, Y:-57.93, Z:-16.52 [[ 7.84457715e-01 -5.30792954e-01 -3.20756814e-01 -4.91080236e+01] [ 5.44714917e-01 8.36955812e-01 -5.28264023e-02 -5.79336190e+01] [ 2.96499162e-01 -1.33280943e-01 9.45687283e-01 -1.65174671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94165253199999 meters Centerline goodness [0,1] 0.43793996094282206 Centerline is valid? [False, False] Translation: X:-49.14, Y:-57.96, Z:-16.53 [[ 7.85539244e-01 -5.30058275e-01 -3.19321659e-01 -4.91368921e+01] [ 5.44205563e-01 8.37384572e-01 -5.12580179e-02 -5.79609407e+01] [ 2.94564767e-01 -1.33511439e-01 9.46259105e-01 -1.65287368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.971652532 meters Centerline goodness [0,1] 0.4330161469806736 Centerline is valid? [False, False] Translation: X:-49.17, Y:-57.99, Z:-16.54 [[ 7.87182404e-01 -5.29307932e-01 -3.16507467e-01 -4.91683408e+01] [ 5.43644196e-01 8.37877028e-01 -4.91230489e-02 -5.79903017e+01] [ 2.91195555e-01 -1.33398647e-01 9.47317238e-01 -1.65406206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.001652532 meters Centerline goodness [0,1] 0.442141427011285 Centerline is valid? [False, False] Translation: X:-49.18, Y:-58.00, Z:-16.55 [[ 7.88574359e-01 -5.30671953e-01 -3.10705260e-01 -4.91781835e+01] [ 5.43162896e-01 8.37973717e-01 -5.26699046e-02 -5.79978718e+01] [ 2.88313282e-01 -1.27229432e-01 9.49045901e-01 -1.65486452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.031652532 meters Centerline goodness [0,1] 0.43924914675767923 Centerline is valid? [False, False] Translation: X:-49.19, Y:-58.01, Z:-16.56 [[ 0.78947119 -0.53304292 -0.30430328 -49.19010053] [ 0.54308713 0.83764776 -0.05833184 -58.00607522] [ 0.28599234 -0.11921189 0.95078752 -16.55661692] [ 0. 0. 0. 1. ]] SLAMing on 126.061652532 meters Centerline goodness [0,1] 0.4433822692614089 Centerline is valid? [False, False] Translation: X:-49.21, Y:-58.03, Z:-16.56 [[ 7.88855023e-01 -5.33419657e-01 -3.05239613e-01 -4.92137870e+01] [ 5.43881126e-01 8.37194210e-01 -5.74384502e-02 -5.80318120e+01] [ 2.86183635e-01 -1.20703454e-01 9.50541742e-01 -1.65649401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09165253199998 meters Centerline goodness [0,1] 0.4418186780694173 Centerline is valid? [False, False] Translation: X:-49.24, Y:-58.06, Z:-16.57 [[ 7.88642418e-01 -5.33597232e-01 -3.05478528e-01 -4.92393254e+01] [ 5.44332189e-01 8.36953175e-01 -5.66731942e-02 -5.80578521e+01] [ 2.85911884e-01 -1.21586911e-01 9.50510925e-01 -1.65744985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12165253199998 meters Centerline goodness [0,1] 0.44603989639660113 Centerline is valid? [False, False] Translation: X:-49.26, Y:-58.08, Z:-16.58 [[ 7.87635276e-01 -5.34766507e-01 -3.06031787e-01 -4.92629953e+01] [ 5.45822252e-01 8.36021102e-01 -5.60962134e-02 -5.80822982e+01] [ 2.85847408e-01 -1.22855603e-01 9.50367171e-01 -1.65828463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15165253199999 meters Centerline goodness [0,1] 0.4410332271279017 Centerline is valid? [False, False] Translation: X:-49.30, Y:-58.11, Z:-16.60 [[ 7.90136026e-01 -5.32657537e-01 -3.03250735e-01 -4.92952648e+01] [ 5.43831706e-01 8.37455077e-01 -5.40006458e-02 -5.81126555e+01] [ 2.82722718e-01 -1.22249509e-01 9.51379484e-01 -1.65958466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18165253199999 meters Centerline goodness [0,1] 0.44282786885245906 Centerline is valid? [False, False] Translation: X:-49.30, Y:-58.12, Z:-16.60 [[ 7.91237985e-01 -5.34085501e-01 -2.97817274e-01 -4.93046489e+01] [ 5.43821771e-01 8.37282679e-01 -5.67062366e-02 -5.81187248e+01] [ 2.79643224e-01 -1.17091389e-01 9.52937183e-01 -1.66025919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21165253199999 meters Centerline goodness [0,1] 0.4477112275108176 Centerline is valid? [False, False] Translation: X:-49.31, Y:-58.12, Z:-16.60 [[ 0.78996711 -0.53751375 -0.29501005 -49.30864673] [ 0.54633301 0.83546718 -0.05928609 -58.11957211] [ 0.2783383 -0.11433967 0.9536531 -16.60314305] [ 0. 0. 0. 1. ]] SLAMing on 126.24165253199999 meters Centerline goodness [0,1] 0.4478071475813624 Centerline is valid? [False, False] Translation: X:-49.34, Y:-58.15, Z:-16.61 [[ 7.90079762e-01 -5.38441214e-01 -2.93010288e-01 -4.93360388e+01] [ 5.47420252e-01 8.34842384e-01 -5.80453465e-02 -5.81491749e+01] [ 2.75871414e-01 -1.14539312e-01 9.54345697e-01 -1.66125860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27165253199999 meters Centerline goodness [0,1] 0.44324435412052154 Centerline is valid? [False, False] Translation: X:-49.36, Y:-58.18, Z:-16.62 [[ 7.89155400e-01 -5.38996812e-01 -2.94476131e-01 -4.93593231e+01] [ 5.48444744e-01 8.34229316e-01 -5.71822598e-02 -5.81755106e+01] [ 2.76481677e-01 -1.16378197e-01 9.53946538e-01 -1.66193321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30165253199999 meters Centerline goodness [0,1] 0.4441932684842672 Centerline is valid? [False, False] Translation: X:-49.38, Y:-58.20, Z:-16.63 [[ 7.87585260e-01 -5.40015597e-01 -2.96803999e-01 -4.93803884e+01] [ 5.49996768e-01 8.33247120e-01 -5.65932177e-02 -5.81996373e+01] [ 2.77872298e-01 -1.18669256e-01 9.53259982e-01 -1.66256603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33165253199999 meters Centerline goodness [0,1] 0.4457251541052728 Centerline is valid? [False, False] Translation: X:-49.40, Y:-58.23, Z:-16.63 [[ 7.85363294e-01 -5.41944547e-01 -2.99166518e-01 -4.94012138e+01] [ 5.52300472e-01 8.31709809e-01 -5.67713165e-02 -5.82269459e+01] [ 2.79586633e-01 -1.20643701e-01 9.52510584e-01 -1.66306191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.361652532 meters Centerline goodness [0,1] 0.4455681142177276 Centerline is valid? [False, False] Translation: X:-49.42, Y:-58.25, Z:-16.64 [[ 7.83526973e-01 -5.42817739e-01 -3.02381191e-01 -4.94217193e+01] [ 5.53800951e-01 8.30743476e-01 -5.63008348e-02 -5.82515254e+01] [ 2.81762294e-01 -1.23345768e-01 9.51522901e-01 -1.66356334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.391652532 meters Centerline goodness [0,1] 0.4338703034186079 Centerline is valid? [False, False] Translation: X:-49.44, Y:-58.28, Z:-16.64 [[ 7.82499650e-01 -5.43002392e-01 -3.04700999e-01 -4.94435476e+01] [ 5.54585816e-01 8.30280212e-01 -5.54016385e-02 -5.82770635e+01] [ 2.83070433e-01 -1.25631090e-01 9.50835401e-01 -1.66424478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.421652532 meters Centerline goodness [0,1] 0.44167220859036393 Centerline is valid? [False, False] Translation: X:-49.47, Y:-58.31, Z:-16.65 [[ 7.81373826e-01 -5.43660629e-01 -3.06411593e-01 -4.94662826e+01] [ 5.55421451e-01 8.29698114e-01 -5.57498969e-02 -5.83063357e+01] [ 2.84538145e-01 -1.26626061e-01 9.50265165e-01 -1.66499479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45165253199998 meters Centerline goodness [0,1] 0.44019292604501603 Centerline is valid? [False, False] Translation: X:-49.49, Y:-58.33, Z:-16.66 [[ 7.79480096e-01 -5.44682245e-01 -3.09405934e-01 -4.94864020e+01] [ 5.57083816e-01 8.28615930e-01 -5.52563372e-02 -5.83299239e+01] [ 2.86475832e-01 -1.29293823e-01 9.49323288e-01 -1.66555160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48165253199998 meters Centerline goodness [0,1] 0.4382167068826841 Centerline is valid? [False, False] Translation: X:-49.51, Y:-58.36, Z:-16.66 [[ 7.78698147e-01 -5.44817966e-01 -3.11131129e-01 -4.95094295e+01] [ 5.57778255e-01 8.28213889e-01 -5.42694422e-02 -5.83556150e+01] [ 2.87250089e-01 -1.31282664e-01 9.48816235e-01 -1.66627883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51165253199999 meters Centerline goodness [0,1] 0.43424169253765665 Centerline is valid? [False, False] Translation: X:-49.53, Y:-58.38, Z:-16.67 [[ 7.78028195e-01 -5.45190886e-01 -3.12152247e-01 -4.95323068e+01] [ 5.58666698e-01 8.27687806e-01 -5.31452410e-02 -5.83800294e+01] [ 2.87338909e-01 -1.33040569e-01 9.48544442e-01 -1.66711380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54165253199999 meters Centerline goodness [0,1] 0.4349538263132441 Centerline is valid? [False, False] Translation: X:-49.54, Y:-58.38, Z:-16.67 [[ 7.76560164e-01 -5.48846567e-01 -3.09389329e-01 -4.95350064e+01] [ 5.61376767e-01 8.25684154e-01 -5.56938383e-02 -5.83817760e+01] [ 2.86025239e-01 -1.30434365e-01 9.49303134e-01 -1.66715827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57165253199999 meters Centerline goodness [0,1] 0.43931450215950296 Centerline is valid? [False, False] Translation: X:-49.56, Y:-58.41, Z:-16.68 [[ 7.74353281e-01 -5.52076160e-01 -3.09174562e-01 -4.95582670e+01] [ 5.64352816e-01 8.23555881e-01 -5.71105011e-02 -5.84104072e+01] [ 2.86151875e-01 -1.30259831e-01 9.49288934e-01 -1.66789949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60165253199999 meters Centerline goodness [0,1] 0.437904717853839 Centerline is valid? [False, False] Translation: X:-49.58, Y:-58.44, Z:-16.69 [[ 7.74381602e-01 -5.51362786e-01 -3.10374311e-01 -4.95828066e+01] [ 5.64233722e-01 8.23742570e-01 -5.55741364e-02 -5.84375278e+01] [ 2.86310043e-01 -1.32088064e-01 9.48988568e-01 -1.66870614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63165253199999 meters Centerline goodness [0,1] 0.43746383018125423 Centerline is valid? [False, False] Translation: X:-49.60, Y:-58.46, Z:-16.69 [[ 7.72900502e-01 -5.51992470e-01 -3.12936299e-01 -4.96037190e+01] [ 5.65570127e-01 8.22888187e-01 -5.46393868e-02 -5.84618909e+01] [ 2.87672114e-01 -1.34756613e-01 9.48201144e-01 -1.66929806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66165253199999 meters Centerline goodness [0,1] 0.44095491945764287 Centerline is valid? [False, False] Translation: X:-49.62, Y:-58.49, Z:-16.70 [[ 7.68313561e-01 -5.56850879e-01 -3.15612690e-01 -4.96198968e+01] [ 5.70583809e-01 8.19292559e-01 -5.65138987e-02 -5.84863898e+01] [ 2.90048943e-01 -1.36663096e-01 9.47203679e-01 -1.66964873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69165253199999 meters Centerline goodness [0,1] 0.44187074118002745 Centerline is valid? [False, False] Translation: X:-49.64, Y:-58.51, Z:-16.70 [[ 7.66385671e-01 -5.58314953e-01 -3.17706494e-01 -4.96405282e+01] [ 5.72436672e-01 8.17991474e-01 -5.66233569e-02 -5.85114653e+01] [ 2.91494870e-01 -1.38471519e-01 9.46496899e-01 -1.67031778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.721652532 meters Centerline goodness [0,1] 0.442664496628691 Centerline is valid? [False, False] Translation: X:-49.64, Y:-58.51, Z:-16.70 [[ 0.76515026 -0.56166235 -0.31477051 -49.64402713] [ 0.57483779 0.81614061 -0.05895777 -58.51285923] [ 0.29001136 -0.13583043 0.94733495 -16.70424802] [ 0. 0. 0. 1. ]] SLAMing on 126.751652532 meters Centerline goodness [0,1] 0.442664496628691 Centerline is valid? [False, False] Translation: X:-49.65, Y:-58.51, Z:-16.70 [[ 0.76376997 -0.56469276 -0.31269396 -49.64743235] [ 0.57707135 0.81439794 -0.06119355 -58.51264312] [ 0.28921287 -0.13370893 0.94788071 -16.70396559] [ 0. 0. 0. 1. ]] SLAMing on 126.781652532 meters Centerline goodness [0,1] 0.4406337371854613 Centerline is valid? [False, False] Translation: X:-49.67, Y:-58.54, Z:-16.71 [[ 0.76496752 -0.56254508 -0.3136363 -49.67332409] [ 0.57551514 0.81564152 -0.05925566 -58.54473353] [ 0.28914877 -0.13517378 0.94769248 -16.71373253] [ 0. 0. 0. 1. ]] SLAMing on 126.811652532 meters Centerline goodness [0,1] 0.43618013146240264 Centerline is valid? [False, False] Translation: X:-49.69, Y:-58.57, Z:-16.72 [[ 0.76198126 -0.56492724 -0.31660981 -49.69130234] [ 0.57825498 0.81363958 -0.06009829 -58.5677151 ] [ 0.29155743 -0.13728743 0.94665011 -16.71906354] [ 0. 0. 0. 1. ]] SLAMing on 126.84165253199998 meters Centerline goodness [0,1] 0.4469384889055332 Centerline is valid? [False, False] Translation: X:-49.69, Y:-58.57, Z:-16.72 [[ 0.76062248 -0.568271 -0.31388137 -49.69381345] [ 0.58073458 0.81170689 -0.06228375 -58.57059574] [ 0.29017372 -0.13490735 0.94741713 -16.71933215] [ 0. 0. 0. 1. ]] SLAMing on 126.87165253199998 meters Centerline goodness [0,1] 0.44322594309651 Centerline is valid? [False, False] Translation: X:-49.70, Y:-58.58, Z:-16.72 [[ 0.75778789 -0.57501804 -0.30840194 -49.69762938] [ 0.58566565 0.8077756 -0.0670398 -58.57609411] [ 0.28766866 -0.12981848 0.94889088 -16.72048733] [ 0. 0. 0. 1. ]] SLAMing on 126.90165253199999 meters Centerline goodness [0,1] 0.44378447178616887 Centerline is valid? [False, False] Translation: X:-49.70, Y:-58.58, Z:-16.72 [[ 0.75613162 -0.57867405 -0.3056163 -49.69953767] [ 0.5884099 0.80556863 -0.06951961 -58.57808988] [ 0.2864241 -0.12726168 0.94961345 -16.7210062 ] [ 0. 0. 0. 1. ]] SLAMing on 126.93165253199999 meters Centerline goodness [0,1] 0.44772657341002153 Centerline is valid? [False, False] Translation: X:-49.72, Y:-58.60, Z:-16.72 [[ 0.75286702 -0.58070969 -0.30978623 -49.71600094] [ 0.59106947 0.80358636 -0.06989877 -58.60061671] [ 0.28953088 -0.13048071 0.94823344 -16.72459346] [ 0. 0. 0. 1. ]] SLAMing on 126.96165253199999 meters Centerline goodness [0,1] 0.4433092567952861 Centerline is valid? [False, False] Translation: X:-49.74, Y:-58.63, Z:-16.73 [[ 0.75078423 -0.58166633 -0.31302925 -49.73537326] [ 0.59254302 0.802492 -0.06999545 -58.62870501] [ 0.29191747 -0.13293181 0.94716067 -16.72978067] [ 0. 0. 0. 1. ]] SLAMing on 126.99165253199999 meters Centerline goodness [0,1] 0.4509439801918911 Centerline is valid? [False, False] Translation: X:-49.75, Y:-58.65, Z:-16.73 [[ 0.74727233 -0.58410014 -0.31687711 -49.75168484] [ 0.59556702 0.80020366 -0.07052676 -58.65114178] [ 0.29476091 -0.13601886 0.94584083 -16.73378783] [ 0. 0. 0. 1. ]] SLAMing on 127.02165253199999 meters Centerline goodness [0,1] 0.45113791697642625 Centerline is valid? [False, False] Translation: X:-49.77, Y:-58.68, Z:-16.74 [[ 0.74448809 -0.58560941 -0.32062299 -49.76970446] [ 0.59766861 0.79860702 -0.07084528 -58.67504234] [ 0.29753943 -0.13888283 0.94455378 -16.7381585 ] [ 0. 0. 0. 1. ]] SLAMing on 127.05165253199999 meters Centerline goodness [0,1] 0.45249849488260085 Centerline is valid? [False, False] Translation: X:-49.79, Y:-58.71, Z:-16.74 [[ 0.74383625 -0.58525072 -0.32278358 -49.79247857] [ 0.59788424 0.79851742 -0.07003122 -58.70692717] [ 0.29873413 -0.14089545 0.94387838 -16.7447608 ] [ 0. 0. 0. 1. ]] SLAMing on 127.08165253199999 meters Centerline goodness [0,1] 0.4561517693568605 Centerline is valid? [False, False] Translation: X:-49.81, Y:-58.73, Z:-16.75 [[ 0.741732 -0.58447487 -0.3289723 -49.80847205] [ 0.59868015 0.7980882 -0.06809776 -58.72951797] [ 0.30235033 -0.1464389 0.94188106 -16.74678487] [ 0. 0. 0. 1. ]] SLAMing on 127.111652532 meters Centerline goodness [0,1] 0.4590128341213934 Centerline is valid? [False, False] Translation: X:-49.83, Y:-58.76, Z:-16.75 [[ 0.73985683 -0.58496875 -0.33230022 -49.82864121] [ 0.60009758 0.79710771 -0.06709838 -58.75518193] [ 0.30412952 -0.14976936 0.94078391 -16.75136792] [ 0. 0. 0. 1. ]] SLAMing on 127.141652532 meters Centerline goodness [0,1] 0.45836040328208094 Centerline is valid? [False, False] Translation: X:-49.85, Y:-58.78, Z:-16.76 [[ 0.73944509 -0.585138 -0.33291813 -49.85288506] [ 0.60075431 0.79670794 -0.06595994 -58.78434316] [ 0.30383419 -0.15122825 0.94064595 -16.7592485 ] [ 0. 0. 0. 1. ]] SLAMing on 127.171652532 meters Centerline goodness [0,1] 0.4596909192362746 Centerline is valid? [False, False] Translation: X:-49.88, Y:-58.82, Z:-16.77 [[ 0.74003226 -0.58487131 -0.33208102 -49.8808952 ] [ 0.60047501 0.79695754 -0.06548621 -58.81908304] [ 0.30295548 -0.15094445 0.94097489 -16.76872936] [ 0. 0. 0. 1. ]] SLAMing on 127.20165253199998 meters Centerline goodness [0,1] 0.4530451009378862 Centerline is valid? [False, False] Translation: X:-49.90, Y:-58.84, Z:-16.78 [[ 0.73829129 -0.58532552 -0.33514178 -49.90100575] [ 0.60151736 0.79617602 -0.06542641 -58.84370011] [ 0.30512759 -0.15328985 0.93989328 -16.77525949] [ 0. 0. 0. 1. ]] SLAMing on 127.23165253199998 meters Centerline goodness [0,1] 0.45387570511573627 Centerline is valid? [False, False] Translation: X:-49.93, Y:-58.87, Z:-16.79 [[ 0.73911566 -0.58391929 -0.33577716 -49.92759155] [ 0.60021946 0.79718186 -0.06509755 -58.87373007] [ 0.30568718 -0.15342537 0.93968931 -16.7865147 ] [ 0. 0. 0. 1. ]] SLAMing on 127.26165253199999 meters Centerline goodness [0,1] 0.4653142634753843 Centerline is valid? [False, False] Translation: X:-49.95, Y:-58.90, Z:-16.79 [[ 0.73745339 -0.58304596 -0.34091041 -49.94506591] [ 0.6006793 0.79695485 -0.06361884 -58.89532403] [ 0.30878291 -0.1578619 0.93794069 -16.79136023] [ 0. 0. 0. 1. ]] SLAMing on 127.29165253199999 meters Centerline goodness [0,1] 0.45366185546969917 Centerline is valid? [False, False] Translation: X:-49.97, Y:-58.92, Z:-16.80 [[ 0.73672099 -0.58265189 -0.34316025 -49.96774544] [ 0.6008147 0.79688882 -0.06316576 -58.92080001] [ 0.31026421 -0.15964018 0.93715054 -16.79980848] [ 0. 0. 0. 1. ]] SLAMing on 127.32165253199999 meters Centerline goodness [0,1] 0.45425271772026243 Centerline is valid? [False, False] Translation: X:-49.99, Y:-58.95, Z:-16.81 [[ 0.7373286 -0.58153787 -0.34374443 -49.99342248] [ 0.60016963 0.79748173 -0.06180056 -58.94870485] [ 0.31006927 -0.16073765 0.93702746 -16.80993768] [ 0. 0. 0. 1. ]] SLAMing on 127.35165253199999 meters Centerline goodness [0,1] 0.45342685176196484 Centerline is valid? [False, False] Translation: X:-50.02, Y:-58.98, Z:-16.82 [[ 0.73718238 -0.58178516 -0.34363958 -50.02037507] [ 0.60040911 0.79729945 -0.06182632 -58.97894403] [ 0.30995328 -0.16074706 0.93706422 -16.81974187] [ 0. 0. 0. 1. ]] SLAMing on 127.38165253199999 meters Centerline goodness [0,1] 0.4580518631510133 Centerline is valid? [False, False] Translation: X:-50.05, Y:-59.01, Z:-16.83 [[ 0.73833526 -0.58042251 -0.34346871 -50.04759149] [ 0.59931989 0.79821505 -0.06056732 -59.00665691] [ 0.30931653 -0.16112864 0.93720907 -16.83151392] [ 0. 0. 0. 1. ]] SLAMing on 127.41165253199999 meters Centerline goodness [0,1] 0.446875 Centerline is valid? [False, False] Translation: X:-50.07, Y:-59.03, Z:-16.84 [[ 7.39652257e-01 -5.78536126e-01 -3.43817524e-01 -5.00748807e+01] [ 5.97858015e-01 7.99426724e-01 -5.90144714e-02 -5.90348683e+01] [ 3.08998920e-01 -1.61903875e-01 9.37180240e-01 -1.68426498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44165253199999 meters Centerline goodness [0,1] 0.4573166299159175 Centerline is valid? [False, False] Translation: X:-50.10, Y:-59.06, Z:-16.85 [[ 7.40361536e-01 -5.77859587e-01 -3.43428440e-01 -5.01029912e+01] [ 5.97163758e-01 7.99969891e-01 -5.86823648e-02 -5.90643435e+01] [ 3.08642578e-01 -1.61636852e-01 9.37343740e-01 -1.68541919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.471652532 meters Centerline goodness [0,1] 0.45980824173163526 Centerline is valid? [False, False] Translation: X:-50.13, Y:-59.09, Z:-16.87 [[ 7.41212250e-01 -5.76919675e-01 -3.43173557e-01 -5.01292607e+01] [ 5.96678905e-01 8.00458623e-01 -5.69234257e-02 -5.90914822e+01] [ 3.07536477e-01 -1.62572082e-01 9.37545537e-01 -1.68650943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.501652532 meters Centerline goodness [0,1] 0.45626511852926943 Centerline is valid? [False, False] Translation: X:-50.14, Y:-59.10, Z:-16.87 [[ 7.42516609e-01 -5.76647453e-01 -3.40803168e-01 -5.01359768e+01] [ 5.96036893e-01 8.00957004e-01 -5.66383347e-02 -5.90951078e+01] [ 3.05629036e-01 -1.61076357e-01 9.38427035e-01 -1.68675509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.531652532 meters Centerline goodness [0,1] 0.451742466148777 Centerline is valid? [False, False] Translation: X:-50.15, Y:-59.11, Z:-16.88 [[ 0.74414506 -0.57848895 -0.33406387 -50.15099591] [ 0.59485128 0.80138838 -0.0626787 -59.10524939] [ 0.30397384 -0.15207627 0.94046409 -16.87679536] [ 0. 0. 0. 1. ]] SLAMing on 127.561652532 meters Centerline goodness [0,1] 0.45197276283382426 Centerline is valid? [False, False] Translation: X:-50.18, Y:-59.13, Z:-16.89 [[ 0.74469988 -0.57746372 -0.33460088 -50.1776634 ] [ 0.59429134 0.80191142 -0.06128513 -59.13357546] [ 0.30371021 -0.15321138 0.94036503 -16.88602582] [ 0. 0. 0. 1. ]] SLAMing on 127.59165253199998 meters Centerline goodness [0,1] 0.4468372440736007 Centerline is valid? [False, False] Translation: X:-50.20, Y:-59.16, Z:-16.89 [[ 0.74305519 -0.57833993 -0.33673714 -50.19955151] [ 0.59603412 0.80071534 -0.05998568 -59.1566189 ] [ 0.3043227 -0.15613416 0.93968602 -16.89208466] [ 0. 0. 0. 1. ]] SLAMing on 127.62165253199998 meters Centerline goodness [0,1] 0.44400202707594294 Centerline is valid? [False, False] Translation: X:-50.23, Y:-59.19, Z:-16.90 [[ 7.44186263e-01 -5.77138118e-01 -3.36301055e-01 -5.02284733e+01] [ 5.95146338e-01 8.01486329e-01 -5.84850472e-02 -5.91865721e+01] [ 3.03294648e-01 -1.56624573e-01 9.39936753e-01 -1.69026585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65165253199999 meters Centerline goodness [0,1] 0.4584958351389089 Centerline is valid? [False, False] Translation: X:-50.23, Y:-59.19, Z:-16.90 [[ 7.44880534e-01 -5.76629881e-01 -3.35635173e-01 -5.02315675e+01] [ 5.94616948e-01 8.01910098e-01 -5.80592751e-02 -5.91866968e+01] [ 3.02627948e-01 -1.56327139e-01 9.40201123e-01 -1.69036381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68165253199999 meters Centerline goodness [0,1] 0.442587122030886 Centerline is valid? [False, False] Translation: X:-50.24, Y:-59.19, Z:-16.91 [[ 7.47376995e-01 -5.74943328e-01 -3.32968162e-01 -5.02384952e+01] [ 5.92507325e-01 8.03510143e-01 -5.75023502e-02 -5.91903201e+01] [ 3.00603888e-01 -1.54310141e-01 9.41183129e-01 -1.69093216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71165253199999 meters Centerline goodness [0,1] 0.43986410507931195 Centerline is valid? [False, False] Translation: X:-50.25, Y:-59.20, Z:-16.92 [[ 0.74844757 -0.57728137 -0.32645437 -50.25083033] [ 0.59224539 0.80331337 -0.06271388 -59.19706235] [ 0.29844871 -0.14640305 0.94313017 -16.9181745 ] [ 0. 0. 0. 1. ]] SLAMing on 127.74165253199999 meters Centerline goodness [0,1] 0.44888984488898453 Centerline is valid? [False, False] Translation: X:-50.25, Y:-59.20, Z:-16.92 [[ 0.74954459 -0.57630704 -0.32565795 -50.25476112] [ 0.59135348 0.80404031 -0.06180808 -59.19917534] [ 0.29746256 -0.14625105 0.94346524 -16.91886814] [ 0. 0. 0. 1. ]] SLAMing on 127.77165253199999 meters Centerline goodness [0,1] 0.42540356231669807 Centerline is valid? [False, False] Translation: X:-50.27, Y:-59.21, Z:-16.93 [[ 0.75156464 -0.57650861 -0.32060633 -50.26536069] [ 0.58999746 0.80484908 -0.06419461 -59.20625894] [ 0.29504845 -0.14091053 0.94503473 -16.92599593] [ 0. 0. 0. 1. ]] SLAMing on 127.80165253199999 meters Centerline goodness [0,1] 0.43668267630415136 Centerline is valid? [False, False] Translation: X:-50.29, Y:-59.23, Z:-16.93 [[ 0.75136401 -0.57637301 -0.32131959 -50.28992589] [ 0.59039668 0.80466501 -0.06281714 -59.23329982] [ 0.29476073 -0.14250748 0.94488503 -16.93440011] [ 0. 0. 0. 1. ]] SLAMing on 127.83165253199999 meters Centerline goodness [0,1] 0.4378087006079028 Centerline is valid? [False, False] Translation: X:-50.32, Y:-59.26, Z:-16.94 [[ 0.75250775 -0.57536783 -0.32044335 -50.31863679] [ 0.58971876 0.80529549 -0.06108157 -59.26456048] [ 0.29319595 -0.1430071 0.9452963 -16.94433809] [ 0. 0. 0. 1. ]] SLAMing on 127.861652532 meters Centerline goodness [0,1] 0.44630904343698075 Centerline is valid? [False, False] Translation: X:-50.32, Y:-59.27, Z:-16.94 [[ 0.75313384 -0.57499971 -0.31963223 -50.32188045] [ 0.58935743 0.80559988 -0.06055295 -59.26604519] [ 0.29231361 -0.14277315 0.94560488 -16.94481301] [ 0. 0. 0. 1. ]] SLAMing on 127.891652532 meters Centerline goodness [0,1] 0.4340664549462009 Centerline is valid? [False, False] Translation: X:-50.34, Y:-59.29, Z:-16.95 [[ 0.75213584 -0.57512489 -0.32174997 -50.34379529] [ 0.58998439 0.80517672 -0.06007387 -59.29093875] [ 0.29361556 -0.14464375 0.94491697 -16.95273147] [ 0. 0. 0. 1. ]] SLAMing on 127.921652532 meters Centerline goodness [0,1] 0.4334325115707943 Centerline is valid? [False, False] Translation: X:-50.36, Y:-59.31, Z:-16.96 [[ 0.74961429 -0.57697191 -0.32431749 -50.36358857] [ 0.5922393 0.80348403 -0.06054771 -59.31498904] [ 0.29551825 -0.14668613 0.94400855 -16.95891725] [ 0. 0. 0. 1. ]] SLAMing on 127.95165253199998 meters Centerline goodness [0,1] 0.4337947244711413 Centerline is valid? [False, False] Translation: X:-50.39, Y:-59.34, Z:-16.97 [[ 0.74902993 -0.57776234 -0.32426044 -50.38820047] [ 0.59283663 0.80298514 -0.06131552 -59.34287963] [ 0.29580212 -0.14630631 0.94397859 -16.96926144] [ 0. 0. 0. 1. ]] SLAMing on 127.98165253199998 meters Centerline goodness [0,1] 0.4364678844741393 Centerline is valid? [False, False] Translation: X:-50.42, Y:-59.38, Z:-16.98 [[ 7.51673223e-01 -5.74476108e-01 -3.23982355e-01 -5.04183545e+01] [ 5.89966771e-01 8.05262894e-01 -5.90836772e-02 -5.93755810e+01] [ 2.94833130e-01 -1.46727206e-01 9.44216370e-01 -1.69807126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.011652532 meters Centerline goodness [0,1] 0.43850216716799695 Centerline is valid? [False, False] Translation: X:-50.45, Y:-59.40, Z:-16.99 [[ 7.52479244e-01 -5.73871368e-01 -3.23182054e-01 -5.04452471e+01] [ 5.89531646e-01 8.05662133e-01 -5.79738375e-02 -5.94039166e+01] [ 2.93645068e-01 -1.46901939e-01 9.44559365e-01 -1.69921758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.041652532 meters Centerline goodness [0,1] 0.44421012724213915 Centerline is valid? [False, False] Translation: X:-50.47, Y:-59.43, Z:-17.00 [[ 0.75011886 -0.57601742 -0.32484709 -50.46592031] [ 0.59163215 0.8040093 -0.05950161 -59.42833072] [ 0.29545405 -0.14755671 0.94389296 -16.99999854] [ 0. 0. 0. 1. ]] SLAMing on 128.071652532 meters Centerline goodness [0,1] 0.4462575381340901 Centerline is valid? [False, False] Translation: X:-50.47, Y:-59.43, Z:-17.00 [[ 0.74887308 -0.5794925 -0.32152379 -50.47013032] [ 0.59402368 0.80205438 -0.0620052 -59.42974569] [ 0.29381111 -0.14455872 0.9448692 -17.001429 ] [ 0. 0. 0. 1. ]] SLAMing on 128.101652532 meters Centerline goodness [0,1] 0.4469113570125347 Centerline is valid? [False, False] Translation: X:-50.50, Y:-59.46, Z:-17.01 [[ 0.75066802 -0.57820887 -0.31964359 -50.49974025] [ 0.59297602 0.80298482 -0.0599568 -59.46302422] [ 0.29133651 -0.14453333 0.94563902 -17.01258672] [ 0. 0. 0. 1. ]] SLAMing on 128.131652532 meters Centerline goodness [0,1] 0.44054784133453395 Centerline is valid? [False, False] Translation: X:-50.52, Y:-59.49, Z:-17.02 [[ 0.74996087 -0.57831065 -0.32111601 -50.52255777] [ 0.59333283 0.8027227 -0.05993684 -59.48997653] [ 0.29242922 -0.14557838 0.9451413 -17.02101406] [ 0. 0. 0. 1. ]] SLAMing on 128.161652532 meters Centerline goodness [0,1] 0.4348724035608309 Centerline is valid? [False, False] Translation: X:-50.55, Y:-59.52, Z:-17.03 [[ 0.74965741 -0.57837981 -0.32169948 -50.54686534] [ 0.59351065 0.80259302 -0.05991286 -59.51746751] [ 0.29284614 -0.14601795 0.94494439 -17.03080457] [ 0. 0. 0. 1. ]] SLAMing on 128.191652532 meters Centerline goodness [0,1] 0.44517924685396204 Centerline is valid? [False, False] Translation: X:-50.56, Y:-59.53, Z:-17.04 [[ 0.75048819 -0.58059208 -0.31572189 -50.55815057] [ 0.59347265 0.8022587 -0.06458478 -59.52691464] [ 0.29078804 -0.1389022 0.9466512 -17.03743591] [ 0. 0. 0. 1. ]] SLAMing on 128.221652532 meters Centerline goodness [0,1] 0.4483907034279325 Centerline is valid? [False, False] Translation: X:-50.58, Y:-59.56, Z:-17.05 [[ 0.75082897 -0.58001203 -0.31597769 -50.58403425] [ 0.59335634 0.80246486 -0.06307453 -59.55512364] [ 0.29014498 -0.14012918 0.94666769 -17.04649445] [ 0. 0. 0. 1. ]] SLAMing on 128.251652532 meters Centerline goodness [0,1] 0.44396675265118946 Centerline is valid? [False, False] Translation: X:-50.59, Y:-59.56, Z:-17.05 [[ 0.75186071 -0.58151536 -0.3107175 -50.59290161] [ 0.59339963 0.80223665 -0.06552275 -59.56105117] [ 0.28737145 -0.13511566 0.94824122 -17.05302002] [ 0. 0. 0. 1. ]] SLAMing on 128.281652532 meters Centerline goodness [0,1] 0.4502521888085268 Centerline is valid? [False, False] Translation: X:-50.62, Y:-59.59, Z:-17.06 [[ 0.75271375 -0.58032 -0.31088696 -50.62069289] [ 0.59258027 0.80295674 -0.06410221 -59.59240388] [ 0.28682858 -0.13597486 0.94828277 -17.06184127] [ 0. 0. 0. 1. ]] SLAMing on 128.311652532 meters Centerline goodness [0,1] 0.4401239385983585 Centerline is valid? [False, False] Translation: X:-50.63, Y:-59.60, Z:-17.06 [[ 0.75280169 -0.58229779 -0.30695096 -50.62735138] [ 0.59355325 0.80209198 -0.0659014 -59.59711705] [ 0.28457715 -0.13258105 0.94944095 -17.06469838] [ 0. 0. 0. 1. ]] SLAMing on 128.341652532 meters Centerline goodness [0,1] 0.4415531950286352 Centerline is valid? [False, False] Translation: X:-50.66, Y:-59.63, Z:-17.07 [[ 0.75393991 -0.58124273 -0.306156 -50.65562201] [ 0.59267743 0.80283896 -0.06467664 -59.62778637] [ 0.28338679 -0.13268945 0.94978178 -17.07475029] [ 0. 0. 0. 1. ]] SLAMing on 128.371652532 meters Centerline goodness [0,1] 0.4436939615192522 Centerline is valid? [False, False] Translation: X:-50.68, Y:-59.66, Z:-17.08 [[ 0.75294631 -0.58225955 -0.30666866 -50.67985704] [ 0.59380064 0.80199878 -0.06479778 -59.65610204] [ 0.28367702 -0.1333108 0.94960812 -17.0826912 ] [ 0. 0. 0. 1. ]] SLAMing on 128.401652532 meters Centerline goodness [0,1] 0.4515514943841614 Centerline is valid? [False, False] Translation: X:-50.71, Y:-59.69, Z:-17.09 [[ 0.75310345 -0.5819936 -0.30678763 -50.70658515] [ 0.59342058 0.802249 -0.06518093 -59.68588581] [ 0.28405495 -0.13296611 0.94954347 -17.09280964] [ 0. 0. 0. 1. ]] SLAMing on 128.43165253200002 meters Centerline goodness [0,1] 0.44333270106221545 Centerline is valid? [False, False] Translation: X:-50.74, Y:-59.72, Z:-17.11 [[ 0.75589414 -0.57811495 -0.30725748 -50.73656131] [ 0.58979003 0.80503708 -0.06374182 -59.71657618] [ 0.28420377 -0.13303533 0.94948924 -17.10504549] [ 0. 0. 0. 1. ]] SLAMing on 128.46165253200002 meters Centerline goodness [0,1] 0.44481891109317895 Centerline is valid? [False, False] Translation: X:-50.76, Y:-59.74, Z:-17.12 [[ 0.7562118 -0.57771844 -0.30722161 -50.76219316] [ 0.58952487 0.80527408 -0.06319876 -59.74474224] [ 0.28390869 -0.13332314 0.94953715 -17.11540397] [ 0. 0. 0. 1. ]] SLAMing on 128.49165253200002 meters Centerline goodness [0,1] 0.4495591625276266 Centerline is valid? [False, False] Translation: X:-50.79, Y:-59.77, Z:-17.12 [[ 0.75563362 -0.57827589 -0.30759524 -50.78678946] [ 0.590156 0.80480681 -0.0632606 -59.77302578] [ 0.28413682 -0.13372734 0.94941206 -17.12411654] [ 0. 0. 0. 1. ]] SLAMing on 128.521652532 meters Centerline goodness [0,1] 0.4570458162126214 Centerline is valid? [False, False] Translation: X:-50.81, Y:-59.80, Z:-17.13 [[ 0.75668481 -0.57714587 -0.3071331 -50.81496514] [ 0.58917377 0.80560187 -0.06228879 -59.80442302] [ 0.28337672 -0.13382178 0.94962591 -17.13383787] [ 0. 0. 0. 1. ]] SLAMing on 128.551652532 meters Centerline goodness [0,1] 0.45008436111309147 Centerline is valid? [False, False] Translation: X:-50.84, Y:-59.83, Z:-17.14 [[ 0.75515786 -0.57858694 -0.30817814 -50.83794286] [ 0.59083587 0.80437587 -0.06238932 -59.83216527] [ 0.28398871 -0.13496892 0.94928068 -17.14049263] [ 0. 0. 0. 1. ]] SLAMing on 128.581652532 meters Centerline goodness [0,1] 0.452459718685294 Centerline is valid? [False, False] Translation: X:-50.87, Y:-59.86, Z:-17.15 [[ 0.75648152 -0.57689568 -0.30810238 -50.86698451] [ 0.58894162 0.80574273 -0.06266115 -59.86328833] [ 0.2844002 -0.13405231 0.94928737 -17.15202361] [ 0. 0. 0. 1. ]] SLAMing on 128.611652532 meters Centerline goodness [0,1] 0.44335737580042367 Centerline is valid? [False, False] Translation: X:-50.89, Y:-59.89, Z:-17.16 [[ 0.75646794 -0.57665483 -0.30858622 -50.89197954] [ 0.5887462 0.8058825 -0.06270018 -59.89074378] [ 0.28484059 -0.13424829 0.94912762 -17.16208297] [ 0. 0. 0. 1. ]] SLAMing on 128.641652532 meters Centerline goodness [0,1] 0.44335737580042367 Centerline is valid? [False, False] Translation: X:-50.92, Y:-59.92, Z:-17.17 [[ 0.75652418 -0.57674429 -0.30828102 -50.91797466] [ 0.58866869 0.80590611 -0.06312309 -59.91886204] [ 0.28485144 -0.13372124 0.94919876 -17.17274132] [ 0. 0. 0. 1. ]] SLAMing on 128.671652532 meters Centerline goodness [0,1] 0.46312782670792674 Centerline is valid? [False, False] Translation: X:-50.93, Y:-59.93, Z:-17.18 [[ 0.75741211 -0.57897073 -0.30186056 -50.93060886] [ 0.58812094 0.80575808 -0.06976869 -59.92752271] [ 0.28362062 -0.12468686 0.95079574 -17.18143064] [ 0. 0. 0. 1. ]] SLAMing on 128.701652532 meters Centerline goodness [0,1] 0.45132574856000385 Centerline is valid? [False, False] Translation: X:-50.96, Y:-59.96, Z:-17.19 [[ 0.75922499 -0.57691259 -0.30124621 -50.96153446] [ 0.58621647 0.80725117 -0.06852591 -59.96129461] [ 0.28271481 -0.12456891 0.95108092 -17.19082049] [ 0. 0. 0. 1. ]] SLAMing on 128.731652532 meters Centerline goodness [0,1] 0.4488409652289569 Centerline is valid? [False, False] Translation: X:-50.99, Y:-59.99, Z:-17.20 [[ 0.75929286 -0.57674979 -0.30138683 -50.98797175] [ 0.58623379 0.80728718 -0.06795113 -59.99171116] [ 0.28249652 -0.12508834 0.95107761 -17.19893781] [ 0. 0. 0. 1. ]] SLAMing on 128.761652532 meters Centerline goodness [0,1] 0.4518532625514795 Centerline is valid? [False, False] Translation: X:-51.02, Y:-60.02, Z:-17.21 [[ 0.75852711 -0.57879807 -0.29938173 -51.01717993] [ 0.58760777 0.80613636 -0.06972286 -60.02320358] [ 0.28169795 -0.12303235 0.95158253 -17.20866025] [ 0. 0. 0. 1. ]] SLAMing on 128.791652532 meters Centerline goodness [0,1] 0.4457983293272091 Centerline is valid? [False, False] Translation: X:-51.04, Y:-60.05, Z:-17.22 [[ 0.75772111 -0.57882777 -0.30135881 -51.04025523] [ 0.58789186 0.80592316 -0.06979267 -60.05001717] [ 0.28326998 -0.12428302 0.95095313 -17.21624309] [ 0. 0. 0. 1. ]] SLAMing on 128.821652532 meters Centerline goodness [0,1] 0.4489047619047619 Centerline is valid? [False, False] Translation: X:-51.07, Y:-60.08, Z:-17.23 [[ 0.75807941 -0.57784719 -0.30233794 -51.06584059] [ 0.58700115 0.80657682 -0.06973873 -60.07878327] [ 0.2841571 -0.12460522 0.95064624 -17.22587528] [ 0. 0. 0. 1. ]] SLAMing on 128.851652532 meters Centerline goodness [0,1] 0.46004514672686225 Centerline is valid? [False, False] Translation: X:-51.09, Y:-60.11, Z:-17.24 [[ 0.76007352 -0.57433433 -0.30402026 -51.09332588] [ 0.58397366 0.80890662 -0.06815311 -60.10968137] [ 0.28506667 -0.12573845 0.95022462 -17.23606656] [ 0. 0. 0. 1. ]] SLAMing on 128.881652532 meters Centerline goodness [0,1] 0.4479594989660828 Centerline is valid? [False, False] Translation: X:-51.12, Y:-60.14, Z:-17.24 [[ 0.75895738 -0.57465796 -0.30618934 -51.11615215] [ 0.58458676 0.80845273 -0.06828247 -60.13630567] [ 0.28677868 -0.12717075 0.94951861 -17.24299817] [ 0. 0. 0. 1. ]] SLAMing on 128.911652532 meters Centerline goodness [0,1] 0.4528139972825439 Centerline is valid? [False, False] Translation: X:-51.14, Y:-60.17, Z:-17.25 [[ 0.75904556 -0.57505529 -0.30522329 -51.14446315] [ 0.5847551 0.80829799 -0.06867192 -60.16945936] [ 0.28620152 -0.12635576 0.94980151 -17.25209238] [ 0. 0. 0. 1. ]] SLAMing on 128.941652532 meters Centerline goodness [0,1] 0.4447491415490271 Centerline is valid? [False, False] Translation: X:-51.16, Y:-60.18, Z:-17.26 [[ 0.76071851 -0.57615441 -0.29892045 -51.15942381] [ 0.5829 0.80899308 -0.0758801 -60.18442367] [ 0.28554323 -0.11651734 0.95125642 -17.26058005] [ 0. 0. 0. 1. ]] SLAMing on 128.971652532 meters Centerline goodness [0,1] 0.44671483945063883 Centerline is valid? [False, False] Translation: X:-51.18, Y:-60.21, Z:-17.27 [[ 0.75899141 -0.57697323 -0.30171829 -51.18036135] [ 0.58395087 0.80817615 -0.07650285 -60.21101731] [ 0.28798163 -0.11812365 0.95032278 -17.26673504] [ 0. 0. 0. 1. ]] SLAMing on 129.001652532 meters Centerline goodness [0,1] 0.4479418307063072 Centerline is valid? [False, False] Translation: X:-51.20, Y:-60.23, Z:-17.27 [[ 0.75697858 -0.57669903 -0.30724853 -51.19694633] [ 0.58480011 0.80768307 -0.07521235 -60.23225282] [ 0.29153433 -0.12274484 0.94865244 -17.27052231] [ 0. 0. 0. 1. ]] SLAMing on 129.031652532 meters Centerline goodness [0,1] 0.44824691831742525 Centerline is valid? [False, False] Translation: X:-51.22, Y:-60.26, Z:-17.28 [[ 0.75622754 -0.57617405 -0.31006995 -51.22099511] [ 0.5845931 0.80782116 -0.07533846 -60.26207118] [ 0.29388913 -0.12429173 0.94772398 -17.27705956] [ 0. 0. 0. 1. ]] SLAMing on 129.061652532 meters Centerline goodness [0,1] 0.44595146073889147 Centerline is valid? [False, False] Translation: X:-51.25, Y:-60.29, Z:-17.28 [[ 0.75624382 -0.57481716 -0.31253882 -51.24545693] [ 0.58375449 0.80850564 -0.07449374 -60.29162437] [ 0.29550968 -0.12611051 0.9469795 -17.28408329] [ 0. 0. 0. 1. ]] SLAMing on 129.091652532 meters Centerline goodness [0,1] 0.4558018378717349 Centerline is valid? [False, False] Translation: X:-51.27, Y:-60.32, Z:-17.29 [[ 0.75439628 -0.57583014 -0.31512839 -51.26609052] [ 0.58505552 0.80751914 -0.07498579 -60.31834453] [ 0.29765129 -0.12779861 0.94608204 -17.29050425] [ 0. 0. 0. 1. ]] SLAMing on 129.121652532 meters Centerline goodness [0,1] 0.44638373889532634 Centerline is valid? [False, False] Translation: X:-51.29, Y:-60.35, Z:-17.30 [[ 0.75325255 -0.57558493 -0.31829638 -51.2879616 ] [ 0.58530534 0.80735277 -0.07482759 -60.34548417] [ 0.3000471 -0.12993649 0.94503346 -17.29667039] [ 0. 0. 0. 1. ]] SLAMing on 129.151652532 meters Centerline goodness [0,1] 0.4603036456822358 Centerline is valid? [False, False] Translation: X:-51.30, Y:-60.36, Z:-17.31 [[ 0.75566345 -0.57607622 -0.31162309 -51.30456193] [ 0.58279109 0.80853003 -0.08144773 -60.36138769] [ 0.29887672 -0.12006409 0.94670868 -17.30681875] [ 0. 0. 0. 1. ]] SLAMing on 129.18165253200002 meters Centerline goodness [0,1] 0.451834806830568 Centerline is valid? [False, False] Translation: X:-51.32, Y:-60.38, Z:-17.31 [[ 0.75333275 -0.57604303 -0.3172762 -51.32107459] [ 0.58396157 0.80781777 -0.08012078 -60.38348145] [ 0.30245438 -0.1249195 0.94494257 -17.30957829] [ 0. 0. 0. 1. ]] SLAMing on 129.21165253200002 meters Centerline goodness [0,1] 0.44755210857973826 Centerline is valid? [False, False] Translation: X:-51.34, Y:-60.41, Z:-17.32 [[ 0.75205767 -0.57558005 -0.32111816 -51.34105218] [ 0.5842849 0.80766619 -0.07928734 -60.40931695] [ 0.30499249 -0.12799584 0.94371428 -17.31530193] [ 0. 0. 0. 1. ]] SLAMing on 129.24165253200002 meters Centerline goodness [0,1] 0.4505771655834707 Centerline is valid? [False, False] Translation: X:-51.37, Y:-60.44, Z:-17.32 [[ 0.75208925 -0.57431048 -0.32330982 -51.36589006] [ 0.58349761 0.80831201 -0.07849988 -60.44043297] [ 0.30641851 -0.12961159 0.94303156 -17.32297346] [ 0. 0. 0. 1. ]] SLAMing on 129.271652532 meters Centerline goodness [0,1] 0.4527177599069857 Centerline is valid? [False, False] Translation: X:-51.37, Y:-60.44, Z:-17.32 [[ 0.75055215 -0.5780796 -0.3201491 -51.36903758] [ 0.58625376 0.80606121 -0.08106698 -60.44162941] [ 0.30492294 -0.12684362 0.94389231 -17.32426511] [ 0. 0. 0. 1. ]] SLAMing on 129.301652532 meters Centerline goodness [0,1] 0.45159645502003154 Centerline is valid? [False, False] Translation: X:-51.39, Y:-60.46, Z:-17.33 [[ 0.74837462 -0.57773708 -0.32581483 -51.38543394] [ 0.58718197 0.80552683 -0.07964842 -60.46311549] [ 0.30846843 -0.13170574 0.94207262 -17.32779691] [ 0. 0. 0. 1. ]] SLAMing on 129.331652532 meters Centerline goodness [0,1] 0.45772445139533746 Centerline is valid? [False, False] Translation: X:-51.41, Y:-60.49, Z:-17.34 [[ 0.74722968 -0.57786942 -0.32819923 -51.40799336] [ 0.58759914 0.80519649 -0.07991155 -60.49097078] [ 0.31044331 -0.13313731 0.9412223 -17.33567908] [ 0. 0. 0. 1. ]] SLAMing on 129.361652532 meters Centerline goodness [0,1] 0.45848789535337764 Centerline is valid? [False, False] Translation: X:-51.41, Y:-60.49, Z:-17.34 [[ 0.74579484 -0.58152754 -0.3249858 -51.4119376 ] [ 0.59019826 0.80302978 -0.08251781 -60.49160537] [ 0.30895965 -0.1302647 0.94211201 -17.33704116] [ 0. 0. 0. 1. ]] SLAMing on 129.391652532 meters Centerline goodness [0,1] 0.4599765716516986 Centerline is valid? [False, False] Translation: X:-51.42, Y:-60.49, Z:-17.34 [[ 0.74481222 -0.58437519 -0.32211862 -51.41724511] [ 0.59217198 0.80136225 -0.08456292 -60.49259225] [ 0.30755017 -0.12776613 0.94291501 -17.33779779] [ 0. 0. 0. 1. ]] SLAMing on 129.421652532 meters Centerline goodness [0,1] 0.45673662170716267 Centerline is valid? [False, False] Translation: X:-51.44, Y:-60.51, Z:-17.35 [[ 0.74780573 -0.58383884 -0.31609935 -51.43585786] [ 0.58888224 0.80315798 -0.09030485 -60.50871948] [ 0.30660119 -0.11861481 0.94441846 -17.34680404] [ 0. 0. 0. 1. ]] SLAMing on 129.451652532 meters Centerline goodness [0,1] 0.460406412942839 Centerline is valid? [False, False] Translation: X:-51.44, Y:-60.51, Z:-17.35 [[ 0.74621802 -0.58750716 -0.31303993 -51.43910283] [ 0.59159948 0.80087141 -0.09281723 -60.51014846] [ 0.30523552 -0.11593237 0.94519361 -17.34753958] [ 0. 0. 0. 1. ]] SLAMing on 129.481652532 meters Centerline goodness [0,1] 0.4554286272212459 Centerline is valid? [False, False] Translation: X:-51.46, Y:-60.54, Z:-17.35 [[ 0.74556389 -0.58580465 -0.31775366 -51.45932693] [ 0.59113737 0.80147116 -0.09055714 -60.53546899] [ 0.30771919 -0.12031993 0.94383898 -17.35206293] [ 0. 0. 0. 1. ]] SLAMing on 129.511652532 meters Centerline goodness [0,1] 0.4589702824996943 Centerline is valid? [False, False] Translation: X:-51.48, Y:-60.56, Z:-17.36 [[ 0.74601713 -0.58348155 -0.32094815 -51.48367484] [ 0.58977912 0.80270873 -0.08842676 -60.56418371] [ 0.30922327 -0.12332064 0.9429597 -17.35884776] [ 0. 0. 0. 1. ]] SLAMing on 129.541652532 meters Centerline goodness [0,1] 0.4588623853211009 Centerline is valid? [False, False] Translation: X:-51.50, Y:-60.59, Z:-17.36 [[ 0.74447436 -0.58253875 -0.32620016 -51.50164071] [ 0.59005696 0.80268293 -0.08679221 -60.58628103] [ 0.31239512 -0.1278621 0.9413079 -17.36345474] [ 0. 0. 0. 1. ]] SLAMing on 129.571652532 meters Centerline goodness [0,1] 0.4480173845102061 Centerline is valid? [False, False] Translation: X:-51.52, Y:-60.61, Z:-17.37 [[ 0.74442598 -0.58048875 -0.32994359 -51.5235463 ] [ 0.58906455 0.80362406 -0.08480168 -60.61134629] [ 0.31437703 -0.1312295 0.94018397 -17.37063744] [ 0. 0. 0. 1. ]] SLAMing on 129.601652532 meters Centerline goodness [0,1] 0.4487350846922161 Centerline is valid? [False, False] Translation: X:-51.55, Y:-60.63, Z:-17.38 [[ 0.74850189 -0.57760657 -0.32575386 -51.54541041] [ 0.58338072 0.80712161 -0.09067327 -60.62972507] [ 0.31529646 -0.12216941 0.94109658 -17.37914142] [ 0. 0. 0. 1. ]] SLAMing on 129.631652532 meters Centerline goodness [0,1] 0.4509990022145969 Centerline is valid? [False, False] Translation: X:-51.57, Y:-60.66, Z:-17.39 [[ 0.7499059 -0.57356664 -0.3296399 -51.57106851] [ 0.58083908 0.80936517 -0.08691364 -60.65832783] [ 0.31664982 -0.12629068 0.94009763 -17.38579252] [ 0. 0. 0. 1. ]] SLAMing on 129.661652532 meters Centerline goodness [0,1] 0.4427713041574428 Centerline is valid? [False, False] Translation: X:-51.58, Y:-60.66, Z:-17.39 [[ 0.74964159 -0.57603713 -0.32591212 -51.57760906] [ 0.58223625 0.80812222 -0.08910344 -60.66030246] [ 0.31470372 -0.12296221 0.94119173 -17.38859216] [ 0. 0. 0. 1. ]] SLAMing on 129.691652532 meters Centerline goodness [0,1] 0.4426539824297432 Centerline is valid? [False, False] Translation: X:-51.58, Y:-60.66, Z:-17.39 [[ 0.74856655 -0.57922807 -0.32271187 -51.58258667] [ 0.58444927 0.8062612 -0.09144363 -60.66145565] [ 0.31315678 -0.12015707 0.94206959 -17.38980804] [ 0. 0. 0. 1. ]] SLAMing on 129.721652532 meters Centerline goodness [0,1] 0.4432580990368713 Centerline is valid? [False, False] Translation: X:-51.60, Y:-60.69, Z:-17.40 [[ 0.74834969 -0.57703157 -0.32711971 -51.60348534] [ 0.58360169 0.80717681 -0.08873925 -60.6858729 ] [ 0.31524879 -0.12449962 0.94080712 -17.39567804] [ 0. 0. 0. 1. ]] SLAMing on 129.751652532 meters Centerline goodness [0,1] 0.4436004465369121 Centerline is valid? [False, False] Translation: X:-51.61, Y:-60.69, Z:-17.40 [[ 0.74911119 -0.57623962 -0.32677258 -51.60632122] [ 0.58295062 0.80772969 -0.08798479 -60.687554 ] [ 0.31464423 -0.12458189 0.9409986 -17.39564232] [ 0. 0. 0. 1. ]] SLAMing on 129.781652532 meters Centerline goodness [0,1] 0.4305891457869788 Centerline is valid? [False, False] Translation: X:-51.63, Y:-60.72, Z:-17.40 [[ 0.75000115 -0.57369377 -0.32920165 -51.63173301] [ 0.58171529 0.80898907 -0.08452221 -60.71564076] [ 0.3148104 -0.12810988 0.94046918 -17.40259198] [ 0. 0. 0. 1. ]] SLAMing on 129.811652532 meters Centerline goodness [0,1] 0.438597762798676 Centerline is valid? [False, False] Translation: X:-51.65, Y:-60.74, Z:-17.41 [[ 0.75009142 -0.57093854 -0.33375446 -51.65307861] [ 0.5805818 0.81015522 -0.08107583 -60.74017584] [ 0.31668224 -0.13295749 0.93916701 -17.40818306] [ 0. 0. 0. 1. ]] SLAMing on 129.841652532 meters Centerline goodness [0,1] 0.43519367131349185 Centerline is valid? [False, False] Translation: X:-51.68, Y:-60.76, Z:-17.42 [[ 0.75058147 -0.56900123 -0.33595395 -51.67594641] [ 0.57982159 0.81098815 -0.07813545 -60.76346016] [ 0.31691384 -0.13614633 0.93863187 -17.41748522] [ 0. 0. 0. 1. ]] SLAMing on 129.871652532 meters Centerline goodness [0,1] 0.4368784763188943 Centerline is valid? [False, False] Translation: X:-51.68, Y:-60.77, Z:-17.43 [[ 0.75114571 -0.5715347 -0.3303456 -51.68398974] [ 0.58051595 0.81014447 -0.0816527 -60.76652434] [ 0.31429501 -0.13043781 0.94032155 -17.42554972] [ 0. 0. 0. 1. ]] SLAMing on 129.901652532 meters Centerline goodness [0,1] 0.43173974949923977 Centerline is valid? [False, False] Translation: X:-51.70, Y:-60.79, Z:-17.43 [[ 0.74936965 -0.57085176 -0.3355196 -51.70208635] [ 0.58116454 0.80985628 -0.07987854 -60.78883001] [ 0.31732146 -0.13513354 0.93864052 -17.42948748] [ 0. 0. 0. 1. ]] SLAMing on 129.93165253200002 meters Centerline goodness [0,1] 0.442257785467128 Centerline is valid? [False, False] Translation: X:-51.71, Y:-60.79, Z:-17.43 [[ 0.74842616 -0.57368674 -0.33277892 -51.70704054] [ 0.58313308 0.80824066 -0.08187086 -60.79056976] [ 0.31593368 -0.13278011 0.93944417 -17.42983566] [ 0. 0. 0. 1. ]] SLAMing on 129.96165253200002 meters Centerline goodness [0,1] 0.4391017935279127 Centerline is valid? [False, False] Translation: X:-51.73, Y:-60.82, Z:-17.44 [[ 0.74900119 -0.57165014 -0.33498258 -51.73006554] [ 0.58262106 0.80900521 -0.07786697 -60.81524954] [ 0.31551532 -0.13684545 0.93900128 -17.43731967] [ 0. 0. 0. 1. ]] SLAMing on 129.99165253200002 meters Centerline goodness [0,1] 0.4318896220755849 Centerline is valid? [False, False] Translation: X:-51.76, Y:-60.84, Z:-17.44 [[ 0.74864691 -0.5717199 -0.33565483 -51.75567697] [ 0.58367434 0.80849161 -0.07527005 -60.84130019] [ 0.3144075 -0.13956242 0.93897298 -17.44440521] [ 0. 0. 0. 1. ]] SLAMing on 130.021652532 meters Centerline goodness [0,1] 0.4301991574109536 Centerline is valid? [False, False] Translation: X:-51.78, Y:-60.86, Z:-17.45 [[ 0.74857795 -0.57033769 -0.33815081 -51.7779015 ] [ 0.58346715 0.80888124 -0.07264454 -60.86455161] [ 0.31495576 -0.14291979 0.93828397 -17.45253883] [ 0. 0. 0. 1. ]] SLAMing on 130.051652532 meters Centerline goodness [0,1] 0.43042689332441986 Centerline is valid? [False, False] Translation: X:-51.79, Y:-60.88, Z:-17.46 [[ 0.75304609 -0.56714252 -0.33357301 -51.79461425] [ 0.57796456 0.81246025 -0.07658534 -60.87663164] [ 0.31444961 -0.13512109 0.93960829 -17.46332293] [ 0. 0. 0. 1. ]] SLAMing on 130.081652532 meters Centerline goodness [0,1] 0.43004551628815857 Centerline is valid? [False, False] Translation: X:-51.80, Y:-60.88, Z:-17.46 [[ 0.75385682 -0.56642269 -0.33296431 -51.79785241] [ 0.57728036 0.81299893 -0.07602709 -60.87730625] [ 0.3137631 -0.13490022 0.93986949 -17.4640846 ] [ 0. 0. 0. 1. ]] SLAMing on 130.111652532 meters Centerline goodness [0,1] 0.41609955741683724 Centerline is valid? [False, False] Translation: X:-51.80, Y:-60.88, Z:-17.47 [[ 0.75482876 -0.56553586 -0.33226908 -51.80117507] [ 0.57645298 0.81365172 -0.07531826 -60.87849514] [ 0.31294648 -0.13468511 0.94017255 -17.46507729] [ 0. 0. 0. 1. ]] SLAMing on 130.141652532 meters Centerline goodness [0,1] 0.41745030353529344 Centerline is valid? [False, False] Translation: X:-51.80, Y:-60.88, Z:-17.46 [[ 0.75526666 -0.56504312 -0.33211225 -51.80293507] [ 0.57607282 0.81396947 -0.07479175 -60.87985407] [ 0.3125898 -0.13483313 0.94026999 -17.46477544] [ 0. 0. 0. 1. ]] SLAMing on 130.171652532 meters Centerline goodness [0,1] 0.4226306994509429 Centerline is valid? [False, False] Translation: X:-51.81, Y:-60.88, Z:-17.46 [[ 0.75359327 -0.56882921 -0.32943969 -51.80544189] [ 0.5788789 0.81173205 -0.07739702 -60.88151306] [ 0.31144244 -0.13237981 0.94099904 -17.46478237] [ 0. 0. 0. 1. ]] SLAMing on 130.201652532 meters Centerline goodness [0,1] 0.4226659033443061 Centerline is valid? [False, False] Translation: X:-51.81, Y:-60.88, Z:-17.46 [[ 0.75450663 -0.56779203 -0.32913819 -51.80874935] [ 0.57804549 0.81242003 -0.07640094 -60.88360723] [ 0.31077831 -0.13261183 0.94118592 -17.46450915] [ 0. 0. 0. 1. ]] SLAMing on 130.231652532 meters Centerline goodness [0,1] 0.4170546318289786 Centerline is valid? [False, False] Translation: X:-51.81, Y:-60.88, Z:-17.47 [[ 0.75547783 -0.56682685 -0.32857353 -51.81247079] [ 0.5771611 0.81311669 -0.07567244 -60.88432582] [ 0.31006179 -0.13247102 0.94144204 -17.46528261] [ 0. 0. 0. 1. ]] SLAMing on 130.261652532 meters Centerline goodness [0,1] 0.4194598189894767 Centerline is valid? [False, False] Translation: X:-51.81, Y:-60.88, Z:-17.47 [[ 0.75605885 -0.56629747 -0.32814965 -51.81463623] [ 0.57669997 0.81349247 -0.07514748 -60.88496116] [ 0.3095031 -0.13242798 0.94163191 -17.46591935] [ 0. 0. 0. 1. ]] SLAMing on 130.291652532 meters Centerline goodness [0,1] 0.4235967600180527 Centerline is valid? [False, False] Translation: X:-51.82, Y:-60.89, Z:-17.47 [[ 0.75408655 -0.57046619 -0.3254563 -51.81623253] [ 0.57983335 0.81098928 -0.07803639 -60.88595939] [ 0.30845869 -0.12986423 0.94233143 -17.466193 ] [ 0. 0. 0. 1. ]] SLAMing on 130.321652532 meters Centerline goodness [0,1] 0.42193952627331843 Centerline is valid? [False, False] Translation: X:-51.82, Y:-60.89, Z:-17.47 [[ 0.75254417 -0.57414178 -0.32254998 -51.81966955] [ 0.58250369 0.80881646 -0.08065591 -60.88675673] [ 0.30719166 -0.12718942 0.94310982 -17.46685542] [ 0. 0. 0. 1. ]] SLAMing on 130.351652532 meters Centerline goodness [0,1] 0.42313073584860916 Centerline is valid? [False, False] Translation: X:-51.84, Y:-60.91, Z:-17.47 [[ 0.75214178 -0.57337257 -0.32484865 -51.84302876] [ 0.58245256 0.80898638 -0.07930984 -60.91454315] [ 0.30827222 -0.12955668 0.94243477 -17.47400719] [ 0. 0. 0. 1. ]] SLAMing on 130.381652532 meters Centerline goodness [0,1] 0.422956645344705 Centerline is valid? [False, False] Translation: X:-51.85, Y:-60.92, Z:-17.47 [[ 0.75070366 -0.57693837 -0.321848 -51.84681378] [ 0.5850117 0.80688174 -0.08187284 -60.91540718] [ 0.30692886 -0.1268226 0.94324477 -17.47484583] [ 0. 0. 0. 1. ]] SLAMing on 130.411652532 meters Centerline goodness [0,1] 0.41571735182433545 Centerline is valid? [False, False] Translation: X:-51.87, Y:-60.94, Z:-17.49 [[ 0.75379812 -0.57138646 -0.32450873 -51.87437351] [ 0.58087199 0.8103014 -0.07745563 -60.94394699] [ 0.30720697 -0.13011212 0.94270606 -17.48505268] [ 0. 0. 0. 1. ]] SLAMing on 130.441652532 meters Centerline goodness [0,1] 0.41648620657188584 Centerline is valid? [False, False] Translation: X:-51.88, Y:-60.94, Z:-17.49 [[ 0.75483544 -0.57032638 -0.32396185 -51.87896431] [ 0.57995516 0.81104641 -0.07652277 -60.94485328] [ 0.30639105 -0.13012124 0.9429703 -17.48542346] [ 0. 0. 0. 1. ]] SLAMing on 130.471652532 meters Centerline goodness [0,1] 0.4180225869315114 Centerline is valid? [False, False] Translation: X:-51.88, Y:-60.95, Z:-17.48 [[ 0.75519325 -0.56985984 -0.32394893 -51.88076458] [ 0.57960925 0.81133917 -0.07603858 -60.94610682] [ 0.30616379 -0.13033998 0.9430139 -17.4846423 ] [ 0. 0. 0. 1. ]] SLAMing on 130.501652532 meters Centerline goodness [0,1] 0.41641244661378884 Centerline is valid? [False, False] Translation: X:-51.88, Y:-60.95, Z:-17.48 [[ 0.75559542 -0.56940047 -0.32381888 -51.88263556] [ 0.57924433 0.81164231 -0.07558286 -60.94732958] [ 0.30586202 -0.13046019 0.9430952 -17.4841252 ] [ 0. 0. 0. 1. ]] SLAMing on 130.531652532 meters Centerline goodness [0,1] 0.41861119579747197 Centerline is valid? [False, False] Translation: X:-51.89, Y:-60.95, Z:-17.49 [[ 0.75585859 -0.57101199 -0.32034841 -51.88979007] [ 0.57992211 0.81099974 -0.0772642 -60.95154151] [ 0.30392126 -0.12737632 0.9441436 -17.486161 ] [ 0. 0. 0. 1. ]] SLAMing on 130.561652532 meters Centerline goodness [0,1] 0.41655149797381186 Centerline is valid? [False, False] Translation: X:-51.89, Y:-60.95, Z:-17.49 [[ 0.7564536 -0.57037702 -0.320075 -51.89219471] [ 0.57937911 0.8114402 -0.07671149 -60.95266528] [ 0.30347619 -0.12741609 0.94428139 -17.48605471] [ 0. 0. 0. 1. ]] SLAMing on 130.591652532 meters Centerline goodness [0,1] 0.41655149797381186 Centerline is valid? [False, False] Translation: X:-51.89, Y:-60.95, Z:-17.49 [[ 0.7564536 -0.57037702 -0.320075 -51.89219471] [ 0.57937911 0.8114402 -0.07671149 -60.95266528] [ 0.30347619 -0.12741609 0.94428139 -17.48605471] [ 0. 0. 0. 1. ]] SLAMing on 130.621652532 meters Centerline goodness [0,1] 0.4133788332086762 Centerline is valid? [False, False] Translation: X:-51.90, Y:-60.95, Z:-17.49 [[ 0.75540876 -0.57323726 -0.31742189 -51.89717571] [ 0.58142623 0.80978313 -0.07870722 -60.95470621] [ 0.3021608 -0.12510129 0.94501244 -17.4857776 ] [ 0. 0. 0. 1. ]] SLAMing on 130.651652532 meters Centerline goodness [0,1] 0.41287533590372705 Centerline is valid? [False, False] Translation: X:-51.90, Y:-60.96, Z:-17.49 [[ 0.75426745 -0.57634229 -0.31449989 -51.90208656] [ 0.58360133 0.80798688 -0.08103506 -60.95529602] [ 0.30081572 -0.12242045 0.94579233 -17.48655127] [ 0. 0. 0. 1. ]] SLAMing on 130.68165253200002 meters Centerline goodness [0,1] 0.4034908075401443 Centerline is valid? [False, False] Translation: X:-51.93, Y:-60.98, Z:-17.50 [[ 0.75761445 -0.56958779 -0.31873201 -51.92773619] [ 0.57857451 0.81208316 -0.07597682 -60.98102071] [ 0.30211236 -0.12684908 0.94479491 -17.49637654] [ 0. 0. 0. 1. ]] SLAMing on 130.71165253200002 meters Centerline goodness [0,1] 0.41278434835141853 Centerline is valid? [False, False] Translation: X:-51.95, Y:-61.00, Z:-17.50 [[ 0.75672483 -0.56807398 -0.32351118 -51.94651832] [ 0.57839194 0.81242538 -0.07367341 -61.00305667] [ 0.30468064 -0.13136576 0.94335187 -17.50194953] [ 0. 0. 0. 1. ]] SLAMing on 130.74165253200002 meters Centerline goodness [0,1] 0.4187863751246319 Centerline is valid? [False, False] Translation: X:-51.97, Y:-61.03, Z:-17.51 [[ 0.7563384 -0.5671988 -0.32594134 -51.96888366] [ 0.57830349 0.81262265 -0.07217696 -61.02848103] [ 0.305806 -0.1339028 0.94263075 -17.50969483] [ 0. 0. 0. 1. ]] SLAMing on 130.771652532 meters Centerline goodness [0,1] 0.4103955116613345 Centerline is valid? [False, False] Translation: X:-51.99, Y:-61.05, Z:-17.52 [[ 0.7560001 -0.5658568 -0.32904396 -51.98999194] [ 0.57801342 0.81300995 -0.07010919 -61.05376628] [ 0.30718778 -0.13718927 0.94170843 -17.51660471] [ 0. 0. 0. 1. ]] SLAMing on 130.801652532 meters Centerline goodness [0,1] 0.4106700039398363 Centerline is valid? [False, False] Translation: X:-52.02, Y:-61.09, Z:-17.53 [[ 0.75670571 -0.56517794 -0.32858843 -52.01721389] [ 0.57763439 0.81339007 -0.06881216 -61.08506185] [ 0.30616168 -0.13773342 0.94196313 -17.52622106] [ 0. 0. 0. 1. ]] SLAMing on 130.831652532 meters Centerline goodness [0,1] 0.41655868196964085 Centerline is valid? [False, False] Translation: X:-52.04, Y:-61.11, Z:-17.53 [[ 0.75595572 -0.56517969 -0.33030724 -52.03985788] [ 0.57813506 0.81309293 -0.0681157 -61.11099363] [ 0.30706809 -0.13946974 0.94141244 -17.53454425] [ 0. 0. 0. 1. ]] SLAMing on 130.861652532 meters Centerline goodness [0,1] 0.4173999170774405 Centerline is valid? [False, False] Translation: X:-52.07, Y:-61.14, Z:-17.55 [[ 0.75882621 -0.56076919 -0.33124116 -52.06839647] [ 0.57449747 0.81590668 -0.06518389 -61.14029474] [ 0.306815 -0.14083397 0.94129185 -17.54669858] [ 0. 0. 0. 1. ]] SLAMing on 130.891652532 meters Centerline goodness [0,1] 0.39984790524035585 Centerline is valid? [False, False] Translation: X:-52.08, Y:-61.15, Z:-17.55 [[ 0.75979464 -0.56263504 -0.3258127 -52.07700606] [ 0.5747729 0.81549291 -0.06787801 -61.14721681] [ 0.30388849 -0.13569496 0.94299452 -17.55323955] [ 0. 0. 0. 1. ]] SLAMing on 130.921652532 meters Centerline goodness [0,1] 0.4084373773972445 Centerline is valid? [False, False] Translation: X:-52.10, Y:-61.17, Z:-17.56 [[ 0.75773021 -0.56491297 -0.3266776 -52.09857662] [ 0.57684656 0.81389528 -0.06944441 -61.17337569] [ 0.30511141 -0.13582272 0.94258115 -17.5616474 ] [ 0. 0. 0. 1. ]] SLAMing on 130.951652532 meters Centerline goodness [0,1] 0.4094539075843604 Centerline is valid? [False, False] Translation: X:-52.12, Y:-61.20, Z:-17.57 [[ 0.75707864 -0.56482467 -0.32833676 -52.12102136] [ 0.57721957 0.81368564 -0.06879862 -61.19944834] [ 0.30602207 -0.13743644 0.94205187 -17.57021778] [ 0. 0. 0. 1. ]] SLAMing on 130.981652532 meters Centerline goodness [0,1] 0.4090783410138249 Centerline is valid? [False, False] Translation: X:-52.15, Y:-61.23, Z:-17.58 [[ 0.75826545 -0.56311318 -0.32853775 -52.1480802 ] [ 0.57587971 0.81475488 -0.06735762 -61.22840322] [ 0.3056077 -0.13812327 0.94208593 -17.58116347] [ 0. 0. 0. 1. ]] SLAMing on 131.011652532 meters Centerline goodness [0,1] 0.40909403748652184 Centerline is valid? [False, False] Translation: X:-52.15, Y:-61.23, Z:-17.59 [[ 0.76029697 -0.56173265 -0.32619771 -52.15429733] [ 0.57426583 0.81595288 -0.06663074 -61.23140965] [ 0.30359062 -0.13666504 0.94295037 -17.58565785] [ 0. 0. 0. 1. ]] SLAMing on 131.041652532 meters Centerline goodness [0,1] 0.40837093655032697 Centerline is valid? [False, False] Translation: X:-52.19, Y:-61.26, Z:-17.60 [[ 0.76220508 -0.56017482 -0.32441885 -52.18534586] [ 0.57281643 0.81709607 -0.06507961 -61.2639439 ] [ 0.30153733 -0.13622844 0.94367211 -17.5972031 ] [ 0. 0. 0. 1. ]] SLAMing on 131.071652532 meters Centerline goodness [0,1] 0.41565085144134384 Centerline is valid? [False, False] Translation: X:-52.21, Y:-61.29, Z:-17.61 [[ 0.76177131 -0.56135787 -0.32339111 -52.2116623 ] [ 0.57378884 0.81637917 -0.06550889 -61.29371058] [ 0.3007837 -0.13565541 0.94399512 -17.60692435] [ 0. 0. 0. 1. ]] SLAMing on 131.101652532 meters Centerline goodness [0,1] 0.4129425287356322 Centerline is valid? [False, False] Translation: X:-52.24, Y:-61.32, Z:-17.61 [[ 0.76547862 -0.55799995 -0.32043492 -52.23622307] [ 0.56730334 0.82025288 -0.07315833 -61.31662999] [ 0.30366001 -0.12578267 0.94444127 -17.61437887] [ 0. 0. 0. 1. ]] SLAMing on 131.131652532 meters Centerline goodness [0,1] 0.40660173657371246 Centerline is valid? [False, False] Translation: X:-52.26, Y:-61.35, Z:-17.63 [[ 0.7683816 -0.55365319 -0.32102627 -52.26494179] [ 0.56372378 0.82298597 -0.07006851 -61.34706537] [ 0.30299378 -0.12713079 0.94447474 -17.62568147] [ 0. 0. 0. 1. ]] SLAMing on 131.161652532 meters Centerline goodness [0,1] 0.4115932047750229 Centerline is valid? [False, False] Translation: X:-52.29, Y:-61.38, Z:-17.64 [[ 0.76975259 -0.55182801 -0.32088439 -52.29266477] [ 0.5623793 0.82407034 -0.06809984 -61.37679133] [ 0.30201071 -0.12803872 0.94466694 -17.63584376] [ 0. 0. 0. 1. ]] SLAMing on 131.191652532 meters Centerline goodness [0,1] 0.41542208538210557 Centerline is valid? [False, False] Translation: X:-52.32, Y:-61.40, Z:-17.65 [[ 0.76975843 -0.5517478 -0.32100829 -52.3181133 ] [ 0.56246911 0.82404967 -0.06760651 -61.40450916] [ 0.30182852 -0.12851657 0.94466028 -17.64592842] [ 0. 0. 0. 1. ]] SLAMing on 131.221652532 meters Centerline goodness [0,1] 0.4207449012476405 Centerline is valid? [False, False] Translation: X:-52.34, Y:-61.43, Z:-17.65 [[ 0.77265674 -0.54885727 -0.31899414 -52.34170208] [ 0.55650224 0.82739377 -0.07566247 -61.42677737] [ 0.30546166 -0.11905983 0.94473167 -17.65235106] [ 0. 0. 0. 1. ]] SLAMing on 131.251652532 meters Centerline goodness [0,1] 0.4108500345542502 Centerline is valid? [False, False] Translation: X:-52.37, Y:-61.45, Z:-17.66 [[ 0.77228282 -0.5484638 -0.32057247 -52.36518591] [ 0.55649525 0.82745474 -0.07504467 -61.45416057] [ 0.30641849 -0.12044135 0.94424657 -17.66091202] [ 0. 0. 0. 1. ]] SLAMing on 131.281652532 meters Centerline goodness [0,1] 0.41700107775917816 Centerline is valid? [False, False] Translation: X:-52.38, Y:-61.46, Z:-17.67 [[ 0.77330987 -0.5505064 -0.31453862 -52.375047 ] [ 0.55613015 0.82718987 -0.08047466 -61.45994879] [ 0.30448498 -0.11269256 0.9458273 -17.67045299] [ 0. 0. 0. 1. ]] SLAMing on 131.311652532 meters Centerline goodness [0,1] 0.4204221466016739 Centerline is valid? [False, False] Translation: X:-52.39, Y:-61.48, Z:-17.68 [[ 0.7722768 -0.54926033 -0.31922035 -52.39351146] [ 0.55589285 0.82749489 -0.07896418 -61.48156131] [ 0.3075251 -0.1164701 0.944385 -17.67704528] [ 0. 0. 0. 1. ]] SLAMing on 131.341652532 meters Centerline goodness [0,1] 0.4215704303052593 Centerline is valid? [False, False] Translation: X:-52.42, Y:-61.51, Z:-17.69 [[ 0.77178894 -0.54937705 -0.3201979 -52.41861683] [ 0.55647037 0.82720051 -0.0779746 -61.51008517] [ 0.30770532 -0.11800071 0.94413625 -17.68501389] [ 0. 0. 0. 1. ]] SLAMing on 131.371652532 meters Centerline goodness [0,1] 0.42217479115028 Centerline is valid? [False, False] Translation: X:-52.44, Y:-61.54, Z:-17.69 [[ 0.7713336 -0.54962331 -0.32087176 -52.44470725] [ 0.55694869 0.82691423 -0.07759518 -61.5398577 ] [ 0.30798155 -0.11885734 0.94393872 -17.69300224] [ 0. 0. 0. 1. ]] SLAMing on 131.401652532 meters Centerline goodness [0,1] 0.415332017805516 Centerline is valid? [False, False] Translation: X:-52.47, Y:-61.57, Z:-17.70 [[ 0.77227424 -0.54793571 -0.32149487 -52.47104955] [ 0.55577782 0.82785904 -0.07589744 -61.56820263] [ 0.30773935 -0.12006608 0.94386473 -17.7031278 ] [ 0. 0. 0. 1. ]] SLAMing on 131.43165253200002 meters Centerline goodness [0,1] 0.41933491903759945 Centerline is valid? [False, False] Translation: X:-52.50, Y:-61.60, Z:-17.71 [[ 0.77394234 -0.54495571 -0.32254694 -52.49743684] [ 0.55366804 0.82953045 -0.07301331 -61.59646948] [ 0.30735152 -0.12207584 0.94373329 -17.71342637] [ 0. 0. 0. 1. ]] SLAMing on 131.46165253200002 meters Centerline goodness [0,1] 0.41590137410842465 Centerline is valid? [False, False] Translation: X:-52.52, Y:-61.62, Z:-17.72 [[ 0.77495126 -0.54298792 -0.3234419 -52.52315191] [ 0.55265174 0.83046403 -0.07003969 -61.62473389] [ 0.30663757 -0.12447338 0.94365236 -17.72222998] [ 0. 0. 0. 1. ]] SLAMing on 131.49165253200002 meters Centerline goodness [0,1] 0.4111816562371534 Centerline is valid? [False, False] Translation: X:-52.55, Y:-61.66, Z:-17.73 [[ 0.772751 -0.54714787 -0.32169101 -52.54871344] [ 0.55596321 0.82801149 -0.07281395 -61.65626685] [ 0.30620385 -0.12258131 0.94404079 -17.73139488] [ 0. 0. 0. 1. ]] SLAMing on 131.521652532 meters Centerline goodness [0,1] 0.4226955227298752 Centerline is valid? [False, False] Translation: X:-52.57, Y:-61.68, Z:-17.74 [[ 0.77322616 -0.5459756 -0.32253984 -52.57408643] [ 0.55496659 0.82871791 -0.07237889 -61.68420265] [ 0.30681165 -0.12303359 0.94378459 -17.74181734] [ 0. 0. 0. 1. ]] SLAMing on 131.551652532 meters Centerline goodness [0,1] 0.4117997343227521 Centerline is valid? [False, False] Translation: X:-52.60, Y:-61.71, Z:-17.75 [[ 0.77510283 -0.54359523 -0.32205564 -52.60229461] [ 0.55291661 0.83023787 -0.0706279 -61.71382605] [ 0.30577578 -0.12332603 0.94408255 -17.75397579] [ 0. 0. 0. 1. ]] SLAMing on 131.581652532 meters Centerline goodness [0,1] 0.42270918157280757 Centerline is valid? [False, False] Translation: X:-52.63, Y:-61.75, Z:-17.77 [[ 0.7770177 -0.54164122 -0.32073086 -52.63195645] [ 0.55131188 0.83147878 -0.06854373 -61.74507698] [ 0.30380702 -0.12356304 0.94468697 -17.76616155] [ 0. 0. 0. 1. ]] SLAMing on 131.611652532 meters Centerline goodness [0,1] 0.4239922960517265 Centerline is valid? [False, False] Translation: X:-52.65, Y:-61.77, Z:-17.77 [[ 0.77330308 -0.54493778 -0.3241067 -52.64928526] [ 0.5549444 0.82896182 -0.06970668 -61.76699681] [ 0.30665788 -0.12595681 0.9434489 -17.77027062] [ 0. 0. 0. 1. ]] SLAMing on 131.641652532 meters Centerline goodness [0,1] 0.411832148589773 Centerline is valid? [False, False] Translation: X:-52.68, Y:-61.80, Z:-17.78 [[ 0.77344295 -0.54528656 -0.32318503 -52.67683637] [ 0.55505516 0.82885347 -0.07011201 -61.79715688] [ 0.30610417 -0.12515788 0.94373499 -17.78142085] [ 0. 0. 0. 1. ]] SLAMing on 131.671652532 meters Centerline goodness [0,1] 0.4117996526825701 Centerline is valid? [False, False] Translation: X:-52.70, Y:-61.82, Z:-17.79 [[ 0.77492892 -0.54304569 -0.32339845 -52.7036267 ] [ 0.55332484 0.83017414 -0.06813597 -61.82438641] [ 0.30547797 -0.12614386 0.94380662 -17.79304741] [ 0. 0. 0. 1. ]] SLAMing on 131.701652532 meters Centerline goodness [0,1] 0.4143558142188748 Centerline is valid? [False, False] Translation: X:-52.73, Y:-61.85, Z:-17.81 [[ 0.77758409 -0.53940192 -0.32312313 -52.73310852] [ 0.5499433 0.83255812 -0.06640284 -61.85344272] [ 0.30483661 -0.1260656 0.94402442 -17.80681735] [ 0. 0. 0. 1. ]] SLAMing on 131.731652532 meters Centerline goodness [0,1] 0.4097807757166948 Centerline is valid? [False, False] Translation: X:-52.76, Y:-61.88, Z:-17.82 [[ 0.77574081 -0.54308359 -0.32138203 -52.75836485] [ 0.55337835 0.83021455 -0.06720267 -61.88122988] [ 0.30331271 -0.12571401 0.94456201 -17.81555264] [ 0. 0. 0. 1. ]] SLAMing on 131.761652532 meters Centerline goodness [0,1] 0.4191473345651132 Centerline is valid? [False, False] Translation: X:-52.77, Y:-61.89, Z:-17.82 [[ 0.77649557 -0.54579071 -0.31490814 -52.76951887] [ 0.55358086 0.82960408 -0.07283748 -61.88861976] [ 0.3010031 -0.11776914 0.94632318 -17.82357781] [ 0. 0. 0. 1. ]] SLAMing on 131.791652532 meters Centerline goodness [0,1] 0.41126151746103967 Centerline is valid? [False, False] Translation: X:-52.78, Y:-61.90, Z:-17.83 [[ 0.77859384 -0.54613005 -0.3090851 -52.78034364] [ 0.5521485 0.83026241 -0.07613382 -61.8958644 ] [ 0.29820071 -0.11138355 0.94798209 -17.8326351 ] [ 0. 0. 0. 1. ]] SLAMing on 131.821652532 meters Centerline goodness [0,1] 0.41282260625028344 Centerline is valid? [False, False] Translation: X:-52.79, Y:-61.90, Z:-17.84 [[ 0.78132859 -0.54459083 -0.30487122 -52.79155031] [ 0.54952601 0.83186301 -0.07762156 -61.90345751] [ 0.29588308 -0.10688672 0.94922518 -17.83916061] [ 0. 0. 0. 1. ]] SLAMing on 131.851652532 meters Centerline goodness [0,1] 0.41119001311683023 Centerline is valid? [False, False] Translation: X:-52.82, Y:-61.93, Z:-17.85 [[ 0.7814184 -0.54441956 -0.30494692 -52.8180001 ] [ 0.55022179 0.83165917 -0.07482644 -61.93285943] [ 0.29434888 -0.10931769 0.94942529 -17.8459548 ] [ 0. 0. 0. 1. ]] SLAMing on 131.881652532 meters Centerline goodness [0,1] 0.40492893998370594 Centerline is valid? [False, False] Translation: X:-52.84, Y:-61.96, Z:-17.85 [[ 0.78148069 -0.54271677 -0.3078091 -52.84052224] [ 0.54957012 0.83231882 -0.07223616 -61.95859113] [ 0.29539909 -0.11271152 0.948702 -17.85277901] [ 0. 0. 0. 1. ]] SLAMing on 131.911652532 meters Centerline goodness [0,1] 0.41054874317187606 Centerline is valid? [False, False] Translation: X:-52.86, Y:-61.99, Z:-17.86 [[ 0.78079182 -0.5434941 -0.3081855 -52.86495811] [ 0.55066254 0.83165664 -0.07154025 -61.98587527] [ 0.29518622 -0.11384817 0.94863254 -17.86076176] [ 0. 0. 0. 1. ]] SLAMing on 131.941652532 meters Centerline goodness [0,1] 0.41072438202501305 Centerline is valid? [False, False] Translation: X:-52.89, Y:-62.02, Z:-17.87 [[ 0.78291566 -0.54104048 -0.30711279 -52.89416301] [ 0.54862739 0.83319524 -0.0692364 -62.01665167] [ 0.29334461 -0.11428423 0.94915123 -17.87267983] [ 0. 0. 0. 1. ]] SLAMing on 131.971652532 meters Centerline goodness [0,1] 0.4099534631545656 Centerline is valid? [False, False] Translation: X:-52.92, Y:-62.04, Z:-17.88 [[ 0.7823101 -0.54122643 -0.30832589 -52.9176165 ] [ 0.54930894 0.83283328 -0.06817934 -62.0422769 ] [ 0.29368452 -0.11602878 0.9488344 -17.88089123] [ 0. 0. 0. 1. ]] SLAMing on 132.001652532 meters Centerline goodness [0,1] 0.39295245849730853 Centerline is valid? [False, False] Translation: X:-52.94, Y:-62.07, Z:-17.89 [[ 0.78222448 -0.54097196 -0.30898901 -52.94258384] [ 0.54939169 0.83284884 -0.06731708 -62.06968042] [ 0.2937578 -0.11709892 0.94868024 -17.88983648] [ 0. 0. 0. 1. ]] SLAMing on 132.031652532 meters Centerline goodness [0,1] 0.4110092575785079 Centerline is valid? [False, False] Translation: X:-52.97, Y:-62.10, Z:-17.90 [[ 0.78073788 -0.54411359 -0.30722754 -52.96905119] [ 0.55188964 0.83103171 -0.06931182 -62.10087822] [ 0.29302933 -0.11544133 0.94910859 -17.89944719] [ 0. 0. 0. 1. ]] SLAMing on 132.061652532 meters Centerline goodness [0,1] 0.41324283833477093 Centerline is valid? [False, False] Translation: X:-52.99, Y:-62.13, Z:-17.91 [[ 0.7810742 -0.54340395 -0.30762841 -52.99478506] [ 0.55138834 0.8314187 -0.06865749 -62.12870638] [ 0.29307676 -0.11599612 0.9490263 -17.90950279] [ 0. 0. 0. 1. ]] SLAMing on 132.091652532 meters Centerline goodness [0,1] 0.4174893897097206 Centerline is valid? [False, False] Translation: X:-53.02, Y:-62.16, Z:-17.92 [[ 0.78245793 -0.54160174 -0.30729 -53.02243567] [ 0.54998056 0.83249699 -0.0668592 -62.15729944] [ 0.29202906 -0.11668902 0.9492643 -17.92060551] [ 0. 0. 0. 1. ]] SLAMing on 132.121652532 meters Centerline goodness [0,1] 0.41279636982416335 Centerline is valid? [False, False] Translation: X:-53.05, Y:-62.19, Z:-17.93 [[ 0.78275313 -0.54156 -0.306611 -53.04957418] [ 0.5500682 0.83249654 -0.0661399 -62.18825811] [ 0.29107132 -0.11688574 0.94953421 -17.93038606] [ 0. 0. 0. 1. ]] SLAMing on 132.151652532 meters Centerline goodness [0,1] 0.41400345989256127 Centerline is valid? [False, False] Translation: X:-53.08, Y:-62.22, Z:-17.94 [[ 0.7828315 -0.54180657 -0.30597464 -53.07576574] [ 0.55034526 0.83233882 -0.06581929 -62.21793609] [ 0.29033589 -0.11686628 0.94976173 -17.94023885] [ 0. 0. 0. 1. ]] SLAMing on 132.18165253200002 meters Centerline goodness [0,1] 0.4146475017111567 Centerline is valid? [False, False] Translation: X:-53.10, Y:-62.24, Z:-17.95 [[ 0.78094333 -0.54404852 -0.30682034 -53.09778301] [ 0.55252926 0.83080947 -0.06683593 -62.24493605] [ 0.29127123 -0.11733214 0.94941784 -17.94771829] [ 0. 0. 0. 1. ]] SLAMing on 132.21165253200002 meters Centerline goodness [0,1] 0.42040489534484726 Centerline is valid? [False, False] Translation: X:-53.12, Y:-62.28, Z:-17.96 [[ 0.78137603 -0.54352874 -0.30663988 -53.12442578] [ 0.55210206 0.83113248 -0.06634842 -62.27586463] [ 0.29092064 -0.11745345 0.94951033 -17.95806744] [ 0. 0. 0. 1. ]] SLAMing on 132.24165253200002 meters Centerline goodness [0,1] 0.4110323956255588 Centerline is valid? [False, False] Translation: X:-53.15, Y:-62.30, Z:-17.96 [[ 0.77986529 -0.54453457 -0.30869441 -53.14580244] [ 0.55360057 0.83017536 -0.06584284 -62.30171329] [ 0.2921242 -0.11954485 0.94887959 -17.96451602] [ 0. 0. 0. 1. ]] SLAMing on 132.271652532 meters Centerline goodness [0,1] 0.41828210468496096 Centerline is valid? [False, False] Translation: X:-53.16, Y:-62.31, Z:-17.97 [[ 7.78843126e-01 -5.49440324e-01 -3.02520602e-01 -5.31556273e+01] [ 5.59666982e-01 8.26523203e-01 -6.02682728e-02 -6.23112489e+01] [ 2.83154116e-01 -1.22371262e-01 9.51235523e-01 -1.79745255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.301652532 meters Centerline goodness [0,1] 0.4190458648001474 Centerline is valid? [False, False] Translation: X:-53.18, Y:-62.34, Z:-17.98 [[ 7.79650879e-01 -5.48181587e-01 -3.02723397e-01 -5.31824054e+01] [ 5.58452485e-01 8.27367120e-01 -5.99539029e-02 -6.23433151e+01] [ 2.83329010e-01 -1.22313520e-01 9.51190872e-01 -1.79846501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.331652532 meters Centerline goodness [0,1] 0.41862772240679214 Centerline is valid? [False, False] Translation: X:-53.21, Y:-62.37, Z:-17.99 [[ 7.78081830e-01 -5.50265351e-01 -3.02979718e-01 -5.32050843e+01] [ 5.60378890e-01 8.25984917e-01 -6.10280047e-02 -6.23703677e+01] [ 2.83838273e-01 -1.22298656e-01 9.51040942e-01 -1.79929569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.361652532 meters Centerline goodness [0,1] 0.4190744764458416 Centerline is valid? [False, False] Translation: X:-53.23, Y:-62.40, Z:-18.00 [[ 7.76969121e-01 -5.51354340e-01 -3.03854203e-01 -5.32275175e+01] [ 5.61648154e-01 8.25120676e-01 -6.10509704e-02 -6.23972409e+01] [ 2.84377103e-01 -1.23224433e-01 9.50760434e-01 -1.80010535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.391652532 meters Centerline goodness [0,1] 0.4227940323441379 Centerline is valid? [False, False] Translation: X:-53.25, Y:-62.43, Z:-18.01 [[ 0.775703 -0.55345576 -0.30326817 -53.25285395] [ 0.5633874 0.82383087 -0.06242872 -62.42865271] [ 0.28439321 -0.12243132 0.95085807 -18.00966281] [ 0. 0. 0. 1. ]] SLAMing on 132.421652532 meters Centerline goodness [0,1] 0.4243374445450956 Centerline is valid? [False, False] Translation: X:-53.27, Y:-62.45, Z:-18.02 [[ 7.74389640e-01 -5.54053797e-01 -3.05524263e-01 -5.32742617e+01] [ 5.64368826e-01 8.23167692e-01 -6.23119526e-02 -6.24547606e+01] [ 2.86021877e-01 -1.24174639e-01 9.50143223e-01 -1.80165535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.451652532 meters Centerline goodness [0,1] 0.4243374445450956 Centerline is valid? [False, False] Translation: X:-53.30, Y:-62.48, Z:-18.03 [[ 7.73887735e-01 -5.53982240e-01 -3.06922548e-01 -5.32973530e+01] [ 5.64612746e-01 8.23031612e-01 -6.18984064e-02 -6.24796478e+01] [ 2.86897577e-01 -1.25389965e-01 9.49719504e-01 -1.80252417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.481652532 meters Centerline goodness [0,1] 0.4251375547887718 Centerline is valid? [False, False] Translation: X:-53.31, Y:-62.50, Z:-18.03 [[ 0.77043719 -0.55679437 -0.31049407 -53.31432806] [ 0.56790743 0.82071021 -0.06257713 -62.50125093] [ 0.28966825 -0.12812015 0.94851333 -18.02934434] [ 0. 0. 0. 1. ]] SLAMing on 132.511652532 meters Centerline goodness [0,1] 0.42563465460256444 Centerline is valid? [False, False] Translation: X:-53.34, Y:-62.53, Z:-18.04 [[ 0.76870871 -0.55878615 -0.31119922 -53.33742717] [ 0.56983978 0.81929634 -0.06353049 -62.53195758] [ 0.29046434 -0.12849726 0.94821881 -18.0362273 ] [ 0. 0. 0. 1. ]] SLAMing on 132.541652532 meters Centerline goodness [0,1] 0.42940084150153957 Centerline is valid? [False, False] Translation: X:-53.36, Y:-62.56, Z:-18.04 [[ 0.76713223 -0.5601038 -0.31271691 -53.35881185] [ 0.57155915 0.81812148 -0.06322493 -62.55876758] [ 0.29125295 -0.13023433 0.94773981 -18.04267959] [ 0. 0. 0. 1. ]] SLAMing on 132.571652532 meters Centerline goodness [0,1] 0.4290260230058458 Centerline is valid? [False, False] Translation: X:-53.37, Y:-62.58, Z:-18.05 [[ 0.76296337 -0.56398547 -0.31592289 -53.37484731] [ 0.57584522 0.81502618 -0.06430087 -62.58090014] [ 0.29375018 -0.13286348 0.94660347 -18.04588794] [ 0. 0. 0. 1. ]] SLAMing on 132.601652532 meters Centerline goodness [0,1] 0.4309099092696562 Centerline is valid? [False, False] Translation: X:-53.39, Y:-62.61, Z:-18.05 [[ 0.76058469 -0.56597589 -0.31809153 -53.39445368] [ 0.5782606 0.8133041 -0.06442911 -62.60607906] [ 0.29517047 -0.134936 0.94586821 -18.05219286] [ 0. 0. 0. 1. ]] SLAMing on 132.631652532 meters Centerline goodness [0,1] 0.42861544295397447 Centerline is valid? [False, False] Translation: X:-53.40, Y:-62.61, Z:-18.05 [[ 0.75948172 -0.56893665 -0.315434 -53.39884284] [ 0.58037708 0.81162747 -0.06650784 -62.60695374] [ 0.29385365 -0.13255918 0.94661402 -18.05269433] [ 0. 0. 0. 1. ]] SLAMing on 132.661652532 meters Centerline goodness [0,1] 0.4292997557563254 Centerline is valid? [False, False] Translation: X:-53.40, Y:-62.61, Z:-18.05 [[ 0.75841231 -0.57176636 -0.31288018 -53.40321299] [ 0.58241717 0.81000218 -0.06845958 -62.60846542] [ 0.29257651 -0.1303062 0.94732216 -18.05276057] [ 0. 0. 0. 1. ]] SLAMing on 132.691652532 meters Centerline goodness [0,1] 0.4304418206055989 Centerline is valid? [False, False] Translation: X:-53.41, Y:-62.61, Z:-18.05 [[ 0.75739021 -0.57458836 -0.31017462 -53.40751154] [ 0.58442192 0.80838547 -0.07045528 -62.61036404] [ 0.29122344 -0.1279107 0.94806527 -18.05300454] [ 0. 0. 0. 1. ]] SLAMing on 132.721652532 meters Centerline goodness [0,1] 0.442990832696715 Centerline is valid? [False, False] Translation: X:-53.41, Y:-62.61, Z:-18.05 [[ 0.75586668 -0.57785281 -0.30781763 -53.40893433] [ 0.58691913 0.80638624 -0.07257524 -62.61375783] [ 0.2901577 -0.12580685 0.94867336 -18.05247013] [ 0. 0. 0. 1. ]] SLAMing on 132.751652532 meters Centerline goodness [0,1] 0.4428284374700986 Centerline is valid? [False, False] Translation: X:-53.41, Y:-62.62, Z:-18.05 [[ 0.7544171 -0.58116278 -0.30513057 -53.4117606 ] [ 0.58938736 0.80437808 -0.07482274 -62.61583566] [ 0.28892454 -0.12339255 0.94936657 -18.05253693] [ 0. 0. 0. 1. ]] SLAMing on 132.781652532 meters Centerline goodness [0,1] 0.4303086997193639 Centerline is valid? [False, False] Translation: X:-53.41, Y:-62.62, Z:-18.05 [[ 0.75269281 -0.58473473 -0.30255384 -53.41281297] [ 0.59210978 0.80214786 -0.07723233 -62.61865139] [ 0.28785334 -0.12101287 0.94999807 -18.05248988] [ 0. 0. 0. 1. ]] SLAMing on 132.811652532 meters Centerline goodness [0,1] 0.4368911071651389 Centerline is valid? [False, False] Translation: X:-53.41, Y:-62.62, Z:-18.05 [[ 0.75090012 -0.5884192 -0.29985304 -53.41493007] [ 0.59490545 0.79982762 -0.07977025 -62.61996171] [ 0.28676909 -0.11848472 0.95064444 -18.05272007] [ 0. 0. 0. 1. ]] SLAMing on 132.841652532 meters Centerline goodness [0,1] 0.4556214438335774 Centerline is valid? [False, False] Translation: X:-53.41, Y:-62.62, Z:-18.05 [[ 0.75076094 -0.58839322 -0.30025229 -53.41356398] [ 0.59503364 0.79976614 -0.07942972 -62.62133313] [ 0.28686753 -0.11902748 0.95054694 -18.05201651] [ 0. 0. 0. 1. ]] SLAMing on 132.871652532 meters Centerline goodness [0,1] 0.4419402841781874 Centerline is valid? [False, False] Translation: X:-53.43, Y:-62.64, Z:-18.05 [[ 0.7493736 -0.5869044 -0.30656555 -53.43003143] [ 0.59522787 0.79991544 -0.07641382 -62.64419227] [ 0.29007412 -0.12521386 0.94877737 -18.0540627 ] [ 0. 0. 0. 1. ]] SLAMing on 132.901652532 meters Centerline goodness [0,1] 0.4419916016796641 Centerline is valid? [False, False] Translation: X:-53.45, Y:-62.67, Z:-18.06 [[ 0.74864269 -0.58524126 -0.31149123 -53.44935157] [ 0.59505077 0.8003188 -0.07351465 -62.6724443 ] [ 0.2923161 -0.13031689 0.94740108 -18.05698457] [ 0. 0. 0. 1. ]] SLAMing on 132.93165253200002 meters Centerline goodness [0,1] 0.44653133954585955 Centerline is valid? [False, False] Translation: X:-53.45, Y:-62.67, Z:-18.06 [[ 0.74657741 -0.58927559 -0.30883077 -53.45037647] [ 0.59810853 0.79777182 -0.07633031 -62.67337822] [ 0.29135608 -0.12772784 0.94804917 -18.05734641] [ 0. 0. 0. 1. ]] SLAMing on 132.96165253200002 meters Centerline goodness [0,1] 0.44075064440750644 Centerline is valid? [False, False] Translation: X:-53.45, Y:-62.67, Z:-18.06 [[ 0.74495277 -0.5927702 -0.30605369 -53.45324731] [ 0.60070254 0.79558405 -0.07875579 -62.67455917] [ 0.29017552 -0.12517789 0.94875111 -18.05772593] [ 0. 0. 0. 1. ]] SLAMing on 132.99165253200002 meters Centerline goodness [0,1] 0.4508579967222597 Centerline is valid? [False, False] Translation: X:-53.45, Y:-62.67, Z:-18.06 [[ 0.74265268 -0.59706028 -0.30329198 -53.45364772] [ 0.60394303 0.79280987 -0.08188602 -62.67458139] [ 0.28934377 -0.12235821 0.94937277 -18.05868584] [ 0. 0. 0. 1. ]] SLAMing on 133.021652532 meters Centerline goodness [0,1] 0.4581510574018127 Centerline is valid? [False, False] Translation: X:-53.46, Y:-62.68, Z:-18.06 [[ 0.7409406 -0.60060223 -0.30047294 -53.45649865] [ 0.60660248 0.79052212 -0.08431021 -62.67578492] [ 0.2881674 -0.11979877 0.95005674 -18.05896433] [ 0. 0. 0. 1. ]] SLAMing on 133.051652532 meters Centerline goodness [0,1] 0.4657841976859345 Centerline is valid? [False, False] Translation: X:-53.46, Y:-62.68, Z:-18.06 [[ 0.73931136 -0.60404439 -0.29757198 -53.46000992] [ 0.60916322 0.7882907 -0.08670605 -62.6769139 ] [ 0.28694753 -0.11716714 0.9507539 -18.0592214 ] [ 0. 0. 0. 1. ]] SLAMing on 133.081652532 meters Centerline goodness [0,1] 0.4562120083611638 Centerline is valid? [False, False] Translation: X:-53.46, Y:-62.68, Z:-18.06 [[ 0.74009504 -0.60314431 -0.29744961 -53.46272699] [ 0.60846826 0.78892904 -0.08577495 -62.67845094] [ 0.2864013 -0.11750703 0.95087664 -18.05897331] [ 0. 0. 0. 1. ]] SLAMing on 133.111652532 meters Centerline goodness [0,1] 0.45617755500397617 Centerline is valid? [False, False] Translation: X:-53.48, Y:-62.70, Z:-18.06 [[ 0.73952289 -0.6009281 -0.30330071 -53.48140294] [ 0.60770289 0.78980438 -0.08310381 -62.70323972] [ 0.28948764 -0.12285955 0.94926416 -18.06201876] [ 0. 0. 0. 1. ]] SLAMing on 133.141652532 meters Centerline goodness [0,1] 0.45828910547138857 Centerline is valid? [False, False] Translation: X:-53.49, Y:-62.70, Z:-18.06 [[ 0.73798129 -0.60432938 -0.30028256 -53.48538466] [ 0.61018856 0.7876275 -0.08551513 -62.70397191] [ 0.28819011 -0.12012042 0.95000923 -18.06264367] [ 0. 0. 0. 1. ]] SLAMing on 133.171652532 meters Centerline goodness [0,1] 0.4571345819656304 Centerline is valid? [False, False] Translation: X:-53.50, Y:-62.73, Z:-18.07 [[ 0.73617034 -0.60443906 -0.30447767 -53.50429772] [ 0.61119742 0.78695679 -0.08447912 -62.73000359] [ 0.29067325 -0.12390495 0.94876584 -18.06611447] [ 0. 0. 0. 1. ]] SLAMing on 133.201652532 meters Centerline goodness [0,1] 0.4564200270113834 Centerline is valid? [False, False] Translation: X:-53.52, Y:-62.76, Z:-18.07 [[ 0.73629503 -0.60141072 -0.31012057 -53.5237015 ] [ 0.60971403 0.78843134 -0.08139302 -62.7555406 ] [ 0.29345941 -0.12915558 0.94720663 -18.07016759] [ 0. 0. 0. 1. ]] SLAMing on 133.231652532 meters Centerline goodness [0,1] 0.4596434671734789 Centerline is valid? [False, False] Translation: X:-53.55, Y:-62.78, Z:-18.08 [[ 0.7381784 -0.59780038 -0.31261375 -53.5490849 ] [ 0.60705598 0.79075406 -0.07868327 -62.78483329] [ 0.29423748 -0.13169175 0.94661586 -18.07897454] [ 0. 0. 0. 1. ]] SLAMing on 133.261652532 meters Centerline goodness [0,1] 0.45568829170973246 Centerline is valid? [False, False] Translation: X:-53.57, Y:-62.81, Z:-18.08 [[ 0.73802344 -0.59595682 -0.31647569 -53.57062447] [ 0.60631454 0.79152719 -0.07659888 -62.81040556] [ 0.29614873 -0.13535205 0.94550291 -18.08484213] [ 0. 0. 0. 1. ]] SLAMing on 133.291652532 meters Centerline goodness [0,1] 0.45359166426582154 Centerline is valid? [False, False] Translation: X:-53.60, Y:-62.84, Z:-18.09 [[ 0.73846188 -0.59431007 -0.31854292 -53.59512215] [ 0.60551029 0.79233784 -0.07455225 -62.83773648] [ 0.29670076 -0.13782703 0.94497215 -18.09234631] [ 0. 0. 0. 1. ]] SLAMing on 133.321652532 meters Centerline goodness [0,1] 0.4532567049808429 Centerline is valid? [False, False] Translation: X:-53.62, Y:-62.87, Z:-18.10 [[ 0.7400785 -0.59204492 -0.31900882 -53.62251726] [ 0.60376865 0.79384756 -0.07259117 -62.86631505] [ 0.29622161 -0.13888436 0.94496767 -18.10257978] [ 0. 0. 0. 1. ]] SLAMing on 133.351652532 meters Centerline goodness [0,1] 0.4568439198410228 Centerline is valid? [False, False] Translation: X:-53.65, Y:-62.89, Z:-18.11 [[ 0.7406854 -0.59097036 -0.31959219 -53.64787106] [ 0.60307069 0.79448271 -0.07143504 -62.89472393] [ 0.29612646 -0.1398258 0.94485865 -18.11227765] [ 0. 0. 0. 1. ]] SLAMing on 133.381652532 meters Centerline goodness [0,1] 0.4536873297328299 Centerline is valid? [False, False] Translation: X:-53.67, Y:-62.92, Z:-18.12 [[ 0.74177557 -0.58965552 -0.31949237 -53.67464172] [ 0.60203126 0.79538059 -0.07020035 -62.92297117] [ 0.29551205 -0.14027149 0.94498494 -18.12305118] [ 0. 0. 0. 1. ]] SLAMing on 133.411652532 meters Centerline goodness [0,1] 0.4569370572662008 Centerline is valid? [False, False] Translation: X:-53.70, Y:-62.95, Z:-18.13 [[ 0.74366383 -0.58718667 -0.31964969 -53.70225801] [ 0.60013272 0.79701465 -0.0678849 -62.95179489] [ 0.29462659 -0.1413487 0.9451009 -18.1338446 ] [ 0. 0. 0. 1. ]] SLAMing on 133.441652532 meters Centerline goodness [0,1] 0.4482355746304244 Centerline is valid? [False, False] Translation: X:-53.73, Y:-62.98, Z:-18.14 [[ 0.74509201 -0.58612215 -0.31827459 -53.73253608] [ 0.5991299 0.79786581 -0.06673458 -62.98201892] [ 0.29305503 -0.14096442 0.94564675 -18.14446628] [ 0. 0. 0. 1. ]] SLAMing on 133.471652532 meters Centerline goodness [0,1] 0.45250119104335396 Centerline is valid? [False, False] Translation: X:-53.75, Y:-62.99, Z:-18.15 [[ 0.7463499 -0.58807138 -0.31166309 -53.74551051] [ 0.59855647 0.79783505 -0.07203739 -62.9901244 ] [ 0.29101886 -0.13278286 0.94745804 -18.15303321] [ 0. 0. 0. 1. ]] SLAMing on 133.501652532 meters Centerline goodness [0,1] 0.450309376487387 Centerline is valid? [False, False] Translation: X:-53.77, Y:-63.02, Z:-18.16 [[ 0.74827084 -0.58613234 -0.31070827 -53.7748184 ] [ 0.59690259 0.7992362 -0.07020534 -63.0201407 ] [ 0.28947892 -0.13292996 0.94790906 -18.16397625] [ 0. 0. 0. 1. ]] SLAMing on 133.531652532 meters Centerline goodness [0,1] 0.4377204820418117 Centerline is valid? [False, False] Translation: X:-53.81, Y:-63.05, Z:-18.18 [[ 0.75210104 -0.58102102 -0.31106046 -53.80669201] [ 0.59241906 0.8028237 -0.06718454 -63.05060085] [ 0.28876234 -0.13374858 0.94801246 -18.17580394] [ 0. 0. 0. 1. ]] SLAMing on 133.561652532 meters Centerline goodness [0,1] 0.45230057366793364 Centerline is valid? [False, False] Translation: X:-53.84, Y:-63.08, Z:-18.19 [[ 0.75366197 -0.57927012 -0.31054751 -53.83519365] [ 0.59094765 0.80403628 -0.06562419 -63.07924997] [ 0.2877056 -0.13405887 0.94828989 -18.18657873] [ 0. 0. 0. 1. ]] SLAMing on 133.591652532 meters Centerline goodness [0,1] 0.4467633032721091 Centerline is valid? [False, False] Translation: X:-53.87, Y:-63.11, Z:-18.20 [[ 0.75565681 -0.57748092 -0.30902844 -53.86512482] [ 0.58921217 0.80541586 -0.06429863 -63.10904483] [ 0.28602764 -0.13349561 0.94887676 -18.19843121] [ 0. 0. 0. 1. ]] SLAMing on 133.621652532 meters Centerline goodness [0,1] 0.4358703063647692 Centerline is valid? [False, False] Translation: X:-53.89, Y:-63.13, Z:-18.20 [[ 0.75898629 -0.57381182 -0.30770085 -53.89192798] [ 0.58262073 0.80950568 -0.072482 -63.13198518] [ 0.29067662 -0.12426005 0.94871837 -18.20368074] [ 0. 0. 0. 1. ]] SLAMing on 133.651652532 meters Centerline goodness [0,1] 0.43523948022704884 Centerline is valid? [False, False] Translation: X:-53.92, Y:-63.16, Z:-18.22 [[ 0.76133342 -0.57138033 -0.30642445 -53.92230834] [ 0.58040989 0.81125388 -0.07065059 -63.16212576] [ 0.28895638 -0.12406313 0.94926948 -18.21509029] [ 0. 0. 0. 1. ]] SLAMing on 133.68165253200002 meters Centerline goodness [0,1] 0.42857477730895455 Centerline is valid? [False, False] Translation: X:-53.95, Y:-63.19, Z:-18.23 [[ 0.76311357 -0.56933803 -0.30579713 -53.95172935] [ 0.57854017 0.81269978 -0.06935659 -63.19185579] [ 0.28800861 -0.12398897 0.94956715 -18.22583673] [ 0. 0. 0. 1. ]] SLAMing on 133.71165253200002 meters Centerline goodness [0,1] 0.42573243664626625 Centerline is valid? [False, False] Translation: X:-53.98, Y:-63.22, Z:-18.24 [[ 0.76715963 -0.56367532 -0.30616375 -53.98412267] [ 0.57369945 0.81643452 -0.06560193 -63.221774 ] [ 0.28694084 -0.12531882 0.94971582 -18.2369006 ] [ 0. 0. 0. 1. ]] SLAMing on 133.74165253200002 meters Centerline goodness [0,1] 0.40964722822174227 Centerline is valid? [False, False] Translation: X:-54.01, Y:-63.25, Z:-18.25 [[ 0.76830797 -0.56238598 -0.30565484 -54.01229596] [ 0.57258834 0.81730183 -0.06450055 -63.25074443] [ 0.28608647 -0.12545811 0.94995515 -18.24714958] [ 0. 0. 0. 1. ]] SLAMing on 133.771652532 meters Centerline goodness [0,1] 0.41980519480519485 Centerline is valid? [False, False] Translation: X:-54.04, Y:-63.28, Z:-18.26 [[ 0.77040788 -0.56001774 -0.304716 -54.04350368] [ 0.57014833 0.81906051 -0.0638025 -63.28086199] [ 0.28531137 -0.12457937 0.95030385 -18.25875531] [ 0. 0. 0. 1. ]] SLAMing on 133.801652532 meters Centerline goodness [0,1] 0.433148276659727 Centerline is valid? [False, False] Translation: X:-54.07, Y:-63.31, Z:-18.27 [[ 7.71971752e-01 -5.57729901e-01 -3.04954048e-01 -5.40715551e+01] [ 5.68241064e-01 8.20510628e-01 -6.21643207e-02 -6.33099979e+01] [ 2.84888938e-01 -1.25298313e-01 9.50336059e-01 -1.82688174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.831652532 meters Centerline goodness [0,1] 0.4126962110178699 Centerline is valid? [False, False] Translation: X:-54.10, Y:-63.34, Z:-18.28 [[ 7.72955527e-01 -5.56404774e-01 -3.04882731e-01 -5.40992581e+01] [ 5.67145242e-01 8.21349235e-01 -6.10877040e-02 -6.33380734e+01] [ 2.84404688e-01 -1.25694712e-01 9.50428752e-01 -1.82786662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.861652532 meters Centerline goodness [0,1] 0.41411432930352976 Centerline is valid? [False, False] Translation: X:-54.13, Y:-63.37, Z:-18.29 [[ 7.74113028e-01 -5.54923196e-01 -3.04646133e-01 -5.41274182e+01] [ 5.65935652e-01 8.22280965e-01 -5.97566082e-02 -6.33667929e+01] [ 2.83665044e-01 -1.26151739e-01 9.50589228e-01 -1.82885672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.891652532 meters Centerline goodness [0,1] 0.41058183995946007 Centerline is valid? [False, False] Translation: X:-54.15, Y:-63.39, Z:-18.29 [[ 0.777997 -0.5499009 -0.30385797 -54.15380437] [ 0.55832735 0.82691469 -0.06695274 -63.39012749] [ 0.288082 -0.11756318 0.95036186 -18.29408329] [ 0. 0. 0. 1. ]] SLAMing on 133.921652532 meters Centerline goodness [0,1] 0.41679343567049276 Centerline is valid? [False, False] Translation: X:-54.18, Y:-63.42, Z:-18.30 [[ 0.7785458 -0.54920964 -0.3037025 -54.18075704] [ 0.55774749 0.82735253 -0.06637421 -63.41926004] [ 0.28772239 -0.11771395 0.95045213 -18.30353928] [ 0. 0. 0. 1. ]] SLAMing on 133.951652532 meters Centerline goodness [0,1] 0.41696609544868246 Centerline is valid? [False, False] Translation: X:-54.21, Y:-63.45, Z:-18.31 [[ 0.77900603 -0.54850807 -0.30379022 -54.20766767] [ 0.55742119 0.82767941 -0.06502633 -63.44826038] [ 0.28710838 -0.1186832 0.95051727 -18.31191531] [ 0. 0. 0. 1. ]] SLAMing on 133.981652532 meters Centerline goodness [0,1] 0.41888135982542785 Centerline is valid? [False, False] Translation: X:-54.24, Y:-63.48, Z:-18.32 [[ 7.82208569e-01 -5.44776606e-01 -3.02271740e-01 -5.42412066e+01] [ 5.54175600e-01 8.30089647e-01 -6.19724416e-02 -6.34802938e+01] [ 2.84673779e-01 -1.19036248e-01 9.51205136e-01 -1.83226578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.011652532 meters Centerline goodness [0,1] 0.4155094183968101 Centerline is valid? [False, False] Translation: X:-54.27, Y:-63.51, Z:-18.33 [[ 7.83030672e-01 -5.43442604e-01 -3.02544382e-01 -5.42684460e+01] [ 5.53249167e-01 8.30818958e-01 -6.04584032e-02 -6.35085456e+01] [ 2.84215280e-01 -1.20041643e-01 9.51215895e-01 -1.83316425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.041652532 meters Centerline goodness [0,1] 0.41799328506497957 Centerline is valid? [False, False] Translation: X:-54.29, Y:-63.54, Z:-18.34 [[ 7.84402409e-01 -5.40758864e-01 -3.03797154e-01 -5.42946461e+01] [ 5.51404461e-01 8.32242440e-01 -5.76683781e-02 -6.35360631e+01] [ 2.84017572e-01 -1.22279891e-01 9.50989825e-01 -1.83404680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.071652532 meters Centerline goodness [0,1] 0.39282217111106055 Centerline is valid? [False, False] Translation: X:-54.32, Y:-63.56, Z:-18.35 [[ 7.85486142e-01 -5.39329538e-01 -3.03537757e-01 -5.43216310e+01] [ 5.50532915e-01 8.32974162e-01 -5.53855129e-02 -6.35641518e+01] [ 2.82710152e-01 -1.23602973e-01 9.51208324e-01 -1.83500455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.101652532 meters Centerline goodness [0,1] 0.3926930251603804 Centerline is valid? [False, False] Translation: X:-54.35, Y:-63.59, Z:-18.36 [[ 7.86381052e-01 -5.38615807e-01 -3.02486120e-01 -5.43503904e+01] [ 5.49669305e-01 8.33552686e-01 -5.52591506e-02 -6.35945916e+01] [ 2.81901570e-01 -1.22812586e-01 9.51550615e-01 -1.83608177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.131652532 meters Centerline goodness [0,1] 0.4220782173715325 Centerline is valid? [False, False] Translation: X:-54.36, Y:-63.60, Z:-18.37 [[ 7.87668739e-01 -5.40077485e-01 -2.96469675e-01 -5.43633168e+01] [ 5.48755277e-01 8.33761069e-01 -6.09107970e-02 -6.36033049e+01] [ 2.80081423e-01 -1.14711768e-01 9.53097900e-01 -1.83684610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.161652532 meters Centerline goodness [0,1] 0.4000045436990254 Centerline is valid? [False, False] Translation: X:-54.39, Y:-63.63, Z:-18.38 [[ 7.87109486e-01 -5.40377770e-01 -2.97406326e-01 -5.43878037e+01] [ 5.49372102e-01 8.33399014e-01 -6.03023732e-02 -6.36312144e+01] [ 2.80444201e-01 -1.15922169e-01 9.52844741e-01 -1.83757645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.191652532 meters Centerline goodness [0,1] 0.40272844505780414 Centerline is valid? [False, False] Translation: X:-54.42, Y:-63.66, Z:-18.39 [[ 7.88944303e-01 -5.38170553e-01 -2.96545683e-01 -5.44183016e+01] [ 5.47617036e-01 8.34720454e-01 -5.79425999e-02 -6.36616209e+01] [ 2.78715748e-01 -1.16679984e-01 9.53259311e-01 -1.83857347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.221652532 meters Centerline goodness [0,1] 0.42778971170152624 Centerline is valid? [False, False] Translation: X:-54.45, Y:-63.69, Z:-18.40 [[ 7.91486714e-01 -5.35134582e-01 -2.95262189e-01 -5.44500221e+01] [ 5.45029241e-01 8.36595807e-01 -5.52320798e-02 -6.36923783e+01] [ 2.76571705e-01 -1.17211069e-01 9.53818461e-01 -1.83964720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.251652532 meters Centerline goodness [0,1] 0.43221795161654986 Centerline is valid? [False, False] Translation: X:-54.46, Y:-63.70, Z:-18.40 [[ 7.91147246e-01 -5.37798684e-01 -2.91305014e-01 -5.44560704e+01] [ 5.46675355e-01 8.35366157e-01 -5.75277351e-02 -6.36956040e+01] [ 2.74284691e-01 -1.13736363e-01 9.54898920e-01 -1.83991184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.281652532 meters Centerline goodness [0,1] 0.4068431624799693 Centerline is valid? [False, False] Translation: X:-54.47, Y:-63.71, Z:-18.41 [[ 0.79345118 -0.53778826 -0.28498949 -54.4732509 ] [ 0.54392711 0.83665484 -0.06443586 -63.71126073] [ 0.27309069 -0.1038868 0.95636238 -18.40725822] [ 0. 0. 0. 1. ]] SLAMing on 134.311652532 meters Centerline goodness [0,1] 0.4142240502610228 Centerline is valid? [False, False] Translation: X:-54.50, Y:-63.74, Z:-18.42 [[ 0.79513245 -0.53601403 -0.28364299 -54.50428801] [ 0.54202417 0.83792138 -0.06401219 -63.74278909] [ 0.27198196 -0.10284319 0.95679104 -18.41810366] [ 0. 0. 0. 1. ]] SLAMing on 134.341652532 meters Centerline goodness [0,1] 0.41548692515779984 Centerline is valid? [False, False] Translation: X:-54.53, Y:-63.77, Z:-18.43 [[ 7.95448168e-01 -5.34909051e-01 -2.84841216e-01 -5.45296061e+01] [ 5.41350425e-01 8.38450924e-01 -6.27675461e-02 -6.37698611e+01] [ 2.72400309e-01 -1.04270584e-01 9.56517494e-01 -1.84261722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.371652532 meters Centerline goodness [0,1] 0.41548692515779984 Centerline is valid? [False, False] Translation: X:-54.55, Y:-63.80, Z:-18.43 [[ 7.95693878e-01 -5.33954454e-01 -2.85943866e-01 -5.45547124e+01] [ 5.40762721e-01 8.38905886e-01 -6.17462031e-02 -6.37982370e+01] [ 2.72849652e-01 -1.05496707e-01 9.56254941e-01 -1.84339123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.401652532 meters Centerline goodness [0,1] 0.41548692515779984 Centerline is valid? [False, False] Translation: X:-54.58, Y:-63.83, Z:-18.44 [[ 7.95958147e-01 -5.33040273e-01 -2.86912349e-01 -5.45799444e+01] [ 5.40179121e-01 8.39350072e-01 -6.08109725e-02 -6.38266229e+01] [ 2.73234598e-01 -1.06581072e-01 9.56024754e-01 -1.84418900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43165253200002 meters Centerline goodness [0,1] 0.4108052088496372 Centerline is valid? [False, False] Translation: X:-54.61, Y:-63.86, Z:-18.45 [[ 7.96545844e-01 -5.31932636e-01 -2.87336718e-01 -5.46065170e+01] [ 5.39375678e-01 8.39945559e-01 -5.97104362e-02 -6.38550629e+01] [ 2.73109130e-01 -1.07420337e-01 9.55966670e-01 -1.84509143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46165253200002 meters Centerline goodness [0,1] 0.41235564525170987 Centerline is valid? [False, False] Translation: X:-54.63, Y:-63.89, Z:-18.46 [[ 7.97283895e-01 -5.30927009e-01 -2.87149616e-01 -5.46346249e+01] [ 5.38301999e-01 8.40636249e-01 -5.96796019e-02 -6.38855886e+01] [ 2.73073889e-01 -1.06991627e-01 9.56024813e-01 -1.84609050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49165253200002 meters Centerline goodness [0,1] 0.4156993061948492 Centerline is valid? [False, False] Translation: X:-54.66, Y:-63.92, Z:-18.47 [[ 7.97909166e-01 -5.30011613e-01 -2.87103907e-01 -5.46617868e+01] [ 5.37412650e-01 8.41225197e-01 -5.93953750e-02 -6.39150623e+01] [ 2.72999280e-01 -1.06901158e-01 9.56056241e-01 -1.84705149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.521652532 meters Centerline goodness [0,1] 0.41423832152784 Centerline is valid? [False, False] Translation: X:-54.69, Y:-63.94, Z:-18.48 [[ 7.98653295e-01 -5.28870658e-01 -2.87138889e-01 -5.46886442e+01] [ 5.36493472e-01 8.41880239e-01 -5.84158991e-02 -6.39434353e+01] [ 2.72631011e-01 -1.07394089e-01 9.56106083e-01 -1.84800081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.551652532 meters Centerline goodness [0,1] 0.41992283881387105 Centerline is valid? [False, False] Translation: X:-54.72, Y:-63.97, Z:-18.49 [[ 7.99445808e-01 -5.27889054e-01 -2.86739509e-01 -5.47164349e+01] [ 5.35526344e-01 8.42523589e-01 -5.80132459e-02 -6.39726202e+01] [ 2.72209357e-01 -1.07178114e-01 9.56250447e-01 -1.84901278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.581652532 meters Centerline goodness [0,1] 0.4178455330119941 Centerline is valid? [False, False] Translation: X:-54.75, Y:-64.00, Z:-18.50 [[ 8.01022359e-01 -5.26201627e-01 -2.85438308e-01 -5.47473686e+01] [ 5.33749276e-01 8.43687560e-01 -5.74718341e-02 -6.40048550e+01] [ 2.71062522e-01 -1.06316266e-01 9.56672337e-01 -1.85005286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.611652532 meters Centerline goodness [0,1] 0.42360799784811265 Centerline is valid? [False, False] Translation: X:-54.78, Y:-64.04, Z:-18.51 [[ 8.01605707e-01 -5.25587017e-01 -2.84932583e-01 -5.47750921e+01] [ 5.33189649e-01 8.44076504e-01 -5.69530735e-02 -6.40350266e+01] [ 2.70438695e-01 -1.06269195e-01 9.56854101e-01 -1.85094925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.641652532 meters Centerline goodness [0,1] 0.4253133899939452 Centerline is valid? [False, False] Translation: X:-54.80, Y:-64.06, Z:-18.52 [[ 8.01868017e-01 -5.25251295e-01 -2.84813553e-01 -5.48017414e+01] [ 5.32968510e-01 8.44250935e-01 -5.64351453e-02 -6.40645355e+01] [ 2.70096742e-01 -1.06543117e-01 9.56920224e-01 -1.85180914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.671652532 meters Centerline goodness [0,1] 0.42147536570043975 Centerline is valid? [False, False] Translation: X:-54.83, Y:-64.09, Z:-18.53 [[ 8.01458550e-01 -5.25356593e-01 -2.85770262e-01 -5.48262671e+01] [ 5.33248767e-01 8.44087355e-01 -5.62342393e-02 -6.40916315e+01] [ 2.70758093e-01 -1.07317228e-01 9.56646783e-01 -1.85261351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.701652532 meters Centerline goodness [0,1] 0.40734917568842366 Centerline is valid? [False, False] Translation: X:-54.86, Y:-64.12, Z:-18.54 [[ 8.02927073e-01 -5.23303741e-01 -2.85414279e-01 -5.48559965e+01] [ 5.31045569e-01 8.45475321e-01 -5.62324161e-02 -6.41231583e+01] [ 2.70737363e-01 -1.06417459e-01 9.56753158e-01 -1.85370853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.731652532 meters Centerline goodness [0,1] 0.41145623235175477 Centerline is valid? [False, False] Translation: X:-54.88, Y:-64.15, Z:-18.54 [[ 8.02147306e-01 -5.23623264e-01 -2.87016334e-01 -5.48793647e+01] [ 5.31635350e-01 8.45119668e-01 -5.60053689e-02 -6.41496191e+01] [ 2.71888863e-01 -1.07663473e-01 9.56287103e-01 -1.85441964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.761652532 meters Centerline goodness [0,1] 0.41690714269735807 Centerline is valid? [False, False] Translation: X:-54.91, Y:-64.18, Z:-18.55 [[ 8.02578467e-01 -5.22697517e-01 -2.87498018e-01 -5.49056270e+01] [ 5.30935592e-01 8.45609950e-01 -5.52377637e-02 -6.41784288e+01] [ 2.71983827e-01 -1.08310291e-01 9.56187052e-01 -1.85529367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.791652532 meters Centerline goodness [0,1] 0.4202947236405984 Centerline is valid? [False, False] Translation: X:-54.94, Y:-64.21, Z:-18.56 [[ 8.03308797e-01 -5.22149711e-01 -2.86451839e-01 -5.49352960e+01] [ 5.30243607e-01 8.46046205e-01 -5.52044900e-02 -6.42115055e+01] [ 2.71176500e-01 -1.07543004e-01 9.56502905e-01 -1.85620886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.821652532 meters Centerline goodness [0,1] 0.42896505376344085 Centerline is valid? [False, False] Translation: X:-54.95, Y:-64.22, Z:-18.57 [[ 8.04154953e-01 -5.24281787e-01 -2.80113227e-01 -5.49475873e+01] [ 5.30345430e-01 8.45638944e-01 -6.02370428e-02 -6.42207459e+01] [ 2.68455838e-01 -1.00116853e-01 9.58075195e-01 -1.85684402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.851652532 meters Centerline goodness [0,1] 0.42045581624208805 Centerline is valid? [False, False] Translation: X:-54.97, Y:-64.25, Z:-18.58 [[ 8.04403448e-01 -5.23447419e-01 -2.80958880e-01 -5.49737023e+01] [ 5.29989263e-01 8.45969506e-01 -5.87109553e-02 -6.42493456e+01] [ 2.68414743e-01 -1.01677895e-01 9.57922299e-01 -1.85754660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.881652532 meters Centerline goodness [0,1] 0.41894520333564356 Centerline is valid? [False, False] Translation: X:-55.00, Y:-64.28, Z:-18.58 [[ 8.04570911e-01 -5.22558438e-01 -2.82131757e-01 -5.49997781e+01] [ 5.29630951e-01 8.46302414e-01 -5.71251235e-02 -6.42764843e+01] [ 2.68620003e-01 -1.03464498e-01 9.57673426e-01 -1.85822930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.911652532 meters Centerline goodness [0,1] 0.4100174332841625 Centerline is valid? [False, False] Translation: X:-55.02, Y:-64.29, Z:-18.59 [[ 8.07377267e-01 -5.21244354e-01 -2.76489189e-01 -5.50191089e+01] [ 5.25854691e-01 8.48200872e-01 -6.34990189e-02 -6.42930875e+01] [ 2.67616876e-01 -9.41254727e-02 9.58916891e-01 -1.85901189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.941652532 meters Centerline goodness [0,1] 0.4177330895795247 Centerline is valid? [False, False] Translation: X:-55.04, Y:-64.32, Z:-18.60 [[ 8.06433444e-01 -5.21454459e-01 -2.78837493e-01 -5.50415741e+01] [ 5.26607685e-01 8.47809729e-01 -6.24740742e-02 -6.43186070e+01] [ 2.68978524e-01 -9.64567836e-02 9.58304045e-01 -1.85959667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.971652532 meters Centerline goodness [0,1] 0.4221859487500559 Centerline is valid? [False, False] Translation: X:-55.07, Y:-64.35, Z:-18.60 [[ 8.06869951e-01 -5.20527762e-01 -2.79305802e-01 -5.50683423e+01] [ 5.25906883e-01 8.48302944e-01 -6.16771000e-02 -6.43464731e+01] [ 2.69040577e-01 -9.71234453e-02 9.58219288e-01 -1.86045356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.001652532 meters Centerline goodness [0,1] 0.41794613923343393 Centerline is valid? [False, False] Translation: X:-55.08, Y:-64.36, Z:-18.61 [[ 0.80886927 -0.5206636 -0.27320308 -55.08401711] [ 0.52386039 0.84914238 -0.06728679 -64.35782133] [ 0.2670221 -0.08869406 0.95960021 -18.61227584] [ 0. 0. 0. 1. ]] SLAMing on 135.031652532 meters Centerline goodness [0,1] 0.41682510568814723 Centerline is valid? [False, False] Translation: X:-55.11, Y:-64.39, Z:-18.62 [[ 0.80919329 -0.52027213 -0.27298923 -55.11103503] [ 0.52399758 0.84921769 -0.06523689 -64.38725998] [ 0.26576822 -0.09025644 0.9598026 -18.61953849] [ 0. 0. 0. 1. ]] SLAMing on 135.061652532 meters Centerline goodness [0,1] 0.4084875301689461 Centerline is valid? [False, False] Translation: X:-55.11, Y:-64.39, Z:-18.62 [[ 0.80794609 -0.52362575 -0.27025764 -55.1149399 ] [ 0.52656102 0.84743469 -0.06773428 -64.38823344] [ 0.26449311 -0.08758149 0.96040246 -18.61995283] [ 0. 0. 0. 1. ]] SLAMing on 135.091652532 meters Centerline goodness [0,1] 0.4159606572035319 Centerline is valid? [False, False] Translation: X:-55.14, Y:-64.41, Z:-18.63 [[ 0.80790688 -0.52201188 -0.27347774 -55.13759868] [ 0.52585591 0.84806375 -0.06529503 -64.41476419] [ 0.26601133 -0.09105758 0.95965957 -18.62564536] [ 0. 0. 0. 1. ]] SLAMing on 135.121652532 meters Centerline goodness [0,1] 0.4106316894956763 Centerline is valid? [False, False] Translation: X:-55.14, Y:-64.42, Z:-18.63 [[ 0.80651517 -0.52562809 -0.27064439 -55.14101101] [ 0.5286264 0.84612684 -0.06799631 -64.41570419] [ 0.26474025 -0.08822971 0.96027502 -18.62625415] [ 0. 0. 0. 1. ]] SLAMing on 135.151652532 meters Centerline goodness [0,1] 0.41838998050769605 Centerline is valid? [False, False] Translation: X:-55.15, Y:-64.42, Z:-18.63 [[ 0.80553976 -0.52842928 -0.26808245 -55.14538269] [ 0.53071839 0.84463699 -0.07018794 -64.41729922] [ 0.26352171 -0.08573711 0.96083581 -18.62625797] [ 0. 0. 0. 1. ]] SLAMing on 135.18165253200002 meters Centerline goodness [0,1] 0.403728790825565 Centerline is valid? [False, False] Translation: X:-55.15, Y:-64.42, Z:-18.63 [[ 0.80618653 -0.5275759 -0.26781887 -55.14763752] [ 0.53003167 0.84513822 -0.0693385 -64.41906381] [ 0.26292528 -0.08605271 0.96097098 -18.62606227] [ 0. 0. 0. 1. ]] SLAMing on 135.21165253200002 meters Centerline goodness [0,1] 0.39094457455113196 Centerline is valid? [False, False] Translation: X:-55.15, Y:-64.42, Z:-18.63 [[ 0.80645574 -0.52736752 -0.26741847 -55.14930798] [ 0.52984106 0.84527731 -0.06909931 -64.41906769] [ 0.2624835 -0.08596374 0.96109971 -18.62654163] [ 0. 0. 0. 1. ]] SLAMing on 135.24165253200002 meters Centerline goodness [0,1] 0.4096248325145154 Centerline is valid? [False, False] Translation: X:-55.15, Y:-64.42, Z:-18.63 [[ 0.80643951 -0.52777214 -0.26666812 -55.15222013] [ 0.53017485 0.84506197 -0.06917293 -64.42026519] [ 0.26185863 -0.08559694 0.96130288 -18.6258666 ] [ 0. 0. 0. 1. ]] SLAMing on 135.271652532 meters Centerline goodness [0,1] 0.39532806288802536 Centerline is valid? [False, False] Translation: X:-55.16, Y:-64.42, Z:-18.63 [[ 0.80528891 -0.53084172 -0.26403946 -55.15624251] [ 0.53255535 0.84338179 -0.071358 -64.42231051] [ 0.26056588 -0.08315182 0.9618686 -18.62566294] [ 0. 0. 0. 1. ]] SLAMing on 135.301652532 meters Centerline goodness [0,1] 0.39215511278698767 Centerline is valid? [False, False] Translation: X:-55.16, Y:-64.42, Z:-18.63 [[ 0.80452642 -0.53318474 -0.26163192 -55.16094537] [ 0.53430677 0.84211871 -0.07315978 -64.4244944 ] [ 0.25933282 -0.08093273 0.96239097 -18.62531213] [ 0. 0. 0. 1. ]] SLAMing on 135.331652532 meters Centerline goodness [0,1] 0.407449537191926 Centerline is valid? [False, False] Translation: X:-55.16, Y:-64.43, Z:-18.63 [[ 0.80312964 -0.53654926 -0.25903217 -55.16346883] [ 0.53693248 0.84022629 -0.0756524 -64.42626387] [ 0.25823688 -0.07832411 0.96290137 -18.6256467 ] [ 0. 0. 0. 1. ]] SLAMing on 135.361652532 meters Centerline goodness [0,1] 0.4030196926782489 Centerline is valid? [False, False] Translation: X:-55.17, Y:-64.43, Z:-18.63 [[ 0.80162873 -0.54001612 -0.25646437 -55.16591409] [ 0.53966448 0.83824125 -0.07819111 -64.42784048] [ 0.25720348 -0.07572448 0.96338579 -18.62585227] [ 0. 0. 0. 1. ]] SLAMing on 135.391652532 meters Centerline goodness [0,1] 0.39177101967799643 Centerline is valid? [False, False] Translation: X:-55.17, Y:-64.43, Z:-18.63 [[ 0.80028957 -0.54316726 -0.25398018 -55.16896499] [ 0.54217162 0.83641321 -0.08039202 -64.43001045] [ 0.25609869 -0.07336395 0.96386264 -18.62563641] [ 0. 0. 0. 1. ]] SLAMing on 135.421652532 meters Centerline goodness [0,1] 0.3994158616041339 Centerline is valid? [False, False] Translation: X:-55.17, Y:-64.43, Z:-18.63 [[ 0.79780022 -0.54766691 -0.25214238 -55.16661385] [ 0.54597472 0.8336566 -0.08323623 -64.43265983] [ 0.25578589 -0.07125748 0.9641037 -18.62514537] [ 0. 0. 0. 1. ]] SLAMing on 135.451652532 meters Centerline goodness [0,1] 0.4071086746500707 Centerline is valid? [False, False] Translation: X:-55.17, Y:-64.43, Z:-18.63 [[ 0.79623226 -0.55112525 -0.24954988 -55.16923561] [ 0.54874267 0.83158852 -0.08568556 -64.43400164] [ 0.25474629 -0.06871306 0.96456355 -18.62537674] [ 0. 0. 0. 1. ]] SLAMing on 135.481652532 meters Centerline goodness [0,1] 0.4038015449406571 Centerline is valid? [False, False] Translation: X:-55.17, Y:-64.44, Z:-18.63 [[ 0.7950179 -0.55402305 -0.2469919 -55.17304374] [ 0.55104295 0.82985254 -0.08772927 -64.43547817] [ 0.25357089 -0.06635681 0.96503812 -18.62546231] [ 0. 0. 0. 1. ]] SLAMing on 135.511652532 meters Centerline goodness [0,1] 0.4142564079442729 Centerline is valid? [False, False] Translation: X:-55.17, Y:-64.44, Z:-18.63 [[ 0.79548236 -0.55337817 -0.2469421 -55.17386903] [ 0.55056426 0.83024955 -0.08697512 -64.43725481] [ 0.25315371 -0.06677032 0.96511913 -18.62542258] [ 0. 0. 0. 1. ]] SLAMing on 135.541652532 meters Centerline goodness [0,1] 0.4106892971606554 Centerline is valid? [False, False] Translation: X:-55.18, Y:-64.44, Z:-18.63 [[ 0.79447848 -0.55589538 -0.24450823 -55.17761726] [ 0.55251485 0.8287487 -0.08889851 -64.43933789] [ 0.25205415 -0.06446648 0.96556345 -18.62538013] [ 0. 0. 0. 1. ]] SLAMing on 135.571652532 meters Centerline goodness [0,1] 0.42032426565361913 Centerline is valid? [False, False] Translation: X:-55.18, Y:-64.44, Z:-18.62 [[ 7.92577439e-01 -5.59415186e-01 -2.42643055e-01 -5.51766359e+01] [ 5.55446693e-01 8.26531094e-01 -9.12431971e-02 -6.44432667e+01] [ 2.51594860e-01 -6.24579829e-02 9.65815214e-01 -1.86245027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.601652532 meters Centerline goodness [0,1] 0.4137618421649064 Centerline is valid? [False, False] Translation: X:-55.18, Y:-64.45, Z:-18.62 [[ 7.91584184e-01 -5.61908960e-01 -2.40109974e-01 -5.51806139e+01] [ 5.57448230e-01 8.24997564e-01 -9.29004337e-02 -6.44468340e+01] [ 2.50291730e-01 -6.03103660e-02 9.66290179e-01 -1.86238544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.631652532 meters Centerline goodness [0,1] 0.4116712079927338 Centerline is valid? [False, False] Translation: X:-55.18, Y:-64.45, Z:-18.62 [[ 7.90115116e-01 -5.65040400e-01 -2.37586722e-01 -5.51833817e+01] [ 5.60012322e-01 8.23021710e-01 -9.49813816e-02 -6.44496999e+01] [ 2.49207348e-01 -5.80052666e-02 9.66711481e-01 -1.86233333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.661652532 meters Centerline goodness [0,1] 0.4085833598111752 Centerline is valid? [False, False] Translation: X:-55.18, Y:-64.45, Z:-18.62 [[ 7.90139246e-01 -5.64804979e-01 -2.38065764e-01 -5.51821551e+01] [ 5.59946361e-01 8.23133139e-01 -9.44029039e-02 -6.44519366e+01] [ 2.49279050e-01 -5.87126191e-02 9.66650290e-01 -1.86224633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.691652532 meters Centerline goodness [0,1] 0.42151566951566954 Centerline is valid? [False, False] Translation: X:-55.19, Y:-64.47, Z:-18.62 [[ 0.78740994 -0.56537356 -0.24563862 -55.1931528 ] [ 0.56169792 0.82222172 -0.09190697 -64.47256303] [ 0.25393118 -0.06560624 0.9649947 -18.62247155] [ 0. 0. 0. 1. ]] SLAMing on 135.721652532 meters Centerline goodness [0,1] 0.4287800981399065 Centerline is valid? [False, False] Translation: X:-55.19, Y:-64.47, Z:-18.62 [[ 0.78688037 -0.56588302 -0.24616192 -55.18954422] [ 0.56227939 0.82182934 -0.09186089 -64.47421272] [ 0.2542856 -0.06612824 0.96486574 -18.62214639] [ 0. 0. 0. 1. ]] SLAMing on 135.751652532 meters Centerline goodness [0,1] 0.43551671280514315 Centerline is valid? [False, False] Translation: X:-55.19, Y:-64.47, Z:-18.62 [[ 7.84939470e-01 -5.69729568e-01 -2.43471246e-01 -5.51908427e+01] [ 5.65355385e-01 8.19390931e-01 -9.47195387e-02 -6.44748962e+01] [ 2.53462653e-01 -6.32986756e-02 9.65271962e-01 -1.86228799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.781652532 meters Centerline goodness [0,1] 0.44137393735248964 Centerline is valid? [False, False] Translation: X:-55.19, Y:-64.48, Z:-18.62 [[ 7.85184833e-01 -5.69260413e-01 -2.43777278e-01 -5.51903990e+01] [ 5.65070543e-01 8.19668027e-01 -9.40191818e-02 -6.44769208e+01] [ 2.53337838e-01 -6.39289230e-02 9.65263193e-01 -1.86224231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.811652532 meters Centerline goodness [0,1] 0.4416561532285812 Centerline is valid? [False, False] Translation: X:-55.19, Y:-64.48, Z:-18.62 [[ 0.78565169 -0.56845618 -0.24414953 -55.18973695] [ 0.56456677 0.82014968 -0.09283786 -64.48024027] [ 0.25301341 -0.06490049 0.96528345 -18.6219602 ] [ 0. 0. 0. 1. ]] SLAMing on 135.841652532 meters Centerline goodness [0,1] 0.439364320047837 Centerline is valid? [False, False] Translation: X:-55.19, Y:-64.48, Z:-18.62 [[ 7.83697306e-01 -5.72203650e-01 -2.41664054e-01 -5.51903876e+01] [ 5.67596883e-01 8.17743029e-01 -9.55516425e-02 -6.44819950e+01] [ 2.52294094e-01 -6.22841988e-02 9.65644018e-01 -1.86221745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.871652532 meters Centerline goodness [0,1] 0.42791202197142786 Centerline is valid? [False, False] Translation: X:-55.20, Y:-64.50, Z:-18.62 [[ 0.78048606 -0.57322864 -0.24950036 -55.20141204] [ 0.56969696 0.81648864 -0.09376395 -64.50057978] [ 0.25746239 -0.06895814 0.96382462 -18.6212214 ] [ 0. 0. 0. 1. ]] SLAMing on 135.901652532 meters Centerline goodness [0,1] 0.4259546580830419 Centerline is valid? [False, False] Translation: X:-55.20, Y:-64.51, Z:-18.62 [[ 0.77885422 -0.57622351 -0.2476945 -55.20095731] [ 0.57226398 0.81450353 -0.09538307 -64.50625851] [ 0.25671002 -0.06745713 0.96413148 -18.61974277] [ 0. 0. 0. 1. ]] SLAMing on 135.93165253200002 meters Centerline goodness [0,1] 0.4442428049603313 Centerline is valid? [False, False] Translation: X:-55.20, Y:-64.51, Z:-18.62 [[ 0.77716003 -0.57961849 -0.245081 -55.20286791] [ 0.57500938 0.81229201 -0.09770308 -64.50879479] [ 0.25570785 -0.06499295 0.96456696 -18.61963718] [ 0. 0. 0. 1. ]] SLAMing on 135.96165253200002 meters Centerline goodness [0,1] 0.4463083339157988 Centerline is valid? [False, False] Translation: X:-55.20, Y:-64.51, Z:-18.62 [[ 0.77716612 -0.57935718 -0.24567882 -55.20110302] [ 0.57495923 0.81240915 -0.09702195 -64.51141105] [ 0.25580209 -0.06585313 0.96448362 -18.61866311] [ 0. 0. 0. 1. ]] SLAMing on 135.99165253200002 meters Centerline goodness [0,1] 0.4583819344002239 Centerline is valid? [False, False] Translation: X:-55.21, Y:-64.53, Z:-18.62 [[ 0.77395013 -0.58002658 -0.254107 -55.21140048] [ 0.57700603 0.81126816 -0.09438231 -64.52905447] [ 0.26089317 -0.07357407 0.96255993 -18.61737237] [ 0. 0. 0. 1. ]] SLAMing on 136.021652532 meters Centerline goodness [0,1] 0.45133426966292134 Centerline is valid? [False, False] Translation: X:-55.21, Y:-64.53, Z:-18.62 [[ 0.77379927 -0.57987223 -0.25491741 -55.20800615] [ 0.57712754 0.81127481 -0.09357878 -64.53234841] [ 0.26107181 -0.07470866 0.96242409 -18.61635045] [ 0. 0. 0. 1. ]] SLAMing on 136.051652532 meters Centerline goodness [0,1] 0.45592170116884945 Centerline is valid? [False, False] Translation: X:-55.21, Y:-64.53, Z:-18.62 [[ 0.77225639 -0.58309947 -0.25222029 -55.21034067] [ 0.57972256 0.80917545 -0.09569143 -64.53480995] [ 0.25988808 -0.07231947 0.96292683 -18.61657639] [ 0. 0. 0. 1. ]] SLAMing on 136.081652532 meters Centerline goodness [0,1] 0.4639621620349672 Centerline is valid? [False, False] Translation: X:-55.21, Y:-64.54, Z:-18.62 [[ 0.77012375 -0.58695093 -0.24979597 -55.21065029] [ 0.58283842 0.80660753 -0.09840564 -64.5363917 ] [ 0.25924659 -0.06980617 0.96328516 -18.61660874] [ 0. 0. 0. 1. ]] SLAMing on 136.111652532 meters Centerline goodness [0,1] 0.4365711315360442 Centerline is valid? [False, False] Translation: X:-55.22, Y:-64.56, Z:-18.62 [[ 0.76814176 -0.58646259 -0.25694332 -55.2240824 ] [ 0.58367639 0.80634707 -0.09553149 -64.56125162] [ 0.26321114 -0.07659002 0.96169323 -18.61629208] [ 0. 0. 0. 1. ]] SLAMing on 136.141652532 meters Centerline goodness [0,1] 0.4434232655091551 Centerline is valid? [False, False] Translation: X:-55.23, Y:-64.56, Z:-18.62 [[ 0.76676646 -0.58951702 -0.25404504 -55.22681475] [ 0.58608368 0.80435287 -0.09758269 -64.56444405] [ 0.26186852 -0.07406852 0.9622571 -18.61662508] [ 0. 0. 0. 1. ]] SLAMing on 136.171652532 meters Centerline goodness [0,1] 0.4474620493358634 Centerline is valid? [False, False] Translation: X:-55.23, Y:-64.57, Z:-18.62 [[ 0.7668123 -0.59119129 -0.24998352 -55.23276213] [ 0.58714158 0.80341072 -0.09897469 -64.57110793] [ 0.25935241 -0.07088071 0.9631782 -18.61932902] [ 0. 0. 0. 1. ]] SLAMing on 136.201652532 meters Centerline goodness [0,1] 0.4489917104106791 Centerline is valid? [False, False] Translation: X:-55.25, Y:-64.59, Z:-18.62 [[ 0.76557353 -0.5897521 -0.25707904 -55.24747091] [ 0.58690414 0.80389736 -0.09639791 -64.59404756] [ 0.26351603 -0.07708106 0.96157049 -18.62065463] [ 0. 0. 0. 1. ]] SLAMing on 136.231652532 meters Centerline goodness [0,1] 0.45393391965771335 Centerline is valid? [False, False] Translation: X:-55.25, Y:-64.60, Z:-18.62 [[ 0.76364365 -0.59328104 -0.254688 -55.24813087] [ 0.58975838 0.80151549 -0.09878244 -64.5967832 ] [ 0.26274212 -0.0747698 0.96196468 -18.62028032] [ 0. 0. 0. 1. ]] SLAMing on 136.261652532 meters Centerline goodness [0,1] 0.45393391965771335 Centerline is valid? [False, False] Translation: X:-55.25, Y:-64.60, Z:-18.61 [[ 0.76111925 -0.59139926 -0.26635391 -55.25105237] [ 0.58695919 0.80275993 -0.10514467 -64.60273478] [ 0.27600073 -0.07631124 0.95812327 -18.61157516] [ 0. 0. 0. 1. ]] SLAMing on 136.291652532 meters Centerline goodness [0,1] 0.4796808357693967 Centerline is valid? [False, False] Translation: X:-55.26, Y:-64.63, Z:-18.61 [[ 0.75603154 -0.59549714 -0.27166056 -55.26226737] [ 0.59180627 0.7992198 -0.10494311 -64.62624626] [ 0.27960982 -0.08143012 0.95665432 -18.6107066 ] [ 0. 0. 0. 1. ]] SLAMing on 136.321652532 meters Centerline goodness [0,1] 0.46455860444999764 Centerline is valid? [False, False] Translation: X:-55.28, Y:-64.65, Z:-18.61 [[ 0.7543632 -0.59432265 -0.27877724 -55.27697486] [ 0.5921883 0.79935653 -0.10169637 -64.65009544] [ 0.28328286 -0.08837262 0.95495607 -18.61131657] [ 0. 0. 0. 1. ]] SLAMing on 136.351652532 meters Centerline goodness [0,1] 0.4743227240870973 Centerline is valid? [False, False] Translation: X:-55.29, Y:-64.67, Z:-18.61 [[ 0.75094109 -0.5951555 -0.28614229 -55.28760814] [ 0.59457102 0.79789963 -0.09920427 -64.67344056] [ 0.2873548 -0.09563535 0.95303783 -18.61044172] [ 0. 0. 0. 1. ]] SLAMing on 136.381652532 meters Centerline goodness [0,1] 0.4806128376415917 Centerline is valid? [False, False] Translation: X:-55.30, Y:-64.70, Z:-18.61 [[ 0.74805805 -0.59540769 -0.29308502 -55.30090416] [ 0.59635419 0.79686999 -0.09674657 -64.69559907] [ 0.29115431 -0.10241042 0.95117889 -18.61049013] [ 0. 0. 0. 1. ]] SLAMing on 136.411652532 meters Centerline goodness [0,1] 0.48481098655796573 Centerline is valid? [False, False] Translation: X:-55.32, Y:-64.72, Z:-18.61 [[ 0.74603983 -0.59480853 -0.29937831 -55.31661043] [ 0.59724351 0.79650851 -0.09420392 -64.71924213] [ 0.29449067 -0.10852188 0.94947262 -18.61199125] [ 0. 0. 0. 1. ]] SLAMing on 136.441652532 meters Centerline goodness [0,1] 0.48899684236094243 Centerline is valid? [False, False] Translation: X:-55.33, Y:-64.74, Z:-18.61 [[ 0.74480716 -0.59319547 -0.30558376 -55.33357725] [ 0.59722783 0.7968665 -0.09122877 -64.74373065] [ 0.29762596 -0.11455529 0.94778472 -18.61432311] [ 0. 0. 0. 1. ]] SLAMing on 136.471652532 meters Centerline goodness [0,1] 0.476243765965211 Centerline is valid? [False, False] Translation: X:-55.35, Y:-64.77, Z:-18.62 [[ 0.7426116 -0.59315352 -0.31096127 -55.34985848] [ 0.59841094 0.79616398 -0.08959496 -64.76749545] [ 0.30071973 -0.11954837 0.94619017 -18.61723526] [ 0. 0. 0. 1. ]] SLAMing on 136.501652532 meters Centerline goodness [0,1] 0.4960111589663273 Centerline is valid? [False, False] Translation: X:-55.37, Y:-64.79, Z:-18.62 [[ 0.73924814 -0.59542143 -0.31461962 -55.36691125] [ 0.60128818 0.79397222 -0.08978112 -64.7943019 ] [ 0.30325684 -0.12280653 0.94496235 -18.62017228] [ 0. 0. 0. 1. ]] SLAMing on 136.531652532 meters Centerline goodness [0,1] 0.5046623478602277 Centerline is valid? [False, False] Translation: X:-55.39, Y:-64.82, Z:-18.63 [[ 0.73804239 -0.59527393 -0.31771431 -55.38837657] [ 0.60187059 0.79363687 -0.08883871 -64.82314058] [ 0.30503316 -0.12565617 0.94401552 -18.62551 ] [ 0. 0. 0. 1. ]] SLAMing on 136.561652532 meters Centerline goodness [0,1] 0.5046623478602277 Centerline is valid? [False, False] Translation: X:-55.41, Y:-64.85, Z:-18.63 [[ 0.7369366 -0.59345672 -0.32362566 -55.40624444] [ 0.60156074 0.7941367 -0.08643825 -64.84595054] [ 0.30830038 -0.13098098 0.94222867 -18.62914923] [ 0. 0. 0. 1. ]] SLAMing on 136.591652532 meters Centerline goodness [0,1] 0.5034543583713067 Centerline is valid? [False, False] Translation: X:-55.42, Y:-64.87, Z:-18.63 [[ 0.7350813 -0.59307788 -0.32850284 -55.42418914] [ 0.60233617 0.79369326 -0.08510082 -64.86888968] [ 0.3112019 -0.13531312 0.94066133 -18.63355585] [ 0. 0. 0. 1. ]] SLAMing on 136.621652532 meters Centerline goodness [0,1] 0.5095436702649656 Centerline is valid? [False, False] Translation: X:-55.45, Y:-64.90, Z:-18.64 [[ 0.73476126 -0.59121652 -0.33254913 -55.44551866] [ 0.60170074 0.79440987 -0.08288054 -64.89537382] [ 0.31318065 -0.13919764 0.93943701 -18.63974225] [ 0. 0. 0. 1. ]] SLAMing on 136.651652532 meters Centerline goodness [0,1] 0.5080710349050827 Centerline is valid? [False, False] Translation: X:-55.45, Y:-64.90, Z:-18.64 [[ 0.73511352 -0.59091028 -0.33231485 -55.4467166 ] [ 0.60143891 0.79464147 -0.0825601 -64.89607796] [ 0.31285678 -0.13917603 0.93954812 -18.64005971] [ 0. 0. 0. 1. ]] SLAMing on 136.68165253200002 meters Centerline goodness [0,1] 0.5104120731050027 Centerline is valid? [False, False] Translation: X:-55.47, Y:-64.92, Z:-18.65 [[ 0.73252836 -0.59279857 -0.33465213 -55.46657432] [ 0.60396592 0.79275565 -0.08224139 -64.92185471] [ 0.31404995 -0.14187433 0.93874614 -18.64522634] [ 0. 0. 0. 1. ]] SLAMing on 136.71165253200002 meters Centerline goodness [0,1] 0.5117418027768935 Centerline is valid? [False, False] Translation: X:-55.49, Y:-64.95, Z:-18.65 [[ 0.73289063 -0.59151007 -0.33613563 -55.49184224] [ 0.60326271 0.79342826 -0.08090549 -64.94977569] [ 0.31455593 -0.14348321 0.9383321 -18.65437724] [ 0. 0. 0. 1. ]] SLAMing on 136.74165253200002 meters Centerline goodness [0,1] 0.5103782118671002 Centerline is valid? [False, False] Translation: X:-55.49, Y:-64.95, Z:-18.66 [[ 0.73355263 -0.5910066 -0.33557671 -55.49459672] [ 0.60275758 0.79385222 -0.08051064 -64.95003563] [ 0.31398063 -0.14321262 0.93856609 -18.65535937] [ 0. 0. 0. 1. ]] SLAMing on 136.771652532 meters Centerline goodness [0,1] 0.506043179492178 Centerline is valid? [False, False] Translation: X:-55.52, Y:-64.98, Z:-18.67 [[ 0.73489954 -0.58766352 -0.33848818 -55.5188884 ] [ 0.60048525 0.79582809 -0.07794305 -64.97549688] [ 0.31518268 -0.14597685 0.93773698 -18.66516188] [ 0. 0. 0. 1. ]] SLAMing on 136.801652532 meters Centerline goodness [0,1] 0.5005106258814376 Centerline is valid? [False, False] Translation: X:-55.55, Y:-65.00, Z:-18.68 [[ 0.73642154 -0.58583745 -0.33834568 -55.54804457] [ 0.59870014 0.7972345 -0.07730009 -65.00431224] [ 0.31502614 -0.14564215 0.93784162 -18.67803409] [ 0. 0. 0. 1. ]] SLAMing on 136.831652532 meters Centerline goodness [0,1] 0.4921231216674745 Centerline is valid? [False, False] Translation: X:-55.58, Y:-65.04, Z:-18.69 [[ 0.7401865 -0.5827444 -0.33545925 -55.58313665] [ 0.59545772 0.79982626 -0.0755517 -65.03884939] [ 0.31233645 -0.14382945 0.93902025 -18.69249952] [ 0. 0. 0. 1. ]] SLAMing on 136.861652532 meters Centerline goodness [0,1] 0.49750484496124026 Centerline is valid? [False, False] Translation: X:-55.61, Y:-65.07, Z:-18.70 [[ 0.74108174 -0.58273008 -0.33350189 -55.61215374] [ 0.59540938 0.79994445 -0.07467624 -65.06911279] [ 0.31029907 -0.14322896 0.93978718 -18.70431808] [ 0. 0. 0. 1. ]] SLAMing on 136.891652532 meters Centerline goodness [0,1] 0.492611076118029 Centerline is valid? [False, False] Translation: X:-55.64, Y:-65.10, Z:-18.72 [[ 0.74283751 -0.58136434 -0.3319758 -55.64240468] [ 0.59435316 0.80091636 -0.07264503 -65.09950705] [ 0.30811808 -0.14334741 0.94048645 -18.71571153] [ 0. 0. 0. 1. ]] SLAMing on 136.921652532 meters Centerline goodness [0,1] 0.4916702882804578 Centerline is valid? [False, False] Translation: X:-55.67, Y:-65.13, Z:-18.73 [[ 0.74468449 -0.58013809 -0.32997698 -55.67169939] [ 0.59347905 0.8017763 -0.07026651 -65.12696769] [ 0.305332 -0.14350805 0.94137018 -18.72845909] [ 0. 0. 0. 1. ]] SLAMing on 136.951652532 meters Centerline goodness [0,1] 0.487140004330775 Centerline is valid? [False, False] Translation: X:-55.69, Y:-65.14, Z:-18.74 [[ 0.74716371 -0.58008892 -0.32441213 -55.68546538] [ 0.59092016 0.80321064 -0.07527305 -65.1360979 ] [ 0.30423634 -0.13546038 0.94291608 -18.73821906] [ 0. 0. 0. 1. ]] SLAMing on 136.981652532 meters Centerline goodness [0,1] 0.4918202376942693 Centerline is valid? [False, False] Translation: X:-55.71, Y:-65.16, Z:-18.75 [[ 0.74821987 -0.57816675 -0.3254078 -55.71215923] [ 0.58958611 0.80435596 -0.07348266 -65.16285484] [ 0.30422893 -0.13687474 0.9427142 -18.74850451] [ 0. 0. 0. 1. ]] SLAMing on 137.011652532 meters Centerline goodness [0,1] 0.48313936850138317 Centerline is valid? [False, False] Translation: X:-55.74, Y:-65.18, Z:-18.76 [[ 0.75301592 -0.57167519 -0.3258136 -55.73767803] [ 0.58054478 0.81028936 -0.07999319 -65.18216868] [ 0.30973342 -0.12891324 0.94204384 -18.75595274] [ 0. 0. 0. 1. ]] SLAMing on 137.041652532 meters Centerline goodness [0,1] 0.4773888453221169 Centerline is valid? [False, False] Translation: X:-55.76, Y:-65.21, Z:-18.77 [[ 0.75370807 -0.56926904 -0.32841576 -55.76177908] [ 0.57897646 0.81159827 -0.07806733 -65.20663902] [ 0.31098298 -0.13130501 0.94130153 -18.76539125] [ 0. 0. 0. 1. ]] SLAMing on 137.071652532 meters Centerline goodness [0,1] 0.4576351527504562 Centerline is valid? [False, False] Translation: X:-55.79, Y:-65.23, Z:-18.78 [[ 0.75352319 -0.56876169 -0.32971647 -55.7866914 ] [ 0.57877077 0.81178685 -0.07763054 -65.23057635] [ 0.31181277 -0.13233384 0.94088286 -18.77531671] [ 0. 0. 0. 1. ]] SLAMing on 137.101652532 meters Centerline goodness [0,1] 0.45202162670427837 Centerline is valid? [False, False] Translation: X:-55.82, Y:-65.26, Z:-18.79 [[ 0.75898811 -0.56209671 -0.3286097 -55.82222129] [ 0.57284509 0.81637613 -0.07333843 -65.2610201 ] [ 0.30949241 -0.13257945 0.94161411 -18.7901774 ] [ 0. 0. 0. 1. ]] SLAMing on 137.131652532 meters Centerline goodness [0,1] 0.466589969947408 Centerline is valid? [False, False] Translation: X:-55.85, Y:-65.29, Z:-18.80 [[ 0.76109077 -0.55995138 -0.32740692 -55.85184935] [ 0.57138504 0.81767467 -0.07019455 -65.28814345] [ 0.30701788 -0.133651 0.94227248 -18.80189631] [ 0. 0. 0. 1. ]] SLAMing on 137.161652532 meters Centerline goodness [0,1] 0.4764156464336712 Centerline is valid? [False, False] Translation: X:-55.88, Y:-65.31, Z:-18.81 [[ 0.76179216 -0.55931231 -0.32686762 -55.87956173] [ 0.57102154 0.81803453 -0.06894856 -65.31367447] [ 0.30595278 -0.13412398 0.94255167 -18.81309124] [ 0. 0. 0. 1. ]] SLAMing on 137.191652532 meters Centerline goodness [0,1] 0.4672542025133478 Centerline is valid? [False, False] Translation: X:-55.90, Y:-65.32, Z:-18.82 [[ 0.76347064 -0.56056618 -0.32074622 -55.89501131] [ 0.56947296 0.81857226 -0.07509999 -65.32264505] [ 0.30465248 -0.12531966 0.94418317 -18.82181383] [ 0. 0. 0. 1. ]] SLAMing on 137.221652532 meters Centerline goodness [0,1] 0.45748940996736187 Centerline is valid? [False, False] Translation: X:-55.93, Y:-65.35, Z:-18.84 [[ 0.76723701 -0.55577567 -0.32009494 -55.92699052] [ 0.56536516 0.82172533 -0.07162208 -65.35168298] [ 0.30283593 -0.12601941 0.94467429 -18.83509156] [ 0. 0. 0. 1. ]] SLAMing on 137.251652532 meters Centerline goodness [0,1] 0.45274136976186086 Centerline is valid? [False, False] Translation: X:-55.95, Y:-65.38, Z:-18.85 [[ 0.76927233 -0.55296736 -0.32007371 -55.9544661 ] [ 0.56341215 0.82334657 -0.06831675 -65.37864494] [ 0.30130852 -0.12777923 0.94492626 -18.84632554] [ 0. 0. 0. 1. ]] SLAMing on 137.281652532 meters Centerline goodness [0,1] 0.4568459939967675 Centerline is valid? [False, False] Translation: X:-55.98, Y:-65.40, Z:-18.86 [[ 0.76846604 -0.5543574 -0.31960572 -55.97980858] [ 0.56500572 0.82229903 -0.0677705 -65.40426288] [ 0.30038055 -0.12849973 0.94512398 -18.85519368] [ 0. 0. 0. 1. ]] SLAMing on 137.311652532 meters Centerline goodness [0,1] 0.4566327704412645 Centerline is valid? [False, False] Translation: X:-55.98, Y:-65.40, Z:-18.85 [[ 0.76881066 -0.55403887 -0.31932914 -55.98218993] [ 0.56471568 0.8225218 -0.06748401 -65.40460645] [ 0.30004394 -0.12844775 0.94523796 -18.85499142] [ 0. 0. 0. 1. ]] SLAMing on 137.341652532 meters Centerline goodness [0,1] 0.44401659446698294 Centerline is valid? [False, False] Translation: X:-56.02, Y:-65.43, Z:-18.87 [[ 7.72583061e-01 -5.49481612e-01 -3.18096483e-01 -5.60157167e+01] [ 5.60850414e-01 8.25460738e-01 -6.37289893e-02 -6.54336971e+01] [ 2.97594065e-01 -1.29168607e-01 9.45913973e-01 -1.88680102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.371652532 meters Centerline goodness [0,1] 0.44331120085791864 Centerline is valid? [False, False] Translation: X:-56.02, Y:-65.44, Z:-18.87 [[ 7.74883074e-01 -5.47527624e-01 -3.15863455e-01 -5.60236027e+01] [ 5.58732525e-01 8.26967124e-01 -6.27960201e-02 -6.54363501e+01] [ 2.95591249e-01 -1.27823613e-01 9.46724320e-01 -1.88719471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.401652532 meters Centerline goodness [0,1] 0.44180960841932615 Centerline is valid? [False, False] Translation: X:-56.03, Y:-65.44, Z:-18.87 [[ 7.74743880e-01 -5.48295429e-01 -3.14871470e-01 -5.60275681e+01] [ 5.59245377e-01 8.26580273e-01 -6.33218774e-02 -6.54365408e+01] [ 2.94985642e-01 -1.27032177e-01 9.47019692e-01 -1.88715662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43165253200002 meters Centerline goodness [0,1] 0.44282602777021507 Centerline is valid? [False, False] Translation: X:-56.05, Y:-65.45, Z:-18.88 [[ 0.7796496 -0.54338738 -0.31125015 -56.04859717] [ 0.55208508 0.83101887 -0.06789479 -65.45178803] [ 0.29554792 -0.11890242 0.94789959 -18.88058034] [ 0. 0. 0. 1. ]] SLAMing on 137.46165253200002 meters Centerline goodness [0,1] 0.4314583805851667 Centerline is valid? [False, False] Translation: X:-56.06, Y:-65.46, Z:-18.89 [[ 0.7832104 -0.54087442 -0.30665344 -56.06285115] [ 0.54810467 0.83346145 -0.07016619 -65.46101804] [ 0.29353492 -0.11312329 0.94923146 -18.88872866] [ 0. 0. 0. 1. ]] SLAMing on 137.49165253200002 meters Centerline goodness [0,1] 0.4370988156586204 Centerline is valid? [False, False] Translation: X:-56.07, Y:-65.47, Z:-18.89 [[ 0.78572313 -0.53922058 -0.30311769 -56.07482446] [ 0.54572448 0.83497248 -0.07075137 -65.46752367] [ 0.29124552 -0.10982775 0.95032306 -18.8929959 ] [ 0. 0. 0. 1. ]] SLAMing on 137.521652532 meters Centerline goodness [0,1] 0.43212348957044167 Centerline is valid? [False, False] Translation: X:-56.08, Y:-65.47, Z:-18.89 [[ 0.78655997 -0.53828607 -0.30260787 -56.07877741] [ 0.54490249 0.8355734 -0.06998838 -65.4682584 ] [ 0.29052486 -0.10984173 0.950542 -18.89316636] [ 0. 0. 0. 1. ]] SLAMing on 137.551652532 meters Centerline goodness [0,1] 0.42704634332719016 Centerline is valid? [False, False] Translation: X:-56.10, Y:-65.49, Z:-18.90 [[ 0.78671103 -0.53761647 -0.30340448 -56.10394071] [ 0.54494291 0.83572338 -0.06785021 -65.49429677] [ 0.2900396 -0.11195961 0.95044309 -18.90109723] [ 0. 0. 0. 1. ]] SLAMing on 137.581652532 meters Centerline goodness [0,1] 0.43140514433337074 Centerline is valid? [False, False] Translation: X:-56.11, Y:-65.50, Z:-18.90 [[ 0.78580354 -0.54044192 -0.30072466 -56.10919371] [ 0.54692649 0.83424036 -0.07010298 -65.49510179] [ 0.28876324 -0.10938712 0.95113104 -18.90142691] [ 0. 0. 0. 1. ]] SLAMing on 137.611652532 meters Centerline goodness [0,1] 0.42588319630816107 Centerline is valid? [False, False] Translation: X:-56.11, Y:-65.50, Z:-18.90 [[ 0.78466397 -0.54364134 -0.29792036 -56.11399073] [ 0.54927348 0.83249608 -0.07244949 -65.49664339] [ 0.28740407 -0.10679125 0.95183745 -18.90145052] [ 0. 0. 0. 1. ]] SLAMing on 137.641652532 meters Centerline goodness [0,1] 0.4318730982638267 Centerline is valid? [False, False] Translation: X:-56.14, Y:-65.52, Z:-18.91 [[ 0.78442013 -0.5433023 -0.29917833 -56.13830455] [ 0.54965739 0.83241106 -0.07048814 -65.52317485] [ 0.28733572 -0.10915326 0.95159012 -18.90846654] [ 0. 0. 0. 1. ]] SLAMing on 137.671652532 meters Centerline goodness [0,1] 0.42323808674720276 Centerline is valid? [False, False] Translation: X:-56.16, Y:-65.54, Z:-18.92 [[ 0.78997131 -0.53692719 -0.29606506 -56.16082773] [ 0.54154977 0.83742902 -0.07373251 -65.54063271] [ 0.28752247 -0.1020874 0.9523177 -18.91634146] [ 0. 0. 0. 1. ]] SLAMing on 137.701652532 meters Centerline goodness [0,1] 0.4238339894575298 Centerline is valid? [False, False] Translation: X:-56.18, Y:-65.56, Z:-18.92 [[ 0.78945605 -0.5355572 -0.29989601 -56.18188271] [ 0.54155507 0.83771324 -0.07038916 -65.56418476] [ 0.28892428 -0.10684106 0.95137151 -18.9209571 ] [ 0. 0. 0. 1. ]] SLAMing on 137.731652532 meters Centerline goodness [0,1] 0.4217721856660146 Centerline is valid? [False, False] Translation: X:-56.20, Y:-65.57, Z:-18.93 [[ 0.79082475 -0.53691901 -0.29379278 -56.19593173] [ 0.54053135 0.83786238 -0.07623969 -65.57269261] [ 0.28709245 -0.09851197 0.95282386 -18.92894076] [ 0. 0. 0. 1. ]] SLAMing on 137.761652532 meters Centerline goodness [0,1] 0.41376482322952457 Centerline is valid? [False, False] Translation: X:-56.22, Y:-65.59, Z:-18.93 [[ 0.7960453 -0.52937219 -0.29338876 -56.21860536] [ 0.53134186 0.84336777 -0.0800414 -65.59261031] [ 0.28980632 -0.09217315 0.95263656 -18.93437902] [ 0. 0. 0. 1. ]] SLAMing on 137.791652532 meters Centerline goodness [0,1] 0.4257761428856339 Centerline is valid? [False, False] Translation: X:-56.22, Y:-65.59, Z:-18.93 [[ 0.79651453 -0.52892476 -0.29292185 -56.22096047] [ 0.53098444 0.84364401 -0.07950032 -65.59367022] [ 0.28917145 -0.09221379 0.95282553 -18.93454145] [ 0. 0. 0. 1. ]] SLAMing on 137.821652532 meters Centerline goodness [0,1] 0.41542901542901545 Centerline is valid? [False, False] Translation: X:-56.24, Y:-65.62, Z:-18.94 [[ 0.79503155 -0.5286169 -0.297471 -56.23991989] [ 0.53166553 0.8433769 -0.07776359 -65.6162129 ] [ 0.29198732 -0.09633057 0.95155863 -18.93880147] [ 0. 0. 0. 1. ]] SLAMing on 137.851652532 meters Centerline goodness [0,1] 0.4161492060675951 Centerline is valid? [False, False] Translation: X:-56.26, Y:-65.63, Z:-18.95 [[ 0.79922756 -0.52520946 -0.29221625 -56.25721958] [ 0.5265036 0.84629934 -0.08106405 -65.62755812] [ 0.28987803 -0.08906429 0.95291043 -18.94888173] [ 0. 0. 0. 1. ]] SLAMing on 137.881652532 meters Centerline goodness [0,1] 0.42268269956072235 Centerline is valid? [False, False] Translation: X:-56.26, Y:-65.63, Z:-18.95 [[ 0.79969584 -0.5245046 -0.2922011 -56.25928226] [ 0.52603305 0.84667875 -0.08015186 -65.62976924] [ 0.28944048 -0.08961032 0.95299223 -18.94792751] [ 0. 0. 0. 1. ]] SLAMing on 137.911652532 meters Centerline goodness [0,1] 0.38954753341325876 Centerline is valid? [False, False] Translation: X:-56.27, Y:-65.64, Z:-18.96 [[ 0.79972908 -0.52770975 -0.28627927 -56.27156982] [ 0.53080707 0.84429903 -0.07350509 -65.64038755] [ 0.28049467 -0.0931749 0.95532255 -18.95775845] [ 0. 0. 0. 1. ]] SLAMing on 137.941652532 meters Centerline goodness [0,1] 0.39198757074686497 Centerline is valid? [False, False] Translation: X:-56.28, Y:-65.64, Z:-18.96 [[ 0.80072808 -0.52683474 -0.28509595 -56.2754487 ] [ 0.52996558 0.84488767 -0.07281009 -65.64171214] [ 0.27923294 -0.09278996 0.95572956 -18.95943091] [ 0. 0. 0. 1. ]] SLAMing on 137.971652532 meters Centerline goodness [0,1] 0.4136448266690309 Centerline is valid? [False, False] Translation: X:-56.28, Y:-65.64, Z:-18.96 [[ 0.80136604 -0.52617797 -0.28451576 -56.27844161] [ 0.52941214 0.84529302 -0.07212837 -65.64236645] [ 0.27845154 -0.09282487 0.95595412 -18.95995214] [ 0. 0. 0. 1. ]] SLAMing on 138.001652532 meters Centerline goodness [0,1] 0.3845625540022598 Centerline is valid? [False, False] Translation: X:-56.30, Y:-65.67, Z:-18.96 [[ 0.79890785 -0.52782673 -0.28834908 -56.29744946] [ 0.53181646 0.84385879 -0.07122924 -65.66698738] [ 0.2809226 -0.09644319 0.95487235 -18.96280125] [ 0. 0. 0. 1. ]] SLAMing on 138.031652532 meters Centerline goodness [0,1] 0.40699375083100653 Centerline is valid? [False, False] Translation: X:-56.30, Y:-65.67, Z:-18.96 [[ 0.7977154 -0.53123489 -0.2853763 -56.3011348 ] [ 0.53434633 0.84203701 -0.07380832 -65.66794286] [ 0.27950697 -0.09361175 0.95556931 -18.9639289 ] [ 0. 0. 0. 1. ]] SLAMing on 138.061652532 meters Centerline goodness [0,1] 0.41573159033618134 Centerline is valid? [False, False] Translation: X:-56.31, Y:-65.68, Z:-18.97 [[ 0.79573989 -0.53708699 -0.27988498 -56.30952025] [ 0.54162304 0.83787063 -0.06795062 -65.67638285] [ 0.2710028 -0.09752114 0.95762577 -18.97414156] [ 0. 0. 0. 1. ]] SLAMing on 138.091652532 meters Centerline goodness [0,1] 0.4147695600793775 Centerline is valid? [False, False] Translation: X:-56.31, Y:-65.68, Z:-18.97 [[ 0.79624201 -0.53648113 -0.27961878 -56.31175158] [ 0.54113264 0.83823769 -0.06732794 -65.67715389] [ 0.27050717 -0.09770151 0.95774751 -18.97413612] [ 0. 0. 0. 1. ]] SLAMing on 138.121652532 meters Centerline goodness [0,1] 0.4123383128882161 Centerline is valid? [False, False] Translation: X:-56.32, Y:-65.68, Z:-18.97 [[ 0.79725692 -0.53517786 -0.27922403 -56.31593268] [ 0.54005681 0.83902667 -0.0661278 -65.67871168] [ 0.26966655 -0.09807599 0.95794627 -18.97389654] [ 0. 0. 0. 1. ]] SLAMing on 138.151652532 meters Centerline goodness [0,1] 0.40096586104063736 Centerline is valid? [False, False] Translation: X:-56.32, Y:-65.68, Z:-18.97 [[ 0.79663624 -0.53718308 -0.27713721 -56.3211058 ] [ 0.54161097 0.83792992 -0.06731269 -65.68183946] [ 0.2683808 -0.09647683 0.9584696 -18.97284146] [ 0. 0. 0. 1. ]] SLAMing on 138.18165253200002 meters Centerline goodness [0,1] 0.3878448620551779 Centerline is valid? [False, False] Translation: X:-56.32, Y:-65.69, Z:-18.97 [[ 0.79541128 -0.54014735 -0.27488495 -56.3239917 ] [ 0.54398126 0.83624385 -0.06914188 -65.68574755] [ 0.26721765 -0.09453603 0.95898783 -18.97162618] [ 0. 0. 0. 1. ]] SLAMing on 138.21165253200002 meters Centerline goodness [0,1] 0.3878448620551779 Centerline is valid? [False, False] Translation: X:-56.32, Y:-65.69, Z:-18.97 [[ 0.79541128 -0.54014735 -0.27488495 -56.3239917 ] [ 0.54398126 0.83624385 -0.06914188 -65.68574755] [ 0.26721765 -0.09453603 0.95898783 -18.97162618] [ 0. 0. 0. 1. ]] SLAMing on 138.24165253200002 meters Centerline goodness [0,1] 0.38726448631354426 Centerline is valid? [False, False] Translation: X:-56.33, Y:-65.69, Z:-18.97 [[ 0.79447323 -0.54286414 -0.27223299 -56.32805355] [ 0.54604065 0.83474204 -0.07103049 -65.68852812] [ 0.26580423 -0.09221846 0.9596061 -18.97160093] [ 0. 0. 0. 1. ]] SLAMing on 138.271652532 meters Centerline goodness [0,1] 0.39393265918435383 Centerline is valid? [False, False] Translation: X:-56.33, Y:-65.69, Z:-18.97 [[ 0.79361059 -0.5453898 -0.26968905 -56.33244958] [ 0.54791766 0.83334787 -0.07292165 -65.69072527] [ 0.26451552 -0.08989601 0.9601824 -18.97155861] [ 0. 0. 0. 1. ]] SLAMing on 138.301652532 meters Centerline goodness [0,1] 0.3947146159317212 Centerline is valid? [False, False] Translation: X:-56.33, Y:-65.69, Z:-18.97 [[ 0.79409415 -0.54456619 -0.26992991 -56.33305685] [ 0.54735974 0.83380373 -0.0718933 -65.69361614] [ 0.26421923 -0.09065872 0.96019227 -18.97064411] [ 0. 0. 0. 1. ]] SLAMing on 138.331652532 meters Centerline goodness [0,1] 0.39331935023206 Centerline is valid? [False, False] Translation: X:-56.34, Y:-65.70, Z:-18.97 [[ 0.79276649 -0.54772262 -0.26743451 -56.33609263] [ 0.54983904 0.83198239 -0.07404281 -65.69595409] [ 0.26305572 -0.08834727 0.96072704 -18.9703707 ] [ 0. 0. 0. 1. ]] SLAMing on 138.361652532 meters Centerline goodness [0,1] 0.385507376150075 Centerline is valid? [False, False] Translation: X:-56.34, Y:-65.70, Z:-18.97 [[ 0.79126618 -0.55108587 -0.26495698 -56.33770483] [ 0.55251432 0.8300034 -0.07630388 -65.69830771] [ 0.26196519 -0.08601585 0.96123645 -18.97071154] [ 0. 0. 0. 1. ]] SLAMing on 138.391652532 meters Centerline goodness [0,1] 0.385747291447029 Centerline is valid? [False, False] Translation: X:-56.34, Y:-65.70, Z:-18.97 [[ 0.78979409 -0.55442505 -0.26237028 -56.34068741] [ 0.55515703 0.82802493 -0.07858365 -65.70010371] [ 0.26081788 -0.0835918 0.96176216 -18.97065778] [ 0. 0. 0. 1. ]] SLAMing on 138.421652532 meters Centerline goodness [0,1] 0.39155785682125166 Centerline is valid? [False, False] Translation: X:-56.34, Y:-65.70, Z:-18.97 [[ 0.78834396 -0.55766667 -0.25984934 -56.34402252] [ 0.55774177 0.82607704 -0.08075172 -65.70214796] [ 0.25968812 -0.08126871 0.96226684 -18.97021046] [ 0. 0. 0. 1. ]] SLAMing on 138.451652532 meters Centerline goodness [0,1] 0.4002533248891703 Centerline is valid? [False, False] Translation: X:-56.35, Y:-65.70, Z:-18.97 [[ 0.78691607 -0.56086573 -0.25727948 -56.34776801] [ 0.56030256 0.82413345 -0.08285588 -65.7042072 ] [ 0.25850365 -0.07895373 0.96277836 -18.9696051 ] [ 0. 0. 0. 1. ]] SLAMing on 138.481652532 meters Centerline goodness [0,1] 0.4023423341790504 Centerline is valid? [False, False] Translation: X:-56.35, Y:-65.71, Z:-18.97 [[ 0.7863062 -0.5626336 -0.25527629 -56.35262529] [ 0.56173152 0.823065 -0.08379564 -65.70843708] [ 0.25725522 -0.0775077 0.96323014 -18.96792618] [ 0. 0. 0. 1. ]] SLAMing on 138.511652532 meters Centerline goodness [0,1] 0.3963281958295558 Centerline is valid? [False, False] Translation: X:-56.36, Y:-65.71, Z:-18.97 [[ 0.78513305 -0.56539346 -0.25277724 -56.3566447 ] [ 0.56392416 0.82137533 -0.08562772 -65.71121033] [ 0.25603834 -0.07531804 0.96372795 -18.96716481] [ 0. 0. 0. 1. ]] SLAMing on 138.541652532 meters Centerline goodness [0,1] 0.39880546850161236 Centerline is valid? [False, False] Translation: X:-56.36, Y:-65.71, Z:-18.97 [[ 0.78383214 -0.56834216 -0.25018864 -56.36039306] [ 0.56625471 0.81955288 -0.08768511 -65.71345062] [ 0.25487797 -0.07294009 0.96421832 -18.96667204] [ 0. 0. 0. 1. ]] SLAMing on 138.571652532 meters Centerline goodness [0,1] 0.3975725617655749 Centerline is valid? [False, False] Translation: X:-56.36, Y:-65.72, Z:-18.97 [[ 0.78192477 -0.57202257 -0.24775763 -56.3618478 ] [ 0.56922964 0.81720745 -0.09027511 -65.7153336 ] [ 0.25410878 -0.07044264 0.96460695 -18.96624178] [ 0. 0. 0. 1. ]] SLAMing on 138.601652532 meters Centerline goodness [0,1] 0.3986098450319052 Centerline is valid? [False, False] Translation: X:-56.37, Y:-65.74, Z:-18.97 [[ 0.77972221 -0.57201939 -0.25461166 -56.37481412] [ 0.57038274 0.81665328 -0.0879827 -65.73585968] [ 0.25825725 -0.07662403 0.96303268 -18.96760339] [ 0. 0. 0. 1. ]] SLAMing on 138.631652532 meters Centerline goodness [0,1] 0.39654073736913975 Centerline is valid? [False, False] Translation: X:-56.39, Y:-65.75, Z:-18.97 [[ 0.77759674 -0.57121114 -0.26279487 -56.38609254] [ 0.57100563 0.81651332 -0.08519721 -65.75318006] [ 0.26324111 -0.08380828 0.96108287 -18.96860358] [ 0. 0. 0. 1. ]] SLAMing on 138.661652532 meters Centerline goodness [0,1] 0.40114046845536955 Centerline is valid? [False, False] Translation: X:-56.40, Y:-65.77, Z:-18.97 [[ 0.77517128 -0.56989216 -0.27263972 -56.39511172] [ 0.57031073 0.8169091 -0.08605348 -65.76630625] [ 0.27176307 -0.08878317 0.95826008 -18.96722917] [ 0. 0. 0. 1. ]] SLAMing on 138.691652532 meters Centerline goodness [0,1] 0.39242372689123284 Centerline is valid? [False, False] Translation: X:-56.41, Y:-65.79, Z:-18.97 [[ 0.7748362 -0.56742353 -0.27867434 -56.41422169] [ 0.56934014 0.81795528 -0.08246803 -65.79045897] [ 0.27473745 -0.09476127 0.95683835 -18.97013111] [ 0. 0. 0. 1. ]] SLAMing on 138.721652532 meters Centerline goodness [0,1] 0.37811852652436273 Centerline is valid? [False, False] Translation: X:-56.42, Y:-65.79, Z:-18.97 [[ 0.77507815 -0.56710142 -0.27865721 -56.41522945] [ 0.56909901 0.81815835 -0.08211722 -65.79121515] [ 0.27455451 -0.09493628 0.95687351 -18.96978198] [ 0. 0. 0. 1. ]] SLAMing on 138.751652532 meters Centerline goodness [0,1] 0.39026042960720986 Centerline is valid? [False, False] Translation: X:-56.44, Y:-65.82, Z:-18.98 [[ 0.77511682 -0.56546539 -0.281856 -56.43608201] [ 0.56834907 0.81889835 -0.07990514 -65.81692637] [ 0.27599501 -0.09825678 0.95612361 -18.97636779] [ 0. 0. 0. 1. ]] SLAMing on 138.781652532 meters Centerline goodness [0,1] 0.3831729248565361 Centerline is valid? [False, False] Translation: X:-56.46, Y:-65.84, Z:-18.98 [[ 0.77784628 -0.56299401 -0.27927212 -56.45636191] [ 0.56330958 0.82161503 -0.08735594 -65.83642391] [ 0.27863504 -0.08936717 0.95623011 -18.98130164] [ 0. 0. 0. 1. ]] SLAMing on 138.811652532 meters Centerline goodness [0,1] 0.3783356662301892 Centerline is valid? [False, False] Translation: X:-56.47, Y:-65.84, Z:-18.99 [[ 0.77861185 -0.56500504 -0.27300715 -56.46637562] [ 0.56351967 0.82097416 -0.09190763 -65.8435899 ] [ 0.27606008 -0.08228453 0.95761166 -18.98876866] [ 0. 0. 0. 1. ]] SLAMing on 138.841652532 meters Centerline goodness [0,1] 0.3799105034741742 Centerline is valid? [False, False] Translation: X:-56.47, Y:-65.84, Z:-18.99 [[ 0.77854979 -0.56556678 -0.27201919 -56.46977601] [ 0.56396166 0.82064682 -0.09211975 -65.84484116] [ 0.27533155 -0.08168858 0.95787239 -18.98828551] [ 0. 0. 0. 1. ]] SLAMing on 138.871652532 meters Centerline goodness [0,1] 0.38604630213494284 Centerline is valid? [False, False] Translation: X:-56.49, Y:-65.87, Z:-18.99 [[ 0.77746827 -0.56409534 -0.27809986 -56.48640727] [ 0.56386093 0.82105337 -0.08906298 -65.86818266] [ 0.27857484 -0.087566 0.95641427 -18.99086196] [ 0. 0. 0. 1. ]] SLAMing on 138.901652532 meters Centerline goodness [0,1] 0.3846896180259437 Centerline is valid? [False, False] Translation: X:-56.50, Y:-65.89, Z:-18.99 [[ 0.77715182 -0.5618103 -0.28355641 -56.50469717] [ 0.56294901 0.82202702 -0.08579033 -65.89392386] [ 0.28128892 -0.09295569 0.95511035 -18.9948393 ] [ 0. 0. 0. 1. ]] SLAMing on 138.93165253200002 meters Centerline goodness [0,1] 0.3821134553961042 Centerline is valid? [False, False] Translation: X:-56.52, Y:-65.92, Z:-19.00 [[ 0.77575135 -0.56073654 -0.28945531 -56.52076336] [ 0.56318339 0.82212486 -0.08327769 -65.91709599] [ 0.28466525 -0.09841364 0.95356198 -18.99782374] [ 0. 0. 0. 1. ]] SLAMing on 138.96165253200002 meters Centerline goodness [0,1] 0.3852753256722281 Centerline is valid? [False, False] Translation: X:-56.54, Y:-65.94, Z:-19.00 [[ 0.77351192 -0.56084205 -0.29518725 -56.53545192] [ 0.56444307 0.82142859 -0.08160331 -65.93955316] [ 0.28824181 -0.10349526 0.95194821 -19.00065965] [ 0. 0. 0. 1. ]] SLAMing on 138.991652532 meters Centerline goodness [0,1] 0.38780040318014 Centerline is valid? [False, False] Translation: X:-56.54, Y:-65.94, Z:-19.00 [[ 0.77189451 -0.56436004 -0.29270566 -56.53690193] [ 0.56719724 0.81929607 -0.08391204 -65.94221209] [ 0.2871692 -0.1012506 0.9525136 -19.00065059] [ 0. 0. 0. 1. ]] SLAMing on 139.021652532 meters Centerline goodness [0,1] 0.39620591298048624 Centerline is valid? [False, False] Translation: X:-56.54, Y:-65.94, Z:-19.00 [[ 0.77071248 -0.56725516 -0.29021347 -56.54055012] [ 0.56941254 0.81755827 -0.0858361 -65.94454429] [ 0.28595739 -0.09909624 0.95310456 -19.0004231 ] [ 0. 0. 0. 1. ]] SLAMing on 139.051652532 meters Centerline goodness [0,1] 0.38809999092641323 Centerline is valid? [False, False] Translation: X:-56.56, Y:-65.97, Z:-19.00 [[ 0.7694094 -0.56612061 -0.2958321 -56.55680528] [ 0.56970809 0.81764723 -0.08298014 -65.96868462] [ 0.28886306 -0.10469224 0.95162895 -19.00343368] [ 0. 0. 0. 1. ]] SLAMing on 139.081652532 meters Centerline goodness [0,1] 0.3879862025144102 Centerline is valid? [False, False] Translation: X:-56.57, Y:-66.00, Z:-19.00 [[ 0.76703441 -0.56703153 -0.30022236 -56.57425329] [ 0.57175035 0.81640115 -0.08118317 -65.99684038] [ 0.2911353 -0.10938196 0.95040824 -19.00499072] [ 0. 0. 0. 1. ]] SLAMing on 139.111652532 meters Centerline goodness [0,1] 0.3794356028787431 Centerline is valid? [False, False] Translation: X:-56.59, Y:-66.02, Z:-19.01 [[ 0.76469129 -0.56714974 -0.30592221 -56.58880396] [ 0.57313756 0.81560189 -0.07941595 -66.02111731] [ 0.29455147 -0.11460682 0.94873848 -19.00702667] [ 0. 0. 0. 1. ]] SLAMing on 139.141652532 meters Centerline goodness [0,1] 0.38545106702803655 Centerline is valid? [False, False] Translation: X:-56.60, Y:-66.05, Z:-19.01 [[ 0.76155459 -0.56912165 -0.3100567 -56.60394822] [ 0.57596206 0.81366486 -0.07884923 -66.04933845] [ 0.29715704 -0.1185329 0.94744269 -19.00934834] [ 0. 0. 0. 1. ]] SLAMing on 139.171652532 meters Centerline goodness [0,1] 0.38670204249674067 Centerline is valid? [False, False] Translation: X:-56.62, Y:-66.07, Z:-19.01 [[ 0.75866778 -0.5705999 -0.31438662 -56.61944039] [ 0.57825732 0.81207381 -0.07845129 -66.07312774] [ 0.30006944 -0.1222779 0.9460478 -19.01328114] [ 0. 0. 0. 1. ]] SLAMing on 139.201652532 meters Centerline goodness [0,1] 0.4026851830492053 Centerline is valid? [False, False] Translation: X:-56.63, Y:-66.10, Z:-19.01 [[ 0.75474032 -0.57318423 -0.31910326 -56.63274102] [ 0.58190281 0.80952915 -0.07779245 -66.09908157] [ 0.30291279 -0.12697398 0.94452181 -19.01474732] [ 0. 0. 0. 1. ]] SLAMing on 139.231652532 meters Centerline goodness [0,1] 0.400744130153448 Centerline is valid? [False, False] Translation: X:-56.64, Y:-66.11, Z:-19.02 [[ 0.75383738 -0.57722132 -0.31391839 -56.64107594] [ 0.58759862 0.80602754 -0.07104546 -66.11134792] [ 0.29403582 -0.13090129 0.94678814 -19.02362591] [ 0. 0. 0. 1. ]] SLAMing on 139.261652532 meters Centerline goodness [0,1] 0.40393505075611513 Centerline is valid? [False, False] Translation: X:-56.66, Y:-66.14, Z:-19.03 [[ 0.75043854 -0.57969829 -0.31747737 -56.65638831] [ 0.59073068 0.80372019 -0.07121186 -66.13577928] [ 0.29644436 -0.1341035 0.94558817 -19.02757149] [ 0. 0. 0. 1. ]] SLAMing on 139.291652532 meters Centerline goodness [0,1] 0.4106313997154386 Centerline is valid? [False, False] Translation: X:-56.67, Y:-66.16, Z:-19.03 [[ 0.7462477 -0.58302526 -0.32124122 -56.67027459] [ 0.59465333 0.80075888 -0.07192094 -66.15838497] [ 0.29916849 -0.13735632 0.94426239 -19.03094741] [ 0. 0. 0. 1. ]] SLAMing on 139.321652532 meters Centerline goodness [0,1] 0.4114060594690929 Centerline is valid? [False, False] Translation: X:-56.67, Y:-66.16, Z:-19.03 [[ 0.7429375 -0.58990774 -0.31631111 -56.67372092] [ 0.59971727 0.79651104 -0.07687233 -66.16091353] [ 0.29729288 -0.1325859 0.94553579 -19.03155838] [ 0. 0. 0. 1. ]] SLAMing on 139.351652532 meters Centerline goodness [0,1] 0.40732195409064154 Centerline is valid? [False, False] Translation: X:-56.68, Y:-66.16, Z:-19.03 [[ 0.73955669 -0.59675114 -0.31135828 -56.6769959 ] [ 0.60475261 0.79219332 -0.08187808 -66.16307525] [ 0.29551679 -0.12774125 0.94675868 -19.03232722] [ 0. 0. 0. 1. ]] SLAMing on 139.381652532 meters Centerline goodness [0,1] 0.4209219858156028 Centerline is valid? [False, False] Translation: X:-56.69, Y:-66.19, Z:-19.04 [[ 0.73672352 -0.59737822 -0.31682443 -56.69054797] [ 0.60648966 0.79094895 -0.08105588 -66.18676682] [ 0.29901297 -0.13243497 0.9450144 -19.03507306] [ 0. 0. 0. 1. ]] SLAMing on 139.411652532 meters Centerline goodness [0,1] 0.41910368401063425 Centerline is valid? [False, False] Translation: X:-56.70, Y:-66.22, Z:-19.04 [[ 0.73308376 -0.59975751 -0.32074776 -56.70494419] [ 0.60947767 0.78859452 -0.08158219 -66.21559898] [ 0.30186946 -0.13568202 0.94364465 -19.03756715] [ 0. 0. 0. 1. ]] SLAMing on 139.441652532 meters Centerline goodness [0,1] 0.42697884478250536 Centerline is valid? [False, False] Translation: X:-56.72, Y:-66.24, Z:-19.04 [[ 0.73018306 -0.60077556 -0.32542501 -56.72009175] [ 0.61149666 0.78708996 -0.08100148 -66.2403957 ] [ 0.30480247 -0.13985039 0.94209199 -19.04081336] [ 0. 0. 0. 1. ]] SLAMing on 139.471652532 meters Centerline goodness [0,1] 0.42376478443342236 Centerline is valid? [False, False] Translation: X:-56.74, Y:-66.27, Z:-19.05 [[ 0.72725518 -0.60237198 -0.32901048 -56.73648766] [ 0.61366828 0.78535625 -0.08140522 -66.26597892] [ 0.30742666 -0.14270093 0.94081098 -19.04553548] [ 0. 0. 0. 1. ]] SLAMing on 139.501652532 meters Centerline goodness [0,1] 0.4459262096870735 Centerline is valid? [False, False] Translation: X:-56.75, Y:-66.30, Z:-19.05 [[ 0.72365997 -0.6060214 -0.33023371 -56.75493328] [ 0.61696328 0.7824967 -0.0839954 -66.29800826] [ 0.3093098 -0.14295796 0.94015449 -19.05111911] [ 0. 0. 0. 1. ]] SLAMing on 139.531652532 meters Centerline goodness [0,1] 0.44564616530872214 Centerline is valid? [False, False] Translation: X:-56.77, Y:-66.32, Z:-19.06 [[ 0.72009248 -0.60844523 -0.33355844 -56.7702665 ] [ 0.61979506 0.78014291 -0.08503598 -66.32389087] [ 0.31196299 -0.14550411 0.93888639 -19.05551961] [ 0. 0. 0. 1. ]] SLAMing on 139.561652532 meters Centerline goodness [0,1] 0.45406969733510194 Centerline is valid? [False, False] Translation: X:-56.79, Y:-66.35, Z:-19.06 [[ 0.7175769 -0.60987616 -0.33635466 -56.78774743] [ 0.62160952 0.77862878 -0.085667 -66.35152753] [ 0.31414168 -0.1476086 0.93783085 -19.06141279] [ 0. 0. 0. 1. ]] SLAMing on 139.591652532 meters Centerline goodness [0,1] 0.45597370265632176 Centerline is valid? [False, False] Translation: X:-56.81, Y:-66.38, Z:-19.07 [[ 0.7152132 -0.61112813 -0.33910541 -56.8055105 ] [ 0.62325366 0.77725117 -0.08622927 -66.37853115] [ 0.31626721 -0.14967637 0.93678815 -19.06799249] [ 0. 0. 0. 1. ]] SLAMing on 139.621652532 meters Centerline goodness [0,1] 0.45383491599707815 Centerline is valid? [False, False] Translation: X:-56.82, Y:-66.41, Z:-19.07 [[ 0.71097582 -0.61440133 -0.34208827 -56.819945 ] [ 0.6268748 0.77418046 -0.08759341 -66.40587714] [ 0.31865556 -0.15216972 0.9355763 -19.07244099] [ 0. 0. 0. 1. ]] SLAMing on 139.651652532 meters Centerline goodness [0,1] 0.4694740443836152 Centerline is valid? [False, False] Translation: X:-56.84, Y:-66.43, Z:-19.08 [[ 0.7085464 -0.61567567 -0.34482671 -56.83788654] [ 0.62849723 0.772779 -0.08833938 -66.43294552] [ 0.32086324 -0.15413008 0.93450024 -19.07912962] [ 0. 0. 0. 1. ]] SLAMing on 139.68165253200002 meters Centerline goodness [0,1] 0.47499631576361945 Centerline is valid? [False, False] Translation: X:-56.85, Y:-66.46, Z:-19.09 [[ 0.70496695 -0.61825174 -0.34754335 -56.85351948] [ 0.63140813 0.77027046 -0.0894829 -66.45846627] [ 0.32302533 -0.15635921 0.9333844 -19.08504295] [ 0. 0. 0. 1. ]] SLAMing on 139.71165253200002 meters Centerline goodness [0,1] 0.46919618595919177 Centerline is valid? [False, False] Translation: X:-56.87, Y:-66.48, Z:-19.09 [[ 0.70151208 -0.62069799 -0.35016398 -56.8694498 ] [ 0.6340635 0.76791604 -0.09093091 -66.48478962] [ 0.32533717 -0.15823707 0.93226432 -19.09113969] [ 0. 0. 0. 1. ]] SLAMing on 139.741652532 meters Centerline goodness [0,1] 0.49484407380589746 Centerline is valid? [False, False] Translation: X:-56.89, Y:-66.52, Z:-19.10 [[ 0.69826714 -0.62432605 -0.35019993 -56.88835326] [ 0.63705191 0.76509646 -0.09376712 -66.51833783] [ 0.32647798 -0.15762104 0.93196982 -19.09925394] [ 0. 0. 0. 1. ]] SLAMing on 139.771652532 meters Centerline goodness [0,1] 0.5017442590036392 Centerline is valid? [False, False] Translation: X:-56.91, Y:-66.55, Z:-19.11 [[ 0.69546587 -0.62595307 -0.35285971 -56.90530183] [ 0.63905101 0.76332854 -0.09456926 -66.54552368] [ 0.3285438 -0.15972566 0.93088489 -19.10575251] [ 0. 0. 0. 1. ]] SLAMing on 139.801652532 meters Centerline goodness [0,1] 0.4696550105609012 Centerline is valid? [False, False] Translation: X:-56.86, Y:-66.51, Z:-19.08 [[ 0.69427258 -0.62356862 -0.35937135 -56.86244942] [ 0.64043937 0.76308666 -0.08681104 -66.50893007] [ 0.32836412 -0.16988504 0.92914804 -19.08304659] [ 0. 0. 0. 1. ]] SLAMing on 139.831652532 meters Centerline goodness [0,1] 0.5138758410562396 Centerline is valid? [False, False] Translation: X:-56.93, Y:-66.59, Z:-19.11 [[ 0.6909259 -0.62814473 -0.35784856 -56.92507827] [ 0.6449082 0.75923093 -0.08753179 -66.5878697 ] [ 0.32667233 -0.17030149 0.929668 -19.11259634] [ 0. 0. 0. 1. ]] SLAMing on 139.861652532 meters Centerline goodness [0,1] 0.5196642193356267 Centerline is valid? [False, False] Translation: X:-56.95, Y:-66.63, Z:-19.12 [[ 0.68333149 -0.63543573 -0.35955459 -56.95155023] [ 0.65400664 0.75164825 -0.08544132 -66.63193943] [ 0.32455105 -0.17676634 0.92920411 -19.12478306] [ 0. 0. 0. 1. ]] SLAMing on 139.891652532 meters Centerline goodness [0,1] 0.5256387026635261 Centerline is valid? [False, False] Translation: X:-56.97, Y:-66.66, Z:-19.13 [[ 0.68010418 -0.63773361 -0.36159943 -56.96768537] [ 0.65641446 0.74936518 -0.08701658 -66.65817781] [ 0.32646342 -0.17817876 0.92826395 -19.13244234] [ 0. 0. 0. 1. ]] SLAMing on 139.921652532 meters Centerline goodness [0,1] 0.5317567567567567 Centerline is valid? [False, False] Translation: X:-56.98, Y:-66.68, Z:-19.14 [[ 0.67725086 -0.63951787 -0.36379688 -56.9842878 ] [ 0.65842881 0.74745616 -0.08820884 -66.68439114] [ 0.32833335 -0.17979484 0.92729231 -19.14052607] [ 0. 0. 0. 1. ]] SLAMing on 139.951652532 meters Centerline goodness [0,1] 0.5445041344077527 Centerline is valid? [False, False] Translation: X:-57.01, Y:-66.73, Z:-19.15 [[ 0.67004739 -0.64660629 -0.364605 -57.01434622] [ 0.66667917 0.74019026 -0.08750577 -66.73273561] [ 0.32645885 -0.18444154 0.9270415 -19.1545736 ] [ 0. 0. 0. 1. ]] SLAMing on 139.981652532 meters Centerline goodness [0,1] 0.5545676522108391 Centerline is valid? [False, False] Translation: X:-57.03, Y:-66.76, Z:-19.16 [[ 0.66611784 -0.64941707 -0.36680307 -57.02943274] [ 0.66971796 0.73725368 -0.08907787 -66.75961356] [ 0.3282756 -0.18631825 0.9260241 -19.16058309] [ 0. 0. 0. 1. ]] SLAMing on 140.011652532 meters Centerline goodness [0,1] 0.5591157277933148 Centerline is valid? [False, False] Translation: X:-57.04, Y:-66.79, Z:-19.17 [[ 0.66221176 -0.65212875 -0.36905783 -57.0443749 ] [ 0.67271191 0.73434553 -0.09052807 -66.78675339] [ 0.33005192 -0.18832085 0.92498702 -19.16648163] [ 0. 0. 0. 1. ]] SLAMing on 140.041652532 meters Centerline goodness [0,1] 0.5775454520895804 Centerline is valid? [False, False] Translation: X:-57.07, Y:-66.84, Z:-19.18 [[ 0.65509053 -0.65949747 -0.36867259 -57.07463879] [ 0.68080723 0.72685005 -0.09050143 -66.8380642 ] [ 0.32765516 -0.19170834 0.92514324 -19.18168101] [ 0. 0. 0. 1. ]] SLAMing on 140.071652532 meters Centerline goodness [0,1] 0.5775454520895804 Centerline is valid? [False, False] Translation: X:-57.10, Y:-66.86, Z:-19.19 [[ 0.65432924 -0.65983366 -0.36942223 -57.09700171] [ 0.68119226 0.72643262 -0.09095469 -66.86458054] [ 0.32837533 -0.19213325 0.92479969 -19.1927896 ] [ 0. 0. 0. 1. ]] SLAMing on 140.101652532 meters Centerline goodness [0,1] 0.5878119653477446 Centerline is valid? [False, False] Translation: X:-57.11, Y:-66.89, Z:-19.20 [[ 0.65030517 -0.66249062 -0.37176519 -57.11167287] [ 0.68427495 0.72338232 -0.09211854 -66.89072124] [ 0.32995603 -0.19448444 0.923745 -19.19862637] [ 0. 0. 0. 1. ]] SLAMing on 140.131652532 meters Centerline goodness [0,1] 0.590553121577218 Centerline is valid? [False, False] Translation: X:-57.15, Y:-66.94, Z:-19.22 [[ 0.64650088 -0.66684964 -0.37060513 -57.14915514] [ 0.6889473 0.71896855 -0.09184677 -66.9417937 ] [ 0.32770142 -0.19594839 0.92423807 -19.21894854] [ 0. 0. 0. 1. ]] SLAMing on 140.161652532 meters Centerline goodness [0,1] 0.6008454439962425 Centerline is valid? [False, False] Translation: X:-57.19, Y:-66.99, Z:-19.24 [[ 0.64281512 -0.67123625 -0.36909432 -57.18747437] [ 0.6932955 0.71471349 -0.09233622 -66.99452449] [ 0.32577611 -0.19653631 0.92479371 -19.23956365] [ 0. 0. 0. 1. ]] SLAMing on 140.191652532 meters Centerline goodness [0,1] 0.6249088563576196 Centerline is valid? [False, False] Translation: X:-57.22, Y:-67.05, Z:-19.26 [[ 0.63470645 -0.6793899 -0.36820794 -57.21821897] [ 0.70034996 0.70711354 -0.09746983 -67.0475885 ] [ 0.32658484 -0.19600968 0.92462022 -19.25849544] [ 0. 0. 0. 1. ]] SLAMing on 140.221652532 meters Centerline goodness [0,1] 0.64469630592691 Centerline is valid? [False, False] Translation: X:-57.23, Y:-67.07, Z:-19.27 [[ 0.63005304 -0.68339364 -0.36879033 -57.23159008] [ 0.70386404 0.70318316 -0.10054282 -67.07293302] [ 0.32803747 -0.19623094 0.92405889 -19.26793026] [ 0. 0. 0. 1. ]] SLAMing on 140.251652532 meters Centerline goodness [0,1] 0.6645479420818607 Centerline is valid? [False, False] Translation: X:-57.24, Y:-67.09, Z:-19.27 [[ 0.62487634 -0.68630489 -0.37217624 -57.24172032] [ 0.70743127 0.69939221 -0.10193888 -67.09468143] [ 0.33025831 -0.19958992 0.92254719 -19.27254824] [ 0. 0. 0. 1. ]] SLAMing on 140.281652532 meters Centerline goodness [0,1] 0.6995599528315453 Centerline is valid? [False, False] Translation: X:-57.26, Y:-67.13, Z:-19.29 [[ 0.61808452 -0.69478678 -0.3677538 -57.25757368] [ 0.71269436 0.69266727 -0.11080978 -67.12617248] [ 0.33172019 -0.19360625 0.92329753 -19.2878697 ] [ 0. 0. 0. 1. ]] SLAMing on 140.311652532 meters Centerline goodness [0,1] 0.703900453272512 Centerline is valid? [False, False] Translation: X:-57.26, Y:-67.14, Z:-19.29 [[ 0.61307386 -0.69591363 -0.37395809 -57.26410726] [ 0.71526972 0.68992996 -0.11129188 -67.14455741] [ 0.33545442 -0.19925076 0.92074397 -19.28939758] [ 0. 0. 0. 1. ]] SLAMing on 140.341652532 meters Centerline goodness [0,1] 0.7091415960041817 Centerline is valid? [False, False] Translation: X:-57.27, Y:-67.17, Z:-19.30 [[ 0.60690725 -0.70163305 -0.37332916 -57.27387279] [ 0.71980313 0.68440035 -0.11610174 -67.16887546] [ 0.33696742 -0.19826051 0.9204052 -19.30069734] [ 0. 0. 0. 1. ]] SLAMing on 140.371652532 meters Centerline goodness [0,1] 0.7067733052088827 Centerline is valid? [False, False] Translation: X:-57.30, Y:-67.20, Z:-19.31 [[ 0.60469976 -0.70417657 -0.37212036 -57.29757499] [ 0.72049358 0.68278091 -0.12124038 -67.20155172] [ 0.33945131 -0.1947963 0.92023215 -19.31437857] [ 0. 0. 0. 1. ]] SLAMing on 140.401652532 meters Centerline goodness [0,1] 0.7013372956909361 Centerline is valid? [False, False] Translation: X:-57.33, Y:-67.24, Z:-19.33 [[ 0.60202312 -0.70710025 -0.37091426 -57.3304725 ] [ 0.71985579 0.68163657 -0.13106953 -67.24206969] [ 0.34550802 -0.1880979 0.91937119 -19.32929019] [ 0. 0. 0. 1. ]] SLAMing on 140.43165253200002 meters Centerline goodness [0,1] 0.7062965668371074 Centerline is valid? [False, False] Translation: X:-57.37, Y:-67.28, Z:-19.35 [[ 0.60206867 -0.70712103 -0.37080071 -57.3673405 ] [ 0.7168103 0.68325466 -0.13909012 -67.28379372] [ 0.35170486 -0.18205196 0.91823786 -19.34556517] [ 0. 0. 0. 1. ]] SLAMing on 140.46165253200002 meters Centerline goodness [0,1] 0.7137219626846183 Centerline is valid? [False, False] Translation: X:-57.39, Y:-67.31, Z:-19.36 [[ 0.60276121 -0.70555117 -0.37266134 -57.39051366] [ 0.71547039 0.68466956 -0.13903135 -67.31120062] [ 0.35324361 -0.18282545 0.91749322 -19.3582218 ] [ 0. 0. 0. 1. ]] SLAMing on 140.491652532 meters Centerline goodness [0,1] 0.71780482891594 Centerline is valid? [False, False] Translation: X:-57.41, Y:-67.33, Z:-19.37 [[ 0.60338793 -0.70323317 -0.37601345 -57.41103834] [ 0.71348069 0.68668138 -0.13933407 -67.33462165] [ 0.35618578 -0.18420584 0.91607855 -19.37227129] [ 0. 0. 0. 1. ]] SLAMing on 140.521652532 meters Centerline goodness [0,1] 0.7152350127459686 Centerline is valid? [False, False] Translation: X:-57.43, Y:-67.36, Z:-19.38 [[ 0.60306269 -0.70176303 -0.37926776 -57.43199448] [ 0.71252493 0.68765697 -0.13941349 -67.35939742] [ 0.35864135 -0.18616266 0.91472392 -19.3837511 ] [ 0. 0. 0. 1. ]] SLAMing on 140.551652532 meters Centerline goodness [0,1] 0.7204869545337639 Centerline is valid? [False, False] Translation: X:-57.44, Y:-67.37, Z:-19.39 [[ 0.6059135 -0.70104945 -0.37602992 -57.43928959] [ 0.70935531 0.6900817 -0.14353496 -67.36685437] [ 0.36011647 -0.17976905 0.91542297 -19.39315466] [ 0. 0. 0. 1. ]] SLAMing on 140.581652532 meters Centerline goodness [0,1] 0.7190837508947745 Centerline is valid? [False, False] Translation: X:-57.47, Y:-67.40, Z:-19.41 [[ 0.60659335 -0.69985099 -0.37716454 -57.46726566] [ 0.70703636 0.69181843 -0.14658392 -67.3976821 ] [ 0.36351628 -0.17775222 0.91447256 -19.40873242] [ 0. 0. 0. 1. ]] SLAMing on 140.611652532 meters Centerline goodness [0,1] 0.7279342522044345 Centerline is valid? [False, False] Translation: X:-57.49, Y:-67.42, Z:-19.42 [[ 0.60882231 -0.69485721 -0.38276475 -57.48698949] [ 0.70342095 0.69592846 -0.14450792 -67.42031601] [ 0.36678925 -0.1812651 0.91247389 -19.42077592] [ 0. 0. 0. 1. ]] SLAMing on 140.641652532 meters Centerline goodness [0,1] 0.7167746132307605 Centerline is valid? [False, False] Translation: X:-57.52, Y:-67.45, Z:-19.44 [[ 0.61017443 -0.69447611 -0.38130055 -57.51551612] [ 0.70207551 0.69698522 -0.14595064 -67.44959128] [ 0.36712007 -0.17864643 0.91285722 -19.43859583] [ 0. 0. 0. 1. ]] SLAMing on 140.671652532 meters Centerline goodness [0,1] 0.7125193634699338 Centerline is valid? [False, False] Translation: X:-57.56, Y:-67.49, Z:-19.46 [[ 0.61246164 -0.69140408 -0.38321162 -57.56171224] [ 0.69561839 0.70166553 -0.1542094 -67.49409231] [ 0.3755074 -0.17212171 0.91069661 -19.45972488] [ 0. 0. 0. 1. ]] SLAMing on 140.701652532 meters Centerline goodness [0,1] 0.7232207850383561 Centerline is valid? [False, False] Translation: X:-57.56, Y:-67.49, Z:-19.46 [[ 0.61369537 -0.69072423 -0.38246311 -57.56488896] [ 0.69441914 0.70271417 -0.15483819 -67.49111246] [ 0.37571273 -0.17056622 0.91090455 -19.46231379] [ 0. 0. 0. 1. ]] SLAMing on 140.731652532 meters Centerline goodness [0,1] 0.7129593703231528 Centerline is valid? [False, False] Translation: X:-57.59, Y:-67.52, Z:-19.48 [[ 0.6160349 -0.68939868 -0.38109115 -57.59440899] [ 0.69277605 0.7044226 -0.15443493 -67.51943034] [ 0.37491645 -0.16887351 0.9115478 -19.4800964 ] [ 0. 0. 0. 1. ]] SLAMing on 140.761652532 meters Centerline goodness [0,1] 0.7098693355574089 Centerline is valid? [False, False] Translation: X:-57.63, Y:-67.55, Z:-19.50 [[ 0.61833315 -0.68866355 -0.37869069 -57.62637858] [ 0.69091045 0.705973 -0.15570765 -67.55029709] [ 0.37457559 -0.16536215 0.91233135 -19.49921363] [ 0. 0. 0. 1. ]] SLAMing on 140.791652532 meters Centerline goodness [0,1] 0.7013508276587499 Centerline is valid? [False, False] Translation: X:-57.66, Y:-67.58, Z:-19.52 [[ 0.6207936 -0.68689803 -0.37787088 -57.65683739] [ 0.68888921 0.70803231 -0.15531229 -67.5806978 ] [ 0.3742285 -0.1638943 0.91273857 -19.51578361] [ 0. 0. 0. 1. ]] SLAMing on 140.821652532 meters Centerline goodness [0,1] 0.6903754266211604 Centerline is valid? [False, False] Translation: X:-57.70, Y:-67.62, Z:-19.54 [[ 0.62744125 -0.6818898 -0.37595715 -57.69683578] [ 0.68277208 0.71391912 -0.15537622 -67.61625621] [ 0.37435246 -0.1592036 0.91351763 -19.53818583] [ 0. 0. 0. 1. ]] SLAMing on 140.851652532 meters Centerline goodness [0,1] 0.676396591370215 Centerline is valid? [False, False] Translation: X:-57.73, Y:-67.65, Z:-19.56 [[ 0.62970458 -0.6811301 -0.37354241 -57.72809391] [ 0.681415 0.71520437 -0.15542298 -67.64526662] [ 0.37302244 -0.15666683 0.91449974 -19.55634575] [ 0. 0. 0. 1. ]] SLAMing on 140.881652532 meters Centerline goodness [0,1] 0.6714709051724138 Centerline is valid? [False, False] Translation: X:-57.76, Y:-67.68, Z:-19.58 [[ 0.63283019 -0.67955257 -0.37112566 -57.76097288] [ 0.67922151 0.71732065 -0.15527143 -67.67594256] [ 0.3717312 -0.15381608 0.91550889 -19.57510473] [ 0. 0. 0. 1. ]] SLAMing on 140.911652532 meters Centerline goodness [0,1] 0.6630565906227381 Centerline is valid? [False, False] Translation: X:-57.80, Y:-67.71, Z:-19.59 [[ 0.63802547 -0.67541614 -0.36977904 -57.79799418] [ 0.67457098 0.7218478 -0.15456308 -67.7091051 ] [ 0.37131859 -0.15082702 0.91617341 -19.59497048] [ 0. 0. 0. 1. ]] SLAMing on 140.941652532 meters Centerline goodness [0,1] 0.6571846337897116 Centerline is valid? [False, False] Translation: X:-57.83, Y:-67.74, Z:-19.61 [[ 0.6399916 -0.67354225 -0.36979939 -57.8262718 ] [ 0.67314292 0.72354057 -0.15286485 -67.73721597] [ 0.37052579 -0.15109562 0.91645008 -19.60925938] [ 0. 0. 0. 1. ]] SLAMing on 140.971652532 meters Centerline goodness [0,1] 0.6567795482961347 Centerline is valid? [False, False] Translation: X:-57.86, Y:-67.77, Z:-19.62 [[ 0.64196719 -0.67168063 -0.36976107 -57.8550598 ] [ 0.67137703 0.72535901 -0.15201052 -67.76658809] [ 0.37031205 -0.15066333 0.91660763 -19.62400041] [ 0. 0. 0. 1. ]] SLAMing on 141.001652532 meters Centerline goodness [0,1] 0.6356224191893953 Centerline is valid? [False, False] Translation: X:-57.89, Y:-67.80, Z:-19.65 [[ 0.64923878 -0.66546513 -0.36830038 -57.89419328] [ 0.66494371 0.73169531 -0.14990608 -67.80181748] [ 0.36924093 -0.14757418 0.91754182 -19.64513853] [ 0. 0. 0. 1. ]] SLAMing on 141.031652532 meters Centerline goodness [0,1] 0.634923137564052 Centerline is valid? [False, False] Translation: X:-57.92, Y:-67.83, Z:-19.66 [[ 0.65069363 -0.66439502 -0.36766432 -57.92317327] [ 0.66384161 0.73280631 -0.14936275 -67.83097607] [ 0.3686626 -0.14688148 0.91788546 -19.65957321] [ 0. 0. 0. 1. ]] SLAMing on 141.061652532 meters Centerline goodness [0,1] 0.6311962470680219 Centerline is valid? [False, False] Translation: X:-57.95, Y:-67.86, Z:-19.67 [[ 0.65282976 -0.66292196 -0.36653482 -57.95265004] [ 0.66266155 0.73421745 -0.14766315 -67.86081135] [ 0.36700541 -0.14648964 0.9186119 -19.67419547] [ 0. 0. 0. 1. ]] SLAMing on 141.091652532 meters Centerline goodness [0,1] 0.6243834051612234 Centerline is valid? [False, False] Translation: X:-57.98, Y:-67.89, Z:-19.69 [[ 0.65580921 -0.66114665 -0.36441651 -57.98449254] [ 0.66090413 0.73610793 -0.14611928 -67.892602 ] [ 0.36485616 -0.14501801 0.91970091 -19.69040936] [ 0. 0. 0. 1. ]] SLAMing on 141.121652532 meters Centerline goodness [0,1] 0.5855456466828187 Centerline is valid? [False, False] Translation: X:-58.02, Y:-67.93, Z:-19.71 [[ 0.66146805 -0.65675397 -0.36212461 -58.02171624] [ 0.65662303 0.74044647 -0.14347549 -67.92730624] [ 0.36236199 -0.1428749 0.92102147 -19.70872164] [ 0. 0. 0. 1. ]] SLAMing on 141.151652532 meters Centerline goodness [0,1] 0.617656113705167 Centerline is valid? [False, False] Translation: X:-58.03, Y:-67.93, Z:-19.71 [[ 0.66222607 -0.65651453 -0.36117212 -58.02615912] [ 0.65626583 0.74080033 -0.14328304 -67.9268551 ] [ 0.36162383 -0.14213916 0.92142535 -19.71038165] [ 0. 0. 0. 1. ]] SLAMing on 141.18165253200002 meters Centerline goodness [0,1] 0.5678663964495523 Centerline is valid? [False, False] Translation: X:-58.06, Y:-67.96, Z:-19.73 [[ 0.66430747 -0.65563405 -0.3589423 -58.05777577] [ 0.65503888 0.74195389 -0.14292829 -67.95878649] [ 0.36002729 -0.14017283 0.92235131 -19.72589653] [ 0. 0. 0. 1. ]] SLAMing on 141.21165253200002 meters Centerline goodness [0,1] 0.5607517148175536 Centerline is valid? [False, False] Translation: X:-58.10, Y:-67.99, Z:-19.74 [[ 0.66857959 -0.65327084 -0.35530063 -58.09583561] [ 0.65230497 0.74461035 -0.14161091 -67.99422183] [ 0.35707081 -0.13708621 0.9239631 -19.74294043] [ 0. 0. 0. 1. ]] SLAMing on 141.241652532 meters Centerline goodness [0,1] 0.5742466722234851 Centerline is valid? [False, False] Translation: X:-58.12, Y:-68.02, Z:-19.76 [[ 0.67140723 -0.65104305 -0.35405546 -58.12468404] [ 0.65116517 0.74635944 -0.13759181 -68.02232687] [ 0.35383083 -0.13816845 0.92504769 -19.75649811] [ 0. 0. 0. 1. ]] SLAMing on 141.271652532 meters Centerline goodness [0,1] 0.5551382552365589 Centerline is valid? [False, False] Translation: X:-58.16, Y:-68.05, Z:-19.77 [[ 0.6735645 -0.64962935 -0.35255152 -58.15531759] [ 0.64998242 0.74769512 -0.13592228 -68.05305395] [ 0.35190015 -0.13759987 0.92586855 -19.77037184] [ 0. 0. 0. 1. ]] SLAMing on 141.301652532 meters Centerline goodness [0,1] 0.5938205913357764 Centerline is valid? [False, False] Translation: X:-58.18, Y:-68.08, Z:-19.78 [[ 0.67545537 -0.64741557 -0.35300584 -58.18166109] [ 0.64905502 0.74918667 -0.13208678 -68.07953386] [ 0.34998231 -0.13990149 0.92625048 -19.78180033] [ 0. 0. 0. 1. ]] SLAMing on 141.331652532 meters Centerline goodness [0,1] 0.5845934664700443 Centerline is valid? [False, False] Translation: X:-58.22, Y:-68.11, Z:-19.80 [[ 0.68097914 -0.64211467 -0.3520741 -58.21590369] [ 0.64501577 0.75357694 -0.12679297 -68.11165636] [ 0.34673054 -0.14074998 0.92734426 -19.79577636] [ 0. 0. 0. 1. ]] SLAMing on 141.361652532 meters Centerline goodness [0,1] 0.5756970619804798 Centerline is valid? [False, False] Translation: X:-58.25, Y:-68.14, Z:-19.81 [[ 0.68397961 -0.63994553 -0.35020224 -58.2479511 ] [ 0.64324162 0.7555104 -0.12427491 -68.14336736] [ 0.34411061 -0.14026315 0.92839331 -19.80971327] [ 0. 0. 0. 1. ]] SLAMing on 141.391652532 meters Centerline goodness [0,1] 0.5705125030948255 Centerline is valid? [False, False] Translation: X:-58.28, Y:-68.17, Z:-19.82 [[ 0.68559741 -0.63822588 -0.35017699 -58.27542548] [ 0.64241063 0.75668795 -0.12137511 -68.17065443] [ 0.34243945 -0.14174296 0.92878639 -19.82099002] [ 0. 0. 0. 1. ]] SLAMing on 141.421652532 meters Centerline goodness [0,1] 0.5605246289630689 Centerline is valid? [False, False] Translation: X:-58.31, Y:-68.20, Z:-19.84 [[ 0.69082676 -0.63378546 -0.34795744 -58.31242272] [ 0.63796146 0.76079441 -0.11915133 -68.20329742] [ 0.34024046 -0.13967051 0.92990783 -19.83788003] [ 0. 0. 0. 1. ]] SLAMing on 141.451652532 meters Centerline goodness [0,1] 0.5373761046823886 Centerline is valid? [False, False] Translation: X:-58.34, Y:-68.23, Z:-19.85 [[ 0.69317904 -0.63183947 -0.34681652 -58.34202238] [ 0.63656728 0.76235845 -0.11658342 -68.23143158] [ 0.33806051 -0.13995886 0.93065923 -19.85129188] [ 0. 0. 0. 1. ]] SLAMing on 141.481652532 meters Centerline goodness [0,1] 0.534917224202764 Centerline is valid? [False, False] Translation: X:-58.38, Y:-68.26, Z:-19.87 [[ 0.69674912 -0.62886475 -0.34506491 -58.37555012] [ 0.63342955 0.76514284 -0.11542721 -68.26316648] [ 0.33661205 -0.1381505 0.93145412 -19.86685734] [ 0. 0. 0. 1. ]] SLAMing on 141.511652532 meters Centerline goodness [0,1] 0.5176479167679517 Centerline is valid? [False, False] Translation: X:-58.41, Y:-68.29, Z:-19.88 [[ 0.69926077 -0.62674792 -0.34383343 -58.40572571] [ 0.63160456 0.76693932 -0.11348905 -68.29300612] [ 0.3348284 -0.13780832 0.93214742 -19.88053878] [ 0. 0. 0. 1. ]] SLAMing on 141.541652532 meters Centerline goodness [0,1] 0.5074979507208641 Centerline is valid? [False, False] Translation: X:-58.44, Y:-68.32, Z:-19.90 [[ 0.70441939 -0.62197955 -0.34195726 -58.44219168] [ 0.62702191 0.77107438 -0.11085041 -68.32497711] [ 0.33262117 -0.13632952 0.93315455 -19.89637434] [ 0. 0. 0. 1. ]] SLAMing on 141.571652532 meters Centerline goodness [0,1] 0.5225696527561134 Centerline is valid? [False, False] Translation: X:-58.47, Y:-68.36, Z:-19.91 [[ 0.70739691 -0.61958039 -0.34016136 -58.47396983] [ 0.62506017 0.77304438 -0.1081766 -68.35663858] [ 0.32998392 -0.13609752 0.93412423 -19.90954062] [ 0. 0. 0. 1. ]] SLAMing on 141.601652532 meters Centerline goodness [0,1] 0.5113378413896921 Centerline is valid? [False, False] Translation: X:-58.50, Y:-68.39, Z:-19.92 [[ 0.709267 -0.61861562 -0.33801632 -58.50320469] [ 0.62468126 0.77374966 -0.10528434 -68.38573044] [ 0.32667055 -0.13647775 0.93523269 -19.92184567] [ 0. 0. 0. 1. ]] SLAMing on 141.631652532 meters Centerline goodness [0,1] 0.5003215893661117 Centerline is valid? [False, False] Translation: X:-58.53, Y:-68.41, Z:-19.93 [[ 0.71101488 -0.6178423 -0.33575099 -58.53187807] [ 0.62453134 0.77427752 -0.10224938 -68.41359233] [ 0.32313843 -0.13698618 0.93638472 -19.9340835 ] [ 0. 0. 0. 1. ]] SLAMing on 141.661652532 meters Centerline goodness [0,1] 0.48733519209867204 Centerline is valid? [False, False] Translation: X:-58.57, Y:-68.44, Z:-19.95 [[ 0.71627559 -0.61300192 -0.33343355 -58.56522077] [ 0.62111651 0.77784568 -0.0957621 -68.44378738] [ 0.31806219 -0.13850903 0.93789748 -19.9477457 ] [ 0. 0. 0. 1. ]] SLAMing on 141.691652532 meters Centerline goodness [0,1] 0.49968182139574346 Centerline is valid? [False, False] Translation: X:-58.58, Y:-68.45, Z:-19.95 [[ 0.71892975 -0.61191937 -0.32968878 -58.57531405] [ 0.62025707 0.77885977 -0.09305176 -68.45182288] [ 0.3137215 -0.13759412 0.93949278 -19.95254724] [ 0. 0. 0. 1. ]] SLAMing on 141.721652532 meters Centerline goodness [0,1] 0.48205741626794263 Centerline is valid? [False, False] Translation: X:-58.58, Y:-68.46, Z:-19.96 [[ 0.72212384 -0.6091139 -0.32789848 -58.5847261 ] [ 0.61759512 0.78120539 -0.09107364 -68.45791334] [ 0.31163028 -0.13674206 0.94031281 -19.95524678] [ 0. 0. 0. 1. ]] SLAMing on 141.751652532 meters Centerline goodness [0,1] 0.4746455011719929 Centerline is valid? [False, False] Translation: X:-58.61, Y:-68.48, Z:-19.97 [[ 0.73204345 -0.60030512 -0.32209649 -58.61362132] [ 0.6072241 0.78930306 -0.09099211 -68.48179574] [ 0.30885478 -0.12897458 0.94232387 -19.9671862 ] [ 0. 0. 0. 1. ]] SLAMing on 141.781652532 meters Centerline goodness [0,1] 0.46830218429717574 Centerline is valid? [False, False] Translation: X:-58.64, Y:-68.51, Z:-19.98 [[ 0.73438602 -0.59842246 -0.32026197 -58.64381721] [ 0.60569263 0.79074609 -0.08864003 -68.51452674] [ 0.30629008 -0.12888432 0.94317295 -19.97906285] [ 0. 0. 0. 1. ]] SLAMing on 141.811652532 meters Centerline goodness [0,1] 0.4704111175448755 Centerline is valid? [False, False] Translation: X:-58.67, Y:-68.55, Z:-19.99 [[ 0.73677366 -0.59676127 -0.31786878 -58.67390028] [ 0.60437854 0.79203264 -0.08608649 -68.54613018] [ 0.30313553 -0.12868681 0.94421849 -19.99150679] [ 0. 0. 0. 1. ]] SLAMing on 141.841652532 meters Centerline goodness [0,1] 0.4687269031781227 Centerline is valid? [False, False] Translation: X:-58.69, Y:-68.56, Z:-20.00 [[ 0.74114136 -0.59413725 -0.31258664 -58.6904683 ] [ 0.60043097 0.79490145 -0.08726008 -68.55752775] [ 0.30032004 -0.12301464 0.94587276 -19.99950784] [ 0. 0. 0. 1. ]] SLAMing on 141.871652532 meters Centerline goodness [0,1] 0.432928791431067 Centerline is valid? [False, False] Translation: X:-58.70, Y:-68.56, Z:-20.00 [[ 0.74316741 -0.59250412 -0.31087147 -58.69735844] [ 0.59877562 0.79626391 -0.08620642 -68.56029333] [ 0.29861339 -0.12207645 0.94653441 -20.00217775] [ 0. 0. 0. 1. ]] SLAMing on 141.901652532 meters Centerline goodness [0,1] 0.4210852499655695 Centerline is valid? [False, False] Translation: X:-58.73, Y:-68.59, Z:-20.01 [[ 0.74478611 -0.59130685 -0.30927312 -58.72516456] [ 0.59804363 0.79707571 -0.08375036 -68.58941829] [ 0.29603625 -0.12258272 0.94727821 -20.01378344] [ 0. 0. 0. 1. ]] SLAMing on 141.93165253200002 meters Centerline goodness [0,1] 0.47079006358936826 Centerline is valid? [False, False] Translation: X:-58.75, Y:-68.61, Z:-20.02 [[ 0.74506453 -0.59152482 -0.30818375 -58.75009846] [ 0.59923272 0.79654918 -0.08018451 -68.61412305] [ 0.29291464 -0.12493115 0.94794157 -20.02254309] [ 0. 0. 0. 1. ]] SLAMing on 141.96165253200002 meters Centerline goodness [0,1] 0.46643383779588665 Centerline is valid? [False, False] Translation: X:-58.79, Y:-68.65, Z:-20.03 [[ 0.74903931 -0.58848225 -0.30434972 -58.786283 ] [ 0.59684078 0.79878811 -0.07562163 -68.65066724] [ 0.28761293 -0.12500475 0.9495539 -20.03313664] [ 0. 0. 0. 1. ]] SLAMing on 141.991652532 meters Centerline goodness [0,1] 0.46643383779588665 Centerline is valid? [False, False] Translation: X:-58.81, Y:-68.68, Z:-20.04 [[ 0.74863816 -0.58885831 -0.30460924 -58.80905561] [ 0.59756796 0.79833432 -0.07466491 -68.67802606] [ 0.28714706 -0.12612772 0.9495464 -20.04221956] [ 0. 0. 0. 1. ]] SLAMing on 142.021652532 meters Centerline goodness [0,1] 0.4364541241467479 Centerline is valid? [False, False] Translation: X:-58.84, Y:-68.71, Z:-20.05 [[ 0.75106295 -0.58739648 -0.30144622 -58.84003375] [ 0.5964928 0.79942134 -0.07156711 -68.71137994] [ 0.28302081 -0.12605909 0.95079352 -20.05349672] [ 0. 0. 0. 1. ]] SLAMing on 142.051652532 meters Centerline goodness [0,1] 0.4627423286329362 Centerline is valid? [False, False] Translation: X:-58.87, Y:-68.74, Z:-20.06 [[ 0.75195546 -0.58767752 -0.29866054 -58.86796166] [ 0.59718928 0.79913647 -0.06889027 -68.74190738] [ 0.27915579 -0.12655446 0.95186975 -20.06315972] [ 0. 0. 0. 1. ]] SLAMing on 142.081652532 meters Centerline goodness [0,1] 0.44250380431079517 Centerline is valid? [False, False] Translation: X:-58.90, Y:-68.77, Z:-20.07 [[ 7.53775147e-01 -5.87678217e-01 -2.94036291e-01 -5.89001581e+01] [ 5.97592760e-01 7.99140143e-01 -6.52527764e-02 -6.87747036e+01] [ 2.73323839e-01 -1.26528037e-01 9.53564227e-01 -2.00733078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.111652532 meters Centerline goodness [0,1] 0.4562143051400598 Centerline is valid? [False, False] Translation: X:-58.91, Y:-68.79, Z:-20.08 [[ 7.56361286e-01 -5.87235516e-01 -2.88222230e-01 -5.89131133e+01] [ 5.95720231e-01 8.00360725e-01 -6.73803805e-02 -6.87851528e+01] [ 2.70249906e-01 -1.20735902e-01 9.55189945e-01 -2.00804902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.141652532 meters Centerline goodness [0,1] 0.4322582104406043 Centerline is valid? [False, False] Translation: X:-58.93, Y:-68.80, Z:-20.09 [[ 0.7586193 -0.58738752 -0.28190896 -58.92704515] [ 0.59433347 0.80116944 -0.06996617 -68.79688645] [ 0.2669541 -0.11447024 0.95688666 -20.08691953] [ 0. 0. 0. 1. ]] SLAMing on 142.171652532 meters Centerline goodness [0,1] 0.42731753426507324 Centerline is valid? [False, False] Translation: X:-58.94, Y:-68.80, Z:-20.09 [[ 0.76029549 -0.58652622 -0.27917337 -58.93637004] [ 0.593097 0.80208987 -0.0699127 -68.8049742 ] [ 0.26492777 -0.11242258 0.95769225 -20.0875917 ] [ 0. 0. 0. 1. ]] SLAMing on 142.201652532 meters Centerline goodness [0,1] 0.4298390192138357 Centerline is valid? [False, False] Translation: X:-58.97, Y:-68.84, Z:-20.10 [[ 7.62387084e-01 -5.85521646e-01 -2.75554598e-01 -5.89693829e+01] [ 5.92343567e-01 8.02880647e-01 -6.71696762e-02 -6.88432994e+01] [ 2.60566753e-01 -1.12013700e-01 9.58935815e-01 -2.00956941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.231652532 meters Centerline goodness [0,1] 0.4308741195593282 Centerline is valid? [False, False] Translation: X:-58.99, Y:-68.88, Z:-20.10 [[ 7.62694174e-01 -5.85431176e-01 -2.74896227e-01 -5.89948695e+01] [ 5.92783674e-01 8.02743228e-01 -6.48908763e-02 -6.88751674e+01] [ 2.58660226e-01 -1.13462102e-01 9.59281626e-01 -2.01029932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.261652532 meters Centerline goodness [0,1] 0.44185047911770026 Centerline is valid? [False, False] Translation: X:-59.00, Y:-68.88, Z:-20.10 [[ 7.61864716e-01 -5.88208111e-01 -2.71244120e-01 -5.89995893e+01] [ 5.94744633e-01 8.01134614e-01 -6.67993345e-02 -6.88790115e+01] [ 2.56594964e-01 -1.10428929e-01 9.60189813e-01 -2.01044878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.291652532 meters Centerline goodness [0,1] 0.4399275690357628 Centerline is valid? [False, False] Translation: X:-59.00, Y:-68.88, Z:-20.11 [[ 7.61250440e-01 -5.90711515e-01 -2.67502661e-01 -5.90043250e+01] [ 5.96484733e-01 7.99698316e-01 -6.84731067e-02 -6.88836890e+01] [ 2.54369280e-01 -1.07436071e-01 9.61121095e-01 -2.01063467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.321652532 meters Centerline goodness [0,1] 0.4407676584147172 Centerline is valid? [False, False] Translation: X:-59.02, Y:-68.92, Z:-20.11 [[ 7.58938891e-01 -5.92969552e-01 -2.69070382e-01 -5.90239513e+01] [ 5.98951062e-01 7.97822926e-01 -6.88200922e-02 -6.89171571e+01] [ 2.55478738e-01 -1.08929746e-01 9.60658589e-01 -2.01098753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.351652532 meters Centerline goodness [0,1] 0.43822218178509686 Centerline is valid? [False, False] Translation: X:-59.03, Y:-68.93, Z:-20.11 [[ 0.75719741 -0.59821805 -0.26227323 -59.03070265] [ 0.60253386 0.79473341 -0.07315574 -68.92564409] [ 0.25220039 -0.10263516 0.96221671 -20.11336851] [ 0. 0. 0. 1. ]] SLAMing on 142.381652532 meters Centerline goodness [0,1] 0.441630005895959 Centerline is valid? [False, False] Translation: X:-59.03, Y:-68.93, Z:-20.11 [[ 0.75498698 -0.60232522 -0.25922769 -59.03216503] [ 0.60586495 0.79196611 -0.07561313 -68.92919526] [ 0.25084324 -0.09997004 0.96285184 -20.1129953 ] [ 0. 0. 0. 1. ]] SLAMing on 142.411652532 meters Centerline goodness [0,1] 0.4520971808388723 Centerline is valid? [False, False] Translation: X:-59.05, Y:-68.96, Z:-20.11 [[ 0.75063731 -0.60657561 -0.26193444 -59.04794253] [ 0.61039134 0.7883966 -0.0765063 -68.96097463] [ 0.25291508 -0.10245403 0.9620484 -20.11348967] [ 0. 0. 0. 1. ]] SLAMing on 142.441652532 meters Centerline goodness [0,1] 0.45401704689043587 Centerline is valid? [False, False] Translation: X:-59.06, Y:-68.99, Z:-20.11 [[ 0.74712296 -0.60894551 -0.26644444 -59.06228997] [ 0.61339107 0.78606275 -0.07652939 -68.98634725] [ 0.25604428 -0.10625777 0.96080727 -20.11483559] [ 0. 0. 0. 1. ]] SLAMing on 142.471652532 meters Centerline goodness [0,1] 0.4633798869634266 Centerline is valid? [False, False] Translation: X:-59.07, Y:-69.02, Z:-20.12 [[ 0.7408392 -0.61575038 -0.26834444 -59.07434142] [ 0.61999269 0.78057332 -0.07946292 -69.01799124] [ 0.25839184 -0.10750235 0.96004005 -20.11506507] [ 0. 0. 0. 1. ]] SLAMing on 142.501652532 meters Centerline goodness [0,1] 0.46777444454860784 Centerline is valid? [False, False] Translation: X:-59.09, Y:-69.04, Z:-20.12 [[ 0.73675148 -0.61895073 -0.2722081 -59.08782272] [ 0.62364276 0.7775889 -0.08015738 -69.04194214] [ 0.26127947 -0.11070454 0.95889392 -20.11767273] [ 0. 0. 0. 1. ]] SLAMing on 142.531652532 meters Centerline goodness [0,1] 0.47106950862963315 Centerline is valid? [False, False] Translation: X:-59.10, Y:-69.06, Z:-20.12 [[ 0.73273031 -0.62184397 -0.27643512 -59.1007816 ] [ 0.6270785 0.77476608 -0.08068511 -69.06460629] [ 0.2643461 -0.11422609 0.95763957 -20.12071827] [ 0. 0. 0. 1. ]] SLAMing on 142.561652532 meters Centerline goodness [0,1] 0.47262397916913246 Centerline is valid? [False, False] Translation: X:-59.11, Y:-69.09, Z:-20.12 [[ 0.72880657 -0.6247494 -0.28023057 -59.11455938] [ 0.63040542 0.77197311 -0.08152617 -69.08734394] [ 0.26726389 -0.11724206 0.95646449 -20.12455385] [ 0. 0. 0. 1. ]] SLAMing on 142.591652532 meters Centerline goodness [0,1] 0.48826993398869734 Centerline is valid? [False, False] Translation: X:-59.13, Y:-69.11, Z:-20.13 [[ 0.72470736 -0.62772152 -0.28419171 -59.12793329] [ 0.63387361 0.76905019 -0.08225602 -69.11034517] [ 0.27019156 -0.12053008 0.95523244 -20.12764385] [ 0. 0. 0. 1. ]] SLAMing on 142.621652532 meters Centerline goodness [0,1] 0.49829294095018273 Centerline is valid? [False, False] Translation: X:-59.14, Y:-69.13, Z:-20.13 [[ 0.71772723 -0.63493988 -0.28586532 -59.13823537] [ 0.64069874 0.76295986 -0.086008 -69.13452771] [ 0.27271367 -0.12142327 0.95440225 -20.13127952] [ 0. 0. 0. 1. ]] SLAMing on 142.651652532 meters Centerline goodness [0,1] 0.49033052463845095 Centerline is valid? [False, False] Translation: X:-59.15, Y:-69.16, Z:-20.13 [[ 0.71338435 -0.63813036 -0.28960734 -59.15152258] [ 0.64429095 0.75980367 -0.0871066 -69.15699104] [ 0.27563009 -0.1244509 0.95317366 -20.13486098] [ 0. 0. 0. 1. ]] SLAMing on 142.68165253200002 meters Centerline goodness [0,1] 0.5075623315772864 Centerline is valid? [False, False] Translation: X:-59.16, Y:-69.18, Z:-20.14 [[ 0.70926668 -0.6408865 -0.29360733 -59.1647665 ] [ 0.64753422 0.75693833 -0.08799886 -69.17843706] [ 0.27863992 -0.12770614 0.95186708 -20.13880688] [ 0. 0. 0. 1. ]] SLAMing on 142.71165253200002 meters Centerline goodness [0,1] 0.506650071991605 Centerline is valid? [False, False] Translation: X:-59.18, Y:-69.20, Z:-20.14 [[ 0.70337894 -0.64670085 -0.29501877 -59.17904933] [ 0.65305576 0.75181871 -0.09103191 -69.20483315] [ 0.28067104 -0.12863378 0.95114516 -20.14239398] [ 0. 0. 0. 1. ]] SLAMing on 142.741652532 meters Centerline goodness [0,1] 0.5126501593527826 Centerline is valid? [False, False] Translation: X:-59.20, Y:-69.23, Z:-20.15 [[ 0.69994881 -0.64894598 -0.2982294 -59.19506211] [ 0.65569875 0.7494208 -0.09180202 -69.22945727] [ 0.28307387 -0.13129192 0.95006927 -20.14645646] [ 0. 0. 0. 1. ]] SLAMing on 142.771652532 meters Centerline goodness [0,1] 0.5214371610179891 Centerline is valid? [False, False] Translation: X:-59.21, Y:-69.26, Z:-20.15 [[ 0.69754074 -0.65032421 -0.30085768 -59.21325671] [ 0.65744474 0.7478389 -0.09221387 -69.2554142 ] [ 0.28496199 -0.13347436 0.94920033 -20.1521213 ] [ 0. 0. 0. 1. ]] SLAMing on 142.801652532 meters Centerline goodness [0,1] 0.5238726790450928 Centerline is valid? [False, False] Translation: X:-59.23, Y:-69.28, Z:-20.16 [[ 0.69609974 -0.65074135 -0.30328345 -59.23305139] [ 0.65824218 0.74712942 -0.09227604 -69.28266035] [ 0.28663982 -0.13540063 0.94842199 -20.15881081] [ 0. 0. 0. 1. ]] SLAMing on 142.831652532 meters Centerline goodness [0,1] 0.5198052666519142 Centerline is valid? [False, False] Translation: X:-59.26, Y:-69.31, Z:-20.17 [[ 0.69610431 -0.65039585 -0.30401319 -59.25666829] [ 0.65798124 0.74735839 -0.09228288 -69.31341801] [ 0.28722722 -0.13579646 0.94818766 -20.16788436] [ 0. 0. 0. 1. ]] SLAMing on 142.861652532 meters Centerline goodness [0,1] 0.5231729493291395 Centerline is valid? [False, False] Translation: X:-59.28, Y:-69.35, Z:-20.18 [[ 0.69709587 -0.64913939 -0.30442634 -59.28302974] [ 0.65674648 0.74846429 -0.09211551 -69.34755938] [ 0.28764805 -0.13571759 0.94807138 -20.17689332] [ 0. 0. 0. 1. ]] SLAMing on 142.891652532 meters Centerline goodness [0,1] 0.5247622090594047 Centerline is valid? [False, False] Translation: X:-59.30, Y:-69.38, Z:-20.18 [[ 0.69579047 -0.6499211 -0.30574203 -59.30484965] [ 0.65761914 0.7476286 -0.09267442 -69.37559911] [ 0.28881254 -0.13657984 0.94759341 -20.18437869] [ 0. 0. 0. 1. ]] SLAMing on 142.921652532 meters Centerline goodness [0,1] 0.5306398133366081 Centerline is valid? [False, False] Translation: X:-59.33, Y:-69.41, Z:-20.19 [[ 0.69632659 -0.64879405 -0.30691294 -59.32972135] [ 0.65664586 0.74850634 -0.09249036 -69.40592903] [ 0.28973348 -0.13712961 0.9472328 -20.19334325] [ 0. 0. 0. 1. ]] SLAMing on 142.951652532 meters Centerline goodness [0,1] 0.5196316163323291 Centerline is valid? [False, False] Translation: X:-59.36, Y:-69.44, Z:-20.20 [[ 0.69757287 -0.64722242 -0.30740076 -59.35551701] [ 0.65541302 0.74973852 -0.09124646 -69.43609783] [ 0.28952695 -0.13782341 0.94719526 -20.20370478] [ 0. 0. 0. 1. ]] SLAMing on 142.981652532 meters Centerline goodness [0,1] 0.5210821350231538 Centerline is valid? [False, False] Translation: X:-59.38, Y:-69.46, Z:-20.21 [[ 0.69834557 -0.64573175 -0.30877821 -59.38092642] [ 0.65416501 0.75088246 -0.09079463 -69.46416572] [ 0.29048512 -0.13858587 0.94679055 -20.21384745] [ 0. 0. 0. 1. ]] SLAMing on 143.011652532 meters Centerline goodness [0,1] 0.5206427028470183 Centerline is valid? [False, False] Translation: X:-59.40, Y:-69.49, Z:-20.22 [[ 0.69869022 -0.64383536 -0.31194231 -59.40275206] [ 0.65306585 0.75200895 -0.08937302 -69.4894598 ] [ 0.29212492 -0.14127481 0.94588819 -20.22181556] [ 0. 0. 0. 1. ]] SLAMing on 143.041652532 meters Centerline goodness [0,1] 0.517265628788981 Centerline is valid? [False, False] Translation: X:-59.43, Y:-69.52, Z:-20.23 [[ 0.7004086 -0.64165089 -0.31258907 -59.42990979] [ 0.65115189 0.75379385 -0.08829518 -69.51953387] [ 0.2922824 -0.14170026 0.94577589 -20.23249456] [ 0. 0. 0. 1. ]] SLAMing on 143.071652532 meters Centerline goodness [0,1] 0.511330831408776 Centerline is valid? [False, False] Translation: X:-59.46, Y:-69.55, Z:-20.25 [[ 0.70592989 -0.63537805 -0.31298198 -59.46256692] [ 0.64570059 0.75892328 -0.08429828 -69.5514422 ] [ 0.29109059 -0.14258397 0.94601061 -20.24556979] [ 0. 0. 0. 1. ]] SLAMing on 143.101652532 meters Centerline goodness [0,1] 0.4766514124158421 Centerline is valid? [False, False] Translation: X:-59.49, Y:-69.58, Z:-20.26 [[ 0.70801471 -0.63336107 -0.31236025 -59.49115594] [ 0.64398176 0.76057863 -0.08250836 -69.58173869] [ 0.28983212 -0.14273718 0.94637384 -20.25668163] [ 0. 0. 0. 1. ]] SLAMing on 143.131652532 meters Centerline goodness [0,1] 0.4712874122869827 Centerline is valid? [False, False] Translation: X:-59.52, Y:-69.61, Z:-20.27 [[ 0.71100854 -0.63046649 -0.3114143 -59.5213901 ] [ 0.6414509 0.76296924 -0.08011667 -69.61337994] [ 0.28811041 -0.14279335 0.94689094 -20.26844648] [ 0. 0. 0. 1. ]] SLAMing on 143.161652532 meters Centerline goodness [0,1] 0.49300724207527014 Centerline is valid? [False, False] Translation: X:-59.55, Y:-69.64, Z:-20.28 [[ 0.71685596 -0.62549625 -0.30801295 -59.5482337 ] [ 0.63376215 0.76872237 -0.08608982 -69.6370404 ] [ 0.2906253 -0.13349295 0.94747906 -20.27555945] [ 0. 0. 0. 1. ]] SLAMing on 143.191652532 meters Centerline goodness [0,1] 0.336683773620604 Centerline is valid? [False, False] Translation: X:-59.58, Y:-69.67, Z:-20.29 [[ 0.71906925 -0.6233327 -0.30723893 -59.57648287] [ 0.63188282 0.7704691 -0.08427018 -69.66762049] [ 0.28924646 -0.13354291 0.94789386 -20.28719643] [ 0. 0. 0. 1. ]] SLAMing on 143.221652532 meters Centerline goodness [0,1] 0.46225256295176453 Centerline is valid? [False, False] Translation: X:-59.59, Y:-69.68, Z:-20.30 [[ 0.7214328 -0.62368409 -0.30092003 -59.59173656] [ 0.62966513 0.77166291 -0.08976739 -69.67929991] [ 0.28819531 -0.12471771 0.94941506 -20.2959549 ] [ 0. 0. 0. 1. ]] SLAMing on 143.251652532 meters Centerline goodness [0,1] 0.3277898005269101 Centerline is valid? [False, False] Translation: X:-59.62, Y:-69.71, Z:-20.31 [[ 0.72365609 -0.62068659 -0.30177809 -59.6191373 ] [ 0.62731502 0.77385177 -0.0873459 -69.70936669] [ 0.28774594 -0.12610154 0.94936857 -20.30588648] [ 0. 0. 0. 1. ]] SLAMing on 143.281652532 meters Centerline goodness [0,1] 0.3142414497312269 Centerline is valid? [False, False] Translation: X:-59.64, Y:-69.74, Z:-20.31 [[ 0.72474472 -0.61745255 -0.30577349 -59.64149275] [ 0.62534261 0.775778 -0.08435117 -69.73769069] [ 0.28929519 -0.13008013 0.9483604 -20.31190924] [ 0. 0. 0. 1. ]] SLAMing on 143.311652532 meters Centerline goodness [0,1] 0.3225836714590614 Centerline is valid? [False, False] Translation: X:-59.66, Y:-69.77, Z:-20.32 [[ 0.72528811 -0.61486747 -0.30966942 -59.66383581] [ 0.62390656 0.77719606 -0.08189563 -69.76544092] [ 0.29102881 -0.13380686 0.94731091 -20.31801574] [ 0. 0. 0. 1. ]] SLAMing on 143.341652532 meters Centerline goodness [0,1] 0.3225836714590614 Centerline is valid? [False, False] Translation: X:-59.68, Y:-69.79, Z:-20.32 [[ 0.72455774 -0.61377539 -0.31352171 -59.68257273] [ 0.62367315 0.77750094 -0.08077187 -69.79125479] [ 0.29333921 -0.13701119 0.94613955 -20.3240995 ] [ 0. 0. 0. 1. ]] SLAMing on 143.371652532 meters Centerline goodness [0,1] 0.45810658660161385 Centerline is valid? [False, False] Translation: X:-59.70, Y:-69.82, Z:-20.33 [[ 0.72534125 -0.61108876 -0.31693943 -59.70415111] [ 0.62213022 0.77899964 -0.07818913 -69.81878275] [ 0.2946762 -0.1404638 0.94521736 -20.33143071] [ 0. 0. 0. 1. ]] SLAMing on 143.401652532 meters Centerline goodness [0,1] 0.34629949974285845 Centerline is valid? [False, False] Translation: X:-59.73, Y:-69.85, Z:-20.34 [[ 0.72645209 -0.60881313 -0.31876941 -59.7294092 ] [ 0.62068014 0.78037703 -0.07594644 -69.85008875] [ 0.29499752 -0.14268239 0.94478474 -20.339089 ] [ 0. 0. 0. 1. ]] SLAMing on 143.43165253200002 meters Centerline goodness [0,1] 0.3423179333862755 Centerline is valid? [False, False] Translation: X:-59.75, Y:-69.88, Z:-20.35 [[ 0.72606084 -0.60817049 -0.32088053 -59.75132595] [ 0.62058713 0.78052911 -0.07513936 -69.87877808] [ 0.29615414 -0.14457858 0.9441344 -20.34649909] [ 0. 0. 0. 1. ]] SLAMing on 143.46165253200002 meters Centerline goodness [0,1] 0.46335470585482286 Centerline is valid? [False, False] Translation: X:-59.78, Y:-69.91, Z:-20.36 [[ 0.7267079 -0.6070278 -0.32157873 -59.77587334] [ 0.61966677 0.78131887 -0.07452464 -69.90942295] [ 0.29649406 -0.14511401 0.94394555 -20.3563688 ] [ 0. 0. 0. 1. ]] SLAMing on 143.491652532 meters Centerline goodness [0,1] 0.33771858337020044 Centerline is valid? [False, False] Translation: X:-59.80, Y:-69.94, Z:-20.37 [[ 0.72793869 -0.60529347 -0.32206377 -59.80214138] [ 0.6182072 0.782572 -0.07349099 -69.94022667] [ 0.2965217 -0.14560521 0.94386122 -20.36707361] [ 0. 0. 0. 1. ]] SLAMing on 143.521652532 meters Centerline goodness [0,1] 0.3353505260217857 Centerline is valid? [False, False] Translation: X:-59.82, Y:-69.97, Z:-20.38 [[ 0.72797532 -0.60356279 -0.32521362 -59.82282023] [ 0.61734453 0.78339146 -0.07199684 -69.96551242] [ 0.29822418 -0.14835693 0.94289584 -20.37527676] [ 0. 0. 0. 1. ]] SLAMing on 143.551652532 meters Centerline goodness [0,1] 0.3199692314864455 Centerline is valid? [False, False] Translation: X:-59.84, Y:-69.99, Z:-20.38 [[ 0.72653884 -0.60456215 -0.32656687 -59.84433074] [ 0.61866245 0.78235452 -0.07195963 -69.99279591] [ 0.29899513 -0.1497532 0.94243084 -20.38266319] [ 0. 0. 0. 1. ]] SLAMing on 143.581652532 meters Centerline goodness [0,1] 0.3277426258490742 Centerline is valid? [False, False] Translation: X:-59.87, Y:-70.03, Z:-20.39 [[ 0.72879138 -0.60217949 -0.32594937 -59.87331553] [ 0.61647664 0.78421694 -0.07042966 -70.02645877] [ 0.29802631 -0.14961164 0.94276013 -20.39385397] [ 0. 0. 0. 1. ]] SLAMing on 143.611652532 meters Centerline goodness [0,1] 0.32744965975335016 Centerline is valid? [False, False] Translation: X:-59.90, Y:-70.06, Z:-20.41 [[ 7.31503167e-01 -5.99148070e-01 -3.25460762e-01 -5.99021987e+01] [ 6.13842574e-01 7.86478837e-01 -6.81786953e-02 -7.00593764e+01] [ 2.96817135e-01 -1.49908740e-01 9.43094353e-01 -2.04053816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.641652532 meters Centerline goodness [0,1] 0.3563955921327939 Centerline is valid? [False, False] Translation: X:-59.93, Y:-70.09, Z:-20.42 [[ 7.31306596e-01 -6.00478937e-01 -3.23443517e-01 -5.99294527e+01] [ 6.14801290e-01 7.85693972e-01 -6.85883063e-02 -7.00922974e+01] [ 2.95313455e-01 -1.48694411e-01 9.43758410e-01 -2.04153549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.671652532 meters Centerline goodness [0,1] 0.35474951203643457 Centerline is valid? [False, False] Translation: X:-59.95, Y:-70.12, Z:-20.43 [[ 7.32091185e-01 -5.99400958e-01 -3.23668021e-01 -5.99545229e+01] [ 6.13942440e-01 7.86437633e-01 -6.77534413e-02 -7.01227148e+01] [ 2.95156190e-01 -1.49111837e-01 9.43741746e-01 -2.04257761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.701652532 meters Centerline goodness [0,1] 0.3238415979561027 Centerline is valid? [False, False] Translation: X:-59.98, Y:-70.15, Z:-20.44 [[ 7.32285810e-01 -5.98885312e-01 -3.24181856e-01 -5.99782884e+01] [ 6.13611917e-01 7.86732879e-01 -6.73185902e-02 -7.01521169e+01] [ 2.95360640e-01 -1.49625402e-01 9.43596488e-01 -2.04359116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.731652532 meters Centerline goodness [0,1] 0.32641923921840676 Centerline is valid? [False, False] Translation: X:-60.01, Y:-70.18, Z:-20.45 [[ 7.33957415e-01 -5.96862821e-01 -3.24131588e-01 -6.00052491e+01] [ 6.11549500e-01 7.88369426e-01 -6.69392014e-02 -7.01842701e+01] [ 2.95488955e-01 -1.49091987e-01 9.43640746e-01 -2.04480123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.761652532 meters Centerline goodness [0,1] 0.3344021776742254 Centerline is valid? [False, False] Translation: X:-60.03, Y:-70.21, Z:-20.46 [[ 7.33255412e-01 -5.97157028e-01 -3.25176853e-01 -6.00275624e+01] [ 6.11993002e-01 7.88011504e-01 -6.71001859e-02 -7.02118219e+01] [ 2.96312448e-01 -1.49804384e-01 9.43269622e-01 -2.04572420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.791652532 meters Centerline goodness [0,1] 0.34384901820200287 Centerline is valid? [False, False] Translation: X:-60.05, Y:-70.24, Z:-20.47 [[ 7.32987853e-01 -5.97659582e-01 -3.24856633e-01 -6.00530020e+01] [ 6.12075686e-01 7.87837078e-01 -6.83819682e-02 -7.02420242e+01] [ 2.96803239e-01 -1.48713694e-01 9.43287906e-01 -2.04684388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.821652532 meters Centerline goodness [0,1] 0.34377824645977706 Centerline is valid? [False, False] Translation: X:-60.08, Y:-70.27, Z:-20.48 [[ 7.33053583e-01 -5.98724993e-01 -3.22739567e-01 -6.00810912e+01] [ 6.12761507e-01 7.87275477e-01 -6.87070577e-02 -7.02745171e+01] [ 2.95221579e-01 -1.47396428e-01 9.43990737e-01 -2.04790510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.851652532 meters Centerline goodness [0,1] 0.3475421982449235 Centerline is valid? [False, False] Translation: X:-60.11, Y:-70.31, Z:-20.49 [[ 7.34147081e-01 -5.97861573e-01 -3.21853388e-01 -6.01083647e+01] [ 6.12106334e-01 7.87901353e-01 -6.73594404e-02 -7.03072391e+01] [ 2.93860341e-01 -1.47556761e-01 9.44390334e-01 -2.04892372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.881652532 meters Centerline goodness [0,1] 0.3475421982449235 Centerline is valid? [False, False] Translation: X:-60.13, Y:-70.34, Z:-20.50 [[ 7.34244758e-01 -5.97481520e-01 -3.22335956e-01 -6.01322698e+01] [ 6.11863683e-01 7.88112877e-01 -6.70889423e-02 -7.03367365e+01] [ 2.94121521e-01 -1.47965961e-01 9.44244992e-01 -2.04989736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.911652532 meters Centerline goodness [0,1] 0.3454562301651648 Centerline is valid? [False, False] Translation: X:-60.16, Y:-70.37, Z:-20.51 [[ 7.33607889e-01 -5.98549394e-01 -3.21804425e-01 -6.01568327e+01] [ 6.12973757e-01 7.87264416e-01 -6.69172112e-02 -7.03679679e+01] [ 2.93398429e-01 -1.48166673e-01 9.44438457e-01 -2.05075767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.941652532 meters Centerline goodness [0,1] 0.3713854722673474 Centerline is valid? [False, False] Translation: X:-60.19, Y:-70.40, Z:-20.52 [[ 7.34563446e-01 -5.98684092e-01 -3.19364841e-01 -6.01864085e+01] [ 6.12537640e-01 7.87556090e-01 -6.74762541e-02 -7.04039185e+01] [ 2.91914685e-01 -1.46057396e-01 9.45226456e-01 -2.05189650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.971652532 meters Centerline goodness [0,1] 0.384164495720134 Centerline is valid? [False, False] Translation: X:-60.21, Y:-70.43, Z:-20.53 [[ 7.35359772e-01 -5.97582770e-01 -3.19594802e-01 -6.02111679e+01] [ 6.11593193e-01 7.88344403e-01 -6.68346347e-02 -7.04348864e+01] [ 2.91890000e-01 -1.46314504e-01 9.45194315e-01 -2.05294321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.001652532 meters Centerline goodness [0,1] 0.38478235500058355 Centerline is valid? [False, False] Translation: X:-60.24, Y:-70.47, Z:-20.54 [[ 7.36654314e-01 -5.96178276e-01 -3.19236409e-01 -6.02367820e+01] [ 6.10223458e-01 7.89458407e-01 -6.62023770e-02 -7.04664238e+01] [ 2.91492286e-01 -1.46037279e-01 9.45359911e-01 -2.05412948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.031652532 meters Centerline goodness [0,1] 0.3986308091310544 Centerline is valid? [False, False] Translation: X:-60.26, Y:-70.50, Z:-20.55 [[ 7.36152551e-01 -5.97028351e-01 -3.18804908e-01 -6.02601271e+01] [ 6.10896302e-01 7.88892264e-01 -6.67435632e-02 -7.04976094e+01] [ 2.91350525e-01 -1.45623295e-01 9.45467465e-01 -2.05512542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.061652532 meters Centerline goodness [0,1] 0.3975102957693748 Centerline is valid? [False, False] Translation: X:-60.28, Y:-70.53, Z:-20.56 [[ 7.35085824e-01 -5.99248789e-01 -3.17095760e-01 -6.02844282e+01] [ 6.12290041e-01 7.87613526e-01 -6.90350519e-02 -7.05335076e+01] [ 2.91118081e-01 -1.43407888e-01 9.45877603e-01 -2.05611743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.091652532 meters Centerline goodness [0,1] 0.40261296613953046 Centerline is valid? [False, False] Translation: X:-60.30, Y:-70.56, Z:-20.57 [[ 7.33117333e-01 -6.00897364e-01 -3.18529959e-01 -6.03040825e+01] [ 6.14019373e-01 7.86188282e-01 -6.99156252e-02 -7.05612296e+01] [ 2.92436636e-01 -1.44327209e-01 9.45330879e-01 -2.05685733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.121652532 meters Centerline goodness [0,1] 0.41609485132801194 Centerline is valid? [False, False] Translation: X:-60.31, Y:-70.56, Z:-20.57 [[ 0.72977136 -0.6082367 -0.31222087 -60.30884681] [ 0.61918872 0.7816142 -0.07539613 -70.56271443] [ 0.28989496 -0.1383017 0.94701296 -20.57179008] [ 0. 0. 0. 1. ]] SLAMing on 144.151652532 meters Centerline goodness [0,1] 0.4288814966853045 Centerline is valid? [False, False] Translation: X:-60.33, Y:-70.59, Z:-20.58 [[ 0.72842917 -0.60917929 -0.31351483 -60.32899702] [ 0.62011044 0.78079097 -0.07634458 -70.59260737] [ 0.29129709 -0.1388022 0.94650935 -20.58100986] [ 0. 0. 0. 1. ]] SLAMing on 144.18165253200002 meters Centerline goodness [0,1] 0.4322632461672926 Centerline is valid? [False, False] Translation: X:-60.35, Y:-70.62, Z:-20.59 [[ 0.72714452 -0.60988012 -0.31513027 -60.34968023] [ 0.62106472 0.78001545 -0.07651471 -70.62042948] [ 0.29247128 -0.14007904 0.94595899 -20.58890459] [ 0. 0. 0. 1. ]] SLAMing on 144.21165253200002 meters Centerline goodness [0,1] 0.43747338537970193 Centerline is valid? [False, False] Translation: X:-60.37, Y:-70.65, Z:-20.60 [[ 0.725963 -0.61029098 -0.31705306 -60.37041306] [ 0.62183444 0.77940875 -0.07644566 -70.64894855] [ 0.29376803 -0.14165779 0.94532186 -20.59606161] [ 0. 0. 0. 1. ]] SLAMing on 144.241652532 meters Centerline goodness [0,1] 0.44860216084133864 Centerline is valid? [False, False] Translation: X:-60.39, Y:-70.68, Z:-20.60 [[ 0.72399627 -0.61284232 -0.31662862 -60.39393146] [ 0.62388201 0.77757092 -0.07845191 -70.68469265] [ 0.29427986 -0.14074001 0.94529975 -20.60316248] [ 0. 0. 0. 1. ]] SLAMing on 144.271652532 meters Centerline goodness [0,1] 0.4592578377989398 Centerline is valid? [False, False] Translation: X:-60.41, Y:-70.71, Z:-20.61 [[ 0.72140026 -0.61488271 -0.31859209 -60.41286356] [ 0.62619147 0.77564745 -0.07909023 -70.71272404] [ 0.29574635 -0.14244394 0.94458659 -20.60853832] [ 0. 0. 0. 1. ]] SLAMing on 144.301652532 meters Centerline goodness [0,1] 0.46354817020459127 Centerline is valid? [False, False] Translation: X:-60.43, Y:-70.74, Z:-20.61 [[ 0.71991338 -0.61546299 -0.3208271 -60.43325833] [ 0.62728326 0.77479794 -0.07876468 -70.74123575] [ 0.29705292 -0.14454572 0.94385703 -20.61473517] [ 0. 0. 0. 1. ]] SLAMing on 144.331652532 meters Centerline goodness [0,1] 0.47196239151398267 Centerline is valid? [False, False] Translation: X:-60.45, Y:-70.77, Z:-20.62 [[ 0.71770247 -0.61687894 -0.32305345 -60.45221404] [ 0.62903881 0.7733284 -0.07920452 -70.76935418] [ 0.29868601 -0.14636787 0.9430605 -20.62159057] [ 0. 0. 0. 1. ]] SLAMing on 144.361652532 meters Centerline goodness [0,1] 0.47585840793378853 Centerline is valid? [False, False] Translation: X:-60.47, Y:-70.79, Z:-20.63 [[ 0.71563175 -0.6166399 -0.32806468 -60.46704783] [ 0.63002533 0.77265002 -0.07797457 -70.79129875] [ 0.30156141 -0.15088798 0.94143164 -20.62653798] [ 0. 0. 0. 1. ]] SLAMing on 144.391652532 meters Centerline goodness [0,1] 0.4806776711699736 Centerline is valid? [False, False] Translation: X:-60.48, Y:-70.81, Z:-20.63 [[ 0.71431956 -0.61573426 -0.33259419 -60.48344606] [ 0.63031758 0.77255919 -0.07649859 -70.81494799] [ 0.3040515 -0.15499553 0.93996227 -20.63249215] [ 0. 0. 0. 1. ]] SLAMing on 144.421652532 meters Centerline goodness [0,1] 0.48159613059250306 Centerline is valid? [False, False] Translation: X:-60.50, Y:-70.84, Z:-20.64 [[ 0.71387872 -0.61505071 -0.33479815 -60.50481806] [ 0.63036186 0.77264056 -0.07530271 -70.84308829] [ 0.30499361 -0.15728699 0.93927616 -20.64019756] [ 0. 0. 0. 1. ]] SLAMing on 144.451652532 meters Centerline goodness [0,1] 0.48698308042856453 Centerline is valid? [False, False] Translation: X:-60.53, Y:-70.88, Z:-20.65 [[ 0.71348033 -0.61553528 -0.33475685 -60.52900364] [ 0.63085864 0.77222892 -0.07536489 -70.87522705] [ 0.30489867 -0.15741288 0.93928589 -20.64978933] [ 0. 0. 0. 1. ]] SLAMing on 144.481652532 meters Centerline goodness [0,1] 0.48907873022036696 Centerline is valid? [False, False] Translation: X:-60.55, Y:-70.91, Z:-20.66 [[ 0.7130588 -0.61565396 -0.33543607 -60.55216512] [ 0.63129396 0.77192798 -0.07480055 -70.90501938] [ 0.30498374 -0.15842158 0.93908867 -20.65840686] [ 0. 0. 0. 1. ]] SLAMing on 144.511652532 meters Centerline goodness [0,1] 0.4606520789869487 Centerline is valid? [False, False] Translation: X:-60.58, Y:-70.94, Z:-20.67 [[ 0.71345786 -0.61521715 -0.33538893 -60.57685749] [ 0.63115288 0.77214427 -0.07375143 -70.93552526] [ 0.30434179 -0.15906315 0.93918847 -20.66825636] [ 0. 0. 0. 1. ]] SLAMing on 144.541652532 meters Centerline goodness [0,1] 0.46356128658359896 Centerline is valid? [False, False] Translation: X:-60.60, Y:-70.97, Z:-20.68 [[ 0.71385776 -0.61482264 -0.33526141 -60.60244475] [ 0.63105049 0.77232986 -0.0726764 -70.96676368] [ 0.30361549 -0.15968626 0.9393178 -20.67808812] [ 0. 0. 0. 1. ]] SLAMing on 144.571652532 meters Centerline goodness [0,1] 0.46664413979532726 Centerline is valid? [False, False] Translation: X:-60.63, Y:-70.99, Z:-20.69 [[ 0.71437472 -0.61402623 -0.33561965 -60.62724077] [ 0.63067709 0.77275661 -0.07136964 -70.9946989 ] [ 0.30317513 -0.16068295 0.93929007 -20.68833197] [ 0. 0. 0. 1. ]] SLAMing on 144.601652532 meters Centerline goodness [0,1] 0.463721109028879 Centerline is valid? [False, False] Translation: X:-60.65, Y:-71.02, Z:-20.70 [[ 7.15260781e-01 -6.13422043e-01 -3.34836396e-01 -6.06530097e+01] [ 6.30399516e-01 7.73130750e-01 -6.97516577e-02 -7.10224743e+01] [ 3.01659518e-01 -1.61190077e-01 9.39691063e-01 -2.06997109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.631652532 meters Centerline goodness [0,1] 0.4617098768390281 Centerline is valid? [False, False] Translation: X:-60.69, Y:-71.06, Z:-20.72 [[ 7.19071254e-01 -6.10553357e-01 -3.31905302e-01 -6.06859417e+01] [ 6.27259913e-01 7.75818615e-01 -6.81944163e-02 -7.10562538e+01] [ 2.99134642e-01 -1.59154246e-01 9.40844510e-01 -2.07152872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.661652532 meters Centerline goodness [0,1] 0.46127720640994974 Centerline is valid? [False, False] Translation: X:-60.70, Y:-71.07, Z:-20.72 [[ 0.72005323 -0.61319992 -0.32482182 -60.69829233] [ 0.62721943 0.77537932 -0.07336686 -71.06615977] [ 0.29684867 -0.15090651 0.94292528 -20.72360271] [ 0. 0. 0. 1. ]] SLAMing on 144.691652532 meters Centerline goodness [0,1] 0.46337027020558597 Centerline is valid? [False, False] Translation: X:-60.71, Y:-71.07, Z:-20.73 [[ 0.72105148 -0.61563448 -0.31792916 -60.71011541] [ 0.6271659 0.77494878 -0.07821329 -71.07467767] [ 0.29452962 -0.14299852 0.94488292 -20.73204471] [ 0. 0. 0. 1. ]] SLAMing on 144.721652532 meters Centerline goodness [0,1] 0.4634601133130931 Centerline is valid? [False, False] Translation: X:-60.74, Y:-71.11, Z:-20.74 [[ 0.72297471 -0.61383954 -0.3170309 -60.73851753] [ 0.62563323 0.77636027 -0.07647086 -71.10643289] [ 0.29307103 -0.14305857 0.94532725 -20.74386648] [ 0. 0. 0. 1. ]] SLAMing on 144.751652532 meters Centerline goodness [0,1] 0.4657086247642692 Centerline is valid? [False, False] Translation: X:-60.75, Y:-71.11, Z:-20.75 [[ 0.72484851 -0.61499832 -0.31043792 -60.74919623] [ 0.62478237 0.77670208 -0.07988041 -71.11389481] [ 0.29024409 -0.13605495 0.94723145 -20.75423301] [ 0. 0. 0. 1. ]] SLAMing on 144.781652532 meters Centerline goodness [0,1] 0.46836919268849964 Centerline is valid? [False, False] Translation: X:-60.75, Y:-71.12, Z:-20.76 [[ 0.7240879 -0.61810641 -0.30600846 -60.75482636] [ 0.62675567 0.77487638 -0.08212145 -71.11642796] [ 0.28787852 -0.13232938 0.94848031 -20.75777767] [ 0. 0. 0. 1. ]] SLAMing on 144.811652532 meters Centerline goodness [0,1] 0.47006720334354446 Centerline is valid? [False, False] Translation: X:-60.76, Y:-71.12, Z:-20.76 [[ 0.72327398 -0.62122163 -0.30159317 -60.76007619] [ 0.62875896 0.77300965 -0.08436968 -71.11915009] [ 0.2855467 -0.12860701 0.94969643 -20.76122344] [ 0. 0. 0. 1. ]] SLAMing on 144.841652532 meters Centerline goodness [0,1] 0.4738877219782318 Centerline is valid? [False, False] Translation: X:-60.79, Y:-71.15, Z:-20.77 [[ 0.72504957 -0.6193641 -0.30114985 -60.78807228] [ 0.62721446 0.77444471 -0.08268864 -71.15400843] [ 0.28443828 -0.12893218 0.94998493 -20.77121366] [ 0. 0. 0. 1. ]] SLAMing on 144.871652532 meters Centerline goodness [0,1] 0.47477765919601567 Centerline is valid? [False, False] Translation: X:-60.79, Y:-71.16, Z:-20.77 [[ 0.72378851 -0.62233094 -0.29805099 -60.79255245] [ 0.62933469 0.7725038 -0.08470968 -71.15571187] [ 0.28296298 -0.12626193 0.95078382 -20.77194132] [ 0. 0. 0. 1. ]] SLAMing on 144.901652532 meters Centerline goodness [0,1] 0.47062602612606186 Centerline is valid? [False, False] Translation: X:-60.81, Y:-71.17, Z:-20.78 [[ 0.72565251 -0.62347776 -0.29103937 -60.80641557] [ 0.62828189 0.77286064 -0.08915321 -71.16817965] [ 0.28051792 -0.11816052 0.95254805 -20.78018857] [ 0. 0. 0. 1. ]] SLAMing on 144.93165253200002 meters Centerline goodness [0,1] 0.47225726595415485 Centerline is valid? [False, False] Translation: X:-60.81, Y:-71.17, Z:-20.78 [[ 0.72431621 -0.62644103 -0.28798899 -60.81031873] [ 0.63050402 0.7708363 -0.09097296 -71.17102249] [ 0.27898157 -0.11568503 0.95330282 -20.78049433] [ 0. 0. 0. 1. ]] SLAMing on 144.96165253200002 meters Centerline goodness [0,1] 0.4759980028055827 Centerline is valid? [False, False] Translation: X:-60.83, Y:-71.20, Z:-20.79 [[ 0.72290761 -0.62688243 -0.29055637 -60.82911235] [ 0.63141438 0.77013304 -0.09061448 -71.19856394] [ 0.28057168 -0.11795557 0.95255762 -20.78740505] [ 0. 0. 0. 1. ]] SLAMing on 144.991652532 meters Centerline goodness [0,1] 0.47563232572486125 Centerline is valid? [False, False] Translation: X:-60.84, Y:-71.21, Z:-20.80 [[ 0.72438656 -0.62802162 -0.28434654 -60.83778973] [ 0.63116052 0.77006886 -0.09289964 -71.20701692] [ 0.2773094 -0.11217306 0.95420999 -20.79609449] [ 0. 0. 0. 1. ]] SLAMing on 145.021652532 meters Centerline goodness [0,1] 0.4798365057864594 Centerline is valid? [False, False] Translation: X:-60.84, Y:-71.21, Z:-20.80 [[ 0.72313108 -0.63118033 -0.28052241 -60.84189319] [ 0.63344274 0.76793775 -0.09498374 -71.20956025] [ 0.27537562 -0.10900919 0.95513625 -20.79822436] [ 0. 0. 0. 1. ]] SLAMing on 145.051652532 meters Centerline goodness [0,1] 0.4709132734128584 Centerline is valid? [False, False] Translation: X:-60.85, Y:-71.22, Z:-20.81 [[ 0.7239792 -0.63340934 -0.27321552 -60.85365419] [ 0.63372272 0.76716249 -0.09928361 -71.22210004] [ 0.27248787 -0.10126361 0.95681557 -20.80575157] [ 0. 0. 0. 1. ]] SLAMing on 145.081652532 meters Centerline goodness [0,1] 0.48549574936654905 Centerline is valid? [False, False] Translation: X:-60.86, Y:-71.22, Z:-20.81 [[ 0.72207964 -0.63690292 -0.27010305 -60.85626165] [ 0.6364213 0.76462104 -0.10160015 -71.22373614] [ 0.27123591 -0.09853593 0.95745587 -20.80635772] [ 0. 0. 0. 1. ]] SLAMing on 145.111652532 meters Centerline goodness [0,1] 0.4724633556282909 Centerline is valid? [False, False] Translation: X:-60.87, Y:-71.25, Z:-20.81 [[ 0.7205831 -0.63611893 -0.2758853 -60.87241969] [ 0.63692151 0.76451869 -0.09920766 -71.24801828] [ 0.27402734 -0.10422992 0.95605708 -20.80852234] [ 0. 0. 0. 1. ]] SLAMing on 145.141652532 meters Centerline goodness [0,1] 0.4874896633195511 Centerline is valid? [False, False] Translation: X:-60.89, Y:-71.27, Z:-20.81 [[ 0.72431894 -0.63350999 -0.27207934 -60.89301498] [ 0.63170362 0.76789214 -0.10626476 -71.26966104] [ 0.27624737 -0.09490393 0.95638937 -20.81498107] [ 0. 0. 0. 1. ]] SLAMing on 145.171652532 meters Centerline goodness [0,1] 0.48841762596716365 Centerline is valid? [False, False] Translation: X:-60.91, Y:-71.29, Z:-20.82 [[ 0.72349178 -0.63188813 -0.27798746 -60.91012545] [ 0.63151002 0.76846697 -0.10321633 -71.29394335] [ 0.27884536 -0.1008757 0.95502322 -20.81772961] [ 0. 0. 0. 1. ]] SLAMing on 145.201652532 meters Centerline goodness [0,1] 0.4890385879260163 Centerline is valid? [False, False] Translation: X:-60.93, Y:-71.32, Z:-20.82 [[ 0.72314963 -0.63024178 -0.28257728 -60.92977246] [ 0.63085663 0.76926188 -0.10127226 -71.32153576] [ 0.28120193 -0.10503076 0.95388365 -20.82239158] [ 0. 0. 0. 1. ]] SLAMing on 145.231652532 meters Centerline goodness [0,1] 0.4793624750966835 Centerline is valid? [False, False] Translation: X:-60.94, Y:-71.33, Z:-20.83 [[ 0.72376321 -0.63145213 -0.27827149 -60.93790057] [ 0.63133954 0.76872645 -0.10232317 -71.32831235] [ 0.27852684 -0.10162605 0.95503662 -20.82550358] [ 0. 0. 0. 1. ]] SLAMing on 145.261652532 meters Centerline goodness [0,1] 0.48285226022426664 Centerline is valid? [False, False] Translation: X:-60.96, Y:-71.35, Z:-20.83 [[ 0.72232188 -0.63055921 -0.28398272 -60.95504248] [ 0.63186024 0.76865906 -0.09957851 -71.35263447] [ 0.28107604 -0.10750965 0.95364455 -20.8271208 ] [ 0. 0. 0. 1. ]] SLAMing on 145.291652532 meters Centerline goodness [0,1] 0.4780552578856637 Centerline is valid? [False, False] Translation: X:-60.97, Y:-71.37, Z:-20.84 [[ 0.72617105 -0.62904025 -0.27745985 -60.9749117 ] [ 0.62804602 0.77112511 -0.10451921 -71.37288972] [ 0.27970304 -0.09835873 0.95503496 -20.83540937] [ 0. 0. 0. 1. ]] SLAMing on 145.321652532 meters Centerline goodness [0,1] 0.4796364312613325 Centerline is valid? [False, False] Translation: X:-60.98, Y:-71.38, Z:-20.84 [[ 0.72742436 -0.62916665 -0.27386701 -60.98373686] [ 0.62767376 0.77137248 -0.10492925 -71.38084562] [ 0.27727145 -0.09557104 0.95602653 -20.83766723] [ 0. 0. 0. 1. ]] SLAMing on 145.351652532 meters Centerline goodness [0,1] 0.47994149603008773 Centerline is valid? [False, False] Translation: X:-61.00, Y:-71.41, Z:-20.84 [[ 0.72681431 -0.62765723 -0.27890384 -61.0022712 ] [ 0.62759269 0.77188448 -0.10159605 -71.40695818] [ 0.27904904 -0.10119655 0.95492978 -20.84041312] [ 0. 0. 0. 1. ]] SLAMing on 145.381652532 meters Centerline goodness [0,1] 0.4803409275645045 Centerline is valid? [False, False] Translation: X:-61.01, Y:-71.41, Z:-20.84 [[ 0.72545494 -0.63052439 -0.27596036 -61.00643509] [ 0.62980644 0.76984961 -0.10332197 -71.41018482] [ 0.277595 -0.09884618 0.95559952 -20.84018954] [ 0. 0. 0. 1. ]] SLAMing on 145.411652532 meters Centerline goodness [0,1] 0.4829435942688619 Centerline is valid? [False, False] Translation: X:-61.02, Y:-71.43, Z:-20.84 [[ 0.72385965 -0.62980891 -0.28172317 -61.02250968] [ 0.63046681 0.76965738 -0.10069318 -71.43496542] [ 0.28024778 -0.10472938 0.95419754 -20.84196651] [ 0. 0. 0. 1. ]] SLAMing on 145.441652532 meters Centerline goodness [0,1] 0.48923492307334215 Centerline is valid? [False, False] Translation: X:-61.04, Y:-71.47, Z:-20.85 [[ 0.72284107 -0.62972812 -0.28450533 -61.04254278] [ 0.63082317 0.76941578 -0.10030693 -71.46705281] [ 0.28206898 -0.10696658 0.95341242 -20.8476367 ] [ 0. 0. 0. 1. ]] SLAMing on 145.471652532 meters Centerline goodness [0,1] 0.48670622868090274 Centerline is valid? [False, False] Translation: X:-61.06, Y:-71.49, Z:-20.85 [[ 0.72012982 -0.63012406 -0.29044227 -61.05608098] [ 0.63255589 0.76824418 -0.09835617 -71.489262 ] [ 0.28510717 -0.11289175 0.95182422 -20.8495903 ] [ 0. 0. 0. 1. ]] SLAMing on 145.501652532 meters Centerline goodness [0,1] 0.475467809550575 Centerline is valid? [False, False] Translation: X:-61.08, Y:-71.52, Z:-20.85 [[ 0.71868291 -0.63009278 -0.29407136 -61.07519656] [ 0.63345287 0.76770054 -0.09681603 -71.52116706] [ 0.28676182 -0.11670032 0.95086734 -20.85337804] [ 0. 0. 0. 1. ]] SLAMing on 145.531652532 meters Centerline goodness [0,1] 0.4768970301220401 Centerline is valid? [False, False] Translation: X:-61.09, Y:-71.54, Z:-20.86 [[ 0.71538957 -0.63173801 -0.29853787 -61.09083825] [ 0.63617269 0.76559847 -0.09562053 -71.54482947] [ 0.28896726 -0.12151571 0.94959563 -20.85540166] [ 0. 0. 0. 1. ]] SLAMing on 145.561652532 meters Centerline goodness [0,1] 0.48326419008108623 Centerline is valid? [False, False] Translation: X:-61.10, Y:-71.55, Z:-20.86 [[ 0.71490175 -0.63546474 -0.29171915 -61.09996871] [ 0.63805854 0.76352415 -0.09955983 -71.55385656] [ 0.28600138 -0.1149584 0.95130846 -20.86100883] [ 0. 0. 0. 1. ]] SLAMing on 145.591652532 meters Centerline goodness [0,1] 0.48807213518246795 Centerline is valid? [False, False] Translation: X:-61.12, Y:-71.58, Z:-20.87 [[ 0.7132474 -0.63620819 -0.29413821 -61.11959981] [ 0.63876144 0.76275986 -0.10090202 -71.5827824 ] [ 0.28855151 -0.11591604 0.95042175 -20.86900377] [ 0. 0. 0. 1. ]] SLAMing on 145.621652532 meters Centerline goodness [0,1] 0.49362913750148296 Centerline is valid? [False, False] Translation: X:-61.13, Y:-71.60, Z:-20.87 [[ 0.71122134 -0.63579432 -0.29988296 -61.13478756] [ 0.63969554 0.76223781 -0.09890976 -71.6042094 ] [ 0.29146839 -0.12148706 0.94883459 -20.87241942] [ 0. 0. 0. 1. ]] SLAMing on 145.651652532 meters Centerline goodness [0,1] 0.4964274693189641 Centerline is valid? [False, False] Translation: X:-61.16, Y:-71.63, Z:-20.88 [[ 0.71381868 -0.63325725 -0.29907885 -61.1585866 ] [ 0.6338547 0.76578822 -0.10861225 -71.63051029] [ 0.29781055 -0.11204308 0.94802702 -20.87810422] [ 0. 0. 0. 1. ]] SLAMing on 145.68165253200002 meters Centerline goodness [0,1] 0.48291884971906784 Centerline is valid? [False, False] Translation: X:-61.18, Y:-71.66, Z:-20.89 [[ 0.7138462 -0.63298941 -0.29957974 -61.18235124] [ 0.6344369 0.76566623 -0.1060427 -71.65853828] [ 0.29650199 -0.11436626 0.94815976 -20.88623363] [ 0. 0. 0. 1. ]] SLAMing on 145.71165253200002 meters Centerline goodness [0,1] 0.4928701924217619 Centerline is valid? [False, False] Translation: X:-61.20, Y:-71.67, Z:-20.89 [[ 0.71506741 -0.63496532 -0.29239981 -61.1958075 ] [ 0.63442536 0.76511651 -0.11000539 -71.66937194] [ 0.29356953 -0.10684458 0.94994798 -20.89386395] [ 0. 0. 0. 1. ]] SLAMing on 145.741652532 meters Centerline goodness [0,1] 0.49100787700484005 Centerline is valid? [False, False] Translation: X:-61.21, Y:-71.68, Z:-20.90 [[ 0.71761755 -0.63545595 -0.28499261 -61.21235171] [ 0.63262534 0.7659034 -0.11479182 -71.68312301] [ 0.29122196 -0.09791692 0.95163126 -20.90332005] [ 0. 0. 0. 1. ]] SLAMing on 145.771652532 meters Centerline goodness [0,1] 0.4655567905029915 Centerline is valid? [False, False] Translation: X:-61.24, Y:-71.71, Z:-20.91 [[ 0.72191267 -0.63067649 -0.28476176 -61.23747955] [ 0.62493903 0.77091224 -0.12306716 -71.7098515 ] [ 0.29714189 -0.089115 0.95066567 -20.90829872] [ 0. 0. 0. 1. ]] SLAMing on 145.801652532 meters Centerline goodness [0,1] 0.4655567905029915 Centerline is valid? [False, False] Translation: X:-61.24, Y:-71.71, Z:-20.91 [[ 0.72191267 -0.63067649 -0.28476176 -61.23747955] [ 0.62493903 0.77091224 -0.12306716 -71.7098515 ] [ 0.29714189 -0.089115 0.95066567 -20.90829872] [ 0. 0. 0. 1. ]] SLAMing on 145.831652532 meters Centerline goodness [0,1] 0.49391744769478363 Centerline is valid? [False, False] Translation: X:-61.25, Y:-71.72, Z:-20.92 [[ 0.72383942 -0.63163088 -0.27766694 -61.25295054] [ 0.62398827 0.77100802 -0.12722137 -71.72337173] [ 0.29444038 -0.08117307 0.95221625 -20.91608153] [ 0. 0. 0. 1. ]] SLAMing on 145.861652532 meters Centerline goodness [0,1] 0.46792006621733473 Centerline is valid? [False, False] Translation: X:-61.26, Y:-71.73, Z:-20.92 [[ 0.72649347 -0.63090125 -0.27234325 -61.26499628] [ 0.62235864 0.77211629 -0.12847626 -71.7346429 ] [ 0.2913365 -0.07615801 0.95358429 -20.92299506] [ 0. 0. 0. 1. ]] SLAMing on 145.891652532 meters Centerline goodness [0,1] 0.4921891617233475 Centerline is valid? [False, False] Translation: X:-61.28, Y:-71.75, Z:-20.92 [[ 0.72547644 -0.6279912 -0.28162207 -61.27520952] [ 0.6180155 0.77448943 -0.13499248 -71.75012047] [ 0.30288741 -0.07611294 0.94998213 -20.91780237] [ 0. 0. 0. 1. ]] SLAMing on 145.921652532 meters Centerline goodness [0,1] 0.46861599359125394 Centerline is valid? [False, False] Translation: X:-61.30, Y:-71.77, Z:-20.92 [[ 7.29420152e-01 -6.24619982e-01 -2.78919560e-01 -6.12981591e+01] [ 6.11817403e-01 7.78070287e-01 -1.42429256e-01 -7.17739684e+01] [ 3.05983181e-01 -6.67570715e-02 9.49693522e-01 -2.09241282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.951652532 meters Centerline goodness [0,1] 0.46715707077851654 Centerline is valid? [False, False] Translation: X:-61.31, Y:-71.79, Z:-20.93 [[ 7.32534630e-01 -6.21682681e-01 -2.77315092e-01 -6.13111887e+01] [ 6.07079788e-01 7.80918288e-01 -1.47039987e-01 -7.17884247e+01] [ 3.07972641e-01 -6.06405052e-02 9.49460679e-01 -2.09281991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.981652532 meters Centerline goodness [0,1] 0.4729497182998986 Centerline is valid? [False, False] Translation: X:-61.33, Y:-71.82, Z:-20.93 [[ 7.33008019e-01 -6.17935545e-01 -2.84349971e-01 -6.13310926e+01] [ 6.04652496e-01 7.83407056e-01 -1.43766282e-01 -7.18178965e+01] [ 3.11600069e-01 -6.65510827e-02 9.47879924e-01 -2.09310200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.011652532 meters Centerline goodness [0,1] 0.4737823296205399 Centerline is valid? [False, False] Translation: X:-61.34, Y:-71.84, Z:-20.93 [[ 0.72949379 -0.61814538 -0.29280557 -61.34186081] [ 0.60615826 0.78257769 -0.1419307 -71.83573445] [ 0.31687692 -0.07394895 0.94557949 -20.93035514] [ 0. 0. 0. 1. ]] SLAMing on 146.041652532 meters Centerline goodness [0,1] 0.48052530883151856 Centerline is valid? [False, False] Translation: X:-61.35, Y:-71.84, Z:-20.93 [[ 7.30365984e-01 -6.19179439e-01 -2.88413506e-01 -6.13500663e+01] [ 6.06600681e-01 7.82067579e-01 -1.42849278e-01 -7.18440539e+01] [ 3.14008189e-01 -7.06195756e-02 9.46790226e-01 -2.09343235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.071652532 meters Centerline goodness [0,1] 0.47423118711323164 Centerline is valid? [False, False] Translation: X:-61.36, Y:-71.86, Z:-20.93 [[ 0.72791176 -0.6173609 -0.29834541 -61.35961285] [ 0.60641775 0.78270845 -0.14008924 -71.86115181] [ 0.3200031 -0.07894935 0.94412129 -20.9341571 ] [ 0. 0. 0. 1. ]] SLAMing on 146.101652532 meters Centerline goodness [0,1] 0.48706488838441164 Centerline is valid? [False, False] Translation: X:-61.38, Y:-71.89, Z:-20.94 [[ 0.72658133 -0.61596888 -0.3044042 -61.37652795] [ 0.60604631 0.78329013 -0.1384357 -71.88828441] [ 0.32370889 -0.08389824 0.94242965 -20.93828168] [ 0. 0. 0. 1. ]] SLAMing on 146.131652532 meters Centerline goodness [0,1] 0.4854056103108415 Centerline is valid? [False, False] Translation: X:-61.38, Y:-71.89, Z:-20.94 [[ 0.72533846 -0.61890265 -0.30140276 -61.38045003] [ 0.6084032 0.78119037 -0.13995409 -71.89233088] [ 0.32207089 -0.08186032 0.94316978 -20.93866769] [ 0. 0. 0. 1. ]] SLAMing on 146.161652532 meters Centerline goodness [0,1] 0.4824094323476277 Centerline is valid? [False, False] Translation: X:-61.39, Y:-71.90, Z:-20.94 [[ 0.72440846 -0.62154427 -0.29818636 -61.38552522] [ 0.61047849 0.77931951 -0.14134044 -71.89672537] [ 0.32023179 -0.07964814 0.94398505 -20.93938027] [ 0. 0. 0. 1. ]] SLAMing on 146.191652532 meters Centerline goodness [0,1] 0.4881322910974364 Centerline is valid? [False, False] Translation: X:-61.40, Y:-71.93, Z:-20.94 [[ 0.72325055 -0.61984498 -0.30446812 -61.40221406] [ 0.60985527 0.7801328 -0.13953266 -71.92509721] [ 0.32401419 -0.08476442 0.94224721 -20.94271423] [ 0. 0. 0. 1. ]] SLAMing on 146.221652532 meters Centerline goodness [0,1] 0.4904067901381327 Centerline is valid? [False, False] Translation: X:-61.41, Y:-71.93, Z:-20.94 [[ 0.72235096 -0.62246763 -0.30123602 -61.40674907] [ 0.61191326 0.77827784 -0.14087501 -71.93024926] [ 0.32213545 -0.08256912 0.94308594 -20.94342228] [ 0. 0. 0. 1. ]] SLAMing on 146.251652532 meters Centerline goodness [0,1] 0.496245960843946 Centerline is valid? [False, False] Translation: X:-61.41, Y:-71.94, Z:-20.94 [[ 0.72318084 -0.62123261 -0.30179384 -61.40734174] [ 0.61118278 0.77913987 -0.13927197 -71.9352719 ] [ 0.3216599 -0.08373238 0.94314569 -20.94194754] [ 0. 0. 0. 1. ]] SLAMing on 146.281652532 meters Centerline goodness [0,1] 0.4780852832878014 Centerline is valid? [False, False] Translation: X:-61.41, Y:-71.94, Z:-20.94 [[ 0.72405596 -0.6199998 -0.3022304 -61.40840015] [ 0.61042366 0.78000941 -0.13772536 -71.94002263] [ 0.32113225 -0.08476772 0.94323301 -20.94069475] [ 0. 0. 0. 1. ]] SLAMing on 146.311652532 meters Centerline goodness [0,1] 0.5039804920031556 Centerline is valid? [False, False] Translation: X:-61.43, Y:-71.97, Z:-20.95 [[ 0.72374365 -0.61805913 -0.306917 -61.42778714] [ 0.60897738 0.78123375 -0.1371874 -71.96801952] [ 0.32456385 -0.087617 0.94179699 -20.94827231] [ 0. 0. 0. 1. ]] SLAMing on 146.341652532 meters Centerline goodness [0,1] 0.49145992366412217 Centerline is valid? [False, False] Translation: X:-61.45, Y:-71.99, Z:-20.96 [[ 0.72337455 -0.61562504 -0.31262608 -61.44586509] [ 0.60746931 0.78267549 -0.13564702 -71.99220761] [ 0.32819247 -0.09178715 0.94014085 -20.95569386] [ 0. 0. 0. 1. ]] SLAMing on 146.371652532 meters Centerline goodness [0,1] 0.4947829815617705 Centerline is valid? [False, False] Translation: X:-61.45, Y:-72.00, Z:-20.96 [[ 0.7243055 -0.61460702 -0.31247361 -61.44852321] [ 0.60679514 0.78341744 -0.1343755 -71.9953491 ] [ 0.3273854 -0.09227855 0.94037411 -20.95561241] [ 0. 0. 0. 1. ]] SLAMing on 146.401652532 meters Centerline goodness [0,1] 0.49782334609986445 Centerline is valid? [False, False] Translation: X:-61.46, Y:-72.01, Z:-20.96 [[ 0.72835514 -0.61237926 -0.30739297 -61.46306592] [ 0.60307282 0.78589059 -0.13667166 -72.01079844] [ 0.32527214 -0.08583484 0.94171674 -20.9647633 ] [ 0. 0. 0. 1. ]] SLAMing on 146.43165253200002 meters Centerline goodness [0,1] 0.4919643916913946 Centerline is valid? [False, False] Translation: X:-61.47, Y:-72.01, Z:-20.96 [[ 0.7293926 -0.61116773 -0.30734417 -61.46576847] [ 0.60223905 0.78676927 -0.13528575 -72.01486053] [ 0.32449124 -0.08641824 0.94193276 -20.96423002] [ 0. 0. 0. 1. ]] SLAMing on 146.46165253200002 meters Centerline goodness [0,1] 0.4947922817127607 Centerline is valid? [False, False] Translation: X:-61.48, Y:-72.03, Z:-20.97 [[ 0.73584213 -0.60448729 -0.30517449 -61.48071902] [ 0.59520335 0.79229031 -0.13419772 -72.03037278] [ 0.32290761 -0.08289255 0.94279346 -20.97170681] [ 0. 0. 0. 1. ]] SLAMing on 146.491652532 meters Centerline goodness [0,1] 0.48913631976648386 Centerline is valid? [False, False] Translation: X:-61.48, Y:-72.03, Z:-20.97 [[ 0.73677634 -0.60349374 -0.30488675 -61.4848864 ] [ 0.59450593 0.79301058 -0.13302978 -72.0326009 ] [ 0.32206106 -0.08324379 0.94305204 -20.97149866] [ 0. 0. 0. 1. ]] SLAMing on 146.521652532 meters Centerline goodness [0,1] 0.48913631976648386 Centerline is valid? [False, False] Translation: X:-61.48, Y:-72.03, Z:-20.97 [[ 0.73677634 -0.60349374 -0.30488675 -61.4848864 ] [ 0.59450593 0.79301058 -0.13302978 -72.0326009 ] [ 0.32206106 -0.08324379 0.94305204 -20.97149866] [ 0. 0. 0. 1. ]] SLAMing on 146.551652532 meters Centerline goodness [0,1] 0.48518875237849135 Centerline is valid? [False, False] Translation: X:-61.49, Y:-72.03, Z:-20.97 [[ 0.73971753 -0.59862816 -0.30734721 -61.48636232] [ 0.59076628 0.7964084 -0.12934013 -72.03421017] [ 0.32220054 -0.0858952 0.94276658 -20.97138698] [ 0. 0. 0. 1. ]] SLAMing on 146.581652532 meters Centerline goodness [0,1] 0.4772732594899656 Centerline is valid? [False, False] Translation: X:-61.50, Y:-72.05, Z:-20.98 [[ 0.74579036 -0.59213484 -0.30524264 -61.50057514] [ 0.58408158 0.80156065 -0.12786409 -72.04966862] [ 0.32038327 -0.0829268 0.94365126 -20.97819959] [ 0. 0. 0. 1. ]] SLAMing on 146.611652532 meters Centerline goodness [0,1] 0.47694254381853973 Centerline is valid? [False, False] Translation: X:-61.50, Y:-72.05, Z:-20.98 [[ 0.74695807 -0.59067394 -0.30521786 -61.50384862] [ 0.58297347 0.80258387 -0.12649533 -72.05390303] [ 0.31968043 -0.08344721 0.94384373 -20.97764228] [ 0. 0. 0. 1. ]] SLAMing on 146.641652532 meters Centerline goodness [0,1] 0.4713622291021672 Centerline is valid? [False, False] Translation: X:-61.51, Y:-72.06, Z:-20.98 [[ 0.74804896 -0.58929501 -0.30521163 -61.50653742] [ 0.58194689 0.80353936 -0.12514912 -72.05827978] [ 0.31899931 -0.08399929 0.94402519 -20.97721599] [ 0. 0. 0. 1. ]] SLAMing on 146.671652532 meters Centerline goodness [0,1] 0.4357650702771194 Centerline is valid? [False, False] Translation: X:-61.51, Y:-72.07, Z:-20.98 [[ 0.75190141 -0.58476786 -0.30445166 -61.51493972] [ 0.57787751 0.80686447 -0.12258595 -72.07204932] [ 0.31733555 -0.08376322 0.94460673 -20.9792084 ] [ 0. 0. 0. 1. ]] SLAMing on 146.701652532 meters Centerline goodness [0,1] 0.45837543175356565 Centerline is valid? [False, False] Translation: X:-61.52, Y:-72.08, Z:-20.98 [[ 0.75272539 -0.58351428 -0.30482055 -61.5165079 ] [ 0.57707809 0.80766581 -0.12106533 -72.07685372] [ 0.31683649 -0.08477631 0.94468387 -20.97783184] [ 0. 0. 0. 1. ]] SLAMing on 146.731652532 meters Centerline goodness [0,1] 0.4599452726929609 Centerline is valid? [False, False] Translation: X:-61.52, Y:-72.08, Z:-20.98 [[ 0.75363743 -0.58206276 -0.30534173 -61.51750572] [ 0.57615314 0.80858405 -0.11932889 -72.0827304 ] [ 0.31635136 -0.08599287 0.9447365 -20.97619953] [ 0. 0. 0. 1. ]] SLAMing on 146.761652532 meters Centerline goodness [0,1] 0.45868979533960397 Centerline is valid? [False, False] Translation: X:-61.52, Y:-72.09, Z:-20.97 [[ 0.7539702 -0.58112632 -0.30630236 -61.51588234] [ 0.57577718 0.80908556 -0.1177336 -72.08905961] [ 0.31624291 -0.08759428 0.94462567 -20.97380605] [ 0. 0. 0. 1. ]] SLAMing on 146.791652532 meters Centerline goodness [0,1] 0.4847190743170703 Centerline is valid? [False, False] Translation: X:-61.51, Y:-72.10, Z:-20.97 [[ 0.75294996 -0.58267504 -0.3058695 -61.51475781] [ 0.57763343 0.80786472 -0.11702224 -72.10345985] [ 0.31528712 -0.08856856 0.9448543 -20.96899489] [ 0. 0. 0. 1. ]] SLAMing on 146.821652532 meters Centerline goodness [0,1] 0.471058936272161 Centerline is valid? [False, False] Translation: X:-61.51, Y:-72.11, Z:-20.97 [[ 0.75322182 -0.58154898 -0.30733967 -61.51265473] [ 0.57740703 0.80838377 -0.11452859 -72.11114307] [ 0.31505238 -0.09119465 0.94468277 -20.96508457] [ 0. 0. 0. 1. ]] SLAMing on 146.851652532 meters Centerline goodness [0,1] 0.4893529992059864 Centerline is valid? [False, False] Translation: X:-61.51, Y:-72.12, Z:-20.96 [[ 0.75329787 -0.58068417 -0.30878505 -61.51017557] [ 0.5774439 0.80869924 -0.11208958 -72.1181675 ] [ 0.31480288 -0.0938692 0.94450396 -20.96132288] [ 0. 0. 0. 1. ]] SLAMing on 146.881652532 meters Centerline goodness [0,1] 0.5044627698277953 Centerline is valid? [False, False] Translation: X:-61.51, Y:-72.13, Z:-20.96 [[ 0.75161496 -0.58336521 -0.30783109 -61.50764741] [ 0.58017952 0.80672205 -0.11221078 -72.12963868] [ 0.313794 -0.094258 0.94480091 -20.95859696] [ 0. 0. 0. 1. ]] SLAMing on 146.911652532 meters Centerline goodness [0,1] 0.5130002921413964 Centerline is valid? [False, False] Translation: X:-61.50, Y:-72.14, Z:-20.96 [[ 0.75151491 -0.58310152 -0.30857407 -61.50384928] [ 0.58035945 0.80675215 -0.11105802 -72.13505566] [ 0.31370089 -0.09562212 0.94469474 -20.95748631] [ 0. 0. 0. 1. ]] SLAMing on 146.941652532 meters Centerline goodness [0,1] 0.5105102165667441 Centerline is valid? [False, False] Translation: X:-61.50, Y:-72.14, Z:-20.96 [[ 0.75154871 -0.58267 -0.309306 -61.50048281] [ 0.58026205 0.80694022 -0.11019722 -72.14005519] [ 0.31380007 -0.09665996 0.94455618 -20.95668542] [ 0. 0. 0. 1. ]] SLAMing on 146.971652532 meters Centerline goodness [0,1] 0.5200963050314465 Centerline is valid? [False, False] Translation: X:-61.50, Y:-72.14, Z:-20.96 [[ 0.75188161 -0.58190762 -0.30993153 -61.49819507] [ 0.57979156 0.80739255 -0.10935727 -72.14484917] [ 0.31387224 -0.09747196 0.94444874 -20.95622897] [ 0. 0. 0. 1. ]] SLAMing on 147.001652532 meters Centerline goodness [0,1] 0.5336237877221484 Centerline is valid? [False, False] Translation: X:-61.50, Y:-72.15, Z:-20.96 [[ 0.75319514 -0.58002688 -0.31026748 -61.49768152] [ 0.57823019 0.8086818 -0.10809065 -72.15407457] [ 0.31360315 -0.09799267 0.94448425 -20.95680646] [ 0. 0. 0. 1. ]] SLAMing on 147.031652532 meters Centerline goodness [0,1] 0.5230523076923077 Centerline is valid? [False, False] Translation: X:-61.50, Y:-72.16, Z:-20.96 [[ 0.75591448 -0.57499955 -0.3129997 -61.49699861] [ 0.57440248 0.8119018 -0.10429409 -72.15776507] [ 0.31409408 -0.1009504 0.9440095 -20.95644326] [ 0. 0. 0. 1. ]] SLAMing on 147.061652532 meters Centerline goodness [0,1] 0.5320273326123292 Centerline is valid? [False, False] Translation: X:-61.50, Y:-72.16, Z:-20.96 [[ 0.75878148 -0.56970414 -0.31573383 -61.49738739] [ 0.5703635 0.81524578 -0.10029852 -72.16177862] [ 0.31454116 -0.10397839 0.94353185 -20.95556532] [ 0. 0. 0. 1. ]] SLAMing on 147.091652532 meters Centerline goodness [0,1] 0.5156506605877883 Centerline is valid? [False, False] Translation: X:-61.51, Y:-72.18, Z:-20.96 [[ 0.76431505 -0.56312961 -0.31417757 -61.51199244] [ 0.56401875 0.8199739 -0.09759949 -72.17703029] [ 0.31257857 -0.10260528 0.94433405 -20.95963315] [ 0. 0. 0. 1. ]] SLAMing on 147.121652532 meters Centerline goodness [0,1] 0.4986287952987267 Centerline is valid? [False, False] Translation: X:-61.51, Y:-72.18, Z:-20.96 [[ 0.76764044 -0.55726249 -0.31652279 -61.51426597] [ 0.55938129 0.823628 -0.0934318 -72.1820341 ] [ 0.31276307 -0.1053349 0.94397236 -20.95925425] [ 0. 0. 0. 1. ]] SLAMing on 147.151652532 meters Centerline goodness [0,1] 0.4976584223620665 Centerline is valid? [False, False] Translation: X:-61.52, Y:-72.19, Z:-20.96 [[ 0.77110586 -0.55117327 -0.31875349 -61.51714545] [ 0.55449327 0.82738485 -0.08928342 -72.18722006] [ 0.31294244 -0.1078997 0.94362317 -20.95911348] [ 0. 0. 0. 1. ]] SLAMing on 147.18165253200002 meters Centerline goodness [0,1] 0.4873643544378553 Centerline is valid? [False, False] Translation: X:-61.54, Y:-72.20, Z:-20.96 [[ 0.77562041 -0.54732418 -0.31440296 -61.53615566] [ 0.54953798 0.83058317 -0.09021981 -72.20438726] [ 0.31051729 -0.10280004 0.94499268 -20.96495665] [ 0. 0. 0. 1. ]] SLAMing on 147.21165253200002 meters Centerline goodness [0,1] 0.45771290972529366 Centerline is valid? [False, False] Translation: X:-61.54, Y:-72.21, Z:-20.96 [[ 0.7792121 -0.54098674 -0.31648357 -61.54099586] [ 0.5443934 0.83441286 -0.08597089 -72.20863833] [ 0.31058707 -0.10530201 0.94469421 -20.96474902] [ 0. 0. 0. 1. ]] SLAMing on 147.241652532 meters Centerline goodness [0,1] 0.4479639118389762 Centerline is valid? [False, False] Translation: X:-61.55, Y:-72.21, Z:-20.97 [[ 0.78443126 -0.53291464 -0.31728471 -61.55117306] [ 0.53730778 0.83943661 -0.08152628 -72.21435062] [ 0.30978695 -0.10652778 0.9448195 -20.96784002] [ 0. 0. 0. 1. ]] SLAMing on 147.271652532 meters Centerline goodness [0,1] 0.45509158952137085 Centerline is valid? [False, False] Translation: X:-61.57, Y:-72.22, Z:-20.97 [[ 0.79184978 -0.52138008 -0.31802003 -61.56974072] [ 0.52663228 0.84662397 -0.07672225 -72.22480042] [ 0.30924483 -0.10672712 0.94497458 -20.9719641 ] [ 0. 0. 0. 1. ]] SLAMing on 147.301652532 meters Centerline goodness [0,1] 0.43977121443715794 Centerline is valid? [False, False] Translation: X:-61.58, Y:-72.23, Z:-20.97 [[ 0.79531708 -0.5163992 -0.31749428 -61.5808733 ] [ 0.521815 0.84975714 -0.0749794 -72.23061783] [ 0.30851233 -0.10604088 0.94529121 -20.97372206] [ 0. 0. 0. 1. ]] SLAMing on 147.331652532 meters Centerline goodness [0,1] 0.45397850522579375 Centerline is valid? [False, False] Translation: X:-61.59, Y:-72.24, Z:-20.97 [[ 0.79854356 -0.51126964 -0.31769725 -61.59174892] [ 0.51722942 0.85278637 -0.07231274 -72.23608062] [ 0.30789919 -0.10657749 0.94543076 -20.97337329] [ 0. 0. 0. 1. ]] SLAMing on 147.361652532 meters Centerline goodness [0,1] 0.4340575800676836 Centerline is valid? [False, False] Translation: X:-61.61, Y:-72.25, Z:-20.97 [[ 8.04448957e-01 -5.00669653e-01 -3.19674482e-01 -6.16138844e+01] [ 5.08965235e-01 8.58429272e-01 -6.36676818e-02 -7.22453138e+01] [ 3.06294409e-01 -1.11485798e-01 9.45385980e-01 -2.09672342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.391652532 meters Centerline goodness [0,1] 0.4358179065110145 Centerline is valid? [False, False] Translation: X:-61.62, Y:-72.25, Z:-20.97 [[ 8.07498882e-01 -4.94970360e-01 -3.20858065e-01 -6.16230528e+01] [ 5.04271541e-01 8.61468747e-01 -5.98482389e-02 -7.22485047e+01] [ 3.06032300e-01 -1.13472205e-01 9.45234516e-01 -2.09657556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.421652532 meters Centerline goodness [0,1] 0.4388150676581738 Centerline is valid? [False, False] Translation: X:-61.63, Y:-72.25, Z:-20.97 [[ 8.10129373e-01 -4.90138637e-01 -3.21643461e-01 -6.16308304e+01] [ 4.99922143e-01 8.64147846e-01 -5.76745276e-02 -7.22508593e+01] [ 3.06216018e-01 -1.14072859e-01 9.45102710e-01 -2.09657975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.451652532 meters Centerline goodness [0,1] 0.4426959186651749 Centerline is valid? [False, False] Translation: X:-61.64, Y:-72.25, Z:-20.97 [[ 8.14068839e-01 -4.83330054e-01 -3.21999975e-01 -6.16390733e+01] [ 4.93926648e-01 8.67830844e-01 -5.39081886e-02 -7.22540731e+01] [ 3.05496958e-01 -1.15159392e-01 9.45203641e-01 -2.09686481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.481652532 meters Centerline goodness [0,1] 0.43733467994036457 Centerline is valid? [False, False] Translation: X:-61.67, Y:-72.27, Z:-20.98 [[ 8.21722172e-01 -4.70364306e-01 -3.21760923e-01 -6.16738157e+01] [ 4.78806474e-01 8.76015176e-01 -5.78080586e-02 -7.22671927e+01] [ 3.09058299e-01 -1.06559049e-01 9.45054568e-01 -2.09780354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.511652532 meters Centerline goodness [0,1] 0.43436588747072036 Centerline is valid? [False, False] Translation: X:-61.69, Y:-72.27, Z:-20.98 [[ 8.26926317e-01 -4.61704945e-01 -3.20969485e-01 -6.16866536e+01] [ 4.70582687e-01 8.80674663e-01 -5.44433008e-02 -7.22695055e+01] [ 3.07806434e-01 -1.06022085e-01 9.45523409e-01 -2.09842732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.541652532 meters Centerline goodness [0,1] 0.431126503309059 Centerline is valid? [False, False] Translation: X:-61.70, Y:-72.27, Z:-20.99 [[ 8.32128903e-01 -4.52389417e-01 -3.20788567e-01 -6.16997011e+01] [ 4.61965512e-01 8.85465956e-01 -5.03776475e-02 -7.22720226e+01] [ 3.06837669e-01 -1.06272558e-01 9.45810123e-01 -2.09888984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.571652532 meters Centerline goodness [0,1] 0.42267337912863456 Centerline is valid? [False, False] Translation: X:-61.71, Y:-72.27, Z:-21.00 [[ 8.37740757e-01 -4.42391494e-01 -3.20125271e-01 -6.17139573e+01] [ 4.52339556e-01 8.90605330e-01 -4.70220324e-02 -7.22736667e+01] [ 3.05907420e-01 -1.05413050e-01 9.46207556e-01 -2.09956434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.601652532 meters Centerline goodness [0,1] 0.4192908331193539 Centerline is valid? [False, False] Translation: X:-61.73, Y:-72.27, Z:-20.99 [[ 8.41960244e-01 -4.31220248e-01 -3.24271562e-01 -6.17257610e+01] [ 4.38577421e-01 8.97059406e-01 -5.41688796e-02 -7.22710353e+01] [ 3.14249572e-01 -9.66101422e-02 9.44411821e-01 -2.09935707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.631652532 meters Centerline goodness [0,1] 0.408608901911539 Centerline is valid? [False, False] Translation: X:-61.77, Y:-72.28, Z:-21.01 [[ 8.51889548e-01 -4.07611987e-01 -3.28841401e-01 -6.17658381e+01] [ 4.11564377e-01 9.09338885e-01 -6.09717581e-02 -7.22763000e+01] [ 3.23881092e-01 -8.33982029e-02 9.42414865e-01 -2.10061895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.661652532 meters Centerline goodness [0,1] 0.40353203964819206 Centerline is valid? [False, False] Translation: X:-61.78, Y:-72.28, Z:-21.02 [[ 8.57131145e-01 -3.97506898e-01 -3.27588868e-01 -6.17804610e+01] [ 4.01167467e-01 9.14069405e-01 -5.95128996e-02 -7.22757761e+01] [ 3.23095750e-01 -8.04076366e-02 9.42944192e-01 -2.10153433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.691652532 meters Centerline goodness [0,1] 0.40090069176842 Centerline is valid? [False, False] Translation: X:-61.79, Y:-72.27, Z:-21.02 [[ 8.62270551e-01 -3.87085188e-01 -3.26580089e-01 -6.17947282e+01] [ 3.90677414e-01 9.18733830e-01 -5.74395961e-02 -7.22739843e+01] [ 3.22274193e-01 -7.80589928e-02 9.43422566e-01 -2.10237855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.721652532 meters Centerline goodness [0,1] 0.40090069176842 Centerline is valid? [False, False] Translation: X:-61.79, Y:-72.27, Z:-21.02 [[ 8.62270551e-01 -3.87085188e-01 -3.26580089e-01 -6.17947282e+01] [ 3.90677414e-01 9.18733830e-01 -5.74395961e-02 -7.22739843e+01] [ 3.22274193e-01 -7.80589928e-02 9.43422566e-01 -2.10237855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.751652532 meters Centerline goodness [0,1] 0.38927351610818794 Centerline is valid? [False, False] Translation: X:-61.85, Y:-72.28, Z:-21.05 [[ 8.72809563e-01 -3.58139104e-01 -3.31571786e-01 -6.18451427e+01] [ 3.59777867e-01 9.31187067e-01 -5.87412434e-02 -7.22832771e+01] [ 3.29792895e-01 -6.80222710e-02 9.41599499e-01 -2.10452671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.781652532 meters Centerline goodness [0,1] 0.3809436429112095 Centerline is valid? [False, False] Translation: X:-61.87, Y:-72.29, Z:-21.05 [[ 8.78373686e-01 -3.41082421e-01 -3.34846906e-01 -6.18701230e+01] [ 3.42168821e-01 9.37862370e-01 -5.77466259e-02 -7.22875030e+01] [ 3.33736672e-01 -6.38510545e-02 9.40501396e-01 -2.10544785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.811652532 meters Centerline goodness [0,1] 0.36364668225465935 Centerline is valid? [False, False] Translation: X:-61.88, Y:-72.28, Z:-21.06 [[ 8.82199773e-01 -3.32334292e-01 -3.33582790e-01 -6.18826443e+01] [ 3.33600982e-01 9.41089852e-01 -5.53197572e-02 -7.22844740e+01] [ 3.32316031e-01 -6.24804692e-02 9.41096300e-01 -2.10604768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.841652532 meters Centerline goodness [0,1] 0.3884583229771561 Centerline is valid? [False, False] Translation: X:-61.91, Y:-72.30, Z:-21.07 [[ 8.84563852e-01 -3.24619999e-01 -3.34915883e-01 -6.19126764e+01] [ 3.26964865e-01 9.43654952e-01 -5.10813918e-02 -7.22968550e+01] [ 3.32627073e-01 -6.43209738e-02 9.40862393e-01 -2.10745098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.871652532 meters Centerline goodness [0,1] 0.388070610644754 Centerline is valid? [False, False] Translation: X:-61.96, Y:-72.31, Z:-21.09 [[ 8.91289297e-01 -3.03800797e-01 -3.36613227e-01 -6.19634205e+01] [ 3.03843703e-01 9.51193096e-01 -5.39508822e-02 -7.23120131e+01] [ 3.36574499e-01 -5.41919655e-02 9.40096185e-01 -2.10893786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.901652532 meters Centerline goodness [0,1] 0.38077714986638633 Centerline is valid? [False, False] Translation: X:-61.98, Y:-72.31, Z:-21.10 [[ 8.96279566e-01 -2.91002561e-01 -3.34664683e-01 -6.19815251e+01] [ 2.90893080e-01 9.55359571e-01 -5.16653201e-02 -7.23148493e+01] [ 3.34759848e-01 -5.10450699e-02 9.40919893e-01 -2.10986464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93165253200002 meters Centerline goodness [0,1] 0.3989161425120247 Centerline is valid? [False, False] Translation: X:-62.00, Y:-72.32, Z:-21.11 [[ 9.00868082e-01 -2.78827159e-01 -3.32704244e-01 -6.20049425e+01] [ 2.77812486e-01 9.59244682e-01 -5.16707199e-02 -7.23215214e+01] [ 3.33551977e-01 -4.58808908e-02 9.41614583e-01 -2.11077939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96165253200002 meters Centerline goodness [0,1] 0.3913842693713371 Centerline is valid? [False, False] Translation: X:-62.03, Y:-72.33, Z:-21.12 [[ 9.05280541e-01 -2.67085481e-01 -3.30352066e-01 -6.20276331e+01] [ 2.65143558e-01 9.62814527e-01 -5.18370542e-02 -7.23289760e+01] [ 3.31912692e-01 -4.06636454e-02 9.42433251e-01 -2.11171358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.991652532 meters Centerline goodness [0,1] 0.28808462539188295 Centerline is valid? [False, False] Translation: X:-62.08, Y:-72.36, Z:-21.13 [[ 9.11461753e-01 -2.43984772e-01 -3.31223344e-01 -6.20763598e+01] [ 2.39878214e-01 9.69305052e-01 -5.39088038e-02 -7.23553068e+01] [ 3.34209387e-01 -3.03174514e-02 9.42011113e-01 -2.11320157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.021652532 meters Centerline goodness [0,1] 0.3944006812859272 Centerline is valid? [False, False] Translation: X:-62.10, Y:-72.37, Z:-21.14 [[ 9.15401569e-01 -2.35987154e-01 -3.26113524e-01 -6.20993634e+01] [ 2.30438060e-01 9.71465843e-01 -5.61463902e-02 -7.23672510e+01] [ 3.30057976e-01 -2.37524741e-02 9.43661779e-01 -2.11427031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.051652532 meters Centerline goodness [0,1] 0.3969498077699186 Centerline is valid? [False, False] Translation: X:-62.12, Y:-72.38, Z:-21.15 [[ 9.19058777e-01 -2.28778058e-01 -3.20922988e-01 -6.21201079e+01] [ 2.22120127e-01 9.73308143e-01 -5.77400037e-02 -7.23789371e+01] [ 3.25566604e-01 -1.82169976e-02 9.45343603e-01 -2.11523999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.081652532 meters Centerline goodness [0,1] 0.3745706639694881 Centerline is valid? [False, False] Translation: X:-62.15, Y:-72.39, Z:-21.16 [[ 9.24950833e-01 -2.13819671e-01 -3.14240521e-01 -6.21468810e+01] [ 2.07463421e-01 9.76753555e-01 -5.39575855e-02 -7.23942247e+01] [ 3.18472739e-01 -1.52852997e-02 9.47808775e-01 -2.11640132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.111652532 meters Centerline goodness [0,1] 0.38335607094133695 Centerline is valid? [False, False] Translation: X:-62.15, Y:-72.40, Z:-21.16 [[ 9.25656686e-01 -2.11882852e-01 -3.13473057e-01 -6.21507030e+01] [ 2.05962448e-01 9.77161524e-01 -5.22955734e-02 -7.23980359e+01] [ 3.17394345e-01 -1.61559309e-02 9.48156008e-01 -2.11639080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.141652532 meters Centerline goodness [0,1] 0.4007562634669821 Centerline is valid? [False, False] Translation: X:-62.16, Y:-72.41, Z:-21.18 [[ 9.18154383e-01 -2.35891940e-01 -3.18351254e-01 -6.21572207e+01] [ 2.31037907e-01 9.71472328e-01 -5.35070164e-02 -7.24093529e+01] [ 3.21891308e-01 -2.44235055e-02 9.46461557e-01 -2.11750189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.171652532 meters Centerline goodness [0,1] 0.4041666666666667 Centerline is valid? [False, False] Translation: X:-62.17, Y:-72.42, Z:-21.18 [[ 9.14504844e-01 -2.55198068e-01 -3.13934447e-01 -6.21667867e+01] [ 2.50183776e-01 9.66525275e-01 -5.68943871e-02 -7.24200960e+01] [ 3.17944915e-01 -2.65111129e-02 9.47738462e-01 -2.11796378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.201652532 meters Centerline goodness [0,1] 0.4254885734292444 Centerline is valid? [False, False] Translation: X:-62.19, Y:-72.45, Z:-21.19 [[ 9.09425279e-01 -2.83138860e-01 -3.04594891e-01 -6.21901287e+01] [ 2.81916110e-01 9.58188081e-01 -4.89786427e-02 -7.24511365e+01] [ 3.05726951e-01 -4.13277909e-02 9.51221870e-01 -2.11872369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.231652532 meters Centerline goodness [0,1] 0.437551906982687 Centerline is valid? [False, False] Translation: X:-62.20, Y:-72.46, Z:-21.19 [[ 9.05508208e-01 -3.00897459e-01 -2.99191585e-01 -6.22006665e+01] [ 2.99735961e-01 9.52661399e-01 -5.09373302e-02 -7.24638020e+01] [ 3.00355187e-01 -4.35543068e-02 9.52832506e-01 -2.11916779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 14900.77 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%| | 0/4942 [00:00